Manual

Robotiq 3-Finger Adaptive Robot Gripper Instruction Manual
Robotiq inc. © 2008 - 2014 69
Step 5: Read Gripper status until the grip is completed
Request is:
09 03 07 D0 00 08 45 C9
where
BITS DESCRIPTION
09 SlaveID
03 Function Code 03 (Read Holding Registers)
07D0 Address of the first requested register
0008 Number of registers requested (8)
45C9 Cyclic Redundancy Check (CRC)
Example of response if the grip :is not completed
09 03 10 39 C0 00 FF 08 0F 00 08 10 00 08 0F 00 89 00 00 73
70
where
BITS DESCRIPTION
09 SlaveID
03 Function Code 03 (Read Holding Registers)
10 Number of data bytes to follow (8 registers x 2
bytes/register = 16 bytes)
39C0 Content of register 0x07D0 (GRIPPER STATUS =
0x39, OBJECT STATUS = 0xC0): gSTA = 0 for
"Gripper is in motion towards requested position"
00FF Content of register 0x07D1 (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.
080F Content of register 0x07D2 (FINGER A POSITION =
0x08, FINGER A CURRENT = 0x0F): the position of
finger A is 8/255 and the motor current is 150mA (these
values will change during motion)