PGE SPLIT Gripper
Short ManualContent
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............................................................................................................ 122.3.3.3 Position........................................................................................................ 122.3.3.4 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

20200426

V1.0First edition, write wiring instructions andcommand instructions

20200904

V2.0

Change some instructions , Update the descriptionof IO mode

20210602

V2.1

Normal update, add automatic initialization
function

20210727

V2.2

Modify the high resistance description to
disconnect, increase the communication format
and detailed IO, increase the IO type NPN and
PNP switch function on the software side, batch
update, and line sequence modification

20211008

V2.3

Delete the data that has nothing to do with theoperation 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 rectangularstructure. It is equipped with an 8-core communication interface, as shown in Figure 1.1. It has thefollowing 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 throughprotocol converter.
Gripping Detection: The combination of force control and position control is adopted in thegripping 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 issuitable 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 isalways 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 specificcommunication 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 isneeded to convert the interface to USB interface, which is convenient for the debugging andcontrol 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 specificconnection 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 themodule 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 beused for debugging
Software can be downloaded on the official website. Software and driver are integrated in theprocess of software installation, and both are installed together. It is recommended to check thecreate 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 (see2.1.1 Installation and wiring of debugging software).
Open the software, the software will automatically identify the serial port, baud rate, ID number andother 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 rateand 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 theregister. 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 bemodified, 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 theparameters, 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 ofgripper, 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 thegripper according to the input signal, and the running status will be fed back throughoutput.

2.2 Modbus-RTU default allocation
Slave Address ：1
Baud Rate：115200
Data Bits：8 bits
Stop Bits：1 stop bit
Parity：None8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
Address01

Function

Registeraddress

Register data

CRC

06

01 00

00 01

49 F6

Slave Address: The Slave address of the gripper. The default is 1, you can also modify it throughwrite different value to Slave Address register.
Function: The Function Code field tells the addressed slave what function to perform. Includes reador 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 besent 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

Function

High
bytes

Initialization

Low
bytes

Description

Write

Read

0x00

Initialize thegripper

0x01：
initialization；
0xA5: Fully
initialization

Current setting

0x01

20-100 (%)

reserve

0x02

Gripper’sforce-

Position

0x03

Position

0-1000 (‰)

Initialization
state

0x00

Initialization
state of thegripper

Read Onlyforce

Gripper
state

0x01

0x02

Position-

0x01

Gripper state

Read Only

0x02

gripperposition

Read Only

Closing-force
currently set
Reference position
currently set
0：Not initialized；
1：Initialized
0：In motion;
1：Reach position；
2 Object caught；
3：Object dropped
Current actual
position

Table 2.3 Configuration register map

Function

High
bytes

Low
bytes

Save
Parameter

0x00

Initialization
direction

0x01

Slave Address

0x02

Description

Write

Read

Save all theparameters
Configureinitialization
direction
Configure gripper
Modbus address

0：default，1：Write
all parameters to save0

0: Open，1:Close(default: 0）

Current
setting0-255 (default: 1）

Current
setting

0-5：115200，
57600，38400，
19200，9600，4800（default :0）
0：1 stop bit；
1：2 stop bits
（default: 0）
0: None parity;
1: Odd parity;
2: Even parity(default: 0)

0x03

Configure gripper
Modbus Baud rate

Stop Bits

0x04

Configure gripper
Modbus stop bits

Parity0x05

Configure gripper
Modbus Parity

0x00

Test I/O
parameters

1；2；3；4

Current
setting

0x02

I/O control switch

0：OFF，1：ON

Current
setting

0x050x10

Four groups of I/Oparameters

position 1，force 1 toposition 4，force 4

Current
setting

Baud Rate

I/O
Parameters
Test
I/O Mode
SwitchI/O Parameter
Configuration

0x03

0x04

10

Current
setting
Current
setting
Current
setting

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 theminimal 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 theminimal and maximum position).
Read: if gripper need to be initialized or have initialized, this register value is 0; and if gripper is ininitializing 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

Initialization

0x0100Initialize thegripper

0x01：initialize；
0xA5: Fully initialize

Current
setting

The gripper needs to be initialized before control.
The sample command is as follows:
Initialize (write):
Send: 01 06 01 00 01 49 F6Receive: 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 ForceThis 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 ForceFunction

