References: §5 Key Specifications and Capabilities

Back to §5 Key Specifications and Capabilities

Provenance

References · 111

Each number in the text points here. Every entry states its confidence class in words and keeps its evidence one click away. How to read the labels.

Key to the badges

Confidence: Verified: A manufacturer or IntelliMake document says so, or it was observed directly. It does not mean anyone measured it at S6.
Confidence: Inferred: Reasoned from Verified facts. The reasoning is printed with the record.
Confidence: Assumed: Plausible but untested. The record says how it would be checked.
Kind: Gap: Not known. No figure or answer is given in its place.
Kind: Contradiction: Sources disagree. Both sides are shown, and the site does not pick one silently.
Kind: Recommendation: Project advice drawn from the records it cites. Not a fact about the machine and not a confidence class, so the filter never hides it.
Awaiting cell access: Awaiting cell access: could be confirmed or corrected once the physical S6 cell can be observed.
This project's simulation and agent design, not the physical cell: This project's simulation and agent design, not the physical cell.

Confidence: Verifiedspec-507
The record says
The xArm 6's end effector has a maximum speed of 1 m/s (a specification the manual gives in common for the xArm 5, 6 and 7).
Evidence · 2 citations
Maximum Speed of End-Effector 1m/s
UFACTORY xArm Hardware Manual (online), 8. Technical Specifications · UFACTORY · 'Maximum Speed of End-Effector' row (section '8.1 xArm5/xArm6/xArm7 Common Specifications': applies to all three models)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-15
Open the source
Maximum Speed 1m/s 1m/s 1m/s
UFACTORY xArm product page · UFACTORY · 'Maximum Speed' row (m/s) (Tech Specs > Comparison table, columns xArm 5, xArm 6, xArm 7; value read from the xArm 6 column)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Confidence: Verifiedspec-504
The record says
The xArm 6's stated repeatability is ±0.1 mm (the manual gives it as a specification common to the xArm 5, 6 and 7).
Evidence · 2 citations
Repeatability ±0.1mm
UFACTORY xArm Hardware Manual (online), 8. Technical Specifications · UFACTORY · 'Repeatability' row (section '8.1 xArm5/xArm6/xArm7 Common Specifications': applies to all three models)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-15
Open the source
Repeatability ±0.1mm ±0.1mm ±0.1mm
UFACTORY xArm product page · UFACTORY · 'Repeatability' row (Tech Specs > Comparison table, columns xArm 5, xArm 6, xArm 7; value read from the xArm 6 column)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Kind: Gaplim-516
Not known
No fetched UFACTORY source gives an absolute positioning accuracy for the xArm 6 (how closely it reaches a computed coordinate, as opposed to its ±0.1 mm repeatability). This matters for offline programming and vision-guided picking, which rely on computed coordinates.
Evidence · 1 citation
Repeatability | ±0.1mm
UFACTORY xArm Hardware Manual (online), 8. Technical Specifications · UFACTORY · 8.1 Common Specifications: repeatability only [names the xArm 6]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-15
Open the source
Kind: Gapspec-570
Not known
No IP (ingress protection) rating for the xArm 6 arm or its control boxes was found in the manual or the product page. The manual instead warns that the arm and its hardware must not be in direct contact with liquid, and to keep non-waterproof equipment dry.
Evidence · 2 citations
The robotic arm and its hardware composition must not be in direct contact with the liquid, and should not be placed in a humid environment for a long time.
UFACTORY xArm Hardware Manual (online), 2. Hardware Installation · UFACTORY · 2.2.1 Safety Guidelines, WARNING (chapter says 'Apply to Model: XF1305, XI1305, XS1305 (1305 Model)')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
Make sure that all the non-waterproof equipment is kept dry.
UFACTORY xArm Hardware Manual (online), 3. Controller Electrical Interface · UFACTORY · 3.1 Electrical Alarms and Cautions, item 1 (manual for the xArm series; this passage names no single model)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
Confidence: Verifiedint-009
The record says
S6 is a UFactory xArm 6 cobot that handles parts after processing, routing them to inspection, rework or shipping.
Evidence · 1 citation
Handles parts after proces. routing them to inspection, rework, or shipping.
IntelliMake Phase 1 Factory: Autonomous Production Demonstrator (infographic) · IntelliMake.org · S6 station label and description
© IntelliMake.org. Used with permission; redrawn for this platform. · Cleared for use by its owner · retrieved 2026-09-21
Project copy; not published on this site.
Confidence: Verifiedspec-501
The record says
The xArm 6 has 6 degrees of freedom.
Evidence · 3 citations
Degress of Freedom 6
UFACTORY xArm Hardware Manual (online), 8. Technical Specifications · UFACTORY · Table 'xArm6', 'Degress of Freedom' row (sic) (section '8.3 xArm6 Specifications': names the xArm 6)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-15
Open the source
Degrees of freedom 5 6 7
UFACTORY xArm product page · UFACTORY · 'Degrees of freedom' row (Tech Specs > Comparison table, columns xArm 5, xArm 6, xArm 7; value read from the xArm 6 column)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
This robot arm has 6 axes, with 5kg payload and 1m/s speed.
The difference between UFACTORY xArm5, UFACTORY xArm6 and UFACTORY xArm7 (Help Center article) · UFACTORY · Section 1 'Main difference in brief', xArm 6 entry
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source Plain http: this publisher has no certificate for that name, so what loads cannot be verified.
Confidence: Verifiedspec-502
The record says
The xArm 6 has a maximum payload of 5 kg.
Evidence · 3 citations
Max Payload 5kg
UFACTORY xArm Hardware Manual (online), 8. Technical Specifications · UFACTORY · Table 'xArm6', 'Max Payload' row (section '8.3 xArm6 Specifications': names the xArm 6)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-15
Open the source
Payload 3kg 5kg 3.5kg
UFACTORY xArm product page · UFACTORY · 'Payload' row (Tech Specs > Comparison table, columns xArm 5, xArm 6, xArm 7; value read from the xArm 6 column)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
This robot arm has 6 axes, with 5kg payload and 1m/s speed.
The difference between UFACTORY xArm5, UFACTORY xArm6 and UFACTORY xArm7 (Help Center article) · UFACTORY · Section 1 'Main difference in brief', xArm 6 entry
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source Plain http: this publisher has no certificate for that name, so what loads cannot be verified.
Confidence: Verifiedspec-503
The record says
UFACTORY gives the xArm 6 a reach of 700 mm.
Evidence · 2 citations
Reach 700mm 700mm 700mm
UFACTORY xArm product page · UFACTORY · 'Reach' row (Tech Specs > Comparison table, columns xArm 5, xArm 6, xArm 7; value read from the xArm 6 column)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Reach(mm) 700mm 700mm 700mm
The difference between UFACTORY xArm5, xArm6 and xArm7 (support article) · UFACTORY · Section 1 Specifications, 'Reach(mm)' row (columns xArm 5 Lite, xArm 6, xArm 7; value read from the xArm 6 column)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
Kind: ContradictionAwaiting cell accessspec-506
Sources disagree
Sources disagree on the xArm 6's weight: 12.5 kg (arm only) in the online hardware manual and the product page's comparison table, but 12.2 kg (body only) in UFACTORY's support article comparing the xArm 5 Lite, 6 and 7. The product page's introduction also says '15kg weight' without naming a model.
Awaiting cell access: this could be confirmed or corrected once the physical S6 cell can be observed.
Related: spec-505 Verified
Evidence · 4 citations
Wight(robotic arm only) 12.5kg
UFACTORY xArm Hardware Manual (online), 8. Technical Specifications · UFACTORY · Table 'xArm6', 'Wight(robotic arm only)' row (sic) (section '8.3 xArm6 Specifications': names the xArm 6)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-15
Open the source
Weight(robot arm only) 11.3kg 12.5kg 14.3kg
UFACTORY xArm product page · UFACTORY · 'Weight(robot arm only)' row (Tech Specs > Comparison table, columns xArm 5, xArm 6, xArm 7; value read from the xArm 6 column)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Weight(kg, body only) 11.2kg 12.2kg 13.7kg
The difference between UFACTORY xArm5, xArm6 and xArm7 (support article) · UFACTORY · Section 1 Specifications, 'Weight(kg, body only)' row (columns xArm 5 Lite, xArm 6, xArm 7; value read from the xArm 6 column)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
Crafted from Carbon fiber, 15kg weight makes it possible for easier deployment.
UFACTORY xArm product page · UFACTORY · Overview, 'Durable Collaborative robots for your automation' (xArm product page, which covers the xArm 5, 6 and 7)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Kind: ContradictionAwaiting cell accessspec-516
Sources disagree
Sources disagree on the range of the xArm 6's joint 2 (J2): the online hardware manual (specifications and preface) and the product page give -117° to 116°, but UFACTORY's support article comparing the xArm 5 Lite, 6 and 7 gives -118° to 120°, and the xarm6 URDF's default limits are -2.059 to 2.0944 rad (about -118° to 120°).
Awaiting cell access: this could be confirmed or corrected once the physical S6 cell can be observed.
Related: spec-510 Verified
Evidence · 4 citations
J1~J6 (±360°, -117~116°, -219~10°, ±360°, -97~180°, ±360°)
UFACTORY xArm Hardware Manual (online), 8. Technical Specifications · UFACTORY · Table 'xArm6', 'Joint Range' row (section '8.3 xArm6 Specifications': names the xArm 6)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-15
Open the source
Joint 2 -117° ~ 116° -117°～116° -117°～116°
UFACTORY xArm product page · UFACTORY · second comparison table, 'Joint 2' row (Tech Specs > Comparison table, columns xArm 5, xArm 6, xArm 7; value read from the xArm 6 column)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Joint2 -118° ~ 120° -118°～120° -118°～120°
The difference between UFACTORY xArm5, xArm6 and xArm7 (support article) · UFACTORY · Section 1 Specifications, 'Joint2' row (columns xArm 5 Lite, xArm 6, xArm 7; value read from the xArm 6 column)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
joint2_lower_limit:=${-2.059} joint2_upper_limit:=${2.0944}
xarm_ros2 (branch humble), xarm_description/urdf/xarm6/xarm6.urdf.xacro · UFACTORY · macro xarm6_urdf default parameters (ROS naming 'xarm6')
© UFACTORY Inc., xArm-Developer/xarm_ros2, BSD 3-Clause License · BSD-3-Clause · retrieved 2026-09-25
Open the source
Confidence: Verifiedcomp-502
The record says
The xArm arm consists of a base and rotary joints, each joint a degree of freedom, numbered from the bottom as Joint 1, Joint 2 and so on; the last joint is the tool side, where end effectors such as a gripper connect. The xArm 6 has six such joints.
Evidence · 3 citations
The xArm robotic arm system consists of a base and rotary joints, and each joint represents a degree of freedom. From the bottom to the top, in order, Joint 1, Joint 2, Joint 3, etc.
UFACTORY xArm Hardware Manual (online), 2. Hardware Installation · UFACTORY · 2.1.1 Hardware Composition (chapter says 'Apply to Model: XF1305, XI1305, XS1305 (1305 Model)')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
The last joint is known as the tool side and can be used to connect end-effector (e. g. gripper, vacuum gripper, etc).
UFACTORY xArm Hardware Manual (online), 2. Hardware Installation · UFACTORY · 2.1.1 Hardware Composition (chapter says 'Apply to Model: XF1305, XI1305, XS1305 (1305 Model)')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
Degress of Freedom 6
UFACTORY xArm Hardware Manual (online), 8. Technical Specifications · UFACTORY · Table 'xArm6', 'Degress of Freedom' row (sic) (section '8.3 xArm6 Specifications': names the xArm 6)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-15
Open the source
Confidence: Verifiedspec-505
The record says
The online hardware manual and the product page give the xArm 6 arm's weight (arm only) as 12.5 kg; another UFACTORY source differs (see the contradiction).
Evidence · 2 citations
Wight(robotic arm only) 12.5kg
UFACTORY xArm Hardware Manual (online), 8. Technical Specifications · UFACTORY · Table 'xArm6', 'Wight(robotic arm only)' row (sic) (section '8.3 xArm6 Specifications': names the xArm 6)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-15
Open the source
Weight(robot arm only) 11.3kg 12.5kg 14.3kg
UFACTORY xArm product page · UFACTORY · 'Weight(robot arm only)' row (Tech Specs > Comparison table, columns xArm 5, xArm 6, xArm 7; value read from the xArm 6 column)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Confidence: Verifiedcomp-507
The record says
The xArm arm is made of aluminum and carbon fiber (the manual gives this in common for the xArm 5, 6 and 7).
Evidence · 2 citations
Materials Aluminium, Carbon Fiber
UFACTORY xArm Hardware Manual (online), 8. Technical Specifications · UFACTORY · 'Materials' row (section '8.1 xArm5/xArm6/xArm7 Common Specifications': applies to all three models)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-15
Open the source
Materials Aluminum, Carbon Fiber
UFACTORY xArm product page · UFACTORY · Tech Specs > Hardware, 'xArm Robot Specs' table (xArm product page, which covers the xArm 5, 6 and 7)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Confidence: Verifiedops-556
The record says
The Live Control jog speed in UFACTORY Studio runs from 1% (2.3 mm/s) to 100% (230 mm/s), with a default of 50% (115 mm/s); Studio says this is not the arm's actual maximum motion speed.
