UFactory xArm6 User Manual

146
【Edit】: Open the live control interface and adjust the coordinates of the current
point.
The motion trajectory of the robotic arm in the above example is as follows:
Python example:
arm.set_servo_angle(angle=[0.0, 7.0, -71.2, 0.0, 0.0, 0.0], speed=8, mvacc=1145, wait=True)
arm.set_servo_angle(angle=[0.0, 7.0, -51.2, 0.0, 0.0, 0.0], speed=8, mvacc=1145, wait=True)
arm.set_servo_angle(angle=[0.0, 7.0, -91.2, 0.0, 0.0, 0.0], speed=8, mvacc=1145, wait=True)
The interface set_servo_angle is described in Table 2.1:
Table 2.1 Description of set_servo_angle
set_servo_angle
description
set joint angle for joint motion
parameter
servo_id
joint ID, 1-7, None or 8 means all joints:
a) 1- (Number of axes) Joint number of the robotic arm
E.g. : arm.set_servo_angle (servo_id = 1, angle = 45, is_radian = False)
b) None (8) represents all joints
E.g. : arm.set_servo_angle (angle = [30, -45, 0, 0, 0, 0, 0], is_radian = False)
angle
angle Joint angle or list of joint angles (the unit of the default joint angle is is_radian =
False, degrees (°))
a) If servo_id is 1- (joint number)
E.g. : arm.set_servo_angle (servo_id = 1, angle = 45, is_radian = False)
b) If servo_id is None or 8,
E.g. : arm.set_servo_angle (angle = [30,45,0,0,0,0,0], is_radian = False)
speed
joint speed (the default unit is ° / s):
Unit: if is_radian = True, the unit is rad / s; if is_radian = False, the unit is ° / s;
mvacc
joint acceleration (default unit is ° / s
2
)
Unit: if is_radian = True, the unit is rad / s
2
; if is_radian = False, the unit is ° / s
2
;
is_radian
roll / pitch / yaw Whether it is measured in radian (default is_radian = False)
If is_radian = True, the unit of roll / pitch / yaw is radian;
If is_radian = False, the unit of roll / pitch / yaw is degree (°);
wait
If wait = True, wait for the current commands to finish before sending the next
commands;

UFactory xArm6 Specifications

General

Brand	UFactory
Model	xArm6
Category	Robotics
Language	English