References: §10 Manuals, Videos and Other Useful Resources

Back to §10 Manuals, Videos and Other Useful Resources

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.

Confidence: Verifiedres-510
The record says
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.
Evidence · 4 citations
UFACTORY Studio User Manual
UFACTORY Studio user manual
Support Articles
UFactory Docs home page · UFACTORY · Home page tiles
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
API
Python SDK, WebSocket API, Gcode, Modbus TCP, Private TCP, Modbus RTU
UFactory Docs home page · UFACTORY · Home page tiles
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
xArm Hardware Manual
xArm Hardware Manual
UFactory Docs home page · UFACTORY · Home page tiles
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Release Note
Release Note, New Feature
UFactory Docs home page · UFACTORY · Home page tiles
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Kind: Recommendationres-537
Project advice
For the xArm 6, start from UFactory Docs and 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 6.
This is advice from this project, based on: res-501 Verified res-510 Verified
Why: UFactory Docs lists separate 850 and xArm hardware manuals (res-510), and the xArm manual's tables give columns for the xArm 5, 6 and 7 (res-501). Reading the wrong manual or column gives another arm's figures.
Kind: Gapres-536
Not known
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).
Related: res-521 Verified res-526 Verified res-528 Verified
Kind: Recommendationres-538
Project advice
Use UFACTORY's xArm-titled set-up and Studio videos as a general guide, and check each step for the xArm 6 against the xArm hardware manual and the Studio manual.
This is advice from this project, based on: res-501 Verified res-511 Verified res-536 Gap
Why: The tutorials are titled for the xArm and do not name a model (res-536); the manuals state which models they apply to (res-501, res-511).
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: Verifiedres-501
The record says
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.
Evidence · 2 citations
1. Safety
2. Hardware Installation
3. Controller Electrical Interface
4. Robotic Electrical Interface
5. Maintenance and Inspection
6. After Sales Service
7. Production Information
8. Technical Specifications
UFACTORY xArm Hardware Manual (online), Preface · UFACTORY · Sidebar navigation
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
Model | xArm 5 | xArm 6 | xArm 7
UFACTORY xArm Hardware Manual (online), Preface · UFACTORY · Preface, 'Joint Range' table header
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
Confidence: Verifiedres-502
The record says
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.
Evidence · 1 citation
UFACTORY xArm
Documents
Hardware Manual V2.6.0
Developer Manual
xArm APIs
UFACTORY Product Downloads page · UFACTORY · 'UFACTORY xArm' section, Documents
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Confidence: Verifiedres-511
The record says
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.
Evidence · 2 citations
UFACTORY Studio allows users to plan the motion trajectory for the robotic arm without programming skills.
UFACTORY Studio User Manual (online), 1. Preface · UFACTORY · Section 1 Preface
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
xArm5, xArm6, xArm7, UFACTORY 850, Lite6.
UFACTORY Studio User Manual (online), 1. Preface · UFACTORY · Section 1 Preface, 'Apply to model'
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
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: 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-512
The record says
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.
Evidence · 2 citations
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 · 'Software' section
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Download
Windows
Download
MacOS
Download
Linux
UFACTORY Studio product and download page · UFACTORY · Download buttons
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Confidence: Verifiedres-526
The record says
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.
Evidence · 3 citations
UFACTORY xArm Live Control Tutorial
UFACTORY xArm Live Control Tutorial · UFACTORY · Video title and description
© UFACTORY, via YouTube · All rights reserved; quoted briefly as evidence · retrieved 2026-09-22
Watch on YouTube (opens YouTube) Captions: no
2024-04-02T02:14:05-07:00
UFACTORY xArm Live Control Tutorial · UFACTORY · Page metadata, datePublished
© UFACTORY, via YouTube · All rights reserved; quoted briefly as evidence · retrieved 2026-09-22
Watch on YouTube (opens YouTube) Captions: no
Apply to model: xArm5, xArm6, xArm7, UFACTORY 850, Lite6.
UFACTORY Studio User Manual (online), 1. Preface · UFACTORY · 1. Preface
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Confidence: Verifiedres-527
The record says
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.
Evidence · 2 citations
UFACTORY xArm Trajectory Recording Tutorial
UFACTORY xArm Trajectory Recording Tutorial · UFACTORY · Video title
© UFACTORY, via YouTube · All rights reserved; quoted briefly as evidence · retrieved 2026-09-22
Watch on YouTube (opens YouTube) Captions: no
2024-04-02T02:00:48-07:00
UFACTORY xArm Trajectory Recording Tutorial · UFACTORY · Page metadata, datePublished
© UFACTORY, via YouTube · All rights reserved; quoted briefly as evidence · retrieved 2026-09-22
Watch on YouTube (opens YouTube) Captions: no
Confidence: Verifiedres-528
The record says
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.
