§9 xArm 6
Limitations and Open Technical Questions
What the machine cannot do, and the figures the UFACTORY sources do not give.
Start Here
This section says what the machine cannot do and where it must not be used: the limits you work within, the places where UFACTORY's own documents disagree, and the figures the UFACTORY sources do not give.
- A limitation is a stated limit. For example, the xArm manual gives the xArm 6 a maximum payload of 5 kg1, and specifies indoor use, away from direct sunlight3.
- A contradiction is where sources disagree. For example, UFACTORY's sources give different joint ranges for the xArm 64. When a figure you need is disputed, the lesson shows both sides.
- A gap is a figure the UFACTORY sources do not give. For example, neither the xArm manual nor the product page gives an IP rating, the code for how well a housing keeps out dust and water. The manual speaks only of non-waterproof equipment, and of keeping water and dust out5.
S6 in one line: S6 is the xArm 6 cobot that handles parts after processing, routing them to inspection, rework or shipping6.
Look Back
A question from earlier on, to keep it fresh. Skip it if you like; nothing depends on it.
Choose your depth
1Beginner
The Limits a Newcomer Must Know
For: Anyone with no robotics background: a visitor, a new operator, a manager
Kind of task: Recognize and recall, with plain-language explanations and pictures
In this part you learn how much the arm can carry, where it may be used, and why the word "cobot" does not make it safe to stand beside. No robotics background is needed.
How Much It Can Carry
- The xArm manual gives the xArm 6 a maximum payload of 5 kg1.
- This platform infers that the tool on its end counts toward that 5 kg, so a heavy gripper leaves less for the part. UFACTORY Studio's payload setting is the mass of the end effector plus the object it holds78.
Where It Can Work
- The xArm manual specifies indoor use, away from direct sunlight3.
- It gives an ambient temperature range of 0 °C to 50 °C2.
- It gives a humidity range of 25% to 85%, non-condensing9.
- Its environment list rules out corrosive gas or liquid, flammable materials, oil mists, salt sprays, and dust or metal powder10.
- Keep water and dust out of the arm and the controller, and do not let the arm touch liquid. If water gets in, turn off the power and contact the supplier11.
- The manual and the product page give no IP rating, the code that says how well a housing keeps out dust and water, for the arm or its control boxes. The manual says instead to keep non-waterproof equipment dry12.
Is It Safe to Stand Beside?
- UFACTORY's product page presents the xArm as a collaborative robot, a "cobot". The xArm manual says no people or other equipment should be in the working area while the arm is in operation. Neither source says how the two fit together13.
- This platform infers that calling it collaborative does not make a given installation safe to share with people: the manual requires a safety assessment each time the arm is installed14.
- The arm can detect a collision, keep to a safety boundary and run in a reduced mode, but these are controller functions someone configures. This project's advice: do not treat them as validated safeguards15.
- So the rule is simple. Stay out of the arm's working area while it runs, and do not rely on a safeguard nobody has confirmed16.
Check Yourself
Answer, then check. Each option has its own feedback, and nothing is scored.
2Novice
Operating Limits
For: Someone who will work near or with the cell: operator, trainee technician
Kind of task: Explain and sequence: put steps in order, match parts to their functions
In this part you learn the space the arm can reach, where it moves badly, the rest of the conditions it is rated for, and the limits on its cables and its software. It is for someone who will work near or with the cell.
The Space It Can Reach
- The xArm manual gives one Cartesian range for the xArm 5, 6 and 7 together: X ±700 mm, Y ±700 mm, and Z from -400 mm to 951.5 mm17.
- UFACTORY's product page says its working-range diagrams for the xArm series are only for safety assessment18.
- The manual says to take the arm's range of motion into account when installing it, so that it does not bump into people or equipment, and notes that the working range it shows does not include the end effector19.
Where It Moves Badly
- UFACTORY Studio says that near a singularity, planned straight-line and circular moves cannot be performed correctly, and the arm stops to avoid a high joint speed; joint moves are not affected. It advises keeping out of the central area near the base20.
- Studio also says that moving the wrist close to the space directly above and below the base makes the joints move fast even when the arm moves slowly20.
The Rest of the Environment Rules
- The xArm manual gives an altitude limit of below 2000 m21.
- Its environment list also rules out mechanical shock and vibration, electromagnetic noise and radioactive materials22.
- Its common specifications give ISO Class 5 for cleanroom use23.
- Wet, dusty or oily places are another matter. This platform infers that 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 specify24.
