PGE SPLIT 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 Debugging software description ......................................................................................... 4
2.1.1 Installation and wiring of debugging software ......................................................... 4
2.1.2 Debugging software instructions .............................................................................. 6
2.2 Modbus-RTU default allocation .......................................................................................... 8
2.3 Command description ......................................................................................................... 9
2.3.1 RTU Framing ........................................................................................................... 9
2.3.2 Register Mapping ..................................................................................................... 9
2.3.3 Register Description ............................................................................................... 11
2.3.3.1 Initialization ................................................................................................ 11
2.3.3.2 Force............................................................................................................ 12
2.3.3.3 Position........................................................................................................ 12
2.3.3.4 Speed ........................................................................................................... 13
2.3.3.5 Initialization State ....................................................................................... 13
2.3.3.6 Gripper State ............................................................................................... 14
2.3.3.7 Current Position .......................................................................................... 14
2.3.3.8 Save Parameter ............................................................................................ 15
2.3.3.9 Initialization Direction ................................................................................ 15
2.3.3.10 Slave Address ............................................................................................ 16
2.3.3.11 Baud Rate .................................................................................................. 16
2.3.3.12 Stop Bits .................................................................................................... 17
2.3.3.13 Parity ......................................................................................................... 17
2.3.3.14 Test I/O Parameters ................................................................................... 18
2.3.3.15 I/O Mode Switch ....................................................................................... 18
2.3.3.16 IO input high and low level selection........................................................ 19
2.3.3.18 IO output high and low level selection...................................................... 19
2.3.3.19 I/O Parameter Configuration ..................................................................... 20
3 I/O Control ................................................................................................................................... 21
3.1 I/O Configuration .............................................................................................................. 21
3.2 IO use ................................................................................................................................ 23
 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 automatic initialization
20210602 V2.1
function
Modify the high resistance description to
disconnect, increase the communication format
20210727 V2.2 and detailed IO, increase the IO type NPN and
PNP switch function on the software side, batch
update, and line sequence modification
Delete the data that has nothing to do with the
20211008 V2.3
operation part, and re-typesetting

1
1 Specifications
PGE series are industrial electric gripper, The number(PGE-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. It is equipped with an 8-core communication interface, as shown in Figure 1.1. It has the
following characteristics:

Controllable force/position/speed: The gripper can program and adjust the grip position, grip
force and speed.
Multiple communication modes: The gripper supports Modbus RTU protocol and IO mode
control. Other communication protocols such as USB and ETHERNET can be transferred through
protocol converter.
Gripping Detection: The combination of force control and position control is adopted in the
gripping process.
Gripping feedback: The state of the gripper can be read by programming, and can also be judged
according to the indicator of the gripper.
Fingertips can be customized: Fingertips can be replaced according to situation, which is
suitable for precision machining, parts assembly, and other fields.

1.1 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.
·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).
·Object Caught state: green light is always on, other lights are off.
·Object dropped state: green light blinking.

2
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.
If you do not contact our staff, the clamping jaws will be damaged due to the wrong wiring
sequence, and you will be responsible for the consequences.

3
2 Modbus-RTU Control
The gripper command is controlled by standard Modbus-RTU. For part of the description of the
Modbus-RTU command, please refer to 2.3.1 command format (Modbus-RTU is a standard
communication format on the market, widely used in the industrial field, please refer to the network
for the specific format); please refer to 2.1.1 for the specific wiring method Debugging software
installation and wiring; please refer to 2.3.3 for detailed instructions of commands for specific
communication register address descriptions.

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.

