Robotiq 2f-85 Modbus Control - Change Force/Speed

nkendall8229

I am using a Robotiq 2F-85 gripper mounted on a UR10e robot, and communicating with the gripper through Modbus/RS485.

I can close the gripper with the following hex message: "09 10 03 E8 00 03 06 09 00 00 FF FF FF 42 29"

However, this closes with full speed and force. Editing the message to the following: "09 10 03 E8 00 03 06 09 00 00 FF FF 00 42 29"

Does not have the desired effect of minimizing force. Help?

nkendall8229

UPDATE: I have figured it out, it was the 4 digits at the end! You need to use a CRC calculator!

bcastets

Indeed, the crc code need to be calculated. If you use a modbus rtu library most pf the time the library do this job for you.