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I suppose you would like to control airpick by coding an application in C or other languages.
To do that you need to have a Modbus RTU library that will help you communicate with the gripper.

example of C library:

With Modbus RTU library, you can read and write airPick register which is what you have to do to control it.
It is like writing in airPick memory register: "Make vacuum at 70%", "release", ...

You will find details about modbus RTU control in airpick manual: