UFactory uArm Swift Pro Developer's Manual page 7

The origin of base coordinate is in the center of the base. But the tool center point is
different for different end-effectors. And we also offer the different commands for
different usages.
Currently we offer 4 kinds of mode:
M2400 S0: Normal mode (end-effector tools: suction)
M2400 S1: Laser mode (end-effector tools: laser)
M2400 S2: 3D printing mode (end-effector tools: Hot End)
M2400 S3: Universal holder mode (end-effector tools: universal holder)
For the gripper, there is no special mode since gripper has the fingers and can rotate
horizontally.
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