4. Modbus RTU Control

4.1 Register Address Description

Gripper G2 supports standard Modbus RTU protocol with default baud rate of 2Mbps and gripper ID 0x08. Supported function codes: 0x03/0x06/0x10.

• 0x03: Read Holding Registers
• 0x06: Write Single Register
• 0x10: Write Multiple Registers

4.1.1 Monitoring Group:

Address	Description
0x0000	Operation Status
0x0001	Speed (r/min)
0x0002	Q-axis Current
0x0003	Bus Current
0x0004	Command Position (p)
0x0006	Motor Position (p)
0x0008	Position Error (p)
0x000F	Current Error Code

Status (0x0000)

Bits 1:0	00: Stopped	Bits 3:2	00: Disabled
	01: Moving		10: Enabled
	10: Grasping

4.1.2 Fn1xx Control Parameters

Address	Description	Range	Unit	Default
Fn100	Gripper Enable	0-1	-	0
Fn109	Fault Reset	0-1	-	0

4.1.3 Fn3xx Speed Parameters

Address	Description	Range	Unit	Default
Fn303	Speed Cmd	0-0xFFFF	r/min	2000

4.1.4 Fn5xx Torque Parameters

Address	Description	Range	Unit	Default
Fn500	Grasp Current Cmd	0-100	-	50

4.1.5 Fn6xx Communication Parameters

Address	Description	Range	Unit	Default
Fn600	Device ID	1-255	-	8
Fn601	Baud Rate	0: 4800 1: 9600 2: 192008: 9216009: 1M10: 1.5M11: 2M	bps	11

4.1.6 Fn7xx Position Command Group

Address	Description	Range	Unit	Default
Fn700	Position Cmd High	0-0xFFFF	-	-
Fn701	Position Cmd Low	0-0xFFFF	-	-
Fn702	Position Fdbk High	0-0xFFFF	-	0
Fn703	Position Fdbk Low	0-0xFFFF	-	0

4.1.7 FnCxx Gripper Control Registers

Address	Description	Range	Unit	Default
FnC00	Gripper Enable	0-1	-	0
FnC01	Speed Command	0-0xFFFF	-	2000
FnC02	Grasp Current Cmd	0-100	-	50
FnC03	Position Cmd High	0-0xFFFF	-
FnC04	Position Cmd Low	0-0xFFFF	-

4.2 FnCxx Register Usage Instructions

FnCxx Control Registers
Request Format
Modbus RTU Data	Gripper ID	1 Byte	0x08
	Function Code	1 Byte	0x10
	Start Address	2 Bytes	0x0C, 0x00
	Register Count	2 Bytes	0x00, 0x05
	Byte Count	1 Byte	0x0A
	Gripper Enable	2 Bytes	0x00, 0x01
	Speed (3000)	2 Bytes	0x0B, 0xB8
	Current (50)	2 Bytes	0x00, 0x32
	Position (850)	2 Bytes	0x03, 0x52
	CRC16	2 Bytes	0x17, 0x4E
Response Format
Modbus RTU Data	Gripper ID	1 Byte	0x08
	Function Code	1 Byte	0x10
	Start Address	2 Bytes	0x0C, 0x00
	Register Count	2 Bytes	0x00, 0x05
	CRC16	2 Bytes	0x03, 0xC3

4.3 Modbus RTU Examples

1. Enable gripper. Address (0x0100)

Tx: 08 06 01 00 00 01 49 6F
Rx: 08 06 01 00 00 01 49 6F

2. Set gripper position to 100. Address (0x0700)

Tx: 08 10 07 00 00 02 04 00 00 00 64 FA E8
Rx: 08 10 07 00 00 02 40 25

3. Read error code. Address (0x000F)

Tx: 08 03 00 0F 00 01 B4 90
Rx: 08 03 02 00 00 64 45

4. Set gripper enable, position(850), speed(3000), force(50). Address (0x0Cxx)

Tx: 08 10 0C 00 00 05 0a 00 01 0b b8 00 32 03 52 17 4E
Rx: 08 10 0C 00 00 05 03 C3