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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Table 1.2 PGE-2 Finger load.
PGE-2
Max allowable vertical load (static)
35N
Max allowable moment Mx (static)
0.2 N·m
Max allowable moment My (static)
0.17 N·m
Max allowable moment Mz (static)
0.2 N·m
Indicator
The gripper can feed back the state of the gripper in real time. In addition to the
command reading, it can also be judged on the color of the indicator:
Color description of indicator
·Uninitialized state: Red light blinks, other lights are off.
·Initialized State: the blue light is always on, indicating that it is in the operable state.
·Received command state: the red light blink once quickly (because the blue light is always
on at this time, the gripper indicator light will looks like a purple light).
·Object Caught state: green light is always on, other lights are off.
·Object dropped state: green light blinking.
Pinout description
The pinout of the gripper is shown in Figure 1.4, and the pin description is shown in
Table 1.3.
Figure1.4 Pinout assignment
Table 1.3 Pinout assignment
Wire color
Description
Brown
INPUT 2
White
INPUT 1