Manual

Robotiq 3-Finger Adaptive Robot Gripper Instruction Manual

where

BITS DESCRIPTION

D605 Unique transaction identifier (chosen randomly)

0000 Protocol Identifier (Modbus)

000D 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"

0000 Content of register 0x07D1 (FAULT STATUS = 0x00,

POSITION REQUEST ECHO = 0x00): the position

request echo tells that the command was well received

and that the GRIPPER STATUS is valid.

B80B Content of register 0x07D2 (FINGER A POSITION =

0xB8, FINGER A CURRENT = 0x0B): the position of

finger A is 184/255 and the motor current is 170mA

(these values will change during motion)

00BD Content of register 0x07D3 (FINGER B POSITION

REQUEST ECHO = 0x00, FINGER B POSITION =

0xBD)

0E00 Content of register 0x07D4 (FINGER B CURRENT =

0x0E, FINGER C POSITION REQUEST ECHO = 0x00)

BA0B Content of register 0x07D5 (FINGER C POSITION =

0xBA, FINGER C CURRENT = 0x0B)

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 opening :is completed

D6 05 00 00 00 0D 02 04 10 F9 FF 00 00 07 00 00 06 00 00 06

00 00 89 00 00