Manual

PGE-2 Gripper User Manual
Issue V1.0 (2021-07-30) User Manual Copyright © Yuejiang Technology Co., Ltd.
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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 3.6 Position
Function
Address
Description
Write
Read
Position
0x0103
Reference
Position
0-1000 (‰)
Reference
position currently
set
The reference position value range is 0-1000 (‰), the corresponding value is 00 00 – 03
E8(Hexadecimal).
Example:
Set 500‰ position (write):
Send: 01 06 01 03 01 F4 78 21
Return: 01 06 01 03 01 F4 78 21
Read the reference position currently set(read):
Send: 01 03 01 03 00 01 75 F6
Return: 01 03 02 xx xx crc1 crc2
3.3.4.4 Speed
This register is used to set the Gripper closing and opening speed.
The address is 0x0102. The description of this register is shown in Table 3.7.
Table 3.7 Speed instructions
Function
Address
Description
Write
Read
Speed
0x0104
Speed
1-100 (%)
Speed
currently set
The speed value range is 1-100 ，The corresponding value is 00 01 – 00 64(Hexadecimal).
Example: