Table of Contents
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Revisions ........................................................................................................................................... 1
1 Specifications ................................................................................................................................. 2
1.1 Performance Parameter ....................................................................................................... 3
1.2 Dimensions.......................................................................................................................... 4
1.3 Indicator .............................................................................................................................. 4
1.4 Pinout Description ............................................................................................................... 5
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 ............................................................................................................ 10
2.3.4.3 Position ........................................................................................................ 10
2.3.4.4 Speed ........................................................................................................... 11
2.3.4.5 Rotation angle ............................................................................................. 11
2.3.4.6 Rotation speed ............................................................................................. 12
2.3.4.7 Rotation force .............................................................................................. 12
2.3.4.8 Initialization State ....................................................................................... 13
2.3.4.9 Gripper State ............................................................................................... 13
2.3.4.10 Current Position ........................................................................................ 14
2.3.4.11 Rotating angle feedback ............................................................................ 14
2.3.4.12 Rotating initialization state feedback. ....................................................... 15
2.3.4.13 Rotating state feedback. ............................................................................ 15
2.3.4.14 Save Parameter .......................................................................................... 15
2.3.4.15 Initialization Direction .............................................................................. 16
2.3.4.16 Slave Address ............................................................................................ 16
2.3.4.17 Baud Rate .................................................................................................. 17
2.3.4.18 Stop Bits .................................................................................................... 17
2.3.4.19 Parity ......................................................................................................... 18
2.3.4.20 Test I/O Parameters ................................................................................... 18
2.3.4.21 I/O Mode Switch ....................................................................................... 19
2.3.4.22 I/O Parameter Configuration ..................................................................... 19
RGI-30 Gripper
Short Manual
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Table of Contents
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Summary of Contents for DH RGI-30
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Page 1: Table Of Contents
RGI-30 Gripper Short Manual Content Revisions ............................1 1 Specifications ..........................2 1.1 Performance Parameter ....................... 3 1.2 Dimensions.......................... 4 1.3 Indicator ..........................4 1.4 Pinout Description ....................... 5 2 Modbus-RTU Control ........................6 2.1 Wiring ..........................6 2.2 Default Communication Parameters ................... 6 2.3 Modbus-RTU Description .................... - Page 2 3 I/O Control ........................... 21 3.1 Wiring ..........................22 3.2 I/O Setting ......................... 22 3.2.1 Configure IO ......................22 3.2.2 Open IO ........................23 3.2.3 Save Settings ......................24 3.2.4. Restart ........................24...
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Page 3: Revisions
Revisions Date Version Revised content First edition, write wiring instructions and 20200426 V1.0 command instructions Change some instructions , Update the 20200904 V2.0 description of IO mode The structure of gripper is modified and the 20201010 V2.1 structure is lengthened. Modify the picture... -
Page 4: Specifications
1 Specifications RGI-30 is an electric rotary gripper, The number represents the Maximum stroke. The gripper is equipped with a pair of parallel fingertips, which runs symmetrically during the movement. The main structure of the gripper is a cuboid structure with three installation positions, which can meet the different installation conditions of the equipment. -
Page 5: Performance Parameter
Fz, the x-axis direction torque is Mx, the y-axis direction torque is My, and the z-axis direction torque is Mz. The RGI-30 ‘finger load table is shown in Table 1.2: Figure 1.2 Torque diagram... -
Page 6: Dimensions
Table 1.2 RGI-30 Finger load Table . RGI-30 Max allowable vertical load (static) 150N Max allowable moment Mx (static) 2 N m Max allowable moment My (static) 1.5 N m Max allowable moment Mz (static) 2.5 Nm 1.2 Dimensions The dimensions of gripper contain the specific size of the gripper, the mounting hole, as shown in Figure 1.3:... -
Page 7: Pinout Description
1.4 Pinout Description The pinout of the gripper is shown in Figure 1.4, and the pin description is shown in Table 1.3. Figure1.4 Pinout assignment Table 1.3 Pinout assignment Wire color Description Brown INPUT 2 INPUT 1 White Blue 485_B 485_A Black 24 V... -
Page 8: Modbus-Rtu Control
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 Warning ·Note the line order before connecting: Please note that the RGI power wire is red and GND wire is grey. -
Page 9: Modbus-Rtu Description
2.3 Modbus-RTU Description 2.3.1 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 10 Basic control registers: initialization, force setting, reference position, speed, and some states. Configuration registers: gripper’s parameter configuration. Includes Modbus communication parameters and I/O parameters. Table 2.2 Basic Control register map high- low- Function Description Write Read byte byte 0x01：initialization； Initialize the 0xA5: Fully Current setting Initialization...
