References: §1 xArm 6 Overview

Provenance

References · 60

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

Key to the badges

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

Confidence: Verifiedspec-501
The record says
The xArm 6 has 6 degrees of freedom.
Evidence · 3 citations
Degress of Freedom 6
UFACTORY xArm Hardware Manual (online), 8. Technical Specifications · UFACTORY · Table 'xArm6', 'Degress of Freedom' row (sic) (section '8.3 xArm6 Specifications': names the xArm 6)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-15
Open the source
Degrees of freedom 5 6 7
UFACTORY xArm product page · UFACTORY · 'Degrees of freedom' row (Tech Specs > Comparison table, columns xArm 5, xArm 6, xArm 7; value read from the xArm 6 column)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
This robot arm has 6 axes, with 5kg payload and 1m/s speed.
The difference between UFACTORY xArm5, UFACTORY xArm6 and UFACTORY xArm7 (Help Center article) · UFACTORY · Section 1 'Main difference in brief', xArm 6 entry
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source Plain http: this publisher has no certificate for that name, so what loads cannot be verified.
Confidence: Verifiedspec-502
The record says
The xArm 6 has a maximum payload of 5 kg.
Evidence · 3 citations
Max Payload 5kg
UFACTORY xArm Hardware Manual (online), 8. Technical Specifications · UFACTORY · Table 'xArm6', 'Max Payload' row (section '8.3 xArm6 Specifications': names the xArm 6)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-15
Open the source
Payload 3kg 5kg 3.5kg
UFACTORY xArm product page · UFACTORY · 'Payload' row (Tech Specs > Comparison table, columns xArm 5, xArm 6, xArm 7; value read from the xArm 6 column)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
This robot arm has 6 axes, with 5kg payload and 1m/s speed.
The difference between UFACTORY xArm5, UFACTORY xArm6 and UFACTORY xArm7 (Help Center article) · UFACTORY · Section 1 'Main difference in brief', xArm 6 entry
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source Plain http: this publisher has no certificate for that name, so what loads cannot be verified.
Confidence: Verifiedspec-503
The record says
UFACTORY gives the xArm 6 a reach of 700 mm.
Evidence · 2 citations
Reach 700mm 700mm 700mm
UFACTORY xArm product page · UFACTORY · 'Reach' row (Tech Specs > Comparison table, columns xArm 5, xArm 6, xArm 7; value read from the xArm 6 column)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Reach(mm) 700mm 700mm 700mm
The difference between UFACTORY xArm5, xArm6 and xArm7 (support article) · UFACTORY · Section 1 Specifications, 'Reach(mm)' row (columns xArm 5 Lite, xArm 6, xArm 7; value read from the xArm 6 column)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
Confidence: Verifiedint-009
The record says
S6 is a UFactory xArm 6 cobot that handles parts after processing, routing them to inspection, rework or shipping.
Evidence · 1 citation
Handles parts after proces. routing them to inspection, rework, or shipping.
IntelliMake Phase 1 Factory: Autonomous Production Demonstrator (infographic) · IntelliMake.org · S6 station label and description
© IntelliMake.org. Used with permission; redrawn for this platform. · Cleared for use by its owner · retrieved 2026-09-21
Project copy; not published on this site.
Confidence: Verifiedcomp-502
The record says
The xArm arm consists of a base and rotary joints, each joint a degree of freedom, numbered from the bottom as Joint 1, Joint 2 and so on; the last joint is the tool side, where end effectors such as a gripper connect. The xArm 6 has six such joints.
Evidence · 3 citations
The xArm robotic arm system consists of a base and rotary joints, and each joint represents a degree of freedom. From the bottom to the top, in order, Joint 1, Joint 2, Joint 3, etc.
UFACTORY xArm Hardware Manual (online), 2. Hardware Installation · UFACTORY · 2.1.1 Hardware Composition (chapter says 'Apply to Model: XF1305, XI1305, XS1305 (1305 Model)')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
The last joint is known as the tool side and can be used to connect end-effector (e. g. gripper, vacuum gripper, etc).
UFACTORY xArm Hardware Manual (online), 2. Hardware Installation · UFACTORY · 2.1.1 Hardware Composition (chapter says 'Apply to Model: XF1305, XI1305, XS1305 (1305 Model)')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
Degress of Freedom 6
UFACTORY xArm Hardware Manual (online), 8. Technical Specifications · UFACTORY · Table 'xArm6', 'Degress of Freedom' row (sic) (section '8.3 xArm6 Specifications': names the xArm 6)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-15
Open the source
Confidence: Verifiedcomp-507
The record says
The xArm arm is made of aluminum and carbon fiber (the manual gives this in common for the xArm 5, 6 and 7).
Evidence · 2 citations
Materials Aluminium, Carbon Fiber
UFACTORY xArm Hardware Manual (online), 8. Technical Specifications · UFACTORY · 'Materials' row (section '8.1 xArm5/xArm6/xArm7 Common Specifications': applies to all three models)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-15
Open the source
Materials Aluminum, Carbon Fiber
UFACTORY xArm product page · UFACTORY · Tech Specs > Hardware, 'xArm Robot Specs' table (xArm product page, which covers the xArm 5, 6 and 7)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Confidence: Verifiedspec-505
The record says
The online hardware manual and the product page give the xArm 6 arm's weight (arm only) as 12.5 kg; another UFACTORY source differs (see the contradiction).
Evidence · 2 citations
Wight(robotic arm only) 12.5kg
UFACTORY xArm Hardware Manual (online), 8. Technical Specifications · UFACTORY · Table 'xArm6', 'Wight(robotic arm only)' row (sic) (section '8.3 xArm6 Specifications': names the xArm 6)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-15
Open the source
Weight(robot arm only) 11.3kg 12.5kg 14.3kg
UFACTORY xArm product page · UFACTORY · 'Weight(robot arm only)' row (Tech Specs > Comparison table, columns xArm 5, xArm 6, xArm 7; value read from the xArm 6 column)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Confidence: Verifiedapp-502
The record says
UFACTORY's help article says the xArm 6 is designed for manufacturing and assembly-line automation, including more complex actions such as loading and unloading and pick and place.
Evidence · 1 citation
The 6 axis robot arm is designed for manufacturing and assembly line automation, including more complex actions, for example, load and unload, pick and place...
The difference between UFACTORY xArm5, UFACTORY xArm6 and UFACTORY xArm7 (Help Center article) · UFACTORY · Section 1 'Main difference in brief', xArm 6 entry
