UFactory xArm
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The components of the hardware package are designed to offer the user a plug-and-play experience. To assemble the hardware components, please follow the instructions in this chapter. The following image shows the contents of the uFactory xArm box:
To assemble the xArm robotic arm, connect the components as per the following diagram:
Now follow the steps:
Secure an area for the xArm robotic arm to be installed based on the robot's dimensions.
When the xArm's joints are all in the zero initial position, the gripper will interfere with the installation surface. As a result, the arm must be moved before attaching the robot.
Connect the xArm robotic arm's control box to the PC using the ethernet cable. Configure the PC's IPv4 settings to be on the same network as the xArm.
uFactory Studio is the xArm default application for controlling the robotic arm. Use it to move the robotic arm to a position suitable for installing the gripper during installation.
The AMAS system operates within the joint limits for xArm6 and xArm7 below. If any joint is outside these limits, please use the uFactory GUI to move it back within the limit. For xArm6:
Joint 1
-150
150
Joint 2
-60
90
Joint 3
-100
0
Joint 4
-150
150
Joint 5
30
178
Joint 6
-150
150
For xArm7:
Joint 1
-170
170
Joint 2
-115
115
Joint 3
-170
170
Joint 4
5
120
Joint 5
-170
170
Joint 6
10
170
Joint 7
-170
170
Once the xArm is moved to a suitable position and the limits verified, close the uFactory Studio.
Press the xARM safety switch on the control box and attach the gripper to the end of the robotic arm with 2 M6 bolts, as shown below:\
Connect the robotic arm and the gripper with the gripper connection cable:
Setup the Router, ER, Cortex, and Camera/Sensor connections as per the block diagram:
Connect the Cortex to the router using WiFi or ethernet cable.
Configure the router settings to give network access to the IP’s of Cortex and Sensors. The default IP of the Cortex can be found on their cases. Skip this step if using the router provided by Extend Robotics.
Connect the power supplies to the Cortex and Camera(s).
Power On the Cortex by pressing the power button.
Check the IP of the xArm found on the control box.
Power On the xArm and release the xArm safety switch.
To use custom end effector (not officially supported by the Ufactory) like Robotera XHAND1 or Inspire Robots Dexterous Hand, the following setups need to be adjusted.
Selected End Effector
TCP Configuration
Modbus Configuration (Only needed if the end effector is connected to the xArm's RS-485 port)
Connect to the xArm robot arm using Ufactory Studio.
In Live Control, select the Gripper type as Cylinder and click Edit, to change the R and H.
Set the R and H, as per the dimension of the custom gripper. For example, for Inspire Robotics Dexterous Hand the values would be : R: 31 mm, and H: 218 mm
Click Save.
Click on the Settings Icon
In the Settings, Motion, Click TCP
Click New
Give the custom end effector's name
A prompt will appear to calculate the TCP payload (manual or automatic)
Click Identification
Note: When the automatic identification is selected, the robotic arm runs a series of action commands to calculate the parameters of the TCP payload. During this process, it is important to ensure equipment and personnel safety near the robotic arm.
Click Next Step after ensuring the workspace is clear and the robot is free to make the movements necessary for the TCP payload identification.
After completing the TCP load settings, click Next to start the TCP offset settings
To set the TCP Offset Parameters, select Manual Input
Set all the parameters (X, Y, Z, Roll, Pitch and Yaw) as 0.0
Click Save
In the Settings, Externals, click Modbus RTU
For the RS-485 port as the Robot arm set the
Modbus Baud Rate as per the requirement of the end effector from the dropdown. For example it is 115200 for the Inspire Robot Dexterous Hand
Timeout as 100 ms
Please follow the steps in the to set up the Ufactory xArm to use with AMAS.
