Manual

Robotiq 3-Finger Adaptive Robot Gripper Instruction Manual
Robotiq inc. © 2008 - 2014 86
where
BITS DESCRIPTION
34AB 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 8: Read Gripper status until the opening is completed
Request is:
D6 05 00 00 00 06 02 04 07 D0 00 08
where
BITS DESCRIPTION
D605 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 opening :is not completed
D6 05 00 00 00 0D 02 04 10 39 C0 00 00 B8 0B 00 BD 0E 00
BA 0B 00 89 00 00