Operate the Real Arm · xArm 6 · Step 5 of 9

Monitor the Arm

While the arm works, you watch two things: what Studio says the arm is doing, and what the arm and the part are really doing. When the two disagree, or you are unsure, stop the arm.

The Status Panel

On the xArm 850, not the xArm 6: Studio's status panel: State Stop, Mode Position, Payload 0.61 Kg, Mounting Floor, the tool point's X, Y and Z in mm, its roll, pitch and yaw, and the six joint angles. — The status panel, as shown on the xArm 850: state, mode, payload, mounting, the tool point and the joint angles¹. Image: Derek Stringfellow

Studio shows the arm's status beside its picture of the arm¹:

Item	What it tells you	Normal for the approved task
State	Whether the arm is moving, ready, paused or stopped²³	Moving during a move; Stop when it has stopped or after an error³
Mode	The control mode. Position is the default after start-up⁴⁵	Position; manual mode only while you guide the arm by hand⁶
Payload	The tool's mass setting, in kg⁷	The approved value for the tool fitted, confirmed by lab staff⁸
Mounting	How the controller thinks the arm is installed⁹	The approved value. On 2026-10-16 it read floor mounting¹⁰
X, Y, Z, roll, pitch, yaw	Where the tool point is, in the base coordinate system¹¹¹	Changing while the arm moves, still when it stops¹²
J1 to J6	Each joint's angle¹	Inside each joint's limits: a joint past its limit raises error code C23¹²

A change of a critical setting (mode, payload, TCP offset or collision sensitivity) puts the arm in a state where it accepts no commands until it is set to ready again¹³.

Inputs and Outputs

Settings > Externals > Controller IO > IO State shows the control box's inputs and outputs¹⁴. The digital inputs read high by default and the outputs low¹⁵. The End Effector IO page shows the tool's inputs and outputs, updated five times a second¹⁶.
Look, do not click: on the IO State page, clicking an output's button switches that output¹⁴.

What to Watch at the Arm

The part stays on the suction cups while it is carried¹⁷¹⁸.
Nobody enters the working area, and nothing is put in it¹⁹.
An arm that looks stopped may be about to move. Treat it as moving²⁰.
Anything you did not expect, such as a move off the planned path or an error message: stop the arm and ask lab staff for help⁸.

When to Stop

Click Studio's STOP for anything that is not normal. It stops the arm at once²¹.
Press the emergency stop if anyone could be hurt²².
Then follow Abnormal conditions²³.

Printed from https://www.anotherplace.com/learn/en/xarm-6/operate/monitor. Every line cites its source on that page.

Provenance

References · 23

Each number in the text points here. Every entry states its confidence class in words and keeps its evidence one click away. How to read the labels.

Key to the badges

Confidence: Verified: A manufacturer or IntelliMake document says so, or it was observed directly. It does not mean anyone measured it at S6.
Confidence: Inferred: Reasoned from Verified facts. The reasoning is printed with the record.
Confidence: Assumed: Plausible but untested. The record says how it would be checked.
Kind: Gap: Not known. No figure or answer is given in its place.
Kind: Contradiction: Sources disagree. Both sides are shown, and the site does not pick one silently.
Kind: Recommendation: Project advice drawn from the records it cites. Not a fact about the machine and not a confidence class, so the filter never hides it.
Awaiting cell access: Awaiting cell access: could be confirmed or corrected once the physical S6 cell can be observed.
This project's simulation and agent design, not the physical cell: This project's simulation and agent design, not the physical cell.