Evidence · 4 citations
50%=115mm/s, default
UFACTORY Studio User Manual (online), 4. Live Control · UFACTORY · 4.4 Position & Joint Control, Speed [general Studio text; the Studio manual says it applies to the xArm6]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-13
Open the source
1% = 2.3mm/s
UFACTORY Studio User Manual (online), 4. Live Control · UFACTORY · 4.4, Speed [general Studio text; the Studio manual says it applies to the xArm6]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-13
Open the source
100% = 230mm/s
UFACTORY Studio User Manual (online), 4. Live Control · UFACTORY · 4.4, Speed [general Studio text; the Studio manual says it applies to the xArm6]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-13
Open the source
Note: The maximum speed of the live control interface is not the actual maximum motion speed of the robotic arm.
UFACTORY Studio User Manual (online), 4. Live Control · UFACTORY · 4.4, Speed [general Studio text; the Studio manual says it applies to the xArm6]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-13
Open the source
Confidence: Verifiedapp-508
The record says
Compared with UFACTORY's 850, the xArm 6 has the same 5 kg payload but a shorter reach (700 mm against 850 mm) and a looser stated repeatability (±0.1 mm against ±0.02 mm).
Evidence · 3 citations
Payload 3kg 5kg 3.5kg Reach 700mm 700mm 700mm
UFACTORY xArm product page · UFACTORY · 'Payload' and 'Reach' rows (Tech Specs > Comparison table, columns xArm 5, xArm 6, xArm 7; value read from the xArm 6 column)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Repeatability ±0.1mm ±0.1mm ±0.1mm
UFACTORY xArm product page · UFACTORY · 'Repeatability' row (Tech Specs > Comparison table, columns xArm 5, xArm 6, xArm 7; value read from the xArm 6 column)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Max Payload 5 kg
Reach 850 mm
Repeatability ±0.02 mm
UFACTORY 850 product page · UFACTORY · Products menu entry for the 850 (page names the machine 'UFACTORY 850'; spec tables say 'UFactory 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Confidence: Verifiedspec-541
The record says
The xArm 6's ambient temperature range is 0–50 °C (the manual gives it as a specification common to the xArm 5, 6 and 7, and repeats it in its environment list).
Evidence · 2 citations
Ambient Temperature Range 0-50℃
UFACTORY xArm Hardware Manual (online), 8. Technical Specifications · UFACTORY · 'Ambient Temperature Range' row (section '8.1 xArm5/xArm6/xArm7 Common Specifications': applies to all three models)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-15
Open the source
Ambient temperature: 0°C ~ 50°C
UFACTORY xArm Hardware Manual (online), 7. Production Information · UFACTORY · 7.4 Disposal and Environment (manual for the xArm series; this passage names no single model)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
Confidence: Verifiedspec-546
The record says
The xArm 6 can be mounted in any direction (a specification the manual gives in common for the xArm 5, 6 and 7).
Evidence · 2 citations
Mounting Way Any Direction
UFACTORY xArm Hardware Manual (online), 8. Technical Specifications · UFACTORY · 'Mounting Way' row (section '8.1 xArm5/xArm6/xArm7 Common Specifications': applies to all three models)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-15
Open the source
Robot Mounting Any
UFACTORY xArm product page · UFACTORY · Tech Specs > Hardware, 'xArm Robot Specs' table (xArm product page, which covers the xArm 5, 6 and 7)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Confidence: Verifiedlim-515
The record says
The xArm manual gives the xArm5, xArm6 and xArm7 a repeatability of ±0.1 mm.
Evidence · 1 citation
Repeatability | ±0.1mm
UFACTORY xArm Hardware Manual (online), 8. Technical Specifications · UFACTORY · 8.1 xArm5/xArm6/xArm7 Common Specifications [names the xArm 6]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-15
Open the source
Confidence: Verifiedcomp-503
The record says
A control box is included with the xArm by default.
Evidence · 1 citation
The control box is included in default.
UFACTORY xArm product page · UFACTORY · Tech Specs > Hardware, below the control box table (xArm product page, which covers the xArm 5, 6 and 7)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Confidence: Verifiedcomp-501
The record says
The xArm manual lists the arm's hardware composition as the xArm robotic arm, an AC control box, a DC control box, an E-stop button, an xArm power cable, an xArm communication cable, a mounting tool, and end effectors (FT sensor, BIO Gripper, Vacuum Gripper, xArm Gripper).
Evidence · 2 citations
xArm Robotic Arm AC Control Box DC Control Box E-stop Button xArm Power Cable xArm Communication Cable Mounting Tool End Effector(FT Sensor, BIO Gripper, Vacuum Gripper, xArm Gripper).
UFACTORY xArm Hardware Manual (online), 2. Hardware Installation · UFACTORY · 2.1.1 Hardware Composition (chapter says 'Apply to Model: XF1305, XI1305, XS1305 (1305 Model)')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
The control box is included in default.
UFACTORY xArm product page · UFACTORY · Tech Specs > Hardware, below the control box table (xArm product page, which covers the xArm 5, 6 and 7)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Confidence: Verifiedspec-551
The record says
The xArm AC control box accepts 100–240 V AC at 50/60 Hz; the manual's power-supply text gives the input frequency as 47–63 Hz.
Evidence · 3 citations
Input 100-240V AC 50/60 Hz 24-72V DC
UFACTORY xArm Hardware Manual (online), 8. Technical Specifications · UFACTORY · AC Controller / DC Controller table, 'Input' row (section '8.1 xArm5/xArm6/xArm7 Common Specifications': applies to all three models)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-15
Open the source
Input 100-240VAC 50/60Hz 24-72VDC
UFACTORY xArm product page · UFACTORY · Tech Specs > Hardware, AC/DC control box table, 'Input' row (xArm product page, which covers the xArm 5, 6 and 7)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
The control box is powered by 100V-240V AC (the input frequency is 47-63HZ)
UFACTORY xArm Hardware Manual (online), 3. Controller Electrical Interface · UFACTORY · 3.2.2 Power Supply (AC Controller) (manual for the xArm series; this passage names no single model)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
Kind: Contradictionops-525
Sources disagree
The xArm manual gives two different AC input ranges for the AC Control Box: the cabling step says 110V-240V, while section 3.2.2 says 100V-240V AC (47-63 Hz) and section 8.1 says 100-240V AC 50/60 Hz.
Evidence · 3 citations
AC (110V-240V)
UFACTORY xArm Hardware Manual (online), 2. Hardware Installation · UFACTORY · 2.2.3.2 Connect with Controller, step 3 [series text: names no single model]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
The control box is powered by 100V-240V AC (the input frequency is 47-63HZ)
UFACTORY xArm Hardware Manual (online), 3. Controller Electrical Interface · UFACTORY · 3.2.2 Power Supply (AC Controller) [series text: names no single model]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
Input | 100-240V AC 50/60 Hz
UFACTORY xArm Hardware Manual (online), 8. Technical Specifications · UFACTORY · 8.1 xArm5/xArm6/xArm7 Common Specifications, AC Controller column [names the xArm 6]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-15
Open the source
Confidence: Verifiedspec-555
The record says
The xArm AC control box weighs 3.9 kg.
Evidence · 2 citations
Weight 3.9kg 2.6kg
UFACTORY xArm Hardware Manual (online), 8. Technical Specifications · UFACTORY · AC Controller / DC Controller table, 'Weight' row (section '8.1 xArm5/xArm6/xArm7 Common Specifications': applies to all three models)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-15
Open the source
Weight 3.9kg 2.6kg
UFACTORY xArm product page · UFACTORY · Tech Specs > Hardware, AC/DC control box table (xArm product page, which covers the xArm 5, 6 and 7)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Confidence: Verifiedspec-553
The record says
The xArm DC control box accepts 24–72 V DC input.
Evidence · 2 citations
Input 100-240V AC 50/60 Hz 24-72V DC
UFACTORY xArm Hardware Manual (online), 8. Technical Specifications · UFACTORY · AC Controller / DC Controller table, 'Input' row (section '8.1 xArm5/xArm6/xArm7 Common Specifications': applies to all three models)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-15
Open the source
VP+ 24-72V DC Input
UFACTORY xArm Hardware Manual (online), 3. Controller Electrical Interface · UFACTORY · 3.3.2 Power Supply (DC Controller) table (manual for the xArm series; this passage names no single model)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
Confidence: Verifiedspec-556
The record says
The xArm DC control box weighs 2.6 kg.
Evidence · 2 citations
Weight 3.9kg 2.6kg
UFACTORY xArm Hardware Manual (online), 8. Technical Specifications · UFACTORY · AC Controller / DC Controller table, 'Weight' row (section '8.1 xArm5/xArm6/xArm7 Common Specifications': applies to all three models)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-15
Open the source
Weight 3.9kg 2.6kg
UFACTORY xArm product page · UFACTORY · Tech Specs > Hardware, AC/DC control box table (xArm product page, which covers the xArm 5, 6 and 7)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Confidence: Verifiedspec-536
The record says
The manual and the product page give the xArm's typical power consumption as 200 W (the manual as a specification common to the xArm 5, 6 and 7).
Evidence · 2 citations
Power Consumption Min 8.4W, Typical 200W, 500W Power is recommended.
UFACTORY xArm Hardware Manual (online), 8. Technical Specifications · UFACTORY · 'Power Consumption' row (section '8.1 xArm5/xArm6/xArm7 Common Specifications': applies to all three models)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-15
Open the source
Power Consumption Typical 200 W, Max 500 W
UFACTORY xArm product page · UFACTORY · Tech Specs > Hardware, 'xArm Robot Specs' table, 'Power Consumption' row (xArm product page, which covers the xArm 5, 6 and 7)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Confidence: Verifiedspec-559
The record says
Both xArm control boxes (AC and DC) have 8 CI and 8 DI digital inputs and 8 CO and 8 DO digital outputs.
Evidence · 2 citations
I/O Interface 8×CI+8×DI(Digital In) 8×CO+8×DO(Digital Out) 2×AI(Analog In) 2×AO(Analog Out) 1×RS-485 Master 8×CI+8×DI(Digital In) 8×CO+8×DO(Digital Out) 2×AI(Analog In) 2×AO(Analog Out) 1×RS-485 Master
UFACTORY xArm Hardware Manual (online), 8. Technical Specifications · UFACTORY · AC Controller / DC Controller table, 'I/O Interface' row (same in both columns) (section '8.1 xArm5/xArm6/xArm7 Common Specifications': applies to all three models)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-15
Open the source
CI*8+DI*8 (Digital Input) CO*8+DO*8 (Digital Output)
UFACTORY xArm product page · UFACTORY · Tech Specs > Hardware, 'Control Box IO' row (xArm product page, which covers the xArm 5, 6 and 7)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Confidence: Verifiedspec-560
The record says
Both xArm control boxes (AC and DC) have 2 analog inputs and 2 analog outputs.
Evidence · 2 citations
I/O Interface 8×CI+8×DI(Digital In) 8×CO+8×DO(Digital Out) 2×AI(Analog In) 2×AO(Analog Out) 1×RS-485 Master 8×CI+8×DI(Digital In) 8×CO+8×DO(Digital Out) 2×AI(Analog In) 2×AO(Analog Out) 1×RS-485 Master
UFACTORY xArm Hardware Manual (online), 8. Technical Specifications · UFACTORY · AC Controller / DC Controller table, 'I/O Interface' row (section '8.1 xArm5/xArm6/xArm7 Common Specifications': applies to all three models)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-15
Open the source
2*AI (Analog Input) 2*AO (Analog Output)
UFACTORY xArm product page · UFACTORY · Tech Specs > Hardware, 'Control Box IO' row (xArm product page, which covers the xArm 5, 6 and 7)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Confidence: Verifiedspec-561
The record says
The manual and the product page list one RS-485 master port on the xArm control box.
Evidence · 2 citations
I/O Interface 8×CI+8×DI(Digital In) 8×CO+8×DO(Digital Out) 2×AI(Analog In) 2×AO(Analog Out) 1×RS-485 Master 8×CI+8×DI(Digital In) 8×CO+8×DO(Digital Out) 2×AI(Analog In) 2×AO(Analog Out) 1×RS-485 Master
UFACTORY xArm Hardware Manual (online), 8. Technical Specifications · UFACTORY · AC Controller / DC Controller table, 'I/O Interface' row (section '8.1 xArm5/xArm6/xArm7 Common Specifications': applies to all three models)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-15
Open the source
Communication Mode Ethernet, RS485 Master*1
UFACTORY xArm product page · UFACTORY · Tech Specs > Hardware, control box 'Communication Mode' row (xArm product page, which covers the xArm 5, 6 and 7)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Confidence: Verifiediface-535
The record says
The xArm 5/6/7 AC and DC control boxes each have 8 configurable digital inputs (CI) and 8 general digital inputs (DI), 8 configurable (CO) and 8 general (DO) digital outputs, 2 analog inputs, 2 analog outputs and 1 RS-485 master port.
Evidence · 3 citations
8.1 xArm5/xArm6/xArm7 Common Specifications
UFACTORY xArm Hardware Manual (online), 8. Technical Specifications · UFACTORY · Section heading
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-15
Open the source
I/O Interface | 8×CI+8×DI(Digital In) 8×CO+8×DO(Digital Out)
UFACTORY xArm Hardware Manual (online), 8. Technical Specifications · UFACTORY · 8.1 controller table, 'I/O Interface' row (AC and DC columns identical)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-15
Open the source
2×AI(Analog In) 2×AO(Analog Out) 1×RS-485 Master
UFACTORY xArm Hardware Manual (online), 8. Technical Specifications · UFACTORY · 8.1 controller table, 'I/O Interface' row
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-15
Open the source
Confidence: Verifiedspec-563
The record says
The product page gives the xArm's end-effector (tool-end) I/O as 2 digital inputs, 2 digital outputs, 2 analog inputs and 1 RS-485 port; the manual's tool connector pin table has matching signals (TI0–TI1, TO0–TO1, AI0–AI1 and User 485-A/B).
