ROBOTIQ Gripper - Page 67

Robotiq 3-Finger Adaptive Robot Gripper Instruction Manual
Robotiq inc. © 2008 - 2014 67
Response (if the activation IS NOT completed):
09 03 02 11 00 55 D5
where
BITS DESCRIPTION
09 SlaveID
03 Function Code 03 (Read Holding Registers)
02 Number of data bytes to follow (1 registers x 2
bytes/register = 2 bytes)
1100 Content of register 07D0 (GRIPPER STATUS = 0x11,
OBJECT STATUS = 0x00): gACT = 1 for "Gripper
Activation", gIMC = 1 for "Activation in progress"
55D5 Cyclic Redundancy Check (CRC)
Response (if the activation IS completed):
09 03 02 31 00 4C 15
where
BITS DESCRIPTION
09 SlaveID
03 Function Code 03 (Read Holding Registers)
02 Number of data bytes to follow (1 registers x 2
bytes/register = 2 bytes)
3100 Content of register 07D0 (GRIPPER STATUS = 0x31,
OBJECT STATUS = 0x00): gACT = 1 for "Gripper
Activation", gIMC = 3 for "Activation and mode
change are completed"
4C15 Cyclic Redundancy Check (CRC)
Step 3: Move the robot to the pick-up location
Step 4: Close the Gripper at full speed and full force