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Resource Desk

§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.

  • 1 m/s

    top speed of the end effector1

  • ±0.1 mm

    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.

Look Back

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

q-s04-b-01 What is the TCP?
  1. Check option (a)

    Correct. Right. TCP stands for Tool Center Point, and the offset is set in millimeters.99

  2. Check option (b)

    Not this one. Here TCP means Tool Center Point. The same three letters also name the protocol the control box uses over Ethernet, which Section 8 covers.99100

  3. Check option (c)

    Not this one. The base is where the base coordinate system sits. The TCP is at the tool end.10199

q-s04-b-03Safety UFACTORY says collision detection is available on the xArm. Does that make it safe to walk into its path?

About:105

  1. Check option (a)

    Not this one. The manual says no people should be in the working area while the arm operates. Keep out while it runs.102103

  2. Check option (b)

    Correct. Right. This project's advice is to treat it as a controller function you can configure, not a validated safeguard.104

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: Recognize 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.
  • It can carry at most 5 kg7.
  • UFACTORY gives it a reach of 700 mm8.
  • 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 aluminum and carbon fiber, 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.

Where It Can Work

  • It is rated for surroundings from 0 to 50 °C16.
  • It can be mounted in any direction17.
  • 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.

q-s05-b-01 What is the most the xArm 6 can carry?
  1. Check option (a)

    Correct. Right. UFACTORY gives the xArm 6 a maximum payload of 5 kg.7

  2. Check option (b)

    Not this one. 12.5 kg is the arm's own weight, by UFACTORY's online hardware manual and product page. The payload is 5 kg.127

  3. Check option (c)

    Not this one. 700 is the reach, in millimeters: 700 mm. The payload is 5 kg.87

q-s05-b-02 Where does the xArm 6's ±0.1 mm repeatability figure come from?

About:2

  1. Check option (a)

    Correct. Right. The manual gives the same repeatability for all three arms.218

  2. Check option (b)

    Not this one. No. It is what UFACTORY's manual states. Verified means a document says so, not that anyone measured it at the cell.2

  3. Check option (c)

    Not this one. The 850 is stated at ±0.02 mm, against ±0.1 mm for the xArm 6.15

q-s05-b-03 Do the UFACTORY sources give a dust and water (IP) rating for the xArm 6 arm?
  1. Check option (a)

    Correct. Right. It is a recorded gap. The manual instead warns against direct contact with liquid and says to keep equipment that is not waterproof dry.4

  2. Check option (b)

    Not this one. The manual and the product page give none, and the manual warns that the arm and its hardware must not be in direct contact with liquid.4

  3. Check option (c)

    Not this one. Mounting direction is a different figure. The manual and the product page give no IP rating for the arm or its control boxes.174

Open questions in this section

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.

What Goes into the Payload Setting

  • The maximum payload is 5 kg7.
  • 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.

q-s05-n-01 The workshop gets hotter than 50 °C in summer. Is the xArm 6 rated for that?

About:16

  1. Check option (a)

    Correct. Right. Above 50 °C is outside the rating.16

  2. Check option (b)

    Not this one. Humidity has its own limit, 25–85% non-condensing, but it does not extend the 0–50 °C temperature rating.3416

  3. Check option (c)

    Not this one. ISO Class 5 is a rating for cleanroom use. The temperature rating is still 0–50 °C.3816

q-s05-n-02 How many digital inputs does an xArm control box have in total?
  1. Check option (a)

    Correct. Right. Both the AC and the DC control box have two banks of 8.27

  2. Check option (b)

    Not this one. 2 digital inputs is the tool end of the arm, not the control box.31

  3. Check option (c)

    Not this one. 8 is one bank. The control box has 8 CI and 8 DI digital inputs.27

q-s05-n-03Safety You are marking the floor around S6 from the manual's working-range figure. What must you add?
  1. Check option (a)

    Correct. Right. The manual notes that the working range it shows does not include the end effector, and says to take the range of motion into account so the arm does not bump into people and equipment.39

  2. Check option (b)

    Not this one. The manual notes that the working range it shows does not include the end effector.39

  3. Check option (c)

    Not this one. 700 mm is UFACTORY's reach figure. The manual notes that the working range it shows does not include the end effector.839

Open questions in this section

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.

q-s05-i-01 UFACTORY's sources give two J2 ranges for the xArm 6. What should you do before setting a J2 software limit?

