How to use Robotiq Gripper on xArm tool end?

This article mainly explains the connection method of the Robotiq Gripper and xArm, and the usage example of the robotiq gripper.

1. Hardware

  • Gripper: Robotiq 2F-85/ Robotiq 2F-140

  • Robotic Arm: xArm5/ xarm6/ xArm7

2. Cable connection

1) Pin Definition

2) Connection

Robotiq connectorRobotiq connectorxarm tool endxarm tool end

Color

Signal

Color

Signal

red

+24V DC

Brown or Blue

+24V DC

black

-24V DC

white

GND

white

485-A

pink

User 485-A

green

485-B

yellow

User 485-B

grey

485 GND

green

GND

3. Parameter Config

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

1) Config the parameter via UFactory Studio

TCP Payload and offset: 'Settings-Motion-TCP'.

Self-collision prevention model: 'Settings-Live Control-End Effector', choose Robotiq Gripper.

Please choose 'yes', It will set the baud rate to 115200, the default baud rate is 2000000.

2) Config the parameter via Python SDK

Baud rate:

//Code Example
# Modify the baud rate to 115200, the default is 2000000.
arm.set_tgpio_modbus_baudrate(115200)  

TCP Payload and offset:

// Code Example
# Robotiq 2F/85 Gripper
arm.set_tcp_load(0.925, [0, 0, 58])
arm.set_tcp_offset([0, 0, 174, 0, 0, 0])
arm.save_conf()

# Robotiq 2F/140 Gripper
arm.set_tcp_load(1.025, [0, 0, 73])
arm.set_tcp_offset([0, 0, 244, 0, 0, 0])
arm.save_conf()

Self-Collision Prevention Model:

// Code Example
# Robotiq 2F/85 Gripper
arm.set_collision_tool_model(4)

# Robotiq 2F/140 Gripper
arm.set_collision_tool_model(5)

4. Control Method

1) Control it via UFactory Studio.

UFactory Studio - Live Control:

UFactory Studio - Blockly:

2) Control it via Python SDK

// Code Example
arm.set_tgpio_modbus_baudrate(115200)  
arm.robotiq_reset()
arm.robotiq_set_activate()    #enable the robotiq gripper
arm.robotiq_close()
arm.robotiq_open()

Note:

1. When using the SDK to control the gripper, there is no need to send the CRC, we will add it automatically.

2. Please note that we consider the slaver ID of the Robotiq gripper as ID=9 by default. If you modify the ID of the gripper, UFactory Studio or SDK above should not work, you can only use getset_tgpio_modbus_data to control it.

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