DH PGE-15 Anleitung zur Verwendung

PGE-15 Gripper 
Short Manual 
 
Content 
Revisions...........................................................................................................................................1
Specifications.................................................................................................................................2
1 Performance Parameter.......................................................................................................2
2 Indicator ..............................................................................................................................4
3 Dimensions..........................................................................................................................4
4 Pinout Description...............................................................................................................4
Modbus-RTU Control ....................................................................................................................6
1 Wiring .................................................................................................................................6
2 Default Communication Parameters ...................................................................................6
3 Modbus-RTU Description...................................................................................................7
3.1 RTU Framing ...........................................................................................................7
3.2 Supported Modbus Function Code...........................................................................7
3.3 Register Mapping.....................................................................................................7
3.4 Register Description.................................................................................................9
3.4.1 Initialization ..................................................................................................9
3.4.2 Force..............................................................................................................9
3.4.3 Position........................................................................................................10 
3.4.4 Speed...........................................................................................................10 
3.4.5 Initialization State .......................................................................................11 
3.4.6 Gripper State ...............................................................................................11 
3.4.7 Current Position ..........................................................................................12 
3.4.8 Save Parameter............................................................................................12 
3.4.9 Initialization Direction ................................................................................12 
3.4.10 Slave Address............................................................................................13 
3.4.11 Baud Rate ..................................................................................................13 
3.4.12 Stop Bits....................................................................................................14 
3.4.13 Parity .........................................................................................................14 
3.4.14 Test I/O Parameters ...................................................................................15 
3.4.15 I/O Mode Switch.......................................................................................15 
3.4.16 I/O Parameter Configuration.....................................................................16 
I/O Control...................................................................................................................................18 
1 Wiring ...............................................................................................................................18 
2 I/O Setting.........................................................................................................................19 
2.1 Configure IO ..........................................................................................................19 
2.2 Open IO..................................................................................................................20 

3.2.3 Save Settings..........................................................................................................20

3.2.4. Restart ...................................................................................................................20

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 mode

1 Specifications

PGE series are industrial electric gripper, The number(PGE-number) represents the maximum

gripping force of the gripper. The gripper is equipped with a pair of parallel fingertips, which runs

symmetrically during the movement. The main structure of the gripper is a smooth rectangular

structure. It is equipped with an 8-core communication interface, as shown in Figure 1.1. It has the

following characteristics:

Controllable force/position/speed: The gripper can program and adjust the grip 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 through

protocol converter.

Gripping detection: The combination of force control and position control is adopted in the

gripping process.

Gripping feedback: The state of the gripper can be read by programming, and can also be

judged according to the indicator of the gripper.

Fingertips can be customized: Fingertips can be replaced according to situation, which is

suitable for precision machining, parts assembly, and other fields.

Figure 1.1 PGE series gripper

1.1 Performance Parameter

The specific parameters of PGE-15 gripper are listed in Table 1.1.

Table 1.1 PGE-15 specifications

PGE-15 performance parameters.

Gripping force (per jaw)

6-15N

Opening/closing stroke (both sides)

0-26mm

Opening/Closing time

0.5s/0.5s

Weight

0.4kg

Position repeatability (both sides)

±0 .02mm

Noise emission

< 40 dB

Ingress protection rating

IP40

Communication protocols

Modbus RTU(RS485), I/O

Nominal voltage

24V DC±10%

Nominal current

0.25 A

Peak current

0.5 A

In the actual gripping, you should 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 Figure 1.2 below. The force perpendicular to the

gripped flat surface is used as Fz, the x-axis direction torque is Mx, the y-axis direction torque is

My, and the z-axis direction torque is Mz. The PGE-15 finger load table is shown in Table 1.2:

Figure 1.2 Finger load diagram

Table 1.2 PGE-15 Finger load.

PGE-15

Max allowable vertical load (static)

70N

Max allowable moment Mx (static)

0.9 N·m

Max allowable moment My (static)

0.75 N·m

Max allowable moment Mz (static)

0.9·N·m

1.2 Indicator

The gripper can feed back the state of the gripper in real time. In addition to the command

reading, it can also be judged on the color of the indicator:

1.3 Dimensions

The gripper hardware parameters contain the specific size of the gripper, the mounting hole, as

shown in Figure 1.3.