Evidence · 2 citations
End Effector I/O 2*DI/2*DO/2*AI/1*RS485
UFACTORY xArm product page · UFACTORY · Tech Specs > Hardware, 'End Effector I/O' row (xArm product page, which covers the xArm 5, 6 and 7)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
5 Pink User 485-A 11 Orange Analog input 0 (AI0)
UFACTORY xArm Hardware Manual (online), 4. Robotic Electrical Interface · UFACTORY · 4.2 Tool IO, pin table (manual for the xArm series; this passage names no single model)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
Confidence: Verifiedspec-562
The record says
The xArm arm and both control boxes communicate over Ethernet using UFACTORY's private TCP protocol (the manual gives this in common for the xArm 5, 6 and 7).
Evidence · 3 citations
Robotic Arm Communication Protocol Private TCP(custom)
UFACTORY xArm Hardware Manual (online), 8. Technical Specifications · UFACTORY · 'Robotic Arm Communication Protocol' row (section '8.1 xArm5/xArm6/xArm7 Common Specifications': applies to all three models)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-15
Open the source
Communication Method Ethernet Ethernet
UFACTORY xArm Hardware Manual (online), 8. Technical Specifications · UFACTORY · AC Controller / DC Controller table, 'Communication Method' row (section '8.1 xArm5/xArm6/xArm7 Common Specifications': applies to all three models)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-15
Open the source
Communication Mode Ethernet
UFACTORY xArm product page · UFACTORY · Tech Specs > Hardware, 'xArm Robot Specs' table (xArm product page, which covers the xArm 5, 6 and 7)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Confidence: Verifiedspec-547
The record says
The xArm 6's base footprint is Ø126 mm (a specification the manual gives in common for the xArm 5, 6 and 7).
Evidence · 2 citations
Footprint Ø 126 mm
UFACTORY xArm Hardware Manual (online), 8. Technical Specifications · UFACTORY · 'Footprint' row (section '8.1 xArm5/xArm6/xArm7 Common Specifications': applies to all three models)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-15
Open the source
Footprint Ø 126 mm
UFACTORY xArm product page · UFACTORY · Tech Specs > Hardware, 'xArm Robot Specs' table (xArm product page, which covers the xArm 5, 6 and 7)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Confidence: Verifiedspec-542
The record says
The xArm manual's environment list gives a humidity of 25–85%, non-condensing.
Evidence · 1 citation
Low humidity (25%-85% non-condensing)
UFACTORY xArm Hardware Manual (online), 7. Production Information · UFACTORY · 7.4 Disposal and Environment (manual for the xArm series; this passage names no single model)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
Confidence: Verifiedspec-544
The record says
The xArm manual's environment list calls for indoor use away from direct sunlight, and no corrosive gas or liquid, flammable materials, oil mists, salt sprays, dust or metal powder, mechanical shock or vibration, electromagnetic noise or radioactive materials.
Evidence · 2 citations
Avoid direct sunlight (indoor use) No corrosive gas or liquid. No flammable materials. No oil mists. No salt sprays.
UFACTORY xArm Hardware Manual (online), 7. Production Information · UFACTORY · 7.4 Disposal and Environment (manual for the xArm series; this passage names no single model)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
No dust or metal powder. No mechanical shock, vibration. No electromagnetic noise. No radioactive materials.
UFACTORY xArm Hardware Manual (online), 7. Production Information · UFACTORY · 7.4 Disposal and Environment (manual for the xArm series; this passage names no single model)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
Confidence: Verifiedops-547
The record says
UFACTORY Studio says to set the TCP payload and TCP offset according to the actual situation. The TCP payload is the actual mass of end-effector plus object in kg, with its center of gravity in mm in the default TCP frame at the flange center; with virtually no load, both must be set to 0. The TCP offset gives the tool center point's position (X, Y, Z) and orientation (roll, pitch, yaw) relative to the flange-center frame.
Evidence · 5 citations
Set TCP Payload and TCP Offset according to the actual situation.
UFACTORY Studio User Manual (online), 7. Settings · UFACTORY · 7.1.2 TCP [general Studio text; the Studio manual says it applies to the xArm6]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-13
Open the source
TCP Payload: The load weight refers to the actual mass (end-effector + object) in Kg; X/Y/Z-axis represents the position of the centre of gravity of payload in mm
UFACTORY Studio User Manual (online), 7. Settings · UFACTORY · 7.1.2 TCP [general Studio text; the Studio manual says it applies to the xArm6]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-13
Open the source
If there is virtually no load at the end, both TCP payload and centre of gravity must be set to 0.
UFACTORY Studio User Manual (online), 7. Settings · UFACTORY · 7.1.2 TCP [general Studio text; the Studio manual says it applies to the xArm6]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-13
Open the source
TCP Offset: Setting the Tool Coordinate Offset with respect to the initial tool frame located at the center of the flange
UFACTORY Studio User Manual (online), 7. Settings · UFACTORY · 7.1.2 TCP [general Studio text; the Studio manual says it applies to the xArm6]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-13
Open the source
The position coordinates X, Y, and Z determine the position of TCP, while Roll, Pitch, and Yaw determine the orientation.
UFACTORY Studio User Manual (online), 7. Settings · UFACTORY · 7.1.2 TCP [general Studio text; the Studio manual says it applies to the xArm6]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-13
Open the source
Confidence: Verifiedcomp-549
The record says
The Gripper in the xArm manual's common specifications has an 84 mm working range, a maximum clamping force of 30 N and a weight of 802 g.
Evidence · 1 citation
Working Range 84mm Maximum Clamping Force 30N Weight 802g
UFACTORY xArm Hardware Manual (online), 8. Technical Specifications · UFACTORY · 'Gripper' table (section '8.1 xArm5/xArm6/xArm7 Common Specifications': applies to all three models)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-15
Open the source
Confidence: Verifiedspec-545
The record says
The xArm 6 is rated ISO Class 5 for cleanroom use (a specification the manual gives in common for the xArm 5, 6 and 7).
Evidence · 2 citations
ISO Class Cleanroom 5
UFACTORY xArm Hardware Manual (online), 8. Technical Specifications · UFACTORY · 'ISO Class Cleanroom' row (section '8.1 xArm5/xArm6/xArm7 Common Specifications': applies to all three models)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-15
Open the source
ISO Class Cleanroom 5
UFACTORY xArm product page · UFACTORY · Tech Specs > Hardware, 'xArm Robot Specs' table (xArm product page, which covers the xArm 5, 6 and 7)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Confidence: Verifiedsafety-514
The record says
When installing the xArm, the manual says to take its range of motion into account so that it does not bump into people and equipment around it, and notes that the working range it shows does not include the end-effector. The manual gives one working-range figure for the xArm5 and xArm6 together.
Evidence · 2 citations
When installing the robotic arm, make sure the range of motion of the robotic arm is taken into account, so as not to bump into the surrounding people and equipment (the end-effector not included in the working range).
UFACTORY xArm Hardware Manual (online), 2. Hardware Installation · UFACTORY · 2.2.2 Define Working Space [series text: names no single model]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
working range of xArm5 and xArm6, unit:mm
UFACTORY xArm Hardware Manual (online), 2. Hardware Installation · UFACTORY · 2.2.2, figure caption [names the xArm 6]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
Confidence: Verifiedspec-509
The record says
The online hardware manual and the product page give the xArm 6's joint 1 (J1) range of motion as ±360°.
Evidence · 3 citations
J1~J6 (±360°, -117~116°, -219~10°, ±360°, -97~180°, ±360°)
UFACTORY xArm Hardware Manual (online), 8. Technical Specifications · UFACTORY · Table 'xArm6', 'Joint Range' row (values in joint order J1-J6) (section '8.3 xArm6 Specifications': names the xArm 6)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-15
Open the source
J1 ±360° ±360° ±360°
UFACTORY xArm Hardware Manual (online), Preface · UFACTORY · 'Joint Range' table, row J1 (the Preface says 'Apply to Model: XF1305, XI1305, XS1305'; table columns xArm 5, xArm 6, xArm 7)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
Joint 1 ±360° ±360° ±360°
UFACTORY xArm product page · UFACTORY · second comparison table, 'Joint 1' row (Tech Specs > Comparison table, columns xArm 5, xArm 6, xArm 7; value read from the xArm 6 column)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Confidence: Verifiedspec-512
The record says
The online hardware manual and the product page give the xArm 6's joint 4 (J4) range of motion as ±360°.
Evidence · 3 citations
J1~J6 (±360°, -117~116°, -219~10°, ±360°, -97~180°, ±360°)
UFACTORY xArm Hardware Manual (online), 8. Technical Specifications · UFACTORY · Table 'xArm6', 'Joint Range' row (values in joint order J1-J6) (section '8.3 xArm6 Specifications': names the xArm 6)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-15
Open the source
J4 -97°～180° ±360° -6°～225°
UFACTORY xArm Hardware Manual (online), Preface · UFACTORY · 'Joint Range' table, row J4 (the Preface says 'Apply to Model: XF1305, XI1305, XS1305'; table columns xArm 5, xArm 6, xArm 7)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
Joint 4 -97°~180° ±360° -6°～225°
UFACTORY xArm product page · UFACTORY · second comparison table, 'Joint 4' row (Tech Specs > Comparison table, columns xArm 5, xArm 6, xArm 7; value read from the xArm 6 column)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Confidence: Verifiedspec-514
The record says
The online hardware manual and the product page give the xArm 6's joint 6 (J6) range of motion as ±360°.
Evidence · 3 citations
J1~J6 (±360°, -117~116°, -219~10°, ±360°, -97~180°, ±360°)
UFACTORY xArm Hardware Manual (online), 8. Technical Specifications · UFACTORY · Table 'xArm6', 'Joint Range' row (values in joint order J1-J6) (section '8.3 xArm6 Specifications': names the xArm 6)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-15
Open the source
J6 - ±360° -97°～180°
UFACTORY xArm Hardware Manual (online), Preface · UFACTORY · 'Joint Range' table, row J6 (the Preface says 'Apply to Model: XF1305, XI1305, XS1305'; table columns xArm 5, xArm 6, xArm 7)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
Joint 6 ±360° -97°~180°
UFACTORY xArm product page · UFACTORY · second comparison table, 'Joint 6' row (Tech Specs > Comparison table, columns xArm 5, xArm 6, xArm 7; value read from the xArm 6 column)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Confidence: Verifiedspec-513
The record says
The online hardware manual and the product page give the xArm 6's joint 5 (J5) range of motion as -97° to 180°.
Evidence · 3 citations
J1~J6 (±360°, -117~116°, -219~10°, ±360°, -97~180°, ±360°)
UFACTORY xArm Hardware Manual (online), 8. Technical Specifications · UFACTORY · Table 'xArm6', 'Joint Range' row (values in joint order J1-J6) (section '8.3 xArm6 Specifications': names the xArm 6)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-15
Open the source
J5 ±360° -97°～180° ±360°
UFACTORY xArm Hardware Manual (online), Preface · UFACTORY · 'Joint Range' table, row J5 (the Preface says 'Apply to Model: XF1305, XI1305, XS1305'; table columns xArm 5, xArm 6, xArm 7)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
Joint 5 ±360° -97°~180° ±360°
UFACTORY xArm product page · UFACTORY · second comparison table, 'Joint 5' row (Tech Specs > Comparison table, columns xArm 5, xArm 6, xArm 7; value read from the xArm 6 column)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Confidence: Verifiedspec-510
The record says
The online hardware manual and the product page give the xArm 6's joint 2 (J2) range of motion as -117° to 116°. Other UFACTORY sources give a different range (see the contradiction).
Evidence · 3 citations
J1~J6 (±360°, -117~116°, -219~10°, ±360°, -97~180°, ±360°)
UFACTORY xArm Hardware Manual (online), 8. Technical Specifications · UFACTORY · Table 'xArm6', 'Joint Range' row (values in joint order J1-J6) (section '8.3 xArm6 Specifications': names the xArm 6)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-15
Open the source
J2 -117°～116° -117°～116° -117°～116°
UFACTORY xArm Hardware Manual (online), Preface · UFACTORY · 'Joint Range' table, row J2 (the Preface says 'Apply to Model: XF1305, XI1305, XS1305'; table columns xArm 5, xArm 6, xArm 7)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
Joint 2 -117° ~ 116° -117°～116° -117°～116°
UFACTORY xArm product page · UFACTORY · second comparison table, 'Joint 2' row (Tech Specs > Comparison table, columns xArm 5, xArm 6, xArm 7; value read from the xArm 6 column)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Confidence: Verifiedspec-511
The record says
The online hardware manual and the product page give the xArm 6's joint 3 (J3) range of motion as -219° to 10°. Other UFACTORY sources give a different range (see the contradiction).
