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21 

 

3 I/O Control 

 

The I/O mode is a common control method in industry.

 

The grippers will monitor the pin states of Input 1 and Input 2 (0V and high resistance states). 

Input 1 controls the 

position

 and Input 2 controls the 

angle

.. You can control this gripper through 

changing the states of Input 1 and Input 2. As shown in Table

 

3.1(a) and.

 Table

 

3.1(b).

 

Table 3.1(a) Input 1 State

 

Pinout 

Function 

INPUT 1

 

Pin state

 

Perform action

 

INPUT 1 

Position 

High 

resistance 

0 

Target position 1,target 

force 1,target speed 1 

0V 

1 

Target position 2,Target 

Force 2,Target Speed 2 

 

Table 3.1(b) Input 2 State

 

Pinout 

Function 

INPUT 1

 

Pin state

 

Perform action

 

INPUT 2  Rotation 

High 

resistance 

0 

Rotation angle 1, rotation speed 1, 

rotation force 1 

0V 

1 

Rotation angle 2, rotation speed 2, 

rotation force 2 

 

 

The input pin controls the position and rotation, and the 

two pins have sequence

. According 

to the actual situation, they can confirm whether they move first and then rotate or rotate and then 
move.

 

 

 

You can also get the gripper state by detecting the states of Output1 and Output 2(0V and high 

resistance states). as shown in Table 3.2.

 

Table 3.2 Output1 Output2 State

 

I/O

 

State

 

(OUT1 OUT2)

 

State description

 

0 0

 

Fingers are in motion

 

1 0

 

Fingers are at reference position,

 

No object detected or object has been dropped

 

0 1

 

Fingers have stopped due to an object detection

 

 

 

 

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 mode. After the four groups of parameters are configured, 
the gripper can be controlled by setting the Input 1 and Input 2 pin states, and the grip state can be 
obtained by detecting the Output 1 and Output 2.

 

NOTE

 

·

Please make sure that the I/O hardware type of the gripper is compatible with your 

controller’s. 

 

Summary of Contents for RGI-30

Page 1: ...9 2 3 4 2 Force 10 2 3 4 3 Position 10 2 3 4 4 Speed 11 2 3 4 5 Rotation angle 11 2 3 4 6 Rotation speed 12 2 3 4 7 Rotation force 12 2 3 4 8 Initialization State 13 2 3 4 9 Gripper State 13 2 3 4 10 Current Position 14 2 3 4 11 Rotating angle feedback 14 2 3 4 12 Rotating initialization state feedback 15 2 3 4 13 Rotating state feedback 15 2 3 4 14 Save Parameter 15 2 3 4 15 Initialization Direct...

Page 2: ...2 3 I O Control 21 3 1 Wiring 22 3 2 I O Setting 22 3 2 1 Configure IO 22 3 2 2 Open IO 23 3 2 3 Save Settings 24 3 2 4 Restart 24 ...

Page 3: ...426 V1 0 First edition write wiring instructions and command instructions 20200904 V2 0 Change some instructions Update the description of IO mode 20201010 V2 1 The structure of gripper is modified and the structure is lengthened Modify the picture ...

Page 4: ...eed angle The gripper can program and adjust the grip position grip force grip speed and angle 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 position control is adopted in the gripping process Grippi...

Page 5: ...inal voltage 24 V DC 10 Nominal current 1 1A Peak current 2A Recommended operating environment 0 to 40 C 85 RH or less Communication protocols Modbus RTU RS485 I O 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...

Page 6: ...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 Uninitialize 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 ...

Page 7: ...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 Blue 485_B Black 485_A Red 24 V Grey Pink GND Yellow OUTPUT 1 Green OUTPUT 2 ...

Page 8: ... 1 below to plug into a PC or other Controllers Figure 2 1 RS485 Connection 2 2 Default Communication Parameters Slave Address 1 Baud Rate 115200 Data Bits 8 bits Stop Bits 1 stop bit Parity None Warning Note the line order before connecting Please note that the RGI power wire is red and GND wire is grey ...

Page 9: ...lls 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 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...

Page 10: ... Reserved 0x06 Rotation speed 0x07 Rotate at a set speed 1 100 Read the current setting Rotation force 0x08 Rotate at a set force 20 100 Read the current setting Initialization state 0x02 0x00 Initialization state of the gripper Read Only 0 Uninitialized 1 Initialized 2 Initializing Gripper state 0x01 Gripper state Read Only 0 In motion 1 Reach position 2 object caught 3 Object dropped Position 0x...

Page 11: ...Four groups of I O parameters position 1 force 1 speed 1 to position 4 force 4 speed 4 Current setting 2 3 4 Register Description 2 3 4 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 and rotation to find the 0 degree The initialization direction depends on th...

Page 12: ...et 30 closing force write Send 01 06 01 01 1E 59 FE Return 01 06 01 01 1E 59 FE Read the closing force currently set read Send 01 03 01 01 00 01 D4 36 Return 01 03 02 xx xx crc1 crc2 2 3 4 3 Position This register is used to set the reference position of gripper s fingers then the fingers will move to the position immediately The address is 0x0103 The description of this register is shown in Table...

