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1.4 Robotic Arm Setting......................................................................................65

1.4.1 Motion Settings.................................................................................. 65

1.4.2 End Effector...................................................................................... 68

1.4.3 TCP Settings.....................................................................................70

1.4.4 I/O Settings........................................................................................74

1.4.5 Safety Settings.....................................................................................79

1.4.6 Mounting........................................................................................... 81

1.4.7 Timed Tasks...................................................................................... 83

1.4.8 Coordinate System............................................................................ 85

1.4.9 Advanced Settings............................................................................87

1.4.10 System Settings............................................................................... 98

1.5 Live Control............................................................................................... 106

1.5.1 Status Bar........................................................................................ 106

1.5.2 Emergency Stop.............................................................................. 106

1.5.3 Real Robot/ Simulation Robot....................................................... 107

1.5.4 Manual Mode................................................................................. 107

1.5.5 Joint Motion................................................................................... 108

1.5.6 Linear Motion..................................................................................109

1.5.7 Operation Mode...............................................................................112

1.5.8 Zero Position, Initial Position..........................................................114

1.5.9 Speed Setting...................................................................................114

1.6 Blockly Graphical Programming................................................................ 115

1.6.1 Interface Overview..........................................................................115

1.6.2 Blockly Workspace......................................................................... 117

1.6.3 Blockly Code Block......................................................................... 120

1.6.4 Setting ..............................................................................................121

1.6.5 Motion............................................................................................. 123

1.6.6 GPIO（Control Box and End tool interface）................................. 125

1.6.7 End Effector.................................................................................... 127

1.6.8 Application...................................................................................... 128

1.6.9 Logic................................................................................................129

1.6.10 Loop.............................................................................................. 130

UFactory xArm6 User Manual

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