Robotiq 3-Finger Adaptive Robot Gripper
Instruction Manual
Robotiq inc. © 2008 - 2014
65
4.7.6 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 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
Request is:
09 10 03 E8 00 03 06 01 00 00 00 00 00 72 E1
where
BITS
DESCRIPTION
09
SlaveID
10
Function Code 16 (Preset Multiple Registers)
03E8
Address of the first register
0003
Number of registers to write to
06
Number of data bytes to follow (3 registers x 2
bytes/register = 6 bytes)
0100
Value written 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
72E1
Cyclic Redundancy Check (CRC)