Evidence · 2 citations
UFACTORY xArm Hardware Installation
UFACTORY xArm hardware installation.
UFACTORY xArm Hardware Installation · UFACTORY · Video title and description
© UFACTORY, via YouTube · All rights reserved; quoted briefly as evidence · retrieved 2026-09-22
Watch on YouTube (opens YouTube) Captions: no
2024-04-02T02:12:00-07:00
UFACTORY xArm Hardware Installation · UFACTORY · Page metadata, datePublished
© UFACTORY, via YouTube · All rights reserved; quoted briefly as evidence · retrieved 2026-09-22
Watch on YouTube (opens YouTube) Captions: no
Confidence: Verifiedres-524
The record says
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.
Evidence · 3 citations
xArm6 Robot Arm Provides an Innovative Dispensing
xArm6 Robot Arm Provides an Innovative Dispensing · UFACTORY · Video title
© UFACTORY, via YouTube · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Watch on YouTube (opens YouTube) Captions: no
PREMO ROBOTICS is a company that specializes in industrial automation, they integrate xArm robot into multiple applications, such as material removal, finishing, welding, assembly, dispensing, material handling and quality inspection.
xArm6 Robot Arm Provides an Innovative Dispensing · UFACTORY · Video description
© UFACTORY, via YouTube · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Watch on YouTube (opens YouTube) Captions: no
2023-07-13T03:16:10-07:00
xArm6 Robot Arm Provides an Innovative Dispensing · UFACTORY · Page metadata, datePublished
© UFACTORY, via YouTube · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Watch on YouTube (opens YouTube) Captions: no
Confidence: Verifiedres-534
The record says
UFACTORY's website has a 'Simulation' menu item (under Resources) that links to xarm6.sim.ufactory.cc, a page titled 'UFactory Studio'.
Evidence · 2 citations
Resources
Product Downloads
UFACTORY Studio
Simulation
UFACTORY Product Downloads page · UFACTORY · Site menu, Resources, 'Simulation' item (links to https://xarm6.sim.ufactory.cc/reservation?lang=en&channel=prod)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
UFactory Studio
UFACTORY online simulation (web page titled 'UFactory Studio') · UFACTORY · Page title
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
Confidence: Verifiedres-514
The record says
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.
Evidence · 2 citations
Python SDK for UFACTORY robots, 850, xArm5/6/7, and Lite6.
xArm-Developer GitHub organisation repository list · UFACTORY (xArm-Developer) · Organisation repository list, xArm-Python-SDK
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
pip install xarm-python-sdk
xArm-Python-SDK README (GitHub) · UFACTORY (xArm-Developer) · README, 'Installation'
© UFACTORY Inc., xArm-Developer/xArm-Python-SDK, BSD 3-Clause License · BSD-3-Clause · retrieved 2026-09-21
Open the source
Confidence: Verifiedres-505
The record says
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.
Evidence · 3 citations
xArm 6 | 1. Modified D-H Parameters
Kinematic and Dynamic Parameters: xArm 6 (support article) · UFACTORY · Article headings
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
2. Standard D-H Parameters
Kinematic and Dynamic Parameters: xArm 6 (support article) · UFACTORY · Section headings
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
3. Mass Parameters
Kinematic and Dynamic Parameters: xArm 6 (support article) · UFACTORY · Section 3 heading
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
Confidence: Verifiedres-530
The record says
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.
Evidence · 7 citations
xArm-xArm Studio and Blockly Programming
UFACTORY Help Center home · UFACTORY · Collection list
© 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.
xArm-Gripper/ IO/ PLC and other external devices
UFACTORY Help Center home · UFACTORY · Collection list
© 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.
xArm-Python/C++ SDK
UFACTORY Help Center home · UFACTORY · Collection list
© 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.
xArm-ROS/ Kinematics and Dynamics
UFACTORY Help Center home · UFACTORY · Collection list
© 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.
xArm-Hardware
UFACTORY Help Center home · UFACTORY · Collection list
© 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.
xArm-Support and service
UFACTORY Help Center home · UFACTORY · Collection list
© 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.
Frequently Asked Questions of xArm robots.
UFACTORY Help Center home · UFACTORY · Collection list
© 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: Verifiedres-531
The record says
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.
Evidence · 2 citations
UFACTORY xArm 6 - 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, 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.
Compared with UFACTORY xArm6 and UFACTORY xArm7, the motion characteristics of xArm5 are quite special.
The difference between UFACTORY xArm5, UFACTORY xArm6 and UFACTORY xArm7 (Help Center article) · UFACTORY · Section 3 Motion Characteristics
© 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: Verifiedres-529
The record says
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.
