Sections

Learn

Operate

Planned

  • Twin: a twin-ready view of the arm and its cell
  • Program your machine: Blockly and Python programs of your own

Resource Desk

§10 xArm 6

Manuals, Videos and Other Useful Resources

The manuals, software documentation and videos behind this course, with their caption status.

Start Here

This section tells you where to read further, which resource suits which tier, and how usable each one is: whether a document covers this machine or its whole family, and whether a video has captions.

  • Start at UFactory Docs, UFACTORY's documentation site. It links the xArm Hardware Manual, the Studio user manual, the API documents and the release notes1.
  • This project's advice: for the xArm 6, use the xArm Hardware Manual, not the UFACTORY 850 manual. The xArm manual covers the xArm 5, 6 and 7 together, so check that each figure names the xArm 62.
  • UFACTORY's set-up and Studio tutorials are titled for the xArm and name no model; the xArm 6-titled videos listed here are demonstrations. Check each step against the manuals34.

Nothing loads from YouTube until you press play on a video. Then YouTube (Google) receives your IP address and this site's address, and its player may store identifiers on your device. Each video card gives its caption status, and this site states in words every fact it takes from a video.

S6 in one line: S6 is the xArm 6 cobot that handles parts after processing, routing them to inspection, rework or shipping5.

Look Back

A question from earlier on, to keep it fresh. Skip it if you like; nothing depends on it.

q-s07-b-02Safety Your hand is on the table edge and the arm is moving toward the table. What is the hazard?
  1. Check option (a)

    Correct. Yes. OSHA lists crushing and trapping of body parts between the robot, its tool or the workpiece and other equipment.50

  2. Check option (b)

    Not this one. The manual's shock warnings are about the arm cable and the controller's power supply. A moving arm near a fixed edge is a crush hazard.515250

  3. Check option (c)

    Not this one. This project's advice is to treat collision detection as a configurable controller function, not a validated safeguard, so never rely on it to protect your hand.53

q-s09-b-02 A gripper is holding a part. What has to stay within the xArm 6's maximum payload?
  1. Check option (a)

    Correct. Right. The maximum payload is 5 kg, and UFACTORY Studio's payload is the mass of the end effector plus the object it holds.5455

  2. Check option (b)

    Not this one. The tool counts too. UFACTORY Studio's payload is the mass of the end effector plus the object, and together they must stay within 5 kg.5554

  3. Check option (c)

    Not this one. The part counts too. UFACTORY Studio's payload is the mass of the end effector plus the object, and together they must stay within 5 kg.5554

Choose your depth

Four depths, one page. Switch at any time: every tier stays open to everyone. What the four tiers mean

1Beginner

Where to Look First

For: Anyone with no robotics background: a visitor, a new operator, a manager
Kind of task: Recognize and recall, with plain-language explanations and pictures

In this part you learn the one place to start from, which manual to use and which one to leave aside, and which videos exist, with a warning about what they cover. Each resource has a card with its link.

One Place to Start

  • UFactory Docs is UFACTORY's documentation site. It links the xArm Hardware Manual, the UFACTORY Studio user manual, the support articles, the API documents and the release notes1.
  • This project's advice: start there, and use the xArm Hardware Manual, not the UFACTORY 850 manual2.
  • The xArm manual covers the xArm 5, 6 and 7 together, so check that each figure you use names the xArm 62.

  • Manual or page

    UFactory Docs home page

    UFactory Docs (docs.ufactory.cc), UFACTORY's documentation site, links the xArm Hardware Manual, the UFACTORY Studio user manual, the support articles, the API documents (Python SDK, WebSocket API, G-code, Modbus TCP, private TCP, Modbus RTU) and the release notes.1

    Open (opens a new tab)

The Manuals a Newcomer Needs

  • The UFACTORY xArm Hardware Manual covers safety, hardware installation, the controller and the arm's electrical interfaces, maintenance and inspection, after-sales service, production information and the technical specifications. The joint-range table in its preface gives the xArm 5, 6 and 7 side by side6.
  • UFACTORY's Product Downloads page has a "UFACTORY xArm" section with the xArm Hardware Manual V2.6.0, a Developer Manual and the xArm APIs, for reading offline7.
  • The UFACTORY Studio User Manual applies to the xArm 6. Studio lets you plan the arm's motion without programming skills, and the manual suits beginners and novices learning to operate the arm without code8.
  • UFACTORY's Studio page offers Studio for Windows, macOS and Linux9. The lab uses this desktop app10.
  • UFACTORY's product page also describes Studio as web-based software running inside the control box11.

