xArm-Python-SDK

Overview

xArm Python SDK

Caution

• Please keep away from the robot arm to avoid personal injury or equipment damage.
• Make sure to do a safety assessment before moving to prevent collisions.
• Protect the arm before unlocking the joint.

Hardware Supplement(直流电版)

直流电版本,需要额外购买

1. 电源转换器

tb link: 【淘宝】7天无理由退货 https://e.tb.cn/h.6lX75eaYhouzvGc?tk=zFzbV3xND3P CZ007 「明伟开关电源24VNES/S-350w500-24V15A变压器220转12伏5直流48V36」 点击链接直接打开 或者 淘宝搜索直接打开 option: S-500-24 24V 20.8A

2. 电源线

tb link: 导线 【淘宝】假一赔四 https://e.tb.cn/h.6k9gjbKl4q19jTY?tk=G9nMVWUqy1J CZ356 「RV线电子排多股软铜芯电线黄绿接地线桥架接地线光伏电源信号线」 点击链接直接打开 或者 淘宝搜索直接打开

option: RV 2.5

3. 导线

tb link: 导线 【淘宝】假一赔四 https://e.tb.cn/h.6k9gjbKl4q19jTY?tk=G9nMVWUqy1J CZ356 「RV线电子排多股软铜芯电线黄绿接地线桥架接地线光伏电源信号线」 点击链接直接打开 或者 淘宝搜索直接打开

option: 国标1.0平方 1.5m

Hardware connection

电源插头与电源转换器

电源插头	控制器
红色 +V	VP+
黑色 -V	GND
GND	PE

controller with arm

emergency stop

急停这里要把它原先的端子用力拔出(左图),而后再把急停端子用力插入

arm base

网线

此外，用网线连接控制器和电脑

Network Connection

在控制箱上有机械臂的ip地址

根据机械臂ip地址，将PC ip地址进行设置

name: xarm

IPv4: 192.168.1.220 (在192.168.1.x网段下即可, 设置的ip不要是0, 255和与机械臂ip相同)

子网掩码: 255.255.255.0

Installation

  you can run examples without installation. Only Python 3 is supported.

1. download

git clone https://github.com/ChangerC77/xArm-Python-SDK.git

2. install

cd xArm-Python-SDK
python setup.py install

cd xArm-Python-SDK
pip install xarm-python-sdk

Start

1. eef pose control

python xArm-Python-SDK/control/control_pose.py

2. joint position control

python xArm-Python-SDK/control/control_joint.py

3. get info

python xArm-Python-SDK/control/get_info.py

4. go to home position

python xArm-Python-SDK/control/home.py

5. teach mode

python xArm-Python-SDK/control/teach.py

6. teleoperation with spacemouse

about using spacemouse, see more details in spacemouse setting, Teleoperation setup

python xArm-Python-SDK/control/spacemouse_teleoperation.py

7. teleoperation with tracker

about configuration of tracker, see more details in tracker settings

python xArm-Python-SDK/control/tracker_teleoperation.py

8. record data

python xArm-Python-SDK/control/record_trajectory.py

9. playback data

python xArm-Python-SDK/control/playback_trajectory.py

10. clear error

python xArm-Python-SDK/control/clearn_error.py

11. set tcp

python xArm-Python-SDK/control/set_tcp.py

12. mode & state definition

1. position control mode

arm.set_mode(0)
arm.set_state(state=0)

2. teach mode

arm.set_mode(7)
arm.set_state(0)

3. continus mode

arm.set_mode(7)
arm.set_state(0)

13. force sensor

python xArm-Python-SDK/control/read_force_sensor.py

Doc

• API Document

• API Code Document

• UFACTORY ModbusTCP Manual