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Appendix

Appendix1-Error Reporting and Handling

1.1 Joints Error Message and Error Handling

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Error processing method: Re-power on, the steps are as follows:

1. Turn the emergency stop button on the control box

2. Enable the robotic arm

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xArm Studio enable method: Click the guide button of the error pop-up window .

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xArm-Python-SDK enable method: Refer to Error Handling Mode.

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xArm-ROS-library: Users can view related documents at

https://github.com/xArm-Developer/xarm_ros

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If the problem remains unsolved after power on/off for multiple times, please

contact UFACTORY team for support.

Software Error Code

Error Handling

S10

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 Control Box.

S12

Joint Overspeed

Please restart the xArm with the Emergency Stop Button on the xArm Control Box.

S14

Position Command Overlimit

Please restart the xArm with the Emergency Stop Button on the xArm Control Box.

S15

Joints Overheat

If the robotic arm is running for a long time, please stop running and restart the xArm

after it's cool down.

S16

Encoder Initialization Error

Please ensure that there is no external force to push the robotic arm when the it's

energized. Please restart the xArm with the Emergency Stop Button on the xArm

Control Box.

S17

Single-turn Encoder Error

Please re-enable the robot

Содержание xArm 5

Страница 1: ...1 ...

Страница 2: ...Hardware Installation Manual 19 1 1 The Hardware Composition of xArm 19 1 1 1 Hardware Composition 19 1 1 2 Emergency Stop Button 20 1 1 3 Control Box Description 21 1 2 Robot Installation 21 1 2 1 Safety Guidelines for the Robot Environment 21 1 2 2 Robot Installation 22 1 3 Power Supply for the Robotic Arm 28 1 3 1 Preparation before Power On 28 1 3 2 Power On 28 1 3 3 Shut Down the Robotic Arm ...

Страница 3: ...ion of External Power 34 2 2 4 Electrical Alarms and Cautions 34 2 3 End Effector I O 35 2 3 1 Digital Output 37 2 3 2 Digital Input 38 2 3 3 Tool Analog Input 38 2 4 Control Box Electrical IO 40 2 4 1 General Specifications for all Digital I O 40 2 4 2 Dedicated Safety I O 42 2 4 3 General Digital I O Function 45 2 4 4 General Analog I O 47 2 5 Communication Interface 48 2 5 1 RS 485 Communicatio...

Страница 4: ...e Robotic Arm 57 1 2 1 The Robotic Arm Network Settings 57 1 2 2 IP Configuration 59 1 2 3 Connect to the Robotic Arm 62 1 2 4 Return to the Search Interface 63 1 3 xArm Studio Homepage 64 1 3 1 xArm Studio Homepage Parameters 64 1 3 2 5 Main Functional Modules of xArm Studio 64 1 3 3 Toolbar 65 1 4 Robotic Arm Setting 66 1 4 1 Motion Settings 66 1 4 2 End Effector 69 1 4 3 TCP Settings 71 1 4 4 I...

Страница 5: ... 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 9 Speed Setting 114 1 6 Blockly Graphical Programming 115 1 6 1 Interface Overview 115 1 6 2 Blockly Workspace 117 1 6 3 Blockly Code Block 120 1 6 4 Setting 121 1 6 5 Motion 123 1 6 6 GPIO Control Box and End tool interface 125 1 6 7 End Effector 127 1 6 8 Appl...

Страница 6: ...lysis 140 2 1 Robotic Arm Motion Mode and State Analysis 141 2 1 1 The Motion Mode of the Robotic Arm 141 2 1 2 Analysis of Robotic Arm Movement Mode 143 2 1 3 Analysis of the Motion Status of the Robotic Arm 144 2 2 Motion 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 Singulari...

Страница 7: ...andling 164 1 2 1 Control Box Error Code 164 1 2 2 Control Box Error Code 165 1 3 Gripper Error Code Error Handling 165 1 4 Python SDK Error Code Error Handling 167 Appendix2 Technical Specifications 169 2 1 xArm5 6 7 Common Specifications 169 2 2 xArm 5 Specifications 170 2 3 xArm 6 Specifications 171 2 4 xArm 7 Specifications 172 Appendix3 FAQ 174 Appendix4 The xArm Software Firmware Update Meth...

Страница 8: ...ower 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 the Manual xArm User Manual Hardware Section 1 xArm hardware installation 1 2 5 4 3 6 7 ...

Страница 9: ...ter point TCP Motion TCP motion is the Cartesian space motion with target position in Cartesian space coordinate and the end follows the specified trajectory arc line etc TCP Payload End Payload The payload weight refers to the actual end tool other object weight in Kg the X Y Z axis indicates the position of the center of mass of the TCP relative to the default tool coordinate system with unit of...