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source Plain http: this publisher has no certificate for that name, so what loads cannot be verified.
Confidence: Verifiedapp-501
The record says
UFACTORY's xArm product page, which covers the xArm 5, 6 and 7, lists machine tending, bin picking, mobile platforms, lab automation and robotic research as ideal uses.
Evidence · 1 citation
Ideal for:
￮ Machine Tending
￮ Bin Picking
￮ Mobile platform
￮ Lab Automation
￮ Robotic Research
UFACTORY xArm product page · UFACTORY · Hero banner, 'Ideal for' list (xArm product page, which covers the xArm 5, 6 and 7)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Confidence: Inferredint-523
The record says
UFACTORY describes the xArm 6 as designed for manufacturing and assembly-line automation, including more complex actions such as load and unload, and pick and place. S6's IntelliMake role, handling parts after processing and routing them onward, is a task of that kind.
Why we infer this: UFACTORY's article names load and unload and pick and place among the xArm 6's intended tasks; IntelliMake's S6 description (handling and routing parts) is a pick-and-place task. The match is this project's reading; neither source refers to the other.
Evidence · 2 citations
The 6 axis robot arm is designed for manufacturing and assembly line automation, including more complex actions, for example, load and unload, pick and place
The difference between UFACTORY xArm5, UFACTORY xArm6 and UFACTORY xArm7 (Help Center article) · UFACTORY · Section 1, 'Main difference in brief', xArm 6 entry
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source Plain http: this publisher has no certificate for that name, so what loads cannot be verified.
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.
Confidence: Verifiedapp-504
The record says
UFACTORY's help article describes the xArm series as collaborative robots, which it says specialize in sharing tasks and spaces with humans.
Evidence · 2 citations
These collaborative robots specialize in sharing tasks and spaces with humans.
The difference between UFACTORY xArm5, UFACTORY xArm6 and UFACTORY xArm7 (Help Center article) · UFACTORY · Introduction
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source Plain http: this publisher has no certificate for that name, so what loads cannot be verified.
The UFACTORY xArm series is one of the most affordable collaborative robot (or cobot) arms in the market.
The difference between UFACTORY xArm5, UFACTORY xArm6 and UFACTORY xArm7 (Help Center article) · UFACTORY · Introduction
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source Plain http: this publisher has no certificate for that name, so what loads cannot be verified.
Confidence: Verifiedsafety-511
The record says
The xArm manual says that when the arm is in operation, no people or other equipment should be in the working area.
Evidence · 1 citation
When the robotic arm is in operation, make sure no people or other equipment are in the working area.
UFACTORY xArm Hardware Manual (online), 1. Safety · UFACTORY · 1.3, DANGER list [series text: names no single model]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
Confidence: Verifiedsafety-502
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.
Evidence · 2 citations
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
Open the source
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
Open the source
Kind: Contradictionsafety-568
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.
Evidence · 3 citations
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
Open the source
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
Open the source
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
Open the source
Kind: RecommendationAwaiting cell accessThis project's simulation and agent design, not the physical cellsafety-599
Project advice
Until the S6 emergency stops, guarding, Control Box position and risk assessment are confirmed at the cell, act as though none of them exists: stay out of the xArm 6's working area while it runs, and do not rely on a safeguard nobody has confirmed.
Awaiting cell access: this could be confirmed or corrected once the physical S6 cell can be observed.
This is advice from this project, based on: safety-586 Gap, awaiting cell access safety-587 Gap, awaiting cell access safety-588 Gap, awaiting cell access safety-589 Gap, awaiting cell access safety-511 Verified
Why: The manual says no people should be in the working area during operation, and none of the S6 safety provisions it calls for has been confirmed. Assuming they exist would put people at risk if they do not.
Confidence: Verifiedcomp-536
The record says
The xArm can be programmed with UFACTORY Studio or with Python, C++ and ROS (the manual gives this in common for the xArm 5, 6 and 7); the product page says the Python/C++ SDK is open source and ROS/ROS2 packages are available.
Evidence · 2 citations
Programming UFACTORY Studio, Python/C++/ROS
UFACTORY xArm Hardware Manual (online), 8. Technical Specifications · UFACTORY · 'Programming' row (section '8.1 xArm5/xArm6/xArm7 Common Specifications': applies to all three models)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-15
Open the source
Fully functional open-source Python/C++ SDK provides more flexible programming. ROS/ROS2 packages are ready-to-go.
UFACTORY xArm product page · UFACTORY · Overview, 'Powerful and open source SDK at your fingertips' (xArm product page, which covers the xArm 5, 6 and 7)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Confidence: Verifiedcomp-535
The record says
UFACTORY Studio is web-based software that runs inside the control box, so no installation is needed and any computer with a browser can use it.
Evidence · 1 citation
UFACTORY Studio is a web-based software running inside the control box, which means no additional installation needed before running the robot. Any computer with a browser has the access after 1 minute hardware connection.
UFACTORY xArm product page · UFACTORY · Tech Specs > Software (xArm product page, which covers the xArm 5, 6 and 7)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Confidence: VerifiedAwaiting cell accessops-712
The record says
Asked whether the lab opens UFACTORY Studio in a web browser or with the desktop app, the answer given on 2026-10-23 was the desktop app, and that learners should download it.
Awaiting cell access: this could be confirmed or corrected once the physical S6 cell can be observed.
