Xarm Motion Parameters - UFactory XARM User Manual

xArm Motion Parameters

The parameters of the robotic arm are shown in Table 1.1 and Table 1.2.
Table 1.1 working range of each joint of the robotic arm
Robotic Arm
Maximum
1st Axis
Speed
2st Axis
Working
3st Axis
4st Axis
Range
5st Axis
6st Axis
7st Axis
Table 1.2 range of various motion parameters of the robotic arm
Speed
Acceleration
Jerk
Note:
1. In the TCP motion (Cartesian space motion) commands (set_position () function
of the SDK), If a motion command involves both position transformation and
attitude transformation, the attitude rotation speed is generally calculated
automatically by the system. In this situation, the specified speed parameter is the
maximum linear speed, range from: 0 ～ 1000mm / s.
2. When the expected TCP motion only changes the attitude (roll, pitch, yaw), with
xArm 5
180°/s
±360°
-118°～120° -118°～120°
-225°～11°
-97°～180°
±360°
None
None
TCP Motion
0～1000mm/s
0～50000mm/s
2
0～10000mm/s
3
12
xArm 6
180°/s
±360°
-118°～120°
-225°～11°
±360° -11°～225°
-97°～180°
±360° -97°～180°
None
Joint Motion
0～180°/s
0～1145°/s
0～28647°/s
xArm 7
180°/s
±360°
±360°
±360°
±360°
2
3