3-Finger Adaptive Robot Gripper Instruction Manual
BITS
DESCRIPTION
0x00, SCISSOR POSITION = 0x89)
0000
Content of register 0x07D7 (SCISSOR CURRENT = 0x00)
Example of response if the opening
is completed
:
D6 05 00 00 00 0D 02 04 10 F9 FF 00 00 07 00 00 06 00 00 06 00 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)
F9FF
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.
0700
Content of register 0x07D2 (FINGER A POSITION = 0x07, FINGER A
CURRENT = 0x00): the position of finger A is 7/255 and the motor
current is 0mA
0006
Content of register 0x07D3 (FINGER B POSITION REQUEST ECHO =
0x00, FINGER B POSITION = 0x06)
0000
Content of register 0x07D4 (FINGER B CURRENT = 0x00, FINGER C
POSITION REQUEST ECHO = 0x00)
0600
Content of register 0x07D5 (FINGER C POSITION = 0x06, FINGER C
CURRENT = 0x00)
0089
Content of register 0x07D6 (SCISSOR POSITION REQUEST ECHO =
0x00, SCISSOR POSITION = 0x89)
0000
Content of register 0x07D7 (SCISSOR CURRENT = 0x00)
Step 9: Loop back to step 3 if other objects have to be gripped.
4.8.5 Application with Universal Robots
This section contains some additional information relative to the communication between the Gripper and the
Universal Robots
model
UR-5
and
UR-
10
using the
Modbus TCP
protocol.
Modbus TCP
works with 16-bit registers, whereas the Adaptive Gripper is configured using 8-bit bytes. Therefore, you must compute the value for
each 16-bit register using two bytes. Also, the endianness is different for the Gripper than for the
UR
robots. This means that the first register is built
using the following formula:
REGISTER0 = BYTE1 + 256 * BYTE0
Tip
One thing to try first is to send the value 256 to REGISTER0. This command (1 on the activate bit) will trigger the initialization routine and
therefore you should see the Gripper open and close to reach its mechanical stops.
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