UFactory xARM VACUJM GRIPPER, User Manual

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Page 2: ...2 1 1 General Kit 10 2 2 Mechanical Installation 10 2 3 Electrical Setup 12 2 3 1 Pinout Interface 12 3 Control 14 3 1 Use xArm Studio to Control xArm Vacuum Gripper 14 3 2 Use Python SDK to Control x...

Page 3: ...3 4 xArm Vacuum Gripper Technical Specifications 21 5 After sales Service 22...

Page 4: ...ording to the size of the object surface and the unused suction cup needs to be sealed Note If the surface of the object is not smooth there will be air leakage from the suction cup which makes the ob...

Page 5: ...ollowing manual before handling the xArm Vacuum Gripper Caution The term operator refers to anyone responsible for any of the following operations on the vacuum gripper Installation Control Maintenanc...

Page 6: ...secured before operating the robot Do not install or operate a vacuum gripper that is damaged or lacking parts Never supply the vacuum gripper with an alternative current AC source Make sure all cord...

Page 7: ...hat need additional protection safety measures for example the work piece the vacuum gripper is manipulating may be inherently dangerous to the operator 1 3 3 Intended Use The vacuum gripper is design...

Page 8: ...ay 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 uni...

Page 9: ...ng Read and understand the safety instructions related to the xArm Vacuum Gripper Verify your package according to the Scope of delivery and your order info Have the required parts equipment and tools...

Page 10: ...suction cup 5 DP 30 suction cup 5 2 2 Mechanical Installation xArm Vacuum Gripper installation steps 1 Move the robotic arm to a safe position Avoid collision with the robotic arm mounting surface or...

Page 11: ...or of the robotic arm is off as to avoid robotic arm failure caused by hot plugging 2 Due to the length limitation of the vacuum gripper connection cable the vacuum gripper interface and the tool IO i...

Page 12: ...rovides a 24V power supply to the xArm Vacuum Gripper and enables IO communication to the robot control box Warning Power must be off before connecting the xArm Vacuum Gripper and the robotic arm via...

Page 13: ...13 1 24V 2 24V 3 GND 4 GND 5 485 A no use 6 485 B no use 7 Digital Input 0 8 Digital Input 1 9 Digital Output 0 10 Digital Output 1 no use 11 No Connect no use 12 No Connect no use...

Page 14: ...ettings 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 When TCP payload compensation is...

Page 15: ...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: ...uck 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 gri...

Page 17: ...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 grippe...

Page 18: ...dbus TCP Communication Process 1 Establish a TCP connection 2 Prepare Modbus messages 3 Use the send command to send a message 4 Waiting for a response under the same connection 5 Use the recv command...

Page 19: ...CP Header Transaction Identifier 2 Bytes u16 0x00 0x01 Protocol 2 Bytes u16 0x00 0x02 Length 2 Bytes u16 0x00 0x08 Register 1 Byte u8 0x7F Parameters Host ID 1 Byte u8 0x09 Address 2 Bytes u16 0x0A 0x...

Page 20: ...ter 128 0x80 Request Modbus TCP Header Transaction Identifier 2 Bytes u16 0x00 0x01 Protocol 2 Bytes u16 0x00 0x02 Length 2 Bytes u16 0x00 0x04 Register 1 Byte u8 0x80 Parameters Host ID 1 Byte u8 0x0...

Page 21: ...ximum Supply Voltage 28V DC Quiescent Current mA 30mA Peak Current mA 400mA Vacuum 78 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 60...

Page 22: ...sent back to UFACTORY 2 After the bill of lading on UPS we will send the invoice and label to you by mail You need to make an appointment with the local UPS and then send the product to us 3 UFACTORY...