Manual

Robotiq 3-Finger Adaptive Robot Gripper Instruction Manual
Robotiq inc. © 2008 - 2014 77
4.8.3 Preset Multiple Registers (FC16)
Function code 06 (FC16) is used to activate functionalities of the Gripper (robot output). Examples of such data are
Action Request, Position Request, Speed, Force, etc.
Ex: This message requests to set several options for the Gripper by setting registers from 0x0000 (0000) to 0x0003.
Request is:
01 00 00 00 00 0d 02 10 00 00 00 03 06 09 00 64 64 00 ff
where
BITS DESCRIPTION
01 00 Transaction identifier
00 00 Protocol identifier
00 0d Length
02 UnitID
10 Function 16 (Preset multiple registers)
00 00 Address of the first register
00 03 The number of registers to write
06 The number of data bytes to follow
09 00 00 64 00 ff Data
Response is:
01 00 00 00 00 06 02 10 00 00 00 03
where
BITS DESCRIPTION
01 00 Transaction identifier
00 00 Protocol identifier
00 06 Length
02 UnitID
10 Function 16 (Preset multiple registers)
00 00 Address of the first register
00 03 The number of registers written