ROBOTIQ Gripper - Connection Setup

Robotiq 3-Finger Adaptive Robot Gripper Instruction Manual
Robotiq inc. © 2008 - 2014 59
4.7.1 Connection setup
The following table describes the connection requirements for controlling the Robotiq using the3-Finger Gripper
Modbus RTU protocol.
PROPRIETY VALUE
Physical Interface RS485-RS232
Baud Rate 115,200 bps
Data Bits 8
Stop Bit 1
Parity None
Number Notation Hexadecimal
Supported Functions Read Holding Registers (FC03)
Preset Single Register (FC06)
Preset Multiple Registers (FC16)
Exception Responses Not supported
Slave ID 0x0009 (9)
Robot Output / Gripper Input First Register 0x03E8 (1000)
Robot Input / Gripper Output First Register 0x07D0 (2000)
Each register (word - 16 bits) of the Modbus RTU protocol is composed of registers (bytes – 8 bits) from the2
Robotiq . The first Gripper output Modbus register (0x07D0) is composed from the first Robotiq 3-Finger Gripper 2
3-Finger Adaptive Robot Gripper registers (byte 0 and byte 1).