Robotiq 3-Finger Adaptive Robot Gripper
Instruction Manual
Robotiq inc. © 2008 - 2014
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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
robots. This means that the first register is built using the following formula:
UR
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.
Writing and reading other registers will be based on similar computations. Also, please note that the
read/write registers are not the same.
As an example, writing to REGISTER0 will send a command to the Gripper, whereas reading REGISTER0 will give
you the status of the Gripper.
