References: §3 Major Components

Provenance

References · 99

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.

Confidence: Verifiedcomp-539
The record says
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)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
Confidence: Verifiedcomp-527
The record says
The xArm's power and signal cable uses a 6-pin industrial connector whose pins carry GND and two RS-485 pairs, one labeled Arm and one labeled 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)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
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)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
Confidence: Verifiedcomp-501
The record says
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).
UFACTORY xArm Hardware Manual (online), 2. Hardware Installation · UFACTORY · 2.1.1 Hardware Composition (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 control box is included in default.
UFACTORY xArm product page · UFACTORY · Tech Specs > Hardware, below the control box table (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
Confidence: Verifiedcomp-708
The record says
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)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
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'
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
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
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.
Confidence: Verifiedcomp-503
The record says
A control box is included with the xArm by default.
Evidence · 1 citation
The control box is included in default.
UFACTORY xArm product page · UFACTORY · Tech Specs > Hardware, below the control box table (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
Confidence: Verifiedcomp-502
The record says
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.
UFACTORY xArm Hardware Manual (online), 2. Hardware Installation · UFACTORY · 2.1.1 Hardware Composition (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 last joint is known as the tool side and can be used to connect end-effector (e. g. gripper, vacuum gripper, etc).
UFACTORY xArm Hardware Manual (online), 2. Hardware Installation · UFACTORY · 2.1.1 Hardware Composition (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
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
Confidence: Verifiedcomp-507
The record says
The xArm arm is made of aluminum and carbon fiber (the manual gives this in common for the xArm 5, 6 and 7).
Evidence · 2 citations
Materials Aluminium, Carbon Fiber
UFACTORY xArm Hardware Manual (online), 8. Technical Specifications · UFACTORY · 'Materials' 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
Materials Aluminum, Carbon Fiber
UFACTORY xArm product page · UFACTORY · Tech Specs > Hardware, 'xArm Robot Specs' table (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
Confidence: Verifiedcomp-518
The record says
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.
UFACTORY xArm Hardware Manual (online), 2. Hardware Installation · UFACTORY · 2.1.2 indicator table (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
Confidence: Verifiedsafety-525
The record says
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 · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
Confidence: Verifiedcomp-548
The record says
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)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Confidence: VerifiedAwaiting cell accessint-528
The record says
The xArm 6 at S6 uses an attachment with five suction cups.
Awaiting cell access: this could be confirmed or corrected once the physical S6 cell can be observed.
Evidence · 1 citation
6 uses a 5 suction-cup apperture
Owner statements from 2026-09-24 onward (verbatim; S40 and later) · Derek Stringfellow · Statement S90
Derek Stringfellow, project record · Project-internal record · retrieved 2026-10-04
Project copy; not published on this site.
Confidence: Verifiedcomp-506
The record says
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)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
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 · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
Confidence: Verifiediface-503
The record says
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
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
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 · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Confidence: Verifiedcomp-535
The record says
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)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Confidence: VerifiedAwaiting cell accessops-712
The record says
Asked whether the lab opens UFACTORY Studio in a web browser or with the desktop app, the answer given on 2026-10-23 was the desktop app, and that learners should download it.
Awaiting cell access: this could be confirmed or corrected once the physical S6 cell can be observed.
Reasoning: Verified as a dated report of how Studio is opened in the lab, as of 2026-10-23 and no further. The question was about the lab, where the xArm 6 is operated from Studio (int-089); the answer names no arm. It names no Studio version and no computer, and no inspection is recorded. It says that the lab uses the desktop app and that learners should download it; it says nothing about whether the browser route UFACTORY's Studio manual describes works.
Evidence · 1 citation
2 desktop app, so they should download it if that was not explicitily said
Owner statements from 2026-09-24 onward (verbatim; S40 and later) · Derek Stringfellow · Statement S244 (2026-10-23), answer 2, to whether the lab opens UFACTORY Studio in a browser or with the desktop app
Derek Stringfellow, project record · Project-internal record · retrieved 2026-10-04
Project copy; not published on this site.
Confidence: Verifiedres-539
The record says
UFACTORY's UFACTORY Studio page offers the Studio app as downloads for Windows, macOS and Linux. Suits beginners and novices.
Evidence · 1 citation
Download
Windows
Download
MacOS
Download
Linux
UFACTORY Studio product and download page · UFACTORY · Download buttons (read 2026-10-23)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Confidence: Verifiedcomp-536
The record says
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)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-15
Open the source
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)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Confidence: Verifiedsafety-548
The record says
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]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-13
Open the source
Confidence: Inferredcomp-556
The record says
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 labeled Arm and one labeled Tool. Tools at the flange get power and signals from the 12-pin tool connector.
Why we infer this: Synthesized 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 labeled 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)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
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 · All rights reserved; quoted briefly as evidence · retrieved 2026-10-15
Open the source
2 RS485-A Arm 5 RS485-A Tool
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 · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
xArm Power Cable xArm Communication Cable
UFACTORY xArm Hardware Manual (online), 2. Hardware Installation · UFACTORY · 2.1.1 Hardware Composition (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
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)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
Confidence: Verifiediface-522
The record says
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.
