3-Finger Adaptive Robot Gripper Instruction Manual
45 33 00 00 00 05 02 04 02 11 00
where
BITS
DESCRIPTION
4533
Unique transaction identifier (chosen randomly)
0000
Protocol Identifier (Modbus)
0005
Length
02
SlaveID
04
Function 04 (Read Input Registers)
02
Number of data bytes to follow (1 registers x 2 bytes/register = 2 bytes)
1100
Content of register 0x0000 (GRIPPER STATUS = 0x11, OBJECT
STATUS = 0x00): gACT = 1 for "Gripper Activation",
gIMC = 1 for
"Activation in progress"
Response (if the activation
is completed
):
45 33 00 00 00 05 02 04 02 31 00
where
BITS
DESCRIPTION
4533
Unique transaction identifier (chosen randomly)
0000
Protocol Identifier (Modbus)
0005
Length
02
SlaveID
04
Function 04 (Read Input Registers)
02
Number of data bytes to follow (1 registers x 2 bytes/register = 2 bytes)
3100
Content of register 0x0000 (GRIPPER STATUS = 0x31, OBJECT
STATUS = 0x00): gACT = 1 for "Gripper Activation",
gIMC = 3 for
"Activation and mode change are completed"
Step 3: Move the robot to the pick-up location
Step 4: Close the Gripper at full speed and full force
Request is:
71 EE 00 00 00 0D 02 10 00 00 00 03 06 09 00 00 FF FF FF
where
BITS
DESCRIPTION
71EE
Unique transaction identifier (chosen randomly)
0000
Protocol Identifier (Modbus)
000D
Length
02
SlaveID
10
Function Code 16 (Preset Multiple Registers)
0000
Address of the first register
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