References: §4 How the Machine Works

Provenance

References · 63

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-707
The record says
The xArm arm consists of a base and rotary joints, each joint one degree of freedom, numbered Joint 1, Joint 2, Joint 3 and so on from the bottom up; the last joint is the tool side, where end effectors attach. The xArm 6 has 6 degrees of freedom.
Evidence · 2 citations
Quote not shown (over 40 words). See the source at: 2.1.1 Hardware Composition (chapter applies to models XF1305, XI1305, XS1305; text not split by model).
UFACTORY xArm Hardware Manual (online), 2. Hardware Installation · UFACTORY · 2.1.1 Hardware Composition (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
Degress of Freedom | 6
UFACTORY xArm Hardware Manual (online), 8. Technical Specifications · UFACTORY · 8.3 xArm6 Specifications
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-15
Open the source
Confidence: Verifiediface-574
The record says
The controller provides 7 motion modes and 6 states, which correspond to the Python SDK calls set_mode() and set_state().
Evidence · 1 citation
The controller provides 7 motion mode and 6 state, corresponding to python SDK set_mode(), set_state().
UFACTORY Studio User Manual (online), 10. Robotic Arm Motion Mode and State · UFACTORY · 10. introduction (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
Confidence: Verifiediface-576
The record says
Mode 1 is servo mode: set_servo_angle_j moves to each joint target at the fastest speed (180°/s), with no buffer, executing only the latest target received. The control box accepts up to 250 Hz and loses commands sent faster; UFACTORY suggests issuing smoothed, interpolated track points at a certain frequency, preferably 100 Hz or 200 Hz, and warns, for safety, not to give a distant target at once.
Evidence · 6 citations
Move to the given joint position with the fastest speed (180°/s) and acceleration (unit: degree/radian). This command has no buffer, only execute the latest received target point
UFACTORY Studio User Manual (online), 10. Robotic Arm Motion Mode and State · UFACTORY · 10.1 Mode 1, Servo Joint Motion (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
In servoj mode, the maximum receiving frequency of the control box is 250 Hz
UFACTORY Studio User Manual (online), 10. Robotic Arm Motion Mode and State · UFACTORY · 10.1 Mode 1
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
If the frequency of sending commands exceeds 250Hz, the redundant commands will be lost.
UFACTORY Studio User Manual (online), 10. Robotic Arm Motion Mode and State · UFACTORY · 10.1 Mode 1
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
issue a smoothed track point with interpolation at a certain frequency (preferably 100Hz or 200 Hz)
UFACTORY Studio User Manual (online), 10. Robotic Arm Motion Mode and State · UFACTORY · 10.1 Mode 1, suggested use
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
for safety considerations, do not give a distant target position at once
UFACTORY Studio User Manual (online), 10. Robotic Arm Motion Mode and State · UFACTORY · 10.1 Mode 1, note
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Python Example: set_servo_angle_j
UFACTORY Studio User Manual (online), 10. Robotic Arm Motion Mode and State · UFACTORY · 10.1 Mode 1
© 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-711
The record says
TCP stands for Tool Center Point. With no TCP offset set, the default tool coordinate system sits at the flange center; a TCP offset, in mm, moves it to the actual tool point.
Evidence · 3 citations
TCP: Tool Center Point.
UFACTORY Studio User Manual (online), 2. Glossary · UFACTORY · Glossary, 'TCP' (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
If the TCP offset is not set, the default tool coordinate system is located at flange center.
UFACTORY Studio User Manual (online), 2. Glossary · UFACTORY · Glossary, 'Tool Coordinate System'
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Set the relative offset between the default tool coordinate system at flange center and the actual tool coordinate system, with distance unit of mm.
UFACTORY Studio User Manual (online), 2. Glossary · UFACTORY · Glossary, 'TCP Offset'
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
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-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: Verifiedcomp-712
The record says
The base coordinate system is a Cartesian frame on the arm's mounting base: X is front and back, Y left and right, Z up and down. A user coordinate system can be defined as any other reference frame; once set, it becomes the world origin instead of the robot base.
Evidence · 3 citations
Quote not shown (over 40 words). See the source at: Glossary, 'Base Coordinate System' (manual text not model-specific; the Studio manual's Preface lists the xArm 6 among the models it applies to).
UFACTORY Studio User Manual (online), 2. Glossary · UFACTORY · Glossary, 'Base Coordinate System' (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 user coordinate system can be defined as any other reference coordinate system rather than the robot base.
UFACTORY Studio User Manual (online), 2. Glossary · UFACTORY · Glossary, 'User System'
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
After this offset setting, user coordinate system becomes the world origin instead of robot base.
UFACTORY Studio User Manual (online), 7. Settings · UFACTORY · 7.1.3 Coordinates
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-13
Open the source
Confidence: Verifiedcomp-716
The record says
Joint motion is point-to-point motion in joint space: it reaches the target by the fastest path, and the end's trajectory is not a straight line; linear motion moves the tool center point in a straight line in Cartesian space while each joint makes a more complex movement to keep it there.
Evidence · 3 citations
To achieve point-to-point motion in joint space (unit: degree)
UFACTORY Studio User Manual (online), 9. Motion Characteristics · UFACTORY · 9.1.1 Joint Motion (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 joint motion reaches the target point with the fastest path, the end trajectory is not a straight line
UFACTORY Studio User Manual (online), 4. Live Control · UFACTORY · 4.4, Joint Motion
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-13
Open the source
The trajectory of tool center point in the Cartesian space is a straight line. Each joint performs a more complex movement to keep the tool in a straight path.
UFACTORY Studio User Manual (online), 9. Motion Characteristics · UFACTORY · 9.1.2 Linear Motion
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
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-537
The record says
UFACTORY's xArm product page lists hand teaching among the xArm's features, and says collision detection is available for all of its cobots.
Evidence · 2 citations
Hand teaching, lightweight, space-saving and easy to re-deploy to multiple applications without changing your production layout.
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
Collision detection is available for all of our cobots.
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: 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
Kind: Contradictionsafety-568
Sources disagree
UFACTORY's xArm product page presents the xArm as a collaborative robot ('cobot'), while the xArm manual says no people or other equipment should be in the working area when the arm is in operation. Neither source says how the two fit together.
Evidence · 3 citations
Durable Collaborative robots for your automation
UFACTORY xArm product page · UFACTORY · 'Brief Introduction' heading [page covers xArm 5, 6 and 7]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Collision detection is available for all of our cobots.
