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Revisions ........................................................................................................................................... 1
1 Specifications ................................................................................................................................. 2
1.1 Indicator .............................................................................................................................. 2
1.2 Pinout Description ............................................................................................................... 3
2 Modbus-RTU Control .................................................................................................................... 4
2.1 Wiring ................................................................................................................................. 4
2.1.1 Debugging software instructions .............................................................................. 5
2.2 Default Communication Parameters ................................................................................... 8
2.3 Modbus-RTU Description ................................................................................................... 9
2.3.1 RTU Framing ........................................................................................................... 9
2.3.2 Supported Modbus Function Code ........................................................................... 9
2.3.3 Register Mapping ..................................................................................................... 9
2.3.4 Register Description ............................................................................................... 11
2.3.4.1 Initialization ................................................................................................ 11
2.3.4.2 Force ............................................................................................................ 12
2.3.4.3 Position ........................................................................................................ 12
2.3.4.4 Speed ........................................................................................................... 13
2.3.4.5 Initialization State ....................................................................................... 13
2.3.4.6 Gripper State ............................................................................................... 14
2.3.4.7 Current Position .......................................................................................... 14
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 ................................................................................................................................... 20
3.1 Wiring ............................................................................................................................... 21
3.2 I/O Setting ......................................................................................................................... 21
3.2.1 Configure IO .......................................................................................................... 22
3.2.2 Open IO .................................................................................................................. 23
3.2.3 Save Settings .......................................................................................................... 23
3.2.4. Restart ................................................................................................................... 23
PGI Gripper
Short Manual
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Table of Contents
Related Manuals for DH PGI Series
Summary of Contents for DH PGI Series
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Page 1: Table Of Contents
PGI Gripper Short Manual Content Revisions ............................1 1 Specifications ..........................2 1.1 Indicator ..........................2 1.2 Pinout Description ....................... 3 2 Modbus-RTU Control ........................4 2.1 Wiring ..........................4 2.1.1 Debugging software instructions ................5 2.2 Default Communication Parameters ................... 8 2.3 Modbus-RTU Description .................... -
Page 2: Revisions
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... -
Page 3: Specifications
1 Specifications PGI series are industrial electric gripper, The number(PGI-number) represents the maximum gripping force 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: Pinout Description
1.2 Pinout Description The line sequence definition on the gripper body is shown in Figure 1.1(a) and 1.1(b) Figure 1.1 (a) The blue line marked diagram Figure 1.1 (b) The yellow line marked diagram ote: Please distinguish the wire sequence according to the wire mark. If the wire mark is lost, dropped, or forgotten, please contact our staff to cooperate in determining the wire sequence. -
Page 5: 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 ·Please check the connector before inserting, and do not forcibly insert the plug. Even if the cable connector has a fool-proofing design, but you can still forcibly insert it, then the gripper would be damaged. -
Page 6: Debugging Software Instructions
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 create shortcut during installation. Figure 2.2 (a) installation interface 1 Figure 2.2 (b) driver installation interface 2.1.1 Debugging software instructions Before use, it is necessary to connect the corresponding wiring according to the instructions. - Page 7 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. ·② Control interface: it can control the position, force and speed of the gripper. ·③...
- Page 8 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.
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Page 9: Default Communication Parameters
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 10: 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 11 Configuration registers: gripper’s parameter configuration. Includes Modbus communication parameters and I/O parameters. Table 2.2 Basic Control register map high- low- Function order order Description Write Read byte byte 0x01：initialization； Initialize the 0xA5: Fully Current setting Initialization 0x00 gripper initialization Gripper’s Force Force 0x01...
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Page 12: Register Description
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 13: Force
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. The address is 0x0101. The description of this register is shown in Table 2.5. Table 2.5 Force Function Address... -
Page 14: Speed
2.3.4.4 Speed This register is used to set the Gripper closing and opening speed. The address is 0x0102. The description of this register is shown in Table 2.7. Table 2.7 Speed Instructions Function Address Description Write Read Speed Speed Speed 0x0104 1-100 (%) currently set... -
Page 15: Gripper State
2.3.4.6 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 2.9. Table 2.9 Gripper State Function Address Description... -
Page 16: Save Parameter
2.3.4.8 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 2.11. Table 2.11 Save Parameter Function Address... -
Page 17: Slave Address
2.3.4.10 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 2.13. Table 2.13 Slave Address Function Address Description Write Read Configure gripper Slave Address 0x0302 0-255 (default: 1）... -
Page 18: Stop Bits
2.3.4.12 Stop Bits This register is used to set Stop Bits of gripper. The address is 0x0302. The description of this register is shown in Table 2.15. Table 2.15 Stop bits settings Function Address Description Write Read 0：1 stop bit Configure gripper Stop Bits 1：2 stop bits... -
Page 19: Test I/O Parameters
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. Table 2.17 I/O Control Function Address Description Write Read Test I/O Test I/O 0x0400 1；2；3；4 Current setting... -
Page 20: I/O Parameter Configuration
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. 2.3.4.16 I/O Parameter Configuration Those registers are used to Set the I/O Parameters. The address is 0x0405-0x0410. -
Page 21: 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). 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 22: 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 23: Configure Io
3.2.1 Configure IO Connect 24 V, GND and 485_ A and 485_ B. Then you can use I/O Parameter Configuration to configure four groups of IO parameters .It is recommended to use serial port debugging software at PC for configuration. IO parameters are configured as continuous address, and 12 groups of data including 0x0405-0x0410 need to be set. -
Page 24: Open Io
3.2.2 Open IO Turn on the IO mode switch and write 01 at the register of 0x0402 to open it, as shown below: The specific instructions are as follows: Send: 01 06 04 02 00 01 E8 FA Return: 01 06 04 02 00 01 E8 FA 3.2.3 Save Settings Save the configured parameters, and write 01 at the register of 0x300 for saving.
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