Manual
Table Of Contents
- 1. Specifications
- 2. Installation Instructions
- 3. Modbus-RTU Control
- 3.1 Wiring
- 3.2 Default communication parameters
- 3.3 Modbus-RTU description
- 3.3.1 RTU framing
- 3.3.2 Supported Modbus function code
- 3.3.3 Register mapping
- 3.3.4 Register description
- 3.3.4.1 Initialization
- 3.3.4.2 Force
- 3.3.4.3 Position
- 3.3.4.4 Speed
- 3.3.4.5 Initialization state
- 3.3.4.6 Gripper state
- 3.3.4.7 Current position
- 3.3.4.8 Save parameter
- 3.3.4.9 Initialization direction
- 3.3.4.10 Slave address
- 3.3.4.11 Baud rate
- 3.3.4.12 Stop bits
- 3.3.4.13 Parity
- 3.3.4.14 Test I/O parameters
- 3.3.4.15 I/O mode switch
- 3.3.4.16 I/O parameter configuration
- 4. I/O Control
PGE-2 Gripper User Manual
Issue V1.0 (2021-07-30) User Manual Copyright © Yuejiang Technology Co., Ltd.
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Example:
Set the first group of I/O parameter (write) :
Send: 01 06 04 05 01 2C 98 B6 (Reference position: 300‰)
Return: 01 06 04 05 01 2C 98 B6
Send: 01 06 04 06 00 1E E8 F3 (Force: 30%))
Return: 01 06 04 06 00 1E E8 F3
Send: 01 06 04 07 00 1E B9 33 (Speed: 30%)
Return: 01 06 04 07 00 1E B9 33
IO parameter address is continuous address, and four groups of IO parameters can be
configured at one time by using the function code of 0x10, as follows:
Continuous multiple address write(write)[Group 1:1000‰position;20%force;10%speed
Group 2:100 ‰ position;20%force;2%speed Group 3:0 ‰ position;100%force;5%speed
Group 4:592‰position;100%force;10%speed]:
Send: 01 10 0405 000C 18 03e8 0014 000A 0100 0014 0002 0000 0064 0005 0250
0064 000a 9f 44
Return: 01 10 04 05 00 0C D1 3D