Manual

PGE-2 Gripper User Manual
Issue V1.0 (2021-07-30) User Manual Copyright © Yuejiang Technology Co., Ltd.
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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 3.8 Initialization state
Function
Address
Description
Write
Read
Initialization
State
0x0200
Initialization
state of the
gripper
Read Only
0 ： Not
initialized；
1：Initialized
Example:
Read initialization state (read):
Send: 01 03 02 00 00 01 85 B2
Return: 01 03 02 00 00 B8 44
3.3.4.6 Gripper state
This register is used to store the Gripper state, you can get the state of gripper by reading
this register.
And the address is 0x0201. The description of this register is shown in Table 3.9.
Table 3.9 Gripper state
Function
Address
Description
Write
Read
Gripper State
0x0201
the gripper state
Read
Only
0：In motion;
1 ： Reached
position；
2：Object caught；
3：Object dropped
States Description
Different values indicate different states of the gripper. The descriptions of states are as
follows:
·00: Fingers are in motion .
·01: Fingers are at reference position. No object detected or object has been dropped.