ROBOTIQ 2-Finger Adaptive Robot Gripper - 200, Instruction Manual, Page: 57 / 113

Robotiq 2-Finger Adaptive Robot Gripper - 200 Instruction Manual
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4.9.5 Modbus RTU example
This section depicts the example given in when programmed using the Modbus RTU protocol. The section 4.8
example is typical of a pick and place application. After activating the Gripper, the robot is moved to a pick-up
location to grip an object. It moves again to a second location to release the gripped object.
Step 1: Activation Request
Request is:
09 10 03 E8 00 03 06 01 00 00 00 00 00 72 E1
where
Bits Description
09 SlaveID
10 Function Code 16 (Preset Multiple Registers)
03E8 Address of the first register
0003 Number of registers to write to
06 Number of data bytes to follow (3 registers x 2
bytes/register = 6 bytes)
0100 Value to write to register 0x03E9 (ACTION REQUEST
= 0x01 and GRIPPER OPTIONS = 0x00): rACT = 1 for
"Activate Gripper"
0000 Value to write to register 0x03EA
0000 Value to write to register 0x03EB
72E1 Cyclic Redundancy Check (CRC)
Response is:
09 10 03 E8 00 03 01 30
where
Bits Description
09 SlaveID
10 Function Code 16 (Preset Multiple Registers)
03E8 Address of the first register
0003 Number of written registers
0130 Cyclic Redundancy Check (CRC)
Step 2: Read Gripper status until the activation is completed