Страница 10: ...nt to express reverse rotation invert the rotation axis vector x y z and the value of phi remains unchanged 4 Using phi and x y z can also derive the attitude representation as unit quaternion q cos phi 2 sin phi 2 x sin phi 2 y sin phi 2 z For example The vector of the rotation axis represented by the base coordinate system is 1 0 0 and the rotation angle is 180 degrees π then the axis angle repr...

Страница 11: ...s that collision detection is not enabled The larger the set value the higher the collision sensitivity level and the smaller the force required to trigger the collision protection response of the robotic arm GPIO General purpose input and output For the input you can check the potential of the pin by reading a register For the output you can write a certain register to make this pin output high o...

Страница 12: ...de 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 protocol are shown in Table 1 3 Table 1 3 Default units in Python Blockly example and Communication Protocol Parameter Python SDK Blockly Communication Protocol X Y Z millimeter mm millimeter mm millimeter mm Roll Pitch Yaw degree degree radian ...

Страница 13: ...nd strictly adhere to the instructions When using SDK Python ROS C and graphical interface xArm Studio please read the relevant interface instructions demonstrated in this operation manual UFACTORY devotes to providing reliable and safety information but these contents do not constitute warranties by UFACTORY UFACTORY will not have or accept any liability obligation or responsibility whatsoever fo...

Страница 14: ...refully 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 operation Limitations on Liability Exceptions Any information given in this manual regarding safety must not be construed as a warranty by UFACTORY that the xArm will not cause injury or damage even if all safety instructio...

Страница 15: ...earn 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 self assessment of their specific problems General Alarms and Cautions 1 Make sure to use the correct installation settings in this manual for the robotic arm and all the electrical equipment 2 Pleas...

Страница 16: ...ion 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 When connecting the xArm with other machinery it may increase risk and result in dangerous consequences Make sure a consistent and complete safety assessment is conducted for the installation system 1...

Страница 17: ...side 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 table below Please take appropriate measures to ensure the safety of operators 1 Each operator who uses the robotic arm system should read the product user manual carefully Users should fully unders...

Страница 18: ...18 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 ...

Страница 19: ...xArm 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 2 4 Control Box Power Supply Cable Figure 2 5 Figure 2 1 Figure 2 2 Figure 2 5 Figure 2 4 Figure 2 3 ...

Страница 20: ...y 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 the emergency stop and the posture of the robotic arm will slightly brake and fall The emergency stop button is shown below Emergency Stop press the emergency stop button to power off the xArm and t...

Страница 21: ...light 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 up 1 2 Robot Installation 1 2 1 Safety Guidelines for the Robot Environment 1 Make sure the arm is properly and safely installed in place The mounting surface must be shockproof and sturdy 2 To inst...

Страница 22: ... 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 b Fix the robotic arm base c Connect the robotic arm with the Control Box d Connect the Control Box with cable e Install end effector 1 2 2 1 Define a Robotic Arm Workspace The robotic arm workspace...

Страница 23: ...on 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 following working range diagrams are only for safety assessment ...

Страница 24: ...24 Working space of xArm5 and xArm6 unit mm Note The following working range diagrams are only for safety assessment ...

Страница 25: ...cted 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 unplug and plug it violently Plug the Robotic Arm Power Supply Cable and the Robotic Arm Signal Cable into the Control Box Plug the Control Box Power Cable into the AC 110V 240V interface on the Con...

Страница 26: ... End effector flange has fourteen M6 threaded holes and one Ф5 positioning hole where the end effector of two different sizes can be mounted If the effector does not have a positioning hole the orientation of the end effector must be documented in a file format to avoid errors and unexpected results when re installing the end effector The end effector flange referenced the DIN ISO 9409 1 A50 A63 s...

Страница 27: ... 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 create a hazardous situation by dropping a part unexpectedly 4 Pay attention to the operation specifications of sharp end ...

Страница 28: ...r 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 cable or RS 485 cable is properly connected Ensure the power cable for the Control Box is properly connected Ensure the xArm will not hit any personnel or equipment within the working range 1 3 2 Power...

Страница 29: ...on 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 indicator light is off 2 Shutdown the control box 1 Press the power button PWR of the control box for about 5s to turn off the status light 2 Turn off the power supply of the control box the power switch t...

Страница 30: ...30 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 ...

Страница 31: ...x 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 110V 240V AC into 12V 24V DC which supplies power to the load of the control box and the robotic arm Therefore it is necessary to check whether the connection between the robotic arm and the control ...

