UFactory xArm User Manual

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3. Typical Examples .............................................................................................. 208
3.1. The Use of xArm Vacuum Gripper ..................................................... 208
3.2. The Use of xArm Gripper ..................................................................... 209
3.3. The Use of the Digital IO ...................................................................... 210
3.4. Cyclic Motion Count .............................................................................. 211
Appendix ................................................................................................................. 213
Appendix1-Error Reporting and Handling ..................................................... 213
1.1 Joints Error Message and Error Handling ......................................... 213
1.2 Control Box Error Code and Error Handling .................................. 216
1.3 Gripper Error Code & Error Handling ............................................... 220
1.4 Python SDK Error Code & Error Handling ......................................... 222
Appendix2-Technical Specifications ................................................................ 224
1.1 xArm5/6/7 Common Specifications ................................................ 224
1.2 xArm 5 Specifications ........................................................................... 226
1.3 xArm 6 Specifications ........................................................................... 227
1.4 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
1.1 Product Mark ..................................................................................... 242

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