Sections
  1. §1 xArm 6 overview
  2. §2 Role in the Phase 1 production process
  3. §3 Major components
  4. §4 How the machine works
  5. §5 Key specifications and capabilities
  6. §6 Basic operating sequence
  7. §7 Safety requirements
  8. §8 Control, communication and programming interfaces
  9. §9 Limitations and open technical questions
  10. §10 Manuals, videos and other useful resources

Planned

  • Twin: a twin-ready view of the arm and its cell

Robot arm · UFACTORY

UFACTORY xArm 6

  • The UFACTORY xArm 6 is a robot arm with six degrees of freedom1.
  • At IntelliMake's Phase 1 factory it is station S6, where it handles parts after processing, routing them to inspection, rework or shipping23.

Start the beginner path Open the course

3D model © 2018 UFACTORY Inc., BSD 3-Clause. Licence text

Headline facts

  • 5 kg

    Maximum payload4

  • 700 mm

    Reach5

  • ±0.1 mm

    Stated repeatability6

  • 12.5 kg

    Arm weight, arm only; another UFACTORY source gives a different figure78

  • 1 m/s

    Top speed of the tool point9

The emergency stop

  • Pressing the control box's emergency stop slows the arm in software, stops all of its activity and clears the cached commands; the manual says power to the arm is removed within 300 ms10.
  • The arm does not hold perfectly still: the manual says it will slightly brake and fall11.
  • The manual describes this stop in ways that do not fit together12. Safety requirements teaches how to work around the arm.

What you can do with this item

  • Learn

    Free · 10 of 10 sections

    10 sections × 4 tiers, 132 practice questions and 92 cited sources.

    Open the course

  • Operate

    Jog the simulated arm and automate a task in a teaching scene. Simulation only: nothing on this site moves a real machine.

Choose your tier

Choose where to start. Every tier stays open to everyone; the choice only decides which panel you see first. What the four tiers mean

  1. 01

    Beginner

    For: Anyone with no robotics background: a visitor, a new operator, a manager

    What is this machine, what is it for, and how do I stay safe?

    Start here at Beginner

  2. 02

    Novice

    For: Someone who will work near or with the cell: operator, trainee technician

    How does it work, and how is it run day to day?

    Start here at Novice

  3. 03

    Intermediate

    For: Someone who will set up, program or maintain the arm: technician, student engineer

    How do I set it up, program it and recover it?

    Start here at Intermediate

  4. 04

    Expert

    For: Someone who designs, integrates or changes the cell: integrator, engineer, agent developer

    How do I choose interfaces, reason about cycle time, integrate it with the cell, and anticipate failures?

    Start here at Expert

Provenance

References · 12

Each number in the text points here. Every entry states its confidence class in words and keeps its evidence one click away. How to read the labels.

Key to the badges
Confidence: Verified
A manufacturer or IntelliMake document says so, or it was observed directly. It does not mean anyone measured it at S6.
Confidence: Inferred
Reasoned from Verified facts. The reasoning is printed with the record.
Confidence: Assumed
Plausible but untested. The record says how it would be checked.
Kind: Gap
Not known. No figure or answer is given in its place.
Kind: Contradiction
Sources disagree. Both sides are shown, and the site does not pick one silently.
Kind: Recommendation
Project advice drawn from the records it cites. Not a fact about the machine and not a confidence class, so the filter never hides it.
Awaiting cell access
Awaiting cell access: could be confirmed or corrected once the physical S6 cell can be observed.
This project's simulation and agent design, not the physical cell
This project's simulation and agent design, not the physical cell.

  1. Confidence: Verifiedspec-501

    The record says

    The xArm 6 has 6 degrees of freedom.

    Evidence · 3 citations

    Degress of Freedom 6

    UFACTORY xArm Hardware Manual (online), 8. Technical Specifications · UFACTORY · Table 'xArm6', 'Degress of Freedom' row (sic) (section '8.3 xArm6 Specifications': names the xArm 6)

    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-15

    Open the source

    Degrees of freedom 5 6 7

    UFACTORY xArm product page · UFACTORY · 'Degrees of freedom' row (Tech Specs > Comparison table, columns xArm 5, xArm 6, xArm 7; value read from the xArm 6 column)

    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21

    Open the source

    This robot arm has 6 axes, with 5kg payload and 1m/s speed.

