User Manual

UFACTORY
25
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
0x03,0x03
Quantity of Registers
2 Bytes
0x00,0x01
4. Set xArm Gripper Position
Set xArm Gripper Position
Request
MBTP Header
Transaction Identifier
2 Bytes
0x00，0x01
Protocol Identifier
2 Bytes
0x00，0x02
Length
2 Bytes
0x00，0x0D
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
0x07,0x00
Quantity of Registers
2 Bytes
0x00,0x02
Byte Count
1 Byte
0x04
Registers Value
(Open the BIO Gripper)
4 Bytes
0x00,0x00,0xC8,0x43
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
0x07,0x00