UFactory XARM User Manual page 22

Internal Use
Modbus RTU Data
Quantity of Registers
Transaction Identifier
MBTP Header
Internal Use
Modbus RTU Data
Quantity of Registers
N* = Quantity of Registers
Address = Register Starting Address
Resgister:
Enable/Disable Gripper
Register
Set Gripper Position
Register
Set Position Speed
Register
Clear Position Error
Register
Internal Use
Slave ID (Gripper)
Function Code
Register Starting
Address
Byte Count
Registers Value
Response
Protocol Identifier
Length
Unit Identifier
Status Value
Internal Use
Slave ID
Function Code
Register Starting
Address
Resgister Starting
Address
0x0100
0x0700
0x0303
0x000F
1 Byte
1 Byte
1 Byte
2 Bytes
2 Bytes
1 Byte
N*x2
Bytes
2 Bytes
2 Bytes
2 Bytes
1 Byte
1 Byte
1 Byte
1 Byte
1 Byte
2 Bytes
2 Bytes
Registers Value
2 Bytes Enable : 0x0001
Open the Gripper : 0x0000 0x0082
4 Bytes
Close the Gripper : 0x0000 0x0032
0x0100-0x0400
2 Bytes
2 Bytes
22
0x09
0x08
0x10
Address
N*
N*x2
Value
0x0001
0x0002
0x0009
0x7C
0x00
0x09
0x08
0x10
Address
N*
Disable : 0x0000
Unit : r/min
0x0000