Multi-robot
All five uFactory arms (Lite 6, xArm 5, xArm 6, xArm 7, uFactory 850) share the SDK + the G-code dialect; only the kinematics + meshes differ. The plugin abstracts that behind a single Robot selector.
The selector
- Drop a Robot component (→ Robots).
- Right-click the component title bar. A submenu shows all 5 models with their DOF.
- Pick one. The component's nickname updates to reflect your choice.
- Wire the Robot output into the optional Robot input on every motion / sim / utility / codegen component that needs to know.
DOF differences
| Model | DOF | Pose component inputs |
|---|---|---|
| xArm 5 | 5 | J1-J5 used; J6 and J7 ignored |
| Lite 6, xArm 6, UF850 | 6 | J1-J6 used; J7 ignored |
| xArm 7 | 7 | J1-J6 + J7 used (redundant axis) |
xArm 5: the 4-DOF Cartesian limitation
xArm 5's mechanical design restricts Cartesian motion to 4 DOF: x, y, z, yaw. The flange must stay parallel to base. PTP / LIN will warn if you hand them a target plane whose Z axis tilts more than ~5° off world Z.
xArm 7, redundant axis
The 7th joint sits between J2 (shoulder pitch) and the elbow, giving the arm a "human-like" extra elbow swing. IK uses Damped Least Squares which gives you a minimum-norm joint step automatically, no special configuration needed. The arm is more flexible at the cost of higher complexity in Pose component (use the J7 input).
Meshes
Visual meshes for all supported arms are embedded in the plugin, so Sim can show the real robot out of the box. See Real meshes for how the Real Meshes toggle works.