Sections
  1. §1 xArm 6 overview
  2. §2 Role in the Phase 1 production process
  3. §3 Major components
  4. §4 How the machine works
  5. §5 Key specifications and capabilities
  6. §6 Basic operating sequence
  7. §7 Safety requirements
  8. §8 Control, communication and programming interfaces
  9. §9 Limitations and open technical questions
  10. §10 Manuals, videos and other useful resources

Planned

  • Operate: virtual training and commissioning of a simulated arm
  • Twin: a twin-ready view of the arm and its cell

§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.

Videos play on this page only when you press play, and then from YouTube's no-cookie domain. 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.47

  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.484947

  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.50

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.5152

  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.5251

  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.5251

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: Recognise 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 product page says Studio runs inside the control box, so no additional installation is needed and any computer with a browser has access9.

  • 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 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.9

    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.10.
  • Trajectory recording tutorial. An official tutorial on trajectory recording, titled for the xArm and naming no model.11.
  • Hardware installation. An official hardware-installation video titled for the xArm; neither its title nor its description names a model.12.
  • 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.13.
  • 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.10

    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.11

    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.12

    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.13

    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"14.

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.124

  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.124

  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.15

  3. Check option (c)

    Not this one. That article gives D-H and mass parameters, and suits expert users building their own models.16

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 FAQs17.
  • 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 speed18.

  • 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.17

    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.18

    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 model19.

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 box20.
  2. Connect controller input RI0 to GND with a cable21.
  3. Power on. A beep means the IP address has been reset to 192.168.1.11122.
  4. Unplug the RI0-GND cable and wait 60 seconds for start-up23.
  5. Enter 192.168.1.111:18333 in a browser to connect24.

  • 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.19

    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 file25.
  • The manual says the process generally takes about 1 to 2 weeks, not counting shipment, and asks you to keep the original packaging for returns26.

  • 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.25

    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 427.

  • 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 S6.27

    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 192.168.1.111.1922

  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.2819

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.2526

  2. Check option (b)

    Not this one. The hardware manual says repair work must only be done by UFACTORY.25

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.20

  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.2021

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 series28.
  • Its top row is firmware 2.8.2, Studio 2.8.2, Python SDK 1.18.4 and ROS/ROS2 2.0.029.
  • 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 630.

  • 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.28

    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.30

    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 pip15.
  • It supports Python 3 only31.
  • UFACTORY's product page says the robot API is open source and all integrations are possible, but they all require custom code work32.
  • 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 camera33.

  • Code on GitHub

    xArm-Developer GitHub organisation repository list

    xArm-Python-SDK (GitHub, UFACTORY's xArm-Developer organisation) 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.15

    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.33

    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 cell34.

  • 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.34

    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 end35.

  • 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. Relevant while S6's end effector is undocumented (int-512); suits intermediate and expert users.35

    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/ROS2.2829

  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.628

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.30

  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.30

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.3637

  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.36

4Expert

Source code, models and standards

For: Someone who designs, integrates or changes the cell: integrator, engineer, agent developer
Kind of task: Analyse 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 modelling 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 5/6/738.
  • 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 arm39.
  • 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 85040.
  • xarm_ros provides the ROS 1 packages, tested with ROS Kinetic, Melodic or Noetic, and includes xarm6_moveit_config packages41.

  • 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.38

    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.39

    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 1.41

    Open (opens a new tab)

Modelling 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 model16.
  • The mass parameters are published separately for four versions of the xArm 6, told apart by serial number42.
  • Another support article describes a 0.1 mm displacement test on the 850 and an xArm 6 (XI1305), measured by a contact-type digital sensor43.

  • 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.16

    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.43

    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.44.

  • 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.44

    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 out45.
  • The manual's list of applied standards does not include ISO/TS 15066, and neither the manual nor the product page states conformance to it46.

  • 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.45

    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.40

  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 850.40

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:45

  1. Check option (a)

    Correct. Right. This platform also only infers that the article applies to the xArm 6, from the shared 1305 label.4525

  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.45

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 46
  • 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 53
  • 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 54
Provenance

References · 54

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.

  1. 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

  2. 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.

  3. 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

  4. 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).

  5. 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.

  6. 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

  7. 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

  8. 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

  9. 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

  10. 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

  11. 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

  12. 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

  13. 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

  14. 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

  15. Confidence: Verifiedres-514

    The record says

    xArm-Python-SDK (GitHub, UFACTORY's xArm-Developer organisation) 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 licence · BSD-3-Clause · retrieved 2026-09-21

    Open the source

  16. 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

  17. 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.

  18. 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.

  19. 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

  20. 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

  21. 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

  22. 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

  23. 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

  24. 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

  25. 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

  26. 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

  27. 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

  28. 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 2026-09-21

    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 2026-09-21

    Open the source

  29. 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 2026-09-21

    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 2026-09-21

    Open the source

  30. 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

  31. 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 licence · BSD-3-Clause · retrieved 2026-09-21

    Open the source

  32. 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

  33. 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

  34. 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

  35. 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. Relevant while S6's end effector is undocumented (int-512); 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

  36. 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 2026-09-21

    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 2026-09-21

    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 2026-09-21

    Open the source

  37. 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.

  38. 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 licence · BSD-3-Clause · retrieved 2026-09-21

    Open the source

  39. 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 licence · 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 licence · 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 licence · 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 licence · BSD-3-Clause · retrieved 2026-09-21

    Open the source

  40. 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 licence · 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 licence · 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 licence · 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 licence · BSD-3-Clause · retrieved 2026-09-21

    Open the source

  41. 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 licence · 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 licence · BSD-3-Clause · retrieved 2026-09-21

    Open the source

  42. 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

  43. 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

  44. 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

  45. 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

  46. 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

  47. 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

  48. 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

  49. 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

  50. 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.

  51. 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 2026-09-25

    Open the source

  52. 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 centre of gravity in mm in the default TCP frame at the flange centre; with virtually no load, both must be set to 0. The TCP offset gives the tool centre point's position (X, Y, Z) and orientation (roll, pitch, yaw) relative to the flange-centre 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 2026-09-21

    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 2026-09-21

    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 2026-09-21

    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 2026-09-21

    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 2026-09-21

    Open the source

  53. 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

  54. 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

  • 3D model: © 2018 UFACTORY Inc., BSD-3-Clause, from UFACTORY Inc. (xArm-Developer/xarm_ros2). Licence 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
  • 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 2026-09-21 · 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 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 2026-09-21 · 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 2026-09-21 · 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 2026-09-25 · 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 licence · 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 licence · 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 licence · 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 licence · 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