Operate: virtual training and commissioning of a simulated arm
Twin: a twin-ready view of the arm and its cell
§5 xArm 6
Key specifications and capabilities
The numbers that matter, where each one comes from, and which ones are disputed or missing.
Start here
This section gives the numbers that matter for using this machine, where each one comes from, and which ones are disputed or missing. Every figure carries its source. Many figures are published once for a whole family of arms, and the page says so where they are. Where sources disagree, both sides are shown beside the figure; where the UFACTORY sources give no figure, the page says so instead of guessing.
repeatability; the UFACTORY sources give no accuracy figure23
None
IP rating in the manual or product page for the arm or its control boxes4
It is a UFACTORY cobot with six degrees of freedom, a maximum payload of 5 kg and a reach of 700 mm5678.
Its stated repeatability is ±0.1 mm, a figure the manual gives for the xArm 5, 6 and 7 in common. The UFACTORY sources give no figure for its absolute positioning accuracy23.
Some figures differ between UFACTORY's own sources, such as the arm's weight and the range of J2910.
S6 in one line: S6 is the xArm 6 arm that handles parts after processing, routing them to inspection, rework or shipping5.
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Choose your depth
Four depths, one page. Switch at any time: every tier stays open to everyone. What the four tiers mean
1Beginner
The numbers that describe the arm
For: Anyone with no robotics background: a visitor, a new operator, a manager Kind of task: Recognise and recall, with plain-language explanations and pictures
In this part you learn the handful of numbers that describe the arm, and what each one does and does not tell you. Every number comes from a UFACTORY document, and its source is marked beside it.
Size and strength
The arm has six degrees of freedom. Each rotary joint is one of them, numbered from the bottom up611.
The arm alone weighs 12.5 kg, by UFACTORY's online hardware manual and product page. Another UFACTORY source gives a different weight; the Novice panel shows both12.
It is made of aluminium and carbon fibre, as the manual says of the xArm 5, 6 and 7 together13.
How fast it moves
The end effector, the tool at the end of the arm, can move at up to 1 m/s. The manual gives this top speed for the xArm 5, 6 and 7 together1.
When a person drives the arm from UFACTORY Studio's Live Control, the jog speed goes up to 230 mm/s. Studio says that is not the arm's actual maximum motion speed14.
How precisely it returns
Repeatability describes how closely an arm comes back to the same taught point, time after time. It is a different question from how closely the arm lands on a point that was only calculated.
UFACTORY states a repeatability of ±0.1 mm, a figure its manual gives for the xArm 5, 6 and 7 together2.
UFACTORY's 850 is stated at ±0.02 mm, so the xArm 6's figure is the looser of the two15.
The manual and the product page give no dust and water (IP) rating for the arm or its control boxes. Instead, the manual warns that the arm and its hardware must not be in direct contact with liquid, and to keep equipment that is not waterproof dry4.
Reading a number on this page
A number marked Verified means a UFACTORY document states it. It does not mean anyone has measured it on the arm at the physical cell. When a figure is published for a family of arms, the page says so. When two documents disagree, the site shows both and does not pick one quietly.
Check yourself
Answer, then check. Each option has its own feedback, and nothing is scored.
2Novice
The numbers you need to plan a workspace
For: Someone who will work near or with the cell: operator, trainee technician Kind of task: Explain and sequence: put steps in order, match parts to their functions
In this part you collect the figures you need to prepare a space for the arm: the power its control box takes, the connections on it, the room the arm needs and the conditions it tolerates. It is for someone who will prepare the space or wire up the cell.
Power
A control box is included with the xArm by default. The manual lists an AC and a DC control box1920.
The AC control box accepts 100–240 V AC at 50/60 Hz. The manual's power-supply text gives its input frequency as 47–63 Hz21. The manual's cabling step gives 110V-240V instead, so the lower limit is disputed22. It weighs 3.9 kg23.
The DC control box accepts 24–72 V DC24. It weighs 2.6 kg25.
The manual and the product page give the xArm's typical power consumption as 200 W26.
Connections on the control box
Both control boxes have 8 CI and 8 DI digital inputs, and 8 CO and 8 DO digital outputs27.
Both have 2 analog inputs and 2 analog outputs28, and one RS-485 master port2930.
At the tool end, the product page lists 2 digital inputs, 2 digital outputs, 2 analog inputs and 1 RS-485 port. The manual's tool connector pin table has matching signals31.
The arm and both control boxes talk over Ethernet, using UFACTORY's private TCP protocol32.
Room and surroundings
The base footprint is Ø126 mm, a figure the manual gives for the xArm 5, 6 and 7 together33.
