DH Robotics Technology Co., Ltd.
www.dh-robotics.com
Content
1 Specifications.................................................................................................................................1
2 Connection methods.......................................................................................................................3
3 Connect and control .......................................................................................................................5
3.1 Introduction.........................................................................................................................5
3.2 Communication logic..........................................................................................................5
3.3 Protocol format ...................................................................................................................6
3.4 Command Overview ...........................................................................................................7
3.5 Detailed command ..............................................................................................................7
3.5.1 Initialization .............................................................................................................7
3.5.2 Force.........................................................................................................................8
3.5.3 Position.....................................................................................................................8
3.5.4 Feedback ..................................................................................................................9
3.5.5 I/O Mode..................................................................................................................9
3.5.6 CAN ID..................................................................................................................11
3.5.7 Firmware Version...................................................................................................12
3.5.8 CAN Baud Rate......................................................................................................12
3.5.9 Object Droped........................................................................................................13
4 Protocol Converter .......................................................................................................................14
4.1 Working Mode Selection...................................................................................................14
4.2 Parameter Configuration Mode.........................................................................................15
4.3 USB Mode ........................................................................................................................15
4.4 TCP Client Mode ..............................................................................................................16
4.5 TCP Server Mode..............................................................................................................17
4.6 RS485 Mode .....................................................................................................................18
4.7 I/O Mode...........................................................................................................................19
4.7 CAN2.0A Mode ................................................................................................................21
4.4 Installation and Use of Debugging Software ....................................................................22
4.4.1 Overview................................................................................................................22
4.4.2 Software Installation ..............................................................................................22
4.4.3 User Interface.........................................................................................................25
4.4.4 Gripper Connection and Initialization....................................................................25
4.4.4.1 Composition and Introduction.....................................................................25
4.4.4.2 Connection Mode and Port Setting .............................................................26
4.4.4.3 Communication Control and Status Display ...............................................27
4.4.5 Gripper Control......................................................................................................28
4.4.6 Parameter Setting Zone..........................................................................................29
4.4.6.1 Composition and Introduction.....................................................................29
4.4.6.2 Gripper Parameter Setting...........................................................................30
4.4.7 Gripper Setting Instructions ...................................................................................31
4.4.7.1 Setting of Activated Feedback of Initialization...........................................31
4.4.7.2 Gripper ID Setting.......................................................................................31
