8. Appendix - UFACTORY Private TCP Control

Modbus TCP is an application-layer messaging protocol with three frame types: ASCII, RTU, and TCP. Standard Modbus interfaces include RS232, RS422, RS485, and Ethernet, using master/slave communication.

Gripper G2 uses the UFACTORY Private TCP protocol, which is similar to but not identical with standard Modbus TCP.

Private TCP communication process:

1. Establish TCP connection
2. Prepare Private TCP message
3. Send message using send command
4. Wait for response on same connection
5. Read response using recv command to complete data exchange
6. Close TCP connection when communication task ends

Parameters: Default TCP port: 502
Protocol ID: 0x00 0x02 (control - currently only this ID)
All data parsing in this section uses big-endian format.

8.1 Read Registers

	Read Registers
	Request Format
Modbus TCP Header	Transaction ID	2 Bytes	0x00, 0x01
	Protocol ID	2 Bytes	0x00, 0x02
	Length	2 Bytes	0x00, 0x08
	Register	1 Byte	0x7C
Parameters	Status	1 Byte	0x00
Internal Use	Host ID	1 Byte	0x09
Modbus RTU Data	Gripper ID	1 Byte	0x08
	Function Code	1 Byte	0x03
	Start Address	2 Bytes	Address
	Register Count	2 Bytes	N*
	Response Format
Modbus TCP Header	Transaction ID	2 Bytes	0x00, 0x01
	Protocol ID	2 Bytes	0x00, 0x02
	Length	2 Bytes	6+N*x2
	Register	1 Byte	0x7C
	Status	1 Byte	0x00
Internal Use	Host ID	1 Byte	0x09
Modbus RTU Data	Gripper ID	1 Byte	0x08
	Function Code	1 Byte	0x03
	Byte Count	1 Byte	N*x2
	Register Values	Nx2 Bytes	Value

Note: N* = Register count

8.2 Write Registers

	Write Registers
	Request Format
Modbus TCP Header	Transaction ID	2 Bytes	0x00, 0x01
	Protocol ID	2 Bytes	0x00, 0x02
	Length	2 Bytes	9+Nx2
	Register	1 Byte	0x7C
Internal Use	Host ID	1 Byte	0x09
Modbus RTU Data	Gripper ID	1 Byte	0x08
	Function Code	1 Byte	0x10
	Start Address	2 Bytes	Address
	Register Count	2 Bytes	N*
	Byte Count	1 Byte	N*x2
	Register Values	N*x2 Bytes	Value
	Response Format
Modbus TCP Header	Transaction ID	2 Bytes	0x00, 0x01
	Protocol ID	2 Bytes	0x00, 0x02
	Length	2 Bytes	0x00, 0x09
	Register	1 Byte	0x7C
Parameters	Status	1 Byte	0x00
Internal Use	Host ID	1 Byte	0x09
Modbus RTU Data	Gripper ID	1 Byte	0x08
	Function Code	1 Byte	0x10
	Start Address	2 Bytes	Address
	Register Count	2 Bytes	N*

8.3 Private TCP Examples

1. Enable gripper. Address (0x0100)

Tx: 00 01 00 02 00 0B 7C 09 08 10 01 00 00 01 02 00 01
Rx: 00 01 00 02 00 09 7C 00 09 08 10 01 00 00 01

2. Set gripper position to 400. Address (0x0700)

Tx: 00 01 00 02 00 0D 7C 09 08 10 07 00 00 02 04 00 00 01 90
Rx: 00 01 00 02 00 09 7C 00 09 08 10 07 00 00 02

3. Read error code. Address (0x000F)

Tx: 00 01 00 02 00 08 7C 09 08 03 00 0F 00 01
Rx: 00 01 00 02 00 08 7C 30 09 08 03 02 00 00

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

Tx: 00 01 00 02 00 11 7C 09 08 10 0C 00 00 05 0A 00 01 0B B8 00 32 03 52
Rx: 00 01 00 02 00 09 7C 30 09 08 10 0C 00 00 05