Evidence · 3 citations
8.1 xArm5/xArm6/xArm7 Common Specifications
UFACTORY xArm Hardware Manual (online), 8. Technical Specifications · UFACTORY · Section heading
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-15
Open the source
Robotic Arm Communication Protocol | Private TCP(custom)
UFACTORY xArm Hardware Manual (online), 8. Technical Specifications · UFACTORY · 8.1 table, 'Robotic Arm Communication Protocol' row
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-15
Open the source
Communication Method | Ethernet | Ethernet
UFACTORY xArm Hardware Manual (online), 8. Technical Specifications · UFACTORY · 8.1 controller table, 'Communication Method' row
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-15
Open the source
Confidence: Verifiedcomp-528
The record says
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.
Evidence · 3 citations
xArm Power Cable xArm Communication Cable
UFACTORY xArm Hardware Manual (online), 2. Hardware Installation · UFACTORY · 2.1.1 Hardware Composition (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
Plug the connector of the Robotic Arm Power Supply Cable and the Robotic Arm Signal Cable into the interface of the Robotic Arm.
UFACTORY xArm Hardware Manual (online), 2. Hardware Installation · UFACTORY · 2.2.3.2 Connect with Controller (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
Plug the Robotic Arm Power Supply Cable and the Robotic Arm Signal Cable into the Control Box.
UFACTORY xArm Hardware Manual (online), 2. Hardware Installation · UFACTORY · 2.2.3.2 Connect with Controller (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
Confidence: Verifiedcomp-709
The record says
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), 8. Technical Specifications · UFACTORY · 8.1 xArm5/xArm6/xArm7 Common Specifications
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-15
Open the source
Communication Method | Ethernet | Ethernet
UFACTORY xArm Hardware Manual (online), 8. Technical Specifications · UFACTORY · 8.1 controller table, 'Communication Method' row
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-15
Open the source
Plug the Robotic Arm Power Supply Cable and the Robotic Arm Signal Cable into the Control Box.
UFACTORY xArm Hardware Manual (online), 2. Hardware Installation · UFACTORY · 2.2.3.2 Connect with Controller (chapter applies to models XF1305, XI1305, XS1305; text not split by model)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
2 | RS485-A Arm | 5 | RS485-A Tool
UFACTORY xArm Hardware Manual (online), 3. Controller Electrical Interface · UFACTORY · 3.2.3 Definition of Industrial Connector (chapter text is not split by model)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
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 (chapter text is not split by model)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
Confidence: Verifiedspec-551
The record says
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)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-15
Open the source
Input 100-240VAC 50/60Hz 24-72VDC
UFACTORY xArm product page · UFACTORY · Tech Specs > Hardware, AC/DC control box table, 'Input' row (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
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 · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
Confidence: Verifiedspec-553
The record says
The xArm DC control box accepts 24–72 V DC input.
Evidence · 2 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)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-15
Open the source
VP+ 24-72V DC Input
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)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
Kind: Gapcomp-538
Not known
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)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Hand teaching, lightweight, space-saving and easy to re-deploy to multiple applications
UFACTORY xArm product page · UFACTORY · Overview, 'Flexible deployment with safe feature' (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
Confidence: Verifiedops-567
The record says
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 · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Confidence: Verifiediface-602
The record says
As UFACTORY Studio's Live Control page read on 2026-10-13, Studio's supported end effectors are the Gripper, Gripper G2, Vacuum Gripper, BIO Gripper, BIO Gripper G2, Robotiq 2F-85 and 2F-140 grippers, DH-PGC-140-50 Gripper, INS-RH56DFX-Left, INS-RH56DFX-Right, Six-Axis Force-Torque Sensor (AI1500), 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; that sentence of the page still uses the name 'xArm Gripper', which the list above it no longer does.
Evidence · 4 citations
The end effectors currently supported are: Gripper Gripper G2 Vacuum Gripper BIO Gripper BIO Gripper G2 Robotiq-2F-85 Gripper Robotiq-2F-140 Gripper DH-PGC-140-50 Gripper INS-RH56DFX-Left INS-RH56DFX-Right Six-Axis Force-Torque Sensor(AI1500) 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) (read 2026-10-13, publisher's commit e28e232; until that date, at commit 533b75d, the list read 'xArm Gripper xArm Vacuum Gripper xArm BIO Gripper Robotiq-2F-85 Gripper Robotiq-2F-140 Gripper Gripper Lite Vacuum Gripper Lite.')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-13
Open the source
When installing other end effectors (not officially provided) at the end of the robotic arm, please choose 'Other'.
UFACTORY Studio User Manual (online), 4. Live Control · UFACTORY · 4.1 End Effector (read 2026-10-13, publisher's commit e28e232)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-13
Open the source
It will set the robotic arm as default baud rate when switching the end effector.
UFACTORY Studio User Manual (online), 4. Live Control · UFACTORY · 4.1 End Effector (read 2026-10-13, publisher's commit e28e232)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-13
Open the source
the default baud rate of xArm Gripper is 2000000, the default baud rate of Robotiq gripper is 115200.
UFACTORY Studio User Manual (online), 4. Live Control · UFACTORY · 4.1 End Effector (read 2026-10-13, publisher's commit e28e232)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-13
Open the source
Confidence: Verifiedcomp-549
The record says
The Gripper in the xArm manual's common specifications has an 84 mm working range, a maximum clamping force of 30 N and a weight of 802 g.
