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
xArm power-on step 1: turn on the OFF/ON button and make sure the indicator lights are lit.
Turn on the OFF/ON button and ensure the indicator lights are lit.
UFACTORY xArm Hardware Manual (online), 2. Hardware Installation · UFACTORY · 2.3.1 Power On, step 1 [series text: names no single model]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
The record says
xArm power-on step 2: press the power button; the Control Box is on when the status indicator (CONTROLLER) lights up.
Press the power button, when the status indicator（CONTROLLER） lights up, the control box is turned on.
UFACTORY xArm Hardware Manual (online), 2. Hardware Installation · UFACTORY · 2.3.1 Power On, step 2 [series text: names no single model]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
The record says
xArm power-on step 3: turn the emergency stop button in the direction of the arrow so that it pulls up; the xArm power indicator (ROBOT PWR) then lights.
Rotate the emergency stop button in the direction indicated by the arrow and is pulled up, at which point the xArm power indicator(ROBOT PWR) lights up.
UFACTORY xArm Hardware Manual (online), 2. Hardware Installation · UFACTORY · 2.3.1 Power On, step 3 [series text: names no single model]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
The record says
xArm power-on step 4: enable the arm (enable the servo motors) from UFactory Studio or with an SDK command.
Use the UFactory studio / SDK command to complete the operation of enabling the robotic arm. (enable the servo motor)
UFACTORY xArm Hardware Manual (online), 2. Hardware Installation · UFACTORY · 2.3.1 Power On, step 4 [series text: names no single model]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
The record says
xArm shutdown step 2: turn off the Control Box power supply. The power switch takes about 5 seconds to turn the Control Box off, and the manual says not to restart it within 5 seconds of turning it off.
Turn off the power supply of the control box(The power switch takes about 5 seconds to turn off the power of the control box. Please do not restart the control box within 5 seconds after turning off the power supply).
UFACTORY xArm Hardware Manual (online), 2. Hardware Installation · UFACTORY · 2.3.2 Shut Down, step 2 [series text: names no single model]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
The record says
The Initial Personalized Gift Production Flow runs: Customer Order → Receiving → Cobot Handling → Staging → Laser Engraving → Cobot Handling → Quality Decision → Shipping / Rework → Packing & Labeling.
Customer Order → Receiving → Cobot Handling → Staging → Laser Engraving → Cobot Handling → Quality Decision → Shipping / Rework → Packing & Labeling
IntelliMake Phase 1 Factory: Autonomous Production Demonstrator (infographic) · IntelliMake.org · Initial Personalized Gift Production Flow banner (arrows shown as →)
© 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 project specification places S2 at the first Cobot Handling step of IntelliMake's gift flow, between Receiving and Staging; the second Cobot Handling step, after laser engraving, is S6's. IntelliMake's layout draws the stations in the matching order (see observation).
Where it sits in the Initial Personalized Gift Production Flow (Receiving → **Cobot Handling** → Staging → Laser Engraving → …)
CODE_SESSION 01 — xArm 850 Interactive Learning Platform (project specification) · Derek Stringfellow · §5 Research requirements
Derek Stringfellow, project record · Project-internal record · retrieved 2026-09-21
Project copy; not published on this site.
Handles parts after proces. routing them to inspection, rework, or shipping.
IntelliMake Phase 1 Factory: Autonomous Production Demonstrator (infographic) · IntelliMake.org · S6 station 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.
Laser Engraving → Cobot Handling → Quality Decision
IntelliMake Phase 1 Factory: Autonomous Production Demonstrator (infographic) · IntelliMake.org · Initial Personalized Gift Production 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.
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
Both arms work at S4: one places the material there for the work, and the other picks up the finished product.
Awaiting cell access: this could be confirmed or corrected once the physical S6 cell can be observed.
both arms work at S4. one places the material to perform the work, the other picks up the finished product
Owner statements from 2026-09-24 onward (verbatim; S40 and later) · Derek Stringfellow · Statement S84, answering Q55(1)
Derek Stringfellow, project record · Project-internal record · retrieved 2026-10-04
Project copy; not published on this site.
The record says
The S4 conveyor is part of S4, so S6 picks up from S4, however the item's final placement is met.
Awaiting cell access: this could be confirmed or corrected once the physical S6 cell can be observed.
The Conveyer is part of S4 so S6 picks up from S4 regardless of how the item's final placement is met.
Owner statements from 2026-09-24 onward (verbatim; S40 and later) · Derek Stringfellow · Statement S119, to whether S6 still picks up at S4 or the conveyor carries the product to S6
Derek Stringfellow, project record · Project-internal record · retrieved 2026-10-04
Project copy; not published on this site.
The record says
S4, the Laser Engraver Conveyor, transfers workpieces through the laser processing area.
Transfers workplaces through the laser processing area.
IntelliMake Phase 1 Factory: Autonomous Production Demonstrator (infographic) · IntelliMake.org · S4 station description (the diagram prints 'workplaces'; read as workpieces)
© 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
Enabling the arm powers it and turns on its motors, after which it can start to move normally. In UFACTORY Studio the Enable button does this and disappears once the arm is enabled; in the Python SDK the call is motion_enable(true).
Enable Robotic Arm: Power on the robotic arm and turn on the motor of the robotic arm. After the robotic arm is enabled, it can start to move normally.
UFACTORY Studio User Manual (online), 2. Glossary · UFACTORY · Glossary, Enable Robotic Arm [general Studio text; the Studio manual says it applies to the xArm6]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Enable: Enable Robotic Arm. This button will disappears after the robotic arm is enabled.
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
Python SDK motion_enable(true).
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
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
xArm installation step 1 of 5: define the working space.
Define Working Space.
UFACTORY xArm Hardware Manual (online), 2. Hardware Installation · UFACTORY · 2.2.3 Installation, brief installation steps, step 1 [series text: names no single model]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
The record says
xArm installation step 2 of 5: fix the arm's base.
Fix the robotic arm base.
UFACTORY xArm Hardware Manual (online), 2. Hardware Installation · UFACTORY · 2.2.3 Installation, brief installation steps, step 2 [series text: names no single model]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
The record says
xArm installation step 3 of 5: connect the arm to the controller.
Connect the robotic arm with the controller.
UFACTORY xArm Hardware Manual (online), 2. Hardware Installation · UFACTORY · 2.2.3 Installation, brief installation steps, step 3 [series text: names no single model]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
The record says
xArm installation step 4 of 5: connect the controller's cables.
Connect the controller with cable.
UFACTORY xArm Hardware Manual (online), 2. Hardware Installation · UFACTORY · 2.2.3 Installation, brief installation steps, step 4 [series text: names no single model]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
The record says
xArm installation step 5 of 5: install the end effector.
Install End-Effector.
UFACTORY xArm Hardware Manual (online), 2. Hardware Installation · UFACTORY · 2.2.3 Installation, brief installation steps, step 5 [series text: names no single model]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
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
The xArm manual says the arm must be properly and safely installed on a shockproof and sturdy mounting surface with its bolts checked for tightness, and that the arm should be installed on a surface that can withstand at least 10 times the full torsion of the base joint and at least 5 times the weight of the arm.
Make sure the arm is properly and safely installed in place. The mounting surface must be shockproof and sturdy.
UFACTORY xArm Hardware Manual (online), 2. Hardware Installation · UFACTORY · 2.2.1 Safety Guidelines, DANGER [series text: names no single model]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
To install the arm body, check that the bolts are tight.
UFACTORY xArm Hardware Manual (online), 2. Hardware Installation · UFACTORY · 2.2.1 Safety Guidelines, DANGER [series text: names no single model]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
The robotic arm should be installed on a sturdy surface that is sufficient to withstand at least 10 times the full torsion of the base joint and at least 5 times the weight of the arm.
UFACTORY xArm Hardware Manual (online), 2. Hardware Installation · UFACTORY · 2.2.1 Safety Guidelines, 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 the Control Box must be placed outside the arm's working range so that the emergency stop button can be pressed in an emergency.
The Control Box must be placed outside the working range of the robotic arm to ensure the emergency stop button can be pressed once an emergency occurs.
UFACTORY xArm Hardware Manual (online), 1. Safety · UFACTORY · 1.3, CAUTION list [series text: names no single model]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
The record says
The xArm manual says the controller should be placed at a height of 0.6 m to 1.5 m.
The controller should be placed at a height of 0.6m to 1.5m.
UFACTORY xArm Hardware Manual (online), 7. Production Information · UFACTORY · 7.6 Controller Placement Height [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 a line should be drawn to mark the arm's range of motion, including the operating range of its end tools such as grippers and suction cups.
A line should be drawn to mark the range of motion of the robotic arm to let the operator acknowledge the robotic arm, including its end tools (such as gripper and suction cup, etc) operating range.
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
xArm cabling step 1: plug the arm's power supply cable and signal cable connectors into the arm. The manual says the connectors are foolproof and not to unplug or plug them violently.
Plug the connector of the Robotic Arm Power Supply Cable and the Robotic Arm Signal Cable into the interface of the Robotic Arm. The connector is a foolproof design. Please do not unplug and plug it violently.
UFACTORY xArm Hardware Manual (online), 2. Hardware Installation · UFACTORY · 2.2.3.2 Connect with Controller, step 1 [series text: names no single model]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
The record says
xArm cabling step 2: plug the arm's power supply cable and signal cable into the Control Box.
Plug the Robotic Arm Power Supply Cable and the Robotic Arm Signal Cable into the Control Box.
UFACTORY xArm Hardware Manual (online), 2. Hardware Installation · UFACTORY · 2.2.3.2 Connect with Controller, step 2 [series text: names no single model]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
The record says
xArm cabling step 3: plug the Control Box power cable into the AC (110V-240V) interface on the Control Box and the other end into the socket.
