ROBOTIQ 2F-140 - Page 72

2F-85 & 2F-140 - Instruction Manual
4.7.5.ModbusRTU 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 movesagain 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 Description
09 SlaveID
10 Function Code 16 (Preset Multiple Registers)
03E8 Addressof the first register
0003 Number of registers written to
06 Number of data bytesto follow (3 registers x 2 bytes/register = 6 bytes)
0000
Value to write to register 0x03E8 (ACTION REQUEST = 0x01 and GRIPPEROPTIONS= 0x00): rACT = 1 for"Activate
Gripper"
0000 Value written to register 0x03E9
0000 Value written to register 0x03EA
7330 Cyclic Redundancy Check (CRC)
Response is: 09 10 03 E8 00 03 01 30
Bits Description
09 SlaveID
10
Function Code 16 (Preset Multiple
Registers)
03E8 Addressof the first register
0003 Number of written registers
0130 Cyclic Redundancy Check (CRC)
72