Trossen Robotics PGC Series, Short Manual

Page 1: ...mmunication Parameters 12 2 3 Modbus RTU Description 13 2 3 1 RTU Framing 13 2 3 2 Supported Modbus Function Code 13 2 3 3 Register Mapping 13 2 3 4 Register Description 15 2 3 4 1 Initialization 15 2...

Page 2: ...botics com 1 Revisions Date Version Revised content 20200426 V1 0 First edition write wiring instructions and command instructions 20200904 V2 0 Change some instructions Update the description of IO m...

Page 3: ...ip 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 thr...

Page 4: ...ld take the gripping angle and gripping position into account The following right angle coordinate system is established and the corresponding directions of the X axis Y axis and Z axis are shown in F...

Page 5: ...e 1 3 b Figure 1 3 a Dimension drawing of PGC 140 Figure 1 3 b Dimension of PGC 140 guide rail Color description of indicator Uninitialized state Red light blinks other lights are off Initialized Stat...

Page 6: ...r also supports custom flanges 0 Figure 1 4 Standard flange according to ISO 9409 1 50 4 M6 1 5 Pinout Description The pinout of the gripper is shown in Figure 1 5 and the pin description is shown in...

Page 7: ...ent Our gripper standard aviation plug wire is M12 aviation plug A total of 8 wires are led out which can be extended by the standard 5m extension wire as shown in the figure below Figure 1 6 gripper...

Page 8: ...with M8 aviation plug in cable When adopting this scheme we need to confirm the pin definition with the robot manufacturer and confirm the claw outlet according to the pin definition If the non stand...

Page 9: ...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 ne...

Page 10: ...llation interface 1 Figure 2 2 b driver installation interface 2 1 2 Debugging software instructions Before use it is necessary to connect the corresponding wiring according to the instructions Wiring...

Page 11: ...ers as shown in the following figure Interface description Initialization and demonstration mode the gripper needs to be initialized before operation to calibrate the zero point The demonstration mode...

Page 12: ...number of the gripper need to be modified the parameters can be modified in Modbus RTU parameters Figure 2 5 Modbus RTU parameters You can set and configure the gripper I O parameters in I O parameter...

Page 13: ...switch IO mode Open IO mode open IO mode first Configure four groups of IO parameters set the four groups of parameters of gripper including position force and speed Save click the Save button to writ...

Page 14: ...ld 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 t...

Page 15: ...ped 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...

Page 16: ...4 Table 2 4 Initialization Function Address Description Write Read Initialization 0x0100 Initialize the gripper 0x01 initialize 0xA5 Fully initialize Current setting The gripper needs to be initializ...

Page 17: ...ference 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...

Page 18: ...5 B2 Return 01 03 02 00 00 B8 44 2 3 4 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 descript...

Page 19: ...2 Return 01 03 02 xx xx crc1 crc2 2 3 4 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...

Page 20: ...e 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...

Page 21: ...n 01 06 03 03 00 00 79 8E 2 3 4 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 settin...

Page 22: ...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...

Page 23: ...nction High byte Low bytes Description Write Read I O Group 1 0x04 0x05 position 1 0 1000 Current setting 0x06 force 1 20 100 0x07 speed 1 1 100 I O Group 2 0x08 position 2 0 1000 0x09 force 2 20 100...

Page 24: ...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 10 speed Group 2 100 position 20 force...

Page 25: ...hown in Table 3 1 The specific configuration is shown in the figure below Figure 3 1 I O mode Steps to switch IO mode Open IO mode open IO mode first Configure four groups of IO parameters set the fou...

Page 26: ...erence position No object detected or object has been dropped No wiring 0V 0 1 Fingers have stopped due to an object detection 0V 0V 1 1 The gripper detects an object falling The four states of IO mod...