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UFactory xArm6 User Manual
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22
installing
the
robotic
arm,
make
sure
the
range
of
motion
of
the
robotic
arm
is
taken
into
acc
ount,
so
as
not
to
bump
i
nto
the
surrounding
people
and
equipment
(the
end-
effector
not
included
in
the
working
range).
Working
space
of
xArm7
(unit:
mm)
Note
：
The
following
working
range
diagrams
are
only
for
safety
assessment.
21
23
Table of Contents
Table of Contents
2
Table
2
Preface
7
Product Information
7
Main Contents of the Manual
7
Terms and Definitions
8
Xarm Motion Parameters
10
Unit Definition
11
Additional Information
12
Safety Precautions
12
Xarm User Manual-Hardware Section
18
Hardware Installation Manual
18
The Hardware Composition of Xarm
18
Hardware Composition
18
Emergency Stop Button
19
Control Box Description
20
Robot Installation
20
Safety Guidelines for the Robot Environment
20
Robot Installation
21
Power Supply for the Robotic Arm
27
Preparation before Power on
27
Power on
27
Shut down the Robotic Arm System
28
Electrical Interface
30
AC Control Box
30
Connect the Control Box to the Robotic Arm
30
Power Connection
30
Definition of the Robotic Arm Industrial Connector
31
DC Control Box
31
External Interfaces of Control Box
31
Definition of Industrial Connector
32
Specification of External Power
33
Electrical Alarms and Cautions
33
End-Effector I/O
34
Digital Output
36
Digital Input
37
Tool Analog Input
37
Control Box Electrical IO
39
General Specifications for All Digital I/O
39
Dedicated Safety I/O
41
General Digital I/O Function
45
General Analog I/O
46
Communication Interface
48
Communication
48
Ethernet TCP/IP
49
End-Effector
50
Gripper
50
Gripper Installation
50
The Flow of Gripper Movement
51
Precautions
52
Vacuum Gripper
53
Vacuum Gripper Installation
53
Turn On/Off Vacuum Gripper
54
Xarm User Manual-Software Section
55
Xarm Studio
55
Hardware Preparation
55
Connect to the Robotic Arm
56
The Robotic Arm Network Settings
56
IP Configuration
58
Connect to the Robotic Arm
61
Return to the Search Interface
62
Xarm Studio Homepage
63
Xarm Studio Homepage Parameters
63
Main Functional Modules of Xarm Studio
63
Toolbar
64
Robotic Arm Setting
65
Motion Settings
65
End Effector
68
TCP Settings
70
I/O Settings
74
Safety Settings
79
Mounting
81
Timed Tasks
83
Coordinate System
85
Advanced Settings
87
System Settings
98
Live Control
106
Status Bar
106
Emergency Stop
106
Real Robot/ Simulation Robot
107
Manual Mode
107
Joint Motion
108
Linear Motion
109
Operation Mode
112
Zero Position, Initial Position
114
Speed Setting
114
Blockly Graphical Programming
115
Interface Overview
115
Blockly Workspace
117
Blockly Code Block
120
Setting
121
Motion
123
Gpio（Control Box and End Tool Interface
125
End Effector
127
Application
128
Logic
129
Loop
130
Math
131
Text
131
Variable
132
Function
133
Set & Edit Motion Coordinates
134
Path Planning Guidelines
135
Python IDE
135
Create a New Project
136
Recording
137
Xarm Motion Analysis
140
Robotic Arm Motion Mode and State Analysis
141
The Motion Mode of the Robotic Arm
141
Analysis of Robotic Arm Movement Mode
143
Analysis of the Motion Status of the Robotic Arm
144
Motion of the Robotic Arm
145
Joint Motion
145
Linear Motion and Arc Linear Motion
149
Circular and Arc Motion
153
Xarm5 Motion Characteristics
156
Singularity
156
Typical Examples
159
The Use of Xarm Vacuum Gripper
159
The Use of Xarm Gripper
160
The Use of the Digital IO
160
Cyclic Motion Count
161
Appendix
163
Appendix1-Error Reporting and Handling
163
Joints Error Message and Error Handling
163
Control Box Error Code and Error Handling
165
Control Box Error Code
165
Control Box Error Code
166
Gripper Error Code & Error Handling
166
Python SDK Error Code & Error Handling
168
Appendix2-Technical Specifications
170
Xarm5/6/7 Common Specifications
170
Xarm 5 Specifications
171
Xarm 6 Specifications
172
Xarm 7 Specifications
173
Appendix3-FAQ
175
Appendix4-The Xarm Software/Firmware Update Method
176
Appendix5- Maintenance and Inspection
183
Appendix6- After-Sales Service
184
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UFactory xArm6 Specifications
General
Brand
UFactory
Model
xArm6
Category
Robotics
Language
English
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