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The digital input is implemented in the form of a weak pull-up resistor. This means that the 
reading of the floating input is always high.
User must follow the electrical specifications set in the  8.5.1 ‘universal specification’. This 
example shows how a simple button is connected to a digital input.

8.5.3.2.Configurable digital input

If general GND (0V) is established and the machine uses open-drain output technology, digi-
tal I/O and other can be used device communication, see the figure below.

8.5.3.3 Communicate with other machines or PLCs

Configurable Outputs

24V

CO0

CO1

CO2

CO3

24V

24V

24V

24V

24V

24V

24V

CO4

CO5

CO6

CO7

Summary of Contents for xArm 6

Page 1: ...S H E N Z H E N U F A C T O R Y C O LT D USER MANUAL V 1 0 2 6...

Page 2: ...are xArm Studio which allows users to teach xArm to perform repetitive movement with hand guide teaching with a custom APP allowing you to interact with xArm with ease and complete complex path planni...

Page 3: ...3 Maintenance and Repair 4 Warranties 4 1 Product Warranty 4 2 Disclaimer 5 The hardware Composition of xArm 5 1 Hardware Composition 5 2 Emergency Stop Button 5 3 Workspace of the Robot 6 Robot Insta...

Page 4: ...3 2 Con gurable digital input 8 5 3 3 Communicate with other machines or PLCs 8 5 4 Universal analog I O 8 5 4 1 Using analog output 8 5 4 2 Using analog Input 8 6 Communication Interface 8 6 1 RS 485...

Page 5: ...Speci cations 2 Robot Movement Status Analysis 3 Controller Communication Protocol Protocol Format 3 1 The Meaning of symbols 3 2 UXBUS Communication Format 3 3 MODBUS TCP Communication Format 3 4 Aut...

Page 6: ...lly understand the content of this manual and strictly adhere to the instructions When using SDK Python ROS C and graphical interface xArm Studio please read the relevant inter face instructions given...

Page 7: ...nstrued as a warranty by UFACTORY that the industrial manipulator will not cause injury or damage even if all safety instructions are complied with 1 4 Safety Alarms in this Manual DANGER This indicat...

Page 8: ...nual for the robotic arm and all the electrical equipment 2 Please follow the instructions in this manual installation and commissioning needs to be performed by professionals in accordance with the i...

Page 9: ...brakes inside it will remain manipulator s pose when a power outage occurs 10 When the robotic arm is in operation make sure no people or other equipment are in the working area 11 When releasing the...

Page 10: ...ic arm s working space 4 The controller must be placed outside the working range of the robotic arm to ensure the emergency stop button can be pressed once an emergency occurs 5 If the robotic arm is...

Page 11: ...the robotic arm is waiting for the signal and in the upcoming action status Even in such a state it should be considered as the robotic arm is in action 3 A line should be drawn to mark the range of...

Page 12: ...ving the robotic arm from packaging to the installation position hold the robotic arm in place until all mounting bolts are safely tightened at the base of the robotic arm 1 When lifting the arm make...

Page 13: ...r occurs including faults diagnosis and actual maintenance Operators must follow the safety procedures and warnings as below 1 Do not change any of the information in the software security con guratio...

Page 14: ...mined to ensure that it is powered o 2 Please check the ground connection before turning the system back on 3 Observe ESD Electro Static discharge regulations when parts of the manipulator or con trol...

Page 15: ...an the circumstances mentioned above 4 1 Product Warranty 4 Warranties xArm robotic arms have a nite warranty period for 12 months In the case of new devices and their components exhibiting defects re...

Page 16: ...nology Co Ltd only pro vides a warranty to the aws and defects in the products and components which are sold to the dealers UFACTORY Shenzhen Technology Co Ltd is not responsible for the relevant warr...

Page 17: ...cable Figure 5 4 Controller power supply cable Figure 5 5 The xArm robotic arm system consists of a pedestal and rotary joints and each joint rep resents a degree of freedom From the button to the top...

Page 18: ...controller the power supply for the robotic arm will be disconnect within 300ms Emergency stop should not be used as a risk reduction measure When an emergency occurs during the operation of the robo...

Page 19: ...ions should be performed to re start the robotic arm 1 Power up the robotic arm 2 Enable the robotic arm enable the servo motor 5 3 Workspace of the Robot The robotic arm workspace refers to the area...

Page 20: ...20 Figure 5 8 xArm workspace illustration 700mm 700mm 967mm 700 mm...

Page 21: ...d and should not be placed in a humid environment for a long time 2 A safety assessment is required each time it is installed 3 When connecting or disconnecting the arm cable make sure that the extern...