Plug the Control Box Power Cable into the AC (110V-240V) interface on the Control Box and the other end into the socket
UFACTORY xArm Hardware Manual (online), 2. Hardware Installation · UFACTORY · 2.2.3.2 Connect with Controller, step 3 [series text: names no single model]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
The record says
To avoid electric shock, the xArm manual says not to connect or disconnect the arm cable while the arm is connected to external AC, and to make sure the external AC is disconnected when doing so.
When connecting or disconnecting the arm cable, make sure that the external AC is disconnected. To avoid any electric shock hazard, do not connect or disconnect the robotic arm cable when the robotic arm is connecting with external AC.
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
The record says
Before powering on the xArm, the manual says to make sure the power cable and communication wire between the Control Box and the arm, the network or RS-485 cable, and the Control Box power cable are all properly connected.
Ensure the power cable and the communication wire are properly connected between the Control Box and the robotic arm.
UFACTORY xArm Hardware Manual (online), 2. Hardware Installation · UFACTORY · 2.3 Power Supply for xArm [series text: names no single model]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Ensure the network cable or RS-485 cable is properly connected.
UFACTORY xArm Hardware Manual (online), 2. Hardware Installation · UFACTORY · 2.3 [series text: names no single model]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Ensure the power cable for the Control Box is properly connected.
UFACTORY xArm Hardware Manual (online), 2. Hardware Installation · UFACTORY · 2.3 [series text: names no single model]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
The record says
Before powering on, the xArm manual says to make sure the xArm will not hit any person or equipment within its working range.
Ensure the xArm will not hit any personnel or equipment within the working range.
UFACTORY xArm Hardware Manual (online), 2. Hardware Installation · UFACTORY · 2.3 Power Supply for xArm [series text: names no single model]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Sources disagree
The xArm manual describes the controller-on indicator in two ways: the indicator table calls it STATE and says it flashes when the controller is powered on, while power-on step 2 calls it the status indicator (CONTROLLER) and says it lights up.
Controller Power Status | STATE | Flash - The controller is powered on.
UFACTORY xArm Hardware Manual (online), 2. Hardware Installation · UFACTORY · 2.1.2, indicator table [series text: names no single model]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
when the status indicator（CONTROLLER） lights up, the control box is turned on.
UFACTORY xArm Hardware Manual (online), 2. Hardware Installation · UFACTORY · 2.3.1 Power On, step 2 [series text: names no single model]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
The record says
Asked whether the lab opens UFACTORY Studio in a web browser or with the desktop app, the answer given on 2026-10-23 was the desktop app, and that learners should download it.
Awaiting cell access: this could be confirmed or corrected once the physical S6 cell can be observed.
Reasoning: Verified as a dated report of how Studio is opened in the lab, as of 2026-10-23 and no further. The question was about the lab, where the xArm 6 is operated from Studio (int-089); the answer names no arm. It names no Studio version and no computer, and no inspection is recorded. It says that the lab uses the desktop app and that learners should download it; it says nothing about whether the browser route UFACTORY's Studio manual describes works.
2 desktop app, so they should download it if that was not explicitily said
Owner statements from 2026-09-24 onward (verbatim; S40 and later) · Derek Stringfellow · Statement S244 (2026-10-23), answer 2, to whether the lab opens UFACTORY Studio in a browser or with the desktop app
Derek Stringfellow, project record · Project-internal record · retrieved 2026-10-04
Project copy; not published on this site.
The record says
UFACTORY Studio's connection screen, as used with the xArm 850 at S2 and reported on 2026-10-23, has an IP search field for the arm and a Connect Server button: the operator enters the IP address from the control box and clicks Connect Server. No reading of the screen with the xArm 6 is recorded.
Awaiting cell access: this could be confirmed or corrected once the physical S6 cell can be observed.
Why we infer this: Inferred, not observed with the xArm 6. The report (S241, 2026-10-23) is of UFACTORY Studio's connection screen as it was used with the xArm 850 (recorded in that arm's course), as of that date and no further. The xArm 6 is operated from the same Studio software, whose manual lists the xArm 6 among the models it applies to (iface-502), and the xArm 6's Studio read 2.7.0 on 2026-10-16 (int-610), so its connection screen is inferred to have the same IP search field and Connect Server button; the screen was seen with the 850, and a different Studio version may lay it out differently. No screenshot of the connection screen is recorded, and no inspection is recorded. The same report says the Connect page's 'Open UFACTORY Studio' step 1 is incorrect; it makes no statement about the browser route the Studio manual's connection chapter describes (iface-505).
There is an IP search for the arm and connect button, you enter the IP from the control box and click on the Connect Server button
Owner statements from 2026-09-24 onward (verbatim; S40 and later) · Derek Stringfellow · Statement S241 (2026-10-23), on the Connect page's 'Open UFACTORY Studio' steps; the report is of Studio as used with the xArm 850
Derek Stringfellow, project record · Project-internal record · retrieved 2026-10-04
Project copy; not published on this site.
Open UFACTORY Studio step 1 is incorrect.
Owner statements from 2026-09-24 onward (verbatim; S40 and later) · Derek Stringfellow · Statement S241 (2026-10-23), the same paragraph, its first sentence
Derek Stringfellow, project record · Project-internal record · retrieved 2026-10-04
Project copy; not published on this site.
The record says
UFACTORY Studio is a graphical application for controlling the robotic arm: with it a user can set parameters, move the arm in Live Control, and build a motion trajectory by dragging and dropping Blockly code blocks.
UFACTORY Studio is a graphical user application for controlling the robotic arm.
UFACTORY Studio User Manual (online), 1. Preface · UFACTORY · 1. Preface, first paragraph
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
With this application, you can set parameters, move the robotic arm in Live control, and create a motion trajectory by simply drag and drop the code blocks of Blockly.
UFACTORY Studio User Manual (online), 1. Preface · UFACTORY · 1. Preface, first paragraph
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
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.
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
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.
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
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.
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
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
The record says
When the xArm's emergency stop is pressed, the arm's posture will slightly brake and fall; the manual says the emergency stop should not be used as a risk reduction measure.
The emergency stop should not be used as a risk reduction measure.
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
users need to press the emergency stop, and 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 (chapter says 'Apply to Model: XF1305, XI1305, XS1305 (1305 Model)')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
The record says
The xArm manual says the emergency stop should not be used as a risk reduction measure.
The emergency stop should not be used as a risk reduction measure.
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
The record says
The xArm manual says installation and commissioning need to be performed by professionals (the sentence stops after 'in accordance'), that operators must be trained to guarantee a correct operating procedure when using the SDK (Python, ROS, C++) and UFactory Studio, that each operator should read the user manual carefully, and that users should fully understand the standard operating procedures and the solutions to the arm's running errors.
Please follow the instructions in this manual, installation, and commissioning needs to be performed by professionals in accordance
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 operator must be trained to guarantee a correct operation procedure when using SDK(Python/ROS/C++) and graphical interface UFactory studio.
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
Each operator who uses the robotic arm system should read the product user manual carefully. Users should fully understand the standardized operating procedures with the robotic arm, and the solution to the robotic arm running error.
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
After the emergency stop button has been pressed, the xArm manual gives two steps to restart: power up the xArm by turning the emergency stop button in the direction of the arrow, then enable the xArm (enable the servo motor) with the Enable button in UFACTORY Studio or motion_enable(true) in the Python SDK.
After pressing the emergency stop button, the following operations should be performed to re-start the xArm:
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
Power up the xArm (Turn the emergency stop button in the direction of the arrow).
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
Enable the xArm (enable the servo motor), Enable button on the UFACTOR Studio or Python SDK motion_enable(true).
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
The record says
The xArm manual says that if the arm needs an emergency stop while operating, make sure its restart or reset motions will not collide with any obstacle.
If the robotic arm is in operation and needs an emergency stop, make sure the restart/reset motions will not collide with any obstacle.
UFACTORY xArm Hardware Manual (online), 1. Safety · UFACTORY · 1.3, CAUTION list [series text: names no single model]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
The record says
xArm shutdown step 1: press the emergency stop button to power off the arm, and make sure the power indicator is off.
Press the EMERGENCY STOP button to power off the robotic arm, ensure the power indicator light is off.
UFACTORY xArm Hardware Manual (online), 2. Hardware Installation · UFACTORY · 2.3.2 Shut Down, step 1 [series text: names no single model]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
The record says
The arm's default IP is 192.168.1.xxx. To reach UFACTORY Studio, put the PC on the same network segment as the Control Box and enter the Control Box IP followed by :18333 in a browser (for example 192.168.1.201:18333).
The default IP of robotic arm is 192.168.1.xxx, please make sure that the IP address of the PC and control box are on the same network segment.
UFACTORY Studio User Manual (online), 3. Connection · UFACTORY · 3.2 Software Connection [general Studio text; the Studio manual says it applies to the xArm6]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Access link: 192.168.1.201:18333
UFACTORY Studio User Manual (online), 3. Connection · UFACTORY · 3.2 Software Connection [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 four network setups and recommends connecting the Control Box directly to the PC. It does not recommend connecting the PC to the router by wireless, because of wireless delay and packet loss.
There are four ways of network settings for the robotic arm.
UFACTORY xArm Hardware Manual (online), 2. Hardware Installation · UFACTORY · 2.2.3.3 Controller Networking [series text: names no single model]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
The control box is directly connected to the PC(Recommended connection method).
UFACTORY xArm Hardware Manual (online), 2. Hardware Installation · UFACTORY · 2.2.3.3 [series text: names no single model]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
PC and router are connected by wireless network, and control box and router are connected by Ethernet cable. Note: It is not recommended because of the delay and packet loss of wireless connection.
UFACTORY xArm Hardware Manual (online), 2. Hardware Installation · UFACTORY · 2.2.3.3 [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 if the IP address is changed, it should be marked on the Control Box.
If you change the IP address, be sure to mark it on the control box.
UFACTORY xArm Hardware Manual (online), 3. Controller Electrical Interface · UFACTORY · 3.4.5 Reset IP [series text: names no single model]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
The record says
xArm IP reset step 1 of 5: press the emergency stop button and turn off the Control Box.
Press the emergency stop button and turn off the power of the control box.
