1

Table
1. General Presentation ..............................................................................................................4

1.1. Gripper Introduction....................................................................................................4

1.2. Object Picking ...............................................................................................................5

1.3. Setup and Control ........................................................................................................5

1.4. Safety ...............................................................................................................................5

1.4.1. Warning ...............................................................................................................6

1.4.2. Risk Assessment and Final Application .......................................................7

1.4.3. Intended Use ......................................................................................................8

2. Installation .................................................................................................................................9

2.1. Scope of Delivery .........................................................................................................9

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

2
 3.1. Use xArm Studio to Control BIO Gripper ............................................................ 14

3.2. Use Python-SDK to Control BIO Gripper ............................................................ 17

3.3. Use Modbus-TCP Communication Protocol to Control BIO Gripper .......... 17

3.3.1. Modbus-TCP Communication Format...................................................... 17

3.3.2. Read BIO Gripper Register ........................................................................... 18

3.3.3. Write BIO Gripper Register .......................................................................... 21

3.3.4. BIO Gripper Control Process ....................................................................... 26

3.4. Use Modbus-RTU Communication Protocol to Control BIO Gripper ......... 26

3.4.1. Modbus RTU Communication Format .................................................... 26

3.4.2. Read BIO Gripper Register ........................................................................... 27

3.4.3. Write BIO Gripper Register .......................................................................... 28

3.4.4. Modbus RTU Example................................................................................... 29

4. Gripper Error Code & Error Handling ............................................................................. 33

5. BIO Gripper Technical Specifications ............................................................................... 35

6. After-sales Service ................................................................................................................ 36

3
 1. General Presentation

1.1. Gripper Introduction

BIO Gripper

The xArm BIO Gripper is a gripper designed for liquid handling. It provides fast

deployment paired with simple customization and easy programming. The gripper

is a multifunctional tool, boasting customized fingertips to provide gripping

flexibility.

Main Features of BIO Gripper:

(1) Designed for liquid handling

The gripper stroke is 70-150mm with special designed fingertips which perfectly fit

the liquid plate.

(2) Customizable fingertips

Easily customized fingertips enable all sorts of fitting for tubes and plates

corresponding to their shapes.

4
(3) Highly integrated with xArm

As a safe and stable integration, the xArm BIO Gripper is highly compatible with

xArm, controlled directly by the IO port at the end of the machine without external

cables and connectors.

1.2. Object Picking

The fingers of the BIO Gripper adopt a parallel grasp, Figures are shown below.

The width of the object that the gripper can grasp is: 70-150mm

(a) Maximum Stroke (b) Minimum Stroke

1.3. Setup and Control

The gripper is powered and controlled directly via a single gripper connection cable

that carries a 24V DC supply and Modbus RTU communication over RS-485.

1.4. Safety

Warning

5
The operator must have read and understood all of the instructions in the following

manual before handling the BIO Gripper.

Caution

The term "operator" refers to anyone responsible for any of the following

operations on the BIO Gripper:

● Installation

● Control

● Maintenance

● Inspection

● Calibration

● Programming

● Decommissioning

This documentation explains the various components of the BIO Gripper and

general operations regarding the whole life-cycle of the product from installation

to operation and decommissioning.

The drawings and photos in this documentation are representative examples and

differences may exist between them and the delivered product.

1.4.1. Warning

Caution

Any use of the Gripper in noncompliance of these warnings is inappropriate and

may cause injury or damage.

6
Warning

● The Gripper needs to be properly secured before operating the robot.

● Do not install or operate a Gripper that is damaged or lacking parts.

● Never supply the Gripper with an alternative current (AC) source.

● Make sure all cord sets are always secured at both ends,Gripper end & Robot end

● Always satisfy the recommended keying for electrical connections.

● Be sure no one is in the robot and/or gripper path before initializing the robot's

routine.

● Always satisfy the gripper payload.

● Set the gripper speed accordingly, based on your application.

● Keep fingers and clothes away from the gripper while the power is on.

● Do not use the gripper on people or animals.

1.4.2. Risk Assessment and Final Application

The BIO Gripper is meant to be used on an industrial robot. The robot, gripper and

any other equipment used in the final application must be evaluated with a risk

assessment. The robot integrator must ensure that all local safety measures and

regulations are respected. Depending on the application, there may be risks that

need additional protection/safety measures, for example, the work-piece the

gripper is manipulating may be inherently dangerous to the operator.

