UFACTORY 2.2.0 xArm Gripper User Manual
- June 1, 2024
- UFACTORY
Table of Contents
UFACTORY 2.2.0 xArm Gripper
USER MANUAL
SHENZHEN UFACTORY CO., LTD
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.
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.
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 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.
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.
2.1. Scope of Delivery
2.1.1. General Kit
A Gripper Kit generally includes these items: xArm Gripper
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;
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 pins of the gripper connection cable are relatively thin, avoid bending
the male pins during disassembly.
2.3. Electrical Setup
Power and communication are established with the xArm 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 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
There are 12 pins inside the cable with different colors, each color represents different functions, please refer to the following table:
| Pin sequence | Color | Signal |
|---|---|---|
| 1 | Brown | +24V（Power） |
| 2 | Blue | +24V（Power） |
| 3 | White | 0V (GND) |
| 4 | Green | 0V (GND) |
| 5 | Pink | User 485-A |
| 6 | Yellow | User 485-B |
| 7 | Black | Tool Output 0（TO0） |
| 8 | Grey | Tool Output 1（TO1） |
| 9 | Red | Tool Input 0（TI0） |
| 10 | Purple | Tool Input 1（TI1） |
| 11 | Orange | Analog input 0 (AI0) |
| 12 | Light Green | Analog input 1 (AI1) |
3. Control
3.1.Use xArm Studio to Control xArm Gripper
1. Set up xArm Gripper
- Enter [Settings]-[End Effector]
Select the end effector: xArm Gripper
1. The opening and closing speed of the gripper can be adjusted.
2. Control xArm Gripper
Control the xArm gripper in the live control Control Method:
- By dragging this progress bar, you can control the opening and closing stroke of the gripper.
- Control the xArm gripper through Blockly
xArm 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.
Note:
- 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 xArm 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/wrapper/common/5004-set_gripper.py
3.3.Use ROS-SDK to Control xArm Gripper
Please refer to Section 5.7.7 in the ReadMe file attached to the ROS
package to control the gripper.
xArm ROS-SDK link :
https://github.com/xArm-Developer/xarm_ros
3.4.Use Private Protocol Communication Protocol to Control xArm Gripper
This section mainly explains how to control the xArm Gripper by using the Private Protocol protocol through xArm control box.
3.4.1. Private Protocol Communication Format
Private Protocol:
Modbus protocol is an application layer message transmission protocol,
including 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.
Private Protocol 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.
3.4.2. Read xArm Gripper Register
3.4.2.1. Register Function
| Transaction Identifier | 2 Bytes | 0x0001 |
|---|---|---|
| Protocol Identifier | 2 Bytes | 0x0002 |
| Length | 2 Bytes | 6+N*x2 |
| Unit Identifier | 1 Byte | 0x7C |
| Internal Use | 1 Byte | 0x09 |
| 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
Transaction Identifier| 2 Bytes| 0x0001
Protocol Identifier| 2 Bytes| 0x0002
Length| 2 Bytes| 6+N*x2
Unit Identifier| 1 Byte| 0x7C
Resgister：
indicate an error(except 0)
No error occurred: 0x0000
Example
Get the xArm Gripper status
Transaction Identifier
|
2 Bytes
|
0x00，0x01
---|---|---
Protocol Identifier
|
2 Bytes
|
0x00，0x02
