ROBOTIQ HAND-E - Page 56

Robotiq Hand-E Gripper - Instruction Manual
Step 8: Read Gripper status until the opening is completed
Request is: 09 03 07 D0 00 03 04 0E
Bits Description
09 SlaveID
03 Function Code 03 (Read Holding Registers)
07D0 Address of the first requested register
0003 Number of registers requested (3)
040E Cyclic Redundancy Check (CRC)
Example of response if the opening is not completed: 09 03 06 39 00 00 00 BB 10 30 E0
Bits Description
09 SlaveID
03 Function Code 03 (Read Holding 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"
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.
BB10
Content of register 07D2 (POSITION = 0xBB, FINGER CURRENT = 0x10): the position is 187/255 and the motor current is
160mA (these values will change during motion)
30E0 Cyclic Redundancy Check (CRC)
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