UFactory xArm User Manual

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teaching 4 points.
【Select】: Select the data to be deleted.
【Set as Default】: Set the offset data as the default offset.
【Default】: The data is the default current base coordinate offset.
【Cancel】: Cancel the selection.
【Save】: Save the modified data.
【Discard】: Discard the modified data.
Example:
When expressed in coordinate system {A}:
B is (207,0,112,180,0,0), D
AC
= 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 ’(793,0,112,180,0,180)

UFactory xArm Specifications

General

Payload	5 kg
Repeatability	±0.1 mm
Programming Language	Python, C++, ROS
Communication Interface	Ethernet
Operating Temperature	0°C to 45°C