2F-85 & 2F-140 - Instruction Manual
Example of response if the grasp iscompleted: 09 04 06 B9 00 00 FF BD 00 5C 9A
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)
B900
Content of register 07D0 (GRIPPERSTATUS= 0xB9, RESERVED = 0x00): gACT = 1 for " Gripper Activation", gGTO =
1 for "Go to Position Request" and gOBJ = 2 for "Fingershave stopped due to a contact while closing"
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.
BD00
Content of register 07D2 (POSITION = 0xBD, FINGERCURRENT = 0x00): the position is 189/255 (can be used to
validate the size of the seized object)
5C9A Cyclic Redundancy Check (CRC)
77
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