User Manual

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● Enable gripper.
【object is (picked/release) 】
● Detect whether the vacuum gripper has picked (released) the object.
If it is detected that the vacuum gripper has picked (released) the
object, then jump out of this command and execute the next
command. If the timeout period is exceeded, the vacuum gripper has
not yet picked (released) the object, it will also jump out of the
command and execute the next command.
【get xarm vacuum gripper state】
● Obtain whether the vacuum gripper picks the object or not. When the
vacuum gripper state is 1, it indicates that the object is picked
successfully; when the vacuum gripper state is 0, it indicates that the
object fails to be picked.
【set xarm vacuum gripper (ON/OFF) object detection (true/false)
[set]】
● Set the vacuum gripper to be on and off.
[object detection] = true: detect whether the object is picked, if not, it
will jump out of the entire program.
[object detection] = false: do not detect whether the object is picked.