Страница 32: ...ndard IEC C20 plug of the Control Box to complete 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 1 GND 2 485 A Arm 3 485 B Arm 4 GND 5 485 A Tool 6 485 B Tool 2 2 DC Control Box 2 2 1 External Interfaces of Control Box Except that the DC Control Box is ...

Страница 33: ...ifications and functions are the same as the AC Control Box 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 ...

Страница 34: ...warning 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 and contact your supplier 2 Use only the original cable of the robotic arm Do not use the robotic arm in applications where the cable needs to be bent If you need a longer cable or flexible cable ple...

Страница 35: ...e 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 interface of the Control Box the Control Box must be powered off 2 3 End Effector I O At the tool side of the robotic arm there is an avionic socket 12 pin female industrial connector This connector provide...

Страница 36: ...ol 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 Value Max Value Unit Supply Voltage in 24V Mode 24 30 V Supply Current 1800 mA Note It is strongly recommended to use a protection diode for inductive loads Make sure that the connecting tool and th...

Страница 37: ...5 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 internal output is an open collector the resistor should be connected to the power supply according to the load The size and power of the resistor depend on the specific use Note It is highly recommend...

Страница 38: ... 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 5 3 3 V Resolution 12 Bit Input Current in Current Mode mA Pull down Resistors in the 4mA to 20mA Current Range 165 Ω Resolution 12 Bit 1 In the current voltage mode the analog input does not provide...

Страница 39: ...connected 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 negative output to GND 0V and it can work like a non differential sensor Voltage Mode Current Mode ...

Страница 40: ...tion 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 electrical specifications All the I O must comply with the specifications The digital I O can be powered by a internal 24V power supply or by an external power supply by configuring the power junction ...

Страница 41: ... 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 0 50 mA COx Voltage Goes Down 0 0 5 V COx Open Drain Current 0 0 1 mA COx Function NPN OC Type Digital Input EIx SIx CIx RIx Voltage 0 30 V EIx SIx CIx RIx OFF Area 0 7 30 V EIx SIx CIx RIx ON Area ...

Страница 42: ...gency 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 arm Yes Yes Program execution Stop Suspend The power supply of the robotic arm Off On Reset Manual Auto or manual Usage frequency Not frequent No more than once per run cycle Need re initiation Only re...

Страница 43: ...how 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 in most of the time The following figure shows that two robotic arms share an emergency stop button the connection method shown in the figure below also applies to multiple robotic arms sharing an eme...

Страница 44: ...t 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 Protective Stop with Reset Button If you use a protective interface to interact with the light curtain you need to reset from outside the safety zone The reset button must be a two channel button In the...

Страница 45: ... connector will be open OC OD Users must follow the electrical specifications set in section 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 according to the load The resistance and power of the resistor depend on the specific use Note It is highly recom...

Страница 46: ...high Users must follow the electrical specifications set in the 2 4 1 universal specification This example shows how a simple button is connected to a digital input 2 4 3 3 Communicate with other Machines or PLCs If general GND 0V is established and the machine uses open drain output technology digital I O and other can be used device communication see the figure below ...

Страница 47: ...l box Use shielded cables or twisted pairs Connect the shield to the GND terminal on the Power section Terminal Parameter Min Value Typical Value Max Value Unit Analog Input under Voltage Mode AIx AG Voltage 0 10 V AIx AG Resistance 10k Ω AIx AG Resolution 12 12 bit Analog Output under Voltage Mode AOx AG Voltage 0 10 V AOx AG Current 0 20 mA AOx AG Resistance 100k Ω AOx AG Resolution 12 bit 2 4 4...

Страница 48: ... in the figure below 2 5 1 RS 485 Communication The control box provides an RS 485 interface RS 485 communication cable is not factory 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 computer and the other end is connected with the RS 485 interface of the con...

Страница 49: ...e end of the network cable is connected to the network interface of the control box and the other end is connected to the computer or LAN network interface If the connection is successful the network port indicator blinks frequently The default network segment IP address of the control box is 192 168 1 2 254 For a specific IP address please check the control box label When communicating with the r...

Страница 50: ...that of other devices in the LAN Please change the computer IP address to the same network segment and close the computer s network proxy To test whether the computer can communicate with the robotic arm open the command terminal and input ping 192 168 1 the IP address of the robotic arm If the ping is working the communication between the computer and the robotic arm is successful ...

Страница 51: ...eed 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 closing 3 1 1 Gripper Installation Installation of gripper 1 Move the robotic arm to a safe position Avoid collision with the robotic arm mounting surface or other equipment 2 Power off the robotic arm by...