Address

Description

Write

Force

0x0101

Gripper’s
closing force

20-100 (%)

Read
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 tothe 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

Position

0x0103

Reference
Position

0-1000 (‰)

Reference 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 F6Return: 01 03 02 xx xx crc1 crc212

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

Speed

0x0104Speed

1-100 (%)

Read
Speed
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
Initialization
State

Address

Description

0x0200Initialization
state of thegripper

Example:Read initialization state (read):
Send:
01 03 02 00 00 01 85 B2Return: 01 03 02 00 00 B8 44

13

Write

Read

Read Only

0：Not
initialized；1：
Initialized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

Gripper State0x0201the gripper state

Read
Only

Read
0：In motion;
1：Reachedposition；2：
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
Position

0x0202

Gripper actual
position

Read
Only

Current actual
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
Parameter

0x0300Save register’svalue to Flash

0：default，
1：Save all parameters

0

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 othercommand 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
Baud Rate

Address

Description

Write

Read

0x0301

Configureinitialization
direction

0: Open，1:Close(default: 0）

Current setting

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 andfind the maximum position.
If the register value is 1, when you send the initialization command, the gripper finger will closeand 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 AddressThis 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
Slave
Address

Address

Description

Write

Read

0x0302

Configuregripper Slave
Address

1-247 (default: 1）

Current setting

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 thegripper.

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

Baud Rate

Address

Description

Write

Read

0x0303

Configuregripper
Modbus Baudrate

0-5：115200，
57600，38400，
19200，9600，4800（default: 0）

Current setting

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

16

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

Stop Bits

0x0304

Configure gripper
Modbus stop bits

Write
0：1 stop bit
1：2 stop bits
（default:0）

Read

Current setting

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
ParityAddress

Description

0x0305

Configuregripper
ModbusParityWrite
0: None Parity
1: Odd Parity
2: Even 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

17

Read
Current setting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
Parameters0x0400

Test I/O
Parameters

1；2；3；4

Current settingThis register can be used to directly test 4 groups of I/O parameters through Modbus-RTU to ensurethat the I/O parameters are appropriate. For example, Write 1 to this register, the gripper will executeaction 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
Switch

0x0402I/O Control
Switch0：OFF，1：ON

Current setting

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 thisregister 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 and1027
1: PNP, active at highmode
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 twomodes, NPN and PNP. The logic of the two modes is opposite. Please refer to Appendix 1 fordetailed 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 and1028
1: PNP, active at highmode
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 fordetailed 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

Low
bytes

Description

Write

I/O Group
1

0x05

position 10-1000‰0x06

force 120-100 %I/O Group2

0x08

position 20-1000‰0x09

force 220-100 %0x0B

position 30-1000‰

0x0C

force 320-100 %0x0E

position 40-1000‰

0x0F

force 420-100 %Function

I/O Group3
I/O Group4

Highbyte

0x04

Read

Current setting

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 D8Return: 01 10 04 05 00 0C D1 3D
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3 I/O Control
IO mode is a common control method in the industry, which controls the clamping jaws in the formof 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 throughchanging the states of Input 1 and Input 2. As shown in Table 3.1. The specific configuration is shownin the figure below:

Figure 3.1 I/O mode21

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 ofgripper, 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 thegripper according to the input signal, and the running status will be fed back throughoutput.

Table 3.1 Input State

INPUT
1

INPUT 2Pin
state

I/O state

Perform action

Nowiring

No wiring

00

Group 1

Target position 1,target
force 1,target speed 1

0V

No wiring

10

Group 2

Target position 2,Target
Force 2,Target Speed 2Nowiring0V

01Group 3

Target position 3,Target
Force 3,Target Speed 3

0V

0V

11

Group 4

Target position 4,Target
force 4,target speed 4

You can also get the gripper state by detecting the states of Output1 and Output 2(0V and highresistance states). as shown in Table 3.2.
Table 3.2 Output1 Output2 StateOUTPUT 1

OUTPUT 2

I/O StateState description

No wiring

No wiring

00

Fingers are in motion

10

Fingers are at reference position,
No object detected or object has been
dropped0V

No wiring

No wiring

0V

0V

0V

01

Fingers have stopped due to an object
detection

11

The gripper detects an object falling

NOTE·Digital IO default input and output are NPN type, input and output are 0V valid (lowlevel 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.

22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 andrestart, 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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