ROBOTIQ 3-Finger Adaptive Robot Gripper Instruction Manual page 23

INput Data Bytes
Output Data Bytes
Info
EtherCAT protocol uses inherent dynamic addressing, thus bus settings cannot be customized.
Info
Ethernet/IP uses 4 bytes of header which may be visible or not depending on the master.
Serial communication protocol
RS485 serial communication is standard on all 3-Finger Adaptive Robot Grippers, this communication is available through the power connector. Figure
3.5.2.6 shows the pin-out of the communication connectors when used in serial mode for the receptacle (male) present on the 3-Finger Adaptive Robot
Gripper and the cable (female) provided with your Gripper.
Note
When using serial communication, power wiring must still respect the schematics described in the section on Power connection.
©Robotiq inc. 2008-2018
Full Duplex Enabled
Auto-neg Enabled
Assembly 101
Instance
(input)
Assembly 100
Instance
(output)
Configurati 1
on Instance
Connection Run/Idle
Type Header
EtherCAT
16 Prod. Data length
16 Cons. Data Length
BUS SETTINGS
DATA SETTINGS
EtherNet/IP PROFINET
20 Output Data Bytes (16)
20 Module
Type
Count
Input Data Bytes (16)
Module
Type
Count
3-Finger Adaptive Robot Gripper Instruction Manual
Full Duplex always on
Auto-neg always on
Modbus
TCP/IP
N/A
1 N/A
Byte
16
5
Byte
16
23