Manual
Table Of Contents
- 1. Specifications
- 2. Installation Instructions
- 3. Modbus-RTU Control
- 3.1 Wiring
- 3.2 Default communication parameters
- 3.3 Modbus-RTU description
- 3.3.1 RTU framing
- 3.3.2 Supported Modbus function code
- 3.3.3 Register mapping
- 3.3.4 Register description
- 3.3.4.1 Initialization
- 3.3.4.2 Force
- 3.3.4.3 Position
- 3.3.4.4 Speed
- 3.3.4.5 Initialization state
- 3.3.4.6 Gripper state
- 3.3.4.7 Current position
- 3.3.4.8 Save parameter
- 3.3.4.9 Initialization direction
- 3.3.4.10 Slave address
- 3.3.4.11 Baud rate
- 3.3.4.12 Stop bits
- 3.3.4.13 Parity
- 3.3.4.14 Test I/O parameters
- 3.3.4.15 I/O mode switch
- 3.3.4.16 I/O parameter configuration
- 4. I/O Control
PGE-2 Gripper User Manual
Issue V1.0 (2021-07-30) User Manual Copyright © Yuejiang Technology Co., Ltd.
10
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.
Default communication parameters
Slave Address ：1
Baud Rate ：115200
Data Bits ：8 bits
Stop Bits ：1 stop bit
Parity ：None
Modbus-RTU description
RTU framing
This gripper uses the standard Modbus-RTU protocol.
In RTU mode, the first field is the device address. The allowable characters transmitted
for all fields are hexadecimal 0 ... 9, A ... F. Networked devices monitor the network bus
continuously, including during the silent intervals. When the first field (the address field) is
received, each device decodes it to find out if it is the addressed device.
A typical message frame is shown in Table 3.1.