Evidence · 3 citations
How to Reset the IP Address of UFACTORY Control Box_UFACTORY Technical Support TuTorial
How to Reset the IP Address of UFACTORY Control Box_UFACTORY Technical Support TuTorial · UFACTORY · Video title
© UFACTORY, via YouTube · All rights reserved; quoted briefly as evidence · retrieved 2026-09-22
Watch on YouTube (opens YouTube) Captions: no
Follow this video to reset the IP address of UFACTORY control box.
How to Reset the IP Address of UFACTORY Control Box_UFACTORY Technical Support TuTorial · UFACTORY · Video description
© UFACTORY, via YouTube · All rights reserved; quoted briefly as evidence · retrieved 2026-09-22
Watch on YouTube (opens YouTube) Captions: no
2025-03-21T03:47:12-07:00
How to Reset the IP Address of UFACTORY Control Box_UFACTORY Technical Support TuTorial · UFACTORY · Page metadata, datePublished
© UFACTORY, via YouTube · All rights reserved; quoted briefly as evidence · retrieved 2026-09-22
Watch on YouTube (opens YouTube) Captions: no
Confidence: Verifiedops-539
The record says
xArm IP reset step 1 of 5: press the emergency stop button and turn off the Control Box.
Evidence · 1 citation
Press the emergency stop button and turn off the power of the control box.
UFACTORY xArm Hardware Manual (online), 3. Controller Electrical Interface · UFACTORY · 3.4.5 Reset IP, step 1 [series text: names no single model]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
Confidence: Verifiedops-540
The record says
xArm IP reset step 2 of 5: connect controller input RI0 to GND with a cable.
Evidence · 1 citation
Connect RI0 to GND with a cable.
UFACTORY xArm Hardware Manual (online), 3. Controller Electrical Interface · UFACTORY · 3.4.5 Reset IP, step 2 [series text: names no single model]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
Confidence: Verifiedops-541
The record says
xArm IP reset step 3 of 5: power on; a beep means the IP has been reset to 192.168.1.111.
Evidence · 1 citation
Turn on the power of the robot. After hearing the sound of 'beep', it means that the IP address of the robot has been reset successfully. The reset IP is 192.168.1.111.
UFACTORY xArm Hardware Manual (online), 3. Controller Electrical Interface · UFACTORY · 3.4.5 Reset IP, step 3 [series text: names no single model]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
Confidence: Verifiedops-542
The record says
xArm IP reset step 4 of 5: unplug the RI0-GND cable and wait for start-up (60 seconds).
Evidence · 1 citation
Please unplug the cable connecting RI0 and GND and wait for the robot to start up (60 seconds).
UFACTORY xArm Hardware Manual (online), 3. Controller Electrical Interface · UFACTORY · 3.4.5 Reset IP, step 4 [series text: names no single model]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
Confidence: Verifiedops-543
The record says
xArm IP reset step 5 of 5: enter 192.168.1.111:18333 in a browser to connect.
Evidence · 1 citation
Enter 192.168.1.111:18333 in the browser to connect the robot.
UFACTORY xArm Hardware Manual (online), 3. Controller Electrical Interface · UFACTORY · 3.4.5 Reset IP, step 5 [series text: names no single model]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
Confidence: InferredAwaiting cell accessops-711
The record says
UFACTORY Studio's connection screen, as used with the xArm 850 at S2 and reported on 2026-10-23, has an IP search field for the arm and a Connect Server button: the operator enters the IP address from the control box and clicks Connect Server. No reading of the screen with the xArm 6 is recorded.
Awaiting cell access: this could be confirmed or corrected once the physical S6 cell can be observed.
Why we infer this: Inferred, not observed with the xArm 6. The report (S241, 2026-10-23) is of UFACTORY Studio's connection screen as it was used with the xArm 850 (recorded in that arm's course), as of that date and no further. The xArm 6 is operated from the same Studio software, whose manual lists the xArm 6 among the models it applies to (iface-502), and the xArm 6's Studio read 2.7.0 on 2026-10-16 (int-610), so its connection screen is inferred to have the same IP search field and Connect Server button; the screen was seen with the 850, and a different Studio version may lay it out differently. No screenshot of the connection screen is recorded, and no inspection is recorded. The same report says the Connect page's 'Open UFACTORY Studio' step 1 is incorrect; it makes no statement about the browser route the Studio manual's connection chapter describes (iface-505).
Evidence · 2 citations
There is an IP search for the arm and connect button, you enter the IP from the control box and click on the Connect Server button
Owner statements from 2026-09-24 onward (verbatim; S40 and later) · Derek Stringfellow · Statement S241 (2026-10-23), on the Connect page's 'Open UFACTORY Studio' steps; the report is of Studio as used with the xArm 850
Derek Stringfellow, project record · Project-internal record · retrieved 2026-10-04
Project copy; not published on this site.
