Manual

Robotiq 3-Finger Adaptive Robot Gripper Instruction Manual

where

BITS DESCRIPTION

776B Unique transaction identifier (chosen randomly)

0000 Protocol Identifier (Modbus)

0013 Length

02 SlaveID

04 Function Code 04 (Read Input Registers)

10 Number of data bytes to follow (8 registers x 2

bytes/register = 16 bytes)

39C0 Content of register 0x07D0 (GRIPPER STATUS =

0x39, OBJECT STATUS = 0xC0): gSTA = 0 for

"Gripper is in motion towards requested position"

00FF Content of register 0x07D1 (FAULT STATUS = 0x00,

POSITION REQUEST ECHO = 0xFF): the position

request echo tells that the command was well received

and that the GRIPPER STATUS is valid.

080F Content of register 0x07D2 (FINGER A POSITION =

0x08, FINGER A CURRENT = 0x0F): the position of

finger A is 8/255 and the motor current is 150mA (these

values will change during motion)

0008 Content of register 0x07D3 (FINGER B POSITION

REQUEST ECHO = 0x00, FINGER B POSITION =

0x08)

1000 Content of register 0x07D4 (FINGER B CURRENT =

0x10, FINGER C POSITION REQUEST ECHO = 0x00)

080F Content of register 0x07D5 (FINGER C POSITION =

0x08, FINGER C CURRENT = 0x0F)

0089 Content of register 0x07D6 (SCISSOR POSITION

REQUEST ECHO = 0x00, SCISSOR POSITION =

0x89)

0000 Content of register 0x07D7 (SCISSOR CURRENT =

0x00)

Example of response if the grip :is completed

77 6B 00 00 00 13 02 04 10 B9 EA 00 FF BC 00 00 C1 00 00

BD 00 00 89 00 00