Dh-Robotics CGE-10, Краткое руководство

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CGE-10 Gripper
Short Manual
Content
Revisions ........................................................................................................................................... 1
1 Specifications ................................................................................................................................. 2
1.1 Performance Parameter ....................................................................................................... 2
1.2 Dimensions .......................................................................................................................... 3
1.3 Indicator .............................................................................................................................. 3
1.4 Pinout Description ............................................................................................................... 4
2 Modbus-RTU Control .................................................................................................................... 5
2.1 Debugging software description ......................................................................................... 5
2.1.1 Installation and wiring of debugging software ......................................................... 5
2.1.2 Debugging software instructions .............................................................................. 6
2.2 Default Communication Parameters ................................................................................... 9
2.3 Modbus-RTU Description ................................................................................................. 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 Speed ........................................................................................................... 13
2.3.4.5 Initialization State ....................................................................................... 14
2.3.4.6 Gripper State ............................................................................................... 14
2.3.4.7 Current Position .......................................................................................... 15
2.3.4.8 Save Parameter ............................................................................................ 15
2.3.4.9 Initialization Direction ................................................................................ 15
2.3.4.10 Slave Address ............................................................................................ 16
2.3.4.11 Baud Rate .................................................................................................. 16
2.3.4.12 Stop Bits .................................................................................................... 17
2.3.4.13 Parity ......................................................................................................... 17
2.3.4.14 Test I/O Parameters ................................................................................... 18
2.3.4.15 I/O Mode Switch ....................................................................................... 18
2.3.4.16 I/O Parameter Configuration ..................................................................... 19
3 I/O Control ................................................................................................................................... 21