ROBOTIQ AirPick, Original Notice

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Proprieties Value
Baud rate 1.2KBps to 10500KBps; Default:115.2 KBps
Data bits 8 bits
Parity None, Odd, Even; Default: None
Stop bit 1 or 2 bit; Default: 1 bit
Other Modbus functions FC4, FC6, FC16, FC23,
Exception responses 0x03 (Illegal Data Value)
Slave ID 1 to 9: Default: 9
Robot output/Gripper input
registers
1000 to 1007
Robot input/Gripper output
registers
2000 to 2007
Table 4-2: Modbus RTU connection setup for the Vacuum Gripper
4.7.2. Read input registers (FC04)
The function code 04 (FC04) is used to request the status of the Vacuum Gripper's analog input register. Examples of use of these
data are the Vacuum Gripper status, the object status, etc.
Example of FC04 read function:
This message asks for register 0x07D0 (2000) and register 0x07D1 (2001) which contain Gripper Status, Object Detection, Fault
Status and Maximum Relative Pressure Level Request Echo.
Request is: 09 04 07 D0 00 02 70 0E
Bits Description
09 Slave ID
04 Function Code 04 (Read Input Registers)
07D0 Address of the first requested register
0002 Number of registers requested (2)
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