ROBOTIQ Gripper - Page 81

Robotiq 3-Finger Adaptive Robot Gripper Instruction Manual
Robotiq inc. © 2008 - 2014 81
Request is:
71 EE 00 00 00 0D 02 10 03 E8 00 03 06 09 00 00 FF FF FF
where
BITS DESCRIPTION
71EE Unique transaction identifier (chosen randomly)
0000 Protocol Identifier (Modbus)
000D Length
02 SlaveID
10 Function Code 16 (Preset Multiple Registers)
03E8 Address of the first register
0003 Number of registers to write to
06 Number of data bytes to follow (3 registers x 2
bytes/register = 6 bytes)
0900 Value written to register 0x03E9 (ACTION REQUEST =
0x09 and GRIPPER OPTIONS = 0x00): rACT = 1 for
, "Activate Gripper" rMOD=0 for "Go to Basic Mode"
, rGTO = 1 for "Go to Requested Position"
00FF Value written to register 0x03EA (GRIPPER OPTIONS
2 = 0x00 and POSITION REQUEST = 0xFF): rPRA =
255/255 for full closing of the Gripper
FFFF Value written to register 0x03EB (SPEED = 0xFF and
FORCE = 0xFF): full speed and full force
Response is:
71 EE 00 00 00 06 02 10 03 E8 00 03
where
BITS DESCRIPTION
71EE Unique transaction identifier (chosen randomly)
0000 Protocol Identifier (Modbus)
0006 Length
02 SlaveID
10 Function Code 16 (Preset Multiple Registers)
03E8 Address of the first register
0003 Number of written registers