Confidence: Verifiedops-703
The record says
UFACTORY Studio's Product Information shows the arm's model, IP address, firmware and software versions, state, mode, payload and mounting, with the current TCP coordinates and joint angles.
Evidence · 3 citations
This page display the product information, such as: Model, IP, Firmware Version, Software Version, State, Mode, Payload, Mounting, etc.
UFACTORY Studio User Manual (online), 4. Live Control · UFACTORY · 4.3 Product Information [general Studio text] (read 2026-10-23, publisher's commit cf19147, unchanged since 2026-10-13; the page names no Studio or firmware version)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-13
Open the source
TCP Coordinate:Current TCP coordinates.
UFACTORY Studio User Manual (online), 4. Live Control · UFACTORY · 4.3, list (read 2026-10-23, publisher's commit cf19147)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-13
Open the source
Joint Angle:Current joint angle.
UFACTORY Studio User Manual (online), 4. Live Control · UFACTORY · 4.3, list (read 2026-10-23, publisher's commit cf19147)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-13
Open the source
Confidence: Verifiediface-582
The record says
Setting state 0 puts the arm in STANDBY in its current mode and clears the error code, after which the reported state switches to 2 on its own. Reported state 1 means the arm is in motion, and state 2 that it is ready to receive and execute commands.
Evidence · 3 citations
Set: configure the robot the be STANDBY state in corresponding mode, and clear the error code as well. Note: after this setting, the feedback state will switch to 2(REDDY) automatically.
UFACTORY Studio User Manual (online), 10. Robotic Arm Motion Mode and State · UFACTORY · 10.2 State 0 (manual text not model-specific; the Studio manual's Preface lists the xArm 6 among the models it applies to)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Feedback. The robot is in motion.
UFACTORY Studio User Manual (online), 10. Robotic Arm Motion Mode and State · UFACTORY · 10.2 State 1
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Feedback. The robot is ready to receive and execute commands.
UFACTORY Studio User Manual (online), 10. Robotic Arm Motion Mode and State · UFACTORY · 10.2 State 2
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Confidence: Verifiediface-583
The record says
Setting state 3 pauses a running motion, which state 0 resumes. Setting state 4 stops the arm, terminating any execution immediately; it then accepts no new command until set back to STANDBY, and the controller also switches to state 4 by itself when any error occurs.
Evidence · 3 citations
set: set the robot to a PAUSED state when executing motion commands, the motion can be resumed by setting state 0.
UFACTORY Studio User Manual (online), 10. Robotic Arm Motion Mode and State · UFACTORY · 10.2 State 3 (manual text not model-specific; the Studio manual's Preface lists the xArm 6 among the models it applies to)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
set: set the robot to STOP state, it will terminate any execution immediately and will not receive or execute any new command until the state is set back to STANDBY.
UFACTORY Studio User Manual (online), 10. Robotic Arm Motion Mode and State · UFACTORY · 10.2 State 4
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
will automatically switch to this state when any error occurs.
UFACTORY Studio User Manual (online), 10. Robotic Arm Motion Mode and State · UFACTORY · 10.2 State 4
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Confidence: Verifiediface-575
The record says
Mode 0, position control, is the mode the control box enters by default after start-up. In it, set_servo_angle makes point-to-point joint moves, set_position and set_position_aa make straight-line Cartesian moves, move_arc_lines inserts arcs between straight lines with continuous speed, and move_circle makes circular moves through three points.
Evidence · 7 citations
The control box enters this mode by default after startup.
UFACTORY Studio User Manual (online), 10. Robotic Arm Motion Mode and State · UFACTORY · 10.1 Mode 0 (manual text not model-specific; the Studio manual's Preface lists the xArm 6 among the models it applies to)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
To achieve the point-to-point motion of joint space (unit: degree/radian), the speed between each command is discontinuous. Python Example: set_servo_angle
UFACTORY Studio User Manual (online), 10. Robotic Arm Motion Mode and State · UFACTORY · 10.1 Mode 0, Joint Motion
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
To achieve linear motion between Cartesian coordinates (unit: mm), the speed between each instruction is discontinuous. Python Example: set_position, set_position_aa
UFACTORY Studio User Manual (online), 10. Robotic Arm Motion Mode and State · UFACTORY · 10.1 Mode 0, Linear Motion
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
inserting an arc between two straight lines for a smooth transition, and the speed between each command is continuous.
UFACTORY Studio User Manual (online), 10. Robotic Arm Motion Mode and State · UFACTORY · 10.1 Mode 0, Arc Linear Motion
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Python Example: move_arc_lines
UFACTORY Studio User Manual (online), 10. Robotic Arm Motion Mode and State · UFACTORY · 10.1 Mode 0, Arc Linear Motion
