UFactory xArm6 User Manual Download Page 1

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Summary of Contents for xArm6

Page 1: ...1...

Page 2: ...iption 20 1 2 Robot Installation 20 1 2 1 Safety Guidelines for the Robot Environment 20 1 2 2 Robot Installation 21 1 3 Power Supply for the Robotic Arm 27 1 3 1 Preparation before Power On 27 1 3 2...

Page 3: ...d Effector 50 3 1 Gripper 50 3 1 1 Gripper Installation 50 3 1 2 The Flow of Gripper Movement 51 3 1 3 Precautions 52 3 2 Vacuum Gripper 53 3 2 1 Vacuum Gripper Installation 53 3 2 2 Turn On Off Vacuu...

Page 4: ...5 2 Emergency Stop 106 1 5 3 Real Robot Simulation Robot 107 1 5 4 Manual Mode 107 1 5 5 Joint Motion 108 1 5 6 Linear Motion 109 1 5 7 Operation Mode 112 1 5 8 Zero Position Initial Position 114 1 5...

Page 5: ...otion of the Robotic Arm 145 2 2 1 Joint Motion 145 2 2 2 Linear Motion and Arc Linear Motion 149 2 2 3 Circular and Arc Motion 153 2 3 xArm5 Motion Characteristics 156 2 4 Singularity 156 3 Typical E...

Page 6: ...on Specifications 170 2 2 xArm 5 Specifications 171 2 3 xArm 6 Specifications 172 2 4 xArm 7 Specifications 173 Appendix3 FAQ 175 Appendix4 The xArm Software Firmware Update Method 176 Appendix5 Maint...

Page 7: ...wer cable for the Control Box x 1 4 Power cable for the Robotic Arm x 1 5 Communication cable for the Robotic Arm x 1 6 Ethernet Cable x1 7 Robotic Arm end effector adapter cable x1 Main Contents of t...

Page 8: ...er the robotic arm is enabled it can start to move normally TCP Tool center point TCP Motion TCP motion is the Cartesian space motion with target position in Cartesian space coordinate and the end fol...

Page 9: ...z is a unit vector and phi is a non negative value 2 The vector length modulus of Rx Ry Rz can be used to estimate the rotation angle and the vector direction is the rotation direction 3 If you want t...

Page 10: ...to drag the joint in the manual mode Collision Sensitivity The collision sensitivity range is from 0 to 5 level When it is set to 0 it means that collision detection is not enabled The larger the set...

Page 11: ...nchanged the specified speed is the attitude rotation speed so the range 0 to 1000 corresponds to 0 to 180 s Unit Definition The Python Blockly examples and the units standard in the communication pro...

Page 12: ...e ensure you fully 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 interface inst...

Page 13: ...cumentations carefully and set up the appropriate safety functions in the software Specifying instructions for use to prevent unnecessary property damage or personal injury caused by improper operatio...

Page 14: ...arn all the relevant content and fully understand the safety precautions We do not control or guarantee the relevance or completeness of such information in this manual for which users should conduct...

Page 15: ...on make sure no people or other equipment are in the working area 11 When releasing the brakes of xArm please take protective measures to prevent the robotic arm or operator from damage or injury 12 W...

Page 16: ...ide the working range during application planning Operator Safety In the operation of the robotic arm system we must ensure the safety of the operators first with the general precautions listed in the...

Page 17: ...17 5 Be careful when the robotic arm is running too fast 6 Be careful about dropping items that can be caused by accidental power off or unstable clamping of the robotic arm...

Page 18: ...Arm 1 1 1 Hardware Composition The composition of robotic arm hardware includes Robotic Arm Figure 2 1 Control Box Figure 2 2 Robotic Arm Signal Cable Figure 2 3 Robotic Arm Power Supply Cable Figure...

Page 19: ...for the robotic arm will be removed within 300ms The emergency stop should not be used as a risk reduction measure When an emergency occurs during the operation of the robotic arm users need to press...

Page 20: ...ight is on indicating that the xArm is communicating normally Emergency stop button EMERGENCY STOP Press the button to power off the xArm Rotate the button the ROBOT power indicator of the xArm lights...

