Robotiq Hand-E C10 Gripper Instruction Manual
Example of response if the opening is completed: 09 04 06 F9 00 00 00 0D 00 17 AA
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)
F900
Content of register 07D0 (GRIPPER STATUS = 0xF9, RESERVED = 0x00): gACT = 1 for "Gripper Activation", gGTO =
1 for "Go to Position Request" and gOBJ = 3 for "Fingers are at requested position"
0000
Content of register 07D1 (FAULT STATUS = 0x00, POSITION REQUEST ECHO = 0x00): the position request echo
tells that the command was well received and that the GRIPPER STATUS is valid.
0D00
Content of register 07D2 (POSITION = 0x0D, FINGER CURRENT = 0x00): the position is 13/255 (the fingers have
reached their software limit)
17AA Cyclic Redundancy Check (CRC)
Step 9: To grip additional objects, loop from step 3.
4.8. Hand-E C10 Gripper and I/O Coupling communication
The following communication parameters must be present:
l
Baud rate: 115200 bps
l
Parity: None
l
Data: 8 bit
l
Stop bit: 1 bit
l
Slave ID: 1 to 9
Activation sequence
In order to activate the sequence:
l
Wait at least 10 ms between steps
l
The whole sequence can not exceed 5 seconds
l
The gripper must be connected to the I/O Coupling. The I/O Coupling detection of the gripper has to be confirmed (led blue)
before doing the sequence, otherwise it will not be valid.
l
Doing the sequence once the I/O coupling is activated will reactivate the I/O Coupling.
l
Activating the I/O Coupling triggers the activation sequence of the gripper.
l
Activation of the I/O Coupling must be done each time you connect a new device or when a power cycle is done so you can use
the connected device, otherwise it will do nothing.
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