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

§3 xArm 6

Major Components

The parts of the system, what each one does, and how they connect.

Start Here

This section names the parts of the system, says what each one does, and shows how they connect. Every tier below starts from the same three facts.

  • 12

    pins on the tool connector1

  • 6

    pins on the arm cable's connector: ground and two RS-485 pairs2

  • AC or DC

    the two control boxes in the manual's hardware list3

  • The system is more than the arm. UFACTORY's manual lists a control box, an emergency stop button, cables, a mounting tool and end effectors beside it3. The end effector mounts on the wrist and carries the tool that does the work4.
  • The control box is the core of the system: it holds the arm's control system4.
  • The emergency stop button is on the control box5.

S6 in one line: S6 is the xArm 6 arm that handles parts after processing, routing them to inspection, rework or shipping6.

Look Back

A question from earlier on, to keep it fresh. Skip it if you like; nothing depends on it.

q-s02-b-02 What is S6's job in the cell?
  1. Check option (a)

    Correct. Yes. That is IntelliMake's own description of S6.6

  2. Check option (b)

    Not this one. That is S2, the upstream arm.9091

  3. Check option (c)

    Not this one. S5, the laser engraver, does the engraving. S6 handles the parts after processing.926

  4. Check option (d)

    Not this one. That is S10, the last station.93

q-s02-b-04Safety The S6 arm is standing still, and Camera C2 watches the robot and laser area. Is it safe to walk into the arm's working area?
  1. Check option (a)

    Correct. Right. And an arm that seems to have stopped may be waiting for a signal and about to act, so treat it as moving.9495

  2. Check option (b)

    Not this one. Camera C2 monitors the robot–laser work area. Monitoring is not a confirmed safeguard, so do not rely on it.9694

  3. Check option (c)

    Not this one. S11 monitors operations, equipment, processes and safety. Monitoring is not a confirmed safeguard, so do not rely on it.9794

Choose your depth

Four depths, one page. Switch at any time: every tier stays open to everyone. What the four tiers mean

1Beginner

The Parts You Can See

For: Anyone with no robotics background: a visitor, a new operator, a manager
Kind of task: Recognize and recall, with plain-language explanations and pictures

In this part you name each part of the system and find the one button everyone near the arm must be able to reach. No robotics background is needed.

What the System Is Made Of

  • UFACTORY's manual lists the hardware as the arm, an AC control box, a DC control box, an emergency stop button, a power cable, a communication cable, a mounting tool, and end effectors: a force-torque sensor, the BIO Gripper, the Vacuum Gripper and the xArm Gripper3.
  • A control box is included with the arm by default7.

The Arm

  • The arm is made up of a base and rotary joints. Each joint is one degree of freedom, and they are numbered from the bottom up: Joint 1, Joint 2 and so on8.
  • The xArm 6 has six of these joints. The last one is the tool side, where a tool such as a gripper connects8.
  • The arm is made of aluminum and carbon fiber9.

The Control Box

The control box is the core of the system: it holds the arm's control system4.

  • It has three lights. ROBOT PWR is on when the arm has power, STATE flashes when the controller has power, and LAN is on when the arm is communicating normally10.
  • The emergency stop button is on the control box5.
  • That is why the manual says the control box must sit outside the arm's working range, where the button can be pressed in an emergency11.

The Tool on the End

  • The end effector mounts on the front of the wrist. It carries the tool, such as a gripper or a vacuum gripper, that does the work4.
  • UFACTORY's official accessories are the Gripper, the Vacuum Gripper, the BIO Gripper G2, a six-axis force-torque sensor and a linear motor12.
  • At S6, the arm's attachment has five suction cups13.

Brakes in the Joints

The joints have brakes inside. When the power is lost, they hold the arm in its pose14.

The Software

  • UFACTORY Studio is a graphical program for controlling the arm15. UFACTORY describes it as running inside the control box16. The lab uses the Studio desktop app, downloaded from UFACTORY and installed on the computer1718.
  • People can also program the arm in code, with Python, C++ or ROS19.

