UFactory xArm User manual

1

2
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

3
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

4
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.

5
(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
 

6
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.

7
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.

8
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.
Info
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.

9
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

10
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.

11
(3) Connect the robotic arm and the Gripper with the gripper connection cable.
Note:
1. When wiring the gripper connection cable, be sure to power off the robotic arm,
the emergency stop button is in the pressed state and the power indicator of the
robotic arm is off, so as to avoid robotic arm failure caused by hot plugging;
2. When connecting the gripper and the robotic arm, be sure to align the
positioning holes at the ends of the gripper and the robotic arm. Since the male
pins of the gripper connection cable are relatively thin, avoid bending the male
pins during plugging.

12
2.3. Electrical Setup
Power and communication are established with the BIO Gripper via a single gripper
connection cable. The gripper connection cable provides a 24V power supply to the
Gripper and enables serial RS485 communication to the robot control box.
Warning
Power must be off before connecting the Gripper and the robotic arm via the
gripper connection cable.
2.3.1. Pinout Interface
The BIO Gripper is connected to the tool end of the robotic arm via a 12 pin
connector.

13
Pin sequence
Function
1
24V
2
24V
3
GND
4
GND
5
485-A
6
485-B
7
Digital Input 0
8
Digital Input 1
9
Digital Output 0
10
Digital Output 1
11
No Connect
12
No Connect

14
3. Control
3.1. Use xArm Studio to Control BIO Gripper
1. Set up BIO Gripper
⚫Enter [Settings]-[End Effector]
Select the end effector: xArm BIO Gripper
1. The opening and closing speed of the gripper can be adjusted.
2. The self-collision prevention model of the gripper can be turned on by clicking
the button.
3. When "TCP payload compensation" is turned on, the default TCP payload will be
changed to the TCP payload parameter of the gripper.

15
2. Control BIO Gripper
⚫Control the BIO gripper in the live control
Control Method:
1) Click the [Enable] button to enable the BIO gripper;
2) By clicking the [Open]/[Close] button, you can control the opening and closing of
the gripper.

16
⚫Control the BIO gripper through Blockly
BIO_Gripper.Blockly
The role of this program: execute this program to control the gripper to pick the
target object at the specified position, and then place the target object at the target
position.

17
Note:
1) When the gripper is installed on the robotic arm, the TCP Payload of the gripper
should be set in the Blockly program. When the total weight of the gripper changes
after the object is picked, a new TCP Payload needs to be set.
3.2. Use Python-SDK to Control BIO Gripper
For details on controlling Gripper with python-SDK, please refer to the link below:
https://github.com/xArm-Developer/xArm-Python-SDK/blob/master/example/wra
pper/common/5009-set_bio_gripper.py
3.3. Use Modbus-TCP Communication Protocol to
Control BIO Gripper
This section mainly explains how to control the BIO Gripper by using the
Modbus-TCP protocol through xArm control box.
3.3.1. Modbus-TCP Communication Format
Modbus-TCP:
Modbus protocol is an application layer message transmission protocol, including

18
three message types: ASCII, RTU, and TCP. The standard Modbus protocol physical
layer interface includes RS232, RS422, RS485 and Ethernet interfaces, and adopts
master / slave communication.
Modbus TCP Communication Process:
1. Establish a TCP connection
2. Prepare Modbus messages
3. Use the send command to send a message
4. Waiting for a response under the same connection
5. Use the recv command to read the message and complete a data exchange
6. When the communication task ends, close the TCP connection
Parameter:
Default TCP Port: 502 Protocol: 0x00 0x02
On the problem of users using communication protocols to organize data in
big endian and little endian:
In this article, data analysis is big-endian analysis.
3.3.2. Read BIO Gripper Register
3.3.2.1. Register Function

19
Read Register
Request
MBTP Header
Transaction Identifier
2 Bytes
0x0001
Protocol Identifier
2 Bytes
0x0002
Length
2 Bytes
6+N*x2
Unit Identifier
1 Byte
0x7C
Internal Use
Internal Use
1 Byte
0x09
Modbus RTU Data
Slave ID (Gripper)
1 Byte
0x08
Function Code
1 Byte
0x03
Register Starting Address
2 Bytes
Address
Quantity of Registers
N*x2 Bytes
N*
Response
MBTP Header
Transaction Identifier
2 Bytes
0x0001
Protocol Identifier
2 Bytes
0x0002
Length
2 Bytes
6+N*x2
Unit Identifier
1 Byte
0x7C
Status Value
1 Byte
0x00
Internal Use
Internal Use
1 Byte
0x09
Modbus RTU Data
Slave ID
1 Byte
0x08
Function Code
1 Byte
0x03
Byte Count
1 Byte
N*x2
Registers Value
N*x2 Bytes
Value
N* = Quantity of Registers
Address = Register Starting Address
Resgister：
Resgister Starting
Address
Registers Value
Get Gripper status
Register
0x0000
2 Bytes
Disabled: 0x0000 Enabling: 0x0004
Enabling completed: 0x0008
Stop status: 0x0008 Motion status:
0x0009
Clipping status: 0x000A

20
Error status: 0x000B
Get Gripper Error
Register
0x000F
2 Bytes
An error occurs:
all other return values indicate an
error(except 0)
No error occurred: 0x0000
3.3.2.2. Example
1. Get the BIO Gripper status
Get the BIO Gripper status
Request
MBTP Header
Transaction Identifier
2 Bytes
0x0001
Protocol Identifier
2 Bytes
0x0002
Length
2 Bytes
0x08
Unit Identifier
1 Byte
0x7C
Internal Use
Internal Use
1 Byte
0x09
Modbus RTU Data
Slave ID (Gripper)
1 Byte
0x08
Function Code
1 Byte
0x03
Register Starting Address
2 Bytes
0x0000
Quantity of Registers
2 Bytes
0x0001
Response
MBTP Header
Transaction Identifier
2 Bytes
0x0001
Protocol Identifier
2 Bytes
0x0002
Length
2 Bytes
0x0008
Unit Identifier
1 Byte
0x7C
Status Value
1 Byte
0x00
Internal Use
Internal Use
1 Byte
0x09
Modbus RTU Data
Slave ID
1 Byte
0x08
Function Code
1 Byte
0x03
Byte Count
1 Byte
0x02
Registers Value
(Robotic arm is in motion status)
2 Bytes
0x0009