Dh-Robotics PGC-50 - Register Description; Initialization

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12
Force
257
(0x0101)
Gripper’s
force
20-100 (%)
Closing-force
currently set
-
-
-
-
-
Position
259
（0x0103）
Position
0-1000 (‰)
Reference position
currently set
Speed
260
（0x0104）
Speed
1-100 (%)
Speed
currently set
Initialization
state
512
（0x0200）
Initialization
state of the
gripper
Read Only
0：Not initialized；1：
Initialized
Gripper state
513
（0x0201）
Gripper state
Read Only
0：In motion;
1：Reach position；
2 Object caught；
3：Object dropped
Position
514
（0x0202）
gripper
position
Read Only
Current real-time
position
Table 2.3 Configuration register map
Function
High
byte
Low
bytes
Description
Write
Read
Save
Parameter
0x03
0x00
Save all the parameters
0：default，1：Write all
parameters to save
0
Initialization
direction
0x01
Configure
initialization direction
0: Open，1:Close
(default: 0）
Current setting
Slave Address
0x02
Configure gripper
Modbus address
0-255 (default: 1）
Current setting
Baud Rate
0x03
Configure gripper
Modbus Baud rate
0-5：115200，57600，
38400，19200，9600，
4800（default :0）
Current setting
Stop Bits
0x04
Configure gripper
Modbus stop bits
0：1 stop bit；
1：2 stop bits
（default: 0）
Current setting
Parity
0x05
Configure gripper
Modbus Parity
0: None parity;
1: Odd parity;
2: Even parity (default: 0)
Current setting
I/O Parameters
Test
0x04
0x00
Test I/O parameters
1；2；3；4
Current setting
I/O Mode
Switch
0x02
I/O control switch
0：OFF，1：ON
Current setting
I/O Parameter
Configuration
0x05-
0x10
Four groups of I/O
parameters
position 1，force 1，speed
1 to position 4，force 4，
speed 4
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 the
minimal or maximum position. The initialization direction depends on the value of initialization