Check Yourself

Answer, then check. Each option has its own feedback, and nothing is scored.

q-s03-b-01Safety Where is the xArm 6's emergency stop button?
  1. Check option (a)

    Correct. Right. That is why the control box must sit outside the arm's working range, where the button can be pressed in an emergency.511

  2. Check option (b)

    Not this one. The emergency stop button is on the control box, not on the arm.5

  3. Check option (c)

    Not this one. Studio has a STOP button, but Studio itself calls it a software stop, and the power stays on. The emergency stop is the button on the control box.205

q-s03-b-02 Which part actually touches and holds the workpiece?
  1. Check option (a)

    Correct. Yes. It mounts on the front of the wrist and carries the tool that does the work.4

  2. Check option (b)

    Not this one. The control box holds the arm's control system. The end effector on the wrist does the work.4

  3. Check option (c)

    Not this one. Joint 1 is at the bottom. Tools connect at the other end, on the tool side.8

q-s03-b-03 The LAN light on the control box is on. What does that tell you?
  1. Check option (a)

    Correct. Right. ROBOT PWR shows the arm has power, STATE flashes when the controller has power, and LAN is on when the arm is communicating normally.10

  2. Check option (b)

    Not this one. That is the ROBOT PWR light. LAN is on when the arm is communicating normally.10

  3. Check option (c)

    Not this one. That is the STATE light, which flashes when the controller has power. LAN is on when the arm is communicating normally.10

Open questions in this section

2Novice

How the Parts Work Together

For: Someone who will work near or with the cell: operator, trainee technician
Kind of task: Explain and sequence: put steps in order, match parts to their functions

In this part you follow a command from a computer all the way to the gripper, and learn the handful of rules that look after the arm and its cables. It is for someone who will work near or with the cell.

From a Click to a Moving Gripper

This platform pieces together the path a command takes from UFACTORY's descriptions of each part, so the path is Inferred, and its reasoning is printed with the record21.

  1. A computer, running Studio or a program using the SDK, sends the command over Ethernet to the control box, using UFACTORY's private TCP protocol2122.
  2. The control box runs UFACTORY Studio2116.
  3. The control box reaches the arm through two separate cables, one for power and one for communication2123.
  4. The cable connector lists separate RS-485 lines, one for the arm and one for the tool2124.
  5. The gripper at the flange gets its power and control signals from the 12-pin tool connector211.

The flow gives no voltage for the power cable. The intermediate tier explains why.

Two Kinds of Control Box

  • The manual's hardware list has both an AC control box and a DC control box3.
  • The AC box accepts 100–240 V AC at 50/60 Hz25. The DC box accepts 24–72 V DC26.

What Studio Holds, and What Is Missing

  • In Studio you can set parameters, move the arm in Live Control, and build a motion by dragging and dropping Blockly code blocks15.
  • No dedicated teach pendant is documented for the xArm 6. The manual and the product page describe programming it through Studio, the SDKs and hand teaching27.
  • In manual mode you can drag the joints by hand. Teach sensitivity runs from level 1 to 5, and the higher the level, the less force it takes28.

Choosing and Fitting a Tool

  • In Studio's End Effector setting you choose the tool that is fitted. The list includes the Gripper, the Vacuum Gripper, the BIO Gripper and the Robotiq 2F-85 and 2F-140 grippers, among others. Any tool that is not on the list is set as "Other"29.
  • The Gripper in the manual's specifications has an 84 mm working range, a maximum clamping force of 30 N and weighs 802 g30.
  • The Vacuum Gripper (AS1200) has a payload of up to 5 kg and weighs 610 g31.
  • Installing the end effector is the fifth and last of the manual's installation steps32.

The Tool at S6

  • S6 uses an attachment with five suction cups13.
  • S2's and S6's suction tools are basically the same attachment: a rounded mount with the cups attached as one unit. S6's tool uses all five ports on the mount; S2's uses just one33.

Looking After the Arm and Its Cables

  • Use only the arm's original cable, and do not use the arm where that cable has to bend. For a longer or flexible cable, ask the supplier34.
  • The manual says to place the controller between 0.6 m and 1.5 m high35.
  • The arm's shell is carbon fiber. It can be wiped with 95% alcohol or 70% isopropanol, as long as no liquid gets into the joints36.

Check Yourself

Answer, then check. Each option has its own feedback, and nothing is scored.

q-s03-n-01 You click a button in Studio to close the gripper. Which path does that command take?

About:21

  1. Check option (a)

    Correct. Right. That is this platform's Inferred picture, pieced together from UFACTORY's descriptions of each part.2124

  2. Check option (b)

    Not this one. The control box talks over Ethernet, and the manual does not recommend connecting the PC to the router by wireless. The gripper is reached through the arm's cable and the tool connector.2437

  3. Check option (c)

    Not this one. No teach pendant is documented for the xArm 6. UFACTORY describes Studio as running inside the control box.2716

q-s03-n-02 The arm's shell has grease on it. What does the manual say to clean it with?
  1. Check option (a)

    Correct. Right. The shell is carbon fiber, and those are the two cleaners the manual names.36

