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.
The record says
The xArm manual gives the xArm 6 a maximum payload of 5 kg.
Max Payload | 5kg
UFACTORY xArm Hardware Manual (online), 8. Technical Specifications · UFACTORY · 8.3 xArm6 Specifications [names the xArm 6]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-15
The record says
The xArm manual gives an ambient temperature range of 0 °C to 50 °C.
Ambient temperature: 0°C ~ 50°C
UFACTORY xArm Hardware Manual (online), 7. Production Information · UFACTORY · 7.4 Disposal and Environment [series text: names no single model]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Ambient Temperature Range | 0-50℃
UFACTORY xArm Hardware Manual (online), 8. Technical Specifications · UFACTORY · 8.1 xArm5/xArm6/xArm7 Common Specifications [names the xArm 6]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-15
The record says
The xArm manual says to avoid direct sunlight and specifies indoor use.
Avoid direct sunlight (indoor use)
UFACTORY xArm Hardware Manual (online), 7. Production Information · UFACTORY · 7.4 Disposal and Environment [series text: names no single model]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Sources disagree
UFACTORY sources give different joint ranges for the xArm 6. The xArm manual (section 8.3 and the Preface) gives J2 as -117° to 116° and J3 as -219° to 10°; the Studio manual's specifications table gives J2 as (-118, 120) and J3 as (-255, 11) for the xArm6.
Related: spec-516 Contradiction, awaiting cell access spec-517 Contradiction, awaiting cell access
Joint Range | J1~J6 (±360°, -117~116°, -219~10°, ±360°, -97~180°, ±360°)
UFACTORY xArm Hardware Manual (online), 8. Technical Specifications · UFACTORY · 8.3 xArm6 Specifications [names the xArm 6]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-15
J2 | -117°～116° | -117°～116° | -117°～116°
UFACTORY xArm Hardware Manual (online), Preface · UFACTORY · Preface, Joint Range table, xArm 6 column [names the xArm 6]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Joint2 | (-118,120) | (-118,120) | (-118,120)
UFACTORY Studio User Manual (online), 11. Technical Specifications · UFACTORY · 11. Technical Specifications, xArm6 column [names the xArm 6]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Joint3 | (-255,11) | (-255,11) | ±360°
UFACTORY Studio User Manual (online), 11. Technical Specifications · UFACTORY · 11. Technical Specifications, xArm6 column [names the xArm 6]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Not known
No chapter of the xArm manual (Preface and chapters 1 to 8) and nothing on the xArm product page gives an IP (ingress protection) rating for the xArm 6 or its Control Boxes. The manual refers only to 'non-waterproof equipment' and to keeping water and dust out.
Make sure that all the non-waterproof equipment is kept dry.
UFACTORY xArm Hardware Manual (online), 3. Controller Electrical Interface · UFACTORY · 3.1 Electrical Alarms and Cautions, NOTICE [series text: names no single model]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
The record says
S6 is a UFactory xArm 6 cobot that handles parts after processing, routing them to inspection, rework or shipping.
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.
The record says
The xArm 6's maximum payload is 5 kg, which covers the end-of-arm tool and the part it holds.
Why we infer this: Verified: the xArm manual gives the xArm 6 a maximum payload of 5 kg (spec-502), but does not say whether the end-of-arm tool counts toward it. Verified: UFACTORY Studio, which applies to the xArm 6, defines the TCP payload setting as the actual mass of the end-effector plus the object (ops-547). No UFACTORY source joins the two in one statement. This platform infers that the 5 kg rating is read against the same total the controller models, tool plus part, so the tool's mass leaves less for the part. The xArm 850's course makes the same inference for the 850. Until UFACTORY states it, treat it as an inference, not a rating.
Max Payload 5kg
UFACTORY xArm Hardware Manual (online), 8. Technical Specifications · UFACTORY · Table 'xArm6', 'Max Payload' row (section '8.3 xArm6 Specifications': names the xArm 6)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-15
TCP Payload: The load weight refers to the actual mass (end-effector + object) in Kg
UFACTORY Studio User Manual (online), 7. Settings · UFACTORY · 7.1.2 TCP [general Studio text; the Studio manual says it applies to the xArm6]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-13
The record says
UFACTORY Studio says to set the TCP payload and TCP offset according to the actual situation. The TCP payload is the actual mass of end-effector plus object in kg, with its center of gravity in mm in the default TCP frame at the flange center; with virtually no load, both must be set to 0. The TCP offset gives the tool center point's position (X, Y, Z) and orientation (roll, pitch, yaw) relative to the flange-center frame.
Set TCP Payload and TCP Offset according to the actual situation.
UFACTORY Studio User Manual (online), 7. Settings · UFACTORY · 7.1.2 TCP [general Studio text; the Studio manual says it applies to the xArm6]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-13
TCP Payload: The load weight refers to the actual mass (end-effector + object) in Kg; X/Y/Z-axis represents the position of the centre of gravity of payload in mm
UFACTORY Studio User Manual (online), 7. Settings · UFACTORY · 7.1.2 TCP [general Studio text; the Studio manual says it applies to the xArm6]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-13
If there is virtually no load at the end, both TCP payload and centre of gravity must be set to 0.
UFACTORY Studio User Manual (online), 7. Settings · UFACTORY · 7.1.2 TCP [general Studio text; the Studio manual says it applies to the xArm6]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-13
TCP Offset: Setting the Tool Coordinate Offset with respect to the initial tool frame located at the center of the flange
UFACTORY Studio User Manual (online), 7. Settings · UFACTORY · 7.1.2 TCP [general Studio text; the Studio manual says it applies to the xArm6]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-13
The position coordinates X, Y, and Z determine the position of TCP, while Roll, Pitch, and Yaw determine the orientation.
UFACTORY Studio User Manual (online), 7. Settings · UFACTORY · 7.1.2 TCP [general Studio text; the Studio manual says it applies to the xArm6]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-13
The record says
The xArm manual's environment list gives low humidity: 25% to 85%, non-condensing.
Low humidity (25%-85% non-condensing)
UFACTORY xArm Hardware Manual (online), 7. Production Information · UFACTORY · 7.4 Disposal and Environment [series text: names no single model]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
The record says
The xArm manual's environment list excludes corrosive gas or liquid, flammable materials, oil mists, salt sprays, and dust or metal powder.
No corrosive gas or liquid. | No flammable materials. | No oil mists. | No salt sprays. | No dust or metal powder.
UFACTORY xArm Hardware Manual (online), 7. Production Information · UFACTORY · 7.4 Disposal and Environment [series text: names no single model]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
The record says
The xArm manual says to prevent water or dust getting into the arm or controller, that the arm and its hardware must not be in direct contact with liquid or left in a humid environment for a long time, and that if water enters the product, to turn off the power and contact the supplier.
Prevent the ingress of water or dust into the mechanical arm or controller.
UFACTORY xArm Hardware Manual (online), 1. Safety · UFACTORY · 1.4 Personnel Safety, DANGER [series text: names no single model]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
The robotic arm and its hardware composition must not be in direct contact with the liquid, and should not be placed in a humid environment for a long time.
UFACTORY xArm Hardware Manual (online), 2. Hardware Installation · UFACTORY · 2.2.1 Safety Guidelines, WARNING [series text: names no single model]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
If water enters the product, turn off the power supply, and contact your supplier.
UFACTORY xArm Hardware Manual (online), 3. Controller Electrical Interface · UFACTORY · 3.1 Electrical Alarms and Cautions, NOTICE [series text: names no single model]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Not known
No IP (ingress protection) rating for the xArm 6 arm or its control boxes was found in the manual or the product page. The manual instead warns that the arm and its hardware must not be in direct contact with liquid, and to keep non-waterproof equipment dry.
The robotic arm and its hardware composition must not be in direct contact with the liquid, and should not be placed in a humid environment for a long time.
UFACTORY xArm Hardware Manual (online), 2. Hardware Installation · UFACTORY · 2.2.1 Safety Guidelines, WARNING (chapter says 'Apply to Model: XF1305, XI1305, XS1305 (1305 Model)')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Make sure that all the non-waterproof equipment is kept dry.
UFACTORY xArm Hardware Manual (online), 3. Controller Electrical Interface · UFACTORY · 3.1 Electrical Alarms and Cautions, item 1 (manual for the xArm series; this passage names no single model)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Sources disagree
UFACTORY's xArm product page presents the xArm as a collaborative robot ('cobot'), while the xArm manual says no people or other equipment should be in the working area when the arm is in operation. Neither source says how the two fit together.
Durable Collaborative robots for your automation
UFACTORY xArm product page · UFACTORY · 'Brief Introduction' heading [page covers xArm 5, 6 and 7]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Collision detection is available for all of our cobots.
UFACTORY xArm product page · UFACTORY · 'Flexible deployment with safe feature'
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
When the robotic arm is in operation, make sure no people or other equipment are in the working area.
UFACTORY xArm Hardware Manual (online), 1. Safety · UFACTORY · 1.3, DANGER list [series text: names no single model]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
The record says
Calling the xArm 6 'collaborative' does not make a given installation safe to share with people: the xArm manual says a safety assessment is required each time the arm is installed, and that a comprehensive safety assessment of the whole system should be performed when the xArm works with other machinery.
Why we infer this: UFACTORY uses 'collaborative' as a product description (app-504, app-509). The xArm manual separately requires a safety assessment for each installation and for the whole system when the arm works with other machinery. So the label describes the arm's features, not a guarantee that a particular cell allows people to work beside it.
