UFactory xArm User Manual

161
● 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.
【zero position】
● The robotic arm returns to a posture where the joint value are 0.
【move joint J1() J2() J3 () J4() J5() J6() J7() Radius()
Wait(true/false) ,[move] , [edit]】
● Set each joint value for the joint movement, with the unit of degree.
【move(arc) line X() Y()Z() Roll() Pitch() Yaw() Radius() Wait(true/false)
[move] [edit]】
● Set the Cartesian coordinate target value of the linear motion and the
TCP rotation angle in mm and °.
【move (front/back/left/right) (true/false)() mm 】
● Indicates that the robotic arm makes relative linear motion
forward/backward/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】

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