    The difference between UFACTORY xArm5, UFACTORY xArm6 and UFACTORY xArm7 (Help Center article) · UFACTORY · Section 1 'Main difference in brief', xArm 6 entry

    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21

    Open the source Plain http: this publisher has no certificate for that name, so what loads cannot be verified.

  2. Confidence: Verifiedint-001

    The record says

    The IntelliMake Phase 1 Factory is designed to demonstrate autonomous production of high-mix, low-volume personalized products.

    Evidence · 1 citation

    Designed to demonstrate autonomous production of high-mix, low-volume personalized products.

    IntelliMake Phase 1 Factory: Autonomous Production Demonstrator (infographic) · IntelliMake.org · Header paragraph

    © IntelliMake.org. Used with permission; redrawn for this platform. · Cleared for use by its owner · retrieved 2026-09-21

    Project copy; not published on this site.

  3. Confidence: Verifiedint-009

    The record says

    S6 is a UFactory xArm 6 cobot that handles parts after processing, routing them to inspection, rework or shipping.

    Evidence · 1 citation

    Handles parts after proces. routing them to inspection, rework, or shipping.

    IntelliMake Phase 1 Factory: Autonomous Production Demonstrator (infographic) · IntelliMake.org · S6 station label and description

    © IntelliMake.org. Used with permission; redrawn for this platform. · Cleared for use by its owner · retrieved 2026-09-21

    Project copy; not published on this site.

  4. Confidence: Verifiedspec-502

    The record says

    The xArm 6 has a maximum payload of 5 kg.

    Evidence · 3 citations

    Max Payload 5kg

    UFACTORY xArm Hardware Manual (online), 8. Technical Specifications · UFACTORY · Table 'xArm6', 'Max Payload' row (section '8.3 xArm6 Specifications': names the xArm 6)

    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-15

    Open the source

    Payload 3kg 5kg 3.5kg

    UFACTORY xArm product page · UFACTORY · 'Payload' row (Tech Specs > Comparison table, columns xArm 5, xArm 6, xArm 7; value read from the xArm 6 column)

    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21

    Open the source

    This robot arm has 6 axes, with 5kg payload and 1m/s speed.

    The difference between UFACTORY xArm5, UFACTORY xArm6 and UFACTORY xArm7 (Help Center article) · UFACTORY · Section 1 'Main difference in brief', xArm 6 entry

    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21

    Open the source Plain http: this publisher has no certificate for that name, so what loads cannot be verified.

  5. Confidence: Verifiedspec-503

    The record says

    UFACTORY gives the xArm 6 a reach of 700 mm.

    Evidence · 2 citations

    Reach 700mm 700mm 700mm

    UFACTORY xArm product page · UFACTORY · 'Reach' row (Tech Specs > Comparison table, columns xArm 5, xArm 6, xArm 7; value read from the xArm 6 column)

    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21

    Open the source

    Reach(mm) 700mm 700mm 700mm

    The difference between UFACTORY xArm5, xArm6 and xArm7 (support article) · UFACTORY · Section 1 Specifications, 'Reach(mm)' row (columns xArm 5 Lite, xArm 6, xArm 7; value read from the xArm 6 column)

    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25

    Open the source

  6. Confidence: Verifiedspec-504

    The record says

    The xArm 6's stated repeatability is ±0.1 mm (the manual gives it as a specification common to the xArm 5, 6 and 7).

    Evidence · 2 citations

    Repeatability ±0.1mm

    UFACTORY xArm Hardware Manual (online), 8. Technical Specifications · UFACTORY · 'Repeatability' row (section '8.1 xArm5/xArm6/xArm7 Common Specifications': applies to all three models)

    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-15

    Open the source

    Repeatability ±0.1mm ±0.1mm ±0.1mm

    UFACTORY xArm product page · UFACTORY · 'Repeatability' row (Tech Specs > Comparison table, columns xArm 5, xArm 6, xArm 7; value read from the xArm 6 column)

    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21

    Open the source

  7. Confidence: Verifiedspec-505

    The record says

    The online hardware manual and the product page give the xArm 6 arm's weight (arm only) as 12.5 kg; another UFACTORY source differs (see the contradiction).

