Agent Skill: DH PGE50

This example shows how to use the dobot-plus skill for DH-Robotics PGE industrial electric grippers (PGE-50). PGE supports Modbus RTU and IO; this guide focuses on Modbus RTU. Prepare doc.md and invoke /dobot-plus in the IDE.

Workflow

Environment Setup

See Development Environment.

Dependency	Version / Notes
Node.js	v20+
IDE	Agent Skills (e.g. Cursor)
@dobot-plus/cli	dpt
@dobot-plus/skill	/dobot-plus

npm install -g @dobot-plus/cli @dobot-plus/skill@latest

See Agent Skill.

Preparation

1. Create a plugin project

dpt create

Example:

$ dpt create
? Please input plugin name: DhPGE50
? Please input plugin description: DH-Robotics PGE-50 electric gripper plugin
? Please input plugin version: 1-0-0-test
? Please input device IP: 192.168.5.1

cd DhPGE50

2. Write device document doc.md

Required: Modbus parameters, registers (including speed), atomic functions.

Default communication:

Setting	Default
Slave ID	1
Baud rate	115200
Data bits	8
Parity	None
Stop bits	1

Slave ID range 1–247; configurable via 0x0302 / 0x0303. Document actual values in use.

Product variants

Same register map; pick the manual that matches your hardware:

Type	Description	Manual
External controller (Split)	Gripper + external box; RS485 to box	PGE external controller short manual (EN)
Integrated drive	Motor and driver in gripper body	PGE integrated short manual (EN)

Model number indicates max gripping force (e.g. PGE-50). Follow blue/yellow wire marking diagrams—do not guess wiring if labels are missing.

Core registers

Compared to AG series, PGE adds Speed at 0x0104:

Address	Register	Access	Notes
256 (0x0100)	Initialization	R/W	Write 1 or 0xA5
257 (0x0101)	Force	R/W	20–100 (%)
260 (0x0104)	Speed	R/W	1–100 (%)
259 (0x0103)	Position	R/W	0–1000 (‰)
512 (0x0200)	Initialization State	R/O	0/1/2
513 (0x0201)	Gripper State	R/O	0–3
514 (0x0202)	Current Position	R/O	‰

Typical flow: init → set force → set speed (optional) → set position → read status.

Example doc.md:

# PGE Integrated Gripper — Software Reference

## Overview

PGE industrial parallel grippers support **Modbus-RTU (RS485)** and **IO mode**. Control **position, force, and speed** with status feedback.

---

## 1. Communication (RS485 Modbus-RTU)

| Parameter | Default |
|-----------|---------|
| Device ID | 1 |
| Baud rate | 115200 |
| Data bits | 8 |
| Stop bits | 1 |
| Parity | None |

> Function codes: `03`, `04`, `06`, `10`

---

## 2. Registers

### 2.1 Control (R/W)

| Function | Address | Notes | Range |
|----------|---------|-------|-------|
| Initialize | 0x0100 | 0x01 homing; 0xA5 full cal | write |
| Force | 0x0101 | Closing force (%) | 20–100 |
| Position | 0x0103 | Target (‰) | 0–1000 |
| Speed | 0x0104 | Motion speed (%) | 1–100 |

### 2.2 Status (R/O)

| Function | Address | Values |
|----------|---------|--------|
| Init state | 0x0200 | 0=not init; 1=OK; 2=in progress |
| Grip state | 0x0201 | 0=moving; 1=at pos; 2=gripped; 3=dropped |
| Actual position | 0x0202 | ‰ |

### 2.3 Configuration (R/W)

| Function | Address | Notes |
|----------|---------|-------|
| Save | 0x0300 | Write 1 → save to Flash |
| Init direction | 0x0301 | 0=open; 1=close |
| Device ID | 0x0302 | 1–247 |
| Baud rate | 0x0303 | 0=115200 … 5=4800 |
| Stop bits | 0x0304 | 0/1 |
| Parity | 0x0305 | 0/1/2 |
| Auto init on power | 0x0504 | 0/1 |

