pins on the arm cable's connector: ground and two RS-485 pairs2
AC or DC
the two control boxes in the manual's hardware list3
The system is more than the arm. UFACTORY's manual lists a control box, an emergency stop button, cables, a mounting tool and end effectors beside it3. The end effector mounts on the wrist and carries the tool that does the work4.
The control box is the core of the system: it holds the arm's control system4.
S6 in one line: S6 is the xArm 6 arm that handles parts after processing, routing them to inspection, rework or shipping6.
Scroll
Look back
A question from earlier on, to keep it fresh. Skip it if you like; nothing depends on it.
Choose your depth
Four depths, one page. Switch at any time: every tier stays open to everyone. What the four tiers mean
1Beginner
The parts you can see
For: Anyone with no robotics background: a visitor, a new operator, a manager Kind of task: Recognise and recall, with plain-language explanations and pictures
In this part you name each part of the system and find the one button everyone near the arm must be able to reach. No robotics background is needed.
What the system is made of
UFACTORY's manual lists the hardware as the arm, an AC control box, a DC control box, an emergency stop button, a power cable, a communication cable, a mounting tool, and end effectors: a force-torque sensor, the BIO Gripper, the Vacuum Gripper and the xArm Gripper3.
A control box is included with the arm by default7.
The arm
The arm is made up of a base and rotary joints. Each joint is one degree of freedom, and they are numbered from the bottom up: Joint 1, Joint 2 and so on8.
The xArm 6 has six of these joints. The last one is the tool side, where a tool such as a gripper connects8.
The control box is the core of the system: it holds the arm's control system4.
It has three lights. ROBOT PWR is on when the arm has power, STATE flashes when the controller has power, and LAN is on when the arm is communicating normally10.
That is why the manual says the control box must sit outside the arm's working range, where the button can be pressed in an emergency11.
The tool on the end
The end effector mounts on the front of the wrist. It carries the tool, such as a gripper or a vacuum gripper, that does the work4.
UFACTORY's official accessories are the Gripper, the Vacuum Gripper, the BIO Gripper G2, a six-axis force-torque sensor and a linear motor12.
Brakes in the joints
The joints have brakes inside. When the power is lost, they hold the arm in its pose13.
The software
UFACTORY Studio is a graphical program for controlling the arm14. It runs inside the control box, and any computer with a web browser can open it, so nothing needs installing15.
People can also program the arm in code, with Python, C++ or ROS16.
Check yourself
Answer, then check. Each option has its own feedback, and nothing is scored.
2Novice
How the parts work together
For: Someone who will work near or with the cell: operator, trainee technician Kind of task: Explain and sequence: put steps in order, match parts to their functions
In this part you follow a command from a browser all the way to the gripper, and learn the handful of rules that look after the arm and its cables. It is for someone who will work near or with the cell.
From a click to a moving gripper
This platform pieces together the path a command takes from UFACTORY's descriptions of each part, so the path is Inferred, and its reasoning is printed with the record18.
A browser, or a program using the SDK, sends the command over Ethernet to the control box, using UFACTORY's private TCP protocol1819.
The control box reaches the arm through two separate cables, one for power and one for communication1820.
The cable connector lists separate RS-485 lines, one for the arm and one for the tool1821.
The gripper at the flange gets its power and control signals from the 12-pin tool connector181.
The flow gives no voltage for the power cable. The intermediate tier explains why.
Two kinds of control box
The manual's hardware list has both an AC control box and a DC control box3.
The AC box accepts 100–240 V AC at 50/60 Hz22. The DC box accepts 24–72 V DC23.
What Studio holds, and what is missing
In Studio you can set parameters, move the arm in Live Control, and build a motion by dragging and dropping Blockly code blocks14.
No dedicated teach pendant is documented for the xArm 6. The manual and the product page describe programming it through the browser-based Studio, the SDKs and hand teaching24.
In manual mode you can drag the joints by hand. Teach sensitivity runs from level 1 to 5, and the higher the level, the less force it takes25.
Choosing and fitting a tool
In Studio's End Effector setting you choose the xArm Gripper, Vacuum Gripper or BIO Gripper, a Robotiq 2F-85 or 2F-140, the Gripper Lite or the Vacuum Gripper Lite. Any other tool is set as "Other"26.
The Gripper in the manual's specifications has an 84 mm working range, a maximum clamping force of 30 N and weighs 802 g27.
The Vacuum Gripper (AS1200) has a payload of up to 5 kg and weighs 610 g28.
Installing the end effector is the fifth and last of the manual's installation steps29.
Looking after the arm and its cables
Use only the arm's original cable, and do not use the arm where that cable has to bend. For a longer or flexible cable, ask the supplier30.
The manual says to place the controller between 0.6 m and 1.5 m high31.
The arm's shell is carbon fibre. It can be wiped with 95% alcohol or 70% isopropanol, as long as no liquid gets into the joints32.
Check yourself
Answer, then check. Each option has its own feedback, and nothing is scored.
3Intermediate
Installing and connecting the parts
For: Someone who will set up, program or maintain the arm: technician, student engineer Kind of task: Apply: work through written scenarios that need a decision (which mode, which setting, what to do about this error), with feedback on each choice
In this part you work through what installing the system involves: power, cables, the tool flange and what the tool end offers, and the rules for storage, the brakes and the emergency stop. It is for someone who will set up, program or maintain the arm.
Power into the control box
The AC control box takes mains power through a standard IEC C20 inlet, with an IEC C19 cable38.
The manual's power-supply section says the box takes 100–240 V AC and that a switching power supply inside turns it into 12 V and 48 V DC, for the box itself and the arm39.
The manual's specification table says otherwise: it gives the arm's input as 24 V DC, 20.8 A, and the AC controller's output as the same40. So the manual disagrees with itself on what the AC control box supplies41.
The DC control box has VP+ (24–72 V DC in), GND and PE terminals. PE connects to the housing for leakage protection and is not a must42.
The power cut-off is a plug and socket, so the manual recommends a switching device with enough breaking capacity, such as an air switch with 400 V AC insulation voltage and 10 A rated current43.
Cables
The manual lists the arm's power cable and communication cable separately, and both plug into the arm and into the control box20.
The cable connector's table lists six pins: GND on pins 1 and 4, the arm's RS-485 A and B on pins 2 and 3, and the tool's RS-485 A and B on pins 5 and 644. The same pin definition is given for the AC and DC controllers2.
I/O cables from the control box to other equipment must not be longer than 30 m, unless extension testing shows a longer run works45.
The tool flange and connector
The manual gives the end flange as DIN ISO 9409-1-A50/63 (M5*6)46.
A 12-pin female aviation-style socket at the tool side supplies power and control signals for grippers and sensors1. It supplies 24 V (20–30 V) at up to 1800 mA47.
The product page gives the tool end's I/O as 2 digital inputs, 2 digital outputs, 2 analog inputs and 1 RS-485 port, and the manual's pin table has matching signals48.
The battery, and the brakes
The arm has a built-in battery. If it is not used for 3 months or more, the manual says to power it on for 6 hours every 3 months to charge it, without enabling the arm37.
Studio can unlock a single joint so it can be turned by hand. Someone must support the arm while the brakes are released, to stop it falling, and every joint must be locked again afterwards49.
What the emergency stop does
Pressing the button sends the control box a command for software deceleration, which stops the arm and clears its cached commands. Power to the arm is removed within 300 ms5.
When it is pressed, the arm's posture brakes slightly and falls. The manual says the e-stop should not be used as a risk-reduction measure50.