Page 22: ...aptive function which can be installed on the base ceiling mount wall mount or other speci c methods The default method of the robotic arm is being installed on a table or ground Horizontal Mount 0 Th...

Page 23: ...and point your thumb in the direction of the robotic arm which is vertically mounted The direc tion where your four ngers point is the positive direction and vice versa The range of rota tion angle i...

Page 24: ...ted in a le format in order to avoid errors and unexpected result when reinstalling the end e ector The end e ector ange supports the DIN ISO 9409 1 A50 A40 standard Figure 6 4 Mechanical dimensions o...

Page 25: ...ved as a le 03 Make sure that the tool is constructed such that it cannot create a hazardous situation by dropping a part unexpectedly 04 Make sure to pay attention to the operation speci cations of s...

Page 26: ...able and the communication wire is properly connected between the controller and the robotic arm Make sure the network cable or 485 cable is properly connected Make sure the power cable for the contro...

Page 27: ...otic arm then the power indicator light will be turned o 2 Shutdown the controller 1 Press the power button of the controller for about 3s to turn o the status light 2 Turn o the power supply of the c...

Page 28: ...l switching power supply converts 110V 240V AC into 12V 24V DC which supplies power to the load of the controller and the robotic arm Therefore it is necessary to check whether the connection between...

Page 29: ...smitting signals For protective earth PE use the screw connector marked in the controller with the grounding mark The grounding connector should have at least the rated current of the high est current...

Page 30: ...4 End E ector I O There are 12 lines inside the cable with di erent colors each color represents di erent functions please refer to the following table Line sequence Color Signal 01 02 03 04 Brown Blu...

Page 31: ...he connecting tool and the gripper do not cause any danger when the power is interrupted for example the workpiece is dropped from the tool There is no current limit on the digital output of the tool...

Page 32: ...epends on the speci c use TO0 POWER R Note It is highly recommended to use a protection diode for inductive loads as shown below TO0 POWER R 8 4 2 Digital Input The digital input is already equipped w...

Page 33: ...ult in perma nent damage to the input 2 In current mode the pull down resistor size depends on the range of the input current 8 4 3 Tool Analog Input The tool analog input is a non di erential input T...

Page 34: ...for Analog input non di erential The following gures show how the analog sensor is connected to the di erential output Connect the negative output to GND 0V then it can work like a non di erential se...

Page 35: ...Os for the controller Dedicated security I O Con gurable common I O It is very important to install xArm according to the electrical speci cations and both above I O must comply with the speci cation...

Page 36: ...e Max value Unit 26 V 0 2 A 24V 0V 24V 0V Voltage Current 20 24 29 V 0 5 A Terminal Digital output Digital input COx COx COx COx Current voltage goes down Min value Parameter Typical value Max value U...

Page 37: ...the loss of safety features There are two xed safety inputs Robotic arm emergency stop and protective stop The robotic arm emergency stop input is only used for the emergency stop of the device The pr...

Page 38: ...perator does not have to think about which emergency stop button to use Since both machines need to wait for each other to jump out of an emergency stop condi tion thereby the standard robotic arm eme...

Page 39: ...reset button must be a two channel button In this example the I O of the reset con guration is CI0 CI1 see the gure below 8 5 2 5 Protective stop with reset button This con guration is only for applic...

Page 40: ...peci cations set in section 8 5 1 universal speci cation The following example shows how to use the digital output as the internal output is an open drain output so you need to connect the resistor to...

Page 41: ...l speci cation This example shows how a simple button is connected to a digital input 8 5 3 2 Con gurable digital input If general GND 0V is established and the machine uses open drain output technolo...

Page 42: ...the shield to the GND terminal on the Power terminal 8 5 4 Universal analog I O The following example shows how to use the analog speed control input to control the con veyor belt 8 5 4 1 Using analog...

Page 43: ...er provides an RS 485 interface 485 communication circuit is not factory stan dard and requires additional purchase The controller and the computer are connected through the 485 interface one end of t...

Page 44: ...oller is 192 168 1 2 254 For speci c IP address please check the controller label When communicating with the robotic arm the network IP address of the computer should in the same network segment with...

Page 45: ...warning code is deci mal 11 and the command will be discarded The commands issued should not exceed 256 command caches 8 8 Controller Con guration File The robotic arm features four underlying motion...

Page 46: ...with the fastest speed 180 s and accel eration unit degree radian This command has no bu er only the latest received target point and user needs to enter the servoj mode to use the controller maximum...

