Initial testing of xarm5

[sgbaird]

@cyrilcaoyang suggested starting out with the GUI (Yang, feel free to unsubscribe from this issue).

[Daniel0813]

[Daniel0813]

[Daniel0813]

http://download.ufactory.cc/xarm/en/xArm%20User%20Manual.pdf?v=1578910898247

[Daniel0813]

issue resolved, the J1 cable was not plugged in

[Daniel0813]

UI Setup Windows

1. open control panel
2. go to Network and Internet → Network and Sharing Center → Change adapter settings
3. right click on ethernet adapter (shown in image ethernet2)
4. select Internet Protocol Version 4 (TCP/IPv4)
5. manually set IP Address: 192.168.1.100 Subnet Mask: 255.255.255.0 Default Gateway: (leave blank)
6. DNS is not needed for the robot, but Windows requires something, so set: Preferred DNS server: 8.8.8.8
7. Click OK, then Close

the UI can be accessed on IP Address:: http://192.168.1.231:18333/
(older firmware so not the default https://192.168.1.231/)

[Daniel0813]

Reset to Initial Position before stopping and turning off the power

[sgbaird]

Controlling the arm with the UI: https://youtu.be/PY6x9pjzAuU?si=Wh6m477UxYo6-Hsm

[sgbaird]

We were also having some issues related to the arm falling on itself (when powering it off, @Daniel0813 ?)

[cyrilcaoyang]

It should lock itself with the e-stop, but I have never tried to power off the control box.
I recommand always e-stop before powering it off.
If one is concerned about power interruptions, a UPS (uninterruptible power supply) can be added to the system.

[Daniel0813]

Got it, thanks for the explanation
https://cdn-reichelt.de/documents/datenblatt/C150/XARM_DEVELOPER_MANUAL-1.6.0.pdf

[Daniel0813]

Networks -> Advanced Options -> Edit connections -> Ethernet Wired connection 1 -> IPv4 Settings -> Select method : Manual (no DHCP server) -> set configs as image above

IP Address explanation

robot control box IP: 192.168.1.231

Pi must be on the same subnet:

• Same first 3 numbers: 192.168.1.*
• Different last number (host part) from the robot (231) and not reserved (0 or 255)

So any of these would work:
192.168.1.10
192.168.1.50
192.168.1.100

Netmask explanation: netmask defines the subnet

255.255.255.0 = /24
Means: first 3 octets are the network (192.168.1), last octet is the host
with this mask, Pi considers any 192.168.1.X address to be directly reachable on that Ethernet link

Gateway leave blank (we have no router)

DNS: not necessary but NetworkManager wants some DNS entry there, so used Google’s public DNS (can be left blank)

[Daniel0813]

Initial coordinate
x : -60.2
y: 220.7
z: 179.2
roll: 179.6
pitch: 0.1
yaw: 89.6

Linear Movements
x: +right -left
y: +forward -backward
z: +up -down