UFactory xArm 6 User manual

SHENZHEN UFACTORY CO.,LTD.
USER MANUAL
V1.0.2
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As a cost-effective, lightweight, easy-to-use robotic arm, xArm significantly boosts the oper-
ational efficiency with automation technology by employing a handful of SDK including
python, ROS C++. xArm features custom APP, an user-friendly software xArm Studio which
allows users to teach xArm to perform repetitive movement with ‘hand-guide’ teaching,
with a custom APP, allowing you to interact with xArm with ease and complete complex
path planning in 10 minutes while maximizing its potential to the utmost level.
All Rights Reserved. ©2013-2019 ufactory
Thanks for purchasing and using the light-weight
multi-DOF(multi-degree-of-freedom) programmable
robotic arm developed by UFACTORY

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Table of Contents
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Table of Contents
Preface
Product Formation
Additional Information
1. Important Safety Precautions
Safety Instructions for Users
1.1. Introduction
1.2. Validity and Responsibility
1.3. Limitations on Liability Exceptions
1.4. Safety Alarms in this Manual
1.5. Safety Precautions
1.5.1. Overview
1.5.2. General Alarms and Cautions
1.5.3. Operator Safety
2. Precautions for Transportation
3. Maintenance and Repair
4. Warranties
4.1. Product Warranty
4.2. Disclaimer
5. The hardware Composition of xArm
5.1. Hardware Composition
5.2. Emergency Stop Button
5.3. Workspace of the Robot
6. Robot Installation
6.1. Safety Guidelines for the Robot Environment
6.2. Robot Installation
6.3. Robot Installation
6.3.1. Robotic Arm Mounting Configuration
6.4. End-effector Installation
7. Power supply for the Robotic Arm
7.1. Preparation before Connecting to the Power supply
7.2. Connect To The Power Supply
7.3. Connecting to the Power supply
7.4. Shutting Down the Robotic Arm System
8. Robotic Arm Controller
8.1. Connect the controller to the robotic arm
8.2. Power Connection
8.3. Electrical Alarms and Cautions
8.4. End-Effector I/O