---

## 3. Examples

### Init

```text
TX: 01 06 01 00 00 01 49 F6
RX: 01 06 01 00 00 01 49 F6
```

### Force 30%

```text
TX: 01 06 01 01 00 1E 59 FE
```

### Position 500‰

```text
TX: 01 06 01 03 01 F4 78 21
```

### Speed 50%

```text
TX: 01 06 01 04 00 32 48 22
```

### Read grip state (gripped = 02)

```text
TX: 01 03 02 01 00 01 D4 72
RX: 01 03 02 00 02 39 85
```

### Save parameters

```text
TX: 01 06 03 00 00 01 48 4E
```

---

## 4. IO mode (summary)

NPN inputs select parameter groups 1–4; outputs mirror grip states (moving / at position / gripped / dropped). See full manual for pin tables.

---

## 5. Development notes

- **Initialize** before control (`0x01` or `0xA5`)  
- Consider **save** (`0x0300`) after parameter changes  
- Do not send motion during init (~0.5–3 s)  
- ID/baud changes may require power cycle  

Atomic functions: Initialize, SetForce, SetSpeed, SetPosition, GetGripperState, GetCurrentPosition.

Checklist

Register	Example	Notes
Initialization (0x0100)	1 / 0xA5	Normal / full
Force (0x0101)	30%	01 06 01 01 00 1E
Speed (0x0104)	50%	01 06 01 04 00 32
Position (0x0103)	500‰	01 06 01 03 01 F4
Gripper State (0x0201)	R/O	2 = gripped

Generate with AI

From DH-Robotics PGE (e.g. PGE-50) manual, produce Dobot+ doc.md in English.

Include: protocol (slaveID=1, 115200 8N1); registers 0x0100/0x0101/0x0104/0x0103/0x0200–0x0202;
ranges Force 20–100%, Speed 1–100%, Position 0–1000‰;
flow: init → SetForce → SetSpeed (opt) → SetPosition → read state;
functions: Initialize, SetForce, SetSpeed, SetPosition, GetGripperState, GetCurrentPosition;
note external vs integrated hardware if applicable.

---
Source:
[Paste manual]

Verify: 0x0104 present, slave ID/baud, init flow, atomic functions. Save doc.md → /dobot-plus.

3. Hardware

• RS485 to robot or USB–485 adapter; external type: RS485 on control box
• 24V DC, common ground
• Wire per blue/yellow marking diagrams
• Match dpt.json IP

Initialize after power-up (blue LED solid) before force/speed/position commands.

Using the Agent Skill

/dobot-plus

Check:

• SetSpeed → 260 (0x0104) (not AG’s reserved 0x0102)
• protocol.slaveID = 1 (or site value)
• Init logic in lua/[project-name].lua

Local debug (optional)

dpt dev

Build & import

dpt build

See Quick Start — Build & Use.

FAQ

Missing doc.md

Root doc.md with protocol, registers (including Speed), functions.

No SetSpeed in output

Document 0x0104 in doc.md; AG docs lack speed and must not be reused as-is.

No motion response

• Initialized (0x0200 = 1)
• RS485 / 24V / wiring
• External type: RS485 on controller box

Modbus errors

115200, no parity; unique slave ID; 1–2 s no response after save to 0x0300 is normal.

Mixed with AG docs

AG-95 has no 0x0104. Use PGE register table from PGE manuals.

Poor Agent results

• Confirm on-site communication parameters match the manual
• Review doc.md for ambiguous or contradictory descriptions
• Check the Agent model: in VS Code Copilot use GPT-5.4 or newer; in Cursor, Auto mode generally works well

Related links

• PGE external controller manual (EN)
• PGE integrated manual (EN)
• PGE integrated product manual (ZH)
• DH AG-95 example
• Agent Skill