20
table:
Get Status
（
Request Commands
）
00 01 00 02 00 04 80 09 0A 14
Get Status
（
Response Commands
）
（
The vacuum gripper picked up the object
）
00 01 00 02 00 06 80 00 00 00 00 01
Get Status
（
Response Commands
）
（
The vacuum gripper does not pick up the
object
）
00 01 00 02 00 06 80 00 00 00 00 00
Please refer to the table below for specific parameters.
Get the input of the end digital quantity
Register
：
128 (0x80)
Request
Modbus TCP
Header
Transaction Identifier
2
Bytes
u16
0x00,0x01
Protocol
2
Bytes
u16
0x00,0x02
Length
2
Bytes
u16
0x00,0x04
Register
1 Byte u8
0x80
Parameters
Host ID
1 Byte u8
0x09
Address
2
Bytes
u16
0x0A, 0x14
Response
Modbus TCP
Header
Transaction Identifier
2
Bytes
u16
0x00,0x01
Protocol
2
Bytes
u16
0x00,0x02
Length
2
Bytes
u16
0x00,0x06
Register
1 Byte u8
0x80
Parameters
State
1 Byte u8
0x00
Parameters1
（
0
）
The end byte indicates the input
status. The digit of 0 corresponds to
input 0 and the digit of 1 corresponds
to input 1.
4
Bytes
u8*4
0x00,0x00,0x00,0x00