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Circular motion calculates the trajectory of the spatial circle according to the three-point coordinates
UFACTORY Studio User Manual (online), 10. Robotic Arm Motion Mode and State · UFACTORY · 10.1 Mode 0, Circular Motion
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Python Example: move_circle
UFACTORY Studio User Manual (online), 10. Robotic Arm Motion Mode and State · UFACTORY · 10.1 Mode 0, Circular Motion
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Confidence: Verifiedops-546
The record says
UFACTORY Studio's product information page gives the defaults as position mode, a payload of 0 kg and floor mounting.
Evidence · 3 citations
Mode:Robotic arm mode, default: position mode.
UFACTORY Studio User Manual (online), 4. Live Control · UFACTORY · 4.3 Product Information [general Studio text; the Studio manual says it applies to the xArm6]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-13
Open the source
Payload:Robotic arm payload, default: 0kg.
UFACTORY Studio User Manual (online), 4. Live Control · UFACTORY · 4.3 Product Information [general Studio text; the Studio manual says it applies to the xArm6]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-13
Open the source
Mounting:Robotic arm mounting way, default: Floor.
UFACTORY Studio User Manual (online), 4. Live Control · UFACTORY · 4.3 Product Information [general Studio text; the Studio manual says it applies to the xArm6]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-13
Open the source
Confidence: Verifiediface-578
The record says
Mode 2 is manual mode: the arm enters zero-gravity mode so the user can drag its links to teach, and should be switched back to mode 0 afterwards. Mode 2 must be set via mode 0: from a non-zero mode, a request for mode 2 first switches to mode 0, and mode 2 takes effect only on a second command.
Evidence · 2 citations
In this mode, the robotic arm will enter the zero gravity mode, and the user can freely drag the links of the robotic arm to complete the teaching function. If the drag teaching is completed, switch back to mode 0.
UFACTORY Studio User Manual (online), 10. Robotic Arm Motion Mode and State · UFACTORY · 10.1 Mode 2: Manual Mode (manual text not model-specific; the Studio manual's Preface lists the xArm 6 among the models it applies to)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Quote not shown (over 40 words). See the source at: 10.1 Mode 2, note.
UFACTORY Studio User Manual (online), 10. Robotic Arm Motion Mode and State · UFACTORY · 10.1 Mode 2, note
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Confidence: Verifiedops-547
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.
Evidence · 5 citations
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
Open the source
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
Open the source
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
Open the source
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
Open the source
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
Open the source
Confidence: Verifiedint-603
The record says
IntelliMake's laboratory rules for a collaborative robot: verify the approved speed, payload, workspace and safety configuration before enabling motion; do not bypass safety devices or modify protected settings; and stop the machine and ask for help whenever its condition is uncertain.
Evidence · 3 citations
For collaborative robots, verify the approved speed, payload, workspace, and safety configuration before enabling motion.
'Operate Your Machine': operating requirements and safety requirements for the Phase 1 Factory machines (course text as pasted by Derek, 2026-10-23) · IntelliMake Phase 1 Factory course · 'Safety Requirements', collaborative robots
IntelliMake course text, as pasted by Derek Stringfellow · Project-internal record · retrieved 2026-10-23
Project copy; not published on this site.
Do not bypass safety devices or modify protected settings.
'Operate Your Machine': operating requirements and safety requirements for the Phase 1 Factory machines (course text as pasted by Derek, 2026-10-23) · IntelliMake Phase 1 Factory course · 'Safety Requirements'
IntelliMake course text, as pasted by Derek Stringfellow · Project-internal record · retrieved 2026-10-23
Project copy; not published on this site.
Stop the machine and request assistance whenever its condition is uncertain.
'Operate Your Machine': operating requirements and safety requirements for the Phase 1 Factory machines (course text as pasted by Derek, 2026-10-23) · IntelliMake Phase 1 Factory course · 'Safety Requirements'
IntelliMake course text, as pasted by Derek Stringfellow · Project-internal record · retrieved 2026-10-23
Project copy; not published on this site.
Confidence: Verifiedops-510
The record says
UFACTORY Studio says that if the arm's mounting direction is set incorrectly, the arm cannot accurately recognize the direction of gravity, which causes it to trigger collision warnings and stop frequently, and results in uncontrolled motion after it enters manual mode. For xArm arms with SN XF1300/XI1300/XS1300 and later, the built-in IMU detects the direction of gravity and the software prompts when the set direction differs from the detected one by more than 10°.
Evidence · 2 citations
Quote not shown (over 40 words). See the source at: 7.1.3 Coordinates, Mounting [general Studio text; the Studio manual says it applies to the xArm6].