Page 21: ...shock hazard do not connect or disconnect the robotic arm cable when the robotic arm is connecting with external AC 1 2 2 Robot Installation 1 Brief installation steps a Define a robotic arm workspace...

Page 22: ...n of the robotic arm is taken into account so as not to bump into the surrounding people and equipment the end effector not included in the working range Working space of xArm7 unit mm Note The follow...

Page 23: ...23 Working space of xArm5 and xArm6 unit mm Note The following working range diagrams are only for safety assessment...

Page 24: ...ted to the Control Box Plug the connector of the Robotic Arm Power Supply Cable and the Robotic Arm Signal Cable into the interface of the Robotic Arm The connector is a foolproof design Please do not...

Page 25: ...End effector flange has fourteen M6 threaded holes and one 5 positioning hole where the end effector of two different sizes can be mounted If the effector does not have a positioning hole the orientat...

Page 26: ...bolted in place 2 If the end effector does not have a locating hole the orientation of the end effector must be archived as a file 3 Make sure that the tool is safely constructed such that it cannot c...

Page 27: ...Supply for the Robotic Arm 1 3 1 Preparation before Power On Ensure the power cable and the communication wire are properly connected between the Control Box and the robotic arm Ensure the network ca...

Page 28: ...n of enabling the robotic arm enable the servo motor 1 3 3 Shut Down the Robotic Arm System 1 Shutdown Sequence 1 Press the EMERGENCY STOP button to power off the robotic arm 2 Ensure the power indica...

Page 29: ...29 Unplugging the power cord directly from the wall outlet to shut down the system may result in damage to the file system of the control box which may result in robotic arm malfunction...

Page 30: ...s main cable Connect a local dedicated main outlet or cable to the IEC plug The control box is powered by 110V 240V AC the input frequency is 50 60HZ and its internal switching power supply converts...

Page 31: ...mplete the process see the figure below 2 1 3 Definition of the Robotic Arm Industrial Connector 6 Pin Industrial Connector Robot Communication Industrial connector wire sequence Functional definition...

Page 32: ...32 2 2 2 Definition of Industrial Connector 4 Pin Industrial Connector External 24V Power Industrial connector wire sequence Functional definition 1 24V 2 GND 3 Null 4 Null...

Page 33: ...arning may result in serious injury or death due to an invalid safety stop function 1 Make sure that all the non waterproof equipment is kept dry If water enters the product turn off the power supply...

Page 34: ...I O cable that used to connect the Control Box with other mechanical and plant equipment must not exceed 30 meters unless it is feasible after the extension testing When wiring the electrical interfa...

Page 35: ...l Output 1 TO1 9 Red Tool Input 0 TI0 10 Purple Tool Input 1 TI1 11 Orange Analog input 0 AI0 12 Light Green Analog input 1 AI1 The electrical specifications are as follows Parameter Min Value Typical...

Page 36: ...30 V Voltage when sinking 50mA 0 05 0 20 V Sink Current 0 50 mA Current through GND 0 50 mA 2 3 1 1 Tool Digital Output Usage The following example illustrates how to use the digital output As the in...

Page 37: ...the simple switch 2 3 3 Tool Analog Input The tool analog input is a non differential input The electrical specifications are as follows Parameter Min Typical Max Unit Input Voltage in Voltage Mode 0...

Page 38: ...onnected to a non differential output Voltage mode Current mode 2 3 3 2 Differential Analog Input The following figures show how the analog sensor is connected to the differential output Connect the n...

Page 39: ...ion describes the electrical specifications for the following 24V digital I Os for the Control Box Dedicated safety I O Configurable common I O It is very important to install xArm according to the el...

Page 40: ...Requirement 24V 0V Voltage 20 24 30 V 24V 0V Current 0 5 A The digital I O electrical specifications are as follows Terminal Parameter Min Value Typical Value Max Value Unit Digital Output COx Current...

Page 41: ...ency stop of the device The protective stop input is used for all types of safety protection The functional differences are as follows Emergency Stop Protective Stop Stops the motion of the robotic ar...

Page 42: ...ow to connect one or more emergency stop buttons 2 4 2 3 Share Emergency Stop with other Machines When a robotic arm is used with other machines it requires to set up a common emergency stop circuit i...