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Page 11: Register Description
Table 2.3 Configuration register map High Function Description Write Read byte bytes Save 0：default，1：Write all 0x00 Save all the parameters Parameter parameters to save Initialization Configure 0: Open，1:Close 0x01 Current setting direction initialization direction (default: 0） Configure gripper Slave Address 0x02 0-255 (default: 1）... -
Page 12: Force
Receive: 01 06 01 00 01 49 F6 Reinitialize(write): Send:01 06 01 00 00 A5 48 4D Receive: 01 06 01 00 00 A5 48 4D 2.3.4.2 Force This register is used to set Force. It defines the current for the Gripper. If the current limit is exceeded, the fingers stop and trigger an object detection. -
Page 13: Speed
Send: 01 03 01 03 00 01 75 F6 Return: 01 03 02 xx xx crc1 crc2 2.3.4.4 Speed This register is used to set the Gripper closing and opening speed. The address is 0x0104. The description of this register is shown in Table 2.7. Table 2.7 Speed Instructions Function Address... -
Page 14: Rotation Speed
Be careful ·Rotation angle is represented by a reverse code. If the rotation angle is positive, the reverse code of positive number is the same as the original code. For example, the inverse code of 360° is 0168 (0x). Set 360% angle: 01 06 01 05 01 68 98 49 When the rotation angle is negative, the inverse code of negative number is the reverse of positive number bit by bit, and the sign bit is 1. -
Page 15: Initialization State
The force of rotation is 20-100(%)， The corresponding value is 0x0014 –0x0064(Hexadecimal). Example: Set 50% force (write): Send: 01 06 01 08 00 32 88 21 Return: 01 06 01 05 00 B4 88 21 Read the current force (read): Send: 01 03 01 07 00 01 34 37 Return: 01 03 02 xx xx crc1 crc2... -
Page 16: Current Position
States Description Different values indicate different states of the gripper. The descriptions of states are as follows: ·00: Fingers are in motion . ·01: Fingers are at reference position. No object detected or object has been dropped. ·02: Fingers have stopped due to an object detection. ·03: Fingers are at reference positon due to object has been dropped after the gripper caught object. -
Page 17: Rotating Initialization State Feedback
2.3.4.12 Rotating initialization state feedback. This register is used to store the Rotating initialization state feedback. of the Gripper. The address is 0x020A. The description of this register is shown in Table 2.15. Table 2.15 Rotating initialization state feedback. Function Address Description Write... -
Page 18: Initialization Direction
Table 2.17 Save Parameter Function Address Description Write Read Save Save register’s 0：default， 0x0300 Parameter value to Flash 1：Save all parameters Example: Save Parameter (Write): Send: 01 06 03 00 00 01 48 4E Return: 01 06 03 00 00 01 48 4E NOTE ·The Saving process will take 1-2 seconds, and the gripper won’t response to other command during this process. -
Page 19: Baud Rate
Table 2.19 Slave Address Function Address Description Write Read Configure gripper Slave Address 0x0302 0-255 (default: 1） Current setting Slave Address The value of this register is 1 by default. Example: Set the Slave Address to 1 (write): Send: 01 06 03 02 00 01 E9 8E Return: 01 06 03 02 00 01 E9 8E NOTE ·Please make sure that no other networked device has the same slave address as the... -
Page 20: Parity
The value of this register is 0 by default, corresponding to 1 stop bit. Example: Set the gripper stop bit to 1 stop bit (write): Send: 01 06 03 04 00 00 C8 4F Return: 01 06 03 04 00 00 C8 4F 2.3.4.19 Parity This register is used to set Parity of gripper. -
Page 21: I/O Mode Switch
2.3.4.21 I/O Mode Switch This register is used to turn I/O Control Mode ON or OFF. The address is 0x0402. The description of this register is shown in Table 2.24 Table 2.24 I/O Mode Switch Function Address Description Write Read I/O Mode I/O Control 0x0402... - Page 22 0x08 position 2 0-1000‰ I/O Group 2 0x09 force 2 20-100 % 0x0A speed 2 1-100 % 0x0B Rotation angle 1 -32768-32767 I/O Group 3 0x0C Rotation speed 1 1-100 % 0x0D Rotation force 1 20-100 % 0x0E Rotation angle 2 -32768-32767 I/O Group 4 0x0F...
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Page 23: O Control
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). Input 1 controls the position and Input 2 controls the angle.. You can control this gripper through changing the states of Input 1 and Input 2. -
Page 24: Wiring
3.1 Wiring In I/O control mode, there are six wires need to be connected, including Input 1, Input 2, 24 V, Output 2, Output 1, GND. Refer to Table 3.3 for specific line sequence and color. The gripper’s Output pin should be connected to the Controller’s Input pin. And the gripper’s Input pin should be connected to the Controller’s Output pin. -
Page 25: Open Io
Figure 3.1 (a)Graphical configuration Figure 3.1 (b) Test software register configuration The second way: You can use continuous multiple register write 10 (HEX): Send: 01 10 0405 000C 18 03e8 0014 000A 0100 0014 0002 0000 0064 0005 0250 0064 000a 9f 44 Receive: 01 10 04 05 00 0C D1 3D 3.2.2 Open IO... -
Page 26: Save Settings
3.2.3 Save Settings Save the configured parameters, and write 01 at the register of 0x300 for saving. Send: 01 06 03 00 01 48 4e Return: 01 06 03 00 01 48 4e 3.2.4. Restart After power off, you can connect the input and output to the corresponding equipment, and power on after confirming that the wiring is correct.
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