Reasoning: Verified as a dated report of how Studio is opened in the lab, as of 2026-10-23 and no further. The question was about the lab, where the xArm 6 is operated from Studio (int-089); the answer names no arm. It names no Studio version and no computer, and no inspection is recorded. It says that the lab uses the desktop app and that learners should download it; it says nothing about whether the browser route UFACTORY's Studio manual describes works.
Evidence · 1 citation
2 desktop app, so they should download it if that was not explicitily said
Owner statements from 2026-09-24 onward (verbatim; S40 and later) · Derek Stringfellow · Statement S244 (2026-10-23), answer 2, to whether the lab opens UFACTORY Studio in a browser or with the desktop app
Derek Stringfellow, project record · Project-internal record · retrieved 2026-10-04
Project copy; not published on this site.
Confidence: Verifiedres-539
The record says
UFACTORY's UFACTORY Studio page offers the Studio app as downloads for Windows, macOS and Linux. Suits beginners and novices.
Evidence · 1 citation
Download
Windows
Download
MacOS
Download
Linux
UFACTORY Studio product and download page · UFACTORY · Download buttons (read 2026-10-23)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Confidence: Verifiedcomp-721
The record says
In manual mode the arm compensates for gravity ('zero gravity') so a user can guide it by hand. The mounting direction tells the control box how the arm sits relative to gravity; if it is set wrongly the arm cannot recognize gravity accurately, which causes frequent collision warnings and uncontrolled motion in manual mode.
Evidence · 3 citations
In this mode, the robotic arm will enter the ‘zero gravity’ mode, since the gravity is compensated, the user can guide the robotic arm position directly by hand.
UFACTORY Studio User Manual (online), 2. Glossary · UFACTORY · Glossary, 'Manual Mode' (manual text not model-specific; the Studio manual's Preface lists the xArm 6 among the models it applies to)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Setting the mounting direction of the robotic arm is mainly to inform the control box of the current relationship between the actual mounting direction of the robotic arm and the direction of gravity.
UFACTORY Studio User Manual (online), 7. Settings · UFACTORY · 7.1.3 Coordinates, Mounting
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-13
Open the source
Quote not shown (over 40 words). See the source at: 7.1.3 Coordinates, Mounting.
UFACTORY Studio User Manual (online), 7. Settings · UFACTORY · 7.1.3 Coordinates, Mounting
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-13
Open the source
Confidence: Verifiedops-565
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.
Evidence · 3 citations
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
Open the source
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
Open the source
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
Open the source
Confidence: Verifiedint-001
The record says
The IntelliMake Phase 1 Factory is designed to demonstrate autonomous production of high-mix, low-volume personalized products.
Evidence · 1 citation
Designed to demonstrate autonomous production of high-mix, low-volume personalized products.
IntelliMake Phase 1 Factory: Autonomous Production Demonstrator (infographic) · IntelliMake.org · Header paragraph
© IntelliMake.org. Used with permission; redrawn for this platform. · Cleared for use by its owner · retrieved 2026-09-21
Project copy; not published on this site.
Confidence: Verifiedint-010
The record says
The cell uses two collaborative arms: the xArm 850 at S2 is the upstream arm that takes incoming material off receiving toward personalization, and the xArm 6 at S6 is the downstream arm that handles parts after processing.
Evidence · 2 citations
The xArm 850 at S2 is the **upstream** arm: it takes incoming material off receiving and hands it off toward personalization
CODE_SESSION 01 — xArm 850 Interactive Learning Platform (project specification) · Derek Stringfellow · Header, 'Confirmed role'
Derek Stringfellow, project record · Project-internal record · retrieved 2026-09-21
Project copy; not published on this site.
The xArm 6 at S6 is the **downstream** arm, handling parts after processing and routing them to inspection, rework, or shipping.
CODE_SESSION 01 — xArm 850 Interactive Learning Platform (project specification) · Derek Stringfellow · Header, 'Confirmed role'
Derek Stringfellow, project record · Project-internal record · retrieved 2026-09-21
Project copy; not published on this site.
Confidence: Verifiedint-005
The record says
S1, the Incoming Logistics Conveyor / Receiving station, precedes S2: it receives incoming blanks or materials and moves them into production.
Evidence · 1 citation
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.
Confidence: Verifiedint-007
The record says
S4, the Laser Engraver Conveyor, transfers workpieces through the laser processing area.
Evidence · 1 citation
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.
Confidence: Verifiedint-008
The record says
S5, the xTool F1 Ultra laser engraver, performs personalization by laser engraving or marking.
Evidence · 1 citation
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.
Confidence: Verifiedint-023
The record says
Camera C1 (Receiving) monitors incoming material and receiving operations.
Evidence · 1 citation
Camera C1 – Receiving Monitors incoming material and receiving operations.
IntelliMake Phase 1 Factory: Autonomous Production Demonstrator (infographic) · IntelliMake.org · Camera C1 label and description
© IntelliMake.org. Used with permission; redrawn for this platform. · Cleared for use by its owner · retrieved 2026-09-21
Project copy; not published on this site.
Confidence: Verifiedint-027
The record says
Camera C2 (Robot/Laser) monitors the robot–laser work area.
Evidence · 1 citation
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.
Kind: RecommendationThis project's simulation and agent design, not the physical cellsafety-594
Project advice
Treat the xArm 6's collision detection, safety boundary and reduced mode as configurable controller functions, not validated safeguards: they must not replace risk-assessed protective devices wired to the EI and SI inputs.
This is advice from this project, based on: safety-578 Gap safety-559 Verified safety-560 Verified safety-561 Verified safety-564 Verified safety-565 Verified safety-544 Verified
Why: No fetched UFACTORY document gives these functions a Performance Level or SIL. Collision detection is a current-model comparison that UFACTORY says can false-trigger and can be switched off; the safety boundary and reduced mode are settings. A function with no documented rating cannot stand in for a rated protective device.
Confidence: Verifiedapp-507
The record says