Page 43: ...button outside the door as to reactivate the movement of the robotic arm Another example of an automatic recovery is the use of a safety pad or a safety laser scanner see the figure below 2 4 2 5 Pro...

Page 44: ...in xArm Studio The specific steps are as follows Enter Settings I O Input Configure CI0 and CI1 as protection reset Save 2 If xArm needs to resume motion connect SI0 and SI1 to GND and trigger the mot...

Page 45: ...ction 2 4 1 universal specification The following example shows how to use the digital output as the internal output is an open drain OD output so you need to connect the resistor to the power supply...

Page 46: ...O and other can be used device communication see the figure below 2 4 4 General Analog I O This type of interface can be used to set or measure voltage 0 10V going into or out of other devices For th...

Page 47: ...log Output under Voltage Mode AOx AG Voltage 0 10 V AOx AG Current 0 20 mA AOx AG Resistance 100k AOx AG Resolution 12 bit 2 4 4 1 Analog Output The following example shows how to use the analog speed...

Page 48: ...actory standard accessory and requires additional purchase The control box and the computer are connected through the RS 485 interface one end of the 485 communication cable is connected with the comp...

Page 49: ...l box label When communicating with the robotic arm the IP address of the computer should be in the same network segment with the IP address of the control box Note To connect with Ethernet please che...

Page 50: ...ed of the gripper should be in 1000 5000 If a speed less than 1000 was set the gripper may not work The speed of the gripper opening needs to be greater than or equal to the speed of the gripper closi...

Page 51: ...per connection cable the gripper connector and the tool end effector connector must be on the same side 3 When connecting the gripper and the robotic arm be sure to align the positioning holes at the...

Page 52: ...pped with a gripper is used for trajectory planning it is necessary to perform a safety assessment on whether to return to the zero point or whether the operation can be performed and to avoid collisi...

Page 53: ...ly Indicator status When the vacuum gripper is powered on the power supply indicator near the vacuum gripper is constantly red When the vacuum gripper is on the IO status indicator is constantly green...

Page 54: ...to align the positioning holes on the two ends of the interface The male pins of the connecting cable are relatively thin to avoid bending the male pins during disassembly 3 2 2 Turn On Off Vacuum Gri...

Page 55: ...code blocks of Blockly xArm Studio allows users to plan the motion trajectory for the robotic arm without programming skills Note 1 Installation systems supported by the xArm Studio client Windows Mac...

Page 56: ...turned on if the status indicator of the control box is on it means the control box is turned on 5 Check if the network is connected If the network indicator in the middle of the control box flashes f...

Page 57: ...ter are connected by Ethernet cable 3 PC and router are connected by wireless network and control box and router are connected by Ethernet cable Note It is not recommended because of the delay and pac...

Page 58: ...n the same network segment When the control box is shipped from the factory the default IP address is 192 168 1 xxx The factory IP address of the device has been marked on the side of the control box...

Page 59: ...59 Step1 Open the Network and Sharing Center Step2 Open the Ethernet Step3 Open the Properties...

Page 60: ...ss of the control box If not please modify the computer s IP Step6 After the modification is completed please verify the IP address of the computer enter cmd in the search box see the figure below ope...

Page 61: ...all xArm Studio software 3 Open the xArm Studio software and enter the IP address of the control box in the search box the default IP address of the device has been marked on the side of the control b...

Page 62: ...62 1 2 4 Return to the Search Interface PC Click Tool Search to return to the search interface...

Page 63: ...ion Sensitivity Robot Mounting and Motion Enable Robot State Error indicating that the robotic arm has not been enabled or the robot is in error state Click the blue Enable Robot button to enable it N...

Page 64: ...robotic arm in manual mode the maximum recording time is 5 minutes Settings Set the parameters of the robotic arm upgrade the system software etc 1 3 3 Toolbar Window To adjust its size you can make...

Page 65: ...r motion The larger the value the less time it takes to reach the set speed It is recommended to be set within 20 times the maximum speed value for a smooth trajectory Position step Set the step lengt...

Page 66: ...ue required for the robotic arm to trigger collision protection If the load or installation direction is not set accurately it may cause false alarms During certain high loads or high speed movements...

Page 67: ...67 Confirm Save the changes Cancel Cancel the changes...

