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MBTP Header
Internal Use
Modbus RTU Data
MBTP Header
Internal Use
Modbus RTU Data
N* = Quantity of Registers
Address = Register Starting Address
Resgister：
Get Gripper status
Register
Read Register
Transaction Identifier
Protocol Identifier
Length
Unit Identifier
Internal Use
Slave ID (Gripper)
Function Code
Register Starting Address
Quantity of Registers
Response
Transaction Identifier
Protocol Identifier
Length
Unit Identifier
Status Value
Internal Use
Slave ID
Function Code
Byte Count
Registers Value
Resgister Starting
Address
0x0000
2 Bytes
Request
2 Bytes
2 Bytes
2 Bytes
1 Byte
1 Byte
1 Byte
1 Byte
2 Bytes
N*x2 Bytes
2 Bytes
2 Bytes
2 Bytes
1 Byte
1 Byte
1 Byte
1 Byte
1 Byte
1 Byte
N*x2 Bytes
Registers Value
Disabled: 0x0000
Enabling completed: 0x0008
Stop status: 0x0008
0x0009
Clipping status: 0x000A
19
0x0001
0x0002
6+N*x2
0x7C
0x09
0x08
0x03
Address
N*
0x0001
0x0002
6+N*x2
0x7C
0x00
0x09
0x08
0x03
N*x2
Value
Enabling: 0x0004
Motion status:
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