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3. Control ​

The BIO Gripper G2 offers two control modes. After switching modes, the gripper needs to be re-enabled.

Mode 0: Open-close mode. (Default mode for BIO Gripper G2)
Mode 1: Position mode. It supports position, force, and speed control.

  • Position: 71-150
  • Speed: 0-4000
  • Force: 1-100 (percentage), The force setting value is expressed as a percentage, so refer to the following chart for the corresponding actual force.

3.1 UFactory Studio Control ​

Set up BIO Gripper G2

Enter Settings-Motion-TCP. Select the end effector: xArm BIO G2 Gripper

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3.1.1 Live Control ​

Enter the live control interface and select BIO Gripper G2 for enable, speed, force and position control.

Click the upper right button to turn off the position and force control (switching mode).

img_5.png

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3.1.2 Blockly Control ​

Blockly provides 3 blocks to control the BIO Gripper G2:

  • Initialize the BIO gripper G2.
  • Setting up the BIO Gripper G2, parameters: position, speed, force, wait or not.
  • Detect that BIO Gripper G2 has clamped an object, parameter: timeout time.

img_5.png

3.1.3 Modbus RTU Control ​

Enter to Set-Externals -Modbus RTU page and send the corresponding Modbus RTU commands for control.

For Modbus communication protocol, please refer to Modbus-RTU Communication Protocol Control

3.1.4 Private TCP Control ​

Enter to Set-Externals -Modbus TCP,select the "UFACTORY Private TCP",Send the appropriate private TCP commands for control

For Modbus communication protocol, please refer to UFACTORY Private TCP protocol control

3.2 Python-SDK Control ​

3.2.1 Mode 0:Open-Close Mode(default) ​

Common interfaces are listed below:

set_bio_gripper_enable ：Enable BIO Gripper G2

set_bio_gripper_speed ：Set BIO Gripper G2 Speed

open_bio_gripper ：Open BIO Gripper G2

close_bio_gripper ：Close BIO Gripper G2

For details on controlling Gripper with Python-SDK, please refer to the link below:

Python-SDK Example

3.2.2 Mode 1:Position Mode ​

Common interfaces are listed below:
set_bio_gripper_enable ：Enable BIO Gripper G2

set_bio_gripper_control_mode(mode=1) ：Switch to Position Mode

set_bio_gripper_position ：Controls the position, force and speed of the BIO Gripper G2

Python Example:

python
import os
import sys
import time
sys.path.append(os.path.join(os.path.dirname(__file__), '../../..'))

from xarm.wrapper import XArmAPI

arm = 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)
    print('set_bio_gripper_position,code={}'.format(code))
    time.sleep(0.2)