User Manual

UFACTORY
3
3.3. Use ROS-SDK to Control xArm Gripper .............................................................. 16
3.4. Use Modbus-TCP Communication Protocol to Control xArm Gripper ...... 16
3.4.1. Modbus-TCP Communication Format ..................................................... 17
3.4.2. Read xArm Gripper Register ....................................................................... 18
3.4.3. Write xArm Gripper Register ....................................................................... 21
3.4.4. xArm Gripper Control Process .................................................................... 26
3.5. Use Modbus-RTU Communication Protocol to Control xArm Gripper ...... 26
3.5.1. Modbus RTU Communication Format ..................................................... 26
3.5.2. Read xArm Gripper Register ....................................................................... 27
3.5.3. Write xArm Gripper Register ....................................................................... 28
3.5.4. Modbus RTU Example................................................................................... 29
4.Gripper Alarm Code & General Response ...................................................................... 32
5.xArm Gripper Technical Specifications ............................................................................ 35
6.After-sales Service ................................................................................................................. 36