Manual

Robotiq 3-Finger Adaptive Robot Gripper Instruction Manual

4.8 MODBUS TCP communication protocol

The Robotiq can be controlled using the Modbus TCP protocol. This section is intended to provide3-Finger Gripper

guidelines for setting up a Modbus TCP communication link to adequately send commands to and read inputs from

the Gripper.

For a general introduction to Modbus TCP and to understand its differences from Modbus RTU, the reader is invited

to review the information provided on the following website:

http://www.simplymodbus.ca/TCP.htm.

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.

4.8.1 Connection Setup

The following table describes the connection requirement for controlling the Robotiq using the3-Finger Gripper

Modbus TCP protocol.

CONNECTION REQUIREMENT VALUE

Required protocol TCP/IP

Port 502

Gripper IP address Configurable (most Grippers are shipped with the

192.168.1.11 address)

Supported Functions Read Input Registers (FC04)

Preset Multiple Registers (FC16)

UnitID 0x0002 (2)

Robot Output / Gripper Input First Register 0x0000 (0000)

Robot Input / Gripper Output First Register 0x0000 (0000)

Each register (word - 16 bits) of the Modbus TCP protocol is composed of registers (bytes – 8 bits) from the2

Robotiq . The first Gripper output Modbus register (0x0000) is composed from the first Robotiq3-Finger Gripper 2

3-Finger Adaptive Robot Gripper registers (byte 0 and byte 1).