Страница 52: ...pper 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 ends of the gripper and the robotic arm The male pins of the connecting cable are relatively thin please be careful to avoid bending the male pins during disassembly 3 1 2 The Flow of Gripper Movemen...

Страница 53: ...necessary to perform a safety assessment on whether to return to the zero point or whether the operation can be performed and to avoid collisions The gripper of the robotic arm in the zero position will exceed the mounting surface 3 2 Vacuum Gripper The vacuum gripper can dynamically suck the smooth plane object with payload 5kg The vacuum gripper is equipped with 5 suction cups which can be parti...

Страница 54: ...ox 3 Fix the vacuum gripper on the end of the robotic arm with 2 M6 bolts 4 Connect the robotic arm and the vacuum gripper with the vacuum gripper connection cable Note 1 When turning on the vacuum gripper connection cable be sure to power off the robotic arm to set the emergency stop button in the pressed state and to ensure that power indicator of the robotic arm is off as to avoid robotic arm f...

Страница 55: ...gripper True wait False Turn on vacuum gripper arm set_vacuum_gripper False wait False Turn off vacuum gripper Note 1 Python SDK and xArm Studio provide wrapped functions that can be called to turn on off the vacuum gripper xArm Studio Blockly Command End Effector Vacuum Gripper ...

Страница 56: ... 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 Linux Ubuntu16 04 2 On Windows Mac Linux computers iPad Android tablets and Raspberry Pi 4B you can access xArm Studio through a browser xArm Stuidio is now compatible with browsers Google Chrome Fi...

Страница 57: ... 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 frequently it means the network communication is normal 6 Check if the robotic arm is powered and the emergency stop button is disabled If the power indicator of the robotic arm lights up it means the...

Страница 58: ...uter 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 packet loss of wireless connection ...

Страница 59: ...on 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 Therefore to successfully communicate with the control box the IPV4 network segment on the computer must be between 192 168 1 1 192 168 1 255 cannot be the same as the IP address tail number of the c...

Страница 60: ...60 Step1 Open the Network and Sharing Center Step2 Open the Ethernet Step3 Open the Properties ...

Страница 61: ...ess 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 open a command prompt and directly ping the IP address of the xArm in the command line ping 192 168 1 XXX see the figure below You can successfully send and receive data packets ...

Страница 62: ...tall 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 box 2 If you use a browser to access xArm Studio you can communicate with the robot through the following steps 1 Open the browser 2 Enter in the search bar the IP address of the control box 18333 For...

Страница 63: ...63 1 2 4 Return to the Search Interface PC Click Tool Search to return to the search interface ...

Страница 64: ...sion 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 Normal indicating that the robotic arm is ready and Enable Robot becomes Robot Enabled 1 3 2 5 Main Functional Modules of xArm Studio xArm Studio mainly consists of 5 main functional modules ...

Страница 65: ...e 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 a selection in the Window drop down menu or adjust the size by dragging the border of the window Language Switch language in the upper right corner of the toolbar Language may switch between Simplifi...

Страница 66: ...ar 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 length for fine cartesian position X Y Z adjustment in Live control Attitude step Set the step length for fine adjustment of TCP orientation in Live control 1 4 1 2 Joint Motion Acceleration The accelerat...

Страница 67: ...que 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 if you confirm that the load or installation direction is set accurately you can try to lower the collision sensitivity but it is not recommended to lower it to less than 3 Teach sensitivity The leve...

Страница 68: ...68 Confirm Save the changes Cancel Cancel the changes ...

Страница 69: ...cuum 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 self collision prevention model of the gripper can be turned on by clicking the button 3 When TCP payload compensation is turned on the default TCP payload will be changed to the TCP payload parameter o...

Страница 70: ... 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 prevention model of the end effector ...

Страница 71: ...payload 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 must be set to 0 TCP Offset Setting the Tool Coordinate Offset with respect to the initial tool frame located at the center of the flange Frame B in the above figure The position coordinates X Y and Z...

Страница 72: ...g 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 is related to the normal use of manual mode and collision detection New Create new payload data Select Select the payload data to be deleted in the next step Delete Delete the selected payload data No...

Страница 73: ...the 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 above figure The current robotic arm must be mounted on a steady floor if automatic identification is selected The robotic arm needs to run a series of action commands to calculate the parameters of TCP ...

Страница 74: ... 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 Note the current default offset data cannot be deleted Save Save for the newly added offset record setting the default offset and deleting the offset record Cancel Cancel saving the newly added offset r...

