Robotiq inc. © 2008 - 2014 58
4.7 MODBUS RTU communication protocol
The Robotiq can be controlled via RS485 or RS232 by using the Modbus RTU protocol. This3-Finger Gripper
section is intended to provide guidelines for setting up a Modbus scanner that will adequately communicate with the
Gripper.
For a general introduction to Modbus RTU and for details regarding the CRC algorithm, the reader is invited to read
the Modbus over serial line specification and implementation guide available at: http://www.modbus.org/docs/Modbu
. s_over_serial_line_V1.pdf
For debugging purposes, the reader is invited to download one of many free Modbus scanners, such as the CAS
from , which is available at: Modbus Scanner Chipkin Automation Systems http://www.chipkin.com/cas-modbus-scan
.ner
Note
The Adaptive Gripper register values are updated at a 100Hz frequency. It is therefore
recommended to send commands with a minimum interval delay of 10ms. Note that the updated
frequency may drop under some conditions where the response time would be longer.
To Next Page
Loading...
