User Manual

UFACTORY
29
Close the Gripper : 0x0000 0x0032
Set Position Speed Register
0x0303
2 Bytes
0x0100-0x0400
Unit : r/min
Set Gripper Mode Register
0x0101
2bytes
Position mode：0x0000
3.5.4. Modbus RTU Example
This section demonstrates the example given in the Control Logic section
when programmed using the Modbus RTU protocol.
Step1：Set xArm Gripper Mode
Set xArm Gripper Mode
Request
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
2 Bytes
0x00,0x00
Modbus CRC16
2 Bytes
0xDD,0x11
Response
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
Modbus CRC16
2 Bytes
0x51,0x6C
Step2：Enable xArm Gripper
Enable xArm Gripper
Request