Smoother movements for 3D printing

xArm/850 Troubleshooting
1

Hi,

I have an xarm 7 that I am looking to use for 3D printing. I have just about got there with the setup, but the movements in Z at least are a bit jerky and I can see this causing issues in the printed layers. Is there any way to resolve this, or is this the expected movement of the xarm7?

I am using Gcode for this, I don’t know if that is the issue. I have tried increasing the density of targets, and putting z in all the lines or just one.

Below is a link to a video showing this and some sample code:

youTube

G1 X388.32 Y-56.56 Z135 F400
G1 X393.16 Y-56.56
G1 X397.99 Y-56.56
G1 X402.83 Y-56.56
G1 X407.67 Y-56.56
G1 X412.51 Y-56.56
G1 X417.35 Y-56.56
G1 X422.19 Y-56.56
G1 X427.03 Y-56.56
G1 X431.86 Y-56.56
G1 X436.7 Y-56.56
G1 X441.54 Y-56.56
G1 X446.38 Y-56.56
G1 X451.22 Y-56.56
G1 X456.06 Y-56.56
G1 X460.89 Y-56.56
G1 X465.73 Y-56.56
G1 X470.57 Y-56.56
G1 X475.41 Y-56.56
G1 X480.25 Y-56.56
G1 X485.09 Y-56.56
G1 X489.93 Y-56.56
G1 X494.76 Y-56.56

Thank you in advance,
Pol

2

Hi Pol,

We ran the same tests but everything works fine.
What’s the SN of your arm? What is the firmware and ufactory Studio version? What is the TCP payload and offset?

You can download the UFACTORY Assistant tool, choose ‘Actual Pose’, and start looking to see if there’s a jump in each direction, take a screenshot of the result to us.

Test Video & Assistant Tool:
2025/01/03 - Google ドライブ

image
image1919×879 83.1 KB

Best regards,
Minna

3

Hi Minna,

Apologies for the delay in getting back to you.

Xarm Serial No: XS120010191LOF
Xarm Firmware: 2.5.5
Ufactory Software: 2.5.109
TCP Payload and offset: Weight:0.688kg / X 0, Y 95mm, Z 40mm, Roll 90deg, Pitch 0, Yaw 0

Attached is an image from Ufactory Assistant and it does appear there is not smooth movements. Can you suggest anything to resolve this?

actualTCP
actualTCP1183×729 48.3 KB

Many thanks,
Pol

4

Hi Pol,

Would you please choose ‘actual joint position’ and move each joint individually to see which joint is the problem?
And please choose ‘actual joint currents’, move the arm, take a screenshot of the result to me, thanks.

Best regards,
Minna

5

Hi Minna,

Attached is the actual joint current screen grab (moving arm in +ve x)

I have also done the actual joint position, but I am not sure how to report back to you. I assume I should only be seeing one joint move when I change a single joints position, but I can see there is movement in the other joints of approx 0.001 to 0.008 degrees.

Would you like a screen shot for when each joint is moved?

actual joint currents
actual joint currents1845×995 80 KB

Thank you,
POL

6

Hi POL，

Thanks. From the pics, there may be some problems with J4, but we are not sure.
Please enter ‘Debugging Tools-Joint’, enter ‘H101D190CV360I4’ and send, press down the E stop button and release, do the test again to see if any jerky.

If the problem is still here, please send an email to support@ufactory.cc, we could hold a meeting directly to troubleshoot it.

Best regards,
Minna