Modbus Rtu Example - ROBOTIQ 2-Finger Adaptive Robot Gripper - 200 Instruction Manual

Robotiq 2-Finger Adaptive Robot Gripper - 200

4.9.5 Modbus RTU example

This section depicts the example given in
example is typical of a pick and place application. After activating the Gripper, the robot is moved to a pick-up
location to grip an object. It moves again to a second location to release the gripped object.
Step 1: Activation Request
Request is:
09 10 03 E8 00 03 06 01 00 00 00 00 00 72 E1
where
Response is:
where
Step 2: Read Gripper status until the activation is completed
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section 4.8
Bits
09
10
03E8
0003
06
0100
0000
0000
72E1
09 10 03 E8 00 03 01 30
Bits
09
10
03E8
0003
0130
when programmed using the Modbus RTU protocol. The
Function Code 16 (Preset Multiple Registers)
Address of the first register
Number of registers to write to
Number of data bytes to follow (3 registers x 2
bytes/register = 6 bytes)
Value to write to register 0x03E9 (ACTION REQUEST
= 0x01 and GRIPPER OPTIONS = 0x00): rACT = 1 for
"Activate Gripper"
Value to write to register 0x03EA
Value to write to register 0x03EB
Cyclic Redundancy Check (CRC)
Function Code 16 (Preset Multiple Registers)
Address of the first register
Number of written registers
Cyclic Redundancy Check (CRC)
Instruction Manual
Description
SlaveID
Description
SlaveID
57