User Manual

UFACTORY
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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/wra
pper/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 Modbus-TCP Communication Protocol to
Control xArm Gripper