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

Robotiq 2-Finger Adaptive Robot Gripper - 200

4.10.4 Modbus TCP 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:
33 9A 00 00 00 0D 02 10 00 00 00 03 06 01 00 00 00 00 00
where
Response is:
Robotiq inc. © 2008-2013
section 4.8
Bits
339A
0000
000D
02
10
0000
0003
06
0100
0000
0000
33 9A 00 00 00 06 02 10 00 00 00 03
when programmed using the Modbus TCP protocol. The
Unique transaction identifier (chosen randomly)
Protocol Identifier (Modbus)
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 0x0000 (ACTION REQUEST
= 0x01 and GRIPPER OPTIONS = 0x00): rACT = 1 for
"Activate Gripper"
Value to write to register 0x0001
Value to write to register 0x0002
Instruction Manual
Description
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SlaveID
69