The xArm 6 carries the highest payload of UFACTORY's xArm 5/6/7 arms: 5 kg, against 3 kg for the xArm 5 and 3.5 kg for the xArm 7; all three have a 700 mm reach.
Evidence · 2 citations
Payload 3kg 5kg 3.5kg
UFACTORY xArm product page · UFACTORY · 'Payload' row (Tech Specs > Comparison table, columns xArm 5, xArm 6, xArm 7; value read from the xArm 6 column)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Reach 700mm 700mm 700mm
UFACTORY xArm product page · UFACTORY · 'Reach' row (Tech Specs > Comparison table, columns xArm 5, xArm 6, xArm 7; value read from the xArm 6 column)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Confidence: Verifiedapp-505
The record says
The xArm 6 and xArm 7 have a full 6 degrees of freedom in Cartesian space, whereas the xArm 5's linear and circular Cartesian motions have 4 ([x, y, z, yaw]).
Evidence · 2 citations
Both robotic arms have a full 6 degrees of freedom in Cartesian space.
The difference between UFACTORY xArm5, UFACTORY xArm6 and UFACTORY xArm7 (Help Center article) · UFACTORY · Section 3, 'Motion Characteristics of the UFACTORY xArm6 and UFACTORY xArm7'
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source Plain http: this publisher has no certificate for that name, so what loads cannot be verified.
the actual flexible degrees of freedom of linear and circular motions in Cartesian space is 4, which is [x, y, z, yaw]
The difference between UFACTORY xArm5, UFACTORY xArm6 and UFACTORY xArm7 (Help Center article) · UFACTORY · Section 3, xArm5 Cartesian control
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source Plain http: this publisher has no certificate for that name, so what loads cannot be verified.
Confidence: Verifiedapp-506
The record says
UFACTORY says that for general applications the xArm 6 may well suffice, and recommends the xArm 7 if more flexibility is required; the xArm 7's additional joint gives more possible solutions for a Cartesian target.
Evidence · 2 citations
For UFACTORY xArm7, there is one additional joint of freedom, meaning more possible solutions (Null-space solution) for a specified Cartesian target.
The difference between UFACTORY xArm5, UFACTORY xArm6 and UFACTORY xArm7 (Help Center article) · UFACTORY · Section 3, 'Motion Characteristics of the UFACTORY xArm6 and UFACTORY xArm7'
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source Plain http: this publisher has no certificate for that name, so what loads cannot be verified.
For general applications, UFACTORY xArm6 may well suffice, and UFACTORY xArm7 is recommended if more flexibility is required.
The difference between UFACTORY xArm5, UFACTORY xArm6 and UFACTORY xArm7 (Help Center article) · UFACTORY · Section 3, same passage
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source Plain http: this publisher has no certificate for that name, so what loads cannot be verified.
Confidence: Verifiedapp-508
The record says
Compared with UFACTORY's 850, the xArm 6 has the same 5 kg payload but a shorter reach (700 mm against 850 mm) and a looser stated repeatability (±0.1 mm against ±0.02 mm).
Evidence · 3 citations
Payload 3kg 5kg 3.5kg Reach 700mm 700mm 700mm
UFACTORY xArm product page · UFACTORY · 'Payload' and 'Reach' rows (Tech Specs > Comparison table, columns xArm 5, xArm 6, xArm 7; value read from the xArm 6 column)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Repeatability ±0.1mm ±0.1mm ±0.1mm
UFACTORY xArm product page · UFACTORY · 'Repeatability' row (Tech Specs > Comparison table, columns xArm 5, xArm 6, xArm 7; value read from the xArm 6 column)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Max Payload 5 kg
Reach 850 mm
Repeatability ±0.02 mm
UFACTORY 850 product page · UFACTORY · Products menu entry for the 850 (page names the machine 'UFACTORY 850'; spec tables say 'UFactory 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Confidence: Verifiedapp-503
The record says
UFACTORY's help article describes the xArm series as designed for light manufacturing, commercial uses and lab applications.
Evidence · 1 citation
It is designed for light manufacturing, commercial uses and lab applications.
The difference between UFACTORY xArm5, UFACTORY xArm6 and UFACTORY xArm7 (Help Center article) · UFACTORY · Introduction (about the xArm series)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source Plain http: this publisher has no certificate for that name, so what loads cannot be verified.
Confidence: Verifiedapp-509
The record says
UFACTORY's xArm product page cites hand teaching, light weight, a space-saving footprint and easy re-deployment to multiple applications without changing the production layout, and says collision detection is available for all its cobots.
Evidence · 2 citations
Hand teaching, lightweight, space-saving and easy to re-deploy to multiple applications without changing your production layout.Perfectly for recurrent tasks.
UFACTORY xArm product page · UFACTORY · Overview, 'Flexible deployment with safe feature' (xArm product page, which covers the xArm 5, 6 and 7)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Collision detection is available for all of our cobots.
UFACTORY xArm product page · UFACTORY · Overview, 'Flexible deployment with safe feature' (xArm product page, which covers the xArm 5, 6 and 7)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Confidence: Verifiedapp-513
The record says
UFACTORY's xArm product page gives a 1-year warranty against manufacturing defects, says the arm is stress-tested for at least 15,000 hours of full-time operation, and gives a lead time of 2–4 weeks.
Evidence · 2 citations
1-year warranty against manufacturing defects. Stress-tested for at least 15,000 hours of full-time operation.
UFACTORY xArm product page · UFACTORY · Tech Specs > Service & Support, Warranty (xArm product page, which covers the xArm 5, 6 and 7)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
The lead time of xArm robot is 2-4 weeks.
UFACTORY xArm product page · UFACTORY · Q&A (xArm product page, which covers the xArm 5, 6 and 7)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Confidence: Verifiedapp-515
The record says
UFACTORY markets the xArm as plug-and-play: 'Unbox, set-up, calibrate. No technician needed.'
Evidence · 1 citation
Plug-and-play. Unbox, set-up, calibrate. No technician needed.
UFACTORY xArm product page · UFACTORY · Overview, 'Beginner-friendly Support' (xArm product page, which covers the xArm 5, 6 and 7)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Confidence: Verifiedsafety-505
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.
Evidence · 3 citations
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
Open the source
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
