ROBOTIQ Gripper - Page 66

Robotiq 3-Finger Adaptive Robot Gripper Instruction Manual
Robotiq inc. © 2008 - 2014 66
Response is:
09 10 03 E8 00 03 01 30
where
BITS DESCRIPTION
09 SlaveID
10 Function Code 16 (Preset Multiple Registers)
03E8 Address of the first register
0003 Number of written registers
0130 Cyclic Redundancy Check (CRC)
Step 2: Read Gripper status until the activation is completed
Request is:
09 03 07 D0 00 01 85 CF
where
BITS DESCRIPTION
09 SlaveID
03 Function Code 03 (Read Holding Registers)
07D0 Address of the first requested register
0001 Number of registers requested (1)
85CF Cyclic Redundancy Check (CRC)