UFactory xArm User Manual

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2.5. Control Box Electrical IO ................................................................... 49
2.6. Communication Interface ................................................................. 62
2.7. Ethernet TCP/IP ................................................................................... 62
3. End-Effector ................................................................................................ 65
3.1. Gripper .................................................................................................. 65
3.2. Vacuum Gripper .................................................................................. 69
xArm User Manual-Software Section ................................................................. 72
1. xArm Studio .......................................................................................................... 72
1.1 Hardware Preparation ............................................................................ 73
1.2 Connect to the Robotic Arm ................................................................... 74
1.3 xArm Studio Homepage ......................................................................... 82
1.4 Robotic Arm Setting ................................................................................. 84
1.5 Live Control .............................................................................................. 138
1.6 Blockly Graphical Programming ........................................................ 151
1.7 Python IDE .............................................................................................. 176
1.8 Recording ............................................................................................... 178
2. xArm Motion Analysis ...................................................................................... 181
2.1 Robotic Arm Motion Mode and State Analysis ................................ 182
2.2. Motion of the Robotic Arm .................................................................. 189
2.2.1. Joint Motion ......................................................................................... 189
2.3. xArm5 Motion Characteristics ........................................................... 204
2.4. Singularity ............................................................................................... 205

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