Evidence · 1 citation
Working Range 84mm Maximum Clamping Force 30N Weight 802g
UFACTORY xArm Hardware Manual (online), 8. Technical Specifications · UFACTORY · 'Gripper' table (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
Confidence: Verifiedcomp-552
The record says
The Vacuum Gripper (AS1200) in the xArm manual's common specifications has a payload of up to 5 kg, weighs 610 g and measures 122.5 × 91.6 × 75 mm.
Evidence · 1 citation
Weight 610g Dimensions (L×W×H) 122.5×91.6×75 mm Payload ≤5kg
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)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-15
Open the source
Confidence: Verifiedops-520
The record says
xArm installation step 5 of 5: install the end effector.
Evidence · 1 citation
Install End-Effector.
UFACTORY xArm Hardware Manual (online), 2. Hardware Installation · UFACTORY · 2.2.3 Installation, brief installation steps, step 5 [series text: names no single model]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
Confidence: VerifiedAwaiting cell accessint-069
The record says
S2's and S6's suction tools are basically the same attachment: a rounded mount with the suction cups attached to it as one unit. S6's tool uses all five ports on the mount; S2's uses just one.
Awaiting cell access: this could be confirmed or corrected once the physical S6 cell can be observed.
Evidence · 4 citations
The gripper consists of the rounded mount piece and the attached cups in our case, as one unit.
Owner statements from 2026-09-24 onward (verbatim; S40 and later) · Derek Stringfellow · Statement S104
Derek Stringfellow, project record · Project-internal record · retrieved 2026-10-04
Project copy; not published on this site.
850 uses a single suction apperture as its attachment.
Owner statements from 2026-09-24 onward (verbatim; S40 and later) · Derek Stringfellow · Statement S90
Derek Stringfellow, project record · Project-internal record · retrieved 2026-10-04
Project copy; not published on this site.
6 uses a 5 suction-cup apperture.
Owner statements from 2026-09-24 onward (verbatim; S40 and later) · Derek Stringfellow · Statement S90
Derek Stringfellow, project record · Project-internal record · retrieved 2026-10-04
Project copy; not published on this site.
Basically the same attachement, the 5 uses all prods on the mount and the 1 uses just one.
Owner statements from 2026-09-24 onward (verbatim; S40 and later) · Derek Stringfellow · Statement S105, second message
Derek Stringfellow, project record · Project-internal record · retrieved 2026-10-04
Project copy; not published on this site.
Confidence: Verifiedcomp-533
The record says
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)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
Confidence: Verifiedcomp-526
The record says
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)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
Confidence: Verifiedcomp-509
The record says
The xArm arm has a carbon-fiber 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)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
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)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
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)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
Confidence: Verifiedops-527
The record says
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]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
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The control box is directly connected to the PC(Recommended connection method).
UFACTORY xArm Hardware Manual (online), 2. Hardware Installation · UFACTORY · 2.2.3.3 [series text: names no single model]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
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]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
Confidence: Verifiedlim-511
The record says
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]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
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.
UFACTORY xArm Hardware Manual (online), 2. Hardware Installation · UFACTORY · 2.2.1 Safety Guidelines, WARNING [series text: names no single model]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
If water enters the product, turn off the power supply, and contact your supplier.
UFACTORY xArm Hardware Manual (online), 3. Controller Electrical Interface · UFACTORY · 3.1 Electrical Alarms and Cautions, NOTICE [series text: names no single model]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
Confidence: Verifiedsafety-523
The record says
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]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
Confidence: Verifiedcomp-721
The record says
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 recognize 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)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
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
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-13
Open the source
Quote not shown (over 40 words). See the source at: 7.1.3 Coordinates, Mounting.
UFACTORY Studio User Manual (online), 7. Settings · UFACTORY · 7.1.3 Coordinates, Mounting
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-13
Open the source
Confidence: Verifiedcomp-508
The record says
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 · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
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the robotic arm does not need to be enabled.
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 · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
Confidence: Verifiedcomp-517
The record says
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)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
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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)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
Confidence: Verifiedcomp-516
The record says
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)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
Kind: Contradictioncomp-710
Sources disagree
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)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
Input Power Supply | 24V DC, 20.8A
UFACTORY xArm Hardware Manual (online), 8. Technical Specifications · UFACTORY · 8.1 xArm5/xArm6/xArm7 Common Specifications
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-15
Open the source
Output | 24V DC , 20.8A | 24V DC 672Wmax
UFACTORY xArm Hardware Manual (online), 8. Technical Specifications · UFACTORY · 8.1 controller table, 'Output' row
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-15
Open the source
Kind: ContradictionAwaiting cell accessspec-540
Sources disagree
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.