    Evidence · 2 citations

    Wight(robotic arm only) 12.5kg

    UFACTORY xArm Hardware Manual (online), 8. Technical Specifications · UFACTORY · Table 'xArm6', 'Wight(robotic arm only)' row (sic) (section '8.3 xArm6 Specifications': names the xArm 6)

    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-15

    Open the source

    Weight(robot arm only) 11.3kg 12.5kg 14.3kg

    UFACTORY xArm product page · UFACTORY · 'Weight(robot arm only)' row (Tech Specs > Comparison table, columns xArm 5, xArm 6, xArm 7; value read from the xArm 6 column)

    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21

    Open the source

  8. Kind: ContradictionAwaiting cell accessspec-506

    Sources disagree

    Sources disagree on the xArm 6's weight: 12.5 kg (arm only) in the online hardware manual and the product page's comparison table, but 12.2 kg (body only) in UFACTORY's support article comparing the xArm 5 Lite, 6 and 7. The product page's introduction also says '15kg weight' without naming a model.

    Awaiting cell access: this could be confirmed or corrected once the physical S6 cell can be observed.

    Related: spec-505 Verified

    Evidence · 4 citations

    Wight(robotic arm only) 12.5kg

    UFACTORY xArm Hardware Manual (online), 8. Technical Specifications · UFACTORY · Table 'xArm6', 'Wight(robotic arm only)' row (sic) (section '8.3 xArm6 Specifications': names the xArm 6)

    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-15

    Open the source

    Weight(robot arm only) 11.3kg 12.5kg 14.3kg

    UFACTORY xArm product page · UFACTORY · 'Weight(robot arm only)' row (Tech Specs > Comparison table, columns xArm 5, xArm 6, xArm 7; value read from the xArm 6 column)

    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21

    Open the source

    Weight(kg, body only) 11.2kg 12.2kg 13.7kg

    The difference between UFACTORY xArm5, xArm6 and xArm7 (support article) · UFACTORY · Section 1 Specifications, 'Weight(kg, body only)' row (columns xArm 5 Lite, xArm 6, xArm 7; value read from the xArm 6 column)

    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25

    Open the source

    Crafted from Carbon fiber, 15kg weight makes it possible for easier deployment.

    UFACTORY xArm product page · UFACTORY · Overview, 'Durable Collaborative robots for your automation' (xArm product page, which covers the xArm 5, 6 and 7)

    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21

    Open the source

  9. Confidence: Verifiedspec-507

    The record says

    The xArm 6's end effector has a maximum speed of 1 m/s (a specification the manual gives in common for the xArm 5, 6 and 7).

    Evidence · 2 citations

    Maximum Speed of End-Effector 1m/s

    UFACTORY xArm Hardware Manual (online), 8. Technical Specifications · UFACTORY · 'Maximum Speed of End-Effector' row (section '8.1 xArm5/xArm6/xArm7 Common Specifications': applies to all three models)

    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-15

    Open the source

    Maximum Speed 1m/s 1m/s 1m/s

    UFACTORY xArm product page · UFACTORY · 'Maximum Speed' row (m/s) (Tech Specs > Comparison table, columns xArm 5, xArm 6, xArm 7; value read from the xArm 6 column)

    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21

    Open the source

  10. Confidence: Verifiedcomp-519

    The record says

    The xArm's emergency stop button is on the control box. Pressing it sends a command for software deceleration, stops all activities of the arm and clears the cached commands in the control box; power to the arm is removed within 300 ms.

    Evidence · 2 citations

    By pressing the emergency stop button of the Control Box, a command will be sent to the Control Box for software deceleration to stop all activities of the robotic arm and clear all the cached commands in the Control Box;

    UFACTORY xArm Hardware Manual (online), 2. Hardware Installation · UFACTORY · 2.1.2 Emergency Stop Button (chapter says 'Apply to Model: XF1305, XI1305, XS1305 (1305 Model)')

    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25

    Open the source

    the power supply for the robotic arm will be removed within 300ms.

    UFACTORY xArm Hardware Manual (online), 2. Hardware Installation · UFACTORY · 2.1.2 Emergency Stop Button (chapter says 'Apply to Model: XF1305, XI1305, XS1305 (1305 Model)')

    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25

    Open the source

  11. Confidence: Verifiedcomp-520

    The record says

    When the xArm's emergency stop is pressed, the arm's posture will slightly brake and fall; the manual says the emergency stop should not be used as a risk reduction measure.

    Evidence · 2 citations

    The emergency stop should not be used as a risk reduction measure.

