Manual

PGE-2 Gripper User Manual
Issue V1.0 (2021-07-30) User Manual Copyright © Yuejiang Technology Co., Ltd.
11
Table 3.1 RTU framing (Function Code:0x06)
Slave
Address
Function
Register
address
Register
data
CRC
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.
Register data: Specifies which value to be written. Each register (word - 16 bits) of the
Modbus RTU protocol is composed of 2 bytes (8 bits) from the Gripper.
CRC: the CRC error-checking field contains a 16-bit value implemented as two eight-bit bytes.
The CRC field is appended to the message as the last field in the frame. The low-order byte of
the field is appended first, followed by the high-order byte. The CRC high-order byte is the last
byte to be sent in the message.
Supported Modbus function code
This griper uses MODBUS- RTU. The following function codes are currently supported:
03 (HEX): Read Holding Registers
06 (HEX): Write Single Register
10 (HEX): Write Multiple Registers
Register mapping
The gripper’s Modbus-RTU registers consist of two types of registers: the basic control
registers and the configuration registers.
Basic control registers: initialization, force setting, reference position, speed, and some
states.
Configuration registers: gripper’s parameter configuration. Includes Modbus
communication parameters and I/O parameters.
Table 3.2 Basic control register map
Function
high-
order
byte
low-
order
byte
Description
Write
Read
Initialization
0x01
0x00
Initialize the
gripper
0x01 ：
initialization ；
0xA5: Fully
initialization
Current setting
Closing
force
0x01
Gripper’s
closing force
20-100 (%)
Closing-force