ROBOTIQ AirPick, Оригинальное уведомление, Страница: 48 / 104

AirPick - Instruction Manual
4.6. Control logic
Fig. 4-5: Example of the Vacuum Gripper control logic with associated registers.
4.7. Modbus RTU communication
The Vacuum Gripper can be controlled by Modbus RTU over RS485. This section is intended to provide guidelines for setting up a
Modbus master that will adequately communicate with the Gripper.
For a general introduction to Modbus RTU and for details regarding the CRC algorithm, the reader is invited to read the Modbus
over serial line specification and implementation guide available at: http://www.modbus.org/docs/Modbus_over_serial_line_V1_
02.pdf .
For debugging purposes, the reader is also invited to download one of many free Modbus master such as the CAS Modbus
Scanner from Chipkin Automation Systems available at: http://www.store.chipkin.com/products/tools/cas-modbus-scanner .
Info
Modbus RTU is a communication protocol based on a Big Endian byte order. Therefore, the 16-bit register addresses
are transmitted with the most significant byte first. However, the data port is, in the case of Robotiq products, based on
the Little Endian byte order. As such, the data parts of Modbus RTU messages are sent with the less significant byte first.
Tip
Modbus RTU specifications and details can be found at www.modbus.org .
4.7.1. Connection setup
The following table describes the connection requirements for controlling the Gripper using the Modbus RTU protocol.
Proprieties Value
Physical interface RS-485
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