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.
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.
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
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.
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
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.
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
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
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.
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 2026-10-13
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.
The record says
S6 is a UFactory xArm 6 cobot that handles parts after processing, routing them to inspection, rework or shipping.
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.
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.
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
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
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
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
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
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
The record says
OSHA says robot contact with sensitive body regions such as the face, temples and throat is to be prevented or avoided.
[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
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.
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
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
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.
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
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
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.
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
The record says
The xArm manual says the Control Box must be powered off when its electrical interface is wired.
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
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.
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
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.
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
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.
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
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
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.
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
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
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.
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
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
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
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.
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
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.
Quote not shown (over 40 words). See the source at: 4.4 Position & Joint Control, Manual Mode [general Studio text; the Studio manual says it applies to the xArm6].
UFACTORY Studio User Manual (online), 4. Live Control · UFACTORY · 4.4 Position & Joint Control, Manual Mode [general Studio text; the Studio manual says it applies to the xArm6]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-13
When danger occurs, you can also use the manual mode to manually drag the robot away from the danger zone.
UFACTORY Studio User Manual (online), 4. Live Control · UFACTORY · 4.4, Manual Mode [general Studio text; the Studio manual says it applies to the xArm6]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-13
The serial number of robotic arm and the control box need to be matched before Manual Mode can be turned on.
UFACTORY Studio User Manual (online), 4. Live Control · UFACTORY · 4.4, Manual Mode [general Studio text; the Studio manual says it applies to the xArm6]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-13
The record says
In manual mode the arm compensates for gravity ('zero gravity') so a user can guide it by hand. The mounting direction tells the control box how the arm sits relative to gravity; if it is set wrongly the arm cannot recognize gravity accurately, which causes frequent collision warnings and uncontrolled motion in manual mode.
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
Setting the mounting direction of the robotic arm is mainly to inform the control box of the current relationship between the actual mounting direction of the robotic arm and the direction of gravity.
UFACTORY Studio User Manual (online), 7. Settings · UFACTORY · 7.1.3 Coordinates, Mounting
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-13
Quote not shown (over 40 words). See the source at: 7.1.3 Coordinates, Mounting.
UFACTORY Studio User Manual (online), 7. Settings · UFACTORY · 7.1.3 Coordinates, Mounting
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-13
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.
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
The record says
The xArm manual says the controller should be placed at a height of 0.6 m to 1.5 m.
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
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.
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
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
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.
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
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
The record says
The xArm manual says the emergency stop should not be used as a risk reduction measure.
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
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.
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
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.
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
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).
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
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
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.
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
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
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.
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
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
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
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
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
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
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
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.
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
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
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
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.
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
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
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.
The record says
S11, IntelliAware Factory Monitoring, provides AI-vision-based monitoring of factory operations, equipment, processes and safety.
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.
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.
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.
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.
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
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
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
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.
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
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
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
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
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.
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
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.
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
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
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
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
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
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.
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
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
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
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.
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 2026-10-13
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 2026-10-13
The record says
As UFACTORY's Studio manual read on 2026-10-13, it 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, 'Robot is not ready'). Controller errors C1 and C2 are both an Emergency Stop Button pushed in (C1's row names the button on the Control Box; C2's row does not say which button) and C3 is the three-state switch's emergency stop; for C11-C17 the handling given is to power on again.
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, C1 (manual text not model-specific; the Studio manual's Preface lists the xArm 6 among the models it applies to) (read 2026-10-13, publisher's commit e28e232; the page names no Studio or firmware version)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-13
C2 | The Emergency Stop Button is pushed in to Stop
UFACTORY Studio User Manual (online), 12. Error Handling · UFACTORY · 12.1 table, C2 (read 2026-10-13, publisher's commit e28e232)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-13
C3 | The Emergency Stop Button of the Three-state Switch is pressed
UFACTORY Studio User Manual (online), 12. Error Handling · UFACTORY · 12.1 table, C3 (read 2026-10-13, publisher's commit e28e232)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-13
C11-C17 | Power on again.
UFACTORY Studio User Manual (online), 12. Error Handling · UFACTORY · 12.1 table, C11-C17 (read 2026-10-13, publisher's commit e28e232)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-13
S0 | Joint Communication Error
UFACTORY Studio User Manual (online), 12. Error Handling · UFACTORY · 12.2 table, S0 (read 2026-10-13, publisher's commit e28e232)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-13
A-2 | Robot is not ready.