2.1.1 Installation and wiring of debugging software

Connecting by debugging software is essentially controlled by RS485 interface. The specific

connection needs to be connected to the 24 V, GND, 485_ A(T/R+,485+) , 485_ B (T / R -, 485 -) 4
wires in total. The power supply is a 24 V DC regulated power supply. Plug the USB port of the
module into the USB port of the computer. The wiring definitions of different series are different.
Please connect according to the instruction of specific clamping claw, as shown below:

Figure 2.1 RS485 Connection

4
 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 : in this way, other serial port debugging software (such as MODBUS poll) can be
used for debugging

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

5
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. As shown in the figure below:

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 Clamping status: real time display of clamping status of clamping claw.
·④ Position current real time graph: real time display position and current. The
current represents the current of the internal motor, not the current actually consumed by
the gripper. The current real-time graph can reflect the stability of clamping force.
·⑤ Parameter setting: the configuration parameters of Modbus RTU, such as baud rate
and check bit, can be configured; IO mode is to configure the parameters related to IO
mode;

6
The gripper body uses Modbus RTU for communication, and can read and write data into the
register. The data can be read and written at the view register. The data includes control, feedback,
user parameters and I/O parameters as shown in the following figure:

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

7
You can set and configure the gripper I / O parameters in [I / O parameters]. After modifying the
parameters, please click Save button to save. The following figure shows the operation of opening
IO mode:

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.
·③ Save: click the Save button to write the parameters to the internal register of flash,
and restart to control.
·④ Restart: after the restart, the switch to IO mode is successful. You can control the
gripper according to the input signal, and the running status will be fed back through
output.

2.2 Modbus-RTU default allocation

Slave Address ：1
Baud Rate ：115200
Data Bits ：8 bits
Stop Bits ：1 stop bit
Parity ：None
8
2.3 Command 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. When the first field (the address field) is received, each device decodes
it to find out if it is the addressed device.
A typical message frame is shown in Table 2.1.

Table 2.1 RTU Framing (Function Code:0x06)

Slave Register
Function Register data CRC
Address address
01 06 01 00 00 01 49 F6

Slave Address: The Slave address of the gripper. The default is 1, you can also modify it through
write different value to Slave Address register.

Function: The Function Code field tells the addressed slave what function to perform. Includes read
or write registers function.

Register address: Specifies which registers reference to be written.

Register data: Specifies which value to be written. Each register (word - 16 bits) of the Modbus
RTU protocol is composed of 2 bytes (8 bits) from the Gripper.

CRC: the CRC error-checking field contains a 16-bit value implemented as two eight-bit bytes. The
CRC field is appended to the message as the last field in the frame. The low-order byte of the field
is appended first, followed by the high-order byte. The CRC high-order byte is the last byte to be
sent in the message.
Supported Modbus Function Code:03 (HEX): Read Holding Registers;04 (HEX): Read Multiple
Registers;06 (HEX): Write Single Register;10 (HEX): Write Multiple Registers

2.3.2 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.

9
 Table 2.2 Basic Control register map
High Low
Function Description Write Read
bytes bytes
0x01：
Initialize the initialization；
Initialization 0x00 Current setting
gripper 0xA5: Fully
initialization
0x01 Gripper’s Closing-force
force 0x01 20-100 (%)
force currently set
reserve 0x02 - - -
Reference position
Position 0x03 Position 0-1000 (‰)
currently set
Initialization
Initialization 0：Not initialized；
0x00 state of the Read Only
state 1：Initialized
gripper
0：In motion;
Gripper 0x02 1：Reach position；
0x01 Gripper state Read Only
state 2 Object caught；
3：Object dropped
gripper Current actual
Position 0x02 Read Only
position position

Table 2.3 Configuration register map

High Low
Function Description Write Read
bytes bytes
Save Save all the 0：default，1：Write
0x00 0
Parameter parameters all parameters to save
Configure
Initialization 0: Open，1:Close Current
0x01 initialization
direction (default: 0） setting
direction
Configure gripper Current
Slave Address 0x02 0-255 (default: 1）
Modbus address setting
0-5：115200，
Configure gripper 57600，38400， Current
Baud Rate 0x03 0x03
Modbus Baud rate 19200，9600，4800 setting
（default :0）
0：1 stop bit；
Configure gripper Current
Stop Bits 0x04 1：2 stop bits
Modbus stop bits setting
（default: 0）
0: None parity;
Configure gripper 1: Odd parity; Current
Parity 0x05
Modbus Parity 2: Even parity setting
(default: 0)
I/O
Test I/O Current
Parameters 0x00 1；2；3；4
parameters setting
Test
I/O Mode Current
0x04 0x02 I/O control switch 0：OFF，1：ON
Switch setting
I/O Parameter 0x05- Four groups of I/O position 1，force 1 to Current
Configuration 0x10 parameters position 4，force 4 setting

