Trossen Robotics PGC Series How to use

                                                      Tel/Fax: 0755-82734836                                          www.dh-robotics.com 
PGC-140 Gripper 
Short Manual 
 
Content 
Revisions...........................................................................................................................................1
Specifications.................................................................................................................................2
1 Performance Parameter .......................................................................................................2
2 Indicator ..............................................................................................................................4
3 Dimensions..........................................................................................................................4
4 Standard flange ...................................................................................................................5
5 Pinout Description...............................................................................................................5
6 Product list ..........................................................................................................................6
Modbus-RTU Control ....................................................................................................................8
1 Debugging software description .........................................................................................8
1.1 Installation and wiring of debugging software.........................................................8
1.2 Debugging software instructions..............................................................................9
2 Default Communication Parameters .................................................................................12 
3 Modbus-RTU Description.................................................................................................13 
3.1 RTU Framing .........................................................................................................13 
3.2 Supported Modbus Function Code.........................................................................13 
3.3 Register Mapping...................................................................................................13 
3.4 Register Description...............................................................................................15 
3.4.1 Initialization ................................................................................................15 
3.4.2 Force............................................................................................................15 
3.4.3 Position........................................................................................................16 
3.4.4 Speed...........................................................................................................16 
3.4.5 Initialization State .......................................................................................17 
3.4.6 Gripper State ...............................................................................................17 
3.4.7 Current Position ..........................................................................................18 
3.4.8 Save Parameter............................................................................................18 
3.4.9 Initialization Direction ................................................................................19 
3.4.10 Slave Address............................................................................................19 
3.4.11 Baud Rate ..................................................................................................20 
3.4.12 Stop Bits ....................................................................................................20 
3.4.13 Parity .........................................................................................................20 
3.4.14 Test I/O Parameters ...................................................................................21 
3.4.15 I/O Mode Switch .......................................................................................21 
3.4.16 I/O Parameter Configuration.....................................................................22 
I/O Control...................................................................................................................................24 

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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

20210401

V2.1

Normal update

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1 Specifications

PGC series are collaborative electric gripper, 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

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 PGC series gripper

1.1 Performance Parameter

The specific parameters of PGC-140 gripper are listed in Table 1.1.

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Table 1.1 PGC-140 specifications

PGC-140 performance parameters.

Gripping force (per jaw)

40-140N

Opening/closing stroke (both sides)

0-50mm

Opening/Closing time

0.6s/0.6s

Weight

1 kg

Position repeatability (both sides)

±0 .03mm

Noise emission

< 50 dB

Ingress protection rating

IP54

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 PGC-140 finger load table is shown in Table 1.2:

Figure 1.2 Finger load diagram

Table 1.2 PGC-140 Finger load.

PGC-140

Max allowable vertical load (static)

300 N

Max allowable moment Mx (static)

7 N·m

Max allowable moment My (static)

7 N·m

Max allowable moment Mz (static)

7·N m

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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(a), Figure 1.3(b).

Figure 1.3 (a) Dimension drawing of PGC-140

Figure 1.3 (b) Dimension of PGC-140 guide rail

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.

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1.4 Standard flange

The flange is used for the connection between PGC-140 electric gripper and robot. The

company provides standard flange, as shown in Figure 1.4. The gripper also supports custom flanges.

Figure 1.4 Standard flange according to ISO 9409-1-50-4-M6

1.5 Pinout Description

The pinout of the gripper is shown in Figure 1.5, and the pin description is shown in

Table 1.3.

Figure1.5 Pinout assignment

Table 1.3 Pinout assignment

Wire number

Wire color

Description

White

485_A

Brown

485_B

Green

OUTPUT 1

Yellow

OUTPUT 2

Grey

24 V

Pink

INPUT 2

Blue

INPUT 1

Red

GND

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1.6 Product list

After opening the package, please check the product list carefully:

Table 1.4 product list

number

type

name

quantity

gripper

PGC gripper

flange

U-disk

Installation

tools

Screw M6*12

Thin head screw M4*6

Wrench M2.5

Wrench M4

Pin 6*10

Pin 3*6

wire

5m extension line

module

USB to 485 module

Note: the content of special customized products will be different.

Our gripper standard aviation plug wire is M12 aviation plug. A total of 8 wires are led out,

which can be extended by the standard 5m extension wire, as shown in the figure below:

Figure 1.6 gripper and extension line

The outgoing line of clamping claw body can be changed according to the needs of

customers. For the cooperative robot with RS485 or IO interface at the end of the cooperative

robot, and the front-end interface robot with M8, the aviation plug of M8 can be customized for

connection, and the aviation plug of M8 can be used for extension when it needs to be extended.

This plan needs to be confirmed with our company, as shown in the figure below:

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Figure 1.7 Connecting robot terminal with M8 aviation plug-in cable

When adopting this scheme, we need to confirm the pin definition with the robot

manufacturer, and confirm the claw outlet according to the pin definition. If the non-standard plug

and custom outlet mode are adopted, the extra cost needs to be discussed.

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2 Modbus-RTU Control

2.1 Debugging software description

The debugging software is specially used to control the gripper and set debugging parameters

on the computer. Because there is no RS485 interface in the computer, the USB to 485 module is

needed to convert the interface to USB interface, which is convenient for the debugging and

control of the gripper in the computer.

2.1.1 Installation and wiring of debugging software

Connecting by debugging software is essentially controlled by RS485 interface. The specific

connection needs to be connected to the 24 V, GND, 485_ A(T/R+,485+) , 485_ B (T / R -, 485 -) 4

wires in total. The power supply is a 24 V DC regulated power supply. Plug the USB port of the

module into the USB port of the computer. The wiring definitions of different series are different.

Please connect according to the instruction of specific clamping claw, as shown below:

Figure 2.1 RS485 Connection

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Software can be downloaded on the official website. Software and driver are integrated in the

process of software installation, and both are installed together. It is recommended to check the

create shortcut during installation.

Figure 2.2 (a) installation interface 1

Figure 2.2 (b) driver installation interface

2.1.2 Debugging software instructions

‘Before use, it is necessary to connect the corresponding wiring according to the instructions

Wiring instructions

·① : when the device (computer) has RS485 interface, the communication can be directly

connected to RS485_A and RS485_B communication lines without transferring to 485

module through USB

·② : in this way, other serial port debugging software (such as MODBUS poll) can be

used for debugging

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