ROBOTIQ 2F-140 - Page 76

2F-85 & 2F-140 - Instruction Manual
Step 5: Read Gripper statusuntil the grasp iscompleted
Request is: 09 04 07 D0 00 03 B1 CE
Bits Description
09 SlaveID
04 Function Code 04 (Read Input Registers)
07D0 Address of the first requested register
0003 Number of registers requested (3)
B1CE Cyclic Redundancy Check (CRC)
Example of response if the grasp isnot completed: 09 04 06 39 00 00 FF 0E0A B6 6D
Bits Description
09 SlaveID
04 Function Code 04 (Read Input Registers)
06 Number of data bytesto follow (3 registers x 2 bytes/register = 6 bytes)
3900
Content of register 07D0 (GRIPPERSTATUS= 0x39, RESERVED = 0x00): gACT = 1 for "Gripper Activation", gGTO =
1 for "Go to Position Request" and gOBJ = 0 for "Fingersare in motion"
00FF
Content of register 07D1 (FAULT STATUS= 0x00, POSITION REQUEST ECHO = 0xFF): the position request echo
tellsthat the command waswell received and that the GRIPPERSTATUSisvalid.
0E0A
Content of register 07D2 (POSITION = 0x0E, FINGERCURRENT = 0x0A): the position is14/255 and the motor
current is 100mA (these values will change during motion)
B66D Cyclic Redundancy Check (CRC)
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