References: §8 Control, Communication and Programming Interfaces

Back to §8 Control, Communication and Programming Interfaces

Provenance

References · 110

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: Verifiediface-501
The record says
UFACTORY's common specifications for the xArm 5, 6 and 7 list four programming routes: UFACTORY Studio, Python, C++ and ROS.
Evidence · 2 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
Programming | UFACTORY Studio, Python/C++/ROS
UFACTORY xArm Hardware Manual (online), 8. Technical Specifications · UFACTORY · 8.1 table, 'Programming' row
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-15
Open the source
Confidence: Verifiediface-535
The record says
The xArm 5/6/7 AC and DC control boxes each have 8 configurable digital inputs (CI) and 8 general digital inputs (DI), 8 configurable (CO) and 8 general (DO) digital outputs, 2 analog inputs, 2 analog outputs and 1 RS-485 master port.
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
I/O Interface | 8×CI+8×DI(Digital In) 8×CO+8×DO(Digital Out)
UFACTORY xArm Hardware Manual (online), 8. Technical Specifications · UFACTORY · 8.1 controller table, 'I/O Interface' row (AC and DC columns identical)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-15
Open the source
2×AI(Analog In) 2×AO(Analog Out) 1×RS-485 Master
UFACTORY xArm Hardware Manual (online), 8. Technical Specifications · UFACTORY · 8.1 controller table, 'I/O Interface' row
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-15
Open the source
Confidence: Verifiediface-547
The record says
The xArm manual says digital I/O can be used to communicate with other machines or PLCs if a common GND (0 V) is established and the machine uses open-drain outputs. An I/O cable from the control box to other equipment must not exceed 30 m unless extension testing shows it works.
Evidence · 2 citations
If general GND (0V) is established and the machine uses open-drain output technology, digital I/O and other can be used device communication
UFACTORY xArm Hardware Manual (online), 3. Controller Electrical Interface · UFACTORY · 3.4.2.3 Communicate with other Machines or PLCs (chapter text is not split by model)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
The length of the I/O cable that used to connect the Control Box with other mechanical and plant equipment must not exceed 30 meters unless it is feasible after the extension testing.
UFACTORY xArm Hardware Manual (online), 3. Controller Electrical Interface · UFACTORY · 3.1 Electrical Alarms and Cautions
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
Confidence: VerifiedAwaiting cell accessops-712
The record says
Asked whether the lab opens UFACTORY Studio in a web browser or with the desktop app, the answer given on 2026-10-23 was the desktop app, and that learners should download it.
Awaiting cell access: this could be confirmed or corrected once the physical S6 cell can be observed.
Reasoning: Verified as a dated report of how Studio is opened in the lab, as of 2026-10-23 and no further. The question was about the lab, where the xArm 6 is operated from Studio (int-089); the answer names no arm. It names no Studio version and no computer, and no inspection is recorded. It says that the lab uses the desktop app and that learners should download it; it says nothing about whether the browser route UFACTORY's Studio manual describes works.
Evidence · 1 citation
2 desktop app, so they should download it if that was not explicitily said
Owner statements from 2026-09-24 onward (verbatim; S40 and later) · Derek Stringfellow · Statement S244 (2026-10-23), answer 2, to whether the lab opens UFACTORY Studio in a browser or with the desktop app
Derek Stringfellow, project record · Project-internal record · retrieved 2026-10-04
Project copy; not published on this site.
Confidence: Verifiedres-539
The record says
UFACTORY's UFACTORY Studio page offers the Studio app as downloads for Windows, macOS and Linux. Suits beginners and novices.
Evidence · 1 citation
Download
Windows
Download
MacOS
Download
Linux
UFACTORY Studio product and download page · UFACTORY · Download buttons (read 2026-10-23)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Confidence: Verifiediface-504
The record says
UFACTORY Studio is reached through a web browser without installing any software; the manual lists Chrome, Firefox, Safari and Chromium-based Microsoft Edge as compatible.
Evidence · 1 citation
UFACTORY Studio can be accessed through a browser directly without installing any software. Now it's compatible with browsers: Google Chrome/ Firefox/ Safari/ Microsoft Edge(Chromium kernel).
UFACTORY Studio User Manual (online), 1. Preface · UFACTORY · 1. Preface, second paragraph
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Confidence: Verifiedint-089
The record says
UFACTORY Studio is currently understood to be the primary means of operating the cell's arms manually.
Evidence · 1 citation
The UFACTORY Studio is currently what is understood to be the primary means of manual operations
Owner statements from 2026-09-24 onward (verbatim; S40 and later) · Derek Stringfellow · Statement S145 (2026-10-07)
Derek Stringfellow, project record · Project-internal record · retrieved 2026-10-04
Project copy; not published on this site.
Confidence: Verifiediface-536
The record says
The xArm manual says the control box I/O can be used with many devices, including pneumatic relays, PLCs and emergency stop buttons, and that all I/O must comply with its electrical specifications.
Evidence · 2 citations
The I/Os are extremely flexible and can be used in many different devices, including pneumatic relays, PLCs, and emergency stop buttons.
UFACTORY xArm Hardware Manual (online), 3. Controller Electrical Interface · UFACTORY · 3.4 Controller Electrical IO (chapter text is not split by model)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
All the I/O must comply with the specifications.
UFACTORY xArm Hardware Manual (online), 3. Controller Electrical Interface · UFACTORY · 3.4 Controller Electrical IO
© 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-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: Verifiediface-502
The record says
The UFACTORY Studio user manual lists the xArm 6 among the models it applies to.
Evidence · 1 citation
Apply to model: xArm5, xArm6, xArm7, UFACTORY 850, Lite6.
UFACTORY Studio User Manual (online), 1. Preface · UFACTORY · 1. Preface, 'Apply to model'
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Confidence: Verifiediface-503
The record says
UFACTORY Studio is a graphical application for controlling the robotic arm: with it a user can set parameters, move the arm in Live Control, and build a motion trajectory by dragging and dropping Blockly code blocks.
Evidence · 2 citations
UFACTORY Studio is a graphical user application for controlling the robotic arm.
UFACTORY Studio User Manual (online), 1. Preface · UFACTORY · 1. Preface, first paragraph
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
With this application, you can set parameters, move the robotic arm in Live control, and create a motion trajectory by simply drag and drop the code blocks of Blockly.
UFACTORY Studio User Manual (online), 1. Preface · UFACTORY · 1. Preface, first paragraph
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Confidence: Verifiedcomp-536
The record says
The xArm can be programmed with UFACTORY Studio or with Python, C++ and ROS (the manual gives this in common for the xArm 5, 6 and 7); the product page says the Python/C++ SDK is open source and ROS/ROS2 packages are available.
Evidence · 2 citations
Programming UFACTORY Studio, Python/C++/ROS
UFACTORY xArm Hardware Manual (online), 8. Technical Specifications · UFACTORY · 'Programming' row (section '8.1 xArm5/xArm6/xArm7 Common Specifications': applies to all three models)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-15
Open the source
Fully functional open-source Python/C++ SDK provides more flexible programming. ROS/ROS2 packages are ready-to-go.
UFACTORY xArm product page · UFACTORY · Overview, 'Powerful and open source SDK at your fingertips' (xArm product page, which covers the xArm 5, 6 and 7)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Confidence: Verifiediface-506
The record says
Blockly, in UFACTORY Studio, programs the arm by dragging and dropping code blocks without writing code, and its toolbar can convert a Blockly program to Python code.
Evidence · 2 citations
Blockly is a graphical programming tool that can be programmed to control the robotic arm by dragging and dropping code blocks without the need to write the code manually.
UFACTORY Studio User Manual (online), 5. Blockly · UFACTORY · 5. Blockly, 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 2026-10-13
Open the source
Convert to Python：Convert to Python code.
UFACTORY Studio User Manual (online), 5. Blockly · UFACTORY · 5.1 Interface Overview
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-13
Open the source
Confidence: InferredAwaiting cell accessops-711
The record says
UFACTORY Studio's connection screen, as used with the xArm 850 at S2 and reported on 2026-10-23, has an IP search field for the arm and a Connect Server button: the operator enters the IP address from the control box and clicks Connect Server. No reading of the screen with the xArm 6 is recorded.
Awaiting cell access: this could be confirmed or corrected once the physical S6 cell can be observed.
Why we infer this: Inferred, not observed with the xArm 6. The report (S241, 2026-10-23) is of UFACTORY Studio's connection screen as it was used with the xArm 850 (recorded in that arm's course), as of that date and no further. The xArm 6 is operated from the same Studio software, whose manual lists the xArm 6 among the models it applies to (iface-502), and the xArm 6's Studio read 2.7.0 on 2026-10-16 (int-610), so its connection screen is inferred to have the same IP search field and Connect Server button; the screen was seen with the 850, and a different Studio version may lay it out differently. No screenshot of the connection screen is recorded, and no inspection is recorded. The same report says the Connect page's 'Open UFACTORY Studio' step 1 is incorrect; it makes no statement about the browser route the Studio manual's connection chapter describes (iface-505).
Evidence · 2 citations
There is an IP search for the arm and connect button, you enter the IP from the control box and click on the Connect Server button
Owner statements from 2026-09-24 onward (verbatim; S40 and later) · Derek Stringfellow · Statement S241 (2026-10-23), on the Connect page's 'Open UFACTORY Studio' steps; the report is of Studio as used with the xArm 850
Derek Stringfellow, project record · Project-internal record · retrieved 2026-10-04
Project copy; not published on this site.
Open UFACTORY Studio step 1 is incorrect.
Owner statements from 2026-09-24 onward (verbatim; S40 and later) · Derek Stringfellow · Statement S241 (2026-10-23), the same paragraph, its first sentence
Derek Stringfellow, project record · Project-internal record · retrieved 2026-10-04
Project copy; not published on this site.
Confidence: Verifiediface-505
The record says
UFACTORY Studio is opened by entering the control box's IP address followed by ':18333' in a browser, for example 192.168.1.201:18333.
Evidence · 3 citations
Enter 'IP+:18333' on the browser to access UFACTORY Studio.
UFACTORY Studio User Manual (online), 3. Connection · UFACTORY · 3.2 Software Connection (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 IP of control box is 192.168.1.201
UFACTORY Studio User Manual (online), 3. Connection · UFACTORY · 3.2 Software Connection, example
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Access link: 192.168.1.201:18333
UFACTORY Studio User Manual (online), 3. Connection · UFACTORY · 3.2 Software Connection, example
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Confidence: Verifiediface-529
The record says
The xArm manual lists four ways to network the control box: directly to the PC (the recommended method), through a router by Ethernet cable, through a router with the PC on Wi-Fi, or through a network switch. The Wi-Fi option is not recommended because of delay and packet loss.
Evidence · 5 citations
There are four ways of network settings for the robotic arm.
UFACTORY xArm Hardware Manual (online), 2. Hardware Installation · UFACTORY · 2.2.3.3 Controller Networking (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
The control box is directly connected to the PC(Recommended connection method).
UFACTORY xArm Hardware Manual (online), 2. Hardware Installation · UFACTORY · 2.2.3.3 Controller Networking
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
The control box, PC and router are connected by Ethernet cable.
UFACTORY xArm Hardware Manual (online), 2. Hardware Installation · UFACTORY · 2.2.3.3 Controller Networking
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
Note: It is not recommended because of the delay and packet loss of wireless connection.
UFACTORY xArm Hardware Manual (online), 2. Hardware Installation · UFACTORY · 2.2.3.3 Controller Networking
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
The control box, PC and network switch are connected by Ethernet cable.
UFACTORY xArm Hardware Manual (online), 2. Hardware Installation · UFACTORY · 2.2.3.3 Controller Networking
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
Confidence: Verifiediface-530
The record says
The arm's default IP address is in the 192.168.1.xxx range, and the Studio manual says to make sure the PC and the control box are on the same network segment.
Evidence · 1 citation
The default IP of robotic arm is 192.168.1.xxx, please make sure that the IP address of the PC and control box are on the same network segment.
