User Manual

UFACTORY
21
3. Get the xArm Gripper Error
Get the xArm Gripper Error
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
0x00,0x0F
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
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
(No error occurred in the Gripper)
2 Bytes
0x00,0x00
3.4.3. Write xArm Gripper Register
3.4.3.1. Register Function
Write Register
Request
MBTP Header
Transaction Identifier
2 Bytes
0x00,0x01
Protocol Identifier
2 Bytes
0x00,0x02
Length
2 Bytes
9+N*x2
Unit Identifier
1 Byte
0x7C