ROBOTIQ HAND-E - Page 67

Robotiq Hand-E Gripper Instruction Manual
Example of response if the opening is not completed: 09 04 06 39 00 00 00 BB 10 71 06
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"
0000
Content of register 07D1 (FAULT STATUS = 0x00, POSITION REQUEST ECHO = 0x00): the position request echo tells
that the command was well received and that the GRIPPER STATUS is valid.
BB10
Content of register 07D2 (POSITION = 0xBB, FINGER CURRENT = 0x10): the position is 187/255 and the motor current is
160mA (these values will change during motion)
7106 Cyclic Redundancy Check (CRC)
Example of response if the opening is completed: 09 04 06 F9 00 00 00 0D 00 17 AA
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)
F900
Content of register 07D0 (GRIPPER STATUS = 0xF9, RESERVED = 0x00): gACT = 1 for "Gripper Activation", gGTO = 1
for "Go to Position Request" and gOBJ = 3 for "Fingers are at requested position"
0000
Content of register 07D1 (FAULT STATUS = 0x00, POSITION REQUEST ECHO = 0x00): the position request echo tells
that the command was well received and that the GRIPPER STATUS is valid.
0D00
Content of register 07D2 (POSITION = 0x0D, FINGER CURRENT = 0x00): the position is 13/255 (the fingers have reached
their software limit)
17AA Cyclic Redundancy Check (CRC)
Step 9: To grip additional objects, loop from step 3.
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