User Manual

UFACTORY
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baud rate is 2Mbps and the slave ID is 0x08. The currently supported
function codes are: 0x03 / 0x10. In this article, data analysis is big-endian
analysis.
Read Register
Request
Modbus RTU Data
Slave ID (Gripper)
1 Byte
0x08
Function Code
1 Byte
0x03
Register Starting Address
2 Bytes
Address
Quantity of Register
2 Bytes
N*
Modbus CRC16
2 Bytes
CRC*
Response
Modbus RTU Data
Slave ID
1 Byte
0x08
Function Code
1 Byte
0x03
Byte Count
1 Byte
N*x2
Registers Value
N*x2 Bytes
Value
Modbus CRC16
2 Bytes
CRC*
3.5.2. Read xArm Gripper Register
N* = Quantity of Registers
Address = Register Starting Address
CRC* = Cyclic Redundancy Check
Resgister：
Resgister Starting
Address
Register Value
Get Gripper status
Register
0x0000
2 Bytes
Stop status: 0x0000
Motion status: 0x0001
Clipping status: 0x0010