Open the source
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
Open the source
Confidence: Inferredapp-510
The record says
Calling the xArm 6 'collaborative' does not make a given installation safe to share with people: the xArm manual says a safety assessment is required each time the arm is installed, and that a comprehensive safety assessment of the whole system should be performed when the xArm works with other machinery.
Why we infer this: UFACTORY uses 'collaborative' as a product description (app-504, app-509). The xArm manual separately requires a safety assessment for each installation and for the whole system when the arm works with other machinery. So the label describes the arm's features, not a guarantee that a particular cell allows people to work beside it.
Evidence · 2 citations
A safety assessment is required each time installed.
UFACTORY xArm Hardware Manual (online), 2. Hardware Installation · UFACTORY · 2.2.1 Safety Guidelines, WARNING (chapter says 'Apply to Model: XF1305, XI1305, XS1305 (1305 Model)')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
When the xArm cooperates with other machinery, a comprehensive safety assessment of the entire collaboration system should be performed.
UFACTORY xArm Hardware Manual (online), 1. Safety · UFACTORY · 1. Safety (manual for the xArm series; this passage names no single model)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
Confidence: Verifiedsafety-507
The record says
The xArm manual says a complete safety assessment must be recorded each time the arm is re-installed and debugged, and that a safety assessment is required each time it is installed.
Evidence · 2 citations
A complete safety assessment must be recorded each time the robotic arm is re-installed and debugged.
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
Open the source
A safety assessment is required each time installed.
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
Open the source
Confidence: Verifiedlim-515
The record says
The xArm manual gives the xArm5, xArm6 and xArm7 a repeatability of ±0.1 mm.
Evidence · 1 citation
Repeatability | ±0.1mm
UFACTORY xArm Hardware Manual (online), 8. Technical Specifications · UFACTORY · 8.1 xArm5/xArm6/xArm7 Common Specifications [names the xArm 6]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-15
Open the source
Kind: Gaplim-516
Not known
No fetched UFACTORY source gives an absolute positioning accuracy for the xArm 6 (how closely it reaches a computed coordinate, as opposed to its ±0.1 mm repeatability). This matters for offline programming and vision-guided picking, which rely on computed coordinates.
Evidence · 1 citation
Repeatability | ±0.1mm
UFACTORY xArm Hardware Manual (online), 8. Technical Specifications · UFACTORY · 8.1 Common Specifications: repeatability only [names the xArm 6]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-15
Open the source
Kind: Gaplim-517
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.
Evidence · 1 citation
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
Open the source
Confidence: Verifiedlim-502
The record says
The xArm manual says the payload is related to the TCP offset and shows the relationship only in a figure; the fetched text gives no values, and the section names no model.
Evidence · 1 citation
The payload is related to the tcp offset.
UFACTORY xArm Hardware Manual (online), 7. Production Information · UFACTORY · 7.11 Max Payload (text followed by a figure) [series text: names no single model]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
Kind: Gapspec-574
Not known
The xArm manual says the payload is related to the TCP offset, but its text gives no payload-versus-offset values; the xArm 6's allowable payload at a given tool offset could not be taken from the sources as text.
Related: spec-502 Verified
Evidence · 1 citation
The payload is related to the tcp offset.
UFACTORY xArm Hardware Manual (online), 7. Production Information · UFACTORY · 7.11 Max Payload (manual for the xArm series; this passage names no single model)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
Confidence: Verifiedcomp-723
The record says
UFACTORY's collision detection compares each joint's theoretical current, calculated from a dynamic model, with its actual current, and triggers when the difference exceeds a pre-set threshold. The model takes in joint position, speed and acceleration, load weight and center of mass, mounting direction and joint friction.
Evidence · 4 citations
By comparing the theoretical current and actual current of each joint, the system determines whether a collision has occurred.
Collision Detection in UFACTORY Robotic Arms: Current and Dynamic Model-based Feature (UFACTORY support article) · UFACTORY · Introduction (applies to UFACTORY robotic arms; the article's friction table names the xArm 5/6/7)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
If the difference exceeds a pre-set threshold, indicating that the joint may have encountered external resistance or collision, the system triggers the collision detection.
Collision Detection in UFACTORY Robotic Arms: Current and Dynamic Model-based Feature (UFACTORY support article) · UFACTORY · Section 1
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
The dynamic model considers several factors, including:
Collision Detection in UFACTORY Robotic Arms: Current and Dynamic Model-based Feature (UFACTORY support article) · UFACTORY · Section 1
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Quote not shown (over 40 words). See the source at: Section 1, list of model factors.
Collision Detection in UFACTORY Robotic Arms: Current and Dynamic Model-based Feature (UFACTORY support article) · UFACTORY · Section 1, list of model factors
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Kind: Gapcomp-505
Not known
Per-joint component data for the xArm 6 (motor model and rating, harmonic-drive ratio, encoder type and resolution, joint-module sizes) is not published in the xArm manual or the product page; the product page names only harmonic drives and servomotors and, unlike the 850's page, gives no encoder resolution.
Related: comp-504 Verified
Evidence · 2 citations
Industrial-grade harmonic drive and servomotors guarantee 24/7 working without stop.
UFACTORY xArm product page · UFACTORY · Overview, 'Durable Collaborative robots for your automation' (xArm product page, which covers the xArm 5, 6 and 7)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Industrial-grade harmonic drive and servomotors with 17 bit encoder guarantee 24/7 working as well as ±0.02 mm repeatability.