Page 68: ...uum Gripper xArm BIO Gripper Robotiq 2F 85 Gripper Robotiq 2F 140 Gripper Take the xArm Gripper as an example xArm Gripper Note 1 The opening and closing speed of the gripper can be adjusted 2 The sel...

Page 69: ...effectors not officially provided at the end of the robotic arm please choose other 1 You can choose a 3D model cylinder cuboid that can wrap the end effector and use it as the self collision preventi...

Page 70: ...ayload in mm this position is expressed in default TCP coordinate located at flange center Frame B in the above figure If there is virtually no load at the end both TCP payload and centre of gravity m...

Page 71: ...Blockly programming Set as default Set the payload data to the payload of the current robotic arm and display the current payload at the top which is used for controlling the entire robotic arm and i...

Page 72: ...he payload and the approximate center of gravity of the payload are known The center of gravity of the payload is set based on the initial tool coordinates the coordinates of point B shown in the abov...

Page 73: ...the current robotic arm and display the current offset at the top New Create a new offset record Select Select the offset data to be deleted in the next step Delete Delete the selected offset data Not...

Page 74: ...level input signals General Input The input signal can be configured and only after setting the General Input function the user can freely configure when programming Blockly or using SDK External Emer...

Page 75: ...in the figure above CI4 is set to the function of Offline Task and a Blockly project is added Click to add a Blockly project and click to delete the project Manual Mode When setting to the function of...

Page 76: ...and outputs a low level signal Otherwise the output is high This safety function will come in pairs for redundancy The actions that conform to the emergency stop are 1 When the Emergency Stop button...

Page 77: ...e the output is high Warning When the robotic arm issues a warning the output is low Otherwise the output is high Collision When the robotic arm reports an error of collision the output is low Otherwi...

Page 78: ...4 4 3 IO Commissioning In this interface the IO input status and IO output status of the control box can be monitored and the IO output status of the control box can be controlled by clicking the but...

Page 79: ...mode is turned on the working range of the robotic arm in Cartesian space can be limited If the tool center point TCP of the robotic arm exceeds the set safety boundary the robotic arm will stop movi...

Page 80: ...80 1 4 5 2 Reduced Mode Reduced Mode When this mode is turned on the maximum linear speed maximum joint speed and joint range of the robotic arm in Cartesian space will be limited...

Page 81: ...h will cause the robotic arm to frequently trigger a collision warning and stop motion and will also result in uncontrolled motion of the robotic arm after entering manual mode Floor 0 0 The default m...

Page 82: ...ion is on the left hand side of the user in a downward direction Tilt angle The initial position of the robotic arm and the base of the robotic arm to be mounted should be in a tilt angle which ranges...

Page 83: ...the risk of rollover of the robotic arm 1 4 7 Timed Tasks Timed tasks can schedule the offline task to run at a specific time or within a time range in the future without the need for an I O triggeri...

Page 84: ...tion Calibrate the system time of the control box according to the time of the connected computer New Create a new task project under which the user can Add several Blockly and Python tasks Select Sel...

Page 85: ...relative to the base coordinate system Roll Pitch Yaw represents the angular values of orientation relative to the base coordinate system After this offset setting user coordinate system becomes the w...

Page 86: ...0 112 180 0 0 DAC 1000mm if user want to set the world reference coordinate system to C just express the position and orientation of user coordinate system C in coordinate system A As figure shown the...

Page 87: ...time here Note 1 The jerk affects the acceleration performance of the robotic arm In general we do not recommend modifying this parameter 2 If the robotic arm is not enabled the jerk cannot be modifie...

Page 88: ...88 1 4 9 2 Assistive Features Quick Copy After turning on this button the TCP coordinates and joint angle values of the xArm can be copied on the real time control interface...

Page 89: ...lient terminal and will continue to run so please do a security assessment before using this function Quick access button After opening this button the Quick setting interface will pop up In this inte...

Page 90: ...90 1 4 9 3 Advanced Tools PID Parameters Settings Steps for changing PID parameter 1 Select PID PARAMETERS 1 or PID PARAMETERS 2...

Page 91: ...be modified The following situation can be improved by modifying the PID parameter 1 If the robotic arm shakes heavily executing motions with payload Note 1 Changing The PID parameter can only be perf...