  • Manual or page

    UFACTORY xArm Hardware Manual (online), Preface

    The UFACTORY xArm Hardware Manual (online, docs.xarm.ufactory.cc) covers safety, hardware installation, the controller and robot electrical interfaces, maintenance and inspection, after-sales service, production information and technical specifications. Its preface's joint-range table gives the xArm 5, 6 and 7 side by side.6

    Open (opens a new tab)

  • Manual or page

    UFACTORY Product Downloads page

    UFACTORY's Product Downloads page has a 'UFACTORY xArm' section with documents: the xArm Hardware Manual V2.6.0, a Developer Manual and the xArm APIs. Useful for offline reading; the hardware manual suits all tiers, the developer documents intermediate and expert users.7

    Open (opens a new tab)

  • Manual or page

    UFACTORY Studio User Manual (online), 1. Preface

    The UFACTORY Studio User Manual (online) applies to the xArm 6. Studio lets users plan the arm's motion trajectory without programming skills. Suits beginners and novices learning to operate the arm without code.8

    Open (opens a new tab)

  • Manual or page

    UFACTORY Studio product and download page

    UFACTORY's UFACTORY Studio page offers the Studio app as downloads for Windows, macOS and Linux. Suits beginners and novices.9

    Open (opens a new tab)

  • Manual or page

    UFACTORY xArm product page

    UFACTORY's xArm product page says UFACTORY Studio is web-based software running inside the control box, so no additional installation is needed and any computer with a browser has access. The UFACTORY Studio page also offers Studio downloads for Windows, macOS and Linux. Suits beginners and novices.11

    Open (opens a new tab)

Videos

  • Live Control tutorial. An official UFACTORY tutorial titled for the xArm; it does not name a model. The Studio manual lists the xArm 6 among the models it applies to.12.
  • Trajectory recording tutorial. An official tutorial on trajectory recording, titled for the xArm and naming no model.13.
  • Hardware installation. An official hardware-installation video titled for the xArm; neither its title nor its description names a model.14.
  • This project's advice: use these videos as a general guide, and check each step for the xArm 6 against the xArm Hardware Manual and the Studio manual4.
  • The xArm 6 at work. UFACTORY's video "xArm6 Robot Arm Provides an Innovative Dispensing" features PREMO ROBOTICS, an industrial-automation integrator that integrates the xArm into applications including material handling and quality inspection.15.
  • The UFACTORY videos titled for the xArm 6 listed here are demonstrations: none of them covers setting it up or programming it3.

A video listed here is not a recommendation. Each card says whether its video has captions. Treat a video as a pointer: the written manual stays the resource to learn from.

  • Video

    UFACTORY xArm Live Control Tutorial

    Video 'UFACTORY xArm Live Control Tutorial' (UFACTORY, April 2024) is an official UFACTORY tutorial on live control, titled for the xArm; it does not name a model. The Studio manual lists the xArm 6 among the models it applies to. Suits beginners and novices.12

    Watch on YouTube (opens a new tab)No captions

  • Video

    UFACTORY xArm Trajectory Recording Tutorial

    Video 'UFACTORY xArm Trajectory Recording Tutorial' (UFACTORY, April 2024) is an official UFACTORY tutorial on trajectory recording, titled for the xArm; it does not name a model. Suits beginners and novices.13

    Watch on YouTube (opens a new tab)No captions

  • Video

    UFACTORY xArm Hardware Installation

    Video 'UFACTORY xArm Hardware Installation' (UFACTORY, April 2024) is an official hardware-installation video titled for the xArm; neither its title nor its description names a model. Suits beginners and novices.14

    Watch on YouTube (opens a new tab)No captions

  • Video

    xArm6 Robot Arm Provides an Innovative Dispensing

    UFACTORY's video 'xArm6 Robot Arm Provides an Innovative Dispensing' (July 2023) features PREMO ROBOTICS, an industrial-automation integrator that integrates the xArm into applications including material handling and quality inspection. Suits beginners.15

    Watch on YouTube (opens a new tab)No captions

An Online Simulation

  • UFACTORY's website has a "Simulation" menu item linking to a page titled "UFactory Studio"16.

