Manual

Robotiq 3-Finger Adaptive Robot Gripper Instruction Manual
Robotiq inc. © 2008 - 2014 80
where
BITS DESCRIPTION
4533 Unique transaction identifier (chosen randomly)
0000 Protocol Identifier (Modbus)
0005 Length
02 SlaveID
04 Function Code 04 (Read Input Registers)
02 Number of data bytes to follow (1 registers x 2
bytes/register = 2 bytes)
1100 Content of register 0x0000 (GRIPPER STATUS =
0x11, OBJECT STATUS = 0x00): gACT = 1 for
"Gripper Activation", gIMC = 1 for "Activation in
progress"
Response (if the activation ):is completed
45 33 00 00 00 05 02 04 02 31 00
where
BITS DESCRIPTION
4533 Unique transaction identifier (chosen randomly)
0000 Protocol Identifier (Modbus)
0005 Length
02 SlaveID
04 Function Code 04 (Read Input Registers)
02 Number of data bytes to follow (1 registers x 2
bytes/register = 2 bytes)
3100 Content of register 0x0000 (GRIPPER STATUS =
0x31, OBJECT STATUS = 0x00): gACT = 1 for
"Gripper Activation", gIMC = 3 for "Activation and
mode change are completed"
Step 3: Move the robot to the pick-up location
Step 4: Close the Gripper at full speed and full force