Page 92: ...riction identification The following situation can be improved by modifying the friction identification 1 If manual mode or collision detection performance is far from satisfying Note Before friction...

Page 93: ...oller Digital Output or Tool Digital Output will not be affected by the stop command Collision Rebound When this mode is turned on the robotic arm will rebound backward for a certain distance after it...

Page 94: ...joint current value and joint voltage value of the robotic arm The range of the joint voltage value of the robotic arm is 0 50V The range of the joint current value of the robotic arm is 0 35A Note W...

Page 95: ...o prevent it from falling down due to the inadequate provision of force and take measures to protect the surrounding environment and peripheral facilities 2 The operation of the unlocking joint is mai...

Page 96: ...equipment After the release of the joint brake and manually dragging the robotic arm please always pay attention to the degree of joint rotation to avoid exceeding the rotation range of the robot joi...

Page 97: ...ate systems and advanced parameters 2 Click the Import Configuration button to import the configuration file containing the parameters of the robotic arm 3 Click the Factory Reset button and the robot...

Page 98: ...ory reset Please export the configuration file of the robotic arm before the factory reset Change Password The user password of the Advanced Tools can be modified in the page shown above Note Please k...

Page 99: ...oadcast address and default gateway The DNS address can be modified and added Log Display or Download the error log of the robotic arm 1 4 10 1 System Information On the page of System Information the...

Page 100: ...rol box will shut down This operation is equivalent to long pressing the Power button of the control box and the shutdown process takes 2 to 3 seconds xArm reboot Click this button the control box of...

Page 101: ...are located can communicate with the external network In addition make sure the control box can communicate with external internet Click this button to check whether the control box is connected to t...

Page 102: ...u can change the IP address of the control box and add DNS Note If you change the IP address be sure to mark it on the control box If you forget or lose the modified IP address you can use the followi...

Page 103: ...y The reset IP is 192 168 1 111 4 Please unplug the cable connecting RI0 and GND and wait for the control box to start up 60 seconds 5 Enter 192 168 1 111 in the xArm Studio search box connect the rob...

Page 104: ...r your modified IP in the xArm Studio search box and connect the robotic arm Note 1 If you need to reset the IP the xArm firmware version must be V1 5 0 2 If you do not unplug the cable connecting RI0...

Page 105: ...address of the control box will be automatically changed to 192 168 1 111 so after modifying the IP Be sure to unplug the cable connecting RI0 and GND 1 4 10 4 Log The error log of the control box can...

Page 106: ...on and check if the network connection is normal The Simulate Robot indicates that the robotic arm is connected and is currently in simulation mode In this mode only the joint motion of the simulated...

Page 107: ...tion of the real robotic arm in the interface of xArm Studio and the virtual robotic arm will reflect the position and posture of the real robotic arm in real time Simulation Robot It can control the...

Page 108: ...stem Information 3 The SN address of the robotic arm can be checked next to the power signal interface of the base 1 5 5 Joint Motion The robotic arm consists of joint modules The position of the end...

Page 109: ...he Cartesian space is a straight line Each joint performs a more complex movement to keep the tool in a straight path The TCP path is unique once the target point is confirmed and the corresponding po...

Page 110: ...TCP orientation is the result of the three rotations in exact order The robotic arm will always choose the shortest way to reach target orientation In particular it is important to strictly control th...

Page 111: ...to have both 180 when the robotic arm is reporting the position Roll 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...

Page 112: ...Attitude Real time Display X Y Z represents the coordinates of the tool center point TCP position of the robotic arm under the base coordinate offset Roll Pitch Yaw under the Attitude indicates the an...

Page 113: ...Roll Pitch Yaw of the selected coordinate system respectively Click for step motion and long press for continuous motion The step can be set by clicking Settings Motion Settings Line Motion Attitude S...

Page 114: ...botic arm will hit the obstacles or the fixed surface of the robotic arm when it returns to the zero pose The robotic arm should be back to the zero pose before packaging 1 5 9 Speed Setting It is use...

Page 115: ...ed the robotic arm will slow down or cause an error mechanism When a command involves displacement and rotation at the same time the time required for the displacement motion and the rotational motion...

