UFactory xArm User Manual

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● Set the I/O interface of the code block, click 【Set】 to run the
command.
【set I/O when（X, Y, Z, tolerance）】
● When the robotic arm reaches the specified position (the area of the
sphere specified with the trigger position point (X, Y, Z) as the center
(the radius of the sphere is the tolerance radius)), IO is triggered. This
command can be used to trigger IO at a specific location.
X, Y, Z represent the coordinate value of the specified position to be
reached by the robot arm, with the unit of mm.
The digital IO is triggered as soon as the system detects that the TCP
position enters a spherical area centered at (X, Y, Z) with the specified
radius. If the tolerance radius is not set, when the robotic arm passes the
specified point at a speed other than 0, it may miss the trigger because it
cannot be accurately detected.
【when digital I/O is (High/Low) do 】
● Executes the commands contained in this code block when the
condition is met.
【 when the analog IO value satisfies the set condition do】
● When the monitored analog IO value meets the condition, the
commands contained in the code block will be executed, and the

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