Evidence · 3 citations
J1~J6 (±360°, -117~116°, -219~10°, ±360°, -97~180°, ±360°)
UFACTORY xArm Hardware Manual (online), 8. Technical Specifications · UFACTORY · Table 'xArm6', 'Joint Range' row (values in joint order J1-J6) (section '8.3 xArm6 Specifications': names the xArm 6)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-15
Open the source
J3 -219°～10° -219°～10° ±360°
UFACTORY xArm Hardware Manual (online), Preface · UFACTORY · 'Joint Range' table, row J3 (the Preface says 'Apply to Model: XF1305, XI1305, XS1305'; table columns xArm 5, xArm 6, xArm 7)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
Joint 3 -219°~10° -219°~10° ±360°
UFACTORY xArm product page · UFACTORY · second comparison table, 'Joint 3' row (Tech Specs > Comparison table, columns xArm 5, xArm 6, xArm 7; value read from the xArm 6 column)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Kind: ContradictionAwaiting cell accessspec-517
Sources disagree
Sources disagree on the range of the xArm 6's joint 3 (J3): the online hardware manual (specifications and preface) and the product page give -219° to 10°, but UFACTORY's support article comparing the xArm 5 Lite, 6 and 7 gives -225° to 11°, the xarm6 URDF's default limits are -3.927 to 0.19198 rad (about -225° to 11°), and UFACTORY Studio's manual gives -255° to 11° (lim-538).
Awaiting cell access: this could be confirmed or corrected once the physical S6 cell can be observed.
Related: lim-538 Contradiction spec-511 Verified
Evidence · 5 citations
J1~J6 (±360°, -117~116°, -219~10°, ±360°, -97~180°, ±360°)
UFACTORY xArm Hardware Manual (online), 8. Technical Specifications · UFACTORY · Table 'xArm6', 'Joint Range' row (section '8.3 xArm6 Specifications': names the xArm 6)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-15
Open the source
Joint 3 -219°~10° -219°~10° ±360°
UFACTORY xArm product page · UFACTORY · second comparison table, 'Joint 3' row (Tech Specs > Comparison table, columns xArm 5, xArm 6, xArm 7; value read from the xArm 6 column)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Joint3 -225°~11° -225°~11° ±360°
The difference between UFACTORY xArm5, xArm6 and xArm7 (support article) · UFACTORY · Section 1 Specifications, 'Joint3' row (columns xArm 5 Lite, xArm 6, xArm 7; value read from the xArm 6 column)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
joint3_lower_limit:=${-3.927} joint3_upper_limit:=${0.19198}
xarm_ros2 (branch humble), xarm_description/urdf/xarm6/xarm6.urdf.xacro · UFACTORY · macro xarm6_urdf default parameters (ROS naming 'xarm6')
© UFACTORY Inc., xArm-Developer/xarm_ros2, BSD 3-Clause License · BSD-3-Clause · retrieved 2026-09-25
Open the source
Joint3 | (-255,11) | (-255,11) | ±360°
UFACTORY Studio User Manual (online), 11. Technical Specifications · UFACTORY · 11. Technical Specifications, xArm6 column [names the xArm 6]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
Kind: Contradictionlim-538
Sources disagree
UFACTORY sources give different joint ranges for the xArm 6. The xArm manual (section 8.3 and the Preface) gives J2 as -117° to 116° and J3 as -219° to 10°; the Studio manual's specifications table gives J2 as (-118, 120) and J3 as (-255, 11) for the xArm6.
Related: spec-516 Contradiction, awaiting cell access spec-517 Contradiction, awaiting cell access
Evidence · 4 citations
Joint Range | J1~J6 (±360°, -117~116°, -219~10°, ±360°, -97~180°, ±360°)
UFACTORY xArm Hardware Manual (online), 8. Technical Specifications · UFACTORY · 8.3 xArm6 Specifications [names the xArm 6]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-15
Open the source
J2 | -117°～116° | -117°～116° | -117°～116°
UFACTORY xArm Hardware Manual (online), Preface · UFACTORY · Preface, Joint Range table, xArm 6 column [names the xArm 6]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
Joint2 | (-118,120) | (-118,120) | (-118,120)
UFACTORY Studio User Manual (online), 11. Technical Specifications · UFACTORY · 11. Technical Specifications, xArm6 column [names the xArm 6]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
Joint3 | (-255,11) | (-255,11) | ±360°
UFACTORY Studio User Manual (online), 11. Technical Specifications · UFACTORY · 11. Technical Specifications, xArm6 column [names the xArm 6]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
Kind: RecommendationAwaiting cell accesscomp-557
Project advice
Read the S6 xArm 6's serial number before relying on any figure the sources disagree on (weight, J2 and J3 ranges): UFACTORY distinguishes four xArm 6 versions by serial number, and the S6 arm's version decides which mass parameters apply.
Awaiting cell access: this could be confirmed or corrected once the physical S6 cell can be observed.
This is advice from this project, based on: comp-511 Verified, awaiting cell access spec-506 Contradiction, awaiting cell access spec-516 Contradiction, awaiting cell access spec-517 Contradiction, awaiting cell access
Why: The mass parameters are published per version (comp-511), so the S6 arm's version must be known to use them. The sources that disagree on weight and joint ranges (spec-506, spec-516, spec-517) do not say whether version explains the difference; knowing the version is a cheap first step, not a resolution. The serial number is on the physical arm, so this needs cell access.
Evidence · 2 citations
The purpose of this article is to guide the user to distinguish the model of UFactory xArm by SN.
Kinematic and Dynamic Parameters of xArm Series: telling the model by SN (support article) · UFACTORY · Introduction
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
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xArm 6 - Model 4
Kinematic and Dynamic Parameters: xArm 6 (support article) · UFACTORY · 3. Mass Parameters, table headings
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
Confidence: Verifiedspec-508
The record says
The xArm 6's maximum joint speed is 180°/s, stated once for all joints (a specification the manual gives in common for the xArm 5, 6 and 7).
Evidence · 2 citations
Maximum Joint Speed 180°/s
UFACTORY xArm Hardware Manual (online), 8. Technical Specifications · UFACTORY · 'Maximum Joint Speed' row (section '8.1 xArm5/xArm6/xArm7 Common Specifications': applies to all three models)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-15
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Maximum Speed 180°/s 180°/s 180°/s
UFACTORY xArm product page · UFACTORY · second comparison table, 'Maximum Speed' row (°/s) (Tech Specs > Comparison table, columns xArm 5, xArm 6, xArm 7; value read from the xArm 6 column)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Confidence: Verifiedspec-526
The record says
The xArm manual's motion-parameter table, which covers models XF1305, XI1305 and XS1305, gives the TCP (Cartesian) speed parameter a range of 0 to 1000 mm/s.
Evidence · 2 citations
Speed 0～1000mm/s 0～180°/s
UFACTORY xArm Hardware Manual (online), Preface · UFACTORY · 'Motion Parameters' table (the Preface says 'Apply to Model: XF1305, XI1305, XS1305'; the table names no single model), columns 'TCP Motion' and 'Joint Motion'
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
Apply to Model: XF1305, XI1305, XS1305.
UFACTORY xArm Hardware Manual (online), Preface · UFACTORY · Preface, first line
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
Confidence: Verifiedspec-529
The record says
The xArm manual's motion-parameter table, which covers models XF1305, XI1305 and XS1305, gives the joint speed parameter a range of 0 to 180°/s.
Evidence · 2 citations
Speed 0～1000mm/s 0～180°/s
UFACTORY xArm Hardware Manual (online), Preface · UFACTORY · 'Motion Parameters' table (the Preface says 'Apply to Model: XF1305, XI1305, XS1305'; the table names no single model), columns 'TCP Motion' and 'Joint Motion'
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
Apply to Model: XF1305, XI1305, XS1305.
UFACTORY xArm Hardware Manual (online), Preface · UFACTORY · Preface, first line
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
Kind: Gaplim-517
Not known
No fetched UFACTORY source gives cycle-time data for the xArm 6, or the speed and acceleration it reaches while carrying its full 5 kg payload across its reach; the payload versus TCP offset relationship is published only as a figure.
Evidence · 1 citation
The payload is related to the tcp offset.
UFACTORY xArm Hardware Manual (online), 7. Production Information · UFACTORY · 7.11 Max Payload [series text: names no single model]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
Confidence: Verifiedspec-533
The record says
The xArm 6's Cartesian range is ±700 mm in X and ±700 mm in Y (a specification the manual gives in common for the xArm 5, 6 and 7).
Evidence · 1 citation
Cartesian Range X: ±700mm; Y: ±700mm; Z: -400~951.5mm; Roll/Pitch/Yaw: ±180°
UFACTORY xArm Hardware Manual (online), 8. Technical Specifications · UFACTORY · 'Cartesian Range' row (section '8.1 xArm5/xArm6/xArm7 Common Specifications': applies to all three models)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-15
Open the source
Confidence: Verifiedspec-534
The record says
The xArm 6's Cartesian range in Z runs from -400 mm to 951.5 mm (a specification the manual gives in common for the xArm 5, 6 and 7; the table does not name the reference frame).
Evidence · 1 citation
Cartesian Range X: ±700mm; Y: ±700mm; Z: -400~951.5mm; Roll/Pitch/Yaw: ±180°
UFACTORY xArm Hardware Manual (online), 8. Technical Specifications · UFACTORY · 'Cartesian Range' row (section '8.1 xArm5/xArm6/xArm7 Common Specifications': applies to all three models)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-15
Open the source
Confidence: Verifiedspec-535
The record says
The xArm 6's Cartesian orientation range is ±180° in roll, pitch and yaw (a specification the manual gives in common for the xArm 5, 6 and 7).
Evidence · 1 citation
Cartesian Range X: ±700mm; Y: ±700mm; Z: -400~951.5mm; Roll/Pitch/Yaw: ±180°
UFACTORY xArm Hardware Manual (online), 8. Technical Specifications · UFACTORY · 'Cartesian Range' row (section '8.1 xArm5/xArm6/xArm7 Common Specifications': applies to all three models)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-15
Open the source
Kind: Gapspec-550
Not known
The xArm 6's working range (workspace envelope) is given only as figures: the manual's 'Define Working Space' section and the product page show drawings, and the product page says its working-range diagrams are only for safety assessment. No workspace dimensions beyond the Cartesian range and the 700 mm reach were captured as text.
Related: spec-503 Verified spec-533 Verified
Evidence · 2 citations
working range of xArm5 and xArm6, unit:mm
UFACTORY xArm Hardware Manual (online), 2. Hardware Installation · UFACTORY · 2.2.2 Define Working Space, figure caption (chapter says 'Apply to Model: XF1305, XI1305, XS1305 (1305 Model)')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
Note: The following working range diagrams are only for safety assessment.
UFACTORY xArm product page · UFACTORY · Tech Specs > Working Range (xArm product page, which covers the xArm 5, 6 and 7)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Confidence: Verifiedspec-538
The record says
The two sources word the 500 W figure differently: the manual says '500W Power is recommended', while the product page gives 'Max 500 W' as power consumption.
Evidence · 2 citations
Power Consumption Min 8.4W, Typical 200W, 500W Power is recommended.
UFACTORY xArm Hardware Manual (online), 8. Technical Specifications · UFACTORY · 'Power Consumption' row (section '8.1 xArm5/xArm6/xArm7 Common Specifications': applies to all three models)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-15
Open the source
Power Consumption Typical 200 W, Max 500 W
UFACTORY xArm product page · UFACTORY · Tech Specs > Hardware, 'xArm Robot Specs' table, 'Power Consumption' row (xArm product page, which covers the xArm 5, 6 and 7)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Confidence: Verifiedspec-539
The record says
The xArm arm's input power supply is 24 V DC, 20.8 A (a specification the manual gives in common for the xArm 5, 6 and 7).
Evidence · 2 citations
Input Power Supply 24V DC, 20.8A
UFACTORY xArm Hardware Manual (online), 8. Technical Specifications · UFACTORY · 'Input Power Supply' row (section '8.1 xArm5/xArm6/xArm7 Common Specifications': applies to all three models)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-15
Open the source
Input Power Supply 24V DC，20.8A
UFACTORY xArm product page · UFACTORY · Tech Specs > Hardware, 'xArm Robot Specs' table, 'Input Power Supply' row (xArm product page, which covers the xArm 5, 6 and 7)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Kind: ContradictionAwaiting cell accessspec-540
Sources disagree
The xArm manual disagrees with itself on what the AC control box supplies: its specification table (and the product page) give the AC controller's output as 24 V DC, 20.8 A, but its 3.2.2 Power Supply text says the internal switching power supply converts 100–240 V AC into 12 V and 48 V DC, which powers the control box and the robotic arm.
Awaiting cell access: this could be confirmed or corrected once the physical S6 cell can be observed.
Related: spec-539 Verified comp-516 Verified
Evidence · 3 citations
Output 24V DC , 20.8A 24V DC 672Wmax
UFACTORY xArm Hardware Manual (online), 8. Technical Specifications · UFACTORY · AC Controller / DC Controller table, 'Output' row (section '8.1 xArm5/xArm6/xArm7 Common Specifications': applies to all three models)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-15
Open the source
Output 24VDC 20.8A 24VDC 672Wmax
UFACTORY xArm product page · UFACTORY · Tech Specs > Hardware, AC/DC control box table, 'Output' row (xArm product page, which covers the xArm 5, 6 and 7)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
its internal switching power supply converts 100V-240V AC into 12V, 48V DC, which supplies power to the load of the control box and the robotic arm.
UFACTORY xArm Hardware Manual (online), 3. Controller Electrical Interface · UFACTORY · 3.2.2 Power Supply (AC Controller) (manual for the xArm series; this passage names no single model)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
Confidence: Verifiedspec-554
The record says
The xArm DC control box outputs 24 V DC, up to 672 W.
Evidence · 2 citations
Output 24V DC , 20.8A 24V DC 672Wmax
UFACTORY xArm Hardware Manual (online), 8. Technical Specifications · UFACTORY · AC Controller / DC Controller table, 'Output' row (section '8.1 xArm5/xArm6/xArm7 Common Specifications': applies to all three models)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-15
Open the source
Output 24V DC 672WMax
UFACTORY xArm Hardware Manual (online), 3. Controller Electrical Interface · UFACTORY · 3.3.2 Power Supply (DC Controller) table (manual for the xArm series; this passage names no single model)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
Kind: Contradictionspec-552
Sources disagree
The xArm manual gives two lower limits for the AC control box's mains input: 100 V in its specification table and power-supply section, but 110 V in its installation steps ('AC (110V-240V)').
