User Manual

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2.1.3 Analysis of the Motion Status of the Robotic Arm ......... 187
2.2. Motion of the Robotic Arm ................................................................ 189
2.2.1. Joint Motion ........................................................................................ 189
2.2.2. Linear Motion and Arc Linear Motion .................................. 194
2.2.3. Circular and Arc Motion ........................................................... 200
2.3. xArm5 Motion Characteristics .......................................................... 204
2.4. Singularity ............................................................................................... 205
3. Typical Examples ............................................................................................... 208
3.1. The Use of xArm Vacuum Gripper .................................................... 208
3.2. The Use of xArm Gripper .................................................................... 209
3.3. The Use of the Digital IO ..................................................................... 210
3.4. Cyclic Motion Count ............................................................................. 210
Appendix ................................................................................................................. 213
Appendix1-Error Reporting and Handling .................................................... 213
1.1 Joints Error Message and Error Handling ...................................... 213
1.2 Control Box Error Code and Error Handling ................................ 216
1.2.1 Control Box Error Code ........................................................... 216
1.2.2 Control Box Error Code ........................................................... 218
1.3 Gripper Error Code & Error Handling ............................................ 219
1.4 Python SDK Error Code & Error Handling ...................................... 221
Appendix2-Technical Specifications ................................................................ 223
2.1 xArm5/6/7 Common Specifications ............................................... 223