8.Appendix-UFACTORY Private TCP protocol control

This section mainly explains how to control the BIO Gripper G2 by using the Modbus-TCP protocol through xArm control box.

8.1 UFACTORY Private TCP protocol

8.1.1 Register Address Description

Refer to 4.Modbus-RTU Communication Protocol Control

Modbus-TCP:

Modbus protocol is an application layer message transmission protocol, including three message types: ASCII, RTU, and TCP. The standard Modbus protocol physical layer interface includes RS232, RS422, RS485 and Ethernet interfaces, and adopts master / slave communication.

The BIO Gripper G2 supports the private TCP protocol, which is similar but not identical to the standard Modbus TCP.

Private Modbus TCP Communication Process:

1. Establish a TCP connection
2. Prepare Modbus messages
3. Use the send command to send a message
4. Wait for a response under the same connection
5. Use the recv command to read the message and complete a data exchange
6. When the communication task ends, close the TCP connection

Parameter:

• Default TCP Port: 502
• Protocol: 0x00 0x02

On the problem of users using communication protocols to organize data in big endian and little endian:

In this article, data analysis is big-endian analysis.

8.1.2 Read BIO Gripper Register

Register Function

Read Register
Request
MBTP Header	Transaction Identifier	2 Bytes	0x0001
	Protocol Identifier	2 Bytes	0x0002
	Length	2 Bytes	6+N*x2
	Unit Identifier	1 Byte	0x7C
Internal Use	Internal Use	1 Byte	0x09
Modbus RTU Data	Slave ID (Gripper)	1 Byte	0x08
	Function Code	1 Byte	0x03
	Register Starting Address	2 Bytes	Address
	Quantity of Registers	N*x2 Bytes	N*
Response
MBTP Header	Transaction Identifier	2 Bytes	0x0001
	Protocol Identifier	2 Bytes	0x0002
	Length	2 Bytes	6+N*x2
	Unit Identifier	1 Byte	0x7C
	Status Value	1 Byte	0x00
Internal Use	Internal Use	1 Byte	0x09
Modbus RTU Data	Slave ID	1 Byte	0x08
	Function Code	1 Byte	0x03
	Byte Count	1 Byte	N*x2
	Registers Value	N*x2 Bytes	Value

N* = Quantity of Registers

Address = Register Starting Address

Register Function

	Resgister Starting Address	Registers Value
Get Gripper status Register	0x0000	2 Bytes	Disabled: 0x0000 Enabling: 0x0004 Enabling completed: 0x0008 Stop status: 0x0008 Motion status: 0x0009 Clipping status: 0x000A Error status: 0x000B
Get Gripper Error Register	0x000F	2 Bytes	An error occurs: all other return values indicate an error(except 0)No error occurred: 0x0000

8.1.3 Write BIO Gripper Register

	Write Register
Request
MBTP Header	Transaction Identifier	2 Bytes	0x0001
	Protocol Identifier	2 Bytes	0x0002
	Length	2 Bytes	9+N*x2
	Unit Identifier	1 Byte	0x7C
Internal Use	Internal Use	1 Byte	0x09
Modbus RTU Data	Slave ID (Gripper)	1 Byte	0x08
	Function Code	1 Byte	0x10
	Register Starting Address	2 Bytes	Address
	Quantity of Registers	2 Bytes	N*
	Byte Count	1 Byte	N*x2
	Registers Value	N*x2 Bytes	Value
Response
MBTP Header	Transaction Identifier	2 Bytes	0x0001
	Protocol Identifier	2 Bytes	0x0002
	Length	2 Bytes	0x0009
	Unit Identifier	1 Byte	0x7C
	Status Value	1 Byte	0x00
Internal Use	Internal Use	1 Byte	0x09
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*

N* = Quantity of Registers

Address = Register Starting Address

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 Close the Gripper : 0x0000 0x0032
Set Gripper Speed Register	0x0303	2 Bytes	0x0000-0x0BB8
Clear Error Register	0x000F	2 Bytes	0x0000

8.1.4 Private TCP Example

Use private TCP to control BIO Gripper G2 opening and closing, mode 0.

1. Set the Bio Gripper G2 mode 0. Address: 0x010A, still effective after power failure.

Send：00 01 00 02 00 08 7C 09 08 06 11 0A 00 00
Response：00 01 00 02 00 09 7C 50 09 08 06 11 0A 00 00

2. Enable the Gripper. Address: 0x0100

Send：00 01 00 02 00 0B 7C 09 08 10 01 00 00 01 02 00 01
Response：00 01 00 02 00 09 7C 50 09 08 10 01 00 00 01

3. Open the Gripper

Mode 0 has no position control, sending position > 90, then opens the Bio Gripper G2. (OCT)130=(HEX)0082

Send：00 01 00 02 00 0d 7C 09 08 10 07 00 00 02 04 00 00 00 82
Response：00 01 00 02 00 09 7C 50 09 08 10 07 00 00 02

4. Close the Gripper

Mode 0 has no position control and sends a position ≤ 90,then closes the Bio Gripper G2. (OCT)50=(HEX)0032

Send：00 01 00 02 00 0d 7C 09 08 10 07 00 00 02 04 00 00 00 32
Response：00 01 00 02 00 09 7C 50 09 08 10 07 00 00 02