Related: spec-551 Verified
Evidence · 3 citations
Input 100-240V AC 50/60 Hz 24-72V DC
UFACTORY xArm Hardware Manual (online), 8. Technical Specifications · UFACTORY · AC Controller / DC Controller table, 'Input' row (section '8.1 xArm5/xArm6/xArm7 Common Specifications': applies to all three models)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-15
Open the source
The control box is powered by 100V-240V AC (the input frequency is 47-63HZ)
UFACTORY xArm Hardware Manual (online), 3. Controller Electrical Interface · UFACTORY · 3.2.2 Power Supply (AC Controller) (manual for the xArm series; this passage names no single model)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
Plug the Control Box Power Cable into the AC (110V-240V) interface on the Control Box
UFACTORY xArm Hardware Manual (online), 2. Hardware Installation · UFACTORY · 2.2.3.2 Connect with Controller (chapter says 'Apply to Model: XF1305, XI1305, XS1305 (1305 Model)')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
Confidence: Verifiedspec-548
The record says
The xArm manual says the arm should be installed on a sturdy surface able to withstand at least 10 times the full torsion of the base joint and at least 5 times the weight of the arm, and that the mounting surface must be shockproof and sturdy.
Evidence · 2 citations
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 (chapter says 'Apply to Model: XF1305, XI1305, XS1305 (1305 Model)')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
The mounting surface must be shockproof and sturdy.
UFACTORY xArm Hardware Manual (online), 2. Hardware Installation · UFACTORY · 2.2.1 Safety Guidelines, DANGER (chapter says 'Apply to Model: XF1305, XI1305, XS1305 (1305 Model)')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
Kind: Gapops-521
Not known
The text of the xArm manual's Robot Base Mounting section (2.2.3.1) consists of two figures and gives no written bolt size, bolt count or tightening torque. Any such figures are in the images, which this corpus has not read; no other chapter states them.
Evidence · 1 citation
2.2.3.1 Robot Base Mounting
UFACTORY xArm Hardware Manual (online), 2. Hardware Installation · UFACTORY · 2.2.3.1 Robot Base Mounting (heading followed only by figures) [series text: names no single model]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
Confidence: Verifiedspec-557
The record says
The xArm AC control box measures 285 × 135 × 101 mm (L × W × H).
Evidence · 2 citations
Dimension(L×W×H) 285×135×101mm 262×160×76mm
UFACTORY xArm Hardware Manual (online), 8. Technical Specifications · UFACTORY · AC Controller / DC Controller table, 'Dimension(L×W×H)' row (section '8.1 xArm5/xArm6/xArm7 Common Specifications': applies to all three models)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-15
Open the source
Dimension(L*W*H) 285*135*101mm 262*160*76mm
UFACTORY xArm product page · UFACTORY · Tech Specs > Hardware, AC/DC control box table (xArm product page, which covers the xArm 5, 6 and 7)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Confidence: Verifiedspec-558
The record says
The xArm DC control box measures 262 × 160 × 76 mm (L × W × H).
Evidence · 2 citations
Dimension(L×W×H) 285×135×101mm 262×160×76mm
UFACTORY xArm Hardware Manual (online), 8. Technical Specifications · UFACTORY · AC Controller / DC Controller table, 'Dimension(L×W×H)' row (section '8.1 xArm5/xArm6/xArm7 Common Specifications': applies to all three models)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-15
Open the source
Dimension(L*W*H) 285*135*101mm 262*160*76mm
UFACTORY xArm product page · UFACTORY · Tech Specs > Hardware, AC/DC control box table (xArm product page, which covers the xArm 5, 6 and 7)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Confidence: Verifiedspec-543
The record says
The xArm manual's environment list gives an altitude of below 2000 m.
Evidence · 1 citation
Altitude: <2000m
UFACTORY xArm Hardware Manual (online), 7. Production Information · UFACTORY · 7.4 Disposal and Environment (manual for the xArm series; this passage names no single model)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
Confidence: Verifiedlim-512
The record says
The xArm manual's common specifications for the xArm5, xArm6 and xArm7 give ISO Class 5 for cleanroom use.
Evidence · 1 citation
ISO Class Cleanroom | 5
UFACTORY xArm Hardware Manual (online), 8. Technical Specifications · UFACTORY · 8.1 xArm5/xArm6/xArm7 Common Specifications [names the xArm 6]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-15
Open the source
Kind: Gapspec-571
Not known
No noise (sound pressure) figure for the xArm 6 arm was found in the manual or the product page; the only noise figure given is for the Vacuum Gripper accessory (under 60 dB at 30 cm).
Evidence · 1 citation
Noise Level(30cm away) ＜60dB
UFACTORY xArm Hardware Manual (online), 8. Technical Specifications · UFACTORY · Vacuum Gripper(AS1200) table (section '8.1 xArm5/xArm6/xArm7 Common Specifications': applies to all three models)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-15
Open the source
Confidence: Verifiedcomp-541
The record says
The xArm tool connector supplies 24 V (20–30 V) at up to 1800 mA.
Evidence · 1 citation
Supply Voltage in 24V Mode 20 24 30 V Supply Current - - 1800 mA
UFACTORY xArm Hardware Manual (online), 4. Robotic Electrical Interface · UFACTORY · 4.2 Tool IO, electrical specifications (manual for the xArm series; this passage names no single model)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
Kind: Contradictionspec-564
Sources disagree
Sources disagree on the xArm's end-effector communication protocol: the manual's common specification table says Modbus TCP, but the product page says Modbus RTU over RS-485, and the manual's own Tool RS485 section configures standard Modbus RTU end effectors. The manual's Gripper table likewise pairs RS-485 communication with a 'Modbus TCP' protocol.
Related: comp-551 Verified
Evidence · 4 citations
End Effector Communication Protocol Modbus TCP
UFACTORY xArm Hardware Manual (online), 8. Technical Specifications · UFACTORY · 'End Effector Communication Protocol' row (section '8.1 xArm5/xArm6/xArm7 Common Specifications': applies to all three models)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-15
Open the source
End Effector Communication Protocol Modbus RTU(rs485)
UFACTORY xArm product page · UFACTORY · Tech Specs > Hardware, 'End Effector Communication Protocol' row (xArm product page, which covers the xArm 5, 6 and 7)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
If end effector supports standard Modbus RTU, user can debug it via ' Settings-Externals-Modbus RTU '.
UFACTORY xArm Hardware Manual (online), 4. Robotic Electrical Interface · UFACTORY · 4.4.4 Tool RS485 (manual for the xArm series; this passage names no single model)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
Communication Mode RS-485 Communication Protocol Modbus TCP
UFACTORY xArm Hardware Manual (online), 8. Technical Specifications · UFACTORY · Gripper table (section '8.1 xArm5/xArm6/xArm7 Common Specifications': applies to all three models)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-15
Open the source
Confidence: Verifiedspec-524
The record says
The xarm6 URDF sets a velocity limit of 3.14 rad/s (about 180°/s) on every joint, J1 to J6, consistent with the 180°/s maximum joint speed in the manual.
Evidence · 4 citations
effort="50.0" velocity="3.14"
xarm_ros2 (branch humble), xarm_description/urdf/xarm6/xarm6.urdf.xacro · UFACTORY · <limit> elements of joint1 and joint2 (ROS naming 'xarm6')
© UFACTORY Inc., xArm-Developer/xarm_ros2, BSD 3-Clause License · BSD-3-Clause · retrieved 2026-09-25
Open the source
effort="32.0" velocity="3.14"
xarm_ros2 (branch humble), xarm_description/urdf/xarm6/xarm6.urdf.xacro · UFACTORY · <limit> elements of joint3, joint4 and joint5 (ROS naming 'xarm6')
© UFACTORY Inc., xArm-Developer/xarm_ros2, BSD 3-Clause License · BSD-3-Clause · retrieved 2026-09-25
Open the source
effort="20.0" velocity="3.14"
xarm_ros2 (branch humble), xarm_description/urdf/xarm6/xarm6.urdf.xacro · UFACTORY · <limit> element of joint6 (ROS naming 'xarm6')
© UFACTORY Inc., xArm-Developer/xarm_ros2, BSD 3-Clause License · BSD-3-Clause · retrieved 2026-09-25
Open the source
Maximum Joint Speed 180°/s
UFACTORY xArm Hardware Manual (online), 8. Technical Specifications · UFACTORY · 'Maximum Joint Speed' row (section '8.1 xArm5/xArm6/xArm7 Common Specifications': applies to all three models)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-15
Open the source
Confidence: Verifiedspec-518
The record says
The xarm6 URDF in UFACTORY's xarm_ros2 package sets an effort limit of 50 for joint 1 (J1); the file gives no unit and does not call it a rated torque.
Evidence · 1 citation
effort="50.0" velocity="3.14"
xarm_ros2 (branch humble), xarm_description/urdf/xarm6/xarm6.urdf.xacro · UFACTORY · <joint name="${prefix}joint1"> <limit> element (ROS naming 'xarm6')
© UFACTORY Inc., xArm-Developer/xarm_ros2, BSD 3-Clause License · BSD-3-Clause · retrieved 2026-09-25
Open the source
Confidence: Verifiedspec-519
The record says
The xarm6 URDF in UFACTORY's xarm_ros2 package sets an effort limit of 50 for joint 2 (J2); the file gives no unit and does not call it a rated torque.
Evidence · 1 citation
effort="50.0" velocity="3.14"
xarm_ros2 (branch humble), xarm_description/urdf/xarm6/xarm6.urdf.xacro · UFACTORY · <joint name="${prefix}joint2"> <limit> element (ROS naming 'xarm6')
© UFACTORY Inc., xArm-Developer/xarm_ros2, BSD 3-Clause License · BSD-3-Clause · retrieved 2026-09-25
Open the source
Confidence: Verifiedspec-520
The record says
The xarm6 URDF in UFACTORY's xarm_ros2 package sets an effort limit of 32 for joint 3 (J3); the file gives no unit and does not call it a rated torque.
Evidence · 1 citation
effort="32.0" velocity="3.14"
xarm_ros2 (branch humble), xarm_description/urdf/xarm6/xarm6.urdf.xacro · UFACTORY · <joint name="${prefix}joint3"> <limit> element (ROS naming 'xarm6')
© UFACTORY Inc., xArm-Developer/xarm_ros2, BSD 3-Clause License · BSD-3-Clause · retrieved 2026-09-25
Open the source
Confidence: Verifiedspec-521
The record says
The xarm6 URDF in UFACTORY's xarm_ros2 package sets an effort limit of 32 for joint 4 (J4); the file gives no unit and does not call it a rated torque.
Evidence · 1 citation
effort="32.0" velocity="3.14"
xarm_ros2 (branch humble), xarm_description/urdf/xarm6/xarm6.urdf.xacro · UFACTORY · <joint name="${prefix}joint4"> <limit> element (ROS naming 'xarm6')
© UFACTORY Inc., xArm-Developer/xarm_ros2, BSD 3-Clause License · BSD-3-Clause · retrieved 2026-09-25
Open the source
Confidence: Verifiedspec-522
The record says
The xarm6 URDF in UFACTORY's xarm_ros2 package sets an effort limit of 32 for joint 5 (J5); the file gives no unit and does not call it a rated torque.
Evidence · 1 citation
effort="32.0" velocity="3.14"
xarm_ros2 (branch humble), xarm_description/urdf/xarm6/xarm6.urdf.xacro · UFACTORY · <joint name="${prefix}joint5"> <limit> element (ROS naming 'xarm6')
© UFACTORY Inc., xArm-Developer/xarm_ros2, BSD 3-Clause License · BSD-3-Clause · retrieved 2026-09-25
Open the source
Confidence: Verifiedspec-523
The record says
The xarm6 URDF in UFACTORY's xarm_ros2 package sets an effort limit of 20 for joint 6 (J6); the file gives no unit and does not call it a rated torque.
Evidence · 1 citation
effort="20.0" velocity="3.14"
xarm_ros2 (branch humble), xarm_description/urdf/xarm6/xarm6.urdf.xacro · UFACTORY · <joint name="${prefix}joint6"> <limit> element (ROS naming 'xarm6')
© UFACTORY Inc., xArm-Developer/xarm_ros2, BSD 3-Clause License · BSD-3-Clause · retrieved 2026-09-25
Open the source
Confidence: Verifiedspec-515
The record says
In the xarm6 URDF in UFACTORY's xarm_ros2 package, the default limits are ±2π rad (±360°) for J1, J4 and J6 and -1.69297 to π rad (about -97° to 180°) for J5, matching the manual's ranges for those joints. These are the ROS model's limits, not a separate manufacturer specification.
