Manual

PGE-2 Gripper User Manual
Issue V1.0 (2021-07-30) User Manual Copyright © Yuejiang Technology Co., Ltd.
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Table 3.16 Parity
Function
Address
Description
Write
Read
Parity
0x0305
Configure
gripper
Modbus Parity
0: None Parity
1: Odd Parity
2: Even Parity
(default : 0)
Current
setting
The value of this register is 0 by default, corresponding to None Parity.
Example:
Set the gripper’s Parity to None Parity (write):
Send: 01 06 03 05 00 00 99 8F
Return: 01 06 03 05 00 00 99 8F
3.3.4.14 Test I/O parameters
This register is used to test the I/O Parameters.
The address is 0x0400. The description of this register is shown in Table 3.17.
Table 3.17 I/O control
Function
Address
Description
Write
Read
Test I/O
Parameters
0x0400
Test I/O
Parameters
1；2；3；4
Current setting
This register can be used to directly test 4 groups of I/O parameters through Modbus-RTU
to ensure that the I/O parameters are appropriate. For example, Write 1 to this register, the
gripper will execute action with the first group of I/O parameter.
Example:
Control gripper by using first group of I/O parameter (write):
Send: 01 06 04 00 00 01 49 3A
Return: 01 06 04 00 00 01 49 3A
3.3.4.15 I/O mode switch
This register is used to turn I/O Control Mode ON or OFF.
The address is 0x0402. The description of this register is shown in Table 3.18.
Table 3.18 I/O mode switch
Function
Address
Description
Write
Read
I/O Mode
Switch
0x0402
I/O Control
Switch
0：OFF，1：ON
Current setting
If you have written 1 to this register and have saved all parameters, the gripper will be