UFACTORY xArm product page · UFACTORY · 'Flexible deployment with safe feature'
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
When the robotic arm is in operation, make sure no people or other equipment are in the working area.
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
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: Verifiedsafety-511
The record says
The xArm manual says that when the arm is in operation, no people or other equipment should be in the working area.
Evidence · 1 citation
When the robotic arm is in operation, make sure no people or other equipment are in the working area.
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: 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-718
The record says
UFACTORY says the xArm 6 and xArm 7 both have a full 6 degrees of freedom in Cartesian space, whereas the xArm 5's linear and circular moves have 4 ([x, y, z, yaw]).
Evidence · 2 citations
Both robotic arms have a full 6 degrees of freedom in Cartesian space.
The difference between UFACTORY xArm5, UFACTORY xArm6 and UFACTORY xArm7 (Help Center article) · UFACTORY · Section 3, 'Motion Characteristics of the UFACTORY xArm6 and UFACTORY xArm7'
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source Plain http: this publisher has no certificate for that name, so what loads cannot be verified.
the actual flexible degrees of freedom of linear and circular motions in Cartesian space is 4, which is [x, y, z, yaw]
UFACTORY Studio User Manual (online), 9. Motion Characteristics · UFACTORY · 9.2 xArm5 Motion Characteristics
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Confidence: Verifiedcomp-504
The record says
UFACTORY's xArm product page says the xArm's joints use industrial-grade harmonic drives and servomotors.
Evidence · 1 citation
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
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: 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: 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: Verifiedcomp-723
The record says
UFACTORY's collision detection compares each joint's theoretical current, calculated from a dynamic model, with its actual current, and triggers when the difference exceeds a pre-set threshold. The model takes in joint position, speed and acceleration, load weight and center of mass, mounting direction and joint friction.
Evidence · 4 citations
By comparing the theoretical current and actual current of each joint, the system determines whether a collision has occurred.
Collision Detection in UFACTORY Robotic Arms: Current and Dynamic Model-based Feature (UFACTORY support article) · UFACTORY · Introduction (applies to UFACTORY robotic arms; the article's friction table names the xArm 5/6/7)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
If the difference exceeds a pre-set threshold, indicating that the joint may have encountered external resistance or collision, the system triggers the collision detection.
Collision Detection in UFACTORY Robotic Arms: Current and Dynamic Model-based Feature (UFACTORY support article) · UFACTORY · Section 1
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
The dynamic model considers several factors, including:
Collision Detection in UFACTORY Robotic Arms: Current and Dynamic Model-based Feature (UFACTORY support article) · UFACTORY · Section 1
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Quote not shown (over 40 words). See the source at: Section 1, list of model factors.
Collision Detection in UFACTORY Robotic Arms: Current and Dynamic Model-based Feature (UFACTORY support article) · UFACTORY · Section 1, list of model factors
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Confidence: Verifiedsafety-555
The record says
UFACTORY Studio's Settings page says that when the torque deviation detected at a joint exceeds a normal range during motion, the arm stops automatically to prevent injury to the arm or operator. It gives collision sensitivity as levels 1 to 5: the higher the level, the smaller the additional torque needed to trigger collision protection. It says an inaccurate load or installation direction may cause false alarms, and that during some high-load or high-speed moves, once the load and installation direction are confirmed accurate, the sensitivity can be lowered, but lowering it below 3 is not recommended.
Evidence · 3 citations
Quote not shown (over 40 words). See the source at: 7.1.1 Parameters, Collision Detection Sensitivity [general Studio text; the Studio manual says it applies to the xArm6].
UFACTORY Studio User Manual (online), 7. Settings · UFACTORY · 7.1.1 Parameters, Collision Detection Sensitivity [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
Quote not shown (over 40 words). See the source at: 7.1.1, Collision Detection Sensitivity [general Studio text; the Studio manual says it applies to the xArm6].
UFACTORY Studio User Manual (online), 7. Settings · UFACTORY · 7.1.1, Collision Detection Sensitivity [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
During certain high loads or high speed movements, if you confirm that the load or installation direction is set accurately, you can try to lower the collision sensitivity, but it is not recommended to lower it to less than 3.
UFACTORY Studio User Manual (online), 7. Settings · UFACTORY · 7.1.1, Collision Detection Sensitivity [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: Verifiediface-578
The record says
Mode 2 is manual mode: the arm enters zero-gravity mode so the user can drag its links to teach, and should be switched back to mode 0 afterwards. Mode 2 must be set via mode 0: from a non-zero mode, a request for mode 2 first switches to mode 0, and mode 2 takes effect only on a second command.
Evidence · 2 citations
In this mode, the robotic arm will enter the zero gravity mode, and the user can freely drag the links of the robotic arm to complete the teaching function. If the drag teaching is completed, switch back to mode 0.
UFACTORY Studio User Manual (online), 10. Robotic Arm Motion Mode and State · UFACTORY · 10.1 Mode 2: 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
Quote not shown (over 40 words). See the source at: 10.1 Mode 2, note.
UFACTORY Studio User Manual (online), 10. Robotic Arm Motion Mode and State · UFACTORY · 10.1 Mode 2, note
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Confidence: Verifiediface-579
The record says
Before manual (joint teaching) mode is turned on, the mounting direction and TCP load must be set correctly; otherwise, UFACTORY says, inaccurate gravity compensation may leave the arm unable to stay still.
Evidence · 1 citation
Quote not shown (over 40 words). See the source at: 10.1 Mode 2, NOTE (manual text not model-specific; the Studio manual's Preface lists the xArm 6 among the models it applies to).
UFACTORY Studio User Manual (online), 10. Robotic Arm Motion Mode and State · UFACTORY · 10.1 Mode 2, NOTE (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
Confidence: Verifiedcomp-725
The record says
UFACTORY Studio records the arm's trajectory in free driving by recording joint positions at 250 Hz, for up to 5 minutes, and plays it back exactly at x1, x2 or x4 speed; the recording can be imported into Blockly.
Evidence · 1 citation
Quote not shown (over 40 words). See the source at: 4.2 Recording (manual text not model-specific; the Studio manual's Preface lists the xArm 6 among the models it applies to).