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8.4.1. Digital Output
8.4.1.1. Using Tools for Digital Output
8.4.2. Digital Input
8.4.2.1. Using Tool for Digital Input
8.4.3. Tool Analog Input
8.4.3.1. Using Tool for Analog input, non-differential
8.4.3.2. Using Tool for Analog Input, Differential
8.5. Controller Electrical IO
8.5.1. Universal specifications for all Digital I/O
8.5.2. Dedicated security I/O
8.5.2.1. Default Security Configuration
8.5.2.2. Connect To the Emergency Stop button
8.5.2.3. Share emergency stop with other machines
8.5.2.4 Automatically recoverable protective stops
8.5.2.5 Protective stop with reset button
8.5.3. Common Digital I/O Function
8.5.3.1. Configurable digital Output
8.5.3.2. Configurable digital input
8.5.3.3 Communicate with other machines or PLCs
8.5.4. Universal analog I/O
8.5.4.1. Using analog output
8.5.4.2. Using analog Input
8.6. Communication Interface
8.6.1. RS-485 Communication
8.6.1.1. RS-485 Circuit Order
8.6.2. Ethernet TCP/IP
8.7. Controller Command Caching Mechanism
8.8. Controller Configuration File
9. The motion of the robotic arm
9.1. Zero Pose of the Robot
9.2. Robotic Arm Collision Detection
9.3. Joint Motion
9.3.1. Joint Rotating Direction
9.3.2. Joint Range
9.3.3. Joint Operating Speed
9.3.4. Joint Brakes
9.3.5. Free Drive of the Joints
9.4. Cartesian Space Motion
9.4.1. Introduction
9.4.2. TCP Setting
9.4.3. TCP Coordinate System
9.4.4. TCP Position Range
9.4.5. TCP Operating Speed
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9.4.6. Linear Motion
9.4.7. Linear Motion with Circular Arc
9.5. Path Planning Guidelines
10. End-effector
10.1. Gripper
10.1.1. The Flow of Gripper Movement：
10.1.2. Precautions
11. xArm-Python-SDK Library
11.1. Introduction
11.2. Download and Install the Python Library
11.3. Get started
11.4. Typical motion flow of the robotic arm (position mode)
11.5. Initialize the robotic arm motion mode
11.6. Alarm ResponseAlarm Handling Mode
11.7. Parameter and Interface Command
12. ROS Library
12.1. Introduction
12.2. Preparation
12.3. Additional Information
Appendix
1. Technical Specifications
2. Robot Movement & Status Analysis
3. Controller Communication Protocol
Protocol Format
3.1. 【The Meaning of symbols】
3.2. 【UXBUS Communication Format】
3.3. 【MODBUS-TCP Communication Format】
3.4. 【Automatic Reporting Format】
3.5. 【Register 】
0~10 Common Port Section
11~20 System Status
21~30 Basic Motion
31~40 Motion Parameter Setting
41~50 Acquire Motion Information
101~115 Servo Module
116~130 Gripper Module
131~145 Controller GPIO module
4. Joints Alarm Message and General Response
5. Controller Alarm Message and General Response
5.1 Controller Alarm Message Code
5.2 Controller Alarm Code
6. Gripper Alarm Code & General Response
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Preface
Product Formation
Package contains:
Additional Information
Robotic Arm x 1
controller x 1
Power cable for the Robotic arm x 1
Communication cable for the robotic arm x 1
Robotic arm end effector adapter cable x1
Power cable for the controller x 1
Please refer to the UFACTORY official website (https://www.ufactory.cc/) for xArm Studio
software download, video tutorial, English manual
1.Important Safety Precautions
Safety Instructions for Users
1.2.Validity and Responsibility
1.1.Introduction
This chapter contains important safety information, integrators and users of xArm must
follow the instructions and pay special attention to the content with warning signsDue to
the complexity of the robotic arm system and its degree of danger, please ensure you fully
understand the content of this manual and strictly adhere to the instructions. When using
SDK (Python/ROS/C++) and graphical interface (xArm Studio), please read the relevant inter-
face instructions given in this operation manual.
UFACTORY is devoted to providing reliable and safety information, but these contents do
not constitute warranties by UFACTORY. UFACTORY will not have or accept any liability, obli-
gation or responsibility whatsoever for any loss, destruction or damage however arising
from or in respect of any use or misuse of xArm.
The information does not cover how to design, install, and operate a complete robotic arm
application, nor does it cover all peripheral equipment that can influence the safety of the
complete system. The complete system must be designed and installed in accordance with
the safety requirements set forth in the standards and regulations of the country where the
robotic arm is installed.
Ethernet Cable x1
This Manual x1
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1.3. Limitations on Liability Exceptions
Making a risk assessment for the complete system. Make sure to have a safe distance
between human and xArm when interacting with the xArm.
Interfacing other machines and additional safety devices if defined by the risk assessment.
When using software for programming, please read carefully the port’s statement and set
up the appropriate safety settings in the software.
Specifying instructions for use to prevent unnecessary property damage or personal
injury caused by improper operation.
Any information given in this manual regarding safety must not be construed as a warranty
by UFACTORY that the industrial manipulator will not cause injury or damage even if all
safety instructions are complied with.
1.4.Safety Alarms in this Manual
DANGER:This indicates an imminently hazardous elec-
trical situation which, if not avoided, could result in
death or serious damage to the device.
DANGER:This indicates a potential hazardous situation
which, if not avoided, could result in death or serious
damage to the device.
WARNING:This indicates a potential hot surface, if
touch, could result in personal injury.
The integrators of the xArm are responsible for the compliance of applicable safety laws
and regulations in the country, to prevent any hazards in the operating environment.
Safety precautions include but are not limited to：
DANGER
WARNING
HIGH TEMPERATURE