The manual lists the e-stop button and the emergency input (EI) as Stop Category 1, and the safeguard stop input (SI) as Stop Category 251.
These descriptions do not fit together: power removed within 300 ms, but a Category 1 stop that decelerates with drive power on for up to 885 ms. The contradiction card sets out both sides52.
Gripper figures you will be asked for
The Gripper in the manual's specifications runs on 24 V DC (28 V absolute maximum), with 1.5 W quiescent power and 1.5 A peak current53.
It talks RS-485, with programmable position and speed and position feedback54. Its protocol is disputed: the manual's table says Modbus TCP, while the product page says Modbus RTU over RS-48555.
The manual and the product page list the BIO Gripper G2, the force-torque sensor and the linear motor by name only, with no specifications56.
Which xArm 6 is it?
UFACTORY's serial-number guide tells an xArm's model from its serial number: the axis-count letter is S, I or F for the xArm 7, 6 and 557.
UFACTORY distinguishes four versions of the xArm 6 by serial number. This project's advice: read the arm's serial number before relying on any figure the sources disagree on, such as its weight or the Joint 2 and Joint 3 ranges58.
Check yourself
Answer, then check. Each option has its own feedback, and nothing is scored.
4Expert
Electrical and kinematic detail
For: Someone who designs, integrates or changes the cell: integrator, engineer, agent developer Kind of task: Analyse and decide: weigh trade-offs, resolve contradictions, critique a configuration
In this part you read the arm's geometry, its model numbers and hardware versions, and the electrical detail of its inputs, outputs and tool pins, and learn where the detail in the UFACTORY sources runs out. It is for someone who designs, integrates or changes the cell.
The arm's geometry
UFACTORY's modified D-H parameters give the xArm 6's link lengths in millimetres, and the xarm_ros2 kinematics file gives its joint origins in metres616263.
Joint 1: d = 267 mm. The ROS file puts the Joint 1 origin at z 0.267 m6465.
a2 = sqrt(284.5² + 53.5²) = 289.48866 mm. The ROS file instead gives the Joint 3 origin as x 0.0535 m, y -0.2845 m6667.
Joint 4: d = 342.5 mm and a = 77.5 mm; in the ROS file, x 0.0775 m, y 0.3425 m6869.
Joint 6: d = 97 mm and a = 76 mm; in the ROS file, x 0.076 m, y 0.097 m7071.
The notes also give the joint-angle offsets between the mathematical and mechanical zero positions: T2_offset = -1.3849179 rad (-79.34995°), and T3_offset = +1.3849179 rad66.
Model numbers and hardware versions
The online manual says it applies to models XF1305, XI1305 and XS1305. UFACTORY's displacement test lists the xArm 6 as XI1305, and its serial-number guide reads SN XI130506D43A0A as an xArm 6, model 472.
UFACTORY publishes separate mass parameters for four versions of the xArm 6, Model 1 to Model 4, and tells them apart by serial number. The manual says the 1305 model is model 473.
So an arm's version decides which mass parameters apply, and it has to be read from its serial number58.
Inside a joint
UFACTORY's product page names only harmonic drives and servomotors for the joints74.
Motor model and rating, harmonic-drive ratio, encoder type and resolution, and joint-module sizes are not in the manual or the product page. Unlike the 850's page, the xArm page gives no encoder resolution74.
The controller's inputs and outputs
The control box has two fixed safety inputs, an emergency stop input and a protective stop input. All safety I/Os come in pairs and must be kept in two separate branches75.
The configurable inputs CI0–CI7 support Stop Moving, Safeguard Reset and Reduced Mode. The general inputs DI0–DI7 do not76.
The digital outputs are NPN open-collector or open-drain, rated 0–100 mA, with no current protection77.
The internal 24 V I/O supply delivers up to 1.8 A and is the default. An external 24 V supply of up to 3 A can be connected instead78.
Analog inputs and outputs work at 0–10 V with 12-bit resolution, and are not isolated from the control box79.
The tool connector, pin by pin
Pins 1–2 carry +24 V, pins 3–4 are 0 V, pins 5–6 are User RS-485 A and B, pins 7–8 are tool outputs TO0 and TO1, pins 9–10 are tool inputs TI0 and TI1, and pins 11–12 are analog inputs AI0 and AI159.
Tool outputs are NPN open-collector, sinking up to 100 mA, with no current protection80.
Tool inputs have a pull-down resistor, so a floating input always reads low. Logic low is at most 1.0 V, logic high at least 1.6 V, and the inputs are rated -0.5 to 30 V81.
Tool analog inputs are non-differential, accept -0.5 to 3.3 V in voltage mode, have 12-bit resolution and have no over-voltage protection82.
Third-party RS-485 devices can be driven through the tool port; UFACTORY's own tool uses ID 9. Standard Modbus RTU tools are set up under Settings-Externals-Modbus RTU, and others are driven with getset_tgpio_modbus_data using transparent transmission60.
The vacuum gripper in figures
The Vacuum Gripper (AS1200) in the manual gives -55 kPa and more than 4 L/min. It runs on 24 V DC (28 V absolute maximum), draws 20 mA quiescent and 500 mA peak, uses digital I/O as its communication mode, and feeds back air pressure as low or normal83.
Check yourself
Answer, then check. Each option has its own feedback, and nothing is scored.
Not settled
Open questions · 9
What the sources do not settle for this section. Nothing here is papered over with a plausible number.
Kind: Gap
No dedicated teach pendant for the xArm 6 is documented in the xArm manual or the product page: they describe programming through the browser-based UFACTORY Studio, the SDKs and hand teaching.
Sources disagree on how the xArm AC control box powers the arm: the manual's controller chapter says its internal supply converts 100-240 V AC into 12 V and 48 V DC for the control box and the arm, while the common specification table gives the arm's input as 24 V DC, 20.8 A and the AC controller's output as 24 V DC, 20.8 A.
The xArm manual disagrees with itself on what the AC control box supplies: its specification table (and the product page) give the AC controller's output as 24 V DC, 20.8 A, but its 3.2.2 Power Supply text says the internal switching power supply converts 100–240 V AC into 12 V and 48 V DC, which powers the control box and the robotic arm.
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.
Sources disagree on the xArm's end-effector communication protocol: the manual's common specification table says Modbus TCP, but the product page says Modbus RTU over RS-485, and the manual's own Tool RS485 section configures standard Modbus RTU end effectors. The manual's Gripper table likewise pairs RS-485 communication with a 'Modbus TCP' protocol.
No specification for the BIO Gripper G2, the 6-axis force/torque sensor or the linear motor (payload, force range, resolution, stroke) was found in the xArm manual or the product page; only their names are listed.
Per-joint component data for the xArm 6 (motor model and rating, harmonic-drive ratio, encoder type and resolution, joint-module sizes) is not published in the xArm manual or the product page; the product page names only harmonic drives and servomotors and, unlike the 850's page, gives no encoder resolution.
No Ethernet connection, camera port, force-torque sensor interface or user button at the xArm 6's tool end is described in the xArm manual or the product page; the product page lists the end-effector I/O as 2 DI, 2 DO, 2 AI and 1 RS-485.
At the xArm's tool side there is a 12-pin female aviation-style industrial socket that supplies power and control signals for grippers and sensors.
Evidence · 1 citation
At the tool side of the robotic arm, there is an avionic socket 12-pin female industrial connector. This connector provides power and control signals for the grippers and sensors used on a particular robotic arm tool.
UFACTORY xArm Hardware Manual (online), 4. Robotic Electrical Interface · UFACTORY · 4.2 Tool IO (manual for the xArm series; this passage names no single model)
The xArm's power and signal cable uses a 6-pin industrial connector whose pins carry GND and two RS-485 pairs, one labelled Arm and one labelled Tool; the same pin definition is given for the AC and DC controllers.
