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

§7 xArm 6

Safety requirements

What can hurt you, the rules that prevent it, and how to act around safeguards.

Start here

This section covers what can hurt you near this arm, the rules that keep you safe, and the safety functions the machine offers and what they cannot do. If you read one part of this site before you go near the arm, make it this one.

  • Keep out of the working area while the arm runs. The xArm manual says no people should be in it while the arm is in operation1.
  • While the system runs, an arm that seems to have stopped may be waiting for a signal and about to act. Treat it as moving2.
  • The emergency stop button is on the control box3. The STOP button in UFACTORY Studio is a software stop, and the power stays on after it4.
  • Do not rely on a safeguard nobody has confirmed. Act as though it does not exist, and stay out of the working area while the arm runs5.

S6 in one line: S6 is the xArm 6 arm that handles parts after processing, routing them to inspection, rework or shipping6.

Look back

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

q-s06-b-03Safety What must you check just before powering the arm on?
  1. Check option (a)

    Correct. Right. Check the cables too: arm to control box, the network or RS-485 cable, and the control box's power cable.120121

  2. Check option (b)

    Not this one. The checks before power-on are the cables and a clear working range.121120

  3. Check option (c)

    Not this one. STOP is a software stop for an arm that is running. Before power-on, the check is a clear working range.4120

q-s02-b-04Safety The S6 arm is standing still, and Camera C2 watches the robot and laser area. Is it safe to walk into the arm's working area?
  1. Check option (a)

    Correct. Right. And an arm that seems to have stopped may be waiting for a signal and about to act, so treat it as moving.52

  2. Check option (b)

    Not this one. Camera C2 monitors the robot–laser work area. Monitoring is not a confirmed safeguard, so do not rely on it.1225

  3. Check option (c)

    Not this one. S11 monitors operations, equipment, processes and safety. Monitoring is not a confirmed safeguard, so do not rely on it.345

Choose your depth

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

1Beginner

What can hurt you, and how to stay clear of it

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 ways a robot arm can hurt a person, the rules that keep you out of its way, and what to do when something goes wrong. You need no robotics background. Read it before you go near the arm, even if you only plan to watch.

How a moving arm hurts people

  • OSHA sorts robot hazards into types. One is being struck by the arm, or caught between it and something else7.
  • Another is crushing or trapping: a hand, an arm or another body part caught between the robot, its tool or the workpiece and other equipment7.
  • A third is being hit by something flying loose, such as a part the arm releases or a gripper that fails7.
  • OSHA says robot contact with sensitive parts of the body, such as the face, temples and throat, is to be prevented or avoided8.

Other ways to get hurt

  • The xArm manual warns about items dropping when the power goes off by accident, or when the arm grips them unsteadily9.
  • It also says to be careful when the arm is running too fast9.
  • The arm and the control box get hot while they run. Do not handle or touch them during operation, or straight after it10.
  • Never put your fingers into the connector for the tool at the end of the arm10.

Electrical hazards

  • To avoid an electric shock, do not connect or disconnect the arm cable while the arm is connected to external AC power11.
  • The control box must be powered off while its electrical interface is being wired12.
  • The power supply inside the controller may keep a high voltage for several hours after the controller is shut down. Avoid taking it apart13.

The rules

  • No people, and no other equipment, should be in the working area while the arm is in operation1.
  • While the system is running, an arm that seems to have stopped may be waiting for a signal and about to act. Count it as moving2.
  • A line should be drawn to mark the arm's range of motion, including the reach of its tools, such as grippers and suction cups14.
  • The working range the manual shows does not include the tool at the end of the arm15.
  • The manual says the device and the system must be checked before each use16.
  • Operators must be trained to use UFACTORY Studio and the SDKs correctly, and each operator should read the user manual carefully17.

When accidents happen

  • OSHA says many robot accidents happen during work that is not routine, such as programming, maintenance, testing, setup or adjustment, when a person may be inside the robot's working envelope18.
  • In manual mode, a person moves the arm's joints by hand to reach and record positions19.
  • If the arm's mounting direction is set wrongly, the arm cannot tell accurately which way gravity acts, and it can move uncontrolled in manual mode20.

The emergency stop

  • The emergency stop button is on the control box3.
  • The control box must be placed outside the arm's working range, so that the button can be pressed in an emergency21. The manual says the controller should sit at a height of 0.6 m to 1.5 m22.
  • Pressing the button powers off the arm, and its power light goes out23.
  • The manual says the arm's posture will slightly brake and fall24.
  • The manual says the emergency stop should not be used as a risk reduction measure25. Rely instead on the first rule: no people in the working area while the arm is in operation1.
  • The STOP button in UFACTORY Studio is not the same thing. Studio calls it a software stop: it stops the arm and clears its queued commands, and the power stays on4.

What to do in an emergency

  1. Press the emergency stop button on the control box. The manual says to press it when the arm is in an accident or running abnormally324.
  2. Keep clear of the arm and of anything under it. Its posture brakes slightly and falls24, and the manual names a workpiece dropping from the tool as a danger when power is cut26.
  3. Leave the restart to a trained operator. The manual says operators must be trained17.
  4. Before a restart, make sure the restart or reset motions will not hit any obstacle27.
  5. Restarting takes two steps: turn the button in the direction of its arrow to power the arm, then enable the arm with the Enable button in UFACTORY Studio28.

The brakes

  • The arm's joint modules contain brakes that hold its pose when the power goes out29.
  • The manual describes the emergency stop in two ways that do not fit together. It says the arm's power is removed within 300 ms. It also calls the same button a Stop Category 1 stop, which slows the arm with drive power on, and gives stopping times of up to 885 ms. It does not explain how the two fit30.
  • The manual says to take protective measures when the brakes are released29.

"Collaborative" does not mean safe here

  • UFACTORY's product page calls the xArm a collaborative robot, while the xArm manual says no people should be in the working area when the arm is in operation. Neither source says how the two fit together31.
  • The manual makes whoever integrates the arm responsible for a risk assessment of the complete system, and for a safe distance between people and the arm when they interact with it32.
  • Do not count collision detection as a validated safeguard either. This project's advice is to treat it as a controller function you can configure, not a validated safeguard, and never to let it replace protective devices chosen by a risk assessment33.
  • IntelliMake's S11 system watches factory operations and safety with AI vision34. Until its safety function is documented and verified, this project's advice is not to treat S11 or the cameras as one35.

Rely only on safeguards someone has confirmed

  • Safeguards such as guards and extra stop buttons are checked, not taken on trust. The manual says the arm and its peripheral protection system must be tested and inspected before production, and the device and system checked before each use16.
  • This project's advice: do not rely on a safeguard nobody has confirmed. Act as though it does not exist, and stay out of the arm's working area while it runs5.

Check yourself

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

q-s07-b-01Safety The arm is not moving and nobody is at the controls. Can you reach in to straighten a part?
  1. Check option (a)

    Not this one. The xArm manual warns that an arm that seems to have stopped may be waiting for a signal and about to act. Count it as moving.2

  2. Check option (b)

    Correct. Right. A still arm may be about to act, and no people should be in the working area while the arm is in operation.21

  3. Check option (c)

    Not this one. Speed does not remove the hazard. The arm may be about to act, and a moving arm can strike you or trap part of your body.27

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.7

  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.11137

  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.33

q-s07-b-03Safety Where must the control box go, and why?
  1. Check option (a)

    Correct. Right. That is the xArm manual's rule for placing the control box.21

  2. Check option (b)

    Not this one. The manual says the control box must be outside the arm's working range, so that the emergency stop can be pressed.21

  3. Check option (c)

    Not this one. The emergency stop button is on the control box, not on the arm, so where the box sits decides whether you can reach it.321

q-s07-b-04Safety You pressed STOP in UFACTORY Studio. Is the arm now in the same state as after an emergency stop?
  1. Check option (a)

    Not this one. Studio's STOP is a software stop, and the power is still on. Pressing the emergency stop button powers the arm off.423

  2. Check option (b)

    Correct. Right. Studio's STOP leaves the power on. This project's advice is never to count a software stop as an emergency stop.436

q-s07-b-05Safety You press the emergency stop while the arm holds a part. What might happen? Choose all that apply.
  1. Check option (a)

    This one applies. Yes. The manual says the arm's posture will slightly brake and fall when the emergency stop is pressed.24

  2. Check option (b)

    This one applies. Yes. Pressing the button powers the arm off, and the manual names a workpiece dropping from the tool as a danger when power is cut.2326

  3. Check option (c)

    This one does not apply. The manual says its posture will slightly brake and fall, so keep clear of the arm and anything under it.24

q-s07-b-06Safety You are told S6 has a light curtain, so you can walk in while the arm runs. Nobody has confirmed the light curtain is fitted and working. What do you do?
  1. Check option (a)

    Not this one. Not on someone's word. This project's advice is not to rely on a safeguard nobody has confirmed: act as though it does not exist.5

  2. Check option (b)

    Correct. Right. No people should be in the working area while the arm is in operation, and a safeguard nobody has confirmed counts as not there.15

  3. Check option (c)

    Not this one. That puts your hand in the working area while the arm is in operation, where no people should be. The manual puts testing and inspection of the arm and its peripheral protection system before production.161

Next on the beginner path: the beginner checkpoint

2Novice

The safety functions, and their limits

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 which safety functions the machine has, how an emergency stop differs from a protective stop, and which of the arm's features protect people and which only seem to. It is for someone who will work near the cell or with it.

Two safety inputs: emergency and protective

  • The control box has two fixed safety inputs. The emergency stop input is used only for the device's emergency stop. The protective stop input is used for all types of safety protection37.
  • Both kinds of stop halt the arm's motion. An emergency stop stops the program, needs a manual reset and is meant for infrequent use. A protective stop suspends the program, resets automatically or by hand, and has no limit on how often it is used38.
  • As configured by default, the arm can be operated without any additional safety equipment39.
  • The manual says most applications need one or more additional emergency stop buttons, and that an arm used with other machines needs a common emergency stop circuit most of the time40.
  • Its example of a basic protective stop device is a door switch: when the door is open, the arm stops. It names a safety pad or a safety laser scanner as an example of automatic recovery41.

Errors stop the arm

  • When there is an error in the arm's hardware, in the control box software or in sending commands, Studio's manual says the arm stops working at once and discards the control box's cached commands. The errors must be cleared by hand before normal work resumes42.
  • Three error codes belong to emergency stops: error code C1 means the control box's emergency stop button is pushed in, error code C2 that the control box's emergency input is triggered, and error code C3 that the emergency stop button of the three-state switch is pressed43.

Collision detection

  • UFACTORY's collision detection compares each joint's actual current with the current a dynamic model predicts, and triggers when the difference passes a preset threshold44.
  • Studio's Settings page says that when the torque deviation at a joint goes beyond a normal range during motion, the arm stops by itself. It gives sensitivity levels 1 to 5: the higher the level, the smaller the extra torque needed to trigger collision protection45.
  • The same page says an inaccurate load or mounting direction may cause false alarms. Once those settings are confirmed, sensitivity may be lowered for some high-load or high-speed moves, but lowering it below 3 is not recommended45.
  • This project's advice: treat collision detection as a controller function you can configure, not a validated safeguard. It must not replace risk-assessed protective devices wired to the emergency and protective stop inputs33.

The safety boundary and reduced mode

  • With the Safety Boundary on, the arm's working range in Cartesian space can be limited. If the tool centre point goes beyond the set boundary, the arm stops moving, and the user can then move it back inside46.
  • With Reduced Mode on, the arm's maximum linear speed, maximum joint speed and joint range are limited. A controller input set as Reduced Mode puts the arm into reduced mode when it is triggered47.
  • The same advice covers both: they are configurable controller functions, not validated safeguards33.

Teaching by hand

  • In Studio's Manual Mode the joints can be moved freely by hand to reach and record positions. Studio says it can also be used to drag the arm away from a danger zone19.
  • Before turning manual mode on, confirm that the mounting direction and the payload are set correctly. Otherwise the gravity compensation is inaccurate and the arm may not stay still; Studio's Live Control page says it will be dangerous48.
  • If the mounting direction is set wrongly, the arm triggers collision warnings and stops often, and moves uncontrolled once it enters manual mode49.

Risk assessment belongs to each installation

  • The xArm manual does not cover designing, installing and operating a complete robot system. The complete system must be designed and installed under the safety standards and regulations of the country where the arm is installed50.
  • A safety assessment is required each time the arm is installed, and a complete one must be recorded each time it is re-installed and debugged51.
  • Connecting the arm with other machinery may increase risk. The manual says to make sure a consistent and complete safety assessment is carried out for the whole installation52.
  • OSHA says a risk assessment should be done and documented at every stage of a robot application: design, manufacturing, integrating, operating and maintaining53.

How people and robots can share space

  • OSHA names three collaborative technologies: speed and separation monitoring, hand-guided controls, and power and force limiting. OSHA notes that ANSI/RIA R15.06-2012 refers to the safety-rated monitored stop as a fourth type, and says it is not used alone but only together with one or more of the other three54.
  • In power and force limiting, contact between the robot application and a worker is expected. OSHA says it is permitted when contact forces and pressures are limited so that there will be no injury. These applications usually run at much lower speeds and payloads than the robot can manage55.
  • OSHA separates transient contact, where the body part is free to move away, from quasi-static contact, where a fixed object holds it in place, as when it is trapped or pinched between the robot and a fixture56.
  • OSHA's administrative controls for collaborative applications may include written entry and exit procedures, lockout and tagout procedures, marking out the collaborative space, for example with painted floor lines, and signs warning that it is a collaborative robot application57.

Stopping, mounting and restarting

  • Studio's STOP, the SDK's set_state(4) and the SDK's emergency_stop() are software stops. This project's advice is never to count one as an emergency stop or a safeguard in the S6 risk assessment36.
  • The arm must be installed on a shockproof, sturdy surface with its bolts checked for tightness. The manual says that surface should withstand at least 10 times the full torsion of the base joint and at least 5 times the arm's weight58.
  • After an emergency stop, the manual gives two restart steps: power the arm up by turning the button in the direction of the arrow, then enable it with the Enable button in Studio or with motion_enable(true) in the Python SDK59.
  • Yet a table elsewhere in the same manual says an emergency stop's "Need re-initiation" is "Only releasing the brake". The manual does not say how the two relate60.

Which safeguards you can count on

  • The arm's default configuration uses no additional safety equipment39. Extra emergency stop buttons and protective devices such as door switches are added for the installation and wired to the control box's two safety inputs374041.
  • The manual says preliminary testing and inspection of the arm and its peripheral protection system before production is essential, and that the device and system must be checked before each use16.
  • Never connect a safety signal to a non-safety PLC. The manual warns that an invalid safety stop function may result in serious injury or death61.
  • This project's advice: do not rely on a safeguard nobody has confirmed. Act as though it does not exist, and stay out of the arm's working area while it runs5.

Check yourself

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

q-s07-n-01Safety You are adding a door switch that should stop the arm when the door opens. Which input does it go to?
  1. Check option (a)

    Correct. Right. The manual gives the door switch as an example of a basic protective stop device, and the protective stop input is used for all types of safety protection.3741

  2. Check option (b)

    Not this one. The emergency stop input is used only for the device's emergency stop. The manual's door switch example is a protective stop device.3741

  3. Check option (c)

    Not this one. The general inputs cannot even be set to Stop Moving. A door switch is a protective stop device, which belongs on the protective stop input.624137

q-s07-n-02Safety On Studio's Settings page, what does a higher collision sensitivity level mean?

About:45

  1. Check option (a)

    Correct. Right. Note too that other UFACTORY documents allow 0, which turns collision detection off.4563

  2. Check option (b)

    Not this one. It is the other way round: the higher the level, the smaller the extra torque needed.45

  3. Check option (c)

    Not this one. Sensitivity sets how much extra torque triggers collision protection. Limiting speed is what reduced mode does.4547

q-s07-n-03Safety The program shows as paused and the arm is still. A part has slipped. Can you reach in and fix it?
  1. Check option (a)

    Not this one. An arm that seems to have stopped may be waiting for a signal and about to act. The manual says to count it as moving.2

  2. Check option (b)

    Correct. Right. No people should be in the working area while the arm is in operation.21

  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.33

q-s07-n-04Safety How does an emergency stop differ from a protective stop?
  1. Check option (a)

    Correct. Right. The manual also says emergency stops are for infrequent use, while protective stops have no usage limit.38

  2. Check option (b)

    Not this one. Only a protective stop can reset automatically. An emergency stop needs a manual reset.38

  3. Check option (c)

    Not this one. The manual says emergency stops are for infrequent use, and that the emergency stop should not be used as a risk reduction measure.3825

3Intermediate

Stops, signals and settings

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 how the arm stops, how its safety signals are wired, which settings change what the safety functions do, and where the figures in the UFACTORY sources give out. It is for someone who will set up, program or maintain the arm.

Stop categories

  • The manual assigns a stop category to three safety inputs. The control box's emergency stop button and its emergency input, EI, are Stop Category 1. Its safeguard stop input, SI, is Stop Category 264.
  • Both categories slow the robot down with drive power on, which lets it stop without leaving its current path65.

How far the arm travels before it stops

The manual's Stop Category 1 table names no arm model. Its figures were measured with the arm fully extended horizontally, at 100% speed (joint speed 180 °/s), with a 5 kg payload at the tool centre point666768:

  • Joint 1, moving horizontally, travels 0.62 rad and takes 521 ms to stop66.
  • Joint 2 travels 1.12 rad and takes 885 ms, measured with the robot moving downwards67.
  • Joint 3 travels 0.67 rad and takes 577 ms, also measured moving downwards68.
  • Sources disagree. The manual also says the arm's power is removed within 300 ms of pressing the emergency stop, while calling the same button Stop Category 1, a powered deceleration that lasts up to 885 ms. It does not explain how the two fit30.
  • This project's advice: do not use these figures for S6 separation distances without knowing which arm and configuration they were measured on. If the risk assessment needs stopping data, measure the S6 arm's own stopping behaviour at the cell69.

Wiring safety signals

  • Every safety input and output comes as a redundant pair, kept in two separate branches. The manual says a single I/O failure should not result in the loss of safety features37.
  • For a light curtain on the protective interface, the reset must be made from outside the safety zone with a two-channel button. In the manual's example the reset input is CI0, which must also be configured in UFACTORY Studio70.
  • For a protective-stop reset button, Studio's first step is to set CI0 as Safeguard Reset71. To resume motion, SI0 and SI1 are connected to GND and CI0 is connected to GND to trigger it. To pause, SI0 and SI1 are disconnected from GND72.
  • Never connect a safety signal to a non-safety PLC. The manual warns that an invalid safety stop function may result in serious injury or death61.
  • The configurable inputs CI0 to CI7 can be set to Stop Moving, Safeguard Reset and Reduced Mode. The general inputs DI0 to DI7 cannot62.
  • Configured input functions are triggered by a low signal. Stop Moving stops the arm. Safeguard Reset resumes motion from the protective stop state and, in Studio's words, "Should work with SI". An input set as Manual Mode lets the arm be dragged freely while the signal stays low73.

Collision detection in practice

  • UFACTORY says false collision triggers are often related to the tool's load, centre of mass, mounting direction and friction parameters. It recommends updating the payload after each pick and each release in pick-and-place programs, and reloading the joint friction parameters after the control box is replaced74.
  • On xArm 5/6/7 arms those friction parameters are stored in the arm and reloaded by pressing and releasing the emergency stop. On xArm 5/6/7 arms before XX1300 they are stored in the controller, and reloading them needs technical support75.
  • UFACTORY's documents disagree on the sensitivity range. Studio's Settings page says levels 1 to 5. Studio's glossary and the Python SDK say 0 to 5, and the glossary says 0 turns collision detection off63.
  • The SDK's notes on set_collision_sensitivity say not to use it unless required, and that the setting is lost at reboot unless saved with save_conf76.
  • Collision detection can be switched on or off in Studio's Advanced Settings. That page needs a password, and Studio's manual documents the default one77.
  • With Collision Rebound on, the arm rebounds backward a certain distance after it hits an obstacle. With it off and collision detection on, the arm stays where the collision was detected78.
  • Self-collision detection can model the tool as a cylinder or a cuboid, and error code C22 reports a self-collision79.

Software states and software stops

  • Setting controller state 4 (STOP) ends any execution at once, and the arm takes no new command until the state is set back to STANDBY. The arm also enters state 4 by itself when any error occurs. Setting state 6 makes an immediate decelerated stop80.
  • When a critical setting such as the mode, payload, TCP offset or collision sensitivity changes, the controller enters state 5 and accepts no command until state 0 is set81.
  • The SDK's emergency_stop() is the sequence set_state(4), motion_enable(True), set_state(0), and it does not clear errors by itself82.
  • Studio's STOP is a software stop, and the power is still on after it4. This project's advice: never count Studio's STOP, set_state(4) or emergency_stop() as an emergency stop or safeguard in the S6 risk assessment36.
  • In Studio's simulated-arm mode a real arm must still be connected, settings made there apply to the real arm, and the unlock-joint button unlocks the real joints83.
  • In servo mode the arm moves to each joint target at the fastest speed (180°/s) with no buffer, running only the latest target it receives. UFACTORY warns, for safety, not to give a distant target at once84.