A safety assessment is required each time installed.
UFACTORY xArm Hardware Manual (online), 2. Hardware Installation · UFACTORY · 2.2.1 Safety Guidelines, WARNING (chapter says 'Apply to Model: XF1305, XI1305, XS1305 (1305 Model)')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
When the xArm cooperates with other machinery, a comprehensive safety assessment of the entire collaboration system should be performed.
UFACTORY xArm Hardware Manual (online), 1. Safety · UFACTORY · 1. Safety (manual for the xArm series; this passage names no single model)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
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.
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.
The record says
The xArm manual's common specifications for the xArm5, xArm6 and xArm7 give a Cartesian range of X ±700 mm, Y ±700 mm and Z from -400 to 951.5 mm, with roll, pitch and yaw ±180°.
Cartesian Range | X: ±700mm; Y: ±700mm; Z: -400~951.5mm; Roll/Pitch/Yaw: ±180°
UFACTORY xArm Hardware Manual (online), 8. Technical Specifications · UFACTORY · 8.1 xArm5/xArm6/xArm7 Common Specifications [names the xArm 6]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-15
The record says
UFACTORY's xArm product page says its working range diagrams for the xArm series are only for safety assessment.
Note: The following working range diagrams are only for safety assessment.
UFACTORY xArm product page · UFACTORY · Tech Specs, Working Range [names the xArm series]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
The record says
When installing the xArm, the manual says to take its range of motion into account so that it does not bump into people and equipment around it, and notes that the working range it shows does not include the end-effector. The manual gives one working-range figure for the xArm5 and xArm6 together.
When installing the robotic arm, make sure the range of motion of the robotic arm is taken into account, so as not to bump into the surrounding people and equipment (the end-effector not included in the working range).
UFACTORY xArm Hardware Manual (online), 2. Hardware Installation · UFACTORY · 2.2.2 Define Working Space [series text: names no single model]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
working range of xArm5 and xArm6, unit:mm
UFACTORY xArm Hardware Manual (online), 2. Hardware Installation · UFACTORY · 2.2.2, figure caption [names the xArm 6]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
The record says
UFACTORY Studio says that near a singularity, planned Cartesian moves (linear, circular, but not joint moves) cannot be performed correctly and the arm stops to avoid a high instantaneous joint speed. It advises avoiding the central area near the base, and, when choosing a mounting place, considering the cylindrical volume directly above and below the base. It says moving the wrist joint close to that volume should be avoided if possible, because it makes the joints move fast even when the arm moves slowly and makes a risk assessment difficult.
When the robot performs motion planning (linear, circular, etc., excluding joint movements) near the singularity point, it will stop to avoid high instantaneous speed of the joint when it passes the singularity point.
UFACTORY Studio User Manual (online), 9. Motion Characteristics · UFACTORY · 9.3 Singularity, Characteristics [general Studio text; the Studio manual says it applies to the xArm6]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
so the robotic arm should try to avoid passing directly the central area near the base, which is likely to cause 1st Joint speed too high.
UFACTORY Studio User Manual (online), 9. Motion Characteristics · UFACTORY · 9.3 Singularity [general Studio text; the Studio manual says it applies to the xArm6]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
It is important to consider the cylindrical volume directly above and directly below the base of the robotic arm when a mounting place for the robotic arm is chosen.
UFACTORY Studio User Manual (online), 9. Motion Characteristics · UFACTORY · 9.3, Note [general Studio text; the Studio manual says it applies to the xArm6]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Quote not shown (over 40 words). See the source at: 9.3, Note [general Studio text; the Studio manual says it applies to the xArm6].
UFACTORY Studio User Manual (online), 9. Motion Characteristics · UFACTORY · 9.3, Note [general Studio text; the Studio manual says it applies to the xArm6]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
The record says
The xArm manual gives an altitude limit of below 2000 m.
Altitude: <2000m
UFACTORY xArm Hardware Manual (online), 7. Production Information · UFACTORY · 7.4 Disposal and Environment [series text: names no single model]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
The record says
The xArm manual's environment list also excludes mechanical shock and vibration, electromagnetic noise and radioactive materials.
No mechanical shock, vibration. | No electromagnetic noise. | No radioactive materials.
UFACTORY xArm Hardware Manual (online), 7. Production Information · UFACTORY · 7.4 Disposal and Environment [series text: names no single model]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
The record says
The xArm manual's common specifications for the xArm5, xArm6 and xArm7 give ISO Class 5 for cleanroom use.
ISO Class Cleanroom | 5
UFACTORY xArm Hardware Manual (online), 8. Technical Specifications · UFACTORY · 8.1 xArm5/xArm6/xArm7 Common Specifications [names the xArm 6]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-15
The record says
The xArm 6 is not suited to wet, washdown, dusty, oily or outdoor environments, such as machining areas with coolant mist or metal chips, without extra protection that the UFACTORY sources do not specify.
Why we infer this: Verified: the manual excludes oil mists, dust and metal powder, requires indoor use, and says to keep water and dust out; it gives no IP rating (see the IP gap). Inferred: the listed conditions rule out the example environments unless extra protection is added. No UFACTORY source describes such protection for the xArm 6.
No oil mists.
UFACTORY xArm Hardware Manual (online), 7. Production Information · UFACTORY · 7.4 Disposal and Environment [series text: names no single model]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
No dust or metal powder.
UFACTORY xArm Hardware Manual (online), 7. Production Information · UFACTORY · 7.4 Disposal and Environment [series text: names no single model]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Avoid direct sunlight (indoor use)
UFACTORY xArm Hardware Manual (online), 7. Production Information · UFACTORY · 7.4 Disposal and Environment [series text: names no single model]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Prevent the ingress of water or dust into the mechanical arm or controller.
UFACTORY xArm Hardware Manual (online), 1. Safety · UFACTORY · 1.4 Personnel Safety, DANGER [series text: names no single model]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
The record says
The xArm manual says to use only the arm's original cable and not to use the arm in applications where the cable needs to be bent, and to contact the supplier for a longer or flexible cable.
Use only the original cable of the robotic arm. Do not use the robotic arm in applications where the cable needs to be bent. If you need a longer cable or flexible cable, please contact your supplier.
UFACTORY xArm Hardware Manual (online), 3. Controller Electrical Interface · UFACTORY · 3.1 Electrical Alarms and Cautions, NOTICE [series text: names no single model]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
The record says
The xArm manual says I/O cables between the Control Box and other machines and plant equipment must not exceed 30 m unless extension testing shows a longer cable is feasible.
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, CAUTION [series text: names no single model]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
The record says
The official xArm Python SDK supports Python 3 only.
Only Python 3 is supported.
xArm-Python-SDK README (GitHub) · UFACTORY (xArm-Developer) · README, Installation [SDK 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
The record says
UFACTORY's xArm product page says its robot API is open source, but that integrating with other products requires custom code: most customers will need to write custom libraries and install software packages that are not shipped with the robot.
While all integrations are possible, they all require custom code work i.e. most customers will need to write custom libraries and install software packages that are not shipped with the robot.
UFACTORY xArm product page · UFACTORY · Tech Specs, Compatibility, API Compatibility [page covers xArm 5, 6 and 7]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
The record says
The xArm manual gives the xArm5, xArm6 and xArm7 a repeatability of ±0.1 mm.
Repeatability | ±0.1mm
UFACTORY xArm Hardware Manual (online), 8. Technical Specifications · UFACTORY · 8.1 xArm5/xArm6/xArm7 Common Specifications [names the xArm 6]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-15
Not known
No fetched UFACTORY source gives an absolute positioning accuracy for the xArm 6 (how closely it reaches a computed coordinate, as opposed to its ±0.1 mm repeatability). This matters for offline programming and vision-guided picking, which rely on computed coordinates.
Repeatability | ±0.1mm
UFACTORY xArm Hardware Manual (online), 8. Technical Specifications · UFACTORY · 8.1 Common Specifications: repeatability only [names the xArm 6]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-15
The record says
A singularity occurs when the axes of any two joints lie on one straight line; the arm's degrees of freedom are degraded and some joints may turn too fast. Near one, planned Cartesian moves (not joint moves) stop to avoid high joint speed, so UFACTORY advises avoiding it or passing it with a joint move.
Quote not shown (over 40 words). See the source at: 9.3 Singularity (manual text not model-specific; the Studio manual's Preface lists the xArm 6 among the models it applies to).
UFACTORY Studio User Manual (online), 9. Motion Characteristics · UFACTORY · 9.3 Singularity (manual text not model-specific; the Studio manual's Preface lists the xArm 6 among the models it applies to)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Quote not shown (over 40 words). See the source at: 9.3, Characteristics.
UFACTORY Studio User Manual (online), 9. Motion Characteristics · UFACTORY · 9.3, Characteristics
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
The record says
UFACTORY Studio says Cartesian (linear and arc) moves are solved by inverse kinematics, so they may have no solution, several solutions or only approximate ones, and that because joint space and Cartesian space are related non-linearly, the joints may exceed their maximum speed and acceleration limits during such moves.
Quote not shown (over 40 words). See the source at: 4.4 Position & Joint Control, Linear Motion [general Studio text; the Studio manual says it applies to the xArm6].