Related: spec-539 Verified comp-516 Verified
Evidence · 3 citations
Output 24V DC , 20.8A 24V DC 672Wmax
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)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-15
Open the source
Output 24VDC 20.8A 24VDC 672Wmax
UFACTORY xArm product page · UFACTORY · Tech Specs > Hardware, AC/DC control box table, 'Output' row (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
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)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
Confidence: Verifiedcomp-529
The record says
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)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
Confidence: Verifiedspec-575
The record says
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)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
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)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
Confidence: Verifiediface-551
The record says
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)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
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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, table
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
Confidence: Verifiedcomp-534
The record says
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)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
Confidence: Verifiedspec-582
The record says
As the xArm manual's specifications page read on 2026-10-15, it gives the xArm's end flange as 'DIN ISO 9409-1-A50/63 (M6*6)' (a specification common to the xArm 5, 6 and 7).
Evidence · 1 citation
End Flange DIN ISO 9409-1-A50/63（M6*6）
UFACTORY xArm Hardware Manual (online), 8. Technical Specifications · UFACTORY · 'End Flange' row (section '8.1 xArm5/xArm6/xArm7 Common Specifications': applies to all three models) (read 2026-10-15, publisher's commit 0d30e6b; until that date, at commit e474ecb, it read 'End Flange DIN ISO 9409-1-A50/63（M5*6）')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-15
Open the source
Confidence: Verifiedcomp-541
The record says
The xArm tool connector supplies 24 V (20–30 V) at up to 1800 mA.
Evidence · 1 citation
Supply Voltage in 24V Mode 20 24 30 V Supply Current - - 1800 mA
UFACTORY xArm Hardware Manual (online), 4. Robotic Electrical Interface · UFACTORY · 4.2 Tool IO, electrical specifications (manual for the xArm series; this passage names no single model)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
Confidence: Verifiedspec-563
The record says
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 · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
5 Pink User 485-A 11 Orange Analog input 0 (AI0)
UFACTORY xArm Hardware Manual (online), 4. Robotic Electrical Interface · UFACTORY · 4.2 Tool IO, pin table (manual for the xArm series; this passage names no single model)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
Confidence: Verifiedops-509
The record says
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]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-13
Open the source
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]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-13
Open the source
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]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-13
Open the source
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
Confidence: Verifiedcomp-521
The record says
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)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
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
Confidence: Verifiedcomp-550
The record says
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)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-15
Open the source
Confidence: Verifiedcomp-551
The record says
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)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-15
Open the source
Kind: Contradictionspec-564
Sources disagree
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.
Related: comp-551 Verified
Evidence · 4 citations
End Effector Communication Protocol Modbus TCP
UFACTORY xArm Hardware Manual (online), 8. Technical Specifications · UFACTORY · 'End Effector Communication Protocol' 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
End Effector Communication Protocol Modbus RTU(rs485)
UFACTORY xArm product page · UFACTORY · Tech Specs > Hardware, 'End Effector Communication Protocol' row (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
If end effector supports standard Modbus RTU, user can debug it via ' Settings-Externals-Modbus RTU '.
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 · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
Communication Mode RS-485 Communication Protocol Modbus TCP
UFACTORY xArm Hardware Manual (online), 8. Technical Specifications · UFACTORY · Gripper table (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
Kind: Gapcomp-554
Not known
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 · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
End Effector(FT Sensor, BIO Gripper, Vacuum Gripper, xArm Gripper).
UFACTORY xArm Hardware Manual (online), 2. Hardware Installation · UFACTORY · 2.1.1 Hardware Composition (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
Confidence: Verifiedres-504
The record says
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
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
Note: ①: stands for the number of axes of the arm.
Kinematic and Dynamic Parameters of xArm Series: telling the xArm model from the SN (UFACTORY support article) · UFACTORY · Note on SN position 1
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
There are three values: S / I / F. | S | I | F | xArm7 | xArm6 | xArm5
Kinematic and Dynamic Parameters of xArm Series: telling the xArm model from the SN (UFACTORY support article) · UFACTORY · Axis-count table
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
SN of the robotic arm: XI130506D43A0A
It is xArm6, model 4.
Kinematic and Dynamic Parameters of xArm Series: telling the xArm model from the SN (UFACTORY support article) · UFACTORY · Worked example
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
Kind: RecommendationAwaiting cell accesscomp-557
Project advice
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 access spec-506 Contradiction, awaiting cell access spec-516 Contradiction, awaiting cell access spec-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
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
xArm 6 - Model 4
Kinematic and Dynamic Parameters: xArm 6 (support article) · UFACTORY · 3. Mass Parameters, table headings
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
Confidence: Verifiedcomp-540
The record says
The xArm tool connector's 12 pins carry +24 V (pins 1–2), 0 V GND (pins 3–4), User RS-485 A/B (pins 5–6), tool outputs TO0/TO1 (pins 7–8), tool inputs TI0/TI1 (pins 9–10) and analog inputs AI0/AI1 (pins 11–12).