Page 116: ...K library My Project xxx Click to expand to display all created items the currently open item xxx is displayed when it folds Import Project Click to import the Blockly project from the local drive Dow...

Page 117: ...lso run the Blockly motion program to observe the motion of the virtual robotic arm 1 6 2 Blockly Workspace Drag the code block into the action panel the code execution is top down users can drag and...

Page 118: ...delete key after selecting the code block 1 6 2 1 The Right Click Mouse Event in the Workspace Right click on the blank workspace of the non code block the function is mainly for all code blocks Undo...

Page 119: ...the description pop up window as shown in the following figure External input The location for setting the text box is displayed at the far right Internal Input The location for the setting of the te...

Page 120: ...ision sensitivity load etc of the robotic arm Motion Common motion commands including linear motion joint motion linear motion with arc sleep time zero point and emergency stop Application You can imp...

Page 121: ...he acceleration of the linear motion in mm s2 Set joint speed s Set the speed of joint movement in s Set joint acceleration s Set the acceleration of joint motion in s2 The default speed and accelerat...

Page 122: ...op down list Set world offset X Y Z Roll Pitch Yaw Set the base coordinate offset of the current project The drop down list refers to the data of the Setting Base Coordinate Offset Counter reset This...

Page 123: ...need to do the continuous motion It is used to buffer more motion commands for successful continuous motion calcutation motion With this command operators can set the state of the robotic arm movement...

Page 124: ...left right based on the current position in mm move tool line X Y Z Roll Pitch Yaw Radius Wait true false This command is a relative motion relative to TCP coordinates move circle position 1 to posit...

Page 125: ...IO interface operations The control box has 8 digital input interfaces 8 digital output interfaces 2 analog input interfaces and 2 analog output interfaces The end tool has 2 digital input interfaces...

Page 126: ...not set when the robotic arm passes the specified point at a speed other than 0 it may miss the trigger because it cannot be accurately detected when digital I O is High Low do Executes the commands...

Page 127: ...osing speed of the gripper set bio gripper Speed Wait true false move edit Set the opening and closing speed of the gripper set robotiq gripper Pos Speed Wait true false move edit Set the position of...

Page 128: ...cks the object or not When the vacuum gripper state is 1 it indicates that the object is picked successfully when the vacuum gripper state is 0 it indicates that the object fails to be picked set xarm...

Page 129: ...then Command 1 will be run Otherwise it will be skipped The setting method of the if else sentence 1 Click the setting button on the command block then the command block will pop up a selection box as...

Page 130: ...completed as shown below 1 6 10 Loop forever The command contained in the loop will be executed in infinite loop repeat times do The command contained in the loop will be executed X times repeat while...

Page 131: ...the above code block to do some complex operations such as addition subtraction multiplication and division exponential operations 1 6 12 Text remark Remark the code block which serves as an indicato...

Page 132: ...and set the font and the color variable printing Users can print the added variable and set the font and the color Date The date and time on which the command was run can be output 1 6 13 Variable Cre...

Page 133: ...on without a return value to do something return Users can define a new function with a return value if return Conditional judgment sentence that can only be placed in the built in function Note 1 The...

Page 134: ...Edit Motion Coordinates Long press Move button to move the robotic arm to the position of the current command Click edit to pop up the live control interface to re edit the motion coordinates of the c...

Page 135: ...from point A to point B is not ideal insert a third joint command between the two points if necessary 1 6 16 Path Planning Guidelines If the robotic arm is collided during the movement resulting in s...

Page 136: ...project Create a new file Create a new folder Rename Delete the file Run the file 1 7 1 Create a New Project On this page all current project files are displayed including Blockly projects converted...

Page 137: ...control box exceed the maximum buffer amount 2048 a warning code will be returned The warning code is decimal 11 and the command will be discarded The commands issued should not exceed 256 command ca...

Page 138: ...agged directly for trajectory recording When starting recording be sure to pay attention to the load state of the robotic arm so as to avoid the big difference between the actual load and the set load...

Page 139: ...139 Delete the file Import Project Import recorded trajectory Download All Download all current files...

Page 140: ...ntiation That is the value of is_radian set when xArmAPI is created Here are three examples to illustrate 1 arm xArmAPI 192 168 1 226 2 arm xArmAPI 192 168 1 226 is_radian False 3 arm xArmAPI 192 168...