7
1.4.3. Intended Use

The gripper is designed for grasping and temporarily securing or holding objects.

Caution

The Gripper is NOT intended for applying force against objects or surfaces.

The product is intended for installation on a robot or other automated machinery

and equipment.

Info

Always comply with local and/or national laws, regulations and directives on

automation safety and general machine safety.

The unit may 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

unintended use.

8
 2. Installation

The following subsections will guide you through the installation and general setup

of BIO Gripper.

(1) The Scope of Delivery section

(2) The Mechanical Installation section

(3) The Electrical Setup section

Warning

Before installing:

Read and understand the safety instructions related to the BIO Gripper.

Verify your package according to the Scope of delivery and your order info.

Have the required parts, equipment and tools listed in the requirements readily

available.

Installing:

Satisfy the environmental conditions.

Do not operate the Gripper, or even turn on the power supply, before it is firmly

anchored and the danger zone is cleared.

Caution the fingers of the gripper which may move and cause injury or damage.

2.1. Scope of Delivery

9
2.1.1. General Kit

A Gripper Kit generally includes these items:

BIO Gripper

BIO Gripper adapter plate

Cross countersunk head screws M6*8 (4)

Cross countersunk head screws M6*10 (2)

2.2. Mechanical Installation

BIO Gripper installation steps (as shown below):

(1) Fix the BIO Gripper adapter plate to the tool flange of the robotic arm with

screws. (Note: The positioning posts on the adapter plate should be aligned with

the positioning hole at the end of the robotic arm.)

(2) Fix the BIO Gripper to the BIO Gripper adapter plate with screws.

10
(3) Connect the robotic arm and the Gripper with the gripper connection cable.

Note:

1. When wiring the gripper connection cable, be sure to power off the robotic arm,

the emergency stop button is in the pressed state and the power indicator of the

robotic arm is off, so as to avoid robotic arm failure caused by hot plugging;

2. When connecting the gripper and the robotic arm, be sure to align the

positioning holes at the ends of the gripper and the robotic arm. Since the male

pins of the gripper connection cable are relatively thin, avoid bending the male

pins during plugging.

11
2.3. Electrical Setup

Power and communication are established with the BIO Gripper via a single gripper

connection cable. The gripper connection cable provides a 24V power supply to the

Gripper and enables serial RS485 communication to the robot control box.

Warning

Power must be off before connecting the Gripper and the robotic arm via the

gripper connection cable.

2.3.1. Pinout Interface

The BIO Gripper is connected to the tool end of the robotic arm via a 12 pin

connector.

12
Pin sequence Function

1 24V

2 24V

3 GND

4 GND

5 485-A

6 485-B

7 Digital Input 0

8 Digital Input 1

9 Digital Output 0

10 Digital Output 1

11 No Connect

12 No Connect

13
 3. Control

3.1. Use xArm Studio to Control BIO Gripper

1. Set up BIO Gripper

⚫ Enter [Settings]-[End Effector]

Select the end effector: xArm BIO Gripper

1. The opening and closing speed of the gripper can be adjusted.

2. The self-collision prevention model of the gripper can be turned on by clicking

the button.

3. When "TCP payload compensation" is turned on, the default TCP payload will be

changed to the TCP payload parameter of the gripper.

14
2. Control BIO Gripper

⚫ Control the BIO gripper in the live control

Control Method:

1) Click the [Enable] button to enable the BIO gripper;

2) By clicking the [Open]/[Close] button, you can control the opening and closing of

the gripper.

15
⚫ Control the BIO gripper through Blockly

BIO_Gripper.Blockly

The role of this program: execute this program to control the gripper to pick the

target object at the specified position, and then place the target object at the target

position.

16
Note:

1) When the gripper is installed on the robotic arm, the TCP Payload of the gripper

should be set in the Blockly program. When the total weight of the gripper changes

after the object is picked, a new TCP Payload needs to be set.

3.2. Use Python-SDK to Control BIO Gripper

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

https://github.com/xArm-Developer/xArm-Python-SDK/blob/master/example/wra

pper/common/5009-set_bio_gripper.py

3.3. Use Modbus-TCP Communication Protocol to

Control BIO Gripper

This section mainly explains how to control the BIO Gripper by using the

Modbus-TCP protocol through xArm control box.

3.3.1. Modbus-TCP Communication Format

Modbus-TCP:

Modbus protocol is an application layer message transmission protocol, including

17
three message types: ASCII, RTU, and TCP. The standard Modbus protocol physical

layer interface includes RS232, RS422, RS485 and Ethernet interfaces, and adopts

master / slave communication.

Modbus 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 to read the message and complete a data exchange

6. When the communication task ends, close the TCP connection

Parameter:

Default TCP Port: 502 Protocol: 0x00 0x02

On the problem of users using communication protocols to organize data in

big endian and little endian:

In this article, data analysis is big-endian analysis.

3.3.2. Read BIO Gripper Register

3.3.2.1. Register Function

18
 Read Register
Request
Transaction Identifier 2 Bytes 0x0001

MBTP Header Protocol Identifier 2 Bytes 0x0002

Length 2 Bytes 6+N*x2
Unit Identifier 1 Byte 0x7C
Internal Use Internal Use 1 Byte 0x09
Slave ID (Gripper) 1 Byte 0x08

Modbus RTU Data Function Code 1 Byte 0x03

Register Starting Address 2 Bytes Address
Quantity of Registers N*x2 Bytes N*
Response
Transaction Identifier 2 Bytes 0x0001
Protocol Identifier 2 Bytes 0x0002
MBTP Header
Length 2 Bytes 6+N*x2
Unit Identifier 1 Byte 0x7C
Status Value 1 Byte 0x00
Internal Use Internal Use 1 Byte 0x09
Slave ID 1 Byte 0x08
Function Code 1 Byte 0x03
Modbus RTU Data
Byte Count 1 Byte N*x2
Registers Value N*x2 Bytes Value

N* = Quantity of Registers

Address = Register Starting Address

Resgister：

Resgister Starting
Registers Value
Address

Disabled: 0x0000 Enabling: 0x0004

Enabling completed: 0x0008

Get Gripper status
0x0000 2 Bytes Stop status: 0x0008 Motion status:
Register
0x0009

Clipping status: 0x000A

19
 Error status: 0x000B

An error occurs:

Get Gripper Error all other return values indicate an

0x000F 2 Bytes
Register error(except 0)

No error occurred: 0x0000

3.3.2.2. Example

1. Get the BIO Gripper status

Get the BIO Gripper status

Request
Transaction Identifier 2 Bytes 0x0001

MBTP Header Protocol Identifier 2 Bytes 0x0002

Length 2 Bytes 0x08
Unit Identifier 1 Byte 0x7C
Internal Use Internal Use 1 Byte 0x09
Slave ID (Gripper) 1 Byte 0x08

Modbus RTU Data Function Code 1 Byte 0x03

Register Starting Address 2 Bytes 0x0000
Quantity of Registers 2 Bytes 0x0001
Response
Transaction Identifier 2 Bytes 0x0001
Protocol Identifier 2 Bytes 0x0002
MBTP Header
Length 2 Bytes 0x0008
Unit Identifier 1 Byte 0x7C
Status Value 1 Byte 0x00
Internal Use Internal Use 1 Byte 0x09
Slave ID 1 Byte 0x08
Function Code 1 Byte 0x03

Modbus RTU Data Byte Count 1 Byte 0x02

Registers Value
2 Bytes 0x0009
(Robotic arm is in motion status)

20
2. Get the BIO Gripper Error

Get the BIO Gripper Error

Request
Transaction Identifier 2 Bytes 0x0001

MBTP Header Protocol Identifier 2 Bytes 0x0002

Length 2 Bytes 0x08
Unit Identifier 1 Byte 0x7C
Internal Use Internal Use 1 Byte 0x09
Slave ID (Gripper) 1 Byte 0x08

Modbus RTU Data Function Code 1 Byte 0x03

Register Starting Address 2 Bytes 0x000F
Quantity of Registers 2 Bytes 0x0001
Response
Transaction Identifier 2 Bytes 0x0001
Protocol Identifier 2 Bytes 0x0002
MBTP Header
Length 2 Bytes 0x0008
Unit Identifier 1 Byte 0x7C
Status Value 1 Byte 0x00
Internal Use Internal Use 1 Byte 0x09
Slave ID 1 Byte 0x08
Function Code 1 Byte 0x03

