3-Finger Adaptive Robot Gripper Instruction Manual
BITS
DESCRIPTION
03E8
Address of the first register
0003
Number of written registers
Step 8: Read Gripper status until the opening is completed
Request is:
D6 05 00 00 00 06 02 04 07 D0 00 08
where
BITS
DESCRIPTION
D605
Unique transaction identifier (chosen randomly)
0000
Protocol Identifier (Modbus)
0006
Length
02
SlaveID
04
Function Code 04 (Read Input Registers)
07D0
Address of the first requested register
0008
Number of registers requested (8)
Example of response if the opening
is not completed
:
D6 05 00 00 00 0D 02 04 10 39 C0 00 00 B8 0B 00 BD 0E 00 BA 0B 00 89 00 00
where
BITS
DESCRIPTION
D605
Unique transaction identifier (chosen randomly)
0000
Protocol Identifier (Modbus)
000D
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 0x07D0 (GRIPPER STATUS = 0x39, OBJECT
STATUS = 0xC0):
gSTA = 0 for "Gripper is in motion towards
requested position"
0000
Content of register 0x07D1 (FAULT STATUS = 0x00, POSITION
REQUEST ECHO = 0x00): the position request echo tells that the
command was well received and that the GRIPPER STATUS is valid.
B80B
Content of register 0x07D2 (FINGER A POSITION = 0xB8, FINGER A
CURRENT = 0x0B): the position of finger A is 184/255 and the motor
current is 170mA (these values will change during motion)
00BD
Content of register 0x07D3 (FINGER B POSITION REQUEST ECHO =
0x00, FINGER B POSITION = 0xBD)
0E00
Content of register 0x07D4 (FINGER B CURRENT = 0x0E, FINGER C
POSITION REQUEST ECHO = 0x00)
BA0B
Content of register 0x07D5 (FINGER C POSITION = 0xBA, FINGER C
CURRENT = 0x0B)
0089
Content of register 0x07D6 (SCISSOR POSITION REQUEST ECHO =
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