Evidence · 5 citations
joint1_lower_limit:=${-2.0*pi} joint1_upper_limit:=${2.0*pi}
xarm_ros2 (branch humble), xarm_description/urdf/xarm6/xarm6.urdf.xacro · UFACTORY · macro xarm6_urdf default parameters (ROS naming 'xarm6')
© UFACTORY Inc., xArm-Developer/xarm_ros2, BSD 3-Clause License · BSD-3-Clause · retrieved 2026-09-25
Open the source
joint4_lower_limit:=${-2.0*pi} joint4_upper_limit:=${2.0*pi}
xarm_ros2 (branch humble), xarm_description/urdf/xarm6/xarm6.urdf.xacro · UFACTORY · macro xarm6_urdf default parameters (ROS naming 'xarm6')
© UFACTORY Inc., xArm-Developer/xarm_ros2, BSD 3-Clause License · BSD-3-Clause · retrieved 2026-09-25
Open the source
joint5_lower_limit:=${-1.69297} joint5_upper_limit:=${pi}
xarm_ros2 (branch humble), xarm_description/urdf/xarm6/xarm6.urdf.xacro · UFACTORY · macro xarm6_urdf default parameters (ROS naming 'xarm6')
© UFACTORY Inc., xArm-Developer/xarm_ros2, BSD 3-Clause License · BSD-3-Clause · retrieved 2026-09-25
Open the source
joint6_lower_limit:=${-2.0*pi} joint6_upper_limit:=${2.0*pi}
xarm_ros2 (branch humble), xarm_description/urdf/xarm6/xarm6.urdf.xacro · UFACTORY · macro xarm6_urdf default parameters (ROS naming 'xarm6')
© UFACTORY Inc., xArm-Developer/xarm_ros2, BSD 3-Clause License · BSD-3-Clause · retrieved 2026-09-25
Open the source
J1~J6 (±360°, -117~116°, -219~10°, ±360°, -97~180°, ±360°)
UFACTORY xArm Hardware Manual (online), 8. Technical Specifications · UFACTORY · Table 'xArm6', 'Joint Range' row (section '8.3 xArm6 Specifications': names the xArm 6)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-15
Open the source
Confidence: Verifiedspec-525
The record says
When the xarm6 robot macro is used with limited:=true, it narrows J1, J4 and J6 to ±0.99π rad (about ±178.2°), the lower limit of J3 to -0.99π rad and the upper limit of J5 to 0.99π rad; J2 is set to -2.059 to 2.0944 rad, the same values as the URDF's default. The macro's default is limited:=false.
Evidence · 8 citations
joint1_lower_limit="${-pi*0.99}" joint1_upper_limit="${pi*0.99}"
xarm_ros2 (branch humble), xarm_description/urdf/xarm6/xarm6_robot_macro.xacro · UFACTORY · macro xarm6_robot, <xacro:if value="${limited}"> branch, xarm6_urdf call (ROS naming 'xarm6')
© UFACTORY Inc., xArm-Developer/xarm_ros2, BSD 3-Clause License · BSD-3-Clause · retrieved 2026-09-25
Open the source
joint2_lower_limit="${-2.059}" joint2_upper_limit="${2.0944}"
xarm_ros2 (branch humble), xarm_description/urdf/xarm6/xarm6_robot_macro.xacro · UFACTORY · same branch
© UFACTORY Inc., xArm-Developer/xarm_ros2, BSD 3-Clause License · BSD-3-Clause · retrieved 2026-09-25
Open the source
joint3_lower_limit="${-pi*0.99}" joint3_upper_limit="${0.19198}"
xarm_ros2 (branch humble), xarm_description/urdf/xarm6/xarm6_robot_macro.xacro · UFACTORY · same branch
© UFACTORY Inc., xArm-Developer/xarm_ros2, BSD 3-Clause License · BSD-3-Clause · retrieved 2026-09-25
Open the source
joint4_lower_limit="${-pi*0.99}" joint4_upper_limit="${pi*0.99}"
xarm_ros2 (branch humble), xarm_description/urdf/xarm6/xarm6_robot_macro.xacro · UFACTORY · same branch
© UFACTORY Inc., xArm-Developer/xarm_ros2, BSD 3-Clause License · BSD-3-Clause · retrieved 2026-09-25
Open the source
joint5_lower_limit="${-1.69297}" joint5_upper_limit="${pi*0.99}"
xarm_ros2 (branch humble), xarm_description/urdf/xarm6/xarm6_robot_macro.xacro · UFACTORY · same branch
© UFACTORY Inc., xArm-Developer/xarm_ros2, BSD 3-Clause License · BSD-3-Clause · retrieved 2026-09-25
Open the source
joint6_lower_limit="${-pi*0.99}" joint6_upper_limit="${pi*0.99}"
xarm_ros2 (branch humble), xarm_description/urdf/xarm6/xarm6_robot_macro.xacro · UFACTORY · same branch
© UFACTORY Inc., xArm-Developer/xarm_ros2, BSD 3-Clause License · BSD-3-Clause · retrieved 2026-09-25
Open the source
limited:=false
xarm_ros2 (branch humble), xarm_description/urdf/xarm6/xarm6_robot_macro.xacro · UFACTORY · macro xarm6_robot parameter list
© UFACTORY Inc., xArm-Developer/xarm_ros2, BSD 3-Clause License · BSD-3-Clause · retrieved 2026-09-25
Open the source
joint2_lower_limit:=${-2.059} joint2_upper_limit:=${2.0944}
xarm_ros2 (branch humble), xarm_description/urdf/xarm6/xarm6.urdf.xacro · UFACTORY · macro xarm6_urdf default parameters (ROS naming 'xarm6')
© UFACTORY Inc., xArm-Developer/xarm_ros2, BSD 3-Clause License · BSD-3-Clause · retrieved 2026-09-25
Open the source
Confidence: Verifiedspec-527
The record says
The xArm manual's motion-parameter table, which covers models XF1305, XI1305 and XS1305, gives the TCP acceleration parameter a range of 0 to 50000 mm/s².
Evidence · 2 citations
Acceleration 0～50000mm/s² 0～1145°/s²
UFACTORY xArm Hardware Manual (online), Preface · UFACTORY · 'Motion Parameters' table (the Preface says 'Apply to Model: XF1305, XI1305, XS1305'; the table names no single model), columns 'TCP Motion' and 'Joint Motion'
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
Apply to Model: XF1305, XI1305, XS1305.
UFACTORY xArm Hardware Manual (online), Preface · UFACTORY · Preface, first line
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
Confidence: Verifiedspec-528
The record says
The xArm manual's motion-parameter table, which covers models XF1305, XI1305 and XS1305, gives the TCP jerk parameter a range of 0 to 100000 mm/s³.
Evidence · 2 citations
Jerk 0～100000mm/s³ 0～28647°/s³
UFACTORY xArm Hardware Manual (online), Preface · UFACTORY · 'Motion Parameters' table (the Preface says 'Apply to Model: XF1305, XI1305, XS1305'; the table names no single model), columns 'TCP Motion' and 'Joint Motion'
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
Apply to Model: XF1305, XI1305, XS1305.
UFACTORY xArm Hardware Manual (online), Preface · UFACTORY · Preface, first line
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
Confidence: Verifiedspec-530
The record says
The xArm manual's motion-parameter table, which covers models XF1305, XI1305 and XS1305, gives the joint acceleration parameter a range of 0 to 1145°/s².
Evidence · 2 citations
Acceleration 0～50000mm/s² 0～1145°/s²
UFACTORY xArm Hardware Manual (online), Preface · UFACTORY · 'Motion Parameters' table (the Preface says 'Apply to Model: XF1305, XI1305, XS1305'; the table names no single model), columns 'TCP Motion' and 'Joint Motion'
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
Apply to Model: XF1305, XI1305, XS1305.
UFACTORY xArm Hardware Manual (online), Preface · UFACTORY · Preface, first line
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
Confidence: Verifiedspec-531
The record says
The xArm manual's motion-parameter table, which covers models XF1305, XI1305 and XS1305, gives the joint jerk parameter a range of 0 to 28647°/s³.
Evidence · 2 citations
Jerk 0～100000mm/s³ 0～28647°/s³
UFACTORY xArm Hardware Manual (online), Preface · UFACTORY · 'Motion Parameters' table (the Preface says 'Apply to Model: XF1305, XI1305, XS1305'; the table names no single model), columns 'TCP Motion' and 'Joint Motion'
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
Apply to Model: XF1305, XI1305, XS1305.
UFACTORY xArm Hardware Manual (online), Preface · UFACTORY · Preface, first line
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
Confidence: Verifiedspec-537
The record says
The manual gives the xArm's minimum power consumption as 8.4 W (a specification common to the xArm 5, 6 and 7); the product page gives no minimum.
Evidence · 2 citations
Power Consumption Min 8.4W, Typical 200W, 500W Power is recommended.
UFACTORY xArm Hardware Manual (online), 8. Technical Specifications · UFACTORY · 'Power Consumption' row (section '8.1 xArm5/xArm6/xArm7 Common Specifications': applies to all three models)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-15
Open the source
Power Consumption Typical 200 W, Max 500 W
UFACTORY xArm product page · UFACTORY · Tech Specs > Hardware, 'xArm Robot Specs' table, 'Power Consumption' row (xArm product page, which covers the xArm 5, 6 and 7)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Confidence: Verifiedsafety-531
The record says
The xArm manual's Stop Category 1 table, which names no arm model, gives Joint 1 a stopping distance of 0.62 rad and a stopping time of 521 ms, measured with the arm fully extended horizontally, at 100% speed (joint speed 180 °/s), with a 5 kg payload at the TCP and the joint moving horizontally.
Evidence · 5 citations
Joint1 | 0.62 | 521
UFACTORY xArm Hardware Manual (online), 7. Production Information · UFACTORY · 7.10 Stop Time and Stop Distance, table [names no model]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
Extension: 100% (the robot arm is fully extended horizontally).
UFACTORY xArm Hardware Manual (online), 7. Production Information · UFACTORY · 7.10 Stop Time and Stop Distance, test configuration [names no model]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
Speed: 100% (the general speed of the robot is set to 100% and the movement is performed at a joint speed of 180 °/s).
UFACTORY xArm Hardware Manual (online), 7. Production Information · UFACTORY · 7.10, test configuration [names no model]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
Payload: maximum payload handled by the robot attached to the TCP (5 kg).
UFACTORY xArm Hardware Manual (online), 7. Production Information · UFACTORY · 7.10, test configuration [names no model]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
The test on the Joint 1 was carried out by performing a horizontal movement, the axis of rotation was perpendicular to the ground.
UFACTORY xArm Hardware Manual (online), 7. Production Information · UFACTORY · 7.10, test configuration [names no model]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
Confidence: Verifiedsafety-532
The record says
The xArm manual's Stop Category 1 table, which names no arm model, gives Joint 2 a stopping distance of 1.12 rad and a stopping time of 885 ms, measured with the arm fully extended horizontally, at 100% speed (joint speed 180 °/s), with a 5 kg payload at the TCP and the robot moving downwards.
Evidence · 5 citations
Joint2 | 1.12 | 885
UFACTORY xArm Hardware Manual (online), 7. Production Information · UFACTORY · 7.10 Stop Time and Stop Distance, table [names no model]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
Extension: 100% (the robot arm is fully extended horizontally).
UFACTORY xArm Hardware Manual (online), 7. Production Information · UFACTORY · 7.10 Stop Time and Stop Distance, test configuration [names no model]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
Speed: 100% (the general speed of the robot is set to 100% and the movement is performed at a joint speed of 180 °/s).
UFACTORY xArm Hardware Manual (online), 7. Production Information · UFACTORY · 7.10, test configuration [names no model]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
Payload: maximum payload handled by the robot attached to the TCP (5 kg).
UFACTORY xArm Hardware Manual (online), 7. Production Information · UFACTORY · 7.10, test configuration [names no model]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
During the tests for Joint 2 and 3 the robot followed a vertical trajectory, i.e. the axes of rotation were parallel to the ground, and the stop was performed while the robot was moving downwards.
UFACTORY xArm Hardware Manual (online), 7. Production Information · UFACTORY · 7.10, test configuration [names no model]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
Confidence: Verifiedsafety-533
The record says
The xArm manual's Stop Category 1 table, which names no arm model, gives Joint 3 a stopping distance of 0.67 rad and a stopping time of 577 ms, measured with the arm fully extended horizontally, at 100% speed (joint speed 180 °/s), with a 5 kg payload at the TCP and the robot moving downwards.
Evidence · 5 citations
Joint3 | 0.67 | 577
UFACTORY xArm Hardware Manual (online), 7. Production Information · UFACTORY · 7.10 Stop Time and Stop Distance, table [names no model]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
Extension: 100% (the robot arm is fully extended horizontally).
UFACTORY xArm Hardware Manual (online), 7. Production Information · UFACTORY · 7.10 Stop Time and Stop Distance, test configuration [names no model]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
Speed: 100% (the general speed of the robot is set to 100% and the movement is performed at a joint speed of 180 °/s).
UFACTORY xArm Hardware Manual (online), 7. Production Information · UFACTORY · 7.10, test configuration [names no model]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
Payload: maximum payload handled by the robot attached to the TCP (5 kg).
UFACTORY xArm Hardware Manual (online), 7. Production Information · UFACTORY · 7.10, test configuration [names no model]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
During the tests for Joint 2 and 3 the robot followed a vertical trajectory, i.e. the axes of rotation were parallel to the ground, and the stop was performed while the robot was moving downwards.
UFACTORY xArm Hardware Manual (online), 7. Production Information · UFACTORY · 7.10, test configuration [names no model]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
Confidence: Verifiedsafety-535
The record says
The Stop Category 1 stopping distances and times in the xArm manual (Joint 1: 0.62 rad, 521 ms; Joint 2: 1.12 rad, 885 ms; Joint 3: 0.67 rad, 577 ms) are identical to those in UFACTORY's 850 manual, and both give the test payload as the maximum payload handled by the robot (5 kg).
