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The gripper uses a standard industrial protocol Modbus RTU.  You must implement this protocol to read and write registers.  The gripper registers are detailed in the manual here:

You can also see Modbus communication examples in the manual here:

You can find free libraries on the web to do that.  You can also get information about that protocol on the web like this site:

Dear Louis,

Thanks f
Do you mean that the Modbus communication on the gripper is the same with the FT300 ?

Because I want to use the FT sensor.