Open UFACTORY Studio step 1 is incorrect.
Owner statements from 2026-09-24 onward (verbatim; S40 and later) · Derek Stringfellow · Statement S241 (2026-10-23), the same paragraph, its first sentence
Derek Stringfellow, project record · Project-internal record · retrieved 2026-10-04
Project copy; not published on this site.
Confidence: Verifiedres-532
The record says
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.
Evidence · 3 citations
Repair work must only be done by UFACTORY.
UFACTORY xArm Hardware Manual (online), 6. After Sales Service · UFACTORY · Chapter 6, first line
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
Contact UFACTORY technical support ( support@ufactory.cc
) to confirm whether the product needs to repair
UFACTORY xArm Hardware Manual (online), 6. After Sales Service · UFACTORY · General process of after-sales service
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
If you need to send the control box to get repaired, please export and save the configuration file ... of the robotic arm
UFACTORY xArm Hardware Manual (online), 6. After Sales Service · UFACTORY · Note
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
Confidence: Verifiedops-584
The record says
UFACTORY's after-sales process for the xArm starts with contacting technical support (support@ufactory.cc) to confirm whether a repair is needed and which part to return; the manual says the process generally takes about 1 to 2 weeks excluding shipment, and asks users to keep the original packaging for returns.
Evidence · 3 citations
Contact UFACTORY technical support (support@ufactory.cc) to confirm whether the product needs to repair and which part should be sent back to UFACTORY.
UFACTORY xArm Hardware Manual (online), 6. After Sales Service · UFACTORY · 6. After Sales Service, step 1 [series text: names no single model]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
Generally, the process takes around 1-2 weeks except for shipment.
UFACTORY xArm Hardware Manual (online), 6. After Sales Service · UFACTORY · 6. After Sales Service [series text: names no single model]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
Please keep the original packaging materials of the product.
UFACTORY xArm Hardware Manual (online), 6. After Sales Service · UFACTORY · 6, Note [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
Confidence: Verifiedres-513
The record says
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.
Evidence · 2 citations
Recommended matching versions are listed below:
Firmware
UFACTORY Studio
Python SDK
ROS&ROS2
UFACTORY Release Note, Version List · UFACTORY · 'Recommended Version'
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-26
Open the source
Offline Package Download ... Firmware & Studio version: xarm series, UFactory 850:
UFACTORY Release Note, Version List · UFACTORY · 'Offline Package Download'
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-26
Open the source
Confidence: Verifiedlim-531
The record says
UFACTORY's release-note version list gives recommended matching versions; the top row is firmware 2.8.2, UFACTORY Studio 2.8.2, Python SDK 1.18.4 and ROS/ROS2 2.0.0. The firmware and Studio packages are listed for the 'xarm series, UFactory 850'.
Evidence · 2 citations
Firmware | UFACTORY Studio | Python SDK | ROS&ROS2 | 2.8.2 | 2.8.2 | 1.18.4 | 2.0.0
UFACTORY Release Note, Version List · UFACTORY · Recommended Version table, first row
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-26
Open the source
Firmware & Studio version: xarm series, UFactory 850:
UFACTORY Release Note, Version List · UFACTORY · Offline Package Download
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-26
Open the source
Confidence: Verifiedres-507
The record says
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.
Evidence · 2 citations
The controllers for xArm5/xarm6/xarm7 are compatible. Each arm comes with a controller, if you want to use this controller on a robot with a different number of axes, you need to refresh the firmware to the corresponding number of axes.
How to switch the firmware for xArm5/xArm6/xArm7? (UFACTORY support article) · UFACTORY · Article body
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
xarm6: xarm6-type6
How to switch the firmware for xArm5/xArm6/xArm7? (UFACTORY support article) · UFACTORY · Firmware list
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
Confidence: Verifiedlim-533
The record says
The official xArm Python SDK supports Python 3 only.
Evidence · 1 citation
Only Python 3 is supported.
xArm-Python-SDK README (GitHub) · UFACTORY (xArm-Developer) · README, Installation [SDK for the xArm API; names no single model]
© UFACTORY Inc., xArm-Developer/xArm-Python-SDK, BSD 3-Clause License · BSD-3-Clause · retrieved 2026-09-21
Open the source
Confidence: Verifiedres-516
The record says
UFACTORY's xArm product page says the robot API is open source and all integrations are possible, but they all require custom code work: most customers will need to write custom libraries and install software packages not shipped with the robot. Worth knowing before planning S6's integration.
Evidence · 2 citations
Our robot API is open-source and users can make adjustments to the software as needed to interface with other products. While all integrations are possible, they all require custom code work
UFACTORY xArm product page · UFACTORY · 'Interfaces with any product that has an API' section
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
most customers will need to write custom libraries and install software packages that are not shipped with the robot.
