alvazz / robotiq_850

The driver for 2-finger gripper 850 from Robotiq using Boost

Robotiq 2-finger850 Gripper Driver

• This is a c++ driver for Robotiq 2-finger 850 gripper under Linux.
• For Windows user, just modify the COM port.
• This package requried 3rd party library, Boost. Be sure your Boost was well installed before building the package.
• The following contains some basic control using modbus RTU communication instructions to control robotiq 2-finger 850 gripper.

Maintainer

Howard Chen, [email protected], National Chaio Tung University, Taiwan.

Usage and install

• Just create /build and cmake.., then make
• [Note] Be sure to check your port /dev/ttyUSB0 or /dev/ttyUSB1or COM3 etc.
• The program will activate and open with full speed&force. Then press enterto close and open the gripper, qto quit program.
• Because this program will access hardware device /dev/ttyUSBx,which belongs to the dialout group. Therefore, run with sudo or if you are non root user, be sure to contact your root user to add you into the dialout group.

Troubleshooting

1. Serial port terminal > Cannot open /dev/ttyS0: Permission denied
2. How to allow a non-default user to use serial device ttyUSB0

Connection Setup

The following table describes the connection requirements for controlling the Gripper using the Modbus RTU protocol.

PROPERTY	VALUE
Physical Interface	RS-485
Baud Rate	115,200 bps
Data Bits	8
Stop Bits	1
Parity	None
Supported Functions	Read Holding Register(FC03) Press Single Register(FC06) Preset Multiple Register(FC16) Master read & write multiple registers (FC23)
Exception Response	Not Supported
Slave ID	0x0009
Robot output / Gripper input First Register	0x03E8(1000)
Robot input / Gripper output First Register	0x07D0(2000)

Modbus RTU protocol formate

• Request protocol

• Response protocol

Modbus RTU command (ASCII)

1. Activation

• Request : 09 10 03 E8 00 03 06 00 00 00 00 00 00 73 30
• Response : 09 10 03 E8 00 03 01 30

2. Read Gripper status until the activation is completed

• Request : 09 03 07 D0 00 01 85 CF
• Response :
  • 09 03 02 11 00 55 D5 (The activation is not completed)
  • 09 03 02 31 00 4C 15 (The activation is completed)

3. Close with full speed&force

• Request : 09 10 03 E8 00 03 06 09 00 00 FF FF FF 42 29
• Response : 09 10 03 E8 00 03 01 30

4. Read status until closing is complete

• Request : 09 03 07 D0 00 03 04 0E
• Response :
  • 09 03 06 39 00 00 FF 0E 0A F7 8B (Closing is not completed)
  • 09 03 06 B9 00 00 FF BD 00 1D 7C (Closing is completed)

5. Open with full speed&force

• Request : 09 10 03 E8 00 03 06 09 00 00 00 FF FF 72 19
• Response: 09 10 03 E8 00 03 01 30

6. Read status until opening is complete

• Request: 09 03 07 D0 00 03 04 0E
• Response:
  • 09 03 06 39 00 00 00 BB 10 30 E0(Opening is not completed)
  • 09 03 06 F9 00 00 00 0D 00 56 4C(Opening is completed)

Reference

• For more details, please check Robotiq Official Website