References: §3 Major Components

Provenance

References · 94

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, the project owner stated it as the design, or it was observed directly. It does not mean anyone measured it at S2.
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 S2 cell can be observed.
This project's simulation and agent design, not the physical cell: This project's simulation and agent design, not the physical cell.

Confidence: Verifiedcomp-045
The record says
The 850's tool I/O connector is a 12-pin female aviation-style industrial socket at the tool side, supplying power and control signals to grippers and sensors.
Evidence · 1 citation
At the tool side of the robotic arm, there is an avionic socket 12-pin female industrial connector.
UFACTORY 850 Hardware Manual (online), 4. Robotic Electrical Interface · UFACTORY · 4.2 Tool IO (docs site 'UFACTORY 850 硬件手册', English version; names the machine 'UFACTORY 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Confidence: Verifiedcomp-033
The record says
The arm-to-control-box power and signal cable uses an 8-pin industrial connector that carries 48 V and GND plus two RS-485 buses, one for the arm and one for the tool.
Evidence · 2 citations
1 48V 5 RS485-B, Green-White, Arm 2 GND 6 RS485-B, Blue-White, Tool
UFACTORY 850 Hardware Manual (online), 3. Controller Electrical Interface · UFACTORY · 3.2.3 Definition of Industrial Connector, 8-Pin Industrial Connector (docs site 'UFACTORY 850 硬件手册', English version; names the machine 'UFACTORY 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Power and Signal Cable: 8-Pin Industrial Connector
UFACTORY 850 Hardware Manual (online), 3. Controller Electrical Interface · UFACTORY · 3.2.3 Definition of Industrial Connector
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Confidence: Verifiedcomp-019
The record says
UFACTORY offers the DC control box (48–72 V DC input) for battery-powered mobile platforms, and the AC control box (built-in AC-DC adapter) for mains power.
Evidence · 2 citations
The DC control box supports 48-72V wide inputs, it perfectly fits the battery system on your mobile platform.
UFACTORY 850 product page · UFACTORY · Overview, 'Designed for both mobile platforms and your workbench' (page names the machine 'UFACTORY 850'; spec tables say 'UFactory 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
The AC control box contains an AC-DC adapter inside, 100-240V AC is all ready to go.
UFACTORY 850 product page · UFACTORY · same section (page names the machine 'UFACTORY 850'; spec tables say 'UFactory 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Confidence: Verifiedcomp-001
The record says
The 850 package contains the robotic arm, a control box, a robotic arm power and signal cable, a power cable for the control box, an end effector adapter cable, an Ethernet cable and an Ethernet adapter cable.
Evidence · 1 citation
Quote not shown (over 40 words). See the source at: Preface, Product Information 'Package contains', p.5 (manual names the machine '850' / 'UFactory 850').
UFACTORY 850 User Manual V2.3.0 (PDF, older edition) · UFACTORY · Preface, Product Information 'Package contains', p.5 (manual names the machine '850' / 'UFactory 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Confidence: Verifiedapp-024
The record says
The end effector mounts on the front end of the arm's wrist and carries the tool, such as a gripper or vacuum gripper, that does the work.
Evidence · 1 citation
The end effector, installed on the front end of the wrist of the robotic arm, is used to install special tools(such as grippers, vacuum gripper, etc.), which can directly perform work tasks.
UFACTORY Studio User Manual (online), 2. Glossary · UFACTORY · Glossary, 'End Effector'
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Confidence: Verifiedcomp-017
The record says
UFACTORY calls the control box the core of the 850: it houses the arm's control system.
Evidence · 1 citation
The control box, core part of the robotic arm, is the integration of the robotic arm control system.
UFACTORY 850 User Manual V2.3.0 (PDF, older edition) · UFACTORY · Terms and Definitions, 'Control Box', p.6 (manual names the machine '850' / 'UFactory 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Confidence: Verifiedcomp-021
The record says
The 850 control box front panel has a ROBOT PWR indicator (on when the arm is powered), a STATE indicator (flashes when the control box is powered), a LAN indicator (on when communicating normally), and an EMERGENCY STOP button.
Evidence · 4 citations
ROBOT power indicator ROBOT PWR The light is on, indicating that the 850 is powered on.
UFACTORY 850 User Manual V2.3.0 (PDF, older edition) · UFACTORY · Hardware Section 1.1.3 Control Box Description, p.20 (manual names the machine '850' / 'UFactory 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Emergency stop button EMERGENCY STOP
UFACTORY 850 User Manual V2.3.0 (PDF, older edition) · UFACTORY · same table (manual names the machine '850' / 'UFactory 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Control Box power status indicator STATE The light flashes, indicating that the control box is powered on.
UFACTORY 850 User Manual V2.3.0 (PDF, older edition) · UFACTORY · same table (manual names the machine '850' / 'UFactory 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Network port indicator LAN The light is on, indicating that the 850 is communicating normally.
UFACTORY 850 User Manual V2.3.0 (PDF, older edition) · UFACTORY · same table (manual names the machine '850' / 'UFactory 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Confidence: Verifiedint-003
The record says
Station S2 of the Phase 1 factory is the UFactory xArm 850 cobot.
Evidence · 2 citations
S2 UFactory xArm 850 Cobot
IntelliMake Phase 1 Factory: Autonomous Production Demonstrator (infographic) · IntelliMake.org · S2 station label
© IntelliMake.org. Used with permission; redrawn for this platform. · Cleared for use by its owner · retrieved 2026-09-21
Project copy; not published on this site.
UFactory xArm 850 | S2
IntelliMake Phase 1 Factory: Autonomous Production Demonstrator (infographic) · IntelliMake.org · HW2 SME topic mapping table
© IntelliMake.org. Used with permission; redrawn for this platform. · Cleared for use by its owner · retrieved 2026-09-21
Project copy; not published on this site.
Confidence: Verifiedint-004
The record says
S2 picks and transfers incoming material between receiving, staging and production.
Evidence · 1 citation
Picks and transfers incoming material between receiving, staging, and production.
IntelliMake Phase 1 Factory: Autonomous Production Demonstrator (infographic) · IntelliMake.org · S2 station description
© IntelliMake.org. Used with permission; redrawn for this platform. · Cleared for use by its owner · retrieved 2026-09-21
Project copy; not published on this site.
Confidence: Verifiedcomp-003
The record says
A control box is included with the 850 by default.
Evidence · 1 citation
The control box is included in default.
UFACTORY 850 product page · UFACTORY · Tech Specs > Hardware, note under control box table (page names the machine 'UFACTORY 850'; spec tables say 'UFactory 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Confidence: Verifiedcomp-004
The record says
The 850 arm consists of a base and six rotary joints, numbered Joint 1 (at the base) to Joint 6; the last joint is the tool side, where end effectors attach.
Evidence · 2 citations
Quote not shown (over 40 words). See the source at: 2.1.1 Hardware Composition (docs site 'UFACTORY 850 硬件手册', English version; names the machine 'UFACTORY 850').
UFACTORY 850 Hardware Manual (online), 2. Hardware Installation · UFACTORY · 2.1.1 Hardware Composition (docs site 'UFACTORY 850 硬件手册', English version; names the machine 'UFACTORY 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
DoF
6
UFACTORY USA 850 product page · UFACTORY USA · Specs block
© UFACTORY USA · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Confidence: Verifiedcomp-009
The record says
The 850 arm is built from carbon fiber and aluminum, which UFACTORY says halves the system weight.
Evidence · 2 citations
Materials Aluminum, Carbon Fiber
UFACTORY 850 product page · UFACTORY · Tech Specs > Hardware, 'Materials' row (page names the machine 'UFACTORY 850'; spec tables say 'UFactory 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Crafted from carbon fiber and aluminum, the system weight is reduced by 50%.
UFACTORY 850 product page · UFACTORY · Overview (page names the machine 'UFACTORY 850'; spec tables say 'UFactory 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Confidence: Verifiedsafety-029
The record says
UFACTORY says the control box must be placed outside the arm's working range so that its emergency stop button can be reached in an emergency.
Evidence · 1 citation
The Control Box must be placed outside the working range of the robotic arm to ensure the emergency stop button can be pressed once an emergency occurs.
UFACTORY 850 Hardware Manual (online), 1. Safety · UFACTORY · 1.3, CAUTION
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Confidence: Verifiedcomp-057
The record says
UFACTORY's official accessories for the 850 are the Gripper, the Vacuum Gripper, the BIO Gripper G2 and the 6 Axis Force Torque Sensor.
