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.
2
Table 1.1 PGE-2 specifications
PGE-2 performance parameters.
Gripping force (per jaw)
0.8-2N
Opening/closing stroke (both
sides)
0-12mm
Opening/Closing time
0.2s/0.2s
Weight
0.3kg
Force repeatability
± 0 .1N
Position repeatability (both sides)
± 0 .02mm
Noise emission
< 40 dB
Ingress protection rating
IP40
Communication protocols
Modbus
RTU(RS485), I/O
Nominal voltage
24V DC±10%
Nominal current
0.2 A
Peak current
0.5 A
In the actual gripping, you should take the gripping angle and gripping position into
account.
The following right-angle coordinate system is established, and the corresponding
directions of the X-axis, Y-axis, and Z-axis are shown in Figure 1.2 below. The force
perpendicular to the gripped flat surface is used as Fz, the x-axis direction torque is Mx, the y-
axis direction torque is My, and the z-axis direction torque is Mz. The PGE-2 finger load table
is shown in Table 1.2:
Figure 1.2 Finger load diagram