Manual

Robotiq 3-Finger Adaptive Robot Gripper Instruction Manual
Robotiq inc. © 2008 - 2014 76
4.8.2 Read Input Registers (FC04)
Function code 04 (FC04) is used for reading the status of the Gripper (robot input). Examples of such data are
Gripper Status, Object Status, Finger Position, etc.
Ex: This message asks for registers 0x0000 (0000) to 0x0006 (0006) which contain all the robot input statuses
except for the scissor axis.
Request is:
01 00 00 00 00 06 02 04 00 00 00 06
where
BITS DESCRIPTION
01 00 Transaction identifier
00 00 Protocol identifier
00 06 Length
02 UnitID
04 Function 04 (Read input registers)
00 00 Address of the first register
00 06 Word count
Response is:
01 00 00 00 00 0f 02 04 0c e9 00 00 00 06 06 06 8a 00 00 00
00
where
BITS DESCRIPTION
01 00 Transaction identifier
00 00 Protocol identifier
00 0f Length
02 UnitID
04 Function 04 (Read input registers)
0c The number of data bytes to follow
e9 00 00 00 06 06 06 8a 00 00 00 00 Data