Check Yourself

Answer, then check. Each option has its own feedback, and nothing is scored.

q-s10-b-01 The xArm hardware installation video shows a step, and you want to know whether it is right for the xArm 6. Where do you check?
  1. Check option (a)

    Correct. Right. The video is titled for the xArm and names no model, so this project advises checking each step for the xArm 6 against the manuals.144

  2. Check option (b)

    Not this one. It is official, but it is titled for the xArm and names no model. This project advises checking each step against the manuals.144

  3. Check option (c)

    Not this one. This project's advice is to use the xArm Hardware Manual for the xArm 6, not the UFACTORY 850 manual.2

q-s10-b-02 You read a figure in the xArm Hardware Manual. What do you check before using it for the xArm 6?
  1. Check option (a)

    Correct. Right. The xArm manual covers the xArm 5, 6 and 7 together, and its joint-range table gives them side by side.26

  2. Check option (b)

    Not this one. It is not: the manual covers the xArm 5, 6 and 7 together, so check that each figure names the xArm 6.2

q-s10-b-03 You want to learn to move the arm and plan its motion without writing code. Which document do you read?
  1. Check option (a)

    Correct. Right. It applies to the xArm 6, and Studio lets you plan the arm's motion without programming skills.8

  2. Check option (b)

    Not this one. The Python SDK suits intermediate and expert users writing control scripts.17

  3. Check option (c)

    Not this one. That article gives D-H and mass parameters, and suits expert users building their own models.18

Open questions in this section

2Novice

Where to Look When Something Goes Wrong

For: Someone who will work near or with the cell: operator, trainee technician
Kind of task: Explain and sequence: put steps in order, match parts to their functions

In this part you learn where UFACTORY answers everyday problems, how to recover a control box you can no longer reach, what to do about a repair, and how to tell which xArm you have. It is for someone who will work near or with the cell.

The Help Center

  • The UFACTORY Help Center groups its articles into xArm collections, among them Studio and Blockly programming, grippers and IO, the SDKs, hardware, and FAQs19.
  • Its article comparing the xArm 5, 6 and 7 describes the xArm 6 as a 6-axis arm with a 5 kg payload and 1 m/s speed20.

  • Manual or page

    UFACTORY Help Center home

    The UFACTORY Help Center (help.ufactory.cc) groups its articles into xArm collections: Studio and Blockly programming; grippers, IO, PLC and other external devices; the Python/C++ SDK; ROS, kinematics and dynamics; hardware; support and service; and FAQs. Suits novice and intermediate users troubleshooting.19

    Open (opens a new tab)Plain http: this publisher has no certificate for that name, so what loads cannot be verified.

  • Manual or page

    The difference between UFACTORY xArm5, UFACTORY xArm6 and UFACTORY xArm7 (Help Center article)

    UFACTORY's Help Center article comparing the xArm 5, 6 and 7 describes the xArm 6 as a 6-axis arm with a 5 kg payload and 1 m/s speed, and explains how the xArm 5's motion differs from the xArm 6's and xArm 7's. Useful background for beginners and novices placing the xArm 6 in UFACTORY's range.20

    Open (opens a new tab)Plain http: this publisher has no certificate for that name, so what loads cannot be verified.

Recovering a Lost IP Address

  • UFACTORY Technical Support has a video on resetting a control box's IP address. It does not name an arm model21.

Here are the written steps as well, so you do not depend on the video.

  1. Press the emergency stop button and turn off the control box22.
  2. Connect controller input RI0 to GND with a cable23.
  3. Power on. A beep means the IP address has been reset to 192.168.1.11124.
  4. Unplug the RI0-GND cable and wait 60 seconds for start-up25.
  5. Connect to the arm at 192.168.1.111. The manual's step enters 192.168.1.111:18333 in a browser26; in the lab's desktop app, enter the address in the IP search field and click Connect Server1027.

