Manual

PGE-2 Gripper User Manual
Issue V1.0 (2021-07-30) User Manual Copyright © Yuejiang Technology Co., Ltd.
20
initialized automatically after power on.
When the I/O Control Mode is turned on, the gripper can respond to Modbus-RTU
commands and I/O, but I/O has priority.
The control method in different mode is shown in Table 3.19.
Table 3.19 Control method
Switch State
Description
Modbus-RTU
I/O
0
I/O control mode off
YES
No
1
I/O control mode on
YES
YES
Example:
Set the I/O control mode switch off (write):
Send: 01 06 04 02 00 00 29 3A
Return: 01 06 04 02 00 00 29 3A
NOTE
·If you just need to control the gripper through Modbus RTU, you should write 0 to this
register and save all parameters to turn off the I/O control mode.
3.3.4.16 I/O parameter configuration
Those registers are used to Set the I/O Parameters.
The address is 0x0405-0x0410. The description of this register is shown in Table 3.20..
Table 3.20 I/O parameter configuration
Function
High-
byte
Low
bytes
Description
Write
Read
I/O Group 1
0x04
0x05
position 1
0-1000‰
Current setting
0x06
force 1
20-100 %
0x07
speed 1
1-100 %
I/O Group 2
0x08
position 2
0-1000‰
0x09
force 2
20-100 %
0x0A
speed 2
1-100 %
I/O Group 3
0x0B
position 3
0-1000‰
0x0C
force 3
20-100 %
0x0D
speed 3
1-100 %
I/O Group 4
0x0E
position 4
0-1000‰
0x0F
force 4
20-100 %
0x10
speed 4
1-100 %