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)

F9FF Content of register 0x07D0 (GRIPPER STATUS =

0xF9, OBJECT STATUS = 0xFF): gSTA = 3 for

"Gripper is stopped. All fingers reached 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.

0700 Content of register 0x07D2 (FINGER A POSITION =

0x07, FINGER A CURRENT = 0x00): the position of

finger A is 7/255 and the motor current is 0mA

0006 Content of register 0x07D3 (FINGER B POSITION

REQUEST ECHO = 0x00, FINGER B POSITION =

0x06)

0000 Content of register 0x07D4 (FINGER B CURRENT =

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

0600 Content of register 0x07D5 (FINGER C POSITION =

0x06, FINGER C CURRENT = 0x00)

0089 Content of register 0x07D6 (SCISSOR POSITION

REQUEST ECHO = 0x00, SCISSOR POSITION =

0x89)

0000 Content of register 0x07D7 (SCISSOR CURRENT =

0x00)

Step 9: Loop back to step 3 if other objects have to be gripped.

4.8.5 Application with Universal Robots

This section contains some additional information relative to the communication between the Gripper and the Univer

model and using the protocol. sal Robots UR-5 UR-10 Modbus TCP