ROBOTIQ 3-Finger Adaptive Robot Gripper, Инструкция по эксплуатации

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3-Finger Adaptive Robot Gripper Instruction Manual
BITS DESCRIPTION
776B Unique transaction identifier (chosen randomly)
0000 Protocol Identifier (Modbus)
0013 Length
02 SlaveID
04 Function Code 04 (Read Input Registers)
10 Number of data bytes to follow (8 registers x 2 bytes/register = 16 bytes)
39C0 Content of register 0x0000 (GRIPPER STATUS = 0x39, OBJECT
STATUS = 0xC0): gSTA = 0 for "Gripper is in motion towards
requested position"
00FF Content of register 0x0001 (FAULT STATUS = 0x00, POSITION
REQUEST ECHO = 0xFF): the position request echo tells that the
command was well received and that the GRIPPER STATUS is valid.
080F Content of register 0x0002 (FINGER A POSITION = 0x08, FINGER A
CURRENT = 0x0F): the position of finger A is 8/255 and the motor
current is 150mA (these values will change during motion)
0008 Content of register 0x0003 (FINGER B POSITION REQUEST ECHO =
0x00, FINGER B POSITION = 0x08)
1000 Content of register 0x0004 (FINGER B CURRENT = 0x10, FINGER C
POSITION REQUEST ECHO = 0x00)
080F Content of register 0x0005 (FINGER C POSITION = 0x08, FINGER C
CURRENT = 0x0F)
0089 Content of register 0x0006 (SCISSOR POSITION REQUEST ECHO =
0x00, SCISSOR POSITION = 0x89)
0000 Content of register 0x0007 (SCISSOR CURRENT = 0x00)
Example of response if the grip is completed:
77 6B 00 00 00 13 02 04 10 B9 EA 00 FF BC 00 00 C1 00 00 BD 00 00 89 00 00
where
BITS DESCRIPTION
76B Unique transaction identifier (chosen randomly)
0000 Protocol Identifier (Modbus)
0013 Length
02 SlaveID
04 Function Code 04 (Read Input Registers)
10 Number of data bytes to follow (8 registers x 2 bytes/register = 16 bytes)
B9EA Content of register 0x07D0 (GRIPPER STATUS = 0xB9, OBJECT
STATUS = 0xEA): gSTA = 2 for "Gripper is stopped. All fingers
stopped before requested position", gDTA = gDTB = gDTC = 2
for "Finger X has stopped due to a contact while closing"
00FF Content of register 0x07D1 (FAULT STATUS = 0x00, POSITION
REQUEST ECHO = 0xFF): the position request echo tells that the
command was well received and that the GRIPPER STATUS is valid.
BC00 Content of register 0x07D2 (FINGER A POSITION = 0xBC, FINGER A
CURRENT = 0x00): the position of finger A is 188/255 and the motor
current is 0mA
00C1 Content of register 0x07D3 (FINGER B POSITION REQUEST ECHO =
0x00, FINGER B POSITION = 0xC1)
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