Operate the Real Arm · xArm 6 · Step 4 of 9
Run the Arm
Here you use Studio's controls on the real arm: move it joint by joint and in straight lines, guide it by hand, work the gripper, and run, pause and stop an approved program or recording. Keep the speed low, keep clear of the arm, and keep the emergency stop within reach.
Jog the Joints
- In Live Control, each joint can be moved on its own. Joint motion reaches the target by the fastest path, so the tool's path is not a straight line2.
- The speed slider sets the speed of Live Control's moves, from 1% to 100%. It is a jogging speed, not the arm's top speed3.
Jog in Straight Lines
- The linear controls move the tool in a straight line, in the base or the tool coordinate system: X, Y and Z in mm, and roll, pitch and yaw in degrees2.
- A straight-line move must be solved for the joints, and there may be no solution, several, or only an approximate one4.
Guide the Arm by Hand
Warning
- With Manual Mode on, you can move the joints freely by hand. It turns on only when the arm's and control box's serial numbers are matched7.
- Teach sensitivity, levels 1 to 5, sets how hard you must push. A higher level needs less force8.
- Turn Manual Mode off when you have finished moving the arm by hand9.
Use the Vacuum Gripper
- Lab staff show you how the fitted tool's suction is switched from Studio. Check it by test, with them1011:
- Put a part flat on the work surface, below the suction cups11.
- Jog the arm down slowly until the cups are just on the part. Keep your hands clear of the arm and the part312.
- Use the gripper control lab staff show you, then jog the arm up a little. If the part lifts, the suction is on10.
- Jog the arm back down until the part is on the surface, release it, and note which control does what103.
Run an Approved Program
Run only an existing program lab staff have approved for the task. Do not create or change one13.
- Blockly: open the approved project and click Run to start it14.
- Pause: click Pause in Blockly14. How a paused Blockly program resumes is not stated in UFACTORY's manual: ask lab staff before you start15.
- Stop: click Studio's STOP. The arm stops at once and its queued commands are cleared. Power stays on16.
- Emergency: press the emergency stop on the control box17.
- Python IDE: Studio's Python IDE is a Python environment that uses UFACTORY's Python SDK directly18. UFACTORY's manual does not describe its run, pause and stop controls, so have lab staff show you them before you run an approved script, and use Studio's STOP to stop the arm1516.
- Blockly's built-in examples, such as UFACTORY's vacuum gripper pick-and-place, are programs to learn from. Run one on the real arm only if lab staff approve it for the task1913.
Play Back an Approved Recording
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