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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).

For these two pins, there will be four logic states:00,01,10,11. You can control this gripper through
changing the states of Input 1 and Input 2. As 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

①

Open IO mode:

open IO mode first.

②

Configure four groups of IO parameters:

set the four groups of parameters of

gripper, including position, force and speed.

③

Save:

click the Save button to write the parameters to the internal register of flash,

and restart to control.

④

Restart:

after the restart, the switch to IO mode is successful. You can control the

gripper according to the input signal, and the running status will be fed back through
output.

Содержание CGE-10

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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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