UFACTORY Studio User Manual (online), 4. Live Control · UFACTORY · 4.4 Position & Joint Control, Linear Motion [general Studio text; the Studio manual says it applies to the xArm6]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-13
The record says
As UFACTORY's Studio manual read on 2026-10-13, error C24 is a joint's speed exceeding 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. For C37 (abnormal movement in manual mode), it says to check whether the TCP payload setting and the mounting setting are correct.
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
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
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
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
Please check whether the TCP payload setting and mounting setting of the robotare correct.
UFACTORY Studio User Manual (online), 12. Error Handling · UFACTORY · 12.1 table, C37, third line (read 2026-10-13, publisher's commit e28e232)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-13
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
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
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
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
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
- 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
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
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
The record says
As UFACTORY's Studio manual read until 2026-10-13, for C24 (speed exceeds limit), Studio says to check whether the xArm is at a singularity, or reduce the speed and acceleration. For C37 (abnormal motion in manual mode), it says to check that the TCP payload and installation settings match reality.
C24 | Speed Exceeds Limit | 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 [general Studio text; the Studio manual says it applies to the xArm6] (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
C37 | Abnormal Motion in Manual Mode | Please check whether the TCP payload setting of the robotic arm and the installation method of the robotic arm match the actual settings.
UFACTORY Studio User Manual, 12. Error Handling, as it read until 2026-10-13 (publisher's repository, commit 533b75d) · UFACTORY · 12.1, table, C37 [general Studio text; the Studio manual says it applies to the xArm6] (text until 2026-10-13, publisher's commit 533b75d)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-13
The record says
UFACTORY Studio's Advanced Settings include 'Use Approximate Solution', which the manual describes in one line: use an approximate solution to pass singularities.
Use Approximate Solution: Use approximate solution to pass Singularities.
UFACTORY Studio User Manual (online), 7. Settings · UFACTORY · 7.4.3 Advanced Settings [general Studio text; the Studio manual says it applies to the xArm6] (read 2026-10-13, publisher's commit cf19147; the same words at commit 533b75d)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-13
The record says
Collision detection can be turned on or off in UFACTORY Studio's Advanced Settings, and that page needs a password; Studio's manual documents the default password.
You must enter password to access this page, the default password:
UFACTORY Studio User Manual (online), 7. Settings · UFACTORY · 7.4.3 Advanced Settings (the quote stops before the default value, which this corpus does not print) [general Studio text; the Studio manual says it applies to the xArm6]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-13
Collision Detection: Turn on/off collision detection
UFACTORY Studio User Manual (online), 7. Settings · UFACTORY · 7.4.3 Advanced Settings [general Studio text; the Studio manual says it applies to the xArm6]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-13
The record says
UFACTORY's support article says that for xArm 5/6/7 arms the joint friction parameters used by collision detection are stored in the arm and are reloaded by pressing and releasing the emergency stop, while for xArm 5/6/7 arms before XX1300 they are stored in the controller and reloading needs technical support. It says replacing the control box can leave the stored parameters mismatched, and that a mismatch may falsely trigger collision detection.
xArm 5/6/7 | Robot Arm | Press and release the emergency stop
Collision Detection in UFACTORY Robotic Arms: Current and Dynamic Model-based Feature (UFACTORY support article) · UFACTORY · Section 2.3 Friction Parameters, table [names xArm 5/6/7]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
xArm 5/6/7 (before XX1300) | Controller | Contact technical support
Collision Detection in UFACTORY Robotic Arms: Current and Dynamic Model-based Feature (UFACTORY support article) · UFACTORY · Section 2.3, table [names xArm 5/6/7]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
In UFACTORY robotic arms, friction parameters also play a crucial role in collision detection.
Collision Detection in UFACTORY Robotic Arms: Current and Dynamic Model-based Feature (UFACTORY support article) · UFACTORY · Section 2.3 Friction Parameters
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
When the user replaces the control box, the stored friction parameters may no longer match, leading to errors in joint current calculation.
Collision Detection in UFACTORY Robotic Arms: Current and Dynamic Model-based Feature (UFACTORY support article) · UFACTORY · Section 2.3 Friction Parameters
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
parameter mismatch may cause the controller to mistakenly detect external resistance, thereby falsely triggering collision detection.
Collision Detection in UFACTORY Robotic Arms: Current and Dynamic Model-based Feature (UFACTORY support article) · UFACTORY · Section 2.3 Friction Parameters
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
The record says
Firmware V2.7.0, released 27 August 2025, fixed an issue where sending zero speed in joint-speed mode could still cause unintended arm motion.
Released Time: 2025.08.27
UFACTORY Release Note v2.7.0 · UFACTORY · Header
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Fixed an issue where sending zero speed in joint-speed mode could still cause unintended arm motion.
UFACTORY Release Note v2.7.0 · UFACTORY · Firmware V2.7.0 list [names no model]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
The record says
UFACTORY's release-note version list gives recommended matching versions; the top row is firmware 2.8.2, UFACTORY Studio 2.8.2, Python SDK 1.18.4 and ROS/ROS2 2.0.0. The firmware and Studio packages are listed for the 'xarm series, UFactory 850'.
Firmware | UFACTORY Studio | Python SDK | ROS&ROS2 | 2.8.2 | 2.8.2 | 1.18.4 | 2.0.0
UFACTORY Release Note, Version List · UFACTORY · Recommended Version table, first row
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-26
Firmware & Studio version: xarm series, UFactory 850:
UFACTORY Release Note, Version List · UFACTORY · Offline Package Download
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-26
The record says
The xArm 6 at S6, at firmware 2.7.0 and Studio 2.7.0 as read on 2026-10-16 (int-553, int-554), is behind UFACTORY's newest recommended set as the page read on 2026-10-07, firmware and Studio 2.8.2 (lim-531). It runs the release that fixed zero speed in joint-speed mode (lim-529).
Awaiting cell access: this could be confirmed or corrected once the physical S6 cell can be observed.
Why we infer this: From Verified records only: the controller's firmware and Studio versions as read on 2026-10-16 (int-553, int-554), the recommended set's top row (lim-531) and the V2.7.0 firmware release note's fix (lim-529). 2.7.0 is earlier than 2.8.2, and is the release whose note lists the fix. Whether the arm shows any issue was not tested. It holds for the versions read that day.
Robot Model | xArm6 | Firmware Version | 2.7.0
UFACTORY Studio's Device Info page for the xArm 6, screenshot (2026-10-16) · Derek Stringfellow · Device Info page (Settings, My Device, Device Info), Hardware and Software columns, 'Robot Model' and 'Firmware Version' rows; 'Real' selected, not 'Sim'
Derek Stringfellow, project record · Project-internal record · retrieved 2026-10-16
Project copy; not published on this site.
Studio Version | 2.7.0
UFACTORY Studio's Device Info page for the xArm 6, screenshot (2026-10-16) · Derek Stringfellow · Device Info page (Settings, My Device, Device Info), Software column, 'Studio Version' row; 'Real' selected, not 'Sim'
Derek Stringfellow, project record · Project-internal record · retrieved 2026-10-16
Project copy; not published on this site.
Firmware | UFACTORY Studio | Python SDK | ROS&ROS2 | 2.8.2 | 2.8.2 | 1.18.4 | 2.0.0
UFACTORY Release Note, Version List · UFACTORY · Recommended Version table, first row (as the page read on 2026-10-07)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-26
Fixed an issue where sending zero speed in joint-speed mode could still cause unintended arm motion.
UFACTORY Release Note v2.7.0 · UFACTORY · Firmware V2.7.0 list [names no model]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Not known
The xArm manual's Maintenance and Inspection chapter covers only long-term storage charging and cleaning. No chapter of the fetched manual gives an inspection interval, a lubrication schedule, a brake test or a service life for any part; chapter 1 says only to check the bolts 'regularly'.
If the robotic arm is not used for a long time (≥3 months)
UFACTORY xArm Hardware Manual (online), 5. Maintenance and Inspection · UFACTORY · 5. Maintenance and Inspection (whole chapter: Long-term placement and Clean) [series text: names no single model]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Check the robotic arm regularly to prevent loosening of the bolts
UFACTORY xArm Hardware Manual (online), 1. Safety · UFACTORY · 1.4 Personnel Safety, CAUTION [series text: names no single model]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
The record says
The xArm arm contains a built-in battery: if the arm is not used for 3 months or more, the manual says to power it on for 6 hours every 3 months to charge the battery, without enabling the arm.
If the robotic arm is not used for a long time (≥3 months), you need to power on the robotic arm for 6 hours every 3 months to charge the built-in battery of the robotic arm.
UFACTORY xArm Hardware Manual (online), 5. Maintenance and Inspection · UFACTORY · 5. Maintenance and Inspection, 'Long-term placement' (manual for the xArm series; this passage names no single model)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
the robotic arm does not need to be enabled.
UFACTORY xArm Hardware Manual (online), 5. Maintenance and Inspection · UFACTORY · 5. Maintenance and Inspection, 'Long-term placement' (manual for the xArm series; this passage names no single model)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Project advice
Read the S6 xArm 6's serial number before relying on any figure the sources disagree on (weight, J2 and J3 ranges): UFACTORY distinguishes four xArm 6 versions by serial number, and the S6 arm's version decides which mass parameters apply.
Awaiting cell access: this could be confirmed or corrected once the physical S6 cell can be observed.
This is advice from this project, based on: comp-511 Verified, awaiting cell access spec-506 Contradiction, awaiting cell access spec-516 Contradiction, awaiting cell access spec-517 Contradiction, awaiting cell access
Why: The mass parameters are published per version (comp-511), so the S6 arm's version must be known to use them. The sources that disagree on weight and joint ranges (spec-506, spec-516, spec-517) do not say whether version explains the difference; knowing the version is a cheap first step, not a resolution. The serial number is on the physical arm, so this needs cell access.