Evidence · 2 citations
Power and Signal Cable: 6-Pin Industrial Connector 1 GND 4 GND 2 RS485-A Arm 5 RS485-A Tool 3 RS485-B Arm 6 RS485-B Tool
UFACTORY xArm Hardware Manual (online), 3. Controller Electrical Interface · UFACTORY · 3.2.3 Definition of Industrial Connector (AC Controller) (manual for the xArm series; this passage names no single model)
1 GND 4 GND 2 485-A Arm 5 485-A Tool 3 485-B Arm 6 485-B Tool
UFACTORY xArm Hardware Manual (online), 3. Controller Electrical Interface · UFACTORY · 3.3.3 Definition of Industrial Connector (DC Controller) (manual for the xArm series; this passage names no single model)
The xArm manual lists the arm's hardware composition as the xArm robotic arm, an AC control box, a DC control box, an E-stop button, an xArm power cable, an xArm communication cable, a mounting tool, and end effectors (FT sensor, BIO Gripper, Vacuum Gripper, xArm Gripper).
Evidence · 2 citations
xArm Robotic Arm AC Control Box DC Control Box E-stop Button xArm Power Cable xArm Communication Cable Mounting Tool End Effector(FT Sensor, BIO Gripper, Vacuum Gripper, xArm Gripper).
In UFACTORY's terminology the control box is the core of the robotic arm, integrating its control system, and the end effector mounts on the front end of the wrist to carry tools such as grippers that do the work.
Evidence · 2 citations
The control box, core part of the robotic arm, is the integration of the robotic arm control system.
UFACTORY Studio User Manual (online), 2. Glossary · UFACTORY · Glossary, 'Control Box' (manual text not model-specific; the Studio manual's Preface lists the xArm 6 among the models it applies to)
The end effector, installed on the front end of the wrist of the robotic arm, is used to install special tools(such as grippers, vacuum gripper, etc.), which can directly perform work tasks.
UFACTORY Studio User Manual (online), 2. Glossary · UFACTORY · Glossary, 'End Effector'
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;
The xArm arm consists of a base and rotary joints, each joint a degree of freedom, numbered from the bottom as Joint 1, Joint 2 and so on; the last joint is the tool side, where end effectors such as a gripper connect. The xArm 6 has six such joints.
Evidence · 3 citations
The xArm robotic arm system consists of a base and rotary joints, and each joint represents a degree of freedom. From the bottom to the top, in order, Joint 1, Joint 2, Joint 3, etc.
The xArm control box has a ROBOT PWR indicator (on when the xArm is powered), a STATE indicator (flashing when the controller is powered) and a LAN indicator (on when the xArm is communicating normally).
Evidence · 1 citation
ROBOT Power ROBOT PWR ON - The xArm is powered on. Controller Power Status STATE Flash - The controller is powered on. Network Port LAN ON - The xArm is communicating normally.
The xArm manual says the Control Box must be placed outside the arm's working range so that the emergency stop button can be pressed in an emergency.
Evidence · 1 citation
The Control Box must be placed outside the working range of the robotic arm to ensure the emergency stop button can be pressed once an emergency occurs.
UFACTORY xArm Hardware Manual (online), 1. Safety · UFACTORY · 1.3, CAUTION list [series text: names no single model]
UFACTORY's xArm product page lists the official accessories as the Gripper, the Vacuum Gripper, the BIO Gripper G2, the 6 Axis Force Torque Sensor and a linear motor.
Evidence · 1 citation
Gripper Vacuum Gripper BIO Gripper G2 6 Axis Force Torque Sensor Linear motor
UFACTORY xArm product page · UFACTORY · Overview, 'Seamless integration with official accessories' (xArm product page, which covers the xArm 5, 6 and 7)
The xArm's joint modules contain brakes that hold the arm's pose when a power outage occurs; the manual says to take protective measures when releasing them.
Evidence · 2 citations
The xArm joint module has brakes inside, which will remain manipulator’s pose when a power outage occurs.
UFACTORY xArm Hardware Manual (online), 1. Safety · UFACTORY · 1. Safety, general cautions (manual for the xArm series; this passage names no single model)
When releasing the brakes of xArm, please take protective measures to prevent the robotic arm or operator from damage or injury.
UFACTORY xArm Hardware Manual (online), 1. Safety · UFACTORY · 1. Safety, general cautions (manual for the xArm series; this passage names no single model)
UFACTORY Studio is a graphical application for controlling the robotic arm: with it a user can set parameters, move the arm in Live Control, and build a motion trajectory by dragging and dropping Blockly code blocks.
Evidence · 2 citations
UFACTORY Studio is a graphical user application for controlling the robotic arm.
UFACTORY Studio User Manual (online), 1. Preface · UFACTORY · 1. Preface, first paragraph
With this application, you can set parameters, move the robotic arm in Live control, and create a motion trajectory by simply drag and drop the code blocks of Blockly.
UFACTORY Studio User Manual (online), 1. Preface · UFACTORY · 1. Preface, first paragraph
UFACTORY Studio is web-based software that runs inside the control box, so no installation is needed and any computer with a browser can use it.
Evidence · 1 citation
UFACTORY Studio is a web-based software running inside the control box, which means no additional installation needed before running the robot. Any computer with a browser has the access after 1 minute hardware connection.
UFACTORY xArm product page · UFACTORY · Tech Specs > Software (xArm product page, which covers the xArm 5, 6 and 7)
The xArm can be programmed with UFACTORY Studio or with Python, C++ and ROS (the manual gives this in common for the xArm 5, 6 and 7); the product page says the Python/C++ SDK is open source and ROS/ROS2 packages are available.
Evidence · 2 citations
Programming UFACTORY Studio, Python/C++/ROS
UFACTORY xArm Hardware Manual (online), 8. Technical Specifications · UFACTORY · 'Programming' row (section '8.1 xArm5/xArm6/xArm7 Common Specifications': applies to all three models)
Fully functional open-source Python/C++ SDK provides more flexible programming. ROS/ROS2 packages are ready-to-go.
UFACTORY xArm product page · UFACTORY · Overview, 'Powerful and open source SDK at your fingertips' (xArm product page, which covers the xArm 5, 6 and 7)
The STOP button in UFACTORY Studio stops the arm immediately and clears all cached commands; Studio says it is a software stop and the power is still on.
Evidence · 1 citation
STOP: The robotic arm will stop immediately and clear all cache commands. It's a software stop, the power is still on.
UFACTORY Studio User Manual (online), 4. Live Control · UFACTORY · 4.5 Enable & STOP button [general Studio text; the Studio manual says it applies to the xArm6]
How the xArm 6's components work together: a computer's browser or SDK connects over Ethernet (UFACTORY's private TCP protocol) to the control box, which runs UFACTORY Studio. The control box connects to the arm through separate power and communication cables; the communication cable's connector carries two RS-485 pairs, one labelled Arm and one labelled Tool. Tools at the flange get power and signals from the 12-pin tool connector.
Why we infer this:Synthesised from Verified manufacturer statements: Studio runs inside the control box; the arm communicates over Ethernet with a private TCP protocol; the manual lists a separate power cable and communication cable, and the 6-pin connector carries RS-485 pairs labelled Arm and Tool; the tool connector supplies power and control signals. That the Arm and Tool RS-485 pairs carry joint and tool traffic is read from the pin labels; the manual does not describe the internal bus architecture. The supply voltage from control box to arm is left out because the sources disagree on it (spec-540).