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This section contains some general warnings and cautions on installation and application
planning for the robotic arm. To prevent damage to the machine and associated equipment,
users need to learn all the relevant descriptions and fully understand the safety precau-
tions. Wedo not control or guarantee the relevance or completeness or usefulness of such
information in this manual, users are suggested to conduct self-assessment of their specific
problems.
1.Make sure to use the correct installation settings in this manual for the robotic arm and all
the electrical equipment.
2.Please follow the instructions in this manual, installation and commissioning needs to be
performed by professionals in accordance with the installation standards.
3.Make sure the robotic arm and tool are properly and securely bolted in place.
4.The integrity of device and system must be checked before each use (e.g. the operational
safety and the possible damage of robotic arm and other device systems).
NOTICE:Iif not avoided, could result in personal injury or
damage to the equipment.
CAUTION:If not avoided, could result in personal injury or
damage to the equipment.
1.5.Safety Precautions
1.5.1.Overview
1.5.2.General Alarms and Cautions
DANGER
NOTICE
CAUTION

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5.Preliminary testing and inspection for both robotic arm and perimeter protection system
before production is essential.
6.The operator must be trained to guarantee a correct operation procedure when using SDK
(Python/ROS/C++) and graphical interface xArm Studio.
7.A complete safety assessment must be recorded each time the robotic arm is re-installed
and debugged.
8.When the robotic arm is in an accident or abnormal operation, the emergency stop switch
needs to be pressed down to stop the movement, and the robotic arm will stop and hold the
position.
9.The xArm joint module has brakes inside, it will remain manipulator’s pose when a power
outage occurs.
10.When the robotic arm is in operation, make sure no people or other equipment are in the
working area.
11.When releasing the brakes of xArm, please take protective measures to prevent the robot-
ic arm or operator from damage or injury.
12.When connecting the xArm with other machinery, it may increase risk and result in dan-
gerous consequences. Make sure a consistent and complete safety assessment is conducted
for the installation system.
1.The robotic arm and controller box generates heat during operation. Do not handle or
touch the robotic arm and controller box while in operation or immediately after the opera-
tion.
2.Never stick fingers behind the internal cover of the controller box.
HIGH TEMPERATURE

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When the xArm cooperates with other machinery, a comprehensive safety assessment of the
entire collaboration system should be performed. It is recommended that the equipment
that may cause mechanical damage must be placed outside the working range of xArm
during application planning.
1.Make sure the robotic arm’s joints and tools are installed properly and safely, check the
status for all circuits.
2.Make sure that there is enough space for the manipulator to move freely.
3.Make sure that there is no obstacle in the robotic arm’s working space.
4.The controller must be placed outside the working range of the robotic arm to ensure the
emergency stop button can be pressed once an emergency occurs.
5.If the robotic arm is in operation and needs an emergency stop, make sure the restart/re-
set will not touch any obstacle.
6.Do not modify the robotic arm. Any modification may lead to unpredictable danger to the
integrator. The robotic arms authorize restructuring need in accordance with the latest ver-
sion of all relevant service manuals. If the robotic arm is modified or altered in any way,
UFACTORY (Shenzhen) Technology Co.,Ltd disclaims all liability.
7.Users needs to check the collision and protection measures before transportation.
NOTICE
CAUTION

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In the operation of the robotic arm system, we must ensure the safety of the operators first.
The general precautions are listed in the table below. Please take appropriate measures to
ensure the safety of operators.
1.Each operator who uses the robotic arm system should be trained through a training
course hosted by UFACTORY (Shenzhen) Technology Co., Ltd. Users should fully understand
the standardized operating procedures with the robotic arm, and the solution to the robotic
arm running error.
2.When the device is running, even if the robotic arm seems to stop, it is possible that the
robotic arm is waiting for the signal and in the upcoming action status. Even in such a state,
it should be considered as the robotic arm is in action.
3.A line should be drawn to mark the range of motion of the robotic arm to let the operator
acknowledge the robotic arm, including its end tools, (such as gripper and suction cup, etc)
operating range.
4.Check the robotic arm regularly to prevent loosening of the bolts that may cause undesir-
able consequences.
5.Be careful when the robotic arm is running too fast.
6.Be careful about dropping items that can be caused by accidental power off or unstable
clamping of the robotic arm.
7.xArm has no collision detection function, please make sure there are no obstacles in the
operation of the robotic arm.
1.5.3.Operator Safety
CAUTION