UFACTORY Studio User Manual (online), 7. Settings · UFACTORY · 7.1.3 Coordinates, Mounting [general Studio text; the Studio manual says it applies to the xArm6]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-13
Open the source
Quote not shown (over 40 words). See the source at: 7.1.3 Coordinates, Mounting [names xArm serial ranges].
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
Open the source
Confidence: VerifiedAwaiting cell accessint-555
The record says
On 2026-10-16 the xArm 6's controller at S6 was set for floor mounting, as UFACTORY Studio's Device Info page showed. It is the controller's mounting setting, not an inspection of how the arm is fixed.
Awaiting cell access: this could be confirmed or corrected once the physical S6 cell can be observed.
Reasoning: Verified as a direct reading of the xArm 6's controller on 2026-10-16: a screenshot of UFACTORY Studio's Device Info page connected to the real arm ('Real' selected, Robot Model xArm6), sent with S199 as the xArm 6's. It is what the controller reported that day and no further: it is the controller's setting, which someone entered and can change, not a measurement of the base. No inspection of the arm itself is recorded.
Evidence · 2 citations
Mounting：Floor
UFACTORY Studio's Device Info page for the xArm 6, screenshot (2026-10-16) · Derek Stringfellow · Device Info page (Settings, My Device, Device Info), status panel under the 3D view, 'Mounting' line; 'Real' selected, not 'Sim'; the colon is full-width (U+FF1A) on screen, read by eye
Derek Stringfellow, project record · Project-internal record · retrieved 2026-10-16
Project copy; not published on this site.
here are the two screen shots from Studio for the 850 and x6.
Owner statements from 2026-09-24 onward (verbatim; S40 and later) · Derek Stringfellow · Statement S199 (2026-10-16, about 07:45), sent with the two screenshots; it names the xArm 6 as 'x6'
Derek Stringfellow, project record · Project-internal record · retrieved 2026-10-04
Project copy; not published on this site.
Confidence: Verifiedops-702
The record says
In UFACTORY Studio's Live Control, Linear Motion moves the tool in a straight line in the base or the TCP coordinate system, with X, Y and Z in mm and roll, pitch and yaw in degrees; Joint Motion turns one joint at a time, and the tool's path is then not a straight line.
Evidence · 3 citations
Users can control the motion of the robotic arm based on the base coordinate system and TCP coordinate system. The trajectory of tool center point in the Cartesian space is a straight line.
UFACTORY Studio User Manual (online), 4. Live Control · UFACTORY · 4.4 Position & Joint Control, 'Linear Motion' [general Studio text] (read 2026-10-23, publisher's commit cf19147, unchanged since 2026-10-13; the page names no Studio or firmware version)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-13
Open the source
X, Y, and Z control the position of TCP in base or tool coordinate system, in the unit of mm. While Roll/Pitch/Yaw controls the TCP orientation in the unit of degree.
UFACTORY Studio User Manual (online), 4. Live Control · UFACTORY · 4.4, 'Linear Motion', first bullet (read 2026-10-23, publisher's commit cf19147)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-13
Open the source
The joint motion reaches the target point with the fastest path, the end trajectory is not a straight line
UFACTORY Studio User Manual (online), 4. Live Control · UFACTORY · 4.4, 'Joint Motion' (read 2026-10-23, publisher's commit cf19147)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-13
Open the source
Confidence: Verifiediface-601
The record says
As UFACTORY's Studio manual read on 2026-10-13, further controller errors in its list are: C21 kinematic error, C22 self-collision, C23 joint angle beyond its limit, C24 a joint's speed beyond its limit (the row shows the joint and its speed, and says to check whether the robot is out of its working range, or to turn on 'Use Approximate Solution' under General > Advanced Settings), C25 planning error, C35 safety boundary limit and C37 abnormal movement in manual mode.
Evidence · 9 citations
C21 | Kinematic Error
UFACTORY Studio User Manual (online), 12. Error Handling · UFACTORY · 12.1 table, C21 (manual text not model-specific; the Studio manual's Preface lists the xArm 6 among the models it applies to) (read 2026-10-13, publisher's commit e28e232; the page names no Studio or firmware version)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-13
Open the source
C22 | Self-collision Error
UFACTORY Studio User Manual (online), 12. Error Handling · UFACTORY · 12.1 table, C22 (read 2026-10-13, publisher's commit e28e232)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-13
Open the source
C23 | Joints Angle Exceed Limit
UFACTORY Studio User Manual (online), 12. Error Handling · UFACTORY · 12.1 table, C23 (read 2026-10-13, publisher's commit e28e232)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-13
Open the source
C24 | Joints Speed Exceeds Limit
UFACTORY Studio User Manual (online), 12. Error Handling · UFACTORY · 12.1 table, C24 (read 2026-10-13, publisher's commit e28e232)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-13
Open the source
Joint ID [x],joint speed is xxx°/s
UFACTORY Studio User Manual (online), 12. Error Handling · UFACTORY · 12.1 table, C24, second line (read 2026-10-13, publisher's commit e28e232)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-13
Open the source
Please check if the robot is out of working range, or go to " General - Advanced Settings" and turn on the "Use Approximate Solution" feature.
