User Manual

UFACTORY
22
Internal Use
Internal Use
1 Byte
0x09
Modbus RTU Data
Slave ID (Gripper)
1 Byte
0x08
Function Code
1 Byte
0x10
Register Starting Address
2 Bytes
Address
Quantity of Registers
2 Bytes
N*
Byte Count
1 Byte
N*x2
Registers Value
N*x2 Bytes
Value
Response
MBTP Header
Transaction Identifier
2 Bytes
0x00,0x01
Protocol Identifier
2 Bytes
0x00,0x02
Length
2 Bytes
0x00,0x09
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
0x10
Register Starting Address
2 Bytes
Address
Quantity of Registers
2 Bytes
N*
N* = Quantity of Registers
Address = Register Starting Address
Resgister:
Resgister
Starting Address
Registers Value
Set Gripper Mode Register
0x0101
2bytes
Position mode：0x0000
Enable/Disable Gripper
Register
0x0100
2 Bytes
Enable : 0x0001 Disable : 0x0000
Set Gripper Position Register
0x0700
4 Bytes
Open the Gripper : 0x0000 0x0082
Close the Gripper : 0x0000 0x0032
Set Position Speed Register
0x0303
2 Bytes
0x0100-0x0400
Unit : r/min