UFACTORY Studio User Manual (online), 4. Live Control · UFACTORY · 4.2 Recording (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 2026-10-13
Open the source
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: Verifiediface-575
The record says
Mode 0, position control, is the mode the control box enters by default after start-up. In it, set_servo_angle makes point-to-point joint moves, set_position and set_position_aa make straight-line Cartesian moves, move_arc_lines inserts arcs between straight lines with continuous speed, and move_circle makes circular moves through three points.
Evidence · 7 citations
The control box enters this mode by default after startup.
UFACTORY Studio User Manual (online), 10. Robotic Arm Motion Mode and State · UFACTORY · 10.1 Mode 0 (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
To achieve the point-to-point motion of joint space (unit: degree/radian), the speed between each command is discontinuous. Python Example: set_servo_angle
UFACTORY Studio User Manual (online), 10. Robotic Arm Motion Mode and State · UFACTORY · 10.1 Mode 0, Joint Motion
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
To achieve linear motion between Cartesian coordinates (unit: mm), the speed between each instruction is discontinuous. Python Example: set_position, set_position_aa
UFACTORY Studio User Manual (online), 10. Robotic Arm Motion Mode and State · UFACTORY · 10.1 Mode 0, Linear Motion
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
inserting an arc between two straight lines for a smooth transition, and the speed between each command is continuous.
UFACTORY Studio User Manual (online), 10. Robotic Arm Motion Mode and State · UFACTORY · 10.1 Mode 0, Arc Linear Motion
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Python Example: move_arc_lines
UFACTORY Studio User Manual (online), 10. Robotic Arm Motion Mode and State · UFACTORY · 10.1 Mode 0, Arc Linear Motion
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Circular motion calculates the trajectory of the spatial circle according to the three-point coordinates
UFACTORY Studio User Manual (online), 10. Robotic Arm Motion Mode and State · UFACTORY · 10.1 Mode 0, Circular Motion
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Python Example: move_circle
UFACTORY Studio User Manual (online), 10. Robotic Arm Motion Mode and State · UFACTORY · 10.1 Mode 0, Circular Motion
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Confidence: Verifiediface-581
The record says
Modes 6 and 7 are online planning modes for joint moves (set_servo_angle) and Cartesian moves (set_position, set_position_aa): each new command interrupts the current one and is planned from the current position. Mode 7 can use only the base coordinate system as reference.
Evidence · 3 citations
Command sent by set_servo_angle(). In this mode, every time a motion command is received, the current motion command will be interrupted, and then the motion command will be planned and executed from the current position
UFACTORY Studio User Manual (online), 10. Robotic Arm Motion Mode and State · UFACTORY · 10.1 Mode 6 (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
Command sent by set_position() or set_position_aa(). In this mode, every time a motion command is received, the current motion command will be interrupted, and then the motion command will be planned and executed from the current position
UFACTORY Studio User Manual (online), 10. Robotic Arm Motion Mode and State · UFACTORY · 10.1 Mode 7
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Cartesian online planning mode can only use the base coordinate system as the reference coordinate system
UFACTORY Studio User Manual (online), 10. Robotic Arm Motion Mode and State · UFACTORY · 10.1 Mode 7, note
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Confidence: Verifiediface-582
The record says
Setting state 0 puts the arm in STANDBY in its current mode and clears the error code, after which the reported state switches to 2 on its own. Reported state 1 means the arm is in motion, and state 2 that it is ready to receive and execute commands.
Evidence · 3 citations
Set: configure the robot the be STANDBY state in corresponding mode, and clear the error code as well. Note: after this setting, the feedback state will switch to 2(REDDY) automatically.
UFACTORY Studio User Manual (online), 10. Robotic Arm Motion Mode and State · UFACTORY · 10.2 State 0 (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
Feedback. The robot is in motion.
UFACTORY Studio User Manual (online), 10. Robotic Arm Motion Mode and State · UFACTORY · 10.2 State 1
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Feedback. The robot is ready to receive and execute commands.
UFACTORY Studio User Manual (online), 10. Robotic Arm Motion Mode and State · UFACTORY · 10.2 State 2
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Kind: Contradictioniface-585
Sources disagree
The Python SDK and the Studio manual name state 2 differently: the SDK's state list calls it 'sleeping', while the Studio manual says the robot is ready to receive and execute commands.
Evidence · 2 citations
2: sleeping
xArm-Python-SDK API documentation (doc/api/xarm_api.md) · UFACTORY · get_state / state, return values (SDK documentation is not model-specific)
© UFACTORY Inc., xArm-Developer/xArm-Python-SDK, BSD 3-Clause License · BSD-3-Clause · retrieved 2026-09-21
Open the source
Feedback. The robot is ready to receive and execute commands.
UFACTORY Studio User Manual (online), 10. Robotic Arm Motion Mode and State · UFACTORY · 10.2 State 2
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Confidence: Verifiediface-583
The record says
Setting state 3 pauses a running motion, which state 0 resumes. Setting state 4 stops the arm, terminating any execution immediately; it then accepts no new command until set back to STANDBY, and the controller also switches to state 4 by itself when any error occurs.
Evidence · 3 citations
set: set the robot to a PAUSED state when executing motion commands, the motion can be resumed by setting state 0.
UFACTORY Studio User Manual (online), 10. Robotic Arm Motion Mode and State · UFACTORY · 10.2 State 3 (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
set: set the robot to STOP state, it will terminate any execution immediately and will not receive or execute any new command until the state is set back to STANDBY.
UFACTORY Studio User Manual (online), 10. Robotic Arm Motion Mode and State · UFACTORY · 10.2 State 4
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
will automatically switch to this state when any error occurs.
UFACTORY Studio User Manual (online), 10. Robotic Arm Motion Mode and State · UFACTORY · 10.2 State 4
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Confidence: Verifiediface-584
The record says
State 5 (MODE_CHANGED) is entered automatically when critical settings such as mode, payload, TCP offset or collision sensitivity change, and the arm accepts no command until state 0 is set. Setting state 6 performs a decelerated stop immediately.
Evidence · 2 citations
MODE_CHANGED state, will automatically switch to this state if some critical configurations (mode, payload, TCP offset, collision sensitivity, etc) have been changed, and cannot receive and execute any command until set state 0.
UFACTORY Studio User Manual (online), 10. Robotic Arm Motion Mode and State · UFACTORY · 10.2 State 5 (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
Set and Feedback. Perform a decelerated stop immediately.