UFACTORY Studio User Manual (online), 12. Error Handling · UFACTORY · 12.1 table, C24, third line (read 2026-10-13, publisher's commit e28e232)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-13
Open the source
C25 | Planning Error
UFACTORY Studio User Manual (online), 12. Error Handling · UFACTORY · 12.1 table, C25 (read 2026-10-13, publisher's commit e28e232)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-13
Open the source
C35 | Safety Boundary Limit
UFACTORY Studio User Manual (online), 12. Error Handling · UFACTORY · 12.1 table, C35 (read 2026-10-13, publisher's commit e28e232)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-13
Open the source
C37 | Abnormal movement in Manual Mode
UFACTORY Studio User Manual (online), 12. Error Handling · UFACTORY · 12.1 table, C37 (read 2026-10-13, publisher's commit e28e232)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-13
Open the source
Confidence: Verifiediface-584
The record says
State 5 (MODE_CHANGED) is entered automatically when critical settings such as mode, payload, TCP offset or collision sensitivity change, and the arm accepts no command until state 0 is set. Setting state 6 performs a decelerated stop immediately.
Evidence · 2 citations
MODE_CHANGED state, will automatically switch to this state if some critical configurations (mode, payload, TCP offset, collision sensitivity, etc) have been changed, and cannot receive and execute any command until set state 0.
UFACTORY Studio User Manual (online), 10. Robotic Arm Motion Mode and State · UFACTORY · 10.2 State 5 (manual text not model-specific; the Studio manual's Preface lists the xArm 6 among the models it applies to)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Set and Feedback. Perform a decelerated stop immediately.
UFACTORY Studio User Manual (online), 10. Robotic Arm Motion Mode and State · UFACTORY · 10.2 State 6
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Confidence: Verifiediface-702
The record says
UFACTORY Studio's IO State page shows the control box's inputs and outputs, and switches an output when its button is clicked.
Evidence · 1 citation
The IO input status and IO output status of the control box can be monitored, and the IO output status of the control box can be controlled by clicking the button.
UFACTORY Studio User Manual (online), 7. Settings · UFACTORY · 7.2.2 Controller IO, 'IO State' [general Studio text; the Studio manual applies to the xArm6] (read 2026-10-23, publisher's commit cf19147, unchanged since 2026-10-13; the page names no Studio or firmware version)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-13
Open the source
Confidence: Verifiediface-541
The record says
In UFACTORY Studio the controller digital inputs CI0-CI7 and DI0-DI7 read high by default, the digital outputs CO0-CO7 and DO0-DO7 are low by default, and the analog outputs AO0 and AO1 are 0 V by default (range 0-10 V).
Evidence · 3 citations
Digital Input: CI0-CI7, DI0-DI7, High level by default.
UFACTORY Studio User Manual (online), 7. Settings · UFACTORY · 7.2.2 Controller IO, IO State (manual text not model-specific; the Studio manual's Preface lists the xArm 6 among the models it applies to)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-13
Open the source
Digital Output: CO0-CO7, DO0-DO7, Low level by default.
UFACTORY Studio User Manual (online), 7. Settings · UFACTORY · 7.2.2 Controller IO, IO State
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-13
Open the source
Analog Output: AO0, AO1, 0V by default, [0-10V].
UFACTORY Studio User Manual (online), 7. Settings · UFACTORY · 7.2.2 Controller IO, IO State
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-13
Open the source
Confidence: Verifiediface-563
The record says
UFACTORY Studio's End Effector IO page refreshes at 5 Hz and lists tool digital inputs TI0-TI4 (low by default), outputs TO0-TO4 and analog inputs TAI0-TAI1 (0 V by default, 0-3.3 V).
Evidence · 4 citations
Update Frequency: 5HZ.
UFACTORY Studio User Manual (online), 7. Settings · UFACTORY · 7.2.1 End Effector IO (manual text not model-specific; the Studio manual's Preface lists the xArm 6 among the models it applies to)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-13
Open the source
Digital Input: TI0, TI1, TI2, TI3, TI4, low level by default
UFACTORY Studio User Manual (online), 7. Settings · UFACTORY · 7.2.1 End Effector IO
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-13
Open the source
Digital Output: TO0, TO1, TO2, TO3, TO4.
UFACTORY Studio User Manual (online), 7. Settings · UFACTORY · 7.2.1 End Effector IO
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-13
Open the source
Robot Analog Input: TAI0, TAI1, 0V by default, [0-3.3V].
UFACTORY Studio User Manual (online), 7. Settings · UFACTORY · 7.2.1 End Effector IO
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-13
Open the source
Confidence: Verifiedops-705
The record says
UFACTORY Studio's Blockly has vacuum gripper blocks: one reads the vacuum gripper's state (0 picked, 1 released), one waits until an object is picked or released or a timeout passes, and one switches the vacuum gripper on or off. With object detection set true, the program stops if the object is not sucked.
Evidence · 4 citations
Get Vacuum gripper state: 0/1. 0: Picked 1: Release
UFACTORY Studio User Manual (online), 5. Blockly · UFACTORY · 5.3.4 Tool, 'Vacuum Gripper' [general Studio text] (read 2026-10-23, publisher's commit cf19147, unchanged since 2026-10-13; the page names no Studio or firmware version)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-13
