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KennyKenny Posts: 2 Recruit

I and using 2-Finger Gripper and I want to control its position, force speed using MODBUS RTU.
The gripper is connected to a Windows PC via a USB port and uses a USB to RS-485 converter.
I'm writing code in Visual Studio C++ and using boost library to connect to the gripper.
I follow the manual to control the robot.
Activation request:                    09 10 03 E8 00 03 06 00 00 00 00 00 00 73 30
Closing the Gripper:                  09 10 03 E8 00 03 06 09 00 00 FF FF FF 42 29
Opening the Gripper:                 09 10 03 E8 00 03 06 09 00 00 00 FF FF 72 19
It all works just fine when closing and opening with full speed,full force.
But if I adjust the position, speed or force.It doesn't read the command and return nothing.
What command should I send to control position,speed and force ?


Best Answer


  • Etienne_SamsonEtienne_Samson Beta Tester Beetle, Wrist Camera URCap 1.3.0, Vacuum Beta tester Posts: 419 Handy
    @Kenny you need to write registers byte 3, 4 and 5 respectively to change position, speed and force.

    The output registers are listed in the manual, explaining what you can send to the Gripper, the input registers are also listed, explaining what you can read. You could use Modbus function FC23 to read & write, normally you would do this to write position X and get an echo of that position X. You can also do it with FC16 like you were doing with your example.
    Etienne Samson
    Technical Support Director
    +1 418-380-2788 ext. 207
    [email protected]
  • Michael_PerezMichael_Perez Beta Tester Camera URCap 1.2.0-beta Posts: 9 Apprentice
    Hi @Kenny,

    Here the values you have to change depending of your application

    Michael Perez

    Engineering Manager

    Campbell & George Co.

    A division of Buchanan Automation Inc.

  • KennyKenny Posts: 2 Recruit
    @Michael_Perez, @Etienne_Samson , @louis_bergeron
    Thanks , I appreciate your help. I know where my problem is. I was changing the value of position, speed and force but I didn't recalculate the CRC. No wonder there was no reaction. Now it works just fine. My sincere thanks for your help 
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