ROBOTIQ 2F-140 - Page 78

2F-85 & 2F-140 - Instruction Manual
Step 6: Move the robot to the release location
Step 7:Open the Gripper at full speed and full force
Request is: 09 10 03 E8 00 03 06 09 00 00 00 FF FF 72 19
Bits Description
09 SlaveID
10 Function Code 16 (Preset Multiple Registers)
03E8 Addressof the first register
0003 Number of registers written to
06 Number of data bytesto follow (3 registers x 2 bytes/register = 6 bytes)
0900
Value written to register 0x03E8 (ACTION REQUEST = 0x09 and GRIPPEROPTIONS= 0x00): rACT = 1 for "Activate
Gripper", rGTO = 1 for "Go to Requested Position"
0000
Value written to register 0x03E9 (GRIPPEROPTIONS2 = 0x00 and POSITION REQUEST = 0x00): rPR= 0/255 for full
opening of the Gripper(partial opening would also be possible)
FFFF Value written to register 0x03EA (SPEED = 0xFF and FORCE= 0xFF): full speed and full force
7219 Cyclic Redundancy Check (CRC)
Response is: 09 10 03 E8 00 03 01 30
Bits Description
09 SlaveID
10
Function Code 16 (Preset Multiple
Registers)
03E8 Addressof the first register
0003 Number of written registers
0130 Cyclic Redundancy Check (CRC)
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