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UFactory xArm User Manual
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237
（
1
）
The con
trol box,
PC
and router are c
onnected
by
e
thernet cable
The contro
l box, PC and network swi
tch are connected by
ethernet cable
236
238
Table of Contents
Table of Contents
2
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
Hardware Installation Manual
22
The Hardware Composition of Xarm
22
Robot Installation
26
Power Supply for the Robotic Arm
35
Electrical Interface
38
AC Control Box
38
DC Control Box
40
Electrical Alarms and Cautions
42
End-Effector I/O
44
Control Box Electrical IO
49
Communication Interface
62
Ethernet TCP/IP
62
End-Effector
65
Gripper
65
Vacuum Gripper
69
Xarm User Manual-Software Section
72
Xarm Studio
72
Hardware Preparation
73
Connect to the Robotic Arm
74
Xarm Studio Homepage
82
Robotic Arm Setting
84
Live Control
138
Blockly Graphical Programming
151
Python IDE
176
Recording
178
Xarm Motion Analysis
181
Robotic Arm Motion Mode and State Analysis
182
Motion of the Robotic Arm
189
Joint Motion
189
Xarm5 Motion Characteristics
204
Singularity
205
Typical Examples
208
The Use of Xarm Vacuum Gripper
208
The Use of Xarm Gripper
209
The Use of the Digital IO
210
Cyclic Motion Count
211
Appendix
213
Appendix1-Error Reporting and Handling
213
Joints Error Message and Error Handling
213
Control Box Error Code and Error Handling
216
Gripper Error Code & Error Handling
220
Python SDK Error Code & Error Handling
222
Appendix2-Technical Specifications
224
Xarm5/6/7 Common Specifications
224
Xarm 5 Specifications
226
Xarm 6 Specifications
227
Xarm 7 Specifications
227
Appendix3-FAQ
229
Appendix4-The Xarm Software/Firmware Update Method
230
Appendix5- Maintenance and Inspection
239
Appendix6- Repair
240
Appendix7-Product Information
242
Product Mark
242
Applied Standards
243
Emc
243
Use Environment
244
Transport, Storage and Handling
245
Power Box Placement Height
245
Power Connection
245
Special Consumables
246
Stop Categories
246
Stopping Time and Stopping Distance
246
Maximum Speed
247
Maximum Payload
247
Specifications
248
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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
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