Configure an xArmLite Arm
Configure an xArmLite
arm to integrate a UFACTORY Lite 6 into your robot:
Navigate to the Config tab of your robot’s page in the Viam app.
Click on the Components subtab and navigate to the Create component menu.
Enter a name for your arm, select the type arm
, and select the xArmLite
model.
Click Create component.
Edit and fill in the attributes as applicable.
{
"components": [{
"model": "xArmLite",
"name": "<your-arm-name>",
"type": "arm",
"attributes": {
"host": "<your-arms-ip-address-on-your-network>"
},
"depends_on": []
}]
}
{
"components": [{
"name": "my_arm",
"type": "arm"
"model": "xArmLite",
"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
}
}
}]
}
The following attributes are available for xArmLite
arms:
Attribute | Type | Inclusion | Description |
---|---|---|---|
host | string | Required | IP address of the arm’s system on your network. Find this when setting up your xArm. |
port | int | Optional | Port number of the arm’s system. Find this when setting up your xArm. Default: 502 |
speed | float | Optional | Desired maximum speed of joint movement in degrees/sec. Default: 20.0 |
acceleration | float | Optional | Desired 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.
Have questions, or want to meet other people working on robots? Join our Community Discord.
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