UFACTORY Studio User Manual (online), 10. Robotic Arm Motion Mode and State · UFACTORY · 10.2 State 6
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Confidence: Verifiediface-586
The record says
Controller errors and warnings are fed back passively, in the reply to whatever command the user sends next, not reported actively. After such an error the arm stops immediately and discards the control box's cached commands, and the user must clear the error manually.
Evidence · 2 citations
This error/warning signal will be fed back when the user sends any command; The feedback is passive and not actively reported.
UFACTORY Studio User Manual (online), 12. Error Handling · UFACTORY · 12.1 Control Box Error Code and Handling (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 2026-10-13
Open the source
After the above error occurs, the robotic arm will stop working immediately and discard the Control Box cache command. Users need to clear these errors manually to allow normal operation.
UFACTORY Studio User Manual (online), 12. Error Handling · UFACTORY · 12.1
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-13
Open the source
Confidence: Verifiedcomp-717
The record says
Linear and circular moves are Cartesian trajectory planning solved by inverse kinematics, so there may be no solution, several solutions or an approximate one; and because joint space and Cartesian space are related non-linearly, the joints may exceed their maximum speed and acceleration.
Evidence · 1 citation
Quote not shown (over 40 words). See the source at: 9.1.2 Linear Motion (manual text not model-specific; the Studio manual's Preface lists the xArm 6 among the models it applies to).
UFACTORY Studio User Manual (online), 9. Motion Characteristics · UFACTORY · 9.1.2 Linear Motion (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
Confidence: Verifiedcomp-714
The record says
UFACTORY gives orientation as roll, pitch and yaw: successive rotations about the fixed X, Y and Z axes of the reference (base) frame, R = Rz(yaw)·Ry(pitch)·Rx(roll). The +180° and -180° points coincide, so the arm may report either.
Evidence · 4 citations
Roll/Pitch/Yaw(RPY): Roll/Pitch/Yaw sequentially rotates around the X / Y / Z of the selected coordinate system (base coordinate system).
UFACTORY Studio User Manual (online), 2. Glossary · UFACTORY · Glossary, 'Roll/Pitch/Yaw(RPY)' (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
Each rotation is around a fixed axis of the reference coordinate system {A}. This method is called the XYZ fixed angle coordinate system
UFACTORY Studio User Manual (online), 2. Glossary · UFACTORY · Glossary, 'Roll/Pitch/Yaw(RPY)'
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Rrpy(r,p,y)=RZ(y)·RY(p)·RX(r)
UFACTORY Studio User Manual (online), 4. Live Control · UFACTORY · 4.4, Linear Motion
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-13
Open the source
The +180° and -180° points of the Roll/Pitch/Yaw are coinciding in the space, and the valid range is ±180°, so it is possible to have both ±180° when the robotic arm is reporting the position.
UFACTORY Studio User Manual (online), 4. Live Control · UFACTORY · 4.4, Linear Motion
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-13
Open the source
Confidence: Verifiediface-511
The record says
UFACTORY's xArm manual gives different units by interface: the Python SDK and Blockly use degrees for roll, pitch, yaw and joint angles, while the communication protocol uses radians; X, Y and Z are in millimeters in all three.
Evidence · 3 citations
X（Y/Z） | millimeter（mm） | millimeter（mm） | millimeter（mm）
UFACTORY xArm Hardware Manual (online), Preface · UFACTORY · Unit Definition table, 'X（Y/Z）' row (the Preface applies to models XF1305, XI1305, XS1305; this table is not split by model)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
Roll（Pitch/Yaw） | degree（°） | degree（°） | radian（rad）
UFACTORY xArm Hardware Manual (online), Preface · UFACTORY · Unit Definition table, 'Roll（Pitch/Yaw）' row
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
J1~J7 | degree（°） | degree（°） | radian（rad）
UFACTORY xArm Hardware Manual (online), Preface · UFACTORY · Unit Definition table, 'J1~J7' row
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
Confidence: Verifiedsafety-560
The record says
UFACTORY's support article says collision detection may sometimes be falsely triggered, often in relation to the end-effector load, center of mass, installation orientation and friction parameters. It recommends updating the weight and center of mass after changing the end effector or workpiece, updating the payload after pick and release actions in pick-and-place programs, setting the mounting direction correctly, and reloading the joint friction parameters after replacing the control box.
Evidence · 5 citations
In practical applications, the robot's collision detection function may sometimes be falsely triggered. This phenomenon is often related to the end effector load, center of mass, installation orientation, and friction parameters.
Collision Detection in UFACTORY Robotic Arms: Current and Dynamic Model-based Feature (UFACTORY support article) · UFACTORY · Section 2 [names UFACTORY robotic arms generally]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
After changing end effector or workpiece, update the weight and center of mass settings in the TCP payload settings page of the software.
Collision Detection in UFACTORY Robotic Arms: Current and Dynamic Model-based Feature (UFACTORY support article) · UFACTORY · Section 3
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
In pick-and-place programs, update the payload settings after pick and release actions.
Collision Detection in UFACTORY Robotic Arms: Current and Dynamic Model-based Feature (UFACTORY support article) · UFACTORY · Section 3
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Ensure that the robotic arm’s mounting direction is set correctly in UFACTORY Studio or via SDK.
Collision Detection in UFACTORY Robotic Arms: Current and Dynamic Model-based Feature (UFACTORY support article) · UFACTORY · Section 3
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
After replacing the control box, reload the correct joint friction parameters for the robotic arm.
Collision Detection in UFACTORY Robotic Arms: Current and Dynamic Model-based Feature (UFACTORY support article) · UFACTORY · Section 3
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Confidence: Verifiediface-580
The record says
In the Python SDK, mode 3 (Cartesian teaching) is marked invalid. Mode 4 is joint velocity control (vc_set_joint_velocity) and mode 5 Cartesian velocity control (vc_set_cartesian_velocity); each call needs its mode set first and firmware 1.6.9 or later.