Evidence · 5 citations
UFACTORY Studio is a web-based software running inside the control box
UFACTORY xArm product page · UFACTORY · Tech Specs > Software (xArm product page, which covers the xArm 5, 6 and 7)
Robotic Arm Communication Protocol Private TCP(custom)
UFACTORY xArm Hardware Manual (online), 8. Technical Specifications · UFACTORY · 'Robotic Arm Communication Protocol' row (section '8.1 xArm5/xArm6/xArm7 Common Specifications': applies to all three models)
UFACTORY xArm Hardware Manual (online), 3. Controller Electrical Interface · UFACTORY · 3.2.3 Definition of Industrial Connector (manual for the xArm series; this passage names no single model)
UFACTORY's common specifications for the xArm 5, 6 and 7 give the arm's communication protocol as 'Private TCP(custom)', and both the AC and DC control boxes communicate over Ethernet.
The xArm manual lists the arm's power cable and communication cable separately, and says to plug both the power supply cable and the signal cable into the arm and into the control box.
How the xArm system connects, in the xArm manual: the control box communicates over Ethernet using UFACTORY's private TCP protocol; the arm's power supply and signal cables plug into the control box, and the cable connector lists separate RS-485 lines for the arm and for the tool; and the 12-pin tool connector provides power and control signals for grippers and sensors.
Evidence · 5 citations
Robotic Arm Communication Protocol | Private TCP(custom)
UFACTORY xArm Hardware Manual (online), 3. Controller Electrical Interface · UFACTORY · 3.2.3 Definition of Industrial Connector (chapter text is not split by model)
The xArm AC control box accepts 100–240 V AC at 50/60 Hz; the manual's power-supply text gives the input frequency as 47–63 Hz.
Evidence · 3 citations
Input 100-240V AC 50/60 Hz 24-72V DC
UFACTORY xArm Hardware Manual (online), 8. Technical Specifications · UFACTORY · AC Controller / DC Controller table, 'Input' row (section '8.1 xArm5/xArm6/xArm7 Common Specifications': applies to all three models)
The control box is powered by 100V-240V AC (the input frequency is 47-63HZ)
UFACTORY xArm Hardware Manual (online), 3. Controller Electrical Interface · UFACTORY · 3.2.2 Power Supply (AC Controller) (manual for the xArm series; this passage names no single model)
UFACTORY xArm Hardware Manual (online), 8. Technical Specifications · UFACTORY · AC Controller / DC Controller table, 'Input' row (section '8.1 xArm5/xArm6/xArm7 Common Specifications': applies to all three models)
UFACTORY xArm Hardware Manual (online), 3. Controller Electrical Interface · UFACTORY · 3.3.2 Power Supply (DC Controller) table (manual for the xArm series; this passage names no single model)
No dedicated teach pendant for the xArm 6 is documented in the xArm manual or the product page: they describe programming through the browser-based UFACTORY Studio, the SDKs and hand teaching.
Evidence · 2 citations
Web-based technology compatible with all major browsers.
UFACTORY xArm product page · UFACTORY · Overview, 'Graphical interface for beginner-friendly programming' (xArm product page, which covers the xArm 5, 6 and 7)
Teach sensitivity runs from level 1 to 5; the higher the level, the less force it takes to drag a joint in manual mode.
Evidence · 1 citation
Teach sensitivity range is from 1 to 5 level. The larger the set value, the higher the teach sensitivity level, and the less the force required to drag the joint in the manual mode.
UFACTORY Studio User Manual (online), 2. Glossary · UFACTORY · Glossary, Teach Sensitivity [general Studio text; the Studio manual says it applies to the xArm6]
UFACTORY Studio's supported end effectors are the xArm Gripper, xArm Vacuum Gripper, xArm BIO Gripper, Robotiq 2F-85 and 2F-140 grippers, Gripper Lite and Vacuum Gripper Lite; other tools are set as 'Other'. Choosing an end effector sets its default baud rate: 2000000 for the xArm Gripper and 115200 for Robotiq grippers.
Evidence · 4 citations
The end effectors currently supported are: xArm Gripper xArm Vacuum Gripper xArm BIO Gripper Robotiq-2F-85 Gripper Robotiq-2F-140 Gripper Gripper Lite Vacuum Gripper Lite.
UFACTORY Studio User Manual (online), 4. Live Control · UFACTORY · 4.1 End Effector (manual text not model-specific; the Studio manual's Preface lists the xArm 6 among the models it applies to)
The xArm manual says to use only the original cable of the robotic arm and not to use the arm in applications where the cable needs to be bent, and to contact the supplier for a longer or flexible cable.
Evidence · 1 citation
Use only the original cable of the robotic arm. Do not use the robotic arm in applications where the cable needs to be bent. If you need a longer cable or flexible cable, please contact your supplier.
UFACTORY xArm Hardware Manual (online), 3. Controller Electrical Interface · UFACTORY · 3.1 Electrical Alarms and Cautions, item 2 (manual for the xArm series; this passage names no single model)
The xArm manual says the controller should be placed at a height of 0.6 m to 1.5 m.
Evidence · 1 citation
The controller should be placed at a height of 0.6m to 1.5m.
UFACTORY xArm Hardware Manual (online), 7. Production Information · UFACTORY · 7.6 Controller Placement Height (manual for the xArm series; this passage names no single model)
The xArm arm has a carbon-fibre shell, which the manual says can be cleaned with 95% alcohol or 70% isopropanol, without letting liquid penetrate the joints.
Evidence · 3 citations
there may be dirt or grease on the carbon fiber shell
UFACTORY xArm Hardware Manual (online), 5. Maintenance and Inspection · UFACTORY · 5. Maintenance and Inspection, 'Clean' (manual for the xArm series; this passage names no single model)
You can use 95% alcohol or 70% isopropanol to wipe the carbon fiber surface for cleaning.
UFACTORY xArm Hardware Manual (online), 5. Maintenance and Inspection · UFACTORY · 5. Maintenance and Inspection, 'Clean' (manual for the xArm series; this passage names no single model)
When cleaning the carbon fiber surface, be careful not to let the liquid penetrate the joints.
UFACTORY xArm Hardware Manual (online), 5. Maintenance and Inspection · UFACTORY · 5. Maintenance and Inspection, 'Clean', Note (manual for the xArm series; this passage names no single model)
The xArm manual gives four network setups and recommends connecting the Control Box directly to the PC. It does not recommend connecting the PC to the router by wireless, because of wireless delay and packet loss.
Evidence · 3 citations
There are four ways of network settings for the robotic arm.
UFACTORY xArm Hardware Manual (online), 2. Hardware Installation · UFACTORY · 2.2.3.3 Controller Networking [series text: names no single model]
PC and router are connected by wireless network, and control box and router are connected by Ethernet cable. Note: It is not recommended because of the delay and packet loss of wireless connection.
UFACTORY xArm Hardware Manual (online), 2. Hardware Installation · UFACTORY · 2.2.3.3 [series text: names no single model]
The xArm manual says to prevent water or dust getting into the arm or controller, that the arm and its hardware must not be in direct contact with liquid or left in a humid environment for a long time, and that if water enters the product, to turn off the power and contact the supplier.
Evidence · 3 citations
Prevent the ingress of water or dust into the mechanical arm or controller.
UFACTORY xArm Hardware Manual (online), 1. Safety · UFACTORY · 1.4 Personnel Safety, DANGER [series text: names no single model]
The robotic arm and its hardware composition must not be in direct contact with the liquid, and should not be placed in a humid environment for a long time.
