User Manual

UFACTORY
26
Quantity of Registers
2 Bytes
0x00,0x02
3.4.4. xArm Gripper Control Process
The complete process of controlling the motion of the xArm Gripper is as
follows:
(1) Enable the Gripper
0x00, 0x01, 0x00, 0x02, 0x00, 0x0B, 0x7C, 0x09, 0x08, 0x10, 0x01, 0x00, 0x00, 0x01, 0x02, 0x00,
0x01
(2) Open the Gripper
0x00, 0x01, 0x00, 0x02, 0x00, 0x0D, 0x7C, 0x09, 0x08, 0x10, 0x07, 0x00, 0x00, 0x02, 0x04, 0x00,
0x00, 0x00, 0x82
(3) Close the Gripper
0x00, 0x01, 0x00, 0x02, 0x00, 0x0D, 0x7C, 0x09, 0x08, 0x10, 0x07, 0x00, 0x00, 0x02, 0x04, 0x00,
0x00, 0x00, 0x32
3.5. Use Modbus-RTU Communication Protocol to
Control xArm Gripper
3.5.1. Modbus RTU Communication Format
The gripper defaults to the standard Modbus RTU protocol at a default