What OSHA adds

  • In speed and separation monitoring, a presence-sensing device detects workers coming in. At a minimum the robot application stops during the intrusion; some integrations slow it first and stop it before contact can happen. When speed is used for safety, OSHA says it should have a safety function that monitors it is not exceeded85.
  • OSHA says robot contact with the face, temples, throat and other sensitive body regions is to be prevented or avoided8.
  • Some robots have built-in safety functions that cannot be seen, and OSHA says trained professionals should verify how safety functions are configured. External measures such as interlocked guards, light curtains and laser scanners need to be verified visually, validated and documented as present and working86.
  • OSHA says a collaborative application could also need a protective stop, force limiting, speed limiting, soft axis-limiting, space limiting and position limiting, and that the risk assessment should decide which87.

Before you rely on the arm's safety behaviour

  • What the arm does when it meets an obstacle or nears a limit depends on its settings: collision detection and its sensitivity45, collision rebound78, the safety boundary46, reduced mode47, and which CI inputs are set as Stop Moving, Safeguard Reset or Reduced Mode62.
  • Check the payload and mounting direction as well. UFACTORY ties false collision triggers to them74, and a wrong mounting direction causes uncontrolled motion in manual mode49.
  • Read the arm's serial number. This project's advice is to read it before relying on any figure the sources disagree on, because UFACTORY tells four xArm 6 versions apart by it88. On arms from XF1300, XI1300 or XS1300 onward, a built-in IMU detects the direction of gravity and the software warns when the set mounting direction differs from it by more than 10°49. On arms before XX1300 the friction parameters are stored in the controller, and reloading them needs technical support75.
  • Do not alter the controller safety configuration. The manual says a modified configuration makes the whole robot system a new system, and every safety review, such as the risk assessment, must be updated89.

Check yourself

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

q-s07-i-01Safety You add a light curtain to the protective interface. Where does its reset button go, and what is CI0 set to?

About:70

  1. Check option (a)

    Correct. Right. That is the manual's requirement for a light curtain reset, and Studio's setting for the reset input.7071

  2. Check option (b)

    Not this one. The manual says the reset must be made from outside the safety zone.70

  3. Check option (c)

    Not this one. The reset button must be two-channel, and the DI inputs cannot be set to Safeguard Reset; the CI inputs can.7062

q-s07-i-02Safety Which stop categories keep drive power on while the arm slows down?

About:65

  1. Check option (a)

    Correct. Right. Now notice the problem: the manual also says the emergency stop, a Category 1 stop, removes the arm's power within 300 ms, yet gives Category 1 stopping times of up to 885 ms. It does not explain how these fit.6530

  2. Check option (b)

    Not this one. The manual says Stop Category 1 and Stop Category 2 both slow the robot with drive power on.65

  3. Check option (c)

    Not this one. The manual says both categories slow the robot with drive power on, so it stops without leaving its path.65

q-s07-i-03Safety Your program calls the SDK's emergency_stop(). Can the S6 risk assessment count that as an emergency stop?

About:82

  1. Check option (a)

    Correct. Right. The SDK documents it as set_state(4), motion_enable(True), set_state(0), and this project's advice is never to count it as an emergency stop.8236

  2. Check option (b)

    Not this one. The name misleads. The SDK documents it as software state commands, and the advice is not to count a software stop as an emergency stop.8236

  3. Check option (c)

    Not this one. It does not clear errors by itself, and it stays a software stop that the risk assessment should not count.8236

q-s07-i-04Safety You fit a heavier gripper and leave the payload setting as it was. What can go wrong?
  1. Check option (a)

    Correct. Right. UFACTORY ties false triggers to the load settings, and with inaccurate gravity compensation the arm may not stay still in manual mode.7448

  2. Check option (b)

    Not this one. UFACTORY ties false collision triggers to the load and centre of mass, and recommends updating them after changing the end effector or workpiece.74

  3. Check option (c)

    Not this one. The collision model takes in load weight and centre of mass, and UFACTORY recommends updating them after changing the end effector or workpiece.4474

4Expert

Standards, evidence and the S6 agent

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 test the safety evidence behind the machine against the standards, see what its certificates show and what they leave out, and work out what an autonomous agent at the cell must never be allowed to change. It is for someone who designs, integrates or changes the cell.

The certificate trail

  • The xArm manual says "The xArm 6 robot is certified and tested by SGS" and has passed EU CE certification. It lists 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 and EN 61000-6-4:2007+A1:201190.
  • The SGS machinery verification the manual links covers "UFACTORY Robotic Arm", model numbers XI13 and XI15, and found the tested samples in conformity with EN ISO 10218-1:2011, EN 60204-1:2018 and EN ISO 12100:2010. It says the CE mark can be affixed, under the manufacturer's responsibility, after an EC Declaration of Conformity is completed91.
  • No EU Declaration of Conformity for the xArm 6 is among the sources, although the manual says the arm has passed EU CE certification and both SGS verifications make the CE mark conditional on one92.
  • The linked SGS EMC verification, for the same model numbers, names the 2019 editions of EN IEC 61000-6-2 and 61000-6-4 under Directive 2014/30/EU93. The manual's own list names the older editions under 2004/108/EC, and its EMC section lists both without saying which apply94.
  • Compare model numbers before you rely on a certificate. The SGS verifications name XI13 and XI159193. UFACTORY lists the xArm 6 as XI1305, and the manual says it applies to XF1305, XI1305 and XS130595. An arm's serial number tells you its model: the letter I marks an xArm 696.
  • So the evidence shows verification against ISO 10218-1:2011, not the 2025 edition. That is an inference, from the edition both documents name and A3's statement that the 2025 editions replace the 2011 ones97.
  • No xArm manual chapter, product page or Studio manual states an ISO 13849-1 Performance Level or Category, or an IEC 62061 SIL, for any xArm safety function, and none mentions TÜV certification. Do not assume any98. The manual's standards list does not include ISO/TS 1506699.

Power and force limiting

  • OSHA says contact limits for power and force limiting must be set by risk assessment, using the pressure and force tables in Annex A of RIA TR 15.606, the US adoption of ISO/TS 15066100.
  • The UFACTORY sources do not say whether the xArm 6 is suitable or validated for power and force limiting. They give no contact force or pressure figures for it, and no force threshold for any collision sensitivity level101.
  • OSHA says the safety functions a collaborative application needs, such as force limiting, speed limiting or space limiting, should be determined during the risk assessment87.

The stop data and S6

  • The manual's Stop Category 1 figures are identical to those in UFACTORY's 850 manual, and both give the test payload as the robot's maximum, 5 kg102.
  • That 5 kg matches the xArm 6's maximum payload, and neither the xArm 5's 3 kg nor the xArm 7's 3.5 kg. This is Inferred: the table itself does not say which model was tested103.
  • The sources give no stop data for Joints 4 to 6, other speeds or payloads, Stop Category 2 (the SI safeguard stop), or stopping after a collision. A separation-distance calculation at S6 needs them104.
  • The manual says the arm will "slightly brake and fall" on an emergency stop, but the sources do not say how far, at which joints, or how long the brakes take to engage105.
  • This project's advice: if the risk assessment needs stopping data, measure the S6 arm's own stopping behaviour at the cell rather than use the manual's figures without knowing what they were measured on69.

Integrator duties and modification

  • The integrator's duties also include interfacing other machines and additional safety devices if the risk assessment defines them, setting up the right safety functions in software, and specifying instructions for use106.
  • Do not alter the controller safety configuration. The manual says a modified configuration makes the entire robot system a new system, and every safety review, such as the risk assessment, must be updated89.
  • Only UFACTORY may repair the arm. After a repair, checks must confirm the required safety level, and every safety function must be tested107. The manual says to replace faulty parts only with the same part number or UFACTORY-approved equivalents, and to document all maintenance in writing108.
  • Studio advises choosing a mounting place with the cylindrical volume directly above and below the base in mind. It says moving the wrist joint close to that volume makes joints move fast even when the arm moves slowly, and makes a risk assessment difficult109.
  • The UFACTORY sources give no intended-use or foreseeable-misuse statement for the xArm 6 beyond the environmental conditions and general warnings110, and name no specific pinch or crush points on it111. Identifying them falls to the risk assessment of the complete system, which the manual makes the integrator's duty32.

The liability sentence

  • As published, the manual's Limitation of Liability section says safety information "must be construed as a warranty by UFACTORY" that the xArm will not cause injury or damage even if every safety instruction is followed. The wording sits under a heading about limiting liability. Do not read it as a guarantee of safety112.

The S6 agent and the safety settings

  • An agent driving the arm through the Python SDK could change collision sensitivity, including to 0, which turns detection off, as well as collision rebound, reduced mode and the safety boundary. Under the manual's own warning, that makes a new system whose safety reviews must be updated113.
  • This project's advice: deny the S6 agent those calls, or gate them behind human approval114.
  • The UFACTORY sources do not say whether the software safety functions are enforced independently of the motion-command path, and describe the safety boundary only for the tool centre point. So do not assume a separate layer checks an agent's motion commands115.
  • The SDK's reduced-mode and boundary calls need firmware 1.2.0 or above; the fence-mode and collision-rebound calls need 1.2.11 or above, so check the arm's firmware before an agent relies on them116.
  • In servo mode the arm moves to each joint target at its fastest speed, 180 °/s, with no buffer, and UFACTORY says, for safety, not to give a distant target at once117.
  • Do not use Studio's simulated-arm mode as the agent's simulation substrate: it needs a real arm connected, its settings apply to the real arm, and its unlock-joint button unlocks the real joints118.

Check yourself

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

q-s07-e-01Safety Can S6 be called a power and force limiting collaborative application today?
  1. Check option (a)

    Correct. Right. OSHA says power and force limiting contact limits must be set by risk assessment from the Annex A tables of RIA TR 15.606, and the UFACTORY sources give no contact force figures or force thresholds for the xArm 6 to set them against.101100

  2. Check option (b)

    Not this one. The label does not settle it: the manual keeps people out of the working area during operation, and calling the arm collaborative does not make an installation safe to share.31119

  3. Check option (c)

    Not this one. That verification names the 2011 edition, and the UFACTORY sources do not say whether the xArm 6 is suitable or validated for power and force limiting.91101

q-s07-e-02Safety Is the manual's stop data good enough to compute a separation distance at S6?
  1. Check option (a)

    Correct. Right. Power removal within 300 ms conflicts with powered Category 1 stops of up to 885 ms, and the UFACTORY sources give no stop data for Joints 4 to 6, other speeds or payloads, the SI stop, or stops after a collision.30104

  2. Check option (b)

    Not this one. Only for Joints 1 to 3, fully extended, at full speed with a 5 kg payload, and the manual does not say which arm model was measured.104

  3. Check option (c)

    Not this one. The match with the xArm 6's payload is only an inference; the table does not say which model was tested. The advice is to measure S6's stopping at the cell if the risk assessment needs it.10369

q-s07-e-03Safety The S6 agent wants to lower collision sensitivity so that a move can finish. What does this project advise?
  1. Check option (a)

    Not this one. Changing the controller safety configuration makes a new system whose safety reviews must be updated; the advice is to deny or gate the call.89114

  2. Check option (b)

    Correct. Right. Through the SDK the agent could take sensitivity down to 0, which turns collision detection off.114113

  3. Check option (c)

    Not this one. Only if it is not saved: save_conf keeps it. And changing the safety configuration makes a new system, so the advice stands: deny or gate the call.7689114

q-s07-e-04Safety A supplier tells you the xArm 6 is certified to ISO 10218-1:2025. What does the evidence show?
  1. Check option (a)

    Correct. Right. The SGS verification names EN ISO 10218-1:2011, so the evidence shows verification against that edition and not the 2025 one, and no EU Declaration of Conformity is among the sources.919792

  2. Check option (b)

    Not this one. Neither the xArm manual, the product page nor the Studio manual mentions TÜV certification or states a Performance Level for any xArm safety function.98

  3. Check option (c)

    Not this one. The CE mark depends on a Declaration of Conformity, which is not among the sources, and the evidence shows verification against the 2011 edition, not the 2025 one.9297

Not settled

Open questions · 25

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

  • Kind: Contradiction

    The xArm manual describes the Control Box emergency stop in ways that do not fit together. Section 2.1.2 says the arm's power supply is removed within 300 ms and that pressing the button powers off the xArm; section 3.2.2 says the button allows the user to cut off the arm's power in the shortest time possible. Section 7.9 says the same button is Stop Category 1, which decelerates the robot 'with drive power on', and section 7.10 gives Stop Category 1 stopping times of 521 to 885 ms. The manual does not explain how power removal within 300 ms fits a powered deceleration lasting up to 885 ms.

    See reference 30
  • Kind: Contradiction

    UFACTORY's xArm product page presents the xArm as a collaborative robot ('cobot'), while the xArm manual says no people or other equipment should be in the working area when the arm is in operation. Neither source says how the two fit together.

    See reference 31
  • Kind: Contradiction

    The xArm manual describes what an emergency stop needs before the arm can run again in two different ways. The emergency-stop column of section 3.4.1's table says 'Need re-initiation: Only releasing the brake'. Section 2.1.2 lists two restart steps: power the xArm up by turning the emergency stop button, then enable it (the servo motors) from Studio or the SDK. The manual does not say how the two relate.

    See reference 60
  • Kind: Contradiction

    UFACTORY sources disagree on the collision sensitivity range. Studio's Settings page says levels 1 to 5; Studio's glossary and the Python SDK say 0 to 5, and the glossary says 0 disables collision detection. A learner reading only the Settings page would not learn that the value can switch detection off.

    See reference 63
  • Kind: Gap

    The EU Declaration of Conformity for the xArm 6 was not found. The manual says the xArm 6 has passed EU CE certification, and both SGS verifications say the CE mark can be affixed or used, under the responsibility of the manufacturer, after completion of a Declaration of Conformity.

    See reference 92
  • Kind: Contradiction

    The EMC standards the xArm manual lists do not match the EMC verification it links. Section 7.2 lists EMC 2004/108/EC, EN 61000-6-2:2005 and EN 61000-6-4:2007+A1:2011 as the standards the xArm 6 meets. The linked SGS EMC verification names EN IEC 61000-6-2:2019 and EN IEC 61000-6-4:2019 under Directive 2014/30/EU. Section 7.3 lists both the older editions and the 2019 editions without saying which apply.

    See reference 94
  • Kind: Gap

    No chapter of the xArm manual (Preface and chapters 1 to 8), the xArm product page or the Studio manual states an ISO 13849-1 Performance Level or Category, or an IEC 62061 SIL, for any xArm safety function (emergency stop, EI/SI inputs, collision detection, safety boundary or reduced mode), and none mentions a TÜV certification. Do not assume any.

    See reference 98
  • 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 99
  • Kind: Gap

    No fetched UFACTORY source says whether the xArm 6 is suitable or validated for power and force limiting collaborative applications. No fetched UFACTORY source gives contact force or pressure figures for the xArm 6, or a torque or force threshold for any collision sensitivity level.

    See reference 101
  • Kind: Gap

    The xArm manual gives stop data only for Stop Category 1 and Joints 1 to 3, in one configuration (fully extended, 100% speed, 5 kg payload), and does not say which arm model was measured. No data was found for Joints 4 to 6, for other speeds or payloads, for Stop Category 2 (the SI safeguard stop), or for stopping after a collision is detected. These are needed for any separation-distance calculation at S6.

    See reference 104
  • Kind: Gap

    The xArm manual says the arm will 'slightly brake and fall' when the emergency stop is pressed, but no fetched source says how far it may fall, at which joints, or how long the brakes take to engage.

    See reference 105
  • Kind: Gap

    No fetched UFACTORY source gives an explicit intended-use or reasonably foreseeable misuse statement for the xArm 6, beyond the environmental conditions and the general warnings in chapter 1.

    See reference 110
  • Kind: Gap

    No fetched UFACTORY source identifies specific pinch or crush points on the xArm 6, such as between links or at gripper fingers.

    See reference 111
  • Kind: Gap

    As published, the xArm manual's 'Limitation of Liability' section says safety information 'must be construed as a warranty by UFACTORY' that the xArm will not cause injury or damage even if all safety instructions are complied with. That wording sits under a heading about limiting liability, and no fetched source says what UFACTORY intended. Do not read it as a guarantee of safety.

    See reference 112
  • Kind: Gap

    No fetched UFACTORY source says whether the software safety functions (collision detection, safety boundary, reduced mode) are enforced independently of the motion-command path. Studio's description of the safety boundary mentions only the tool centre point, and no source says whether the arm's links or the tool body are checked against it.

    See reference 115
  • Kind: Gap

    Whether S11 IntelliAware has any authority to stop or slow S2, whether it is a safety-rated protective device, and who owns S11 are not documented (Q14f). The diagram calls S11 'monitoring of ... safety', which does not make it a safeguard.

    See reference 123
  • Kind: Gap

    No fetched UFACTORY source gives the default collision sensitivity level for the xArm 6: the Studio settings page and glossary give the range, and the SDK's set_collision_sensitivity gives no default.

    See reference 124
  • Kind: Gap

    The xArm manual's Preface and Hardware Installation chapter say they apply to models XF1305, XI1305 and XS1305, and the linked RoHS certificate lists those numbers among others. The linked SGS machinery and EMC verifications name models XI13 and XI15. No fetched text says whether XI13 and XI15 cover the 1305 models, or which model number is on the S6 xArm 6's label.

    See reference 125
  • Kind: Gap

    No risk assessment for the S6 xArm 6 application has been confirmed: whether one exists for the complete application (arm, gripper, workpieces and the stations it hands parts to and from), who performed and signed it, and whether it was redone after installation as the xArm manual requires.

    See reference 126
  • Kind: Gap

    The S6 emergency stops are not confirmed: whether any emergency stop buttons beyond the Control Box button are wired to EI, where they are, and whether S6 shares an emergency stop circuit with S2 or other stations.

    See reference 127
  • Kind: Gap

    The final position of the S6 Control Box is not confirmed: whether it is outside the arm's working range, at 0.6 to 1.5 m height, with its emergency stop reachable.

    See reference 128
  • Kind: Gap

    S6's guarding and protective devices are not confirmed: whether fences, interlocked doors, light curtains, safety mats or laser scanners are wired to the SI protective stop input, whether any safety signal passes through a PLC (and if so whether it is a safety PLC), or whether SI is still in its default state with no additional safety equipment.

    See reference 129
  • Kind: Gap

    The S6 xArm 6's safety-related settings are not confirmed: collision detection on or off, collision sensitivity level, collision rebound, self-collision detection and tool model, safety boundary and its limits, reduced mode and its limits, TCP payload, mounting direction, which CI inputs are configured as Stop Moving, Safeguard Reset, Reduced Mode or Manual Mode, and whether the documented default Advanced Settings password has been changed.

    See reference 130
  • Kind: Gap

    The S6 xArm 6's controller type (AC or DC), serial number, firmware, Studio and SDK versions are not confirmed. The serial number matters because UFACTORY treats arms before XX1300 differently for friction parameters and the IMU mounting check, and firmware decides which SDK safety calls are available.

    See reference 131
  • Kind: Gap

    It is not confirmed whether people will enter the S6 xArm 6's working area during automatic operation, whether S6's working range (including the gripper) is marked, whether S6 operators are trained as the manual requires, or what the S6 gripper does to a held part on power loss or emergency stop.

    See reference 132
Provenance

References · 132

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: Verifiedsafety-511

    The record says

    The xArm manual says that when the arm is in operation, no people or other equipment should be in the working area.

    Evidence · 1 citation

    When the robotic arm is in operation, make sure no people or other equipment are in the working area.

    UFACTORY xArm Hardware Manual (online), 1. Safety · UFACTORY · 1.3, DANGER list [series text: names no single model]

    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25

    Open the source

  2. Confidence: Verifiedsafety-512

    The record says

    The xArm manual says that while the device is running, an arm that seems to have stopped may be waiting for a signal and about to act, and that it should be considered to be in action even in that state.

    Evidence · 1 citation

    Quote not shown (over 40 words). See the source at: 1.4 Personnel Safety, CAUTION [series text: names no single model].

    UFACTORY xArm Hardware Manual (online), 1. Safety · UFACTORY · 1.4 Personnel Safety, CAUTION [series text: names no single model]

    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25

    Open the source

  3. Confidence: Verifiedcomp-519

    The record says

    The xArm's emergency stop button is on the control box. Pressing it sends a command for software deceleration, stops all activities of the arm and clears the cached commands in the control box; power to the arm is removed within 300 ms.

    Evidence · 2 citations

    By pressing the emergency stop button of the Control Box, a command will be sent to the Control Box for software deceleration to stop all activities of the robotic arm and clear all the cached commands in the Control Box;

    UFACTORY xArm Hardware Manual (online), 2. Hardware Installation · UFACTORY · 2.1.2 Emergency Stop Button (chapter says 'Apply to Model: XF1305, XI1305, XS1305 (1305 Model)')

    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25

    Open the source

    the power supply for the robotic arm will be removed within 300ms.

    UFACTORY xArm Hardware Manual (online), 2. Hardware Installation · UFACTORY · 2.1.2 Emergency Stop Button (chapter says 'Apply to Model: XF1305, XI1305, XS1305 (1305 Model)')

    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25

    Open the source

  4. Confidence: Verifiedsafety-548

    The record says

    The STOP button in UFACTORY Studio stops the arm immediately and clears all cached commands; Studio says it is a software stop and the power is still on.

    Evidence · 1 citation

    STOP: The robotic arm will stop immediately and clear all cache commands. It's a software stop, the power is still on.

    UFACTORY Studio User Manual (online), 4. Live Control · UFACTORY · 4.5 Enable & STOP button [general Studio text; the Studio manual says it applies to the xArm6]

    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21

    Open the source

  5. Kind: RecommendationAwaiting cell accessThis project's simulation and agent design, not the physical cellsafety-599

    Project advice

    Until the S6 emergency stops, guarding, Control Box position and risk assessment are confirmed at the cell, act as though none of them exists: stay out of the xArm 6's working area while it runs, and do not rely on a safeguard nobody has confirmed.