UFACTORY Studio User Manual (online), 12. Error Handling · UFACTORY · 12.3 table, A-2 (read 2026-10-13, publisher's commit e28e232)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-13
Sources disagree
UFACTORY's sources give two readings of controller error 2 (Studio's C2). The Studio manual until 2026-10-13, and the Python SDK's code list, say the Emergency IO of the Control Box is triggered; the manual's fix was to ground the 2 EIs of the Control Box and click 'Enable Robot'. The Studio manual as read on 2026-10-13 says the Emergency Stop Button is pushed in, and to release it and click 'Enable Robot'; it no longer mentions the Emergency IO or grounding the EIs. No fetched source says the two describe the same event, or which Studio and firmware versions show which text.
Awaiting cell access: this could be confirmed or corrected once the physical S6 cell can be observed.
Related: iface-590 Verified iface-600 Verified ops-570 Verified ops-589 Verified safety-553 Verified safety-600 Verified safety-538 Verified safety-591 Superseded, awaiting cell access by int-553 Verified, awaiting cell access int-554 Verified, awaiting cell access safety-605 Gap, awaiting cell access int-514 Superseded, awaiting cell access by int-553 Verified, awaiting cell access int-558 Gap, awaiting cell access
The Emergency IO of the Control Box is triggered
UFACTORY Studio User Manual, 12. Error Handling, as it read until 2026-10-13 (publisher's repository, commit 533b75d) · UFACTORY · 12.1 table, C2, first line (the text until 2026-10-13: publisher's commit 533b75d)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-13
Please ground the 2 EIs of the Control Box, and then click "Enable Robot".
UFACTORY Studio User Manual, 12. Error Handling, as it read until 2026-10-13 (publisher's repository, commit 533b75d) · UFACTORY · 12.1 table, C2, second line (the text until 2026-10-13: publisher's commit 533b75d)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-13
C2 | The Emergency Stop Button is pushed in to Stop
UFACTORY Studio User Manual (online), 12. Error Handling · UFACTORY · 12.1 table, C2 [general Studio text; the Studio manual says it applies to the xArm6] (read 2026-10-13, publisher's commit e28e232; the page names no Studio or firmware version)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-13
Please release the Emergency Stop Button, and then click the "Enable Robot"
UFACTORY Studio User Manual (online), 12. Error Handling · UFACTORY · 12.1 table, C2, second line (the same words as C1's second line) (read 2026-10-13, publisher's commit e28e232)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-13
- 2: The Emergency IO of the Control Box is triggered
xArm-Python-SDK API code description (doc/api/xarm_api_code.md) · UFACTORY · Controller Error Code
© UFACTORY Inc., xArm-Developer/xArm-Python-SDK, BSD 3-Clause License · BSD-3-Clause · retrieved 2026-09-21
Project advice
Do not ground, bridge or rewire the control box's EI or SI terminals to clear an error or to resume after a stop, whatever text UFACTORY Studio shows. Which stop devices are wired to them at the cell is not known, and wiring is installation work.
This is advice from this project, based on: safety-538 Verified safety-505 Verified safety-601 Contradiction, awaiting cell access safety-587 Gap, awaiting cell access safety-589 Gap, awaiting cell access ops-578 Verified
Why: 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 (safety-538). The xArm manual says installation and commissioning need to be performed by professionals (safety-505). UFACTORY's Studio manual gave, until 2026-10-13, grounding the Control Box's 2 EIs as the fix for error code C2, and as read on 2026-10-13 gives a different fix (safety-601). Whether any emergency stop button besides the Control Box's is wired to EI at S6 is not confirmed (safety-587), nor is what is wired to SI (safety-589). The xArm manual's protective stop with a reset button pauses the arm when SI0 and SI1 are disconnected from GND (ops-578). A wire from an EI or SI terminal to GND, added to clear an error or to resume, would bridge out whatever stop device is wired there. So this project advises against it whichever text Studio shows.
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.
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
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
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
The record says
UFACTORY's collision detection compares each joint's theoretical current, calculated from a dynamic model, with its actual current, and triggers when the difference exceeds a pre-set threshold. The model takes in joint position, speed and acceleration, load weight and center of mass, mounting direction and joint friction.