Evidence · 1 citation
Gripper Vacuum Gripper BIO Gripper G2 6 Axis Force Torque Sensor
UFACTORY 850 product page · UFACTORY · Overview, 'Seamless Integration With Official Accessories' (page names the machine 'UFACTORY 850'; spec tables say 'UFactory 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Confidence: VerifiedAwaiting cell accessint-064
The record says
The xArm 850 at S2 uses a single suction aperture as its attachment.
Awaiting cell access: this could be confirmed or corrected once the physical S2 cell can be observed.
Evidence · 1 citation
850 uses a single suction apperture as its attachment
Owner statements from 2026-09-24 onward (verbatim; S40 and later) · Derek Stringfellow · Statement S90
Derek Stringfellow, project record · Project-internal record · retrieved 2026-10-04
Project copy; not published on this site.
Confidence: Verifiedsafety-028
The record says
The 850's joint modules contain brakes that UFACTORY says hold the arm's pose during a power outage.
Evidence · 1 citation
The 850 joint module has brakes inside, which will remain manipulator’s pose when a power outage occurs.
UFACTORY 850 Hardware Manual (online), 1. Safety · UFACTORY · 1.3, DANGER list
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Confidence: Verifiedcomp-037
The record says
UFACTORY Studio, the 850's graphical programming and control software, runs as a web application inside the control box, so any computer with a browser can use it without installing software.
Evidence · 1 citation
UFACTORY Studio is a web-based software running inside the control box, which means no additional installation needed before running the robot.
UFACTORY 850 product page · UFACTORY · Tech Specs > Software (page names the machine 'UFACTORY 850'; spec tables say 'UFactory 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Confidence: VerifiedAwaiting cell accessops-217
The record says
Asked whether the lab opens UFACTORY Studio in a web browser or with the desktop app, the answer given on 2026-10-23 was the desktop app, and that learners should download it.
Awaiting cell access: this could be confirmed or corrected once the physical S2 cell can be observed.
Reasoning: Verified as a dated report of how Studio is opened in the lab, as of 2026-10-23 and no further. The question was about the lab, where the xArm 850 is operated from Studio (int-089); the answer names no arm. It names no Studio version and no computer, and no inspection is recorded. It says that the lab uses the desktop app and that learners should download it; it says nothing about whether the browser route UFACTORY's Studio manual describes works.
Evidence · 1 citation
2 desktop app, so they should download it if that was not explicitily said
Owner statements from 2026-09-24 onward (verbatim; S40 and later) · Derek Stringfellow · Statement S244 (2026-10-23), answer 2, to whether the lab opens UFACTORY Studio in a browser or with the desktop app
Derek Stringfellow, project record · Project-internal record · retrieved 2026-10-04
Project copy; not published on this site.
Confidence: Verifiedres-005
The record says
UFACTORY's UFACTORY Studio page offers Studio downloads for Windows, macOS and Linux and lists its features: live control, Blockly, recording, IO setting, offline mode, collision detection and hand teaching. Suits beginners and novices.
Evidence · 2 citations
Features
Live control
Blockly
Recording
IO setting
Offline mode
Collision detection
Hand teaching
UFACTORY Studio product and download page · UFACTORY · Download buttons and feature list
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Download
Windows
Download
MacOS
Download
Linux
UFACTORY Studio product and download page · UFACTORY · Download buttons
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Confidence: Verifiedcomp-038
The record says
The 850 can be programmed with UFACTORY Studio or with the Python, C++ and ROS SDKs.
Evidence · 1 citation
Programming UFACTORY Studio, Python/C++/ROS
UFACTORY 850 Hardware Manual (online), 8. Technical Specifications · UFACTORY · Table 'UFACTORY 850', 'Programming' row (docs site 'UFACTORY 850 硬件手册', English version; names the machine 'UFACTORY 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Confidence: Verifiedcomp-053
The record says
The 850's tool end has a user button with a blue LED, mapped to tool digital I/O TI2 and TO2; its function is left for the user to define.
Evidence · 1 citation
The function of this button has not been defined yet, user can custom and develop it. Tool Digital IO: TI2, TO2.
UFACTORY 850 Hardware Manual (online), 4. Robotic Electrical Interface · UFACTORY · 4.4 Lighting (docs site 'UFACTORY 850 硬件手册', English version; names the machine 'UFACTORY 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Confidence: Verifiedops-057
The record says
The Studio STOP button stops the arm immediately and clears all cached commands; it is a software stop and the power stays on.
Evidence · 1 citation
**STOP:** The robotic arm will stop immediately and clear all cache commands. It's a **software stop**, the power is still on.
UFACTORY Studio User Manual (online), 4. Live Control · UFACTORY · 4.5 Enable & STOP button
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-13
Open the source
Confidence: Verifiedsafety-035
The record says
The STOP button in UFACTORY Studio is a software stop that leaves arm power on.
Evidence · 1 citation
The robotic arm will stop immediately and clear all cache commands. It's a software stop , the power is still on.
UFACTORY Studio User Manual (online), 4. Live Control · UFACTORY · 4.5 Enable & STOP button
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-13
Open the source
Confidence: Verifiedsafety-012
The record says
UFACTORY warns that items can drop from the 850 if power is lost accidentally or if the gripper holds them unstably.
Evidence · 1 citation
Be careful about dropping items that can be caused by accidental power off or unstable clamping of the robotic arm.
UFACTORY 850 Hardware Manual (online), 1. Safety · UFACTORY · 1.4 Personnel Safety, CAUTION
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Confidence: Inferredcomp-075
The record says
How the 850's components work together: a computer or browser sends commands over Ethernet (UFACTORY's private TCP protocol) to the control box, which runs UFACTORY Studio and the controller. The control box powers the arm at 48 V DC and talks to the joints and to the tool over two RS-485 lines in the power and signal cable. Tools at the flange are powered (24 V) and controlled through the 12-pin tool connector.
Why we infer this: Synthesized from Verified manufacturer statements in this file: Studio runs inside the control box; the arm connects to the PC over Ethernet with private TCP; the arm cable's 8-pin connector carries 48 V, GND and separate RS-485 pairs labeled Arm and Tool; the tool connector supplies 24 V and signals. That the RS-485 lines carry joint-servo and tool traffic follows from the pin labels; UFACTORY does not describe the internal bus architecture in these words.
Evidence · 6 citations
UFACTORY Studio is a web-based software running inside the control box
UFACTORY 850 product page · UFACTORY · Tech Specs > Software (page names the machine 'UFACTORY 850'; spec tables say 'UFactory 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
1 48V 5 RS485-B, Green-White, Arm 2 GND 6 RS485-B, Blue-White, Tool
UFACTORY 850 Hardware Manual (online), 3. Controller Electrical Interface · UFACTORY · 3.2.3 Definition of Industrial Connector (docs site 'UFACTORY 850 硬件手册', English version; names the machine 'UFACTORY 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Private TCP(custom)
UFACTORY 850 Hardware Manual (online), 8. Technical Specifications · UFACTORY · Table 'UFACTORY 850', 'Robotic Arm Communication Protocol' row (docs site 'UFACTORY 850 硬件手册', English version; names the machine 'UFACTORY 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
This connector provides power and control signals for the grippers and sensors used on a particular robotic arm tool.
UFACTORY 850 Hardware Manual (online), 4. Robotic Electrical Interface · UFACTORY · 4.2 Tool IO (docs site 'UFACTORY 850 硬件手册', English version; names the machine 'UFACTORY 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
there is an avionic socket 12-pin female industrial connector
UFACTORY 850 Hardware Manual (online), 4. Robotic Electrical Interface · UFACTORY · 4.2 Tool IO
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Supply Voltage in 24V Mode 20 24 30 V
UFACTORY 850 Hardware Manual (online), 4. Robotic Electrical Interface · UFACTORY · 4.2 Tool IO, electrical specifications
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Confidence: Verifiedcomp-039
The record says
UFACTORY Studio includes Live Control, Blockly graphical programming, a Python IDE and GCode for the 850.
