How to use AG-160-95 gripper on xArm tool end?

This article mainy explains the connection method of AG-160-95 gripper from DH-ROBOTICS, and the usage example of this gripper.

1. Hardware

• Gripper: AG-160-95

• Robotic Arm: xArm5/ xArm6/ xArm7/ UFactory 850

2. Cable connection

1) Pin Definition

2) Connection

AG-160-95	AG-160-95	xArm tool end	xArm tool end
color	Signal	Color	Signal
Red	24V	Brown or Blue	24V
Black	GND	White or Green	GND
Green	485-A	pink	485-A
Blue	485-B	yellow	485-B

3. Parameter Config

The main parameter is the Baud rate, TCP offset, TCP payload, and self-collision prevention model.

1) Enter into 'Settings-Externals-Modbus RTU', choose '115200', and save.

2) Send command.

Initialization: 01 06 01 00 00 01

set position: 01 06 01 03 01 F4(set 500% position)

read position: 01 03 02 02 00 01

Indicator: The red light blinks after powering on the gripper, and the Blue light is always on after initialization.