Страница 75: ... 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 Emergency Stop When External Emergency Stop is selected as the safe IO the adjacent IO is set to the external emergency stop in pairs For example if CI0 is set to an external emergency stop CI1 will also...

Страница 76: ... 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 Manual Mode the robotic arm can be dragged freely when the input signal remains low power levels Save Save the changes Cancel Discard the changes ...

Страница 77: ...e 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 of the control box is pressed the power supply of the robotic arm is cut off 2 Stop button of xArm Studio and Emergency stop code block of Blockly 3 IO input is set to an emergency stop 4 Emergency s...

Страница 78: ...se 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 Otherwise the output is high On manual mode When the Manual Mode is turned on the output is low Otherwise the output is high Offline task running When the robotic arm is running the offline projects the out...

Страница 79: ...1 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 button ...

Страница 80: ...s 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 moving The user can then adjust the robotic arm back into the restricted space ...

Страница 81: ...81 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 ...

Страница 82: ...ch 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 method is horizontal installation and the horizontally mounted robotic arm does not need a tilt angle and a rotation angle Ceiling 180 0 For ceiling mount users simply need to set the mounting method ...

Страница 83: ...tion 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 from 0 to 180 Rotation angle The initial position of the robotic arm and the end direction of the robotic arm to be mounted should be used as the rotation angle The method of determining the rotatio...

Страница 84: ...d 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 triggering signal When using this function please ensure the safety of the equipment and personnel around the robotic arm within the timed range ...

Страница 85: ...ation 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 Select the tasks to Cancel Inactivated Inactive projects will not take effect during the effective time Activated Activated projects will take effect within the effective time and the robotic arm will a...

Страница 86: ... 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 world origin instead of robot base New Create a new user coordinate offset Select Select the data to be deleted Set as Default Set the offset data as the default offset ...

Страница 87: ... 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 offset of the base coordinate system should be 1000 0 0 0 0 180 Former TCP coordinates of B 207 0 112 180 0 0 in base coordinate system after user coordinate system offset setting Becomes B 793 0 11...

Страница 88: ... 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 modified 3 If an error warning occurs on the robotic arm the jerk cannot be modified 4 When the robotic arm is moving the jerk can not be modified ...

Страница 89: ...89 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 Quick access button ...

Страница 90: ...h parameter Quick access switch After enabling quick access you can quickly adjust parameters through the Quick access button in any interface of xArm Studio Quick access You can select the parameters you want to access quickly and the selected parameters will be displayed on the quick setting interface 1 4 9 3 Advanced Tools ...

Страница 91: ...2 If an error warning occurs on the robotic arm the PID parameters cannot be modified 3 When the robotic arm is moving PID parameters cannot 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 performed if UFACTORY technical support recommends changing the...

Страница 92: ...ssment after changing the PID parameter Friction Identification When the robotic arm needs friction identification please input the SN of the robotic arm base for friction identification The following situation can be improved by modifying the friction identification 1 If manual mode or collision detection performance is far from satisfying ...

Страница 93: ...or Tool Digital Output will be set to the invalid state Otherwise the Controller 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 collides with an obstacle If collision sensitivity is not zero when this mode is turned off the robotic arm will stay at the...

Страница 94: ...e 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 When using the above functions the joint firmware version 2 7 0 ...

Страница 95: ...to 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 mainly used to adjust the posture of the robotic arm to a relatively safe position when the error is reported by the robotic arm Attention should be paid to adjusting the joint into the range manually w...

Страница 96: ...g 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 joint and damage the internal structure of the robotic arm 3 Multiturn Encoder Error Clear When the control box reports multi turn encoder error please use this tool to clear the error ...

Страница 97: ...nate 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 robotic arm will restore the factory settings mode Note 1 When multiple robotic arms need to share a set of configuration parameters click the Export Configuration button to export the configuration file ...

Страница 98: ...tory 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 keep the new password properly If the password is lost you will need to contact UFACTORY to reset the password 1 4 10 System Settings System Settings mainly include Check Update System Information Net...

Страница 99: ...roadcast 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 control box can be rebooted or the joint can be operated the degree of freedom number of axis of the current robotic arm IP address firmware version SN address and software version of the robotic ar...

Страница 100: ...trol 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 the robotic arm will restart After the restart action is completed the pop up window will close and the robotic arm will be automatically reconnected The operation is equivalent to the shutdown and s...

Страница 101: ...x 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 the Internet Note Note For detailed steps on updating xArm Studio and xArm firmware please refer to Appendix 4 xArm Software Firmware Update Method ...