  • Video

    How to Reset the IP Address of UFACTORY Control Box_UFACTORY Technical Support TuTorial

    Video 'How to Reset the IP Address of UFACTORY Control Box' (UFACTORY Technical Support, March 2025) shows how to reset a UFACTORY control box's IP address. It does not name an arm model. Suits novice and intermediate users.21

    Watch on YouTube (opens a new tab)No captions

When It Needs Repair

  • The hardware manual's After Sales Service chapter says to contact UFACTORY technical support to confirm whether the product needs repair. Repair work must only be done by UFACTORY. Before sending a control box for repair, export and save the arm's configuration file28.
  • The manual says the process generally takes about 1 to 2 weeks, not counting shipment, and asks you to keep the original packaging for returns29.

  • Manual or page

    UFACTORY xArm Hardware Manual (online), 6. After Sales Service

    The xArm hardware manual's After Sales Service chapter gives the route for repairs: contact UFACTORY technical support (support@ufactory.cc) to confirm whether the product needs repair. It says repair work must only be done by UFACTORY, and asks users to export and save the arm's configuration file before sending a control box for repair. Suits all tiers.28

    Open (opens a new tab)

Which xArm Is It?

  • A UFACTORY support article explains how to read an xArm's model from its serial number: the axis-count letter is S, I or F for the xArm 7, 6 and 5. Its worked example reads XI130506D43A0A as an xArm 6, model 430.

  • Manual or page

    Kinematic and Dynamic Parameters of xArm Series: telling the xArm model from the SN (UFACTORY support article)

    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 S6.30

    Open (opens a new tab)

Check Yourself

Answer, then check. Each option has its own feedback, and nothing is scored.

q-s10-n-01 Nobody can reach the control box on the network any more: its IP address is lost. Which resource helps?
  1. Check option (a)

    Correct. Right. In the written steps, a beep at power-on means the IP address has been reset to 192.168.1.111.2124

  2. Check option (b)

    Not this one. The release notes list recommended versions and update packages. Network recovery is shown in the IP-reset video and its written steps.3121

q-s10-n-02 The arm seems to need a repair. What do you do first?
  1. Check option (a)

    Correct. Right. That is where the manual's after-sales route starts, and repair work must only be done by UFACTORY.2829

  2. Check option (b)

    Not this one. The hardware manual says repair work must only be done by UFACTORY.28

q-s10-n-03Safety You are about to reset the control box's IP address. What do you do before connecting RI0 to GND?
  1. Check option (a)

    Correct. Right. That is the first step of the written procedure, before any wiring is touched.22

  2. Check option (b)

    Not this one. The procedure starts by pressing the emergency stop and turning the control box off, and only then connecting RI0 to GND.2223

Open questions in this section

3Intermediate

Planning Upgrades, Code and Cell Layouts

For: Someone who will set up, program or maintain the arm: technician, student engineer
Kind of task: Apply: work through written scenarios that need a decision (which mode, which setting, what to do about this error), with feedback on each choice

In this part you learn which resources to open before changing the software on an arm, before writing a control script, before laying out a cell and before choosing a gripper. It is for someone who will set up, program or maintain the arm.

Before an Upgrade: The Release Notes

  • UFACTORY's release notes site lists recommended matching versions of firmware, Studio, the Python SDK and ROS/ROS2, and offline firmware and Studio packages for the xArm series31.
  • Its top row is firmware 2.8.2, Studio 2.8.2, Python SDK 1.18.4 and ROS/ROS2 2.0.032.
  • UFACTORY's article on switching firmware says the xArm 5, 6 and 7 controllers are compatible. Each arm comes with a controller, and a controller used on an arm with a different number of axes needs its firmware refreshed: xarm6-type6 for the xArm 633.

  • Manual or page

    UFACTORY Release Note, Version List

    The UFACTORY release notes site lists recommended matching versions of firmware, UFACTORY Studio, the Python SDK and ROS/ROS2, and offline firmware and Studio packages for the xArm series. Useful to intermediate and expert users planning upgrades.31

    Open (opens a new tab)

  • Manual or page

    How to switch the firmware for xArm5/xArm6/xArm7? (UFACTORY support article)

    UFACTORY's support article on switching firmware says the controllers for the xArm 5, 6 and 7 are compatible: each arm comes with a controller, and using a controller on an arm with a different number of axes needs its firmware refreshed (xarm6-type6 for the xArm 6). Suits intermediate and expert users.33

    Open (opens a new tab)

Writing Code

  • xArm-Python-SDK, on GitHub, is UFACTORY's Python SDK for its robots, including the xArm 5/6/7, installable with pip17.
  • It supports Python 3 only34.
  • UFACTORY's product page says the robot API is open source and all integrations are possible, but they all require custom code work35.
  • ufactory_vision holds UFACTORY's vision demos for the xArm 5/6/7. A UFACTORY video from February 2025 shows it on an xArm 6 picking and placing fruit with an Intel RealSense D435 camera36.

