Dh-Robotics PGC-50 - Current Position; Save Parameter; Initialization Direction

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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
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
0x0300
Save register’s
value 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
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.
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.