10
2.3.3 Register Description

2.3.3.1 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). If write 165 (0xA5 hex) to this register will fully initialize the gripper( find the
minimal and maximum position).
Read: if gripper need to be initialized or have initialized, this register value is 0; and if gripper is in
initializing process, this register value is 1.
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； Current
Initialization 0x0100
gripper 0xA5: Fully initialize setting

The gripper needs to be initialized before control.

The sample command is as follows:
Initialize (write):
Send: 01 06 01 00 01 49 F6
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

11
2.3.3.2 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 Description Write Read
Gripper’s Force
Force 0x0101 20-100 (%)
closing force currently set

The force value range is 20-100, the corresponding value is 00 14–00 64(Hexadecimal).
Example:
Set 30% closing force (write):
Send: 01 06 01 01 1E 59 FE
Return: 01 06 01 01 1E 59 FE
Read the closing force currently set (read):
Send: 01 03 01 01 00 01 D4 36
Return: 01 03 02 xx xx crc1 crc2

2.3.3.3 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 Write Read
Reference Reference position
Position 0x0103 0-1000 (‰)
Position currently set

The reference position value range is 0-1000 (‰), the corresponding value is
00 00 – 03 E8(Hexadecimal).
Example:
Set 500‰ position (write):
Send: 01 06 01 03 01 F4 78 21
Return: 01 06 01 03 01 F4 78 21
Read the reference position currently set(read):
Send: 01 03 01 03 00 01 75 F6
Return: 01 03 02 xx xx crc1 crc2

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2.3.3.4 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 0x0104 Speed 1-100 (%)
currently set

The speed value range is 1-100 ，The corresponding value is 00 01 – 00 64(Hexadecimal).

Example:
Set 50% speed (write):
Send: 01 06 01 04 00 32 48 22
Return: 01 06 01 04 00 32 48 22

Read the current speed (read):

Send: 01 03 01 04 00 01 C4 37
Return: 01 03 02 xx xx crc1 crc2

2.3.3.5 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.

Table 2.8 Initialization State

Function Address Description Write Read
Initialization 0：Not
Initialization
0x0200 state of the Read Only initialized；1：
State
gripper Initialized

Example:
Read initialization state (read):
Send: 01 03 02 00 00 01 85 B2
Return: 01 03 02 00 00 B8 44

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2.3.3.6 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 Write Read
0：In motion;
1：Reached
Read
Gripper State 0x0201 the gripper state position；2：
Only
Object caught；
3：Object dropped

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 position due to object has been dropped after the gripper
caught object.

Example:
Read gripper state (read):
Send: 01 03 02 01 00 01 D4 72
Return: 01 03 02 00 02 39 85(02: object caught)

2.3.3.7 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 Read
Current Gripper actual Read Current actual
0x0202
Position position Only position

Example:
Read actual position (read):
Send: 01 03 02 02 00 01 24 72
Return: 01 03 02 xx xx crc1 crc2

14
2.3.3.8 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 Description Write Read
Save Save register’s 0：default，
0x0300 0
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. The gripper will response this command after saving process
finished.

2.3.3.9 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 2.12.

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.
If the register value is 1, when you send the initialization command, the gripper finger will close
and find the minimal position.

Example:
Write 0 to initialization direction register:
Send: 01 06 03 01 00 00 D8 4E
Return: 01 06 03 01 00 00 D8 4E
15
2.3.3.10 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
Slave
0x0302 gripper Slave 1-247 (default: 1） Current setting
Address
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
gripper.

2.3.3.11 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 2.14.

Table 2.14 Baud Rate

Function Address Description Write Read
Configure 0-5：115200，
gripper 57600，38400，
Baud Rate 0x0303 Current setting
Modbus Baud 19200，9600，4800
rate （default: 0）

The value of this register is 0 by default, corresponding to a baud rate of 115200.

