ROBOTIQ Hand-E C10 - Page 58

Robotiq Hand-E C10 Gripper Instruction Manual
Response is: 09 10 03 E8 00 03 01 30
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)
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Request is (set rAct): 09 10 03 E8 00 03 06 01 00 00 00 00 00 72 E1
Bits Description
09 SlaveID
10 Function Code 16 (Preset Multiple Registers)
03E8 Address of the first register
0003 Number of registers written to
06 Number of data bytes to follow (3 registers x 2 bytes/register = 6 bytes)
0100
Value to write to register 0x03E9 (ACTION REQUEST = 0x01 and GRIPPER OPTIONS =
0x00): rACT = 1 for "Activate Gripper"
0000 Value written to register 0x03EA
0000 Value written to register 0x03EB
72E1 Cyclic Redundancy Check (CRC)
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