    Awaiting cell access: this could be confirmed or corrected once the physical S6 cell can be observed.

    This is advice from this project, based on: safety-586 Gap, awaiting cell access safety-587 Gap, awaiting cell access safety-588 Gap, awaiting cell access safety-589 Gap, awaiting cell access safety-511 Verified

    Why: The manual says no people should be in the working area during operation, and none of the S6 safety provisions it calls for has been confirmed. Assuming they exist would put people at risk if they do not.

  6. 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.

  7. 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

  8. Confidence: Verifiedsafety-101

    The record says

    OSHA says robot contact with sensitive body regions such as the face, temples and throat is to be prevented or avoided.

    Evidence · 1 citation

    [Note: robot contact with sensitive body regions (e.g., the face, temples, and throat) is to be prevented or avoided per RIA TR R15.606-2016.]

    OSHA Technical Manual (OTM) Section IV: Chapter 4, Industrial Robot Systems and Industrial Robot System Safety · U.S. Occupational Safety and Health Administration · Power and Force Limited (PFL), note

    Source: U.S. OSHA (public domain) · Public domain (US Government work) · retrieved 2026-09-21

    Open the source

  9. Confidence: Verifiedsafety-515

    The record says

    The xArm manual says to be careful when the arm is running too fast, and to be careful about items dropping because of an accidental power-off or unstable clamping by the arm.

    Evidence · 2 citations

    Be careful when the robotic arm is running too fast.

    UFACTORY xArm Hardware Manual (online), 1. Safety · UFACTORY · 1.4 Personnel Safety, CAUTION [series text: names no single model]

    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25

    Open the source

    Be careful about dropping items that can be caused by accidental power off or unstable clamping of the robotic arm.

    UFACTORY xArm Hardware Manual (online), 1. Safety · UFACTORY · 1.4 Personnel Safety, CAUTION [series text: names no single model]

    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25

    Open the source

  10. Confidence: Verifiedsafety-517

    The record says

    The xArm manual says the arm and the Control Box generate heat during operation, and not to handle or touch them while in operation or immediately after operation. It also says never to stick fingers into the end-effector connector.

    Evidence · 2 citations

    The robotic arm and Control Box will generate heat during operation. Do not handle or touch the robotic arm and Control Box while in operation or immediately after the operation.

    UFACTORY xArm Hardware Manual (online), 1. Safety · UFACTORY · 1.3, HIGH TEMPERATURE [series text: names no single model]

    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25

    Open the source

    Never stick fingers to the connector of the end-effector.

    UFACTORY xArm Hardware Manual (online), 1. Safety · UFACTORY · 1.3, HIGH TEMPERATURE [series text: names no single model]

    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25

    Open the source

  11. 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

  12. Confidence: Verifiedops-526

    The record says

    The xArm manual says the Control Box must be powered off when its electrical interface is wired.

    Evidence · 1 citation

    When wiring the electrical interface of the Control Box, the Control Box must be powered off.

    UFACTORY xArm Hardware Manual (online), 3. Controller Electrical Interface · UFACTORY · 3.1 Electrical Alarms and Cautions, WARNING [series text: names no single model]

    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25

    Open the source

  13. 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

  14. Confidence: Verifiedsafety-513

    The record says

    The xArm manual says a line should be drawn to mark the arm's range of motion, including the operating range of its end tools such as grippers and suction cups.

    Evidence · 1 citation

    A line should be drawn to mark the range of motion of the robotic arm to let the operator acknowledge the robotic arm, including its end tools (such as gripper and suction cup, etc) operating range.

    UFACTORY xArm Hardware Manual (online), 1. Safety · UFACTORY · 1.4 Personnel Safety, CAUTION [series text: names no single model]

    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25

    Open the source

  15. Confidence: Verifiedsafety-514

    The record says

    When installing the xArm, the manual says to take its range of motion into account so that it does not bump into people and equipment around it, and notes that the working range it shows does not include the end-effector. The manual gives one working-range figure for the xArm5 and xArm6 together.

    Evidence · 2 citations

    When installing the robotic arm, make sure the range of motion of the robotic arm is taken into account, so as not to bump into the surrounding people and equipment (the end-effector not included in the working range).

    UFACTORY xArm Hardware Manual (online), 2. Hardware Installation · UFACTORY · 2.2.2 Define Working Space [series text: names no single model]

    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25

    Open the source

    working range of xArm5 and xArm6, unit:mm

    UFACTORY xArm Hardware Manual (online), 2. Hardware Installation · UFACTORY · 2.2.2, figure caption [names the xArm 6]

    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25

    Open the source

  16. Confidence: Verifiedsafety-506

    The record says

    The xArm manual says the integrity of the device and system must be checked before each use, and that preliminary testing and inspection of both the arm and the peripheral protection system before production is essential.

    Evidence · 2 citations

    The integrity of the device and system must be checked before each use (e. g. the operational safety and the possible damage of the robotic arm and other device systems).

    UFACTORY xArm Hardware Manual (online), 1. Safety · UFACTORY · 1.3, DANGER list [series text: names no single model]

    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25

    Open the source

    Preliminary testing and inspection for both robotic arm and peripheral protection system before production is essential.

    UFACTORY xArm Hardware Manual (online), 1. Safety · UFACTORY · 1.3, DANGER list [series text: names no single model]

    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25

    Open the source

  17. Confidence: Verifiedsafety-505

    The record says

    The xArm manual says installation and commissioning need to be performed by professionals (the sentence stops after 'in accordance'), that operators must be trained to guarantee a correct operating procedure when using the SDK (Python, ROS, C++) and UFactory Studio, that each operator should read the user manual carefully, and that users should fully understand the standard operating procedures and the solutions to the arm's running errors.

    Evidence · 3 citations

    Please follow the instructions in this manual, installation, and commissioning needs to be performed by professionals in accordance

    UFACTORY xArm Hardware Manual (online), 1. Safety · UFACTORY · 1.3, DANGER list [series text: names no single model]

    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25

    Open the source

    The operator must be trained to guarantee a correct operation procedure when using SDK(Python/ROS/C++) and graphical interface UFactory studio.

    UFACTORY xArm Hardware Manual (online), 1. Safety · UFACTORY · 1.3, DANGER list [series text: names no single model]

    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25

    Open the source

    Each operator who uses the robotic arm system should read the product user manual carefully. Users should fully understand the standardized operating procedures with the robotic arm, and the solution to the robotic arm running error.

    UFACTORY xArm Hardware Manual (online), 1. Safety · UFACTORY · 1.4 Personnel Safety, CAUTION [series text: names no single model]

    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25

    Open the source

  18. Confidence: Verifiedsafety-094

    The record says

    OSHA says many robot accidents happen during non-routine work such as programming, maintenance, testing, setup or adjustment, when a worker may be inside the robot's working envelope.

    Evidence · 1 citation

    Quote not shown (over 40 words). See the source at: Robotics overview.

    OSHA Safety and Health Topics: Robotics (overview) · U.S. Occupational Safety and Health Administration · Robotics overview

    Source: U.S. OSHA (public domain) · Public domain (US Government work) · retrieved 2026-09-21

    Open the source

  19. Confidence: Verifiedops-565

    The record says

    Manual Mode in UFACTORY Studio's Live Control lets the joints be moved freely by hand to reach and record positions, and Studio says it can also be used to drag the arm away from a danger zone. Manual mode can be turned on only when the serial numbers of the arm and the Control Box are matched.

    Evidence · 3 citations

    Quote not shown (over 40 words). See the source at: 4.4 Position & Joint Control, Manual Mode [general Studio text; the Studio manual says it applies to the xArm6].

    UFACTORY Studio User Manual (online), 4. Live Control · UFACTORY · 4.4 Position & Joint Control, Manual Mode [general Studio text; the Studio manual says it applies to the xArm6]

    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21

    Open the source

    When danger occurs, you can also use the manual mode to manually drag the robot away from the danger zone.

    UFACTORY Studio User Manual (online), 4. Live Control · UFACTORY · 4.4, Manual Mode [general Studio text; the Studio manual says it applies to the xArm6]

    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21

    Open the source

    The serial number of robotic arm and the control box need to be matched before Manual Mode can be turned on.

    UFACTORY Studio User Manual (online), 4. Live Control · UFACTORY · 4.4, Manual Mode [general Studio text; the Studio manual says it applies to the xArm6]

    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21

    Open the source

  20. Confidence: Verifiedcomp-721

    The record says

    In manual mode the arm compensates for gravity ('zero gravity') so a user can guide it by hand. The mounting direction tells the control box how the arm sits relative to gravity; if it is set wrongly the arm cannot recognise gravity accurately, which causes frequent collision warnings and uncontrolled motion in manual mode.

    Evidence · 3 citations

    In this mode, the robotic arm will enter the ‘zero gravity’ mode, since the gravity is compensated, the user can guide the robotic arm position directly by hand.

    UFACTORY Studio User Manual (online), 2. Glossary · UFACTORY · Glossary, 'Manual Mode' (manual text not model-specific; the Studio manual's Preface lists the xArm 6 among the models it applies to)

    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21

    Open the source

    Setting the mounting direction of the robotic arm is mainly to inform the control box of the current relationship between the actual mounting direction of the robotic arm and the direction of gravity.

    UFACTORY Studio User Manual (online), 7. Settings · UFACTORY · 7.1.3 Coordinates, Mounting

    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21

    Open the source

    Quote not shown (over 40 words). See the source at: 7.1.3 Coordinates, Mounting.

    UFACTORY Studio User Manual (online), 7. Settings · UFACTORY · 7.1.3 Coordinates, Mounting

    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21

    Open the source

  21. Confidence: Verifiedsafety-525

    The record says

    The xArm manual says the Control Box must be placed outside the arm's working range so that the emergency stop button can be pressed in an emergency.

    Evidence · 1 citation

    The Control Box must be placed outside the working range of the robotic arm to ensure the emergency stop button can be pressed once an emergency occurs.

    UFACTORY xArm Hardware Manual (online), 1. Safety · UFACTORY · 1.3, CAUTION list [series text: names no single model]

    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25

    Open the source

  22. Confidence: Verifiedops-507

    The record says

    The xArm manual says the controller should be placed at a height of 0.6 m to 1.5 m.

    Evidence · 1 citation

    The controller should be placed at a height of 0.6m to 1.5m.

    UFACTORY xArm Hardware Manual (online), 7. Production Information · UFACTORY · 7.6 Controller Placement Height [series text: names no single model]

    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25

    Open the source

  23. Confidence: Verifiedops-506

    The record says

    The xArm manual says pressing the emergency stop button powers off the xArm and the power indicator goes out; turning the button in the direction of the arrow pulls it up, the power indicator lights and the arm is powered.

    Evidence · 2 citations

    Press the emergency stop button to power off the xArm, and the power indicator will go out.

    UFACTORY xArm Hardware Manual (online), 2. Hardware Installation · UFACTORY · 2.1.2 Emergency Stop Button, 'Emergency Stop' [series text: names no single model]

    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25

    Open the source

    when the button is rotated in the direction indicated by the arrow, the button is pulled up, the xArm power indicator lights up, and the arm is powered.

    UFACTORY xArm Hardware Manual (online), 2. Hardware Installation · UFACTORY · 2.1.2 Emergency Stop Button, 'Power-on' [series text: names no single model]

    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25

    Open the source

  24. Confidence: Verifiedsafety-522

    The record says

    The xArm manual says that when the arm is in an accident or abnormal operation, the emergency stop needs to be pressed to stop the movement, and that the arm's posture 'will slightly brake and fall'. Section 2.1.2 repeats that the posture will slightly brake and fall when the emergency stop is pressed.

    Evidence · 2 citations

    When the robotic arm is in an accident or abnormal operation, the emergency stop switch needs to be pressed down to stop the movement, and the posture of the robotic arm will slightly brake and fall.

    UFACTORY xArm Hardware Manual (online), 1. Safety · UFACTORY · 1.3, DANGER list [series text: names no single model]

    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25

    Open the source

    When an emergency occurs during the operation of the robotic arm, users need to press the emergency stop, and the posture of the robotic arm will slightly brake and fall.

    UFACTORY xArm Hardware Manual (online), 2. Hardware Installation · UFACTORY · 2.1.2 Emergency Stop Button [series text: names no single model]

    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25

    Open the source

  25. Confidence: Verifiedsafety-521

    The record says

    The xArm manual says the emergency stop should not be used as a risk reduction measure.

    Evidence · 1 citation

    The emergency stop should not be used as a risk reduction measure.

    UFACTORY xArm Hardware Manual (online), 2. Hardware Installation · UFACTORY · 2.1.2 Emergency Stop Button [series text: names no single model]

    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25

    Open the source

  26. Confidence: Verifiedsafety-516

    The record says

    The xArm manual says to make sure the connected tool and gripper do not cause any danger when power is cut, giving the example of the work-piece dropping from the tool.

    Evidence · 1 citation

    Make sure that the connecting tool and the gripper do not cause any danger when the power is cut, such as dropping of the work-piece from the tool.

    UFACTORY xArm Hardware Manual (online), 4. Robotic Electrical Interface · UFACTORY · 4.2 Tool IO, DANGER [series text: names no single model]

    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25

    Open the source

  27. Confidence: Verifiedsafety-526

    The record says

    The xArm manual says that if the arm needs an emergency stop while operating, make sure its restart or reset motions will not collide with any obstacle.

    Evidence · 1 citation

    If the robotic arm is in operation and needs an emergency stop, make sure the restart/reset motions will not collide with any obstacle.

    UFACTORY xArm Hardware Manual (online), 1. Safety · UFACTORY · 1.3, CAUTION list [series text: names no single model]

    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25

    Open the source

  28. Confidence: Verifiedcomp-522

    The record says

    To restart the xArm after an emergency stop, the button is turned in the direction of the arrow to power the arm, and the arm is then enabled with the Enable button in UFACTORY Studio or the Python SDK call motion_enable(true).

    Evidence · 2 citations

    Power up the xArm (Turn the emergency stop button in the direction of the arrow).

    UFACTORY xArm Hardware Manual (online), 2. Hardware Installation · UFACTORY · 2.1.2 Emergency Stop Button (chapter says 'Apply to Model: XF1305, XI1305, XS1305 (1305 Model)')

    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25

    Open the source

    Enable the xArm (enable the servo motor), Enable button on the UFACTOR Studio or Python SDK motion_enable(true) .

    UFACTORY xArm Hardware Manual (online), 2. Hardware Installation · UFACTORY · 2.1.2 Emergency Stop Button (chapter says 'Apply to Model: XF1305, XI1305, XS1305 (1305 Model)')

    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25

    Open the source

  29. Confidence: Verifiedcomp-506

    The record says

    The xArm's joint modules contain brakes that hold the arm's pose when a power outage occurs; the manual says to take protective measures when releasing them.

    Evidence · 2 citations

    The xArm joint module has brakes inside, which will remain manipulator’s pose when a power outage occurs.

    UFACTORY xArm Hardware Manual (online), 1. Safety · UFACTORY · 1. Safety, general cautions (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

    When releasing the brakes of xArm, please take protective measures to prevent the robotic arm or operator from damage or injury.

    UFACTORY xArm Hardware Manual (online), 1. Safety · UFACTORY · 1. Safety, general cautions (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

  30. Kind: Contradictionsafety-536

    Sources disagree

    The xArm manual describes the Control Box emergency stop in ways that do not fit together. Section 2.1.2 says the arm's power supply is removed within 300 ms and that pressing the button powers off the xArm; section 3.2.2 says the button allows the user to cut off the arm's power in the shortest time possible. Section 7.9 says the same button is Stop Category 1, which decelerates the robot 'with drive power on', and section 7.10 gives Stop Category 1 stopping times of 521 to 885 ms. The manual does not explain how power removal within 300 ms fits a powered deceleration lasting up to 885 ms.

    Evidence · 7 citations

    the power supply for the robotic arm will be removed within 300ms.

    UFACTORY xArm Hardware Manual (online), 2. Hardware Installation · UFACTORY · 2.1.2 Emergency Stop Button [series text: names no single model]

    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25

    Open the source

    Press the emergency stop button to power off the xArm

    UFACTORY xArm Hardware Manual (online), 2. Hardware Installation · UFACTORY · 2.1.2, 'Emergency Stop' [series text: names no single model]

    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25

    Open the source

    cut off the power of the robotic arm in the shortest time possible

    UFACTORY xArm Hardware Manual (online), 3. Controller Electrical Interface · UFACTORY · 3.2.2 Power Supply (AC Controller) [series text: names no single model]

    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25

    Open the source

    Stop Category 1 and Stop Category 2 decelerates the robot with drive power on

    UFACTORY xArm Hardware Manual (online), 7. Production Information · UFACTORY · 7.9 Stop Categories [series text: names no single model]

    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25

    Open the source

    Emergency Stop Button of the Control Box | Stop Category 1

    UFACTORY xArm Hardware Manual (online), 7. Production Information · UFACTORY · 7.9 Stop Categories, table [series text: names no single model]

    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25

    Open the source

    Joint1 | 0.62 | 521

    UFACTORY xArm Hardware Manual (online), 7. Production Information · UFACTORY · 7.10 Stop Time and Stop Distance, table [names no model]

    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25

    Open the source

    Joint2 | 1.12 | 885

    UFACTORY xArm Hardware Manual (online), 7. Production Information · UFACTORY · 7.10 Stop Time and Stop Distance, table [names no model]

    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25

    Open the source

  31. Kind: Contradictionsafety-568

    Sources disagree

    UFACTORY's xArm product page presents the xArm as a collaborative robot ('cobot'), while the xArm manual says no people or other equipment should be in the working area when the arm is in operation. Neither source says how the two fit together.

    Evidence · 3 citations

    Durable Collaborative robots for your automation

    UFACTORY xArm product page · UFACTORY · 'Brief Introduction' heading [page covers xArm 5, 6 and 7]

    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21

    Open the source

    Collision detection is available for all of our cobots.

    UFACTORY xArm product page · UFACTORY · 'Flexible deployment with safe feature'

    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21

    Open the source

    When the robotic arm is in operation, make sure no people or other equipment are in the working area.

    UFACTORY xArm Hardware Manual (online), 1. Safety · UFACTORY · 1.3, DANGER list [series text: names no single model]

    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25

    Open the source

  32. Confidence: Verifiedsafety-502

    The record says

    The xArm manual makes the integrators of the xArm responsible for complying with the country's safety laws and regulations, including making a risk assessment for the complete system and making sure there is a safe distance between people and the xArm when they interact with it.

    Evidence · 2 citations

    The integrators of xArm are responsible for the compliance of applicable safety laws and regulations in the country, to prevent any hazards in the operating environment. This includes, but is not limited to:

    UFACTORY xArm Hardware Manual (online), 1. Safety · UFACTORY · 1.1 Validity and Responsibility [series text: names no single model]

    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25

    Open the source

    Making a risk assessment for the complete system. Make sure to have a safe distance between people and xArm when interacting with the xArm.

    UFACTORY xArm Hardware Manual (online), 1. Safety · UFACTORY · 1.1, list item 1 [series text: names no single model]

    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25

    Open the source

  33. 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.

  34. Confidence: Verifiedint-024

    The record says

    S11, IntelliAware Factory Monitoring, provides AI-vision-based monitoring of factory operations, equipment, processes and safety.

    Evidence · 1 citation

    AI vision-based monitoring of factory operations, equipment, processes, and safety.

    IntelliMake Phase 1 Factory: Autonomous Production Demonstrator (infographic) · IntelliMake.org · S11 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.

  35. Kind: RecommendationThis project's simulation and agent design, not the physical cellint-053

    Project advice

    Until S11's safety function is documented and verified, neither learners nor the S2 agent should treat S11 or the cameras as a safeguard. The S2 agent must not rely on them to stop motion or to protect people.

    This is advice from this project, based on: int-024 Verified int-050 Gap, awaiting cell access

    Why: S11 is described only as monitoring that includes safety (int-024). Nothing establishes a safety rating, stop authority or response time (int-050). Treating an unrated monitoring system as a safeguard is the failure the Q3 disposition warns against: an Assumed safeguard mistaken for a confirmed one.

  36. Kind: RecommendationThis project's simulation and agent design, not the physical cellsafety-596

    Project advice

    Do not count a software stop (Studio's STOP, SDK set_state(4) or SDK emergency_stop()) as an emergency stop or safeguard in the S6 risk assessment.

    This is advice from this project, based on: safety-548 Verified safety-549 Verified safety-550 Verified safety-538 Verified

    Why: Studio says its STOP is a software stop with power still on, and the SDK documents emergency_stop() as a sequence of state commands. The manual reserves the emergency stop function for the Control Box button and the redundant EI input.

  37. Confidence: Verifiedsafety-538

    The record says

    The xArm Control Box has two fixed safety inputs: the emergency stop input, used only for the emergency stop of the device, and the protective stop input, used for all types of safety protection. The manual says all safety I/Os exist in redundant pairs and must be kept in two separate branches, and that a single I/O failure should not result in the loss of safety features.

    Evidence · 3 citations

    All safety I/Os exist in pairs (redundancy) and must be kept in two separate branches. A single I/O failure should not result in the loss of safety features. There are two fixed safety inputs:

    UFACTORY xArm Hardware Manual (online), 3. Controller Electrical Interface · UFACTORY · 3.4.1 Safety IO(EISI) [series text: names no single model]

    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25

    Open the source

    The robotic arm emergency stop input is only used for the emergency stop of the device.

