PGE-2 Gripper User Manual Issue: V1.0 Date: 2021-07-30 Shenzhen Yuejiang Technology Co., Ltd.
PGE-2 Gripper User Manual Copyright © Shenzhen Yuejiang Technology Co., Ltd. 2021. All rights reserved. No part of this document may be reproduced or transmitted in any form or by any means without the prior written consent of Yuejiang Technology Co., Ltd.. Disclaimer To the maximum extent permitted by applicable law, the products described (including its hardware, software, and firmware, etc.) in this document are provided AS IS, which may have flaws, errors or faults.
PGE-2 Gripper Short Manual Contents Specifications ............................................................................................................ 1 Performance parameter ..................................................................................................... 1 Indicator ............................................................................................................................ 3 Pinout description ...................................................................
PGE-2 Gripper User Manual Specifications PGE series are industrial electric gripper, the number (PGE-number) represents the maximum gripping force of the gripper. The gripper is equipped with a pair of parallel fingertips, which runs symmetrically during the movement. The main structure of the gripper is a smooth rectangular structure. It is equipped with an 8-core communication interface, as shown in Figure 1.1.
PGE-2 Gripper User Manual Table 1.1 PGE-2 specifications PGE-2 performance parameters. Gripping force (per jaw) Opening/closing stroke (both sides) 0.8-2N 0-12mm Opening/Closing time 0.2s/0.2s Weight 0.3kg Force repeatability ±0.1N Position repeatability (both sides) ±0.02mm Noise emission < 40 dB Ingress protection rating IP40 Communication protocols Modbus RTU(RS485), I/O Nominal voltage 24V DC±10% Nominal current 0.2 A Peak current 0.
PGE-2 Gripper User Manual Table 1.2 PGE-2 Finger load. PGE-2 Max allowable vertical load (static) 35N Max allowable moment Mx (static) 0.2 N·m Max allowable moment My (static) 0.17 N·m Max allowable moment Mz (static) 0.2 N·m Indicator The gripper can feed back the state of the gripper in real time. In addition to the command reading, it can also be judged on the color of the indicator: Color description of indicator ·Uninitialized state: Red light blinks, other lights are off.
PGE-2 Gripper User Manual Issue V1.0 (2021-07-30) Blue 485_B Black 485_A Red 24 V Grey/Pink/Orange GND Yellow OUTPUT 1 Green OUTPUT 2 User Manual 4 Copyright © Yuejiang Technology Co., Ltd.
PGE-2 Gripper User Manual Installation Instructions Dimension The specific dimension of PGE-2 gripper is shown in Figure 2.1 Dimension drawing of PGE2. Figure 2.1 Dimension drawing of PGE-2 Shipping list Figure 2.2 Shipping list Issue V1.0 (2021-07-30) User Manual 5 Copyright © Yuejiang Technology Co., Ltd.
PGE-2 Gripper User Manual Installation procedure Figure 2.3 Remove the end of gripper Figure 2.4 Issue V1.0 (2021-07-30) Install gripper adapter User Manual 6 Copyright © Yuejiang Technology Co., Ltd.
PGE-2 Gripper User Manual Figure 2.5 Install the end of gripper Figure 2.6 Gripper mounting plate Figure 2.7 Issue V1.0 (2021-07-30) Install gripper mounting plate User Manual 7 Copyright © Yuejiang Technology Co., Ltd.
PGE-2 Gripper User Manual Figure 2.8 Install the end flange of MG400 Figure 2.9 Issue V1.0 (2021-07-30) Install servo gripper User Manual 8 Copyright © Yuejiang Technology Co., Ltd.
PGE-2 Gripper User Manual Figure 2.10 Connect servo gripper to controller Figure 2.11 Connect gripper cable to controller Figure 2.12 Connect gripper cable to MG400. Issue V1.0 (2021-07-30) User Manual 9 Copyright © Yuejiang Technology Co., Ltd.
PGE-2 Gripper User Manual Modbus-RTU Control Wiring Use the provided RS-485 to USB converter (see the schematic in Figure 3.1 below) to plug into a PC or other Controllers. Figure 3.1 RS485 connection Warning ·Note the line order before inserting. Please note that the DC24V is red and GND is negative.
PGE-2 Gripper User Manual Table 3.1 RTU framing (Function Code:0x06) Slave Register Register address data Function CRC Address 01 06 01 00 00 01 49 F6 Slave Address: The Slave address of the gripper. The default is 1, you can also modify it through write different value to Slave Address register. Function: The Function Code field tells the addressed slave what function to perform. Includes read or write registers function. Register address: Specifies which registers reference to be written.
PGE-2 Gripper User Manual currently set Opening force 0x02 Gripper’s opening force 20-100 (%) Position 0x03 Position 0-1000 (‰) Speed 0x04 Speed 1-100 (%) Initialization state 0x00 Initialization state of the gripper Read Only Opening-force currently set Reference position currently set Speed currently set 0：Not initialized； 1：Initialized 0：In motion; Gripper state 0x02 0x01 Gripper state 1：Reach position； Read Only 2：Object caught； 3：Object dropped Position 0x02 gripper position
PGE-2 Gripper User Manual I/O Parameter Configuration 0x050x10 position 1，force 1， speed 1 to position 4， force 4，speed 4 Four groups of I/O parameters Current setting Register description 3.3.4.1 Initialization This register is used to initialize the gripper. Write: If write 1 (0x01 hex) to this register, the gripper will be initialized (fingers move to the minimal or maximum position. The initialization direction depends on the value of initialization direction register).
