ROBOTIQ Hand-E C10 Instruction Manual page 57

57
INFO
Gripper executes the input command ("write" command), executes one cycle of motion, updates the
output, then returns the Modbus response read.
4.7.5. Modbus RTU example
This section depicts the example from the Control Logic Example section, when programmed using the Modbus RTU protocol.
The example is typical of a pick and place application. After activating the gripper, the robot is moved to a pick-up location to grip
an object. It moves again to a second location to release the gripped object.
Step 1: Activation Request ( clear and set rACT)
Request is (clear rAct): 09 10 03 E8 00 03 06 00 00 00 00 00 00 73 30
Bits
09
10
03E8
0003
06
0000
0000
0000
7330
Robotiq Hand-E C10 Gripper Instruction Manual
Function Code 16 (Preset Multiple Registers)
Number of data bytes to follow (3 registers x 2 bytes/register = 6 bytes)
Value to write to register 0x03E9 (ACTION REQUEST = 0x01 and GRIPPER OPTIONS =
0x00): rACT = 1 for "Activate Gripper"
Description
SlaveID
Address of the first register
Number of registers written to
Value written to register 0x03EA
Value written to register 0x03EB
Cyclic Redundancy Check (CRC)