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.

Web UI configuration panel for an arm of model xArmLite 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": "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:

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
speedfloatOptionalDesired maximum speed of joint movement in degrees/sec.
Default: 20.0
accelerationfloatOptionalDesired 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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