Dobot PGC-50 Manual de usuario
Shenzhen Yuejiang Technology Co., Ltd.
PGC-50 Gripper
User Guide
User Guide
Issue: V1.0.0
Date: 2021-8-16
PGC-50 Gripper User Guide
Issue V1.0 (2021-8-16) User Guide Copyright © Yuejiang Technology Co., Ltd.
i
Copyright © Shenzhen Yuejiang Technology Co., Ltd. 2021. All rights reserved.
No part of this document may be reproduced or transmitted in any form or by any means
without the prior written consent of Yuejiang Technology Co., Ltd..
Disclaimer
To the maximum extent permitted by applicable law, the products described (including its
hardware, software, and firmware, etc.) in this document are provided AS IS, which may have flaws,
errors or faults. Yuejiang makes no warranties of any kind, express or implied, including but not
limited to, merchantability, satisfaction of quality, fitness for a particular purpose and non-
infringement of third party rights. In no event will Yuejiang be liable for any special, incidental,
consequential or indirect damages resulting from the use of our products and documents.
Before using our product, please thoroughly read and understand the contents of this document
and related technical documents that are published online, to ensure that the robot is used on the
premise of fully understanding the robot and related knowledge. Please use this document with
technical guidance from professionals. Even if follow this document or any other related
instructions, damages or losses will be happening in the using process. Dobot shall not be considered
as a guarantee regarding all security information contained in this document.
The user has the responsibility to make sure following the relevant practical laws and
regulations of the country, in order that there is no significant danger in the use of the robot.
Shenzhen Yuejiang Technology Co., Ltd.
Address: Address: Floor 9-10, Building 2, Chongwen Garden, Nanshan iPark, Liuxian Blvd,
Nanshan District, Shenzhen, Guangdong Province, China
Website: www.dobot.cc
PGC-50 Gripper User Guide
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Preface
Purpose
This manual introduces the parameters, installation and operation of PGC-50 gripper, which is
convenient for users to understand and use the grippers.
Intended Audience
This document is intended for:
Customer
Sales Engineer
Installation and Commissioning Engineer
Technical Support Engineer
Change History
Date
Change Description
2021-08-16
The first release
Symbol Conventions
The symbols that may be founded in this document are defined as follows.
Symbol
Description
DANGER
Indicates a hazard with a high level of risk which, if not avoided, could result in death or
serious injury
WARNING
Indicates a hazard with a medium level or low level of risk which, if not avoided, could
result in minor or moderate injury, robot damage
NOTICE
Indicates a potentially hazardous situation which, if not avoided, can result in equipment
damage, data loss, or unanticipated result
NOTE
Provides additional information to emphasize or supplement important points in the main
text
Reference Documents
PGC-50 Short Manual
PGC-50 Gripper User Guide
Issue V1.0 (2021-8-16) User Guide Copyright © Yuejiang Technology Co., Ltd.
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Contents
Description on Gripper............................................................................................1
Performance parameter .....................................................................................................1
Dimensions .......................................................................................................................3
Color description of indicator lights .................................................................................3
Gripper Installation.................................................................................................4
Mechanical installation .....................................................................................................4
Electrical connection.........................................................................................................4
Jogging Gripper.......................................................................................................6
Jogging gripper in Windows .............................................................................................6
Jogging gripper in Android & iOS..................................................................................10
Gripper APIs ...................................................................................................................14
PGC-50 Gripper User Guide
Issue V1.0 (2021-8-16) User Guide Copyright © Yuejiang Technology Co., Ltd.
1
Description on Gripper
PGC series are collaborative electric grippers. The number (PGC-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 circle,
and the bottom is adapted to a standard flange. The gripper is equipped with an 8-core
communication interface to connect the end of robot or other devices, as shown in Figure 1.1.
Figure 1.1 PGC-50 Gripper
PGC series have the following characteristics:
Controllable force/position/speed: You can adjust the gripping position, gripping force
and speed by programming.
Multiple communication modes: The gripper supports Modbus RTU protocol and IO
mode control. Other communication protocols such as USB and PROFINET 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.
Performance parameter
The specific parameters of PGC-50 electric gripper are listed in Table 1.1.
PGC-50 Gripper User Guide
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Table 1.1 Parameters of PGC-50 gripper
Parameters
Description
Gripper force (can be adjusted through
programming)
15-50N
Finger opening stroke (can be adjusted
through programming)
0-35mm
Opening/closing time
0.7s/0.7s
Weight
0.5kg
Position repeatability
±0.03mm
Noise emission
<50 dB
Ingress protection rating
IP54
Communication protocol
Modbus RTU (RS485), I/O
Supply voltage
24V DC±10%
Nominal current
0.25 A
Peak current
0.5A
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. The force perpendicular to the gripped flat surface
is defined 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 PGC-50 finger load is shown in Table 1.2.
Figure 1.2 PGC-50 finger load
PGC-50 Gripper User Guide
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Table 1.2 PGC-50 Finger load.
Max allowable vertical load Fz (static)
150 N
Max allowable moment Mx (static)
2.5 N·m
Max allowable moment My (static)
2 N·m
Max allowable moment Mz (static)
2 N·m
Dimensions
Figure 1.3 shows the dimensions of the gripper.
Figure 1.3 PGC-50 dimensions diagram
Color description of indicator lights
The gripper can feed back the state of the gripper in real time. You can get its state through
commands or judge from the color of the indicator.
Color description of indicator:
Uninitialized state: The red light blinks, while 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 blinks once quickly (as the blue light is always on
at the same time, the gripper indicator light will look like a purple light).
Object Caught state: The green light is always on, while other lights are off.
Object dropped state: The green light blinks.
PGC-50 Gripper User Guide
Issue V1.0 (2021-8-16) User Guide Copyright © Yuejiang Technology Co., Ltd.
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Gripper Installation
Mechanical installation
Figure 2.1 Install PGC-50 gripper
Electrical connection
The PGC-50 outlet cable can be directly connected to the end of robot arm. You need to plug
the cable to CR I/O port following the right cable sequence. Figure 2.2 shows the connection between
CR robot and PGC-50 gripper.
PGC-50 Gripper User Guide
Issue V1.0 (2021-8-16) User Guide Copyright © Yuejiang Technology Co., Ltd.
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Figure 2.2 Electrical connection
PGC-50 Gripper User Guide
Issue V1.0 (2021-8-16) User Guide Copyright © Yuejiang Technology Co., Ltd.
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Jogging Gripper
The parameter setting and jogging of the gripper need to be operated through CR software. For
Windows, please use DobotSCStudio V2.0.6Beta or later versions; For Android, please use Android
CRStudioV4.0.0.6 or later versions. For iOS, please use iOS CRStudio V2.1.0 or later versions.
Jogging gripper in Windows
This chapter mainly introduces how to use DobotSCStudio software in Windows to operate the
gripper.
Procedure
Figure 3.1 EndEffector Page
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