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RGI-SERIES Gripper
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 .................................................................................................... 10
2.3.4 Register Description ................................................................................................ 11
2.3.4.1 Initialization ..................................................................................................11
2.3.4.2 Force ............................................................................................................. 12
2.3.4.3 Position ......................................................................................................... 13
2.3.4.4 Speed ............................................................................................................ 13
2.3.4.5 Rotation angle ...............................................................................................14
2.3.4.6 Rotation speed .............................................................................................. 15
2.3.4.7 Rotation force ............................................................................................... 15
2.3.4.8 Initialization State ........................................................................................ 16
2.3.4.9 Gripper State .................................................................................................16
2.3.4.10 Current Position ..........................................................................................17
2.3.4.11 Rotating angle feedback ............................................................................. 17
2.3.4.12 Rotating initialization state feedback. ........................................................17
2.3.4.13 Rotating state feedback. ............................................................................. 18
2.3.4.14 Save Parameter ........................................................................................... 18
2.3.4.15 Initialization Direction ............................................................................... 19
2.3.4.16 Slave Address ............................................................................................. 19
2.3.4.17 Baud Rate ................................................................................................... 20
2.3.4.18 Stop Bits ..................................................................................................... 20
2.3.4.19 Parity ...........................................................................................................21
2.3.4.20 Test I/O Parameters .................................................................................... 21
2.3.4.21 I/O Mode Switch ........................................................................................ 22
2.3.4.22 I/O Parameter Configuration ......................................................................23
3 I/O Control .....................................................................................................................................24
Short Manual
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Summary of Contents for DH RGI Series
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Page 1: Table Of Contents
RGI-SERIES 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 ....................9 2.3.1 RTU Framing ......................9 2.3.2 Supported Modbus Function Code ................9 2.3.3 Register Mapping .................... - Page 2 3.1 Wiring ..........................25 3.2 I/O Setting ...........................25 3.2.1 Configure IO ......................25 3.2.2 Open IO ........................26 3.2.3 Save Settings ......................27 3.2.4. Restart ........................27...
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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 Change the initialization description, add 20210401 V2.2... -
Page 4: Specifications
1 Specifications RGI-series 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: 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 6: 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 Wiring instructions · ① : when the device (computer) has RS485 interface, the communication can be directly connected to RS485_A and RS485_B communication lines without transferring to 485 module through USB ·②... -
Page 7: Debugging Software Instructions
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. 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 8 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 9 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 10: 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 11: 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 12: Register Mapping
2.3.3 Register Mapping The gripper’s Modbus-RTU registers consist of two types of registers: the basic control registers and the configuration registers. 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. -
Page 13: Register Description
Table 2.3 Configuration register map High Function Low bytes Description Write Read byte Save Save all the 0：default，1：Write all 0x00 Parameter parameters parameters to save Initialization Configure 0: Open，1:Close Current 0x01 direction initialization direction (default: 0） setting Configure gripper Current Slave Address 0x02 0-255 (default: 1）... -
Page 14: Force
The register address is 0x0100. The description of this register is shown in Table 2.4. Table 2.4 Initialization Function Address Description Write Read Initialize the 0x01：initialize； Initialization 0x0100 Current setting gripper 0xA5: Fully initialize The gripper needs to be initialized before control. The sample command is as follows: Initialize (write): Send: 01 06 01 00 01 49 F6... -
Page 15: Position
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. The address is 0x0103. The description of this register is shown in Table 2.6. Table 2.6 Position Function Address Description... -
Page 16: Rotation Angle
2.3.4.5 Rotation angle This register is used to set the gripper angle of rotation. The address is 0x0105. The description of this register is shown in Table 2.8. Table 2.8 The angle of rotation Function Address Description Write Read Rotation Rotate to the Read the current 0x0105... -
Page 17: Rotation Speed
2.3.4.6 Rotation speed This register is used to set the speed of rotation. The address is 0x0107. The description of this register is shown in Table 2.9. Table 2.9 The speed of rotation Function Address Description Write Read Rotate at a set Read the current Rotation speed 0x0107... -
Page 18: Initialization State
2.3.4.8 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 2.11. Table 2.11 Initialization State Function Address Description... -
Page 19: Current Position
2.3.4.10 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 2.13. Table 2.13 Current Position Function Address Description Write Read Current actual Current 0x0202 Gripper actual position... -
Page 20: Rotating State Feedback
2.3.4.13 Rotating state feedback. This register is used to store the Rotating state feedback. of the Gripper. The address is 0x020B. The description of this register is shown in Table 2.16. Table 2.16 Rotating state feedback. Function Address Description Write Read 0: In motion, 1 : reaching the... -
Page 21: Initialization Direction
2.3.4.15 Initialization Direction This register is used to set Initialization Direction of gripper. The address is 0x0301. The description of this register is shown in Table 2.18. Table 2.18 Baud Rate Function Address Description Write Read Configure 0: Open，1:Close Baud Rate 0x0301 initialization Current setting... -
Page 22: Baud Rate
2.3.4.17 Baud Rate This register is used to set Baud Rate of gripper. The address is 0x0303. The description of this register is shown in Table 2.20. Table 2.20 Baud Rate Function Address Description Write Read 0-5：115200，57600， Configure gripper Baud Rate 0x0303 38400，19200，9600，... -
Page 23: Parity
2.3.4.19 Parity This register is used to set Parity of gripper. The address is 0x0305. The description of this register is shown in Table 2.22. Table 2.22 Parity Function Address Description Write Read 0: None Parity Configure 1: Odd Parity Parity 0x0305 gripper Modbus... -
Page 24: 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 25: I/O Parameter Configuration
2.3.4.22 I/O Parameter Configuration Those registers are used to Set the I/O Parameters. The address is 0x0405-0x0410. The description of this register is shown in Table 2.26. Table 2.26 I/O Parameter Configuration Function High-byte Description Write Read bytes 0x05 position 1 0-1000‰... -
Page 26: 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 27: 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 28: 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 29: 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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