Evidence · 3 citations
1.5 Live Control
UFACTORY 850 User Manual V2.3.0 (PDF, older edition) · UFACTORY · Table of contents, Software Section, p.2–3 (manual names the machine '850' / 'UFactory 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
1.6 Blockly Graphical Programming
UFACTORY 850 User Manual V2.3.0 (PDF, older edition) · UFACTORY · Table of contents, Software Section, p.3 (manual names the machine '850' / 'UFactory 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
1.8 GCode
UFACTORY 850 User Manual V2.3.0 (PDF, older edition) · UFACTORY · Table of contents, Software Section, p.3 (manual names the machine '850' / 'UFactory 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Kind: Gapcomp-042
Not known
No dedicated teach pendant for the 850 is documented in the sources fetched: teaching is by browser (UFACTORY Studio) and by hand guiding. User Manual V2.3.0 lists stop categories for a 'Three-Position Enabling Device', but no source fetched names the product or says whether it is offered for the 850.
Evidence · 1 citation
Three-Position Enabling Device Performs a Stop Category 2.
UFACTORY 850 User Manual V2.3.0 (PDF, older edition) · UFACTORY · Appendix 7, 1.8 Stop Categories, p.184 (manual names the machine '850' / 'UFactory 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Confidence: Verifiedcomp-040
The record says
The 850 supports hand teaching: in Manual Mode, gravity compensation lets a user guide the arm directly by hand, with teach sensitivity adjustable from level 1 to 5.
Evidence · 2 citations
In this mode, the robotic arm will enter the ‘zero gravity’ mode, since the gravity is compensated, the user can guide the robotic arm position directly by hand.
UFACTORY 850 User Manual V2.3.0 (PDF, older edition) · UFACTORY · Terms and Definitions, 'Manual Mode' and 'Teach Sensitivity', p.9 (manual names the machine '850' / 'UFactory 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Teach sensitivity range is from 1 to 5 level.
UFACTORY 850 User Manual V2.3.0 (PDF, older edition) · UFACTORY · same page (manual names the machine '850' / 'UFactory 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Confidence: Verifiedcomp-041
The record says
The 850 has collision detection, with collision sensitivity settable from 0 (disabled) to 5.
Evidence · 1 citation
The collision sensitivity range is from 0 to 5 level. When it is set to 0, it means that collision detection is not enabled.
UFACTORY 850 User Manual V2.3.0 (PDF, older edition) · UFACTORY · Terms and Definitions, 'Collision Sensitivity', p.9 (manual names the machine '850' / 'UFactory 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Confidence: Verifiedcomp-067
The record says
To fit the 850 Gripper or Vacuum Gripper, the arm is powered off by pressing the control box emergency stop, the gripper is fixed to the end of the arm with 2 M6 bolts, and it is connected to the arm with its connection cable; the cable is wired with the arm powered off, the e-stop pressed and the arm's power indicator off, to avoid robotic arm failure caused by hot-plugging.
Evidence · 5 citations
Fix the gripper on the end of the robotic arm with 2 M6 bolts;
UFACTORY 850 User Manual V2.3.0 (PDF, older edition) · UFACTORY · Hardware Section 3.1.1 Gripper Installation, p.53 (manual names the machine '850' / 'UFactory 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
be sure to power off the robotic arm, to set the emergency stop button in the pressed state, and to ensure that power indicator of the robotic arm is off, as to avoid robotic arm failure caused by hot-plugging
UFACTORY 850 User Manual V2.3.0 (PDF, older edition) · UFACTORY · same section, Note 1 (manual names the machine '850' / 'UFactory 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Power off the robotic arm by pressing the emergency stop button on the control box;
UFACTORY 850 User Manual V2.3.0 (PDF, older edition) · UFACTORY · Hardware Section 3.1.1 Gripper Installation, step 2, p.53 (manual names the machine '850' / 'UFactory 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Connect the robotic arm and the gripper with the gripper connection cable;
UFACTORY 850 User Manual V2.3.0 (PDF, older edition) · UFACTORY · Hardware Section 3.1.1, step 4, p.53 (manual names the machine '850' / 'UFactory 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Fix the vacuum gripper on the end of the robotic arm with 2 M6 bolts;
UFACTORY 850 User Manual V2.3.0 (PDF, older edition) · UFACTORY · Hardware Section 3.2.1 Vacuum Gripper Installation, step 3, p.55 (manual names the machine '850' / 'UFactory 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Confidence: Verifiedcomp-069
The record says
The 850 Vacuum Gripper (AS1200) handles smooth flat objects up to 5 kg, has 5 suction cups, and is switched by digital I/O.
Evidence · 2 citations
The vacuum gripper can dynamically suck the smooth plane object with payload ≤5kg. The vacuum gripper is equipped with 5 suction cups
UFACTORY 850 User Manual V2.3.0 (PDF, older edition) · UFACTORY · Hardware Section 3.2 Vacuum Gripper, p.54–55 (manual names the machine '850' / 'UFactory 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Communication Mode Digital IO
UFACTORY 850 Hardware Manual (online), 8. Technical Specifications · UFACTORY · Vacuum Gripper(AS1200) table, 'Communication Mode' row (docs site 'UFACTORY 850 硬件手册', English version; names the machine 'UFACTORY 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Confidence: Verifiedcomp-058
The record says
UFACTORY Studio's End Effector setting for the 850 supports the 850 Gripper, 850 Vacuum Gripper, 850 BIO Gripper, and Robotiq 2F-85 and 2F-140 grippers; other tools are set as 'other'.
Evidence · 1 citation
The end effectors currently supported by 850 are: 850 Gripper, 850 vacuum Gripper, 850 BIO Gripper, Robotiq-2F-85 Gripper, Robotiq-2F- 140 Gripper.
UFACTORY 850 User Manual V2.3.0 (PDF, older edition) · UFACTORY · Software Section 1.5.5 End Effector, p.109 (manual names the machine '850' / 'UFactory 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Confidence: VerifiedAwaiting cell accessint-069
The record says
S2's and S6's suction tools are basically the same attachment: a rounded mount with the suction cups attached to it as one unit. S6's tool uses all five ports on the mount; S2's uses just one.
Awaiting cell access: this could be confirmed or corrected once the physical S2 cell can be observed.
Evidence · 4 citations
The gripper consists of the rounded mount piece and the attached cups in our case, as one unit.
Owner statements from 2026-09-24 onward (verbatim; S40 and later) · Derek Stringfellow · Statement S104
Derek Stringfellow, project record · Project-internal record · retrieved 2026-10-04
Project copy; not published on this site.
850 uses a single suction apperture as its attachment.
Owner statements from 2026-09-24 onward (verbatim; S40 and later) · Derek Stringfellow · Statement S90
Derek Stringfellow, project record · Project-internal record · retrieved 2026-10-04
Project copy; not published on this site.
6 uses a 5 suction-cup apperture.
Owner statements from 2026-09-24 onward (verbatim; S40 and later) · Derek Stringfellow · Statement S90
Derek Stringfellow, project record · Project-internal record · retrieved 2026-10-04
Project copy; not published on this site.
Basically the same attachement, the 5 uses all prods on the mount and the 1 uses just one.
Owner statements from 2026-09-24 onward (verbatim; S40 and later) · Derek Stringfellow · Statement S105, second message
Derek Stringfellow, project record · Project-internal record · retrieved 2026-10-04
Project copy; not published on this site.
Kind: Contradictioncomp-066
Sources disagree
Gripper specifications differ between sources: the online hardware manual's 'Gripper G2(AG1200)' has 10–50 N clamping force, 800 g weight and Modbus RTU, while User Manual V2.3.0's '850 Gripper' has 30 N maximum clamping force, 802 g weight and Modbus TCP. They may describe different gripper generations; the sources do not say.
Related: comp-061 Verified comp-060 Verified
Evidence · 2 citations
Clamping Force 10-50N
UFACTORY 850 Hardware Manual (online), 8. Technical Specifications · UFACTORY · Gripper G2(AG1200) table (docs site 'UFACTORY 850 硬件手册', English version; names the machine 'UFACTORY 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Maximum Clamping Force 30 N Weight (g) 802 g
UFACTORY 850 User Manual V2.3.0 (PDF, older edition) · UFACTORY · Appendix 2, 850 accessories parameters, Gripper, p.174 (manual names the machine '850' / 'UFactory 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Confidence: Verifiedcomp-007
The record says
The 850's joint modules contain brakes that hold the arm's pose when power is lost.
Evidence · 1 citation
The 850 joint module has brakes inside, which will remain manipulator’s pose when a power outage occurs.
