RS485 Control on the End-effector(123-128)
Set End-effector Modbus Timeout
Register: 123 (0x7B)
//Request
00 01 00 02 00 03 7B 01 01Request Description
//00 01 U16, Transaction ID
//00 02 U16, Protocol Identifier
//00 03 U16, Length
//7B U8, Register
//01 01 U16, Timeout (ms)
// Response:
00 01 00 02 00 02 7B 00Response Description
//00 01 U16, Transaction ID
//00 02 U16, Protocol Identifier
//00 02 U16, Length
//7B U8, Register
//00 U8, State
Gripper
Enable/Disable Gripper
Register: 124 (0x7C)
//Request
00 01 00 02 00 0B 7C 09 08 10 01 00 00 01 02 00 01Request Description
//00 01 U16, Transaction ID
//00 02 U16, Protocol Identifier
//00 0B U16, Length
//7C U8, Register
//09 U8, Host ID
//08 U8, Gripper ID
//10 U8, Function Code
//01 00 U16, Register Start Address
//00 01 U16, Register Count
//02 U8, Byte Count
//00 01 U16, Register Value (Enable Gripper)
//Response
00 01 00 02 00 09 7C 00 09 08 10 01 00 00 01Response Description
//00 01 U16, Transaction ID
//00 02 U16, Protocol Identifier
//00 09 U16, Length
//7C U8, Register
//00 U8, State
//09 U8, Host ID
//08 U8, Gripper ID
//10 U8, Function Code
//01 00 U16, Register Start Address
//00 01 U16, Register Count
Set Gripper Mode
Register: 124 (0x7C)
//Request
00 01 00 02 00 0B 7C 09 08 10 01 01 00 01 02 00 00Request Description
//00 01 U16, Transaction ID
//00 02 U16, Protocol Identifier
//00 0B U16, Length
//7C U8, Register
//09 U8, Host ID
//08 U8, Gripper ID
//10 U8, Function Code
//01 01 U16, Register Start Address
//00 01 U16, Register Count
//02 U8, Byte Count
//00 00 U16, Register Value (Position Mode)\
//Response
00 01 00 02 00 09 7C 00 09 08 10 01 00 00 01Response Description
//00 01 U16, Transaction ID
//00 02 U16, Protocol Identifier
//00 09 U16, Length
//7C U8, Register
//00 U8, State
//09 U8, Host ID
//08 U8, Gripper ID
//10 U8, Function Code
//01 00 U16, Register Start Address
//00 01 U16, Register Count
Set Gripper Speed
Register: 124 (0x7C)
//Request
00 01 00 02 00 0B 7C 09 08 10 03 03 00 01 02 05 DCRequest Description
//00 01 U16, Transaction ID
//00 02 U16, Protocol Identifier
//00 0B U16, Length
//7C U8, Register
//09 U8, Host ID
//08 U8, Gripper ID
//10 U8, Function Code
//03 03 U16, Register Start Address
//00 01 U16, Register Count
//02 U8, Byte Count
//05 DC U16, Register Value (Set speed to 1500 r/min)\
//Response
00 01 00 02 00 09 7C 00 09 08 10 03 03 00 01Response Description
//00 01 U16, Transaction ID
//00 02 U16, Protocol Identifier
//00 09 U16, Length
//7C U8, Register
//00 U8, State
//09 U8, Host ID
//08 U8, Gripper ID
//10 U8, Function Code
//03 03 U16, Register Start Address
//00 01 U16, Register Count
Set Gripper Position
Register: 124 (0x7C)
//Request
00 01 00 02 00 0D 7C 09 08 10 07 00 00 02 04 00 00 01 90Request Description
//00 01 U16, Transaction ID
//00 02 U16, Protocol Identifier
//00 0D U16, Length
//7C U8, Register
//09 U8, Host ID
//08 U8, Gripper ID
//10 U8, Function Code
//07 00 U16, Register Start Address
//00 02 U16, Register Count
//04 U8, Byte Count
//00 00 01 90 U32, Register Value (Gripper Position: 400)\
//Response
00 01 00 02 00 09 7C 00 09 08 10 07 00 00 02Response Description
//00 01 U16, Transaction ID
//00 02 U16, Protocol Identifier
//00 09 U16, Length
//7C U8, Register
//00 U8, State
//09 U8, Host ID
//08 U8, Gripper ID
//10 U8, Function Code
//07 00 U16, Register Start Address
//00 02 U16, Register Count
Get Gripper Position
Register: 124 (0x7C)
//Request
00 01 00 02 00 08 7C 09 08 03 07 02 00 02Request Description
//00 01 U16, Transaction ID
//00 02 U16, Protocol Identifier
//00 08 U16, Length
//7C U8, Register
//09 U8, Host ID
//08 U8, Gripper ID
//03 U8, Function Code
//07 02 U16, Register Start Address
//00 02 U16, Register Count\
// Response:
00 01 00 02 00 0A 7C 00 09 08 03 04 00 00 00 01Response Description
//00 01 U16, Transaction ID
//00 02 U16, Protocol Identifier
//00 0A U16, Length
//7C U8, Register
//00 U8, State
//09 U8, Host ID
//08 U8, Gripper ID
//03 U8, Function Code
//04 U8, Byte Count
//00 00 00 01 U32, Register Value (Position: 1 mm)\
Get Gripper Error
Register: 124 (0x7C)
//Request
00 01 00 02 00 08 7C 09 08 03 00 0F 00 01Request Description
//00 01 U16, Transaction ID
//00 02 U16, Protocol Identifier
//00 08 U16, Length
//7C U8, Register
//09 U8, Host ID
//08 U8, Gripper ID