    UFACTORY xArm Hardware Manual (online), 3. Controller Electrical Interface · UFACTORY · 3.4.1 Safety IO(EISI) [series text: names no single model]

    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25

    Open the source

    The protective stop input is used for all types of safety protection.

    UFACTORY xArm Hardware Manual (online), 3. Controller Electrical Interface · UFACTORY · 3.4.1 Safety IO(EISI) [series text: names no single model]

    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25

    Open the source

  38. Confidence: Verifiedsafety-539

    The record says

    The xArm manual's table says both an emergency stop and a protective stop stop the arm's motion. An emergency stop stops program execution, needs a manual reset and is for infrequent use; a protective stop suspends program execution, resets automatically or manually, and has no usage-frequency limit.

    Evidence · 4 citations

    Stops the motion of the robotic arm | Yes | Yes

    UFACTORY xArm Hardware Manual (online), 3. Controller Electrical Interface · UFACTORY · 3.4.1 Safety IO(EISI), table [series text: names no single model]

    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25

    Open the source

    Program execution | Stop | Suspend

    UFACTORY xArm Hardware Manual (online), 3. Controller Electrical Interface · UFACTORY · 3.4.1, table [series text: names no single model]

    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25

    Open the source

    Reset | Manual | Auto or manual

    UFACTORY xArm Hardware Manual (online), 3. Controller Electrical Interface · UFACTORY · 3.4.1, table [series text: names no single model]

    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25

    Open the source

    Usage frequency | Not frequent | No limit

    UFACTORY xArm Hardware Manual (online), 3. Controller Electrical Interface · UFACTORY · 3.4.1, table [series text: names no single model]

    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25

    Open the source

  39. Confidence: Verifiedsafety-540

    The record says

    The xArm manual says the arm has been configured by default and can be operated without any additional safety equipment, and shows the default wiring in a figure.

    Evidence · 1 citation

    The robotic arm has been configured by default and can be operated without any additional safety equipment, as the figure below.

    UFACTORY xArm Hardware Manual (online), 3. Controller Electrical Interface · UFACTORY · 3.4.1 Safety IO(EISI) [series text: names no single model]

    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25

    Open the source

  40. Confidence: Verifiedsafety-541

    The record says

    The xArm manual says one or more additional emergency stop buttons are required in most applications, and that when the arm is used with other machines a common emergency stop circuit is required most of the time. It names EI1, EI2, SI0 and SI1 as the digital I/O for both wiring examples, and says its shared-button figure also applies to several arms sharing one button.

    Evidence · 5 citations

    Digital IO: EI1, EI2, SI0, SI1.

    UFACTORY xArm Hardware Manual (online), 3. Controller Electrical Interface · UFACTORY · 3.4.1.1 Connect to Emergency Stop Button [series text: names no single model]

    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25

    Open the source

    In most applications, one or more additional emergency stop buttons are required.

    UFACTORY xArm Hardware Manual (online), 3. Controller Electrical Interface · UFACTORY · 3.4.1.1 Connect to Emergency Stop Button [series text: names no single model]

    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25

    Open the source

    When a robotic arm is used with other machines, it requires to set up a common emergency stop circuit in most of the time.

    UFACTORY xArm Hardware Manual (online), 3. Controller Electrical Interface · UFACTORY · 3.4.1.2 Share Emergency Stop with other Machines [series text: names no single model]

    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25

    Open the source

    Digital IO: EI1, EI2, SI0, SI1. When a robotic arm is used with other machines

    UFACTORY xArm Hardware Manual (online), 3. Controller Electrical Interface · UFACTORY · 3.4.1.2 Share Emergency Stop with other Machines [series text: names no single model]

    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25

    Open the source

    the connection method shown in the figure below also applies to multiple robotic arms sharing an emergency stop button

    UFACTORY xArm Hardware Manual (online), 3. Controller Electrical Interface · UFACTORY · 3.4.1.2 [series text: names no single model]

    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25

    Open the source

  41. Confidence: Verifiedsafety-542

    The record says

    The xArm manual gives a door switch as an example of a basic protective stop device: when the door is open, the arm stops. It says this configuration is only for applications where the operator cannot close the door from behind, that configurable I/O can put a reset button outside the door, and gives a safety pad or safety laser scanner as another example of automatic recovery.

    Evidence · 3 citations

    The door switch is an example of a basic protective stop device. When the door is open, the robotic arm stops.

    UFACTORY xArm Hardware Manual (online), 3. Controller Electrical Interface · UFACTORY · 3.4.1.3 Automatically Recoverable Protective Stop [series text: names no single model]

    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25

    Open the source

    This configuration is only for applications where the operator is unable to close the door from behind. Configurable I/O can be used to set the reset button outside the door, as to reactivate the movement of the robotic arm.

    UFACTORY xArm Hardware Manual (online), 3. Controller Electrical Interface · UFACTORY · 3.4.1.3 [series text: names no single model]

    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25

    Open the source

    Another example of an automatic recovery is the use of a safety pad or a safety laser scanner

    UFACTORY xArm Hardware Manual (online), 3. Controller Electrical Interface · UFACTORY · 3.4.1.3 [series text: names no single model]

    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25

    Open the source

  42. Confidence: Verifiedsafety-552

    The record says

    When there is an error in the arm's hardware, the Control Box software or in sending commands, UFACTORY Studio's manual says the arm stops working immediately and discards the Control Box's cached commands, and the errors must be cleared manually before normal operation.

    Evidence · 2 citations

    If there is an error in the hardware of the robotic arm/the software of the Control Box/in sending commands, an error or warning will be issued.

    UFACTORY Studio User Manual (online), 12. Error Handling · UFACTORY · 12.1 Control Box Error Code and Handling [general Studio text; the Studio manual says it applies to the xArm6]

    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21

    Open the source

    After the above error occurs, the robotic arm will stop working immediately and discard the Control Box cache command. Users need to clear these errors manually to allow normal operation.

    UFACTORY Studio User Manual (online), 12. Error Handling · UFACTORY · 12.1 Control Box Error Code and Handling [general Studio text; the Studio manual says it applies to the xArm6]

    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21

    Open the source

  43. Confidence: Verifiediface-590

    The record says

    UFACTORY Studio's manual lists codes in three tables with prefixes: C for control box errors, S for joint servo errors (e.g. S0) and A for Python SDK codes (e.g. A-2). Controller errors C1-C3 are the control box emergency stop button, the control box emergency I/O and the three-state switch's emergency stop; for C11-C17 the handling given is to power on again.

    Evidence · 6 citations

    C1 | The Emergency Stop Button on the Control Box is Pushed in to Stop

    UFACTORY Studio User Manual (online), 12. Error Handling · UFACTORY · 12.1 table (manual text not model-specific; the Studio manual's Preface lists the xArm 6 among the models it applies to)

    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21

    Open the source

    C2 | The Emergency IO of the Control Box is triggered

    UFACTORY Studio User Manual (online), 12. Error Handling · UFACTORY · 12.1 table

    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21

    Open the source

    C3 | The Emergency Stop Button of the Three-state Switch is pressed

    UFACTORY Studio User Manual (online), 12. Error Handling · UFACTORY · 12.1 table

    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21

    Open the source

    C11-C17 | Power on again.

    UFACTORY Studio User Manual (online), 12. Error Handling · UFACTORY · 12.1 table

    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21

    Open the source

    S0 | Joint Communication Error

    UFACTORY Studio User Manual (online), 12. Error Handling · UFACTORY · 12.2 table

    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21

    Open the source

    A-2 | xArm is not ready.

    UFACTORY Studio User Manual (online), 12. Error Handling · UFACTORY · 12.3 table

    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21

    Open the source

  44. Confidence: Verifiedcomp-723

    The record says

    UFACTORY's collision detection compares each joint's theoretical current, calculated from a dynamic model, with its actual current, and triggers when the difference exceeds a pre-set threshold. The model takes in joint position, speed and acceleration, load weight and centre of mass, mounting direction and joint friction.

    Evidence · 4 citations

    By comparing the theoretical current and actual current of each joint, the system determines whether a collision has occurred.

    Collision Detection in UFACTORY Robotic Arms: Current and Dynamic Model-based Feature (UFACTORY support article) · UFACTORY · Introduction (applies to UFACTORY robotic arms; the article's friction table names the xArm 5/6/7)

    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21

    Open the source

    If the difference exceeds a pre-set threshold, indicating that the joint may have encountered external resistance or collision, the system triggers the collision detection.

    Collision Detection in UFACTORY Robotic Arms: Current and Dynamic Model-based Feature (UFACTORY support article) · UFACTORY · Section 1

    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21

    Open the source

    The dynamic model considers several factors, including:

    Collision Detection in UFACTORY Robotic Arms: Current and Dynamic Model-based Feature (UFACTORY support article) · UFACTORY · Section 1

    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21

    Open the source

    Quote not shown (over 40 words). See the source at: Section 1, list of model factors.

    Collision Detection in UFACTORY Robotic Arms: Current and Dynamic Model-based Feature (UFACTORY support article) · UFACTORY · Section 1, list of model factors

    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21

    Open the source

  45. Confidence: Verifiedsafety-555

    The record says

    UFACTORY Studio's Settings page says that when the torque deviation detected at a joint exceeds a normal range during motion, the arm stops automatically to prevent injury to the arm or operator. It gives collision sensitivity as levels 1 to 5: the higher the level, the smaller the additional torque needed to trigger collision protection. It says an inaccurate load or installation direction may cause false alarms, and that during some high-load or high-speed moves, once the load and installation direction are confirmed accurate, the sensitivity can be lowered, but lowering it below 3 is not recommended.

    Evidence · 3 citations

    Quote not shown (over 40 words). See the source at: 7.1.1 Parameters, Collision Detection Sensitivity [general Studio text; the Studio manual says it applies to the xArm6].

    UFACTORY Studio User Manual (online), 7. Settings · UFACTORY · 7.1.1 Parameters, Collision Detection Sensitivity [general Studio text; the Studio manual says it applies to the xArm6]

    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21

    Open the source

    Quote not shown (over 40 words). See the source at: 7.1.1, Collision Detection Sensitivity [general Studio text; the Studio manual says it applies to the xArm6].

    UFACTORY Studio User Manual (online), 7. Settings · UFACTORY · 7.1.1, Collision Detection Sensitivity [general Studio text; the Studio manual says it applies to the xArm6]

    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21

    Open the source

    During certain high loads or high speed movements, if you confirm that the load or installation direction is set accurately, you can try to lower the collision sensitivity, but it is not recommended to lower it to less than 3.

    UFACTORY Studio User Manual (online), 7. Settings · UFACTORY · 7.1.1, Collision Detection Sensitivity [general Studio text; the Studio manual says it applies to the xArm6]

    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21

    Open the source

  46. Confidence: Verifiedsafety-564

    The record says

    With the Safety Boundary on, the arm's working range in Cartesian space can be limited: if the tool centre point (TCP) goes beyond the set boundary, the arm stops moving, and the user can then move it back into the restricted space.

    Evidence · 1 citation

    Quote not shown (over 40 words). See the source at: 7.3.1 Safety Boundary [general Studio text; the Studio manual says it applies to the xArm6].

    UFACTORY Studio User Manual (online), 7. Settings · UFACTORY · 7.3.1 Safety Boundary [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

  47. Confidence: Verifiedsafety-565

    The record says

    With Reduced Mode on, the arm's maximum linear speed, maximum joint speed and joint range are limited. A controller input configured as Reduced Mode puts the arm into reduced mode when triggered.

    Evidence · 2 citations

    When this mode is turned on, the maximum linear speed, maximum joint speed, and joint range of the robotic arm in Cartesian space will be limited.

    UFACTORY Studio User Manual (online), 7. Settings · UFACTORY · 7.3.2 Reduced Mode [general Studio text; the Studio manual says it applies to the xArm6]

    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21

    Open the source

    Reduced Mode: The IO is triggered and the robotic arm enters the reduced mode.

    UFACTORY Studio User Manual (online), 7. Settings · UFACTORY · 7.2.2, IO Function [general Studio text; the Studio manual says it applies to the xArm6]

    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21

    Open the source

  48. Confidence: Verifiedops-511

    The record says

    Before turning on manual (joint teaching) mode, UFACTORY says to confirm that the arm's installation direction and TCP load are set correctly, otherwise the arm may not stay still because of inaccurate gravity compensation; Studio's Live Control page says that otherwise 'it will be dangerous'.

    Evidence · 2 citations

    Quote not shown (over 40 words). See the source at: 10.1 Mode 2: Manual Mode, NOTE [general Studio text; the Studio manual says it applies to the xArm6].

    UFACTORY Studio User Manual (online), 10. Robotic Arm Motion Mode and State · UFACTORY · 10.1 Mode 2: Manual Mode, NOTE [general Studio text; the Studio manual says it applies to the xArm6]

    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21

    Open the source

    Before opening the manual mode, you must ensure that the installation method of the robotic arm and the payload setting of the robotic arm are consistent with the actual situation, otherwise it will be dangerous.

    UFACTORY Studio User Manual (online), 4. Live Control · UFACTORY · 4.4 Position & Joint Control, Manual Mode [general Studio text; the Studio manual says it applies to the xArm6]

    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21

    Open the source

  49. Confidence: Verifiedops-510

    The record says

    UFACTORY Studio says that if the arm's mounting direction is set incorrectly, the arm cannot accurately recognise the direction of gravity, which causes it to trigger collision warnings and stop frequently, and results in uncontrolled motion after it enters manual mode. For xArm arms with SN XF1300/XI1300/XS1300 and later, the built-in IMU detects the direction of gravity and the software prompts when the set direction differs from the detected one by more than 10°.

    Evidence · 2 citations

    Quote not shown (over 40 words). See the source at: 7.1.3 Coordinates, Mounting [general Studio text; the Studio manual says it applies to the xArm6].

    UFACTORY Studio User Manual (online), 7. Settings · UFACTORY · 7.1.3 Coordinates, Mounting [general Studio text; the Studio manual says it applies to the xArm6]

    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21

    Open the source

    Quote not shown (over 40 words). See the source at: 7.1.3 Coordinates, Mounting [names xArm serial ranges].

    UFACTORY Studio User Manual (online), 7. Settings · UFACTORY · 7.1.3 Coordinates, Mounting [names xArm serial ranges]

    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21

    Open the source

  50. Confidence: Verifiedsafety-501

    The record says

    UFACTORY's xArm manual says it does not cover designing, installing and operating a complete robotic application system, and that the complete system must be designed and installed under the safety requirements of the standards and regulations of the country where the arm is installed.

    Evidence · 2 citations

    The information in this manual does not cover designing, installing, and operating of a complete robotic application system, nor does it cover all peripheral equipment that can influence the safety of the application.

    UFACTORY xArm Hardware Manual (online), 1. Safety · UFACTORY · 1.1 Validity and Responsibility [series text: names no single model]

    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25

    Open the source

    The complete system must be designed and installed under the safety requirements outlined in the standards and regulations of the country where the robotic arm is installed.

    UFACTORY xArm Hardware Manual (online), 1. Safety · UFACTORY · 1.1 Validity and Responsibility [series text: names no single model]

    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25

    Open the source

  51. Confidence: Verifiedsafety-507

    The record says

    The xArm manual says a complete safety assessment must be recorded each time the arm is re-installed and debugged, and that a safety assessment is required each time it is installed.

    Evidence · 2 citations

    A complete safety assessment must be recorded each time the robotic arm is re-installed and debugged.

    UFACTORY xArm Hardware Manual (online), 1. Safety · UFACTORY · 1.3, DANGER list [series text: names no single model]

    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25

    Open the source

    A safety assessment is required each time installed.

    UFACTORY xArm Hardware Manual (online), 2. Hardware Installation · UFACTORY · 2.2.1 Safety Guidelines, WARNING [series text: names no single model]

    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25

    Open the source

  52. Confidence: Verifiedsafety-508

    The record says

    The xArm manual warns that connecting the xArm with other machinery may increase risk and result in dangerous consequences, and says to make sure a consistent and complete safety assessment is conducted for the installation system. A NOTICE adds that a comprehensive safety assessment of the entire collaboration system should be performed, and recommends placing equipment that may cause mechanical damage to the xArm outside the working range.

    Evidence · 2 citations

    When connecting the xArm with other machinery, it may increase risk and result in dangerous consequences. Make sure a consistent and complete safety assessment is conducted for the installation system.

    UFACTORY xArm Hardware Manual (online), 1. Safety · UFACTORY · 1.3, DANGER list [series text: names no single model]

    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25

    Open the source

    Quote not shown (over 40 words). See the source at: 1.3, NOTICE [series text: names no single model].

    UFACTORY xArm Hardware Manual (online), 1. Safety · UFACTORY · 1.3, NOTICE [series text: names no single model]

    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25

    Open the source

  53. Confidence: Verifiedsafety-102

    The record says

    OSHA says a risk assessment should be done and documented at every stage of a robot application: design, manufacturing, integrating, operating and maintaining.

    Evidence · 2 citations

    At each stage of development of the robot application (design, manufacturing, integrating, operating, and maintaining), a risk assessment should be performed.

    OSHA Technical Manual (OTM) Section IV: Chapter 4, Industrial Robot Systems and Industrial Robot System Safety · U.S. Occupational Safety and Health Administration · Risk Assessment(s)

    Source: U.S. OSHA (public domain) · Public domain (US Government work) · retrieved 2026-09-21

    Open the source

    In addition, the risk assessment for each stage of development should be documented for future reference.

    OSHA Technical Manual (OTM) Section IV: Chapter 4, Industrial Robot Systems and Industrial Robot System Safety · U.S. Occupational Safety and Health Administration · Risk Assessment(s)

    Source: U.S. OSHA (public domain) · Public domain (US Government work) · retrieved 2026-09-21

    Open the source

  54. Confidence: Verifiedsafety-096

    The record says

    OSHA describes speed and separation monitoring, hand-guided controls and power and force limiting as collaborative technologies, and notes that ANSI/RIA R15.06-2012 refers to the safety-rated monitored stop as a fourth type. OSHA says the safety-rated monitored stop is not used alone but must be used in conjunction with SSM, HGC and/or PFL.

    Evidence · 6 citations

    A collaborative robot application uses one or more of the following technologies while operating in automatic mode:

    OSHA Technical Manual (OTM) Section IV: Chapter 4, Industrial Robot Systems and Industrial Robot System Safety · U.S. Occupational Safety and Health Administration · Additional Safety Requirements for Collaborative Robot Applications

    Source: U.S. OSHA (public domain) · Public domain (US Government work) · retrieved 2026-09-21

    Open the source

    However, this mode is not used alone but must be used in conjunction with SSM, HGC and/or PFL.

    OSHA Technical Manual (OTM) Section IV: Chapter 4, Industrial Robot Systems and Industrial Robot System Safety · U.S. Occupational Safety and Health Administration · Safety-rated Monitored Stop

    Source: U.S. OSHA (public domain) · Public domain (US Government work) · retrieved 2026-09-21

    Open the source

    Speed and Separation Monitoring (SSM)

    OSHA Technical Manual (OTM) Section IV: Chapter 4, Industrial Robot Systems and Industrial Robot System Safety · U.S. Occupational Safety and Health Administration · Additional Safety Requirements for Collaborative Robot Applications, headings

    Source: U.S. OSHA (public domain) · Public domain (US Government work) · retrieved 2026-09-21

    Open the source

    Hand-Guided Controls (HGC)

    OSHA Technical Manual (OTM) Section IV: Chapter 4, Industrial Robot Systems and Industrial Robot System Safety · U.S. Occupational Safety and Health Administration · Additional Safety Requirements for Collaborative Robot Applications, headings

    Source: U.S. OSHA (public domain) · Public domain (US Government work) · retrieved 2026-09-21

    Open the source

    Power and Force Limited (PFL)

    OSHA Technical Manual (OTM) Section IV: Chapter 4, Industrial Robot Systems and Industrial Robot System Safety · U.S. Occupational Safety and Health Administration · Additional Safety Requirements for Collaborative Robot Applications, headings

    Source: U.S. OSHA (public domain) · Public domain (US Government work) · retrieved 2026-09-21

    Open the source

    The concept of Safety-rated Monitored Stop (SMS) is included in ANSI/RIA R15.06-2012, where it is referred to as a fourth type of collaborative technology.

    OSHA Technical Manual (OTM) Section IV: Chapter 4, Industrial Robot Systems and Industrial Robot System Safety · U.S. Occupational Safety and Health Administration · Safety-rated Monitored Stop

    Source: U.S. OSHA (public domain) · Public domain (US Government work) · retrieved 2026-09-21

    Open the source

  55. Confidence: Verifiedsafety-098

    The record says

    In power and force limiting, physical contact between the robot application and a worker is expected and permitted; OSHA says it is permitted when the forces and pressures of contact are limited such that there will be no injury. Such applications usually run at much lower speeds and payloads than the robot is physically capable of.

    Evidence · 3 citations

    It is permitted when the forces and pressures of contact are limited such that there will be no injury to the worker(s).

    OSHA Technical Manual (OTM) Section IV: Chapter 4, Industrial Robot Systems and Industrial Robot System Safety · U.S. Occupational Safety and Health Administration · Power and Force Limited (PFL)

    Source: U.S. OSHA (public domain) · Public domain (US Government work) · retrieved 2026-09-21

    Open the source

    Collaborative applications using PFL robots usually operate at much lower speeds and payloads than they are physically capable.