Cables
- Use only the arm's original cable, and do not use the arm where that cable has to bend. For a longer or flexible cable, ask the supplier25.
- I/O cables between the control box and other machines must not be longer than 30 m, unless extension testing shows a longer cable works26.
Software
Check Yourself
Answer, then check. Each option has its own feedback, and nothing is scored.
3Intermediate
Programming and Maintenance Limits
For: Someone who will set up, program or maintain the arm: technician, student engineer
Kind of task: Apply: work through written scenarios that need a decision (which mode, which setting, what to do about this error), with feedback on each choice
In this part you learn the limits you meet when you program and look after the arm: what its precision figure covers, the moves the controller refuses, why the firmware and serial number of a particular arm matter, what the manual gives for maintenance, and where UFACTORY's own documents disagree. It is for someone who will set up, program or maintain the arm.
Taught Points Against Computed Points
- The xArm manual gives the xArm 5, 6 and 7 a repeatability of ±0.1 mm29.
- That is repeatability, not accuracy. The UFACTORY sources give no absolute positioning accuracy for the xArm 6: how closely it reaches a computed coordinate. That matters for offline programming and vision-guided picking, which rely on computed coordinates30.
Moves the Controller Will Not Make
- A singularity occurs when the axes of any two joints lie on one straight line. Near one, planned Cartesian moves, but not joint moves, stop to avoid high joint speed. UFACTORY advises avoiding it, or passing it with a joint move31.
- Straight-line and arc moves are solved by inverse kinematics, so a target may have no solution, several, or only an approximate one. Because joint space and Cartesian space are related non-linearly, the joints may also exceed their speed and acceleration limits during such a move32.
- Error code C24 means a joint's speed is over its limit. The Studio manual as read on 2026-10-13 says to check whether the arm is out of its working range, or to turn on "Use Approximate Solution" in the Advanced Settings; until that date it said to check whether the arm is at a singularity, or to reduce the speed and acceleration333435. "Use Approximate Solution" is an Advanced Settings option that the manual describes as using an approximate solution to pass singularities, and that page needs a password3637.
Why the Arm's Firmware and Serial Number Matter
- On xArm 5/6/7 arms, the joint friction parameters used by collision detection are stored in the arm, and pressing and releasing the emergency stop reloads them. On arms before XX1300 they are stored in the controller. UFACTORY says replacing the control box can leave them mismatched, which may falsely trigger collision detection38.
- Firmware V2.7.0 fixed an issue where sending zero speed in joint-speed mode could still cause unintended arm motion39.
- UFACTORY's release notes give recommended matching versions; the top row is firmware 2.8.2, Studio 2.8.2, Python SDK 1.18.4 and ROS/ROS2 2.0.040. The xArm 6 at S6 read firmware and Studio 2.7.0 on 2026-10-16, behind that row41.
What the Manual Gives for Maintenance
- The manual's Maintenance and Inspection chapter covers only charging during long-term storage, and cleaning. The manual gives no inspection interval, lubrication schedule, brake test or service life for any part; its safety chapter says only to check the bolts "regularly"42.
- The arm has a built-in battery. If the arm is not used for 3 months or more, power it on for 6 hours every 3 months to charge the battery, without enabling the arm43.
Where UFACTORY's Documents Disagree
- The xArm manual gives J2 as -117° to 116° and J3 as -219° to 10°. The Studio manual gives J2 as -118° to 120° and J3 as -255° to 11° for the xArm64.
- This project's advice: read the arm's serial number before relying on any disputed figure. UFACTORY tells four xArm 6 versions apart by serial number, and the version decides which mass parameters apply44.
Check Yourself
Answer, then check. Each option has its own feedback, and nothing is scored.
4Expert
Limits That Shape an Integration
For: Someone who designs, integrates or changes the cell: integrator, engineer, agent developer
Kind of task: Analyze and decide: weigh trade-offs, resolve contradictions, critique a configuration
In this part you sort the machine's limits by what they constrain: an engineering estimate, a safety argument, or the way a program commands the arm. The interfaces section covers the settings an agent could change and the limits of Studio's simulated arm. It is for someone who designs, integrates or changes the cell.
Figures the UFACTORY Sources Do Not Give
- Speed at full payload. The UFACTORY sources give no cycle-time data for the xArm 6, and no figure for the speed and acceleration it reaches while carrying its full 5 kg across its reach46.
- Payload against tool offset. The manual says the payload is related to the TCP offset, but gives no payload-versus-offset values in its text, so the allowable payload at a given tool offset cannot be read from it47.
