Manual

Robotiq 3-Finger Adaptive Robot Gripper Instruction Manual
Robotiq inc. © 2008 - 2014 61
4.7.3 Preset single register (FC06)
Function code 06 (FC06) is used to activate functionalities of the Gripper (robot output). Examples of such data are
Action Request, Velocity, Force, etc.
Ex: This message requests the initialization of the Gripper by setting register 0x03E8 (1000), which contains an
Action Request and Gripper Options, to 0x0100.
Request is:
09 06 03 E8 01 00 09 62
where
BITS DESCRIPTION
09 SlaveID
06 Function Code 06 (Preset Single Register)
03E8 Address of the register
0100 Written value
0962 Cyclic Redundancy Check (CRC)
Response is an echo:
09 06 03 E8 01 00 09 62
where
BITS DESCRIPTION
09 SlaveID
06 Function Code 06 (Preset Single Register)
03E8 Address of the register
0100 Written Value
0962 Cyclic Redundancy Check (CRC)