Manual

Robotiq 3-Finger Adaptive Robot Gripper Instruction Manual
Robotiq inc. © 2008 - 2014 82
Step 5: Read Gripper status until the grip is completed
Request is:
77 6B 00 00 00 06 02 04 07 D0 00 08
where
BITS DESCRIPTION
776B 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
0008 Number of registers requested (8)
Example of response if the grip :is not completed
77 6B 00 00 00 13 02 04 10 39 C0 00 FF 08 0F 00 08 10 00 08
0F 00 89 00 00