Trossen Robotics PGC Series, Short Manual

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PGC-140 Gripper
Short Manual
Content
Revisions ........................................................................................................................................... 1
1 Specifications ................................................................................................................................. 2
1.1 Performance Parameter ....................................................................................................... 2
1.2 Indicator .............................................................................................................................. 4
1.3 Dimensions .......................................................................................................................... 4
1.4 Standard flange ................................................................................................................... 5
1.5 Pinout Description ............................................................................................................... 5
1.6 Product list .......................................................................................................................... 6
2 Modbus-RTU Control .................................................................................................................... 8
2.1 Debugging software description ......................................................................................... 8
2.1.1 Installation and wiring of debugging software ......................................................... 8
2.1.2 Debugging software instructions .............................................................................. 9
2.2 Default Communication Parameters ................................................................................. 12
2.3 Modbus-RTU Description ................................................................................................. 13
2.3.1 RTU Framing ......................................................................................................... 13
2.3.2 Supported Modbus Function Code ......................................................................... 13
2.3.3 Register Mapping ................................................................................................... 13
2.3.4 Register Description ............................................................................................... 15
2.3.4.1 Initialization ................................................................................................ 15
2.3.4.2 Force ............................................................................................................ 15
2.3.4.3 Position ........................................................................................................ 16
2.3.4.4 Speed ........................................................................................................... 16
2.3.4.5 Initialization State ....................................................................................... 17
2.3.4.6 Gripper State ............................................................................................... 17
2.3.4.7 Current Position .......................................................................................... 18
2.3.4.8 Save Parameter ............................................................................................ 18
2.3.4.9 Initialization Direction ................................................................................ 19
2.3.4.10 Slave Address ............................................................................................ 19
2.3.4.11 Baud Rate .................................................................................................. 20
2.3.4.12 Stop Bits .................................................................................................... 20
2.3.4.13 Parity ......................................................................................................... 20
2.3.4.14 Test I/O Parameters ................................................................................... 21
2.3.4.15 I/O Mode Switch ....................................................................................... 21
2.3.4.16 I/O Parameter Configuration ..................................................................... 22
3 I/O Control ................................................................................................................................... 24