The purpose of this article is to guide the user to distinguish the model of UFactory xArm by SN.
Kinematic and Dynamic Parameters of xArm Series: telling the model by SN (support article) · UFACTORY · Introduction
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
xArm 6 - Model 4
Kinematic and Dynamic Parameters: xArm 6 (support article) · UFACTORY · 3. Mass Parameters, table headings
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Not known
No fetched UFACTORY source gives a public known-issues list for current xArm firmware. Release notes list fixes only after the fact, such as the V2.7.0 zero-speed fix, so open defects in the installed firmware cannot be checked.
Fixed an issue where sending zero speed in joint-speed mode could still cause unintended arm motion.
UFACTORY Release Note v2.7.0 · UFACTORY · Firmware V2.7.0 list
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Not known
No fetched UFACTORY source gives cycle-time data for the xArm 6, or the speed and acceleration it reaches while carrying its full 5 kg payload across its reach; the payload versus TCP offset relationship is published only as a figure.
The payload is related to the tcp offset.
UFACTORY xArm Hardware Manual (online), 7. Production Information · UFACTORY · 7.11 Max Payload [series text: names no single model]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Not known
The xArm manual says the payload is related to the TCP offset, but its text gives no payload-versus-offset values; the xArm 6's allowable payload at a given tool offset could not be taken from the sources as text.
Related: spec-502 Verified
The payload is related to the tcp offset.
UFACTORY xArm Hardware Manual (online), 7. Production Information · UFACTORY · 7.11 Max Payload (manual for the xArm series; this passage names no single model)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Not known
No fetched UFACTORY source gives a design life, MTBF or harmonic-drive service life for the xArm 6; the only durability figure is the product page's 15,000-hour stress test.
Stress-tested for at least 15,000 hours of full-time operation.
UFACTORY xArm product page · UFACTORY · Service & Support, Warranty
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Not known
No chapter of the xArm manual (Preface and chapters 1 to 8), the xArm product page or the Studio manual states an ISO 13849-1 Performance Level or Category, or an IEC 62061 SIL, for any xArm safety function (emergency stop, EI/SI inputs, collision detection, safety boundary or reduced mode), and none mentions a TÜV certification. Do not assume any.
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): redundancy described, no PL or Category stated [series text: names no single model]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
DSS_GZEM2403001755MDVR-1.pdf | DSS_MD-GZES2403005468MD-1.pdf | DTIBW20220028-RoHS-CE.pdf
UFACTORY xArm Hardware Manual (online), 7. Production Information · UFACTORY · 7.12 Certification: only the SGS MD and EMC verifications and a RoHS certificate are linked [series text: names no single model]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Not known
No fetched UFACTORY source says whether the xArm 6 is suitable or validated for power and force limiting collaborative applications. No fetched UFACTORY source gives contact force or pressure figures for the xArm 6, or a torque or force threshold for any collision sensitivity level.
the smaller the additional torque required for the robotic arm to trigger collision protection
UFACTORY Studio User Manual (online), 7. Settings · UFACTORY · 7.1.1, Collision Detection Sensitivity: levels described only relatively [general Studio text; the Studio manual says it applies to the xArm6]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-13
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.
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
Not known
The xArm manual gives stop data only for Stop Category 1 and Joints 1 to 3, in one configuration (fully extended, 100% speed, 5 kg payload), and does not say which arm model was measured. No data was found for Joints 4 to 6, for other speeds or payloads, for Stop Category 2 (the SI safeguard stop), or for stopping after a collision is detected. These are needed for any separation-distance calculation at S6.
Stop Category 1 stopping distances and times.
UFACTORY xArm Hardware Manual (online), 7. Production Information · UFACTORY · 7.10 Stop Time and Stop Distance [names no model]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Joint3 | 0.67 | 577
UFACTORY xArm Hardware Manual (online), 7. Production Information · UFACTORY · 7.10, table [names no model]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Project advice
Do not use the xArm manual's Stop Category 1 figures for S6 separation distances until UFACTORY confirms which arm and configuration they were measured on; measure the S6 arm's stopping behavior at the cell if the risk assessment needs it.
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-535 Verified safety-534 Inferred safety-580 Gap
Why: The table names no model, its figures are identical to the 850 manual's, and it covers only Joints 1 to 3 in one configuration. A separation distance built on it would rest on data that may not describe the S6 arm.
Sources disagree
The xArm manual describes the Control Box emergency stop in ways that do not fit together. Section 2.1.2 says the arm's power supply is removed within 300 ms and that pressing the button powers off the xArm; section 3.2.2 says the button allows the user to cut off the arm's power in the shortest time possible. Section 7.9 says the same button is Stop Category 1, which decelerates the robot 'with drive power on', and section 7.10 gives Stop Category 1 stopping times of 521 to 885 ms. The manual does not explain how power removal within 300 ms fits a powered deceleration lasting up to 885 ms.
the power supply for the robotic arm will be removed within 300ms.
UFACTORY xArm Hardware Manual (online), 2. Hardware Installation · UFACTORY · 2.1.2 Emergency Stop Button [series text: names no single model]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Press the emergency stop button to power off the xArm
UFACTORY xArm Hardware Manual (online), 2. Hardware Installation · UFACTORY · 2.1.2, 'Emergency Stop' [series text: names no single model]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
cut off the power of the robotic arm in the shortest time possible
UFACTORY xArm Hardware Manual (online), 3. Controller Electrical Interface · UFACTORY · 3.2.2 Power Supply (AC Controller) [series text: names no single model]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Stop Category 1 and Stop Category 2 decelerates the robot with drive power on
UFACTORY xArm Hardware Manual (online), 7. Production Information · UFACTORY · 7.9 Stop Categories [series text: names no single model]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Emergency Stop Button of the Control Box | Stop Category 1
UFACTORY xArm Hardware Manual (online), 7. Production Information · UFACTORY · 7.9 Stop Categories, table [series text: names no single model]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Joint1 | 0.62 | 521
UFACTORY xArm Hardware Manual (online), 7. Production Information · UFACTORY · 7.10 Stop Time and Stop Distance, table [names no model]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Joint2 | 1.12 | 885
UFACTORY xArm Hardware Manual (online), 7. Production Information · UFACTORY · 7.10 Stop Time and Stop Distance, table [names no model]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
The record says
In servo mode the Control Box receives commands at up to 250 Hz, and commands sent faster are lost; below 30 Hz the arm's motion may be discontinuous. The speed, acceleration and time parameters of the SDK's servo functions are reserved and do not work at present.
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: Servo(ServoJ) 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
If the frequency of sending commands exceeds 250 Hz, the redundant commands will be lost.
UFACTORY Studio User Manual (online), 10. Robotic Arm Motion Mode and State · UFACTORY · 10.1 Mode 1 [general Studio text; the Studio manual says it applies to the xArm6]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
If the frequency is lower than 30 Hz, the motion of the robotic arm may be discontinuous.
UFACTORY Studio User Manual (online), 10. Robotic Arm Motion Mode and State · UFACTORY · 10.1 Mode 1, Servo Cartesian Motion [general Studio text; the Studio manual says it applies to the xArm6]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
The xArm-Python-SDK interface function we provide also reserves the speed, acceleration and time settings, but they will not work at present.
UFACTORY Studio User Manual (online), 10. Robotic Arm Motion Mode and State · UFACTORY · 10.1 Mode 1 [general Studio text; the Studio manual says it applies to the xArm6]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
The record says
In Cartesian online planning mode (mode 7), UFACTORY says only the base coordinate system can be used as the reference, not the tool coordinate system for relative motion.
Cartesian online planning mode can only use the base coordinate system as the reference coordinate system, not the tool coordinate system for relative motion.
UFACTORY Studio User Manual (online), 10. Robotic Arm Motion Mode and State · UFACTORY · 10.1 Mode 7: Cartesian online planning Mode, Note [general Studio text; the Studio manual says it applies to the xArm6]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
The record says
Firmware V2.7.0 changed self-collision detection so that it no longer checks for collisions between the end-effector and Joint 6 or its link.
Optimized self-collision detection logic: the system no longer checks for collisions between the end-effector and Joint 6 or its link.
UFACTORY Release Note v2.7.0 · UFACTORY · Firmware V2.7.0 list [names no model]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
The record says
Torque-sensor-based collision detection, added in Studio V2.7.0, carries UFACTORY's warning that at end speeds of 100 mm/s or more the sensor may be damaged by a collision.
Added torque sensor collision detection.
UFACTORY Studio V2.7.0 New Feature · UFACTORY · Settings - Externals - Torque Sensor
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
When the end speed ≥100mm/s, the sensor may be damaged by collision. Please enable with caution.
UFACTORY Studio V2.7.0 New Feature · UFACTORY · Settings - Externals - Torque Sensor
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
The record says
UFACTORY Studio's environment simulation, which checks for collisions with modeled cubes, cylinders and tables, was added in V2.7.0 and UFACTORY says it is still in testing.
Enable the environment simulation option in Settings - General. (This feature is still in testing)
UFACTORY Studio V2.7.0 New Feature · UFACTORY · Settings - Assistive Features - Environment Simulation (Beta)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
You can add models into the environment: cube, cylinder, table.