  2. Check option (b)

    Not this one. The manual says the arm must not be in direct contact with liquid. Wipe it with 95% alcohol or 70% isopropanol, keeping liquid out of the joints.3836

  3. Check option (c)

    Not this one. The manual names two: 95% alcohol or 70% isopropanol, and no liquid in the joints.36

q-s03-n-03Safety The power fails while the arm is holding a pose. What keeps the arm itself from dropping?
  1. Check option (a)

    Correct. Right. The joint modules contain brakes that hold the pose in a power outage.1439

  2. Check option (b)

    Not this one. Gravity compensation is what lets you guide the arm by hand in manual mode. In a power cut, it is the joint brakes that hold the pose.4014

  3. Check option (c)

    Not this one. The built-in battery the manual mentions is in the arm, and the manual's rule for it is about charging it during long storage. The joint brakes hold the pose.4114

Open questions in this section

3Intermediate

Installing and Connecting the Parts

For: Someone who will set up, program or maintain the arm: technician, student engineer
Kind of task: Apply: work through written scenarios that need a decision (which mode, which setting, what to do about this error), with feedback on each choice

In this part you work through what installing the system involves: power, cables, the tool flange and what the tool end offers, and the rules for storage, the brakes and the emergency stop. It is for someone who will set up, program or maintain the arm.

Power into the Control Box

  • The AC control box takes mains power through a standard IEC C20 inlet, with an IEC C19 cable42.
  • The manual's power-supply section says the box takes 100–240 V AC and that a switching power supply inside turns it into 12 V and 48 V DC, for the box itself and the arm43.
  • The manual's specification table says otherwise: it gives the arm's input as 24 V DC, 20.8 A, and the AC controller's output as the same44. So the manual disagrees with itself on what the AC control box supplies45.
  • The DC control box has VP+ (24–72 V DC in), GND and PE terminals. PE connects to the housing for leakage protection and is not a must46.
  • The power cut-off is a plug and socket, so the manual recommends a switching device with enough breaking capacity, such as an air switch with 400 V AC insulation voltage and 10 A rated current47.

Cables

  • The manual lists the arm's power cable and communication cable separately, and both plug into the arm and into the control box23.
  • The cable connector's table lists six pins: GND on pins 1 and 4, the arm's RS-485 A and B on pins 2 and 3, and the tool's RS-485 A and B on pins 5 and 648. The same pin definition is given for the AC and DC controllers2.
  • I/O cables from the control box to other equipment must not be longer than 30 m, unless extension testing shows a longer run works49.

The Tool Flange and Connector

  • The manual gives the end flange as DIN ISO 9409-1-A50/63 (M6*6)50.
  • A 12-pin female aviation-style socket at the tool side supplies power and control signals for grippers and sensors1. It supplies 24 V (20–30 V) at up to 1800 mA51.
  • The product page gives the tool end's I/O as 2 digital inputs, 2 digital outputs, 2 analog inputs and 1 RS-485 port, and the manual's pin table has matching signals52.

The Battery, and the Brakes

  • The arm has a built-in battery. If it is not used for 3 months or more, the manual says to power it on for 6 hours every 3 months to charge it, without enabling the arm41.
  • Studio can unlock a single joint so it can be turned by hand. Someone must support the arm while the brakes are released, to stop it falling, and every joint must be locked again afterwards53.

What the Emergency Stop Does

  • Pressing the button sends the control box a command for software deceleration, which stops the arm and clears its cached commands. Power to the arm is removed within 300 ms5.
  • When it is pressed, the arm's posture brakes slightly and falls. The manual says the e-stop should not be used as a risk-reduction measure54.
  • The manual lists the e-stop button and the emergency input (EI) as Stop Category 1, and the safeguard stop input (SI) as Stop Category 255.
  • These descriptions do not fit together: power removed within 300 ms, but a Category 1 stop that decelerates with drive power on for up to 885 ms. The contradiction card sets out both sides56.

Gripper Figures You Will Be Asked For

  • The Gripper in the manual's specifications runs on 24 V DC (28 V absolute maximum), with 1.5 W quiescent power and 1.5 A peak current57.
  • It talks RS-485, with programmable position and speed and position feedback58. Its protocol is disputed: the manual's table says Modbus TCP, while the product page says Modbus RTU over RS-48559.
  • The manual and the product page list the BIO Gripper G2, the force-torque sensor and the linear motor by name only, with no specifications60.
  • S6's own attachment is a suction tool rather than the xArm Gripper: five suction cups13.

Which xArm 6 Is It?

