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UFactory BIO GRIPPER G2 User Manual

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1.Introduction | BIO Gripper G2 User Manual

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Summary of Contents for UFactory BIO GRIPPER G2

  • Page 1 1.Introduction | BIO Gripper G2 User Manual...
  • Page 2 1.Introduction | BIO Gripper G2 User Manual...
  • Page 3 1.Introduction | BIO Gripper G2 User Manual...
  • Page 4 1.Introduction | BIO Gripper G2 User Manual...
  • Page 5 2.Installation | BIO Gripper G2 User Manual （ ）...
  • Page 6 2.Installation | BIO Gripper G2 User Manual...
  • Page 7 2.Installation | BIO Gripper G2 User Manual...
  • Page 8 2.Installation | BIO Gripper G2 User Manual...
  • Page 9 2.Installation | BIO Gripper G2 User Manual...
  • Page 10 3. Control | BIO Gripper G2 User Manual...
  • Page 11 3. Control | BIO Gripper G2 User Manual...
  • Page 12 3. Control | BIO Gripper G2 User Manual...
  • Page 13 3. Control | BIO Gripper G2 User Manual...
  • Page 14 3. Control | BIO Gripper G2 User Manual ： set_bio_gripper_enable ： set_bio_gripper_speed ： open_bio_gripper ： close_bio_gripper ： set_bio_gripper_enable ： set_bio_gripper_control_mode(mode=1)
  • Page 15 3. Control | BIO Gripper G2 User Manual ： set_bio_gripper_position import import import time sys.path.append(os.path.join(os.path.dirname(__file__), '../../..')) from xarm.wrapper import XArmAPI XArmAPI('192.168.1.204') arm.motion_enable(True) arm.clean_error() arm.set_mode(0) arm.set_state(0) time.sleep(1) code arm.set_bio_gripper_control_mode(mode=1) print('set_bio_gripper_mode,code={}'.format(code)) code arm.set_bio_gripper_enable(True) print('set_bio_gipper_enable,code={}'.format(code)) while True: code arm.set_bio_gripper_position(150, speed=3000, force=50) print('set_bio_gripper_position,code={}'.format(code)) time.sleep(0.2) code arm.set_bio_gripper_position(71, speed=3000, force=100)
  • Page 16 4.Modbus-RTU Communication Protocol Control | BIO Gripper G2 User Manual ： （ ）...
  • Page 17 4.Modbus-RTU Communication Protocol Control | BIO Gripper G2 User Manual ： ； ； ： ： 。 （ ） ： ： ： ： ：...
  • Page 18 4.Modbus-RTU Communication Protocol Control | BIO Gripper G2 User Manual...
  • Page 19 4.Modbus-RTU Communication Protocol Control | BIO Gripper G2 User Manual...
  • Page 20 4.Modbus-RTU Communication Protocol Control | BIO Gripper G2 User Manual Send：08 06 11 0A 00 01 6D AD Response：08 06 11 0A 00 01 6D AD...
  • Page 21 Send：08 06 05 06 00 32 E8 4B Response：08 06 05 06 00 32 E8 4B Open Bio gripper G2 to 150, The location of the send needs to be converted： (150-70）*3.75=(OCT)100=(HEX)01 2c Send：08 10 07 00 00 02 04 00 00 01 2c FB 4E Response：08 10 07 00 00 02 40 25...
  • Page 22 5. Error Handing | BIO Gripper G2 User Manual...
  • Page 23 5. Error Handing | BIO Gripper G2 User Manual clean_error() arm: motion_enable(enable=True) set_state(0) set_mode(0) set_bio_gripper_enable(enable=True)
  • Page 24 5. Error Handing | BIO Gripper G2 User Manual import import import time sys.path.append(os.path.join(os.path.dirname(__file__), '../../..')) from xarm.wrapper import XArmAPI XArmAPI('192.168.1.75') arm.clean_error() #clean error arm.motion_enable(enable=True) #re-enable the robotic arm.set_mode(0) #set motion mode arm.set_state(0) #set motion state arm.set_bio_gripper_enable(enable=True) #enable bio gripper G2...
  • Page 25 6.Technical Specifications | BIO Gripper G2 User Manual...
  • Page 26 7.After-sales Service | BIO Gripper G2 User Manual...
  • Page 27 8.Appendix-UFACTORY Private TCP protocol control | BIO Gripper G2 User Manual...
  • Page 28 8.Appendix-UFACTORY Private TCP protocol control | BIO Gripper G2 User Manual...
  • Page 29 8.Appendix-UFACTORY Private TCP protocol control | BIO Gripper G2 User Manual...
  • Page 30 8.Appendix-UFACTORY Private TCP protocol control | BIO Gripper G2 User Manual...
  • Page 31 8.Appendix-UFACTORY Private TCP protocol control | BIO Gripper G2 User Manual Send：00 01 00 02 00 08 7C 09 08 06 11 0A 00 00 Response：00 01 00 02 00 09 7C 50 09 08 06 11 0A 00 00 Send：00 01 00 02 00 0B 7C 09 08 10 01 00 00 01 02 00 01...
  • Page 32 8.Appendix-UFACTORY Private TCP protocol control | BIO Gripper G2 User Manual Mode 0 has no position control and sends a position ≤ 90, then closes the Bio Gripper G2.(OCT)50=(HEX)0032 Send：00 01 00 02 00 0d 7C 09 08 10 07 00 00 02 04 00 00 00 32...