Trossen Robotics AG Series Short Manual

Gripper

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Short Manual (Modbus-RTU)

Revisions ........................................................................................................................................... 2

1 Specifications ................................................................................................................................. 3

1.1 Performance Parameter ....................................................................................................... 4

1.2 Indicator .............................................................................................................................. 5

1.3 Dimensions.......................................................................................................................... 5

1.4 Standard flange ................................................................................................................... 6

1.5 Pinout Description ............................................................................................................... 6

2 Modbus-RTU Control .................................................................................................................... 7

2.1 Wiring ................................................................................................................................. 7

2.2 Debugging software description ......................................................................................... 8

2.1.1 Installation and wiring of debugging software ......................................................... 8

2.1.2 Debugging software instructions .............................................................................. 9

2.3 Modbus-RTU Description ................................................................................................. 12

2.3.1 Default Communication Parameters ...................................................................... 12

2.3.2 RTU Framing ......................................................................................................... 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 Initialization State ....................................................................................... 16

2.3.4.5 Gripper State ............................................................................................... 17

2.3.4.6 Current Position .......................................................................................... 17

2.3.4.7 Save Parameter ............................................................................................ 18

2.3.4.8 Initialization Direction ................................................................................ 18

2.3.4.9 Slave Address .............................................................................................. 19

2.3.4.10 Baud Rate .................................................................................................. 19

2.3.4.11 Stop Bits .................................................................................................... 19

2.3.4.12 Parity ......................................................................................................... 20

2.3.4.13 Test I/O Parameters ................................................................................... 20

2.3.4.14 I/O Mode Switch ....................................................................................... 21

2.3.4.15 I/O Parameter Configuration ..................................................................... 21

3 I/O Control ................................................................................................................................... 23

