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Modbus RTU Data
(Robotic arm is in stop statu)
Step4：Close BIO Gripper
Modbus RTU Data
Modbus RTU Data
Read the Gripper status until it is in a stopped status.
Modbus RTU Data
Modbus RTU Data
Slave ID
Function Code
Byte Count
Registers Value
Modbus CRC16
Close BIO Gripper
Request
Slave ID (Gripper)
Function Code
Register Starting Address
Quantity of Registers
Byte Count
Registers Value
(Close the BIO Gripper)
Modbus CRC16
Response
Slave ID
Function Code
Register Starting Address
Quantity of Registers
Modbus CRC16
Get the BIO Gripper status
Request
Slave ID (Gripper)
Function Code
Register Starting Address
Quantity of Registers
Modbus CRC16
Response
Slave ID
1 Byte
1 Byte
1 Byte
2 Bytes
2 Bytes
1 Byte
1 Byte
2 Bytes
2 Bytes
1 Byte
4 Bytes
2 Bytes
1 Byte
1 Byte
2 Bytes
2 Bytes
2 Bytes
1 Byte
1 Byte
2 Bytes
2 Bytes
2 Bytes
1 Byte
31
0x08
0x03
0x02
0x0000
0x6445
0x08
0x10
0x0700
0x0002
0x04
0x0000, 0x0032
0x7AD6
0x08
0x10
0x0700
0x0002
0x4025
0x08
0x03
0x0000
0x0001
0x8493
0x08
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