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
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
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
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
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.
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 2026-10-13
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 2026-10-13
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 2026-10-13
The record says
With the Safety Boundary on, the arm's working range in Cartesian space can be limited: if the tool center point (TCP) goes beyond the set boundary, the arm stops moving, and the user can then move it back into the restricted space.
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 2026-10-13
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.
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 2026-10-13
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 2026-10-13
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'.
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
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 2026-10-13
The record says
UFACTORY Studio says that if the arm's mounting direction is set incorrectly, the arm cannot accurately recognize 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°.
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 2026-10-13
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 2026-10-13
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.
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
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
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.
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
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
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.
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
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
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.
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
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
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.
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
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
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
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
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
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
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.
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
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
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
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).
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
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
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.
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
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
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
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
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
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.
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
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
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
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.
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
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
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
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.
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
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
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
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.
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
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.
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
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
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
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
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.
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 2026-10-13
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
: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 License · BSD-3-Clause · retrieved 2026-09-21
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.
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
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.
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
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
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
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
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
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.
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
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
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
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
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
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.
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
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
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
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
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
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 behavior 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.
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.
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
The record says
In the xArm manual's protective stop with a reset button, CI0 is set as Safeguard Reset in UFACTORY Studio (Settings - External - Controller IO - IO Function) and saved.
Configure "CI0" as the safeguard reset in UFactory studio.
UFACTORY xArm Hardware Manual (online), 3. Controller Electrical Interface · UFACTORY · 3.4.1.4 Protective Stop with Rest Button, step 1 [series text: names no single model] (read 2026-10-13)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
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
The record says
In the xArm manual's protective stop with a reset button, the manual says that to resume motion SI0 and SI1 are connected to GND and motion is triggered by connecting CI0 to GND, and that to pause motion SI0 and SI1 are disconnected from GND.
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
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.
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 2026-10-13
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 2026-10-13
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 2026-10-13
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 2026-10-13
The record says
UFACTORY's support article says collision detection may sometimes be falsely triggered, often in relation to the end-effector load, center of mass, installation orientation and friction parameters. It recommends updating the weight and center 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.
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
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
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
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
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
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.
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
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
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
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
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
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.
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 License · BSD-3-Clause · retrieved 2026-09-21
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 License · BSD-3-Clause · retrieved 2026-09-21
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 License · BSD-3-Clause · retrieved 2026-09-21
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.
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 2026-10-13
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 2026-10-13
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.
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 2026-10-13
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.
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 2026-10-13
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 2026-10-13
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 2026-10-13
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.
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
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
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
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.
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
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.
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 License · BSD-3-Clause · retrieved 2026-09-21
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 License · BSD-3-Clause · retrieved 2026-09-21
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.
In the 'simulated robotic arm mode', clicking the unlock joint button will also unlock the real joints of the robotic arm.
UFACTORY Studio User Manual (online), 7. Settings · UFACTORY · 7.4.2 Debugging Tools, Joint [general Studio text; the Studio manual says it applies to the xArm6]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-13
Switch to real or simulation robotic arm, both mode needs to connect to a real robotic arm.
UFACTORY Studio User Manual (online), 4. Live Control · UFACTORY · 4.6 Real & Simulation robotic arm [general Studio text; the Studio manual says it applies to the xArm6]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-13
When switch to simulation robotic arm, the robot will not move but the settings will apply to real robotic arm.
UFACTORY Studio User Manual (online), 4. Live Control · UFACTORY · 4.6 Real & Simulation robotic arm [general Studio text; the Studio manual says it applies to the xArm6]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-13
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.
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
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
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
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
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
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
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.
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
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
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
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
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.
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
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
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
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.
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
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
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
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.
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
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
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.
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
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.
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
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
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.
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
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
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
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
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
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
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
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.
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
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
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
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.
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
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
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
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
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
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.
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
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
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
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
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
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
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
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.
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
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
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
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.
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
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
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
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
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.
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
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
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
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.
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
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
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
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
The record says
OSHA says contact limits for power and force limiting must be set by risk assessment, using the pressure and force tables in Annex A of RIA TR 15.606 (the US adoption of ISO/TS 15066). The values themselves are in that document, which was not obtained.