UFACTORY 850 product page · UFACTORY · Overview, 'Durable Collaborative Robots with Easy Deployment' (page names the machine 'UFACTORY 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Kind: Gapsafety-579
Not known
No fetched UFACTORY source says whether the xArm 6 is suitable or validated for power and force limiting collaborative applications. No fetched UFACTORY source gives contact force or pressure figures for the xArm 6, or a torque or force threshold for any collision sensitivity level.
Evidence · 1 citation
the smaller the additional torque required for the robotic arm to trigger collision protection
UFACTORY Studio User Manual (online), 7. Settings · UFACTORY · 7.1.1, Collision Detection Sensitivity: levels described only relatively [general Studio text; the Studio manual says it applies to the xArm6]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-13
Open the source
Kind: Gapspec-569
Not known
The xArm manual's list of applied standards does not include ISO/TS 15066; no statement of ISO/TS 15066 conformance for the xArm 6 was found in the manual or the product page.
Related: spec-566 Verified
Evidence · 1 citation
MD 2006/42/EC EMC 2004/108/EC EN ISO 10218-1:2011 EN 60204-1:2018 EN ISO 12100:2010 EN 61000-6-2:2005 EN 61000-6-4:2007+A1:2011
UFACTORY xArm Hardware Manual (online), 7. Production Information · UFACTORY · 7.2 Applied Standards, list (the full list)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
Kind: Gapsafety-578
Not known
No chapter of the xArm manual (Preface and chapters 1 to 8), the xArm product page or the Studio manual states an ISO 13849-1 Performance Level or Category, or an IEC 62061 SIL, for any xArm safety function (emergency stop, EI/SI inputs, collision detection, safety boundary or reduced mode), and none mentions a TÜV certification. Do not assume any.
Evidence · 2 citations
All safety I/Os exist in pairs (redundancy) and must be kept in two separate branches.
UFACTORY xArm Hardware Manual (online), 3. Controller Electrical Interface · UFACTORY · 3.4.1 Safety IO(EISI): redundancy described, no PL or Category stated [series text: names no single model]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
DSS_GZEM2403001755MDVR-1.pdf | DSS_MD-GZES2403005468MD-1.pdf | DTIBW20220028-RoHS-CE.pdf
UFACTORY xArm Hardware Manual (online), 7. Production Information · UFACTORY · 7.12 Certification: only the SGS MD and EMC verifications and a RoHS certificate are linked [series text: names no single model]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
Confidence: Verifiedres-504
The record says
UFACTORY's support article on the xArm series explains how to tell an xArm's model from its serial number: the axis-count letter is S, I or F for the xArm 7, 6 and 5, and its worked example reads the SN XI130506D43A0A as an xArm 6, model 4. Useful for confirming which arm is at S6.
Evidence · 4 citations
The purpose of this article is to guide the user to distinguish the model of UFactory xArm by SN.
Kinematic and Dynamic Parameters of xArm Series: telling the xArm model from the SN (UFACTORY support article) · UFACTORY · Article introduction
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
Note: ①: stands for the number of axes of the arm.
Kinematic and Dynamic Parameters of xArm Series: telling the xArm model from the SN (UFACTORY support article) · UFACTORY · Note on SN position 1
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
There are three values: S / I / F. | S | I | F | xArm7 | xArm6 | xArm5
Kinematic and Dynamic Parameters of xArm Series: telling the xArm model from the SN (UFACTORY support article) · UFACTORY · Axis-count table
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
SN of the robotic arm: XI130506D43A0A
It is xArm6, model 4.
Kinematic and Dynamic Parameters of xArm Series: telling the xArm model from the SN (UFACTORY support article) · UFACTORY · Worked example
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
Kind: RecommendationAwaiting cell accesscomp-557
Project advice
Read the S6 xArm 6's serial number before relying on any figure the sources disagree on (weight, J2 and J3 ranges): UFACTORY distinguishes four xArm 6 versions by serial number, and the S6 arm's version decides which mass parameters apply.
Awaiting cell access: this could be confirmed or corrected once the physical S6 cell can be observed.
This is advice from this project, based on: comp-511 Verified, awaiting cell access spec-506 Contradiction, awaiting cell access spec-516 Contradiction, awaiting cell access spec-517 Contradiction, awaiting cell access
Why: The mass parameters are published per version (comp-511), so the S6 arm's version must be known to use them. The sources that disagree on weight and joint ranges (spec-506, spec-516, spec-517) do not say whether version explains the difference; knowing the version is a cheap first step, not a resolution. The serial number is on the physical arm, so this needs cell access.
Evidence · 2 citations
The purpose of this article is to guide the user to distinguish the model of UFactory xArm by SN.
Kinematic and Dynamic Parameters of xArm Series: telling the model by SN (support article) · UFACTORY · Introduction
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
xArm 6 - Model 4
Kinematic and Dynamic Parameters: xArm 6 (support article) · UFACTORY · 3. Mass Parameters, table headings
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
Kind: ContradictionAwaiting cell accessspec-516
Sources disagree
Sources disagree on the range of the xArm 6's joint 2 (J2): the online hardware manual (specifications and preface) and the product page give -117° to 116°, but UFACTORY's support article comparing the xArm 5 Lite, 6 and 7 gives -118° to 120°, and the xarm6 URDF's default limits are -2.059 to 2.0944 rad (about -118° to 120°).
Awaiting cell access: this could be confirmed or corrected once the physical S6 cell can be observed.
Related: spec-510 Verified
Evidence · 4 citations
J1~J6 (±360°, -117~116°, -219~10°, ±360°, -97~180°, ±360°)
UFACTORY xArm Hardware Manual (online), 8. Technical Specifications · UFACTORY · Table 'xArm6', 'Joint Range' row (section '8.3 xArm6 Specifications': names the xArm 6)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-15
Open the source
Joint 2 -117° ~ 116° -117°～116° -117°～116°
UFACTORY xArm product page · UFACTORY · second comparison table, 'Joint 2' row (Tech Specs > Comparison table, columns xArm 5, xArm 6, xArm 7; value read from the xArm 6 column)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Joint2 -118° ~ 120° -118°～120° -118°～120°
The difference between UFACTORY xArm5, xArm6 and xArm7 (support article) · UFACTORY · Section 1 Specifications, 'Joint2' row (columns xArm 5 Lite, xArm 6, xArm 7; value read from the xArm 6 column)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