UFACTORY xArm Hardware Manual (online), 3. Controller Electrical Interface · UFACTORY · 3.4.5 Reset IP, step 1 [series text: names no single model]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
The record says
xArm IP reset step 2 of 5: connect controller input RI0 to GND with a cable.
Connect RI0 to GND with a cable.
UFACTORY xArm Hardware Manual (online), 3. Controller Electrical Interface · UFACTORY · 3.4.5 Reset IP, step 2 [series text: names no single model]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
The record says
xArm IP reset step 3 of 5: power on; a beep means the IP has been reset to 192.168.1.111.
Turn on the power of the robot. After hearing the sound of 'beep', it means that the IP address of the robot has been reset successfully. The reset IP is 192.168.1.111.
UFACTORY xArm Hardware Manual (online), 3. Controller Electrical Interface · UFACTORY · 3.4.5 Reset IP, step 3 [series text: names no single model]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
The record says
xArm IP reset step 4 of 5: unplug the RI0-GND cable and wait for start-up (60 seconds).
Please unplug the cable connecting RI0 and GND and wait for the robot to start up (60 seconds).
UFACTORY xArm Hardware Manual (online), 3. Controller Electrical Interface · UFACTORY · 3.4.5 Reset IP, step 4 [series text: names no single model]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
The record says
xArm IP reset step 5 of 5: enter 192.168.1.111:18333 in a browser to connect.
Enter 192.168.1.111:18333 in the browser to connect the robot.
UFACTORY xArm Hardware Manual (online), 3. Controller Electrical Interface · UFACTORY · 3.4.5 Reset IP, step 5 [series text: names no single model]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
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
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°.
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
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
The record says
UFACTORY Studio can identify the TCP payload automatically, but only with the arm mounted on a steady floor: the arm runs a series of motions to calculate it, and Studio says it is important to ensure the safety of equipment and people near the arm. The TCP offset can be found by teaching 5 points.
Quote not shown (over 40 words). See the source at: 7.1.2 TCP, Method 2 [general Studio text; the Studio manual says it applies to the xArm6].
UFACTORY Studio User Manual (online), 7. Settings · UFACTORY · 7.1.2 TCP, Method 2 [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
Manual Mode in UFACTORY Studio's Live Control lets the joints be moved freely by hand to reach and record positions, and Studio says it can also be used to drag the arm away from a danger zone. Manual mode can be turned on only when the serial numbers of the arm and the Control Box are matched.
Quote not shown (over 40 words). See the source at: 4.4 Position & Joint Control, Manual Mode [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, Manual Mode [general Studio text; the Studio manual says it applies to the xArm6]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-13
When danger occurs, you can also use the manual mode to manually drag the robot away from the danger zone.
UFACTORY Studio User Manual (online), 4. Live Control · UFACTORY · 4.4, Manual Mode [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 serial number of robotic arm and the control box need to be matched before Manual Mode can be turned on.
UFACTORY Studio User Manual (online), 4. Live Control · UFACTORY · 4.4, Manual Mode [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
Before turning on manual (joint teaching) mode, UFACTORY says to confirm that the arm's installation direction and TCP load are set correctly, otherwise the arm may not stay still because of inaccurate gravity compensation; Studio's Live Control page says that otherwise 'it will be dangerous'.
Quote not shown (over 40 words). See the source at: 10.1 Mode 2: Manual Mode, NOTE [general Studio text; the Studio manual says it applies to the xArm6].
UFACTORY Studio User Manual (online), 10. Robotic Arm Motion Mode and State · UFACTORY · 10.1 Mode 2: Manual 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
Before opening the manual mode, you must ensure that the installation method of the robotic arm and the payload setting of the robotic arm are consistent with the actual situation, otherwise it will be dangerous.
UFACTORY Studio User Manual (online), 4. Live Control · UFACTORY · 4.4 Position & Joint Control, Manual Mode [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
Teach sensitivity runs from level 1 to 5; the higher the level, the less force it takes to drag a joint in manual mode.
Teach sensitivity range is from 1 to 5 level. The larger the set value, the higher the teach sensitivity level, and the less the force required to drag the joint in the manual mode.
UFACTORY Studio User Manual (online), 2. Glossary · UFACTORY · Glossary, Teach 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
The record says
UFACTORY Studio records a hand-guided trajectory by sampling joint positions at 250 Hz for up to 5 minutes, and plays it back at x1, x2 or x4 speed. Studio says to watch the arm's load state when recording, so that a large difference between the actual and set load does not make the arm move by itself.
The position of the joint is obtained and recorded by 250HZ to record the motion trajectory of the robotic arm in free driving, and the maximum recording time is 5 minutes.
UFACTORY Studio User Manual (online), 4. Live Control · UFACTORY · 4.2 Recording [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 playback speed of the trajectory can be set (x1, x2, x4)
UFACTORY Studio User Manual (online), 4. Live Control · UFACTORY · 4.2 Recording [general Studio text; the Studio manual says it applies to the xArm6]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-13
When starting recording, be sure to pay attention to the load state of the robotic arm, so as to avoid the big difference between the actual load and the set load of the robotic arm, resulting in its self-motion.
UFACTORY Studio User Manual (online), 4. Live Control · UFACTORY · 4.2, Create New File [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
In UFACTORY Studio's Live Control, long-pressing Initial Position moves the arm back to its initial position; the default initial position for the xArm and 850 has every joint at 0. Studio says setting an initial position can help return the arm to a relatively safe position when planning trajectories.
Initial Position: Long press for continuous motion, the robotic arm will back to the initial position.
UFACTORY Studio User Manual (online), 4. Live Control · UFACTORY · 4.4 Position & Joint Control, Initial Position [general Studio text; the Studio manual says it applies to the xArm6]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-13
xArm/850: [0,0,0,0,0,0,0]
UFACTORY Studio User Manual (online), 4. Live Control · UFACTORY · 4.4, Default initial position [names xArm and 850]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-13
Setting the Initial Position of the robotic arm can help the user to return the robotic arm to a relatively safe position when planning the motion trajectory.
UFACTORY Studio User Manual (online), 7. Settings · UFACTORY · 7.1.1 Parameters, Initial Position [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 Live Control jog speed in UFACTORY Studio runs from 1% (2.3 mm/s) to 100% (230 mm/s), with a default of 50% (115 mm/s); Studio says this is not the arm's actual maximum motion speed.
50%=115mm/s, default
UFACTORY Studio User Manual (online), 4. Live Control · UFACTORY · 4.4 Position & Joint Control, Speed [general Studio text; the Studio manual says it applies to the xArm6]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-13
1% = 2.3mm/s
UFACTORY Studio User Manual (online), 4. Live Control · UFACTORY · 4.4, Speed [general Studio text; the Studio manual says it applies to the xArm6]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-13
100% = 230mm/s
UFACTORY Studio User Manual (online), 4. Live Control · UFACTORY · 4.4, Speed [general Studio text; the Studio manual says it applies to the xArm6]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-13
Note: The maximum speed of the live control interface is not the actual maximum motion speed of the robotic arm.
UFACTORY Studio User Manual (online), 4. Live Control · UFACTORY · 4.4, Speed [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
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.
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
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
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
The record says
As UFACTORY's Studio manual read on 2026-10-13, its fixes for the emergency-stop errors are: for C1 (the Emergency Stop Button on the Control Box pushed in) and for C2 (the Emergency Stop Button pushed in; the row does not say which button), release the Emergency Stop Button and click 'Enable Robot'; for C3 (the three-state switch's emergency stop pressed), release that button and click 'Enable Robot'. For Studio's simulation each row adds: switch to the real robot first.
C1 | The Emergency Stop Button on the Control Box is pushed in to Stop
UFACTORY Studio User Manual (online), 12. Error Handling · UFACTORY · 12.1 table, C1 [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 release the Emergency Stop Button, and then click the "Enable Robot"
UFACTORY Studio User Manual (online), 12. Error Handling · UFACTORY · 12.1 table, C1, second line (read 2026-10-13, publisher's commit e28e232)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-13
[Applicable to Simulation]Please release the Emergency Stop Button, switch to the real robot,and then click the "Enable Robot".
UFACTORY Studio User Manual (online), 12. Error Handling · UFACTORY · 12.1 table, C1, third line (C2's row carries the same line) (read 2026-10-13, publisher's commit e28e232)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-13
C2 | The Emergency Stop Button is pushed in to Stop
UFACTORY Studio User Manual (online), 12. Error Handling · UFACTORY · 12.1 table, C2 (read 2026-10-13, publisher's commit e28e232)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-13
Please release the Emergency Stop Button, and then click the "Enable Robot"
UFACTORY Studio User Manual (online), 12. Error Handling · UFACTORY · 12.1 table, C2, second line (the same words as C1's second line) (read 2026-10-13, publisher's commit e28e232)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-13
C3 | The Emergency Stop Button of the Three-state Switch is pressed
UFACTORY Studio User Manual (online), 12. Error Handling · UFACTORY · 12.1 table, C3 (read 2026-10-13, publisher's commit e28e232)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-13
Please release the Emergency Stop Button of the Three-state Switch, and then click "Enable Robot".
UFACTORY Studio User Manual (online), 12. Error Handling · UFACTORY · 12.1 table, C3, second line (read 2026-10-13, publisher's commit e28e232)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-13
[Applicable to Simulation]Please release the Emergency Stop Button of the Three-state Switch,switch to the real robot, and then click "Enable Robot".
UFACTORY Studio User Manual (online), 12. Error Handling · UFACTORY · 12.1 table, C3, third line (read 2026-10-13, publisher's commit e28e232)
© 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, Studio's fixes for the emergency-stop errors: for C1 (Control Box emergency stop button pushed in), release the button and click 'Enable Robot'; for C2 (Control Box emergency IO triggered), ground the Control Box's 2 EIs and click 'Enable Robot'; for C3 (three-state switch emergency stop pressed), release that button and click 'Enable Robot'.
please release the Emergency Stop Button, and then click "Enable Robot"
UFACTORY Studio User Manual, 12. Error Handling, as it read until 2026-10-13 (publisher's repository, commit 533b75d) · UFACTORY · 12.1, table, C1 [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
Please ground the 2 EIs of the Control Box, and then click "Enable Robot".
