User Manual

UFACTORY
28
Get Gripper position
Register
0x0702
4bytes
0xFFFFFFFB-0x00000320
Get Gripper Error
Register
0x000F
2 Bytes
An error occurs:
all other return values indicate an
error(except 0)
No error occurred: 0x0000
3.5.3. Write xArm Gripper Register
Write Register
Request
Modbus RTU Data
Slave ID (Gripper)
1 Byte
0x08
Function Code
1 Byte
0x10
Register Starting Address
2 Bytes
Address
Quantity of Register
2 Bytes
N*
Byte Count
1 Byte
N*x2
Registers Value
N*x2 Bytes
Value
Modbus CRC16
2 Bytes
CRC*
Response
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*
Modbus CRC16
2 Bytes
CRC*
N* = Quantity of Registers
Address = Register Starting Address
CRC* = Cyclic Redundancy Check
Resgister:
Resgister
Starting Address
Register Value
Enable/Disable Gripper
Register
0x0100
2 Bytes
Enable : 0x0001 Disable : 0x0000
Set Gripper Position Register
0x0700
4 Bytes
Open the Gripper : 0x0000 0x0082