Manual

PGE-2 Gripper User Manual
Issue V1.0 (2021-07-30) User Manual Copyright © Yuejiang Technology Co., Ltd.
12
currently set
Opening
force
0x02
Gripper’s
opening force
20-100 (%)
Opening-force
currently set
Position
0x03
Position
0-1000 (‰)
Reference position
currently set
Speed
0x04
Speed
1-100 (%)
Speed
currently set
Initialization
state
0x02
0x00
Initialization
state of the
gripper
Read Only
0：Not initialized；
1：Initialized
Gripper state
0x01
Gripper state
Read Only
0：In motion;
1：Reach position；
2：Object caught；
3：Object dropped
Position
0x02
gripper position
Read Only
Current actual
position
Table 3.3 Configuration register map
Function
High
byte
Low
bytes
Description
Write
Read
Save
Parameter
0x03
0x00
Save all the
parameters
0：default，1：Write
all parameters to save
0
Initialization
direction
0x01
Configure
initialization
direction
0: Open，1:Close
(default: 0）
Current
setting
Slave
Address
0x02
Configure gripper
Modbus address
0-255 (default: 1）
Current
setting
Baud Rate
0x03
Configure gripper
Modbus Baud rate
0-5：115200，57600，
38400，19200，9600，
4800（default :0）
Current
setting
Stop Bits
0x04
Configure gripper
Modbus stop bits
0：1 stop bit；
1：2 stop bits
（default: 0）
Current
setting
Parity
0x05
Configure gripper
Modbus Parity
0: None parity;
1: Odd parity;
2: Even parity
(default: 0)
Current
setting
I/O
Parameters
Test
0x04
0x00
Test I/O
parameters
1；2；3；4
Current
setting
I/O Mode
Switch
0x02
I/O control switch
0：OFF，1：ON
Current
setting