UFactory XARM User Manual page 20

Get Gripper Error
Register
3.3.2.2. Example
1. Get the BIO Gripper status
MBTP Header
Internal Use
Modbus RTU Data
MBTP Header
Internal Use
Modbus RTU Data
(Robotic arm is in motion status)
0x000F 2 Bytes
Get the BIO Gripper status
Request
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
20
Error status: 0x000B
An error occurs:
all other return values indicate an
error(except 0)
No error occurred: 0x0000
2 Bytes
2 Bytes
2 Bytes
1 Byte
1 Byte
1 Byte
1 Byte
2 Bytes
2 Bytes
2 Bytes
2 Bytes
2 Bytes
1 Byte
1 Byte
1 Byte
1 Byte
1 Byte
1 Byte
2 Bytes
0x0001
0x0002
0x08
0x7C
0x09
0x08
0x03
0x0000
0x0001
0x0001
0x0002
0x0008
0x7C
0x00
0x09
0x08
0x03
0x02
0x0009