UFACTORY xArm product page · UFACTORY · Same section
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Confidence: Verifiedres-521
The record says
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.
Evidence · 3 citations
Vision demos for UFactory robots xArm 5/6/7, Lite6 and 850
xArm-Developer GitHub organisation repository list · UFACTORY (xArm-Developer) · Organisation repository list
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
ufactory_vision is a vision-based grasping demo based on UFACTORY xArm 6 and Intel Realsense D435 camera.
UFactory xArm 6 picks and places fruits with an Intel RealSense D435 camera · UFACTORY · Video description
© UFACTORY, via YouTube · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Watch on YouTube (opens YouTube) Captions: no
2025-02-08T02:22:24-08:00
UFactory xArm 6 picks and places fruits with an Intel RealSense D435 camera · UFACTORY · Page metadata, datePublished
© UFACTORY, via YouTube · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Watch on YouTube (opens YouTube) Captions: no
Confidence: Verifiedres-503
The record says
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.
Evidence · 2 citations
3D Files
xArm 5(XF1305)
xArm 6(XI1305)
xArm 7(XS1305)
AC Control Box
AC Control Box Pro(MC1300)
DC Control Box
Mounting tool
UFACTORY Product Downloads page · UFACTORY · 'UFACTORY xArm' section, 3D Files
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
xArm6(XI1305) Moveable Model
UFACTORY Product Downloads page · UFACTORY · 'UFACTORY xArm' section, Other
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Confidence: Verifiedres-508
The record says
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.
Evidence · 2 citations
This article mainly explains the connection method of the Robotiq Gripper and xArm, and the usage example of the robotiq gripper.
How to use Robotiq Gripper on xArm tool end? (UFACTORY support article) · UFACTORY · Introduction
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
Gripper: Robotiq 2F-85/ Robotiq 2F-140
Robotic Arm: xArm5/ xarm6/ xArm7
How to use Robotiq Gripper on xArm tool end? (UFACTORY support article) · UFACTORY · 1.Hardware
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
Confidence: Verifiedsafety-528
The record says
UFACTORY Studio says that in simulated robotic arm mode the unlock-joint button also unlocks the real arm's joints; both the real and simulated modes need a real arm connected, and settings made in simulation mode apply to the real arm.
Evidence · 3 citations
In the 'simulated robotic arm mode', clicking the unlock joint button will also unlock the real joints of the robotic arm.
UFACTORY Studio User Manual (online), 7. Settings · UFACTORY · 7.4.2 Debugging Tools, Joint [general Studio text; the Studio manual says it applies to the xArm6]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-13
Open the source
Switch to real or simulation robotic arm, both mode needs to connect to a real robotic arm.
UFACTORY Studio User Manual (online), 4. Live Control · UFACTORY · 4.6 Real & Simulation robotic arm [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 switch to simulation robotic arm, the robot will not move but the settings will apply to real robotic arm.
UFACTORY Studio User Manual (online), 4. Live Control · UFACTORY · 4.6 Real & Simulation robotic arm [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: RecommendationThis project's simulation and agent design, not the physical cellsafety-598
Project advice
Do not use UFACTORY Studio's simulated-arm mode as the simulation substrate for S6 agent work: it needs a real arm connected, its settings apply to the real arm, and its unlock-joint button unlocks the real joints.
This is advice from this project, based on: safety-528 Verified
Why: Studio's own text says both modes need a real arm and that simulation-mode settings and joint unlocking act on it, so it does not isolate an agent from the machine.
Confidence: Verifiedres-515
The record says
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.
Evidence · 1 citation
C++ SDK for UFACTORY robots, 850, xArm5/6/7, and Lite6.
xArm-CPLUS-SDK repository (GitHub) · UFACTORY (xArm-Developer) · Repository description
© UFACTORY Inc., xArm-Developer/xArm-CPLUS-SDK, BSD 3-Clause License · BSD-3-Clause · retrieved 2026-09-21
Open the source
Confidence: Verifiedres-517
The record says
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.
