ROBOTIQ Gripper - Page 64

Robotiq 3-Finger Adaptive Robot Gripper Instruction Manual
Robotiq inc. © 2008 - 2014 64
where
Bits Description
09 SlaveID
17 Function Code 23 (read and write multiple registers)
04 Number of data bytes to follow (2 registers x 2
bytes/register = 4 bytes)
E000 Content of register 07D0
0000 Content of register 07D1
4727 Cyclic Redundancy Check (CRC)
Note
The 3 Finger Adaptive Gripper register values are updated at a 200Hz frequency. It is therefore
recommended to send FC23 commands with a minimum interval delay of 5ms.