  • Code on GitHub

    xArm-Developer GitHub organisation repository list

    xArm-Python-SDK (GitHub, UFACTORY's xArm-Developer organization) is UFACTORY's Python SDK for its robots, including the xArm 5/6/7, installable with pip. Suits intermediate and expert users writing control scripts.17

    Open on GitHub (opens a new tab)

  • Code on GitHub

    xArm-Developer GitHub organisation repository list

    ufactory_vision (GitHub, xArm-Developer) holds UFACTORY's vision demos for the xArm 5/6/7. UFACTORY's video 'UFactory xArm 6 picks and places fruits with an Intel RealSense D435 camera' (February 2025) shows it on an xArm 6. Suits intermediate and expert users exploring robot vision.36

    Open on GitHub (opens a new tab)

Laying Out a Cell Offline

  • The "UFACTORY xArm" downloads section has 3D files of the xArm 6 (XI1305), the AC control box, the AC Control Box Pro (MC1300), the DC control box and a mounting tool, plus a moveable model of the xArm 6, for CAD layout of the S6 cell37.

  • Manual or page

    UFACTORY Product Downloads page

    The same 'UFACTORY xArm' downloads section offers 3D files for the xArm 6 (XI1305), the AC control box, the AC Control Box Pro (MC1300), the DC control box and a mounting tool, plus an 'xArm6(XI1305) Moveable Model'. Useful for CAD layout of the S6 cell; suits intermediate and expert users.37

    Open (opens a new tab)

Before Choosing a Gripper

  • UFACTORY's support article on the Robotiq 2F-85 and 2F-140 grippers covers their connection method and a usage example on the xArm 5, 6 and 7 tool end38.

  • Manual or page

    How to use Robotiq Gripper on xArm tool end? (UFACTORY support article)

    UFACTORY's support article on using a Robotiq gripper on the xArm tool end covers the Robotiq 2F-85 and 2F-140 on the xArm 5, 6 and 7: the connection method and a usage example. S6 uses a five-cup suction attachment rather than a finger gripper (int-528), so the article is background on the tool end's connection; suits intermediate and expert users.38

    Open (opens a new tab)

Check Yourself

Answer, then check. Each option has its own feedback, and nothing is scored.

q-s10-i-01 Before upgrading the firmware, where do you find the matching Studio, SDK and ROS versions?
  1. Check option (a)

    Correct. Right. It lists recommended matching versions of firmware, Studio, the Python SDK and ROS/ROS2.3132

  2. Check option (b)

    Not this one. The hardware manual covers safety, installation, electrical interfaces, maintenance and specifications. Matching versions are on the release notes site.631

q-s10-i-02 You have a spare controller that came with an xArm 7. Can it drive the xArm 6?
  1. Check option (a)

    Correct. Right. UFACTORY's article says the xArm 5, 6 and 7 controllers are compatible, but a controller used on an arm with a different number of axes needs its firmware refreshed.33

  2. Check option (b)

    Not this one. UFACTORY's article says the controllers are compatible, after a firmware refresh for an arm with a different number of axes.33

q-s10-i-03Safety Can you try out S6 agent code in Studio's simulated-arm mode without any effect on the real arm?
  1. Check option (a)

    Correct. Right. Studio says so itself, and this project advises against using that mode as the simulation substrate for S6 agent work.3940

  2. Check option (b)

    Not this one. Studio says both the real and simulated modes need a real arm connected, and settings made in simulation mode apply to the real arm.39

Open questions in this section

4Expert

Source Code, Models and Standards

For: Someone who designs, integrates or changes the cell: integrator, engineer, agent developer
Kind of task: Analyze and decide: weigh trade-offs, resolve contradictions, critique a configuration

In this part you learn which developer repositories apply to this machine, and how far, which modeling data UFACTORY publishes, and what its documents do not say about repair and standards. It is for someone who designs, integrates or changes the cell.

