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xArm Python SDK

• Please keep away from the robot arm to avoid personal injury or equipment damage.
• Make sure to do a safety assessment before moving to prevent collisions.
• Protect the arm before unlocking the joint.

  you can run examples without installation.Only Python3 is supported.

• Install from source code
  • download

    git clone https://github.com/xArm-Developer/xArm-Python-SDK.gitcd xArm-Python-SDK

  • install
    • install with build

      pip install buildpython -m buildpip install dist/xarm_python_sdk-1.16.0-py3-none-any.whl

    • install with source code

      pip install.

• Install from pypi

  pip install xarm-python-sdk

• API Document

• API Code Document

• UFACTORY ModbusTCP Manual

• 1.16.0

  • Added parameter to support get raw data of the Six-axis Force Torque Sensor
  • Added an interface to control xArm Gripper G2
  • Optimize the interface for controlling BIO Gripper G2
  • Extend the get_joint_states interface

• 1.15.0

  • Added the Six-axis Force Torque Sensor collision detection related interfaces
  • Added support for the new version of BIO Gripper control interface

• 1.14.7

  • Fixed the problem that single joint or direction movement fails in some cases (valid from firmware 2.5.0)
  • Added standard ModbusTcp client and Gcode client
  • GPIO control supports immediate execution
  • Support new version of vacuum gripper
  • Support the studio-2.5.0 blockly project conversion to python

• 1.13.30

  • Supports obtaining unsaved track recording duration
  • Fix the abnormal path of running blockly program in some cases
  • Fix the return format of getting C23 and C38 errors
  • Supports obtaining identification status

• 1.13.19

  • Friction identification supports xarm7_mirror model
  • Fix the abnormal return value of blockly conversion robotiq related interface

• 1.13.0

  • Compatible with the standard Modbus TCP protocol, providing part of the standard Modbus TCP protocol interface

• 1.12.2

  • Support partial Task feedback (requires firmware version greater than or equal to v2.1.0)

• 1.11.6

  • Correct the ambiguity that theset_position_aa interface is true when both relative and is_tool_coord are true. After the correction, when is_tool_coord is true, relative is invalid (previously is_tool_coord was invalid when relative was true)

• 1.11.5

  • Optimization pause time is too long (wait=true)
  • Add common motion api (Enabled after firmware version 1.11.100)
  • The Cartesian motion-related interface adds the motion_type parameter to determine the planning method (Enabled after firmware version 1.11.100)

• More

  Before running the example, please modify the IP inrobot.conf to corresponding IP you want to control.

• 0000-template

• 0001-event_register

• 0002-get_property

• 0003-api_get

• 0004-servo_attach_detach

• 1001-move_line

• 1002-move_line

• 1003-relative_move_line

• 1004-move_arc_line

• 1005-move_arc_line

• 1006-move_tool_line

• 1007-counter

• 1008-move_line_aa

• 1009-cartesian_velocity_control

• 1010-cartesian_online_trajectory_planning

• 2000-joint_velocity_control

• 2006-joint_online_trajectory_planning

• 2001-move_joint -->xarm5 ---xarm6 ---xarm7

• 2002-move_joint -->xarm5 ---xarm6 ---xarm7

• 2003-move_joint -->xarm5 ---xarm6 ---xarm7

• 2004-move_joint -->xarm5 ---xarm6 ---xarm7

• 2005-move_arc_joint -->xarm5 ---xarm6 ---xarm7

• 3001-move_circle

• 3002-record_trajectory

• 3003-playback_trajectory

• 3004-get_report_data

• 3005-task_feedback

• 3006-standard_modbus_tcp

• 5000-set_tgpio_modbus

• 5001-get_tgpio_digital

• 5002-get_tgpio_analog

• 5003-set_tgpio_digital

• 5004-set_gripper

• 5005-get_cgpio_digital_analog

• 5006-set_cgpio_digital_analog

• 5007-set_cgpio_input_output_function

• 5008-get_cgpio_state

• 5009-set_bio_gripper

• 6001-set_reduced_mode

• 6002-set_fense_mode

• 7001-servo_j

• 7002-servo_cartesian

• 7003-servo_cartesian_aa

• 8000-load_identify_current

• 8001-force_tech

• 8002-impedance

• 8003-force_control

• 8004-load_identify

• 8005-read_force_data

• 8006-save_force_zero

• 8010-get_ft_sensor_config

• 9000-set_linear_track

• blockly_to_python

• get_report_data_with_protocol

• Import

  fromxarm.wrapperimportXArmAPIarm=XArmAPI('COM5')arm=XArmAPI('192.168.1.113')arm=XArmAPI('192.168.1.113',do_not_open=False)arm=XArmAPI('192.168.1.113',is_radian=False)

• Connect/Disconnect

  arm.connect(...)arm.disconnect()

• Move

  arm.reset(...)arm.set_position(...)arm.set_servo_angle(...)arm.set_servo_angle_j(...)arm.set_servo_cartesian(...)arm.move_gohome(...)arm.move_circle(...)arm.emergency_stop()arm.set_position_aa(...)arm.set_servo_cartesian_aa(...)arm.vc_set_joint_velocity(...)arm.vc_set_cartesian_velocity(...)

• Set

  arm.set_servo_attach(...)arm.set_servo_detach(...)arm.set_state(...)arm.set_mode(...)arm.motion_enable(...)arm.set_pause_time(...)