    UFACTORY xArm Hardware Manual (online), 2. Hardware Installation · UFACTORY · 2.1.2 Emergency Stop Button (chapter says 'Apply to Model: XF1305, XI1305, XS1305 (1305 Model)')

    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25

    Open the source

    users need to press the emergency stop, and the posture of the robotic arm will slightly brake and fall.

    UFACTORY xArm Hardware Manual (online), 2. Hardware Installation · UFACTORY · 2.1.2 Emergency Stop Button (chapter says 'Apply to Model: XF1305, XI1305, XS1305 (1305 Model)')

    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25

    Open the source

  12. Kind: Contradictionsafety-536

    Sources disagree

    The xArm manual describes the Control Box emergency stop in ways that do not fit together. Section 2.1.2 says the arm's power supply is removed within 300 ms and that pressing the button powers off the xArm; section 3.2.2 says the button allows the user to cut off the arm's power in the shortest time possible. Section 7.9 says the same button is Stop Category 1, which decelerates the robot 'with drive power on', and section 7.10 gives Stop Category 1 stopping times of 521 to 885 ms. The manual does not explain how power removal within 300 ms fits a powered deceleration lasting up to 885 ms.

    Evidence · 7 citations

    the power supply for the robotic arm will be removed within 300ms.

    UFACTORY xArm Hardware Manual (online), 2. Hardware Installation · UFACTORY · 2.1.2 Emergency Stop Button [series text: names no single model]

    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25

    Open the source

    Press the emergency stop button to power off the xArm

    UFACTORY xArm Hardware Manual (online), 2. Hardware Installation · UFACTORY · 2.1.2, 'Emergency Stop' [series text: names no single model]

    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25

    Open the source

    cut off the power of the robotic arm in the shortest time possible

    UFACTORY xArm Hardware Manual (online), 3. Controller Electrical Interface · UFACTORY · 3.2.2 Power Supply (AC Controller) [series text: names no single model]

    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25

    Open the source

    Stop Category 1 and Stop Category 2 decelerates the robot with drive power on

    UFACTORY xArm Hardware Manual (online), 7. Production Information · UFACTORY · 7.9 Stop Categories [series text: names no single model]

    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25

    Open the source

    Emergency Stop Button of the Control Box | Stop Category 1

    UFACTORY xArm Hardware Manual (online), 7. Production Information · UFACTORY · 7.9 Stop Categories, table [series text: names no single model]

    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25

    Open the source

    Joint1 | 0.62 | 521

    UFACTORY xArm Hardware Manual (online), 7. Production Information · UFACTORY · 7.10 Stop Time and Stop Distance, table [names no model]

    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25

    Open the source

    Joint2 | 1.12 | 885

    UFACTORY xArm Hardware Manual (online), 7. Production Information · UFACTORY · 7.10 Stop Time and Stop Distance, table [names no model]

    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25

    Open the source

Sources for this page

  • IntelliMake Phase 1 Factory: Autonomous Production Demonstrator (infographic) · IntelliMake.org (IntelliMake)
    © IntelliMake.org. Used with permission; redrawn for this platform. · Cleared for use by its owner · retrieved 2026-09-21 · cited by 2 records here · Project copy; not published on this site.
  • The difference between UFACTORY xArm5, UFACTORY xArm6 and UFACTORY xArm7 (Help Center article) · UFACTORY (manufacturer)
    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21 · cited by 2 records here · Open the source Plain http: this publisher has no certificate for that name, so what loads cannot be verified.
  • The difference between UFACTORY xArm5, xArm6 and xArm7 (support article) · UFACTORY (manufacturer)
    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25 · cited by 2 records here · Open the source
  • UFACTORY xArm Hardware Manual (online), 2. Hardware Installation · UFACTORY (manufacturer)
    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25 · cited by 3 records here · Open the source
  • UFACTORY xArm Hardware Manual (online), 3. Controller Electrical Interface · UFACTORY (manufacturer)
    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25 · cited by 1 record here · Open the source
  • UFACTORY xArm Hardware Manual (online), 7. Production Information · UFACTORY (manufacturer)
    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25 · cited by 1 record here · Open the source
  • UFACTORY xArm Hardware Manual (online), 8. Technical Specifications · UFACTORY (manufacturer)
    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-15 · cited by 6 records here · Open the source
  • UFACTORY xArm product page · UFACTORY (manufacturer)
    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21 · cited by 7 records here · Open the source

IntelliMake diagrams are redrawn as native figures, © IntelliMake.org. UFACTORY does not endorse this platform.

All sources and attribution