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2.Precautions for Transportation
Keep the original packaging when transporting. Store the packaging material in a dry place
for future repackaging and moving the robotic arm.
When repacking, the robotic arm needs to be returned to the zero point.
When moving the robotic arm from packaging to the installation position, hold the robotic
arm in place until all mounting bolts are safely tightened at the base of the robotic arm.
1.When lifting the arm, make sure to hold it steadily, and use the appropriate lifting equip-
ment.
All regional and national guidelines should be followed. UFACTORY (Shenzhen) Technology
Co., Ltd. is not responsible for any damage caused during the transportation of the equip-
ment.
CAUTION

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3.Maintenance and Repair
Maintenance must be performed by authorized integrators or UFACTORY (Shenzhen) Tech-
nology Co., Ltd. All parts returned to UFACTORY (Shenzhen) Technology Co., Ltd. shall be
returned according to the service manual.
Make sure to reach the safety requirements of maintenance and repair, follow all regional
and national guidelines and test whether all safety functions work normally.
The purpose of maintenance and repair is to make sure that system runs normally or help it
return to normal condition when a system error occurs, including faults diagnosis and
actual maintenance.
Operators must follow the safety procedures and warnings as below:
1.Do not change any of the information in the software security configuration. If the safety
parameters have been changed, the entire robotic arm system should be considered as a
new system, and all the safety audit process (e.g., risk assessment) must be updated.
2.Replace the defective components by new components with the same article number or
equivalent components approved by UFACTORY (Shenzhen) Technology Co., Ltd.
3.Record all maintenance operations and save in technical documentation. The system
should be considered as a new system, and all the safety audit process (e.g., risk assess-
ment) must be updated.
WARNING

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1.Remove the main input cable from the bottom of the controller to ensure that it is com-
pletely powered off. Take the necessary precautions to prevent other people from recharg-
ing the system during the repair period. After the power is turned off, the system must be
re-examined to ensure that it is powered off.
2.Please check the ground connection before turning the system back on.
3.Observe ESD (Electro-Static discharge) regulations when parts of the manipulator or con-
troller are disassembled.
4.Avoid disassembling the power supplies inside the controller. High voltages can be pres-
ent inside these power supplies for several hours after the controller has been switched off.
5.Prevent water and dust entering the manipulator or controller.
DANGER

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This warranty does not cover failures or damage caused by the following conditions:
01.Does not meet the requirements of industry standards or not following the user manual
to install, connect wires and connect to other control devices.
02.Using products beyond the specifications or standards of the manual.
03.Using products beyond the appointed purposes.
04.Storage method and working environment are beyond the appointed range (e.g. pollu
tion, salt injury and moisture condensation).
05.The product gets damages due to improper transportation.
06.Damage caused by accident or crash.
07.Not installing the original assembled components and accessories.
08.The damage caused by the third-party which is not UFACTORY (Shenzhen) Technology
Co., Ltd. or the designated integrator while reconstructing, adjusting or repairing the
original components.
09.Any natural disasters including fires, earthquakes, tsunamis, lightning, high winds and
flooding.
10.Any malfunction does not caused by UFACTORY (Shenzhen) Technology Co., Ltd.other
than the circumstances mentioned above.
4.1.Product Warranty
4.Warranties
xArm robotic arms have a finite warranty period for 12 months.
In the case of new devices and their components exhibiting defects resulting from manufac-
turing and/or material faults within 12 months of entry into service (maximum of 15 months
includes the shipping time), UFACTORY (Shenzhen) Technology Co., Ltd. shall provide the
necessary reserve components to replace or repair the related components.
UFACTORY (Shenzhen) Technology Co., Ltd. has the ownership of the devices or compo-
nents which have been replaced or returned to UFACTORY (Shenzhen) Technology Co., Ltd.
If the products are no longer under warranty, UFACTORY (Shenzhen) Technology Co., Ltd.
reserves the right to charge customers for replacing or repairing the products.
If there are any defects appear in the device outside the warranty period, UFACTORY (Shen-
zhen) Technology Co., Ltd. is not responsible for any damage or loss caused by the equip-
ment, such as loss of production or damage to other production equipment.
4.2.Disclaimer
This Warranty will be invalid if the equipment defect is caused by improper handling or fail-
ure to follow the relevant information described in the user manual.