SDKs and ROS

  • xArm-CPLUS-SDK is UFACTORY's C++ SDK for its robots, including the xArm 5/6/741.
  • xarm_ros2 provides ROS 2 simulation models and motion-planning and control demos for the xArm series. Its instructions are written for the xArm 6, for example xarm6_moveit_realmove.launch.py for a real arm42.
  • It supports MoveIt dual-arm control, but each dual-arm launch file names one model, and the README gives none that pairs an xArm 6 with an 85043.
  • xarm_ros provides the ROS 1 packages, tested with ROS Kinetic, Melodic or Noetic, and includes xarm6_moveit_config packages44.

  • Code on GitHub

    xArm-CPLUS-SDK repository (GitHub)

    xArm-CPLUS-SDK (GitHub, xArm-Developer) is UFACTORY's C++ SDK for its robots, including the xArm 5/6/7. Suits expert users who need C++ integration.41

    Open on GitHub (opens a new tab)

  • Manual or page

    xarm_ros2 ReadMe (humble branch)

    xarm_ros2 (GitHub, xArm-Developer) provides UFACTORY's ROS 2 simulation models and motion-planning and control demos for the xArm series. Its instructions are written for the xArm 6, for example xarm6_moveit_fake.launch.py for simulation and xarm6_moveit_realmove.launch.py for a real arm. Suits expert users building ROS 2 systems.42

    Open (opens a new tab)

  • Manual or page

    xarm_ros ReadMe (ROS 1, master branch)

    xarm_ros (GitHub, xArm-Developer) provides UFACTORY's ROS 1 packages: 3D models of the xArm series and demo packages, developed and tested on Ubuntu 16.04/18.04/20.04 with ROS Kinetic, Melodic or Noetic. It includes xarm6_moveit_config packages. Suits expert users on ROS 1.44

    Open (opens a new tab)

Modeling Data

  • UFACTORY's support article on the xArm 6 gives its modified and standard D-H parameters and mass parameters, for building your own kinematic or dynamic model18.
  • The mass parameters are published separately for four versions of the xArm 6, told apart by serial number45.
  • Another support article describes a 0.1 mm displacement test on the 850 and an xArm 6 (XI1305), measured by a contact-type digital sensor46.

  • Manual or page

    Kinematic and Dynamic Parameters: xArm 6 (support article)

    UFACTORY's support article 'xArm 6' (kinematic and dynamic parameters) gives the xArm 6's modified and standard D-H parameters and mass parameters. Suits expert users building their own kinematic or dynamic models.18

    Open (opens a new tab)

  • Manual or page

    0.1 mm Displacement Test for 850 and xArm 6 (UFACTORY support article)

    UFACTORY's support article '0.1 mm Displacement Test for 850 and xArm 6' describes a test in which each arm moves in X+, Y+ and Z+ with 0.1 mm step commands, repeated 40 times, measured by a contact-type digital sensor, with an xArm 6 (XI1305) among the arms tested. Suits expert users.46

    Open (opens a new tab)

Learned Policies

  • UFACTORY's video "Dual xArm 6 Imitation Learning with LeRobot ACT" shows two xArm 6 arms learning a bimanual task, trained from 50 teleoperation episodes in Hugging Face's LeRobot framework.47.

  • Video

    Dual xArm 6 Imitation Learning with LeRobot ACT: 50 UMI Teleop Episodes, 200k training steps

    UFACTORY's video 'Dual xArm 6 Imitation Learning with LeRobot ACT' (June 2026) shows two xArm 6 arms learning a bimanual task through imitation learning, trained from 50 teleoperation episodes in Hugging Face's LeRobot framework. UFACTORY's lerobot_robot_ufactory repository is its LeRobot-compatible code. Suits expert users interested in learned policies.47

    Watch on YouTube (opens a new tab)No captions

Procedures and Standards

  • This platform infers that UFACTORY's article on replacing the end flange of the "xArm 1305" probably applies to the xArm 6. The hardware manual says repair work must only be done by UFACTORY, and the article does not say who should carry it out48.
  • The manual's list of applied standards does not include ISO/TS 15066, and neither the manual nor the product page states conformance to it49.

