UFactory xArm User Manual

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Python example:
arm.reset(wait=True)
arm.set_pause_time(0.5)
while True:
arm.set_position(x=400, y=-100, z=250, roll=180, pitch=0, yaw=0, radius=50,speed=200,
wait=False)
arm.set_position(x=400, y=100, z=250, roll=180, pitch=0, yaw=0, radius=50,speed=200, wait=False)
arm.set_position(x=300, y=0, z=250, roll=-180, pitch=0, yaw=0, radius=50,speed=200, wait=False)
set_position interface: refer to Table 2.2.
The set_pause_time interface is described in Table 2.3:
Table 2.3 set_pause_time description
set_pause_time
Description
Set the robotic arm pause time
Parameter
sltime
pause time, unit: second (s);
wait
whether to wait, default is False;
2.2.3. Circular and Arc Motion
The circular motion calculates the trajectory of the spatial circle
according to the coordinates of three points, which are (starting point,
pose 1, pose 2).
The calculation method of three-point drawing circle:
Use the current point as the starting point, and then set two position
points. Three points define a circle. Make sure these three points are not

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