Evidence · 4 citations
3: cartesian teaching mode (invalid)
xArm-Python-SDK API documentation (doc/api/xarm_api.md) · UFACTORY · set_mode, parameter mode (SDK documentation is not model-specific)
© UFACTORY Inc., xArm-Developer/xArm-Python-SDK, BSD 3-Clause License · BSD-3-Clause · retrieved 2026-09-21
Open the source
Joint velocity control, need to be set to joint velocity control mode(self.set_mode(4))
xArm-Python-SDK API documentation (doc/api/xarm_api.md) · UFACTORY · vc_set_joint_velocity
© UFACTORY Inc., xArm-Developer/xArm-Python-SDK, BSD 3-Clause License · BSD-3-Clause · retrieved 2026-09-21
Open the source
Cartesian velocity control, need to be set to cartesian velocity control mode(self.set_mode(5))
xArm-Python-SDK API documentation (doc/api/xarm_api.md) · UFACTORY · vc_set_cartesian_velocity
© UFACTORY Inc., xArm-Developer/xArm-Python-SDK, BSD 3-Clause License · BSD-3-Clause · retrieved 2026-09-21
Open the source
1. only available if firmware_version >= 1.6.9
xArm-Python-SDK API documentation (doc/api/xarm_api.md) · UFACTORY · vc_set_joint_velocity, note 1
© UFACTORY Inc., xArm-Developer/xArm-Python-SDK, BSD 3-Clause License · BSD-3-Clause · retrieved 2026-09-21
Open the source
Confidence: Verifiedsafety-556
The record says
UFACTORY Studio's glossary gives the collision sensitivity range as 0 to 5, where 0 means collision detection is not enabled, and the Python SDK's set_collision_sensitivity takes a value of 0 to 5.
Evidence · 2 citations
The collision sensitivity range is from 0 to 5 level. When it is set to 0, it means that collision detection is not enabled.
UFACTORY Studio User Manual (online), 2. Glossary · UFACTORY · Glossary, Collision 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
:param value: sensitivity value, 0~5
xArm-Python-SDK API documentation (doc/api/xarm_api.md) · UFACTORY · def set_collision_sensitivity [SDK text for the xArm API; names no single model]
© UFACTORY Inc., xArm-Developer/xArm-Python-SDK, BSD 3-Clause License · BSD-3-Clause · retrieved 2026-09-21
Open the source
Confidence: Verifiedcomp-726
The record says
The Python SDK can compute kinematics: get_forward_kinematics takes a list of joint angles (one per axis), get_inverse_kinematics takes a pose [x, y, z, roll, pitch, yaw], and get_dh_params reads the DH parameters (firmware 2.0.0 or later).
Evidence · 6 citations
Get forward kinematics
xArm-Python-SDK API documentation (doc/api/xarm_api.md) · UFACTORY · get_forward_kinematics (SDK documentation is not model-specific)
© UFACTORY Inc., xArm-Developer/xArm-Python-SDK, BSD 3-Clause License · BSD-3-Clause · retrieved 2026-09-21
Open the source
:param angles: [angle-1, angle-2, ..., angle-n], n is the number of axes of the arm
xArm-Python-SDK API documentation (doc/api/xarm_api.md) · UFACTORY · get_forward_kinematics
© UFACTORY Inc., xArm-Developer/xArm-Python-SDK, BSD 3-Clause License · BSD-3-Clause · retrieved 2026-09-21
Open the source
Get inverse kinematics
xArm-Python-SDK API documentation (doc/api/xarm_api.md) · UFACTORY · get_inverse_kinematics
© UFACTORY Inc., xArm-Developer/xArm-Python-SDK, BSD 3-Clause License · BSD-3-Clause · retrieved 2026-09-21
Open the source
:param pose: [x(mm), y(mm), z(mm), roll(rad or °), pitch(rad or °), yaw(rad or °)]
xArm-Python-SDK API documentation (doc/api/xarm_api.md) · UFACTORY · get_inverse_kinematics
© UFACTORY Inc., xArm-Developer/xArm-Python-SDK, BSD 3-Clause License · BSD-3-Clause · retrieved 2026-09-21
Open the source
Get the DH parameters
xArm-Python-SDK API documentation (doc/api/xarm_api.md) · UFACTORY · get_dh_params
© UFACTORY Inc., xArm-Developer/xArm-Python-SDK, BSD 3-Clause License · BSD-3-Clause · retrieved 2026-09-21
Open the source
1. only available if firmware_version >= 2.0.0
xArm-Python-SDK API documentation (doc/api/xarm_api.md) · UFACTORY · get_dh_params, note 1
© UFACTORY Inc., xArm-Developer/xArm-Python-SDK, BSD 3-Clause License · BSD-3-Clause · retrieved 2026-09-21
Open the source
Confidence: Verifiedcomp-727
The record says
UFACTORY publishes modified and standard Denavit-Hartenberg (D-H) parameters and link mass parameters for the xArm 6.
Evidence · 3 citations
1. Modified D-H Parameters
Kinematic and Dynamic Parameters: xArm 6 (support article) · UFACTORY · Page 'xArm 6', section 1
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
2. Standard D-H Parameters
Kinematic and Dynamic Parameters: xArm 6 (support article) · UFACTORY · section 2
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
3. Mass Parameters
Kinematic and Dynamic Parameters: xArm 6 (support article) · UFACTORY · section 3
© 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: 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: 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-720
The record says
A singularity occurs when the axes of any two joints lie on one straight line; the arm's degrees of freedom are degraded and some joints may turn too fast. Near one, planned Cartesian moves (not joint moves) stop to avoid high joint speed, so UFACTORY advises avoiding it or passing it with a joint move.
Evidence · 2 citations
Quote not shown (over 40 words). See the source at: 9.3 Singularity (manual text not model-specific; the Studio manual's Preface lists the xArm 6 among the models it applies to).
UFACTORY Studio User Manual (online), 9. Motion Characteristics · UFACTORY · 9.3 Singularity (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
Quote not shown (over 40 words). See the source at: 9.3, Characteristics.
UFACTORY Studio User Manual (online), 9. Motion Characteristics · UFACTORY · 9.3, Characteristics
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Confidence: Verifiedlim-522
The record says
UFACTORY Studio says that near a singularity, planned Cartesian moves (linear, circular, but not joint moves) cannot be performed correctly and the arm stops to avoid a high instantaneous joint speed. It advises avoiding the central area near the base, and, when choosing a mounting place, considering the cylindrical volume directly above and below the base. It says moving the wrist joint close to that volume should be avoided if possible, because it makes the joints move fast even when the arm moves slowly and makes a risk assessment difficult.
Evidence · 4 citations
When the robot performs motion planning (linear, circular, etc., excluding joint movements) near the singularity point, it will stop to avoid high instantaneous speed of the joint when it passes the singularity point.
