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Force

257

(0x0101)

Gripper’s

force

20-100 (%)

Closing-force

currently set

Position

259

（

0x0103

）

Position

0-1000 (

‰

)

Reference position

currently set

Speed

260

（

0x0104

）

Speed

1-100 (%)

Speed

currently set

Initialization

state

512

（

0x0200

）

Initialization

state of the

gripper

Read Only

：

Not initialized

；

：

Initialized

Gripper state

513

（

0x0201

）

Gripper state

Read Only

：

In motion;

：

Reach position

；

2 Object caught

；

：

Object 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 all the parameters

：

default

，

：

Write all

parameters to save

Initialization

direction

0x01

Configure

initialization direction

0: Open

，

1:Close

(default: 0

）

Current setting

Slave Address

0x02

Configure gripper

Modbus address

0-255 (default: 1

）

Current setting

Baud Rate

0x03

Configure gripper

Modbus Baud rate

0-5

：

115200

，

57600

，

38400

，

19200

，

9600

，

4800

（

default :0

）

Current setting

Stop Bits

0x04

Configure gripper

Modbus stop bits

：

1 stop bit

；

：

2 stop bits

（

default: 0

）

Current setting

Parity

0x05

Configure gripper

Modbus Parity

0: None parity;
1: Odd parity;

2: Even parity (default: 0)

Current setting

I/O Parameters

Test

0x04

0x00

Test I/O parameters

；

Current setting

I/O Mode

Switch

0x02

I/O control switch

：

OFF

，

：

Current setting

I/O Parameter
Configuration

0x05-

0x10

Four groups of I/O

parameters

position 1

，

force 1

，

speed

1 to position 4

，

force 4

，

speed 4

Current setting

2.3.3 Register Description

2.3.3.1 Initialization

This register is used to initialize the gripper.
Write: If write 1 (0x01 hex) to this register, the gripper will be initialized (fingers move to the

minimal or maximum position. The initialization direction depends on the value of initialization

Summary of Contents for PGC-50

Page 1: ...ommunication Parameters 10 2 3 Modbus RTU Description 11 2 3 1 RTU Framing 11 2 3 2 Register Mapping 11 2 3 3 Register Description 12 2 3 3 1 Initialization 12 2 3 3 2 Force 13 2 3 3 3 Position 13 2 3 3 4 Speed 14 2 3 3 5 Initialization State 15 2 3 3 6 Gripper State 15 2 3 3 7 Current Position 16 2 3 3 8 Save Parameter 16 2 3 3 9 Initialization Direction 16 2 3 3 10 Slave Address 17 2 3 3 11 Baud...

Page 2: ...on code and further adapt to robots such as AUBO and JICA 2 Add product list add hardware connection description example add 04 and 10 function code description 3 Add robot connection part 4 Add communication protocol converter optional description 5 Add debugging software description Modification of IO part modify the description of the IO settings part of the document add IO type hardware config...

Page 3: ... 1 1 And has the following characteristics Controllable force position speed The gripper can program and adjust the grip position grip force and speed Multiple communication modes The gripper supports Modbus RTU protocol and IO mode control Other communication protocols such as USB and ETHERNET can be transferred through protocol converter Gripping Detection The combination of force control and po...

Page 4: ...g angle and gripping position into account 1 2 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 1 3 Pinout Description The pinout of the gripper is shown in Figure 1 3 and the pin description is shown in Table 1 3 Color description of indicator Uninitialized state Red light blinks other ...

Page 5: ...Yellow Green OUTPUT 1 IO mode digital output 1 4 Orange Yellow OUTPUT 2 IO mode digital output 2 5 Red Grey 24 V Power supply DC 24V positive 6 Brown Pink INPUT 2 IO mode digital input 2 7 White Blue INPUT 1 IOmode digital input 1 8 Black Red GND Power supply DC GND negative 1 4 Product list After opening the package please check the product list carefully Table 1 4 product list number type name q...

Page 6: ...s of customers For the cooperative robot with RS485 or IO interface at the end of the cooperative robot and the front end interface robot with M8 the aviation plug of M8 can be customized for connection and the aviation plug of M8 can be used for extension when it needs to be extended This plan needs to be confirmed with our company as shown in the figure below Figure 1 5Connecting robot terminal ...

Page 7: ... A T R 485 485_ B T 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 Please connect according to the instruction of specific clamping claw as shown below Figure 2 1 RS485 Connection Software can be downloaded on the official website Software and driv...

Page 8: ... 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 ...