UFACTORY Studio User Manual (online), 3. Connection · UFACTORY · 3.2 Software Connection (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-554
The record says
At the tool side of the xArm there is a 12-pin female avionic-socket industrial connector that supplies power and control signals to grippers and sensors on the tool.
Evidence · 1 citation
At the tool side of the robotic arm, there is an avionic socket 12-pin female industrial connector. This connector provides power and control signals for the grippers and sensors used on a particular robotic arm tool.
UFACTORY xArm Hardware Manual (online), 4. Robotic Electrical Interface · UFACTORY · 4.2 Tool IO (chapter text is not split by model)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
Confidence: Verifiediface-557
The record says
The xArm manual warns that the connected tool and gripper must not cause danger when power is cut, such as a workpiece dropping from the tool.
Evidence · 1 citation
Make sure that the connecting tool and the gripper do not cause any danger when the power is cut, such as dropping of the work-piece from the tool.
UFACTORY xArm Hardware Manual (online), 4. Robotic Electrical Interface · UFACTORY · 4.2 Tool IO, DANGER (chapter text is not split by model)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
Confidence: Verifiedsafety-544
The record says
The xArm manual warns never to connect a safety signal to a non-safety PLC, and says failure to follow this warning may result in serious injury or death due to an invalid safety stop function.
Evidence · 1 citation
Never connect a safety signal to a non-safety PLC.Failure to follow this warning may result in serious injury or death due to an invalid safety stop function.
UFACTORY xArm Hardware Manual (online), 3. Controller Electrical Interface · UFACTORY · 3.1 Electrical Alarms and Cautions, DANGER [series text: names no single model]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
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.
Kind: Gapcomp-538
Not known
No dedicated teach pendant for the xArm 6 is documented in the xArm manual or the product page: they describe programming through the browser-based UFACTORY Studio, the SDKs and hand teaching.
Evidence · 2 citations
Web-based technology compatible with all major browsers.
UFACTORY xArm product page · UFACTORY · Overview, 'Graphical interface for beginner-friendly programming' (xArm product page, which covers the xArm 5, 6 and 7)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Hand teaching, lightweight, space-saving and easy to re-deploy to multiple applications
UFACTORY xArm product page · UFACTORY · Overview, 'Flexible deployment with safe feature' (xArm product page, which covers the xArm 5, 6 and 7)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Confidence: Verifiediface-508
The record says
The xArm Python SDK is installed from PyPI with 'pip install xarm-python-sdk', and only Python 3 is supported.
Evidence · 2 citations
pip install xarm-python-sdk
xArm-Python-SDK README · UFACTORY · Installation, 'Install from pypi' (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
Only Python 3 is supported.
xArm-Python-SDK README · UFACTORY · Installation
© UFACTORY Inc., xArm-Developer/xArm-Python-SDK, BSD 3-Clause License · BSD-3-Clause · retrieved 2026-09-21
Open the source
Confidence: Verifiediface-548
The record says
The xArm manual warns never to connect a safety signal to a non-safety PLC, because an invalid safety stop function may result in serious injury or death. Its safety I/O exist in redundant pairs that must be kept in two separate branches, and there are two fixed safety inputs: an emergency stop input and a protective stop input.
Evidence · 5 citations
Never connect a safety signal to a non-safety PLC.Failure to follow this warning may result in serious injury or death due to an invalid safety stop function.
UFACTORY xArm Hardware Manual (online), 3. Controller Electrical Interface · UFACTORY · 3.1 Electrical Alarms and Cautions (chapter text is not split by model)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
All safety I/Os exist in pairs (redundancy) and must be kept in two separate branches.
UFACTORY xArm Hardware Manual (online), 3. Controller Electrical Interface · UFACTORY · 3.4.1 Safety IO(EISI)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
There are two fixed safety inputs:
UFACTORY xArm Hardware Manual (online), 3. Controller Electrical Interface · UFACTORY · 3.4.1 Safety IO(EISI)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
The robotic arm emergency stop input is only used for the emergency stop of the device.
UFACTORY xArm Hardware Manual (online), 3. Controller Electrical Interface · UFACTORY · 3.4.1 Safety IO(EISI)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
The protective stop input is used for all types of safety protection.
UFACTORY xArm Hardware Manual (online), 3. Controller Electrical Interface · UFACTORY · 3.4.1 Safety IO(EISI)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
Confidence: Verifiediface-207
The record says
Python will be the primary coding method for the IntelliMake cell.
Reasoning: Verified as the plan stated for the cell. This project's reading: primary is not only, so Blockly stays taught as a UFACTORY Studio skill.
Evidence · 3 citations
Blockly will not be used due to the freedom of programming we will need, so our coding will be in Python.
Owner statements from 2026-09-24 onward (verbatim; S40 and later) · Derek Stringfellow · Statement S172 (2026-10-09), item 2
Derek Stringfellow, project record · Project-internal record · retrieved 2026-10-04
Project copy; not published on this site.
explain how to use bloky to perform movments
Owner statements from 2026-09-24 onward (verbatim; S40 and later) · Derek Stringfellow · Statement S235 (2026-10-23), on the course's Step 2 assignment, one of the things the operating pages should explain
Derek Stringfellow, project record · Project-internal record · retrieved 2026-10-04
Project copy; not published on this site.
1.8 Python will be the primary coding method used.
Owner statements from 2026-09-24 onward (verbatim; S40 and later) · Derek Stringfellow · Statement S254 (2026-10-26), answering decisions 10-26 §1.8
Derek Stringfellow, project record · Project-internal record · retrieved 2026-10-04
Project copy; not published on this site.
Confidence: Verifiediface-513
The record says
The ReadMe of UFACTORY's ROS 2 package xarm_ros2 says all its following (quick-start) instructions are based on the xArm 6, and xArm 5 or 7 users should use the proper parameters or file names.
Evidence · 1 citation
All following instructions will base on xArm6，please use proper parameters or filenames for xArm5 or xArm7
xarm_ros2 ReadMe (humble branch) · UFACTORY · 5. Quick start, Reminder 3
© UFACTORY Inc., xArm-Developer/xarm_ros2, BSD 3-Clause License · BSD-3-Clause · retrieved 2026-09-21
Open the source
Confidence: Verifiediface-532
The record says
UFACTORY Studio's Device Info page shows the arm's IP address, subnet mask, broadcast address and default gateway, and the manual says to mark a changed IP address on the control box.
Evidence · 2 citations
Display the IP address of the robotic arm, subnet mask, broadcast address, and default gateway.
UFACTORY Studio User Manual (online), 7. Settings · UFACTORY · 7.5.1 Device Info, Network Settings (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
If you change the IP address, be sure to mark it on the control box.
UFACTORY Studio User Manual (online), 7. Settings · UFACTORY · 7.5.1 Device Info
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-13
Open the source
Confidence: Verifiediface-537
The record says
Controller inputs CI0-CI7 can be configured as General Input, Stop Moving, Safeguard Reset, Offline Task, Manual Mode, Reduced Mode or Enable Robot; DI0-DI7 support the same functions except Stop Moving, Safeguard Reset and Reduced Mode.
Evidence · 1 citation
Quote not shown (over 40 words). See the source at: 3.4 Configurable IO table, input functions (chapter text is not split by model).
UFACTORY xArm Hardware Manual (online), 3. Controller Electrical Interface · UFACTORY · 3.4 Configurable IO table, input functions (chapter text is not split by model)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
Confidence: Verifiediface-538
The record says
Controller outputs CO0-CO7 and DO0-DO7 can each be configured as General Output or as a status signal: Motion Stopped, Robot Moving, Error, Warning, Collision, Manual Mode, Reduced Mode, Offline Task Running, Robot Enabled, or Emergency Stop is Pressed.
Evidence · 2 citations
Quote not shown (over 40 words). See the source at: 3.4 Configurable IO table, output functions (chapter text is not split by model).
UFACTORY xArm Hardware Manual (online), 3. Controller Electrical Interface · UFACTORY · 3.4 Configurable IO table, output functions (chapter text is not split by model)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
Manual Mode | Yes | Yes | Reduced Mode | Yes | Yes | Offline Task Running | Yes | Yes | Robot Enabled | Yes | Yes | Emergency Stop is Pressed | Yes | Yes
UFACTORY xArm Hardware Manual (online), 3. Controller Electrical Interface · UFACTORY · 3.4 Configurable IO table, output functions
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
Confidence: Verifiediface-540
The record says
Three of the Studio controller input functions act on the arm through I/O: Offline Task triggers Blockly projects through I/O, Enable Robot enables the arm, and Manual Mode lets the arm be dragged freely while the input stays low.
Evidence · 3 citations
Offline Task: Offline Task can add multiple Blockly to be triggered through I/O.
UFACTORY Studio User Manual (online), 7. Settings · UFACTORY · 7.2.2 Controller IO, IO Function (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
Enable Robot: Enable the robotic arm by triggering IO.
UFACTORY Studio User Manual (online), 7. Settings · UFACTORY · 7.2.2 Controller IO, IO Function
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-13
Open the source
Manual Mode: When set as Manual Mode, the robotic arm can be dragged freely when the input signal remains low level.
UFACTORY Studio User Manual (online), 7. Settings · UFACTORY · 7.2.2 Controller IO, IO Function
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-13
Open the source
Confidence: Verifiediface-539
The record says
In UFACTORY Studio, configured input functions are triggered by a low-level signal. An input can be used freely in a Blockly or SDK program only when it is set as General Input, otherwise functions conflict; for example, if CI0 is configured as an offline task it should not be used in any program.
Evidence · 2 citations
The following functions (if configured), can be triggered by low-level input signals.
UFACTORY Studio User Manual (online), 7. Settings · UFACTORY · 7.2.2 Controller IO, IO Function (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
Quote not shown (over 40 words). See the source at: 7.2.2 Controller IO, General Input.
UFACTORY Studio User Manual (online), 7. Settings · UFACTORY · 7.2.2 Controller IO, General Input
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-13
Open the source
Confidence: Verifiediface-541
The record says
In UFACTORY Studio the controller digital inputs CI0-CI7 and DI0-DI7 read high by default, the digital outputs CO0-CO7 and DO0-DO7 are low by default, and the analog outputs AO0 and AO1 are 0 V by default (range 0-10 V).
Evidence · 3 citations
Digital Input: CI0-CI7, DI0-DI7, High level by default.
UFACTORY Studio User Manual (online), 7. Settings · UFACTORY · 7.2.2 Controller IO, IO State (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
Digital Output: CO0-CO7, DO0-DO7, Low level by default.
UFACTORY Studio User Manual (online), 7. Settings · UFACTORY · 7.2.2 Controller IO, IO State
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-13
Open the source
Analog Output: AO0, AO1, 0V by default, [0-10V].
UFACTORY Studio User Manual (online), 7. Settings · UFACTORY · 7.2.2 Controller IO, IO State
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-13
Open the source
Confidence: Verifiediface-555
The record says
The xArm tool connector's pins: +24 V on pins 1-2, 0 V (GND) on 3-4, user RS-485 A/B on 5-6, tool outputs TO0/TO1 on 7-8, tool inputs TI0/TI1 on 9-10, and analog inputs AI0/AI1 on 11-12.
Evidence · 6 citations
1 | Brown | +24V (Power) | 7 | Black | Tool Output 0 (TO0)
UFACTORY xArm Hardware Manual (online), 4. Robotic Electrical Interface · UFACTORY · 4.2 Tool IO pin table, row 1/7 (chapter text is not split by model)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
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2 | Blue | +24V (Power) | 8 | Grey | Tool Output 1 (TO1)
UFACTORY xArm Hardware Manual (online), 4. Robotic Electrical Interface · UFACTORY · 4.2 pin table, row 2/8
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
3 | White | 0V (GND) | 9 | Red | Tool Input 0 (TI0)
UFACTORY xArm Hardware Manual (online), 4. Robotic Electrical Interface · UFACTORY · 4.2 pin table, row 3/9
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
4 | Green | 0V (GND) | 10 | Purple | Tool Input 1 (TI1)
UFACTORY xArm Hardware Manual (online), 4. Robotic Electrical Interface · UFACTORY · 4.2 pin table, row 4/10
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
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5 | Pink | User 485-A | 11 | Orange | Analog input 0 (AI0)
UFACTORY xArm Hardware Manual (online), 4. Robotic Electrical Interface · UFACTORY · 4.2 pin table, row 5/11
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
6 | Yellow | User 485-B | 12 | Light Green | Analog input 1 (AI1)
UFACTORY xArm Hardware Manual (online), 4. Robotic Electrical Interface · UFACTORY · 4.2 pin table, row 6/12
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
Confidence: Verifiediface-563
The record says
UFACTORY Studio's End Effector IO page refreshes at 5 Hz and lists tool digital inputs TI0-TI4 (low by default), outputs TO0-TO4 and analog inputs TAI0-TAI1 (0 V by default, 0-3.3 V).
Evidence · 4 citations
Update Frequency: 5HZ.
UFACTORY Studio User Manual (online), 7. Settings · UFACTORY · 7.2.1 End Effector IO (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
Digital Input: TI0, TI1, TI2, TI3, TI4, low level by default
UFACTORY Studio User Manual (online), 7. Settings · UFACTORY · 7.2.1 End Effector IO
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-13
Open the source
Digital Output: TO0, TO1, TO2, TO3, TO4.
UFACTORY Studio User Manual (online), 7. Settings · UFACTORY · 7.2.1 End Effector IO
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-13
Open the source
Robot Analog Input: TAI0, TAI1, 0V by default, [0-3.3V].
UFACTORY Studio User Manual (online), 7. Settings · UFACTORY · 7.2.1 End Effector IO
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-13
Open the source
Confidence: Verifiediface-597
The record says
UFACTORY Studio's STOP button stops the arm immediately and clears all cached commands; it is a software stop and power stays on. The SDK's emergency_stop() is set_state(4), then motion_enable(True), then set_state(0), and does not clear errors.
Evidence · 3 citations
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 (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
Emergency stop (set_state(4) -> motion_enable(True) -> set_state(0))
xArm-Python-SDK API documentation (doc/api/xarm_api.md) · UFACTORY · emergency_stop (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
1. This interface does not automatically clear the error.
xArm-Python-SDK API documentation (doc/api/xarm_api.md) · UFACTORY · emergency_stop, note 1
© UFACTORY Inc., xArm-Developer/xArm-Python-SDK, BSD 3-Clause License · BSD-3-Clause · retrieved 2026-09-21
Open the source
Kind: RecommendationThis project's simulation and agent design, not the physical cellsafety-596
Project advice
Do not count a software stop (Studio's STOP, SDK set_state(4) or SDK emergency_stop()) as an emergency stop or safeguard in the S6 risk assessment.
This is advice from this project, based on: safety-548 Verified safety-549 Verified safety-550 Verified safety-538 Verified
Why: Studio says its STOP is a software stop with power still on, and the SDK documents emergency_stop() as a sequence of state commands. The manual reserves the emergency stop function for the Control Box button and the redundant EI input.
Confidence: Verifiediface-596
The record says
UFACTORY Studio can switch to a simulated arm, but both real and simulation modes need a real arm connected: in simulation the arm does not move, yet settings made there apply to the real arm.
Evidence · 2 citations
Switch to real or simulation robotic arm, both mode needs to connect to a real robotic arm.
UFACTORY Studio User Manual (online), 4. Live Control · UFACTORY · 4.6 Real & Simulation robotic arm (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
When switch to simulation robotic arm, the robot will not move but the settings will apply to real robotic arm.
UFACTORY Studio User Manual (online), 4. Live Control · UFACTORY · 4.6
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-13
Open the source
Confidence: Verifiedsafety-528
The record says
UFACTORY Studio says that in simulated robotic arm mode the unlock-joint button also unlocks the real arm's joints; both the real and simulated modes need a real arm connected, and settings made in simulation mode apply to the real arm.
Evidence · 3 citations
In the 'simulated robotic arm mode', clicking the unlock joint button will also unlock the real joints of the robotic arm.
UFACTORY Studio User Manual (online), 7. Settings · UFACTORY · 7.4.2 Debugging Tools, Joint [general Studio text; the Studio manual says it applies to the xArm6]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-13
Open the source
Switch to real or simulation robotic arm, both mode needs to connect to a real robotic arm.
UFACTORY Studio User Manual (online), 4. Live Control · UFACTORY · 4.6 Real & Simulation robotic arm [general Studio text; the Studio manual says it applies to the xArm6]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-13
Open the source
When switch to simulation robotic arm, the robot will not move but the settings will apply to real robotic arm.
UFACTORY Studio User Manual (online), 4. Live Control · UFACTORY · 4.6 Real & Simulation robotic arm [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: Verifiedops-564
The record says
A controller input configured as Enable Robot enables the arm when triggered, and one configured as Offline Task can trigger Blockly projects; both functions are available on CI0-CI7 and DI0-DI7.
Evidence · 4 citations
Enable Robot: Enable the robotic arm by triggering IO.
UFACTORY Studio User Manual (online), 7. Settings · UFACTORY · 7.2.2, IO Function [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
Offline Task: Offline Task can add multiple Blockly to be triggered through I/O.
UFACTORY Studio User Manual (online), 7. Settings · UFACTORY · 7.2.2, IO Function [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
Offline Task | Yes | Yes
UFACTORY xArm Hardware Manual (online), 3. Controller Electrical Interface · UFACTORY · 3.4, 'Configurable IO' table [series text: names no single model]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
Enable Robot | Yes | Yes
UFACTORY xArm Hardware Manual (online), 3. Controller Electrical Interface · UFACTORY · 3.4, 'Configurable IO' table [series text: names no single model]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
Confidence: Verifiediface-509
The record says
The Python SDK's API wrapper is the XArmAPI class, imported from xarm.wrapper; its 'port' parameter is an IP address such as '192.168.1.185'.
Evidence · 3 citations
from xarm.wrapper import XArmAPI
xArm-Python-SDK example 0000-template.py · UFACTORY · Example 0000-template.py, imports
© UFACTORY Inc., xArm-Developer/xArm-Python-SDK, BSD 3-Clause License · BSD-3-Clause · retrieved 2026-09-21
Open the source
The API wrapper of xArm
xArm-Python-SDK API documentation (doc/api/xarm_api.md) · UFACTORY · class XArmAPI, docstring (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 port: ip-address(such as '192.168.1.185')
xArm-Python-SDK API documentation (doc/api/xarm_api.md) · UFACTORY · class XArmAPI, __init__, parameter 'port'
© UFACTORY Inc., xArm-Developer/xArm-Python-SDK, BSD 3-Clause License · BSD-3-Clause · retrieved 2026-09-21
Open the source
Confidence: Verifiedops-545
The record says
The Control Box enters mode 0 (position control) by default after start-up. Setting state 0 puts the arm in STANDBY in the current mode and clears the error code, after which the reported state switches to 2 (ready).
Evidence · 2 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: Position Control Mode [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
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 [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-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-589
The record says
Every Python SDK call returns a code, where 0 means success; -1 means the arm is not connected, -2 that it is not ready (motion not enabled or state not set), 1 and 2 that errors or warnings have not been cleared, and 9 that the state is not ready to move.
Evidence · 6 citations
- 0: success
xArm-Python-SDK API code description (doc/api/xarm_api_code.md) · UFACTORY · API 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
- -1: xArm is disconnect or not connect
xArm-Python-SDK API code description (doc/api/xarm_api_code.md) · UFACTORY · API Code
© UFACTORY Inc., xArm-Developer/xArm-Python-SDK, BSD 3-Clause License · BSD-3-Clause · retrieved 2026-09-21
Open the source
- -2: xArm is not ready, may be the motion is not enable or not set state
xArm-Python-SDK API code description (doc/api/xarm_api_code.md) · UFACTORY · API Code
© UFACTORY Inc., xArm-Developer/xArm-Python-SDK, BSD 3-Clause License · BSD-3-Clause · retrieved 2026-09-21
Open the source
- 1: there are errors that have not been cleared
xArm-Python-SDK API code description (doc/api/xarm_api_code.md) · UFACTORY · API Code
© UFACTORY Inc., xArm-Developer/xArm-Python-SDK, BSD 3-Clause License · BSD-3-Clause · retrieved 2026-09-21
Open the source
- 2: there are warnings that have not been cleared
xArm-Python-SDK API code description (doc/api/xarm_api_code.md) · UFACTORY · API Code
© UFACTORY Inc., xArm-Developer/xArm-Python-SDK, BSD 3-Clause License · BSD-3-Clause · retrieved 2026-09-21
Open the source
- 9: state is not ready to move
xArm-Python-SDK API code description (doc/api/xarm_api_code.md) · UFACTORY · API Code
© UFACTORY Inc., xArm-Developer/xArm-Python-SDK, BSD 3-Clause License · BSD-3-Clause · retrieved 2026-09-21
Open the source
Confidence: Verifiediface-526
The record says
The Python SDK's configuration sets its control port (TCP_CONTROL_PORT) to 502 and its report ports to 30001 (TCP_REPORT_NORM_PORT), 30002 (TCP_REPORT_RICH_PORT) and 30003 (TCP_REPORT_REAL_PORT).
Evidence · 4 citations
TCP_CONTROL_PORT = 502
xArm-Python-SDK source, xarm/core/config/x_config.py · UFACTORY · class SocketConf (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
TCP_REPORT_NORM_PORT = 30001
xArm-Python-SDK source, xarm/core/config/x_config.py · UFACTORY · class SocketConf
© UFACTORY Inc., xArm-Developer/xArm-Python-SDK, BSD 3-Clause License · BSD-3-Clause · retrieved 2026-09-21
Open the source
TCP_REPORT_RICH_PORT = 30002
xArm-Python-SDK source, xarm/core/config/x_config.py · UFACTORY · class SocketConf
© UFACTORY Inc., xArm-Developer/xArm-Python-SDK, BSD 3-Clause License · BSD-3-Clause · retrieved 2026-09-21
Open the source
TCP_REPORT_REAL_PORT = 30003
xArm-Python-SDK source, xarm/core/config/x_config.py · UFACTORY · class SocketConf
© UFACTORY Inc., xArm-Developer/xArm-Python-SDK, BSD 3-Clause License · BSD-3-Clause · retrieved 2026-09-21
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
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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: 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: 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-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
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-569
The record says
UFACTORY Studio's Modbus TCP page sends standard Modbus TCP commands to the controller's IP address on port 502, which cannot be changed; UFACTORY Studio's example frame '00 01 00 00 00 06 01 06 00 04 03 E8' sets controller analog output AO1 to 1 V.
Evidence · 4 citations
This page is used to send standard Modbus TCP and UFACTORY Private TCP commands.
UFACTORY Studio User Manual (online), 7. Settings · UFACTORY · 7.2.6 Modbus TCP, first sentence (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 cf19147; until that date, at commit 533b75d, the section opened with one sentence: 'This page allows you to send standard Modbus TCP command, the IP is controller ip, port 502, can not be modified.')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-13
Open the source
IP Address: Defaults to the controller IP address and cannot be modified.
UFACTORY Studio User Manual (online), 7. Settings · UFACTORY · 7.2.6 Modbus TCP, 'IP Address' (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 cf19147)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-13
Open the source
Port: Defaults to 502 and cannot be modified.
UFACTORY Studio User Manual (online), 7. Settings · UFACTORY · 7.2.6 Modbus TCP, 'Port' (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 cf19147)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-13
Open the source
Send the following standard Modbus TCP command: 00 01 00 00 00 06 01 06 00 04 03 E8.This sets the controller analog output AO1 to 1V.