Open the source
object is (picked/release): Detect whether the vacuum gripper has picked (released) the object
UFACTORY Studio User Manual (online), 8. Blockly Typical Examples · UFACTORY · 8.2 xArm Vacuum Gripper, 'Block' (read 2026-10-23, publisher's commit cf19147)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-23
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set xarm vacuum gripper (ON/OFF) object detection (true/false) [set]: Set the vacuum gripper to be on and off.
UFACTORY Studio User Manual (online), 8. Blockly Typical Examples · UFACTORY · 8.2, 'Block' (read 2026-10-23)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-23
Open the source
object detection = true: detect whether the object is sucked, if not, it will jump out of the entire program.
UFACTORY Studio User Manual (online), 8. Blockly Typical Examples · UFACTORY · 8.2, 'Block' (read 2026-10-23)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-23
Open the source
Confidence: Verifiedsafety-515
The record says
The xArm manual says to be careful when the arm is running too fast, and to be careful about items dropping because of an accidental power-off or unstable clamping by the arm.
Evidence · 2 citations
Be careful when the robotic arm is running too fast.
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
Open the source
Be careful about dropping items that can be caused by accidental power off or unstable clamping of the robotic arm.
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
Open the source
Confidence: Verifiedsafety-511
The record says
The xArm manual says that when the arm is in operation, no people or other equipment should be in the working area.
Evidence · 1 citation
When the robotic arm is in operation, make sure no people or other equipment are in the working area.
UFACTORY xArm Hardware Manual (online), 1. Safety · UFACTORY · 1.3, DANGER list [series text: names no single model]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
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Confidence: Verifiedsafety-512
The record says
The xArm manual says that while the device is running, an arm that seems to have stopped may be waiting for a signal and about to act, and that it should be considered to be in action even in that state.
Evidence · 1 citation
Quote not shown (over 40 words). See the source at: 1.4 Personnel Safety, CAUTION [series text: names no single model].
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
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Confidence: Verifiedsafety-548
The record says
The STOP button in UFACTORY Studio stops the arm immediately and clears all cached commands; Studio says it is a software stop and the power is still on.
Evidence · 1 citation
STOP: The robotic arm will stop immediately and clear all cache commands. It's a software stop, the power is still on.
UFACTORY Studio User Manual (online), 4. Live Control · UFACTORY · 4.5 Enable & STOP button [general Studio text; the Studio manual says it applies to the xArm6]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-13
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Confidence: Verifiedcomp-519
The record says
The xArm's emergency stop button is on the control box. Pressing it sends a command for software deceleration, stops all activities of the arm and clears the cached commands in the control box; power to the arm is removed within 300 ms.
Evidence · 2 citations
By pressing the emergency stop button of the Control Box, a command will be sent to the Control Box for software deceleration to stop all activities of the robotic arm and clear all the cached commands in the Control Box;
UFACTORY xArm Hardware Manual (online), 2. Hardware Installation · UFACTORY · 2.1.2 Emergency Stop Button (chapter says 'Apply to Model: XF1305, XI1305, XS1305 (1305 Model)')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
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the power supply for the robotic arm will be removed within 300ms.
UFACTORY xArm Hardware Manual (online), 2. Hardware Installation · UFACTORY · 2.1.2 Emergency Stop Button (chapter says 'Apply to Model: XF1305, XI1305, XS1305 (1305 Model)')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
Confidence: Verifiedsafety-552
The record says
When there is an error in the arm's hardware, the Control Box software or in sending commands, UFACTORY Studio's manual says the arm stops working immediately and discards the Control Box's cached commands, and the errors must be cleared manually before normal operation.
Evidence · 2 citations
If there is an error in the hardware of the robotic arm/the software of the Control Box/in sending commands, an error or warning will be issued.
UFACTORY Studio User Manual (online), 12. Error Handling · UFACTORY · 12.1 Control Box Error Code and Handling [general Studio text; the Studio manual says it applies to the xArm6]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-13
Open the source
After the above error occurs, the robotic arm will stop working immediately and discard the Control Box cache command. Users need to clear these errors manually to allow normal operation.
UFACTORY Studio User Manual (online), 12. Error Handling · UFACTORY · 12.1 Control Box Error Code and Handling [general Studio text; the Studio manual says it applies to the xArm6]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-13
Open the source

