Dh-Robotics PGC-50 - I;O Mode Switch

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Table 2.16 Parity
Function
Address
Description
Write
Read
Parity
0x0305
Configure
gripper Modbus
Parity
0: None Parity
1: Odd Parity
2: Even Parity
(default : 0)
Current setting
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
2.3.3.14 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
0x0402
I/O Control
Switch
0：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 this
register and save all parameters to turn off the I/O control mode.