  • UFACTORY's serial-number guide tells an xArm's model from its serial number: the axis-count letter is S, I or F for the xArm 7, 6 and 561.
  • UFACTORY distinguishes four versions of the xArm 6 by serial number. This project's advice: read the arm's serial number before relying on any figure the sources disagree on, such as its weight or the Joint 2 and Joint 3 ranges62.

Check Yourself

Answer, then check. Each option has its own feedback, and nothing is scored.

q-s03-i-01 A camera on the tool needs a network connection. What does the xArm 6's tool connector offer?
  1. Check option (a)

    Correct. Right. That matches the product page's tool I/O: 2 digital inputs, 2 digital outputs, 2 analog inputs and 1 RS-485 port.6352

  2. Check option (b)

    Not this one. Pins 11 and 12 are the analog inputs AI0 and AI1. None of the 12 pins is an Ethernet line.63

  3. Check option (c)

    Not this one. Pins 5 and 6 are User RS-485 A and B, for grippers and other RS-485 devices, not a network port for a camera.6364

q-s03-i-02 The arm will sit unused for four months. What does the manual require?
  1. Check option (a)

    Correct. Right. The arm has a built-in battery, and an arm unused for 3 months or more needs this charge.41

  2. Check option (b)

    Not this one. The arm has a built-in battery. Unused for 3 months or more, it should be powered on for 6 hours every 3 months.41

  3. Check option (c)

    Not this one. With the brakes released, someone must support the arm to stop it falling. The storage rule is about the battery: power on for 6 hours every 3 months.5341

q-s03-i-03Safety You use Studio to unlock a joint and release its brake. What must happen first?
  1. Check option (a)

    Correct. Right. The unlocked joint provides no force, so someone must support the arm, and every joint must be locked again afterwards.5314

  2. Check option (b)

    Not this one. Studio says the unlocked joint provides no force and someone must support the arm to stop it falling. Do not count on anything else holding it.53

  3. Check option (c)

    Not this one. The e-stop does not hold the arm still: the arm brakes slightly and falls. Unlocking a joint releases its brake, so someone must support the arm.5453

Open questions in this section

4Expert

Electrical and Kinematic Detail

For: Someone who designs, integrates or changes the cell: integrator, engineer, agent developer
Kind of task: Analyze and decide: weigh trade-offs, resolve contradictions, critique a configuration

In this part you read the arm's geometry, its model numbers and hardware versions, and the electrical detail of its inputs, outputs and tool pins, and learn where the detail in the UFACTORY sources runs out. It is for someone who designs, integrates or changes the cell.

The Arm's Geometry

UFACTORY's modified D-H parameters give the xArm 6's link lengths in millimeters, and the xarm_ros2 kinematics file gives its joint origins in meters6566.

  • Joint 1: d = 267 mm. The ROS file puts the Joint 1 origin at z 0.267 m6768.
  • a2 = sqrt(284.5² + 53.5²), which works out to 289.48661 mm; UFACTORY's notes print 289.48866 mm, 0.002 mm more6970. The ROS file instead gives the Joint 3 origin as x 0.0535 m, y -0.2845 m71.
  • Joint 4: d = 342.5 mm and a = 77.5 mm; in the ROS file, x 0.0775 m, y 0.3425 m7273.
  • Joint 6: d = 97 mm and a = 76 mm; in the ROS file, x 0.076 m, y 0.097 m7475.
  • The notes also give the joint-angle offsets between the mathematical and mechanical zero positions: T2_offset = -1.3849179 rad (-79.34995°), and T3_offset = +1.3849179 rad69.

Model Numbers and Hardware Versions

  • The online manual says it applies to models XF1305, XI1305 and XS1305. UFACTORY's displacement test lists the xArm 6 as XI1305, and its serial-number guide reads SN XI130506D43A0A as an xArm 6, model 476.
  • UFACTORY publishes separate mass parameters for four versions of the xArm 6, Model 1 to Model 4, and tells them apart by serial number. The manual says the 1305 model is model 477.
  • So an arm's version decides which mass parameters apply, and it has to be read from its serial number62.

Inside a Joint

UFACTORY's product page names only harmonic drives and servomotors for the joints78.

Motor model and rating, harmonic-drive ratio, encoder type and resolution, and joint-module sizes are not in the manual or the product page. Unlike the 850's page, the xArm page gives no encoder resolution78.

The Controller's Inputs and Outputs

  • The control box has two fixed safety inputs, an emergency stop input and a protective stop input. All safety I/Os come in pairs and must be kept in two separate branches79.
  • The configurable inputs CI0–CI7 support Stop Moving, Safeguard Reset and Reduced Mode. The general inputs DI0–DI7 do not80.
  • The digital outputs are NPN open-collector or open-drain, rated 0–100 mA, with no current protection81.
  • The internal 24 V I/O supply delivers up to 1.8 A and is the default. An external 24 V supply of up to 3 A can be connected instead82.
  • Analog inputs and outputs work at 0–10 V with 12-bit resolution, and are not isolated from the control box83.

