UFactory xArm User Manual

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【set xarm gripper Pos () Speed () Wait (true / false)[move][edit]】
● Set the position and the opening and closing speed of the gripper.
【set bio gripper Speed () Wait (true / false)[move][edit]】
● Set the opening and closing speed of the gripper.
【set robotiq gripper Pos () Speed () Wait (true / false)[move][edit]】
● Set the position of robotiq gripper, opening and closing speed, and
the strength of the gripping object.
【initialize gripper】
● Enable gripper.
【object is (picked/release) 】
● Detect whether the vacuum gripper has picked (released) the object. If
it is detected that the vacuum gripper has picked (released) the object,
then jump out of this command and execute the next command. If the
timeout period is exceeded, the vacuum gripper has not yet picked
(released) the object, it will also jump out of the command and
execute the next command.
【get xarm vacuum gripper state】
● Obtain whether the vacuum gripper picks the object or not. When the

UFactory xArm Specifications

General

Payload	5 kg
Repeatability	±0.1 mm
Programming Language	Python, C++, ROS
Communication Interface	Ethernet
Operating Temperature	0°C to 45°C