Custom Built Gripper Communication

Hi all.
I have a project and using a custom built gripper. If I have to build communication to the gripper so I can control it, how it should be undertaken? Is there hardware and/or software needed? Thank you

Hi please check this article and let us know if you have any questions.
http://help.ufactory.cc/en/articles/4721853-how-to-use-third-party-equipment-on-ufactory-xarm