UFACTORY Studio V2.7.0 New Feature · UFACTORY · Environment Simulation (Beta)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
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.
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.
: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
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
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
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
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
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
The record says
The xArm manual says that when the arm is in operation, no people or other equipment should be in the working area.
When the robotic arm is in operation, make sure no people or other equipment are in the working area.
UFACTORY xArm Hardware Manual (online), 1. Safety · UFACTORY · 1.3, DANGER list [series text: names no single model]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
The record says
The xArm manual says the integrity of the device and system must be checked before each use, and that preliminary testing and inspection of both the arm and the peripheral protection system before production is essential.
The integrity of the device and system must be checked before each use (e. g. the operational safety and the possible damage of the robotic arm and other device systems).
UFACTORY xArm Hardware Manual (online), 1. Safety · UFACTORY · 1.3, DANGER list [series text: names no single model]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Preliminary testing and inspection for both robotic arm and peripheral protection system before production is essential.
UFACTORY xArm Hardware Manual (online), 1. Safety · UFACTORY · 1.3, DANGER list [series text: names no single model]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
The record says
The xArm 6 has a maximum payload of 5 kg.
Max Payload 5kg
UFACTORY xArm Hardware Manual (online), 8. Technical Specifications · UFACTORY · Table 'xArm6', 'Max Payload' row (section '8.3 xArm6 Specifications': names the xArm 6)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-15
Payload 3kg 5kg 3.5kg
UFACTORY xArm product page · UFACTORY · 'Payload' row (Tech Specs > Comparison table, columns xArm 5, xArm 6, xArm 7; value read from the xArm 6 column)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
This robot arm has 6 axes, with 5kg payload and 1m/s speed.
The difference between UFACTORY xArm5, UFACTORY xArm6 and UFACTORY xArm7 (Help Center article) · UFACTORY · Section 1 'Main difference in brief', xArm 6 entry
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source Plain http: this publisher has no certificate for that name, so what loads cannot be verified.
The record says
The online hardware manual and the product page give the xArm 6 arm's weight (arm only) as 12.5 kg; another UFACTORY source differs (see the contradiction).
Wight(robotic arm only) 12.5kg
UFACTORY xArm Hardware Manual (online), 8. Technical Specifications · UFACTORY · Table 'xArm6', 'Wight(robotic arm only)' row (sic) (section '8.3 xArm6 Specifications': names the xArm 6)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-15
Weight(robot arm only) 11.3kg 12.5kg 14.3kg
UFACTORY xArm product page · UFACTORY · 'Weight(robot arm only)' row (Tech Specs > Comparison table, columns xArm 5, xArm 6, xArm 7; value read from the xArm 6 column)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
The record says
UFACTORY gives the xArm 6 a reach of 700 mm.
Reach 700mm 700mm 700mm
UFACTORY xArm product page · UFACTORY · 'Reach' row (Tech Specs > Comparison table, columns xArm 5, xArm 6, xArm 7; value read from the xArm 6 column)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Reach(mm) 700mm 700mm 700mm
The difference between UFACTORY xArm5, xArm6 and xArm7 (support article) · UFACTORY · Section 1 Specifications, 'Reach(mm)' row (columns xArm 5 Lite, xArm 6, xArm 7; value read from the xArm 6 column)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Not known
Per-joint component data for the xArm 6 (motor model and rating, harmonic-drive ratio, encoder type and resolution, joint-module sizes) is not published in the xArm manual or the product page; the product page names only harmonic drives and servomotors and, unlike the 850's page, gives no encoder resolution.
Related: comp-504 Verified
Industrial-grade harmonic drive and servomotors guarantee 24/7 working without stop.
UFACTORY xArm product page · UFACTORY · Overview, 'Durable Collaborative robots for your automation' (xArm product page, which covers the xArm 5, 6 and 7)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Industrial-grade harmonic drive and servomotors with 17 bit encoder guarantee 24/7 working as well as ±0.02 mm repeatability.
UFACTORY 850 product page · UFACTORY · Overview, 'Durable Collaborative Robots with Easy Deployment' (page names the machine 'UFACTORY 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
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.
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
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
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.
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
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
Not known
No specification for the BIO Gripper G2, the 6-axis force/torque sensor or the linear motor (payload, force range, resolution, stroke) was found in the xArm manual or the product page; only their names are listed.
Gripper Vacuum Gripper BIO Gripper G2 6 Axis Force Torque Sensor Linear motor
UFACTORY xArm product page · UFACTORY · Overview, 'Seamless integration with official accessories' (xArm product page, which covers the xArm 5, 6 and 7)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
End Effector(FT Sensor, BIO Gripper, Vacuum Gripper, xArm Gripper).
UFACTORY xArm Hardware Manual (online), 2. Hardware Installation · UFACTORY · 2.1.1 Hardware Composition (chapter says 'Apply to Model: XF1305, XI1305, XS1305 (1305 Model)')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Sources disagree
Sources disagree on how the xArm AC control box powers the arm: the manual's controller chapter says its internal supply converts 100-240 V AC into 12 V and 48 V DC for the control box and the arm, while the common specification table gives the arm's input as 24 V DC, 20.8 A and the AC controller's output as 24 V DC, 20.8 A.
its internal switching power supply converts 100V-240V AC into 12V, 48V DC, which supplies power to the load of the control box and the robotic arm.
UFACTORY xArm Hardware Manual (online), 3. Controller Electrical Interface · UFACTORY · 3.2.2 Power Supply (chapter text is not split by model)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Input Power Supply | 24V DC, 20.8A
UFACTORY xArm Hardware Manual (online), 8. Technical Specifications · UFACTORY · 8.1 xArm5/xArm6/xArm7 Common Specifications
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-15
Output | 24V DC , 20.8A | 24V DC 672Wmax
UFACTORY xArm Hardware Manual (online), 8. Technical Specifications · UFACTORY · 8.1 controller table, 'Output' row
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-15
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.
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
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
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.
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
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
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.
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
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
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
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
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
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
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.
Sources disagree
The future 3D-printed flow in the IntelliMake diagram has no S2 step (printed parts go from S7 straight to S6), but S2's stated role includes handling material for 3D printing in the future. What S2 does in the future flow is unresolved: IntelliMake says it could be S3, S4 or S7, that this is subject to change, and that the cell is not locked into any configuration.
Related: int-030 Verified int-013 Superseded by int-081 Verified int-534 Verified
S7 3D Printing → S6 Robot Handling
IntelliMake Phase 1 Factory: Autonomous Production Demonstrator (infographic) · IntelliMake.org · Future 3D-printed personalized product flow banner
© 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.
and in the future, material for 3d printing
Owner statements, 2026-09-21 (verbatim) · Derek Stringfellow · Statement S4
Derek Stringfellow, project record · Project-internal record · retrieved 2026-09-21
Project copy; not published on this site.
In future could be S3, S4 or S7. This is subject to change. We are not locked into any configuration.
xArm 850 S2 Project: Open Questions for IntelliMake, Batch 01 responses · IntelliMake.org · Question 5, Answer column
© IntelliMake.org. Used with permission. · Cleared for use by its owner · retrieved 2026-09-29
Project copy; not published on this site.
Not known
Cycle times for S2's moves (S1 to S3, S3 to S4, and a defective part's move to the defects area) and for the S4/S5 laser step are not documented, so throughput and the benefit of two arms cannot be quantified.
Awaiting cell access: this could be confirmed or corrected once the physical S6 cell can be observed.
Related: int-011 Inferred int-081 Verified int-086 Superseded by int-107 Verified int-538 Verified
Not known
The layout draws unlabeled return paths from the laser and S6 region back toward S1 and S2. Whether reworked parts re-enter through S1 or S2, and what S2 does in rework, is not documented.
Not known
IntelliMake's reason for putting the 850 at S2 and the xArm 6 at S6 is not documented. IntelliMake says only that the cell uses several arms for task-specific work and could add more (int-057).
Related: int-010 Verified int-011 Inferred int-012 Assumed, awaiting cell access int-044 Verified int-057 Verified
The solution uses multiple arms for taks specific work and could add additional arms.
xArm 850 S2 Project: Open Questions for IntelliMake, Batch 01 responses · IntelliMake.org · Question 4, Answer column
© IntelliMake.org. Used with permission. · Cleared for use by its owner · retrieved 2026-09-29
Project copy; not published on this site.
Sources disagree
The project specification describes S6 as the downstream arm that handles parts after processing, but IntelliMake's future 3D-printed flow has S6 handling parts before laser engraving (S7 → S6 → S4/S5). S6's role is therefore not simply 'after processing' in the future flow.
Related: int-010 Verified int-045 Verified int-031 Contradiction
The xArm 6 at S6 is the **downstream** arm, handling parts after processing and routing them to inspection, rework, or shipping.
CODE_SESSION 01 — xArm 850 Interactive Learning Platform (project specification) · Derek Stringfellow · Header, 'Confirmed role'
Derek Stringfellow, project record · Project-internal record · retrieved 2026-09-21
Project copy; not published on this site.
S7 3D Printing → S6 Robot Handling → S4/55 Laser Engraving or Marking
IntelliMake Phase 1 Factory: Autonomous Production Demonstrator (infographic) · IntelliMake.org · Future 3D-printed personalized product flow banner
© 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.