Figure 1.3 Dimension drawing of PGE-15

1.4 Pinout Description

The pinout of the gripper is shown in Figure 1.4, and the pin description is shown in

Table 1.3.

Color description of indicator

·Uninitialized state: Red light blinks, other lights are off.

·Initialized State: the blue light is always on, indicating that it is in the operable state.

·Received command state: the red light blink once quickly (because the blue light is

always on at this time, the gripper indicator light will looks like a purple light).

·Object Caught state: green light is always on, other lights are off.

·Object dropped state: green light blinking.

Figure1.4 Pinout assignment

Table 1.3 Pinout assignment

Wire color

Description

Brown

INPUT 2

White

INPUT 1

Blue

485_B

Black

485_A

Red

24 V

Grey/Pink

GND

Yellow

OUTPUT 1

Green

OUTPUT 2

2 Modbus-RTU Control

2.1 Wiring

Use the provided RS-485 to USB converter (see the schematic in Figure 1.1 below) to plug

into a PC or other Controllers.

Figure 2.1 RS485 Connection

2.2 Default Communication Parameters

Slave Address ：1

Baud Rate ：115200

Data Bits ：8 bits

Stop Bits ：1 stop bit

Parity ：None

Warning

·Note the line order before inserting. Please note that the DC24V is red and GND is

negative.

2.3 Modbus-RTU Description

2.3.1 RTU Framing

This gripper uses the standard Modbus-RTU protocol.

In RTU mode, the first field is the device address. The allowable characters transmitted for all

fields are hexadecimal 0 ... 9, A ... F. Networked devices monitor the network bus continuously,

including during the silent intervals. When the first field (the address field) is received, each device

decodes it to find out if it is the addressed device.

A typical message frame is shown in Table 2.1.

Table 2.1 RTU Framing (Function Code:0x06)

Slave Address

Function

CRC

01 00

00 01

49 F6

Slave Address: The Slave address of the gripper. The default is 1, you can also modify it through

write different value to Slave Address register.

Function: The Function Code field tells the addressed slave what function to perform. Includes read

or write registers function.

RTU protocol is composed of 2 bytes (8 bits) from the Gripper.

CRC: the CRC error-checking field contains a 16-bit value implemented as two eight-bit bytes. The

CRC field is appended to the message as the last field in the frame. The low-order byte of the field

is appended first, followed by the high-order byte. The CRC high-order byte is the last byte to be

sent in the message.

2.3.2 Supported Modbus Function Code

This griper uses MODBUS- RTU. The following function codes are currently supported:

03 (HEX): Read Holding Registers

06 (HEX): Write Single Register

10 (HEX): Write Multiple Registers

2.3.3 Register Mapping

The gripper’s Modbus-RTU registers consist of two types of registers: the basic control

registers and the configuration registers.

Basic control registers: initialization, force setting, reference position, speed, and some

states.

Configuration registers: gripper’s parameter configuration. Includes Modbus

communication parameters and I/O parameters.

Table 2.2 Basic Control register map

Function

high-

order

byte

low-

order

byte

Description

Write

Read

Initialization

0x01

0x00

Initialize the

gripper

0x01：initialization；

0xA5: Fully

initialization

Current setting

Closing

force

0x01

Gripper’s

closing force

20-100 (%)

Closing-force

currently set

Opening

force

0x02

Gripper’s

opening force

20-100 (%)

Opening-force

currently set

Position

0x03

Position

0-1000 (‰)

Reference position currently

set

Speed

0x04

Speed

1-100 (%)

Speed

currently set

Initialization

state

0x02

0x00

Initialization

state of the

gripper

Read Only

0：Not initialized；1：

Initialized

Gripper state

0x01

Gripper state

Read Only

0：In motion;

1：Reach position；

2 Object caught；

3：Object dropped

Position

0x02

gripper

position

Read Only

Current actual 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

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

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