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AG-95 Gripper

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Page 1: Table Of Contents
Tel/Fax: 0755-82734836 www.dh-robotics.com AG-95 Gripper Short Manual (Modbus-RTU) Content Revisions ............................2 1 Specifications ..........................3 1.1 Performance Parameter ....................... 4 1.2 Indicator ..........................5 1.3 Dimensions.......................... 5 1.4 Standard flange ........................6 1.5 Pinout Description ....................... 6 2 Modbus-RTU Control ........................7 2.1 Wiring ..........................
Page 2: Revisions
Tel/Fax: 0755-82734836 www.dh-robotics.com Revisions Date Version Revised content First edition, write wiring instructions and 20200426 V1.0 command instructions Change some instructions , Update the description 20200904 V2.0 of IO mode Normal update, Add debugging software 20210401 V2.1 description...
Page 3: Specifications
1 Specifications AG series are adaptive electric gripper, The number(AG-number) represents the maximum gripping stroke of the gripper. The gripper is equipped with a pair of parallel fingertips, which runs symmetrically during the movement. The main structure of the gripper is a smooth rectangular structure.
Page 4: Performance Parameter
Tel/Fax: 0755-82734836 www.dh-robotics.com 1.1 Performance Parameter The specific parameters of AG-95 gripper are listed in Table 1.1. Table 1.1 AG-95 specifications AG-95 performance parameters. Gripping force (per jaw) 45-160N Opening/closing stroke (both sides) 0-98mm Opening/Closing time 0.7s/0.7s Weight Position repeatability (both sides) ±...
Page 5: Indicator
Tel/Fax: 0755-82734836 www.dh-robotics.com 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: 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.
Page 6: Standard Flange
Tel/Fax: 0755-82734836 www.dh-robotics.com 1.4 Standard flange The flange is used for the connection between AG-95 electric gripper and robot. The company provides standard flange, as shown in Figure 1.4. The gripper also supports custom flanges. Figure 1.4 Standard flange according to ISO 9409-1-50-4-M6 1.5 Pinout Description The pinout of the gripper is shown in Figure 1.5, and the pin description is shown in Table 1.3.
Page 7: Modbus-Rtu Control
Tel/Fax: 0755-82734836 www.dh-robotics.com 2 Modbus-RTU Control 2.1 Wiring Use the provided RS-485 to USB converter (see the schematic in Figure 1.1 below) to plug into a PC or other Controllers. Figure 2.1 RS485 Connection The outgoing line of clamping claw body can be changed according to the needs of customers.
Page 8: Debugging Software Description
Tel/Fax: 0755-82734836 www.dh-robotics.com 2.2 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.
Page 9: Debugging Software Instructions
Tel/Fax: 0755-82734836 www.dh-robotics.com Figure 2.4 (a) installation interface 1 Figure 2.4 (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.
Page 10 Tel/Fax: 0755-82734836 www.dh-robotics.com Figure 2.5 main control interface The specific interface description is as follows: 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...
Page 11 Tel/Fax: 0755-82734836 www.dh-robotics.com Figure 2.6 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 2.7 Modbus RTU parameters You can set and configure the gripper I / O parameters in [I / O parameters].
Page 12: Modbus-Rtu Description
Tel/Fax: 0755-82734836 www.dh-robotics.com Figure 2.8 Modbus RTU parameters The steps of switching IO are as follows: 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.
Page 13: Rtu Framing
Tel/Fax: 0755-82734836 www.dh-robotics.com 2.3.2 RTU Framing This gripper uses the standard Modbus-RTU protocol. In RTU mode, the first field is the device address. The allowable characters transmitted for all fields are hexadecimal 0 ... 9, A ... F. Networked devices monitor the network bus continuously, including during the silent intervals.
Page 14 Tel/Fax: 0755-82734836 www.dh-robotics.com Table 2.2 Basic Control register map High Function Description Write Read bytes bytes 0x01：initialization； Initialize the Initialization 0x00 0xA5: Fully Current setting gripper initialization Gripper’s Closing-force force 0x01 20-100 (%) 0x01 force currently set reserve 0x02 Reference position currently Position 0x03 Position...
Page 15: Register Description
Tel/Fax: 0755-82734836 www.dh-robotics.com 2.3.4 Register Description 2.3.4.1 Initialization This register is used to initialize the gripper. Write: If write 1 (0x01 hex) to this register, the gripper will be initialized (fingers move to the minimal or maximum position. The initialization direction depends on the value of initialization direction register).
Page 16: Position
Tel/Fax: 0755-82734836 www.dh-robotics.com Read the closing force currently set (read): Send: 01 03 01 01 00 01 D4 36 Return: 01 03 02 xx xx crc1 crc2 2.3.4.3 Position This register is used to set the reference position of gripper's fingers, then the fingers will move to the position immediately.
Page 17: Gripper State
Tel/Fax: 0755-82734836 www.dh-robotics.com 2.3.4.5 Gripper State This register is used 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 2.8. Table 2.8 Gripper State Function Address...
Page 18: Save Parameter
Tel/Fax: 0755-82734836 www.dh-robotics.com 2.3.4.7 Save Parameter This register is used to Save Parameter. Write 1 to this register to 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 2.10. Table 2.10 Save Parameter Function Address...
Page 19: Slave Address
Tel/Fax: 0755-82734836 www.dh-robotics.com Return: 01 06 03 01 00 00 D8 4E 2.3.4.9 Slave Address This register is used to set Slave Address of gripper. The address is 0x0302. The description of this register is shown in Table 2.12. Table 2.12 Slave Address Function Address Description...
Page 20: Parity
Tel/Fax: 0755-82734836 www.dh-robotics.com The address is 0x0302. The description of this register is shown in Table 2.14. Table 2.14 Stop bits settings Function Address Description Write Read 0：1 stop bit Configure gripper 1：2 stop bits Stop Bits 0x0304 Current setting Modbus stop bits （default: 0）...
Page 21: I/O Mode Switch
Tel/Fax: 0755-82734836 www.dh-robotics.com Example: Control 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 2.3.4.14 I/O Mode Switch This register is used to turn I/O Control Mode ON or OFF. The address is 0x0402.
Page 22 Tel/Fax: 0755-82734836 www.dh-robotics.com High- Function Description Write Read byte bytes 0x05 position 1 0-1000‰ I/O Group 1 0x06 force 1 20-100 % 0x08 position 2 0-1000‰ I/O Group 2 0x09 force 2 20-100 % 0x04 Current setting 0x0B position 3 0-1000‰...
Page 23: O Control
Tel/Fax: 0755-82734836 www.dh-robotics.com 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.
Page 24 Tel/Fax: 0755-82734836 www.dh-robotics.com Table 3.1 Input State INPUT 1 INPUT 2 Pin state Perform action I/O state Target position 1,target No wiring No wiring Group 1 force 1,target speed 1 Target position 2,Target No wiring Group 2 Force 2,Target Speed 2 Target position 3,Target No wiring Group 3...

This manual is also suitable for:

Ag-95