- Service life. The UFACTORY sources give no design life, MTBF or harmonic-drive service life. The only durability figure is the product page's 15,000-hour stress test48.
- Open defects. The UFACTORY sources give no public known-issues list for current 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 checked45.
Limits of the Safety Functions
- Neither the xArm manual, the product page nor the Studio manual states an ISO 13849-1 Performance Level or Category, or an IEC 62061 SIL, for any xArm safety function, and none mentions a TÜV certification. Do not assume any49.
- The UFACTORY sources do not say whether the xArm 6 is suitable or validated for power and force limiting. They give no contact force or pressure figures for it, and no torque or force threshold for any collision sensitivity level50.
- The UFACTORY sources do not say whether collision detection, the safety boundary and reduced mode are enforced independently of the motion-command path. Studio describes the safety boundary only in terms of the tool center point51.
- The manual's stop data covers only Stop Category 1 and Joints 1 to 3, in one configuration, and the manual does not say which arm model was measured. Any separation-distance calculation needs more52.
- This project's advice: do not use those figures for separation distances until UFACTORY confirms which arm and configuration they were measured on, and measure the arm's stopping behavior if the risk assessment needs it53.
- The manual describes the control box emergency stop two ways: arm power removed within 300 ms, and Stop Category 1, a deceleration "with drive power on" taking 521 to 885 ms. It does not explain how the two fit54.
Limits of the Command Interfaces
- In servo mode the control box receives commands at up to 250 Hz, and commands sent faster are lost; below 30 Hz the motion may be discontinuous. The speed, acceleration and time parameters of the SDK's servo functions are reserved and do not work at present55.
- In Cartesian online planning mode (mode 7) only the base coordinate system can be the reference, not the tool coordinate system for relative motion56.
- Firmware V2.7.0 changed self-collision detection so that it no longer checks the end effector against Joint 6 or its link57.
- Torque-sensor collision detection, added in Studio V2.7.0, carries UFACTORY's warning that at end speeds of 100 mm/s or more a collision may damage the sensor58.
- Studio's environment simulation, which checks for collisions with modeled cubes, cylinders and tables, arrived in V2.7.0, and UFACTORY says it is still in testing59.
Check Yourself
Answer, then check. Each option has its own feedback, and nothing is scored.
Not settledOpen Questions · 59
What the sources do not settle for this section. Nothing here is papered over with a plausible number.
- Kind: Contradiction
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.
See reference 4 - Kind: Gap
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.
See reference 5 - Kind: Gap
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.
See reference 12 - Kind: Contradiction
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.
See reference 13 - Kind: Gap
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.
See reference 30 - Kind: Contradiction
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.
See reference 34 - Kind: Gap
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'.
See reference 42 - Kind: Gap
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.
See reference 45 - Kind: Gap
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.
See reference 46 - Kind: Gap
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.
See reference 47 - Kind: Gap
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.
See reference 48 - Kind: Gap
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.
See reference 49 - Kind: Gap
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.
See reference 50 - Kind: Gap
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.
See reference 51 - Kind: Gap
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.
See reference 52 - Kind: Contradiction
The xArm manual describes the Control Box emergency stop in ways that do not fit together. Section 2.1.2 says the arm's power supply is removed within 300 ms and that pressing the button powers off the xArm; section 3.2.2 says the button allows the user to cut off the arm's power in the shortest time possible. Section 7.9 says the same button is Stop Category 1, which decelerates the robot 'with drive power on', and section 7.10 gives Stop Category 1 stopping times of 521 to 885 ms. The manual does not explain how power removal within 300 ms fits a powered deceleration lasting up to 885 ms.
See reference 54 - Kind: Gap
Per-joint component data for the xArm 6 (motor model and rating, harmonic-drive ratio, encoder type and resolution, joint-module sizes) is not published in the xArm manual or the product page; the product page names only harmonic drives and servomotors and, unlike the 850's page, gives no encoder resolution.
See reference 67 - Kind: Gap
No dedicated teach pendant for the xArm 6 is documented in the xArm manual or the product page: they describe programming through the browser-based UFACTORY Studio, the SDKs and hand teaching.
See reference 68 - Kind: Gap
No Ethernet connection, camera port, force-torque sensor interface or user button at the xArm 6's tool end is described in the xArm manual or the product page; the product page lists the end-effector I/O as 2 DI, 2 DO, 2 AI and 1 RS-485.