  • Manual or page

    How to Replace the End Flange in the xArm 1305 (UFACTORY support article)

    UFACTORY's support article 'How to Replace the End Flange in the xArm 1305' is a step-by-step procedure whose first steps are 'Send the robot to 0 position and mark the last joint' and 'E-Stop, turn off, and unplug robot'. It probably applies to the xArm 6, which UFACTORY's downloads page labels XI1305. The hardware manual says repair work must only be done by UFACTORY; the article does not say who should carry it out. Expert only.48

    Open (opens a new tab)

Check Yourself

Answer, then check. Each option has its own feedback, and nothing is scored.

q-s10-e-01 Does xarm_ros2 give a dual-arm launch file for S2's 850 working with S6's xArm 6?
  1. Check option (a)

    Correct. Right. xarm_ros2 supports MoveIt dual-arm control, but its dual-arm launch files each name a single model.43

  2. Check option (b)

    Not this one. Each dual-arm launch file names one model, such as dual_xarm6 or dual_uf850, and none pairs an xArm 6 with an 850.43

q-s10-e-02Safety You find UFACTORY's step-by-step article on replacing the end flange of the xArm 1305. Can you carry it out on the S6 arm yourself?

About:48

  1. Check option (a)

    Correct. Right. This platform also only infers that the article applies to the xArm 6, from the shared 1305 label.4828

  2. Check option (b)

    Not this one. The article does not say who should carry it out, and the hardware manual says repair work must only be done by UFACTORY.48

Open questions in this section

Not settled

Open Questions · 4

What the sources do not settle for this section. Nothing here is papered over with a plausible number.

  • Kind: Gap

    None of the UFACTORY videos titled for the xArm 6 found in YouTube searches on 2026-09-25 covers setting it up or programming it. They are demonstrations (res-521, res-523 to res-525); the set-up and Studio tutorials are titled for the xArm and do not name a model (res-526 to res-528).

    See reference 3
  • Kind: Gap

    The xArm manual's list of applied standards does not include ISO/TS 15066; no statement of ISO/TS 15066 conformance for the xArm 6 was found in the manual or the product page.

    See reference 49
  • Kind: Gap

    Which hardware version the S6 xArm 6 is has not been recorded. The online xArm manual's Preface and Hardware Installation chapter state they apply to models XF1305, XI1305 and XS1305, so the sources do not settle whether the manual's descriptions fit the S6 arm.

    See reference 56
  • Kind: Gap

    What UFACTORY's online simulation (xarm6.sim.ufactory.cc) offers is not stated in text that could be fetched: the page is a script-built app, so whether it simulates an xArm 6 in Studio, and whether it needs a reservation, as its '/reservation' address suggests, is unconfirmed.

    See reference 57
Provenance

References · 57

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.