Страница 102: ...ou 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 following method to reset the IP Reset IP Steps to reset IP 1 Press the emergency stop button and turn off the power of the control box 2 Connect RI0 to GND with a cable ...

Страница 103: ...ly 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 robotic arm 6 If you need to modify the IP just modify the IP in Settings System Settings Network Settings For example the modified IP is 192 168 1 183 ...

Страница 104: ...er 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 and GND the next time you restart ...

Страница 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 be checked Click the Download button to download the error log ...

Страница 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 robotic arm can be controlled by the live control panel The Real Robot indicates that the robotic arm is connected It is currently a real robotic arm and all control functions on the live control pan...

Страница 107: ...otion 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 motion of the virtual robotic arm in the interface of xArm Studio Note A robotic arm can only be in one mode Real Robot Mode Simulation Robot Mode It can reload the entire software control interface ...

Страница 108: ...ystem 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 effector is controlled by coordinating the rotation angle of each joint The joint motion reaches the target point with the fastest path the end trajectory is not a straight line and the speed unit is...

Страница 109: ...the 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 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 orientation in the unit of deg...

Страница 110: ... 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 the magnitude of the deflection angle between the two points to control the direction of rotation and if necessary insert a third point between the two points As shown in figure 6 4 if a deflection is need...

Страница 111: ...ve 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 γ β α R Z α R Y β R X γ A base coordinates B TCP coordinates if no offset 1 You must check the TCP offset before recording the Cartesian position ...

Страница 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 angle value rotated under the base coordinate offset which is a description of the azimuth obtained by rotating three times around the selected coordinate system in a certain order ...

Страница 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 Step on the homepage 1 5 7 2 xArm 5 Operation Interface Aligning After clicking this button the tool flange will be adjusted to a horizontal attitude that is pitch and roll will be adjusted to the fix...

Страница 114: ...obotic 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 used to adjust the motion speed of the live control interface of xArm Note that the maximum speed of the live control interface is not the actual maximum motion speed of the robotic arm If you want the ...

Страница 115: ...eed 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 depends on the one that takes more time but in principle it is better to separate the displacement from the rotation command 1 6 Blockly Graphical Programming Blockly is a graphical programming tool...

Страница 116: ...DK 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 Download All Click to download all projects Click this button and the 3D simulation model of the robotic arm in the real time control interface will pop up as shown in the figure below When running the ...

Страница 117: ...also 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 drop the code block with the blocks attached from behind together ...

Страница 118: ...r 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 Undo the previous operation Redo Restore the last undo operation Collapse Blocks Collapse all code blocks Expand Blocks Display all collapsed commands Delete 30 Blocks Delete all code blocks ...

Страница 119: ...e 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 text box to be displayed in the default middle position Collapse Block Folds the code block of the current workspace Disable Block Stop the execution of the running command of the current code block Th...

Страница 120: ...lision 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 import Blockly other projects GPIO External input signal triggered event suitable for plc End Effector Contains common commands to control the end effector such as gripper vacuum gripper Logic Contains ...

Страница 121: ...the 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 acceleration values in the code block are the speed and acceleration values set currently which can be modified manually ...

Страница 122: ...rop 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 command resets the counter in the control box to 0 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 th...

Страница 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 pause stop It is used to control the state of the robotic arm It is mainly used in condition triggered programs emergency stop The robotic arm immediately stops moving and clears the command cache ...

Страница 124: ...d 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 position 2 From current position the whole circle is determined by current position and position1 and positon2 center angle specifies how much of the circle to execute center angle Indicates the degree of...

Страница 125: ...r 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 and 2 digital output interfaces 2 analog input interfaces The control box digital IO is low level triggered The end tool digital IO is high level triggered get I O Acquire the I O interface data of ...

Страница 126: ...s 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 contained in this code block when the condition is met when the analog IO value satisfies the set condition do When the monitored analog IO value meets the condition the commands contained in the cod...

Страница 127: ...losing 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 robotiq gripper opening and closing speed and the strength of the gripping object initialize gripper Enable gripper ...

Страница 128: ...icks 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 vacuum gripper ON OFF object detection true false set Set the vacuum gripper to be on and off object detection true detect whether the object is picked if not it will jump out of the entire program ...

Страница 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 shown below 2 At this point drag the else code block to the bottom of the if code block and combine the two code blocks as shown below ...

Страница 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 until do When the condition is not met it jumps out of the loop break Terminate the loop ...

Страница 131: ...e 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 indicator and can change the color ...

Страница 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 Create variable New variables can be added After adding a variable there are three commands by default set the value of the variable change the value of the variable by adding or subtracting variable Re...