Evidence · 7 citations
Joint1 | 0.62 | 521
UFACTORY xArm Hardware Manual (online), 7. Production Information · UFACTORY · 7.10 Stop Time and Stop Distance, table [names no model]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
Joint2 | 1.12 | 885
UFACTORY xArm Hardware Manual (online), 7. Production Information · UFACTORY · 7.10, table [names no model]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
Joint3 | 0.67 | 577
UFACTORY xArm Hardware Manual (online), 7. Production Information · UFACTORY · 7.10, table [names no model]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
Joint1 0.62 521
UFACTORY 850 Hardware Manual (online), 7. Production Information · UFACTORY · 850 manual 7.9 Stop Time and Stop Distance, table [850 manual]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Joint2 1.12 885
UFACTORY 850 Hardware Manual (online), 7. Production Information · UFACTORY · 850 manual 7.9, table [850 manual]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Joint3 0.67 577
UFACTORY 850 Hardware Manual (online), 7. Production Information · UFACTORY · 850 manual 7.9, table [850 manual]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Payload: maximum payload handled by the robot attached to the TCP (5 kg).
UFACTORY 850 Hardware Manual (online), 7. Production Information · UFACTORY · 850 manual 7.9, test configuration [850 manual]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Confidence: Inferredsafety-534
The record says
The 5 kg test payload in the xArm manual's stop-time table matches the xArm 6's 5 kg maximum payload, and neither the xArm 5's (3 kg) nor the xArm 7's (3.5 kg). The table itself does not say which model was tested.
Why we infer this: Verified: section 7.10 describes the test payload as the 'maximum payload handled by the robot' (5 kg); section 8 gives maximum payloads of 3 kg (xArm5), 5 kg (xArm6) and 3.5 kg (xArm7). Inferred: of the three models the manual covers, only the xArm 6's maximum payload equals the test payload. This does not show the test was run on an xArm 6: the table names no model, and the 850 manual publishes the same figures for the 850, whose maximum payload is also 5 kg.
Evidence · 4 citations
Payload: maximum payload handled by the robot attached to the TCP (5 kg).
UFACTORY xArm Hardware Manual (online), 7. Production Information · UFACTORY · 7.10, test configuration [names no model]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
Max Payload | 5kg
UFACTORY xArm Hardware Manual (online), 8. Technical Specifications · UFACTORY · 8.3 xArm6 Specifications [names the xArm 6]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-15
Open the source
Max Payload | 3kg
UFACTORY xArm Hardware Manual (online), 8. Technical Specifications · UFACTORY · 8.2 xArm5 Specifications [names the xArm 5]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-15
Open the source
Max Payload | 3.5kg
UFACTORY xArm Hardware Manual (online), 8. Technical Specifications · UFACTORY · 8.4 xArm7 Specifications [names the xArm 7]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-15
Open the source
Kind: Gapsafety-580
Not known
The xArm manual gives stop data only for Stop Category 1 and Joints 1 to 3, in one configuration (fully extended, 100% speed, 5 kg payload), and does not say which arm model was measured. No data was found for Joints 4 to 6, for other speeds or payloads, for Stop Category 2 (the SI safeguard stop), or for stopping after a collision is detected. These are needed for any separation-distance calculation at S6.
Evidence · 2 citations
Stop Category 1 stopping distances and times.
UFACTORY xArm Hardware Manual (online), 7. Production Information · UFACTORY · 7.10 Stop Time and Stop Distance [names no model]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
Joint3 | 0.67 | 577
UFACTORY xArm Hardware Manual (online), 7. Production Information · UFACTORY · 7.10, table [names no model]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
Kind: RecommendationAwaiting cell accessThis project's simulation and agent design, not the physical cellsafety-597
Project advice
Do not use the xArm manual's Stop Category 1 figures for S6 separation distances until UFACTORY confirms which arm and configuration they were measured on; measure the S6 arm's stopping 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.
Kind: Gapspec-574
Not known
The xArm manual says the payload is related to the TCP offset, but its text gives no payload-versus-offset values; the xArm 6's allowable payload at a given tool offset could not be taken from the sources as text.
Related: spec-502 Verified
Evidence · 1 citation
The payload is related to the tcp offset.
UFACTORY xArm Hardware Manual (online), 7. Production Information · UFACTORY · 7.11 Max Payload (manual for the xArm series; this passage names no single model)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
Confidence: Verifiedspec-576
The record says
UFACTORY published a 0.1 mm displacement test for the xArm 6 (model XI1305) and the 850: each arm moved in 0.1 mm steps in X+, Y+ and Z+, 40 times, with a 3-second wait after each move, measured by a Keyence GT2 contact sensor at 20 Hz, at room temperature with 0 kg payload. The article gives the results as charts and a raw-data download, not as figures in its text.
Evidence · 5 citations
Each robotic arm starts from the specified initial position and moves in the X+, Y+, and Z+ directions with 0.1 mm step commands, repeated 40 times. A 3-second wait is applied after each movement.
0.1 mm Displacement Test for 850 and xArm 6 (support article) · UFACTORY · Measurement Method
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
The actual movement distance is continuously measured by a Keyence GT2 contact-type digital sensor at a sampling frequency of 20 HZ.
0.1 mm Displacement Test for 850 and xArm 6 (support article) · UFACTORY · Measurement Method
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
The test is conducted at room temperature with a payload of 0 kg on the robotic arm.
0.1 mm Displacement Test for 850 and xArm 6 (support article) · UFACTORY · Test Conditions
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
xArm 6 XI1305 X+
0.1 mm Displacement Test for 850 and xArm 6 (support article) · UFACTORY · Robot Models and Initial Positions table
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
Raw Data Download:
0.1 mm Displacement Test for 850 and xArm 6 (support article) · UFACTORY · Raw Data
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
Confidence: Verifiedspec-566
The record says
The xArm manual says the xArm 6 robot is certified and tested by SGS and has passed EU CE certification, and that the product meets the relevant requirements of the EU CE directive, listing MD 2006/42/EC, EMC 2004/108/EC, EN ISO 10218-1:2011, EN 60204-1:2018, EN ISO 12100:2010, EN 61000-6-2:2005 and EN 61000-6-4:2007+A1:2011.
Evidence · 2 citations
The xArm 6 robot is certified and tested by SGS, and has passed the EU CE certification. The product meets the relevant requirements of the EU CE directive:
UFACTORY xArm Hardware Manual (online), 7. Production Information · UFACTORY · 7.2 Applied Standards (names the xArm 6)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
MD 2006/42/EC EMC 2004/108/EC EN ISO 10218-1:2011 EN 60204-1:2018 EN ISO 12100:2010 EN 61000-6-2:2005 EN 61000-6-4:2007+A1:2011
UFACTORY xArm Hardware Manual (online), 7. Production Information · UFACTORY · 7.2 Applied Standards, list
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
Confidence: Verifiedsafety-571
The record says
The SGS Verification of MD Compliance linked from the xArm manual covers 'UFACTORY Robotic Arm', model numbers XI13 and XI15, and says sufficient samples were tested and found to be in conformity with EN ISO 10218-1:2011, EN 60204-1:2018 and EN ISO 12100:2010. It says the CE mark can be affixed, under the manufacturer's responsibility, after completion of an EC Declaration of Conformity and compliance with all relevant EC Directives.
Evidence · 7 citations
Product Description: UFACTORY Robotic Arm
SGS Verification of MD Compliance No. MD GZES2403005468MD (UFACTORY Robotic Arm, Model No. XI13, XI15), as linked from the xArm manual section 7.12 · SGS-CSTC Standards Technical Services Co., Ltd. (published by UFACTORY) · Product Description and Model No. fields
SGS verification document, published by UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
Model No.: XI13, XI15
SGS Verification of MD Compliance No. MD GZES2403005468MD (UFACTORY Robotic Arm, Model No. XI13, XI15), as linked from the xArm manual section 7.12 · SGS-CSTC Standards Technical Services Co., Ltd. (published by UFACTORY) · Model No. field
SGS verification document, published by UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
Sufficient samples of the product have been tested and found to be in conformity with
SGS Verification of MD Compliance No. MD GZES2403005468MD (UFACTORY Robotic Arm, Model No. XI13, XI15), as linked from the xArm manual section 7.12 · SGS-CSTC Standards Technical Services Co., Ltd. (published by UFACTORY) · Test Standard field
SGS verification document, published by UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
EN ISO 10218-1: 2011
SGS Verification of MD Compliance No. MD GZES2403005468MD (UFACTORY Robotic Arm, Model No. XI13, XI15), as linked from the xArm manual section 7.12 · SGS-CSTC Standards Technical Services Co., Ltd. (published by UFACTORY) · Test Standard field
SGS verification document, published by UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
EN 60204-1:2018
SGS Verification of MD Compliance No. MD GZES2403005468MD (UFACTORY Robotic Arm, Model No. XI13, XI15), as linked from the xArm manual section 7.12 · SGS-CSTC Standards Technical Services Co., Ltd. (published by UFACTORY) · Test Standard field
SGS verification document, published by UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
EN ISO 12100: 2010
SGS Verification of MD Compliance No. MD GZES2403005468MD (UFACTORY Robotic Arm, Model No. XI13, XI15), as linked from the xArm manual section 7.12 · SGS-CSTC Standards Technical Services Co., Ltd. (published by UFACTORY) · Test Standard field
SGS verification document, published by UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
The CE mark can be affixed, under the responsibility of the manufacturer, after completion of an EC Declaration of Conformity and compliance with all relevant EC Directives.
SGS Verification of MD Compliance No. MD GZES2403005468MD (UFACTORY Robotic Arm, Model No. XI13, XI15), as linked from the xArm manual section 7.12 · SGS-CSTC Standards Technical Services Co., Ltd. (published by UFACTORY) · Closing paragraph
SGS verification document, published by UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
Confidence: Inferredsafety-576
The record says
The ISO 10218-1 edition named both in the xArm manual's standards list and in the SGS machinery verification it links is the 2011 edition. A3 says the 2025 editions of ISO 10218-1 and -2 replace the 2011 versions. So the fetched evidence shows verification against ISO 10218-1:2011, not ISO 10218-1:2025.
Why we infer this: Verified: the xArm manual and the SGS document it links name EN ISO 10218-1:2011. A3, a trade body close to the ISO drafting work, says the 2025 editions replace the 2011 ones. No fetched UFACTORY page names ISO 10218-1:2025. Inferred: the published verification is against the superseded edition. This says nothing about whether the xArm 6 meets the 2025 edition; nothing fetched addresses that.
Evidence · 3 citations
EN ISO 10218-1:2011
UFACTORY xArm Hardware Manual (online), 7. Production Information · UFACTORY · 7.2 Applied Standards [names the xArm 6]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
EN ISO 10218-1: 2011
SGS Verification of MD Compliance No. MD GZES2403005468MD (UFACTORY Robotic Arm, Model No. XI13, XI15), as linked from the xArm manual section 7.12 · SGS-CSTC Standards Technical Services Co., Ltd. (published by UFACTORY) · Test Standard field
SGS verification document, published by UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
These documents are revisions, replacing the 2011 versions of Parts 1 and 2.
Updated ISO 10218: Answers to Frequently Asked Questions (FAQs) (A3 blog, 03/20/2025; Wayback Machine snapshot 2025-10-06) · Association for Advancing Automation (A3) · FAQ 1
© Association for Advancing Automation (A3) · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Kind: Gapspec-569
Not known
The xArm manual's list of applied standards does not include ISO/TS 15066; no statement of ISO/TS 15066 conformance for the xArm 6 was found in the manual or the product page.
Related: spec-566 Verified
Evidence · 1 citation
MD 2006/42/EC EMC 2004/108/EC EN ISO 10218-1:2011 EN 60204-1:2018 EN ISO 12100:2010 EN 61000-6-2:2005 EN 61000-6-4:2007+A1:2011
UFACTORY xArm Hardware Manual (online), 7. Production Information · UFACTORY · 7.2 Applied Standards, list (the full list)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
Kind: Gapspec-572
Not known
The product page lists the xArm's 'Base Connector Type' as M5*5 and does not say which connector this is; the manual's specification table does not list a base connector.
Evidence · 1 citation
Base Connector Type M5*5
UFACTORY xArm product page · UFACTORY · Tech Specs > Hardware, 'xArm Robot Specs' table (xArm product page, which covers the xArm 5, 6 and 7)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Confidence: Verifiedcomp-711
The record says
TCP stands for Tool Center Point. With no TCP offset set, the default tool coordinate system sits at the flange center; a TCP offset, in mm, moves it to the actual tool point.
Evidence · 3 citations
TCP: Tool Center Point.
UFACTORY Studio User Manual (online), 2. Glossary · UFACTORY · Glossary, 'TCP' (manual text not model-specific; the Studio manual's Preface lists the xArm 6 among the models it applies to)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
If the TCP offset is not set, the default tool coordinate system is located at flange center.
UFACTORY Studio User Manual (online), 2. Glossary · UFACTORY · Glossary, 'Tool Coordinate System'
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Set the relative offset between the default tool coordinate system at flange center and the actual tool coordinate system, with distance unit of mm.
UFACTORY Studio User Manual (online), 2. Glossary · UFACTORY · Glossary, 'TCP Offset'
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Confidence: Verifiediface-522
The record says
UFACTORY's common specifications for the xArm 5, 6 and 7 give the arm's communication protocol as 'Private TCP(custom)', and both the AC and DC control boxes communicate over Ethernet.