UFACTORY Studio User Manual (online), 9. Motion Characteristics · UFACTORY · 9.3 Singularity, Characteristics [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
so the robotic arm should try to avoid passing directly the central area near the base, which is likely to cause 1st Joint speed too high.
UFACTORY Studio User Manual (online), 9. Motion Characteristics · UFACTORY · 9.3 Singularity [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
It is important to consider the cylindrical volume directly above and directly below the base of the robotic arm when a mounting place for the robotic arm is chosen.
UFACTORY Studio User Manual (online), 9. Motion Characteristics · UFACTORY · 9.3, Note [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
Quote not shown (over 40 words). See the source at: 9.3, Note [general Studio text; the Studio manual says it applies to the xArm6].
UFACTORY Studio User Manual (online), 9. Motion Characteristics · UFACTORY · 9.3, Note [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-601
The record says
As UFACTORY's Studio manual read on 2026-10-13, further controller errors in its list are: C21 kinematic error, C22 self-collision, C23 joint angle beyond its limit, C24 a joint's speed beyond its limit (the row shows the joint and its speed, and says to check whether the robot is out of its working range, or to turn on 'Use Approximate Solution' under General > Advanced Settings), C25 planning error, C35 safety boundary limit and C37 abnormal movement in manual mode.
Evidence · 9 citations
C21 | Kinematic Error
UFACTORY Studio User Manual (online), 12. Error Handling · UFACTORY · 12.1 table, C21 (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; the page names no Studio or firmware version)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-13
Open the source
C22 | Self-collision Error
UFACTORY Studio User Manual (online), 12. Error Handling · UFACTORY · 12.1 table, C22 (read 2026-10-13, publisher's commit e28e232)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-13
Open the source
C23 | Joints Angle Exceed Limit
UFACTORY Studio User Manual (online), 12. Error Handling · UFACTORY · 12.1 table, C23 (read 2026-10-13, publisher's commit e28e232)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-13
Open the source
C24 | Joints Speed Exceeds Limit
UFACTORY Studio User Manual (online), 12. Error Handling · UFACTORY · 12.1 table, C24 (read 2026-10-13, publisher's commit e28e232)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-13
Open the source
Joint ID [x],joint speed is xxx°/s
UFACTORY Studio User Manual (online), 12. Error Handling · UFACTORY · 12.1 table, C24, second line (read 2026-10-13, publisher's commit e28e232)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-13
Open the source
Please check if the robot is out of working range, or go to " General - Advanced Settings" and turn on the "Use Approximate Solution" feature.
UFACTORY Studio User Manual (online), 12. Error Handling · UFACTORY · 12.1 table, C24, third line (read 2026-10-13, publisher's commit e28e232)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-13
Open the source
C25 | Planning Error
UFACTORY Studio User Manual (online), 12. Error Handling · UFACTORY · 12.1 table, C25 (read 2026-10-13, publisher's commit e28e232)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-13
Open the source
C35 | Safety Boundary Limit
UFACTORY Studio User Manual (online), 12. Error Handling · UFACTORY · 12.1 table, C35 (read 2026-10-13, publisher's commit e28e232)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-13
Open the source
C37 | Abnormal movement in Manual Mode
UFACTORY Studio User Manual (online), 12. Error Handling · UFACTORY · 12.1 table, C37 (read 2026-10-13, publisher's commit e28e232)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-13
Open the source
Kind: ContradictionAwaiting cell accesssafety-602
Sources disagree
UFACTORY's Studio manual has given two readings of controller error C24. Until 2026-10-13 the row was titled 'Speed Exceeds Limit' and said to check whether the xArm is at a singularity point, or to reduce the speed and acceleration values. As read on 2026-10-13 it is titled 'Joints Speed Exceeds Limit', shows the joint and its speed, and says to check whether the robot is out of its working range, or to turn on 'Use Approximate Solution' under General > Advanced Settings; the row no longer names a singularity or reducing the speed and acceleration, though the manual's Settings chapter describes 'Use Approximate Solution' as using an approximate solution to pass singularities. The Python SDK's code list gives 24 as 'Speed Exceeds Limit', a title only. The manual does not say the earlier handling no longer applies, and no fetched source says which Studio versions show which text.
Awaiting cell access: this could be confirmed or corrected once the physical S6 cell can be observed.
Related: iface-591 Verified iface-601 Verified ops-573 Verified ops-590 Verified safety-591 Superseded, awaiting cell access by int-553 Verified, awaiting cell access int-554 Verified, awaiting cell access safety-605 Gap, awaiting cell access int-514 Superseded, awaiting cell access by int-553 Verified, awaiting cell access int-558 Gap, awaiting cell access ops-594 Verified comp-720 Verified
Evidence · 7 citations
C24 | Speed Exceeds Limit
UFACTORY Studio User Manual, 12. Error Handling, as it read until 2026-10-13 (publisher's repository, commit 533b75d) · UFACTORY · 12.1 table, C24 (the text until 2026-10-13: publisher's commit 533b75d)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-13
Open the source
Please check if the xArm is at singularity point, or reduce the speed and acceleration values.
UFACTORY Studio User Manual, 12. Error Handling, as it read until 2026-10-13 (publisher's repository, commit 533b75d) · UFACTORY · 12.1 table, C24, second line (the text until 2026-10-13: publisher's commit 533b75d)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-13
Open the source
C24 | Joints Speed Exceeds Limit
UFACTORY Studio User Manual (online), 12. Error Handling · UFACTORY · 12.1 table, C24 [general Studio text; the Studio manual says it applies to the xArm6] (read 2026-10-13, publisher's commit e28e232; the page names no Studio or firmware version)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-13
Open the source
Please check if the robot is out of working range, or go to " General - Advanced Settings" and turn on the "Use Approximate Solution" feature.
UFACTORY Studio User Manual (online), 12. Error Handling · UFACTORY · 12.1 table, C24, third line (read 2026-10-13, publisher's commit e28e232)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-13
Open the source
- 24: Speed Exceeds Limit
xArm-Python-SDK API code description (doc/api/xarm_api_code.md) · UFACTORY · Controller Error Code
© UFACTORY Inc., xArm-Developer/xArm-Python-SDK, BSD 3-Clause License · BSD-3-Clause · retrieved 2026-09-21
Open the source
Joint ID [x],joint speed is xxx°/s
UFACTORY Studio User Manual (online), 12. Error Handling · UFACTORY · 12.1 table, C24, second line (read 2026-10-13, publisher's commit e28e232)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-13
Open the source
Use Approximate Solution: Use approximate solution to pass Singularities.