UFACTORY 850 User Manual V2.3.0 (PDF, older edition) · UFACTORY · Safety Precautions, General Alarms and Cautions item 9, p.15 (manual names the machine '850' / 'UFactory 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Confidence: Verifiedcomp-010
The record says
The 850 arm contains a built-in battery; UFACTORY says an arm stored unused for 3 months or more should be powered on for 6 hours every 3 months to charge it.
Evidence · 1 citation
you need to power on the robotic arm for 6 hours every 3 months to charge the built-in battery of the robotic arm.
UFACTORY 850 User Manual V2.3.0 (PDF, older edition) · UFACTORY · Appendix 5 Maintenance and Inspection, 1. Long-term placement, p.179 (manual names the machine '850' / 'UFactory 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Confidence: Verifiedcomp-020
The record says
The AC control box takes mains power through a standard IEC C20 inlet, using an IEC C19 cable.
Evidence · 1 citation
the corresponding IEC C19 wire must be used. Connect to the standard IEC C20 plug of the Control Box
UFACTORY 850 Hardware Manual (online), 3. Controller Electrical Interface · UFACTORY · 3.2.2 Power Supply (docs site 'UFACTORY 850 硬件手册', English version; names the machine 'UFACTORY 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Confidence: Verifiedcomp-018
The record says
The AC control box's internal switching power supply converts 100–240 V AC into 12 V and 48 V DC to power the control box and the arm.
Evidence · 1 citation
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 850 Hardware Manual (online), 3. Controller Electrical Interface · UFACTORY · 3.2.2 Power Supply (docs site 'UFACTORY 850 硬件手册', English version; names the machine 'UFACTORY 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Confidence: Verifiedcomp-023
The record says
The control box should be placed between 0.6 m and 1.5 m above the floor.
Evidence · 1 citation
The controller should be placed at a height of 0.6m to 1.5m.
UFACTORY 850 Hardware Manual (online), 7. Production Information · UFACTORY · 7.5 Controller Placement Height (docs site 'UFACTORY 850 硬件手册', English version; names the machine 'UFACTORY 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Confidence: Verifiedcomp-034
The record says
UFACTORY says to use only the original 850 arm cable and not to use the arm where the cable must bend; longer or flexible cables are available through the supplier.
Evidence · 1 citation
Use only the original cable of the robotic arm. Do not use the robotic arm in applications where the cable needs to be bent.
UFACTORY 850 Hardware Manual (online), 3. Controller Electrical Interface · UFACTORY · 3.1 Electrical Alarms and Cautions (docs site 'UFACTORY 850 硬件手册', English version; names the machine 'UFACTORY 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Confidence: Verifiedcomp-035
The record says
I/O cables from the control box to other equipment must not exceed 30 m unless extension testing shows longer runs work.
Evidence · 1 citation
The length of the I/O cable that used to connect the Control Box with other mechanical and plant equipment must not exceed 30 meters
UFACTORY 850 Hardware Manual (online), 3. Controller Electrical Interface · UFACTORY · 3.1 Electrical Alarms and Cautions (docs site 'UFACTORY 850 硬件手册', English version; names the machine 'UFACTORY 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Confidence: Verifiedcomp-036
The record says
With the DC control box, the arm connects through a supplied Robot Pwr & Communication Adapter Cable.
Evidence · 1 citation
It will come with a Robot Pwr&Communication Adapter Cable
UFACTORY 850 Hardware Manual (online), 3. Controller Electrical Interface · UFACTORY · 3.3.1 Hardware Connector (docs site 'UFACTORY 850 硬件手册', English version; names the machine 'UFACTORY 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Confidence: Verifiedcomp-043
The record says
The 850's tool flange follows ISO 9409-1-50-4-M6.
Evidence · 2 citations
DIN ISO 9409-1-50-4-M6（M6*6）
UFACTORY 850 Hardware Manual (online), 8. Technical Specifications · UFACTORY · Table 'UFACTORY 850', 'End Flange' row (docs site 'UFACTORY 850 硬件手册', English version; names the machine 'UFACTORY 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
The end-effector flange referenced ISO 9409-1-50-4-M6 standard.
UFACTORY 850 Hardware Manual (online), 4. Robotic Electrical Interface · UFACTORY · 4.1 End Flange (docs site 'UFACTORY 850 硬件手册', English version; names the machine 'UFACTORY 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Confidence: Verifiedcomp-044
The record says
The 850's tool flange has six M6 threaded holes and one Ø6 positioning hole, and takes end effectors of two different sizes.
Evidence · 1 citation
The End-effector flange has 6 M6 threaded holes and one Ф6 positioning hole, where the end-effector of two different sizes can be mounted.
UFACTORY 850 Hardware Manual (online), 4. Robotic Electrical Interface · UFACTORY · 4.1 End Flange (docs site 'UFACTORY 850 硬件手册', English version; names the machine 'UFACTORY 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Confidence: Verifiedcomp-055
The record says
An internal Ethernet cable runs through the 850 arm from a user RJ45 port on the base to an M8 4-pole Ethernet connector at the end flange, so cameras or other devices at the tool can reach the network. The product page and online manual describe it as gigabit (1000M, CAT5E).
Evidence · 4 citations
The user Ethernet interface(RJ45) of the arm base is connected to the Ethernet interface(M8 4-pole) of the end flange through a physical internal
UFACTORY 850 Hardware Manual (online), 4. Robotic Electrical Interface · UFACTORY · 4.5 Ethernet Interface (docs site 'UFACTORY 850 硬件手册', English version; names the machine 'UFACTORY 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
An internal Gigabit Ethernet cable greatly enhances system stability.
UFACTORY 850 product page · UFACTORY · Overview, 'Standalone Ethernet Cable Meets All Your Needs' (page names the machine 'UFACTORY 850'; spec tables say 'UFactory 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
physical internal 1000M Ethernet cable
UFACTORY 850 Hardware Manual (online), 4. Robotic Electrical Interface · UFACTORY · 4.5 Ethernet Interface
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Standard CAT5E Ethernet cable
UFACTORY 850 Hardware Manual (online), 4. Robotic Electrical Interface · UFACTORY · 4.5 Ethernet Interface
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Kind: Contradictioncomp-056
Sources disagree
Sources disagree on the speed of the 850's internal base-to-flange Ethernet cable: gigabit or 1000M CAT5E on the product page and in the online hardware manual, but 100M and 'Standard CAT5' in User Manual V2.3.0.
Related: comp-055 Verified
Evidence · 2 citations
1000M Ethernet cable, which further enhances the stability of the system. Standard CAT5E
UFACTORY 850 Hardware Manual (online), 4. Robotic Electrical Interface · UFACTORY · 4.5 Ethernet Interface (docs site 'UFACTORY 850 硬件手册', English version; names the machine 'UFACTORY 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
through a physical internal 100M Ethernet cable
UFACTORY 850 User Manual V2.3.0 (PDF, older edition) · UFACTORY · Hardware Section 1.2.2.5, Ethernet Interface, p.27 (manual names the machine '850' / 'UFactory 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Kind: RecommendationAwaiting cell accessThis project's simulation and agent design, not the physical cellcomp-082
Project advice
Until the Ethernet line inside the S2 arm has been checked, size any network device at the tool, such as a camera, for 100M, the lower of the two published speeds.
Awaiting cell access: this could be confirmed or corrected once the physical S2 cell can be observed.
This is advice from this project, based on: comp-055 Verified comp-056 Contradiction
Why: The sources disagree on the speed of the internal base-to-flange Ethernet line: gigabit (1000M) on the product page and in the online hardware manual, 100M in User Manual V2.3.0 (comp-056, comp-055). A device that works at 100M works whichever source is right; a device that needs gigabit may not. Which figure holds for the arm at S2 is not known until someone inspects it.
Confidence: Verifiedcomp-008
The record says
The 850's joint brakes can be released from UFACTORY Studio ('unlock joint'); someone must then support the arm to stop it falling.
Evidence · 1 citation
When releasing the joint brakes, someone must support the robot's posture to prevent the robotic arm from falling
UFACTORY 850 User Manual V2.3.0 (PDF, older edition) · UFACTORY · Software Section, Robotic Arm Setting, p.88 (manual names the machine '850' / 'UFactory 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Confidence: Verifiedcomp-026
The record says
The control box emergency stop button performs a Stop Category 1.
