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