Open the 57 references

Image Credits

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

Sources for This Section

  • 0.1 mm Displacement Test for 850 and xArm 6 (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
  • Dual xArm 6 Imitation Learning with LeRobot ACT: 50 UMI Teleop Episodes, 200k training steps · UFACTORY (video)
    © UFACTORY, via YouTube · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25 · cited by 1 record here · Watch on YouTube (opens YouTube) Captions: no
  • How to Replace the End Flange in the xArm 1305 (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
  • How to Reset the IP Address of UFACTORY Control Box_UFACTORY Technical Support TuTorial · UFACTORY (video)
    © UFACTORY, via YouTube · All rights reserved; quoted briefly as evidence · retrieved 2026-09-22 · cited by 1 record here · Watch on YouTube (opens YouTube) Captions: no
  • How to switch the firmware for xArm5/xArm6/xArm7? (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
  • How to use Robotiq Gripper on xArm tool end? (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
  • 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 1 record 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 2 records 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 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 1 record here · Open the source Plain http: this publisher has no certificate for that name, so what loads cannot be verified.
  • UFactory Docs home page · UFACTORY (manufacturer)
    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21 · cited by 1 record here · Open the source
  • UFACTORY Help Center home · UFACTORY (manufacturer)
    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21 · cited by 1 record here · Open the source Plain http: this publisher has no certificate for that name, so what loads cannot be verified.
  • UFACTORY online simulation (web page titled 'UFactory Studio') · UFACTORY (manufacturer)
    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25 · cited by 1 record here · Open the source
  • UFACTORY Product Downloads page · UFACTORY (manufacturer)
    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21 · cited by 4 records here · Open the source
  • UFACTORY Release Note, Version List · UFACTORY (manufacturer)
    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-26 · cited by 2 records here · Open the source
  • UFACTORY Studio product and download page · UFACTORY (manufacturer)
    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21 · cited by 2 records here · Open the source
  • UFACTORY Studio User Manual (online), 1. Preface · UFACTORY (manufacturer)
    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21 · cited by 2 records here · Open the source
  • UFACTORY Studio User Manual (online), 4. Live Control · UFACTORY (manufacturer)
    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-13 · cited by 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 6 picks and places fruits with an Intel RealSense D435 camera · UFACTORY (video)
    © UFACTORY, via YouTube · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25 · cited by 1 record here · Watch on YouTube (opens YouTube) Captions: no
  • UFACTORY xArm Hardware Installation · UFACTORY (video)
    © UFACTORY, via YouTube · All rights reserved; quoted briefly as evidence · retrieved 2026-09-22 · cited by 1 record here · Watch on YouTube (opens YouTube) Captions: no
  • UFACTORY xArm Hardware Manual (online), 1. Safety · 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), 2. Hardware Installation · UFACTORY (manufacturer)
    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25 · cited by 2 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 5 records here · Open the source
  • UFACTORY xArm Hardware Manual (online), 6. After Sales Service · 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), 7. Production Information · UFACTORY (manufacturer)
    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25 · cited by 2 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 1 record here · Open the source
  • UFACTORY xArm Hardware Manual (online), Preface · UFACTORY (manufacturer)
    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25 · cited by 2 records here · Open the source
  • UFACTORY xArm Live Control Tutorial · UFACTORY (video)
    © UFACTORY, via YouTube · All rights reserved; quoted briefly as evidence · retrieved 2026-09-22 · cited by 1 record here · Watch on YouTube (opens YouTube) Captions: no
  • UFACTORY xArm product page · UFACTORY (manufacturer)
    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21 · cited by 2 records here · Open the source
  • UFACTORY xArm Trajectory Recording Tutorial · UFACTORY (video)
    © UFACTORY, via YouTube · All rights reserved; quoted briefly as evidence · retrieved 2026-09-22 · cited by 1 record here · Watch on YouTube (opens YouTube) Captions: no
  • xArm-CPLUS-SDK repository (GitHub) · UFACTORY (xArm-Developer) (manufacturer)
    © UFACTORY Inc., xArm-Developer/xArm-CPLUS-SDK, BSD 3-Clause License · BSD-3-Clause · retrieved 2026-09-21 · cited by 1 record here · Open the source
  • xArm-Developer GitHub organisation repository list · UFACTORY (xArm-Developer) (manufacturer)
    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21 · cited by 3 records here · Open the source
  • xArm-Python-SDK README (GitHub) · UFACTORY (xArm-Developer) (manufacturer)
    © UFACTORY Inc., xArm-Developer/xArm-Python-SDK, BSD 3-Clause License · BSD-3-Clause · retrieved 2026-09-21 · cited by 2 records here · Open the source
  • xArm6 Robot Arm Provides an Innovative Dispensing · UFACTORY (video)
    © UFACTORY, via YouTube · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25 · cited by 1 record here · Watch on YouTube (opens YouTube) Captions: no
  • xarm_ros ReadMe (ROS 1, master branch) · UFACTORY (manufacturer)
    © UFACTORY Inc., xArm-Developer/xarm_ros, BSD 3-Clause License · BSD-3-Clause · retrieved 2026-09-21 · cited by 1 record here · Open the source
  • xarm_ros2 ReadMe (humble branch) · UFACTORY (manufacturer)
    © UFACTORY Inc., xArm-Developer/xarm_ros2, BSD 3-Clause License · BSD-3-Clause · retrieved 2026-09-21 · cited by 2 records here · Open the source

IntelliMake diagrams are redrawn as native figures, © IntelliMake.org. UFACTORY does not endorse this platform.

All sources and attribution