Dh-Robotics CGE-10 Short Manual Download Page 7 | Manualshive

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Figure 2.2 (a) installation interface 1

Figure 2.2 (b) driver installation interface

2.1.2 Debugging software instructions

‘

Before use, it is necessary to connect the corresponding wiring according to the instructions

(see 2.1.1 Installation and wiring of debugging software).

Open the software, the software will automatically identify the serial port, baud rate, ID number

and other information of the gripper for automatic connection. As shown in the figure below:

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Summary of Contents for CGE-10

Page 1: ...scription 10 2 3 1 RTU Framing 10 2 3 2 Supported Modbus Function Code 10 2 3 3 Register Mapping 10 2 3 4 Register Description 12 2 3 4 1 Initialization 12 2 3 4 2 Force 12 2 3 4 3 Position 13 2 3 4 4...

Page 2: ...botics com 1 Revisions Date Version Revised content 20200426 V1 0 First edition write wiring instructions and command instructions 20200904 V2 0 Change some instructions Update the description of IO m...

Page 3: ...grip force and speed Multiple communication modes The gripper supports Modbus RTU protocol and IO mode control Other communication protocols such as Ethernet and ETHERNET can be transferred through p...

Page 4: ...sides 0 03mm Communication protocols Modbus RTU RS485 I O Nominal voltage 24V DC 10 Nominal current 0 3 A Peak current 0 6 A 1 2 Dimensions The gripper hardware parameters contain the specific size of...

Page 5: ...Grey Pink GND Yellow OUTPUT 1 Green OUTPUT 2 Color description of indicator light Uninitialized state Red light blinks other lights are off Initialized State the blue light is always on indicating tha...

Page 6: ...R 485 4 wires in total The power supply is a 24 V DC regulated power supply Plug the USB port of the module into the USB port of the computer The wiring definitions of different series are different...

Page 7: ...instructions Before use it is necessary to connect the corresponding wiring according to the instructions see 2 1 1 Installation and wiring of debugging software Open the software the software will a...

Page 8: ...initialized before operation to calibrate the zero point The demonstration mode is a cyclic program Control interface it can control the position force and speed of the gripper Clamping status real ti...

Page 9: ...number of the gripper need to be modified the parameters can be modified in Modbus RTU parameters Figure 2 5 Modbus RTU parameters You can set and configure the gripper I O parameters in I O parameter...

Page 10: ...witch IO mode Open IO mode open IO mode first Configure four groups of IO parameters set the four groups of parameters of gripper including position force and speed Save click the Save button to write...

Page 11: ...ld tells the addressed slave what function to perform Includes read or write registers function Register address Specifies which registers reference to be written Register data Specifies which value t...

Page 12: ...dropped Position 514 0x0202 gripper position Read Only Current real time position Table 2 3 Configuration register map Function High byte Low bytes Description Write Read Save Parameter 0x03 0x00 Save...

Page 13: ...ation Function Address Description Write Read Initialization 0x0100 Initialize the gripper 0x01 initialize 0xA5 Fully initialize Current setting The gripper needs to be initialized before control The...

Page 14: ...the corresponding value is 00 00 03 E8 Hexadecimal Example Set 500 position write Send 01 06 01 03 01 F4 78 21 Return 01 06 01 03 01 F4 78 21 Read the reference position currently set read Send 01 03...

Page 15: ...sed to store the Gripper state you can get the state of gripper by reading this register And the address is 0x0201 The description of this register is shown in Table 2 9 Table 2 9 Gripper State Functi...

Page 16: ...save all parameter If you modified the I O or communication parameters The address is 0x0300 The description of this register is shown in Table 2 11 Table 2 11 Save Parameter Function Address Descript...

Page 17: ...Send 01 06 03 01 00 00 D8 4E Return 01 06 03 01 00 00 D8 4E 2 3 4 10 Slave Address This register is used to set Slave Address of gripper The address is 0x0302 The description of this register is shown...

Page 18: ...settings Function Address Description Write Read Stop Bits 0x0304 Configure gripper Modbus stop bits 0 1 stop bit 1 2 stop bits default 0 Current setting The value of this register is 0 by default co...

Page 19: ...trol gripper by using first group of I O parameter write Send 01 06 04 00 00 01 49 3A Return 01 06 04 00 00 01 49 3A 2 3 4 15 I O Mode Switch This register is used to turn I O Control Mode ON or OFF T...

Page 20: ...20 100 0x0A speed 2 1 100 I O Group 3 0x0B position 3 0 1000 0x0C force 3 20 100 0x0D speed 3 1 100 I O Group 4 0x0E position 4 0 1000 0x0F force 4 20 100 0x10 speed 4 1 100 Example Set the first grou...

Page 21: ...rite Group 1 1000 position 20 force 10 speed Group 2 100 position 20 force 2 speed Group 3 0 position 100 force 5 speed Group 4 592 position 100 force 10 speed Send 01 10 0405 000C 18 03e8 0014 000A 0...

Page 22: ...hown in Table 3 1 The specific configuration is shown in the figure below Figure 3 1 I O mode Steps to switch IO mode Open IO mode open IO mode first Configure four groups of IO parameters set the fou...

Page 23: ...ce position No object detected or object has been dropped No wiring 0V 0 1 Fingers have stopped due to an object detection 0V 0V 1 1 The gripper detects an object falling The four states of IO mode ca...

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