    OSHA Technical Manual (OTM) Section IV: Chapter 4, Industrial Robot Systems and Industrial Robot System Safety · U.S. Occupational Safety and Health Administration · Power and Force Limited (PFL)

    Source: U.S. OSHA (public domain) · Public domain (US Government work) · retrieved 2026-09-21

    Open the source

    Physical contact between a robot application (i.e., robot, end-effector, and workpiece) and a worker is expected and permitted in this mode.

    OSHA Technical Manual (OTM) Section IV: Chapter 4, Industrial Robot Systems and Industrial Robot System Safety · U.S. Occupational Safety and Health Administration · Power and Force Limited (PFL)

    Source: U.S. OSHA (public domain) · Public domain (US Government work) · retrieved 2026-09-21

    Open the source

  56. Confidence: Verifiedsafety-100

    The record says

    OSHA distinguishes transient contact, where the worker's movement is not restricted and the body part can move in free space, from quasi-static contact, where the body part cannot move because a fixed object restricts it (for example, trapped or pinched between the robot and a fixture).

    Evidence · 2 citations

    Quasi-static contact occurs when a worker’s body part is unable to move at the time of contact due to being restricted by a fixed object (e.g., trapped or pinched between the robot and a fixture).

    OSHA Technical Manual (OTM) Section IV: Chapter 4, Industrial Robot Systems and Industrial Robot System Safety · U.S. Occupational Safety and Health Administration · Have contact events been considered in collaborative robot applications?

    Source: U.S. OSHA (public domain) · Public domain (US Government work) · retrieved 2026-09-21

    Open the source

    Transient contact occurs when the worker's movement is not restricted at the time of contact (e.g., the worker's body part can move in free-space at the time of contact).

    OSHA Technical Manual (OTM) Section IV: Chapter 4, Industrial Robot Systems and Industrial Robot System Safety · U.S. Occupational Safety and Health Administration · Have contact events been considered in collaborative robot applications?

    Source: U.S. OSHA (public domain) · Public domain (US Government work) · retrieved 2026-09-21

    Open the source

  57. Confidence: Verifiedsafety-105

    The record says

    For collaborative applications, OSHA says appropriate administrative controls may include written entry and exit procedures and training, lockout/tagout SOPs and training, delineation of the collaborative space (for example painted lines on the floor) and safety signs warning that it is a collaborative robot application.

    Evidence · 5 citations

    Collaborative space delineation (i.e., where can the robot system and application move?) [Delineation may be a diagram on the wall, painted lines on the floor, or something else that conveys the information]

    OSHA Technical Manual (OTM) Section IV: Chapter 4, Industrial Robot Systems and Industrial Robot System Safety · U.S. Occupational Safety and Health Administration · Administrative controls

    Source: U.S. OSHA (public domain) · Public domain (US Government work) · retrieved 2026-09-21

    Open the source

    Appropriate administrative controls may include:

    OSHA Technical Manual (OTM) Section IV: Chapter 4, Industrial Robot Systems and Industrial Robot System Safety · U.S. Occupational Safety and Health Administration · Administrative controls

    Source: U.S. OSHA (public domain) · Public domain (US Government work) · retrieved 2026-09-21

    Open the source

    Written application entry and exit procedures and training

    OSHA Technical Manual (OTM) Section IV: Chapter 4, Industrial Robot Systems and Industrial Robot System Safety · U.S. Occupational Safety and Health Administration · Administrative controls

    Source: U.S. OSHA (public domain) · Public domain (US Government work) · retrieved 2026-09-21

    Open the source

    Lockout/tagout SOPs and training

    OSHA Technical Manual (OTM) Section IV: Chapter 4, Industrial Robot Systems and Industrial Robot System Safety · U.S. Occupational Safety and Health Administration · Administrative controls

    Source: U.S. OSHA (public domain) · Public domain (US Government work) · retrieved 2026-09-21

    Open the source

    Safety signs that warn workers that this is a collaborative robot application

    OSHA Technical Manual (OTM) Section IV: Chapter 4, Industrial Robot Systems and Industrial Robot System Safety · U.S. Occupational Safety and Health Administration · Administrative controls

    Source: U.S. OSHA (public domain) · Public domain (US Government work) · retrieved 2026-09-21

    Open the source

  58. Confidence: Verifiedops-504

    The record says

    The xArm manual says the arm must be properly and safely installed on a shockproof and sturdy mounting surface with its bolts checked for tightness, and that the arm should be installed on a surface that can withstand at least 10 times the full torsion of the base joint and at least 5 times the weight of the arm.

    Evidence · 3 citations

    Make sure the arm is properly and safely installed in place. The mounting surface must be shockproof and sturdy.

    UFACTORY xArm Hardware Manual (online), 2. Hardware Installation · UFACTORY · 2.2.1 Safety Guidelines, DANGER [series text: names no single model]

    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25

    Open the source

    To install the arm body, check that the bolts are tight.

    UFACTORY xArm Hardware Manual (online), 2. Hardware Installation · UFACTORY · 2.2.1 Safety Guidelines, DANGER [series text: names no single model]

    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25

    Open the source

    The robotic arm should be installed on a sturdy surface that is sufficient to withstand at least 10 times the full torsion of the base joint and at least 5 times the weight of the arm.

    UFACTORY xArm Hardware Manual (online), 2. Hardware Installation · UFACTORY · 2.2.1 Safety Guidelines, DANGER [series text: names no single model]

    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25

    Open the source

  59. Confidence: Verifiedops-508

    The record says

    After the emergency stop button has been pressed, the xArm manual gives two steps to restart: power up the xArm by turning the emergency stop button in the direction of the arrow, then enable the xArm (enable the servo motor) with the Enable button in UFACTORY Studio or motion_enable(true) in the Python SDK.

    Evidence · 3 citations

    After pressing the emergency stop button, the following operations should be performed to re-start the xArm:

    UFACTORY xArm Hardware Manual (online), 2. Hardware Installation · UFACTORY · 2.1.2 Emergency Stop Button [series text: names no single model]

    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25

    Open the source

    Power up the xArm (Turn the emergency stop button in the direction of the arrow).

    UFACTORY xArm Hardware Manual (online), 2. Hardware Installation · UFACTORY · 2.1.2 Emergency Stop Button [series text: names no single model]

    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25

    Open the source

    Enable the xArm (enable the servo motor), Enable button on the UFACTOR Studio or Python SDK motion_enable(true).

    UFACTORY xArm Hardware Manual (online), 2. Hardware Installation · UFACTORY · 2.1.2 Emergency Stop Button [series text: names no single model]

    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25

    Open the source

  60. Kind: Contradictionsafety-537

    Sources disagree

    The xArm manual describes what an emergency stop needs before the arm can run again in two different ways. The emergency-stop column of section 3.4.1's table says 'Need re-initiation: Only releasing the brake'. Section 2.1.2 lists two restart steps: power the xArm up by turning the emergency stop button, then enable it (the servo motors) from Studio or the SDK. The manual does not say how the two relate.

    Evidence · 3 citations

    Need re-initiation | Only releasing the brake | No

    UFACTORY xArm Hardware Manual (online), 3. Controller Electrical Interface · UFACTORY · 3.4.1 Safety IO(EISI), table (Emergency Stop | Protective Stop columns) [series text: names no single model]

    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25

    Open the source

    Power up the xArm (Turn the emergency stop button in the direction of the arrow).

    UFACTORY xArm Hardware Manual (online), 2. Hardware Installation · UFACTORY · 2.1.2 Emergency Stop Button [series text: names no single model]

    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25

    Open the source

    Enable the xArm (enable the servo motor), Enable button on the UFACTOR Studio or Python SDK motion_enable(true).

    UFACTORY xArm Hardware Manual (online), 2. Hardware Installation · UFACTORY · 2.1.2 Emergency Stop Button [series text: names no single model]

    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25

    Open the source

  61. Confidence: Verifiedsafety-544

    The record says

    The xArm manual warns never to connect a safety signal to a non-safety PLC, and says failure to follow this warning may result in serious injury or death due to an invalid safety stop function.

    Evidence · 1 citation

    Never connect a safety signal to a non-safety PLC.Failure to follow this warning may result in serious injury or death due to an invalid safety stop function.

    UFACTORY xArm Hardware Manual (online), 3. Controller Electrical Interface · UFACTORY · 3.1 Electrical Alarms and Cautions, DANGER [series text: names no single model]

    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25

    Open the source

  62. Confidence: Verifiedsafety-545

    The record says

    On the xArm Control Box, the configurable inputs CI0-CI7 can be set to Stop Moving, Safeguard Reset and Reduced Mode; the digital inputs DI0-DI7 cannot.

    Evidence · 4 citations

    Stop Moving | Yes | No

    UFACTORY xArm Hardware Manual (online), 3. Controller Electrical Interface · UFACTORY · 3.4 Controller Electrical IO, 'Configurable IO' table [series text: names no single model]

    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25

    Open the source

    Safeguard Reset | Yes | No

    UFACTORY xArm Hardware Manual (online), 3. Controller Electrical Interface · UFACTORY · 3.4, table [series text: names no single model]

    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25

    Open the source

    Reduced Mode | Yes | No

    UFACTORY xArm Hardware Manual (online), 3. Controller Electrical Interface · UFACTORY · 3.4, table [series text: names no single model]

    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25

    Open the source

    DI0-DI7 are not equipped with the following three functions: stop moving, safeguard reset, and reduced mode.

    UFACTORY xArm Hardware Manual (online), 3. Controller Electrical Interface · UFACTORY · 3.4.1.4, NOTE [series text: names no single model]

    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25

    Open the source

  63. Kind: Contradictionsafety-557

    Sources disagree

    UFACTORY sources disagree on the collision sensitivity range. Studio's Settings page says levels 1 to 5; Studio's glossary and the Python SDK say 0 to 5, and the glossary says 0 disables collision detection. A learner reading only the Settings page would not learn that the value can switch detection off.

    Evidence · 3 citations

    The collision sensitivity range is 1 to 5 levels.

    UFACTORY Studio User Manual (online), 7. Settings · UFACTORY · 7.1.1, Collision Detection Sensitivity [general Studio text; the Studio manual says it applies to the xArm6]

    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21

    Open the source

    The collision sensitivity range is from 0 to 5 level. When it is set to 0, it means that collision detection is not enabled.

    UFACTORY Studio User Manual (online), 2. Glossary · UFACTORY · Glossary, Collision Sensitivity [general Studio text; the Studio manual says it applies to the xArm6]

    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21

    Open the source

    :param value: sensitivity value, 0~5

    xArm-Python-SDK API documentation (doc/api/xarm_api.md) · UFACTORY · def set_collision_sensitivity [SDK text for the xArm API; names no single model]

    © UFACTORY Inc., xArm-Developer/xArm-Python-SDK, BSD 3-Clause licence · BSD-3-Clause · retrieved 2026-09-21

    Open the source

  64. Confidence: Verifiedsafety-529

    The record says

    The xArm manual assigns stop categories to three safety inputs: the Control Box emergency stop button and the Control Box emergency input (EI) are Stop Category 1, and the Control Box safeguard stop (SI) is Stop Category 2.

    Evidence · 3 citations

    Emergency Stop Button of the Control Box | Stop Category 1

    UFACTORY xArm Hardware Manual (online), 7. Production Information · UFACTORY · 7.9 Stop Categories, table [series text: names no single model]

    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25

    Open the source

    Emergency Input of the Control Box(EI) | Stop Category 1

    UFACTORY xArm Hardware Manual (online), 7. Production Information · UFACTORY · 7.9 Stop Categories, table [series text: names no single model]

    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25

    Open the source

    Safeguard Stop of Control Box(SI) | Stop Category 2

    UFACTORY xArm Hardware Manual (online), 7. Production Information · UFACTORY · 7.9 Stop Categories, table [series text: names no single model]

    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25

    Open the source

  65. Confidence: Verifiedsafety-530

    The record says

    The xArm manual says Stop Category 1 and Stop Category 2 decelerate the robot with drive power on, which enables it to stop without deviating from its current path.

    Evidence · 1 citation

    Stop Category 1 and Stop Category 2 decelerates the robot with drive power on, which enables the robot to stop without deviating from its current path.

    UFACTORY xArm Hardware Manual (online), 7. Production Information · UFACTORY · 7.9 Stop Categories [series text: names no single model]

    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25

    Open the source

  66. Confidence: Verifiedsafety-531

    The record says

    The xArm manual's Stop Category 1 table, which names no arm model, gives Joint 1 a stopping distance of 0.62 rad and a stopping time of 521 ms, measured with the arm fully extended horizontally, at 100% speed (joint speed 180 °/s), with a 5 kg payload at the TCP and the joint moving horizontally.

    Evidence · 5 citations

    Joint1 | 0.62 | 521

    UFACTORY xArm Hardware Manual (online), 7. Production Information · UFACTORY · 7.10 Stop Time and Stop Distance, table [names no model]

    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25

    Open the source

    Extension: 100% (the robot arm is fully extended horizontally).

    UFACTORY xArm Hardware Manual (online), 7. Production Information · UFACTORY · 7.10 Stop Time and Stop Distance, test configuration [names no model]

    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25

    Open the source

    Speed: 100% (the general speed of the robot is set to 100% and the movement is performed at a joint speed of 180 °/s).

    UFACTORY xArm Hardware Manual (online), 7. Production Information · UFACTORY · 7.10, test configuration [names no model]

    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25

    Open the source

    Payload: maximum payload handled by the robot attached to the TCP (5 kg).

    UFACTORY xArm Hardware Manual (online), 7. Production Information · UFACTORY · 7.10, test configuration [names no model]

    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25

    Open the source

    The test on the Joint 1 was carried out by performing a horizontal movement, the axis of rotation was perpendicular to the ground.

    UFACTORY xArm Hardware Manual (online), 7. Production Information · UFACTORY · 7.10, test configuration [names no model]

    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25

    Open the source

  67. Confidence: Verifiedsafety-532

    The record says

    The xArm manual's Stop Category 1 table, which names no arm model, gives Joint 2 a stopping distance of 1.12 rad and a stopping time of 885 ms, measured with the arm fully extended horizontally, at 100% speed (joint speed 180 °/s), with a 5 kg payload at the TCP and the robot moving downwards.

    Evidence · 5 citations

    Joint2 | 1.12 | 885

    UFACTORY xArm Hardware Manual (online), 7. Production Information · UFACTORY · 7.10 Stop Time and Stop Distance, table [names no model]

    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25

    Open the source

    Extension: 100% (the robot arm is fully extended horizontally).

    UFACTORY xArm Hardware Manual (online), 7. Production Information · UFACTORY · 7.10 Stop Time and Stop Distance, test configuration [names no model]

    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25

    Open the source

    Speed: 100% (the general speed of the robot is set to 100% and the movement is performed at a joint speed of 180 °/s).

    UFACTORY xArm Hardware Manual (online), 7. Production Information · UFACTORY · 7.10, test configuration [names no model]

    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25

    Open the source

    Payload: maximum payload handled by the robot attached to the TCP (5 kg).

    UFACTORY xArm Hardware Manual (online), 7. Production Information · UFACTORY · 7.10, test configuration [names no model]

    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25

    Open the source

    During the tests for Joint 2 and 3 the robot followed a vertical trajectory, i.e. the axes of rotation were parallel to the ground, and the stop was performed while the robot was moving downwards.

    UFACTORY xArm Hardware Manual (online), 7. Production Information · UFACTORY · 7.10, test configuration [names no model]

    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25

    Open the source

  68. Confidence: Verifiedsafety-533

    The record says

    The xArm manual's Stop Category 1 table, which names no arm model, gives Joint 3 a stopping distance of 0.67 rad and a stopping time of 577 ms, measured with the arm fully extended horizontally, at 100% speed (joint speed 180 °/s), with a 5 kg payload at the TCP and the robot moving downwards.

    Evidence · 5 citations

    Joint3 | 0.67 | 577

    UFACTORY xArm Hardware Manual (online), 7. Production Information · UFACTORY · 7.10 Stop Time and Stop Distance, table [names no model]

    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25

    Open the source

    Extension: 100% (the robot arm is fully extended horizontally).

    UFACTORY xArm Hardware Manual (online), 7. Production Information · UFACTORY · 7.10 Stop Time and Stop Distance, test configuration [names no model]

    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25

    Open the source

    Speed: 100% (the general speed of the robot is set to 100% and the movement is performed at a joint speed of 180 °/s).

    UFACTORY xArm Hardware Manual (online), 7. Production Information · UFACTORY · 7.10, test configuration [names no model]

    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25

    Open the source

    Payload: maximum payload handled by the robot attached to the TCP (5 kg).

    UFACTORY xArm Hardware Manual (online), 7. Production Information · UFACTORY · 7.10, test configuration [names no model]

    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25

    Open the source

    During the tests for Joint 2 and 3 the robot followed a vertical trajectory, i.e. the axes of rotation were parallel to the ground, and the stop was performed while the robot was moving downwards.

    UFACTORY xArm Hardware Manual (online), 7. Production Information · UFACTORY · 7.10, test configuration [names no model]

    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25

    Open the source

  69. Kind: RecommendationAwaiting cell accessThis project's simulation and agent design, not the physical cellsafety-597

    Project advice

    Do not use the xArm manual's Stop Category 1 figures for S6 separation distances until UFACTORY confirms which arm and configuration they were measured on; measure the S6 arm's stopping behaviour at the cell if the risk assessment needs it.

    Awaiting cell access: this could be confirmed or corrected once the physical S6 cell can be observed.

    This is advice from this project, based on: safety-535 Verified safety-534 Inferred safety-580 Gap

    Why: The table names no model, its figures are identical to the 850 manual's, and it covers only Joints 1 to 3 in one configuration. A separation distance built on it would rest on data that may not describe the S6 arm.

  70. Confidence: Verifiedsafety-543

    The record says

    For a light curtain on the protective interface, the xArm manual says the reset must be made from outside the safety zone and the reset button must be a two-channel button. In its example the reset input is CI0, which must also be configured in UFactory Studio.

    Evidence · 1 citation

    Quote not shown (over 40 words). See the source at: 3.4.1.4 Protective Stop with Rest Button [series text: names no single model].

    UFACTORY xArm Hardware Manual (online), 3. Controller Electrical Interface · UFACTORY · 3.4.1.4 Protective Stop with Rest Button [series text: names no single model]

    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25

    Open the source

  71. Confidence: Verifiedops-577

    The record says

    Protective-stop reset with a reset button, step 1: in UFactory Studio, go to Settings - External - Controller IO - IO Function, set CI0 as safeguard reset, and save.

    Evidence · 1 citation

    Enter 'Settings - External - Controller IO - IO Function', set CI0 as safeguard reset and save.

    UFACTORY xArm Hardware Manual (online), 3. Controller Electrical Interface · UFACTORY · 3.4.1.4 Protective Stop with Rest Button [series text: names no single model]

    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25

    Open the source

  72. Confidence: Verifiedops-578

    The record says

    Protective-stop reset with a reset button, step 2: to resume motion, connect SI0 and SI1 to GND and trigger motion by connecting CI0 to GND; to pause motion, disconnect SI0 and SI1 from GND.

    Evidence · 1 citation

    If xArm needs to resume motion, connect SI0 and SI1 to GND, and trigger the motion of xArm by connecting CI0 to GND; if xArm needs to pause the motion, disconnect SI0 and SI1 from GND.

    UFACTORY xArm Hardware Manual (online), 3. Controller Electrical Interface · UFACTORY · 3.4.1.4 Protective Stop with Rest Button [series text: names no single model]

    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25

    Open the source

  73. Confidence: Verifiedsafety-547

    The record says

    In UFACTORY Studio, configured controller input functions are triggered by low-level input signals. Stop Moving stops the arm; Safeguard Reset resumes motion from the protective stop state and 'Should work with SI'; an input set as Manual Mode lets the arm be dragged freely while the signal stays low.

    Evidence · 4 citations

    The following functions (if configured), can be triggered by low-level input signals.

    UFACTORY Studio User Manual (online), 7. Settings · UFACTORY · 7.2.2 Controller IO, IO Function [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

    Stop Moving: Trigger IO, the robotic arm stops moving.

    UFACTORY Studio User Manual (online), 7. Settings · UFACTORY · 7.2.2, IO Function [general Studio text; the Studio manual says it applies to the xArm6]

    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21

    Open the source

    Safeguard Reset: Trigger IO to resume the motion of the robotic arm in the protection stop state. Should work with SI.

    UFACTORY Studio User Manual (online), 7. Settings · UFACTORY · 7.2.2, IO Function [general Studio text; the Studio manual says it applies to the xArm6]

    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21

    Open the source

    Manual Mode: When set as Manual Mode, the robotic arm can be dragged freely when the input signal remains low level.

    UFACTORY Studio User Manual (online), 7. Settings · UFACTORY · 7.2.2, IO Function [general Studio text; the Studio manual says it applies to the xArm6]

    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21

    Open the source

  74. Confidence: Verifiedsafety-560

    The record says

    UFACTORY's support article says collision detection may sometimes be falsely triggered, often in relation to the end-effector load, centre of mass, installation orientation and friction parameters. It recommends updating the weight and centre of mass after changing the end effector or workpiece, updating the payload after pick and release actions in pick-and-place programs, setting the mounting direction correctly, and reloading the joint friction parameters after replacing the control box.

    Evidence · 5 citations

    In practical applications, the robot's collision detection function may sometimes be falsely triggered. This phenomenon is often related to the end effector load, center of mass, installation orientation, and friction parameters.

    Collision Detection in UFACTORY Robotic Arms: Current and Dynamic Model-based Feature (UFACTORY support article) · UFACTORY · Section 2 [names UFACTORY robotic arms generally]

    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21

    Open the source

    After changing end effector or workpiece, update the weight and center of mass settings in the TCP payload settings page of the software.