Length
|
2 Bytes
|
0x00，0x08
Get the xArm Gripper status Request
MBTP Header
Unit Identifier
|
1 Byte
|
0x7C
---|---|---
Internal Use
|
1 Byte
|
0x09
Slave ID (Gripper)
|
1 Byte
|
0x08
Function Code
|
1 Byte
|
0x03
Register Starting Address
|
2 Bytes
|
0x00，0x00
Quantity of Registers
|
2 Bytes
|
0x00，0x01
Response
| |
Transaction Identifier
|
2 Bytes
|
0x00，0x01
Protocol Identifier
|
2 Bytes
|
0x00，0x02
Length
|
2 Bytes
|
0x00，0x08
Unit Identifier
|
1 Byte
|
0x7C
Status Value
|
1 Byte
|
0x00
Internal Use
|
1 Byte
|
0x09
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
|
0x00，0x01
Internal Use Modbus RTU Data
MBTP Header
Internal Use
Modbus RTU Data
Get the xArm Gripper position
Transaction Identifier
|
2 Bytes
|
0x00,0x01
---|---|---
Protocol Identifier
|
2 Bytes
|
0x00,0x02
Length
|
2 Bytes
|
0x00,0x08
Unit Identifier
|
1 Byte
|
0x7C
Internal Use
|
1 Byte
|
0x09
Slave ID (Gripper)
|
1 Byte
|
0x08
Function Code
|
1 Byte
|
0x03
Register Starting Address
|
2 Bytes
|
0x07,0x02
Quantity of Registers
|
2 Bytes
|
0x00,0x02
Response
Transaction Identifier
| |
2 Bytes
|
0x00,0x01
Protocol Identifier
| |
2 Bytes
|
0x00,0x02
Length
Unit Identifier
| |
2 Bytes
1 Byte
|
0x00,0x09
0x7C
|
19
| |
Get the xArm Gripper position Request
MBTP Header
Internal Use Modbus RTU Data
MBTP Header
|
Status Value
|
1 Byte
|
0x00
---|---|---|---
Parameters
|
Sate
|
1 Byte
|
0x00
Internal Use
|
Internal Use
|
1 Byte
|
0x09
|
Slave ID
|
1 Byte
|
0x08
|
Function Code
|
1 Byte
|
0x03
Modbus RTU Data
|
Byte Count
|
1 Byte
|
0x04
|
Registers Value
|
4 Bytes
|
0x00,0x00,0x01,0x90
|
(position: 400)
| |
Get the xArm Gripper Error
Transaction Identifier
|
2 Bytes
|
0x00,0x01
---|---|---
Protocol Identifier
|
2 Bytes
|
0x00,0x02
Length
|
2 Bytes
|
0x00,0x08
Unit Identifier
|
1 Byte
|
0x7C
Internal Use
|
1 Byte
|
0x09
Slave ID (Gripper)
|
1 Byte
|
0x08
Function Code
|
1 Byte
|
0x03
Register Starting Address
|
2 Bytes
|
0x00,0x0F
Quantity of Registers
|
2 Bytes
|
0x00,0x01
Response
| |
Transaction Identifier
|
2 Bytes
|
0x00,0x01
Protocol Identifier
|
2 Bytes
|
0x00,0x02
Length
|
2 Bytes
|
0x00,0x08
Unit Identifier
|
1 Byte
|
0x7C
Status Value
|
1 Byte
|
0x00
Sate
|
1 Byte
|
0x00
Internal Use
|
1 Byte
|
0x09
Slave ID
|
1 Byte
|
0x08
Function Code
|
1 Byte
|
0x03
Byte Count
|
1 Byte
|
0x02
Get the xArm Gripper Error Request
MBTP Header
Internal Use Modbus RTU Data
MBTP Header
Parameters Internal Use
Modbus RTU Data
Registers Value
(No error occurred in the Gripper)
2 Bytes 0x00,0x00
Write xArm Gripper Register
Register Function
Transaction Identifier
|
2 Bytes
|
0x00,0x01
---|---|---
Protocol Identifier
|
2 Bytes
|
0x00,0x02
Length
|
2 Bytes
|
9+N*x2
Unit Identifier
|
1 Byte
|
0x7C
Internal Use
|
1 Byte
|
0x09
Slave ID (Gripper)
|
1 Byte
|
0x08
Function Code
|
1 Byte
|
0x10
Register Starting Address
|
2 Bytes
|
Address
Quantity of Registers
|
2 Bytes
|
N*
Byte Count
|
1 Byte
|
N*x2
Registers Value
|
N*x2 Bytes
|
Value
Response
Transaction Identifier
|
2 Bytes
|
0x00,0x01
Protocol Identifier
|
2 Bytes
|
0x00,0x02
Length
|
2 Bytes
|
0x00,0x09
Unit Identifier
|
1 Byte
|
0x7C
Status Value
|
1 Byte
|
0x00
Internal Use
|
1 Byte
|
0x09
Slave ID
|
1 Byte
|
0x08
Function Code
|
1 Byte
|
0x10
Register Starting Address
|
2 Bytes
|
Address
Quantity of Registers
|
2 Bytes
|
N*
Write Register Request
MBTP Header
Internal Use
Modbus RTU Data
MBTP Header
Internal Use Modbus RTU Data
N* = Quantity of Registers
Address = Register Starting Address
Resgister:
Resgister Starting Address
Registers Value
Set Gripper Mode Register 0x0101 2bytes Position mode： 0x0000
Enable/Disable Gripper Register
0x0100 2 Bytes Enable : 0x0001 Disable : 0x0000
Set Gripper Position Register 0x0700 4 Bytes
Open the Gripper : 0x0000 0x0082
Close the Gripper : 0x0000 0x0032
Set Position Speed Register 0x0303 2 Bytes
0x0100-0x0400
Example
Set xArm Gripper Mode
MBTP Header
Internal Use
Modbus RTU Data
Set xArm Gripper Mode Request
Transaction Identifier
|
2 Bytes
|
0x00,0x01
---|---|---
Protocol Identifier
|
2 Bytes
|
0x00,0x02
Length
|
2 Bytes
|
0x00,0x0B
Unit Identifier
|
1 Byte
|
0x7C
Internal Use
|
1 Byte
|
0x09
Slave ID (Gripper)
|
1 Byte
|
0x08
Function Code
|
1 Byte
|
0x10
Register Starting Address
|
2 Bytes
|
0x01,0x01
Quantity of Registers
|
2 Bytes
|
0x00,0x01
Byte Count
|
1 Byte
|
0x02
Registers Value (Position mode)
2 Bytes 0x00,0x00
Response
MBTP Header Transaction Identifier 2 Bytes 0x00,0x01 Protocol Identifier 2 Bytes 0x00,0x02
|
Length
|
2 Bytes
|
0x00,0x09
---|---|---|---
Unit Identifier
|
1 Byte
|
0x7C
Status Value
|
1 Byte
|
0x00
Parameters
|
Sate
|
1 Byte
|
0x00
Internal Use
|
Internal Use
|
1 Byte
|
0x09
|
Slave ID
|
1 Byte
|
0x08
Modbus RTU Data
|
Function Code
Register Starting Address
|
1 Byte
2 Bytes
|
0x10
0x01,0x01
|
Quantity of Registers
|
2 Bytes
|
0x00,0x01
Enable/Disable xArm Gripper
Transaction Identifier
|
2 Bytes
|
0x00,0x01
---|---|---
Protocol Identifier
|
2 Bytes
|
0x00,0x02
Length
|
2 Bytes
|
0x00,0x0B
Unit Identifier
|
1 Byte
|
0x7C
Internal Use
|
1 Byte
|
0x09
Slave ID (Gripper)
|
1 Byte
|
0x08
Function Code
|
1 Byte
|
0x10
Register Starting Address
|
2 Bytes
|
0x01,0x00
Quantity of Registers
|
2 Bytes
|
0x00,0x01
Byte Count
|
1 Byte
|
0x02
Registers Value
|
2 Bytes
|
0x00,0x01
Response
Transaction Identifier
|
2 Bytes
|
0x00,0x01
Protocol Identifier
|
2 Bytes
|
0x00,0x02
Length
|
2 Bytes
|
0x00,0x09
Unit Identifier
|
1 Byte
|
0x7C
Status Value
|
1 Byte
|
0x00
Sate
|
1 Byte
|
0x00
Internal Use
|
1 Byte
|
0x09
Slave ID
|
1 Byte
|
0x08
Function Code
|
1 Byte
|
0x10
Register Starting Address
|
2 Bytes
|
0x01,0x00
Quantity of Registers
|
2 Bytes
|
0x00,0x01
Enable/Disable xArm Gripper Request
MBTP Header
Internal Use
Modbus RTU Data
MBTP Header
Parameters Internal Use
Modbus RTU Data
Set xArm Gripper Speed
MBTP Header
Internal Use
Modbus RTU Data
MBTP Header
Parameters Internal Use
Modbus RTU Data
Set xArm Gripper Speed Request
Transaction Identifier
|
2 Bytes
|
0x00,0x01
---|---|---
Protocol Identifier
|
2 Bytes
|
0x00,0x02
Length
|
2 Bytes
|
0x00,0x0B
Unit Identifier
|
1 Byte
|
0x7C
Internal Use
|
1 Byte
|
0x09
Slave ID (Gripper)
|
1 Byte
|
0x08
Function Code
|
1 Byte
|
0x10
Register Starting Address
|
2 Bytes
|
0x03,0x03
Quantity of Registers
|
2 Bytes
|
0x00,0x01
Byte Count
|
1 Byte
|
0x02
Registers Value(1500r/min)
|
2 Bytes
|
0x05,0xDC
Transaction Identifier
|
2 Bytes
|
0x00,0x01
---|---|---
Protocol Identifier
|
2 Bytes
|
0x00,0x02
Length
|
2 Bytes
|
0x00,0x09
Unit Identifier
|
1 Byte
|
0x7C
Status Value
|
1 Byte
|
0x00
Sate
|
1 Byte
|
0x00
Internal Use
|
1 Byte
|
0x09
Slave ID
|
1 Byte
|
0x08
Function Code
|
1 Byte
|
0x10
Register Starting Address
|
2 Bytes
|
0x03,0x03
Quantity of Registers
|
2 Bytes
|
0x00,0x01
Response
Set xArm Gripper Position
Transaction Identifier
| |
2 Bytes
|
0x00，0x01
---|---|---|---
Protocol Identifier
| |
2 Bytes
|
0x00，0x02
Length
Unit Identifier
| |
2 Bytes
1 Byte
|
0x00，0x0D
0x7C
Internal Use
| |
1 Byte
|
0x09
|
24
