ROBOTIQ 2-Finger 140, Инструкция по эксплуатации

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Robotiq 2-Finger Adaptive Gripper Instruction Manual
Robotiq inc. © 2016 59
4.7.5 Modbus RTU example
This section depicts the example given in when programmed using the Modbus RTU protocol. The example is typical of a pick and place Section 4.6
application. After activating the Gripper, the robot is moved to a pick-up location to grip an object. It moves again to a second location to release the gripped
object.
Step 1: Activation Request
( clear and set rACT)
Request is : (clear rAct) 09 10 03 E8 00 03 06 00 00 00 00 00 00 73 30
Bits Description
09 SlaveID
10 Function Code 16 (Preset Multiple Registers)
03E8 Address of the first register
0003 Number of registers written to
06 Number of data bytes to follow (3 registers x 2 bytes/register = 6 bytes)
0000 Value to write to register 0x03E9 (ACTION REQUEST = 0x01 and GRIPPER OPTIONS = 0x00): rACT = 1 for "Activate Gripper"
0000 Value written to register 0x03EA
0000 Value written to register 0x03EB
7330 Cyclic Redundancy Check (CRC)
Response is: 09 10 03 E8 00 03 01 30
Bits Description
09 SlaveID
10 Function Code 16 (Preset Multiple Registers)
03E8 Address of the first register
0003 Number of written registers
0130 Cyclic Redundancy Check (CRC)