ROBOTIQ UNI-CTR-001 Series User manual

1
© ROBOTIQ INC. 2014
Get the latest version of the manual at support.robotiq.com

Table of Contents
Robotiq inc. © 2008 - 2014 2
Revisions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
1. General Presentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
2. Safety . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
2.1 Warning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
2.2 Intended use . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
3. Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
3.1 Scope of delivery . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
3.2 Environmental and operating conditions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
3.3 Mechanical connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
3.4 Power supply specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
3.5 Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
3.5.1 Power connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
3.5.2 Communication connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
Real-time Ethernet communication protocols . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
DeviceNet communication protocol . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
CANopen communication protocol . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
PROFIBUS communication protocol . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
4. Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
4.1 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
4.2 Status LEDs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
4.2.1 Supply LED . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
4.2.2 Communication LED . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
4.2.3 Fault LED . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
4.3 Controller register mapping . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
4.4 Robot output registers & functionalities . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
4.5 Robot input registers & status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
5. User Interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
6. Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
6.1 Technical dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
6.2 Mechanical specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
6.3 Moment of inertia and center of mass . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
6.4 Electrical ratings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
7. Maintenance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
8. Spare Parts, Kits and Accessories . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
9. Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
10. Warranty . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
11. Contact . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41

Robotiq Universal Controller Instruction Manual
Robotiq inc. © 2008 - 2014 3
Revisions
Robotiq may modify this product without notice, when necessary, due to product improvements, modifications or
changes in specifications. If such modification is made, the manual will also be revised, see revision information.
See the latest version of this manual online at .http://support.robotiq.com/
Revision 140626
Manual release
Copyright
© 2008-2014 Robotiq Inc. All rights reserved.
This manual, and the product it describes, are protected by the Copyright Act of Canada, by laws of other countries,
and by international treaties, and therefore may not be reproduced in whole or in part, whether for sale or not,
without prior written consent from Robotiq. Under copyright law, copying includes translation into another language
or format.
Information provided by Robotiq in this document is believed to be accurate and reliable. However, no responsibility
is assumed by Robotiq for its use. There may be some differences between the manual and the product if the
product has been modified after the edition date.
The information contained in this document is subject to change without notice.

Robotiq Universal Controller Instruction Manual
Robotiq inc. © 2008 - 2014 4
1. General Presentation
The terms "Controller", "Universal Controller", "Robotiq Controller" , "K-Model", and "Robotiq Universal Controller"
used in the following manual all refer to the . The Robotiq Universal Controller is aRobotiq Universal Controller
robotic peripheral controller for other Robotiq devices and communication with other robot controllers. The Universal
Controller is designed for industrial applications with various communication protocols and is common to all Robotiq
devices.
Note
The following manual uses the metric system, unless specified, all dimensions are in
.millimeters
Note
The following section presents the key features of the Controller and must not be considered as
related to Controller operation, each feature is detailed in an appropriate section of the manual.
Safety guidelines must be read and understood before any operation is attempted with the
Controller.
The Universal Controller has two panels as shown in Figure 1.1. The front panel is called the Communication Panel
and covers standard and optional communication features. The side panel is called the Supply Panel and features
the connector for supply of the Controller, setup of emergency stop and the Robotiq Device Connector.
Figure 1.1 : The Robotiq Universal Controller.

Robotiq Universal Controller Instruction Manual
Robotiq inc. © 2008 - 2014 5
All Robotiq Universal Controllers have a standard USB 2.0 port available for serial communication. Optional
communication panel choices are :
Ethernet family protocols
Ethernet / IP
Modbus TCP
EtherCAT
PROFINET
DeviceNet
CANopen
Profibus
The Supply Panel is standard on all Controllers and includes a supply connector with an emergency stop feature
and the Robotiq Device Connector for connection to the various Robotiq Grippers.
Info
See for details on the Supply Panel andsection 3.5.1 Power connection section 3.5.2
for details on the Communication Panel.Communication connection
The Robotiq User Interface can be used via the standard USB 2.0 port to control or configure Robotiq devices. Visit
http://support.robotiq.com to get the latest installer of the Robotiq User Interface along with appropriate
documentation.
See the for details on usage of the RUI.Robotiq User Interface Instruction Manual

Robotiq Universal Controller Instruction Manual
Robotiq inc. © 2008 - 2014 6
2. Safety
Warning
The operator must have read and understood all of the instructions in the following
manual before handling the Robotiq Universal Controller and the associated Gripper
device.
The term "operator" refers to anyone responsible for any of the following operations on the
Universal Controller and associated Gripper device :
Installation
Control
Maintenance
Inspection
Calibration
Programming
Decommissioning
This documentation explains the various components of the Universal Controller and its general operation. Read this
documentation and the associated Robotiq Gripper device documentation and be sure to understand its contents
before handling the Controller or Gripper.
The drawings and photos in this documentation are representative examples and differences may exist between
them and the delivered product.