The xArm manual says the xArm joint module has brakes inside, which, in the manual's words, 'will remain manipulator's pose when a power outage occurs'.
Evidence · 1 citation
The xArm joint module has brakes inside, which will remain manipulator’s pose when a power outage occurs.
UFACTORY xArm Hardware Manual (online), 1. Safety · UFACTORY · 1.3, DANGER list [series text: names no single model]
In manual mode the arm compensates for gravity ('zero gravity') so a user can guide it by hand. The mounting direction tells the control box how the arm sits relative to gravity; if it is set wrongly the arm cannot recognise gravity accurately, which causes frequent collision warnings and uncontrolled motion in manual mode.
Evidence · 3 citations
In this mode, the robotic arm will enter the ‘zero gravity’ mode, since the gravity is compensated, the user can guide the robotic arm position directly by hand.
UFACTORY Studio User Manual (online), 2. Glossary · UFACTORY · Glossary, 'Manual Mode' (manual text not model-specific; the Studio manual's Preface lists the xArm 6 among the models it applies to)
Setting the mounting direction of the robotic arm is mainly to inform the control box of the current relationship between the actual mounting direction of the robotic arm and the direction of gravity.
UFACTORY Studio User Manual (online), 7. Settings · UFACTORY · 7.1.3 Coordinates, Mounting
The xArm arm contains a built-in battery: if the arm is not used for 3 months or more, the manual says to power it on for 6 hours every 3 months to charge the battery, without enabling the arm.
Evidence · 2 citations
If the robotic arm is not used for a long time (≥3 months), you need to power on the robotic arm for 6 hours every 3 months to charge the built-in battery of the robotic arm.
UFACTORY xArm Hardware Manual (online), 5. Maintenance and Inspection · UFACTORY · 5. Maintenance and Inspection, 'Long-term placement' (manual for the xArm series; this passage names no single model)
UFACTORY xArm Hardware Manual (online), 5. Maintenance and Inspection · UFACTORY · 5. Maintenance and Inspection, 'Long-term placement' (manual for the xArm series; this passage names no single model)
The xArm AC control box takes mains power through a standard IEC C20 inlet, using an IEC C19 cable.
Evidence · 2 citations
In this process, the corresponding IEC C19 wire must be used.
UFACTORY xArm Hardware Manual (online), 3. Controller Electrical Interface · UFACTORY · 3.2.2 Power Supply (AC Controller) (manual for the xArm series; this passage names no single model)
Connect to the standard IEC C20 plug of the Control Box to complete the process
UFACTORY xArm Hardware Manual (online), 3. Controller Electrical Interface · UFACTORY · 3.2.2 Power Supply (AC Controller) (manual for the xArm series; this passage names no single model)
The xArm manual says the AC control box takes 100–240 V AC, and its internal switching power supply converts this into 12 V and 48 V DC to power the control box and the robotic arm (the specification table gives a different output; see the contradiction).
Evidence · 1 citation
The control box is powered by 100V-240V AC (the input frequency is 47-63HZ) and its internal switching power supply converts 100V-240V AC into 12V, 48V DC, which supplies power to the load of the control box and the robotic arm.
UFACTORY xArm Hardware Manual (online), 3. Controller Electrical Interface · UFACTORY · 3.2.2 Power Supply (AC Controller) (manual for the xArm series; this passage names no single model)
Sources disagree on how the xArm AC control box powers the arm: the manual's controller chapter says its internal supply converts 100-240 V AC into 12 V and 48 V DC for the control box and the arm, while the common specification table gives the arm's input as 24 V DC, 20.8 A and the AC controller's output as 24 V DC, 20.8 A.
Evidence · 3 citations
its internal switching power supply converts 100V-240V AC into 12V, 48V DC, which supplies power to the load of the control box and the robotic arm.
UFACTORY xArm Hardware Manual (online), 3. Controller Electrical Interface · UFACTORY · 3.2.2 Power Supply (chapter text is not split by model)
The xArm manual disagrees with itself on what the AC control box supplies: its specification table (and the product page) give the AC controller's output as 24 V DC, 20.8 A, but its 3.2.2 Power Supply text says the internal switching power supply converts 100–240 V AC into 12 V and 48 V DC, which powers the control box and the robotic arm.
Awaiting cell access: this could be confirmed or corrected once the physical S6 cell can be observed.
UFACTORY xArm Hardware Manual (online), 8. Technical Specifications · UFACTORY · AC Controller / DC Controller table, 'Output' row (section '8.1 xArm5/xArm6/xArm7 Common Specifications': applies to all three models)
its internal switching power supply converts 100V-240V AC into 12V, 48V DC, which supplies power to the load of the control box and the robotic arm.
UFACTORY xArm Hardware Manual (online), 3. Controller Electrical Interface · UFACTORY · 3.2.2 Power Supply (AC Controller) (manual for the xArm series; this passage names no single model)
The xArm DC controller has VP+ (24–72 V DC input), GND and PE terminals; the manual says PE connects to the control housing for leakage protection and is not a must.
Evidence · 1 citation
VP+ 24-72V DC Input PE Connect to the control housing (Leakage Protection), not a must GND GND
UFACTORY xArm Hardware Manual (online), 3. Controller Electrical Interface · UFACTORY · 3.3.2 Power Supply (DC Controller) table (manual for the xArm series; this passage names no single model)
Because the xArm's power cut-off is a plug and socket, the manual recommends fitting a suitable switching device with sufficient breaking capacity, such as an air switch with 400 V AC insulation voltage and 10 A rated current.
Evidence · 2 citations
The power cut-off method of this product is a plug/socket connection,
UFACTORY xArm Hardware Manual (online), 7. Production Information · UFACTORY · 7.7 Power Supply (manual for the xArm series; this passage names no single model)
it is recommended to equip with a suitable switching device with sufficient breaking capacity (such as an air switch; insulation voltage: 400V AC; rated current: 10A)
UFACTORY xArm Hardware Manual (online), 7. Production Information · UFACTORY · 7.7 Power Supply (manual for the xArm series; this passage names no single model)
The xArm manual's table for the industrial connector on the arm's power and signal cable lists six pins: GND on pins 1 and 4, the arm's RS-485 A/B on pins 2 and 3, and the tool's RS-485 A/B on pins 5 and 6.
Evidence · 2 citations
Power and Signal Cable:
UFACTORY xArm Hardware Manual (online), 3. Controller Electrical Interface · UFACTORY · 3.2.3 Definition of Industrial Connector (chapter text is not split by model)
The xArm manual says I/O cables from the control box to other equipment must not exceed 30 m unless extension testing shows longer runs are feasible.
Evidence · 1 citation
The length of the I/O cable that used to connect the Control Box with other mechanical and plant equipment must not exceed 30 meters unless it is feasible after the extension testing.
UFACTORY xArm Hardware Manual (online), 3. Controller Electrical Interface · UFACTORY · 3.1 Electrical Alarms and Cautions (manual for the xArm series; this passage names no single model)
The product page gives the xArm's end-effector (tool-end) I/O as 2 digital inputs, 2 digital outputs, 2 analog inputs and 1 RS-485 port; the manual's tool connector pin table has matching signals (TI0–TI1, TO0–TO1, AI0–AI1 and User 485-A/B).
Evidence · 2 citations
End Effector I/O 2*DI/2*DO/2*AI/1*RS485
UFACTORY xArm product page · UFACTORY · Tech Specs > Hardware, 'End Effector I/O' row (xArm product page, which covers the xArm 5, 6 and 7)
UFACTORY Studio's Debugging Tools can unlock a single joint so it can be turned by hand; the unlocked joint provides no force. Studio says someone must support the arm's posture when joint brakes are released, to stop it falling, and that all joints must be re-locked manually afterwards.
