Table of Contents
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3.1. Use xArm Studio to Control BIO Gripper ............................................................ 14
3.2. Use Python-SDK to Control BIO Gripper ............................................................ 17
3.3.1. Modbus-TCP Communication Format ...................................................... 17
3.3.2. Read BIO Gripper Register ........................................................................... 18
3.3.3. Write BIO Gripper Register .......................................................................... 21
3.3.4. BIO Gripper Control Process ....................................................................... 26
3.4.1. Modbus RTU Communication Format .................................................... 26
3.4.2. Read BIO Gripper Register ........................................................................... 27
3.4.3. Write BIO Gripper Register .......................................................................... 28
3.4.4. Modbus RTU Example ................................................................................... 29
4. Gripper Error Code & Error Handling ............................................................................. 33
5. BIO Gripper Technical Specifications ............................................................................... 35
6. After-sales Service ................................................................................................................ 36
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