Sources disagree
The earlier target for the S2 agent is level 5E, limited autonomous control, with the goal of not needing human approval (int-041). A later statement says the agent operates the real arm in fulfilling orders but is not expected to work semi-autonomously: it reports deviations instead of correcting them (int-090, int-091). That answer took none of the options on whether 5E stays the goal. The later statement S148 settles it: 'Runs the order, reports problems', for 'Both arms'. On the order's normal path the agent moves the arm with no person approving each move; anything off the path, it pauses and reports with a recommendation, and a person decides; the option chosen names this the current design, 5E (int-095). So 5E stays the design for both arms' agents, the goal of not needing human approval holds on the normal path, and int-041 is kept as history, marked as superseded.
Related: int-041 Superseded by int-095 Verified int-054 Verified, awaiting cell access int-090 Verified int-091 Verified lvl-011 Verified lvl-015 Inferred int-095 Verified int-097 Gap
the level 5 sub level is "limited autonomous control".
Owner statements, 2026-09-21 (verbatim) · Derek Stringfellow · Statement S1
Derek Stringfellow, project record · Project-internal record · retrieved 2026-09-21
Project copy; not published on this site.
The goal is to not need Human Approval.
Owner statements, 2026-09-21 (verbatim) · Derek Stringfellow · Statement S2
Derek Stringfellow, project record · Project-internal record · retrieved 2026-09-21
Project copy; not published on this site.
the agent is not expected to work semiautonomous
Owner statements from 2026-09-24 onward (verbatim; S40 and later) · Derek Stringfellow · Statement S146 (2026-10-07), answer (1)
Derek Stringfellow, project record · Project-internal record · retrieved 2026-10-04
Project copy; not published on this site.
Runs the order, reports problems
Owner statements from 2026-09-24 onward (verbatim; S40 and later) · Derek Stringfellow · Statement S148 (2026-10-07), answer (1)
Derek Stringfellow, project record · Project-internal record · retrieved 2026-10-04
Project copy; not published on this site.
On the normal path the agent moves the arm by itself, with no person approving each move. Anything off the path: it pauses and reports with a recommendation, and a person decides.
Owner statements from 2026-09-24 onward (verbatim; S40 and later) · Derek Stringfellow · Statement S148 (2026-10-07), the option answer (1) chose (the option's words, not his)
Derek Stringfellow, project record · Project-internal record · retrieved 2026-10-04
Project copy; not published on this site.
(This is our current design, called 5E.)
Owner statements from 2026-09-24 onward (verbatim; S40 and later) · Derek Stringfellow · Statement S148 (2026-10-07), the same option's name for the design (the option's words, not his)
Derek Stringfellow, project record · Project-internal record · retrieved 2026-10-04
Project copy; not published on this site.
Both arms
Owner statements from 2026-09-24 onward (verbatim; S40 and later) · Derek Stringfellow · Statement S148 (2026-10-07), answer (2)
Derek Stringfellow, project record · Project-internal record · retrieved 2026-10-04
Project copy; not published on this site.
Not known
How S3 is divided between its staging and defects areas, how many colour areas staging holds, and how many cards a stack may hold are not documented. Whether S3 can hold both kinds of material is itself open: a separate defects station could be added if it cannot (int-087).
Awaiting cell access: this could be confirmed or corrected once the physical S6 cell can be observed.
Related: int-035 Superseded, awaiting cell access by int-094 Gap, awaiting cell access int-080 Verified int-084 Verified int-085 Verified int-087 Verified
S3 can serve two purposes, staging material in one area, and placing defects in another.
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.
On top of each other
Owner statements from 2026-09-24 onward (verbatim; S40 and later) · Derek Stringfellow · Statement S146 (2026-10-07), answer (3)
Derek Stringfellow, project record · Project-internal record · retrieved 2026-10-04
Project copy; not published on this site.
Not known
Which decisions on the order's normal path remain the agent's own is not stated. The parts' route is fixed, S1 to S3 and S3 to S4 (int-081), and a defective part takes its own move, to the defects area on S3 (int-107), so the choice between S4 and S3 that the earlier design gave S2 no longer arises, while level 5E rests on decisions within limits that fixed rules do not make (lvl-011, lvl-015).
Related: int-081 Verified int-092 Contradiction int-095 Verified int-107 Verified lvl-011 Verified lvl-015 Inferred
Not known
Whether a card a camera judges defective is on the order's normal path, so that the agent sends it to a defects area itself (for S2, S3's defects area, int-107; where the xArm 6 side's defects go is not known, int-539), or off it, so that the agent pauses and a person decides, is not decided. Until it is, the simulation is designed to pause and report; that behavior is not yet built.
Related: int-085 Verified int-086 Superseded by int-107 Verified int-538 Verified int-095 Verified int-107 Verified int-538 Verified int-539 Gap, awaiting cell access
When a camera judges a card defective (S2's checking incoming material, or S6's after the engraver), what should the agent do?
Owner statements from 2026-09-24 onward (verbatim; S40 and later) · Derek Stringfellow · Statement S152 (2026-10-07), the question as asked
Derek Stringfellow, project record · Project-internal record · retrieved 2026-10-04
Project copy; not published on this site.
Not decided yet
Owner statements from 2026-09-24 onward (verbatim; S40 and later) · Derek Stringfellow · Statement S152 (2026-10-07)
Derek Stringfellow, project record · Project-internal record · retrieved 2026-10-04
Project copy; not published on this site.
Leave it open; the simulation pauses and reports until you decide.
Owner statements from 2026-09-24 onward (verbatim; S40 and later) · Derek Stringfellow · Statement S152 (2026-10-07), the option chosen (the option's words, not his)
Derek Stringfellow, project record · Project-internal record · retrieved 2026-10-04
Project copy; not published on this site.
Not known
How a redo will be managed, and whether S6 will have a redo bin, is not decided.
Related: int-505 Gap, awaiting cell access int-545 Verified
IntelliMake will need to discuss how that process will be managed
Owner statements from 2026-09-24 onward (verbatim; S40 and later) · Derek Stringfellow · Statement S91
Derek Stringfellow, project record · Project-internal record · retrieved 2026-10-04
Project copy; not published on this site.
I will likely also discuss about having a redo bin for 6.
Owner statements from 2026-09-24 onward (verbatim; S40 and later) · Derek Stringfellow · Statement S91
Derek Stringfellow, project record · Project-internal record · retrieved 2026-10-04
Project copy; not published on this site.
Not known
Where defects found on the xArm 6 side go is not known: another area for them is to be determined.
Awaiting cell access: this could be confirmed or corrected once the physical S6 cell can be observed.
Related: int-505 Gap, awaiting cell access int-536 Superseded, awaiting cell access by int-538 Verified int-539 Gap, awaiting cell access int-538 Verified
sArm 6 does not reach s3, another area for defects has to be determined. It is currently unknown.
Owner statements from 2026-09-24 onward (verbatim; S40 and later) · Derek Stringfellow · Statement S154 (2026-10-07), first line of the answer
Derek Stringfellow, project record · Project-internal record · retrieved 2026-10-04
Project copy; not published on this site.
we plan on adding another area or something
Owner statements from 2026-09-24 onward (verbatim; S40 and later) · Derek Stringfellow · Statement S155 (2026-10-07), first answer, continued
Derek Stringfellow, project record · Project-internal record · retrieved 2026-10-04
Project copy; not published on this site.
Not known
Which conveyor would carry defects identified at S6 back to S2, if that route were used (int-541), is not stated.
Related: int-541 Verified
we use the conveyer to send identified s6 defect back to S2 to place in s3
Owner statements from 2026-09-24 onward (verbatim; S40 and later) · Derek Stringfellow · Statement S155 (2026-10-07), first answer, continued
Derek Stringfellow, project record · Project-internal record · retrieved 2026-10-04
Project copy; not published on this site.
Not known
Whether the xArm 6 will have a camera, or will use location only, is unknown. What using location only would involve is not stated.
Related: int-543 Verified, awaiting cell access int-545 Verified int-509 Gap
The xArm 6's camera: is it installed, is it on the arm, and is it also separate from C1 and C2?
Owner statements from 2026-09-24 onward (verbatim; S40 and later) · Derek Stringfellow · Statement S182 (2026-10-12), question (3) as given in the bracket
Derek Stringfellow, project record · Project-internal record · retrieved 2026-10-04
Project copy; not published on this site.
Currently it is not installed and it is unknown if there will be one or if x6 will use location only.
Owner statements from 2026-09-24 onward (verbatim; S40 and later) · Derek Stringfellow · Statement S182 (2026-10-12), answer 3
Derek Stringfellow, project record · Project-internal record · retrieved 2026-10-04
Project copy; not published on this site.
Not known
No fetched UFACTORY source announces future xArm 6 hardware: no successor model, published product roadmap or end-of-life date.
Not known
As published, the xArm manual's 'Limitation of Liability' section says safety information 'must be construed as a warranty by UFACTORY' that the xArm will not cause injury or damage even if all safety instructions are complied with. That wording sits under a heading about limiting liability, and no fetched source says what UFACTORY intended. Do not read it as a guarantee of safety.
Any safety information provided in this manual must be construed as a warranty by UFACTORY, that the xArm will not cause injury or damage even if all safety instructions are complied with.
UFACTORY xArm Hardware Manual (online), 1. Safety · UFACTORY · 1.2 Limitation of Liability [series text: names no single model]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Sources disagree
UFACTORY sources disagree on the collision sensitivity range. Studio's Settings page says levels 1 to 5; Studio's glossary and the Python SDK say 0 to 5, and the glossary says 0 disables collision detection. A learner reading only the Settings page would not learn that the value can switch detection off.
