Configure an xArm6 Arm

Configure an xArm6 arm to integrate a UFACTORY xArm 6 into your robot:

Navigate to the Config tab of your robot’s page in the Viam app. Click on the Components subtab and click Create component. Select the arm type, then select the xArm6 model. Enter a name for your arm and click Create.

Web UI configuration panel for an arm of model xArm6 in the Viam app, with Attributes & Depends On drop-downs and the option to add a frame.

Edit and fill in the attributes as applicable.

{
  "components": [
    {
      "model": "xArm6",
      "name": "<your-arm-name>",
      "type": "arm",
      "attributes": {
        "host": "<your-arms-ip-address-on-your-network>"
      },
      "depends_on": []
    }
  ]
}

{
  "components": [
    {
      "attributes": {
        "host": "10.0.0.97"
      },
      "depends_on": [],
      "frame": {
        "orientation": {
          "type": "ov_degrees",
          "value": {
            "th": 0,
            "x": 0,
            "y": 0,
            "z": 1
          }
        },
        "parent": "world",
        "translation": {
          "x": 0,
          "y": 0,
          "z": 0
        }
      },
      "model": "xArm6",
      "name": "xArm6",
      "type": "arm"
    }
  ]
}

The following attributes are available for xArm6 arms:

AttributeTypeInclusionDescription
hoststringRequiredIP address of the arm’s system on your network. Find this when setting up your xArm.
portintOptionalPort number of the arm’s system. Find this when setting up your xArm.
Default: 502
speed_degs_per_secfloatOptionalDesired maximum speed of joint movement in degrees/sec.
Default: 20.0
acceleration_degs_per_sec_per_secfloatOptionalDesired maximum acceleration of joint movement in degrees/sec2.
Default: 50.0

See the frame system Service for more information on utilizing and modifying the "frame" configuration shown in the JSON Example above.



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