UFACTORY Studio User Manual, 12. Error Handling, as it read until 2026-10-13 (publisher's repository, commit 533b75d) · UFACTORY · 12.1, table, C2 [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
Please release the Emergency Stop Button of the Three-state Switch, and then click "Enable Robot".
UFACTORY Studio User Manual, 12. Error Handling, as it read until 2026-10-13 (publisher's repository, commit 533b75d) · UFACTORY · 12.1, table, C3 [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
Sources disagree
UFACTORY's sources give two readings of controller error 2 (Studio's C2). The Studio manual until 2026-10-13, and the Python SDK's code list, say the Emergency IO of the Control Box is triggered; the manual's fix was to ground the 2 EIs of the Control Box and click 'Enable Robot'. The Studio manual as read on 2026-10-13 says the Emergency Stop Button is pushed in, and to release it and click 'Enable Robot'; it no longer mentions the Emergency IO or grounding the EIs. No fetched source says the two describe the same event, or which Studio and firmware versions show which text.
Awaiting cell access: this could be confirmed or corrected once the physical S6 cell can be observed.
Related: iface-590 Verified iface-600 Verified ops-570 Verified ops-589 Verified safety-553 Verified safety-600 Verified safety-538 Verified safety-591 Superseded, awaiting cell access by int-553 Verified, awaiting cell access int-554 Verified, awaiting cell access safety-605 Gap, awaiting cell access int-514 Superseded, awaiting cell access by int-553 Verified, awaiting cell access int-558 Gap, awaiting cell access
The Emergency IO of the Control Box is triggered
UFACTORY Studio User Manual, 12. Error Handling, as it read until 2026-10-13 (publisher's repository, commit 533b75d) · UFACTORY · 12.1 table, C2, first line (the text until 2026-10-13: publisher's commit 533b75d)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-13
Please ground the 2 EIs of the Control Box, and then click "Enable Robot".
UFACTORY Studio User Manual, 12. Error Handling, as it read until 2026-10-13 (publisher's repository, commit 533b75d) · UFACTORY · 12.1 table, C2, second line (the text until 2026-10-13: publisher's commit 533b75d)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-13
C2 | The Emergency Stop Button is pushed in to Stop
UFACTORY Studio User Manual (online), 12. Error Handling · UFACTORY · 12.1 table, C2 [general Studio text; the Studio manual says it applies to the xArm6] (read 2026-10-13, publisher's commit e28e232; the page names no Studio or firmware version)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-13
Please release the Emergency Stop Button, and then click the "Enable Robot"
UFACTORY Studio User Manual (online), 12. Error Handling · UFACTORY · 12.1 table, C2, second line (the same words as C1's second line) (read 2026-10-13, publisher's commit e28e232)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-13
- 2: The Emergency IO of the Control Box is triggered
xArm-Python-SDK API code description (doc/api/xarm_api_code.md) · UFACTORY · Controller Error Code
© UFACTORY Inc., xArm-Developer/xArm-Python-SDK, BSD 3-Clause License · BSD-3-Clause · retrieved 2026-09-21
The record says
The xArm manual assigns stop categories to three safety inputs: the Control Box emergency stop button and the Control Box emergency input (EI) are Stop Category 1, and the Control Box safeguard stop (SI) is Stop Category 2.
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
Emergency Input of the Control Box(EI) | 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
Safeguard Stop of Control Box(SI) | Stop Category 2
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
The record says
The xArm Control Box has two fixed safety inputs: the emergency stop input, used only for the emergency stop of the device, and the protective stop input, used for all types of safety protection. The manual says all safety I/Os exist in redundant pairs and must be kept in two separate branches, and that a single I/O failure should not result in the loss of safety features.
All safety I/Os exist in pairs (redundancy) and must be kept in two separate branches. A single I/O failure should not result in the loss of safety features. There are two fixed safety inputs:
UFACTORY xArm Hardware Manual (online), 3. Controller Electrical Interface · UFACTORY · 3.4.1 Safety IO(EISI) [series text: names no single model]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
The robotic arm emergency stop input is only used for the emergency stop of the device.
UFACTORY xArm Hardware Manual (online), 3. Controller Electrical Interface · UFACTORY · 3.4.1 Safety IO(EISI) [series text: names no single model]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
The protective stop input is used for all types of safety protection.
UFACTORY xArm Hardware Manual (online), 3. Controller Electrical Interface · UFACTORY · 3.4.1 Safety IO(EISI) [series text: names no single model]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Project advice
Do not ground, bridge or rewire the control box's EI or SI terminals to clear an error or to resume after a stop, whatever text UFACTORY Studio shows. Which stop devices are wired to them at the cell is not known, and wiring is installation work.
This is advice from this project, based on: safety-538 Verified safety-505 Verified safety-601 Contradiction, awaiting cell access safety-587 Gap, awaiting cell access safety-589 Gap, awaiting cell access ops-578 Verified
Why: The xArm control box has two fixed safety inputs: the emergency stop input, used only for the emergency stop of the device, and the protective stop input, used for all types of safety protection (safety-538). The xArm manual says installation and commissioning need to be performed by professionals (safety-505). UFACTORY's Studio manual gave, until 2026-10-13, grounding the Control Box's 2 EIs as the fix for error code C2, and as read on 2026-10-13 gives a different fix (safety-601). Whether any emergency stop button besides the Control Box's is wired to EI at S6 is not confirmed (safety-587), nor is what is wired to SI (safety-589). The xArm manual's protective stop with a reset button pauses the arm when SI0 and SI1 are disconnected from GND (ops-578). A wire from an EI or SI terminal to GND, added to clear an error or to resume, would bridge out whatever stop device is wired there. So this project advises against it whichever text Studio shows.
The record says
To recover from an arm error in the Python SDK, UFACTORY's steps are: clear the error with clean_error(), re-enable the arm with motion_enable(true), then set the motion state with set_state(0).
error clearing: clean_error() | Re-enable the robotic arm: motion_enable(true) | Set the motion state: set_state(0)
UFACTORY Studio User Manual (online), 12. Error Handling · UFACTORY · 12.3 Python SDK 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
Clean the error, need to be manually enabled motion(arm.motion_enable(True)) and set state(arm.set_state(state=0))after clean error
xArm-Python-SDK API documentation (doc/api/xarm_api.md) · UFACTORY · def clean_error [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
The record says
For alarm codes not listed in Studio's tables, Studio says to power on again, and to contact technical support if several power cycles do not fix it.
For alarm codes that are not listed in the above table: Power on again. If the problem remains unsolved after power on/off for multiple times, please contact technical support.
UFACTORY Studio User Manual (online), 12. Error Handling · UFACTORY · 12.1, after table [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 says to check the arm regularly for loosening bolts.
Check the robotic arm regularly to prevent loosening of the bolts that may cause undesirable consequences.
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
To clean the xArm's carbon fiber shell, the manual says 95% alcohol or 70% isopropanol can be used, taking care not to let liquid get into the joints. It says a small amount of grease may rarely be seen at the joints and will not affect normal use or joint life.
Quote not shown (over 40 words). See the source at: 5. Maintenance and Inspection, Clean [series text: names no single model].
UFACTORY xArm Hardware Manual (online), 5. Maintenance and Inspection · UFACTORY · 5. Maintenance and Inspection, Clean [series text: names no single model]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
When cleaning the carbon fiber surface, be careful not to let the liquid penetrate the joints.
UFACTORY xArm Hardware Manual (online), 5. Maintenance and Inspection · UFACTORY · 5, Note [series text: names no single model]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
The record says
If the xArm is not used for 3 months or more, the manual says to power it on for 6 hours every 3 months to charge its built-in battery, with the Control Box emergency stop button released; the arm does not need to be enabled.
Quote not shown (over 40 words). See the source at: 5. Maintenance and Inspection, Long-term placement [series text: names no single model].
UFACTORY xArm Hardware Manual (online), 5. Maintenance and Inspection · UFACTORY · 5. Maintenance and Inspection, Long-term placement [series text: names no single model]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
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 manual says to remove the main power cable from the controller to ensure complete power disconnection, and to take precautions against anyone re-energizing the system during maintenance.
Remove the main power cable from the controller to ensure complete power disconnection. Take necessary precautions to prevent unauthorized re-energization of the system by others during maintenance.
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
Camera C2 (Robot/Laser) monitors the robot–laser work area.
Camera C2 – Robot/Laser Monitors the robot–laser work area.
IntelliMake Phase 1 Factory: Autonomous Production Demonstrator (infographic) · IntelliMake.org · Camera C2 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
UFACTORY Studio's default TCP presets include 'Gripper', at a payload of 0.82 kg with its centre of gravity at z = 48 mm and a TCP offset of z = 172 mm, and 'Vacuum Gripper', at 0.61 kg, centre of gravity z = 53 mm, TCP offset z = 126 mm.
Default TCP payload：[kg,Cx,Cy,Cz][x,y,z,roll,pitch,yaw]
UFACTORY Studio User Manual (online), 7. Settings · UFACTORY · 7.1.2 TCP, Default TCP payload [general Studio text; the Studio manual says it applies to the xArm6]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-13
Gripper: [0.82,0,0,48]，[0,0,172,0,0,0]
UFACTORY Studio User Manual (online), 7. Settings · UFACTORY · 7.1.2 TCP, Default TCP payload, list item 'Gripper' [general Studio text; the Studio manual says it applies to the xArm6] (read 2026-10-13, publisher's commit cf19147; until that date, at commit 533b75d, the item read 'xArm Gripper: [0.82,0,0,48]，[0,0,172,0,0,0]')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-13
Vacuum Gripper: [0.61,0,0,53]，[0,0,126,0,0,0]
UFACTORY Studio User Manual (online), 7. Settings · UFACTORY · 7.1.2 TCP, Default TCP payload, list item 'Vacuum Gripper' [general Studio text; the Studio manual says it applies to the xArm6] (read 2026-10-13, publisher's commit cf19147; until that date, at commit 533b75d, the item read 'xArm Vacuum Gripper: [0.61,0,0,53]，[0,0,126,0,0,0]')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-13
The record says
UFACTORY's Python SDK example template starts the arm in six steps: instantiate XArmAPI (with do_not_open true), register an error callback, connect, enable motion, set the mode, and set the state.
