12
xArm Motion Parameters
The parameters of the robotic arm are shown in Table 1.1 and Table 1.2.
Table 1.1 working range of each joint of the robotic arm
Table 1.2 range of various motion parameters of the robotic arm
Note:
1.
In the TCP motion (Cartesian space motion) commands (set_position () function
of the SDK), If a motion command involves both position transformation and
attitude transformation, the attitude rotation speed is generally calculated
automatically by the system. In this situation, the specified speed parameter is the
maximum linear speed, range from: 0
～
1000mm / s.
2.
When the expected TCP motion only changes the attitude (roll, pitch, yaw), with
Robotic Arm
xArm 5
xArm 6
xArm 7
Maximum
Speed
180°/s
180°/s
180°/s
Working
Range
1st Axis
±360°
±360°
±360°
2st Axis
-
118°～120°
-
118°～120°
-
118°～120°
3st Axis
-
225°～11°
-
225°～11°
±360°
4st Axis
-
97°～180°
±360°
-
11°～225°
5st Axis
±360°
-
97°～180°
±360°
6st Axis
None
±360°
-
97°～180°
7st Axis
None
None
±360°
TCP Motion
Joint Motion
Speed
0
～
1000mm/s
0
～180°/s
Acceleration
0
～
50000mm/s
2
0
～1145°/s
2
Jerk
0
～
10000mm/s
3
0
～28647°/s
3