Страница 133: ...ion 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 defined function should be placed in front of the main programs ...

Страница 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 current command ...

Страница 135: ...d 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 stopping the robotic arm will report an error at this time and the error must be cleared before it can be used normally Be sure to do a safety assessment before moving again to prevent collisions When...

Страница 136: ...w 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 into Python code ...

Страница 137: ...e 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 caches It is recommended to keep the number of cached sent commands under 256 all the time 1 8 Recording The position of the joint is obtained and recorded by 250HZ to record the motion trajectory of t...

Страница 138: ...ragged 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 of the robotic arm resulting in its self motion Display recording time Stop recording Times Set playback times Speed Set playback speed Download the file ...

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

Страница 140: ...antiation 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 1 226 is_radian True When the xArmAPI interface is created in method 1 the default value of is_radian is False the unit is When the xArmAPI interface is created in method 2 is_radian False the unit i...

Страница 141: ...on 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 motion modes are in servoj mode Servoj motion move to the given joint position with the fastest speed 180 s and acceleration unit degree radian This command has no buffer only execute the latest received...

Страница 142: ...ill 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 200 Hz similar to the position servo control command Note this execution is similar to the step response for safety considerations do not give a distant target position at once It is recommended that t...

Страница 143: ...executes 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 the control box and let xArm execute the user s own or third party such as ROS Moveit planning algorithm Do not use this mode if users cannot implement trajectory planning and inverse kinematics by ...

Страница 144: ...rwise 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 current motion and clears the cached subsequent commands Need to set state 0 to continue the motion 4 states that the control box can get Python SDK get_state State 1 In motion The robotic arm is exe...

Страница 145: ...ame 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 joint speed s Set the speed of joint movement in s Set joint acceleration s Set the acceleration of joint motion in s2 move joint J1 J2 J3 J4 J5 J6 J7 Radius Set each joint angle for the joint movemen...

Страница 146: ...ngle 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 is is_radian False degrees a If servo_id is 1 joint number E g arm set_servo_angle servo_id 1 angle 45 is_radian False b If servo_id is None or 8 E g arm set_servo_angle angle 30 45 0 0 0 0 0 is_radi...

Страница 147: ...le 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 trajectory of the robotic arm in the above example is as follows Key parameter description Radius 60 Radius 60 in the move joint command refers to setting the radius of the transition arc R 60mm whic...

Страница 148: ...Radius 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 Radius 0 cannot realize continuous motion If you need to plan a continuous motion of the robotic arm please make sure Radius 0 Wait false The wait in the move joint command indicates whether it is n...

Страница 149: ...firmed 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 orientation in the unit of degree Linear motion and circular linear motion belong to the Cartesian space trajectory planning which needs to be solved by inverse kinematics Therefore there may be no so...

Страница 150: ...oordinate y unit mm z coordinate z unit mm roll attitude roll default unit is rad Unit if is_radian True the unit is rad if is_radian False the unit is pitch attitude pitch default unit is rad Unit if is_radian True the unit is rad if is_radian False the unit is yaw attitude yaw default unit is rad Unit if is_radian True the unit is rad if is_radian False the unit is radius radius if it is a linea...

Страница 151: ...djust 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 command refers to setting the radius of the transition arc between two straight lines R 5mm which is used to achieve a smooth transition of the arc in a straight motion The parameters of Radius can be set as Radius 0 Radius 0 Radius 1...

Страница 152: ...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 Radius 0 cannot realize continuous motion If you need to plan a continuous movement of the robotic arm please make sure Radius 0 Wait false The wait in the move arc line command indicates whether it is necessary to wait for the execution of this comma...

Страница 153: ...on 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 circle Use the current point as the starting point and then set two position points Three points define a circle Make sure these three points are not in a common line Set the center angle 1 If 0 cent...

Страница 154: ...ring the movement set the roll pitch and yaw of pose 2 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 Note To achieve smooth motion you need to set Wait false Example explanation In this example the central angle is set to 3600 which means that th...

Страница 155: ...ee Table 2 1 set_position interface see Table 2 2 The move_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 three point coordinates are current starting point pose 1 pose 2 Parameter pose1 Cartesian coordinates x mm y mm z mm roll rad or pitch rad or yaw ...

Страница 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 to set a cartesian controllable attitude is Just set the angle of J4 equal to J2 angle J3 angle 2 4 Singularity 1 Concept Singularities occur when the axes of any two joints of a robotic arm are on ...

