ROBOTIQ Hand-E C10 - Page 59

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)
Step 2: Read Gripper status until the activation is completed
Request is: 09 04 07 D0 00 01 30 0F
Bits Description
09 SlaveID
04 Function Code 04 (Read Input Registers)
07D0 Address of the first requested register
0001 Number of registers requested (1)
300F Cyclic Redundancy Check (CRC)
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Response (if the activation IS NOT completed): 09 04 02 11 00 54 A1
Bits Description
09 SlaveID
04 Function Code 04 (Read Input Registers)
02 Number of data bytes to follow (1 register x 2 bytes/register = 2 bytes)
1100
Content of register 07D0 (GRIPPER STATUS = 0x11, RESERVED = 0x00): gACT = 1 for "Gripper Activation", gSTA = 1
for "Activation inprogress"
54A1 Cyclic Redundancy Check (CRC)
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