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.git cd xArm-Python-SDK

  • install
    • install with build

      pip install build python -m build pip 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

• 1.17.0

  • Change some API names

• 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 trajectory 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 the set_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 in robot.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-admittance-control

• 8003-force_control

• 8004-load_identify

• 8005-read_force_data

• 8006-save_force_zero

• 8010-get_ft_sensor_config

• 9000-set_linear_motor

• blockly_to_python

• get_report_data_with_protocol

• Import

  from xarm.wrapper import XArmAPI arm = 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/Gripper G2

  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() # only Gripper G2 arm.get_gripper_g2_position() arm.set_gripper_g2_position(...)

• 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() # only BIO Gripper G2 arm.get_bio_gripper_g2_position() arm.set_bio_gripper_g2_position(...)

• 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.get_tgpio_modbus_timeout(...) arm.set_tgpio_modbus_baudrate(...) arm.get_tgpio_modbus_baudrate(...) arm.getset_tgpio_modbus_data(...)

• GPIO

  # Tool GPIO arm.get_tgpio_digital(...) arm.set_tgpio_digital(...) arm.get_tgpio_analog(...) arm.set_tgpio_digital_with_xyz(...) # Controller GPIO arm.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 Motor

  arm.get_linear_motor_pos() arm.get_linear_motor_status() arm.get_linear_motor_error() arm.get_linear_motor_is_enabled() arm.get_linear_motor_on_zero() arm.get_linear_motor_sci() arm.get_linear_motor_sco() arm.clean_linear_motor_error(...) arm.set_linear_motor_enable(...) arm.set_linear_motor_speed(...) arm.set_linear_motor_back_origin(...) arm.set_linear_motor_pos(...) arm.set_linear_motor_stop(...)

• FT Sensor

  arm.set_ft_sensor_enable(...) arm.set_ft_sensor_mode(...) arm.get_ft_sensor_mode(...) arm.set_ft_sensor_zero(...) arm.iden_ft_sensor_load_offset(...) arm.set_ft_sensor_load_offset(...) arm.set_ft_sensor_admittance_parameters(...) arm.set_ft_sensor_force_parameters(...) 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.connected arm.default_is_radian arm.version arm.position arm.last_used_position arm.tcp_speed_limit arm.tcp_acc_limit arm.last_used_tcp_speed arm.last_used_tcp_acc arm.angles arm.joint_speed_limit arm.joint_acc_limit arm.last_used_angles arm.last_used_joint_speed arm.last_used_joint_acc arm.tcp_offset arm.state arm.mode arm.joints_torque arm.tcp_load arm.collision_sensitivity arm.teach_sensitivity arm.motor_brake_states arm.motor_enable_states arm.has_err_warn arm.has_error arm.has_warn arm.error_code arm.warn_code arm.cmd_num arm.device_type arm.axis arm.gravity_direction arm.gpio_reset_config arm.count arm.temperatures arm.voltages arm.currents arm.cgpio_states