Evidence · 1 citation
Emergency Stop Button of the Control Box Stop Category 1
UFACTORY 850 Hardware Manual (online), 7. Production Information · UFACTORY · 7.8 Stop Categories table (docs site 'UFACTORY 850 硬件手册', English version; names the machine 'UFACTORY 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Confidence: Verifiedcomp-025
The record says
When the emergency stop is pressed, the 850 arm brakes slightly and falls; UFACTORY says the emergency stop should not be used as a risk-reduction measure.
Evidence · 1 citation
Quote not shown (over 40 words). See the source at: 2.1.2 Emergency Stop Button (docs site 'UFACTORY 850 硬件手册', English version; names the machine 'UFACTORY 850').
UFACTORY 850 Hardware Manual (online), 2. Hardware Installation · UFACTORY · 2.1.2 Emergency Stop Button (docs site 'UFACTORY 850 硬件手册', English version; names the machine 'UFACTORY 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Kind: Contradictionsafety-115
Sources disagree
The 850 manual's e-stop figures appear inconsistent. Section 2.1.2 says arm power is removed within 300 ms of pressing the e-stop. Section 7.8 says the e-stop is Stop Category 1, which decelerates 'with drive power on'. Section 7.9 gives Stop Category 1 stopping times of 521 to 885 ms. The UFACTORY sources do not explain how power removal within 300 ms fits a powered deceleration lasting up to 885 ms (the brakes may do the rest of the stopping, but no source says so).
Related: safety-025 Verified safety-042 Verified safety-043 Verified safety-044 Verified safety-045 Verified safety-046 Verified safety-047 Verified safety-048 Verified comp-024 Verified comp-026 Verified
Evidence · 6 citations
the power supply for the robotic arm will be removed within 300ms.
UFACTORY 850 Hardware Manual (online), 2. Hardware Installation · UFACTORY · 2.1.2 Emergency Stop Button
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Stop Category 1 and Stop Category 2 decelerates the robot with drive power on, which enables the robot to stop without deviating from its current path.
UFACTORY 850 Hardware Manual (online), 7. Production Information · UFACTORY · 7.8 Stop Categories
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Emergency Stop Button of the Control Box Stop Category 1
UFACTORY 850 Hardware Manual (online), 7. Production Information · UFACTORY · 7.8 Stop Categories, table
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Joint1 0.62 521
UFACTORY 850 Hardware Manual (online), 7. Production Information · UFACTORY · 7.9 Stop Time and Stop Distance, table
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Joint2 1.12 885
UFACTORY 850 Hardware Manual (online), 7. Production Information · UFACTORY · 7.9 Stop Time and Stop Distance, table
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Joint3 0.67 577
UFACTORY 850 Hardware Manual (online), 7. Production Information · UFACTORY · 7.9 Stop Time and Stop Distance, table
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Confidence: Verifiedcomp-059
The record says
The online hardware manual rates the Gripper G2 (AG1200) for a 5 kg payload.
Evidence · 1 citation
Payload 5kg Weight 800g
UFACTORY 850 Hardware Manual (online), 8. Technical Specifications · UFACTORY · Gripper G2(AG1200) table, 'Payload' row (docs site 'UFACTORY 850 硬件手册', English version; names the machine 'UFACTORY 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Confidence: Verifiedcomp-060
The record says
The Gripper G2 (AG1200) weighs 800 g.
Evidence · 1 citation
Payload 5kg Weight 800g
UFACTORY 850 Hardware Manual (online), 8. Technical Specifications · UFACTORY · Gripper G2(AG1200) table, 'Weight' row (docs site 'UFACTORY 850 硬件手册', English version; names the machine 'UFACTORY 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Confidence: Verifiedcomp-061
The record says
The Gripper G2 (AG1200) clamping force is 10–50 N.
Evidence · 1 citation
Clamping Force 10-50N
UFACTORY 850 Hardware Manual (online), 8. Technical Specifications · UFACTORY · Gripper G2(AG1200) table, 'Clamping Force' row (docs site 'UFACTORY 850 硬件手册', English version; names the machine 'UFACTORY 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Confidence: Verifiedcomp-062
The record says
The Gripper G2 (AG1200) working range (stroke) is 84 ± 1 mm.
Evidence · 1 citation
Working Range 84±1mm
UFACTORY 850 Hardware Manual (online), 8. Technical Specifications · UFACTORY · Gripper G2(AG1200) table, 'Working Range' row (docs site 'UFACTORY 850 硬件手册', English version; names the machine 'UFACTORY 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Confidence: Verifiedcomp-063
The record says
The Gripper G2 (AG1200) speed is 15–225 mm/s.
Evidence · 1 citation
Speed 15-225mm/s
UFACTORY 850 Hardware Manual (online), 8. Technical Specifications · UFACTORY · Gripper G2(AG1200) table, 'Speed' row (docs site 'UFACTORY 850 硬件手册', English version; names the machine 'UFACTORY 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Confidence: Verifiedcomp-064
The record says
The Gripper G2 (AG1200) communicates over RS-485 using Modbus RTU, runs on 24 V DC nominal, has replaceable fingers and is rated IP40.
Evidence · 4 citations
Communication Method RS485 Communication Protocol Modbus RTU
UFACTORY 850 Hardware Manual (online), 8. Technical Specifications · UFACTORY · Gripper G2(AG1200) table, 'Communication Method' and 'Communication Protocol' rows (docs site 'UFACTORY 850 硬件手册', English version; names the machine 'UFACTORY 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Nominal Supply Voltage 24V DC
UFACTORY 850 Hardware Manual (online), 8. Technical Specifications · UFACTORY · Gripper G2(AG1200) table, 'Nominal Supply Voltage' row (docs site 'UFACTORY 850 硬件手册', English version; names the machine 'UFACTORY 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Finger Type Replaceable
UFACTORY 850 Hardware Manual (online), 8. Technical Specifications · UFACTORY · Gripper G2 table
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Protection Rating IP40
UFACTORY 850 Hardware Manual (online), 8. Technical Specifications · UFACTORY · Gripper G2 table
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Confidence: Verifiedcomp-065
The record says
The Gripper G2 (AG1200) has a cycle life of more than 2,000,000 cycles.
Evidence · 1 citation
Cycle Life >2,000,000 cycles
UFACTORY 850 Hardware Manual (online), 8. Technical Specifications · UFACTORY · Gripper G2(AG1200) table, 'Cycle Life' row (docs site 'UFACTORY 850 硬件手册', English version; names the machine 'UFACTORY 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Confidence: Verifiedcomp-070
The record says
The Vacuum Gripper (AS1200) weighs 610 g and measures 122.5 × 91.6 × 75 mm.
Evidence · 1 citation
Weight 610g Dimensions (L×W×H) 122.5×91.6×75 mm
UFACTORY 850 Hardware Manual (online), 8. Technical Specifications · UFACTORY · Vacuum Gripper(AS1200) table (docs site 'UFACTORY 850 硬件手册', English version; names the machine 'UFACTORY 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Kind: Gapcomp-074
Not known
No specification for the 850's BIO Gripper G2 or 6-axis force/torque sensor (payload, force range, resolution) was found in the product page or the 850 manuals fetched; only their names are listed.
Evidence · 1 citation
BIO Gripper G2 6 Axis Force Torque Sensor
UFACTORY 850 product page · UFACTORY · Overview, 'Seamless Integration With Official Accessories' (page names the machine 'UFACTORY 850'; spec tables say 'UFactory 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Confidence: Verifiedcomp-046
The record says
The 12 tool-connector pins carry +24 V (pins 1–2), 0 V (pins 3–4), RS-485 A/B (pins 5–6), tool outputs TO0/TO1 (pins 7–8), tool inputs TI0/TI1 (pins 9–10) and analog inputs AI0/AI1 (pins 11–12).
