Manual

PGE-2 Gripper User Manual
Issue V1.0 (2021-07-30) User Manual Copyright © Yuejiang Technology Co., Ltd.
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I/O Control
The I/O mode is a common control method in industry.
The grippers will monitor the pin states of Input 1 and Input 2 (0V and high resistance
states). For these two pins, there will be four logic states: 00,01,10,11. You can control this
gripper through changing the states of Input 1 and Input 2, as shown in Table 4.1.
Table 4.1 Input state
INPUT
1
INPUT
2
Pin
state
I/O state
Perform action
High
resistance
High
resistance
0 0
Group 1
Target position 1,target
force 1,target speed 1
0V
High
resistance
1 0
Group 2
Target position 2,Target
Force 2,Target Speed 2
High
Resistance
0V
0 1
Group 3
Target position 3,Target
Force 3,Target Speed 3
0V
0V
1 1
Group 4
Target position 4,Target
force 4,target speed 4
You can also get the gripper state by detecting the states of Output1 and Output 2(0V and
high resistance states) as shown in Table 4.2.
Table 4.2 Output1 Output2 State
I/O State (OUT1 OUT2)
State description
0 0
Fingers are in motion
1 0
Fingers are at reference position,
No object detected or object has been dropped
0 1
Fingers have stopped due to an object detection
NOTE
·Please make sure that the I/O hardware type of the gripper is compatible with your
controller’s.
The four states of IO mode can be configured through Modbus RTU protocol of RS485,
or the parameters of gripper can be configured through our debugging software. Please refer to
the previous section for specific configuration mode. After the four groups of parameters are
configured, the gripper can be controlled by setting the Input 1 and Input 2 pin states, and the
clamp state can be obtained by detecting the Output 1 and Output 2.
Wiring
In I/O control mode, there are six wires need to be connected, including Input 1, Input 2,