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
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
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.
the smaller the additional torque required for the robotic arm to trigger collision protection
UFACTORY Studio User Manual (online), 7. Settings · UFACTORY · 7.1.1, Collision Detection Sensitivity: levels described only relatively [general Studio text; the Studio manual says it applies to the xArm6]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-13
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).
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
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
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
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
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
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
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
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.
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
Max Payload | 5kg
UFACTORY xArm Hardware Manual (online), 8. Technical Specifications · UFACTORY · 8.3 xArm6 Specifications [names the xArm 6]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-15
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 2026-10-15
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 2026-10-15
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.
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
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
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.
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
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.
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
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
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
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.
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
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
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.
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
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
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.
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
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
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
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
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.
Not known
No fetched UFACTORY source identifies specific pinch or crush points on the xArm 6, such as between links or at gripper fingers.
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.
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
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.
: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 License · BSD-3-Clause · retrieved 2026-09-21
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
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 License · BSD-3-Clause · retrieved 2026-09-21
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 License · BSD-3-Clause · retrieved 2026-09-21
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 License · BSD-3-Clause · retrieved 2026-09-21
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
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.
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 center point, and no source says whether the arm's links or the tool body are checked against it.
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 2026-10-13
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).
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 License · BSD-3-Clause · retrieved 2026-09-21
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 License · BSD-3-Clause · retrieved 2026-09-21
: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 License · BSD-3-Clause · retrieved 2026-09-21
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 License · BSD-3-Clause · retrieved 2026-09-21
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 License · BSD-3-Clause · retrieved 2026-09-21
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 License · BSD-3-Clause · retrieved 2026-09-21
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.
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
(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
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.
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.
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
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
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.
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
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.
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
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
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
The record says
Camera C2 (Robot/Laser) monitors the robot–laser work area.
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.
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, and IntelliMake does not yet know. 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
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.
This is not known at this time.
xArm 850 S2 Project: Open Questions for IntelliMake, Batch 01 responses · IntelliMake.org · Question 14, Answer column
© IntelliMake.org. Used with permission. · Cleared for use by its owner · retrieved 2026-09-29
Project copy; not published on this site.
Not known
Which personal protective equipment operating the cell's arms requires is not stated. IntelliMake's rules say to wear all the PPE required without listing it, and the UFACTORY manuals read for this course name none for operating the arm.
Awaiting cell access: this could be confirmed or corrected once the physical S6 cell can be observed.
Related: int-601 Verified
Wear all required personal protective equipment.
'Operate Your Machine': operating requirements and safety requirements for the Phase 1 Factory machines (course text as pasted by Derek, 2026-10-23) · IntelliMake Phase 1 Factory course · 'Safety Requirements', third item
IntelliMake course text, as pasted by Derek Stringfellow · Project-internal record · retrieved 2026-10-23
Project copy; not published on this site.
The integrity of the device and system must be checked before each use
UFACTORY 850 Hardware Manual (online), 1. Safety · UFACTORY · 1. Safety (read 2026-10-23: the chapter's precautions name no protective equipment)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Not known
Not stated for S4: what the engraver carriage's 465 mm height is measured from (the belt, the table or the floor; int-611); the engraver's width across the belt, and whether any of it reaches past the belt's sides; where the unit stands in the cell; whether and how it would be interlocked; whether the conveyor may move while an arm places or picks at S4; and how the two arms share S4: whether both may work there at the same time, and if not, in what order and on whose signal. The carriage area's extent along the conveyor and its height were given on 2026-10-22 (S222, S224, S226; int-611), final for the engraver but not for the station.
Awaiting cell access: this could be confirmed or corrected once the physical S6 cell can be observed.
Reasoning: What the earlier gap on S4 (named in related) left unstated and the 2026-10-22 figures do not answer, with the one new question no record answers: how the two arms share S4 in time (int-011, int-062). This record keeps that gap's citations (rule 7). It replaces that gap when the run of s2-agent/tools/set_carriage_area.py marks it superseded; until then both stand, and the earlier gap's "Not stated" on the carriage's height is answered in part by int-611: a figure, 465 mm, with no datum.
