Manual

Robotiq 3-Finger Adaptive Robot Gripper Instruction Manual

4.7.5 Master read&write multiple registers (FC23)

Function code 23 (FC23) is used for reading the status of the Gripper (robot input) and activating functionalities of

the Gripper (robot output) simultaneously. Examples of such data are Gripper Status, Object Status, Finger

Position, etc. Action Requests are Speed, Force, etc.

Ex: This message asks for register 0x07D0 (2000) and register 0x07D1 (2001) which contains Gripper Status,

Object Detection, Fault Status and Position Request Echo while setting Position Request, Speed and Force of the

Gripper is done by setting registers 0x03E9 (1001) and 0x03EA (1002).

Request is:

09 23 07 D0 00 02 03 E9 00 02 04 00 E6 3C C8 00 FF

where

Bits Description

09 SlaveID

17 Function Code 23 (read and write multiple registers)

07D0

Address of the first requested register, read

0002

Number of registers requested (2), read

03E9 Address of the first written register

0002

Number of registers to (3) towrite

04 Number of data bytes to follow (2 registers X 2

bytes/registers = 4 bytes)

00E6 Value written to register 0x03E9

3CC8 Value written to register 0x03EA

00FF Cyclic Redundancy Check (CRC)

Response is:

09 17 04 E0 00 00 00 47 27