UFactory xArm User manual

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Table
1. General Presentation ..............................................................................................................4
1.1. Gripper Introduction....................................................................................................4
1.2. Object Picking ...............................................................................................................5
1.3. Setup and Control........................................................................................................5
1.4. Safety...............................................................................................................................5
1.4.1. Warning ...............................................................................................................6
1.4.2. Risk Assessment and Final Application.......................................................7
1.4.3. Intended Use......................................................................................................8
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

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3.1. Use xArm Studio to Control BIO Gripper............................................................ 14
3.2. Use Python-SDK to Control BIO Gripper ............................................................ 17
3.3. Use Modbus-TCP Communication Protocol to Control BIO Gripper.......... 17
3.3.1. Modbus-TCP Communication Format...................................................... 17
3.3.2. Read BIO Gripper Register........................................................................... 18
3.3.3. Write BIO Gripper Register.......................................................................... 21
3.3.4. BIO Gripper Control Process ....................................................................... 26
3.4. Use Modbus-RTU Communication Protocol to Control BIO Gripper ......... 26
3.4.1. Modbus RTU Communication Format .................................................... 26
3.4.2. Read BIO Gripper Register........................................................................... 27
3.4.3. Write BIO Gripper Register.......................................................................... 28
3.4.4. Modbus RTU Example................................................................................... 29
4. Gripper Error Code & Error Handling ............................................................................. 33
5. BIO Gripper Technical Specifications............................................................................... 35
6. After-sales Service................................................................................................................ 36

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1. General Presentation
1.1. Gripper Introduction
BIO Gripper
The xArm BIO Gripper is a gripper designed for liquid handling. It provides fast
deployment paired with simple customization and easy programming. The gripper
is a multifunctional tool, boasting customized fingertips to provide gripping
flexibility.
Main Features of BIO Gripper:
(1) Designed for liquid handling
The gripper stroke is 70-150mm with special designed fingertips which perfectly fit
the liquid plate.
(2) Customizable fingertips
Easily customized fingertips enable all sorts of fitting for tubes and plates
corresponding to their shapes.

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(3) Highly integrated with xArm
As a safe and stable integration, the xArm BIO Gripper is highly compatible with
xArm, controlled directly by the IO port at the end of the machine without external
cables and connectors.
1.2. Object Picking
The fingers of the BIO Gripper adopt a parallel grasp, Figures are shown below.
The width of the object that the gripper can grasp is: 70-150mm
(a) Maximum Stroke (b) Minimum Stroke
1.3. Setup and Control
The gripper is powered and controlled directly via a single gripper connection cable
that carries a 24V DC supply and Modbus RTU communication over RS-485.
1.4. Safety
Warning
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The operator must have read and understood all of the instructions in the following
manual before handling the BIO Gripper.
Caution
The term "operator" refers to anyone responsible for any of the following
operations on the BIO Gripper:
●Installation
●Control
●Maintenance
●Inspection
●Calibration
●Programming
●Decommissioning
This documentation explains the various components of the BIO Gripper and
general operations regarding the whole life-cycle of the product from installation
to operation and decommissioning.
The drawings and photos in this documentation are representative examples and
differences may exist between them and the delivered product.
1.4.1. Warning
Caution
Any use of the Gripper in noncompliance of these warnings is inappropriate and
may cause injury or damage.

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Warning
●The Gripper needs to be properly secured before operating the robot.
●Do not install or operate a Gripper that is damaged or lacking parts.
●Never supply the Gripper with an alternative current (AC) source.
●Make sure all cord sets are always secured at both ends,Gripper end & Robot end
●Always satisfy the recommended keying for electrical connections.
●Be sure no one is in the robot and/or gripper path before initializing the robot's
routine.
●Always satisfy the gripper payload.
●Set the gripper speed accordingly, based on your application.
●Keep fingers and clothes away from the gripper while the power is on.
●Do not use the gripper on people or animals.
1.4.2. Risk Assessment and Final Application
The BIO Gripper is meant to be used on an industrial robot. The robot, 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
gripper is manipulating may be inherently dangerous to the operator.

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1.4.3. Intended Use
The gripper is designed for grasping and temporarily securing or holding objects.
Caution
The 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.
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 BIO 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 BIO 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 Gripper, or even turn on the power supply, before it is firmly
anchored and the danger zone is cleared.
Caution the fingers of the gripper which may move and cause injury or damage.
2.1. Scope of Delivery

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2.1.1. General Kit
A Gripper Kit generally includes these items:
BIO Gripper
BIO Gripper adapter plate
Cross countersunk head screws M6*8 (4)
Cross countersunk head screws M6*10 (2)
2.2. Mechanical Installation
BIO Gripper installation steps (as shown below):
(1) Fix the BIO Gripper adapter plate to the tool flange of the robotic arm with
screws. (Note: The positioning posts on the adapter plate should be aligned with
the positioning hole at the end of the robotic arm.)
(2) Fix the BIO Gripper to the BIO Gripper adapter plate with screws.