UFactory XARM User Manual page 67

to ensure that power indicator of the robotic arm is off, as to avoid
robotic arm failure caused by hot-plugging;
2. Due to limited length of the gripper connection cable, the gripper
connector and the tool/end effector connector must be on the same
side;
3. When connecting the gripper and the robotic arm, be sure to align the
positioning holes at the ends of the gripper and the robotic arm. The
male pins of the connecting cable are relatively thin, please be careful
to avoid bending the male pins during disassembly.
3.1.2. The Flow of Gripper Movement
1. Enable the gripper.
2. Send out a position for clamping.
3. The current range of value: -10 ~ 850.
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