Example:
Set gripper baud rate to115200 (write):
Send: 01 06 03 03 00 00 79 8E
Return: 01 06 03 03 00 00 79 8E

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2.3.3.12 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 1：2 stop bits
Stop Bits 0x0304 Current setting
Modbus stop bits （default:
0）

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

2.3.3.13 Parity

This register is used to set Parity of gripper.

The address is 0x0305. The description of this register is shown in Table 2.16.

Table 2.16 Parity

Function Address Description Write Read
Configure 0: None Parity
gripper 1: Odd Parity
Parity 0x0305 2: Even Parity Current setting
Modbus
Parity (default : 0)

The value of this register is 0 by default, corresponding to None Parity.

Example:
Set the gripper’s Parity to None Parity (write):
Send: 01 06 03 05 00 00 99 8F
Return: 01 06 03 05 00 00 99 8F

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2.3.3.14 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
Parameters Parameters
This register can be used to directly test 4 groups of I/O parameters through Modbus-RTU to ensure
that the I/O parameters are appropriate. For example, Write 1 to this register, the gripper will execute
action with the first group of I/O parameter.
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

2.3.3.15 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 2.18.
Table 2.18 I/O Mode Switch
Function Address Description Write Read
I/O Mode I/O Control 0：OFF，1：
0x0402 Current setting
Switch Switch ON
If you have written 1 to this register and have saved all parameters, the gripper will be initialized
automatically after power on.
When the I/O Control Mode is turned on, the gripper can respond to Modbus-RTU commands and
I/O, but I/O has priority.
The control method in different mode is shown in Table 2.19.
Table 2.19 Control method
Switch State Description Modbus-RTU I/O
0 I/O control mode off YES No
1 I/O control mode on YES YES

Example:

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.

18
2.3.3.16 IO input high and low level selection

This command is to set the IO input high and low level selection related commands, the address is
0x0403. The specific O input high and low level selection is described in detail in Table 2.20 below.
Table 2.20 IO input high and low level selection
Function Address Illustrate Write Read
IO input 0: NPN, active low
Select input IO Read the current
high and 1027 1: PNP, active at high
mode
low level （0x0403） level set value
（NPN/PNP）
selection (Default: 0)
IO input high and low level selection is used to switch the gripper input IO mode. There are two
modes, NPN and PNP. The logic of the two modes is opposite. Please refer to Appendix 1 for
detailed IO. The specific usage method is as follows. After setting, you need to enter the save
instruction.
Example:
Set IO input to be active high (PNP) (write operation):
Send: 01 06 04 03 00 01 B9 3A
Return: 01 06 04 03 00 01 B9 3A
Enter the save instruction:
Send: 01 06 03 00 00 01 48 4E
Return: 01 06 03 00 00 01 48 4E
Set the IO input to be active low (NPN) (write operation):
Send: 01 06 04 03 00 00 78 FA
Return: 01 06 04 03 00 00 78 FA
Enter the save instruction:
Send: 01 06 03 00 00 01 48 4E
Return: 01 06 03 00 00 01 48 4E

2.3.3.18 IO output high and low level selection

This command is to set the IO output high and low level selection related commands, the address is
0x0404. The specific IO output high and low level selection is detailed in the following table 2.21.
Table 2.21 IO output high and low level selection
Function Address Illustrate Write Read
IO input 0: NPN, active low
Select input IO Read the current
high and 1028 1: PNP, active at high
mode
low level （0x0404） level set value
（NPN/PNP）
selection (Default: 0)
The IO output high and low level selection is used to switch the gripper output IO mode. There are
two modes, NPN and PNP. The logic of the two modes is opposite. Please refer to Appendix 1 for
detailed IO. The specific usage method is as follows. After setting, you need to enter the save
instruction.