Evidence · 3 citations
Click 'unlock' to unlock a single joint. The unlocked joint does not have any force to provide and thence external force support is needed.
UFACTORY Studio User Manual (online), 7. Settings · UFACTORY · 7.4.2 Debugging Tools, Joint [general Studio text; the Studio manual says it applies to the xArm6]
At this time, the joint can be dragged by hand to rotate. After confirming the position, please re-lock all the joints manually.
UFACTORY Studio User Manual (online), 7. Settings · UFACTORY · 7.4.2 Debugging Tools, Joint [general Studio text; the Studio manual says it applies to the xArm6]
When releasing the joint brakes, someone must support the robot's posture to prevent the robotic arm from falling without external force and damage the robotic arm and surrounding equipment.
UFACTORY Studio User Manual (online), 7. Settings · UFACTORY · 7.4.2, DANGER [general Studio text; the Studio manual says it applies to the xArm6]
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.
The xArm manual lists the control box's emergency stop button and emergency input (EI) as Stop Category 1, and the safeguard stop input (SI) as Stop Category 2.
Evidence · 1 citation
Emergency Stop Button of the Control Box Stop Category 1 Emergency Input of the Control Box(EI) Stop Category 1 Safeguard Stop of Control Box(SI) Stop Category 2
UFACTORY xArm Hardware Manual (online), 7. Production Information · UFACTORY · 7.9 Stop Categories table (manual for the xArm series; this passage names no single model)
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.
The Gripper in the xArm manual's common specifications runs on 24 V DC nominal (28 V DC absolute maximum), with 1.5 W quiescent power and 1.5 A peak current.
Evidence · 1 citation
Nominal Supply Voltage 24V DC Absolute Maximum Supply Voltage 28V DC Quiescent Power (Minimum Power Consumption) 1.5W Peak Current 1.5A
UFACTORY xArm Hardware Manual (online), 8. Technical Specifications · UFACTORY · 'Gripper' table (section '8.1 xArm5/xArm6/xArm7 Common Specifications': applies to all three models)
The Gripper in the xArm manual's common specifications communicates over RS-485, has programmable position and speed, and feeds back position (the table gives its protocol as Modbus TCP; see the contradiction).
Evidence · 1 citation
Communication Mode RS-485 Communication Protocol Modbus TCP Programmable Gripping Parameters Position, Speed Feedback Position
UFACTORY xArm Hardware Manual (online), 8. Technical Specifications · UFACTORY · 'Gripper' table (section '8.1 xArm5/xArm6/xArm7 Common Specifications': applies to all three models)
Sources disagree on the xArm's end-effector communication protocol: the manual's common specification table says Modbus TCP, but the product page says Modbus RTU over RS-485, and the manual's own Tool RS485 section configures standard Modbus RTU end effectors. The manual's Gripper table likewise pairs RS-485 communication with a 'Modbus TCP' protocol.
No specification for the BIO Gripper G2, the 6-axis force/torque sensor or the linear motor (payload, force range, resolution, stroke) was found in the xArm manual or the product page; only their names are listed.
Evidence · 2 citations
Gripper Vacuum Gripper BIO Gripper G2 6 Axis Force Torque Sensor Linear motor
UFACTORY xArm product page · UFACTORY · Overview, 'Seamless integration with official accessories' (xArm product page, which covers the xArm 5, 6 and 7)
UFACTORY's support article on the xArm series explains how to tell an xArm's model from its serial number: the axis-count letter is S, I or F for the xArm 7, 6 and 5, and its worked example reads the SN XI130506D43A0A as an xArm 6, model 4. Useful for confirming which arm is at S6.
Evidence · 4 citations
The purpose of this article is to guide the user to distinguish the model of UFactory xArm by SN.
Kinematic and Dynamic Parameters of xArm Series: telling the xArm model from the SN (UFACTORY support article) · UFACTORY · Article introduction
Read the S6 xArm 6's serial number before relying on any figure the sources disagree on (weight, J2 and J3 ranges): UFACTORY distinguishes four xArm 6 versions by serial number, and the S6 arm's version decides which mass parameters apply.
Awaiting cell access: this could be confirmed or corrected once the physical S6 cell can be observed.
This is advice from this project, based on: comp-511 Verified, awaiting cell accessspec-506 Contradiction, awaiting cell accessspec-516 Contradiction, awaiting cell accessspec-517 Contradiction, awaiting cell access
Why:The mass parameters are published per version (comp-511), so the S6 arm's version must be known to use them. The sources that disagree on weight and joint ranges (spec-506, spec-516, spec-517) do not say whether version explains the difference; knowing the version is a cheap first step, not a resolution. The serial number is on the physical arm, so this needs cell access.
Evidence · 2 citations
The purpose of this article is to guide the user to distinguish the model of UFactory xArm by SN.
Kinematic and Dynamic Parameters of xArm Series: telling the model by SN (support article) · UFACTORY · Introduction
The xArm's tool RS-485 port can talk to third-party RS-485 devices; UFACTORY's own end tool uses ID 9. Standard Modbus RTU end effectors are set up under 'Settings-Externals-Modbus RTU', and others are driven with getset_tgpio_modbus_data with transparent transmission.
Evidence · 3 citations
The Tool side provide an RS485 interface, use can communicate it with third-party devices that supports RS485. The id of our end tool is 9.
UFACTORY xArm Hardware Manual (online), 4. Robotic Electrical Interface · UFACTORY · 4.4.4 Tool RS485 (manual for the xArm series; this passage names no single model)
If end effector doesn't support standard Modbus RTU, user can send the command via getset_tgpio_modbus_data , please set is_transparent_transmission to True.
UFACTORY xArm Hardware Manual (online), 4. Robotic Electrical Interface · UFACTORY · 4.4.4 Tool RS485 (manual for the xArm series; this passage names no single model)
UFACTORY's xArm 6 D-H parameter a2 is sqrt(284.5² + 53.5²) = 289.48866 mm, with joint offset T2_offset = -atan(284.5/53.5) = -1.3849179 rad (-79.35°) and T3_offset its negative; the xarm_ros2 kinematics file's joint3 origin is x 0.0535, y -0.2845 m.
Evidence · 4 citations
a2 = sqrt(284.5^2+53.5^2) = 289.48866;
Kinematic and Dynamic Parameters: xArm 6 (support article) · UFACTORY · Notes under the D-H tables
In UFACTORY's modified D-H parameters for the xArm 6, Joint 4 has d = 342.5 mm and a = 77.5 mm, and Joint 6 has d = 97 mm and a = 76 mm; the xarm_ros2 kinematics file gives joint4 x 0.0775, y 0.3425 m and joint6 x 0.076, y 0.097 m.
xarm_ros2's xarm6 kinematics file (branch humble) gives the origin of joint1 (J1) as x 0, y 0, z 0.267, roll 0, pitch 0, yaw 0 (ROS units: metres and radians).
xarm_ros2 (branch humble), xarm_description/config/kinematics/default/xarm6_default_kinematics.yaml · UFACTORY · kinematics block, 'joint1' entry (ROS naming 'xarm6'); fetched 2026-09-25 from branch humble at commit 62936f7ea1846a85f7350de2c4c18f39e6d19715 (identical file at that commit; the file last changed in commit 6e6990e948722cfce14408ab48ca89b36746203e)
In UFACTORY's D-H parameters for the xArm 6, a2 is sqrt(284.5² + 53.5²) = 289.48866 mm, and the joint-angle offsets between the mathematical and mechanical zero positions are T2_offset = -1.3849179 rad (-79.34995°) and T3_offset = +1.3849179 rad.