Evidence · 3 citations
5 Pink User 485-A 11 Orange Analog input 0 (AI0) 6 Yellow User 485-B 12 Light Green Analog input 1 (AI1)
UFACTORY 850 Hardware Manual (online), 4. Robotic Electrical Interface · UFACTORY · 4.2 Tool IO, pin table (docs site 'UFACTORY 850 硬件手册', English version; names the machine 'UFACTORY 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
7 Black Tool Output 0 （TO0）
UFACTORY 850 User Manual V2.3.0 (PDF, older edition) · UFACTORY · Hardware Section 2.3 End-Effector I/O, pin table, p.35–36 (manual names the machine '850' / 'UFactory 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
1 Brown +24V (Power) 7 Black Tool Output 0 (TO0) 2 Blue +24V (Power) 8 Grey Tool Output 1 (TO1) 3 White 0V (GND) 9 Red Tool Input 0 (TI0) 4 Green 0V (GND) 10 Purple Tool Input 1 (TI1)
UFACTORY 850 Hardware Manual (online), 4. Robotic Electrical Interface · UFACTORY · 4.2 Tool IO, pin table
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Confidence: Verifiedops-089
The record says
When the arm is in error, a single joint can be unlocked (brake released) from Studio's Debugging Tools to move it to a safer posture; someone must support the arm while the joint is unlocked, and all joints must be re-locked afterwards.
Evidence · 4 citations
The operation of the unlocking joint is mainly used to adjust the posture of the robotic arm to a relatively safe position when the error is reported by the robotic arm.
UFACTORY Studio User Manual (online), 7. Settings · UFACTORY · 7.4.2 Debugging Tools, Joint
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-13
Open the source
After confirming the position, please re-lock all the joints manually.
UFACTORY Studio User Manual (online), 7. Settings · UFACTORY · 7.4.2 Debugging Tools, Joint
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-13
Open the source
Click 'unlock' to unlock a single joint. The unlocked joint does not have any force to provide and thence external force support is needed.
UFACTORY Studio User Manual (online), 7. Settings · UFACTORY · 7.4.2 Debugging Tools, Joint
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-13
Open the source
DANGER: When releasing the joint brakes, someone must support the robot's posture to prevent the robotic arm from falling
UFACTORY Studio User Manual (online), 7. Settings · UFACTORY · 7.4.2 Debugging Tools, Joint
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-13
Open the source
Confidence: Verifiedcomp-012
The record says
In UFACTORY's modified D-H parameters for the 850, the link parameter d1 (base to Joint 2 axis height, along Joint 1) is 364 mm, and the uf850 kinematics file agrees (0.364 m).
Evidence · 2 citations
Joint1 0 0 364 0
UFACTORY 850 User Manual V2.3.0 (PDF, older edition) · UFACTORY · Appendix 8, 1) UFACTORY 850 Modified D-H Parameters, p.187 (manual names the machine '850' / 'UFactory 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
z: 0.364
xarm_ros2 (branch humble), xarm_description/config/kinematics/default/uf850_default_kinematics.yaml · UFACTORY · kinematics block (ROS naming 'uf850')
© UFACTORY Inc., xArm-Developer/xarm_ros2, BSD 3-Clause License · BSD-3-Clause · retrieved 2026-09-21
Open the source
Confidence: Verifiedcomp-013
The record says
In UFACTORY's modified D-H parameters for the 850, the link parameter a2 (upper arm length, Joint 2 to Joint 3) is 390 mm, and the uf850 kinematics file agrees (0.39 m).
Evidence · 2 citations
Joint3 180 390 0 90
UFACTORY 850 User Manual V2.3.0 (PDF, older edition) · UFACTORY · Appendix 8, 1) UFACTORY 850 Modified D-H Parameters, p.187 (manual names the machine '850' / 'UFactory 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
x: 0.39
xarm_ros2 (branch humble), xarm_description/config/kinematics/default/uf850_default_kinematics.yaml · UFACTORY · kinematics block (ROS naming 'uf850')
© UFACTORY Inc., xArm-Developer/xarm_ros2, BSD 3-Clause License · BSD-3-Clause · retrieved 2026-09-21
Open the source
Confidence: Verifiedcomp-014
The record says
In UFACTORY's modified D-H parameters for the 850, the link parameter a3 (offset, Joint 3 to the forearm) is 150 mm, and the uf850 kinematics file agrees (0.15 m).
Evidence · 2 citations
Joint4 -90 150 426 0
UFACTORY 850 User Manual V2.3.0 (PDF, older edition) · UFACTORY · Appendix 8, 1) UFACTORY 850 Modified D-H Parameters, p.187 (manual names the machine '850' / 'UFactory 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
x: 0.15
xarm_ros2 (branch humble), xarm_description/config/kinematics/default/uf850_default_kinematics.yaml · UFACTORY · kinematics block (ROS naming 'uf850')
© UFACTORY Inc., xArm-Developer/xarm_ros2, BSD 3-Clause License · BSD-3-Clause · retrieved 2026-09-21
Open the source
Confidence: Verifiedcomp-015
The record says
In UFACTORY's modified D-H parameters for the 850, the link parameter d4 (forearm length along Joint 4) is 426 mm, and the uf850 kinematics file agrees (0.426 m).
Evidence · 2 citations
Joint4 -90 150 426 0
UFACTORY 850 User Manual V2.3.0 (PDF, older edition) · UFACTORY · Appendix 8, 1) UFACTORY 850 Modified D-H Parameters, p.187 (manual names the machine '850' / 'UFactory 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
y: 0.426
xarm_ros2 (branch humble), xarm_description/config/kinematics/default/uf850_default_kinematics.yaml · UFACTORY · kinematics block (ROS naming 'uf850')
© UFACTORY Inc., xArm-Developer/xarm_ros2, BSD 3-Clause License · BSD-3-Clause · retrieved 2026-09-21
Open the source
Confidence: Verifiedcomp-016
The record says
In UFACTORY's modified D-H parameters for the 850, the link parameter d6 (Joint 5 axis to the tool flange) is 90 mm, and the uf850 kinematics file agrees (0.09 m).
Evidence · 2 citations
Joint6 90 0 90 0
UFACTORY 850 User Manual V2.3.0 (PDF, older edition) · UFACTORY · Appendix 8, 1) UFACTORY 850 Modified D-H Parameters, p.187 (manual names the machine '850' / 'UFactory 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
y: -0.09
xarm_ros2 (branch humble), xarm_description/config/kinematics/default/uf850_default_kinematics.yaml · UFACTORY · kinematics block (ROS naming 'uf850')
© UFACTORY Inc., xArm-Developer/xarm_ros2, BSD 3-Clause License · BSD-3-Clause · retrieved 2026-09-21
Open the source
Confidence: Verifiedcomp-011
The record says
UFACTORY's manual gives the 850 arm the model number XF8500 and the AC control box the model number AC15; the online manual refers to the DC controller as DC8500.
Evidence · 3 citations
Robotic Arm Model XF8500
UFACTORY 850 User Manual V2.3.0 (PDF, older edition) · UFACTORY · Appendix 7, 1.11 Specifications, p.185 (manual names the machine '850' / 'UFactory 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Control Box Model AC15
UFACTORY 850 User Manual V2.3.0 (PDF, older edition) · UFACTORY · Appendix 7, 1.11 Specifications, p.185 (manual names the machine '850' / 'UFactory 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
DC8500 Input Power
UFACTORY 850 Hardware Manual (online), 3. Controller Electrical Interface · UFACTORY · 3.3.2 Power Supply (docs site 'UFACTORY 850 硬件手册', English version; names the machine 'UFACTORY 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Confidence: Verifiedsafety-082
The record says
The SGS Verification of MD Compliance linked from the 850 manual covers 'UFACTORY Robotic Arm', model numbers XI13 and XI15. It states that 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.
Evidence · 3 citations
Product Description: UFACTORY Robotic Arm Model No.: XI13, XI15
SGS Verification of MD Compliance No. MD GZES2403005468MD (UFACTORY Robotic Arm, Model No. XI13, XI15) · SGS-CSTC Standards Technical Services Co., Ltd. (published by UFACTORY) · Verification No. MD GZES2403005468MD, product and standard fields
SGS verification document, published by UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Test Standard: EN ISO 10218-1: 2011 EN 60204-1:2018 EN ISO 12100: 2010
SGS Verification of MD Compliance No. MD GZES2403005468MD (UFACTORY Robotic Arm, Model No. XI13, XI15) · 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 2026-09-21
Open the source
Sufficient samples of the product have been tested and found to be in conformity with
SGS Verification of MD Compliance No. MD GZES2403005468MD (UFACTORY Robotic Arm, Model No. XI13, XI15) · SGS-CSTC Standards Technical Services Co., Ltd. (published by UFACTORY) · Verification text, above the Test Standard field
SGS verification document, published by UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Confidence: Verifiedcomp-005
The record says
The 850's joints use harmonic drives (strain-wave reducers) and servomotors with 17-bit encoders.
