UFactory xArm User manual

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Table
1.General Presentation ...............................................................................................................4
1.1. Gripper Introduction ...................................................................................................4
1.2. Setup and Control........................................................................................................4
1.3. Safety...............................................................................................................................5
1.3.1. Warning ...............................................................................................................6
1.3.2. Risk Assessment and Final Application.......................................................6
1.3.3. Intended Use......................................................................................................7
2.Installation..................................................................................................................................8
2.1. Scope of Delivery .........................................................................................................9
2.1.1. General Kit...........................................................................................................9
2.2. Mechanical Installation...............................................................................................9
2.3. Electrical Setup........................................................................................................... 11
2.3.1. Pinout Interface .............................................................................................. 11
3.Control...................................................................................................................................... 13
3.1. Use xArm Studio to Control xArm Gripper ........................................................ 13
3.2. Use Python-SDK to Control xArm Gripper......................................................... 16

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3.3. Use ROS-SDK to Control xArm Gripper .............................................................. 16
3.4. Use Modbus-TCP Communication Protocol to Control xArm Gripper ...... 16
3.4.1. Modbus-TCP Communication Format ..................................................... 17
3.4.2. Read xArm Gripper Register ....................................................................... 18
3.4.3. Write xArm Gripper Register....................................................................... 21
3.4.4. xArm Gripper Control Process.................................................................... 26
3.5. Use Modbus-RTU Communication Protocol to Control xArm Gripper...... 26
3.5.1. Modbus RTU Communication Format ..................................................... 26
3.5.2. Read xArm Gripper Register ....................................................................... 27
3.5.3. Write xArm Gripper Register....................................................................... 28
3.5.4. Modbus RTU Example................................................................................... 29
4.Gripper Alarm Code & General Response...................................................................... 32
5.xArm Gripper Technical Specifications ............................................................................ 35
6.After-sales Service................................................................................................................. 36

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1. General Presentation
1.1.Gripper Introduction
The gripper is the end-effector of the robotic arm, which can grasp
objects dynamically.
The value range of the gripper opening and closing is: -10 to 850. The
larger the value, the greater the stroke of the gripper, meaning the
smaller the value, the smaller the stroke of the gripper. If the clamping is
not tight, a negative value can be set until it is tightened.
1.2.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.

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1.3.Safety
Warning
The operator must have read and understood all of the instructions in
the following manual before handling the xArm Gripper.
Caution
The term "operator" refers to anyone responsible for any of the following
operations on the xArm Gripper:
●Installation
●Control
●Maintenance
●Inspection
●Calibration
●Programming
●Decommissioning
This documentation explains the various components of the xArm
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.

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1.3.1. Warning
Caution
Any use of the Gripper in noncompliance of these warnings is
inappropriate and may cause injury or damage.
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.
1.3.2. Risk Assessment and Final Application
The xArm Gripper is meant to be used on an industrial robot. The robot,
gripper and any other equipment used in the final application must be

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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.
1.3.3. 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.

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2. Installation
The following subsections will guide you through the installation and
general setup of xArm 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 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.

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2.1. Scope of Delivery
2.1.1. General Kit
A Gripper Kit generally includes these items:
xArm Gripper
xArm Gripper signal cable
Cross countersunk head screws M6*8 (4)
2.2. Mechanical Installation
xArm Gripper installation steps (as shown below):
1. Move the robotic arm to a safe position. Avoid touching 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 gripper on the end of the robotic arm with 2 M6 bolts;

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4. 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. Due to the limitation of the length of the gripper connection cable, the gripper
connector and the tool/end effector connector must be on the same side;
3. 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