Evidence · 4 citations
a2 = sqrt(284.5^2+53.5^2) = 289.48866;
Kinematic and Dynamic Parameters: xArm 6 (support article) · UFACTORY · Notes under 2. Standard D-H Parameters
xarm_ros2's xarm6 kinematics file (branch humble) gives the origin of joint3 (J3) as x 0.0535, y -0.2845, z 0, roll 0, pitch 0, yaw 0 (ROS units: metres and radians).
xarm_ros2 (branch humble), xarm_description/config/kinematics/default/xarm6_default_kinematics.yaml · UFACTORY · kinematics block, 'joint3' entry (ROS naming 'xarm6'); fetched 2026-09-25 from branch humble at commit 62936f7ea1846a85f7350de2c4c18f39e6d19715 (identical file at that commit; the file last changed in commit 6e6990e948722cfce14408ab48ca89b36746203e)
xarm_ros2's xarm6 kinematics file (branch humble) gives the origin of joint4 (J4) as x 0.0775, y 0.3425, z 0, roll -1.5708, pitch 0, yaw 0 (ROS units: metres and radians).
xarm_ros2 (branch humble), xarm_description/config/kinematics/default/xarm6_default_kinematics.yaml · UFACTORY · kinematics block, 'joint4' entry (ROS naming 'xarm6'); fetched 2026-09-25 from branch humble at commit 62936f7ea1846a85f7350de2c4c18f39e6d19715 (identical file at that commit; the file last changed in commit 6e6990e948722cfce14408ab48ca89b36746203e)
xarm_ros2's xarm6 kinematics file (branch humble) gives the origin of joint6 (J6) as x 0.076, y 0.097, z 0, roll -1.5708, pitch 0, yaw 0 (ROS units: metres and radians).
xarm_ros2 (branch humble), xarm_description/config/kinematics/default/xarm6_default_kinematics.yaml · UFACTORY · kinematics block, 'joint6' entry (ROS naming 'xarm6'); fetched 2026-09-25 from branch humble at commit 62936f7ea1846a85f7350de2c4c18f39e6d19715 (identical file at that commit; the file last changed in commit 6e6990e948722cfce14408ab48ca89b36746203e)
UFACTORY's displacement test lists the xArm 6 under model XI1305, and its serial-number guide reads the SN XI130506D43A0A as an xArm 6, model 4. The online xArm manual says it applies to models XF1305, XI1305 and XS1305.
Evidence · 3 citations
xArm 6 XI1305 X+
0.1 mm Displacement Test for 850 and xArm 6 (support article) · UFACTORY · Robot Models and Initial Positions table
UFACTORY publishes separate mass parameters for four versions of the xArm 6 (Model 1 to Model 4), and tells them apart by the arm's serial number; the manual says the 1305 model of the xArm series is model 4.
Awaiting cell access: this could be confirmed or corrected once the physical S6 cell can be observed.
Evidence · 6 citations
xArm 6 - Model 1
Kinematic and Dynamic Parameters: xArm 6 (support article) · UFACTORY · 3. Mass Parameters, table headings
UFACTORY xArm Hardware Manual (online), 7. Production Information · UFACTORY · 7.13 DH Parameters (manual for the xArm series; this passage names no single model)
Per-joint component data for the xArm 6 (motor model and rating, harmonic-drive ratio, encoder type and resolution, joint-module sizes) is not published in the xArm manual or the product page; the product page names only harmonic drives and servomotors and, unlike the 850's page, gives no encoder resolution.
Related: comp-504 Verified
Evidence · 2 citations
Industrial-grade harmonic drive and servomotors guarantee 24/7 working without stop.
UFACTORY xArm product page · UFACTORY · Overview, 'Durable Collaborative robots for your automation' (xArm product page, which covers the xArm 5, 6 and 7)
The xArm control box has two fixed safety inputs, an emergency stop input and a protective stop input; all safety I/Os exist in pairs and must be kept in two separate branches.
Evidence · 2 citations
All safety I/Os exist in pairs (redundancy) and must be kept in two separate branches. A single I/O failure should not result in the loss of safety features. There are two fixed safety inputs:
UFACTORY xArm Hardware Manual (online), 3. Controller Electrical Interface · UFACTORY · 3.4.1 Safety IO(EISI) (manual for the xArm series; this passage names no single model)
The robotic arm emergency stop input is only used for the emergency stop of the device. The protective stop input is used for all types of safety protection.
UFACTORY xArm Hardware Manual (online), 3. Controller Electrical Interface · UFACTORY · 3.4.1 Safety IO(EISI) (manual for the xArm series; this passage names no single model)
The xArm control box's configurable inputs CI0–CI7 support the Stop Moving, Safeguard Reset and Reduced Mode functions, which the inputs DI0–DI7 do not.
Evidence · 3 citations
DI0-DI7 are not equipped with the following three functions: stop moving, safeguard reset, and reduced mode.
UFACTORY xArm Hardware Manual (online), 3. Controller Electrical Interface · UFACTORY · 3.4.1.4 NOTE (manual for the xArm series; this passage names no single model)
The xArm control box's digital outputs are NPN (open collector/open drain), rated at 0–100 mA current; the manual says they have no current protection, so exceeding the specified values may cause permanent damage.
Evidence · 4 citations
[COx] Current 0 - 100 mA
UFACTORY xArm Hardware Manual (online), 3. Controller Electrical Interface · UFACTORY · 3.4 digital I/O specification table (manual for the xArm series; this passage names no single model)
UFACTORY xArm Hardware Manual (online), 3. Controller Electrical Interface · UFACTORY · 3.4 digital I/O specification table (manual for the xArm series; this passage names no single model)
When the digital output is disabled, the corresponding connector will be open (OC/OD).
UFACTORY xArm Hardware Manual (online), 3. Controller Electrical Interface · UFACTORY · 3.4.2.2 Controller Digital Output(CO) (manual for the xArm series; this passage names no single model)
There is no current protection on the digital output of the Control Box. If the specified values exceeded, permanent damage may result.
UFACTORY xArm Hardware Manual (online), 3. Controller Electrical Interface · UFACTORY · 3.4, CAUTION (manual for the xArm series; this passage names no single model)
The xArm control box's built-in 24 V supply for the I/O delivers up to 1.8 A; an external 24 V supply of up to 3 A can be connected instead, and the default configuration uses internal power.
Evidence · 4 citations
I/O power supply 24V 1.8A(Internal power supply); 24V 3A(External power supply)
UFACTORY xArm Hardware Manual (online), 3. Controller Electrical Interface · UFACTORY · 3.3.2 Power Supply (DC Controller) table (manual for the xArm series; this passage names no single model)
PWR - GND Current 0 - 1.8 A External 24V Input Requirement
UFACTORY xArm Hardware Manual (online), 3. Controller Electrical Interface · UFACTORY · 3.4 power supply table (manual for the xArm series; this passage names no single model)
UFACTORY xArm Hardware Manual (online), 3. Controller Electrical Interface · UFACTORY · 3.4 power supply table (manual for the xArm series; this passage names no single model)
The xArm control box's analog inputs and outputs work at 0–10 V with 12-bit resolution, and the analog I/O is not isolated from the control box.
Evidence · 4 citations
This type of interface can be used to set or measure voltage (0-10V) going into or out of other devices.