Evidence · 1 citation
Industrial-grade harmonic drive and servomotors with 17 bit encoder guarantee 24/7 working as well as ±0.02 mm repeatability.
UFACTORY 850 product page · UFACTORY · Overview, 'Durable Collaborative Robots with Easy Deployment' (page names the machine 'UFACTORY 850'; spec tables say 'UFactory 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Kind: Gapcomp-006
Not known
Per-joint component data for the 850 (motor model and rating, harmonic-drive ratio, encoder type and whether it is single- or multi-turn absolute, and joint-module sizes for J1–J6) is not published in the product page, the manuals or the URDF fetched.
Evidence · 1 citation
Industrial-grade harmonic drive and servomotors with 17 bit encoder
UFACTORY 850 product page · UFACTORY · Overview (the only drive-train description found) (page names the machine 'UFACTORY 850'; spec tables say 'UFactory 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Confidence: Verifiedcomp-028
The record says
The 850 control box has dedicated redundant safety inputs, an emergency stop input and a protective stop input, each wired as a pair in two separate branches.
Evidence · 4 citations
All safety I/Os exist in pairs (redundancy) and must be kept in two
UFACTORY 850 User Manual V2.3.0 (PDF, older edition) · UFACTORY · Hardware Section 2.4.2 Dedicated Safety I/O, p.42–43 (manual names the machine '850' / 'UFactory 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
The robotic arm emergency stop input is only used for the emergency stop of the device.
UFACTORY 850 User Manual V2.3.0 (PDF, older edition) · UFACTORY · Hardware Section 2.4.2, p.43 (manual names the machine '850' / 'UFactory 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
The protective stop input is used for all types of safety protection.
UFACTORY 850 User Manual V2.3.0 (PDF, older edition) · UFACTORY · Hardware Section 2.4.2, p.43 (manual names the machine '850' / 'UFactory 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
All safety I/Os exist in pairs (redundancy) and must be kept in two separate branches. A single I/O failure should not result in the loss of safety features. There are two fixed safety inputs:
UFACTORY 850 Hardware Manual (online), 3. Controller Electrical Interface · UFACTORY · 3.4.1 Safety IO(EISI)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Confidence: Verifiedcomp-029
The record says
The 850 control box's configurable inputs CI0–CI7 support Stop Moving, Safeguard Reset and Reduced Mode functions, which general inputs DI0–DI7 do not.
Evidence · 2 citations
DI0-DI7 are not equipped with the following three functions: stop moving, safeguard reset, and reduced mode.
UFACTORY 850 User Manual V2.3.0 (PDF, older edition) · UFACTORY · Hardware Section 2.4.3 note, p.46 (manual names the machine '850' / 'UFactory 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Configurable Function CI0-CI7 DI0-DIO7 General Input Yes Yes Stop Moving Yes No Safeguard Reset Yes No Offline Task Yes Yes Manual Mode Yes Yes Reduced Mode Yes No Enable Robot Yes Yes
UFACTORY 850 User Manual V2.3.0 (PDF, older edition) · UFACTORY · Hardware Section 2.4.1, configurable function table, p.40 (manual names the machine '850' / 'UFactory 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Confidence: Verifiedcomp-030
The record says
The control box's digital outputs are NPN open-collector/open-drain.
Evidence · 1 citation
The digital output is implemented in the form of NPN.
UFACTORY 850 User Manual V2.3.0 (PDF, older edition) · UFACTORY · Hardware Section 2.4.3.1 Configurable Output, p.46 (manual names the machine '850' / 'UFactory 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Confidence: Verifiedcomp-031
The record says
The control box's internal 24 V supply for I/O can deliver up to 1.8 A; an external 24 V supply of up to 3 A can be connected instead.
Evidence · 2 citations
[PWR - GND] Current 0 - 1.8 A
UFACTORY 850 Hardware Manual (online), 3. Controller Electrical Interface · UFACTORY · 3.4 Controller Electrical IO, power supply table (docs site 'UFACTORY 850 硬件手册', English version; names the machine 'UFACTORY 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
[24V - 0V] Current 0 - 3 A
UFACTORY 850 Hardware Manual (online), 3. Controller Electrical Interface · UFACTORY · 3.3 electrical specifications, External 24V Input Requirement
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Confidence: Verifiedcomp-032
The record says
The control box's analog inputs and outputs work at 0–10 V with 12-bit resolution.
Evidence · 2 citations
[AIx - AG] Voltage 0 - 10 V
UFACTORY 850 User Manual V2.3.0 (PDF, older edition) · UFACTORY · Hardware Section 2.4.4 General Analog I/O, p.49 (manual names the machine '850' / 'UFactory 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
[AIx - AG] Resolution - 12 12 Bit
UFACTORY 850 Hardware Manual (online), 3. Controller Electrical Interface · UFACTORY · 3.3 electrical specifications, Analog Input under Voltage Mode
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Confidence: Verifiedcomp-047
The record says
The tool connector supplies 24 V (20–30 V) at up to 1800 mA.
Evidence · 2 citations
Supply Current - - 1800 mA
UFACTORY 850 Hardware Manual (online), 4. Robotic Electrical Interface · UFACTORY · 4.2 Tool IO, Electrical Specifications (docs site 'UFACTORY 850 硬件手册', English version; names the machine 'UFACTORY 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Supply Voltage in 24V Mode 20 24 30 V
UFACTORY 850 Hardware Manual (online), 4. Robotic Electrical Interface · UFACTORY · 4.2 Tool IO, electrical specifications
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Confidence: Verifiedcomp-048
The record says
The tool digital outputs are NPN open-collector, sinking up to 100 mA, with no current protection.
Evidence · 2 citations
The digital output is implemented in the form of NPN with an open collector (OC).
UFACTORY 850 Hardware Manual (online), 4. Robotic Electrical Interface · UFACTORY · 4.2.2 Tool Digital Output(TO) (docs site 'UFACTORY 850 硬件手册', English version; names the machine 'UFACTORY 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Sink Current 0 - 100 mA
UFACTORY 850 Hardware Manual (online), 4. Robotic Electrical Interface · UFACTORY · 4.2.2 table (docs site 'UFACTORY 850 硬件手册', English version; names the machine 'UFACTORY 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Confidence: Verifiedcomp-049
The record says
The tool digital inputs have pull-down resistors (a floating input reads low), accept up to 30 V, and read high above 1.6 V.
Evidence · 3 citations
The digital input is already equipped with a pull-down resistor.
UFACTORY 850 Hardware Manual (online), 4. Robotic Electrical Interface · UFACTORY · 4.2.1 Tool Digital Input(TI) (docs site 'UFACTORY 850 硬件手册', English version; names the machine 'UFACTORY 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Logic High Voltage 1.6 - - V
UFACTORY 850 Hardware Manual (online), 4. Robotic Electrical Interface · UFACTORY · 4.2.1 table (docs site 'UFACTORY 850 硬件手册', English version; names the machine 'UFACTORY 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Input Voltage -0.5 - 30 V
UFACTORY 850 Hardware Manual (online), 4. Robotic Electrical Interface · UFACTORY · 4.2.1 Tool Digital Input, electrical specifications
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Confidence: Verifiedcomp-050
The record says
The tool analog inputs are non-differential, accept -0.5 to 3.3 V in voltage mode, and have 12-bit resolution.
Evidence · 2 citations
Input Voltage in Voltage Mode -0.5 - 3.3 V
UFACTORY 850 Hardware Manual (online), 4. Robotic Electrical Interface · UFACTORY · 4.2.3 Tool Analog Input(TAI) (docs site 'UFACTORY 850 硬件手册', English version; names the machine 'UFACTORY 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Resolution - 12 - Bit
UFACTORY 850 Hardware Manual (online), 4. Robotic Electrical Interface · UFACTORY · 4.2.3 Tool Analog Input, electrical specifications
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Confidence: Verifiedcomp-051
The record says
The 850's tool RS-485 port lets third-party RS-485 devices be controlled; UFACTORY's own end tool uses ID 9, standard Modbus RTU devices are set up under 'Settings-Externals-Modbus RTU', and other devices use transparent transmission via getset_tgpio_modbus_data.
Evidence · 1 citation
The id of our end tool is 9.