Page 13: ... 04 00 32 48 22 Read the current speed read Send 01 03 01 04 00 01 C4 37 Return 01 03 02 xx xx crc1 crc2 2 3 4 5 Rotation angle This register is used to set the gripper angle of rotation The address is 0x0105 The description of this register is shown in Table 2 8 Table 2 8 The angle of rotation Function Address Description Write Read Rotation angle 0x0105 Rotate to the specified angle 32768 32767 ...

Page 14: ... 2 3 4 7 Rotation force This register is used to set the force of rotation The address is 0x0108 The description of this register is shown in Table 2 10 Table 2 9 The force of rotation Function Address Description Write Read Rotation force 0x0108 Rotate at a set force 20 100 Read the current setting Be careful Rotation angle is represented by a reverse code If the rotation angle is positive the re...

Page 15: ... in Table 2 11 Table 2 11 Initialization State Function Address Description Write Read Initialization State 0x0200 Initialization state of the gripper Read Only 0 Uninitialized 1 Initialized 2 Initializing Example Read initialization state read Send 01 03 02 00 00 01 85 B2 Return 01 03 02 00 00 B8 44 2 3 4 9 Gripper State This register is used to store the Gripper state you can get the state of gr...

Page 16: ...ore the Actual rotating angle of the Gripper The address is 0x0208 The description of this register is shown in Table 2 14 Table 2 14 Rotating angle feedback Function Address Description Write Read Rotating angle feedback 0x0208 Feedback on the current rotation angle Cannot be written Read the current value Example Read actual rotation angle read Send 01 03 02 08 00 01 04 70 Return 01 03 02 xx xx ...

Page 17: ... 4 13 Rotating state feedback This register is used to store the Rotating state feedback of the Gripper The address is 0x020B The description of this register is shown in Table 2 16 Table 2 16 Rotating state feedback Function Address Description Write Read Rotating state feedback 0x020B Feedback rotation state Cannot be written 0 In motion 1 reaching the position 2 blocking 3 had been blocked duri...

Page 18: ...urrent setting The value of this register is 0 by default If the register value is 0 when you send the initialization command the gripper finger will open and find the maximum position If the register value is 1 when you send the initialization command the gripper finger will close and find the minimal position Example Write 0 to initialization direction register Send 01 06 03 01 00 00 D8 4E Retur...

Page 19: ...te 0x0303 Configure gripper Modbus Baud rate 0 5 115200 57600 38400 19200 9600 4800 default 0 Current setting The value of this register is 0 by default corresponding to a baud rate of 115200 Example Set gripper baud rate to115200 write Send 01 06 03 03 00 00 79 8E Return 01 06 03 03 00 00 79 8E 2 3 4 18 Stop Bits This register is used to set Stop Bits of gripper The address is 0x0302 The descript...

Page 20: ...ample Set the gripper s Parity to None Parity write Send 01 06 03 05 00 00 99 8F Return 01 06 03 05 00 00 99 8F 2 3 4 20 Test I O Parameters This register is used to test the I O Parameters The address is 0x0400 The description of this register is shown in Table 2 23 Table 2 23 I O Control Function Address Description Write Read Test I O Parameters 0x0400 Test I O Parameters 1 2 3 4 Current settin...

Page 21: ...ode is shown in Table 2 252 Table 2 25 Control method Switch State Description Modbus RTU I O 0 I O control mode off YES No 1 I O control mode on YES YES Example Set the I O control mode switch off write Send 01 06 04 02 00 00 29 3A Return 01 06 04 02 00 00 29 3A 2 3 4 22 I O Parameter Configuration Those registers are used to Set the I O Parameters The address is 0x0405 0x0410 The description of ...

Page 22: ... write Send 01 06 04 05 01 2C 98 B6 Reference position 300 Return 01 06 04 05 01 2C 98 B6 Send 01 06 04 06 00 1E E8 F3 Force 30 Return 01 06 04 06 00 1E E8 F3 Send 01 06 04 07 00 1E B9 33 Speed 30 Return 01 06 04 07 00 1E B9 33 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 ...

Page 23: ...o pins have sequence According to the actual situation they can confirm whether they move first and then rotate or rotate and then move You can also get the gripper state by detecting the states of Output1 and Output 2 0V and high resistance states as shown in Table 3 2 Table 3 2 Output1 Output2 State I O State OUT1 OUT2 State description 0 0 Fingers are in motion 1 0 Fingers are at reference posi...

Page 24: ...en OUTPUT 2 3 2 I O Setting The diagram of IO operation steps is as follows 3 2 1 Configure IO Connect 24 V GND and 485_ A and 485_ B Then you can use I O Parameter Configuration to configure four groups of IO parameters It is recommended to use serial port debugging software at PC for configuration IO parameters are configured as continuous address and 12 groups of data including 0x0405 0x0410 ne...

Page 25: ...er 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 3 2 2 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 ...

Page 26: ...rn 01 06 03 00 01 48 4e 3 2 4 Restart After power off you can connect the input and output to the corresponding equipment and power on after confirming that the wiring is correct The gripper will be initialized automatically Then the gripper is controlled according to the input signal and the running state is feedback through output ...

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