UFACTORY xArm Hardware Manual (online), 3. Controller Electrical Interface · UFACTORY · 3.4.3 Controller Analog IO(AIAO) (manual for the xArm series; this passage names no single model)
UFACTORY xArm Hardware Manual (online), 3. Controller Electrical Interface · UFACTORY · 3.4.3 analog table (manual for the xArm series; this passage names no single model)
UFACTORY xArm Hardware Manual (online), 3. Controller Electrical Interface · UFACTORY · 3.4.3 analog table (manual for the xArm series; this passage names no single model)
The analog I/O is not isolated from the control box.
UFACTORY xArm Hardware Manual (online), 3. Controller Electrical Interface · UFACTORY · 3.4.3 Controller Analog IO(AIAO) (manual for the xArm series; this passage names no single model)
The xArm's tool digital outputs are NPN open-collector outputs that sink up to 100 mA; the manual says they have no current protection and exceeding the specified value can cause permanent damage.
Evidence · 3 citations
The digital output is implemented in the form of NPN with an open collector (OC).
UFACTORY xArm Hardware Manual (online), 4. Robotic Electrical Interface · UFACTORY · 4.2.2 Tool Digital Output(TO) (manual for the xArm series; this passage names no single model)
There is no current protection on the digital output of the tool, which can cause permanent damage if the specified value exceeded.
UFACTORY xArm Hardware Manual (online), 4. Robotic Electrical Interface · UFACTORY · 4.2.2 CAUTION (manual for the xArm series; this passage names no single model)
The xArm's tool digital inputs have a pull-down resistor, so a floating input always reads low; logic low is at most 1.0 V and logic high at least 1.6 V, with inputs rated -0.5 to 30 V.
Evidence · 2 citations
The digital input is already equipped with a pull-down resistor. This means that the reading of the floating input is always low.
UFACTORY xArm Hardware Manual (online), 4. Robotic Electrical Interface · UFACTORY · 4.2.1 Tool Digital Input(TI) (manual for the xArm series; this passage names no single model)
The xArm's tool analog inputs are non-differential, accept -0.5 to 3.3 V in voltage mode, have 12-bit resolution, and have no over-voltage protection.
Evidence · 3 citations
The tool analog input is a non-differential input.
UFACTORY xArm Hardware Manual (online), 4. Robotic Electrical Interface · UFACTORY · 4.2.3 Tool Analog Input(TAI) (manual for the xArm series; this passage names no single model)
In the current/voltage mode, the analog input does not provide over-voltage protection.
UFACTORY xArm Hardware Manual (online), 4. Robotic Electrical Interface · UFACTORY · 4.2.3 CAUTION (manual for the xArm series; this passage names no single model)
The Vacuum Gripper (AS1200) in the xArm manual's common specifications gives a vacuum of -55 kPa and a flow of more than 4 L/min, runs on 24 V DC (28 V absolute maximum) with 20 mA quiescent and 500 mA peak current, uses digital I/O as its communication mode, and feeds back air pressure (low or normal).
Evidence · 2 citations
Rated Supply Voltage 24V DC Absolute Maximum Supply Voltage 28V DC Vacuum -55kPa Vacuum Flow (L/min) ＞4L/min
UFACTORY xArm Hardware Manual (online), 8. Technical Specifications · UFACTORY · 'Vacuum Gripper(AS1200)' table (section '8.1 xArm5/xArm6/xArm7 Common Specifications': applies to all three models)
Quiescent Current(mA) 20mA Peak Current(mA) 500mA Communication Mode Digital IO State Indicator Power State, Working State Feedback Air Pressure(Low or Normal)
UFACTORY xArm Hardware Manual (online), 8. Technical Specifications · UFACTORY · 'Vacuum Gripper(AS1200)' table (section '8.1 xArm5/xArm6/xArm7 Common Specifications': applies to all three models)
Kind: RecommendationThis project's simulation and agent design, not the physical cellProject design, not the physical cellsafety-594
Project advice
Treat the xArm 6's collision detection, safety boundary and reduced mode as configurable controller functions, not validated safeguards: they must not replace risk-assessed protective devices wired to the EI and SI inputs.
This is advice from this project, based on: safety-578 Gapsafety-559 Verifiedsafety-560 Verifiedsafety-561 Verifiedsafety-564 Verifiedsafety-565 Verifiedsafety-544 Verified
Why:No fetched UFACTORY document gives these functions a Performance Level or SIL. Collision detection is a current-model comparison that UFACTORY says can false-trigger and can be switched off; the safety boundary and reduced mode are settings. A function with no documented rating cannot stand in for a rated protective device.
The cell uses two collaborative arms: the xArm 850 at S2 is the upstream arm that takes incoming material off receiving toward personalization, and the xArm 6 at S6 is the downstream arm that handles parts after processing.
Evidence · 2 citations
The xArm 850 at S2 is the **upstream** arm: it takes incoming material off receiving and hands it off toward personalization
S10, Packing / Labeling, carries out final product preparation, identification, labeling and packing. It is the last station in IntelliMake's layout, and 'Packing & Labeling' is the last step of the initial gift production flow.
Evidence · 2 citations
S10 Packing / Labeling Final product preparation, identification, labeling, and packing.
IntelliMake Phase 1 Factory: Autonomous Production Demonstrator (infographic) · IntelliMake.org · S10 label and description
IntelliMake Phase 1 Factory: Autonomous Production Demonstrator (infographic) · IntelliMake.org · Initial Personalized Gift Production Flow banner, last steps
Kind: RecommendationAwaiting cell accessThis project's simulation and agent design, not the physical cellProject design, not the physical cellsafety-599
Project advice
Until the S6 emergency stops, guarding, Control Box position and risk assessment are confirmed at the cell, act as though none of them exists: stay out of the xArm 6's working area while it runs, and do not rely on a safeguard nobody has confirmed.
Awaiting cell access: this could be confirmed or corrected once the physical S6 cell can be observed.
This is advice from this project, based on: safety-586 Gap, awaiting cell accesssafety-587 Gap, awaiting cell accesssafety-588 Gap, awaiting cell accesssafety-589 Gap, awaiting cell accesssafety-511 Verified
Why:The manual says no people should be in the working area during operation, and none of the S6 safety provisions it calls for has been confirmed. Assuming they exist would put people at risk if they do not.
The xArm manual says that while the device is running, an arm that seems to have stopped may be waiting for a signal and about to act, and that it should be considered to be in action even in that state.
Evidence · 1 citation
Quote not shown (over 40 words). See the source at: 1.4 Personnel Safety, CAUTION [series text: names no single model].
UFACTORY xArm Hardware Manual (online), 1. Safety · UFACTORY · 1.4 Personnel Safety, CAUTION [series text: names no single model]
No Ethernet connection, camera port, force-torque sensor interface or user button at the xArm 6's tool end is described in the xArm manual or the product page; the product page lists the end-effector I/O as 2 DI, 2 DO, 2 AI and 1 RS-485.
Awaiting cell access: this could be confirmed or corrected once the physical S6 cell can be observed.
Evidence · 2 citations
End Effector I/O 2*DI/2*DO/2*AI/1*RS485
UFACTORY xArm product page · UFACTORY · Tech Specs > Hardware, 'End Effector I/O' row (xArm product page, which covers the xArm 5, 6 and 7)
CODE_SESSION 01 — xArm 850 Interactive Learning Platform (project specification) · Derek Stringfellow (project owner) Derek Stringfellow, project record · Project-internal record · retrieved 2026-09-21 · cited by 1 record here · Project copy; not published on this site.
Owner statements, 2026-09-21 (verbatim) · Derek Stringfellow (project owner) Derek Stringfellow, project record · Project-internal record · retrieved 2026-09-21 · cited by 1 record here · Project copy; not published on this site.