Manual

Robotiq 3-Finger Adaptive Robot Gripper Instruction Manual
Robotiq inc. © 2008 - 2014 70
0008 Content of register 0x07D3 (FINGER B POSITION
REQUEST ECHO = 0x00, FINGER B POSITION =
0x08)
1000 Content of register 0x07D4 (FINGER B CURRENT =
0x10, FINGER C POSITION REQUEST ECHO = 0x00)
080F Content of register 0x07D5 (FINGER C POSITION =
0x08, FINGER C CURRENT = 0x0F)
0089 Content of register 0x07D6 (SCISSOR POSITION
REQUEST ECHO = 0x00, SCISSOR POSITION =
0x89)
0000 Content of register 0x07D7 (SCISSOR CURRENT =
0x00)
7370 Cyclic Redundancy Check (CRC)
Example of response if the grip :is completed
09 03 10 B9 EA 00 FF BC 00 00 C1 00 00 BD 00 00 89 00 00
4E 17
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)
B9EA Content of register 0x07D0 (GRIPPER STATUS =
0xB9, OBJECT STATUS = 0xEA): gSTA = 2 for
"Gripper is stopped. All fingers stopped before
, requested position" gDTA = gDTB = gDTC = 2 for
"Finger X has stopped due to a contact while
closing"
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.
BC00 Content of register 0x07D2 (FINGER A POSITION =
0xBC, FINGER A CURRENT = 0x00): the position of
finger A is 188/255 and the motor current is 0mA