ROBOTIQ HAND-E - Page 50

Robotiq Hand-E Gripper - Instruction Manual
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)
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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