Application With Universal Robots - ROBOTIQ 2-Finger Adaptive Robot Gripper - 200 Instruction Manual

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Robotiq 2-Finger Adaptive Robot Gripper - 200

4.10.5 Application with Universal Robots

This section contains some additional information related to the communication between the Gripper and the Univer

sal Robots

model

UR-5

Modbus TCP works with 16-bits registers, whereas the Adaptive Gripper is configured using 8-bit bytes.

Therefore, it is necessary to compute the value of each 16-bits register using two bytes. Also, the endianness is

different for the Gripper than for the

REGISTER0 = BYTE1 + 256 * BYTE0

Tip

One thing to try first is to send the value 256 to the 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.

and

UR-10

using the

Modbus TCP

robots. This means that the first register is built using the following formula:

protocol.

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