Robotiq 3-Finger Adaptive Robot Gripper
Instruction Manual
Robotiq inc. © 2008 - 2014
81
Request is:
71 EE 00 00 00 0D 02 10 03 E8 00 03 06 09 00 00 FF FF FF
where
BITS
DESCRIPTION
71EE
Unique transaction identifier (chosen randomly)
0000
Protocol Identifier (Modbus)
000D
Length
02
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)
0900
Value written to register 0x03E9 (ACTION REQUEST =
0x09 and GRIPPER OPTIONS = 0x00): rACT = 1 for
,
"Activate Gripper" rMOD=0 for "Go to Basic Mode"
, rGTO = 1 for "Go to Requested Position"
00FF
Value written to register 0x03EA (GRIPPER OPTIONS
2 = 0x00 and POSITION REQUEST = 0xFF): rPRA =
255/255 for full closing of the Gripper
FFFF
Value written to register 0x03EB (SPEED = 0xFF and
FORCE = 0xFF): full speed and full force
Response is:
71 EE 00 00 00 06 02 10 03 E8 00 03
where
BITS
DESCRIPTION
71EE
Unique transaction identifier (chosen randomly)
0000
Protocol Identifier (Modbus)
0006
Length
02
SlaveID
10
Function Code 16 (Preset Multiple Registers)
03E8
Address of the first register
0003
Number of written registers
