UFactory xArm User Manual

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【Set TCP acceleration（）mm/s²】
● Set the acceleration of the linear motion in mm/s
2
.
【Set joint speed（）°/s】
● Set the speed of joint movement in °/s.
【Set joint acceleration（）°/s²】
● Set the acceleration of joint motion in °/s
2
. The default speed and
acceleration values in the code block are the speed and acceleration
values set currently, which can be modified manually.
【Set tcp load（）weight（）XYZ】
● Set the load of the current project, refer Settings-TCP Payload from the
drop-down list.
【Set tcp offset（）X Y Z R P Y】
● Set the end offset of the current project, reference Settings-TCP Offset
from the drop-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

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