Page 47: ...he robotic arm should be back to the zero pose before packaging DANGER CAUTION 206mm 112mm 9 2 Robotic Arm Collision Detection The xArm6 is equipped with collision detection When the power on the arm...

Page 48: ...t rotation the following method can be followed hold the right hand the thumb points to the next joint direction the other four ngers point to the positive direction value and vice versa When setting...

Page 49: ...nts the speed is preferably set within 100 s 3 The robotic arm arm cannot reach the stated constant speed in di erent postures 4 When the robotic arm is running in a high speed make sure not to bump i...

Page 50: ...robotic arm is self supporting when the teaching mode is turned on with end loading and non planar mounting avoiding changes in the robot arm posture caused by the endless gravity caused by no extern...

Page 51: ...spatial orientation of the TCP coordinate system changes accord ing to the changes of the angle of rotation Roll Pitch Yaw rotates around the X Y Z of the TCP coordinate system The value of is the va...

Page 52: ...angle pitch angle and yaw angle RPY The RPY rotation matrix X Y Z rotation is determined by the following formula R rpy R Z R Y R X 1 In the case where the length of the end tool is more than the end...

Page 53: ...When a command has displacement and rotation the time required for the displacement motion and the rotational motion is calculated The speed depends on the one that takes more time but in principle it...

Page 54: ...y unlock the joint to a safe point and then reset 02 If the robotic arm collides with an obstacle during the movement the robotic arm will be stopped by external force At this time an error will be re...

Page 55: ...be sent until it is tightened 10 1 1 The Flow of Gripper Movement 1 Enable the gripper 2 Send out a position for clamping 3 The current range of value 200 640 10 1 2 Precautions WARNING 1 The Robot w...

Page 56: ...56 The gripper of the robotic arm in the zero position will exceed the mounting surface...

Page 57: ...rg Python version Python 3 and above System Win Mac Linux To download the xArm Pyhton SDK https github com xArm Developer xArm Python SDK Installation package git clone git github com xArm Developer x...

Page 58: ...ment address of the controller is 192 168 1 2 254 For speci c IP address please check the controller connect with xArm and change the computer IP address to 192 168 1 2 254 network segment 2 Connected...

Page 59: ...e Appendix for Alarm information occurs then it needs to be cleared manually After clearing the error the robotic arm should be motion enabled Set the motion mode to allow normal operation of the robo...

Page 60: ...ls tut ros_installing ros_control http wiki ros org ros_control Choose the ROS version you are using 2 Complete learning on related o cial tutorial ROS Wiki http wiki ros org Gazebo Tutorial http gaze...

Page 61: ...itch 180 180 s Maximum joint speed Payload Reach Degrees of Freedom 0 1mm 1m s Repeatability Max Speed of End e ector 260mm 180mm 120mm L W H Controller Size 10 5kg Weight no controller 0 50 C Min 8 4...

Page 62: ...485 Ethernet Controller Communication Protocol Controller Communication Model RS 485 modbus RTU End e ector communication protocol 126 mm Footprint Aluminum Carbon Fiber Materials M5 6 Tool Connector...

Page 63: ...ad Suction Cups 90kpa Maximum Vacuum Degree Suction Cup Notes 1 All joints of xArm 6 use harmonic gear drive 2 The ambient temperature of xArm is 0 50 C and reduces when the joint continued for high s...

Page 64: ...ommand bu er restart the system 0 Start the movement There are four types of controller status acquisition 1 In movement executing the movement instructions 2 Sleeping the controller is ready in the m...

Page 65: ...ult Host ID 0XAA main ID controller Broadcast ID 0XFF Required Length Register Length bytes parameter Length bytes 1 n Response Length status Length bytes Reply parameters Length bytes 1 n required 3...

Page 66: ...i er u16 Format Length Protocol u16 Length u16 Register Status u8 u8 Parameters refer to the statement of each command 2 byte 2 byte 2 byte 2 byte n byte Status Bit of the Response Format Bit7 Bit6 Bi...

Page 67: ...rameter fp32 4 132 bytes Collision detection sensitivity u8 133 byte Drag teaching sensitivity u8 0 10 Public Port Segment 11 100 Motion Control Port Segment 101 200 Hardware Module Port Segment 201 2...

Page 68: ...xArm Python SDK interface 00 01 00 02 00 02 0c 00 Set the state to 0 set_state Register 13 0x0D Acquire the motion status Required parameters Reply parameters state u8 motion status 1 In motion 2 Sle...

Page 69: ...Acquire error and warning code Required parameters Reply parameters Length 2 bytes parameter 1 u8 error code parameter 2 u8 warning code Example 1 MODBUS TCP none 00 01 00 02 00 01 0e xArm Python SDK...

