ROBOTIQ HAND-E - Page 51

Robotiq Hand-E Gripper Instruction Manual
Step 2: Read Gripper status until the activation is completed
Request is: 09 04 07 D0 00 01 30 0F
Bits Description
09 SlaveID
04 Function Code 04 (Read Input Registers)
07D0 Address of the first requested register
0001 Number of registers requested (1)
300F Cyclic Redundancy Check (CRC)
Response (if the activation IS NOT completed): 09 04 02 11 00 54 A1
Bits Description
09 SlaveID
04 Function Code 04 (Read Input Registers)
02 Number of data bytes to follow (1 register x 2 bytes/register = 2 bytes)
1100
Content of register 07D0 (GRIPPER STATUS = 0x11, RESERVED = 0x00): gACT = 1 for "Gripper Activation", gSTA = 1
for "Activation inprogress"
54A1 Cyclic Redundancy Check (CRC)
Response (if the activation IS completed): 09 04 02 31 00 4D 61
Bits Description
09 SlaveID
04 Function Code 04 (Read Input Registers)
02 Number of data bytes to follow (1 register x 2 bytes/register = 2 bytes)
3100
Content of register 07D0 (GRIPPER STATUS = 0x31, RESERVED = 0x00): gACT = 1 for "Gripper Activation", gSTA = 3
for "Activation is completed"
4D61 Cyclic Redundancy Check (CRC)
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