UFACTORY Studio User Manual (online), 7. Settings · UFACTORY · 7.4.3 Advanced Settings (read 2026-10-13, publisher's commit cf19147; the same words at commit 533b75d)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-13
Open the source
Confidence: Verifiediface-591
The record says
As UFACTORY's Studio manual read until 2026-10-13, further controller errors in UFACTORY Studio's list: C21 kinematic error, C22 self-collision, C23 joint angle beyond its limit, C24 speed beyond its limit (check for a singularity or reduce speed and acceleration), C25 planning error, C35 safety boundary limit and C37 abnormal motion in manual mode.
Evidence · 8 citations
C21 | Kinematic Error
UFACTORY Studio User Manual, 12. Error Handling, as it read until 2026-10-13 (publisher's repository, commit 533b75d) · UFACTORY · 12.1 table (manual text not model-specific; the Studio manual's Preface lists the xArm 6 among the models it applies to) (text until 2026-10-13, publisher's commit 533b75d; the page names no Studio or firmware version)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-13
Open the source
C22 | Self-collision Error
UFACTORY Studio User Manual, 12. Error Handling, as it read until 2026-10-13 (publisher's repository, commit 533b75d) · UFACTORY · 12.1 table (text until 2026-10-13, publisher's commit 533b75d)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-13
Open the source
C23 | Joints Angle Exceed Limit
UFACTORY Studio User Manual, 12. Error Handling, as it read until 2026-10-13 (publisher's repository, commit 533b75d) · UFACTORY · 12.1 table (text until 2026-10-13, publisher's commit 533b75d)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-13
Open the source
C24 | Speed Exceeds Limit
UFACTORY Studio User Manual, 12. Error Handling, as it read until 2026-10-13 (publisher's repository, commit 533b75d) · UFACTORY · 12.1 table, first line (text until 2026-10-13, publisher's commit 533b75d)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-13
Open the source
Please check if the xArm is at singularity point, or reduce the speed and acceleration values.
UFACTORY Studio User Manual, 12. Error Handling, as it read until 2026-10-13 (publisher's repository, commit 533b75d) · UFACTORY · 12.1 table, following line (text until 2026-10-13, publisher's commit 533b75d)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-13
Open the source
C25 | Planning Error
UFACTORY Studio User Manual, 12. Error Handling, as it read until 2026-10-13 (publisher's repository, commit 533b75d) · UFACTORY · 12.1 table (text until 2026-10-13, publisher's commit 533b75d)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-13
Open the source
C35 | Safety Boundary Limit
UFACTORY Studio User Manual, 12. Error Handling, as it read until 2026-10-13 (publisher's repository, commit 533b75d) · UFACTORY · 12.1 table (text until 2026-10-13, publisher's commit 533b75d)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-13
Open the source
C37 | Abnormal Motion in Manual Mode
UFACTORY Studio User Manual, 12. Error Handling, as it read until 2026-10-13 (publisher's repository, commit 533b75d) · UFACTORY · 12.1 table (text until 2026-10-13, publisher's commit 533b75d)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-13
Open the source
Confidence: Verifiedops-594
The record says
UFACTORY Studio's Advanced Settings include 'Use Approximate Solution', which the manual describes in one line: use an approximate solution to pass singularities.
Evidence · 1 citation
Use Approximate Solution: Use approximate solution to pass Singularities.
UFACTORY Studio User Manual (online), 7. Settings · UFACTORY · 7.4.3 Advanced Settings [general Studio text; the Studio manual says it applies to the xArm6] (read 2026-10-13, publisher's commit cf19147; the same words at commit 533b75d)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-13
Open the source
Confidence: Verifiedsafety-561
The record says
Collision detection can be turned on or off in UFACTORY Studio's Advanced Settings, and that page needs a password; Studio's manual documents the default password.
Evidence · 2 citations
You must enter password to access this page, the default password:
UFACTORY Studio User Manual (online), 7. Settings · UFACTORY · 7.4.3 Advanced Settings (the quote stops before the default value, which this corpus does not print) [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
Collision Detection: Turn on/off collision detection
UFACTORY Studio User Manual (online), 7. Settings · UFACTORY · 7.4.3 Advanced Settings [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: Verifiediface-577
The record says
Servo Cartesian motion (servo_cartesian) moves to each Cartesian target at the fastest speed (1 m/s) with no buffer; UFACTORY recommends sending commands at 30-250 Hz, since below 30 Hz the motion may be discontinuous.
Evidence · 3 citations
Move to the given cartesian position with the fastest speed (1 m/s) and acceleration (unit: mm). This command has no buffer
UFACTORY Studio User Manual (online), 10. Robotic Arm Motion Mode and State · UFACTORY · 10.1 Mode 1, Servo Cartesian Motion (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
It is recommended that the frequency of user issuing commands be controlled within the range of 30 Hz-250 Hz. If the frequency is lower than 30 Hz, the motion of the robotic arm may be discontinuous.
UFACTORY Studio User Manual (online), 10. Robotic Arm Motion Mode and State · UFACTORY · 10.1 Mode 1, Servo Cartesian Motion
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Python Example: servo_cartesian, servo_cartesian_aa
UFACTORY Studio User Manual (online), 10. Robotic Arm Motion Mode and State · UFACTORY · 10.1 Mode 1, Servo Cartesian Motion
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Confidence: Inferrediface-571
The record says
In UFACTORY's Modbus TCP register map, holding registers 32 and 33 (0x20, 0x21) hold the robot mode and state, and input registers 32 and 33 hold the robot error code and warning code.
Why we infer this: Verified: UFACTORY's ModbusTCP User Instructions (UF_ModbusTCP_Manual, in the xArm-Python-SDK repository) state this, but that document names no robot model. Verified: the UFACTORY Studio manual, whose Preface lists the xArm 6, says the controller accepts standard Modbus TCP commands on port 502 (iface-569). Inferred: the register map very probably holds on the xArm 6's controller, but no document written for the xArm 6 gives it; a read of these registers on the S6 controller would confirm it.