Page 141: ...n Circular motion calculates the trajectory of the spatial circle according to the three point coordinates the three point coordinates are starting point parameter 1 and parameter 2 The following moti...

Page 142: ...ll not work at present The suggested way of use If you want to plan your track you can use this command to issue a smoothed track point with interpolation at a certain frequency preferably 100Hz or 20...

Page 143: ...xecutes at the maximum speed If the user can complete the planning of the motion trajectory with smooth speed and acceleration and map it to the joint space the servoj mode can replace the planning of...

Page 144: ...wise the commands sent will be discarded State 3 Paused state Pause the currently executing motion and resume the motion at the interruption by setting state 0 again State 4 Stop state Terminates the...

Page 145: ...me as the STOP state 2 2 Motion of the Robotic Arm 2 2 1 Joint Motion To achieve point to point motion in joint space unit degree the speed is not continuous between each command Blockly example Set j...

Page 146: ...gle 45 is_radian False b None 8 represents all joints E g arm set_servo_angle angle 30 45 0 0 0 0 0 is_radian False angle angle Joint angle or list of joint angles the unit of the default joint angle...

Page 147: ...e 45 is_radian False wait True Continuous Joint Motion Inserting an arc transition between two joint motion commands is a way to plan the continuous joint motion of the robotic arm Blockly The motion...

Page 148: ...adius 0 There is no arc transition at the turn this speed will not be continuous between this and next motion as shown in the figure below speed will decelerate to 0 at point B before moving to C Note...

Page 149: ...irmed and the corresponding posture in the execution process is random X Y and Z control the position of TCP in base or tool coordinate system in the unit of mm While Roll Pitch Yaw controls the TCP o...

Page 150: ...tion Parameter x coordinate x unit mm y coordinate y unit mm z coordinate z unit mm roll attitude roll default unit is Unit if is_radian True the unit is rad if is_radian False the unit is pitch attit...

Page 151: ...to plan Lineb motion you need to adjust the TCP speed below 200mm s for debugging otherwise there will be a high security risk Blockly Key parameter description Radius 5 Radius 5 in the move arc line...

Page 152: ...peed will not be continuous between this and next motion as shown in the figure below speed will decelerate to 0 at point B before moving to C Note Radius 0 cannot realize continuous motion If you nee...

Page 153: ...n The circular motion calculates the trajectory of the spatial circle according to the coordinates of three points which are starting point pose 1 pose 2 The calculation method of three point drawing...

Page 154: ...to the desired posture when completing the trajectory center angle Indicates the degree of the circle When it is set to 360 a whole circle can be completed and it can be greater than or less than 360...

Page 155: ...ove_circle interface is described in Table 2 4 Table 2 4 move_circle description move_circle Description This motion calculates the trajectory of a space circle based on three point coordinates The th...

Page 156: ...when different orientations are required at the end Then use the joint command again to return the flange and the base to a horizontal attitude and you can switch back to Cartesian control A quick way...

Page 157: ...aneous speed of the joint when it passes the singularity point Therefore try to avoid the singularity point or pass the singularity point through joint motion 3 Processing method for singularity point...

Page 158: ...ounting place for the robotic arm is chosen Moving the wrist joint second last joint close to the cylindrical volume should be avoided if possible because it causes the joints to move fast even though...

Page 159: ...m gripper has picked released the object if it is detected that the vacuum gripper has picked released the object then jump out of this command and execute the next command If the timeout period is ex...

Page 160: ...osition and then place the target object at the target position 3 3 The Use of the Digital IO The download address of the Blockly program The use of the digital IO blockly The role of this program If...

Page 161: ...Counter plus each time the command is run the counter of the Control Box will be incremented by 1 It can be used to calculate the number of times the program cycles Counter reset This command resets...

Page 162: ...e robotic arm is 10 times When wait false the i class count will take into account all commands already sent to the robotic arm regardless of whether the robotic arm has completed 10 cycles the counte...

Page 163: ...10 Abnormal Current Detection Please restart the xArm with the Emergency Stop Button on the xArm Control Box S11 Joint Overcurrent Please restart the xArm with the Emergency Stop Button on the xArm Co...

