UFactory xArm 5, Руководство пользователя

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3. End-Effector
3.1. Gripper
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.
The speed of the gripper should be in 1000-5000. If a speed less than 1000 was set,
the gripper may not work. The speed of the gripper opening needs to be greater than
or equal to the speed of the gripper closing.
3.1.1. Gripper Installation
Installation of gripper:
1. Move the robotic arm to a safe position. Avoid collision with 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;