    Collision Detection in UFACTORY Robotic Arms: Current and Dynamic Model-based Feature (UFACTORY support article) · UFACTORY · Section 3

    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21

    Open the source

    In pick-and-place programs, update the payload settings after pick and release actions.

    Collision Detection in UFACTORY Robotic Arms: Current and Dynamic Model-based Feature (UFACTORY support article) · UFACTORY · Section 3

    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21

    Open the source

    Ensure that the robotic arm’s mounting direction is set correctly in UFACTORY Studio or via SDK.

    Collision Detection in UFACTORY Robotic Arms: Current and Dynamic Model-based Feature (UFACTORY support article) · UFACTORY · Section 3

    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21

    Open the source

    After replacing the control box, reload the correct joint friction parameters for the robotic arm.

    Collision Detection in UFACTORY Robotic Arms: Current and Dynamic Model-based Feature (UFACTORY support article) · UFACTORY · Section 3

    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21

    Open the source

  75. Confidence: Verifiedlim-526

    The record says

    UFACTORY's support article says that for xArm 5/6/7 arms the joint friction parameters used by collision detection are stored in the arm and are reloaded by pressing and releasing the emergency stop, while for xArm 5/6/7 arms before XX1300 they are stored in the controller and reloading needs technical support. It says replacing the control box can leave the stored parameters mismatched, and that a mismatch may falsely trigger collision detection.

    Evidence · 5 citations

    xArm 5/6/7 | Robot Arm | Press and release the emergency stop

    Collision Detection in UFACTORY Robotic Arms: Current and Dynamic Model-based Feature (UFACTORY support article) · UFACTORY · Section 2.3 Friction Parameters, table [names xArm 5/6/7]

    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21

    Open the source

    xArm 5/6/7 (before XX1300) | Controller | Contact technical support

    Collision Detection in UFACTORY Robotic Arms: Current and Dynamic Model-based Feature (UFACTORY support article) · UFACTORY · Section 2.3, table [names xArm 5/6/7]

    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21

    Open the source

    In UFACTORY robotic arms, friction parameters also play a crucial role in collision detection.

    Collision Detection in UFACTORY Robotic Arms: Current and Dynamic Model-based Feature (UFACTORY support article) · UFACTORY · Section 2.3 Friction Parameters

    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21

    Open the source

    When the user replaces the control box, the stored friction parameters may no longer match, leading to errors in joint current calculation.

    Collision Detection in UFACTORY Robotic Arms: Current and Dynamic Model-based Feature (UFACTORY support article) · UFACTORY · Section 2.3 Friction Parameters

    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21

    Open the source

    parameter mismatch may cause the controller to mistakenly detect external resistance, thereby falsely triggering collision detection.

    Collision Detection in UFACTORY Robotic Arms: Current and Dynamic Model-based Feature (UFACTORY support article) · UFACTORY · Section 2.3 Friction Parameters

    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21

    Open the source

  76. Confidence: Verifiedsafety-558

    The record says

    The SDK's set_collision_sensitivity notes say not to use it if not required, and that the setting is lost after a reboot unless it is saved with save_conf.

    Evidence · 3 citations

    1. Do not use if not required

    xArm-Python-SDK API documentation (doc/api/xarm_api.md) · UFACTORY · def set_collision_sensitivity, Notes [SDK text 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

    2. If not saved, it will be lost after reboot

    xArm-Python-SDK API documentation (doc/api/xarm_api.md) · UFACTORY · def set_collision_sensitivity, Notes [SDK text 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

    3. The save_conf interface can record the current settings and will not be lost after the restart.

    xArm-Python-SDK API documentation (doc/api/xarm_api.md) · UFACTORY · def set_collision_sensitivity, Notes [SDK text 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

  77. Confidence: Verifiedsafety-561

    The record says

    Collision detection can be turned on or off in UFACTORY Studio's Advanced Settings, and that page needs a password; Studio's manual documents the default password.

    Evidence · 2 citations

    You must enter password to access this page, the default password:

    UFACTORY Studio User Manual (online), 7. Settings · UFACTORY · 7.4.3 Advanced Settings (the quote stops before the default value, which this corpus does not print) [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

    Collision Detection: Turn on/off collision detection

    UFACTORY Studio User Manual (online), 7. Settings · UFACTORY · 7.4.3 Advanced Settings [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

  78. Confidence: Verifiedsafety-562

    The record says

    With Collision Rebound on, the arm rebounds backward a certain distance after colliding with an obstacle; with it off and collision detection on, the arm stays where the collision was detected.

    Evidence · 1 citation

    Quote not shown (over 40 words). See the source at: 7.4.3 Advanced Settings, Collision Rebound [general Studio text; the Studio manual says it applies to the xArm6].

    UFACTORY Studio User Manual (online), 7. Settings · UFACTORY · 7.4.3 Advanced Settings, Collision Rebound [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

  79. Confidence: Verifiedsafety-563

    The record says

    UFACTORY Studio has a self-collision detection setting which, when on, 'will prevent the xArm from causing self-collision'. A 3D cylinder or cuboid wrapping the end effector can be chosen as the end effector's self-collision prevention model, and controller error C22 reports a self-collision.

    Evidence · 3 citations

    Self-collision detection: When the mode is turned on, it will prevent the xArm from causing self-collision.

    UFACTORY Studio User Manual (online), 7. Settings · UFACTORY · 7.4.3 Advanced Settings [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

    You can choose a 3D model (cylinder/cuboid) that can wrap the end effector and use it as the self-collision prevention model of the end effector.

    UFACTORY Studio User Manual (online), 4. Live Control · UFACTORY · 4.1 End Effector [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

    C22 | Self-collision Error, Please Re-plan the Path.

    UFACTORY Studio User Manual (online), 12. Error Handling · UFACTORY · 12.1, table, C22 [general Studio text; the Studio manual says it applies to the xArm6]

    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21

    Open the source

  80. Confidence: Verifiedsafety-550

    The record says

    Setting controller state 4 (STOP) terminates any execution immediately, and the arm will not receive or execute any new command until the state is set back to STANDBY; the arm also switches to state 4 automatically when any error occurs. State 6 performs a decelerated stop immediately.

    Evidence · 3 citations

    set: set the robot to STOP state, it will terminate any execution immediately and will not receive or execute any new command until the state is set back to STANDBY.

    UFACTORY Studio User Manual (online), 10. Robotic Arm Motion Mode and State · UFACTORY · 10.2 Robotic Arm State, State 4 [general Studio text; the Studio manual says it applies to the xArm6]

    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21

    Open the source

    will automatically switch to this state when any error occurs.

    UFACTORY Studio User Manual (online), 10. Robotic Arm Motion Mode and State · UFACTORY · 10.2, State 4 [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

    Set and Feedback. Perform a decelerated stop immediately.

    UFACTORY Studio User Manual (online), 10. Robotic Arm Motion Mode and State · UFACTORY · 10.2, State 6 [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

  81. Confidence: Verifiedsafety-551

    The record says

    The controller switches automatically to state 5 (MODE_CHANGED) when critical settings such as the mode, payload, TCP offset or collision sensitivity are changed, and then accepts no command until state 0 is set.

    Evidence · 1 citation

    Feedback. MODE_CHANGED state, will automatically switch to this state if some critical configurations (mode, payload, TCP offset, collision sensitivity, etc) have been changed, and cannot receive and execute any command until set state 0.

    UFACTORY Studio User Manual (online), 10. Robotic Arm Motion Mode and State · UFACTORY · 10.2 Robotic Arm State, State 5 [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

  82. Confidence: Verifiedsafety-549

    The record says

    The xArm Python SDK documents emergency_stop() as the sequence set_state(4), then motion_enable(True), then set_state(0), and says it does not automatically clear errors.

    Evidence · 2 citations

    Emergency stop (set_state(4) -> motion_enable(True) -> set_state(0))

    xArm-Python-SDK API documentation (doc/api/xarm_api.md) · UFACTORY · def emergency_stop [SDK text 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

    This interface does not automatically clear the error.

    xArm-Python-SDK API documentation (doc/api/xarm_api.md) · UFACTORY · def emergency_stop, Note 1 [SDK text 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

  83. 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

  84. Confidence: Verifiediface-576

    The record says

    Mode 1 is servo mode: set_servo_angle_j moves to each joint target at the fastest speed (180°/s), with no buffer, executing only the latest target received. The control box accepts up to 250 Hz and loses commands sent faster; UFACTORY suggests issuing smoothed, interpolated track points at a certain frequency, preferably 100 Hz or 200 Hz, and warns, for safety, not to give a distant target at once.

    Evidence · 6 citations

    Move to the given joint position with the fastest speed (180°/s) and acceleration (unit: degree/radian). This command has no buffer, only execute the latest received target point

    UFACTORY Studio User Manual (online), 10. Robotic Arm Motion Mode and State · UFACTORY · 10.1 Mode 1, Servo Joint Motion (manual text not model-specific; the Studio manual's Preface lists the xArm 6 among the models it applies to)

    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21

    Open the source

    In servoj mode, the maximum receiving frequency of the control box is 250 Hz

    UFACTORY Studio User Manual (online), 10. Robotic Arm Motion Mode and State · UFACTORY · 10.1 Mode 1

    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21

    Open the source

    If the frequency of sending commands exceeds 250Hz, the redundant commands will be lost.

    UFACTORY Studio User Manual (online), 10. Robotic Arm Motion Mode and State · UFACTORY · 10.1 Mode 1

    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21

    Open the source

    issue a smoothed track point with interpolation at a certain frequency (preferably 100Hz or 200 Hz)

    UFACTORY Studio User Manual (online), 10. Robotic Arm Motion Mode and State · UFACTORY · 10.1 Mode 1, suggested use

    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21

    Open the source

    for safety considerations, do not give a distant target position at once

    UFACTORY Studio User Manual (online), 10. Robotic Arm Motion Mode and State · UFACTORY · 10.1 Mode 1, note

    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21

    Open the source

    Python Example: set_servo_angle_j

    UFACTORY Studio User Manual (online), 10. Robotic Arm Motion Mode and State · UFACTORY · 10.1 Mode 1

    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21

    Open the source

  85. Confidence: Verifiedsafety-097

    The record says

    In speed and separation monitoring, a presence-sensing device detects workers entering; at a minimum the robot application stops during the intrusion, and some integrations slow it first and stop it before contact can happen. OSHA says that when speed is used for safety, the speed should have an associated safety function that monitors that the needed speed will not be exceeded.

    Evidence · 4 citations

    A protective device (i.e., presence-sensing safeguarding device) is integrated with the robot application such that intrusion of workers is detected.

    OSHA Technical Manual (OTM) Section IV: Chapter 4, Industrial Robot Systems and Industrial Robot System Safety · U.S. Occupational Safety and Health Administration · Speed and Separation Monitoring (SSM)

    Source: U.S. OSHA (public domain) · Public domain (US Government work) · retrieved 2026-09-21

    Open the source

    It is important to note that when speed is being used for safety purposes, the speed should have an associated safety function that monitors that the needed speed will not be exceeded.

    OSHA Technical Manual (OTM) Section IV: Chapter 4, Industrial Robot Systems and Industrial Robot System Safety · U.S. Occupational Safety and Health Administration · Speed and Separation Monitoring (SSM)

    Source: U.S. OSHA (public domain) · Public domain (US Government work) · retrieved 2026-09-21

    Open the source

    At a minimum, the robot application stops during the intrusion and then operation can resume after all workers have left the area and no further intrusion is detected.

    OSHA Technical Manual (OTM) Section IV: Chapter 4, Industrial Robot Systems and Industrial Robot System Safety · U.S. Occupational Safety and Health Administration · Speed and Separation Monitoring (SSM)

    Source: U.S. OSHA (public domain) · Public domain (US Government work) · retrieved 2026-09-21

    Open the source

    Even now, there are integrations that cause the robot application to slow down upon initial intrusion detection, but if the worker(s) get closer to another detection zone, the robot stops before contact by the robot application can happen.

    OSHA Technical Manual (OTM) Section IV: Chapter 4, Industrial Robot Systems and Industrial Robot System Safety · U.S. Occupational Safety and Health Administration · Speed and Separation Monitoring (SSM)

    Source: U.S. OSHA (public domain) · Public domain (US Government work) · retrieved 2026-09-21

    Open the source

  86. Confidence: Verifiedsafety-103

    The record says

    OSHA says some robots have built-in safety functions that are not visible, and that the configuration and settings of safety functions should be verified by trained professionals; external measures such as interlocked guards, light curtains and laser scanners will need to be verified visually, validated and documented as present and functioning correctly.

    Evidence · 3 citations

    Some risk reduction measures can be external to the robot application and will need to be verified visually, validated, and documented that they are present and functioning correctly (e.g., interlocked guards, light curtains, and laser scanners).

    OSHA Technical Manual (OTM) Section IV: Chapter 4, Industrial Robot Systems and Industrial Robot System Safety · U.S. Occupational Safety and Health Administration · Risk reduction

    Source: U.S. OSHA (public domain) · Public domain (US Government work) · retrieved 2026-09-21

    Open the source

    The configuration and settings of safety functions should be verified by trained professionals.

    OSHA Technical Manual (OTM) Section IV: Chapter 4, Industrial Robot Systems and Industrial Robot System Safety · U.S. Occupational Safety and Health Administration · Risk reduction

    Source: U.S. OSHA (public domain) · Public domain (US Government work) · retrieved 2026-09-21

    Open the source

    For example, some robots have built-in safety functions providing capabilities or software that are not visible (e.g., safety functions for PFL).

    OSHA Technical Manual (OTM) Section IV: Chapter 4, Industrial Robot Systems and Industrial Robot System Safety · U.S. Occupational Safety and Health Administration · Risk reduction

    Source: U.S. OSHA (public domain) · Public domain (US Government work) · retrieved 2026-09-21

    Open the source

  87. Confidence: Verifiedsafety-104

    The record says

    OSHA lists safety functions that could also be required in a collaborative application: protective stop, force limiting, speed limiting, soft axis-limiting, space limiting and position limiting. It says the required safety functions should be determined during the risk assessment.

    Evidence · 3 citations

    Protective stop Force limiting Speed limiting Soft axis-limiting Space limiting Position limiting

    OSHA Technical Manual (OTM) Section IV: Chapter 4, Industrial Robot Systems and Industrial Robot System Safety · U.S. Occupational Safety and Health Administration · Does this robot application have the needed safety functions?

    Source: U.S. OSHA (public domain) · Public domain (US Government work) · retrieved 2026-09-21

    Open the source

    Other safety functions could also be required, including:

    OSHA Technical Manual (OTM) Section IV: Chapter 4, Industrial Robot Systems and Industrial Robot System Safety · U.S. Occupational Safety and Health Administration · Does this robot application have the needed safety functions?

    Source: U.S. OSHA (public domain) · Public domain (US Government work) · retrieved 2026-09-21

    Open the source

    The required safety functions should be determined during the RA.

    OSHA Technical Manual (OTM) Section IV: Chapter 4, Industrial Robot Systems and Industrial Robot System Safety · U.S. Occupational Safety and Health Administration · Does this robot application have the needed safety functions?

    Source: U.S. OSHA (public domain) · Public domain (US Government work) · retrieved 2026-09-21

    Open the source

  88. Kind: RecommendationAwaiting cell accesscomp-557

    Project advice

    Read the S6 xArm 6's serial number before relying on any figure the sources disagree on (weight, J2 and J3 ranges): UFACTORY distinguishes four xArm 6 versions by serial number, and the S6 arm's version decides which mass parameters apply.

    Awaiting cell access: this could be confirmed or corrected once the physical S6 cell can be observed.

    This is advice from this project, based on: comp-511 Verified, awaiting cell access spec-506 Contradiction, awaiting cell access spec-516 Contradiction, awaiting cell access spec-517 Contradiction, awaiting cell access

    Why: The mass parameters are published per version (comp-511), so the S6 arm's version must be known to use them. The sources that disagree on weight and joint ranges (spec-506, spec-516, spec-517) do not say whether version explains the difference; knowing the version is a cheap first step, not a resolution. The serial number is on the physical arm, so this needs cell access.

    Evidence · 2 citations

    The purpose of this article is to guide the user to distinguish the model of UFactory xArm by SN.

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

    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25

    Open the source

    xArm 6 - Model 4

    Kinematic and Dynamic Parameters: xArm 6 (support article) · UFACTORY · 3. Mass Parameters, table headings

    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25

    Open the source

  89. Confidence: Verifiedsafety-509

    The record says

    The xArm manual says not to alter any information in the controller safety configuration: if parameters in the configuration file are modified, the entire robot system shall be deemed a new system, which necessitates updating all safety review processes, such as risk assessments.

    Evidence · 1 citation

    Quote not shown (over 40 words). See the source at: 1.4 Personnel Safety, WARNING [series text: names no single model].

    UFACTORY xArm Hardware Manual (online), 1. Safety · UFACTORY · 1.4 Personnel Safety, WARNING [series text: names no single model]

    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25

    Open the source

  90. Confidence: Verifiedsafety-569

    The record says

    The xArm manual says 'The xArm 6 robot is certified and tested by SGS' and has passed EU CE certification, and lists 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 and EN 61000-6-4:2007+A1:2011.

    Evidence · 2 citations

    The xArm 6 robot is certified and tested by SGS, and has passed the EU CE certification. The product meets the relevant requirements of the EU CE directive:

    UFACTORY xArm Hardware Manual (online), 7. Production Information · UFACTORY · 7.2 Applied Standards [names the xArm 6]

    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25

    Open the source

    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 [names the xArm 6]

    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25

    Open the source

  91. Confidence: Verifiedsafety-571

    The record says

    The SGS Verification of MD Compliance linked from the xArm manual covers 'UFACTORY Robotic Arm', model numbers XI13 and XI15, and says sufficient samples were tested and found to be in conformity with EN ISO 10218-1:2011, EN 60204-1:2018 and EN ISO 12100:2010. It says the CE mark can be affixed, under the manufacturer's responsibility, after completion of an EC Declaration of Conformity and compliance with all relevant EC Directives.

    Evidence · 7 citations

    Product Description: UFACTORY Robotic Arm

    SGS Verification of MD Compliance No. MD GZES2403005468MD (UFACTORY Robotic Arm, Model No. XI13, XI15), as linked from the xArm manual section 7.12 · SGS-CSTC Standards Technical Services Co., Ltd. (published by UFACTORY) · Product Description and Model No. fields

    SGS verification document, published by UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25

    Open the source

    Model No.: XI13, XI15

    SGS Verification of MD Compliance No. MD GZES2403005468MD (UFACTORY Robotic Arm, Model No. XI13, XI15), as linked from the xArm manual section 7.12 · SGS-CSTC Standards Technical Services Co., Ltd. (published by UFACTORY) · Model No. field

    SGS verification document, published by UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25

    Open the source

    Sufficient samples of the product have been tested and found to be in conformity with

    SGS Verification of MD Compliance No. MD GZES2403005468MD (UFACTORY Robotic Arm, Model No. XI13, XI15), as linked from the xArm manual section 7.12 · SGS-CSTC Standards Technical Services Co., Ltd. (published by UFACTORY) · Test Standard field

    SGS verification document, published by UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25

    Open the source

    EN ISO 10218-1: 2011

    SGS Verification of MD Compliance No. MD GZES2403005468MD (UFACTORY Robotic Arm, Model No. XI13, XI15), as linked from the xArm manual section 7.12 · SGS-CSTC Standards Technical Services Co., Ltd. (published by UFACTORY) · Test Standard field

    SGS verification document, published by UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25

    Open the source

    EN 60204-1:2018

    SGS Verification of MD Compliance No. MD GZES2403005468MD (UFACTORY Robotic Arm, Model No. XI13, XI15), as linked from the xArm manual section 7.12 · SGS-CSTC Standards Technical Services Co., Ltd. (published by UFACTORY) · Test Standard field

    SGS verification document, published by UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25

    Open the source

    EN ISO 12100: 2010

    SGS Verification of MD Compliance No. MD GZES2403005468MD (UFACTORY Robotic Arm, Model No. XI13, XI15), as linked from the xArm manual section 7.12 · SGS-CSTC Standards Technical Services Co., Ltd. (published by UFACTORY) · Test Standard field

    SGS verification document, published by UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25

    Open the source

    The CE mark can be affixed, under the responsibility of the manufacturer, after completion of an EC Declaration of Conformity and compliance with all relevant EC Directives.

    SGS Verification of MD Compliance No. MD GZES2403005468MD (UFACTORY Robotic Arm, Model No. XI13, XI15), as linked from the xArm manual section 7.12 · SGS-CSTC Standards Technical Services Co., Ltd. (published by UFACTORY) · Closing paragraph

    SGS verification document, published by UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25

    Open the source

  92. Kind: Gapsafety-584

    Not known

    The EU Declaration of Conformity for the xArm 6 was not found. The manual says the xArm 6 has passed EU CE certification, and both SGS verifications say the CE mark can be affixed or used, under the responsibility of the manufacturer, after completion of a Declaration of Conformity.

