How to Perform Friction Identification

1. Safety Tips

1. Clear the Workspace: During the identification process, the robotic arm will perform large-range movements at various speeds. Ensure there are no obstacles, personnel, or cable interference within the full reach of the arm.

2. Remove End-Effector Loads: When performing friction identification, please remove all end-effectors and cables to ensure the robotic arm's end-flange is in a no-load state.

2. Preparation

1. Set Payload to 0: In the "Settings-Motion-TCP" of UFACTORY Studio, set the payload weight and offsets to 0.

2. Complete No-Load State: Remove all end-effectors and detach all external cables from the xArm tool end

3. Enable the Arm: Ensure the robotic arm is in the Enabled state and there are no error codes.

4. Confirm Space: Re-verify that the robotic arm's workspace is clear and open.

5. Software Preparation: Download and extract the xarm-tool-gui

3. Operating Steps

1. Run xarm-tool-gui.

2. Enter the controller IP address and click Connect.

3. Switch to the 【综合测试】 tab. Uncheck 【所有项目】 and check only 【摩擦力辨识】.

4. Click 【开始测试】. A confirmation box will appear. After re-confirming that the surrounding environment is safe, click 【是】.

5. Once identification begins, the arm will move continuously for approximately 5 minutes.

6. Upon completion, the log area will display "joint friction iden finish" and "摩擦力辨识成功、摩擦力保存成功".

7. Press the E-Stop button and wait for 5 seconds → Release the E-Stop → enable the arm to complete the process.