User Manual

UFACTORY
19
Resgister：
Resgister Starting
Address
Registers Value
Get Gripper status
Register
0x0000
2 Bytes
Stop status: 0x0000
Motion status: 0x0001
Clipping status: 0x0010
Get Gripper
position Register
0x0702
4bytes
0xFFFFFFFB-0x00000320
Get Gripper Error
Register
0x000F
2 Bytes
An error occurs: all other return values
indicate an error(except 0)
No error occurred: 0x0000
3.4.2.2. Example
1. Get the xArm Gripper status
Get the xArm Gripper status
Request
MBTP Header
Transaction Identifier
2 Bytes
0x00，0x01
Protocol Identifier
2 Bytes
0x00，0x02
Length
2 Bytes
0x00，0x08
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
0x00，0x00
Quantity of Registers
2 Bytes
0x00，0x01
Response
MBTP Header
Transaction Identifier
2 Bytes
0x00，0x01
Protocol Identifier
2 Bytes
0x00，0x02
Length
2 Bytes
0x00，0x08
Unit Identifier
1 Byte
0x7C