UFactory xArm User Manual

181
2. xArm Motion Analysis
In this section, we mainly use Python / Blockly examples to explain a few
typical motions in the list below.
Motion
Joint
Motion
Linear
Motion
Arc linear
motion
Circular
Motion
xArm5
Motion
About Python-SDK:
For all interfaces with is_radian, the default value of is_radian is the
value at the time of instantiation.
That is, the value of “ is_radian” set when xArmAPI () is created.
Here are three examples to illustrate:
1. arm = xArmAPI('192.168.1.226',)
2. arm = xArmAPI('192.168.1.226', is_radian=False)
3. arm = xArmAPI('192.168.1.226', is_radian=True)
When the xArmAPI() interface is created in method 1, the default value of is_radian is False, the unit
is °;
When the xArmAPI() interface is created in method 2, is_radian = False, the unit is °;
When the xArmAPI() interface is created in method 3, is_radian = True, the unit is rad ;
About Blockly:

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

Summary

Safety Precautions

xArm User Manual - Hardware Section

1. Hardware Installation Manual

Covers the entire process of installing the robotic arm hardware.

1.2 Robot Installation

1.3 Power Supply for the Robotic Arm

Electrical Interface

xArm User Manual - Software Section

1. xArm Studio

Introduces xArm Studio, a graphical interface for controlling the robot.

1.2 Connect to the Robotic Arm

Explains different methods for connecting the robot to a PC.

1.4 Robotic Arm Setting

Configuration options for robotic arm behavior and parameters.

1.5 Live Control

Real-time control of the robot arm's joints and movements.

1.6 Blockly Graphical Programming

Using block-based programming to control the robotic arm.

Software Section - Other

1.7 Python IDE

Appendices

Appendix1-Error Reporting and Handling

Appendix2-Technical Specifications

Appendix4-The xArm Software/Firmware Update Method.

Guide on how to update the robot's software and firmware.