3-Finger Adaptive Robot Gripper Instruction Manual
BITS
DESCRIPTION
0000
Content of register 0x07D4 (FINGER B CURRENT = 0x00, FINGER C
POSITION REQUEST ECHO = 0x00)
BD00
Content of register 0x07D5 (FINGER C POSITION = 0xBD, FINGER C
CURRENT = 0x00)
0089
Content of register 0x07D6 (SCISSOR POSITION REQUEST ECHO =
0x00, SCISSOR POSITION = 0x89)
0000
Content of register 0x07D7 (SCISSOR CURRENT = 0x00)
Step 6: Move the robot to the release location
Step 7: Open the Gripper at full speed and full force
Request is:
34 AB 00 00 00 0D 02 10 03 E8 00 03 06 09 00 00 00 FF FF
where
BITS
DESCRIPTION
34AB
Unique transaction identifier (chosen randomly)
0000
Protocol Identifier (Modbus)
000D
Length
02
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)
0900
Value written to register 0x03E9 (ACTION REQUEST = 0x09 and
GRIPPER OPTIONS = 0x00):
rACT = 1 for "Activate Gripper",
rMOD=0 for "Go to Basic Mode" , rGTO = 1 for "Go to
Requested Position"
0000
Value written to register 0x03EA (GRIPPER OPTIONS 2 = 0x00 and
POSITION REQUEST = 0x00):
rPR = 0/255 for full opening of the
Gripper (partial opening would also be possible)
FFFF
Value written to register 0x03EB (SPEED = 0xFF and FORCE = 0xFF):
full speed and full force
Response is:
34 AB 00 00 00 06 02 10 03 E8 00 03
where
BITS
DESCRIPTION
34AB
Unique transaction identifier (chosen randomly)
0000
Protocol Identifier (Modbus)
0006
Length
02
SlaveID
10
Function Code 16 (Preset Multiple Registers)
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