The collision sensitivity range is 1 to 5 levels.
UFACTORY Studio User Manual (online), 7. Settings · UFACTORY · 7.1.1, Collision Detection Sensitivity [general Studio text; the Studio manual says it applies to the xArm6]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-13
The collision sensitivity range is from 0 to 5 level. When it is set to 0, it means that collision detection is not enabled.
UFACTORY Studio User Manual (online), 2. Glossary · UFACTORY · Glossary, Collision Sensitivity [general Studio text; the Studio manual says it applies to the xArm6]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
: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
Sources disagree
The EMC standards the xArm manual lists do not match the EMC verification it links. Section 7.2 lists EMC 2004/108/EC, EN 61000-6-2:2005 and EN 61000-6-4:2007+A1:2011 as the standards the xArm 6 meets. The linked SGS EMC verification names EN IEC 61000-6-2:2019 and EN IEC 61000-6-4:2019 under Directive 2014/30/EU. Section 7.3 lists both the older editions and the 2019 editions without saying which apply.
The product meets the relevant requirements of the EU CE directive:
UFACTORY xArm Hardware Manual (online), 7. Production Information · UFACTORY · 7.2 Applied Standards [names the xArm 6]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
EMC 2004/108/EC
UFACTORY xArm Hardware Manual (online), 7. Production Information · UFACTORY · 7.2 Applied Standards [names the xArm 6]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
EN 61000-6-2:2005 | EN 61000-6-4:2007+A1:2011
UFACTORY xArm Hardware Manual (online), 7. Production Information · UFACTORY · 7.2 Applied Standards [names the xArm 6]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
EN 61000-6-2:2005 [2004/108/EC]
UFACTORY xArm Hardware Manual (online), 7. Production Information · UFACTORY · 7.3 EMC [series text: names no single model]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
EN 61000-6-4:2019 | EN 61000-6-2:2019
UFACTORY xArm Hardware Manual (online), 7. Production Information · UFACTORY · 7.3 EMC [series text: names no single model]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
EN IEC 61000-6-2: 2019
SGS Verification of Compliance No. GZEM2403001755MDVR (EMC; UFACTORY Robotic Arm, Model No. XI13, XI15), as linked from the xArm manual section 7.12 · SGS-CSTC Standards Technical Services Co., Ltd. (published by UFACTORY) · Standard(s) field
SGS verification document, published by UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
under Directive 2014/30/EU
SGS Verification of Compliance No. GZEM2403001755MDVR (EMC; UFACTORY Robotic Arm, Model No. XI13, XI15), as linked from the xArm manual section 7.12 · SGS-CSTC Standards Technical Services Co., Ltd. (published by UFACTORY) · Closing paragraph
SGS verification document, published by UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Not known
The xArm manual's Preface and Hardware Installation chapter say they apply to models XF1305, XI1305 and XS1305, and the linked RoHS certificate lists those numbers among others. The linked SGS machinery and EMC verifications name models XI13 and XI15. No fetched text says whether XI13 and XI15 cover the 1305 models, or which model number is on the S6 xArm 6's label.
Awaiting cell access: this could be confirmed or corrected once the physical S6 cell can be observed.
Apply to Model: XF1305, XI1305, XS1305 (1305 Model).
UFACTORY xArm Hardware Manual (online), 2. Hardware Installation · UFACTORY · 2. Hardware Installation, header [names model numbers, not a model name]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Model No.: XI13, XI15
SGS Verification of MD Compliance No. MD GZES2403005468MD (UFACTORY Robotic Arm, Model No. XI13, XI15), as linked from the xArm manual section 7.12 · SGS-CSTC Standards Technical Services Co., Ltd. (published by UFACTORY) · Model No. field
SGS verification document, published by UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Model No.: XI13, XI15
SGS Verification of Compliance No. GZEM2403001755MDVR (EMC; UFACTORY Robotic Arm, Model No. XI13, XI15), as linked from the xArm manual section 7.12 · SGS-CSTC Standards Technical Services Co., Ltd. (published by UFACTORY) · Model No. field
SGS verification document, published by UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Apply to Model: XF1305, XI1305, XS1305.
UFACTORY xArm Hardware Manual (online), Preface · UFACTORY · Preface, header [series text: names no single model]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
XF1305,XI1301,XI1302,XI1303,XI1304,XI1305
DTI Certificate of Conformity for RoHS No. DTIBW20220028C (UFACTORY xArm), as linked from the xArm manual section 7.12 · Shenzhen Deesev Testing International Corporation (DTI) (published by UFACTORY) · Model No. field
DTI certificate, published by UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
XS1301,XS1302,XS1303,XS1304,XS1305
DTI Certificate of Conformity for RoHS No. DTIBW20220028C (UFACTORY xArm), as linked from the xArm manual section 7.12 · Shenzhen Deesev Testing International Corporation (DTI) (published by UFACTORY) · Model No. field
DTI certificate, published by UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Not known
The xArm manual says the arm will 'slightly brake and fall' when the emergency stop is pressed, but no fetched source says how far it may fall, at which joints, or how long the brakes take to engage.
the posture of the robotic arm will slightly brake and fall.
UFACTORY xArm Hardware Manual (online), 2. Hardware Installation · UFACTORY · 2.1.2 Emergency Stop Button [series text: names no single model]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Not known
No fetched UFACTORY source gives an explicit intended-use or reasonably foreseeable misuse statement for the xArm 6, beyond the environmental conditions and the general warnings in chapter 1.
Not known
No fetched UFACTORY source identifies specific pinch or crush points on the xArm 6, such as between links or at gripper fingers.
Not known
The EU Declaration of Conformity for the xArm 6 was not found. The manual says the xArm 6 has passed EU CE certification, and both SGS verifications say the CE mark can be affixed or used, under the responsibility of the manufacturer, after completion of a Declaration of Conformity.
has passed the EU CE certification
UFACTORY xArm Hardware Manual (online), 7. Production Information · UFACTORY · 7.2 Applied Standards [names the xArm 6]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
The CE mark can be affixed, under the responsibility of the manufacturer, after completion of an EC Declaration of Conformity
SGS Verification of MD Compliance No. MD GZES2403005468MD (UFACTORY Robotic Arm, Model No. XI13, XI15), as linked from the xArm manual section 7.12 · SGS-CSTC Standards Technical Services Co., Ltd. (published by UFACTORY) · Closing paragraph
SGS verification document, published by UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
The CE mark can be used, under the responsibility of the manufacturer, after completion of an EU Declaration of Conformity
SGS Verification of Compliance No. GZEM2403001755MDVR (EMC; UFACTORY Robotic Arm, Model No. XI13, XI15), as linked from the xArm manual section 7.12 · SGS-CSTC Standards Technical Services Co., Ltd. (published by UFACTORY) · Closing paragraph
SGS verification document, published by UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Not known
The S6 xArm 6's controller type (AC or DC) and SDK version are not confirmed, and its serial number is not recorded (shown in the 2026-10-16 screenshot, withheld; decisions file 10-16 §1.3). Its firmware and Studio versions, both 2.7.0, were read on 2026-10-16 (int-553, int-554). The serial number matters because UFACTORY treats arms before XX1300 differently for friction parameters and the IMU mounting check, and firmware decides which SDK safety calls are available.
Awaiting cell access: this could be confirmed or corrected once the physical S6 cell can be observed.
Related: int-009 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-553 Verified, awaiting cell access int-554 Verified, awaiting cell access
xArm 5/6/7 (before XX1300) | Controller | Contact technical support
Collision Detection in UFACTORY Robotic Arms: Current and Dynamic Model-based Feature (UFACTORY support article) · UFACTORY · Section 2.3, friction parameter table [names xArm 5/6/7]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
xArm with SN of XF1300/XI1300/XS1300 and later versions, the built-in IMU of the robot arm will detect the direction of gravity.
UFACTORY Studio User Manual (online), 7. Settings · UFACTORY · 7.1.3 Coordinates, Mounting [names xArm serial ranges]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-13
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, 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
Sources disagree
Sources disagree on the xArm 6's weight: 12.5 kg (arm only) in the online hardware manual and the product page's comparison table, but 12.2 kg (body only) in UFACTORY's support article comparing the xArm 5 Lite, 6 and 7. The product page's introduction also says '15kg weight' without naming a model.
Awaiting cell access: this could be confirmed or corrected once the physical S6 cell can be observed.
Related: spec-505 Verified
Wight(robotic arm only) 12.5kg
UFACTORY xArm Hardware Manual (online), 8. Technical Specifications · UFACTORY · Table 'xArm6', 'Wight(robotic arm only)' row (sic) (section '8.3 xArm6 Specifications': names the xArm 6)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-15
Weight(robot arm only) 11.3kg 12.5kg 14.3kg
UFACTORY xArm product page · UFACTORY · 'Weight(robot arm only)' row (Tech Specs > Comparison table, columns xArm 5, xArm 6, xArm 7; value read from the xArm 6 column)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Weight(kg, body only) 11.2kg 12.2kg 13.7kg
The difference between UFACTORY xArm5, xArm6 and xArm7 (support article) · UFACTORY · Section 1 Specifications, 'Weight(kg, body only)' row (columns xArm 5 Lite, xArm 6, xArm 7; value read from the xArm 6 column)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Crafted from Carbon fiber, 15kg weight makes it possible for easier deployment.
