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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Figure 4.1 Graphical configuration
Figure 4.2 Test software register configuration
The second way:
You can use continuous multiple register write 10 (HEX):
Send: 01 10 0405 000C 18 03e8 0014 000A 0100 0014 0002 0000 0064 0005 0250 0064
000a 9f 44
Receive: 01 10 04 05 00 0C D1 3D
Open IO
Turn on the IO mode switch and write 01 at the register of 0x0402 to open it, as shown
below:
The specific instructions are as follows:
Send: 01 06 04 02 00 01 E8 FA
Return: 01 06 04 02 00 01 E8 FA