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01.Unable to identify the production date or the warranty start date.
02.Changing the software or internal data.
3.The malfunction cannot reappear or be identified by UFACTORY (Shenzhen) Technology
Co., Ltd.
04.Using the products as radioactive equipment, biological test equipment or any other
dangerous environment ascertained by UFACTORY (Shenzhen) Technology Co., Ltd.
According to the product warranty, UFACTORY (Shenzhen) Technology Co., Ltd. only pro-
vides a warranty to the flaws and defects in the products and components which are sold to
the dealers.
UFACTORY (Shenzhen) Technology Co., Ltd. is not responsible for the relevant warranty
responsibility to any other express or implied warranty or responsibility, including but not
limited to the implied warranties to the merchantability or the specific use. In addition,
UFACTORY (Shenzhen) Technology Co., Ltd. is not responsible for any indirect damage and
consequences caused by the relevant products.
The warranty does not apply if the user or the cause of the malfunction falls under any of
the following:

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5.1.Hardware Composition
5.The hardware Composition of xArm
The composition of robotic arm hardware includes:
Robot （Figure 5-1）
Controller (Figure 5-2)
Robot signal cable (Figure 5-3)
Robot power supply cable (Figure 5-4)
Controller power supply cable (Figure 5-5)
The xArm robotic arm system consists of a pedestal and rotary joints, and each joint rep-
resents a degree of freedom. From the button to the top, in order, Joint 1, Joint 2, Joint 3,
etc. The last joint is known as the tool side and can be used to connect end-effector (e.g.
gripper, suction cup, etc).
Figure 5.1 Figure 5.2
Figure 5.3 Figure 5.4 Figure 5.5

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5.2.Emergency Stop Button
By pressing the emergency stop button of the controller, a command will be sent to the con-
troller for software deceleration to stop all activities of the robotic arm, plus clear all the
cache commands in the controller; the power supply for the robotic arm will be disconnect
within 300ms. Emergency stop should not be used as a risk reduction measure. When an
emergency occurs during the operation of the robotic arm, users can press the emergency
stop and the posture of the arm will remain at the moment when the button is pressed. The
emergency stop button is shown below:
Figure 5.6 Robot Joints
Joint 1
Joint 3
Joint 5 Joint 6
Joint 2
Joint 4

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EMERGENCY
STOP
ROBOT PWR
CONTROLLER
LAN
Figure 5.7
Emergency Stop：press the emergency stop button to power off the xArm, and the power
light is extinct.
Power-on: when the button is rotated in the direction indicated by the arrow, the button is
pulled up, the xArm power indicator lights up, and the arm is powered.
Note:
After pressing the emergency stop button, the following operations should be performed to
re-start the robotic arm:
1.Power up the robotic arm
2.Enable the robotic arm (enable the servo motor)
5.3. Workspace of the Robot
The robotic arm workspace refers to the area within the extension of the joint, and the
working range is a sphere with a radius of 700mm. Figure 5-8 shows the dimensions and
working range of the robotic arm. When installing the robotic arm, make sure the range of
motion of the robotic arm is taken into account, so as not to bump into the surrounding
people and equipment (the end-effector is not included in the working range).

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Figure 5-8 xArm workspace illustration
700mm
700mm
967mm
-700 mm