UFACTORY xArm product page · UFACTORY · Overview, 'Durable Collaborative robots for your automation' (xArm product page, which covers the xArm 5, 6 and 7)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Sources disagree
Sources disagree on the range of the xArm 6's joint 2 (J2): the online hardware manual (specifications and preface) and the product page give -117° to 116°, but UFACTORY's support article comparing the xArm 5 Lite, 6 and 7 gives -118° to 120°, and the xarm6 URDF's default limits are -2.059 to 2.0944 rad (about -118° to 120°).
Awaiting cell access: this could be confirmed or corrected once the physical S6 cell can be observed.
Related: spec-510 Verified
J1~J6 (±360°, -117~116°, -219~10°, ±360°, -97~180°, ±360°)
UFACTORY xArm Hardware Manual (online), 8. Technical Specifications · UFACTORY · Table 'xArm6', 'Joint Range' row (section '8.3 xArm6 Specifications': names the xArm 6)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-15
Joint 2 -117° ~ 116° -117°～116° -117°～116°
UFACTORY xArm product page · UFACTORY · second comparison table, 'Joint 2' row (Tech Specs > Comparison table, columns xArm 5, xArm 6, xArm 7; value read from the xArm 6 column)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Joint2 -118° ~ 120° -118°～120° -118°～120°
The difference between UFACTORY xArm5, xArm6 and xArm7 (support article) · UFACTORY · Section 1 Specifications, 'Joint2' row (columns xArm 5 Lite, xArm 6, xArm 7; value read from the xArm 6 column)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
joint2_lower_limit:=${-2.059} joint2_upper_limit:=${2.0944}
xarm_ros2 (branch humble), xarm_description/urdf/xarm6/xarm6.urdf.xacro · UFACTORY · macro xarm6_urdf default parameters (ROS naming 'xarm6')
© UFACTORY Inc., xArm-Developer/xarm_ros2, BSD 3-Clause License · BSD-3-Clause · retrieved 2026-09-25
Sources disagree
Sources disagree on the range of the xArm 6's joint 3 (J3): the online hardware manual (specifications and preface) and the product page give -219° to 10°, but UFACTORY's support article comparing the xArm 5 Lite, 6 and 7 gives -225° to 11°, the xarm6 URDF's default limits are -3.927 to 0.19198 rad (about -225° to 11°), and UFACTORY Studio's manual gives -255° to 11° (lim-538).
Awaiting cell access: this could be confirmed or corrected once the physical S6 cell can be observed.
Related: lim-538 Contradiction spec-511 Verified
J1~J6 (±360°, -117~116°, -219~10°, ±360°, -97~180°, ±360°)
UFACTORY xArm Hardware Manual (online), 8. Technical Specifications · UFACTORY · Table 'xArm6', 'Joint Range' row (section '8.3 xArm6 Specifications': names the xArm 6)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-15
Joint 3 -219°~10° -219°~10° ±360°
UFACTORY xArm product page · UFACTORY · second comparison table, 'Joint 3' row (Tech Specs > Comparison table, columns xArm 5, xArm 6, xArm 7; value read from the xArm 6 column)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Joint3 -225°~11° -225°~11° ±360°
The difference between UFACTORY xArm5, xArm6 and xArm7 (support article) · UFACTORY · Section 1 Specifications, 'Joint3' row (columns xArm 5 Lite, xArm 6, xArm 7; value read from the xArm 6 column)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
joint3_lower_limit:=${-3.927} joint3_upper_limit:=${0.19198}
xarm_ros2 (branch humble), xarm_description/urdf/xarm6/xarm6.urdf.xacro · UFACTORY · macro xarm6_urdf default parameters (ROS naming 'xarm6')
© UFACTORY Inc., xArm-Developer/xarm_ros2, BSD 3-Clause License · BSD-3-Clause · retrieved 2026-09-25
Joint3 | (-255,11) | (-255,11) | ±360°
UFACTORY Studio User Manual (online), 11. Technical Specifications · UFACTORY · 11. Technical Specifications, xArm6 column [names the xArm 6]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Sources disagree
The xArm manual disagrees with itself on what the AC control box supplies: its specification table (and the product page) give the AC controller's output as 24 V DC, 20.8 A, but its 3.2.2 Power Supply text says the internal switching power supply converts 100–240 V AC into 12 V and 48 V DC, which powers the control box and the robotic arm.
Awaiting cell access: this could be confirmed or corrected once the physical S6 cell can be observed.
Related: spec-539 Verified comp-516 Verified
Output 24V DC , 20.8A 24V DC 672Wmax
UFACTORY xArm Hardware Manual (online), 8. Technical Specifications · UFACTORY · AC Controller / DC Controller table, 'Output' row (section '8.1 xArm5/xArm6/xArm7 Common Specifications': applies to all three models)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-15
Output 24VDC 20.8A 24VDC 672Wmax
UFACTORY xArm product page · UFACTORY · Tech Specs > Hardware, AC/DC control box table, 'Output' row (xArm product page, which covers the xArm 5, 6 and 7)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
its internal switching power supply converts 100V-240V AC into 12V, 48V DC, which supplies power to the load of the control box and the robotic arm.
UFACTORY xArm Hardware Manual (online), 3. Controller Electrical Interface · UFACTORY · 3.2.2 Power Supply (AC Controller) (manual for the xArm series; this passage names no single model)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Not known
No dimensioned base or tool-flange drawing values for the xArm 6 (bolt size and count, hole pattern, bolt torque, base height) were captured as text: the manual's 'Robot Base Mounting' section and the product page's 'Robot base mounting (mm)' and 'Robot tool head' drawings are images only.
Awaiting cell access: this could be confirmed or corrected once the physical S6 cell can be observed.
2.2.3.1 Robot Base Mounting
UFACTORY xArm Hardware Manual (online), 2. Hardware Installation · UFACTORY · 2.2.3.1 heading (followed only by figures) (chapter says 'Apply to Model: XF1305, XI1305, XS1305 (1305 Model)')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Dimension Robot tool head Robot base mounting (mm)
UFACTORY xArm product page · UFACTORY · Tech Specs > Dimension (xArm product page, which covers the xArm 5, 6 and 7)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Not known
The xArm 6's working range (workspace envelope) is given only as figures: the manual's 'Define Working Space' section and the product page show drawings, and the product page says its working-range diagrams are only for safety assessment. No workspace dimensions beyond the Cartesian range and the 700 mm reach were captured as text.
Related: spec-503 Verified spec-533 Verified
working range of xArm5 and xArm6, unit:mm
UFACTORY xArm Hardware Manual (online), 2. Hardware Installation · UFACTORY · 2.2.2 Define Working Space, figure caption (chapter says 'Apply to Model: XF1305, XI1305, XS1305 (1305 Model)')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Note: The following working range diagrams are only for safety assessment.
UFACTORY xArm product page · UFACTORY · Tech Specs > Working Range (xArm product page, which covers the xArm 5, 6 and 7)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Sources disagree
The xArm manual gives two lower limits for the AC control box's mains input: 100 V in its specification table and power-supply section, but 110 V in its installation steps ('AC (110V-240V)').
Related: spec-551 Verified
Input 100-240V AC 50/60 Hz 24-72V DC
UFACTORY xArm Hardware Manual (online), 8. Technical Specifications · UFACTORY · AC Controller / DC Controller table, 'Input' row (section '8.1 xArm5/xArm6/xArm7 Common Specifications': applies to all three models)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-15
The control box is powered by 100V-240V AC (the input frequency is 47-63HZ)
UFACTORY xArm Hardware Manual (online), 3. Controller Electrical Interface · UFACTORY · 3.2.2 Power Supply (AC Controller) (manual for the xArm series; this passage names no single model)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Plug the Control Box Power Cable into the AC (110V-240V) interface on the Control Box
UFACTORY xArm Hardware Manual (online), 2. Hardware Installation · UFACTORY · 2.2.3.2 Connect with Controller (chapter says 'Apply to Model: XF1305, XI1305, XS1305 (1305 Model)')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
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
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
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
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
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
Not known
The xArm manual's list of applied standards does not include ISO/TS 15066; no statement of ISO/TS 15066 conformance for the xArm 6 was found in the manual or the product page.
Related: spec-566 Verified
MD 2006/42/EC EMC 2004/108/EC EN ISO 10218-1:2011 EN 60204-1:2018 EN ISO 12100:2010 EN 61000-6-2:2005 EN 61000-6-4:2007+A1:2011
UFACTORY xArm Hardware Manual (online), 7. Production Information · UFACTORY · 7.2 Applied Standards, list (the full list)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Not known
No noise (sound pressure) figure for the xArm 6 arm was found in the manual or the product page; the only noise figure given is for the Vacuum Gripper accessory (under 60 dB at 30 cm).
Noise Level(30cm away) ＜60dB
UFACTORY xArm Hardware Manual (online), 8. Technical Specifications · UFACTORY · Vacuum Gripper(AS1200) table (section '8.1 xArm5/xArm6/xArm7 Common Specifications': applies to all three models)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-15
Not known
The product page lists the xArm's 'Base Connector Type' as M5*5 and does not say which connector this is; the manual's specification table does not list a base connector.
Base Connector Type M5*5
UFACTORY xArm product page · UFACTORY · Tech Specs > Hardware, 'xArm Robot Specs' table (xArm product page, which covers the xArm 5, 6 and 7)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
IntelliMake diagrams are redrawn as native figures, © IntelliMake.org. UFACTORY does not endorse this platform.