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PGC-50 Gripper
Short Manual
Content
Revisions...........................................................................................................................................1
1 Specifications.................................................................................................................................2
1.1 Performance Parameter .......................................................................................................3
1.2 Indicator ..............................................................................................................................3
1.3 Pinout Description...............................................................................................................3
1.4 Product list ..........................................................................................................................4
2 Modbus-RTU Control ....................................................................................................................6
2.1 Debugging software description .........................................................................................6
2.1.1 Installation and wiring of debugging software.........................................................6
2.1.2 Debugging software instructions..............................................................................7
2.2 Default Communication 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 Rate ..................................................................................................18
2.3.3.12 Stop Bits ....................................................................................................18
2.3.3.13 Parity .........................................................................................................18
2.3.3.14 I/O Mode Switch .......................................................................................19
2.3.3.15 Test I/O Parameters ...................................................................................20
2.3.3.16 I/O Parameter Configuration.....................................................................20
3 I/O Control...................................................................................................................................22
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Revisions
Date
Version
Revised content
20200801
V1.0
First edition, write wiring instructions and
command instructions
20201010
V2.0
Normal update
20210101
V2.1
1. Added functions: Add drop feedback in IO
mode, add 04 function 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 configuration examples; VI. Modify the
layout to make the layout beautiful.
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1 Specifications
The CGI series is a three-finger cooperative electric gripper, and the number represents the
maximum clamping force of a single fingertip. The gripper is equipped with 3 fingertips, which are
evenly distributed on a circle. It runs symmetrically during the movement. The main structure of the
gripper is a smooth circular structure, and the bottom is adapted to a standard flange, and is equipped
with an 8-core communication interface for connecting to the end of the robot or other equipment,
as shown in Figure 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 position control is adopted in the
gripping process.
Gripping feedback: The state of the gripper can be read by programming, and can also be
judged according to the indicator of the gripper.
Fingertips can be customized: Fingertips can be replaced according to situation, which is
suitable for precision machining, parts assembly, and other fields.
Figure 1.1 PGC series gripper
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1.1 Performance Parameter
The specific parameters of CGI-100 gripper are listed in Table 1.1.
Table 1.1 CGI-100 specifications
CGI-100 performance parameters.
Gripping force (per jaw)
30-100N
Opening/closing stroke (both sides)
Φ40-Φ170mm
Opening/Closing time
0.5s/0.5s
Weight
1.5kg
Position repeatability (both sides)
±0 .03mm
Noise emission
< 50 dB
Ingress protection rating
IP40
Communication protocols
Modbus RTU(RS485), I/O
Nominal voltage
24V DC±10%
Nominal current
0.4 A
Peak current
1 A
In the actual gripping, you should take the gripping 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 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 at this time, the gripper indicator light will looks like a purple light).
·Object Caught state: green light is always on, other lights are off.
·Object dropped state: green light blinking.
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Figure1.3 Pinout assignment
Table 1.3 Pinout assignment
Wire
number
The blue Wire
mark
corresponds to
the outgoing
color
The yellow Wire
mark
corresponds to
the outgoing
color
Description
Explanation
1
Green
White
485_A
Communication line positive，
T/R+
2
Blue
Brown
485_B
Communication line negative，
T/R-
3
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
quantity
1
gripper
PGC gripper
1
2
flange
flange
1
3
U-disk
U-disk
1
4
Installation
tools
Screw M6*12
4
Thin head screw M4*6
4
Wrench M2.5
1
Wrench M4
1
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Pin 6*10
1
Pin 3*6
2
5
wire
5m extension line
1
6
module
USB to 485 module
1
Note: the content of special customized products will be different.
Our gripper standard aviation plug wire is M12 aviation plug. A total of 8 wires are led out,
which can be extended by the standard 5m extension wire, as shown in the figure below:
Figure 1.4 gripper and extension line
The outgoing line of clamping claw body can be changed according to the needs 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 with M8 aviation plug-in cable
When adopting this scheme, we need to confirm the pin definition with the robot
manufacturer, and confirm the claw outlet according to the pin definition. If the non-standard plug
and custom outlet mode are adopted, the extra cost needs to be discussed.
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2 Modbus-RTU Control
2.1 Debugging software description
The debugging software is specially used to control the gripper and set debugging parameters
on the computer. Because there is no RS485 interface in the computer, the USB to 485 module is
needed to convert the interface to USB interface, which is convenient for the debugging and
control of the gripper in the computer.
2.1.1 Installation and wiring of debugging software
Connecting by debugging software is essentially controlled by RS485 interface. The specific
connection needs to be connected to the 24 V, GND, 485_ 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 driver are integrated in the
process of software installation, and both are installed together. It is recommended to check the
Wiring instructions
·① : when the device (computer) has RS485 interface, the communication can be directly
connected to RS485_A and RS485_B communication lines without transferring to 485
module through USB
·② : in this way, other serial port debugging software (such as MODBUS poll) can be
used for debugging
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create shortcut during installation.
Figure 2.2 (a) installation interface 1
Figure 2.2 (b) driver installation interface
2.1.2 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:
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Figure 2.3 main control interface
The specific interface description is as follows:
The gripper body uses Modbus RTU for communication, and can read and write data into the
register. The data can be read and written at the view register. The data includes control, feedback,
user parameters and I/O parameters as shown in the following figure:
Interface description
·① Initialization and demonstration mode: the gripper needs to be initialized before
operation to calibrate the zero point. The demonstration mode is a cyclic program.
·② Control interface: it can control the position, force and speed of the gripper.
·③ Clamping status: real time display of clamping status of clamping claw.
·④ Position current real time graph: real time display position and current. The
current represents the current of the internal motor, not the current actually consumed by
the gripper. The current real-time graph can reflect the stability of clamping force.
·⑤ Parameter setting: the configuration parameters of Modbus RTU, such as baud rate
and check bit, can be configured; IO mode is to configure the parameters related to IO
mode;
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Figure 2.4 View
If there are multiple 485 devices, sometimes the baud rate and ID 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:
Indice
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