1. Instantiate XArmAPI and specify do_not_open to be true
xArm-Python-SDK example 0000-template.py · UFACTORY · Docstring, steps 1-6 [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
2. Registration error callback function
xArm-Python-SDK example 0000-template.py · UFACTORY · Docstring [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
3. Connect
xArm-Python-SDK example 0000-template.py · UFACTORY · Docstring [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
4. Enable motion
xArm-Python-SDK example 0000-template.py · UFACTORY · Docstring [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
5. Setting mode
xArm-Python-SDK example 0000-template.py · UFACTORY · Docstring [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
6. Setting state
xArm-Python-SDK example 0000-template.py · UFACTORY · Docstring [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
The record says
The Control Box enters mode 0 (position control) by default after start-up. Setting state 0 puts the arm in STANDBY in the current mode and clears the error code, after which the reported state switches to 2 (ready).
The control box enters this mode by default after startup.
UFACTORY Studio User Manual (online), 10. Robotic Arm Motion Mode and State · UFACTORY · 10.1 Mode 0: Position Control Mode [general Studio text; the Studio manual says it applies to the xArm6]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Set: configure the robot the be STANDBY state in corresponding mode, and clear the error code as well. Note: after this setting, the feedback state will switch to 2(REDDY) automatically.
UFACTORY Studio User Manual (online), 10. Robotic Arm Motion Mode and State · UFACTORY · 10.2 State 0 [general Studio text; the Studio manual says it applies to the xArm6]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
The record says
A controller input configured as Enable Robot enables the arm when triggered, and one configured as Offline Task can trigger Blockly projects; both functions are available on CI0-CI7 and DI0-DI7.
Enable Robot: Enable the robotic arm by triggering IO.
UFACTORY Studio User Manual (online), 7. Settings · UFACTORY · 7.2.2, IO Function [general Studio text; the Studio manual says it applies to the xArm6]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-13
Offline Task: Offline Task can add multiple Blockly to be triggered through I/O.
UFACTORY Studio User Manual (online), 7. Settings · UFACTORY · 7.2.2, IO Function [general Studio text; the Studio manual says it applies to the xArm6]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-13
Offline Task | Yes | Yes
UFACTORY xArm Hardware Manual (online), 3. Controller Electrical Interface · UFACTORY · 3.4, 'Configurable IO' table [series text: names no single model]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Enable Robot | Yes | Yes
UFACTORY xArm Hardware Manual (online), 3. Controller Electrical Interface · UFACTORY · 3.4, 'Configurable IO' table [series text: names no single model]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
The record says
The SDK's set_tcp_load notes say the setting is lost after a reboot if not saved; save_conf records the current settings so they are not lost after a restart, and clean_conf restores the system default settings.
2. If not saved, it will be lost after reboot
xArm-Python-SDK API documentation (doc/api/xarm_api.md) · UFACTORY · def set_tcp_load, Notes [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
1. This interface can record the current settings and will not be lost after the restart.
xArm-Python-SDK API documentation (doc/api/xarm_api.md) · UFACTORY · def save_conf [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
2. The clean_conf interface can restore system default settings
xArm-Python-SDK API documentation (doc/api/xarm_api.md) · UFACTORY · def save_conf [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
The record says
UFACTORY's support article says collision detection may sometimes be falsely triggered, often in relation to the end-effector load, center of mass, installation orientation and friction parameters. It recommends updating the weight and center of mass after changing the end effector or workpiece, updating the payload after pick and release actions in pick-and-place programs, setting the mounting direction correctly, and reloading the joint friction parameters after replacing the control box.
In practical applications, the robot's collision detection function may sometimes be falsely triggered. This phenomenon is often related to the end effector load, center of mass, installation orientation, and friction parameters.
Collision Detection in UFACTORY Robotic Arms: Current and Dynamic Model-based Feature (UFACTORY support article) · UFACTORY · Section 2 [names UFACTORY robotic arms generally]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
After changing end effector or workpiece, update the weight and center of mass settings in the TCP payload settings page of the software.
Collision Detection in UFACTORY Robotic Arms: Current and Dynamic Model-based Feature (UFACTORY support article) · UFACTORY · Section 3
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
In pick-and-place programs, update the payload settings after pick and release actions.
Collision Detection in UFACTORY Robotic Arms: Current and Dynamic Model-based Feature (UFACTORY support article) · UFACTORY · Section 3
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Ensure that the robotic arm’s mounting direction is set correctly in UFACTORY Studio or via SDK.
Collision Detection in UFACTORY Robotic Arms: Current and Dynamic Model-based Feature (UFACTORY support article) · UFACTORY · Section 3
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
After replacing the control box, reload the correct joint friction parameters for the robotic arm.
Collision Detection in UFACTORY Robotic Arms: Current and Dynamic Model-based Feature (UFACTORY support article) · UFACTORY · Section 3
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
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
From a program, state 3 pauses motion and state 0 resumes it; state 4 stops the arm, after which it accepts no command until the state is set back to STANDBY.
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 [general Studio text; the Studio manual says it applies to the xArm6]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
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 [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
Manual mode (mode 2) must be set via mode 0: if the current mode is not 0, a request for mode 2 first switches the arm to mode 0 and takes effect only on a second command. When drag teaching is finished, switch back to mode 0.
Quote not shown (over 40 words). See the source at: 10.1 Mode 2: Manual Mode [general Studio text; the Studio manual says it applies to the xArm6].
UFACTORY Studio User Manual (online), 10. Robotic Arm Motion Mode and State · UFACTORY · 10.1 Mode 2: Manual 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 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 [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
For error C22 (self-collision), Studio says to re-plan the path, and if the error keeps recurring, to turn on manual mode in Live Control and drag the arm back to a normal position. For C23 (joint angle beyond its limit), it says to press Initial Position in Live Control to bring the arm back.
C22 | Self-collision Error, Please Re-plan the Path.
UFACTORY Studio User Manual (online), 12. Error Handling · UFACTORY · 12.1, table, C22 [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 the robotic arm continues to report self-collision errors, please go to the "live control" interface to turn on the "manual mode" and drag the robotic arm back to the normal position.
UFACTORY Studio User Manual (online), 12. Error Handling · UFACTORY · 12.1, table, C22 [general Studio text; the Studio manual says it applies to the xArm6]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-13
C23 | Joints Angle Exceed Limit
UFACTORY Studio User Manual (online), 12. Error Handling · UFACTORY · 12.1, table, C23 [general Studio text; the Studio manual says it applies to the xArm6]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-13
Please go to the "Live Control" page and press the "Initial Position" button to let the robot back to the Initial position.
UFACTORY Studio User Manual (online), 12. Error Handling · UFACTORY · 12.1, table, C23, third line [general Studio text; the Studio manual says it applies to the xArm6] (read 2026-10-13, publisher's commit e28e232; until that date, at commit 533b75d, the button's name read "Initial POSITION")
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-13
The record says
For joint servo errors, Studio's recovery method is to re-power: release the emergency stop button on the Control Box, then enable the arm. For S16 (encoder initialization error), Studio says to make sure no external force moves the arm while it is powered on.
Error processing method: Re-power on, the steps are as follows: | Release the emergency stop button on the control box. | Enable the robotic arm.
UFACTORY Studio User Manual (online), 12. Error Handling · UFACTORY · 12.2 Joint Servo 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
Please ensure that no external force pushes the robot arm to move when it's powered on.
UFACTORY Studio User Manual (online), 12. Error Handling · UFACTORY · 12.2, table, S16 [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, the C31 row (abnormal current in the robotic arm) shows the robot's serial number, the joint with its theoretical and actual torque, the collision sensitivity, the TCP payload and center of mass, and the mounting direction, and gives one instruction: check whether the robot has collided.
C31 | Abnormal current in the robotic arm.
UFACTORY Studio User Manual (online), 12. Error Handling · UFACTORY · 12.1 table, C31 [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
Robot SN: XXXXXXXXXXXX
UFACTORY Studio User Manual (online), 12. Error Handling · UFACTORY · 12.1 table, C31, second line (read 2026-10-13, publisher's commit e28e232)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-13
Joint ID [x], theoretical torque is xx.xx N·m, actual torque is xx.xx N·m
UFACTORY Studio User Manual (online), 12. Error Handling · UFACTORY · 12.1 table, C31, third line (read 2026-10-13, publisher's commit e28e232)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-13
Collision sensitivity x
UFACTORY Studio User Manual (online), 12. Error Handling · UFACTORY · 12.1 table, C31, fourth line (read 2026-10-13, publisher's commit e28e232)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-13
TCP payload xx kg, center ofmass [0 ,0,0]mm
UFACTORY Studio User Manual (online), 12. Error Handling · UFACTORY · 12.1 table, C31, fifth line (read 2026-10-13, publisher's commit e28e232)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-13
Mounting direction [xx°,xx°]
UFACTORY Studio User Manual (online), 12. Error Handling · UFACTORY · 12.1 table, C31, sixth line (read 2026-10-13, publisher's commit e28e232)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-13
Please check whether the robot collides
UFACTORY Studio User Manual (online), 12. Error Handling · UFACTORY · 12.1 table, C31, last 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 the handling for error C31. Until 2026-10-13 it listed six numbered checks. As read on 2026-10-13 it shows a diagnostic readout and one instruction; the other five checks are no longer in the row. The manual does not say they no longer apply. UFACTORY's release note for Studio 2.7.0 says C31 'now displays the robot-arm serial number' and that theoretical and actual torque values are logged when the error occurs; it does not mention the six checks, and no fetched source says which Studio versions show the six checks or the single instruction.