• Get

  arm.get_version()arm.get_state()arm.get_is_moving()arm.get_cmdnum()arm.get_err_warn_code()arm.get_position(...)arm.get_servo_angle(...)arm.get_position_aa(...)arm.get_pose_offset(...)

• Setting

  arm.set_tcp_offset(...)arm.set_tcp_jerk(...)arm.set_tcp_maxacc(...)arm.set_joint_jerk(...)arm.set_joint_maxacc(...)arm.set_tcp_load(...)arm.set_collision_sensitivity(...)arm.set_teach_sensitivity(...)arm.set_gravity_direction(...)arm.config_tgpio_reset_when_stop(...)arm.config_cgpio_reset_when_stop(...)arm.set_report_tau_or_i(...)arm.set_self_collision_detection(...)arm.set_collision_tool_model(...)arm.clean_conf()arm.save_conf()

• Gripper

  arm.set_gripper_enable(...)arm.set_gripper_mode(...)arm.set_gripper_speed(...)arm.set_gripper_position(...)arm.get_gripper_position()arm.get_gripper_err_code()arm.clean_gripper_error()

• BIO Gripper

  arm.set_bio_gripper_enable(...)arm.set_bio_gripper_speed(...)arm.open_bio_grippe(...)arm.close_bio_gripper(...)arm.get_bio_gripper_status()arm.get_bio_gripper_error()arm.clean_bio_gripper_error()

• RobotIQ Gripper

  arm.robotiq_reset()arm.robotiq_set_activate(...)arm.robotiq_set_position(...)arm.robotiq_open(...)arm.robotiq_close(...)arm.robotiq_get_status(...)

• Modbus of the end tools

  arm.set_tgpio_modbus_timeout(...)arm.set_tgpio_modbus_baudrate(...)arm.get_tgpio_modbus_baudrate(...)arm.getset_tgpio_modbus_data(...)

• GPIO

  # Tool GPIOarm.get_tgpio_digital(...)arm.set_tgpio_digital(...)arm.get_tgpio_analog(...)arm.set_tgpio_digital_with_xyz(...)# Controller GPIOarm.get_cgpio_digital(...)arm.get_cgpio_analog(...)arm.set_cgpio_digital(...)arm.set_cgpio_analog(...)arm.set_cgpio_digital_input_function(...)arm.set_cgpio_digital_output_function(...)arm.get_cgpio_state()arm.set_cgpio_digital_with_xyz(...)arm.set_cgpio_analog_with_xyz(...)

• Linear Track

  arm.get_linear_track_pos()arm.get_linear_track_status()arm.get_linear_track_error()arm.get_linear_track_is_enabled()arm.get_linear_track_on_zero()arm.get_linear_track_sci()arm.get_linear_track_sco()arm.clean_linear_track_error(...)arm.set_linear_track_enable(...)arm.set_linear_track_speed(...)arm.set_linear_track_back_origin(...)arm.set_linear_track_pos(...)arm.set_linear_track_stop(...)

• FT Sensor

  arm.set_impedance(...)arm.set_impedance_mbk(...)arm.set_impedance_config(...)arm.config_force_control(...)arm.set_force_control_pid(...)arm.ft_sensor_set_zero(...)arm.ft_sensor_iden_load(...)arm.ft_sensor_cali_load(...)arm.ft_sensor_enable(...)arm.ft_sensor_app_set(...)arm.ft_sensor_app_get(...)arm.get_ft_sensor_data(...)arm.get_ft_senfor_config(...)arm.get_ft_sensor_error(...)

• Other

  arm.set_pause_time(...)arm.system_control(...)arm.clean_error()arm.clean_warn()arm.set_counter_reset()arm.set_counter_increase(...)

• Register/Release

  arm.register_report_callback(...)arm.register_report_location_callback(...)arm.register_connect_changed_callback(callback)arm.register_state_changed_callback(callback)arm.register_mode_changed_callback(callback)arm.register_mtable_mtbrake_changed_callback(callback)arm.register_error_warn_changed_callback(callback)arm.register_cmdnum_changed_callback(callback)arm.register_temperature_changed_callback(callback)arm.register_count_changed_callback(callback)arm.release_report_callback(callback)arm.release_report_location_callback(callback)arm.release_connect_changed_callback(callback)arm.release_state_changed_callback(callback)arm.release_mode_changed_callback(callback)arm.release_mtable_mtbrake_changed_callback(callback)arm.release_error_warn_changed_callback(callback)arm.release_cmdnum_changed_callback(callback)arm.release_temperature_changed_callback(callback)arm.release_count_changed_callback(callback)

• Property

  arm.connectedarm.default_is_radianarm.versionarm.positionarm.last_used_positionarm.tcp_speed_limitarm.tcp_acc_limitarm.last_used_tcp_speedarm.last_used_tcp_accarm.anglesarm.joint_speed_limitarm.joint_acc_limitarm.last_used_anglesarm.last_used_joint_speedarm.last_used_joint_accarm.tcp_offsetarm.statearm.modearm.joints_torquearm.tcp_loadarm.collision_sensitivityarm.teach_sensitivityarm.motor_brake_statesarm.motor_enable_statesarm.has_err_warnarm.has_errorarm.has_warnarm.error_codearm.warn_codearm.cmd_numarm.device_typearm.axisarm.gravity_directionarm.gpio_reset_configarm.countarm.temperaturesarm.voltagesarm.currentsarm.cgpio_states