I. Explanation

1. RBK version

Version 3.4.0.4 and above

Step 2: Model

PGC Series

3. Communication mode

RS485

RS485 communication protocol

4. Support platforms and connection modes

• SRC800
  • Connect using RS485
  • Connect via USB converter (USB to RS485)
• SRC2000
  • Connect via USB converter (USB to RS485)

5. Sequence of lines

The types of claws can vary. The actual sequence description takes precedence.

Step 6 Supply electricity

24 volts

7. Equipment manual

pgc Series Operation manual _v2-5.pdf

8. Debugging the software

Download dh-robotics-user-interface-v1-0-6-20210609-setup.exe

2. Configuration of Device Parameters

1. Connect the host computer

After correctly connecting the device 485 using USB to 485, the software can automatically identify the serial port. Click "Automatic Connection".

2. Set serial port parameters

After setting the parameters for the serial port, click the Save button.

3. Restart the device

The configuration will take effect once the device is powered on.

Three, Configuration of Model Files

1. Brand

2. Directly Connect the RS485 Port

Directory for model parameters: type-devName
/dev/ttyUartx
Set the UART number based on the description of the serial port.

For example, connect the communication cable to pin 1 and pin 2. Enter dev/ttyUart0 in devName.

3. Via USB converter

This configuration method is applicable to both SRC800 and SRC2000.

1. Only keep the USB converter connected to the clamp and unplug the rest from SRC
2. Use the Remote SRC of MobaXterm_Personal and follow the MobaXterm_Personal method
3. Input the command: ls /dev (with a space between ls and /dev)
4. Check if the returned data contains the word ttyUSBx, and fill ttyUSBx into the model file devName
5. If a new USB device is available, repeat Steps 1 to 4. Do not remove the first identified USB device, otherwise, the USB name will be reassigned

In the figure below, the USB device name identified is ttyUSB0, and devName is set to dev/ttyUSB0.

4. Configure arm model-related items

Path for model parameters:
arm-GripperPare

4.1 SRC800

Gripper Pair End Effector - TCP

SRC2000 for Section 4.2

The arm gripper pair matches GripperIn2000.

IV. Frequently Asked Questions

1. A 53110 error has been reported

The clamp jaw is disconnected. Please verify that the model file configuration and connection are correct.