Robotiq 3-Finger Adaptive Robot Gripper
Instruction Manual
Robotiq inc. © 2008 - 2014
87
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 = 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