Evidence · 3 citations
8.1 xArm5/xArm6/xArm7 Common Specifications
UFACTORY xArm Hardware Manual (online), 8. Technical Specifications · UFACTORY · Section heading
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-15
Open the source
Robotic Arm Communication Protocol | Private TCP(custom)
UFACTORY xArm Hardware Manual (online), 8. Technical Specifications · UFACTORY · 8.1 table, 'Robotic Arm Communication Protocol' row
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-15
Open the source
Communication Method | Ethernet | Ethernet
UFACTORY xArm Hardware Manual (online), 8. Technical Specifications · UFACTORY · 8.1 controller table, 'Communication Method' row
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-15
Open the source
Confidence: Verifiedcomp-712
The record says
The base coordinate system is a Cartesian frame on the arm's mounting base: X is front and back, Y left and right, Z up and down. A user coordinate system can be defined as any other reference frame; once set, it becomes the world origin instead of the robot base.
Evidence · 3 citations
Quote not shown (over 40 words). See the source at: Glossary, 'Base Coordinate System' (manual text not model-specific; the Studio manual's Preface lists the xArm 6 among the models it applies to).
UFACTORY Studio User Manual (online), 2. Glossary · UFACTORY · Glossary, 'Base Coordinate System' (manual text not model-specific; the Studio manual's Preface lists the xArm 6 among the models it applies to)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
The user coordinate system can be defined as any other reference coordinate system rather than the robot base.
UFACTORY Studio User Manual (online), 2. Glossary · UFACTORY · Glossary, 'User System'
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
After this offset setting, user coordinate system becomes the world origin instead of robot base.
UFACTORY Studio User Manual (online), 7. Settings · UFACTORY · 7.1.3 Coordinates
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-13
Open the source
Confidence: Verifiedsafety-511
The record says
The xArm manual says that when the arm is in operation, no people or other equipment should be in the working area.
Evidence · 1 citation
When the robotic arm is in operation, make sure no people or other equipment are in the working area.
UFACTORY xArm Hardware Manual (online), 1. Safety · UFACTORY · 1.3, DANGER list [series text: names no single model]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
Kind: Contradictionsafety-568
Sources disagree
UFACTORY's xArm product page presents the xArm as a collaborative robot ('cobot'), while the xArm manual says no people or other equipment should be in the working area when the arm is in operation. Neither source says how the two fit together.
Evidence · 3 citations
Durable Collaborative robots for your automation
UFACTORY xArm product page · UFACTORY · 'Brief Introduction' heading [page covers xArm 5, 6 and 7]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Collision detection is available for all of our cobots.
UFACTORY xArm product page · UFACTORY · 'Flexible deployment with safe feature'
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
When the robotic arm is in operation, make sure no people or other equipment are in the working area.
UFACTORY xArm Hardware Manual (online), 1. Safety · UFACTORY · 1.3, DANGER list [series text: names no single model]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
Kind: RecommendationThis project's simulation and agent design, not the physical cellsafety-594
Project advice
Treat the xArm 6's collision detection, safety boundary and reduced mode as configurable controller functions, not validated safeguards: they must not replace risk-assessed protective devices wired to the EI and SI inputs.
This is advice from this project, based on: safety-578 Gap safety-559 Verified safety-560 Verified safety-561 Verified safety-564 Verified safety-565 Verified safety-544 Verified
Why: No fetched UFACTORY document gives these functions a Performance Level or SIL. Collision detection is a current-model comparison that UFACTORY says can false-trigger and can be switched off; the safety boundary and reduced mode are settings. A function with no documented rating cannot stand in for a rated protective device.
Confidence: Verifiedcomp-537
The record says
UFACTORY's xArm product page lists hand teaching among the xArm's features, and says collision detection is available for all of its cobots.
Evidence · 2 citations
Hand teaching, lightweight, space-saving and easy to re-deploy to multiple applications without changing your production layout.
UFACTORY xArm product page · UFACTORY · Overview, 'Flexible deployment with safe feature' (xArm product page, which covers the xArm 5, 6 and 7)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Collision detection is available for all of our cobots.
UFACTORY xArm product page · UFACTORY · Overview, 'Flexible deployment with safe feature' (xArm product page, which covers the xArm 5, 6 and 7)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Kind: Gapcomp-554
Not known
No specification for the BIO Gripper G2, the 6-axis force/torque sensor or the linear motor (payload, force range, resolution, stroke) was found in the xArm manual or the product page; only their names are listed.
Evidence · 2 citations
Gripper Vacuum Gripper BIO Gripper G2 6 Axis Force Torque Sensor Linear motor
UFACTORY xArm product page · UFACTORY · Overview, 'Seamless integration with official accessories' (xArm product page, which covers the xArm 5, 6 and 7)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
End Effector(FT Sensor, BIO Gripper, Vacuum Gripper, xArm Gripper).
UFACTORY xArm Hardware Manual (online), 2. Hardware Installation · UFACTORY · 2.1.1 Hardware Composition (chapter says 'Apply to Model: XF1305, XI1305, XS1305 (1305 Model)')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
Kind: Contradictioncomp-710
Sources disagree
Sources disagree on how the xArm AC control box powers the arm: the manual's controller chapter says its internal supply converts 100-240 V AC into 12 V and 48 V DC for the control box and the arm, while the common specification table gives the arm's input as 24 V DC, 20.8 A and the AC controller's output as 24 V DC, 20.8 A.
Evidence · 3 citations
its internal switching power supply converts 100V-240V AC into 12V, 48V DC, which supplies power to the load of the control box and the robotic arm.
UFACTORY xArm Hardware Manual (online), 3. Controller Electrical Interface · UFACTORY · 3.2.2 Power Supply (chapter text is not split by model)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
Input Power Supply | 24V DC, 20.8A
UFACTORY xArm Hardware Manual (online), 8. Technical Specifications · UFACTORY · 8.1 xArm5/xArm6/xArm7 Common Specifications
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-15
Open the source
Output | 24V DC , 20.8A | 24V DC 672Wmax
UFACTORY xArm Hardware Manual (online), 8. Technical Specifications · UFACTORY · 8.1 controller table, 'Output' row
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-15
Open the source
Kind: GapAwaiting cell accessint-033
Not known
Cycle times for S2's moves (S1 to S3, S3 to S4, and a defective part's move to the defects area) and for the S4/S5 laser step are not documented, so throughput and the benefit of two arms cannot be quantified.
Awaiting cell access: this could be confirmed or corrected once the physical S6 cell can be observed.
Related: int-011 Inferred int-081 Verified int-086 Superseded by int-107 Verified int-538 Verified
Kind: Gaplim-513
Not known
No chapter of the xArm manual (Preface and chapters 1 to 8) and nothing on the xArm product page gives an IP (ingress protection) rating for the xArm 6 or its Control Boxes. The manual refers only to 'non-waterproof equipment' and to keeping water and dust out.
Evidence · 1 citation
Make sure that all the non-waterproof equipment is kept dry.
UFACTORY xArm Hardware Manual (online), 3. Controller Electrical Interface · UFACTORY · 3.1 Electrical Alarms and Cautions, NOTICE [series text: names no single model]
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
Kind: GapAwaiting cell accessspec-549
Not known
No dimensioned base or tool-flange drawing values for the xArm 6 (bolt size and count, hole pattern, bolt torque, base height) were captured as text: the manual's 'Robot Base Mounting' section and the product page's 'Robot base mounting (mm)' and 'Robot tool head' drawings are images only.
Awaiting cell access: this could be confirmed or corrected once the physical S6 cell can be observed.
Evidence · 2 citations
2.2.3.1 Robot Base Mounting
UFACTORY xArm Hardware Manual (online), 2. Hardware Installation · UFACTORY · 2.2.3.1 heading (followed only by figures) (chapter says 'Apply to Model: XF1305, XI1305, XS1305 (1305 Model)')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Open the source
Dimension Robot tool head Robot base mounting (mm)
UFACTORY xArm product page · UFACTORY · Tech Specs > Dimension (xArm product page, which covers the xArm 5, 6 and 7)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Kind: Contradictionspec-583
Sources disagree
The xArm manual's specifications page has given two thread sizes for the xArm's end flange: 'DIN ISO 9409-1-A50/63 (M5*6)' until 2026-10-15, and 'DIN ISO 9409-1-A50/63 (M6*6)' as the page read on 2026-10-15 (publisher's commit 0d30e6b, in English and Chinese). The current reading is spec-582; spec-573 is kept as history.
Related: spec-573 Superseded by spec-582 Verified spec-582 Verified
Evidence · 2 citations
End Flange DIN ISO 9409-1-A50/63（M5*6）
UFACTORY xArm Hardware Manual (online), 8. Technical Specifications, as it read until 2026-10-15 (publisher's repository, commit e474ecb) · UFACTORY · 'End Flange' row (section '8.1 xArm5/xArm6/xArm7 Common Specifications': applies to all three models) (text until 2026-10-15, publisher's commit e474ecb)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-15
Open the source
End Flange DIN ISO 9409-1-A50/63（M6*6）
UFACTORY xArm Hardware Manual (online), 8. Technical Specifications · UFACTORY · 'End Flange' row (section '8.1 xArm5/xArm6/xArm7 Common Specifications': applies to all three models) (read 2026-10-15, publisher's commit 0d30e6b; until that date, at commit e474ecb, it read 'End Flange DIN ISO 9409-1-A50/63（M5*6）')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-15
Open the source

Image Credits

Sources for This Section

0.1 mm Displacement Test for 850 and xArm 6 (support article) · UFACTORY (manufacturer)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25 · cited by 1 record here · Open the source
IntelliMake Phase 1 Factory: Autonomous Production Demonstrator (infographic) · IntelliMake.org (IntelliMake)
© IntelliMake.org. Used with permission; redrawn for this platform. · Cleared for use by its owner · retrieved 2026-09-21 · cited by 1 record here · Project copy; not published on this site.
Kinematic and Dynamic Parameters of xArm Series: telling the model by SN (support article) · UFACTORY (manufacturer)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25 · cited by 1 record here · Open the source
Kinematic and Dynamic Parameters: xArm 6 (support article) · UFACTORY (manufacturer)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25 · cited by 1 record here · Open the source
SGS Verification of MD Compliance No. MD GZES2403005468MD (UFACTORY Robotic Arm, Model No. XI13, XI15), as linked from the xArm manual section 7.12 · SGS-CSTC Standards Technical Services Co., Ltd. (published by UFACTORY) (manufacturer)
SGS verification document, published by UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25 · cited by 2 records here · Open the source
The difference between UFACTORY xArm5, UFACTORY xArm6 and UFACTORY xArm7 (Help Center article) · UFACTORY (manufacturer)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21 · cited by 2 records here · Open the source Plain http: this publisher has no certificate for that name, so what loads cannot be verified.
The difference between UFACTORY xArm5, xArm6 and xArm7 (support article) · UFACTORY (manufacturer)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25 · cited by 4 records here · Open the source
UFACTORY 850 Hardware Manual (online), 7. Production Information · UFACTORY (manufacturer)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21 · cited by 1 record here · Open the source
UFACTORY Studio User Manual (online), 11. Technical Specifications · UFACTORY (manufacturer)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25 · cited by 2 records here · Open the source
UFACTORY Studio User Manual (online), 2. Glossary · UFACTORY (manufacturer)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21 · cited by 2 records here · Open the source
UFACTORY Studio User Manual (online), 4. Live Control · UFACTORY (manufacturer)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-13 · cited by 1 record here · Open the source
UFACTORY Studio User Manual (online), 7. Settings · UFACTORY (manufacturer)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-13 · cited by 2 records here · Open the source
UFACTORY xArm Hardware Manual (online), 1. Safety · UFACTORY (manufacturer)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25 · cited by 2 records here · Open the source
UFACTORY xArm Hardware Manual (online), 2. Hardware Installation · UFACTORY (manufacturer)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25 · cited by 11 records here · Open the source
UFACTORY xArm Hardware Manual (online), 3. Controller Electrical Interface · UFACTORY (manufacturer)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25 · cited by 9 records here · Open the source
UFACTORY xArm Hardware Manual (online), 4. Robotic Electrical Interface · UFACTORY (manufacturer)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25 · cited by 3 records here · Open the source
UFACTORY xArm Hardware Manual (online), 7. Production Information · UFACTORY (manufacturer)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25 · cited by 15 records here · Open the source
UFACTORY xArm Hardware Manual (online), 8. Technical Specifications · UFACTORY (manufacturer)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-15 · cited by 56 records here · Open the source
UFACTORY xArm Hardware Manual (online), 8. Technical Specifications, as it read until 2026-10-15 (publisher's repository, commit e474ecb) · UFACTORY (manufacturer)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-15 · cited by 1 record here · Open the source
UFACTORY xArm Hardware Manual (online), Preface · UFACTORY (manufacturer)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25 · cited by 13 records here · Open the source
Updated ISO 10218: Answers to Frequently Asked Questions (FAQs) (A3 blog, 03/20/2025; Wayback Machine snapshot 2025-10-06) · Association for Advancing Automation (A3) (secondary)
© Association for Advancing Automation (A3) · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21 · cited by 1 record here · Open the source
xarm_ros2 (branch humble), xarm_description/urdf/xarm6/xarm6.urdf.xacro · UFACTORY (manufacturer)
© UFACTORY Inc., xArm-Developer/xarm_ros2, BSD 3-Clause License · BSD-3-Clause · retrieved 2026-09-25 · cited by 11 records here · Open the source
xarm_ros2 (branch humble), xarm_description/urdf/xarm6/xarm6_robot_macro.xacro · UFACTORY (manufacturer)
© UFACTORY Inc., xArm-Developer/xarm_ros2, BSD 3-Clause License · BSD-3-Clause · retrieved 2026-09-25 · cited by 1 record here · Open the source

All sources and attribution

References: §5 Key Specifications and Capabilities

References · 111

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