The Tool Connector, Pin by Pin

  • Pins 1–2 carry +24 V, pins 3–4 are 0 V, pins 5–6 are User RS-485 A and B, pins 7–8 are tool outputs TO0 and TO1, pins 9–10 are tool inputs TI0 and TI1, and pins 11–12 are analog inputs AI0 and AI163.
  • Tool outputs are NPN open-collector, sinking up to 100 mA, with no current protection84.
  • Tool inputs have a pull-down resistor, so a floating input always reads low. Logic low is at most 1.0 V, logic high at least 1.6 V, and the inputs are rated -0.5 to 30 V85.
  • 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 protection86.
  • Third-party RS-485 devices can be driven through the tool port; UFACTORY's own tool uses ID 9. Standard Modbus RTU tools are set up under the Studio page that the xArm manual calls Settings-Externals-Modbus RTU, a section the Studio manual, as read on 2026-10-13, heads RS-485; others are driven with getset_tgpio_modbus_data using transparent transmission6487.

The Vacuum Gripper in Figures

The Vacuum Gripper (AS1200) in the manual gives -55 kPa and more than 4 L/min. It runs on 24 V DC (28 V absolute maximum), draws 20 mA quiescent and 500 mA peak, uses digital I/O as its communication mode, and feeds back air pressure as low or normal88.

Check Yourself

Answer, then check. Each option has its own feedback, and nothing is scored.

q-s03-e-01 A sensor on tool input TI0 reads low with its cable unplugged. Fault or normal?
  1. Check option (a)

    Correct. Right.85

  2. Check option (b)

    Not this one. The tool inputs have a pull-down resistor, so a floating input always reads low, not high.85

  3. Check option (c)

    Not this one. The supply is on pins 1 and 2, and the inputs are on pins 9 and 10. A floating input reads low because of its pull-down resistor.6385

q-s03-e-02 You are building a dynamic model of an xArm 6. Which of UFACTORY's xArm 6 mass parameters do you use?
  1. Check option (a)

    Correct. Right. UFACTORY publishes separate mass parameters for four versions and tells them apart by serial number, so read it first.7762

  2. Check option (b)

    Not this one. The manual does say that, but UFACTORY tells the four versions apart by serial number. Read the arm's serial number before choosing a set.7762

  3. Check option (c)

    Not this one. There are four sets, Model 1 to Model 4, and the arm's version decides which applies. Read the serial number first.7762

q-s03-e-03Safety A light curtain must stop the arm when someone enters the cell. Where does it belong?
  1. Check option (a)

    Correct. Right. The control box has fixed safety inputs that come in pairs, in two separate branches, and this project's advice is that risk-assessed protective devices go there.7989

  2. Check option (b)

    Not this one. The general inputs DI0–DI7 cannot even take the Stop Moving function. Use the dedicated, redundant protective stop input.8079

  3. Check option (c)

    Not this one. Collision detection is a controller function, not a validated safeguard, and it must not replace protective devices on the safety inputs.89

Open questions in this section

Not settled

Open Questions · 10

What the sources do not settle for this section. Nothing here is papered over with a plausible number.

  • Kind: Gap

    No dedicated teach pendant for the xArm 6 is documented in the xArm manual or the product page: they describe programming through the browser-based UFACTORY Studio, the SDKs and hand teaching.

    See reference 27
  • Kind: Contradiction

    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.

    See reference 44
  • Kind: Contradiction

    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.

    See reference 45
  • Kind: Contradiction

    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.

    See reference 56
  • Kind: Contradiction

    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.

    See reference 59
  • Kind: Gap

    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.

    See reference 60
  • Kind: Gap

    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.

    See reference 78
  • Kind: Contradiction

    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.

    See reference 87
  • Kind: Gap

    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.

    See reference 98
  • Kind: Contradiction

    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.

    See reference 99
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.

Open the 99 references

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 850 product page · UFACTORY (manufacturer)
    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21 · cited by 1 record here · Open the source
  • UFACTORY Release Note v2.8.2 · UFACTORY (manufacturer)
    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-13 · cited by 1 record here · Open the source
  • UFACTORY Studio product and download page · 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), 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
  • UFACTORY xArm product page · UFACTORY (manufacturer)
    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21 · cited by 15 records 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

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

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