UFactory xArm User Manual

162
● From current position, the whole circle is determined by current
position and position1 and positon2, “center angle” specifies how
much of the circle to execute.
【center angle (°) () 】
● Indicates the degree of the circle. When it is set to 360, a whole circle
can be completed, and it can be greater than or less than 360; (Note:
To achieve smooth track motion, you need to set Wait = false).
【move joint [variable] J1() J2() J3 () J4() J5() J6() J7() Wait(true/false)】
● The command passes through the joint motion and supports variable
values.
【move (arc) line [variable] X() Y() Z() Roll() Pitch() Yaw() Radius()
Wait(true/false) 】
● The command passes through the Cartesian motion and supports
variable values.

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