Evidence · 3 citations
1 Brown +24V (Power) 7 Black Tool Output 0 (TO0) 2 Blue +24V (Power) 8 Grey Tool Output 1 (TO1)
UFACTORY xArm Hardware Manual (online), 4. Robotic Electrical Interface · UFACTORY · 4.2 Tool IO, pin table (first rows) (manual for the xArm series; this passage names no single model)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
3 White 0V (GND) 9 Red Tool Input 0 (TI0) 4 Green 0V (GND) 10 Purple Tool Input 1 (TI1)
UFACTORY xArm Hardware Manual (online), 4. Robotic Electrical Interface · UFACTORY · 4.2 Tool IO, pin table (middle rows) (manual for the xArm series; this passage names no single model)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
5 Pink User 485-A 11 Orange Analog input 0 (AI0) 6 Yellow User 485-B 12 Light Green Analog input 1 (AI1)
UFACTORY xArm Hardware Manual (online), 4. Robotic Electrical Interface · UFACTORY · 4.2 Tool IO, pin table (last rows) (manual for the xArm series; this passage names no single model)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
Confidence: Verifiedcomp-545
The record says
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)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
If end effector supports standard Modbus RTU, user can debug it via ' Settings-Externals-Modbus RTU '.
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 · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
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 · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
Confidence: Verifiedcomp-728
The record says
In UFACTORY's modified D-H parameters for the xArm 6, Joint 1 has d = 267 mm; the xarm_ros2 kinematics file gives joint1 z 0.267 m.
Evidence · 2 citations
Joint1 | 0 | 267 | 0 | 0 | 0
Kinematic and Dynamic Parameters: xArm 6 (support article) · UFACTORY · 1. Modified D-H Parameters, row 'Joint1' (theta, d, alpha, a, offset)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
joint1:
x: 0
y: 0
z: 0.267
xarm_ros2 (branch humble), xarm_description/config/kinematics/default/xarm6_default_kinematics.yaml · UFACTORY · kinematics block, 'joint1' entry
© UFACTORY Inc., xArm-Developer/xarm_ros2, BSD 3-Clause License · BSD-3-Clause · retrieved 2026-09-25
Open the source
Confidence: Verifiedcomp-731
The record says
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.
Evidence · 4 citations
Joint4 | 0 | 342.5 | -pi/2 | 77.5 | 0
Kinematic and Dynamic Parameters: xArm 6 (support article) · UFACTORY · 1. Modified D-H Parameters, row 'Joint4'
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
Joint6 | 0 | 97 | -pi/2 | 76 | 0
Kinematic and Dynamic Parameters: xArm 6 (support article) · UFACTORY · 1. Modified D-H Parameters, row 'Joint6'
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
joint4:
x: 0.0775
y: 0.3425
xarm_ros2 (branch humble), xarm_description/config/kinematics/default/xarm6_default_kinematics.yaml · UFACTORY · kinematics block, 'joint4' entry
© UFACTORY Inc., xArm-Developer/xarm_ros2, BSD 3-Clause License · BSD-3-Clause · retrieved 2026-09-25
Open the source
joint6:
x: 0.076
y: 0.097
xarm_ros2 (branch humble), xarm_description/config/kinematics/default/xarm6_default_kinematics.yaml · UFACTORY · kinematics block, 'joint6' entry
© UFACTORY Inc., xArm-Developer/xarm_ros2, BSD 3-Clause License · BSD-3-Clause · retrieved 2026-09-25
Open the source
Confidence: Verifiedcomp-512
The record says
In UFACTORY's modified D-H parameters for the xArm 6, the Joint1 row gives d = 267 mm.
Evidence · 1 citation
Joint1 0 267 0 0 0
Kinematic and Dynamic Parameters: xArm 6 (support article) · UFACTORY · 1. Modified D-H Parameters table (columns theta(rad), d(mm), alpha(rad), a(mm), offset(rad)), Joint1 row
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
Confidence: Verifiedcomp-701
The record says
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: meters and radians).
Evidence · 1 citation
joint1:
x: 0
y: 0
z: 0.267
roll: 0
pitch: 0
yaw: 0
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)
© UFACTORY Inc., xArm-Developer/xarm_ros2, BSD 3-Clause License · BSD-3-Clause · retrieved 2026-09-25
Open the source
Confidence: Verifiedcomp-513
The record says
In UFACTORY's D-H parameters for the xArm 6, a2 is given by the formula sqrt(284.5² + 53.5²), and UFACTORY prints its value as 289.48866 mm. 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
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
T2_offset = -atan(284.5/53.5) = -1.3849179 (-79.34995°);
Kinematic and Dynamic Parameters: xArm 6 (support article) · UFACTORY · Notes under 2. Standard D-H Parameters
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
T3_offset = -T2_offset = 1.3849179 (79.34995°);
Kinematic and Dynamic Parameters: xArm 6 (support article) · UFACTORY · Notes under 2. Standard D-H Parameters
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
is the offset joint angle from the mathematical zero position to the mechanical zero position shown in the picture.
Kinematic and Dynamic Parameters: xArm 6 (support article) · UFACTORY · Notes under 2. Standard D-H Parameters
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
Confidence: Inferredcomp-561
The record says
Evaluated, UFACTORY's formula for the xArm 6's D-H parameter a2, sqrt(284.5² + 53.5²), gives 289.48661 mm (to five decimal places), about 0.002 mm less than the 289.48866 mm printed beside it (comp-513).
Why we infer this: Arithmetic on the Verified formula in comp-513: 284.5² + 53.5² = 80940.25 + 2862.25 = 83802.5, and its square root is 289.486614..., so 289.48661 mm to five decimal places. The figure UFACTORY prints, 289.48866, differs from this by 0.00205 mm; the source does not say why. The two components (284.5 mm and 53.5 mm) agree with the xarm_ros2 kinematics file's joint3 origin, x 0.0535 m and y -0.2845 m (comp-703), which is what the project's arm model and kinematic chain use; the quantity is left off this record because the evaluated figure is not printed in any source.
