UFactory xARM VACUJM GRIPPER User manual

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Table
1. General Presentation ..............................................................................................................4
1.1. xArm Vacuum Gripper Introduction........................................................................4
1.2. Setup and Control........................................................................................................5
1.3. Safety...............................................................................................................................5
1.3.1. Warning ...............................................................................................................6
1.3.2. Risk Assessment and Final Application.......................................................7
1.3.3. Intended Use......................................................................................................7
2. Installation.................................................................................................................................9
2.1. Scope of Delivery .........................................................................................................9
2.1.1. General Kit........................................................................................................ 10
2.2. Mechanical Installation............................................................................................ 10
2.3. Electrical Setup........................................................................................................... 12
2.3.1. Pinout Interface.............................................................................................. 12
3. Control..................................................................................................................................... 14
3.1. Use xArm Studio to Control xArm Vacuum Gripper ........................................ 14
3.2. Use Python-SDK to Control xArm Vacuum Gripper......................................... 17
3.3. Use ROS-SDK to Control xArm Vacuum Gripper.............................................. 17
3.4. Use Modbus-TCP Communication Protocol to Control xArm Vacuum
Gripper................................................................................................................................. 17
3.4.1. Modbus-TCP Communication Format...................................................... 18
3.4.2. Control of the xArm Vacuum Gripper....................................................... 19

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4. xArm Vacuum Gripper Technical Specifications ........................................................... 21
5. After-sales Service................................................................................................................ 22

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1. General Presentation
1.1. xArm Vacuum Gripper Introduction
The vacuum gripper is ideal for picking up even workpieces less than 5
Kg. The vacuum gripper is equipped with 5 suction cups, which can be
partially selected for use according to the size of the object surface, and
the unused suction cup needs to be sealed.
Note:
If the surface of the object is not smooth, there will be air leakage from
the suction cup which makes the object fail to be picked up firmly.
Indicator status: When the vacuum gripper is powered on, the power
supply indicator near the vacuum gripper is constantly red. When the
vacuum gripper is on, the IO status indicator is constantly green.

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1.2. Setup and Control
The vacuum gripper is powered and controlled directly via a single
connection cable that carries a 24V DC supply and IO control.
1.3. Safety
Warning
The operator must have read and understood all of the instructions in
the following manual before handling the xArm Vacuum Gripper.
Caution
The term "operator" refers to anyone responsible for any of the following
operations on the vacuum gripper:
●Installation
●Control
●Maintenance
●Inspection
●Calibration
●Programming
●Decommissioning
This documentation explains the various components of the vacuum
gripper and general operations regarding the whole life-cycle of the
product from installation to operation and decommissioning.

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The drawings and photos in this documentation are representative
examples and differences may exist between them and the delivered
product.
1.3.1. Warning
Caution
Any use of the vacuum gripper in noncompliance of these warnings is
inappropriate and may cause injury or damage.
Warning
●The vacuum gripper needs to be properly secured before operating
the robot.
●Do not install or operate a vacuum gripper that is damaged or lacking
parts.
●Never supply the vacuum gripper with an alternative current (AC)
source.
●Make sure all cord sets are always secured at both ends,vacuum
gripper end & robot end
●Always satisfy the recommended keying for electrical connections.
●Be sure no one is in the robot and/or vacuum gripper path before
initializing the robot's routine.
●Always satisfy the vacuum gripper payload.
●Do not use the vacuum gripper on people or animals.

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1.3.2. Risk Assessment and Final Application
The vacuum gripper is meant to be used on an industrial robot. The
robot, vacuum gripper and any other equipment used in the final
application must be evaluated with a risk assessment. The robot
integrator must ensure that all local safety measures and regulations are
respected. Depending on the application, there may be risks that need
additional protection/safety measures, for example, the work-piece the
vacuum gripper is manipulating may be inherently dangerous to the
operator.
1.3.3. Intended Use
The vacuum gripper is designed for grasping and temporarily securing
or holding objects.
Caution
The vacuum gripper is NOT intended for applying force against objects
or surfaces.
The product is intended for installation on a robot or other automated
machinery and equipment.
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Always comply with local and/or national laws, regulations and directives
on automation safety and general machine safety.

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The unit may be used only within the range of its technical data. Any
other use of the product is deemed improper and unintended use.
UFACTORY will not be liable for any damages resulting from any
improper or unintended use.

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2. Installation
The following subsections will guide you through the installation and
general setup of xArm Vacuum Gripper.
(1) The Scope of Delivery Section
(2) The Mechanical Installation Section
(3) The Electrical Setup Section
Warning
Before installing:
Read and understand the safety instructions related to the xArm Vacuum
Gripper.
Verify your package according to the Scope of delivery and your order
info.
Have the required parts, equipment and tools listed in the requirements
readily available.
Installing:
Satisfy the environmental conditions.
Do not operate the xArm Vacuum Gripper, or even turn on the power
supply, before it is firmly anchored and the danger zone is cleared.
2.1. Scope of Delivery

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2.1.1. General Kit
A Vacuum Gripper Kit generally includes these items:
xArm vacuum gripper
Cross countersunk head screws M6*8 (2)
M5 sealing plugs（5）
DP-6 suction cup（5）
DP-15 suction cup（5）
DP-30 suction cup（5）
2.2. Mechanical Installation
xArm Vacuum Gripper installation steps:
1. Move the robotic arm to a safe position. Avoid collision with the
robotic arm mounting surface or other equipment;
2. Power off the robotic arm by pressing the emergency stop button on
the control box;
3. Fix the vacuum gripper on the end of the robotic arm with 2 M6 bolts;