joint2_lower_limit:=${-2.059} joint2_upper_limit:=${2.0944}
xarm_ros2 (branch humble), xarm_description/urdf/xarm6/xarm6.urdf.xacro · UFACTORY · macro xarm6_urdf default parameters (ROS naming 'xarm6')
© UFACTORY Inc., xArm-Developer/xarm_ros2, BSD 3-Clause License · BSD-3-Clause · retrieved 2026-09-25
Open the source
Confidence: Verifiedint-044
The record says
UFACTORY publishes a longer reach for the 850 (850 mm, maximum payload 5 kg) than for its xArm 5/6/7 line (700 mm, with payloads from 3 kg to 5 kg across the line). No xArm 6-specific figure is cited here, and no source says whether reach decided which arm went to S2.
Evidence · 2 citations
Max Payload 5 kg
Reach 850 mm
UFACTORY 850 product page · UFACTORY · Site product menu, 850 entry
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Payload 3kg - 5 kg
Reach 700 mm
UFACTORY 850 product page · UFACTORY · Site product menu, xArm entry
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Confidence: VerifiedAwaiting cell accessint-062
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.
Evidence · 1 citation
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.
Confidence: VerifiedAwaiting cell accessint-067
The record says
In a Phase 1 layout drawing, S2, S4, S6 and S8 stand in one row, in that order, so S4 lies between the two arms' stations. S3 is beside S2 and S7 beside S6, on the same side of the row; S1 is beside S2 on the other side.
Awaiting cell access: this could be confirmed or corrected once the physical S6 cell can be observed.
Evidence · 7 citations
S2
Phase 1 layout drawing, sent by Derek (2026-09-30) · Derek Stringfellow · The drawing's labels
Derek Stringfellow, project record · Project-internal record · retrieved 2026-09-30
Project copy; not published on this site.
S4
Phase 1 layout drawing, sent by Derek (2026-09-30) · Derek Stringfellow · The drawing's labels
Derek Stringfellow, project record · Project-internal record · retrieved 2026-09-30
Project copy; not published on this site.
S6
Phase 1 layout drawing, sent by Derek (2026-09-30) · Derek Stringfellow · The drawing's labels
Derek Stringfellow, project record · Project-internal record · retrieved 2026-09-30
Project copy; not published on this site.
S8
Phase 1 layout drawing, sent by Derek (2026-09-30) · Derek Stringfellow · The drawing's labels
Derek Stringfellow, project record · Project-internal record · retrieved 2026-09-30
Project copy; not published on this site.
S3
Phase 1 layout drawing, sent by Derek (2026-09-30) · Derek Stringfellow · The drawing's labels
Derek Stringfellow, project record · Project-internal record · retrieved 2026-09-30
Project copy; not published on this site.
S1
Phase 1 layout drawing, sent by Derek (2026-09-30) · Derek Stringfellow · The drawing's labels
Derek Stringfellow, project record · Project-internal record · retrieved 2026-09-30
Project copy; not published on this site.
S7 Repurposed Defect Table - Proposed location for Phase 1. Known as S7 3D Printer
Phase 1 layout drawing, sent by Derek (2026-09-30) · Derek Stringfellow · The box drawn above S6
Derek Stringfellow, project record · Project-internal record · retrieved 2026-09-30
Project copy; not published on this site.
Confidence: AssumedAwaiting cell accessint-012
The record says
Both arms work at S4 (int-062), but the stations only one arm serves lie on opposite sides of it: receiving and staging (S1 and S3), served by S2, and the stations after S6, such as S8, where S6 sends parts for shipping by default. So a single arm probably could not reach both receiving and staging and the stations after S6.
Awaiting cell access: this could be confirmed or corrected once the physical S6 cell can be observed.
How this would be checked: Measure the as-built positions of S1, S3, S4, S6 and S8 relative to each arm's base and compare them with the published reach of each arm.
Evidence · 5 citations
S2 UFactory xArm 850 Cobot
IntelliMake Phase 1 Factory: Autonomous Production Demonstrator (infographic) · IntelliMake.org · S2 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.
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.
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.
Default: shipping goes to S8
Owner statements from 2026-09-24 onward (verbatim; S40 and later) · Derek Stringfellow · Statement S88, point 1
Derek Stringfellow, project record · Project-internal record · retrieved 2026-10-04
Project copy; not published on this site.
S8
Phase 1 layout drawing, sent by Derek (2026-09-30) · Derek Stringfellow · The drawing's labels
Derek Stringfellow, project record · Project-internal record · retrieved 2026-09-30
Project copy; not published on this site.
Confidence: Inferredint-011
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).
Evidence · 2 citations
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.
Confidence: Verifiedsafety-099
The record says
OSHA says contact limits for power and force limiting must be set by risk assessment, using the pressure and force tables in Annex A of RIA TR 15.606 (the US adoption of ISO/TS 15066). The values themselves are in that document, which was not obtained.
Evidence · 2 citations
Limits for quasi-static and transient contact must be evaluated as part of the risk assessment, and by determining pressure and force threshold limit values on the collaborative robot system utilizing Tables A.1 and A.2 in Annex A of RIA TR15.606.
OSHA Technical Manual (OTM) Section IV: Chapter 4, Industrial Robot Systems and Industrial Robot System Safety · U.S. Occupational Safety and Health Administration · Power and Force Limited (PFL)
Source: U.S. OSHA (public domain) · Public domain (US Government work) · retrieved 2026-09-21
Open the source
TR 606 is the U.S. National Adoption of the ISO/TS 15066:2016.
OSHA Safety and Health Topics: Robotics, Standards · U.S. Occupational Safety and Health Administration · National Consensus Standards, TR 606
Source: U.S. OSHA (public domain) · Public domain (US Government work) · retrieved 2026-09-21
Open the source
Kind: Gapapp-512
Not known
No price for the xArm 6 on its own was found: the xArm product page shows 'US$ 5,799.00 – US$ 5,994.00' in its header and 'From US$5,299' in its footer, without saying which model or configuration each price covers.
Evidence · 2 citations
US$ 5,799.00 – US$ 5,994.00
UFACTORY xArm product page · UFACTORY · Hero banner, price (xArm product page, which covers the xArm 5, 6 and 7)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
From US$5,299
UFACTORY xArm product page · UFACTORY · Page footer banner (xArm product page, which covers the xArm 5, 6 and 7)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source

