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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24 V, Output 2, Output 1, GND. Refer to Table 4.3 for specific line sequence and color.
The gripper’s Output pin should be connected to the Controller’s Input pin. And the
gripper’s Input pin should be connected to the Controller’s Output pin.
Table 4.3 Wire description
Wire color
Description
Brown
INPUT 2
White
INPUT 1
Blue
485_B
Black
485_A
Red
24 V
Grey/Pink/Orange
GND
Yellow
OUTPUT 1
Green
OUTPUT 2
I/O setting
The diagram of IO operation steps is as follows:
Configure IO
Connect 24 V, GND and 485_ A and 485_ B. Then you can use I/O Parameter
Configuration to configure four groups of IO parameters. It is recommended to use serial port
debugging software at PC for configuration. IO parameters are configured as continuous
address, and 12 groups of data including 0x0405-0x0410 need to be set.
You can configure the IO parameters of the gripper in two ways, as follows:
The first way:
Use the test software of the gripper for configuration, as shown in Figure 4.1 and Figure 4.2
Step 1:
Configu
Step 3:
Save
Settings
save
Step 4:
Restart
Step 2:
Open IO
mode