UFactory xArm User manual

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Table
1. General Presentation..................................................................................3
1.1. 6 Axis Force Torque Sensor Introduction...........................................3
1.2. Singal Hub ................................................................................................3
2. Safety..............................................................................................................4
2.1. Warning .....................................................................................................4
2.2. Risk Assessment and Final Application.............................................5
2.3. Validity and Responsibility ...................................................................6
3. Installation ....................................................................................................6
3.1. Scope of Delivery ....................................................................................7
3.2. Mechanical Installation .........................................................................8
4. Control..........................................................................................................11
4.1. Control 6 Axis Force Torque Sensor through Python-SDK ..........11
4.2. Control 6 Axis Force Torque Sensor through C++ SDK .................11
5. 6 Axis Force Torque Sensor Error Code ................................................12
6. 6 Axis Force Torque Sensor Specifications..........................................13
7. After-sales Service ....................................................................................14

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1. General Presentation
1.1.6 Axis Force Torque Sensor Introduction
6 Axis Force Torque Sensor
The xArm 6 Axis Force Torque Sensor is designed for force and torque
data acquisition on xArm, it can simultaneously measure the force and
torque in three-dimensional space. It is installed on the xArm tool flange,
a flexible cable is used for power and communications.
1.2.Singal Hub
The 6 Axis Force Torque Sensor needs to be used with the signal hub. The
signal hub has five electrical interfaces.

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Singal Hub
2. Safety
The operator must read and understand all the instructions below before
running the 6 Axis Force Torque Sensor.
2.1.Warning
1. The 6 Axis Force Torque Sensor needs to be properly installed before
operating.
2. Do not install or operate the 6 Axis Force Torque Sensor that is
damaged or lacking parts.
3. Never supply the 6 Axis Force Torque Sensor with an alternative
current (AC) source.
4. Make sure all cord sets are always secured at both ends, the 6 Axis
Force Torque Sensor end & Robot end.
5. Always satisfy the 6 Axis Force Torque Sensor’s load specifications.

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6. Be sure nothing is in the robot and the 6 Axis Force Torque Sensor path
before using.
Caution
The term "operator" refers to anyone responsible for any of the following
operations on the 6 Axis Force Torque Sensor:
● Installation
● Control
● Maintenance
● Inspection
● Decommissioning
● Calibration
This documentation explains the various components of the 6 Axis Force
Torque Sensor and general operations regarding the whole life-cycle of
the product from installation to operation and decommissioning.
The drawings and photos in this documentation are representative
examples and differences may exist between them and the delivered
product.
2.2.Risk Assessment and Final Application
The 6 Axis Force Torque Sensor is meant to be used on an industrial robot.
The robot, force torque sensor and any other equipment used in the final
application must be evaluated with a risk assessment. The robot

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integrator must ensure that all local safety measures and regulations are
respected. Depending on the application, there may be risks that need
additional protection/safety measures, for example, the work-piece 6
Axis Force Torque Sensor is manipulating may be inherently dangerous
to the operator.
2.3.Validity and Responsibility
Always comply with local and/or national laws, regulations and
directives on automation safety and general machine safety.
The unit may be used only within the range of its technical data. Any
other use of the product is deemed improper and unintended use.
UFACTORY will not be liable for any damages resulting from any
improper or unintended use.
3. Installation
The following subsections will guide you through the installation and
general setup of 6 Axis Force Torque Sensor.
(1) The Scope of Delivery section
(2) The Mechanical Installation section
Warning
Before installing:

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Read and understand the safety instructions related to the 6 Axis Force
Torque Sensor.
Verify your package according to the Scope of delivery and your order
info.
Have the required parts, equipment and tools listed in the requirements
readily available.
Installing:
Satisfy the environmental conditions.
Do not operate the 6 Axis Force Torque Sensor, or even turn on the power
supply, before it is firmly anchored and the danger zone is cleared.
3.1.Scope of Delivery
The 6 Axis Force Torque Sensor Kit generally includes these items:
①6 Axis Force Torque Sensor *1
②Mounting Flange *1
(Product Image for reference only, please prevail in kind)

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③Signal Hub*1
④Power cable for the Robotic Arm*1
⑤Communication cable for the Robotic Arm*1
⑥Power/Communication cable for 6 Axis Force Torque Sensor*1
⑦M3*8 Head hexagon socket screws (6) and M3 spring washer (6)
⑧M6*8 Head hexagon socket screws (6) and M3 spring washer (6)
⑨2.5MM L type wrench*1
⑩5MM L type wrench*1
⑪Velcro (3 meters)
3.2.Mechanical Installation
1. Press down the E stop button on the control box.
2. Install the Mounting Flange on the end flange using 4 M6*8 screws

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(spring washer must be used together).
3. Install the 6 Axis Force Torque Sensor on the Mounting Flange using 4
M3*8 screws (spring washer must be used together).
4. Cable connection with Signal Hub:
Connect 5 cables in sequence according to the electrical interface
definition of the Signal Hub.

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5. Using Velcro to stick the power/communication flexible cable to the
robotic arm.
(Don’t stick it too tight, don’t stick the Velcro on the torque sensor)
6. Press up E stop button on the control box.
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