Awaiting cell access: this could be confirmed or corrected once the physical S6 cell can be observed.
Related: ops-572 Verified ops-591 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
C31 | Abnormal current in the robotic arm | 1. Check whether the robotic arm collides.
UFACTORY Studio User Manual, 12. Error Handling, as it read until 2026-10-13 (publisher's repository, commit 533b75d) · UFACTORY · 12.1 table, C31, title and first check (the text until 2026-10-13: publisher's commit 533b75d)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-13
6. Go to "Settings"-"Motion"-"Sensitivity Settings" to lower the collision sensitivity.
UFACTORY Studio User Manual, 12. Error Handling, as it read until 2026-10-13 (publisher's repository, commit 533b75d) · UFACTORY · 12.1 table, C31, sixth check (the text until 2026-10-13: publisher's commit 533b75d)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-13
C31 | Abnormal current in the robotic arm.
UFACTORY Studio User Manual (online), 12. Error Handling · UFACTORY · 12.1 table, C31 [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 whether the robot collides
UFACTORY Studio User Manual (online), 12. Error Handling · UFACTORY · 12.1 table, C31, last line (read 2026-10-13, publisher's commit e28e232)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-13
C31 now displays the robot-arm serial number; theoretical and actual torque values are logged when the error occurs.
UFACTORY Release Note v2.7.0 · UFACTORY · Error Handling, the C31 line (read 2026-10-13)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
The record says
As UFACTORY's Studio manual read until 2026-10-13, for error C31 (abnormal current in the arm), Studio lists six checks: whether the arm has collided; whether the TCP payload mass and center of mass match the actual payload; whether the mounting direction matches reality; whether TCP payload parameters set in the program match the actual payload; reduce the motion speed; and lower the collision sensitivity.
C31 | Abnormal current in the robotic arm
UFACTORY Studio User Manual, 12. Error Handling, as it read until 2026-10-13 (publisher's repository, commit 533b75d) · UFACTORY · 12.1, table, C31 [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
1. Check whether the robotic arm collides.
UFACTORY Studio User Manual, 12. Error Handling, as it read until 2026-10-13 (publisher's repository, commit 533b75d) · UFACTORY · 12.1, C31 [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
2. Check whether the mass and center of mass set at "Settings"-"TCP Settings"-"TCP Payload" match the actual payload.
UFACTORY Studio User Manual, 12. Error Handling, as it read until 2026-10-13 (publisher's repository, commit 533b75d) · UFACTORY · 12.1, C31 [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
3. Check whether the mounting direction set at "Settings"-"Mounting" matches the actual situation.
UFACTORY Studio User Manual, 12. Error Handling, as it read until 2026-10-13 (publisher's repository, commit 533b75d) · UFACTORY · 12.1, C31 [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
4. Check whether the TCP payload parameters set in your program match the actual payload.
UFACTORY Studio User Manual, 12. Error Handling, as it read until 2026-10-13 (publisher's repository, commit 533b75d) · UFACTORY · 12.1, C31 [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
5. Reduce the motion speed of the robotic arm.
UFACTORY Studio User Manual, 12. Error Handling, as it read until 2026-10-13 (publisher's repository, commit 533b75d) · UFACTORY · 12.1, C31 [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
6. Go to "Settings"-"Motion"-"Sensitivity Settings" to lower the collision sensitivity.
UFACTORY Studio User Manual, 12. Error Handling, as it read until 2026-10-13 (publisher's repository, commit 533b75d) · UFACTORY · 12.1, C31 [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 Settings page says that when the torque deviation detected at a joint exceeds a normal range during motion, the arm stops automatically to prevent injury to the arm or operator. It gives collision sensitivity as levels 1 to 5: the higher the level, the smaller the additional torque needed to trigger collision protection. It says an inaccurate load or installation direction may cause false alarms, and that during some high-load or high-speed moves, once the load and installation direction are confirmed accurate, the sensitivity can be lowered, but lowering it below 3 is not recommended.
Quote not shown (over 40 words). See the source at: 7.1.1 Parameters, Collision Detection Sensitivity [general Studio text; the Studio manual says it applies to the xArm6].
UFACTORY Studio User Manual (online), 7. Settings · UFACTORY · 7.1.1 Parameters, Collision Detection Sensitivity [general Studio text; the Studio manual says it applies to the xArm6]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-13
Quote not shown (over 40 words). See the source at: 7.1.1, Collision Detection Sensitivity [general Studio text; the Studio manual says it applies to the xArm6].
UFACTORY Studio User Manual (online), 7. Settings · UFACTORY · 7.1.1, Collision Detection Sensitivity [general Studio text; the Studio manual says it applies to the xArm6]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-13
During certain high loads or high speed movements, if you confirm that the load or installation direction is set accurately, you can try to lower the collision sensitivity, but it is not recommended to lower it to less than 3.
UFACTORY Studio User Manual (online), 7. Settings · UFACTORY · 7.1.1, Collision Detection Sensitivity [general Studio text; the Studio manual says it applies to the xArm6]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-13
The record says
The xArm manual says not to alter any information in the controller safety configuration: if parameters in the configuration file are modified, the entire robot system shall be deemed a new system, which necessitates updating all safety review processes, such as risk assessments.
Quote not shown (over 40 words). See the source at: 1.4 Personnel Safety, WARNING [series text: names no single model].
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
UFACTORY Studio's Debugging Tools can unlock a single joint so it can be turned by hand; the unlocked joint provides no force. Studio says someone must support the arm's posture when joint brakes are released, to stop it falling, and that all joints must be re-locked manually afterwards.
Click 'unlock' to unlock a single joint. The unlocked joint does not have any force to provide and thence external force support is needed.
UFACTORY Studio User Manual (online), 7. Settings · UFACTORY · 7.4.2 Debugging Tools, Joint [general Studio text; the Studio manual says it applies to the xArm6]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-13
At this time, the joint can be dragged by hand to rotate. After confirming the position, please re-lock all the joints manually.
UFACTORY Studio User Manual (online), 7. Settings · UFACTORY · 7.4.2 Debugging Tools, Joint [general Studio text; the Studio manual says it applies to the xArm6]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-13
When releasing the joint brakes, someone must support the robot's posture to prevent the robotic arm from falling without external force and damage the robotic arm and surrounding equipment.
UFACTORY Studio User Manual (online), 7. Settings · UFACTORY · 7.4.2, DANGER [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
Studio says unlocking a joint is mainly used to move the arm to a relatively safe posture when it reports an error, and that a joint past its range should be adjusted back into range by hand; the arm must be held by hand while the joint is unlocked.
Quote not shown (over 40 words). See the source at: 7.4.2 Debugging Tools, Joint [general Studio text; the Studio manual says it applies to the xArm6].
UFACTORY Studio User Manual (online), 7. Settings · UFACTORY · 7.4.2 Debugging Tools, Joint [general Studio text; the Studio manual says it applies to the xArm6]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-13
Please ensure to hold the robotic arm by hand when unlocking the joint to prevent it from falling down
UFACTORY Studio User Manual (online), 7. Settings · UFACTORY · 7.4.2, Joint [general Studio text; the Studio manual says it applies to the xArm6]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-13
The record says
In the xArm manual's protective stop with a reset button, CI0 is set as Safeguard Reset in UFACTORY Studio (Settings - External - Controller IO - IO Function) and saved.
Configure "CI0" as the safeguard reset in UFactory studio.
UFACTORY xArm Hardware Manual (online), 3. Controller Electrical Interface · UFACTORY · 3.4.1.4 Protective Stop with Rest Button, step 1 [series text: names no single model] (read 2026-10-13)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Enter 'Settings - External - Controller IO - IO Function', set CI0 as safeguard reset and save.
UFACTORY xArm Hardware Manual (online), 3. Controller Electrical Interface · UFACTORY · 3.4.1.4 Protective Stop with Rest Button [series text: names no single model]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
The record says
In the xArm manual's protective stop with a reset button, the manual says that to resume motion SI0 and SI1 are connected to GND and motion is triggered by connecting CI0 to GND, and that to pause motion SI0 and SI1 are disconnected from GND.
If xArm needs to resume motion, connect SI0 and SI1 to GND, and trigger the motion of xArm by connecting CI0 to GND; if xArm needs to pause the motion, disconnect SI0 and SI1 from GND.
UFACTORY xArm Hardware Manual (online), 3. Controller Electrical Interface · UFACTORY · 3.4.1.4 Protective Stop with Rest Button [series text: names no single model]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
The record says
In the Python SDK, move_gohome() moves the arm back to zero at a default 50 °/s, and reset() clears errors and warnings and, if the arm is not ready, enables motion and sets the state automatically. The SDK warns that both run without limit detection.
Move to go home (Back to zero)
xArm-Python-SDK API documentation (doc/api/xarm_api.md) · UFACTORY · def move_gohome [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
Warning: without limit detection
xArm-Python-SDK API documentation (doc/api/xarm_api.md) · UFACTORY · def move_gohome [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
default is 50 °/s
xArm-Python-SDK API documentation (doc/api/xarm_api.md) · UFACTORY · def move_gohome, param speed [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
Reset the xArm | Warning: without limit detection
xArm-Python-SDK API documentation (doc/api/xarm_api.md) · UFACTORY · def reset [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
1. If there are errors or warnings, this interface will clear the warnings and errors.
xArm-Python-SDK API documentation (doc/api/xarm_api.md) · UFACTORY · def reset, 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
2. If not ready, the api will auto enable motion and set state
xArm-Python-SDK API documentation (doc/api/xarm_api.md) · UFACTORY · def reset, Note 2 [SDK text for the xArm API; names no single model]
© UFACTORY Inc., xArm-Developer/xArm-Python-SDK, BSD 3-Clause License · BSD-3-Clause · retrieved 2026-09-21
The record says
The xArm manual's motion-parameter table, which covers models XF1305, XI1305 and XS1305, gives the TCP (Cartesian) speed parameter a range of 0 to 1000 mm/s.