Page 164: ...nds Error The xArm is not enabled please click Enable Robot S33 Drive Overloaded Please make sure the payload is within the rated load S34 Motor Overload Please make sure the payload is within the rat...

Page 165: ...Communication Error Please check if the Gripper is installed or the baud rate setting is correct or restart the xArm with the Emergency Stop Button on the xArm Control Box C21 Kinematic Error Please r...

Page 166: ...Manual Mode Please check whether the TCP payload setting of the robotic arm and the installation method of the robotic arm match the actual settings For alarm codes that are not listed in the above t...

Page 167: ...K to re enable the Gripper G15 Gripper EEPROM Read and Write Error Please click OK to re enable the Gripper G20 Gripper Driver IC Hardware Error Please click OK to re enable the Gripper G21 Gripper Dr...

Page 168: ...he TCP reply command does not match the sending command Please check the network A8 Send command error Please check the network A9 xArm is not ready Please check whether the errors have been cleared w...

Page 169: ...for Alarm information occurs then it needs to be cleared manually After clearing the error the robotic arm should be motion enabled Python library error clearing steps Please check GitHub for details...

Page 170: ...col Modbus TCP End effector I O Interface 2 Digital inputs 2 Digital outputs 2 Analog inputs End effector Communication Protocol Modbus RTU Footprint 126 mm Materials Aluminium Carbon Fiber End Tool F...

Page 171: ...uiescent Current mA 30mA Peak Current mA 400mA Vacuum 78 Vacuum Flow L min 5 6L min Weight g 610 g Dimensions L W H 122 5 91 6 75mm Payload kg 5kg Noise Level 30cm away 60dB Communication Mode Digital...

Page 172: ...oints Robot Zero Attitude Joint Rotating Direction 2 3 xArm 6 Specifications Joint Range 1 4 6 360 2 118 120 3 225 11 5 97 180 Payload 5kg Degrees of Freedom 6 Repeatability 0 1mm Weight robotic arm o...

Page 173: ...Robot Joints Robot Zero Attitude Joint Rotating Direction 2 4 xArm 7 Specifications Joint Range 1 3 5 7 360 2 118 120 4 11 225 6 97 180 Payload 3 5kg Degrees of Freedom 7 Weight robotic arm only 13 7...

Page 174: ...174 Robot Joints Robot Zero Attitude Joint Rotating Direction...

Page 175: ...ration 6 How to use PLC to control xArm 7 Guide to control xArm by tablet 8 Kinematic and Dynamic Parameters of xArm Series 9 The Proper Way to Power DC Control Box 10 How to get the joint current tor...

Page 176: ...es of xArm The download link https store ufactory cc myshopify com pages download xarm 3 Although the compatibility with the old version of the SDK was fully considered when developing the xArm softwa...

Page 177: ...irectly download the above installation package to your PC 2 After decompressing the installation package run the xarm tool gui program that matches your PC s operating system select the type of robot...

Page 178: ...n is completed the console of the xarm tool gui will display Install firmware success or Install Studio success Finally click Reboot Control Box and wait for the control box to reboot the reboot usual...

Page 179: ...wnload address of xarm tool gui tool xArm Studio and xArm Firmware installation package xArm Tool GUI Since your PC connected to the xArm control box cannot access the Internet please download the abo...

Page 180: ...3 After successful connection click the Install Offline in the Firmware installation box xArmStudio installation box then load the corresponding firmware or xArm Studio compressed package in the fold...

Page 181: ...llowing network setting methods please use xArm Studio to update the xArm Studio and xArm firmware online The method of online update using xArm Studio is as follows 1 The control box PC and router ar...

Page 182: ...2 3 minutes please be patient 4 Precautions If there is no IO module on the side of your control box the IO module is shown in the figure below and cannot be updated online by xArm Studio please cont...

Page 183: ...stop button on the control box and the robotic arm does not need to be enabled 2 Clean After the robotic arm is used for a long time there may be dirt or grease on the carbon fiber shell in rare cases...

Page 184: ...intment with the local UPS and then send the product to us 3 UFACTORY will check the product warranty status according to the after sales policy 4 Generally the process takes around 1 2 weeks except f...

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