Robotiq Universal Controller Instruction Manual
Robotiq inc. © 2008 - 2014 7
2.1 Warning
Note
Any use of the Controller in noncompliance of these warnings is inappropriate and may cause
injury or damage.
Warning
Concerning Controller use in a robot environment (with robot and/or Robotiq Grippers):
Respect all robot safety recommendations.
Respect all Gripper safety recommendations.
Controller must be installed in a secured and clean environment.
Make sure all cord sets are always secured at the Gripper, the Controller and at the robot.
Respect power supplies according to the associated Robotiq device.
Respect fusing according to the associated Robotiq device.
Always respect the recommended keying for electrical connections.
Never supply the Gripper with an alternative current source.
Any usage of the Controller beyond these definitions is inappropriate and may cause
injury or damage.
Note Usage of the Universal Controller with an emergency stop is strongly recommended.

Robotiq Universal Controller Instruction Manual
Robotiq inc. © 2008 - 2014 8
2.2 Intended use
The Controller unit is designed for control of Robotiq devices such as the Robotiq Adaptive Robot Gripper series.
Caution
The Controller is NOT intended for robot control.
The product is intended to be installed in parallel to a robot or other automated machinery or equipment.
Note
Always comply with local and/or national laws, regulations and directives on automation safety
and general machine safety.
The unit may be used only within the range of its technical data. Any other use of the product is deemed improper
and unintended use. Robotiq will not be liable for any damages resulting from improper use.

Robotiq Universal Controller Instruction Manual
Robotiq inc. © 2008 - 2014 9
3. Installation
Warning
Be sure to read and understand the related to the Universal Controller prior tosafety instructions
installation.
Warning
Respect robot and Gripper safety measure and installation before operating or even turning on
the power supply.
3.1 Scope of delivery
Standard upon delivery :
Robotiq Universal Controller ( )UNI-CTR-001-XXXX
Replace by one of the following communication options :XXXX
ENIP - Ethernet / IP
MTCP - Modbus TCP
ECAT - EtherCAT
DNET - DeviceNet
CANO - CANopen
PNET - PROFINET
Controller Supply Connector with emergency stop jumper (CONN-COMB-2059)
DIN rail #3 mounting clips
Note
The following are not included with the delivery of the Robotiq Universal Controller unless
:specified
Cables.
Hardware required for any of the communication options, accessories, faceplates or
fixtures.
Power supply unit, power supply wiring or fuse.
See section for a list of available parts and cables.Spare Parts, Kits and Accessories

Robotiq Universal Controller Instruction Manual
Robotiq inc. © 2008 - 2014 10
3.2 Environmental and operating conditions
The Controller is designed for industrial applications but requires clean conditions and is not water resistant. Always
respect the conditions specified for storage and operating environments :
SPECIFICATION VALUE
Minimum storage/transit temperature -22°F [-30°C]
Maximum storage/transit temperature 158°F [70°C]
Minimum operating temperature 32°F [0°C]
Maximum operating temperature 158°F [70°C]
Humidity (non-condensing) 20-80% RH
Vibration < 0.5G
Others Free from dust, soot or water
Free from corrosive gases, liquids or explosive
gases
Free from powerful electromagnetic interference
sources
Info
If environmental conditions present dust, dirt or water, additional protection of the Controller will
be required.

Robotiq Universal Controller Instruction Manual
Robotiq inc. © 2008 - 2014 11
1.
2.
3.3 Mechanical connections
Robotiq Universal Controller is meant to be mounted on #3 DIN rails (standard on all Controllers).
Here are the steps to follow for the installation of the Controller (see Figure 3.3.1).
Secure the DIN rail.
Clip mounting adapters onto the rails.
Figure 3.3.1 : Attaching the Universal Controller using the DIN rails.