Evidence · 4 citations
This repository contains simulation models, and corresponding motion planning and controlling demos of the xArm series from UFACTORY.
xarm_ros2 ReadMe (humble branch) · UFACTORY · Section 1 Introduction
© UFACTORY Inc., xArm-Developer/xarm_ros2, BSD 3-Clause License · BSD-3-Clause · retrieved 2026-09-21
Open the source
All following instructions will base on xArm6
xarm_ros2 ReadMe (humble branch) · UFACTORY · Reminder 3
© UFACTORY Inc., xArm-Developer/xarm_ros2, BSD 3-Clause License · BSD-3-Clause · retrieved 2026-09-21
Open the source
ros2 launch xarm_moveit_config xarm6_moveit_fake.launch.py [add_gripper:=true]
xarm_ros2 ReadMe (humble branch) · UFACTORY · Section 5.6, simulation
© UFACTORY Inc., xArm-Developer/xarm_ros2, BSD 3-Clause License · BSD-3-Clause · retrieved 2026-09-21
Open the source
ros2 launch xarm_moveit_config xarm6_moveit_realmove.launch.py robot_ip:=192.168.1.117 [add_gripper:=true]
xarm_ros2 ReadMe (humble branch) · UFACTORY · Section 5.6, real arm
© UFACTORY Inc., xArm-Developer/xarm_ros2, BSD 3-Clause License · BSD-3-Clause · retrieved 2026-09-21
Open the source
Confidence: Verifiedres-519
The record says
xarm_ros2 supports MoveIt dual-arm control under a single RViz GUI, with each arm separately configurable (for example DOF and gripper), and gives dual-arm launch files for simulation and for two real arms. Each dual-arm launch file names one model (dual_xarm6_..., dual_uf850_...); the README gives none that pairs an xArm 6 with an 850. Suits expert users.
Evidence · 4 citations
moveit dual arm control (under single rviz GUI), each arm can be separately configured（e.g. DOF, add_gripper, etc）
xarm_ros2 ReadMe (humble branch) · UFACTORY · Section 2 Update History
© UFACTORY Inc., xArm-Developer/xarm_ros2, BSD 3-Clause License · BSD-3-Clause · retrieved 2026-09-21
Open the source
ros2 launch xarm_moveit_config dual_xarm6_moveit_fake.launch.py [add_gripper:=true]
xarm_ros2 ReadMe (humble branch) · UFACTORY · Section 5.6, dual arm, simulated
© UFACTORY Inc., xArm-Developer/xarm_ros2, BSD 3-Clause License · BSD-3-Clause · retrieved 2026-09-21
Open the source
ros2 launch xarm_moveit_config dual_xarm6_moveit_realmove.launch.py robot_ip_1:=192.168.1.117 robot_ip_2:=192.168.1.203 [add_gripper:=true]
xarm_ros2 ReadMe (humble branch) · UFACTORY · Section 5.6, dual arm, real arms
© UFACTORY Inc., xArm-Developer/xarm_ros2, BSD 3-Clause License · BSD-3-Clause · retrieved 2026-09-21
Open the source
ros2 launch xarm_moveit_config dual_uf850_moveit_fake.launch.py [add_gripper:=true]
xarm_ros2 ReadMe (humble branch) · UFACTORY · Section 5.6, dual arm, simulated, UFACTORY 850
© UFACTORY Inc., xArm-Developer/xarm_ros2, BSD 3-Clause License · BSD-3-Clause · retrieved 2026-09-21
Open the source
Confidence: Verifiedres-520
The record says
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.
Evidence · 2 citations
This repository contains the 3D models of xArm series and demo packages for ROS development and simulations.Developing and testing environment: Ubuntu 16.04/18.04/20.04 + ROS Kinetic/Melodic/Noetic.
xarm_ros ReadMe (ROS 1, master branch) · UFACTORY · Section 1 Introduction
© UFACTORY Inc., xArm-Developer/xarm_ros, BSD 3-Clause License · BSD-3-Clause · retrieved 2026-09-21
Open the source
xarm6_moveit_config
- xarm6_gripper_moveit_config
- xarm6_vacuum_moveit_config
xarm_ros ReadMe (ROS 1, master branch) · UFACTORY · Section 5 package list
© UFACTORY Inc., xArm-Developer/xarm_ros, BSD 3-Clause License · BSD-3-Clause · retrieved 2026-09-21
Open the source
Confidence: VerifiedAwaiting cell accesscomp-511
The record says
UFACTORY publishes separate mass parameters for four versions of the xArm 6 (Model 1 to Model 4), and tells them apart by the arm's serial number; the manual says the 1305 model of the xArm series is model 4.
Awaiting cell access: this could be confirmed or corrected once the physical S6 cell can be observed.
Evidence · 6 citations
xArm 6 - Model 1
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
xArm 6 - Model 2
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
xArm 6 - Model 3
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
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
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
The 1305 model of xArm series is model 4.
UFACTORY xArm Hardware Manual (online), 7. Production Information · UFACTORY · 7.13 DH Parameters (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: Verifiedres-506
The record says
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.
Evidence · 3 citations
Each robotic arm starts from the specified initial position and moves in the X+, Y+, and Z+ directions with 0.1 mm step commands, repeated 40 times.
