Robotiq Hand-E Gripper - Instruction Manual
4.7.1. Connection Setup
The following table describes the connection requirements for controlling the Gripper using the Modbus RTU protocol.
PROPRIETY
DEFAULT VALUE
Physical Interface
RS-485
1
Baud Rate
2
115,200 bps
Data Bits
8
Stop Bit
2
1
Parity
2
None
Supported Functions
Read Holding Registers (FC03)
Read Input Registers (FC04)
Preset Multiple Registers (FC16)
Master read & write multiple registers (FC23)
Exception Responses
Not supported
Slave ID
2
0x0009 (9)
Robot Output / Gripper Input First Register
0x03E8 (1000)
Robot Input / Gripper Output First Register
0x07D0 (2000)
Termination Resistor
2
120 ohms
1
Various converters are available in the Spare Parts, Kits and Accessories section.
2
These parameters can be adjusted using the Robotiq User Interface.
Each register (word - 16 bits) of the Modbus RTU protocol is composed of 2 bytes (8 bits) from the Gripper. The first Gripper output
Modbus register(0x07D0) is composed from the first 2 Robotiq Gripper bytes (byte 0 and byte 1).
Info
200 Hz is the maximum speed when commanding / reading from the Robotiq Gripper. It is therefore recommended to send
commands with a minimum delay of 5 ms between them.
Info
120 Ohms termination resistor is already present on the converter and the Gripper. If multiple grippers are connected in
parallel on the same RS485 cable, termination resistor must be set to OFF in communication parameters.
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Summary of Contents for HAND-E
Page 30: ...Robotiq Hand E Gripper Instruction Manual Fig 4 1 Hand E control logic overview 30 ...
Page 86: ...9 Troubleshooting Section to be populated soon Robotiq Hand E Gripper Instruction Manual 86 ...
Page 91: ...Robotiq Hand E Gripper Instruction Manual 12 3 Ingress Protection Certificate 91 ...