Modbus RTU Data Byte Count 1 Byte 0x02

Registers Value
2 Bytes 0x0000
(No error occurred in the Gripper)

3.3.3. Write BIO Gripper Register

3.3.3.1. Register Function

Write Register
Request
Transaction Identifier 2 Bytes 0x0001

MBTP Header Protocol Identifier 2 Bytes 0x0002

Length 2 Bytes 9+N*x2
Unit Identifier 1 Byte 0x7C

21
 Internal Use Internal Use 1 Byte 0x09
Slave ID (Gripper) 1 Byte 0x08
Function Code 1 Byte 0x10

Modbus RTU Data Register Starting 2 Bytes Address

Quantity of Registers
Address 2 Bytes N*
Byte Count 1 Byte N*x2
Registers Value N*x2 Value
Response
Bytes
Transaction Identifier 2 Bytes 0x0001
Protocol Identifier 2 Bytes 0x0002
MBTP Header
Length 2 Bytes 0x0009
Unit Identifier 1 Byte 0x7C
Status Value 1 Byte 0x00
Internal Use Internal Use 1 Byte 0x09
Slave ID 1 Byte 0x08

Modbus RTU Data Function Code 1 Byte 0x10

Register Starting 2 Bytes Address
Quantity of Registers
Address 2 Bytes N*
N* = Quantity of Registers

Address = Register Starting Address

Resgister:

Resgister Starting
Registers Value
Address

Enable/Disable Gripper
0x0100 2 Bytes Enable : 0x0001 Disable : 0x0000
Register

Set Gripper Position Open the Gripper : 0x0000 0x0082

0x0700 4 Bytes
Register
Close the Gripper : 0x0000 0x0032

Set Position Speed 0x0100-0x0400

0x0303 2 Bytes
Register Unit : r/min

Clear Position Error

0x000F 2 Bytes 0x0000
Register

22
3.3.3.2. Example

1. Enable/Disable BIO Gripper

Enable/Disable BIO Gripper

Request
Transaction Identifier 2 Bytes 0x0001

MBTP Header Protocol Identifier 2 Bytes 0x0002

Length 2 Bytes 0x000B
Unit Identifier 1 Byte 0x7C
Internal Use Internal Use 1 Byte 0x09
Slave ID (Gripper) 1 Byte 0x08
Function Code 1 Byte 0x10

Modbus RTU Data Register Starting 2 Bytes 0x0100

Quantity of Registers
Address 2 Bytes 0x0001
Byte Count 1 Byte 0x02
Registers Value 2 Bytes 0x0001
Response
Transaction Identifier 2 Bytes 0x0001
Protocol Identifier 2 Bytes 0x0002
MBTP Header
Length 2 Bytes 0x0009
Unit Identifier 1 Byte 0x7C
Status Value 1 Byte 0x00
Internal Use Internal Use 1 Byte 0x09
Slave ID 1 Byte 0x08

Modbus RTU Data Function Code 1 Byte 0x10

Register Starting 2 Bytes 0x0100
Quantity of Registers
Address 2 Bytes 0x0001

2. Set BIO Gripper Speed

Set BIO Gripper Speed

Request
Transaction Identifier 2 Bytes 0x0001

MBTP Header Protocol Identifier 2 Bytes 0x0002

Length 2 Bytes 0x000B
Unit Identifier 1 Byte 0x7C
Internal Use Internal Use 1 Byte 0x09

23
 Slave ID (Gripper) 1 Byte 0x08
Function Code 1 Byte 0x10
Register Starting Address 2 Bytes 0x0303
Modbus RTU Data Quantity of Registers 2 Bytes 0x0001
Byte Count 1 Byte 0x02
Registers
2 Bytes 0x05DC
Value(1500r/min)

Response
Transaction Identifier 2 Bytes 0x0001
Protocol Identifier 2 Bytes 0x0002
MBTP Header
Length 2 Bytes 0x0009
Unit Identifier 1 Byte 0x7C
Status Value 1 Byte 0x00
Internal Use Internal Use 1 Byte 0x09
Slave ID 1 Byte 0x08

