UFactory XARM User Manual page 23

3.3.3.2. Example
1. Enable/Disable BIO Gripper
MBTP Header
Internal Use
Modbus RTU Data
MBTP Header
Internal Use
Modbus RTU Data
2. Set BIO Gripper Speed
MBTP Header
Internal Use
Enable/Disable BIO Gripper
Request
Transaction Identifier
Protocol Identifier
Length
Unit Identifier
Internal Use
Slave ID (Gripper)
Function Code
Register Starting
Quantity of Registers Address
Byte Count
Registers Value
Response
Transaction Identifier
Protocol Identifier
Length
Unit Identifier
Status Value
Internal Use
Slave ID
Function Code
Register Starting
Quantity of Registers Address
Set BIO Gripper Speed
Request
Transaction Identifier
Protocol Identifier
Length
Unit Identifier
Internal Use
2 Bytes
2 Bytes
2 Bytes
1 Byte
1 Byte
1 Byte
1 Byte
2 Bytes
2 Bytes
1 Byte
2 Bytes
2 Bytes
2 Bytes
2 Bytes
1 Byte
1 Byte
1 Byte
1 Byte
1 Byte
2 Bytes
2 Bytes
2 Bytes
2 Bytes
2 Bytes
1 Byte
1 Byte
23
0x0001
0x0002
0x000B
0x7C
0x09
0x08
0x10
0x0100
0x0001
0x02
0x0001
0x0001
0x0002
0x0009
0x7C
0x00
0x09
0x08
0x10
0x0100
0x0001
0x0001
0x0002
0x000B
0x7C
0x09