ROBOTIQ HAND-E - Page 64

Robotiq Hand-E Gripper Instruction Manual
Step 5: Read Gripper status until the grip is completed
Request is: 09 04 07 D0 00 03 B1 CE
Bits Description
09 SlaveID
04 Function Code 04 (Read Input Registers)
07D0 Address of the first requested register
0003 Number of registers requested (3)
B1CE Cyclic Redundancy Check (CRC)
Example of response if the grip is not completed: 09 04 06 39 00 00 FF 0E 0A B6 6D
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)
3900
Content of register 07D0 (GRIPPER STATUS = 0x39, RESERVED = 0x00): gACT = 1 for "Gripper Activation", gGTO = 1
for "Go to Position Request" and gOBJ = 0 for "Fingers are in motion"
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.
0E0A
Content of register 07D2 (POSITION = 0x0E, FINGER CURRENT = 0x0A): the position is 14/255 and the motor current is
100mA (these values will change during motion)
B66D Cyclic Redundancy Check (CRC)
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