See reference 69 - Kind: Gap
No specification for the BIO Gripper G2, the 6-axis force/torque sensor or the linear motor (payload, force range, resolution, stroke) was found in the xArm manual or the product page; only their names are listed.
See reference 70 - Kind: Contradiction
Sources disagree on how the xArm AC control box powers the arm: the manual's controller chapter says its internal supply converts 100-240 V AC into 12 V and 48 V DC for the control box and the arm, while the common specification table gives the arm's input as 24 V DC, 20.8 A and the AC controller's output as 24 V DC, 20.8 A.
See reference 71 - Kind: Gap
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.
See reference 72 - Kind: Gap
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.
See reference 73 - Kind: Contradiction
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.
See reference 74 - Kind: Gap
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.
See reference 75 - Kind: Contradiction
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.
See reference 76 - Kind: Gap
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.
See reference 77 - Kind: Gap
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.
See reference 78 - Kind: Gap
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).
See reference 79 - Kind: Contradiction
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.
See reference 80 - Kind: Contradiction
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.
See reference 81 - Kind: Gap
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).
See reference 82 - Kind: Gap
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).
See reference 83 - Kind: Gap
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.
See reference 84 - Kind: Gap
How a redo will be managed, and whether S6 will have a redo bin, is not decided.
See reference 85 - Kind: Gap
Where defects found on the xArm 6 side go is not known: another area for them is to be determined.
See reference 86 - Kind: Gap
Which conveyor would carry defects identified at S6 back to S2, if that route were used (int-541), is not stated.
See reference 87 - Kind: Gap
Whether the xArm 6 will have a camera, or will use location only, is unknown. What using location only would involve is not stated.
See reference 88 - Kind: Gap
No fetched UFACTORY source announces future xArm 6 hardware: no successor model, published product roadmap or end-of-life date.
See reference 89 - Kind: Gap
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.
See reference 90 - Kind: Contradiction
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.
See reference 91 - Kind: Contradiction
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.
See reference 92 - Kind: Gap
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.
See reference 93 - Kind: Gap
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.
See reference 94 - Kind: Gap
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.
See reference 95 - Kind: Gap
No fetched UFACTORY source identifies specific pinch or crush points on the xArm 6, such as between links or at gripper fingers.
See reference 96 - Kind: Gap
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.
See reference 97 - Kind: Gap
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.
See reference 98 - Kind: Contradiction
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.
See reference 99 - Kind: Contradiction
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°).
See reference 100 - Kind: Contradiction
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).
See reference 101 - Kind: Contradiction
The xArm manual disagrees with itself on what the AC control box supplies: its specification table (and the product page) give the AC controller's output as 24 V DC, 20.8 A, but its 3.2.2 Power Supply text says the internal switching power supply converts 100–240 V AC into 12 V and 48 V DC, which powers the control box and the robotic arm.
See reference 102 - Kind: Gap
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.
See reference 103 - Kind: Gap
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.
See reference 104 - Kind: Contradiction
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)').
See reference 105 - Kind: Contradiction
Sources disagree on the xArm's end-effector communication protocol: the manual's common specification table says Modbus TCP, but the product page says Modbus RTU over RS-485, and the manual's own Tool RS485 section configures standard Modbus RTU end effectors. The manual's Gripper table likewise pairs RS-485 communication with a 'Modbus TCP' protocol.
See reference 106 - Kind: Gap
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.
See reference 107 - Kind: Gap
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).
See reference 108 - Kind: Gap
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.
See reference 109
ProvenanceReferences · 109
Each number in the text points here. Every entry states its confidence class in words and keeps its evidence one click away. How to read the labels.
Key to the badges
- Confidence: Verified
- A manufacturer or IntelliMake document says so, or it was observed directly. It does not mean anyone measured it at S6.
- Confidence: Inferred
- Reasoned from Verified facts. The reasoning is printed with the record.
- Confidence: Assumed
- Plausible but untested. The record says how it would be checked.
- Kind: Gap
- Not known. No figure or answer is given in its place.
- Kind: Contradiction
- Sources disagree. Both sides are shown, and the site does not pick one silently.
- Kind: Recommendation
- Project advice drawn from the records it cites. Not a fact about the machine and not a confidence class, so the filter never hides it.
- Awaiting cell access
- Awaiting cell access: could be confirmed or corrected once the physical S6 cell can be observed.
- This project's simulation and agent design, not the physical cell
- This project's simulation and agent design, not the physical cell.
