PGE-15 Gripper
Short Manual
Content
Revisions...........................................................................................................................................1
1 Specifications.................................................................................................................................2
1.1 Performance Parameter.......................................................................................................2
1.2 Indicator ..............................................................................................................................4
1.3 Dimensions..........................................................................................................................4
1.4 Pinout Description...............................................................................................................4
2 Modbus-RTU Control ....................................................................................................................6
2.1 Wiring .................................................................................................................................6
2.2 Default Communication Parameters ...................................................................................6
2.3 Modbus-RTU Description...................................................................................................7
2.3.1 RTU Framing ...........................................................................................................7
2.3.2 Supported Modbus Function Code...........................................................................7
2.3.3 Register Mapping.....................................................................................................7
2.3.4 Register Description.................................................................................................9
2.3.4.1 Initialization ..................................................................................................9
2.3.4.2 Force..............................................................................................................9
2.3.4.3 Position........................................................................................................10
2.3.4.4 Speed...........................................................................................................10
2.3.4.5 Initialization State .......................................................................................11
2.3.4.6 Gripper State ...............................................................................................11
2.3.4.7 Current Position ..........................................................................................12
2.3.4.8 Save Parameter............................................................................................12
2.3.4.9 Initialization Direction ................................................................................12
2.3.4.10 Slave Address............................................................................................13
2.3.4.11 Baud Rate ..................................................................................................13
2.3.4.12 Stop Bits....................................................................................................14
2.3.4.13 Parity .........................................................................................................14
2.3.4.14 Test I/O Parameters ...................................................................................15
2.3.4.15 I/O Mode Switch.......................................................................................15
2.3.4.16 I/O Parameter Configuration.....................................................................16
3 I/O Control...................................................................................................................................18
3.1 Wiring ...............................................................................................................................18
3.2 I/O Setting.........................................................................................................................19
3.2.1 Configure IO ..........................................................................................................19
3.2.2 Open IO..................................................................................................................20