Table of Contents
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Revisions ........................................................................................................................................... 1
1 Specifications ................................................................................................................................. 2
1.1 Performance Parameter ....................................................................................................... 2
1.2 Dimensions.......................................................................................................................... 3
1.3 Indicator .............................................................................................................................. 3
1.4 Pinout Description ............................................................................................................... 4
2 Modbus-RTU Control .................................................................................................................... 5
2.1 Debugging software description ......................................................................................... 5
2.1.1 Installation and wiring of debugging software ......................................................... 5
2.1.2 Debugging software instructions .............................................................................. 6
2.2 Default Communication Parameters ................................................................................... 9
2.3 Modbus-RTU Description ................................................................................................. 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 Speed ........................................................................................................... 13
2.3.4.5 Initialization State ....................................................................................... 14
2.3.4.6 Gripper State ............................................................................................... 14
2.3.4.7 Current Position .......................................................................................... 15
2.3.4.8 Save Parameter ............................................................................................ 15
2.3.4.9 Initialization Direction ................................................................................ 15
2.3.4.10 Slave Address ............................................................................................ 16
2.3.4.11 Baud Rate .................................................................................................. 16
2.3.4.12 Stop Bits .................................................................................................... 17
2.3.4.13 Parity ......................................................................................................... 17
2.3.4.14 Test I/O Parameters ................................................................................... 18
2.3.4.15 I/O Mode Switch ....................................................................................... 18
2.3.4.16 I/O Parameter Configuration ..................................................................... 19
3 I/O Control ................................................................................................................................... 21
CGE-10 Gripper
Short Manual
Content
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Table of Contents
Related Manuals for Dh-Robotics CGE-10
Summary of Contents for Dh-Robotics CGE-10
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Page 1: Table Of Contents
CGE-10 Gripper Short Manual Content Revisions ............................1 1 Specifications ..........................2 1.1 Performance Parameter ....................... 2 1.2 Dimensions.......................... 3 1.3 Indicator ..........................3 1.4 Pinout Description ....................... 4 2 Modbus-RTU Control ........................5 2.1 Debugging software description ..................5 2.1.1 Installation and wiring of debugging software ............ -
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 20210401 V2.1 Normal update... -
Page 3: Specifications
Tel/Fax: 0755-82734836 www.dh-robotics.com 1 Specifications CGE series are three finger cooperative gripper. The number represents the maximum clamping force of a single fingertip. The gripper are equipped with three fingertips, which are evenly distributed in a circle.The main structure of the gripper is a smooth rectangular structure. It is equipped with an 8-core communication interface, as shown in Figure 1.1. -
Page 4: Dimensions
Tel/Fax: 0755-82734836 www.dh-robotics.com Table 1.1 CGC-80 specifications CGC-80 performance parameters. Gripping force (per jaw) 3-10N Opening/closing stroke (both sides) 0-10mm Opening/Closing time 0.2s/0.2s Weight 0.43kg Position repeatability (both sides) ± 0.03mm Communication protocols Modbus RTU(RS485), I/O Nominal voltage 24V DC± 10% Nominal current 0.3 A... -
Page 5: Pinout Description
Tel/Fax: 0755-82734836 www.dh-robotics.com Color description of indicator light ·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). -
Page 6: Modbus-Rtu Control
Tel/Fax: 0755-82734836 www.dh-robotics.com 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. -
Page 7: Debugging Software Instructions
Tel/Fax: 0755-82734836 www.dh-robotics.com 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). - Page 8 Tel/Fax: 0755-82734836 www.dh-robotics.com Figure 2.3 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.
- Page 9 Tel/Fax: 0755-82734836 www.dh-robotics.com 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].
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Page 10: Default Communication Parameters
Tel/Fax: 0755-82734836 www.dh-robotics.com Figure 2.6 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 11: Modbus-Rtu Description
Tel/Fax: 0755-82734836 www.dh-robotics.com 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 12 Tel/Fax: 0755-82734836 www.dh-robotics.com 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 address Function Description Write Read (hexadecimal) 0x01：...
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Page 13: 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 14: 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 15: Initialization State
Tel/Fax: 0755-82734836 www.dh-robotics.com Return: 01 03 02 xx xx crc1 crc2 2.3.4.5 Initialization State This register is used to store current initialization state of gripper, you can get the initialization state by reading this register. The address is 0x0200. The description of this register is shown in Table 2.8. -
Page 16: Current Position
Tel/Fax: 0755-82734836 www.dh-robotics.com 2.3.4.7 Current Position This register is used to store the Actual position of the Gripper. The address is 0x0202. The description of this register is shown in Table 2.10. Table 2.10 Current Position Function Address Description Write... -
Page 17: Slave Address
Tel/Fax: 0755-82734836 www.dh-robotics.com Table 2.12 Baud Rate Function Address Description Write Read Configure 0: Open，1:Close Baud Rate 0x0301 initialization Current setting (default: 0） direction The value of this register is 0 by default. If the register value is 0, when you send the initialization command, the gripper finger will open and find the maximum position. -
Page 18: Stop Bits
Tel/Fax: 0755-82734836 www.dh-robotics.com Table 2.14 Baud Rate Function Address Description Write Read 0-5：115200，57600， Configure gripper Baud Rate 0x0303 38400，19200，9600， Current setting Modbus Baud rate 4800（default: 0） The value of this register is 0 by default, corresponding to a baud rate of 115200. -
Page 19: Test I/O Parameters
Tel/Fax: 0755-82734836 www.dh-robotics.com Send: 01 06 03 05 00 00 99 8F Return: 01 06 03 05 00 00 99 8F 2.3.4.14 Test I/O Parameters This register is used to test the I/O Parameters. The address is 0x0400. The description of this register is shown in Table 2.17. -
Page 20: I/O Parameter Configuration
Tel/Fax: 0755-82734836 www.dh-robotics.com Set the I/O control mode switch off (write): Send: 01 06 04 02 00 00 29 3A Return: 01 06 04 02 00 00 29 3A NOTE ·If you just need to control the gripper through Modbus RTU, you should write 0 to this register and save all parameters to turn off the I/O control mode. - Page 21 Tel/Fax: 0755-82734836 www.dh-robotics.com Continuous multiple address write(write)[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 0100 0014 0002 0000 0064 0005 0250 0064 000a 9f 44...
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Page 22: 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 23 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...
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