Manual

Robotiq 3-Finger Adaptive Robot Gripper Instruction Manual

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"

0000 Content of register 0x07D1 (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.

B80B Content of register 0x07D2 (FINGER A POSITION =

0xB8, FINGER A CURRENT = 0x0B): the position of

finger A is 184/255 and the motor current is 170mA

(these values will change during motion)

00BD Content of register 0x07D3 (FINGER B POSITION

REQUEST ECHO = 0x00, FINGER B POSITION =

0xBD)

0E00 Content of register 0x07D4 (FINGER B CURRENT =

0x0E, FINGER C POSITION REQUEST ECHO = 0x00)

BA0B Content of register 0x07D5 (FINGER C POSITION =

0xBA, FINGER C CURRENT = 0x0B)

0089 Content of register 0x07D6 (SCISSOR POSITION

REQUEST ECHO = 0x00, SCISSOR POSITION =

0x89)

0000 Content of register 0x07D7 (SCISSOR CURRENT =

0x00)

1085 Cyclic Redundancy Check (CRC)

Example of response if the opening :is completed

09 03 10 F9 FF 00 00 07 00 00 06 00 00 06 00 00 89 00 00 34

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)