User Manual

UFACTORY
24
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
0x01,0x00
Quantity of Registers
2 Bytes
0x00,0x01
Byte Count
1 Byte
0x02
Registers Value
2 Bytes
0x00,0x01
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
0x01,0x00
Quantity of Registers
2 Bytes
0x00,0x01
3. Set xArm Gripper Speed
Set xArm Gripper Speed
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
0x03,0x03
Quantity of Registers
2 Bytes
0x00,0x01
Byte Count
1 Byte
0x02
Registers Value(1500r/min)
2 Bytes
0x05,0xDC
Response
MBTP Header
Transaction Identifier
2 Bytes
0x00,0x01