19
 Example:
Set the IO output to be active high (PNP) (write operation):
Send: 01 06 04 04 00 01 08 FB
Return: 01 06 04 04 00 01 08 FB
Enter the save instruction:
Send: 01 06 03 00 00 01 48 4E
Return: 01 06 03 00 00 01 48 4E
Set the IO input to be active low (NPN) (write operation):
Send: 01 06 04 04 00 00 C9 3B
Return: 01 06 04 04 00 00 C9 3B
Enter the save instruction:
Send: 01 06 03 00 00 01 48 4E
Return: 01 06 03 00 00 01 48 4E

2.3.3.19 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 2.22.

Table 2.22 I/O Parameter Configuration

High- Low
Function Description Write Read
byte bytes
I/O Group 0x05 position 1 0-1000‰
1 0x06 force 1 20-100 %
I/O Group 0x08 position 2 0-1000‰
2 0x09 force 2 20-100 %
0x04 Current setting
I/O Group 0x0B position 3 0-1000‰
3 0x0C force 3 20-100 %
I/O Group 0x0E position 4 0-1000‰
4 0x0F force 4 20-100 %
Example:
Set the first group of I/O parameter (write) :
Send: 01 06 04 05 01 2C 98 B6 (Reference position: 300‰)
Return: 01 06 04 05 01 2C 98 B6
Send: 01 06 04 06 00 1E E8 F3 (Force: 30%))
Return: 01 06 04 06 00 1E E8 F3
IO parameter address is continuous address, and four groups of IO parameters can be configured
at one time by using the function code of 0x10, as follows:
Continuous multiple address write(write)
[Group 1:1000‰position;20%force; Group 2:100‰position;20%force;
Group 3:0‰position;100%force;Group 4:592‰position;100%force]:
Send: 01 10 04 05 00 0C 18 03 E8 00 14 00 00 01 00 00 14 00 00 00 00 00 64 00 00 02 50 00 64
00 00 D6 D8
Return: 01 10 04 05 00 0C D1 3D
20
3 I/O Control
IO mode is a common control method in the industry, which controls the clamping jaws in the form
of hardware wiring. When using IO control, you need to set the gripper jaws to IO mode in advance,
and set the 4 groups of gripper IO states.

3.1 I/O Configuration

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. As shown in Table 3.1. The specific configuration is shown
in the figure below:

Figure 3.1 I/O mode

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 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.
·③ Save: click the Save button to write the parameters to the internal register of flash,
and restart to control.
·④ Restart: after the restart, the switch to IO mode is successful. You can control the
gripper according to the input signal, and the running status will be fed back through
output.

Table 3.1 Input State

INPUT Pin
INPUT 2 I/O state Perform action
1 state
No Target position 1,target
No wiring 00 Group 1
wiring force 1,target speed 1
Target position 2,Target
0V No wiring 10 Group 2
Force 2,Target Speed 2
No Target position 3,Target
0V 01 Group 3
wiring Force 3,Target Speed 3
Target position 4,Target
0V 0V 11 Group 4
force 4,target speed 4

You can also get the gripper state by detecting the states of Output1 and Output 2(0V and high
resistance states). as shown in Table 3.2.
Table 3.2 Output1 Output2 State
OUTPUT 1 OUTPUT 2 I/O State State description
No wiring No wiring 00 Fingers are in motion
Fingers are at reference position,
0V No wiring 10 No object detected or object has been
dropped
01 Fingers have stopped due to an object
No wiring 0V
detection
0V 0V 11 The gripper detects an object falling

NOTE
·Digital IO default input and output are NPN type, input and output are 0V valid (low
level valid).
·Input and output can be configured. If it needs to be changed to PNP type, the input
and output of 24 V is effective (high level is effective), it is necessary to communicate
with our company in advance.

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3.2 IO use

After configuring the parameters, 24V, GND, INPUT 1, INPUT 2, OUTPUT 1, and OUTPUT 2
need to be connected to the hardware.
Connect INPUT and OUPUT to the corresponding equipment, confirm that the wiring is correct and
restart, the gripper will automatically initialize. Then control the gripper according to the INPUT
signal. The running status will be fed back through OUTPUT.

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