Image Credits

3D model: © 2018 UFACTORY Inc., BSD-3-Clause, from UFACTORY Inc. (xArm-Developer/xarm_ros2). License text · Source

Sources for This Section

CODE_SESSION 01 — xArm 850 Interactive Learning Platform (project specification) · Derek Stringfellow (project owner)
Derek Stringfellow, project record · Project-internal record · retrieved 2026-09-21 · cited by 1 record here · Project copy; not published on this site.
Collision Detection in UFACTORY Robotic Arms: Current and Dynamic Model-based Feature (UFACTORY support article) · UFACTORY (manufacturer)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21 · cited by 1 record here · Open the source
IntelliMake Phase 1 Factory: Autonomous Production Demonstrator (infographic) · IntelliMake.org (IntelliMake)
© IntelliMake.org. Used with permission; redrawn for this platform. · Cleared for use by its owner · retrieved 2026-09-21 · cited by 10 records here · Project copy; not published on this site.
Kinematic and Dynamic Parameters of xArm Series: telling the model by SN (support article) · UFACTORY (manufacturer)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25 · cited by 1 record here · Open the source
Kinematic and Dynamic Parameters of xArm Series: telling the xArm model from the SN (UFACTORY support article) · UFACTORY (manufacturer)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25 · cited by 1 record here · Open the source
Kinematic and Dynamic Parameters: xArm 6 (support article) · UFACTORY (manufacturer)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25 · cited by 1 record here · Open the source
OSHA Safety and Health Topics: Robotics, Standards · U.S. Occupational Safety and Health Administration (government)
Source: U.S. OSHA (public domain) · Public domain (US Government work) · retrieved 2026-09-21 · cited by 1 record here · Open the source
OSHA Technical Manual (OTM) Section IV: Chapter 4, Industrial Robot Systems and Industrial Robot System Safety · U.S. Occupational Safety and Health Administration (government)
Source: U.S. OSHA (public domain) · Public domain (US Government work) · retrieved 2026-09-21 · cited by 1 record here · Open the source
Owner statements from 2026-09-24 onward (verbatim; S40 and later) · Derek Stringfellow (project owner)
Derek Stringfellow, project record · Project-internal record · retrieved 2026-10-04 · cited by 4 records here · Project copy; not published on this site.
Phase 1 layout drawing, sent by Derek (2026-09-30) · Derek Stringfellow (project owner)
Derek Stringfellow, project record · Project-internal record · retrieved 2026-09-30 · cited by 2 records here · Project copy; not published on this site.
The difference between UFACTORY xArm5, UFACTORY xArm6 and UFACTORY xArm7 (Help Center article) · UFACTORY (manufacturer)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21 · cited by 8 records here · Open the source Plain http: this publisher has no certificate for that name, so what loads cannot be verified.
The difference between UFACTORY xArm5, xArm6 and xArm7 (support article) · UFACTORY (manufacturer)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25 · cited by 2 records here · Open the source
UFACTORY Studio User Manual (online), 2. Glossary · UFACTORY (manufacturer)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21 · cited by 1 record here · Open the source
UFACTORY Studio User Manual (online), 4. Live Control · UFACTORY (manufacturer)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-13 · cited by 1 record here · Open the source
UFACTORY Studio User Manual (online), 7. Settings · UFACTORY (manufacturer)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-13 · cited by 2 records here · Open the source
UFACTORY xArm Hardware Manual (online), 1. Safety · UFACTORY (manufacturer)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25 · cited by 6 records here · Open the source
UFACTORY xArm Hardware Manual (online), 2. Hardware Installation · UFACTORY (manufacturer)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25 · cited by 3 records here · Open the source
UFACTORY xArm Hardware Manual (online), 3. Controller Electrical Interface · UFACTORY (manufacturer)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25 · cited by 1 record here · Open the source
UFACTORY xArm Hardware Manual (online), 7. Production Information · UFACTORY (manufacturer)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25 · cited by 5 records here · Open the source
UFACTORY xArm Hardware Manual (online), 8. Technical Specifications · UFACTORY (manufacturer)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-15 · cited by 9 records here · Open the source
xarm_ros2 (branch humble), xarm_description/urdf/xarm6/xarm6.urdf.xacro · UFACTORY (manufacturer)
© UFACTORY Inc., xArm-Developer/xarm_ros2, BSD 3-Clause License · BSD-3-Clause · retrieved 2026-09-25 · cited by 1 record here · Open the source

All sources and attribution

References: §1 xArm 6 Overview

References · 60

Image Credits

Sources for This Section

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