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21
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
2.3.4.14 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
Parameters
0x0400
Test I/O
Parameters
1
；
2
；
3
；
4
Current setting
This register can be used to directly test 4 groups of I/O parameters 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 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
2.3.4.15 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
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.
