UFactory xArm User Manual

204
Parameter
pose1
Cartesian coordinates
[x(mm), y(mm), z(mm), roll(rad or °), pitch(rad or °), yaw(rad or °)]；
pose2
Cartesian coordinates
[x(mm), y(mm), z(mm), roll(rad or °), pitch(rad or °), yaw(rad or °)]；
percent
Percentage of arc moved
is_radian
If is_radian = True, the unit of roll / pitch / yaw is rad;
If is_radian = False, the unit of roll / pitch / yaw is °;
speed
TCP motion speed (mm / s, rad / s);
mvacc
TCP motion acceleration (mm / s
2
, rad / s
2
);
mvtime
0, reserved;
wait
If wait = True, wait for the current commands to be sent before
sending the next commands;
If wait = False, send the next commands directly;
2.3. xArm5 Motion Characteristics
● Cartesian space
The movement of xArm5 is relatively special. Due to the structural
limitation, the actual flexible degrees of freedom of linear and
circular motions in Cartesian space is 4, which is [x, y, z, yaw],
similar to a SCARA manipulator with four degrees of freedom.
Before starting Cartesian control, it is necessary to ensure that the
end flange surface of xArm5 and the base are completely parallel.
If mounted on horizontal plane, the roll and pitch should be [± 180
degrees, 0 degrees], otherwise the trajectory is likely to have no

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.