Robotiq Universal Controller Instruction Manual
Robotiq inc. © 2008 - 2014 12
3.4 Power supply specifications
The Controller needs to be supplied by a DC voltage source. This power supply is not included with the Controller.
Required power supply will be chosen according to the associated Robotiq device. The following table shows the
specifications regarding the power supply required to operate the Controller and Gripper properly.
POWER SUPPLY SPECIFICATION FOR VARIOUS ROBOTIQ DEVICES
SPECIFICATION VALUES FOR 2-FINGER-85 AND
3-FINGER GRIPPER VALUES FOR 2-FINGER-200
Output voltage 24 V DC 24 V DC
Output current 2 A 20 A
Ripple 2-3 % peak-peak 2-3 % peak-peak
Output regulation 10% maximum 10% maximum
Overcurrent 4 A fuse at 77°F [25 C]
o 2 10 A thermomagnetic circuit
breaker at 73°F [23oC]3
Maximum fuse I t factor
2100 A s at 77°F [25 C] 2 o N/A
Overvoltage protection Not required1Not required1
Warning
1Always respect the ripple and output regulation tolerances on the output voltage, exceeding
these limits could damage the Gripper. If your power supply could exceed the specified
regulation, over-voltage protection is required.
Info
2 Suggested fuse is 2 A thermal, use AWG #20 wiring.Phoenix Contact # 0916605
3Suggested fuse is Phoenix Contact # 0916610 10 A thermal, use AWG #12 wiring.
Robotiq recommends the use of the following power supplies :
For 2A : TDK-Lambda DPP100 Series, 15- , 100W Single Output DIN Rail Mount Power Supply DDP100-24-1
For 20A : TDK-Lambda DPP480 Series, ,480W Single Output DIN Rail Mount Power Supply DDP480-24-1

Robotiq Universal Controller Instruction Manual
Robotiq inc. © 2008 - 2014 13
3.5 Wiring
The Controller communication ports are shown in Figure 3.5.1 and supply port in Figure 3.5.2. The Universal
Controller is supplied via the Supply Connector port, an optional emergency stop feature is present see section 3.5.1
for details on the supply pinout and emergency stop. Communication is established with either thePower connection
standard USB 2.0 port (for testing and configuration of the Controller) or via the optional communication fieldbus
port, see for details. The Robotiq devices are connected to the Controllersection 3.5.2 Communication connection
via a single Gripper signal cable which connects onto the Robotiq device port, the cable must be chosen according
to the associated device, see the various Robotiq device manuals for details at .support.robotiq.com
Info
Note that the Communication Option Panel shown in Figure 3.5.1 will change according to the
provided communication protocol. The Standard Panel, which include the Status LEDs and the
USB 2.0 port is standard on every Robotiq Universal Controller unit. The schematics bellow are
represented with the Ethernet family option.
Figure 3.5.1 : The Robotiq Universal Controller Communication Panel.

Robotiq Universal Controller Instruction Manual
Robotiq inc. © 2008 - 2014 14
Figure 3.5.2 : Controller Supply Connector and Robotiq Device Connector for the Robotiq Universal Controller.
Info
Device (Gripper) signal cable is supplied by Robotiq, see your Robotiq Gripper Spare Parts, Kits
and Accessories section.
Warning
Use proper cabling management. Be sure to have enough forgiveness in the cabling to allow
movement of the Robotiq device along all axes without pulling out the connectors. Always protect
the controller-side of the cable with a strain relief cable clamp.

Robotiq Universal Controller Instruction Manual
Robotiq inc. © 2008 - 2014 15
3.5.1 Power connection
Figure 3.5.1.1 presents the general cabling schematics of the Robotiq Universal Controller showing the power
supply, fusing, grounding, emergency stop and optional Robotiq device.
Note
Robotiq strongly advices the use of an emergency stop for all Robotiq devices. The emergency
stop is normally closed. If an emergency stop is not used, a jumper must be placed on pins 4 & 5
of the Supply Connector to allow usage of the device.
Caution
The fuse is external to the Controller and Robotiq device. It is not provided by Robotiq and the
user is responsible for proper installation.
Info
Fusing must be chosen according to your Robotiq device, see details in section 3.4 Power supply
.specifications
Figure 3.5.1.1 : Power connection diagram of the Robotiq Universal Controller.
The pin-out of the Supply Connector and the Robotiq Device Connector, as well as the matching device pinout are
detailed in Figure 3.5.1.2.

