Manual

Robotiq 3-Finger Adaptive Robot Gripper Instruction Manual
Robotiq inc. © 2008 - 2014 79
where
BITS DESCRIPTION
339A Unique transaction identifier (chosen randomly)
0000 Protocol Identifier (Modbus)
0006 Length
02 SlaveID
10 Function Code 16 (Preset Multiple Registers)
03E8 Address of the first register
0003 Number of written registers
Step 2: Read Gripper status until the activation is completed
Request is:
45 33 00 00 00 06 02 03 07 D0 00 01
where
BITS DESCRIPTION
4533 Unique transaction identifier (chosen randomly)
0000 Protocol Identifier (Modbus)
0006 Length
02 SlaveID
04 Function Code 04 (Read Input Registers)
07D0 Address of the first requested register
0001 Number of registers requested (1)
Response (if the activation ): is not completed
45 33 00 00 00 05 02 04 02 11 00