Related: int-070 Superseded, awaiting cell access by int-611 Inferred, awaiting cell access int-612 Gap, awaiting cell access int-611 Inferred, awaiting cell access int-111 Verified, awaiting cell access int-113 Contradiction int-062 Verified, awaiting cell access int-011 Inferred
Quote not shown (over 40 words). See the source at: Statement S194 (2026-10-14, about 10:50), the S4 conveyor's areas.
Owner statements from 2026-09-24 onward (verbatim; S40 and later) · Derek Stringfellow · Statement S194 (2026-10-14, about 10:50), the S4 conveyor's areas
Derek Stringfellow, project record · Project-internal record · retrieved 2026-10-04
Project copy; not published on this site.
S4 engrave will remain stationary and the conveyer swill be the means of moving the product from one location to another.
Owner statements from 2026-09-24 onward (verbatim; S40 and later) · Derek Stringfellow · Statement S172 (2026-10-09), IntelliMake Notes
Derek Stringfellow, project record · Project-internal record · retrieved 2026-10-04
Project copy; not published on this site.
We have not determined what functionality will be used since the conveyer is an attachment to the engraver and the conveyer may be the only location to location movement for the product. So this is TBD for now.
Owner statements from 2026-09-24 onward (verbatim; S40 and later) · Derek Stringfellow · Statement S118, answer (2), to whether the engraver travelling along S4 enters the arms' place and pick zones and is interlocked
Derek Stringfellow, project record · Project-internal record · retrieved 2026-10-04
Project copy; not published on this site.
The engrave actually can travel along the length of the conveer.
Owner statements from 2026-09-24 onward (verbatim; S40 and later) · Derek Stringfellow · Statement S97
Derek Stringfellow, project record · Project-internal record · retrieved 2026-10-04
Project copy; not published on this site.
Yes, it is S5
Owner statements from 2026-09-24 onward (verbatim; S40 and later) · Derek Stringfellow · Statement S102, answer (2), to whether the engraver travelling along the S4 conveyor is the course's S5, the xTool F1 Ultra
Derek Stringfellow, project record · Project-internal record · retrieved 2026-10-04
Project copy; not published on this site.
both arms work at S4. one places the material to perform the work, the other picks up the finished product
Owner statements from 2026-09-24 onward (verbatim; S40 and later) · Derek Stringfellow · Statement S84, answering Q55(1)
Derek Stringfellow, project record · Project-internal record · retrieved 2026-10-04
Project copy; not published on this site.
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.
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 2026-10-13
: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 License · BSD-3-Clause · retrieved 2026-09-21
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.
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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 its suction tool) is marked, whether S6 operators are trained as the manual requires, or what S6's suction tool does to a held part on power loss or emergency stop (whether the suction keeps holding it or it drops).
Awaiting cell access: this could be confirmed or corrected once the physical S6 cell can be observed.
Related: int-009 Verified int-528 Verified, awaiting cell access
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
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
Not known
The S6 xArm 6's controller type (AC or DC) and SDK version are not confirmed, and its serial number is not recorded (shown in the 2026-10-16 screenshot, withheld; decisions file 10-16 §1.3). Its firmware and Studio versions, both 2.7.0, were read on 2026-10-16 (int-553, int-554). 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 safety-591 Superseded, awaiting cell access by int-553 Verified, awaiting cell access int-554 Verified, awaiting cell access safety-605 Gap, awaiting cell access int-553 Verified, awaiting cell access int-554 Verified, awaiting cell access
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
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 2026-10-13
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 License · BSD-3-Clause · retrieved 2026-09-21
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, the TCP payload's centre of gravity, which CI inputs are configured as Stop Moving, Safeguard Reset, Reduced Mode or Manual Mode, whether the documented default Advanced Settings password has been changed, and whether the controller's mounting setting matches how the arm is installed. Its payload and mounting settings were read on 2026-10-16 (int-556, int-555): they are the controller's settings, not a weighing or an inspection of how the arm is fixed.
Awaiting cell access: this could be confirmed or corrected once the physical S6 cell can be observed.
Related: int-009 Verified safety-590 Superseded, awaiting cell access by int-555 Verified, awaiting cell access int-556 Verified, awaiting cell access safety-607 Gap, awaiting cell access int-555 Verified, awaiting cell access int-556 Verified, awaiting cell access
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 2026-10-13
IntelliMake diagrams are redrawn as native figures, © IntelliMake.org. UFACTORY does not endorse this platform.