Evidence · 4 citations
| 32 | 0x20 | Robot Mode |
UFACTORY ModbusTCP User Instructions (xArm-Python-SDK doc/UF_ModbusTCP_Manual.md) · UFACTORY · Appendix, Holding Registers
© UFACTORY Inc., xArm-Developer/xArm-Python-SDK, BSD 3-Clause License · BSD-3-Clause · retrieved 2026-09-21
Open the source
| 33 | 0x21 | Robot State |
UFACTORY ModbusTCP User Instructions (xArm-Python-SDK doc/UF_ModbusTCP_Manual.md) · UFACTORY · Appendix, Holding Registers
© UFACTORY Inc., xArm-Developer/xArm-Python-SDK, BSD 3-Clause License · BSD-3-Clause · retrieved 2026-09-21
Open the source
| 32 | 0x20 | Robot Error code |
UFACTORY ModbusTCP User Instructions (xArm-Python-SDK doc/UF_ModbusTCP_Manual.md) · UFACTORY · Appendix, Input Registers
© UFACTORY Inc., xArm-Developer/xArm-Python-SDK, BSD 3-Clause License · BSD-3-Clause · retrieved 2026-09-21
Open the source
| 33 | 0x21 | Robot Warning code |
UFACTORY ModbusTCP User Instructions (xArm-Python-SDK doc/UF_ModbusTCP_Manual.md) · UFACTORY · Appendix, Input Registers
© UFACTORY Inc., xArm-Developer/xArm-Python-SDK, BSD 3-Clause License · BSD-3-Clause · retrieved 2026-09-21
Open the source
Confidence: Verifiedspec-509
The record says
The online hardware manual and the product page give the xArm 6's joint 1 (J1) range of motion as ±360°.
Evidence · 3 citations
J1~J6 (±360°, -117~116°, -219~10°, ±360°, -97~180°, ±360°)
UFACTORY xArm Hardware Manual (online), 8. Technical Specifications · UFACTORY · Table 'xArm6', 'Joint Range' row (values in joint order J1-J6) (section '8.3 xArm6 Specifications': names the xArm 6)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-15
Open the source
J1 ±360° ±360° ±360°
UFACTORY xArm Hardware Manual (online), Preface · UFACTORY · 'Joint Range' table, row J1 (the Preface says 'Apply to Model: XF1305, XI1305, XS1305'; table columns xArm 5, xArm 6, xArm 7)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
Joint 1 ±360° ±360° ±360°
UFACTORY xArm product page · UFACTORY · second comparison table, 'Joint 1' row (Tech Specs > Comparison table, columns xArm 5, xArm 6, xArm 7; value read from the xArm 6 column)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Confidence: Verifiediface-593
The record says
Controller warning 11 means the command queue (uxbus queue) is full and warning 14 that a command has no solution; controller error 40 means no inverse-kinematics solution is available.
Evidence · 3 citations
- 11: uxbus queue is full
xArm-Python-SDK API code description (doc/api/xarm_api_code.md) · UFACTORY · Controller Warn Code (SDK documentation is not model-specific)
© UFACTORY Inc., xArm-Developer/xArm-Python-SDK, BSD 3-Clause License · BSD-3-Clause · retrieved 2026-09-21
Open the source
- 14: command has no solution
xArm-Python-SDK API code description (doc/api/xarm_api_code.md) · UFACTORY · Controller Warn Code
© UFACTORY Inc., xArm-Developer/xArm-Python-SDK, BSD 3-Clause License · BSD-3-Clause · retrieved 2026-09-21
Open the source
- 40: No IK available
xArm-Python-SDK API code description (doc/api/xarm_api_code.md) · UFACTORY · Controller Error Code
© UFACTORY Inc., xArm-Developer/xArm-Python-SDK, BSD 3-Clause License · BSD-3-Clause · 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-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: 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: 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
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
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

Image Credits

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

Sources for This Section

Collision Detection in UFACTORY Robotic Arms: Current and Dynamic Model-based Feature (UFACTORY support article) · UFACTORY (manufacturer)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21 · cited by 2 records here · Open the source
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 1 record 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 2 records 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 4 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 1 record here · Project copy; not published on this site.
The difference between UFACTORY xArm5, UFACTORY xArm6 and UFACTORY xArm7 (Help Center article) · UFACTORY (manufacturer)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21 · cited by 1 record here · Open the source Plain http: this publisher has no certificate for that name, so what loads cannot be verified.
UFACTORY ModbusTCP User Instructions (xArm-Python-SDK doc/UF_ModbusTCP_Manual.md) · UFACTORY (manufacturer)
© UFACTORY Inc., xArm-Developer/xArm-Python-SDK, BSD 3-Clause License · BSD-3-Clause · retrieved 2026-09-21 · cited by 1 record here · Open the source
UFACTORY Studio User Manual (online), 10. Robotic Arm Motion Mode and State · UFACTORY (manufacturer)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21 · cited by 11 records here · Open the source
UFACTORY Studio User Manual (online), 12. Error Handling · 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 (online), 2. Glossary · UFACTORY (manufacturer)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21 · cited by 6 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 4 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 6 records here · Open the source
UFACTORY Studio User Manual (online), 9. Motion Characteristics · UFACTORY (manufacturer)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21 · cited by 5 records here · Open the source
UFACTORY Studio User Manual, 12. Error Handling, 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 2 records 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 5 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 3 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 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 1 record here · Open the source
UFACTORY xArm Hardware Manual (online), 8. Technical Specifications · UFACTORY (manufacturer)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-15 · cited by 7 records here · Open the source
UFACTORY xArm Hardware Manual (online), Preface · UFACTORY (manufacturer)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25 · cited by 2 records here · Open the source
xArm-Python-SDK API code description (doc/api/xarm_api_code.md) · UFACTORY (manufacturer)
© UFACTORY Inc., xArm-Developer/xArm-Python-SDK, BSD 3-Clause License · BSD-3-Clause · retrieved 2026-09-21 · cited by 2 records here · Open the source
xArm-Python-SDK API documentation (doc/api/xarm_api.md) · UFACTORY (manufacturer)
© UFACTORY Inc., xArm-Developer/xArm-Python-SDK, BSD 3-Clause License · BSD-3-Clause · retrieved 2026-09-21 · cited by 4 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 1 record here · Open the source

All sources and attribution

References: §4 How the Machine Works

References · 63

Image Credits

Sources for This Section

Analytics on This Site