| |
Set xArm Gripper Position Request
MBTP Header
Internal Use
Registers Value
0x00,0x00,0x01,0x90
(400)
Response
BTP Header
Parameters Internal Use
Modbus RTU Data
ransaction Identifier
Protocol Identifier Length
Unit Identifier Status Value Sate
Internal Use Slave ID Function Code
Register Starting Address
Q
Slave ID (Gripper)
|
1 Byte
|
0x08
---|---|---
Function Code
|
1 Byte
|
0x10
Register Starting Address
|
2 Bytes
|
0x07,0x00
Modbus RTU Data Quantity of Registers
|
2 Bytes
|
0x00,0x02
Byte Count
|
1 Byte
|
0x04
xArm Gripper Control Process
The complete process of controlling the motion of the xArm Gripper is as follows:
Enable the Gripper
0x00, 0x01, 0x00, 0x02, 0x00, 0x0B, 0x7C, 0x09, 0x08, 0x10, 0x01, 0x00, 0x00, 0x01, 0x02, 0x00,
0x01
Open the Gripper
0x00, 0x01, 0x00, 0x02, 0x00, 0x0D, 0x7C, 0x09, 0x08, 0x10, 0x07, 0x00, 0x00, 0x02, 0x04, 0x00,
0x00, 0x01, 0x90
Close the Gripper
0x00, 0x01, 0x00, 0x02, 0x00, 0x0D, 0x7C, 0x09, 0x08, 0x10, 0x07, 0x00, 0x00, 0x02, 0x04, 0x00,
0x00, 0x00, 0x32
Use Modbus-RTU Communication Protocol to Control xArm Gripper
Modbus RTU Communication Format
The gripper defaults to the standard Modbus RTU protocol at a default baud rate is 2Mbps and the slave ID is 0x08. The currently supported function codes are: 0x03 / 0x10. In this article, data analysis is big-endian analysis.
Slave ID (Gripper)
|
1 Byte
|
0x08
---|---|---
Function Code
|
1 Byte
|
0x03
Register Starting Address
|
2 Bytes
|
Address
Quantity of Register
|
2 Bytes
|
N*
Modbus CRC16
Response
|
2 Bytes
|
CRC*
Slave ID
|
1 Byte
|
0x08
Function Code
|
1 Byte
|
0x03
Byte Count
|
1 Byte
|
N*x2
Read Register Request
Modbus RTU Data
Modbus RTU Data
Registers Value **N* x2 Bytes Value**
Modbus CRC16 2 Bytes **CRC***
Read xArm Gripper Register
N* = Quantity of Registers
Address = Register Starting Address
CRC* = Cyclic Redundancy Check
Resgister：
Resgister Starting Address
Register Value
Get Gripper status Register
Stop status: 0x0000 0x0000 2 Bytes Motion status: 0x0001
Clipping status: 0x0010
Get Gripper position
Register 0x0702 4bytes 0xFFFFFFFB-0x00000320
Get Gripper Error Register
0x000F 2 Bytes
An error occurs:
all other return values indicate an error(except 0)
No error occurred: 0x0000
Write xArm Gripper Register
Modbus RTU Data
Write Register Request
Slave ID (Gripper) 1 Byte 0x08
Function Code 1 Byte 0x10
Register Starting Address 2 Bytes Address
Quantity of Register 2 Bytes **N***
Byte Count 1 Byte *Nx2**
Registers Value **N* x2 Bytes Value**
Modbus RTU Data
Modbus CRC16 2 Bytes **CRC***
Slave ID
|
1 Byte
|
0x08
---|---|---
Function Code
|
1 Byte
|
0x10
Register Starting Address
|
2 Bytes
|
Address
Quantity of Registers
|
2 Bytes
|
N*
Modbus CRC16
|
2 Bytes
|
CRC*
Response
N* = Quantity of Registers
Address = Register Starting Address
CRC* = Cyclic Redundancy Check
Resgister:
Resgister Starting Address
Register Value
Enable/Disable Gripper 0x0100 2 Bytes Enable : 0x0001 Disable : 0x0000
Set Gripper Position Register
|
0x0700
|
4 Bytes
---|---|---
Set Position Speed Register
|
0x0303
|
2 Bytes
Set Gripper Mode Register
|
0x0101
|
2bytes
Open the Gripper : 0x0000 0x0082
Close the Gripper : 0x0000 0x0032 0x0100-0x0400
Unit : r/min
Position mode：0x0000
Modbus RTU Example
Gripper Alarm Code & General Response
The user can re-power on the robotic arm as an error handling, the steps are as follows (all the following steps are needed):
Re-powering the robotic arm via the emergency stop button on the control box.
