ROBOTIQ HAND-E - Page 57

Robotiq Hand-E Gripper - Instruction Manual
Example of response if the opening is completed: 09 03 06 F9 00 00 00 0D 00 56 4C
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)
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)
564C Cyclic Redundancy Check (CRC)
Step 9: Loop back to step 3 if other objects have to be gripped.
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