UFactory xARM VACUJM GRIPPER User Manual
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UFactory xARM VACUJM GRIPPER User Manual

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Summary of Contents for UFactory xARM VACUJM GRIPPER

  • Page 2: Table Of Contents

    Table 1. General Presentation ......................4 1.1. xArm Vacuum Gripper Introduction ................4 1.2. Setup and Control ......................5 1.3. Safety ..........................5 1.3.1. Warning .......................6 1.3.2. Risk Assessment and Final Application ............7 1.3.3. Intended Use ......................7 2. Installation ..........................9 2.1. Scope of Delivery ......................9 2.1.1.
  • Page 3 4. xArm Vacuum Gripper Technical Specifications ............21 5. After-sales Service ........................ 22...

  • Page 4: General Presentation

    1. General Presentation 1.1. xArm Vacuum Gripper Introduction The vacuum gripper is ideal for picking up even workpieces less than 5 Kg. The vacuum gripper is equipped with 5 suction cups, which can be partially selected for use according to the size of the object surface, and the unused suction cup needs to be sealed.

  • Page 5: Setup And Control

    1.2. Setup and Control The vacuum gripper is powered and controlled directly via a single connection cable that carries a 24V DC supply and IO control. 1.3. Safety Warning The operator must have read and understood all of the instructions in the following manual before handling the xArm Vacuum Gripper.

  • Page 6: Warning

    The drawings and photos in this documentation are representative examples and differences may exist between them and the delivered product. Warning 1.3.1. Caution Any use of the vacuum gripper in noncompliance of these warnings is inappropriate and may cause injury or damage. Warning ●...

  • Page 7: Risk Assessment And Final Application

    Risk Assessment and Final Application 1.3.2. The vacuum gripper is meant to be used on an industrial robot. The robot, vacuum gripper and any other equipment used in the final application must be evaluated with a risk assessment. The robot integrator must ensure that all local safety measures and regulations are respected.
  • Page 8 The unit may be used only within the range of its technical data. Any other use of the product is deemed improper and unintended use. UFACTORY will not be liable for any damages resulting from any improper or unintended use.

  • Page 9: Installation

    2. Installation The following subsections will guide you through the installation and general setup of xArm Vacuum Gripper. (1) The Scope of Delivery Section (2) The Mechanical Installation Section (3) The Electrical Setup Section Warning Before installing: Read and understand the safety instructions related to the xArm Vacuum Gripper.

  • Page 10: General Kit

    2.1.1. General Kit A Vacuum Gripper Kit generally includes these items: xArm vacuum gripper Cross countersunk head screws M6*8 (2) M5 sealing plugs（5） DP-6 suction cup（5） DP-15 suction cup（5） DP-30 suction cup（5） 2.2. Mechanical Installation xArm Vacuum Gripper installation steps: 1.
  • Page 11 4. Connect the robotic arm and the vacuum gripper with the vacuum gripper connection cable. Note: 1. When turning on the vacuum gripper connection cable, be sure to power off the robotic arm, to set the emergency stop button in the pressed state, and to ensure that power indicator of the robotic arm is off, as to avoid robotic arm failure caused by hot-plugging;...

  • Page 12: Electrical Setup

    2.3. Electrical Setup Power and communication are established with the xArm Vacuum Gripper via a single vacuum gripper connection cable. The vacuum gripper connection cable provides a 24V power supply to the xArm Vacuum Gripper and enables IO communication to the robot control box.
  • Page 13 485-A(no use) 485-B(no use) Digital Input 0 Digital Input 1 Digital Output 0 Digital Output 1(no use) No Connect(no use) No Connect(no use)

  • Page 14: Control

    3. Control 3.1. Use xArm Studio to Control xArm Vacuum Gripper 1. Set up xArm Vacuum Gripper ⚫ Enter [Settings]-[End Effector] Select the end effector: xArm Vacuum Gripper 1. The self-collision prevention model of the vacuum gripper can be turned on by clicking the button. 2.
  • Page 15 2. Control xArm Vacuum Gripper Control the vacuum gripper in the live control ⚫ Control Method: 1) By clicking the [Open]/[Close] button, you can control the opening and closing of the vacuum gripper.
  • Page 16 ⚫ Control the vacuum gripper through Blockly xArm Vacuum Gripper.Blockly The role of this program: execute this program to control the vacuum gripper to suck the target object at the specified position, and then place the target object at the target position. Note: 1) When the vacuum gripper is installed on the robotic arm, the TCP Payload of the vacuum gripper should be set in the Blockly program.

  • Page 17: Use Python-Sdk To Control Xarm Vacuum Gripper

    3.2. Use Python-SDK to Control xArm Vacuum Gripper The interface of controling vacuum gripper： arm.set_vacuum_gripper(True, wait=False) #open the vacuum gripper arm.set_vacuum_gripper(False, wait=False) #close the vacuum gripper The download link of the Python-SDK: https://github.com/xArm-Developer/xArm-Python-SDK 3.3. Use ROS-SDK to Control xArm Vacuum Gripper Please refer to Section 5.7.8 in the ReadMe file attached to the ROS package to control the vacuum gripper.

  • Page 18: Modbus-Tcp Communication Format

    Modbus-TCP Communication Format 3.4.1. Modbus-TCP: Modbus protocol is an application layer message transmission protocol, including three message types: ASCII, RTU, and TCP. The standard Modbus protocol physical layer interface includes RS232, RS422, RS485 and Ethernet interfaces, and adopts master / slave communication. Modbus TCP Communication Process: 1.

  • Page 19: Control Of The Xarm Vacuum Gripper

    Control of the xArm Vacuum Gripper 3.4.2. ⚫ Open/Close the vacuum gripper Open the Vacuum 00 01 00 02 00 08 7F 09 0A 15 00 80 80 43 Gripper 00 01 00 02 00 08 7F 09 0A 15 00 00 00 44 Close the Vacuum 00 01 00 02 00 08 7F 09 0A 15 00 00 80 43 Gripper...
  • Page 20 table: Get Status（Request Commands） 00 01 00 02 00 04 80 09 0A 14 Get Status（Response Commands） 00 01 00 02 00 06 80 00 00 00 00 01 （The vacuum gripper picked up the object） Get Status（Response Commands） 00 01 00 02 00 06 80 00 00 00 00 00 （The vacuum gripper does not pick up the object）...
  • Page 21 4. xArm Vacuum Gripper Technical Specifications Vacuum Gripper Rated Supply Voltage 24V DC Absolute Maximum Supply Voltage 28V DC Quiescent Current(mA) 30mA Peak Current(mA) 400mA Vacuum Vacuum Flow (L/min) > 5.6L/min Weight (g) 610 g Dimensions (L*W*H) 122.5 * 91.6 * 75mm Payload (kg) ≤5kg Noise Level (30cm away)
  • Page 22 (1) Contact UFACTORY technical support (support@ufactory.cc) to confirm whether the product needs to repair and which part should be sent back to UFACTORY. (2) After the bill of lading on UPS, we will send the invoice and label to you by mail.

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