0.1 mm Displacement Test for 850 and xArm 6 (UFACTORY support article) · UFACTORY · Measurement Method
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
The actual movement distance is continuously measured by a Keyence GT2 contact-type digital sensor
0.1 mm Displacement Test for 850 and xArm 6 (UFACTORY support article) · UFACTORY · Measurement Method
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
xArm 6 | XI1305
0.1 mm Displacement Test for 850 and xArm 6 (UFACTORY support article) · UFACTORY · Robot Models and Initial Positions table
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
Confidence: Verifiedres-523
The record says
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.
Evidence · 4 citations
Two UFACTORY xArm 6 arms learn a real bimanual task end-to-end through imitation learning
Dual xArm 6 Imitation Learning with LeRobot ACT: 50 UMI Teleop Episodes, 200k training steps · UFACTORY · Video description
© UFACTORY, via YouTube · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Watch on YouTube (opens YouTube) Captions: no
We recorded 50 teleoperation episodes through a UMI teleop setup, then trained an ACT (Action Chunking Transformer) policy in Hugging Face's LeRobot framework for 200,000 steps.
Dual xArm 6 Imitation Learning with LeRobot ACT: 50 UMI Teleop Episodes, 200k training steps · UFACTORY · Video description
© UFACTORY, via YouTube · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Watch on YouTube (opens YouTube) Captions: no
2026-06-23T03:16:21-07:00
Dual xArm 6 Imitation Learning with LeRobot ACT: 50 UMI Teleop Episodes, 200k training steps · UFACTORY · Page metadata, datePublished
© UFACTORY, via YouTube · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Watch on YouTube (opens YouTube) Captions: no
lerobot_robot_ufactory | 🤗 LeRobot: Making AI for Robotics more accessible with end-to-end learning (UFACTORY Compatible)
xArm-Developer GitHub organisation repository list · UFACTORY (xArm-Developer) · Organisation repository list
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Confidence: Inferredres-533
The record says
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.
Why we infer this: The article names the xArm 1305 but no axis count; the downloads page labels the xArm 6 'XI1305'. That the article covers the xArm 6 is read from the shared '1305', not stated.
Evidence · 5 citations
How to Replace the End Flange in the xArm 1305
How to Replace the End Flange in the xArm 1305 (UFACTORY support article) · UFACTORY · Article title
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
1. Send the robot to 0 position and mark the last joint
How to Replace the End Flange in the xArm 1305 (UFACTORY support article) · UFACTORY · Steps 1 and 2
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
E-Stop, turn off, and unplug robot
How to Replace the End Flange in the xArm 1305 (UFACTORY support article) · UFACTORY · Step 2
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
xArm 6(XI1305)
UFACTORY Product Downloads page · UFACTORY · 'UFACTORY xArm' section, 3D Files
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Repair work must only be done by UFACTORY.
UFACTORY xArm Hardware Manual (online), 6. After Sales Service · UFACTORY · Chapter 6, first line
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
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
Confidence: Verifiedsafety-095
The record says
OSHA groups robot application hazards into major types including impact, collision or other struck-by/caught-between hazards, crushing and trapping of body parts between the robot, end-effector or workpiece and other equipment, and struck-by projectiles such as released parts or gripper mechanism failure.
Evidence · 6 citations
Similar to above, a worker's limb or other body part can be trapped within or between a robot, end-effector, or workpiece and another robot, or other peripheral equipment, resulting in potential crushing injuries.
OSHA Technical Manual (OTM) Section IV: Chapter 4, Industrial Robot Systems and Industrial Robot System Safety · U.S. Occupational Safety and Health Administration · V. Hazards Associated with Industrial Robot Applications
Source: U.S. OSHA (public domain) · Public domain (US Government work) · retrieved 2026-09-21
Open the source
Parts release, gripper mechanism failure, or end-effector power tool failure
OSHA Technical Manual (OTM) Section IV: Chapter 4, Industrial Robot Systems and Industrial Robot System Safety · U.S. Occupational Safety and Health Administration · V., Struck-by Projectiles Hazards
Source: U.S. OSHA (public domain) · Public domain (US Government work) · retrieved 2026-09-21
Open the source
Hazards can be grouped into the following major types:
OSHA Technical Manual (OTM) Section IV: Chapter 4, Industrial Robot Systems and Industrial Robot System Safety · U.S. Occupational Safety and Health Administration · V. Hazards Associated with Industrial Robot Applications, Robot Application Hazards
Source: U.S. OSHA (public domain) · Public domain (US Government work) · retrieved 2026-09-21
Open the source
Impact, Collision, or other "Struck-by/Caught-between" Hazards
OSHA Technical Manual (OTM) Section IV: Chapter 4, Industrial Robot Systems and Industrial Robot System Safety · U.S. Occupational Safety and Health Administration · V., Robot Application Hazards
Source: U.S. OSHA (public domain) · Public domain (US Government work) · retrieved 2026-09-21
Open the source
Crushing and Trapping Hazards
OSHA Technical Manual (OTM) Section IV: Chapter 4, Industrial Robot Systems and Industrial Robot System Safety · U.S. Occupational Safety and Health Administration · V., Robot Application Hazards
Source: U.S. OSHA (public domain) · Public domain (US Government work) · retrieved 2026-09-21
Open the source
Struck-by Projectiles Hazards
OSHA Technical Manual (OTM) Section IV: Chapter 4, Industrial Robot Systems and Industrial Robot System Safety · U.S. Occupational Safety and Health Administration · V., Robot Application Hazards
Source: U.S. OSHA (public domain) · Public domain (US Government work) · retrieved 2026-09-21
Open the source
Confidence: Verifiedops-502
The record says
To avoid electric shock, the xArm manual says not to connect or disconnect the arm cable while the arm is connected to external AC, and to make sure the external AC is disconnected when doing so.
