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UFactory Manuals
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xArm6
User manual
UFactory xArm6 User Manual
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Contents
Table of Contents
Bookmarks
Table of Contents
Table of Contents
Table
Preface
Product Information
Main Contents of the Manual
Terms and Definitions
Xarm Motion Parameters
Unit Definition
Additional Information
Safety Precautions
Xarm User Manual-Hardware Section
Hardware Installation Manual
The Hardware Composition of Xarm
Hardware Composition
Emergency Stop Button
Control Box Description
Robot Installation
Safety Guidelines for the Robot Environment
Robot Installation
Power Supply for the Robotic Arm
Preparation before Power on
Power on
Shut down the Robotic Arm System
Electrical Interface
AC Control Box
Connect the Control Box to the Robotic Arm
Power Connection
Definition of the Robotic Arm Industrial Connector
DC Control Box
External Interfaces of Control Box
Definition of Industrial Connector
Specification of External Power
Electrical Alarms and Cautions
End-Effector I/O
Digital Output
Digital Input
Tool Analog Input
Control Box Electrical IO
General Specifications for All Digital I/O
Dedicated Safety I/O
General Digital I/O Function
General Analog I/O
Communication Interface
Communication
Ethernet TCP/IP
End-Effector
Gripper
Gripper Installation
The Flow of Gripper Movement
Precautions
Vacuum Gripper
Vacuum Gripper Installation
Turn On/Off Vacuum Gripper
Xarm User Manual-Software Section
Xarm Studio
Hardware Preparation
Connect to the Robotic Arm
The Robotic Arm Network Settings
IP Configuration
Connect to the Robotic Arm
Return to the Search Interface
Xarm Studio Homepage
Xarm Studio Homepage Parameters
Main Functional Modules of Xarm Studio
Toolbar
Robotic Arm Setting
Motion Settings
End Effector
TCP Settings
I/O Settings
Safety Settings
Mounting
Timed Tasks
Coordinate System
Advanced Settings
System Settings
Live Control
Status Bar
Emergency Stop
Real Robot/ Simulation Robot
Manual Mode
Joint Motion
Linear Motion
Operation Mode
Zero Position, Initial Position
Speed Setting
Blockly Graphical Programming
Interface Overview
Blockly Workspace
Blockly Code Block
Setting
Motion
Gpio（Control Box and End Tool Interface
End Effector
Application
Logic
Loop
Math
Text
Variable
Function
Set & Edit Motion Coordinates
Path Planning Guidelines
Python IDE
Create a New Project
Recording
Xarm Motion Analysis
Robotic Arm Motion Mode and State Analysis
The Motion Mode of the Robotic Arm
Analysis of Robotic Arm Movement Mode
Analysis of the Motion Status of the Robotic Arm
Motion of the Robotic Arm
Joint Motion
Linear Motion and Arc Linear Motion
Circular and Arc Motion
Xarm5 Motion Characteristics
Singularity
Typical Examples
The Use of Xarm Vacuum Gripper
The Use of Xarm Gripper
The Use of the Digital IO
Cyclic Motion Count
Appendix
Appendix1-Error Reporting and Handling
Joints Error Message and Error Handling
Control Box Error Code and Error Handling
Control Box Error Code
Control Box Error Code
Gripper Error Code & Error Handling
Python SDK Error Code & Error Handling
Appendix2-Technical Specifications
Xarm5/6/7 Common Specifications
Xarm 5 Specifications
Xarm 6 Specifications
Xarm 7 Specifications
Appendix3-FAQ
Appendix4-The Xarm Software/Firmware Update Method
Appendix5- Maintenance and Inspection
Appendix6- After-Sales Service
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Xarm5 lite
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