ROBOTIQ 3-Finger Adaptive Robot Gripper, Instruction Manual

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3-Finger Adaptive Robot Gripper Instruction Manual
BITS DESCRIPTION
339A Unique transaction identifier (chosen randomly)
0000 Protocol Identifier (Modbus)
000D Length
02 SlaveID
10 Function 16 (Preset Multiple Registers)
0000 Address of the first register
0003 The number of registers to write to
06 Number of data bytes to follow (3 registers x 2 bytes/register = 6 bytes)
0100 Value written to register 0x0000 (ACTION REQUEST = 0x01 and
GRIPPER OPTIONS = 0x00):
rACT = 1 for "Activate Gripper"
0000 Value written to register 0x0001
0000 Value written to register 0x0002
Response is:
33 9A 00 00 00 06 02 10 00 00 00 03
where
BITS DESCRIPTION
339A Unique transaction identifier (chosen randomly)
0000 Protocol Identifier (Modbus)
0006 Length
02 SlaveID
10 Function 16 (Preset Multiple Registers)
0000 Address of the first register
0003 Number of written
Step 2: Read Gripper status until the activation is completed
Request is:
45 33 00 00 00 06 02 03 00 00 00 01
where
BITS DESCRIPTION
4533 Unique transaction identifier (chosen randomly)
0000 Protocol Identifier (Modbus)
0006 Length
02 SlaveID
04 Function 04 (Read Input Registers)
0000 Address of the first requested register
0001 Number of registers requested (1)
Response (if the activation is not completed ):
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