UFACTORY Studio User Manual (online), 7. Settings · UFACTORY · 7.2.6 Modbus TCP, example (read 2026-10-13, publisher's commit cf19147; until that date, at commit 533b75d, it read "Send '00 01 00 00 00 06 01 06 00 04 03 E8', set controller analog output AO1 as 1V.")
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-13
Open the source
Confidence: Verifiediface-527
The record says
The xArm Developer Manual gives the automatic report rates: REPORT_TCP_DEVELOP on port 30003 at 100 Hz, and REPORT_TCP_NORMAL (port 30001) and REPORT_TCP_RICH (port 30002) at 5 Hz.
Evidence · 3 citations
Default Port 30003 Frequency 100Hz
xArm Developer Manual V2.0.1 (PDF) · UFACTORY · 2.1.6 Automatic Reporting Format, REPORT_TCP_DEVELOP (p.108) (the Developer Manual covers the xArm series; its specification chapter is 'xArm5/6/7 Common Specifications')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Default Port 30001 Frequency 5Hz
xArm Developer Manual V2.0.1 (PDF) · UFACTORY · 2.1.6, REPORT_TCP_NORMAL (p.109)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Default Port 30002 Frequency 5Hz
xArm Developer Manual V2.0.1 (PDF) · UFACTORY · 2.1.6, REPORT_TCP_RICH (p.109)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Confidence: Verifiediface-542
The record says
The control box's digital I/O is powered by its internal 24 V supply by default, or by an external 24 V supply when more current is needed. The internal supply (PWR-GND) gives 23-30 V (24 V typical) at up to 1.8 A; an external supply must give 20-30 V (24 V typical), up to 3 A.
Evidence · 5 citations
The digital I/O can be powered by a internal 24V power supply or by an external power supply by configuring the power junction box.
UFACTORY xArm Hardware Manual (online), 3. Controller Electrical Interface · UFACTORY · 3.4 Controller Electrical IO (chapter text is not split by model)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
The default configuration is to use internal power
UFACTORY xArm Hardware Manual (online), 3. Controller Electrical Interface · UFACTORY · 3.4 Controller Electrical IO
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
If larger current is needed, connect the external power supply as shown below.
UFACTORY xArm Hardware Manual (online), 3. Controller Electrical Interface · UFACTORY · 3.4 Controller Electrical IO
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
[PWR - GND] | Voltage | 23 | 24 | 30 | V | [PWR - GND] | Current | 0 | - | 1.8 | A
UFACTORY xArm Hardware Manual (online), 3. Controller Electrical Interface · UFACTORY · 3.4 power supply table, 'Built-in 24V Power Supply'
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
[24V - 0V] | Voltage | 20 | 24 | 30 | V | [24V - 0V] | Current | 0 | - | 3 | A
UFACTORY xArm Hardware Manual (online), 3. Controller Electrical Interface · UFACTORY · 3.4 power supply table, 'External 24V Input Requirement'
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
Confidence: Verifiediface-543
The record says
The control box's digital outputs are NPN: when an output is on, its terminal is driven to GND, and when off it is open (open collector/open drain). Each is rated up to 100 mA. They have no current protection, and exceeding the specified values may cause permanent damage.
Evidence · 3 citations
The digital output is implemented in the form of NPN. When the digital output is enabled, the corresponding connector will be driven to GND. When the digital output is disabled, the corresponding connector will be open (OC/OD).
UFACTORY xArm Hardware Manual (online), 3. Controller Electrical Interface · UFACTORY · 3.4.2.2 Controller Digital Output(CO) (chapter text is not split by model)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
[COx] | Current | 0 | - | 100 | mA
UFACTORY xArm Hardware Manual (online), 3. Controller Electrical Interface · UFACTORY · 3.4 digital I/O table, Digital Output
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
There is no current protection on the digital output of the Control Box. If the specified values exceeded, permanent damage may result.
UFACTORY xArm Hardware Manual (online), 3. Controller Electrical Interface · UFACTORY · 3.4 CAUTION
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
Confidence: Verifiediface-544
The record says
The control box's digital inputs have a weak pull-up, so a floating input always reads high; an input is ON (low level) at 0-5 V and OFF at 15-30 V, with 30 V maximum.
Evidence · 2 citations
The digital input is implemented in the form of a weak pull-up resistor. This means that the reading of the floating input is always high.
UFACTORY xArm Hardware Manual (online), 3. Controller Electrical Interface · UFACTORY · 3.4.2.1 Controller Digital Input(CI) (chapter text is not split by model)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
[EIx/SIx/CIx/RIx] | Voltage | 0 | - | 30 | V | [EIx/SIx/CIx/RIx] | OFF Area | 15 | - | 30 | V | [EIx/SIx/CIx/RIx] | ON Area(low level) | 0 | - | 5 | V
UFACTORY xArm Hardware Manual (online), 3. Controller Electrical Interface · UFACTORY · 3.4 digital I/O table, Digital Input
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
Confidence: Verifiediface-545
The record says
The control box's analog inputs and outputs work at 0-10 V with 12-bit resolution; each analog output can supply up to 20 mA. The manual's examples connect an analog sensor to AI0 or AI1 and drive a conveyor belt's analog speed-control input from AO0 or AO1.
Evidence · 5 citations
This type of interface can be used to set or measure voltage (0-10V) going into or out of other devices.
UFACTORY xArm Hardware Manual (online), 3. Controller Electrical Interface · UFACTORY · 3.4.3 Controller Analog IO(AIAO) (chapter text is not split by model)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
[AIx - AG] | Resolution | - | 12 | 12 | Bit
UFACTORY xArm Hardware Manual (online), 3. Controller Electrical Interface · UFACTORY · 3.4.3 table, Analog Input
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
Quote not shown (over 40 words). See the source at: 3.4.3 table, Analog Output.
UFACTORY xArm Hardware Manual (online), 3. Controller Electrical Interface · UFACTORY · 3.4.3 table, Analog Output
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
The following example shows how to connect an analog sensor(Connect to AI0 or AI1).
UFACTORY xArm Hardware Manual (online), 3. Controller Electrical Interface · UFACTORY · 3.4.3.1 Analog Input
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
The following example shows how to use the analog speed control input to control the conveyor belt(Connect to AO0 or AO1).
UFACTORY xArm Hardware Manual (online), 3. Controller Electrical Interface · UFACTORY · 3.4.3.2 Analog Output
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
Confidence: Verifiediface-556
The record says
The tool connector supplies 20-30 V (24 V typical) in 24 V mode, at up to 1800 mA.
Evidence · 1 citation
Supply Voltage in 24V Mode | 20 | 24 | 30 | V | Supply Current | - | - | 1800 | mA
UFACTORY xArm Hardware Manual (online), 4. Robotic Electrical Interface · UFACTORY · 4.2 Electrical Specifications (chapter text is not split by model)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
Confidence: Verifiediface-558
The record says
The tool digital inputs have a pull-down resistor, so a floating input always reads low; logic low is at most 1.0 V, logic high at least 1.6 V, and the input accepts -0.5 to 30 V.
Evidence · 2 citations
The digital input is already equipped with a pull-down resistor. This means that the reading of the floating input is always low.
UFACTORY xArm Hardware Manual (online), 4. Robotic Electrical Interface · UFACTORY · 4.2.1 Tool Digital Input(TI) (chapter text is not split by model)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
Input Voltage | -0.5 | - | 30 | V | Logic Low Voltage | - | - | 1.0 | V | Logic High Voltage | 1.6 | - | - | V
UFACTORY xArm Hardware Manual (online), 4. Robotic Electrical Interface · UFACTORY · 4.2.1 Electrical Specifications
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
Confidence: Verifiediface-559
The record says
The tool digital outputs are NPN open-collector outputs that pull the pin to GND when on, sinking up to 100 mA. They have no current protection, and a protection diode is strongly recommended for inductive loads.
Evidence · 4 citations
The digital output is implemented in the form of NPN with an open collector (OC). When the digital output is activated, the corresponding connector will be driven to GND.
UFACTORY xArm Hardware Manual (online), 4. Robotic Electrical Interface · UFACTORY · 4.2.2 Tool Digital Output(TO) (chapter text is not split by model)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
Sink Current | 0 | - | 100 | mA
UFACTORY xArm Hardware Manual (online), 4. Robotic Electrical Interface · UFACTORY · 4.2.2 Electrical Specifications
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
There is no current protection on the digital output of the tool, which can cause permanent damage if the specified value exceeded.
UFACTORY xArm Hardware Manual (online), 4. Robotic Electrical Interface · UFACTORY · 4.2.2 CAUTION
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
It is strongly recommended to use a protection diode for inductive loads.
UFACTORY xArm Hardware Manual (online), 4. Robotic Electrical Interface · UFACTORY · 4.2 NOTE
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
Kind: Contradictioniface-568
Sources disagree
Sources disagree on the xArm end-effector communication protocol: the online xArm manual's common specification table (and its Gripper table) say Modbus TCP, while the xArm Developer Manual's common specifications and gripper table say Modbus RTU, and the online manual's own Tool RS485 section configures standard Modbus RTU devices.
Evidence · 5 citations
End Effector Communication Protocol | Modbus TCP
UFACTORY xArm Hardware Manual (online), 8. Technical Specifications · UFACTORY · 8.1 xArm5/xArm6/xArm7 Common Specifications, 'End Effector Communication Protocol' row
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-15
Open the source
Communication Mode | RS-485 | Communication Protocol | Modbus TCP
UFACTORY xArm Hardware Manual (online), 8. Technical Specifications · UFACTORY · 8.1 Gripper table
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-15
Open the source
End-effector Communication Protocol Modbus-RTU
xArm Developer Manual V2.0.1 (PDF) · UFACTORY · 4.1 xArm5/6/7 Common Specifications (p.121)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Communication Mode RS-485 Communication Protocol Modbus RTU
xArm Developer Manual V2.0.1 (PDF) · UFACTORY · 4.1, Gripper (p.122)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
If end effector supports standard Modbus RTU, user can debug it via 'Settings-Externals-Modbus RTU'.
UFACTORY xArm Hardware Manual (online), 4. Robotic Electrical Interface · UFACTORY · 4.4.4 Tool RS485
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
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: Verifiediface-587
The record says
UFACTORY's error recovery through the Python SDK is three calls: clean_error(), then motion_enable(true), then set_state(0).
Evidence · 3 citations
error clearing: clean_error()
UFACTORY Studio User Manual (online), 12. Error Handling · UFACTORY · 12.3 Python SDK 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
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Re-enable the robotic arm: motion_enable(true)
UFACTORY Studio User Manual (online), 12. Error Handling · UFACTORY · 12.3
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-13
Open the source
Set the motion state: set_state(0)
UFACTORY Studio User Manual (online), 12. Error Handling · UFACTORY · 12.3
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-13
Open the source
Confidence: Verifiediface-600
The record says
As UFACTORY's Studio manual read on 2026-10-13, it lists codes in three tables with prefixes: C for control box errors, S for joint servo errors (e.g. S0) and A for Python SDK codes (e.g. A-2, 'Robot is not ready'). Controller errors C1 and C2 are both an Emergency Stop Button pushed in (C1's row names the button on the Control Box; C2's row does not say which button) and C3 is the three-state switch's emergency stop; for C11-C17 the handling given is to power on again.
Evidence · 6 citations
C1 | The Emergency Stop Button on the Control Box is pushed in to Stop
UFACTORY Studio User Manual (online), 12. Error Handling · UFACTORY · 12.1 table, C1 (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
C2 | The Emergency Stop Button is pushed in to Stop
UFACTORY Studio User Manual (online), 12. Error Handling · UFACTORY · 12.1 table, C2 (read 2026-10-13, publisher's commit e28e232)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-13
Open the source
C3 | The Emergency Stop Button of the Three-state Switch is pressed
UFACTORY Studio User Manual (online), 12. Error Handling · UFACTORY · 12.1 table, C3 (read 2026-10-13, publisher's commit e28e232)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-13
Open the source
C11-C17 | Power on again.
UFACTORY Studio User Manual (online), 12. Error Handling · UFACTORY · 12.1 table, C11-C17 (read 2026-10-13, publisher's commit e28e232)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-13
Open the source
S0 | Joint Communication Error
UFACTORY Studio User Manual (online), 12. Error Handling · UFACTORY · 12.2 table, S0 (read 2026-10-13, publisher's commit e28e232)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-13
Open the source
A-2 | Robot is not ready.
UFACTORY Studio User Manual (online), 12. Error Handling · UFACTORY · 12.3 table, A-2 (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-601
Sources disagree
UFACTORY's sources give two readings of controller error 2 (Studio's C2). The Studio manual until 2026-10-13, and the Python SDK's code list, say the Emergency IO of the Control Box is triggered; the manual's fix was to ground the 2 EIs of the Control Box and click 'Enable Robot'. The Studio manual as read on 2026-10-13 says the Emergency Stop Button is pushed in, and to release it and click 'Enable Robot'; it no longer mentions the Emergency IO or grounding the EIs. No fetched source says the two describe the same event, or which Studio and firmware versions show which text.
Awaiting cell access: this could be confirmed or corrected once the physical S6 cell can be observed.
Related: iface-590 Verified iface-600 Verified ops-570 Verified ops-589 Verified safety-553 Verified safety-600 Verified safety-538 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
Evidence · 5 citations
The Emergency IO of the Control Box is triggered
UFACTORY Studio User Manual, 12. Error Handling, as it read until 2026-10-13 (publisher's repository, commit 533b75d) · UFACTORY · 12.1 table, C2, first 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
Please ground the 2 EIs of the Control Box, and then click "Enable Robot".
UFACTORY Studio User Manual, 12. Error Handling, as it read until 2026-10-13 (publisher's repository, commit 533b75d) · UFACTORY · 12.1 table, C2, 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
C2 | The Emergency Stop Button is pushed in to Stop
UFACTORY Studio User Manual (online), 12. Error Handling · UFACTORY · 12.1 table, C2 [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 release the Emergency Stop Button, and then click the "Enable Robot"
UFACTORY Studio User Manual (online), 12. Error Handling · UFACTORY · 12.1 table, C2, second line (the same words as C1's 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
- 2: The Emergency IO of the Control Box is triggered
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: 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
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: Verifiediface-590
The record says
As UFACTORY's Studio manual read until 2026-10-13, it lists codes in three tables with prefixes: C for control box errors, S for joint servo errors (e.g. S0) and A for Python SDK codes (e.g. A-2). Controller errors C1-C3 are the control box emergency stop button, the control box emergency I/O and the three-state switch's emergency stop; for C11-C17 the handling given is to power on again.
Evidence · 6 citations
C1 | The Emergency Stop Button on the Control Box is Pushed in to Stop
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
C2 | The Emergency IO of the Control Box is triggered
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
C3 | The Emergency Stop Button of the Three-state Switch is pressed
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
C11-C17 | Power on again.
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
S0 | Joint Communication Error
UFACTORY Studio User Manual, 12. Error Handling, as it read until 2026-10-13 (publisher's repository, commit 533b75d) · UFACTORY · 12.2 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
A-2 | xArm is not ready.
UFACTORY Studio User Manual, 12. Error Handling, as it read until 2026-10-13 (publisher's repository, commit 533b75d) · UFACTORY · 12.3 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: Verifiedsafety-520
The record says
The xArm manual says pressing the Control Box's emergency stop button sends a command to the Control Box for software deceleration to stop all activities of the arm and clear all cached commands in the Control Box, and that the arm's power supply will be removed within 300 ms.
Evidence · 1 citation
Quote not shown (over 40 words). See the source at: 2.1.2 Emergency Stop Button [series text: names no single model].
UFACTORY xArm Hardware Manual (online), 2. Hardware Installation · UFACTORY · 2.1.2 Emergency Stop Button [series text: names no single model]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
Confidence: Verifiediface-523
The record says
UFACTORY's xArm Developer Manual calls the arm's protocol 'Private Modbus-TCP': its default TCP port is 502, and the protocol identifier 0x00 0x02 (control) is the only one for now.
Evidence · 3 citations
Robotic Arm Communication Protocol Private Modbus-TCP
xArm Developer Manual V2.0.1 (PDF) · UFACTORY · 4.1 xArm5/6/7 Common Specifications (p.121)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Default TCP Port: 502
xArm Developer Manual V2.0.1 (PDF) · UFACTORY · 2.1.2 Modbus-TCP Communication Format, 'Parameter' (p.11) (the Developer Manual covers the xArm series; its specification chapter is 'xArm5/6/7 Common Specifications')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Protocol: 0x00 0x02 Control (Only this one for now)
xArm Developer Manual V2.0.1 (PDF) · UFACTORY · 2.1.2 (p.11)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Confidence: Verifiediface-515
The record says
In xarm_ros2 the xArm 6 driver is started with 'ros2 launch xarm_api xarm6_driver.launch.py robot_ip:=<controller IP>'; its services and topics sit under a hardware namespace that defaults to 'xarm' for the xArm series (other arms use 'ufactory').
Evidence · 3 citations
ros2 launch xarm_api xarm6_driver.launch.py robot_ip:=192.168.1.117
xarm_ros2 ReadMe (humble branch) · UFACTORY · 5.4 xarm_api, 'Use command line (xArm)'
© UFACTORY Inc., xArm-Developer/xarm_ros2, BSD 3-Clause License · BSD-3-Clause · retrieved 2026-09-21
Open the source
All the services and topics are under <hw_ns>/ namespace
xarm_ros2 ReadMe (humble branch) · UFACTORY · 5.4 xarm_api
© UFACTORY Inc., xArm-Developer/xarm_ros2, BSD 3-Clause License · BSD-3-Clause · retrieved 2026-09-21
Open the source
the xarm series defaults is xarm, and the rest defaults is ufactory
xarm_ros2 ReadMe (humble branch) · UFACTORY · 5. Quick start, Reminder 4
© UFACTORY Inc., xArm-Developer/xarm_ros2, BSD 3-Clause License · BSD-3-Clause · retrieved 2026-09-21
Open the source
Confidence: Verifiediface-519
The record says
xarm_ros2's xarm_moveit_config controls a simulated or real xArm through MoveIt: for the xArm 6, xarm6_moveit_fake.launch.py is the simulated launch and xarm6_moveit_realmove.launch.py the real-arm launch, which takes the arm's IP address.
Evidence · 5 citations
This package provides abilities for controlling xArm/Lite6 (simulated or real arm) by moveit.
xarm_ros2 ReadMe (humble branch) · UFACTORY · 5.6 xarm_moveit_config
© UFACTORY Inc., xArm-Developer/xarm_ros2, BSD 3-Clause License · BSD-3-Clause · retrieved 2026-09-21
Open the source
【simulated】Launch moveit, controlling robot in rviz.
xarm_ros2 ReadMe (humble branch) · UFACTORY · 5.6 xarm_moveit_config, 【simulated】
© UFACTORY Inc., xArm-Developer/xarm_ros2, BSD 3-Clause License · BSD-3-Clause · retrieved 2026-09-21
Open the source
ros2 launch xarm_moveit_config xarm6_moveit_fake.launch.py [add_gripper:=true]
xarm_ros2 ReadMe (humble branch) · UFACTORY · 5.6 xarm_moveit_config
© UFACTORY Inc., xArm-Developer/xarm_ros2, BSD 3-Clause License · BSD-3-Clause · retrieved 2026-09-21
Open the source
【real arm】Launch moveit, controlling robot in rviz.
xarm_ros2 ReadMe (humble branch) · UFACTORY · 5.6 xarm_moveit_config, 【real arm】
© UFACTORY Inc., xArm-Developer/xarm_ros2, BSD 3-Clause License · BSD-3-Clause · retrieved 2026-09-21
Open the source
ros2 launch xarm_moveit_config xarm6_moveit_realmove.launch.py robot_ip:=192.168.1.117 [add_gripper:=true]
xarm_ros2 ReadMe (humble branch) · UFACTORY · 5.6 xarm_moveit_config
© UFACTORY Inc., xArm-Developer/xarm_ros2, BSD 3-Clause License · BSD-3-Clause · retrieved 2026-09-21
Open the source
Confidence: Verifiediface-528
The record says
In the Developer Manual, the 100 Hz REPORT_TCP_DEVELOP report carries the motion state and mode, the number of cached commands, each joint's current angle, the arm's current position and attitude, and joint torque; the rich report adds the arm type number (5/6/7).
Evidence · 6 citations
Bit0-Bit3 indicates the motion status, Bit4-Bit7 indicates the motion mode.
xArm Developer Manual V2.0.1 (PDF) · UFACTORY · 2.1.6, REPORT_TCP_DEVELOP (p.108) (the Developer Manual covers the xArm series; its specification chapter is 'xArm5/6/7 Common Specifications')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Number of commands Caches
xArm Developer Manual V2.0.1 (PDF) · UFACTORY · 2.1.6, REPORT_TCP_DEVELOP (p.108)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
The current angle of each joint of the robotic arm
xArm Developer Manual V2.0.1 (PDF) · UFACTORY · 2.1.6, REPORT_TCP_DEVELOP (p.108); PDF text runs some words together
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
The current position and attitude of the robotic arm
xArm Developer Manual V2.0.1 (PDF) · UFACTORY · 2.1.6, REPORT_TCP_DEVELOP (p.108)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Joint torque
xArm Developer Manual V2.0.1 (PDF) · UFACTORY · 2.1.6, REPORT_TCP_DEVELOP (p.108)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Robotic arm type number（5/6/7)
xArm Developer Manual V2.0.1 (PDF) · UFACTORY · 2.1.6, REPORT_TCP_RICH (p.110)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Confidence: Verifiediface-553
The record says
By default the SDK's set_cgpio_digital puts the output change in the motion queue (sync True); sync False executes it immediately, from firmware 2.4.101.
Evidence · 2 citations
:param sync: whether to execute in the motion queue, set to False to execute immediately(default is True)
xArm-Python-SDK API documentation (doc/api/xarm_api.md) · UFACTORY · set_cgpio_digital, parameter sync (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
only available if firmware_version >= 2.4.101
xArm-Python-SDK API documentation (doc/api/xarm_api.md) · UFACTORY · set_cgpio_digital, parameter sync note
© UFACTORY Inc., xArm-Developer/xArm-Python-SDK, BSD 3-Clause License · BSD-3-Clause · 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: Inferrediface-573
The record says
In UFACTORY's Modbus TCP register map, stored Blockly projects are started by writing up to 16 holding registers from address 0x30 with function code 0x10; each value selects a project by number (1 runs project '00001'), and the projects run automatically in order.
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 · 1 citation
Quote not shown (over 40 words). See the source at: Appendix, Holding Registers 48~63.
UFACTORY ModbusTCP User Instructions (xArm-Python-SDK doc/UF_ModbusTCP_Manual.md) · UFACTORY · Appendix, Holding Registers 48~63
© UFACTORY Inc., xArm-Developer/xArm-Python-SDK, BSD 3-Clause License · BSD-3-Clause · retrieved 2026-09-21
Open the source
Confidence: Inferrediface-572
The record says
In UFACTORY's Modbus TCP register map, coils 0-31 are the controller digital outputs and discrete inputs 0-31 the controller digital inputs (16 of each in use), and coils and discrete inputs 32-39 are the tool digital outputs and inputs (2 of each in use).
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
| 0 ~ 31 | 0x00 ~ 0x1F | 32 controller Digital Output (Now only 16 effective) |
UFACTORY ModbusTCP User Instructions (xArm-Python-SDK doc/UF_ModbusTCP_Manual.md) · UFACTORY · Appendix, Coil Registers
© UFACTORY Inc., xArm-Developer/xArm-Python-SDK, BSD 3-Clause License · BSD-3-Clause · retrieved 2026-09-21
Open the source
| 32 ~ 39 | 0x20 ~ 0x27 | 8 tool Digital Output (Now only 2 effective) |
UFACTORY ModbusTCP User Instructions (xArm-Python-SDK doc/UF_ModbusTCP_Manual.md) · UFACTORY · Appendix, Coil Registers
© UFACTORY Inc., xArm-Developer/xArm-Python-SDK, BSD 3-Clause License · BSD-3-Clause · retrieved 2026-09-21
Open the source
| 0 ~ 31 | 0x00 ~ 0x1F | 32 controller Digital Input (Now only 16 effective) |
UFACTORY ModbusTCP User Instructions (xArm-Python-SDK doc/UF_ModbusTCP_Manual.md) · UFACTORY · Appendix, Discrete Input Registers
© UFACTORY Inc., xArm-Developer/xArm-Python-SDK, BSD 3-Clause License · BSD-3-Clause · retrieved 2026-09-21
Open the source
| 32 ~ 39 | 0x20 ~ 0x27 | 8 tool Digital Input (Now only 2 effective) |
UFACTORY ModbusTCP User Instructions (xArm-Python-SDK doc/UF_ModbusTCP_Manual.md) · UFACTORY · Appendix, Discrete Input Registers
© UFACTORY Inc., xArm-Developer/xArm-Python-SDK, BSD 3-Clause License · BSD-3-Clause · 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: Verifiediface-588
The record says
With reporting enabled, the Python SDK can call a user function when the error or warning code changes (register_error_warn_changed_callback); get_err_warn_code() returns the current error and warning codes.
Evidence · 3 citations
Register the error code or warn code changed callback, only available if enable_report is True
xArm-Python-SDK API documentation (doc/api/xarm_api.md) · UFACTORY · register_error_warn_changed_callback (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
Get the controller error and warn code
xArm-Python-SDK API documentation (doc/api/xarm_api.md) · UFACTORY · get_err_warn_code
© UFACTORY Inc., xArm-Developer/xArm-Python-SDK, BSD 3-Clause License · BSD-3-Clause · retrieved 2026-09-21
Open the source
arm.register_error_warn_changed_callback(hangle_err_warn_changed)
xArm-Python-SDK example 0000-template.py · UFACTORY · Example 0000-template.py
© UFACTORY Inc., xArm-Developer/xArm-Python-SDK, BSD 3-Clause License · BSD-3-Clause · retrieved 2026-09-21
Open the source
Confidence: Verifiediface-566
The record says
In the Python SDK, get_tgpio_digital reads the tool digital inputs, get_tgpio_analog reads tool analog input 0 or 1, and set_tgpio_digital sets the tool digital outputs.
Evidence · 3 citations
Get the digital value of the specified Tool GPIO
xArm-Python-SDK API documentation (doc/api/xarm_api.md) · UFACTORY · get_tgpio_digital (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 ionum: 0 or 1 or None(both 0 and 1), default is None
xArm-Python-SDK API documentation (doc/api/xarm_api.md) · UFACTORY · get_tgpio_analog, parameter ionum
© UFACTORY Inc., xArm-Developer/xArm-Python-SDK, BSD 3-Clause License · BSD-3-Clause · retrieved 2026-09-21
Open the source
def __set_tgpio_digital__(self, ionum, value, delay_sec=None, sync=True):
xArm-Python-SDK API documentation (doc/api/xarm_api.md) · UFACTORY · method list
© UFACTORY Inc., xArm-Developer/xArm-Python-SDK, BSD 3-Clause License · BSD-3-Clause · retrieved 2026-09-21
Open the source
Confidence: Inferrediface-570
The record says
UFACTORY's standard Modbus TCP interface uses big-endian data and supports function codes for coils (0x01, 0x05, 0x0F), discrete inputs (0x02), holding registers (0x03, 0x06, 0x10, 0x16, 0x17) and input registers (0x04).
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 · 11 citations
Data transmission uses Big-endian method
UFACTORY ModbusTCP User Instructions (xArm-Python-SDK doc/UF_ModbusTCP_Manual.md) · UFACTORY · Notice
© UFACTORY Inc., xArm-Developer/xArm-Python-SDK, BSD 3-Clause License · BSD-3-Clause · retrieved 2026-09-21
Open the source
__0x01__: Read multiple coil registers
UFACTORY ModbusTCP User Instructions (xArm-Python-SDK doc/UF_ModbusTCP_Manual.md) · UFACTORY · Supported function codes, coils
© UFACTORY Inc., xArm-Developer/xArm-Python-SDK, BSD 3-Clause License · BSD-3-Clause · retrieved 2026-09-21
Open the source
__0x05__: Write single coil
UFACTORY ModbusTCP User Instructions (xArm-Python-SDK doc/UF_ModbusTCP_Manual.md) · UFACTORY · Supported function codes, coils
© UFACTORY Inc., xArm-Developer/xArm-Python-SDK, BSD 3-Clause License · BSD-3-Clause · retrieved 2026-09-21
Open the source
__0x0F__: Write multiple coil registers
UFACTORY ModbusTCP User Instructions (xArm-Python-SDK doc/UF_ModbusTCP_Manual.md) · UFACTORY · Supported function codes, coils
© UFACTORY Inc., xArm-Developer/xArm-Python-SDK, BSD 3-Clause License · BSD-3-Clause · retrieved 2026-09-21
Open the source
__0x02__: Read multiple discrete input registers
UFACTORY ModbusTCP User Instructions (xArm-Python-SDK doc/UF_ModbusTCP_Manual.md) · UFACTORY · Supported function codes, discrete inputs
© UFACTORY Inc., xArm-Developer/xArm-Python-SDK, BSD 3-Clause License · BSD-3-Clause · retrieved 2026-09-21
Open the source
__0x03__: Read multiple holding registers
UFACTORY ModbusTCP User Instructions (xArm-Python-SDK doc/UF_ModbusTCP_Manual.md) · UFACTORY · Supported function codes, holding registers
© UFACTORY Inc., xArm-Developer/xArm-Python-SDK, BSD 3-Clause License · BSD-3-Clause · retrieved 2026-09-21
Open the source
__0x06__: Write single holding register
UFACTORY ModbusTCP User Instructions (xArm-Python-SDK doc/UF_ModbusTCP_Manual.md) · UFACTORY · Supported function codes, holding registers
© UFACTORY Inc., xArm-Developer/xArm-Python-SDK, BSD 3-Clause License · BSD-3-Clause · retrieved 2026-09-21
Open the source
__0x10__: Write multiple holding registers
UFACTORY ModbusTCP User Instructions (xArm-Python-SDK doc/UF_ModbusTCP_Manual.md) · UFACTORY · Supported function codes, holding registers
© UFACTORY Inc., xArm-Developer/xArm-Python-SDK, BSD 3-Clause License · BSD-3-Clause · retrieved 2026-09-21
Open the source
__0x16__: Mask write single holding register
UFACTORY ModbusTCP User Instructions (xArm-Python-SDK doc/UF_ModbusTCP_Manual.md) · UFACTORY · Supported function codes, holding registers
© UFACTORY Inc., xArm-Developer/xArm-Python-SDK, BSD 3-Clause License · BSD-3-Clause · retrieved 2026-09-21
Open the source
__0x17__: Read and Write multiple holding registers
UFACTORY ModbusTCP User Instructions (xArm-Python-SDK doc/UF_ModbusTCP_Manual.md) · UFACTORY · Supported function codes, holding registers
© UFACTORY Inc., xArm-Developer/xArm-Python-SDK, BSD 3-Clause License · BSD-3-Clause · retrieved 2026-09-21
Open the source
0x04: Read multiple input registers
UFACTORY ModbusTCP User Instructions (xArm-Python-SDK doc/UF_ModbusTCP_Manual.md) · UFACTORY · Supported function codes, input registers
© UFACTORY Inc., xArm-Developer/xArm-Python-SDK, BSD 3-Clause License · BSD-3-Clause · retrieved 2026-09-21
Open the source
Kind: RecommendationThis project's simulation and agent design, not the physical celliface-598
Project advice
For the xArm 6 at S6, command motion through the Python SDK in mode 0 and read state from its automatic reports rather than streaming servo-mode targets; confirm the S6 controller's IP address, hardware version and Modbus TCP register map on the cell before relying on them.
This is advice from this project, based on: iface-575 Verified iface-576 Verified iface-586 Verified iface-527 Verified iface-526 Verified iface-533 Gap, awaiting cell access iface-534 Gap, awaiting cell access iface-569 Verified
Why: In mode 0, joint and straight-line moves are complete commands (iface-575), so each can be checked before it is sent. Servo mode runs only the latest target, with no buffer, at the arm's fastest speed, and is best fed smoothed points at a certain frequency, preferably 100 Hz or 200 Hz (iface-576). Errors come back only in the reply to the next command (iface-586), so state is best read from the report ports (30001-30003), whose rates the Developer Manual gives (iface-527). The S6 IP address, the arm's hardware version and the Modbus register map are not confirmed for this arm (iface-533, iface-534, and the Inferred register-map records that rest on iface-569).
Confidence: Inferredsafety-593
The record says
An autonomous agent driving the S6 xArm 6 through the Python SDK could change collision sensitivity (to 0, which disables collision detection), collision rebound, reduced mode and the safety boundary. Under the xArm manual's own warning, changing the controller safety configuration makes the robot system a new system whose safety reviews, such as risk assessments, must be updated.
Why we infer this: Verified: the SDK exposes these calls and the glossary says sensitivity 0 disables detection; the manual says modifying the controller safety configuration creates a new system needing updated safety reviews. Inferred: an agent with SDK access could make such changes, and the manual's warning would then apply. Whether the Python SDK calls change the same 'configuration file' the manual refers to is not stated in any fetched source.
Evidence · 6 citations
: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
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
Set the collision rebound,turn on/off collision rebound
xArm-Python-SDK API documentation (doc/api/xarm_api.md) · UFACTORY · def set_collision_rebound [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
Turn on/off reduced mode
xArm-Python-SDK API documentation (doc/api/xarm_api.md) · UFACTORY · def set_reduced_mode [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
Set the boundary of the safety boundary mode
xArm-Python-SDK API documentation (doc/api/xarm_api.md) · UFACTORY · def set_reduced_tcp_boundary [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
If parameters in the configuration file are modified, the entire robot system shall be deemed a new system, which necessitates the update of all safety review processes, such as risk assessments.
UFACTORY xArm Hardware Manual (online), 1. Safety · UFACTORY · 1.4 Personnel Safety, WARNING [series text: names no single model]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
Confidence: Verifiediface-594
The record says
Through the Python SDK, set_collision_sensitivity sets collision sensitivity from 0 to 5 and set_teach_sensitivity sets manual-mode drag sensitivity from 1 to 5; the SDK notes that the collision sensitivity is lost at reboot if not saved; save_conf() records the current settings so they survive a restart, and clean_conf() restores the system defaults.
Evidence · 5 citations
:param value: sensitivity value, 0~5
xArm-Python-SDK API documentation (doc/api/xarm_api.md) · UFACTORY · set_collision_sensitivity, parameter value (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 value: sensitivity value, 1~5
xArm-Python-SDK API documentation (doc/api/xarm_api.md) · UFACTORY · set_teach_sensitivity, parameter value
© UFACTORY Inc., xArm-Developer/xArm-Python-SDK, BSD 3-Clause License · BSD-3-Clause · retrieved 2026-09-21
Open the source
2. If not saved, it will be lost after reboot
xArm-Python-SDK API documentation (doc/api/xarm_api.md) · UFACTORY · set_collision_sensitivity, note 2
© UFACTORY Inc., xArm-Developer/xArm-Python-SDK, BSD 3-Clause License · BSD-3-Clause · retrieved 2026-09-21
Open the source
1. This interface can record the current settings and will not be lost after the restart.
xArm-Python-SDK API documentation (doc/api/xarm_api.md) · UFACTORY · save_conf
© UFACTORY Inc., xArm-Developer/xArm-Python-SDK, BSD 3-Clause License · BSD-3-Clause · retrieved 2026-09-21
Open the source
2. The clean_conf interface can restore system default settings
xArm-Python-SDK API documentation (doc/api/xarm_api.md) · UFACTORY · save_conf
© UFACTORY Inc., xArm-Developer/xArm-Python-SDK, BSD 3-Clause License · BSD-3-Clause · retrieved 2026-09-21
Open the source
Confidence: Verifiedsafety-566
The record says
The Python SDK exposes set_reduced_mode and set_reduced_tcp_boundary ([x_max, x_min, y_max, y_min, z_max, z_min]), which need firmware 1.2.0 or above, and set_fence_mode and set_collision_rebound, which need firmware 1.2.11 or above. The boundary setting takes effect only when reduced mode is reset with set_reduced_mode(True).
