UFactory xArm User Manual

2
Table
Table ..................................................................................................................... 2
Preface ......................................................................................................................... 6
User Manual Information ................................................................................ 6
Product Information ......................................................................................... 6
Main Contents of the Manual ......................................................................... 7
Terms and Definitions ...................................................................................... 8
xArm Motion Parameters .............................................................................. 12
Unit Definition .................................................................................................. 13
Additional Information .................................................................................. 13
Safety Precautions .......................................................................................... 14
xArm User Manual-Hardware Section ............................................................... 22
1. Hardware Installation Manual ............................................................... 22
1.1. The Hardware Composition of xArm ............................................. 22
1.2. Robot Installation ............................................................................... 26
1.3. Power Supply for the Robotic Arm ................................................. 35
2. Electrical Interface .................................................................................... 38
2.1. AC Control Box ..................................................................................... 38
2.2. DC Control Box .................................................................................... 40
2.3. Electrical Alarms and Cautions ....................................................... 42
2.4. End-Effector I/O .................................................................................. 44

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