UFactory xArm

uFactory studio can be installed on the Windows laptop running the AMAS VR application. To use xARM Studio, please follow the steps in the xARM manual.

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:

UFactory xArm Components

To assemble the xArm robotic arm, connect the components as per the following diagram:

Connection Instructions for xArm6

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 Name	Lower Limit	Upper Limit
Joint 1	-360	360
Joint 2	-117	116
Joint 3	-219	10
Joint 4	-360	360
Joint 5	-97	180
Joint 6	-360	360

For xArm7:

Joint Name	Lower Limit	Upper Limit
Joint 1	-360	360
Joint 2	-117	116
Joint 3	-360	360
Joint 4	-6	225
Joint 5	-360	360
Joint 6	-97	180
Joint 7	-360	360

• 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:\

  

  Gripper Connection
• Connect the robotic arm and the gripper with the gripper connection cable:

  

  Gripper Cable Connection
• Setup the Router, ER, Cortex, and Camera/Sensor connections as per the block diagram:

Connection 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.

Configuration for xArm to use the Custom End Effector :

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)

End Effector Selection

• 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

End Effector Selection

• Click Save.

TCP Configuration

• Click on the Settings Icon

• In the Settings, Motion, Click TCP

TCP Payload and Offset Information

• Click New

• Give the custom end effector's name

• A prompt will appear to calculate the TCP payload (manual or automatic)

TCP Payload Identification Method

• 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.

TCP Payload Automatic Identification Confirmation

• After completing the TCP load settings, click Next to start the TCP offset settings

• To set the TCP Offset Parameters, select Manual Input

TCP Offset Parameters Setup Method

• Set all the parameters (X, Y, Z, Roll, Pitch and Yaw) as 0.0

• Click Save

Mounting

Setting the mounting direction of the robotic arm mainly informs the control box of the current relationship between the actual mounting direction of the robotic arm and the direction of gravity. If the mounting direction of the robotic arm is set incorrectly, the robotic arm will not be able to recognise the direction of gravity accurately, which will cause the robotic arm to frequently trigger a collision warning and stop motion and result in uncontrolled motion of the robotic arm after entering manual mode.

To set the orientation of the xArm, please refer to the manufacturer's guide.

xArm with SN of XF1300/XI1300/XS1300 and later versions: The robot arm's built-in IMU detects the direction of gravity.

Modbus Configuration

1. In the Settings, Externals, click Modbus RTU

2. For the RS-485 port as the Robot arm set the

   1. 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

   2. Timeout as 100 ms

   

   Modbus Configuration for the Custom End Effector Hand

Software Setup

Please follow the steps in the Cortex Firmware Configuration to set up the Ufactory xArm to use with AMAS.