The rated surroundings are 0–50 °C16 and 25–85% humidity, non-condensing34.
The manual calls for indoor use away from direct sunlight, with no corrosive gas or liquid, flammable materials, dust or metal powder, shock or vibration, among other conditions35.
The manual and the product page give no IP rating for the arm or its control boxes4.
The arm's weight
The online hardware manual and the product page's comparison table give 12.5 kg for the arm only. UFACTORY's support article comparing the xArm 5 Lite, 6 and 7 gives 12.2 kg, body only, and the product page's introduction says "15kg weight" without naming a model129.
UFACTORY Studio's TCP payload setting is the actual mass of the end effector plus the object, in kg36.
The Gripper listed in the manual's common specifications weighs 802 g37.
Check yourself
Answer, then check. Each option has its own feedback, and nothing is scored.
3Intermediate
Ranges, settings and disputed figures
For: Someone who will set up, program or maintain the arm: technician, student engineer Kind of task: Apply: work through written scenarios that need a decision (which mode, which setting, what to do about this error), with feedback on each choice
In this part you work with the figures you need to program and install the arm, and you meet the places where UFACTORY's own sources disagree. Where a figure is disputed, the dispute is cited right beside it: use the figure, but know which source it came from.
Joint ranges
The online hardware manual and the product page give J1, J4 and J6 a range of ±360°404142, and J5 a range of -97° to 180°43.
The same two sources give J2 as -117° to 116°44. Sources disagree: UFACTORY's support article comparing the xArm 5 Lite, 6 and 7 gives -118° to 120°, and the xarm6 URDF's default limits, in radians, come to about the same10.
They give J3 as -219° to 10°45. Sources disagree: the support article gives -225° to 11°, and the URDF's default limits come to about the same46.
The Studio manual's specifications table adds a third J3 figure for the xArm6, -255° to 11°, and gives J2 as -118° to 120°47.
UFACTORY distinguishes four xArm 6 versions by serial number. This project advises reading the arm's serial number before relying on a disputed figure such as these48.
The maximum joint speed is 180°/s, stated once for all joints, and given in common for the xArm 5, 6 and 749.
Speed settings
The xArm manual's motion-parameter table covers models XF1305, XI1305 and XS1305. It gives the TCP speed parameter a range of 0 to 1000 mm/s50, and the joint speed parameter 0 to 180°/s51.
These are ranges the software accepts. The UFACTORY sources do not give the speed and acceleration the xArm 6 reaches while carrying its full 5 kg payload across its reach52.
The space it can reach
The Cartesian range is ±700 mm in X and in Y53. In Z it runs from -400 mm to 951.5 mm; the table does not name the reference frame54.
Roll, pitch and yaw each range ±180°55. All of these are given in common for the xArm 5, 6 and 7535455.
The manual and the product page give the working range itself only as drawings, and the product page says its working-range diagrams are only for safety assessment56.
Power supply
The typical power consumption is 200 W26. 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 consumption57.
The manual's common specifications give the arm's input as 24 V DC, 20.8 A58. The manual disagrees with itself here: its specification table gives the AC controller's output as 24 V DC, 20.8 A, but its Power Supply text says the internal supply converts 100–240 V AC into 12 V and 48 V DC, which powers the control box and the arm59.
The DC control box outputs 24 V DC, up to 672 W60.
The manual gives the AC box's lower mains limit as 100 V in its specification table and power-supply section, but 110 V in its installation steps61.
Mounting and the control box
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 arm's weight. The mounting surface must be shockproof and sturdy62.
The text of the manual's Robot Base Mounting section is two figures, with no written bolt size, bolt count or tightening torque63.
The AC control box measures 285 × 135 × 101 mm64, and the DC control box 262 × 160 × 76 mm65.
Surroundings
The manual's environment list gives an altitude below 2000 m66. The manual's common specifications give ISO Class 5 for cleanroom use67.
The manual and the product page give no noise figure for the arm. The only one given is for the Vacuum Gripper accessory, under 60 dB at 30 cm68.
Communication ports
The manual and the product page list one RS-485 master port on the control box29.
The tool connector supplies 24 V, in a 20–30 V range, at up to 1800 mA69.
Sources disagree on the end-effector 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 effectors70.
Check yourself
Answer, then check. Each option has its own feedback, and nothing is scored.
4Expert
What the figures can and cannot support
For: Someone who designs, integrates or changes the cell: integrator, engineer, agent developer Kind of task: Analyse and decide: weigh trade-offs, resolve contradictions, critique a configuration
In this part you test which published figures can carry an engineering decision and which cannot. Some numbers come from a robot model file rather than a rated specification, some are software settings rather than capabilities, some were measured on an arm nobody names, and some that an integrator needs are not in the UFACTORY sources.
Model limits are not ratings
The xarm6 URDF sets a velocity limit of 3.14 rad/s, about 180°/s, on every joint from J1 to J6. That is consistent with the 180°/s maximum joint speed in the manual71.
The URDF in UFACTORY's xarm_ros2 package sets effort limits of 50 for J1 and J2, 32 for J3, J4 and J5, and 20 for J6727374757677.
The file gives those effort limits no unit, and does not call them rated torques72. So do not quote them as torque ratings.
The URDF's default limits are ±2π rad for J1, J4 and J6 and -1.69297 to π rad for J5, matching the manual's ranges for those joints. They are the ROS model's limits, not a separate manufacturer specification78.
With limited:=true the macro 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. The default is limited:=false79.
Motion settings and power details
The xArm manual's motion-parameter table gives the TCP acceleration parameter 0 to 50000 mm/s², and the TCP jerk parameter 0 to 100000 mm/s³8081.
It gives the joint acceleration parameter 0 to 1145°/s², and the joint jerk parameter 0 to 28647°/s³8283.
These are ranges the software accepts. The UFACTORY sources give no cycle-time data for the xArm 6, or the speed and acceleration it reaches with its full 5 kg payload across its reach52.
The manual gives a minimum power consumption of 8.4 W, common to the xArm 5, 6 and 7; the product page gives none84.
Stopping data
The xArm manual's Stop Category 1 table names no arm model. It was measured fully extended horizontally, at 100% speed (joint speed 180 °/s), with a 5 kg payload at the TCP. Joint 1 stops within 0.62 rad, in 521 ms85.
Joint 2 stops within 1.12 rad, in 885 ms, and Joint 3 within 0.67 rad, in 577 ms, both with the robot moving downwards8687.
These figures are identical to those in UFACTORY's 850 manual88. The 5 kg test payload matches the xArm 6's maximum and neither the xArm 5's nor the xArm 7's, but that is an inference: the table does not say which model was tested89.
The manual gives no stop data for Joints 4 to 6, for other speeds or payloads, for Stop Category 2, or for stopping after a collision is detected, and any separation-distance calculation at S6 needs these90. This project advises against using these figures for S6 separation distances until UFACTORY confirms which arm and configuration they were measured on91.
Payload and accuracy gaps
The manual says the payload is related to the TCP offset, but its text gives no payload-versus-offset values. So the allowable payload at a given tool offset cannot be read from the text92.
The ±0.1 mm figure is repeatability. The UFACTORY sources give no absolute positioning accuracy for the xArm 6. That matters for offline programming and vision-guided picking, which rely on computed coordinates3.
UFACTORY published a 0.1 mm displacement test for the xArm 6 (model XI1305) and the 850, at room temperature with no payload. The article gives its results as charts and a raw-data download, not as figures in its text93.
Certification
The xArm manual says the xArm 6 is certified and tested by SGS and has passed EU CE certification. It lists MD 2006/42/EC, EMC 2004/108/EC, EN ISO 10218-1:2011, EN 60204-1:2018, EN ISO 12100:2010, EN 61000-6-2:2005 and EN 61000-6-4:2007+A1:201194.
The SGS machinery verification linked from the manual covers model numbers XI13 and XI15, and found the tested samples conformed to EN ISO 10218-1:2011, EN 60204-1:2018 and EN ISO 12100:201095.
This platform infers that the evidence shows verification against the 2011 edition of ISO 10218-1, not the 2025 edition96. The list of applied standards does not include ISO/TS 1506697.
An unclear row
The product page lists a base connector type of M5*5 without saying which connector it is, and the manual's specification table lists none98.
Check yourself
Answer, then check. Each option has its own feedback, and nothing is scored.
Not settled
Open questions · 24
What the sources do not settle for this section. Nothing here is papered over with a plausible number.
Kind: Gap
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.
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.
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.
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°).
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.
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°, and the xarm6 URDF's default limits are -3.927 to 0.19198 rad (about -225° to 11°).
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.
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.
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.
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.
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)').
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.
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).
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.
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.
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.
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.
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.
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.
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.
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.
Cycle times for S2's moves (S1 to S4, S1 to S3, S3 to S4) and for the S4/S5 laser step are not documented, so throughput and the benefit of two arms cannot be quantified.
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.
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.
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]
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.
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)
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
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
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.
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)
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)
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.
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.
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).
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]
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)
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 xArm Hardware Manual (online), 7. Production Information · UFACTORY · 7.4 Disposal and Environment (manual for the xArm series; this passage names no single model)
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).
