# Operation

How a working gripper is used: what happens inside when it calibrates and moves, the interfaces it is driven
through, and what to do when it reports an error.

## In this chapter

- [How the gripper works](https://docs.source-robotics.com/SSG48-gripper-docs/2/06-operation/how-it-works/)
- [Over CAN](https://docs.source-robotics.com/SSG48-gripper-docs/2/06-operation/can/)
- [Over UART](https://docs.source-robotics.com/SSG48-gripper-docs/2/06-operation/uart/)
- [With Python](https://docs.source-robotics.com/SSG48-gripper-docs/2/06-operation/python/)
- [With ROS 2](https://docs.source-robotics.com/SSG48-gripper-docs/2/06-operation/ros2/)
- [On PAROL6 and PAR6](https://docs.source-robotics.com/SSG48-gripper-docs/2/06-operation/robots/)
- [Errors and recovery](https://docs.source-robotics.com/SSG48-gripper-docs/2/06-operation/errors/)

The exact layout of every message and command is in the [API reference](https://docs.source-robotics.com/SSG48-gripper-docs/2/reference/).