PGE-2 Gripper User Manual Example: Set 30% closing force (write): Send: 01 06 01 01 1E 59 FE Return: 01 06 01 01 1E 59 FE Read the closing force currently set (read): Send: 01 03 01 01 00 01 D4 36 Return: 01 03 02 xx xx crc1 crc2 3.3.4.3 Position This register is used to set the reference position of gripper's fingers, then the fingers will move to the position immediately. The address is 0x0103. The description of this register is shown in Table 3.6. Table 3.
PGE-2 Gripper User Manual Set 50% speed (write): Send: 01 06 01 04 00 32 48 22 Return: 01 06 01 04 00 32 48 22 Read the current speed (read): Send: 01 03 01 04 00 01 C4 37 Return: 01 03 02 xx xx crc1 crc2 3.3.4.5 Initialization state This register is used to store current initialization state of gripper, you can get the initialization state by reading this register. The address is 0x0200. The description of this register is shown in Table 3.8. Table 3.
PGE-2 Gripper User Manual ·02: Fingers have stopped due to an object detection. ·03: Fingers are at reference position due to object has been dropped after the gripper caught object. Example: Read gripper state (read): Send: 01 03 02 01 00 01 D4 72 Return: 01 03 02 00 02 39 85(02: object caught) 3.3.4.7 Current position This register is used to store the Actual position of the Gripper. The address is 0x0202. The description of this register is shown in Table 3.10. Table 3.
PGE-2 Gripper User Manual ·The Saving process will take 1-2 seconds, and the gripper won’t response to other command during this process. The gripper will response this command after saving process finished. 3.3.4.9 Initialization direction This register is used to set Initialization Direction of gripper. The address is 0x0301. The description of this register is shown in Table 3.12. Table 3.
PGE-2 Gripper User Manual 3.3.4.11 Baud rate This register is used to set Baud Rate of gripper. The address is 0x0303. The description of this register is shown in Table 3.14. Table 3.14 Baud rate Function Baud Rate Address Description Configure gripper Modbus Baud rate 0x0303 Write 0-5 ： 115200 ， 57600 ， 38400 ， 19200，9600，4800 （default: 0） Read Current setting The value of this register is 0 by default, corresponding to a baud rate of 115200.
PGE-2 Gripper User Manual Table 3.16 Parity Function Address Description Write Read 0: None Parity Parity Configure gripper Modbus Parity 0x0305 1: Odd Parity 2: Even Parity Current setting (default : 0) The value of this register is 0 by default, corresponding to None Parity. Example: Set the gripper’s Parity to None Parity (write): Send: 01 06 03 05 00 00 99 8F Return: 01 06 03 05 00 00 99 8F 3.3.4.14 Test I/O parameters This register is used to test the I/O Parameters.
PGE-2 Gripper User Manual initialized automatically after power on. When the I/O Control Mode is turned on, the gripper can respond to Modbus-RTU commands and I/O, but I/O has priority. The control method in different mode is shown in Table 3.19. Table 3.
PGE-2 Gripper User Manual Example: Set the first group of I/O parameter (write) : Send: 01 06 04 05 01 2C 98 B6 (Reference position: 300‰) Return: 01 06 04 05 01 2C 98 B6 Send: 01 06 04 06 00 1E E8 F3 (Force: 30%)) Return: 01 06 04 06 00 1E E8 F3 Send: 01 06 04 07 00 1E B9 33 (Speed: 30%) Return: 01 06 04 07 00 1E B9 33 IO parameter address is continuous address, and four groups of IO parameters can be configured at one time by using the function code of 0x10, as follows: Continuous multiple ad
PGE-2 Gripper User Manual I/O Control The I/O mode is a common control method in industry. The grippers will monitor the pin states of Input 1 and Input 2 (0V and high resistance states). For these two pins, there will be four logic states: 00,01,10,11. You can control this gripper through changing the states of Input 1 and Input 2, as shown in Table 4.1. Table 4.
PGE-2 Gripper User Manual 24 V, Output 2, Output 1, GND. Refer to Table 4.3 for specific line sequence and color. The gripper’s Output pin should be connected to the Controller’s Input pin. And the gripper’s Input pin should be connected to the Controller’s Output pin. Table 4.
PGE-2 Gripper User Manual Figure 4.1 Graphical configuration Figure 4.
PGE-2 Gripper User Manual Save settings Save the configured parameters, and write 01 at the register of 0x300 for saving. Send: 01 06 03 00 01 48 4e Return: 01 06 03 00 01 48 4e Restart After power off, you can connect the input and output to the corresponding equipment, and power on after confirming that the wiring is correct. The gripper will be initialized automatically. Then the gripper is controlled according to the input signal, and the running state is feed back through output. Issue V1.
