Team.Gripper.Dh

大寰(DH)电动夹爪实现:Modbus RTU 串口传输,当前支持 PGE 系列(寄存器协议见仓库 README)。

using Team.Gripper.Dh;

using DhPgeGripper gripper = new(new DhGripperOptions { PortName = "COM3" });
await gripper.ConnectAsync();
await gripper.InitializeAsync();                       // 或 FullInitializeAsync()(0x00A5)
await gripper.MoveAsync(position: 500, forcePercent: 50, speedPercent: 60);

GripperStatus status = await gripper.ReadStatusAsync(); // 夹住了?status.IsHoldingObject

await gripper.OpenAsync();
await gripper.DisconnectAsync();

• 实现 IGripper / IGripperMotionController / IGripperDiagnostics(契约见 Team.Gripper.Abstractions)
• 大寰专有 API:FullInitializeAsync()(完全初始化)、DhGripperText.ToChinese(...)(状态中文文本)、 FrameTransmitted / FrameReceived(原始 Modbus 帧日志,含 CRC)
• 型号差异集中在 Profile:将来支持 RGE 时只新增 Profile 与子类,不影响现有调用方
• EPSON RC+ 8.0 扩展宿主注意:需 PostBuild 覆盖类型转发版 System.IO.Ports.dll,写法见仓库 README