User Manual

UFACTORY
23
3.4.3.2. Example
1. Set xArm Gripper Mode
Set xArm Gripper Mode
Request
MBTP Header
Transaction Identifier
2 Bytes
0x00,0x01
Protocol Identifier
2 Bytes
0x00,0x02
Length
2 Bytes
0x00,0x0B
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
0x10
Register Starting Address
2 Bytes
0x01,0x01
Quantity of Registers
2 Bytes
0x00,0x01
Byte Count
1 Byte
0x02
Registers Value
(Position mode)
2 Bytes
0x00,0x00
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
0x01,0x01
Quantity of Registers
2 Bytes
0x00,0x01
2. Enable/Disable xArm Gripper
Enable/Disable xArm Gripper
Request
MBTP Header
Transaction Identifier
2 Bytes
0x00,0x01
Protocol Identifier
2 Bytes
0x00,0x02
Length
2 Bytes
0x00,0x0B