UFactory xArm User Manual

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3. End-Effector
3.1. Gripper
The gripper is the end-effector of the robotic arm, which can grasp objects
dynamically.
The value range of the gripper opening and closing is: -10 to 850. The
larger the value, the greater the stroke of the gripper, meaning the
smaller the value, the smaller the stroke of the gripper. If the clamping is
not tight, a negative value can be set until it is tightened.
The speed of the gripper should be in 1000-5000. If a speed less than 1000
was set, the gripper may not work. The speed of the gripper opening
needs to be greater than or equal to the speed of the gripper closing.

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