Manual

Robotiq 3-Finger Adaptive Robot Gripper Instruction Manual

4.8.4 Modbus TCP example

This section depicts the example given in when programmed using the Modbus TCP protocol. Thesection 4.6

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 moves again to a second location to release the gripped object.

Step 1: Activation Request

Request is:

33 9A 00 00 00 0D 02 10 03 E8 00 03 06 01 00 00 00 00 00

where

BITS DESCRIPTION

339A 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)

0100 Value written to register 0x0000 (ACTION REQUEST =

0x01 and GRIPPER OPTIONS = 0x00): rACT = 1 for

"Activate Gripper"

0000 Value written to register 0x0001

0000 Value written to register 0x0002

Response is:

33 9A 00 00 00 06 02 10 03 E8 00 03