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:

1. Secure an area for the xArm robotic arm to be installed based on the robot's dimensions.

2. 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.

3. 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.

4. 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.

5. 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	-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 Name	Lower Limit	Upper Limit
Joint 1	-178	178
Joint 2	-125	125
Joint 3	-178	178
Joint 4	-6	178
Joint 5	-178	178
Joint 6	30	178
Joint 7	-178	178

7. Once the xArm is moved to a suitable position and the limits verified, close the uFactory Studio.

8. 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
9. Restart the xARM by depressing the safety switch on the control box and restarting the RoboKit.

10. Connect the robotic arm and the gripper with the gripper connection cable:

Gripper Cable Connection

8. Setup the Router, RoboKit and SenseKit connections as per the block diagram:

Connection Block Diagram

Connect the RoboKit to the control box ethernet cable to using the Ethernet to USB converter.

9. Connect the RoboKit and SenseKit to the router using the ethernet cables.

10. Configure the router settings to give network access to the IP’s of RoboKit and SenseKit. The default IPs of the RoboKit and SenseKit can be found on their cases. Skip this step if using the router provided by Extend Robotics.

11. Connect the power supplies to the RoboKit and SenseKit.

12. Power On the RoboKit by pressing the power button.

13. Check the IP of the xArm found on the control box.

14. Power On the xArm and release the xArm safety switch.

The initial setup is now finished. Follow the instructions on the next page for further guidelines on starting and running the RoboKit.