Modbus RTU Data Function Code 1 Byte 0x10

Register Starting Address 2 Bytes 0x0303
Quantity of Registers 2 Bytes 0x0001

3. Set BIO Gripper Position

Set BIO Gripper Position

Request
Transaction Identifier 2 Bytes 0x0001

MBTP Header Protocol Identifier 2 Bytes 0x0002

Length 2 Bytes 0x000D
Unit Identifier 1 Byte 0x7C
Internal Use Internal Use 1 Byte 0x09
Slave ID (Gripper) 1 Byte 0x08
Function Code 1 Byte 0x10
Register Starting 2 Bytes 0x0700

Modbus RTU Data Quantity of Registers

Address 2 Bytes 0x0002
Byte Count 1 Byte 0x04
Registers Value
4 Bytes 0x0000, 0x0082
(Open the BIO Gripper)

24
 Response
Transaction Identifier 2 Bytes 0x0001
Protocol Identifier 2 Bytes 0x0002
MBTP Header
Length 2 Bytes 0x0009
Unit Identifier 1 Byte 0x7C
Status Value 1 Byte 0x00
Internal Use Internal Use 1 Byte 0x09
Slave ID 1 Byte 0x08

Modbus RTU Data Function Code 1 Byte 0x10

Register Starting 2 Bytes 0x0700
Quantity of Registers
Address 2 Bytes 0x0002

4. Clear BIO Gripper Error

Clear BIO Gripper Error

Request
Transaction Identifier 2 Bytes 0x0001

MBTP Header Protocol Identifier 2 Bytes 0x0002

Length 2 Bytes 0x000B
Unit Identifier 1 Byte 0x7C
Internal Use Internal Use 1 Byte 0x09
Slave ID (Gripper) 1 Byte 0x08
Function Code 1 Byte 0x10

Modbus RTU Data Register Starting 2 Bytes 0x000F

Quantity of Registers
Address 2 Bytes 0x0001
Byte Count 1 Byte 0x02
Registers Value 2 Bytes 0x0001
Response
Transaction Identifier 2 Bytes 0x0001
Protocol Identifier 2 Bytes 0x0002
MBTP Header
Length 2 Bytes 0x0009
Unit Identifier 1 Byte 0x7C
Status Value 1 Byte 0x00
Internal Use Internal Use 1 Byte 0x09
Slave ID 1 Byte 0x08

Modbus RTU Data Function Code 1 Byte 0x10

Register Starting 2 Bytes 0x000F
Quantity of Registers
Address 2 Bytes 0x0001

25
3.3.4. BIO Gripper Control Process

The complete process of controlling the motion of the BIO Gripper is as follows:

(1) Enable the Gripper

0x00, 0x01, 0x00, 0x02, 0x00, 0x0B, 0x7C, 0x09, 0x08, 0x10, 0x01, 0x00, 0x00, 0x01,

0x02, 0x00, 0x01

(2) Open the Gripper

0x00, 0x01, 0x00, 0x02, 0x00, 0x0D, 0x7C, 0x09, 0x08, 0x10, 0x07, 0x00, 0x00, 0x02,

0x04, 0x00, 0x00, 0x00, 0x82

(3) Close the Gripper

0x00, 0x01, 0x00, 0x02, 0x00, 0x0D, 0x7C, 0x09, 0x08, 0x10, 0x07, 0x00, 0x00, 0x02,

0x04, 0x00, 0x00, 0x00, 0x32

3.4. Use Modbus-RTU Communication Protocol to

Control BIO Gripper

3.4.1. Modbus RTU Communication Format

The gripper defaults to the standard Modbus RTU protocol at a default baud rate is

2Mbps and the slave ID is 0x08. The currently supported function codes are: 0x03 /

26
0x10. In this article, data analysis is big-endian analysis.

3.4.2. Read BIO Gripper Register

Read Register
Request
Slave ID (Gripper) 1 Byte 0x08
Function Code 1 Byte 0x03
Modbus RTU Data
Register Starting Address 2 Bytes Address
Quantity of Register 2 Bytes N*
Modbus CRC16 2 Bytes CRC*
Response
Slave ID 1 Byte 0x08
Function Code 1 Byte 0x03
Modbus RTU Data
Byte Count 1 Byte N*x2
Registers Value N*x2 Bytes Value
Modbus CRC16 2 Bytes CRC*

