UFactory xArm User Manual

13
position (x, y, z) remains unchanged, 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 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（rad）
J
1
（J
2
/J
3
/J
4
/J
5
/J
6
/J
7
）
degree（°）
degree（°）
radian（rad）
TCP Speed
mm/s
mm/s
mm/s
TCP Acceleration
mm/s²
mm/s²
mm/s²
TCP Jerk
mm/s³
mm/s³
mm/s³
Joint Speed
°/s
°/s
rad/s
Joint Acceleration
°/s²
°/s²
rad/s²
Joint Jerk
°/s³
°/s³
rad/s³
Additional Information
For xArm Studio software download and xArm developer manual,
please refer to the UFACTORY official website.
(https://store-ufactory-cc.myshopify.com/pages/download-xarm)

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