Evidence · 6 citations
Turn on/off reduced mode
xArm-Python-SDK API documentation (doc/api/xarm_api.md) · UFACTORY · def set_reduced_mode, Note 1 [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
1. This interface relies on Firmware 1.2.0 or above
xArm-Python-SDK API documentation (doc/api/xarm_api.md) · UFACTORY · def set_reduced_mode and def set_reduced_tcp_boundary, Note 1 (same text under each) [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
:param boundary: [x_max, x_min, y_max, y_min, z_max, z_min]
xArm-Python-SDK API documentation (doc/api/xarm_api.md) · UFACTORY · def set_reduced_tcp_boundary [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
2. Only reset the reduced mode to take effect (`set_reduced_mode(True)`)
xArm-Python-SDK API documentation (doc/api/xarm_api.md) · UFACTORY · def set_reduced_tcp_boundary, Note 2 [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
Set the fence mode,turn on/off fence mode
xArm-Python-SDK API documentation (doc/api/xarm_api.md) · UFACTORY · def set_fence_mode [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
1. This interface relies on Firmware 1.2.11 or above
xArm-Python-SDK API documentation (doc/api/xarm_api.md) · UFACTORY · def set_fence_mode / set_collision_rebound, Note 1 [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
Kind: RecommendationThis project's simulation and agent design, not the physical cellsafety-595
Project advice
Deny the S6 agent the SDK calls that change collision sensitivity, collision detection, collision rebound, reduced mode or the safety boundary, or gate them behind human approval.
This is advice from this project, based on: safety-593 Inferred safety-509 Verified safety-558 Verified
Why: UFACTORY says a modified safety configuration makes a new system needing updated risk assessments, and its own SDK notes say not to use set_collision_sensitivity unless required. An agent that can change these settings could invalidate the risk assessment without anyone noticing.
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.
Kind: Gapsafety-585
Not known
No fetched UFACTORY source says whether the software safety functions (collision detection, safety boundary, reduced mode) are enforced independently of the motion-command path. Studio's description of the safety boundary mentions only the tool center point, and no source says whether the arm's links or the tool body are checked against it.
Evidence · 1 citation
If the tool center point (TCP) of the robotic arm exceeds the set safety boundary, the robotic arm will stop moving.
UFACTORY Studio User Manual (online), 7. Settings · UFACTORY · 7.3.1 Safety Boundary [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: Contradictioniface-592
Sources disagree
Sources disagree on controller codes C31 and C33. UFACTORY Studio's manual calls C31 'Abnormal current in the robotic arm' and C33 'Controller IO Error'; the Python SDK code list calls 31 'Collision Caused Abnormal Current' and 33 'Controller GPIO error'; the xArm Developer Manual calls C31 'Collision Caused Abnormal Current' and C33 'Abnormal current in the robotic arm'.
Evidence · 6 citations
C31 | Abnormal current in the robotic arm
UFACTORY Studio User Manual (online), 12. Error Handling · UFACTORY · 12.1 table, C31
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-13
Open the source
C33 | Controller IO Error
UFACTORY Studio User Manual (online), 12. Error Handling · UFACTORY · 12.1 table, C33
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-13
Open the source
- 31: Collision Caused Abnormal Current
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
- 33: Controller GPIO error
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
C31 0x1F Collision Caused Abnormal Current
xArm Developer Manual V2.0.1 (PDF) · UFACTORY · 3.2.1 Control Box Error Code (p.117)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
C33 0x21 Abnormal current in the robotic arm
xArm Developer Manual V2.0.1 (PDF) · UFACTORY · 3.2.1 Control Box Error Code (p.117)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Kind: RecommendationThis project's simulation and agent design, not the physical cellsafety-598
Project advice
Do not use UFACTORY Studio's simulated-arm mode as the simulation substrate for S6 agent work: it needs a real arm connected, its settings apply to the real arm, and its unlock-joint button unlocks the real joints.
This is advice from this project, based on: safety-528 Verified
Why: Studio's own text says both modes need a real arm and that simulation-mode settings and joint unlocking act on it, so it does not isolate an agent from the machine.
Confidence: Verifiedsafety-549
The record says
The xArm Python SDK documents emergency_stop() as the sequence set_state(4), then motion_enable(True), then set_state(0), and says it does not automatically clear errors.
Evidence · 2 citations
Emergency stop (set_state(4) -> motion_enable(True) -> set_state(0))
xArm-Python-SDK API documentation (doc/api/xarm_api.md) · UFACTORY · def emergency_stop [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
This interface does not automatically clear the error.
xArm-Python-SDK API documentation (doc/api/xarm_api.md) · UFACTORY · def emergency_stop, Note 1 [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: Verifiedsafety-548
The record says
The STOP button in UFACTORY Studio stops the arm immediately and clears all cached commands; Studio says it is a software stop and the power is still on.
Evidence · 1 citation
STOP: The robotic arm will stop immediately and clear all cache commands. It's a software stop, the power is still on.
UFACTORY Studio User Manual (online), 4. Live Control · UFACTORY · 4.5 Enable & STOP button [general Studio text; the Studio manual says it applies to the xArm6]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-13
Open the source
Confidence: Verifiedops-506
The record says
The xArm manual says pressing the emergency stop button powers off the xArm and the power indicator goes out; turning the button in the direction of the arrow pulls it up, the power indicator lights and the arm is powered.
Evidence · 2 citations
Press the emergency stop button to power off the xArm, and the power indicator will go out.
UFACTORY xArm Hardware Manual (online), 2. Hardware Installation · UFACTORY · 2.1.2 Emergency Stop Button, 'Emergency Stop' [series text: names no single model]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
when the button is rotated in the direction indicated by the arrow, the button is pulled up, the xArm power indicator lights up, and the arm is powered.
UFACTORY xArm Hardware Manual (online), 2. Hardware Installation · UFACTORY · 2.1.2 Emergency Stop Button, 'Power-on' [series text: names no single model]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
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
Kind: GapAwaiting cell accesscomp-547
Not known
No Ethernet connection, camera port, force-torque sensor interface or user button at the xArm 6's tool end is described in the xArm manual or the product page; the product page lists the end-effector I/O as 2 DI, 2 DO, 2 AI and 1 RS-485.
Awaiting cell access: this could be confirmed or corrected once the physical S6 cell can be observed.
Evidence · 2 citations
End Effector I/O 2*DI/2*DO/2*AI/1*RS485
UFACTORY xArm product page · UFACTORY · Tech Specs > Hardware, 'End Effector I/O' row (xArm product page, which covers the xArm 5, 6 and 7)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
there is an avionic socket 12-pin female industrial connector
UFACTORY xArm Hardware Manual (online), 4. Robotic Electrical Interface · UFACTORY · 4.2 Tool IO (manual for the xArm series; this passage names no single model)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
Kind: GapAwaiting cell accessiface-533
Not known
The IP address of the xArm 6 control box at S6, and how the S6 network is laid out (direct PC link, router or switch), are not in the sources; the manuals give only the default range 192.168.1.xxx and the reset address 192.168.1.111.
Awaiting cell access: this could be confirmed or corrected once the physical S6 cell can be observed.
Evidence · 2 citations
The default IP of robotic arm is 192.168.1.xxx
UFACTORY Studio User Manual (online), 3. Connection · UFACTORY · 3.2 Software Connection
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
The reset IP is 192.168.1.111.
UFACTORY xArm Hardware Manual (online), 3. Controller Electrical Interface · UFACTORY · 3.4.5 Reset IP
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
Kind: GapAwaiting cell accessiface-534
Not known
Which hardware version the S6 xArm 6 is has not been recorded. The online xArm manual's Preface and Hardware Installation chapter state they apply to models XF1305, XI1305 and XS1305, so the sources do not settle whether the manual's descriptions fit the S6 arm.
Awaiting cell access: this could be confirmed or corrected once the physical S6 cell can be observed.
Evidence · 2 citations
Apply to Model: XF1305, XI1305, XS1305.
UFACTORY xArm Hardware Manual (online), Preface · UFACTORY · Preface, header
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
Apply to Model: XF1305, XI1305, XS1305 (1305 Model).
UFACTORY xArm Hardware Manual (online), 2. Hardware Installation · UFACTORY · 2. Hardware Installation, header
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
Kind: GapAwaiting cell accessiface-564
Not known
What tool inputs TI2-TI4 and outputs TO2-TO4 are on the xArm 6 is not documented: UFACTORY Studio lists TI0-TI4 and TO0-TO4, but the xArm manual's tool connector defines only TI0, TI1, TO0 and TO1.
Awaiting cell access: this could be confirmed or corrected once the physical S6 cell can be observed.
Evidence · 2 citations
Digital Input: TI0, TI1, TI2, TI3, TI4, low level by default
UFACTORY Studio User Manual (online), 7. Settings · UFACTORY · 7.2.1 End Effector IO
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-13
Open the source
Tool Output 0 (TO0) | 2 | Blue | +24V (Power) | 8 | Grey | Tool Output 1 (TO1)
UFACTORY xArm Hardware Manual (online), 4. Robotic Electrical Interface · UFACTORY · 4.2 pin table, rows 7-10
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
Kind: GapAwaiting cell accessiface-565
Not known
Whether the xArm 6 has an Ethernet connection at the end flange is not answered by the sources fetched: the xArm manual's Robotic Electrical Interface chapter has an 'End Flange' heading with no text, and its tool I/O pins carry no Ethernet.
Awaiting cell access: this could be confirmed or corrected once the physical S6 cell can be observed.
Evidence · 2 citations
4.1 End Flange
UFACTORY xArm Hardware Manual (online), 4. Robotic Electrical Interface · UFACTORY · 4. Robotic Electrical Interface, section 4.1
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
There are 12 pins inside the cable with different colors, each color represents different functions
UFACTORY xArm Hardware Manual (online), 4. Robotic Electrical Interface · UFACTORY · 4.2 Tool IO
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
Kind: Contradictioniface-599
Sources disagree
UFACTORY's sources list different sets of tool digital outputs, and none says which the xArm 6 has beyond TO0 and TO1. The product page gives the end-effector I/O as 2 digital outputs, and the xArm manual's tool connector pin table defines TO0 and TO1. UFACTORY Studio's End Effector IO page, which is not written for one model, lists TO0, TO1, TO2, TO3 and TO4. Studio's 'Clear the IO output when the robot is stopped' option names TO0/TO1/TO3/TO4 as the page read on 2026-10-13 (TO0/TO1 on 2026-09-21). No source says what TO2, TO3 and TO4 are on the xArm 6 (iface-564).
Related: ops-558 Superseded by ops-593 Verified ops-593 Verified spec-563 Verified iface-555 Verified comp-540 Verified iface-563 Verified iface-564 Gap, awaiting cell access
Evidence · 4 citations
End Effector I/O 2*DI/2*DO/2*AI/1*RS485
UFACTORY xArm product page · UFACTORY · Tech Specs > Hardware, 'End Effector I/O' row (xArm product page, which covers the xArm 5, 6 and 7)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Tool Output 0 (TO0) | 2 | Blue | +24V (Power) | 8 | Grey | Tool Output 1 (TO1)
UFACTORY xArm Hardware Manual (online), 4. Robotic Electrical Interface · UFACTORY · 4.2 pin table, rows 7-8
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
Digital Output: TO0, TO1, TO2, TO3, TO4.
