3. Control Methods

3.1 UFACTORY Studio

3.1.1 Live Control

Enter the Live control page, select Gripper G2, and perform position control (range 0-840).
Click the button in the upper right corner to select connection mode and adjust gripping force/speed.

3.1.2 Blockly Control

Blockly provides 3 blocks for Gripper G2 control:

• Set Gripper G2 pos[] speed[] force[] wait[]
• Set Gripper G2 [variable] pos[] speed[] force[] wait[]
• Object gripped by Gripper G2 timeout[]
  

3.1.3 Modbus RTU Control

Go to Settings -> External Devices -> RS485, select Modbus RTU protocol, and send corresponding commands.
Refer to Chapter 4: Modbus RTU Protocol for details.

3.1.4 UFACTORY Private TCP Control

Go to Settings -> External Devices -> Modbus TCP, select 'UFACTORY Private TCP', and send proprietary TCP commands.
Refer to Appendix for UFACTORY Private TCP details.

3.2 Python SDK

Common interfaces (Python SDK ≥ 1.16.0):
set_gripper_g2_position: Set Gripper G2 position, force, and speed
get_gripper_g2_position: Get current Gripper G2 position

Python example:

import os
import sys

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

from xarm.wrapper import XArmAPI

arm = XArmAPI('192.168.1.68')
arm.motion_enable(enable=True)
arm.set_mode(0)
arm.set_state(state=0)

code = arm.set_gripper_enable(True)
print('set gripper enable, code={}'.format(code))

code = arm.set_gripper_g2_position(80, wait=True, speed=200, force=80)
print('set gripper, code={}'.format(code))

print('position=', arm.get_gripper_g2_position())