Enable the robotic arm.
-
1. xArm Studio enable method: Click the guide button of the error pop-up window or the ‘ STOP’ red button in the upper right corner. - xArm-Python-SDK enable method: Refer to Error Handling Method.
- xArm_ros: users can view related documents at： https://github.com/xArm-Developer/xarm_ros
Re-enable the gripper.
If the problem remains unsolved after power on/off multiple times, please contact UFACTORY team for support.
Software Error Error Handling
Gripper Current Detection Error
Please restart the xArm with the Emergency Stop Button on the xArm Control Box.
Gripper Current Overlimit
Please click “OK” to re-enable the Gripper.
G12 Gripper Speed Overlimit
Please click “OK” to re-enable the Gripper.
Gripper Position Command Overlimit
Please click “OK” to re-enable the Gripper.
Gripper EEPROM Read and Write Error Please click “OK” to re-enable the Gripper.
Gripper Driver IC Hardware Error Please click “OK” to re-enable the Gripper.
Gripper Driver IC Initialization Error Please click “OK” to re-enable the Gripper.
Gripper Large Motor Position Deviation
Please check if the movement of the Gripper is blocked, if not, please click “OK” to re-enable the Gripper.
Gripper Command Over Software Limit
Please check if the gripper command is set beyond the software limit.
Gripper Feedback Position Software Limit Please contact technical support.
Gripper Drive Overloaded Please contact technical support.
Gripper Motor Overload Please contact technical support.
Gripper Driver Type Error
Please click “OK” to re-enable the Gripper.
For alarm codes that are not listed in the above table: enable the robotic arm and gripper. If the problem remains unsolved after power on/off for multiple times, please contact technical support.:
xArm-Python-SDK alarm processing method:
When designing the robotic arm motion path with the Python library, if the robot fails, you need to manually clear the errors. After clearing the error, you still need to re-enable the robotic arm and set the robot to motion mode for the robot to move normally. Then the path planning of the robotic arm should be re-adjusted according to the reported error information.
Python library error clearing steps: (Please check GitHub for details on the following interfaces)
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1. error clearing: clean_error() - Re-enable the robotic arm: motion_enable(true)
- Set the motion state: set_state(0)
xArm Gripper Technical Specifications
Gripper
Nominal Supply Voltage 24V DC Absolute Maximum Supply Voltage 28V DC
Quiescent Power (Minimum Power Consumption)
1.5W
Peak Current 1.5A
Working Range 0- 84mm
Maximum Clamping Force 30N Weight 802g
Communication Mode RS-485 Communication Protocol Modbus RTU
Programmable Gripping Specification
Position, Speed
Feedback Position
6. After-sales Service
1. After-sales policy:
For the detailed after-sales policy of the product, see the official website:
https://store-ufactory-cc.myshopify.com/pages/warranty-returns
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The general process of after-sales service is:
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[Contact UFACTORY technical support ](mailto:(support@ufactory.cc)(support@ufactory.cc) to confirm whether the product needs to repair and which part should be sent back to UFACTORY.
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After the bill of lading on UPS, we will send the invoice and label to you by mail. You need to make an appointment with the local UPS and then send the product to us.
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UFACTORY will check the product warranty status according to the after-sales policy.
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Generally, the process takes around 1-2 weeks except for shipment.
Note:
1. Please keep the original packaging materials of the product. When you need to send the product back to get repaired, please pack the product with the original box to protect the product during the transportation.
Specifications
- Product: xArm Gripper
- Version: 2.2.0
- Operating Range: -10 to 850 (gripper opening and closing)
- Power Supply: 24V DC
- Communication: Modbus RTU over RS-485
FAQ
Q: What is the operating range of the gripper?
A: The gripper opening and closing range is from -10 to 850.
Q: How should I connect the gripper to the robotic arm?
A: Use 2 M6 bolts to fix the gripper at the end of the robotic arm and connect them using the provided gripper connection cable.
References
Read User Manual Online (PDF format)
Read User Manual Online (PDF format) >>