    Evidence · 3 citations

    has passed the EU CE certification

    UFACTORY xArm Hardware Manual (online), 7. Production Information · UFACTORY · 7.2 Applied Standards [names the xArm 6]

    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25

    Open the source

    The CE mark can be affixed, under the responsibility of the manufacturer, after completion of an EC Declaration of Conformity

    SGS Verification of MD Compliance No. MD GZES2403005468MD (UFACTORY Robotic Arm, Model No. XI13, XI15), as linked from the xArm manual section 7.12 · SGS-CSTC Standards Technical Services Co., Ltd. (published by UFACTORY) · Closing paragraph

    SGS verification document, published by UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25

    Open the source

    The CE mark can be used, under the responsibility of the manufacturer, after completion of an EU Declaration of Conformity

    SGS Verification of Compliance No. GZEM2403001755MDVR (EMC; UFACTORY Robotic Arm, Model No. XI13, XI15), as linked from the xArm manual section 7.12 · SGS-CSTC Standards Technical Services Co., Ltd. (published by UFACTORY) · Closing paragraph

    SGS verification document, published by UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25

    Open the source

  93. Confidence: Verifiedsafety-572

    The record says

    The SGS EMC Verification of Compliance linked from the xArm manual covers 'UFACTORY Robotic Arm', model numbers XI13 and XI15, against EN IEC 61000-6-2:2019 and EN IEC 61000-6-4:2019 under Directive 2014/30/EU.

    Evidence · 5 citations

    Product Name: UFACTORY Robotic Arm

    SGS Verification of Compliance No. GZEM2403001755MDVR (EMC; UFACTORY Robotic Arm, Model No. XI13, XI15), as linked from the xArm manual section 7.12 · SGS-CSTC Standards Technical Services Co., Ltd. (published by UFACTORY) · Product Name field

    SGS verification document, published by UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25

    Open the source

    Model No.: XI13, XI15

    SGS Verification of Compliance No. GZEM2403001755MDVR (EMC; UFACTORY Robotic Arm, Model No. XI13, XI15), as linked from the xArm manual section 7.12 · SGS-CSTC Standards Technical Services Co., Ltd. (published by UFACTORY) · Model No. field

    SGS verification document, published by UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25

    Open the source

    EN IEC 61000-6-2: 2019

    SGS Verification of Compliance No. GZEM2403001755MDVR (EMC; UFACTORY Robotic Arm, Model No. XI13, XI15), as linked from the xArm manual section 7.12 · SGS-CSTC Standards Technical Services Co., Ltd. (published by UFACTORY) · Standard(s) field

    SGS verification document, published by UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25

    Open the source

    EN IEC 61000-6-4: 2019

    SGS Verification of Compliance No. GZEM2403001755MDVR (EMC; UFACTORY Robotic Arm, Model No. XI13, XI15), as linked from the xArm manual section 7.12 · SGS-CSTC Standards Technical Services Co., Ltd. (published by UFACTORY) · Standard(s) field

    SGS verification document, published by UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25

    Open the source

    under Directive 2014/30/EU

    SGS Verification of Compliance No. GZEM2403001755MDVR (EMC; UFACTORY Robotic Arm, Model No. XI13, XI15), as linked from the xArm manual section 7.12 · SGS-CSTC Standards Technical Services Co., Ltd. (published by UFACTORY) · Closing paragraph

    SGS verification document, published by UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25

    Open the source

  94. Kind: Contradictionsafety-573

    Sources disagree

    The EMC standards the xArm manual lists do not match the EMC verification it links. Section 7.2 lists EMC 2004/108/EC, EN 61000-6-2:2005 and EN 61000-6-4:2007+A1:2011 as the standards the xArm 6 meets. The linked SGS EMC verification names EN IEC 61000-6-2:2019 and EN IEC 61000-6-4:2019 under Directive 2014/30/EU. Section 7.3 lists both the older editions and the 2019 editions without saying which apply.

    Evidence · 7 citations

    The product meets the relevant requirements of the EU CE directive:

    UFACTORY xArm Hardware Manual (online), 7. Production Information · UFACTORY · 7.2 Applied Standards [names the xArm 6]

    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25

    Open the source

    EMC 2004/108/EC

    UFACTORY xArm Hardware Manual (online), 7. Production Information · UFACTORY · 7.2 Applied Standards [names the xArm 6]

    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25

    Open the source

    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 [names the xArm 6]

    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25

    Open the source

    EN 61000-6-2:2005 [2004/108/EC]

    UFACTORY xArm Hardware Manual (online), 7. Production Information · UFACTORY · 7.3 EMC [series text: names no single model]

    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25

    Open the source

    EN 61000-6-4:2019 | EN 61000-6-2:2019

    UFACTORY xArm Hardware Manual (online), 7. Production Information · UFACTORY · 7.3 EMC [series text: names no single model]

    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25

    Open the source

    EN IEC 61000-6-2: 2019

    SGS Verification of Compliance No. GZEM2403001755MDVR (EMC; UFACTORY Robotic Arm, Model No. XI13, XI15), as linked from the xArm manual section 7.12 · SGS-CSTC Standards Technical Services Co., Ltd. (published by UFACTORY) · Standard(s) field

    SGS verification document, published by UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25

    Open the source

    under Directive 2014/30/EU

    SGS Verification of Compliance No. GZEM2403001755MDVR (EMC; UFACTORY Robotic Arm, Model No. XI13, XI15), as linked from the xArm manual section 7.12 · SGS-CSTC Standards Technical Services Co., Ltd. (published by UFACTORY) · Closing paragraph

    SGS verification document, published by UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25

    Open the source

  95. Confidence: Verifiedcomp-510

    The record says

    UFACTORY's displacement test lists the xArm 6 under model XI1305, and its serial-number guide reads the SN XI130506D43A0A as an xArm 6, model 4. The online xArm manual says it applies to models XF1305, XI1305 and XS1305.

    Evidence · 3 citations

    xArm 6 XI1305 X+

    0.1 mm Displacement Test for 850 and xArm 6 (support article) · UFACTORY · Robot Models and Initial Positions 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 model by SN (support article) · UFACTORY · Example

    © 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 · Chapter heading line

    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25

    Open the source

  96. 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

  97. Confidence: Inferredsafety-576

    The record says

    The ISO 10218-1 edition named both in the xArm manual's standards list and in the SGS machinery verification it links is the 2011 edition. A3 says the 2025 editions of ISO 10218-1 and -2 replace the 2011 versions. So the fetched evidence shows verification against ISO 10218-1:2011, not ISO 10218-1:2025.

    Why we infer this: Verified: the xArm manual and the SGS document it links name EN ISO 10218-1:2011. A3, a trade body close to the ISO drafting work, says the 2025 editions replace the 2011 ones. No fetched UFACTORY page names ISO 10218-1:2025. Inferred: the published verification is against the superseded edition. This says nothing about whether the xArm 6 meets the 2025 edition; nothing fetched addresses that.

    Evidence · 3 citations

    EN ISO 10218-1:2011

    UFACTORY xArm Hardware Manual (online), 7. Production Information · UFACTORY · 7.2 Applied Standards [names the xArm 6]

    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25

    Open the source

    EN ISO 10218-1: 2011

    SGS Verification of MD Compliance No. MD GZES2403005468MD (UFACTORY Robotic Arm, Model No. XI13, XI15), as linked from the xArm manual section 7.12 · SGS-CSTC Standards Technical Services Co., Ltd. (published by UFACTORY) · Test Standard field

    SGS verification document, published by UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25

    Open the source

    These documents are revisions, replacing the 2011 versions of Parts 1 and 2.

    Updated ISO 10218: Answers to Frequently Asked Questions (FAQs) (A3 blog, 03/20/2025; Wayback Machine snapshot 2025-10-06) · Association for Advancing Automation (A3) · FAQ 1

    © Association for Advancing Automation (A3) · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21

    Open the source

  98. Kind: Gapsafety-578

    Not known

    No chapter of the xArm manual (Preface and chapters 1 to 8), the xArm product page or the Studio manual states an ISO 13849-1 Performance Level or Category, or an IEC 62061 SIL, for any xArm safety function (emergency stop, EI/SI inputs, collision detection, safety boundary or reduced mode), and none mentions a TÜV certification. Do not assume any.

    Evidence · 2 citations

    All safety I/Os exist in pairs (redundancy) and must be kept in two separate branches.

    UFACTORY xArm Hardware Manual (online), 3. Controller Electrical Interface · UFACTORY · 3.4.1 Safety IO(EISI): redundancy described, no PL or Category stated [series text: names no single model]

    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25

    Open the source

    DSS_GZEM2403001755MDVR-1.pdf | DSS_MD-GZES2403005468MD-1.pdf | DTIBW20220028-RoHS-CE.pdf

    UFACTORY xArm Hardware Manual (online), 7. Production Information · UFACTORY · 7.12 Certification: only the SGS MD and EMC verifications and a RoHS certificate are linked [series text: names no single model]

    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25

    Open the source

  99. 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

  100. Confidence: Verifiedsafety-099

    The record says

    OSHA says contact limits for power and force limiting must be set by risk assessment, using the pressure and force tables in Annex A of RIA TR 15.606 (the US adoption of ISO/TS 15066). The values themselves are in that paywalled document and were not obtained.

    Evidence · 2 citations

    Limits for quasi-static and transient contact must be evaluated as part of the risk assessment, and by determining pressure and force threshold limit values on the collaborative robot system utilizing Tables A.1 and A.2 in Annex A of RIA TR15.606.

    OSHA Technical Manual (OTM) Section IV: Chapter 4, Industrial Robot Systems and Industrial Robot System Safety · U.S. Occupational Safety and Health Administration · Power and Force Limited (PFL)

    Source: U.S. OSHA (public domain) · Public domain (US Government work) · retrieved 2026-09-21

    Open the source

    TR 606 is the U.S. National Adoption of the ISO/TS 15066:2016.

    OSHA Safety and Health Topics: Robotics, Standards · U.S. Occupational Safety and Health Administration · National Consensus Standards, TR 606

    Source: U.S. OSHA (public domain) · Public domain (US Government work) · retrieved 2026-09-21

    Open the source

  101. Kind: Gapsafety-579

    Not known

    No fetched UFACTORY source says whether the xArm 6 is suitable or validated for power and force limiting collaborative applications. No fetched UFACTORY source gives contact force or pressure figures for the xArm 6, or a torque or force threshold for any collision sensitivity level.

    Evidence · 1 citation

    the smaller the additional torque required for the robotic arm to trigger collision protection

    UFACTORY Studio User Manual (online), 7. Settings · UFACTORY · 7.1.1, Collision Detection Sensitivity: levels described only relatively [general Studio text; the Studio manual says it applies to the xArm6]

    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21

    Open the source

  102. Confidence: Verifiedsafety-535

    The record says

    The Stop Category 1 stopping distances and times in the xArm manual (Joint 1: 0.62 rad, 521 ms; Joint 2: 1.12 rad, 885 ms; Joint 3: 0.67 rad, 577 ms) are identical to those in UFACTORY's 850 manual, and both give the test payload as the maximum payload handled by the robot (5 kg).

    Evidence · 7 citations

    Joint1 | 0.62 | 521

    UFACTORY xArm Hardware Manual (online), 7. Production Information · UFACTORY · 7.10 Stop Time and Stop Distance, table [names no model]

    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25

    Open the source

    Joint2 | 1.12 | 885

    UFACTORY xArm Hardware Manual (online), 7. Production Information · UFACTORY · 7.10, table [names no model]

    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25

    Open the source

    Joint3 | 0.67 | 577

    UFACTORY xArm Hardware Manual (online), 7. Production Information · UFACTORY · 7.10, table [names no model]

    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25

    Open the source

    Joint1 0.62 521

    UFACTORY 850 Hardware Manual (online), 7. Production Information · UFACTORY · 850 manual 7.9 Stop Time and Stop Distance, table [850 manual]

    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21

    Open the source

    Joint2 1.12 885

    UFACTORY 850 Hardware Manual (online), 7. Production Information · UFACTORY · 850 manual 7.9, table [850 manual]

    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21

    Open the source

    Joint3 0.67 577

    UFACTORY 850 Hardware Manual (online), 7. Production Information · UFACTORY · 850 manual 7.9, table [850 manual]

    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21

    Open the source

    Payload: maximum payload handled by the robot attached to the TCP (5 kg).

    UFACTORY 850 Hardware Manual (online), 7. Production Information · UFACTORY · 850 manual 7.9, test configuration [850 manual]

    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21

    Open the source

  103. Confidence: Inferredsafety-534

    The record says

    The 5 kg test payload in the xArm manual's stop-time table matches the xArm 6's 5 kg maximum payload, and neither the xArm 5's (3 kg) nor the xArm 7's (3.5 kg). The table itself does not say which model was tested.

    Why we infer this: Verified: section 7.10 describes the test payload as the 'maximum payload handled by the robot' (5 kg); section 8 gives maximum payloads of 3 kg (xArm5), 5 kg (xArm6) and 3.5 kg (xArm7). Inferred: of the three models the manual covers, only the xArm 6's maximum payload equals the test payload. This does not show the test was run on an xArm 6: the table names no model, and the 850 manual publishes the same figures for the 850, whose maximum payload is also 5 kg.

    Evidence · 4 citations

    Payload: maximum payload handled by the robot attached to the TCP (5 kg).

    UFACTORY xArm Hardware Manual (online), 7. Production Information · UFACTORY · 7.10, test configuration [names no model]

    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25

    Open the source

    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

    Max Payload | 3kg

    UFACTORY xArm Hardware Manual (online), 8. Technical Specifications · UFACTORY · 8.2 xArm5 Specifications [names the xArm 5]

    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25

    Open the source

    Max Payload | 3.5kg

    UFACTORY xArm Hardware Manual (online), 8. Technical Specifications · UFACTORY · 8.4 xArm7 Specifications [names the xArm 7]

    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25

    Open the source

  104. Kind: Gapsafety-580

    Not known

    The xArm manual gives stop data only for Stop Category 1 and Joints 1 to 3, in one configuration (fully extended, 100% speed, 5 kg payload), and does not say which arm model was measured. No data was found for Joints 4 to 6, for other speeds or payloads, for Stop Category 2 (the SI safeguard stop), or for stopping after a collision is detected. These are needed for any separation-distance calculation at S6.

    Evidence · 2 citations

    Stop Category 1 stopping distances and times.

    UFACTORY xArm Hardware Manual (online), 7. Production Information · UFACTORY · 7.10 Stop Time and Stop Distance [names no model]

    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25

    Open the source

    Joint3 | 0.67 | 577

    UFACTORY xArm Hardware Manual (online), 7. Production Information · UFACTORY · 7.10, table [names no model]

    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25

    Open the source

  105. Kind: Gapsafety-581

    Not known

    The xArm manual says the arm will 'slightly brake and fall' when the emergency stop is pressed, but no fetched source says how far it may fall, at which joints, or how long the brakes take to engage.

    Evidence · 1 citation

    the posture of the robotic arm will slightly brake and fall.

    UFACTORY xArm Hardware Manual (online), 2. Hardware Installation · UFACTORY · 2.1.2 Emergency Stop Button [series text: names no single model]

    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25

    Open the source

  106. Confidence: Verifiedsafety-503

    The record says

    The integrator's duties in the xArm manual also include interfacing other machines and additional safety devices if the risk assessment defines them, setting up the appropriate safety functions in the software, and specifying instructions for use to prevent damage or injury from improper operation.

    Evidence · 3 citations

    Interfacing other machines and additional safety devices if defined by the risk assessment.

    UFACTORY xArm Hardware Manual (online), 1. Safety · UFACTORY · 1.1, list items 2-4 [series text: names no single model]

    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25

    Open the source

    set up the appropriate safety functions in the software.

    UFACTORY xArm Hardware Manual (online), 1. Safety · UFACTORY · 1.1, list items 2-4 [series text: names no single model]

    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25

    Open the source

    Specifying instructions for use to prevent unnecessary property damage or personal injury caused by improper operation.

    UFACTORY xArm Hardware Manual (online), 1. Safety · UFACTORY · 1.1, list items 2-4 [series text: names no single model]

    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25

    Open the source

  107. Confidence: Verifiedsafety-519

    The record says

    The xArm manual says repair work must only be done by UFACTORY, that checks must be done after repair work to ensure the required safety level, and that the correct functioning of all safety functions shall also be tested.

    Evidence · 2 citations

    Repair work must only be done by UFACTORY.

    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

    After repair work, checks must be done to ensure the required safety level. Checks must adhere to valid national or regional work safety regulations. The correct functioning of all safety functions shall also be tested

    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

  108. Confidence: Verifiedops-582

    The record says

    The xArm manual says to replace faulty components only with new parts of the same part number or UFACTORY-approved equivalents, and to document all maintenance in writing and keep the records with the robot system's technical documentation.

    Evidence · 2 citations

    Replace faulty components only with new parts of the same part number or UFACTORY-approved equivalent components.

    UFACTORY xArm Hardware Manual (online), 1. Safety · UFACTORY · 1.4 Personnel Safety, WARNING [series text: names no single model]

    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25

    Open the source

    Document all maintenance operations in writing and retain these records within the technical documentation associated with the entire robot system.

    UFACTORY xArm Hardware Manual (online), 1. Safety · UFACTORY · 1.4 Personnel Safety, WARNING [series text: names no single model]

    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25

    Open the source

  109. Confidence: Verifiedlim-522

    The record says

    UFACTORY Studio says that near a singularity, planned Cartesian moves (linear, circular, but not joint moves) cannot be performed correctly and the arm stops to avoid a high instantaneous joint speed. It advises avoiding the central area near the base, and, when choosing a mounting place, considering the cylindrical volume directly above and below the base. It says moving the wrist joint close to that volume should be avoided if possible, because it makes the joints move fast even when the arm moves slowly and makes a risk assessment difficult.

    Evidence · 4 citations

    When the robot performs motion planning (linear, circular, etc., excluding joint movements) near the singularity point, it will stop to avoid high instantaneous speed of the joint when it passes the singularity point.

    UFACTORY Studio User Manual (online), 9. Motion Characteristics · UFACTORY · 9.3 Singularity, Characteristics [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

    so the robotic arm should try to avoid passing directly the central area near the base, which is likely to cause 1st Joint speed too high.

    UFACTORY Studio User Manual (online), 9. Motion Characteristics · UFACTORY · 9.3 Singularity [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

    It is important to consider the cylindrical volume directly above and directly below the base of the robotic arm when a mounting place for the robotic arm is chosen.

    UFACTORY Studio User Manual (online), 9. Motion Characteristics · UFACTORY · 9.3, Note [general Studio text; the Studio manual says it applies to the xArm6]

    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21

    Open the source

    Quote not shown (over 40 words). See the source at: 9.3, Note [general Studio text; the Studio manual says it applies to the xArm6].

    UFACTORY Studio User Manual (online), 9. Motion Characteristics · UFACTORY · 9.3, Note [general Studio text; the Studio manual says it applies to the xArm6]

    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21

    Open the source

  110. Kind: Gapsafety-582

    Not known

    No fetched UFACTORY source gives an explicit intended-use or reasonably foreseeable misuse statement for the xArm 6, beyond the environmental conditions and the general warnings in chapter 1.

  111. Kind: Gapsafety-583

    Not known

    No fetched UFACTORY source identifies specific pinch or crush points on the xArm 6, such as between links or at gripper fingers.

  112. Kind: Gapsafety-504

    Not known

    As published, the xArm manual's 'Limitation of Liability' section says safety information 'must be construed as a warranty by UFACTORY' that the xArm will not cause injury or damage even if all safety instructions are complied with. That wording sits under a heading about limiting liability, and no fetched source says what UFACTORY intended. Do not read it as a guarantee of safety.

    Evidence · 1 citation

    Any safety information provided in this manual must be construed as a warranty by UFACTORY, that the xArm will not cause injury or damage even if all safety instructions are complied with.

    UFACTORY xArm Hardware Manual (online), 1. Safety · UFACTORY · 1.2 Limitation of Liability [series text: names no single model]

    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25

    Open the source

  113. Confidence: Inferredsafety-593

    The record says

    An autonomous agent driving the S6 xArm 6 through the Python SDK could change collision sensitivity (to 0, which disables collision detection), collision rebound, reduced mode and the safety boundary. Under the xArm manual's own warning, changing the controller safety configuration makes the robot system a new system whose safety reviews, such as risk assessments, must be updated.

    Why we infer this: Verified: the SDK exposes these calls and the glossary says sensitivity 0 disables detection; the manual says modifying the controller safety configuration creates a new system needing updated safety reviews. Inferred: an agent with SDK access could make such changes, and the manual's warning would then apply. Whether the Python SDK calls change the same 'configuration file' the manual refers to is not stated in any fetched source.

    Evidence · 6 citations

    :param value: sensitivity value, 0~5

    xArm-Python-SDK API documentation (doc/api/xarm_api.md) · UFACTORY · def set_collision_sensitivity [SDK text for the xArm API; names no single model]

    © UFACTORY Inc., xArm-Developer/xArm-Python-SDK, BSD 3-Clause licence · BSD-3-Clause · retrieved 2026-09-21

    Open the source

    When it is set to 0, it means that collision detection is not enabled.

    UFACTORY Studio User Manual (online), 2. Glossary · UFACTORY · Glossary, Collision Sensitivity [general Studio text; the Studio manual says it applies to the xArm6]

    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21

    Open the source

    Set the collision rebound,turn on/off collision rebound

    xArm-Python-SDK API documentation (doc/api/xarm_api.md) · UFACTORY · def set_collision_rebound [SDK text 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

    Turn on/off reduced mode

    xArm-Python-SDK API documentation (doc/api/xarm_api.md) · UFACTORY · def set_reduced_mode [SDK text 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

    Set the boundary of the safety boundary mode

    xArm-Python-SDK API documentation (doc/api/xarm_api.md) · UFACTORY · def set_reduced_tcp_boundary [SDK text 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

    If parameters in the configuration file are modified, the entire robot system shall be deemed a new system, which necessitates the update of all safety review processes, such as risk assessments.

