User Manual

UFACTORY
18
On the problem of users using communication protocols to organize
data in big endian and little endian:
In this article, data analysis is big-endian analysis.
3.4.2. Read xArm Gripper Register
3.4.2.1. Register Function
Read Register
Request
MBTP Header
Transaction Identifier
2 Bytes
0x0001
Protocol Identifier
2 Bytes
0x0002
Length
2 Bytes
6+N*x2
Unit Identifier
1 Byte
0x7C
Internal Use
Internal Use
1 Byte
0x09
Modbus RTU Data
Slave ID (Gripper)
1 Byte
0x08
Function Code
1 Byte
0x03
Register Starting Address
2 Bytes
Address
Quantity of Registers
N*x2 Bytes
N*
Response
MBTP Header
Transaction Identifier
2 Bytes
0x0001
Protocol Identifier
2 Bytes
0x0002
Length
2 Bytes
6+N*x2
Unit Identifier
1 Byte
0x7C
Status Value
1 Byte
0x00
Internal Use
Internal Use
1 Byte
0x09
Modbus RTU Data
Slave ID
1 Byte
0x08
Function Code
1 Byte
0x03
Byte Count
1 Byte
N*x2
Registers Value
N*x2 Bytes
Value
N* = Quantity of Registers
Address = Register Starting Address