ROBOTIQ Hand-E C10 - Page 62

Robotiq Hand-E C10 Gripper Instruction Manual
Example of response if the grip is not completed: 09 04 06 39 00 00 FF 0E 0A B6 6D
Bits Description
09 SlaveID
04 Function Code 04 (Read Input Registers)
06 Number of data bytes to follow (3 registers x 2 bytes/register = 6 bytes)
3900
Content of register 07D0 (GRIPPER STATUS = 0x39, RESERVED = 0x00): gACT = 1 for "Gripper Activation", gGTO =
1 for "Go to Position Request" and gOBJ = 0 for "Fingers are in motion"
00FF
Content of register 07D1 (FAULT STATUS = 0x00, POSITION REQUEST ECHO = 0xFF): the position request echo
tells that the command was well received and that the GRIPPER STATUS is valid.
0E0A
Content of register 07D2 (POSITION = 0x0E, FINGER CURRENT = 0x0A): the position is 14/255 and the motor
current is 100mA (these values will change during motion)
B66D Cyclic Redundancy Check (CRC)

Example of response if the grip is completed: 09 04 06 B9 00 00 FF BD 00 5C 9A
Bits Description
09 SlaveID
04 Function Code 04 (Read Input Registers)
06 Number of data bytes to follow (3 registers x 2 bytes/register = 6 bytes)
B900
Content of register 07D0 (GRIPPER STATUS = 0xB9, RESERVED = 0x00): gACT = 1 for "Gripper Activation", gGTO =
1 for "Go to Position Request" and gOBJ = 2 for "Fingers have stopped due to a contact while closing"
00FF
Content of register 07D1 (FAULT STATUS = 0x00, POSITION REQUEST ECHO = 0xFF): the position request echo
tells that the command was well received and that the GRIPPER STATUS is valid.
BD00
Content of register 07D2 (POSITION = 0xBD, FINGER CURRENT = 0x00): the position is 189/255 (can be used to
validate the size of the seized object)
5C9A Cyclic Redundancy Check (CRC)

62