Страница 157: ...taneous 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 Case 1 Singularity encountered during robot teaching a Switch the robot coordinate system to a joint coordinate system and pass the singularity point through joint motion Case 2 Singularities encoun...

Страница 158: ...um 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 exceeded the vacuum gripper has not yet picked released the object it will also jump out of the command and execute the next command set xarm vacuum gripper ON OFF object detection true false set Set t...

Страница 159: ...position 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 you need to use digital IO to control the motion of the robotic arm you can trigger the digital IO to perform the corresponding motion Note 2 The defined function should be placed in front of the mai...

Страница 160: ...g 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 the counter in the Control Box to 0 Variable i class count 1 wait true When wait true the counting effect of the i class and the counter counting are consistent ...

Страница 161: ...he 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 counter count is a count made by the firmware through position detection and it is a count of the actual number of cycles of the robotic arm Note If the robotic arm needs to count the cyclic motion it is r...

Страница 162: ...S10 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 Control Box S12 Joint Overspeed Please restart the xArm with the Emergency Stop Button on the xArm Control Box S14 Position Command Overlimit Please restart the xArm with the Emergency Stop Button on t...

Страница 163: ...ands 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 rated load S35 Motor Type Error Please restart the xArm with the Emergency Stop Button on the xArm Control Box S36 Driver Type Error Please restart the xArm with the Emergency Stop Button on the xArm Co...

Страница 164: ... 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 re plan the path C22 Self collision Error Please Re plan the Path If the robotic arm continues to report self collision errors please go to the live control interface to turn on the manual mode and dr...

Страница 165: ...n 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 table Power on again If the problem remains unsolved after power on off for multiple times please contact technical support 1 2 2 Control Box Error Code The error does not affect the normal operation ...

Страница 166: ...OK 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 Driver IC Initialization Error Please click OK to re enable the Gripper G23 Gripper Large Motor Position Deviation Please check if the movement of the Gripper is blocked if not please click OK to re en...

Страница 167: ...The 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 whether the robot arm has been enabled and whether the robot arm status is set correctly A11 Other error Please contact technical support A12 Parameter error A20 Tool IO ID error A22 The end tool Modb...

Страница 168: ...x 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 on the following interfaces a error clearing clean_error b Re enable the robotic arm motion_enable true c Set the motion state set_state 0 ...

Страница 169: ...col Modbus TCP End effector I O Interface 2 Digital inputs 2 Digital outputs 2 Analog inputs End effector Communication Protocol Modbus RTU Footprint Ø 126 mm Materials Aluminium Carbon Fiber End Tool Flange DIN ISO 9409 1 A50 63 M5 6 Control Box AC Control Box DC Control Box Input 100 240VAC 50 60Hz 24VDC Output 24VDC 16 5A Control Box Communication Protocol Modbus TCP Control Box Communication M...

Страница 170: ...Quiescent 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 IO State Indicator Power Working State Feedback Air Pressure Low or Normal Notes 1 The ambient temperature of xArm is 0 50 C please reduce the temperature if continuous high speed operation is neede...

Страница 171: ...Joints 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 only 12 2kg ...

Страница 172: ...2 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 7kg ...

Страница 173: ...173 Robot Joints Robot Zero Attitude Joint Rotating Direction ...

Страница 174: ...uration 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 torque data of the xArm robot 11 Guide to Update the xArm Studio and xArm Firmware 12 What should I do if I have a problem with xArm 13 Guide to install the xArm Camera Module 14 Guide to use the Roboti...

Страница 175: ...res 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 software we still recommend If you use xArm Python SDK xArm C SDK or xArm ROS after updating the xArm to the latest firmware you need to obtain the latest xArm Python SDK xArm C SDK or xArm ROS from github...

Страница 176: ...directly 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 robotic arm and enter the IP address of the xArm control box then click Connect 3 After successful connection click the Check Update button then click the Install Online in the Firmware installation box x...

Страница 177: ...on 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 usually takes about 2 3 minutes ...

Страница 178: ...ownload 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 above installation package using a USB drive copy it to the PC connected to the xArm control box 2 After decompressing the installation package run the xarm tool gui program that matches your PC s opera...

Страница 179: ...9 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 folder ...

Страница 180: ...ollowing 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 are connected by ethernet cable 2 The control box PC and network switch are connected by ethernet cable 3 PC and router are connected by wireless network and control box and router are connected by eth...

Страница 181: ...t 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 contact technical support support ufactory cc to provide a dedicated xarm tool gui installation package ...

Страница 182: ...ointment 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 for shipment Note 1 Please keep the original packaging materials of the product When you need to send the product back to get repaired please pack the product with the original box to protect the prod...

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