Robotiq Hand-E Gripper Instruction Manual
Example of response if the grip is completed: 09 04 06 B9 00 00 FF BD 00 5C 9A
Bits Description
09 SlaveID
04 Function Code 04 (Read Input Registers)
06 Number of data bytes to follow (3 registers x 2 bytes/register = 6 bytes)
B900
Content of register 07D0 (GRIPPER STATUS = 0xB9, RESERVED = 0x00): gACT = 1 for "Gripper Activation", gGTO =
1 for "Go to Position Request" and gOBJ = 2 for "Fingers have stopped due to a contact while closing"
00FF
Content of register 07D1 (FAULT STATUS = 0x00, POSITION REQUEST ECHO = 0xFF): the position request echo
tells that the command was well received and that the GRIPPER STATUS is valid.
BD00
Content of register 07D2 (POSITION = 0xBD, FINGER CURRENT = 0x00): the position is 189/255 (can be used to
validate the size of the seized object)
5C9A Cyclic Redundancy Check (CRC)
Step 6: Move gripper to release location
Step 7: Open the Gripper at full speed and full force
Request is: 09 10 03 E8 00 03 06 09 00 00 00 FF FF 72 19
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)
0900
Value written to register 0x03E8 (ACTION REQUEST = 0x09 and GRIPPER OPTIONS = 0x00): rACT = 1 for "Activate
Gripper", rGTO = 1 for "Go to Requested Position"
0000
Value written to register 0x03E9 (GRIPPER OPTIONS 2 = 0x00 and POSITION REQUEST = 0x00): rPR = 0/255 for full
opening of the Gripper (partial opening would also be possible)
FFFF Value written to register 0x03EA (SPEED = 0xFF and FORCE = 0xFF): full speed and full force
7219 Cyclic Redundancy Check (CRC)
54
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