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xArm 5
UFactory xArm 5 User Manual
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94
Joint
Tools
1.
J
oint
Sta
tus
In
this
interface,
y
ou
can
get
the
joi
nt
current
value
and
j
oint
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.
93
95
Table of Contents
Table of Contents
2
Table
2
Preface
8
Product Information
8
Main Contents of the Manual
8
Terms and Definitions
9
Xarm Motion Parameters
11
Unit Definition
12
Additional Information
13
Safety Precautions
13
Xarm User Manual-Hardware Section
19
Hardware Installation Manual
19
The Hardware Composition of Xarm
19
Hardware Composition
19
Emergency Stop Button
20
Control Box Description
21
Robot Installation
21
Safety Guidelines for the Robot Environment
21
Robot Installation
22
Power Supply for the Robotic Arm
28
Preparation before Power on
28
Power on
28
Shut down the Robotic Arm System
29
Electrical Interface
31
AC Control Box
31
Connect the Control Box to the Robotic Arm
31
Power Connection
31
Definition of the Robotic Arm Industrial Connector
32
DC Control Box
32
External Interfaces of Control Box
32
Definition of Industrial Connector
33
Specification of External Power
34
Electrical Alarms and Cautions
34
End-Effector I/O
35
Digital Output
37
Digital Input
38
Tool Analog Input
38
Control Box Electrical IO
40
General Specifications for All Digital I/O
40
Dedicated Safety I/O
42
General Digital I/O Function
45
General Analog I/O
47
Communication Interface
48
Communication
48
Ethernet TCP/IP
49
End-Effector
51
Gripper
51
Gripper Installation
51
The Flow of Gripper Movement
52
Precautions
53
Vacuum Gripper
53
Vacuum Gripper Installation
54
Turn On/Off Vacuum Gripper
55
Xarm User Manual-Software Section
56
Xarm Studio
56
Hardware Preparation
56
Connect to the Robotic Arm
57
The Robotic Arm Network Settings
57
IP Configuration
59
Connect to the Robotic Arm
62
Return to the Search Interface
63
Xarm Studio Homepage
64
Xarm Studio Homepage Parameters
64
Main Functional Modules of Xarm Studio
64
Toolbar
65
Robotic Arm Setting
66
Motion Settings
66
End Effector
69
TCP Settings
71
I/O Settings
75
Safety Settings
80
Mounting
82
Timed Tasks
84
Coordinate System
86
Advanced Settings
88
System Settings
98
Live Control
106
Status Bar
106
Emergency Stop
106
Real Robot/ Simulation Robot
107
Manual Mode
107
Joint Motion
108
Linear Motion
109
Operation Mode
112
Zero Position, Initial Position
114
Speed Setting
114
Blockly Graphical Programming
115
Interface Overview
115
Blockly Workspace
117
Blockly Code Block
120
Setting
121
Motion
123
Gpio（Control Box and End Tool Interface
125
End Effector
127
Application
128
Logic
129
Loop
130
Math
131
Text
131
Variable
132
Function
133
Set & Edit Motion Coordinates
134
Path Planning Guidelines
135
Python IDE
135
Create a New Project
136
Recording
137
Xarm Motion Analysis
140
Robotic Arm Motion Mode and State Analysis
141
The Motion Mode of the Robotic Arm
141
Analysis of Robotic Arm Movement Mode
143
Analysis of the Motion Status of the Robotic Arm
144
Motion of the Robotic Arm
145
Joint Motion
145
Linear Motion and Arc Linear Motion
149
Circular and Arc Motion
153
Xarm5 Motion Characteristics
156
Singularity
156
Typical Examples
158
The Use of Xarm Vacuum Gripper
158
The Use of Xarm Gripper
159
The Use of the Digital IO
159
Cyclic Motion Count
160
Appendix
162
Appendix1-Error Reporting and Handling
162
Joints Error Message and Error Handling
162
Control Box Error Code and Error Handling
164
Control Box Error Code
164
Control Box Error Code
165
Gripper Error Code & Error Handling
165
Python SDK Error Code & Error Handling
167
Appendix2-Technical Specifications
169
Xarm5/6/7 Common Specifications
169
Xarm 5 Specifications
170
Xarm 6 Specifications
171
Xarm 7 Specifications
172
Appendix3-FAQ
174
Appendix4-The Xarm Software/Firmware Update Method
175
Appendix5- After-Sales Service
182
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UFactory xArm 5 Specifications
General
Brand
UFactory
Model
xArm 5
Category
Robotics
Language
English
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