Manual

PGE-2 Gripper User Manual
Issue V1.0 (2021-07-30) User Manual Copyright © Yuejiang Technology Co., Ltd.
16
·02: Fingers have stopped due to an object detection.
·03: Fingers are at reference position due to object has been dropped after the gripper
caught object.
Example:
Read gripper state (read):
Send: 01 03 02 01 00 01 D4 72
Return: 01 03 02 00 02 39 85(02: object caught)
3.3.4.7 Current position
This register is used to store the Actual position of the Gripper.
The address is 0x0202. The description of this register is shown in Table 3.10.
Table 3.10 Current position
Function
Address
Description
Write
Read
Current
Position
0x0202
Gripper actual
position
Read
Only
Current actual
position
Example:
Read actual position (read):
Send: 01 03 02 02 00 01 24 72
Return: 01 03 02 xx xx crc1 crc2
3.3.4.8 Save parameter
This register is used to Save Parameter.
Write 1 to this register to save all parameter, If you modified the I/O or communication
parameters.
The address is 0x0300. The description of this register is shown inTable 3.11.
Table 3.11 Save parameter
Function
Address
Description
Write
Read
Save
Parameter
0x0300
Save register’s
value to Flash
0：default，
1：Save all parameters
0
Example:
Save Parameter (Write):
Send: 01 06 03 00 00 01 48 4E
Return: 01 06 03 00 00 01 48 4E
NOTE