ROBOTIQ 2F-140 - Page 80

2F-85 & 2F-140 - Instruction Manual
Example of response if the opening iscompleted: 09 04 06 F9 00 00 00 0D 00 17 AA
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)
F900
Content of register 07D0 (GRIPPERSTATUS= 0xF9, RESERVED = 0x00): gACT = 1 for "Gripper Activation", gGTO =
1 for "Go to Position Request" and gOBJ = 3 for "Fingersare at requested position"
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.
0D00
Content of register 07D2 (POSITION = 0x0D, FINGERCURRENT = 0x00): the position is 13/255 (the fingers have
reached their software limit)
17AA Cyclic Redundancy Check (CRC)
Step 9: To grip additional objects, loop from step 3
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