Robotiq Universal Controller Instruction Manual
Robotiq inc. © 2008 - 2014 16
Figure 3.5.1.2 : Universal Controller Supply Connector and Robotiq Device Connector with matching pinout.
Supply cable should have the following specifications :
For 2A supply (3-Finger Gripper and 2-Finger-85)
minimum #22 AWG TEW, 300 V or 600 V.
For 20A supply (2-Finger-200)
Minimum #16 AWG TEW, 300 V or 600 V.
The emergency stop cable should have the following specifications :
Minimum 22 AWG TEW (recommended, current is 500 mA), 300 V or 600V.
Using a "normally closed" emergency stop button.
Installed in compliance with the Machinery Directive or compliance to national standards derived from the
directive used in your country.
Earth grounding cable should have the following specifications :
Same as supply.
Gripper signal cable is supplied by Robotiq, see the appropriate Spare Parts, Kits and Accessories section in your
Robotiq device manual.

Robotiq Universal Controller Instruction Manual
Robotiq inc. © 2008 - 2014 17
3.5.2 Communication connection
The following table summarizes the communication protocols available for the Controller. A USB connection is
standard on all Controllers, while the optional communication panel will be setup for your options with a single
communication protocol. See the following subsection for details on the communication parameters of each
communication option.
Note
Only one protocol option is available for a given Controller unit.
Family Protocol
Real-Time Ethernet Ethernet / IP
Modbus TCP/IP
EtherCAT
ProfiNET
Fieldbus DeviceNET
CANopen
ProfiBUS
USB Modbus RTU
The Figure 3.5.2.1 shows the Communication Panel of the Robotiq Universal Controller. The communication port
will vary depending on the communication protocol chosen. Real-Time Ethernet family protocols ( Ethernet IP,
EtherCAT, Modbus TCP) will come with two (2) RJ45 standard ports. DeviceNet protocol will come with a 5-pin
Combicon connector, CANopen with a standard male DB-9 connector, finally ProfiBUS will come with a standard
female DB-9 connector.

Robotiq Universal Controller Instruction Manual
Robotiq inc. © 2008 - 2014 18
Figure 3.5.2.1 : Representation of the Communication Panel options for the Robotiq Universal Controller.
It is the users responsibility to setup the appropriate cable between the Controller unit and the master controller.
Robotiq can provide you with appropriate cables available on demand from its Spare Parts, Kits and
Accessories section.
Warning
Be sure to use the appropriate cables and pinouts for your communication protocol as any other
setup may damage the Controller.

Robotiq Universal Controller Instruction Manual
Robotiq inc. © 2008 - 2014 19
Real-time Ethernet communication protocols
Real-time Ethernet communication includes Ethernet/IP, EtherCAT, ProfiNET and Modbus TCP/IP protocols.
Factory settings for each Ethernet protocol:
IDENTIFICATION SETTINGS
EtherCAT Ethernet/IP ProfiNET Modbus
TCP/IP
Vendor ID : 0x0000FFFF Vendor ID : 0x0000011B Vendor ID : 0x0000011E N / A
Product Code
:0x0000000B Product Code :0x0000010D Device ID : 0x0000010A
Serial
Number : 0x00000000 Product Type :0x0000000C Device Type :
Revision
Number : 0x00000000 Major Revision : 1 Order ID : 1541.110
Minor
Revision : 1 Name of station : nic50repns
Device Name
:AG-EIS Type of station : Default.Statio n.Type
Device
Access Point 1

Robotiq Universal Controller Instruction Manual
Robotiq inc. © 2008 - 2014 20
BUS SETTINGS
EtherCAT Ethernet/IP ProfiNET Modbus TCP/IP
N / A (see
info note) IP Address : 192.168.1.11 Bus Startup Automatic IP Address : 192.168.1.11
Netmask : 255.255.255.
0Watchdog Time 1000ms Netmask : 255.255.255. 0
Gateway : Disabled Gateway : Disabled
BootP : Disabled BootP : Disabled
DHCP : Disabled DHCP : Disabled
100Mbit : Enabled 100Mbit always on
Full Duplex : Enabled Full Duplex always on
Auto-neg : Enabled Auto-neg always on
Assembly
Instance
(input) :
101
Assembly
Instance
(output) :
100
Configuraton
Instance : 1
Connection
Type : Run/Idle Header
DATA SETTINGS
EtherCAT Ethernet/IP ProfiNET Modbus
TCP/IP
Input Data
Bytes : 16 Prod. Data Length : 20 Output Data Bytes (16) N / A
Output Data
Bytes : 16 Cons. Data Length : 20 Module 1 N / A
Type Byte
Count 16
Input Data Bytes (16)
Module 5
Type Byte
Count 16