Evidence · 1 citation
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
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
Confidence: Verifiedcomp-703
The record says
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: meters and radians).
Evidence · 1 citation
joint3:
x: 0.0535
y: -0.2845
z: 0
roll: 0
pitch: 0
yaw: 0
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)
© UFACTORY Inc., xArm-Developer/xarm_ros2, BSD 3-Clause License · BSD-3-Clause · retrieved 2026-09-25
Open the source
Confidence: Verifiedcomp-514
The record says
In UFACTORY's modified D-H parameters for the xArm 6, the Joint4 row gives d = 342.5 mm and a = 77.5 mm.
Evidence · 1 citation
Joint4 0 342.5 -pi/2 77.5 0
Kinematic and Dynamic Parameters: xArm 6 (support article) · UFACTORY · 1. Modified D-H Parameters table (columns theta(rad), d(mm), alpha(rad), a(mm), offset(rad)), Joint4 row
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
Confidence: Verifiedcomp-704
The record says
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: meters and radians).
Evidence · 1 citation
joint4:
x: 0.0775
y: 0.3425
z: 0
roll: -1.5708
pitch: 0
yaw: 0
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)
© UFACTORY Inc., xArm-Developer/xarm_ros2, BSD 3-Clause License · BSD-3-Clause · retrieved 2026-09-25
Open the source
Confidence: Verifiedcomp-515
The record says
In UFACTORY's modified D-H parameters for the xArm 6, the Joint6 row gives d = 97 mm and a = 76 mm.
Evidence · 1 citation
Joint6 0 97 -pi/2 76 0
Kinematic and Dynamic Parameters: xArm 6 (support article) · UFACTORY · 1. Modified D-H Parameters table (columns theta(rad), d(mm), alpha(rad), a(mm), offset(rad)), Joint6 row
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
Confidence: Verifiedcomp-706
The record says
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: meters and radians).
Evidence · 1 citation
joint6:
x: 0.076
y: 0.097
z: 0
roll: -1.5708
pitch: 0
yaw: 0
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 Inc., xArm-Developer/xarm_ros2, BSD 3-Clause License · BSD-3-Clause · retrieved 2026-09-25
Open the source
Confidence: Verifiedcomp-510
The record says
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 · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
SN of the robotic arm: XI130506D43A0A It is xArm6, model 4.
Kinematic and Dynamic Parameters of xArm Series: telling the model by SN (support article) · UFACTORY · Example
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
Apply to Model: XF1305, XI1305, XS1305 (1305 Model).
UFACTORY xArm Hardware Manual (online), 2. Hardware Installation · UFACTORY · Chapter heading line
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
Confidence: VerifiedAwaiting cell accesscomp-511
The record says
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 · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
xArm 6 - Model 2
Kinematic and Dynamic Parameters: xArm 6 (support article) · UFACTORY · 3. Mass Parameters, table headings
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
xArm 6 - Model 3
Kinematic and Dynamic Parameters: xArm 6 (support article) · UFACTORY · 3. Mass Parameters, table headings
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
xArm 6 - Model 4
Kinematic and Dynamic Parameters: xArm 6 (support article) · UFACTORY · 3. Mass Parameters, table headings
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
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
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
The 1305 model of xArm series is model 4.
UFACTORY xArm Hardware Manual (online), 7. Production Information · UFACTORY · 7.13 DH Parameters (manual for the xArm series; this passage names no single model)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
Kind: Gapcomp-505
Not known
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)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Industrial-grade harmonic drive and servomotors with 17 bit encoder guarantee 24/7 working as well as ±0.02 mm repeatability.
UFACTORY 850 product page · UFACTORY · Overview, 'Durable Collaborative Robots with Easy Deployment' (page names the machine 'UFACTORY 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Confidence: Verifiedcomp-523
The record says
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)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
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)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
Confidence: Verifiedcomp-524
The record says
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)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
Stop Moving Yes No Safeguard Reset Yes No
UFACTORY xArm Hardware Manual (online), 3. Controller Electrical Interface · UFACTORY · 3.4 Configurable IO table (manual for the xArm series; this passage names no single model)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
Manual Mode Yes Yes Reduced Mode Yes No Enable Robot Yes Yes
UFACTORY xArm Hardware Manual (online), 3. Controller Electrical Interface · UFACTORY · 3.4 Configurable IO table (input functions) (manual for the xArm series; this passage names no single model)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
Confidence: Verifiedcomp-531
The record says
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 · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
[COx] Function - NPN (OC) - Type
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 · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
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)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
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)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
Confidence: Verifiedcomp-530
The record says
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)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
The default configuration is to use internal power, see below.