About:10

  1. Check option (a)

    Correct. Right. UFACTORY distinguishes four xArm 6 versions by serial number, and this project advises reading it before relying on a disputed figure such as J2.4810

  2. Check option (b)

    Not this one. The URDF and a support article give about that range, but the online hardware manual and product page give -117° to 116°. The sources disagree, and none of them settles it.10

  3. Check option (c)

    Not this one. ±360° is given for J1. J2 is given as -117° to 116° in the online hardware manual and product page.4044

q-s05-i-02 What does UFACTORY Studio's TCP payload setting hold?
  1. Check option (a)

    Correct. Right. Studio says to set it according to the actual situation, and to 0 with virtually no load.36

  2. Check option (b)

    Not this one. Studio's TCP payload is the mass of the end effector plus the object, so the gripper counts too.36

  3. Check option (c)

    Not this one. The arm's own weight is not a payload setting. Studio's TCP payload is the end effector plus the object.36

q-s05-i-03Safety What must the xArm 6's mounting surface withstand?
  1. Check option (a)

    Correct. Right. The manual also says the mounting surface must be shockproof and sturdy.62

  2. Check option (b)

    Not this one. Weight plus payload is not the test. The manual asks for at least 5 times the arm's weight and 10 times the base joint's full torsion.627

  3. Check option (c)

    Not this one. The mounting section's text is two figures and gives no written bolt size, count or torque. The load the surface must bear is stated separately.6362

Open questions in this section

4Expert

What the Figures Can and Cannot Support

For: Someone who designs, integrates or changes the cell: integrator, engineer, agent developer
Kind of task: Analyze 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.

q-s05-e-01 Can you quote the URDF's effort limit of 50 as J1's rated torque?

About:72

  1. Check option (a)

    Correct. Right. The file gives no unit and does not call it a rated torque.72

  2. Check option (b)

    Not this one. The file is UFACTORY's, but it states no unit and does not call the figure a rated torque.72

  3. Check option (c)

    Not this one. The 3.14 rad/s velocity limit is consistent with the manual's 180°/s, but that does not turn an effort limit into a rating.7172

q-s05-e-02 You are sizing a gripper for a part whose center of mass sits well off the flange. What data is missing from the UFACTORY sources?
  1. Check option (a)

    Correct. Right. So the allowable payload at a given tool offset cannot be read from the manual's text.92

  2. Check option (b)

    Not this one. 5 kg is a single maximum. The manual says payload is related to the TCP offset, and gives no values in its text.792

  3. Check option (c)

    Not this one. The sources give repeatability, ±0.1 mm. The missing data for this job is payload against tool offset.392

q-s05-e-03Safety You need the S6 arm's stopping distance to size a separation distance. Can you take it from the xArm manual's Stop Category 1 table?

About:85

  1. Check option (a)

    Not this one. The table names no arm model and its figures are identical to the 850 manual's. This project advises against using them for S6 until UFACTORY confirms which arm and configuration they were measured on.858891

  2. Check option (b)

    Correct. Right. The UFACTORY sources give no stop data for Joints 4 to 6, other speeds or payloads, Stop Category 2, or stops after a collision. This project advises measuring the S6 arm's stopping behavior at the cell if the risk assessment needs it.9091

  3. Check option (c)

    Not this one. 521 ms was measured in one configuration only: fully extended, 100% speed and a 5 kg payload at the TCP.8590

Open questions in this section

Not settled

Open Questions · 25

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.

    See reference 3
  • Kind: Gap

    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.

    See reference 4
  • Kind: Contradiction

    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.

    See reference 9
  • Kind: Contradiction

    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°).

    See reference 10
  • Kind: Contradiction

    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.

    See reference 22
  • Kind: 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°, 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).

    See reference 46
  • Kind: Contradiction

    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.

    See reference 47
  • Kind: Gap

    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.

    See reference 52
  • Kind: Gap

    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.

    See reference 56
  • Kind: Contradiction

    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.

    See reference 59
  • Kind: Contradiction

    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)').

    See reference 61
  • Kind: Gap

    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.

    See reference 63
  • Kind: Gap

    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).

    See reference 68
  • Kind: Contradiction

    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.

    See reference 70
  • Kind: Gap

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

    See reference 90
  • Kind: Gap

    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.

    See reference 92
  • Kind: Gap

    The xArm manual's list of applied standards does not include ISO/TS 15066; no statement of ISO/TS 15066 conformance for the xArm 6 was found in the manual or the product page.

    See reference 97
  • Kind: Gap

    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.

    See reference 98
  • Kind: Contradiction

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

    See reference 103
  • Kind: Gap

    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.

    See reference 106
  • Kind: Contradiction

    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.

    See reference 107
  • Kind: Gap

    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.

    See reference 108
  • Kind: Gap

    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.

    See reference 109
  • Kind: Gap

    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.

    See reference 110
  • Kind: Contradiction

    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.

    See reference 111
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.

Open the 111 references

Image Credits

  • 3D model: © 2018 UFACTORY Inc., BSD-3-Clause, from UFACTORY Inc. (xArm-Developer/xarm_ros2). License text · Source

Sources for This Section

  • 0.1 mm Displacement Test for 850 and xArm 6 (support article) · UFACTORY (manufacturer)
    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-25 · cited by 1 record here · Open the source
  • 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 850 product page · UFACTORY (manufacturer)
    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21 · cited by 1 record here · Open the source
  • UFACTORY Studio User Manual (online), 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
  • UFACTORY xArm product page · UFACTORY (manufacturer)
    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21 · cited by 45 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

IntelliMake diagrams are redrawn as native figures, © IntelliMake.org. UFACTORY does not endorse this platform.

All sources and attribution