Robotiq 3-Finger Adaptive Robot Gripper
Instruction Manual
Robotiq inc. © 2008 - 2014
88
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 =
0xF9, OBJECT STATUS = 0xFF): gSTA = 3 for
"Gripper is stopped. All fingers reached 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 Univer
model
and
using the
protocol.
sal Robots
UR-5
UR-10
Modbus TCP