Page 9: ... 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 time display of clamping status of clamping claw Position current real time graph real time display position and current The current represents the current of the internal motor not the current actuall...

Page 10: ... 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 parameters After modifying the parameters please click Save button to save The following figure shows the operation of opening IO mode ...

Page 11: ... switch 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 the parameters to the internal register of flash and restart to control Restart after the restart the switch to IO mode is successful You can control the gripper according to the input signal and t...

Page 12: ...s function Register address Specifies which registers reference to be written Register data Specifies which value to be written Each register word 16 bits of the Modbus RTU protocol is composed of 2 bytes 8 bits from the Gripper CRC the CRC error checking field contains a 16 bit value implemented as two eight bit bytes The CRC field is appended to the message as the last field in the frame The low...

Page 13: ...Current setting Slave Address 0x02 Configure gripper Modbus address 0 255 default 1 Current setting Baud Rate 0x03 Configure gripper Modbus Baud rate 0 5 115200 57600 38400 19200 9600 4800 default 0 Current setting Stop Bits 0x04 Configure gripper Modbus stop bits 0 1 stop bit 1 2 stop bits default 0 Current setting Parity 0x05 Configure gripper Modbus Parity 0 None parity 1 Odd parity 2 Even pari...

Page 14: ...rite Send 01 06 01 00 01 49 F6 Receive 01 06 01 00 01 49 F6 Reinitialize write Send 01 06 01 00 00 A5 48 4D Receive 01 06 01 00 00 A5 48 4D 2 3 3 2 Force This register is used to set Force It defines the current for the Gripper If the current limit is exceeded the fingers stop and trigger an object detection The address is 0x0101 The description of this register is shown in Table 2 5 Table 2 5 For...

Page 15: ...y set read Send 01 03 01 03 00 01 75 F6 Return 01 03 02 xx xx crc1 crc2 Read the Real time position currently set read Send 01 03 02 02 00 01 24 72 Return 01 03 02 xx xx crc1 crc2 2 3 3 4 Speed This register is used to set the Gripper closing and opening speed The address is 0x0102 The description of this register is shown in Table 2 7 Table 2 7 Speed Instructions Function Address Description Writ...

Page 16: ...ster is used 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 Function Address Description Write Read Gripper State 0x0201 the gripper state Read Only 0 In motion 1 Reached position 2 Object caught 3 Object dropped Example Read gripper state read Send 01 03 0...

Page 17: ... 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 Description Write Read Save Parameter 0x0300 Save register s value to Flash 0 default 1 Save all parameters 0 Example Save Parameter Write Send 01 06 03 00 00 01 48 4E Return 01 06 03 00 00 01 48 4E 2 3 3 9 ...

Page 18: ...1 06 03 01 00 00 D8 4E 2 3 3 10 Slave Address This register is used to set Slave Address of gripper The address is 0x0302 The description of this register is shown in Table 2 13 Table 2 13 Slave Address Function Address Description Write Read Slave Address 0x0302 Configure gripper Slave Address 1 247 default 1 Current setting The device ID can be used to configure the gripper Modbus ID and the def...

Page 19: ... 01 06 03 03 00 00 79 8E Return 01 06 03 03 00 00 79 8E 2 3 3 12 Stop Bits This register is used to set Stop Bits of gripper The address is 0x0302 The description of this register is shown in Table 2 15 Table 2 15 Stop bits 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 regi...

Page 20: ... Address Description Write Read I O Mode Switch 0x0402 I O Control Switch 0 OFF 1 ON Current setting If you have written 1 to this register and have saved all parameters the gripper will be initialized automatically after power on When the I O Control Mode is turned on the gripper can respond to Modbus RTU commands and I O but I O has priority The control method in different mode is shown in Table...

Page 21: ...O parameter Example Control 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 3 16 I O Parameter Configuration Those registers are used to Set the I O Parameters The address is 0x0405 0x0410 The description of this register is shown in Table 2 20 Table 2 20 I O Parameter Configuration Function High byte Low bytes Description Write R...

Page 22: ...IO parameter address is continuous address and four groups of IO parameters can be configured at one time by using the function code of 0x10 as follows Continuous multiple address write write 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 0100 0014 0002...

Page 23: ...shown 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 four groups of parameters of gripper including position force and speed Save click the Save button to write the parameters to the internal register of flash and restart to control Restart after the rest...

Page 24: ...ference 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 can be configured through Modbus RTU protocol of RS485 or the parameters of gripper can be configured through our debugging software Please refer to the previous section for specific configuration ...

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