ROBOTIQ HAND-E - Read Input Registers (FC04)

Robotiq Hand-E Gripper Instruction Manual
4.7.2. Read input registers (FC04)
Function code 04 (FC04) is used for requesting the status of the gripper analog input register. Examples of such data are gripper status,
object status, finger position, etc.
Example of an FC04 read function:
This message asks for register 0x07D0 (2000) and register 0x07D1 (2001) which contains Gripper Status, Object Detection, Fault Status
and Position Request Echo.
Request is: 09 04 07 D0 00 02 70 0E
Bits Description
09 SlaveID
04 Function Code 04 (Read Input Registers)
07D0 Address of the first requested register
0002 Number of registers requested (2)
700E Cyclic Redundancy Check (CRC)
Response is: 09 04 04 E0 00 00 00 45 84
Bits Description
09 SlaveID
04 Function Code 04 (Read Input Registers)
04 Number of data bytes to follow (2 registers x 2 bytes/register = 4 bytes)
E000 Content of register 07D0
0000 Content of register 07D1
4584 Cyclic Redundancy Check (CRC)
56