UFACTORY xArm Hardware Manual (online), 3. Controller Electrical Interface · UFACTORY · 3.4 Controller Electrical IO (manual for the xArm series; this passage names no single model)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
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 · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
24V - 0V Current 0 - 3 A
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 · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
Confidence: Verifiedcomp-532
The record says
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 · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
[AIx - AG] Resolution - 12 12 Bit
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 · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
[AOx - AG] Resolution - 12 - Bit
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 · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
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)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
Confidence: Verifiedcomp-543
The record says
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)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
Sink Current 0 - 100 mA
UFACTORY xArm Hardware Manual (online), 4. Robotic Electrical Interface · UFACTORY · 4.2.2 electrical specifications (manual for the xArm series; this passage names no single model)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
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)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
Confidence: Verifiedcomp-542
The record says
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)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
Input Voltage -0.5 - 30 V Logic Low Voltage - - 1.0 V Logic High Voltage 1.6 - - V
UFACTORY xArm Hardware Manual (online), 4. Robotic Electrical Interface · UFACTORY · 4.2.1 electrical specifications (manual for the xArm series; this passage names no single model)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
Confidence: Verifiedcomp-544
The record says
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)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
Input Voltage in Voltage Mode -0.5 - 3.3 V Resolution - 12 - Bit
UFACTORY xArm Hardware Manual (online), 4. Robotic Electrical Interface · UFACTORY · 4.2.3 electrical specifications (manual for the xArm series; this passage names no single model)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
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)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
Kind: Contradictioniface-604
Sources disagree
UFACTORY's documents give one page of UFACTORY Studio two names. The xArm manual says a standard Modbus RTU end effector is debugged under 'Settings-Externals-Modbus RTU'. The Studio manual's Settings chapter, as read on 2026-10-13, heads its section 7.2.5, under 7.2 Externals, 'RS-485'; until that date the section was headed 'Modbus RTU'. UFACTORY's release note for Studio V2.8.2 names the page 'Settings - Externals - RS-485'; no fetched source says from which Studio version the page carries that name.
Related: comp-545 Verified iface-549 Verified iface-561 Verified
Evidence · 4 citations
If end effector supports standard Modbus RTU, user can debug it via 'Settings-Externals-Modbus RTU'.
UFACTORY xArm Hardware Manual (online), 4. Robotic Electrical Interface · UFACTORY · 4.2 Tool IO, tool RS-485 (chapter text is not split by model)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
7.2.5 RS-485
UFACTORY Studio User Manual (online), 7. Settings · UFACTORY · 7.2 Externals, the heading of section 7.2.5 (read 2026-10-13, publisher's commit cf19147)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-13
Open the source
7.2.5 Modbus RTU
UFACTORY Studio User Manual, 7. Settings, as it read until 2026-10-13 (publisher's repository, commit 533b75d) · UFACTORY · 7.2 Externals, the heading of section 7.2.5 (text until 2026-10-13, publisher's commit 533b75d)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-13
Open the source
Settings - Externals - RS-485 - Support independent timeout settings for Modbus RTU and Transparent on the control box or arm end.
UFACTORY Release Note v2.8.2 · UFACTORY · Studio V2.8.2, Settings items (read 2026-10-13)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-13
Open the source
Confidence: Verifiedcomp-553
The record says
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)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-15
Open the source
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)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-15
Open the source
Kind: RecommendationThis project's simulation and agent 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 Gap safety-559 Verified safety-560 Verified safety-561 Verified safety-564 Verified safety-565 Verified safety-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.
Confidence: Verifiedint-004
The record says
S2 picks and transfers incoming material between receiving, staging and production.
Evidence · 1 citation
Picks and transfers incoming material between receiving, staging, and production.
IntelliMake Phase 1 Factory: Autonomous Production Demonstrator (infographic) · IntelliMake.org · S2 station 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.
Confidence: Verifiedint-010
The record says
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
CODE_SESSION 01 — xArm 850 Interactive Learning Platform (project specification) · Derek Stringfellow · Header, 'Confirmed role'
Derek Stringfellow, project record · Project-internal record · retrieved 2026-09-21
Project copy; not published on this site.
The xArm 6 at S6 is the **downstream** arm, handling parts after processing and routing them to inspection, rework, or shipping.
CODE_SESSION 01 — xArm 850 Interactive Learning Platform (project specification) · Derek Stringfellow · Header, 'Confirmed role'
Derek Stringfellow, project record · Project-internal record · retrieved 2026-09-21
Project copy; not published on this site.
Confidence: Verifiedint-008
The record says
S5, the xTool F1 Ultra laser engraver, performs personalization by laser engraving or marking.
Evidence · 1 citation
Performs personalization through laser engraving or marking.
IntelliMake Phase 1 Factory: Autonomous Production Demonstrator (infographic) · IntelliMake.org · S5 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.
Confidence: Verifiedint-503
The record says
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.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.
Shipping / Rework → Packing & Labeling
IntelliMake Phase 1 Factory: Autonomous Production Demonstrator (infographic) · IntelliMake.org · Initial Personalized Gift Production Flow banner, last steps
© 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.
Kind: RecommendationAwaiting cell accessThis project's simulation and agent 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 access safety-587 Gap, awaiting cell access safety-588 Gap, awaiting cell access safety-589 Gap, awaiting cell access safety-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.
Confidence: Verifiedsafety-512
The record says
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]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
Confidence: Verifiedint-027
The record says
Camera C2 (Robot/Laser) monitors the robot–laser work area.
