User Manual

UFACTORY
20
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
0x02
Registers Value
(Robotic arm is in motion status)
2 Bytes
0x00，0x01
2. Get the xArm Gripper position
Get the xArm Gripper position
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
0x07,0x02
Quantity of Registers
2 Bytes
0x00,0x02
Response
MBTP Header
Transaction Identifier
2 Bytes
0x00,0x01
Protocol Identifier
2 Bytes
0x00,0x02
Length
2 Bytes
0x00,0x0A
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
0x04
Registers Value
(position: 400)
2 Bytes
0x00,0x00,0xC8,0x43