UFactory XArm Manuel utilisateur

2 
 
Table 
Table.....................................................................................................................2 
Preface .........................................................................................................................6 
User Manual Information ................................................................................6 
Product Information .........................................................................................6 
Main Contents of the Manual .........................................................................7 
Terms and Definitions ......................................................................................8 
xArm Motion Parameters ..............................................................................12 
Unit Definition ..................................................................................................13 
Additional Information ..................................................................................13 
Safety Precautions ..........................................................................................14 
xArm User Manual-Hardware Section ...............................................................22 
1. Hardware Installation Manual...............................................................22 
1.1. The Hardware Composition of xArm.............................................22 
1.2. Robot Installation...............................................................................26 
1.3. Power Supply for the Robotic Arm.................................................35 
2. Electrical Interface ....................................................................................38 
2.1. AC Control Box.....................................................................................38 
2.2. DC Control Box ....................................................................................40 
2.3. Electrical Alarms and Cautions.......................................................42 
2.4. End-Effector I/O..................................................................................44 


 
5. Control Box Electrical IO ...................................................................49 
6. Communication Interface.................................................................62 
7. Ethernet TCP/IP ...................................................................................62 
End-Effector................................................................................................65 
1. Gripper ..................................................................................................65 
2. Vacuum Gripper..................................................................................69 
xArm User Manual-Software Section.................................................................72 
xArm Studio..........................................................................................................72 
1 Hardware Preparation ............................................................................73 
2 Connect to the Robotic Arm...................................................................74 
3 xArm Studio Homepage .........................................................................82 
4 Robotic Arm Setting.................................................................................84 
5 Live Control ..............................................................................................138 
6 Blockly Graphical Programming ........................................................151 
7 Python IDE ..............................................................................................176 
8 Recording ...............................................................................................178 
xArm Motion Analysis ......................................................................................181 
1 Robotic Arm Motion Mode and State Analysis................................182 
2. Motion of the Robotic Arm..................................................................189 
2.1. Joint Motion .........................................................................................189 
3. xArm5 Motion Characteristics ...........................................................204 
4. Singularity...............................................................................................205 

4 
 
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 


 
2 Applied Standards ...........................................................................243 
3 EMC.......................................................................................................243 
4 Use Environment ..............................................................................244 
5 Transport, Storage and Handling................................................245 
6 Power box placement height........................................................245 
7 Power Connection............................................................................245 
8 Special Consumables......................................................................246 
9 Stop Categories.................................................................................246 
10 Stopping Time and Stopping Distance.......................................246 
11 Maximum Speed...............................................................................247 
12 Maximum Payload ...........................................................................247 
13 Specifications ....................................................................................248 
 
 
 
 
 

Preface

User Manual Information

Translated Version V1.8.6.

Apply to Model: XI1300 XI1301 XI1302 XI1303 XI1304 XI1305

Product Information

Package contains:

1. Robotic Arm x 1

2. Control Box x 1

3. Power cable for the Control Box x 1

4. Power cable for the Robotic Arm x 1

5. Communication cable for the Robotic Arm x 1

6. Ethernet Cable x1

7. Robotic Arm end effector adapter cable x1

Main Contents of the Manual

xArm User Manual Hardware Section

(1) xArm hardware installation

(2) Electrical interface

(3) xArm end-effector

xArm User Manual Software Section

(1) xArm Studio instructions

(2) xArm motion analysis

(3) Typical examples

Appendix

(1) xArm error reporting and handling

(2) xArm technical specifications

(3) FAQ

(4) The xArm software/firmware update method

(5) Maintenance and Inspection

(6) After-sales service

Terms and Definitions

The following terms and definitions apply to this manual.

Control Box

The control box, core part of the robotic arm, is the integration of

the robotic arm control system.

End Effector

The end effector, installed on the front end of the wrist of the

robotic arm, is used to install special tools (such as grippers,

vacuum gripper, etc.), which can directly perform work tasks.

Enable Robotic Arm

Power on the robotic arm and turn on the motor of the robotic

arm. After the robotic arm is enabled, it can start to move

normally.

TCP

Tool center point.

TCP Motion

TCP motion is the Cartesian space motion, with target position in

Cartesian space coordinate and the end follows the specified

trajectory (arc, line, etc.).

TCP Payload

（End Payload）

The payload weight refers to the actual (end tool +other object)

weight in Kg; the X / Y / Z-axis indicates the position of the center

of mass of the TCP relative to the default tool coordinate system,

with unit of mm.

TCP Offset

(Tool Center Point

Offset)

Set the relative offset between the default tool coordinate system

at flange center and the actual tool coordinate system, with

distance unit of mm.

Roll / Pitch / Yaw sequentially rotates around the X / Y / Z of the

selected coordinate system (base coordinate system).

The following describes the roll/pitch/yaw orientation

representation of {B} relative to {A}:

For example, the coordinate system {B} and a known reference

coordinate system {A} are first superposed. First rotate {B} around

by γ, then around

by β, and finally around

by α.

Each rotation is around a fixed axis of the reference coordinate

system {A}. This method is called the XYZ fixed angle coordinate

system, and sometimes they are defined as the roll angle, pitch

angle, and yaw angle.

The above description is shown in the following figure:

Roll/Pitch/Yaw

The equivalent rotation matrix is:

( ) ( ) ( ) ( )



XYZXYZ

BRRRR =,,

Note: γ corresponds to roll; β corresponds to pitch; α corresponds

to yaw.

Axis-Angle

Rx / Ry / Rz representation also, using 3 values to represent the

pose (but not three rotation angles), which is the product of a

three-dimensional rotation vector [x, y, z] and a rotation angle [phi

(scalar)].

The characteristics of the axis angle:

Assume the rotation axis is [x, y, z], and the rotation angle is phi.

Then the representation of the axial angle:

[Rx, Ry, Rz] = [x * phi, y * phi, z * phi]

Note:

1. [x, y, z] is a unit vector, and phi is a non-negative value.

2. The vector length (modulus) of [Rx, Ry, Rz] can be used to

estimate the rotation angle, and the vector direction is the rotation

direction.

3. If you want to express reverse rotation, invert the rotation axis

vector [x, y, z], and the value of phi remains unchanged.

4. Using phi and [x, y, z] can also derive the attitude representation

as unit quaternion q = [cos (phi / 2), sin (phi / 2) * x, sin (phi / 2) *

y, sin (phi / 2) * z].

For example:

The vector of the rotation axis represented by the base coordinate

system is [1, 0, 0], and the rotation angle is 180 degrees (π), then

the axis angle representation of this pose is [π, 0, 0].

The rotation axis is [0.707, 0.707, 0] and the rotation angle is 90

degrees (π / 2), then the axis angle posture is [0.707 * (π / 2), 0.707

* (π / 2), 0].

The Base Coordinate

System

(Please refer to the

figure 1)

The base coordinate system is a Cartesian coordinate system

based on the mounting base of the robotic arm and used to

describe the motion of the robotic arm.

(Front and back: X axis, left and right: Y axis, up and down: Z axis)

Tool Coordinate

System

(Please refer to the

Consists of tool center point and coordinate orientation. If the TCP

offset is not set, the default tool coordinate system is located at

flange center.

For tool coordinate System based motion: The tool center point is

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