Speed 0～1000mm/s 0～180°/s
UFACTORY xArm Hardware Manual (online), Preface · UFACTORY · 'Motion Parameters' table (the Preface says 'Apply to Model: XF1305, XI1305, XS1305'; the table names no single model), columns 'TCP Motion' and 'Joint Motion'
© 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, first line
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
The record says
With two arms, loading incoming material (S2) and unloading and routing finished parts (S6) can happen at the same time. With one arm, both handling steps for every part would run one after the other on the same arm. The two steps meet at S4, where both arms work (int-062); how the arms share S4 is not documented. How much two arms help throughput is unknown, because no cycle times are documented (int-033), and the laser step may be the real bottleneck.
Why we infer this: Verified: the gift flow has two separate Cobot Handling steps, one before staging and laser engraving and one after (int-028), assigned to S2 and S6 (int-029). One arm would have to perform both in series; two arms let them overlap. This shows the steps can overlap, not that one arm would be the bottleneck: that depends on cycle times, which no available source documents (int-033). Verified: both arms work at S4, one placing the material and the other picking up the finished product (int-062), so the two handling steps meet at one station; no source says how the arms share it (int-612).
Receiving → Cobot Handling → Staging → Laser Engraving → Cobot Handling → Quality Decision
IntelliMake Phase 1 Factory: Autonomous Production Demonstrator (infographic) · IntelliMake.org · Initial Personalized Gift Production Flow
© 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.
both arms work at S4. one places the material to perform the work, the other picks up the finished product
Owner statements from 2026-09-24 onward (verbatim; S40 and later) · Derek Stringfellow · Statement S84, answering Q55(1)
Derek Stringfellow, project record · Project-internal record · retrieved 2026-10-04
Project copy; not published on this site.
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.
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
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
The record says
In xarm_ros2 the xArm 6 driver is started with 'ros2 launch xarm_api xarm6_driver.launch.py robot_ip:=<controller IP>'; its services and topics sit under a hardware namespace that defaults to 'xarm' for the xArm series (other arms use 'ufactory').
ros2 launch xarm_api xarm6_driver.launch.py robot_ip:=192.168.1.117
xarm_ros2 ReadMe (humble branch) · UFACTORY · 5.4 xarm_api, 'Use command line (xArm)'
© UFACTORY Inc., xArm-Developer/xarm_ros2, BSD 3-Clause License · BSD-3-Clause · retrieved 2026-09-21
All the services and topics are under <hw_ns>/ namespace
xarm_ros2 ReadMe (humble branch) · UFACTORY · 5.4 xarm_api
© UFACTORY Inc., xArm-Developer/xarm_ros2, BSD 3-Clause License · BSD-3-Clause · retrieved 2026-09-21
the xarm series defaults is xarm, and the rest defaults is ufactory
xarm_ros2 ReadMe (humble branch) · UFACTORY · 5. Quick start, Reminder 4
© UFACTORY Inc., xArm-Developer/xarm_ros2, BSD 3-Clause License · BSD-3-Clause · retrieved 2026-09-21
The record says
xarm_ros2's command-line start-up for the xArm 6 enables all joints with /xarm/motion_enable (id 8, data 1), then sets mode 0 and state 0 with /xarm/set_mode and /xarm/set_state.
# enable all joints:
xarm_ros2 ReadMe (humble branch) · UFACTORY · 5.4 xarm_api, 'Use command line (xArm)'
© UFACTORY Inc., xArm-Developer/xarm_ros2, BSD 3-Clause License · BSD-3-Clause · retrieved 2026-09-21
ros2 service call /xarm/motion_enable xarm_msgs/srv/SetInt16ById "{id: 8, data: 1}"
xarm_ros2 ReadMe (humble branch) · UFACTORY · 5.4 xarm_api, 'Use command line (xArm)'
© UFACTORY Inc., xArm-Developer/xarm_ros2, BSD 3-Clause License · BSD-3-Clause · retrieved 2026-09-21
ros2 service call /xarm/set_mode xarm_msgs/srv/SetInt16 "{data: 0}"
xarm_ros2 ReadMe (humble branch) · UFACTORY · 5.4 xarm_api, 'Use command line (xArm)'
© UFACTORY Inc., xArm-Developer/xarm_ros2, BSD 3-Clause License · BSD-3-Clause · retrieved 2026-09-21
ros2 service call /xarm/set_state xarm_msgs/srv/SetInt16 "{data: 0}"
xarm_ros2 ReadMe (humble branch) · UFACTORY · 5.4 xarm_api, 'Use command line (xArm)'
© UFACTORY Inc., xArm-Developer/xarm_ros2, BSD 3-Clause License · BSD-3-Clause · retrieved 2026-09-21
The record says
In UFACTORY's Modbus TCP register map, stored Blockly projects are started by writing up to 16 holding registers from address 0x30 with function code 0x10; each value selects a project by number (1 runs project '00001'), and the projects run automatically in order.
Why we infer this: Verified: UFACTORY's ModbusTCP User Instructions (UF_ModbusTCP_Manual, in the xArm-Python-SDK repository) state this, but that document names no robot model. Verified: the UFACTORY Studio manual, whose Preface lists the xArm 6, says the controller accepts standard Modbus TCP commands on port 502 (iface-569). Inferred: the register map very probably holds on the xArm 6's controller, but no document written for the xArm 6 gives it; a read of these registers on the S6 controller would confirm it.
Quote not shown (over 40 words). See the source at: Appendix, Holding Registers 48~63.
UFACTORY ModbusTCP User Instructions (xArm-Python-SDK doc/UF_ModbusTCP_Manual.md) · UFACTORY · Appendix, Holding Registers 48~63
© UFACTORY Inc., xArm-Developer/xArm-Python-SDK, BSD 3-Clause License · BSD-3-Clause · retrieved 2026-09-21
Project advice
For the xArm 6 at S6, command motion through the Python SDK in mode 0 and read state from its automatic reports rather than streaming servo-mode targets; confirm the S6 controller's IP address, hardware version and Modbus TCP register map on the cell before relying on them.
This is advice from this project, based on: iface-575 Verified iface-576 Verified iface-586 Verified iface-527 Verified iface-526 Verified iface-533 Gap, awaiting cell access iface-534 Gap, awaiting cell access iface-569 Verified
Why: In mode 0, joint and straight-line moves are complete commands (iface-575), so each can be checked before it is sent. Servo mode runs only the latest target, with no buffer, at the arm's fastest speed, and is best fed smoothed points at a certain frequency, preferably 100 Hz or 200 Hz (iface-576). Errors come back only in the reply to the next command (iface-586), so state is best read from the report ports (30001-30003), whose rates the Developer Manual gives (iface-527). The S6 IP address, the arm's hardware version and the Modbus register map are not confirmed for this arm (iface-533, iface-534, and the Inferred register-map records that rest on iface-569).
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.
Project advice
Do not use UFACTORY Studio's simulated-arm mode as the simulation substrate for S6 agent work: it needs a real arm connected, its settings apply to the real arm, and its unlock-joint button unlocks the real joints.
This is advice from this project, based on: safety-528 Verified
Why: Studio's own text says both modes need a real arm and that simulation-mode settings and joint unlocking act on it, so it does not isolate an agent from the machine.
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
The record says
In IntelliMake's Phase 1 layout, S6 (the UFactory xArm 6 cobot) is drawn directly after S5, the xTool F1 Ultra laser engraver, with a flow arrow from S5 into S6. S5 performs personalization through laser engraving or marking, so in the drawing the laser station is S6's immediate upstream neighbor.
S5 xTool F1 Ultra Laser Engraver Performs personalization through laser engraving or marking.
IntelliMake Phase 1 Factory: Autonomous Production Demonstrator (infographic) · IntelliMake.org · S5 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.
S6 UFactory xArm 6 Cobot
IntelliMake Phase 1 Factory: Autonomous Production Demonstrator (infographic) · IntelliMake.org · S6 station label
© 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 S5 laser engraver stays in one place, and the S4 conveyor moves the product from one location to another.
Awaiting cell access: this could be confirmed or corrected once the physical S6 cell can be observed.
S4 engrave will remain stationary and the conveyer swill be the means of moving the product from one location to another.
Owner statements from 2026-09-24 onward (verbatim; S40 and later) · Derek Stringfellow · Statement S172 (2026-10-09), IntelliMake Notes
Derek Stringfellow, project record · Project-internal record · retrieved 2026-10-04
Project copy; not published on this site.
Yes, it is S5
Owner statements from 2026-09-24 onward (verbatim; S40 and later) · Derek Stringfellow · Statement S102, answer (2), to whether the engraver travelling along the S4 conveyor is the course's S5, the xTool F1 Ultra
Derek Stringfellow, project record · Project-internal record · retrieved 2026-10-04
Project copy; not published on this site.
The record says
S1, the Incoming Logistics Conveyor / Receiving station, precedes S2: it receives incoming blanks or materials and moves them into production.
Receives incoming blanks or materials, moves them into production.
IntelliMake Phase 1 Factory: Autonomous Production Demonstrator (infographic) · IntelliMake.org · S1 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
S8, the Outbound Conveyor, moves completed products toward final packing and shipment. It is one of the stations after S6 in IntelliMake's layout; the diagram labels it both 'QC Hold' and 'Shipping' (see int-038).
S8 Outbound Conveyor / QC Hold Moves completed products toward final packing and shipment.
IntelliMake Phase 1 Factory: Autonomous Production Demonstrator (infographic) · IntelliMake.org · Upper S8 panel, 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.
S8 Outbound Conveyor / Shipping
IntelliMake Phase 1 Factory: Autonomous Production Demonstrator (infographic) · IntelliMake.org · Lower S8 label
© 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
S10, Packing / Labeling, carries out final product preparation, identification, labeling and packing. It is the last station in IntelliMake's layout, and 'Packing & Labeling' is the last step of the initial gift production flow.