Image Credits

On the xArm 850, not the xArm 6: Studio's status panel: State Stop, Mode Position, Payload 0.61 Kg, Mounting Floor, the tool point's X, Y and Z in mm, its roll, pitch and yaw, and the six joint angles. © Derek Stringfellow (screenshot); the interface shown is UFACTORY Studio, UFACTORY's software. Source. A screenshot of the manufacturer's software, taken for this course. Your version of the software may look different; the manufacturer's current manual is the reference.

Sources for This Page

'Operate Your Machine': operating requirements and safety requirements for the Phase 1 Factory machines (course text as pasted by Derek, 2026-10-23) · IntelliMake Phase 1 Factory course (IntelliMake)
IntelliMake course text, as pasted by Derek Stringfellow · Project-internal record · retrieved 2026-10-23 · cited by 1 record here · Project copy; not published on this site.
Owner statements from 2026-09-24 onward (verbatim; S40 and later) · Derek Stringfellow (project owner)
Derek Stringfellow, project record · Project-internal record · retrieved 2026-10-04 · cited by 1 record here · Project copy; not published on this site.
UFACTORY Studio User Manual (online), 10. Robotic Arm Motion Mode and State · UFACTORY (manufacturer)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21 · cited by 5 records here · Open the source
UFACTORY Studio User Manual (online), 12. Error Handling · UFACTORY (manufacturer)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-13 · cited by 2 records here · Open the source
UFACTORY Studio User Manual (online), 4. Live Control · UFACTORY (manufacturer)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-13 · cited by 4 records here · Open the source
UFACTORY Studio User Manual (online), 5. Blockly · UFACTORY (manufacturer)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-13 · cited by 1 record here · Open the source
UFACTORY Studio User Manual (online), 7. Settings · UFACTORY (manufacturer)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-13 · cited by 5 records here · Open the source
UFACTORY Studio User Manual (online), 8. Blockly Typical Examples · UFACTORY (manufacturer)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-23 · cited by 1 record here · Open the source
UFACTORY Studio's Device Info page for the xArm 6, screenshot (2026-10-16) · Derek Stringfellow (project owner)
Derek Stringfellow, project record · Project-internal record · retrieved 2026-10-16 · cited by 1 record here · Project copy; not published on this site.
UFACTORY xArm Hardware Manual (online), 1. Safety · UFACTORY (manufacturer)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25 · cited by 3 records here · Open the source
UFACTORY xArm Hardware Manual (online), 2. Hardware Installation · UFACTORY (manufacturer)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25 · cited by 1 record here · Open the source

All sources and attribution