ROBOTIQ HAND-E - 4.4. Robot Input Registers and Status

Robotiq Hand-E Gripper Instruction Manual
Response is: 09 17 04 01 00 09 E6 F6 C1
Bits Description
09 SlaveID
17 Function Code 23 (read and write multiple registers)
04 Number of data bytes to follow (2 registers x 2 bytes/register = 4 bytes)
1000 Content of register 07D0
09E6 Content of register 07D1
F6C1 Cyclic Redundancy Check (CRC)
Tip
Response contents might change depending on gripper status.
Info
Gripper executes the input command ("write" command), executes one cycle of motion, updates the output, then
returns the Modbus response read.
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