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Table of Contents2
Table2
Preface7
Product Information7
Main Contents of the Manual7
Terms and Definitions8
Xarm Motion Parameters10
Unit Definition11
Additional Information12
Safety Precautions12
Xarm User Manual-Hardware Section18
Hardware Installation Manual18
The Hardware Composition of Xarm18
Hardware Composition18
Emergency Stop Button19
Control Box Description20
Robot Installation20
Safety Guidelines for the Robot Environment20
Robot Installation21
Power Supply for the Robotic Arm27
Preparation before Power on27
Power on27
Shut down the Robotic Arm System28
Electrical Interface30
AC Control Box30
Connect the Control Box to the Robotic Arm30
Power Connection30
Definition of the Robotic Arm Industrial Connector31
DC Control Box31
External Interfaces of Control Box31
Definition of Industrial Connector32
Specification of External Power33
Electrical Alarms and Cautions33
End-Effector I/O34
Digital Output36
Digital Input37
Tool Analog Input37
Control Box Electrical IO39
General Specifications for All Digital I/O39
Dedicated Safety I/O41
General Digital I/O Function45
General Analog I/O46
Communication Interface48
Communication48
Ethernet TCP/IP49
End-Effector50
Gripper50
Gripper Installation50
The Flow of Gripper Movement51
Precautions52
Vacuum Gripper53
Vacuum Gripper Installation53
Turn On/Off Vacuum Gripper54
Xarm User Manual-Software Section55
Xarm Studio55
Hardware Preparation55
Connect to the Robotic Arm56
The Robotic Arm Network Settings56
IP Configuration58
Connect to the Robotic Arm61
Return to the Search Interface62
Xarm Studio Homepage63
Xarm Studio Homepage Parameters63
Main Functional Modules of Xarm Studio63
Toolbar64
Robotic Arm Setting65
Motion Settings65
End Effector68
TCP Settings70
I/O Settings74
Safety Settings79
Mounting81
Timed Tasks83
Coordinate System85
Advanced Settings87
System Settings98
Live Control106
Status Bar106
Emergency Stop106
Real Robot/ Simulation Robot107
Manual Mode107
Joint Motion108
Linear Motion109
Operation Mode112
Zero Position, Initial Position114
Speed Setting114
Blockly Graphical Programming115
Interface Overview115
Blockly Workspace117
Blockly Code Block120
Setting121
Motion123
Gpio（Control Box and End Tool Interface125
End Effector127
Application128
Logic129
Loop130
Math131
Text131
Variable132
Function133
Set & Edit Motion Coordinates134
Path Planning Guidelines135
Python IDE135
Create a New Project136
Recording137
Xarm Motion Analysis140
Robotic Arm Motion Mode and State Analysis141
The Motion Mode of the Robotic Arm141
Analysis of Robotic Arm Movement Mode143
Analysis of the Motion Status of the Robotic Arm144
Motion of the Robotic Arm145
Joint Motion145
Linear Motion and Arc Linear Motion149
Circular and Arc Motion153
Xarm5 Motion Characteristics156
Singularity156
Typical Examples159
The Use of Xarm Vacuum Gripper159
The Use of Xarm Gripper160
The Use of the Digital IO160
Cyclic Motion Count161
Appendix163
Appendix1-Error Reporting and Handling163
Joints Error Message and Error Handling163
Control Box Error Code and Error Handling165
Control Box Error Code165
Control Box Error Code166
Gripper Error Code & Error Handling166
Python SDK Error Code & Error Handling168
Appendix2-Technical Specifications170
Xarm5/6/7 Common Specifications170
Xarm 5 Specifications171
Xarm 6 Specifications172
Xarm 7 Specifications173
Appendix3-FAQ175
Appendix4-The Xarm Software/Firmware Update Method176
Appendix5- Maintenance and Inspection183
Appendix6- After-Sales Service184

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