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AG-95 Gripper
Short Manual (Modbus-RTU)
Content
Revisions...........................................................................................................................................2
1 Specifications.................................................................................................................................3
1.1 Performance Parameter .......................................................................................................4
1.2 Indicator ..............................................................................................................................5
1.3 Dimensions..........................................................................................................................5
1.4 Standard flange ...................................................................................................................6
1.5 Pinout Description...............................................................................................................6
2 Modbus-RTU Control ....................................................................................................................7
2.1 Wiring .................................................................................................................................7
2.2 Debugging software description .........................................................................................8
2.1.1 Installation and wiring of debugging software.........................................................8
2.1.2 Debugging software instructions..............................................................................9
2.3 Modbus-RTU Description.................................................................................................12
2.3.1 Default Communication Parameters ......................................................................12
2.3.2 RTU Framing .........................................................................................................13
2.3.3 Register Mapping...................................................................................................13
2.3.4 Register Description...............................................................................................15
2.3.4.1 Initialization ................................................................................................15
2.3.4.2 Force............................................................................................................15
2.3.4.3 Position........................................................................................................16
2.3.4.4 Initialization State .......................................................................................16
2.3.4.5 Gripper State ...............................................................................................17
2.3.4.6 Current Position ..........................................................................................17
2.3.4.7 Save Parameter............................................................................................18
2.3.4.8 Initialization Direction ................................................................................18
2.3.4.9 Slave Address..............................................................................................19
2.3.4.10 Baud Rate ..................................................................................................19
2.3.4.11 Stop Bits ....................................................................................................19
2.3.4.12 Parity .........................................................................................................20
2.3.4.13 Test I/O Parameters ...................................................................................20
2.3.4.14 I/O Mode Switch .......................................................................................21
2.3.4.15 I/O Parameter Configuration.....................................................................21
3 I/O Control...................................................................................................................................23