Evidence · 1 citation
Camera C2 – Robot/Laser Monitors the robot–laser work area.
IntelliMake Phase 1 Factory: Autonomous Production Demonstrator (infographic) · IntelliMake.org · Camera C2 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.
Confidence: Verifiedint-024
The record says
S11, IntelliAware Factory Monitoring, provides AI-vision-based monitoring of factory operations, equipment, processes and safety.
Evidence · 1 citation
AI vision-based monitoring of factory operations, equipment, processes, and safety.
IntelliMake Phase 1 Factory: Autonomous Production Demonstrator (infographic) · IntelliMake.org · S11 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.
Kind: GapAwaiting cell accesscomp-547
Not known
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)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
there is an avionic socket 12-pin female industrial connector
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)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
Kind: Contradictionspec-583
Sources disagree
The xArm manual's specifications page has given two thread sizes for the xArm's end flange: 'DIN ISO 9409-1-A50/63 (M5*6)' until 2026-10-15, and 'DIN ISO 9409-1-A50/63 (M6*6)' as the page read on 2026-10-15 (publisher's commit 0d30e6b, in English and Chinese). The current reading is spec-582; spec-573 is kept as history.
Related: spec-573 Superseded by spec-582 Verified spec-582 Verified
Evidence · 2 citations
End Flange DIN ISO 9409-1-A50/63（M5*6）
UFACTORY xArm Hardware Manual (online), 8. Technical Specifications, as it read until 2026-10-15 (publisher's repository, commit e474ecb) · UFACTORY · 'End Flange' row (section '8.1 xArm5/xArm6/xArm7 Common Specifications': applies to all three models) (text until 2026-10-15, publisher's commit e474ecb)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-15
Open the source
End Flange DIN ISO 9409-1-A50/63（M6*6）
UFACTORY xArm Hardware Manual (online), 8. Technical Specifications · UFACTORY · 'End Flange' row (section '8.1 xArm5/xArm6/xArm7 Common Specifications': applies to all three models) (read 2026-10-15, publisher's commit 0d30e6b; until that date, at commit e474ecb, it read 'End Flange DIN ISO 9409-1-A50/63（M5*6）')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-15
Open the source

Image Credits

3D model: © 2018 UFACTORY Inc., BSD-3-Clause, from UFACTORY Inc. (xArm-Developer/xarm_ros2). License text · Source

Sources for This Section

0.1 mm Displacement Test for 850 and xArm 6 (support article) · UFACTORY (manufacturer)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25 · cited by 1 record here · Open the source
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.
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 6 records here · Project copy; not published on this site.
Kinematic and Dynamic Parameters of xArm Series: telling the model by SN (support article) · UFACTORY (manufacturer)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25 · cited by 3 records here · Open the source
Kinematic and Dynamic Parameters of xArm Series: telling the xArm model from the SN (UFACTORY support article) · UFACTORY (manufacturer)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25 · cited by 1 record here · Open the source
Kinematic and Dynamic Parameters: xArm 6 (support article) · UFACTORY (manufacturer)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25 · cited by 9 records here · Open the source
Owner statements from 2026-09-24 onward (verbatim; S40 and later) · Derek Stringfellow (project owner)
Derek Stringfellow, project record · Project-internal record · retrieved 2026-10-04 · cited by 3 records here · Project copy; not published on this site.
UFACTORY Studio User Manual (online), 1. Preface · UFACTORY (manufacturer)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21 · cited by 1 record here · Open the source
UFACTORY Studio User Manual (online), 2. Glossary · UFACTORY (manufacturer)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21 · cited by 3 records here · Open the source
UFACTORY Studio User Manual (online), 4. Live Control · UFACTORY (manufacturer)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-13 · cited by 2 records here · Open the source
UFACTORY Studio User Manual (online), 7. Settings · UFACTORY (manufacturer)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-13 · cited by 3 records here · Open the source
UFACTORY Studio User Manual, 7. Settings, as it read until 2026-10-13 (publisher's repository, commit 533b75d) · UFACTORY (manufacturer)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-13 · cited by 1 record here · Open the source
UFACTORY xArm Hardware Manual (online), 1. Safety · UFACTORY (manufacturer)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25 · cited by 5 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 14 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 20 records here · Open the source
UFACTORY xArm Hardware Manual (online), 4. Robotic Electrical Interface · UFACTORY (manufacturer)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25 · cited by 13 records here · Open the source
UFACTORY xArm Hardware Manual (online), 5. Maintenance and Inspection · 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), 7. Production Information · UFACTORY (manufacturer)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25 · cited by 5 records 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 18 records here · Open the source
UFACTORY xArm Hardware Manual (online), 8. Technical Specifications, as it read until 2026-10-15 (publisher's repository, commit e474ecb) · UFACTORY (manufacturer)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-15 · cited by 1 record here · Open the source
xarm_ros2 (branch humble), xarm_description/config/kinematics/default/xarm6_default_kinematics.yaml · UFACTORY (manufacturer)
© UFACTORY Inc., xArm-Developer/xarm_ros2, BSD 3-Clause License · BSD-3-Clause · retrieved 2026-09-25 · cited by 6 records here · Open the source

All sources and attribution

References: §3 Major Components

References · 99

Image Credits

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