Evidence · 1 citation
When connecting or disconnecting the arm cable, make sure that the external AC is disconnected. To avoid any electric shock hazard, do not connect or disconnect the robotic arm cable when the robotic arm is connecting with external AC.
UFACTORY xArm Hardware Manual (online), 2. Hardware Installation · UFACTORY · 2.2.1 Safety Guidelines, WARNING [series text: names no single model]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
Confidence: Verifiedsafety-518
The record says
The xArm manual says to avoid disassembling the power supply system inside the controller, and says that power supply system may retain high voltage for several hours after the controller is shut down.
Evidence · 1 citation
Avoid disassembling the power supply system within the controller. The power supply system may retain high voltage for several hours after the controller is shut down.
UFACTORY xArm Hardware Manual (online), 1. Safety · UFACTORY · 1.4 Personnel Safety, DANGER [series text: names no single model]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
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: Verifiedlim-501
The record says
The xArm manual gives the xArm 6 a maximum payload of 5 kg.
Evidence · 1 citation
Max Payload | 5kg
UFACTORY xArm Hardware Manual (online), 8. Technical Specifications · UFACTORY · 8.3 xArm6 Specifications [names the xArm 6]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-15
Open the source
Confidence: Verifiedops-547
The record says
UFACTORY Studio says to set the TCP payload and TCP offset according to the actual situation. The TCP payload is the actual mass of end-effector plus object in kg, with its center of gravity in mm in the default TCP frame at the flange center; with virtually no load, both must be set to 0. The TCP offset gives the tool center point's position (X, Y, Z) and orientation (roll, pitch, yaw) relative to the flange-center frame.
Evidence · 5 citations
Set TCP Payload and TCP Offset according to the actual situation.
UFACTORY Studio User Manual (online), 7. Settings · UFACTORY · 7.1.2 TCP [general Studio text; the Studio manual says it applies to the xArm6]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-13
Open the source
TCP Payload: The load weight refers to the actual mass (end-effector + object) in Kg; X/Y/Z-axis represents the position of the centre of gravity of payload in mm
UFACTORY Studio User Manual (online), 7. Settings · UFACTORY · 7.1.2 TCP [general Studio text; the Studio manual says it applies to the xArm6]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-13
Open the source
If there is virtually no load at the end, both TCP payload and centre of gravity must be set to 0.
UFACTORY Studio User Manual (online), 7. Settings · UFACTORY · 7.1.2 TCP [general Studio text; the Studio manual says it applies to the xArm6]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-13
Open the source
TCP Offset: Setting the Tool Coordinate Offset with respect to the initial tool frame located at the center of the flange
UFACTORY Studio User Manual (online), 7. Settings · UFACTORY · 7.1.2 TCP [general Studio text; the Studio manual says it applies to the xArm6]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-13
Open the source
The position coordinates X, Y, and Z determine the position of TCP, while Roll, Pitch, and Yaw determine the orientation.
UFACTORY Studio User Manual (online), 7. Settings · UFACTORY · 7.1.2 TCP [general Studio text; the Studio manual says it applies to the xArm6]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-13
Open the source
Kind: GapAwaiting cell accessiface-534
Not known
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.
Awaiting cell access: this could be confirmed or corrected once the physical S6 cell can be observed.
Evidence · 2 citations
Apply to Model: XF1305, XI1305, XS1305.
UFACTORY xArm Hardware Manual (online), Preface · UFACTORY · Preface, header
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
Apply to Model: XF1305, XI1305, XS1305 (1305 Model).
UFACTORY xArm Hardware Manual (online), 2. Hardware Installation · UFACTORY · 2. Hardware Installation, header
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
Kind: Gapres-535
Not known
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.
Related: res-534 Verified

Image Credits

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 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 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 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

All sources and attribution

References: §10 Manuals, Videos and Other Useful Resources

References · 57

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