Page 70: ...vo_detach none Register 19 0x13 Motion Mode Control System reset Required parameters Reply parameters xArm Python SDK interface Length 1 byte parameter 1 u8 Motion Mode 0 position control mode 1 servo...

Page 71: ...eter3 fp32 motion speed unit mm s rad s parameter4 fp32 acceleration unit mm s 2 rad s 2 parameter5 fp32 motion time no meaning 0 set_position Length 2 bytes parameter1 u16 the number of commands in t...

Page 72: ...to ZeroPosition Required parameters Reply parameters Length 12 bytes parameter1 fp32 motion speed unit rad s parameter2 fp32 acceleration unit rad s 2 parameter3 fp32 motion time no meaning 0 Length 2...

Page 73: ...the jerk of the Cartesian space translation Required parameters Reply parameters xArm Python SDK interface Length 4 bytes parameter1 fp32 jerk unit mm s 3 Length 2 bytes parameter1 u16 number of comm...

Page 74: ...e Length 4 bytes parameter1 fp32 max acceleration unit radians s 2 Length 2 bytes parameter1 u16 number of commands in the instruction bu er set_joint_maxacc Register 35 0x23 Set the o set of the robo...

Page 75: ...ameters Length 1 byte parameter1 u8 detect sensitivity Reply parameters none xArm Python SDK interface set_teach_sensitivity Register 38 0x26 Set hand guiding sensitivity for teaching mode System rese...

Page 76: ...DK interface get_servo_angle Register 42 0x2A Acquire the current joint position of the controller Required parameters none Reply parameters Length 28 bytes parameter1 fp32 7 the angle of 1 6 joints u...

Page 77: ...K interface xArm Python SDK interface Register 47 0x2F Acquire the current joint torque of the servo Required parameters none Reply parameters Length 28 bytes parameter1 fp32 7 The moment of joints 1...

Page 78: ...vo status servo error code parameter5 u8 2 Joint4 servo status servo error code parameter6 u8 2 Joint5 servo status servo error code parameter7 u8 2 Joint6 servo status servo error code parameter8 u8...

Page 79: ...egister 118 0x76 Set the zero point of the gripper Required parameters none Reply parameters none xArm Python SDK interface get_gripper_position Register 119 0x77 Acquire the gripper position Required...

Page 80: ...4 bytes parameter1 fp32 the position value of the gripper unit pulse Reply parameters none Register 125 0x7D Acquire the gripper error Required parameters none Reply parameters Length 2 bytes paramet...

Page 81: ...t1 Range 0 4096 Corre sponding to0 10V none Response parameter get_cgpio_analog xArm Python SDK interface Register 133 0x85 Obtain analog input AIN2 Send parameter Length 2 bytes parameter1 u16 analog...

Page 82: ...esponse parameter set_cgpio_analog xArm Python SDK interface Send parameter Length 2 bytes parameter1 u8 gpio serial number 0 5 Corresponding to gpio0 gpio5 parameter2 u8 function number 0 The system...

Page 83: ...ut function io status parameter4 u16 Digital input con guration io status parameter 5 u16 Digital output function io status parameter 6 u16 Digital output con guration io status parameter 7 u16 Analog...

Page 84: ...nts at https github com xArm Devel oper xarm_ros If the problem remains unsolved after power on o for multiple times please contact UFAC TORY team support on again Alarm Code Alarm Code Alarm descript...

Page 85: ...error Joint overvoltage Check if the load is too large Check if the load is too large Power on again Power on again Reduce the acceleration Single turn encoder failure Joint overheat Check if the bra...

Page 86: ...the acceleration EEPROM read and write error Motor angle initialization failed Power on again Power on again 0x31 0x34 For alarm codes that are not listed in the above table Power on again If the prob...

Page 87: ...tic arm according to the reported error message Error code Description Alarm Response 11 17 0x0B 0x11 11 17 respectively are 1st to 7th joint Robotic arm self colli sion error 22 0x16 23 0x17 oint ang...

Page 88: ...em as an alarm response the steps are as follows re powering needs to go through all the following steps 1 Re powering the robotic arm via the emergency stop button on the controller 2 Enable robot ar...

Page 89: ...nitialization abnormal 0x15 Power on again Position deviation is too large 0x17 Please check if it is blocked or not and the position setting value is too large Gripper command overrun 0X19 Please che...

Page 90: ...Address 2F Building M 6 Ma Que Ling Industrial Zone Nanshan District Shenzhen Guangdong P R China Website Email info ufactory cc www ufactory cc...

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