UFACTORY Studio User Manual (online), 7. Settings · UFACTORY · 7.2.1 End Effector IO
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-13
Open the source
Tool Digital Output(TO0/TO1/TO3/TO4)
UFACTORY Studio User Manual (online), 7. Settings · UFACTORY · 7.4.3 Advanced Settings, under 'Clear the IO output when the robot is stopped' (read 2026-10-13, publisher's commit cf19147; until that date, at commit 533b75d, it read 'Tool Digital Output(TO0/TO1)')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-13
Open the source
Kind: Contradictioniface-603
Sources disagree
UFACTORY's documents disagree on the range of the control box's analog inputs AI0 and AI1. The 850 and xArm hardware manuals say the analog interface sets or measures 0-10 V. The Studio manual's Blockly chapter, as read on 2026-10-13, says the Get AI block returns 0–3 V, and gives 0–10 V for AO0 and AO1. Neither says the other is wrong.
Related: comp-532 Verified iface-545 Verified
Evidence · 4 citations
This type of interface can be used to set or measure voltage (0-10V) going into or out of other devices.
UFACTORY 850 Hardware Manual (online), 3. Controller Electrical Interface · UFACTORY · 3.4.3 Controller Analog IO(AIAO)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
This type of interface can be used to set or measure voltage (0-10V) going into or out of other devices.
UFACTORY xArm Hardware Manual (online), 3. Controller Electrical Interface · UFACTORY · 3.4.3 Controller Analog IO(AIAO) (manual for the xArm series; this passage names no single model)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
Get AI(0): Get the value of AI0 and AI1. Returns: 0–3 V.
UFACTORY Studio User Manual (online), 5. Blockly · UFACTORY · 5.3.3.1 Controller IO, 'Get AI' (read 2026-10-13, publisher's commit e28e232; the line was not in the text until that date)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-13
Open the source
Set AO(0), Sync (True): Set the values of AO0 and AO1. Range: 0–10 V.
UFACTORY Studio User Manual (online), 5. Blockly · UFACTORY · 5.3.3.1 Controller IO, 'Set AO' (read 2026-10-13, publisher's commit e28e232)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-13
Open the source
Kind: Contradictioniface-604
Sources disagree
UFACTORY's documents give one page of UFACTORY Studio two names. The xArm manual says a standard Modbus RTU end effector is debugged under 'Settings-Externals-Modbus RTU'. The Studio manual's Settings chapter, as read on 2026-10-13, heads its section 7.2.5, under 7.2 Externals, 'RS-485'; until that date the section was headed 'Modbus RTU'. UFACTORY's release note for Studio V2.8.2 names the page 'Settings - Externals - RS-485'; no fetched source says from which Studio version the page carries that name.
Related: comp-545 Verified iface-549 Verified iface-561 Verified
Evidence · 4 citations
If end effector supports standard Modbus RTU, user can debug it via 'Settings-Externals-Modbus RTU'.
UFACTORY xArm Hardware Manual (online), 4. Robotic Electrical Interface · UFACTORY · 4.2 Tool IO, tool RS-485 (chapter text is not split by model)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
7.2.5 RS-485
UFACTORY Studio User Manual (online), 7. Settings · UFACTORY · 7.2 Externals, the heading of section 7.2.5 (read 2026-10-13, publisher's commit cf19147)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-13
Open the source
7.2.5 Modbus RTU
UFACTORY Studio User Manual, 7. Settings, as it read until 2026-10-13 (publisher's repository, commit 533b75d) · UFACTORY · 7.2 Externals, the heading of section 7.2.5 (text until 2026-10-13, publisher's commit 533b75d)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-13
Open the source
Settings - Externals - RS-485 - Support independent timeout settings for Modbus RTU and Transparent on the control box or arm end.
UFACTORY Release Note v2.8.2 · UFACTORY · Studio V2.8.2, Settings items (read 2026-10-13)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-13
Open the source
Kind: ContradictionAwaiting cell accessiface-703
Sources disagree
UFACTORY's documents and the lab give different ways to open UFACTORY Studio for the xArm 6. The Studio manual says Studio is reached through a browser without installing any software, by entering the control box's IP address followed by :18333 (iface-504, iface-505), and UFACTORY's xArm product page calls it web-based software inside the control box, with no installation needed (comp-535, res-512). As reported on 2026-10-23, the lab opens Studio with the desktop app, which learners download (ops-712), and, as seen with the xArm 850, connects it with the app's IP search field and its Connect Server button (ops-711). For operating the arm in the lab, the desktop app is current. The manual's and the product page's records are not superseded: they still say what UFACTORY's documents say.
Awaiting cell access: this could be confirmed or corrected once the physical S6 cell can be observed.
Related: iface-504 Verified iface-505 Verified comp-535 Verified res-512 Verified ops-537 Verified ops-711 Inferred, awaiting cell access ops-712 Verified, awaiting cell access res-539 Verified
Evidence · 5 citations
UFACTORY Studio can be accessed through a browser directly without installing any software. Now it's compatible with browsers: Google Chrome/ Firefox/ Safari/ Microsoft Edge(Chromium kernel).
UFACTORY Studio User Manual (online), 1. Preface · UFACTORY · 1. Preface, second paragraph (iface-504's citation)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Enter 'IP+:18333' on the browser to access UFACTORY Studio.
UFACTORY Studio User Manual (online), 3. Connection · UFACTORY · 3.2 Software Connection (manual text not model-specific; the Studio manual's Preface lists the xArm 6 among the models it applies to) (iface-505's citation)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
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) (comp-535's citation)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
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.
There is an IP search for the arm and connect button, you enter the IP from the control box and click on the Connect Server button
Owner statements from 2026-09-24 onward (verbatim; S40 and later) · Derek Stringfellow · Statement S241 (2026-10-23), on the Connect page's 'Open UFACTORY Studio' steps; the report is of Studio as used with the xArm 850
Derek Stringfellow, project record · Project-internal record · retrieved 2026-10-04
Project copy; not published on this site.
Kind: GapAwaiting cell accessint-022
Not known
The physical I/O that will carry signals between S2 and S4 (and the other stations) is not defined. It may differ from the simulation's signals.
Awaiting cell access: this could be confirmed or corrected once the physical S6 cell can be observed.
Related: int-018 Verified
Evidence · 1 citation
IO for physical may be different
Owner statements, 2026-09-21 (verbatim) · Derek Stringfellow · Statement S7
Derek Stringfellow, project record · Project-internal record · retrieved 2026-09-21
Project copy; not published on this site.
Kind: Gapint-047
Not known
What S2 publishes to the other agents or the hub is not defined: placement confirmations, S3 slot updates, faults and error codes, its own ready or busy state, and whether any work-order or traceability data passes through S2. IntelliMake says this will be developed as the simulation is created.
Related: int-020 Verified int-048 Inferred
Evidence · 1 citation
This will be developed as we create the simulation.
xArm 850 S2 Project: Open Questions for IntelliMake, Batch 01 responses · IntelliMake.org · Question 10, Answer column
© IntelliMake.org. Used with permission. · Cleared for use by its owner · retrieved 2026-09-29
Project copy; not published on this site.
Kind: Gapint-049
Not known
Whether camera C1's or S11's output reaches S2 or the shared hub, and in what form, is not documented, and IntelliMake does not yet know.
Related: int-023 Verified int-024 Verified int-025 Inferred int-026 Assumed, awaiting cell access
Evidence · 1 citation
This is not known at this time.
xArm 850 S2 Project: Open Questions for IntelliMake, Batch 01 responses · IntelliMake.org · Question 14, Answer column
© IntelliMake.org. Used with permission. · Cleared for use by its owner · retrieved 2026-09-29
Project copy; not published on this site.
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
Kind: Contradictionspec-564
Sources disagree
Sources disagree on the xArm's end-effector communication protocol: the manual's common specification table says Modbus TCP, but the product page says Modbus RTU over RS-485, and the manual's own Tool RS485 section configures standard Modbus RTU end effectors. The manual's Gripper table likewise pairs RS-485 communication with a 'Modbus TCP' protocol.
Related: comp-551 Verified
Evidence · 4 citations
End Effector Communication Protocol Modbus TCP
UFACTORY xArm Hardware Manual (online), 8. Technical Specifications · UFACTORY · 'End Effector Communication Protocol' row (section '8.1 xArm5/xArm6/xArm7 Common Specifications': applies to all three models)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-15
Open the source
End Effector Communication Protocol Modbus RTU(rs485)
UFACTORY xArm product page · UFACTORY · Tech Specs > Hardware, 'End Effector Communication Protocol' row (xArm product page, which covers the xArm 5, 6 and 7)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
If end effector supports standard Modbus RTU, user can debug it via ' Settings-Externals-Modbus RTU '.
UFACTORY xArm Hardware Manual (online), 4. Robotic Electrical Interface · UFACTORY · 4.4.4 Tool RS485 (manual for the xArm series; this passage names no single model)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
Communication Mode RS-485 Communication Protocol Modbus TCP
UFACTORY xArm Hardware Manual (online), 8. Technical Specifications · UFACTORY · Gripper table (section '8.1 xArm5/xArm6/xArm7 Common Specifications': applies to all three models)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-15
Open the source

Image Credits

Sources for This Section

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.
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 5 records here · Project copy; not published on this site.
Owner statements, 2026-09-21 (verbatim) · Derek Stringfellow (project owner)
Derek Stringfellow, project record · Project-internal record · retrieved 2026-09-21 · cited by 1 record here · Project copy; not published on this site.
UFACTORY 850 Hardware Manual (online), 3. Controller Electrical Interface · UFACTORY (manufacturer)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21 · cited by 1 record here · Open the source
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 4 records here · Open the source
UFACTORY Studio User Manual (online), 1. Preface · UFACTORY (manufacturer)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21 · cited by 4 records 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 8 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 7 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 3 records here · Open the source
UFACTORY Studio User Manual (online), 3. Connection · UFACTORY (manufacturer)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21 · cited by 4 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), 5. Blockly · UFACTORY (manufacturer)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-13 · cited by 2 records here · Open the source
UFACTORY Studio User Manual (online), 7. Settings · UFACTORY (manufacturer)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-13 · cited by 14 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 4 records here · Open the source
UFACTORY Studio User Manual, 7. Settings, as it read until 2026-10-13 (publisher's repository, commit 533b75d) · UFACTORY (manufacturer)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-13 · cited by 1 record here · Open the source
UFACTORY xArm Hardware Manual (online), 1. Safety · UFACTORY (manufacturer)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25 · cited by 1 record 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 4 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 13 records here · Open the source
UFACTORY xArm Hardware Manual (online), 4. Robotic Electrical Interface · UFACTORY (manufacturer)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25 · cited by 13 records here · Open the source
UFACTORY xArm Hardware Manual (online), 8. Technical Specifications · UFACTORY (manufacturer)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-15 · cited by 6 records here · Open the source
UFACTORY xArm 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 850 S2 Project: Open Questions for IntelliMake, Batch 01 responses · IntelliMake.org (IntelliMake)
© IntelliMake.org. Used with permission. · Cleared for use by its owner · retrieved 2026-09-29 · cited by 2 records here · Project copy; not published on this site.
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 5 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 10 records here · Open the source
xArm-Python-SDK example 0000-template.py · 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 README · 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
xArm-Python-SDK source, xarm/core/config/x_config.py · 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
xarm_ros2 ReadMe (humble branch) · UFACTORY (manufacturer)
© UFACTORY Inc., xArm-Developer/xarm_ros2, BSD 3-Clause License · BSD-3-Clause · retrieved 2026-09-21 · cited by 3 records here · Open the source

All sources and attribution

References: §8 Control, Communication and Programming Interfaces

References · 110

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