ROBOTIQ 2F-140 - Page 79

2F-85 & 2F-140 - Instruction Manual
Step 8:Read Gripper statusuntil the opening 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 opening isnot completed: 09 04 06 39 00 00 00 BB 10 71 06
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"
0000
Content of register 07D1 (FAULT STATUS= 0x00, POSITION REQUEST ECHO = 0x00): the position request echo
tellsthat the command waswell received and that the GRIPPERSTATUSisvalid.
BB10
Content of register 07D2 (POSITION = 0xBB, FINGERCURRENT = 0x10): the position is187/255 and the motor
current is 160mA (these values will change during motion)
7106 Cyclic Redundancy Check (CRC)
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