S10 Packing / Labeling Final product preparation, identification, labeling, and packing.
IntelliMake Phase 1 Factory: Autonomous Production Demonstrator (infographic) · IntelliMake.org · S10 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.
Shipping / Rework → Packing & Labeling
IntelliMake Phase 1 Factory: Autonomous Production Demonstrator (infographic) · IntelliMake.org · Initial Personalized Gift Production Flow banner, last steps
© 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 manual makes the integrators of the xArm responsible for complying with the country's safety laws and regulations, including making a risk assessment for the complete system and making sure there is a safe distance between people and the xArm when they interact with it.
The integrators of xArm are responsible for the compliance of applicable safety laws and regulations in the country, to prevent any hazards in the operating environment. This includes, but is not limited to:
UFACTORY xArm Hardware Manual (online), 1. Safety · UFACTORY · 1.1 Validity and Responsibility [series text: names no single model]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Making a risk assessment for the complete system. Make sure to have a safe distance between people and xArm when interacting with the xArm.
UFACTORY xArm Hardware Manual (online), 1. Safety · UFACTORY · 1.1, list item 1 [series text: 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
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.
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.
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.
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
What S2 publishes to the other agents or the hub is not defined: placement confirmations, S3 slot updates, faults and error codes, its own ready or busy state, and whether any work-order or traceability data passes through S2. IntelliMake says this will be developed as the simulation is created.
Related: int-020 Verified int-048 Inferred
This will be developed as we create the simulation.
xArm 850 S2 Project: Open Questions for IntelliMake, Batch 01 responses · IntelliMake.org · Question 10, Answer column
© IntelliMake.org. Used with permission. · Cleared for use by its owner · retrieved 2026-09-29
Project copy; not published on this site.
Sources disagree
IntelliMake's written answer (Batch 01, Question 2) and the project's earlier statements have S2 place a part on S4, or on S3 when S4 is busy or the part does not fit there, so that parts need not pass through staging; this project's simulation was specified from that reading, moving cards from one conveyor to another (int-013, int-014, int-051). The project's later statement S146, answering which is right now, gives the route as S1 to S3, and S3 to S4: S2 arranges parts on S3 first, then later moves them from S3 to S4 (int-081). The later statement is the current reading; the earlier records are kept as history, marked as superseded.
Related: int-014 Superseded by int-081 Verified int-051 Superseded by int-081 Verified int-081 Verified int-013 Superseded by int-081 Verified
S2 can place either on s3 or s4 depending upon availablitity or fit could even pause if neither are available.
xArm 850 S2 Project: Open Questions for IntelliMake, Batch 01 responses · IntelliMake.org · Question 2, Answer column
© IntelliMake.org. Used with permission. · Cleared for use by its owner · retrieved 2026-09-29
Project copy; not published on this site.
S2 can place on S3 or S4. If S4 is busy, it goes to S3.
Owner statements, 2026-09-21 (verbatim) · Derek Stringfellow · Statement S5
Derek Stringfellow, project record · Project-internal record · retrieved 2026-09-21
Project copy; not published on this site.
The simulation uses the arm to pick up business cards from one conveyor system and places it on a different conveyor system for engraving (current)
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.
Today our plan has S2 putting parts straight onto S4 (the engraver) and using S3 only when S4 is busy. Which is right now?
Owner statements from 2026-09-24 onward (verbatim; S40 and later) · Derek Stringfellow · Statement S146 (2026-10-07), question (2) as asked
Derek Stringfellow, project record · Project-internal record · retrieved 2026-10-04
Project copy; not published on this site.
S1 to S3, and S3 to S4
Owner statements from 2026-09-24 onward (verbatim; S40 and later) · Derek Stringfellow · Statement S146 (2026-10-07), answer (2)
Derek Stringfellow, project record · Project-internal record · retrieved 2026-10-04
Project copy; not published on this site.
Sources disagree
The project's earlier statement says S2 'can not simply stack' workpieces (int-017), which this project's S2 design read as one card per place on S3. Asked whether same-color cards are placed on top of each other or side by side, the later statement S146 answers 'On top of each other': real stacks on S3 (int-084). The later statement is the current reading for S3, and int-017 is kept as history, marked as superseded. Whether the rest of the earlier rule, not breaking the space the system allocates, still holds is not stated.
Related: int-017 Superseded by int-084 Verified int-080 Verified int-084 Verified
It can not simply stack or break the allocatied space the system will have in place.
Owner statements, 2026-09-21 (verbatim) · Derek Stringfellow · Statement S6
Derek Stringfellow, project record · Project-internal record · retrieved 2026-09-21
Project copy; not published on this site.
Our safety rules today forbid stacking: one card per spot on S3. Do you mean cards placed on top of each other, or side by side in the same area?
Owner statements from 2026-09-24 onward (verbatim; S40 and later) · Derek Stringfellow · Statement S146 (2026-10-07), question (3) as asked
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
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
How this project's simulation keeps to the cell's route is not fully settled. Since its configuration's schema 0.5.0 (2026-10-07), the simulation is configured to take each card from S1 to S3, then from S3 to S4 (int-081), and S3 has a staging area and a defects area whose stacks each hold up to 10 cards, a labelled placeholder (int-104; one card until 2026-10-18). Since 2026-10-09 the simulation's motion process refuses to place a card anywhere its route does not take it from the place it was picked, and refuses any pick or place in the defects area, which a person must decide (the way for a person to decide is not yet built). Keeping one colour to each stack, and which stack a card goes to, are designed but not enforced: they rest on labels the simulation cannot check. Before 0.5.0 the simulation placed each card on S4, or on S3 when S4 was busy (int-014).
Related: int-014 Superseded by int-081 Verified int-017 Superseded by int-084 Verified int-081 Verified int-082 Contradiction int-083 Contradiction int-084 Verified int-085 Verified
Not known
The xArm manual gives no step-by-step unpacking procedure or packing checklist; its transport section covers lifting the arm and controller and keeping the packaging.
Transport the robot in the original packaging.
UFACTORY xArm Hardware Manual (online), 7. Production Information · UFACTORY · 7.5 Transportation [series text: names no single model]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Not known
The text of the xArm manual's Robot Base Mounting section (2.2.3.1) consists of two figures and gives no written bolt size, bolt count or tightening torque. Any such figures are in the images, which this corpus has not read; no other chapter states them.
2.2.3.1 Robot Base Mounting
UFACTORY xArm Hardware Manual (online), 2. Hardware Installation · UFACTORY · 2.2.3.1 Robot Base Mounting (heading followed only by figures) [series text: names no single model]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Sources disagree
The xArm manual gives two different AC input ranges for the AC Control Box: the cabling step says 110V-240V, while section 3.2.2 says 100V-240V AC (47-63 Hz) and section 8.1 says 100-240V AC 50/60 Hz.
AC (110V-240V)
UFACTORY xArm Hardware Manual (online), 2. Hardware Installation · UFACTORY · 2.2.3.2 Connect with Controller, step 3 [series text: names no single model]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
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) [series text: names no single model]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Input | 100-240V AC 50/60 Hz
UFACTORY xArm Hardware Manual (online), 8. Technical Specifications · UFACTORY · 8.1 xArm5/xArm6/xArm7 Common Specifications, AC Controller column [names the xArm 6]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-15
Not known
No fetched UFACTORY source gives the default collision sensitivity level for the xArm 6: the Studio settings page and glossary give the range, and the SDK's set_collision_sensitivity gives no default.
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
: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
Not known
UFACTORY's Studio manual does not say how a script is run, paused, resumed or stopped in the Python IDE, nor how a paused Blockly program is resumed: it lists Blockly's Run and Pause buttons and the STOP button, and no Resume.
Related: iface-502 Verified ops-704 Verified safety-548 Verified
Python IDE is a Python development integration environment
UFACTORY Studio User Manual (online), 5. Blockly · UFACTORY · 5.4 Python IDE, the whole section (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
2. Pause: Pause the Blockly program.
UFACTORY Studio User Manual (online), 5. Blockly · UFACTORY · 5.1 Interface Overview (read 2026-10-23, publisher's commit cf19147)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-13
STOP: The robotic arm will stop immediately and clear all cache commands.
UFACTORY Studio User Manual (online), 4. Live Control · UFACTORY · 4.5 Enable & STOP button (read 2026-10-23, publisher's commit cf19147)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-13
Not known
How the xArm 6's suction tool is switched from UFACTORY Studio's Live Control is not recorded: the Studio manual lists the Vacuum Gripper among Live Control's end effectors without describing its buttons, and no screen of the xArm 6's Live Control has been captured.
Awaiting cell access: this could be confirmed or corrected once the physical S6 cell can be observed.
How this would be checked: Read the xArm 6's Live Control with lab staff, and test the control on a card on the work surface with hands clear.
Related: iface-502 Verified int-528 Verified, awaiting cell access int-512 Gap, awaiting cell access
Vacuum Gripper
UFACTORY Studio User Manual (online), 4. Live Control · UFACTORY · 4.1 End Effector, list (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
Sources disagree
The xArm manual describes what an emergency stop needs before the arm can run again in two different ways. The emergency-stop column of section 3.4.1's table says 'Need re-initiation: Only releasing the brake'. Section 2.1.2 lists two restart steps: power the xArm up by turning the emergency stop button, then enable it (the servo motors) from Studio or the SDK. The manual does not say how the two relate.
Need re-initiation | Only releasing the brake | No
UFACTORY xArm Hardware Manual (online), 3. Controller Electrical Interface · UFACTORY · 3.4.1 Safety IO(EISI), table (Emergency Stop | Protective Stop columns) [series text: names no single model]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Power up the xArm (Turn the emergency stop button in the direction of the arrow).
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
Enable the xArm (enable the servo motor), Enable button on the UFACTOR Studio or Python SDK motion_enable(true).
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
IntelliMake diagrams are redrawn as native figures, © IntelliMake.org. UFACTORY does not endorse this platform.