MANILA, July 27 — The Philippines on Saturday completed unimpeded a resupply trip to its troops at a disputed South China Sea shoal, its foreign ministry said, the first such mission under a new arrangement with China aimed at cooling tensions.

The Philippines and China last week announced a “provisional agreement” on Manila’s resupply missions to its contingent of troops on a naval ship grounded on the Second Thomas Shoal, after repeated clashes between vessels that have caused regional concerns about an escalation of hostilities.