RGI-30 Gripper
Short Manual
Content
Revisions...........................................................................................................................................1
1 Specifications.................................................................................................................................2
1.1 Performance Parameter.......................................................................................................3
1.2 Dimensions..........................................................................................................................4
1.3 Indicator ..............................................................................................................................4
1.4 Pinout Description...............................................................................................................5
2 Modbus-RTU Control ....................................................................................................................6
2.1 Wiring .................................................................................................................................6
2.2 Default Communication Parameters ...................................................................................6
2.3 Modbus-RTU Description...................................................................................................7
2.3.1 RTU Framing ...........................................................................................................7
2.3.2 Supported Modbus Function Code...........................................................................7
2.3.3 Register Mapping.....................................................................................................7
2.3.4 Register Description.................................................................................................9
2.3.4.1 Initialization ..................................................................................................9
2.3.4.2 Force............................................................................................................10
2.3.4.3 Position........................................................................................................10
2.3.4.4 Speed...........................................................................................................11
2.3.4.5 Rotation angle .............................................................................................11
2.3.4.6 Rotation speed.............................................................................................12
2.3.4.7 Rotation force..............................................................................................12
2.3.4.8 Initialization State .......................................................................................13
2.3.4.9 Gripper State ...............................................................................................13
2.3.4.10 Current Position ........................................................................................14
2.3.4.11 Rotating angle feedback ............................................................................14
2.3.4.12 Rotating initialization state feedback. .......................................................15
2.3.4.13 Rotating state feedback. ............................................................................15
2.3.4.14 Save Parameter..........................................................................................15
2.3.4.15 Initialization Direction ..............................................................................16
2.3.4.16 Slave Address............................................................................................16
2.3.4.17 Baud Rate ..................................................................................................17
2.3.4.18 Stop Bits....................................................................................................17
2.3.4.19 Parity .........................................................................................................18
2.3.4.20 Test I/O Parameters ...................................................................................18
2.3.4.21 I/O Mode Switch .......................................................................................19
2.3.4.22 I/O Parameter Configuration.....................................................................19