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)
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)
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 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 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 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 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 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 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 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)
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.
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)
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 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)
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)
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)
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 Studio says to set the TCP payload and TCP offset according to the actual situation. The TCP payload is the actual mass of end-effector plus object in kg, with its centre of gravity in mm in the default TCP frame at the flange centre; with virtually no load, both must be set to 0. The TCP offset gives the tool centre point's position (X, Y, Z) and orientation (roll, pitch, yaw) relative to the flange-centre frame.
Evidence · 5 citations
Set TCP Payload and TCP Offset according to the actual situation.
UFACTORY Studio User Manual (online), 7. Settings · UFACTORY · 7.1.2 TCP [general Studio text; the Studio manual says it applies to the xArm6]
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]
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)
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]
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).
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).
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°, and the xarm6 URDF's default limits are -3.927 to 0.19198 rad (about -225° to 11°).
Awaiting cell access: this could be confirmed or corrected once the physical S6 cell can be observed.
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.
Evidence · 4 citations
Joint Range | J1~J6 (±360°, -117~116°, -219~10°, ±360°, -97~180°, ±360°)
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 accessspec-506 Contradiction, awaiting cell accessspec-516 Contradiction, awaiting cell accessspec-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
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'
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]
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)
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.
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)
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)
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.
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)
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)
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 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)
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)').
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)
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)
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.
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]
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)
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)
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)
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)
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)
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')
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.
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.
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.
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.
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.
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.
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.
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.
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'
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'
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]
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]
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]
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]
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]
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]
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]
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]
Kind: RecommendationAwaiting cell accessThis project's simulation and agent design, not the physical cellProject design, not the physical cellsafety-597
Project advice
Do not use the xArm manual's Stop Category 1 figures for S6 separation distances until UFACTORY confirms which arm and configuration they were measured on; measure the S6 arm's stopping behaviour at the cell if the risk assessment needs it.
Awaiting cell access: this could be confirmed or corrected once the physical S6 cell can be observed.
This is advice from this project, based on: safety-535 Verifiedsafety-534 Inferredsafety-580 Gap
Why:The table names no model, its figures are identical to the 850 manual's, and it covers only Joints 1 to 3 in one configuration. A separation distance built on it would rest on data that may not describe the S6 arm.
The 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.
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 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
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)
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
SGS Verification of MD Compliance No. MD GZES2403005468MD (UFACTORY Robotic Arm, Model No. XI13, XI15), as linked from the xArm manual section 7.12 · SGS-CSTC Standards Technical Services Co., Ltd. (published by UFACTORY) · Model No. field
SGS verification document, published by UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
Sufficient samples of the product have been tested and found to be in conformity with
SGS Verification of MD Compliance No. MD GZES2403005468MD (UFACTORY Robotic Arm, Model No. XI13, XI15), as linked from the xArm manual section 7.12 · SGS-CSTC Standards Technical Services Co., Ltd. (published by UFACTORY) · Test Standard field
SGS verification document, published by UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
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
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
SGS Verification of MD Compliance No. MD GZES2403005468MD (UFACTORY Robotic Arm, Model No. XI13, XI15), as linked from the xArm manual section 7.12 · SGS-CSTC Standards Technical Services Co., Ltd. (published by UFACTORY) · Test Standard field
SGS verification document, published by UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
The CE mark can be affixed, under the responsibility of the manufacturer, after completion of an EC Declaration of Conformity and compliance with all relevant EC Directives.
SGS Verification of MD Compliance No. MD GZES2403005468MD (UFACTORY Robotic Arm, Model No. XI13, XI15), as linked from the xArm manual section 7.12 · SGS-CSTC Standards Technical Services Co., Ltd. (published by UFACTORY) · Closing paragraph
SGS verification document, published by UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
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]
SGS Verification of MD Compliance No. MD GZES2403005468MD (UFACTORY Robotic Arm, Model No. XI13, XI15), as linked from the xArm manual section 7.12 · SGS-CSTC Standards Technical Services Co., Ltd. (published by UFACTORY) · Test Standard field
SGS verification document, published by UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25
The 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.
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)
TCP stands for Tool Center Point. With no TCP offset set, the default tool coordinate system sits at the flange centre; 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'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.
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'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.
Kind: RecommendationThis project's simulation and agent design, not the physical cellProject 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 Gapsafety-559 Verifiedsafety-560 Verifiedsafety-561 Verifiedsafety-564 Verifiedsafety-565 Verifiedsafety-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.
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)
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)
Cycle times for S2's moves (S1 to S4, S1 to S3, S3 to S4) 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.
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]
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)')
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