N* = Quantity of Registers

Address = Register Starting Address

CRC* = Cyclic Redundancy Check

Resgister：

Resgister
Starting Register Value
Address

Disabled: 0x0000 Enabling: 0x0004

Enabling completed: 0x0008

Get Gripper status
0x0000 2 Bytes Stop status: 0x0008 Motion status: 0x0009
Register
Clipping status: 0x000A

Error status: 0x000B

Get Gripper Error An error occurs:

0x000F 2 Bytes
Register
all other return values indicate an error(except 0)

27
 No error occurred: 0x0000

3.4.3. Write BIO Gripper Register

Write Register
Request
Slave ID (Gripper) 1 Byte 0x08
Function Code 1 Byte 0x10

Modbus RTU Register Starting 2 Bytes Address

Data Quantity of Register

Address 2 Bytes N*
Byte Count 1 Byte N*x2
Registers Value N*x2 Value
Modbus CRC16 2Bytes
Bytes CRC*
Response
Slave ID 1 Byte 0x08

Modbus RTU Function Code 1 Byte 0x10

Data Register Starting 2 Bytes Address

Quantity of Registers
Address 2 Bytes N*
Modbus CRC16 2 Bytes CRC*

N* = Quantity of Registers

Address = Register Starting Address

CRC* = Cyclic Redundancy Check

Resgister:

Resgister
Starting Register Value
Address

Enable/Disable Gripper Register 0x0100 2 Bytes Enable : 0x0001 Disable : 0x0000

Open the Gripper : 0x0000 0x0082

Set Gripper Position Register 0x0700 4 Bytes
Close the Gripper : 0x0000 0x0032

0x0100-0x0400
Set Position Speed Register 0x0303 2 Bytes
Unit : r/min

28
 Clear Position Error Register 0x000F 2 Bytes 0x0000

3.4.4. Modbus RTU Example

This section demonstrates the example given in the Control Logic section when

programmed using the Modbus RTU protocol.

Step1：Enable BIO Gripper

Enable BIO Gripper

Request
Slave ID (Gripper) 1 Byte 0x08
Function Code 1 Byte 0x10
Register Starting 2 Bytes 0x0100
Modbus RTU Data
Quantity of Registers
Address 2 Bytes 0x0001
Byte Count 1 Byte 0x02
Registers Value 2 Bytes 0x0001
Modbus CRC16 2 Bytes 0x1D00
Response
Slave ID 1 Byte 0x08
Function Code 1 Byte 0x10
Modbus RTU Data
Register Starting 2 Bytes 0x0100
Quantity of Registers
Address 2 Bytes 0x0001
Modbus CRC16 2 Bytes 0x00AC

Step2：Set BIO Gripper Speed

Set BIO Gripper Speed

Request
Slave ID (Gripper) 1 Byte 0x08
Function Code 1 Byte 0x10
Modbus RTU Data
Register Starting Address 2 Bytes 0x0303
Quantity of Registers 2 Bytes 0x0001
Byte Count 1 Byte 0x02

29
 Registers Value(1500r/min) 2 Bytes 0x05DC

Modbus CRC16 2 Bytes 0xFDFA

Response
Slave ID 1 Byte 0x08
Function Code 1 Byte 0x10
Modbus RTU Data
Register Starting Address 2 Bytes 0x0303
Quantity of Registers 2 Bytes 0x0001
Modbus CRC16 2 Bytes 0xF114

Step3：Open BIO Gripper

Open BIO Gripper

Request
Slave ID (Gripper) 1 Byte 0x08
Function Code 1 Byte 0x10
Register Starting Address 2 Bytes 0x0700
Quantity of Registers 2 Bytes 0x0002
Modbus RTU Data
Byte Count 1 Byte 0x04
Registers Value
4 Bytes 0x0000, 0x0082
(Open the BIO Gripper)

Modbus CRC16 2 Bytes 0x7B62

Response
Slave ID 1 Byte 0x08
Function Code 1 Byte 0x10
Modbus RTU Data
Register Starting Address 2 Bytes 0x0700
Quantity of Registers 2 Bytes 0x0002
Modbus CRC16 2 Bytes 0x4025

Read the Gripper status until it is in a stopped status.