Image Credits
- 3D model: © 2018 UFACTORY Inc., BSD-3-Clause, from UFACTORY Inc. (xArm-Developer/xarm_ros2). License text · Source
Sources for This Section
- CODE_SESSION 01 — xArm 850 Interactive Learning Platform (project specification) · Derek Stringfellow (project owner)
- Collision Detection in UFACTORY Robotic Arms: Current and Dynamic Model-based Feature (UFACTORY support article) · UFACTORY (manufacturer)
- 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) (manufacturer)
- IntelliMake Phase 1 Factory: Autonomous Production Demonstrator (infographic) · IntelliMake.org (IntelliMake)
- Kinematic and Dynamic Parameters of xArm Series: telling the model by SN (support article) · UFACTORY (manufacturer)
- Kinematic and Dynamic Parameters: xArm 6 (support article) · UFACTORY (manufacturer)
- Owner statements from 2026-09-24 onward (verbatim; S40 and later) · Derek Stringfellow (project owner)
- Owner statements, 2026-09-21 (verbatim) · Derek Stringfellow (project owner)
- 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) (manufacturer)
- 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) (manufacturer)
- The difference between UFACTORY xArm5, UFACTORY xArm6 and UFACTORY xArm7 (Help Center article) · UFACTORY (manufacturer)
- The difference between UFACTORY xArm5, xArm6 and xArm7 (support article) · UFACTORY (manufacturer)
- UFACTORY 850 product page · UFACTORY (manufacturer)
- UFACTORY Release Note v2.7.0 · UFACTORY (manufacturer)
- UFACTORY Release Note, Version List · UFACTORY (manufacturer)
- UFACTORY Studio User Manual (online), 10. Robotic Arm Motion Mode and State · UFACTORY (manufacturer)
- UFACTORY Studio User Manual (online), 11. Technical Specifications · UFACTORY (manufacturer)
- UFACTORY Studio User Manual (online), 12. Error Handling · UFACTORY (manufacturer)
- UFACTORY Studio User Manual (online), 2. Glossary · UFACTORY (manufacturer)
- UFACTORY Studio User Manual (online), 4. Live Control · UFACTORY (manufacturer)
- UFACTORY Studio User Manual (online), 7. Settings · UFACTORY (manufacturer)
- UFACTORY Studio User Manual (online), 9. Motion Characteristics · UFACTORY (manufacturer)
- UFACTORY Studio User Manual, 12. Error Handling, as it read until 2026-10-13 (publisher's repository, commit 533b75d) · UFACTORY (manufacturer)
- UFACTORY Studio V2.7.0 New Feature · UFACTORY (manufacturer)
- UFACTORY Studio's Device Info page for the xArm 6, screenshot (2026-10-16) · Derek Stringfellow (project owner)
- UFACTORY xArm Hardware Manual (online), 1. Safety · UFACTORY (manufacturer)
- UFACTORY xArm Hardware Manual (online), 2. Hardware Installation · UFACTORY (manufacturer)
- UFACTORY xArm Hardware Manual (online), 3. Controller Electrical Interface · UFACTORY (manufacturer)
- UFACTORY xArm Hardware Manual (online), 4. Robotic Electrical Interface · UFACTORY (manufacturer)
- UFACTORY xArm Hardware Manual (online), 5. Maintenance and Inspection · UFACTORY (manufacturer)
- UFACTORY xArm Hardware Manual (online), 7. Production Information · UFACTORY (manufacturer)
- UFACTORY xArm Hardware Manual (online), 8. Technical Specifications · UFACTORY (manufacturer)
- UFACTORY xArm Hardware Manual (online), Preface · UFACTORY (manufacturer)
- UFACTORY xArm product page · UFACTORY (manufacturer)
- xArm 850 S2 Project: Open Questions for IntelliMake, Batch 01 responses · IntelliMake.org (IntelliMake)
- xArm Developer Manual V2.0.1 (PDF) · UFACTORY (manufacturer)
- xArm-Python-SDK API code description (doc/api/xarm_api_code.md) · UFACTORY (manufacturer)
- xArm-Python-SDK API documentation (doc/api/xarm_api.md) · UFACTORY (manufacturer)
- xArm-Python-SDK README (GitHub) · UFACTORY (xArm-Developer) (manufacturer)
- xarm_ros2 (branch humble), xarm_description/urdf/xarm6/xarm6.urdf.xacro · UFACTORY (manufacturer)
IntelliMake diagrams are redrawn as native figures, © IntelliMake.org. UFACTORY does not endorse this platform.