//03 U8, Function Code
//00 0F U16, Register Start Address
//00 01 U16, Register Count\
// Response:
00 01 00 02 00 08 7C 00 09 08 03 02 00 00Response Description
//00 01 U16, Transaction ID
//00 02 U16, Protocol Identifier
//00 08 U16, Length
//7C U8, Register
//00 U8, State
//09 U8, Host ID
//08 U8, Gripper ID
//03 U8, Function Code
//02 U8, Byte Count
//00 00 U16, Register Value (No Error)\
Clear Gripper Error
Register: 124 (0x7C)
//Request
00 01 00 02 00 0B 7C 09 08 10 01 09 00 01 02 00 01Request Description
//00 01 U16, Transaction ID
//00 02 U16, Protocol Identifier
//00 0B U16, Length
//7C U8, Register
//09 U8, Host ID
//08 U8, Gripper ID
//10 U8, Function Code
//01 09 U16, Register Start Address
//00 01 U16, Register Count
//02 U8, Byte Count
//00 01 U16, Register Value\
// Response:
00 01 00 02 00 09 7C 00 09 08 10 01 09 00 01Response Description
//00 01 U16, Transaction ID
//00 02 U16, Protocol Identifier
//00 09 U16, Length
//7C U8, Register
//00 U8, State
//09 U8, Host ID
//08 U8, Gripper ID
//10 U8, Function Code
//01 09 U16, Register Start Address
//00 01 U16, Register Count
Read End-effector Consecutive Coils
Register: 126 (0x7E)
//Request
00 01 00 02 00 05 7E 09 0C 00 06Request Description
//00 01 U16, Transaction ID
//00 02 U16, Protocol Identifier
//00 05 U16, Length
//7E U8, Register
//09 U8, Host ID
//0C 00 U16, Address
//06 U8, Register Count (n)\
// Response:
00 01 00 02 00 0E 7E 00 3D B3 00 00 BC AA 00 00 3F 51 00 00Response Description
//00 01 U16, Transaction ID
//00 02 U16, Protocol Identifier
//00 0E U16, Length (2n+2)
//7E U8, Register
//00 U8, State
//3D B3 00 00 BC AA 00 00 3F 51 00 00 U16, Parameters (n)\
Set the robot RS485 baud rate
Register: 127 (0x7F)
//Request
00 01 00 02 00 08 7F 09 1A 0B 00 00 30 41Request Description
//00 01 U16, Transaction ID
//00 02 U16, Protocol Identifier
//00 08 U16, Length
//7F U8, Register
//09 U8, Host ID
//1A 0B U16,Address
//00 00 30 41 FP32, Parameter 1, by default is 11(2000000 bps).
0: 4800 bps；
1: 9600 bps；
2: 19200 bps；
3: 38400 bps；
4: 57600 bps；
5: 115200 bps
6: 230400 bps；
7: 460800 bps；
8: 921600 bps；
9: 1000000 bps；
10: 1500000 bps；
11: 2000000 bps；
12: 2500000 bps；
// Response:
00 01 00 02 00 01 7FResponse Description
//00 01 U16, Transaction ID
//00 02 U16, Protocol Identifier
//00 01 U16, Length
//7F U8, Register
Set tool digital output
Register:127 (0x7F)
//Request
00 01 00 02 00 08 7F 09 0A 15 00 00 80 43Request Description
//00 01 U16, Transaction ID
//00 02 U16, Protocol Identifier
//00 08(09) U16, Length (8 without Parameter 2, 9 with Parameter 2)
//7F U8, Register
//09 U8, Host ID
//0A 15 U16, Register start address
//00 00 80 43 FP32, Parameter 1, 256 in decimal, set tool digital output 0 low
Data:
256: Set tool digital output 0 to low
257: Set tool digital output 0 to high
512: Set tool digital output 1 to low
514: Set tool digital output 1 to high
//01 U8, Parameter 2 (Optional), 0: Execute immediately, 1: Delay execution
// Response:
00 01 00 02 00 02 7F 00Response Description
//00 01 U16, Transaction ID
//00 02 U16, Protocol Identifier
//00 02 U16, Length
//7F U8, Register
//00 U8, State
Get the status of the tool digital input
Register:128 (0x80)
//Request
00 01 00 02 00 04 80 09 0A 14Request Description
//00 01 U16, Transaction ID
//00 02 U16, Protocol Identifier
//00 04 U16, Length
//80 U8, Register
//09 U8, Host ID
//0A 14 U16, Register start address
// Response:
00 01 00 02 00 06 80 00 00 00 00 00Response Description
//00 01 U16, Transaction ID
//00 02 U16, Protocol Identifier
//00 06 U16, Length
//80 U8, Register
//00 U8, State
//00 00 00 00 U8,
The end byte indicates the input status. The digit of 0 corresponds to input 0 and the digit of 1 corresponds to input 1.
Get the value of the tool analog input
Register:128 (0x80)
//Request
00 01 00 02 00 04 80 09 0A 16Request Description
//00 01 U16, Transaction ID
//00 02 U16, Protocol Identifier
//00 04 U16, Length
//80 U8, Register
//09 U8, Host ID
//0A 16 U16, Address
Address 0A 16 ： Analog input 0
Address 0A 17 ： Analog input 1
// Response:
00 01 00 02 00 06 80 00 00 00 07 0DResponse Description
//00 01 U16, Transaction ID
//00 02 U16, Protocol Identifier
//00 06 U16, Length
//80 U8, Register
//00 U8, State
//00 00 07 0D U32, analog input, range 0~4095, corresponding to 0~3.3V