Get the BIO Gripper status

Request
Slave ID (Gripper) 1 Byte 0x08
Function Code 1 Byte 0x03
Modbus RTU Data
Register Starting Address 2 Bytes 0x0000
Quantity of Registers 2 Bytes 0x0001
Modbus CRC16 2 Bytes 0x8493
Response
30
 Slave ID 1 Byte 0x08
Function Code 1 Byte 0x03
Byte Count 1 Byte 0x02
Modbus RTU Data
Registers Value
2 Bytes 0x0000
(Robotic arm is in stop statu)

Modbus CRC16 2 Bytes 0x6445

Step4：Close BIO Gripper

Close BIO Gripper

Request
Slave ID (Gripper) 1 Byte 0x08
Function Code 1 Byte 0x10
Register Starting Address 2 Bytes 0x0700
Quantity of Registers 2 Bytes 0x0002
Modbus RTU Data Byte Count 1 Byte 0x04

Registers Value
4 Bytes 0x0000, 0x0032
(Close the BIO Gripper)

Modbus CRC16 2 Bytes 0x7AD6

Response
Slave ID 1 Byte 0x08
Function Code 1 Byte 0x10
Modbus RTU Data
Register Starting Address 2 Bytes 0x0700
Quantity of Registers 2 Bytes 0x0002
Modbus CRC16 2 Bytes 0x4025

Read the Gripper status until it is in a stopped status.

Get the BIO Gripper status

Request
Slave ID (Gripper) 1 Byte 0x08
Function Code 1 Byte 0x03
Modbus RTU Data
Register Starting Address 2 Bytes 0x0000
Quantity of Registers 2 Bytes 0x0001
Modbus CRC16 2 Bytes 0x8493
Response
Modbus RTU Data Slave ID 1 Byte 0x08

31
 Function Code 1 Byte 0x03
Byte Count 1 Byte 0x02
Registers Value
2 Bytes 0x0000
(Robotic arm is in stop statu)
Modbus CRC16 2 Bytes 0x6445

32
 4. Gripper Error Code & Error

Handling

The user can re-power on the robotic arm as an error handling, the steps are as

follows (re-power on need to perform all the following steps):

1. Re-powering the robotic arm via the emergency stop button on the control

box.

2. Enable robotic arm.

a. xArm Studio enable mode: Click the guide button of the error pop-up

window or the ‘STOP’ red button in the upper right corner.

b. xArm-Python-SDK enable mode: Refer to Alarm Handling Mode.

c. xArm_ROS library: users can view related documents at

https://github.com/xArm-Developer/xarm_ros

3. Re-enable the gripper.

Error
Error Code Error Handling
Description

Gripper Gripper current is too large

0x0B
overcurrent Please click "OK" to re-enable the Gripper

The gripping object falls off

The gripping
0x0C Please place the gripping object and clear the error, set the
object falls off
0x000F register to 0.

If the problem remains unsolved after power on/off for multiple times, please contact UFACTORY
team for support.

33
xArm-Python-SDK Error Handling:

When designing the robotic arm motion path with the Python library, if the robotic

arm error (see Appendix for Alarm information) occurs, then it needs to be cleared

manually. After clearing the error, the robotic arm should be motion enabled.

Python library error clearing steps: (Please check GitHub for details on the

following interfaces)

a. Eerror clearing: clean_error()

b. Re-enable the robotic arm: motion_enable(true)

c. Set the motion statu: set_statu(0)

34
 5. BIO Gripper Technical

Specifications

BIO Gripper
Rated Supply Voltage 24V DC

Absolute Maximum Supply Voltage 28V DC

Static Power Consumption
0.96W
(Minimum Power Consumption)
Peak Current 1.5A

Weight 760g

Maximum Gripping Force 20N

Stroke 70-150mm

Communication Mode RS-485

Communication Protocol Modbus RTU

Programmable Gripping Specification Speed Control

Status Indication Working Status, Power

Feedback Drop Detection, Pick-up Detection

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 6. After-sales Service

1. After-sales policy:

For the detailed after-sales policy of the product, see the official website:

https://store-ufactory-cc.myshopify.com/pages/warranty-returns

2. The general process of after-sales service is:

(1) Contact UFACTORY technical support (support@ufactory.cc) to confirm whether

the product needs to repair and which part should be send back to UFACTORY.

(2) After 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 will check the product warranty status according to the after-sales

policy.

(4) Generally, the process takes around 1-2 weeks except for shipment.

Note:

1. When you need to send the product back to get repaired, please pack the

product with the box to protect the product during transportation.

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