    UFACTORY xArm Hardware Manual (online), 1. Safety · UFACTORY · 1.4 Personnel Safety, WARNING [series text: names no single model]

    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25

    Open the source

  114. Kind: RecommendationThis project's simulation and agent design, not the physical cellsafety-595

    Project advice

    Deny the S6 agent the SDK calls that change collision sensitivity, collision detection, collision rebound, reduced mode or the safety boundary, or gate them behind human approval.

    This is advice from this project, based on: safety-593 Inferred safety-509 Verified safety-558 Verified

    Why: UFACTORY says a modified safety configuration makes a new system needing updated risk assessments, and its own SDK notes say not to use set_collision_sensitivity unless required. An agent that can change these settings could invalidate the risk assessment without anyone noticing.

  115. Kind: Gapsafety-585

    Not known

    No fetched UFACTORY source says whether the software safety functions (collision detection, safety boundary, reduced mode) are enforced independently of the motion-command path. Studio's description of the safety boundary mentions only the tool centre point, and no source says whether the arm's links or the tool body are checked against it.

    Evidence · 1 citation

    If the tool center point (TCP) of the robotic arm exceeds the set safety boundary, the robotic arm will stop moving.

    UFACTORY Studio User Manual (online), 7. Settings · UFACTORY · 7.3.1 Safety Boundary [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

  116. Confidence: Verifiedsafety-566

    The record says

    The Python SDK exposes set_reduced_mode and set_reduced_tcp_boundary ([x_max, x_min, y_max, y_min, z_max, z_min]), which need firmware 1.2.0 or above, and set_fence_mode and set_collision_rebound, which need firmware 1.2.11 or above. The boundary setting takes effect only when reduced mode is reset with set_reduced_mode(True).

    Evidence · 6 citations

    Turn on/off reduced mode

    xArm-Python-SDK API documentation (doc/api/xarm_api.md) · UFACTORY · def set_reduced_mode, Note 1 [SDK text 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

    1. This interface relies on Firmware 1.2.0 or above

    xArm-Python-SDK API documentation (doc/api/xarm_api.md) · UFACTORY · def set_reduced_mode and def set_reduced_tcp_boundary, Note 1 (same text under each) [SDK text 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

    :param boundary: [x_max, x_min, y_max, y_min, z_max, z_min]

    xArm-Python-SDK API documentation (doc/api/xarm_api.md) · UFACTORY · def set_reduced_tcp_boundary [SDK text 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

    2. Only reset the reduced mode to take effect (`set_reduced_mode(True)`)

    xArm-Python-SDK API documentation (doc/api/xarm_api.md) · UFACTORY · def set_reduced_tcp_boundary, Note 2 [SDK text 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

    Set the fence mode,turn on/off fence mode

    xArm-Python-SDK API documentation (doc/api/xarm_api.md) · UFACTORY · def set_fence_mode [SDK text 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

    1. This interface relies on Firmware 1.2.11 or above

    xArm-Python-SDK API documentation (doc/api/xarm_api.md) · UFACTORY · def set_fence_mode / set_collision_rebound, Note 1 [SDK text 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

  117. Confidence: Verifiedsafety-554

    The record says

    In servo (ServoJ) mode the arm moves to each given joint position at the fastest speed (180 °/s) with no command buffer, executing only the latest target it receives. UFACTORY says this is similar to a step response and, for safety, not to give a distant target position at once.

    Evidence · 2 citations

    Servo Joint Motion Move to the given joint position with the fastest speed (180°/s) and acceleration (unit: degree/radian). This command has no buffer, only execute the latest received target point

    UFACTORY Studio User Manual (online), 10. Robotic Arm Motion Mode and State · UFACTORY · 10.1 Mode 1: Servo(ServoJ) Mode [general Studio text; the Studio manual says it applies to the xArm6]

    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21

    Open the source

    (Note: this execution is similar to the step response, for safety considerations, do not give a distant target position at once)

    UFACTORY Studio User Manual (online), 10. Robotic Arm Motion Mode and State · UFACTORY · 10.1 Mode 1 [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

  118. 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.

  119. Confidence: Inferredapp-510

    The record says

    Calling the xArm 6 'collaborative' does not make a given installation safe to share with people: the xArm manual says a safety assessment is required each time the arm is installed, and that a comprehensive safety assessment of the whole system should be performed when the xArm works with other machinery.

    Why we infer this: UFACTORY uses 'collaborative' as a product description (app-504, app-509). The xArm manual separately requires a safety assessment for each installation and for the whole system when the arm works with other machinery. So the label describes the arm's features, not a guarantee that a particular cell allows people to work beside it.

    Evidence · 2 citations

    A safety assessment is required each time installed.

    UFACTORY xArm Hardware Manual (online), 2. Hardware Installation · UFACTORY · 2.2.1 Safety Guidelines, WARNING (chapter says 'Apply to Model: XF1305, XI1305, XS1305 (1305 Model)')

    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25

    Open the source

    When the xArm cooperates with other machinery, a comprehensive safety assessment of the entire collaboration system should be performed.

    UFACTORY xArm Hardware Manual (online), 1. Safety · UFACTORY · 1. Safety (manual for the xArm series; this passage names no single model)

    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25

    Open the source

  120. Confidence: Verifiedops-529

    The record says

    Before powering on, the xArm manual says to make sure the xArm will not hit any person or equipment within its working range.

    Evidence · 1 citation

    Ensure the xArm will not hit any personnel or equipment within the working range.

    UFACTORY xArm Hardware Manual (online), 2. Hardware Installation · UFACTORY · 2.3 Power Supply for xArm [series text: names no single model]

    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25

    Open the source

  121. Confidence: Verifiedops-528

    The record says

    Before powering on the xArm, the manual says to make sure the power cable and communication wire between the Control Box and the arm, the network or RS-485 cable, and the Control Box power cable are all properly connected.

    Evidence · 3 citations

    Ensure the power cable and the communication wire are properly connected between the Control Box and the robotic arm.

    UFACTORY xArm Hardware Manual (online), 2. Hardware Installation · UFACTORY · 2.3 Power Supply for xArm [series text: names no single model]

    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25

    Open the source

    Ensure the network cable or RS-485 cable is properly connected.

    UFACTORY xArm Hardware Manual (online), 2. Hardware Installation · UFACTORY · 2.3 [series text: names no single model]

    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25

    Open the source

    Ensure the power cable for the Control Box is properly connected.

    UFACTORY xArm Hardware Manual (online), 2. Hardware Installation · UFACTORY · 2.3 [series text: names no single model]

    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25

    Open the source

  122. Confidence: Verifiedint-027

    The record says

    Camera C2 (Robot/Laser) monitors the robot–laser work area.

    Evidence · 1 citation

    Camera C2 – Robot/Laser Monitors the robot–laser work area.

    IntelliMake Phase 1 Factory: Autonomous Production Demonstrator (infographic) · IntelliMake.org · Camera C2 label and description

    © IntelliMake.org. Used with permission; redrawn for this platform. · Cleared for use by its owner · retrieved 2026-09-21

    Project copy; not published on this site.

  123. Kind: GapAwaiting cell accessint-050

    Not known

    Whether S11 IntelliAware has any authority to stop or slow S2, whether it is a safety-rated protective device, and who owns S11 are not documented (Q14f). The diagram calls S11 'monitoring of ... safety', which does not make it a safeguard.

    Awaiting cell access: this could be confirmed or corrected once the physical S6 cell can be observed.

    Related: int-024 Verified

    Evidence · 1 citation

    AI vision-based monitoring of factory operations, equipment, processes, and safety.

    IntelliMake Phase 1 Factory: Autonomous Production Demonstrator (infographic) · IntelliMake.org · S11 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.

  124. Kind: Gapops-551

    Not known

    No fetched UFACTORY source gives the default collision sensitivity level for the xArm 6: the Studio settings page and glossary give the range, and the SDK's set_collision_sensitivity gives no default.

    Evidence · 2 citations

    The collision sensitivity range is 1 to 5 levels.

    UFACTORY Studio User Manual (online), 7. Settings · UFACTORY · 7.1.1, Collision Detection Sensitivity [general Studio text; the Studio manual says it applies to the xArm6]

    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21

    Open the source

    :param value: sensitivity value, 0~5

    xArm-Python-SDK API documentation (doc/api/xarm_api.md) · UFACTORY · def set_collision_sensitivity [SDK text for the xArm API; names no single model]

    © UFACTORY Inc., xArm-Developer/xArm-Python-SDK, BSD 3-Clause licence · BSD-3-Clause · retrieved 2026-09-21

    Open the source

  125. Kind: GapAwaiting cell accesssafety-574

    Not known

    The xArm manual's Preface and Hardware Installation chapter say they apply to models XF1305, XI1305 and XS1305, and the linked RoHS certificate lists those numbers among others. The linked SGS machinery and EMC verifications name models XI13 and XI15. No fetched text says whether XI13 and XI15 cover the 1305 models, or which model number is on the S6 xArm 6's label.

    Awaiting cell access: this could be confirmed or corrected once the physical S6 cell can be observed.

    Evidence · 6 citations

    Apply to Model: XF1305, XI1305, XS1305 (1305 Model).

    UFACTORY xArm Hardware Manual (online), 2. Hardware Installation · UFACTORY · 2. Hardware Installation, header [names model numbers, not a model name]

    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25

    Open the source

    Model No.: XI13, XI15

    SGS Verification of MD Compliance No. MD GZES2403005468MD (UFACTORY Robotic Arm, Model No. XI13, XI15), as linked from the xArm manual section 7.12 · SGS-CSTC Standards Technical Services Co., Ltd. (published by UFACTORY) · Model No. field

    SGS verification document, published by UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25

    Open the source

    Model No.: XI13, XI15

    SGS Verification of Compliance No. GZEM2403001755MDVR (EMC; UFACTORY Robotic Arm, Model No. XI13, XI15), as linked from the xArm manual section 7.12 · SGS-CSTC Standards Technical Services Co., Ltd. (published by UFACTORY) · Model No. field

    SGS verification document, published by UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25

    Open the source

    Apply to Model: XF1305, XI1305, XS1305.

    UFACTORY xArm Hardware Manual (online), Preface · UFACTORY · Preface, header [series text: names no single model]

    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25

    Open the source

    XF1305,XI1301,XI1302,XI1303,XI1304,XI1305

    DTI Certificate of Conformity for RoHS No. DTIBW20220028C (UFACTORY xArm), as linked from the xArm manual section 7.12 · Shenzhen Deesev Testing International Corporation (DTI) (published by UFACTORY) · Model No. field

    DTI certificate, published by UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25

    Open the source

    XS1301,XS1302,XS1303,XS1304,XS1305

    DTI Certificate of Conformity for RoHS No. DTIBW20220028C (UFACTORY xArm), as linked from the xArm manual section 7.12 · Shenzhen Deesev Testing International Corporation (DTI) (published by UFACTORY) · Model No. field

    DTI certificate, published by UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25

    Open the source

  126. Kind: GapAwaiting cell accesssafety-586

    Not known

    No risk assessment for the S6 xArm 6 application has been confirmed: whether one exists for the complete application (arm, gripper, workpieces and the stations it hands parts to and from), who performed and signed it, and whether it was redone after installation as the xArm manual requires.

    Awaiting cell access: this could be confirmed or corrected once the physical S6 cell can be observed.

    Related: int-009 Verified

    Evidence · 2 citations

    Making a risk assessment for the complete system.

    UFACTORY xArm Hardware Manual (online), 1. Safety · UFACTORY · 1.1, list item 1 [series text: names no single model]

    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25

    Open the source

    A complete safety assessment must be recorded each time the robotic arm is re-installed and debugged.

    UFACTORY xArm Hardware Manual (online), 1. Safety · UFACTORY · 1.3, DANGER list [series text: names no single model]

    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25

    Open the source

  127. Kind: GapAwaiting cell accesssafety-587

    Not known

    The S6 emergency stops are not confirmed: whether any emergency stop buttons beyond the Control Box button are wired to EI, where they are, and whether S6 shares an emergency stop circuit with S2 or other stations.

    Awaiting cell access: this could be confirmed or corrected once the physical S6 cell can be observed.

    Related: int-009 Verified

    Evidence · 1 citation

    In most applications, one or more additional emergency stop buttons are required.

    UFACTORY xArm Hardware Manual (online), 3. Controller Electrical Interface · UFACTORY · 3.4.1.1 Connect to Emergency Stop Button [series text: names no single model]

    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25

    Open the source

  128. Kind: GapAwaiting cell accesssafety-588

    Not known

    The final position of the S6 Control Box is not confirmed: whether it is outside the arm's working range, at 0.6 to 1.5 m height, with its emergency stop reachable.

    Awaiting cell access: this could be confirmed or corrected once the physical S6 cell can be observed.

    Related: int-009 Verified

    Evidence · 1 citation

    The Control Box must be placed outside the working range of the robotic arm to ensure the emergency stop button can be pressed once an emergency occurs.

    UFACTORY xArm Hardware Manual (online), 1. Safety · UFACTORY · 1.3, CAUTION list [series text: names no single model]

    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25

    Open the source

  129. Kind: GapAwaiting cell accesssafety-589

    Not known

    S6's guarding and protective devices are not confirmed: whether fences, interlocked doors, light curtains, safety mats or laser scanners are wired to the SI protective stop input, whether any safety signal passes through a PLC (and if so whether it is a safety PLC), or whether SI is still in its default state with no additional safety equipment.

    Awaiting cell access: this could be confirmed or corrected once the physical S6 cell can be observed.

    Related: int-009 Verified

    Evidence · 1 citation

    The robotic arm has been configured by default and can be operated without any additional safety equipment

    UFACTORY xArm Hardware Manual (online), 3. Controller Electrical Interface · UFACTORY · 3.4.1 Safety IO(EISI) [series text: names no single model]

    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25

    Open the source

  130. Kind: GapAwaiting cell accesssafety-590

    Not known

    The S6 xArm 6's safety-related settings are not confirmed: collision detection on or off, collision sensitivity level, collision rebound, self-collision detection and tool model, safety boundary and its limits, reduced mode and its limits, TCP payload, mounting direction, which CI inputs are configured as Stop Moving, Safeguard Reset, Reduced Mode or Manual Mode, and whether the documented default Advanced Settings password has been changed.

    Awaiting cell access: this could be confirmed or corrected once the physical S6 cell can be observed.

    Related: int-009 Verified

    Evidence · 1 citation

    You must enter password to access this page, the default password:

    UFACTORY Studio User Manual (online), 7. Settings · UFACTORY · 7.4.3 Advanced Settings (the quote stops before the default value, which this corpus does not print) [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

  131. Kind: GapAwaiting cell accesssafety-591

    Not known

    The S6 xArm 6's controller type (AC or DC), serial number, firmware, Studio and SDK versions are not confirmed. The serial number matters because UFACTORY treats arms before XX1300 differently for friction parameters and the IMU mounting check, and firmware decides which SDK safety calls are available.

    Awaiting cell access: this could be confirmed or corrected once the physical S6 cell can be observed.

    Related: int-009 Verified

    Evidence · 3 citations

    xArm 5/6/7 (before XX1300) | Controller | Contact technical support

    Collision Detection in UFACTORY Robotic Arms: Current and Dynamic Model-based Feature (UFACTORY support article) · UFACTORY · Section 2.3, friction parameter table [names xArm 5/6/7]

    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21

    Open the source

    xArm with SN of XF1300/XI1300/XS1300 and later versions, the built-in IMU of the robot arm will detect the direction of gravity.

    UFACTORY Studio User Manual (online), 7. Settings · UFACTORY · 7.1.3 Coordinates, Mounting [names xArm serial ranges]

    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21

    Open the source

    1. This interface relies on Firmware 1.2.11 or above

    xArm-Python-SDK API documentation (doc/api/xarm_api.md) · UFACTORY · def set_fence_mode, Note 1 [SDK text 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

  132. Kind: GapAwaiting cell accesssafety-592

    Not known

    It is not confirmed whether people will enter the S6 xArm 6's working area during automatic operation, whether S6's working range (including the gripper) is marked, whether S6 operators are trained as the manual requires, or what the S6 gripper does to a held part on power loss or emergency stop.

    Awaiting cell access: this could be confirmed or corrected once the physical S6 cell can be observed.

    Related: int-009 Verified

    Evidence · 2 citations

    When the robotic arm is in operation, make sure no people or other equipment are in the working area.

    UFACTORY xArm Hardware Manual (online), 1. Safety · UFACTORY · 1.3, DANGER list [series text: names no single model]

    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25

    Open the source

    Make sure that the connecting tool and the gripper do not cause any danger when the power is cut

    UFACTORY xArm Hardware Manual (online), 4. Robotic Electrical Interface · UFACTORY · 4.2 Tool IO, DANGER [series text: names no single model]

    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25

    Open the source

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 (support article) · UFACTORY (manufacturer)
    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25 · cited by 1 record here · Open the source
  • Collision Detection in UFACTORY Robotic Arms: Current and Dynamic Model-based Feature (UFACTORY support article) · UFACTORY (manufacturer)
    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21 · cited by 4 records here · Open the source
  • DTI Certificate of Conformity for RoHS No. DTIBW20220028C (UFACTORY xArm), as linked from the xArm manual section 7.12 · Shenzhen Deesev Testing International Corporation (DTI) (published by UFACTORY) (manufacturer)
    DTI certificate, published by 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 4 records here · Project copy; not published on this site.
  • Kinematic and Dynamic Parameters of xArm Series: telling the model by SN (support article) · UFACTORY (manufacturer)
    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25 · cited by 2 records here · Open the source
  • Kinematic and Dynamic Parameters of xArm Series: telling the xArm model from the SN (UFACTORY support article) · UFACTORY (manufacturer)
    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25 · cited by 1 record here · Open the source
  • Kinematic and Dynamic Parameters: xArm 6 (support article) · UFACTORY (manufacturer)
    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25 · cited by 1 record here · Open the source
  • OSHA Safety and Health Topics: Robotics (overview) · U.S. Occupational Safety and Health Administration (government)
    Source: U.S. OSHA (public domain) · Public domain (US Government work) · retrieved 2026-09-21 · cited by 1 record here · Open the source
  • OSHA Safety and Health Topics: Robotics, Standards · U.S. Occupational Safety and Health Administration (government)
    Source: U.S. OSHA (public domain) · Public domain (US Government work) · retrieved 2026-09-21 · cited by 1 record here · Open the source
  • OSHA Technical Manual (OTM) Section IV: Chapter 4, Industrial Robot Systems and Industrial Robot System Safety · U.S. Occupational Safety and Health Administration (government)
    Source: U.S. OSHA (public domain) · Public domain (US Government work) · retrieved 2026-09-21 · cited by 11 records here · Open the source
  • SGS Verification of Compliance No. GZEM2403001755MDVR (EMC; UFACTORY Robotic Arm, Model No. XI13, XI15), as linked from the xArm manual section 7.12 · SGS-CSTC Standards Technical Services Co., Ltd. (published by UFACTORY) (manufacturer)
    SGS verification document, published by UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25 · cited by 4 records here · Open the source
  • SGS Verification of MD Compliance No. MD GZES2403005468MD (UFACTORY Robotic Arm, Model No. XI13, XI15), as linked from the xArm manual section 7.12 · SGS-CSTC Standards Technical Services Co., Ltd. (published by UFACTORY) (manufacturer)
    SGS verification document, published by UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25 · cited by 4 records here · Open the source
  • UFACTORY 850 Hardware Manual (online), 7. Production Information · 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), 10. Robotic Arm Motion Mode and State · UFACTORY (manufacturer)
    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21 · cited by 5 records here · Open the source
  • UFACTORY Studio User Manual (online), 12. Error Handling · UFACTORY (manufacturer)
    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21 · cited by 3 records here · Open the source
  • UFACTORY Studio User Manual (online), 2. Glossary · UFACTORY (manufacturer)
    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21 · cited by 3 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 5 records 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 16 records here · Open the source
  • UFACTORY Studio User Manual (online), 9. Motion Characteristics · UFACTORY (manufacturer)
    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21 · cited by 1 record here · Open the source
  • UFACTORY xArm Hardware Manual (online), 1. Safety · UFACTORY (manufacturer)
    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25 · cited by 26 records here · Open the source
  • UFACTORY xArm Hardware Manual (online), 2. Hardware Installation · UFACTORY (manufacturer)
    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25 · cited by 18 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 16 records here · Open the source
  • UFACTORY xArm Hardware Manual (online), 4. Robotic Electrical Interface · 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), 6. After Sales Service · UFACTORY (manufacturer)
    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25 · cited by 1 record here · Open the source
  • UFACTORY xArm Hardware Manual (online), 7. Production Information · UFACTORY (manufacturer)
    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25 · cited by 16 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 1 record here · Open the source
  • UFACTORY xArm product page · UFACTORY (manufacturer)
    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21 · cited by 1 record here · Open the source
  • Updated ISO 10218: Answers to Frequently Asked Questions (FAQs) (A3 blog, 03/20/2025; Wayback Machine snapshot 2025-10-06) · Association for Advancing Automation (A3) (secondary)
    © Association for Advancing Automation (A3) · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21 · cited by 1 record here · Open the source
  • xArm-Python-SDK API documentation (doc/api/xarm_api.md) · UFACTORY (manufacturer)
    © UFACTORY Inc., xArm-Developer/xArm-Python-SDK, BSD 3-Clause licence · BSD-3-Clause · retrieved 2026-09-21 · cited by 7 records here · Open the source

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

All sources and attribution