UFACTORY 850 Hardware Manual (online), 4. Robotic Electrical Interface · UFACTORY · 4.4.4 Tool RS485 (docs site 'UFACTORY 850 硬件手册', English version; names the machine 'UFACTORY 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Kind: Contradictioniface-152
Sources disagree
UFACTORY's documents give one page of UFACTORY Studio two names. The 850 hardware manual says a standard Modbus RTU end effector is debugged under 'Settings-Externals-Modbus RTU'. The Studio manual's Settings chapter, as read on 2026-10-13, heads its section 7.2.5, under 7.2 Externals, 'RS-485'; until that date the section was headed 'Modbus RTU'. UFACTORY's release note for Studio V2.8.2 names the page 'Settings - Externals - RS-485'; no fetched source says from which Studio version the page carries that name.
Related: comp-051 Verified iface-087 Verified iface-088 Verified
Evidence · 4 citations
If end effector supports standard Modbus RTU, user can debug it via '[Settings-Externals-Modbus RTU]
UFACTORY 850 Hardware Manual (online), 4. Robotic Electrical Interface · UFACTORY · 4.4.4 Tool RS485
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
7.2.5 RS-485
UFACTORY Studio User Manual (online), 7. Settings · UFACTORY · 7.2 Externals, the heading of section 7.2.5 (read 2026-10-13, publisher's commit cf19147)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-13
Open the source
7.2.5 Modbus RTU
UFACTORY Studio User Manual, 7. Settings, as it read until 2026-10-13 (publisher's repository, commit 533b75d) · UFACTORY · 7.2 Externals, the heading of section 7.2.5 (text until 2026-10-13, publisher's commit 533b75d)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-13
Open the source
Settings - Externals - RS-485 - Support independent timeout settings for Modbus RTU and Transparent on the control box or arm end.
UFACTORY Release Note v2.8.2 · UFACTORY · Studio V2.8.2, Settings items (read 2026-10-13)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-13
Open the source
Confidence: Verifiedcomp-052
The record says
The 850's tool end also has a pogo-pin connector with the same electrical specifications as the tool I/O.
Evidence · 1 citation
Electrical specifications comply with Tool IO specifications.
UFACTORY 850 Hardware Manual (online), 4. Robotic Electrical Interface · UFACTORY · 4.3 Pogo Pin Connector (docs site 'UFACTORY 850 硬件手册', English version; names the machine 'UFACTORY 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Kind: Contradictioncomp-072
Sources disagree
Vacuum gripper specifications differ between sources: the online hardware manual (AS1200) gives -55 kPa, more than 4 L/min, 20 mA quiescent and 500 mA peak current, while User Manual V2.3.0 gives 78% vacuum, more than 5.6 L/min, 30 mA quiescent and 400 mA peak. They may be different product revisions; the sources do not say.
Related: comp-071 Verified
Evidence · 2 citations
Vacuum Flow (L/min) ＞4L/min
UFACTORY 850 Hardware Manual (online), 8. Technical Specifications · UFACTORY · Vacuum Gripper(AS1200) table (docs site 'UFACTORY 850 硬件手册', English version; names the machine 'UFACTORY 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Vacuum 78 % Vacuum Flow (L/min) > 5.6 L/min
UFACTORY 850 User Manual V2.3.0 (PDF, older edition) · UFACTORY · Appendix 2, 850 accessories parameters, Vacuum Gripper, p.174 (manual names the machine '850' / 'UFactory 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Kind: RecommendationThis project's simulation and agent design, not the physical cellsafety-140
Project advice
Treat the 850's collision detection, safety boundary and reduced mode as configurable controller functions, not as validated safeguards: they must not replace the risk-assessed protective devices wired to the EI and SI inputs.
This is advice from this project, based on: safety-087 Inferred safety-062 Verified safety-067 Verified safety-073 Verified safety-074 Verified safety-057 Verified
Why: No fetched UFACTORY document gives these functions a safety rating or performance level (safety-087). Collision detection is a current-model comparison that can false-trigger and can be switched off (safety-062, safety-067); safety boundary and reduced mode are software settings (safety-073, safety-074). UFACTORY keeps safety signals separate from non-safety devices (safety-057). A function with no documented rating cannot stand in for a rated protective device.
Confidence: Verifiedint-009
The record says
S6 is a UFactory xArm 6 cobot that handles parts after processing, routing them to inspection, rework or shipping.
Evidence · 1 citation
Handles parts after proces. routing them to inspection, rework, or shipping.
IntelliMake Phase 1 Factory: Autonomous Production Demonstrator (infographic) · IntelliMake.org · S6 station label and description
© IntelliMake.org. Used with permission; redrawn for this platform. · Cleared for use by its owner · retrieved 2026-09-21
Project copy; not published on this site.
Confidence: Verifiedint-010
The record says
The cell uses two collaborative arms: the xArm 850 at S2 is the upstream arm that takes incoming material off receiving toward personalization, and the xArm 6 at S6 is the downstream arm that handles parts after processing.
Evidence · 2 citations
The xArm 850 at S2 is the **upstream** arm: it takes incoming material off receiving and hands it off toward personalization
CODE_SESSION 01 — xArm 850 Interactive Learning Platform (project specification) · Derek Stringfellow · Header, 'Confirmed role'
Derek Stringfellow, project record · Project-internal record · retrieved 2026-09-21
Project copy; not published on this site.
The xArm 6 at S6 is the **downstream** arm, handling parts after processing and routing them to inspection, rework, or shipping.
CODE_SESSION 01 — xArm 850 Interactive Learning Platform (project specification) · Derek Stringfellow · Header, 'Confirmed role'
Derek Stringfellow, project record · Project-internal record · retrieved 2026-09-21
Project copy; not published on this site.
Confidence: Verifiedint-008
The record says
S5, the xTool F1 Ultra laser engraver, performs personalization by laser engraving or marking.
Evidence · 1 citation
Performs personalization through laser engraving or marking.
IntelliMake Phase 1 Factory: Autonomous Production Demonstrator (infographic) · IntelliMake.org · S5 station label and description
© IntelliMake.org. Used with permission; redrawn for this platform. · Cleared for use by its owner · retrieved 2026-09-21
Project copy; not published on this site.
Confidence: Verifiedint-023
The record says
Camera C1 (Receiving) monitors incoming material and receiving operations.
Evidence · 1 citation
Camera C1 – Receiving Monitors incoming material and receiving operations.
IntelliMake Phase 1 Factory: Autonomous Production Demonstrator (infographic) · IntelliMake.org · Camera C1 label and description
© IntelliMake.org. Used with permission; redrawn for this platform. · Cleared for use by its owner · retrieved 2026-09-21
Project copy; not published on this site.
Confidence: Verifiedint-024
The record says
S11, IntelliAware Factory Monitoring, provides AI-vision-based monitoring of factory operations, equipment, processes and safety.
Evidence · 1 citation
AI vision-based monitoring of factory operations, equipment, processes, and safety.
IntelliMake Phase 1 Factory: Autonomous Production Demonstrator (infographic) · IntelliMake.org · S11 label and description
© IntelliMake.org. Used with permission; redrawn for this platform. · Cleared for use by its owner · retrieved 2026-09-21
Project copy; not published on this site.
Kind: RecommendationThis project's simulation and agent design, not the physical cellint-053
Project advice
Until S11's safety function is documented and verified, neither learners nor the S2 agent should treat S11 or the cameras as a safeguard. The S2 agent must not rely on them to stop motion or to protect people.
This is advice from this project, based on: int-024 Verified int-050 Gap, awaiting cell access
Why: S11 is described only as monitoring that includes safety (int-024). Nothing establishes a safety rating, stop authority or response time (int-050). Treating an unrated monitoring system as a safeguard is the failure the Q3 disposition warns against: an Assumed safeguard mistaken for a confirmed one.
Confidence: Verifiedsafety-009
The record says
UFACTORY says no people or other equipment should be in the 850's working area while the arm is operating.
Evidence · 1 citation
When the robotic arm is in operation, make sure no people or other equipment are in the working area.
UFACTORY 850 Hardware Manual (online), 1. Safety · UFACTORY · 1.3, DANGER list
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Kind: GapAwaiting cell accessint-034
Not known
The make, model and weight of S2's suction tool are not documented. It is a rounded mount with five ports, of which it uses one, basically the same attachment as S6's (int-069); that it is UFACTORY's Vacuum Gripper (AS1200), which also has five suction cups (comp-069), is not confirmed. Nor is it known whether the four unused ports are sealed.
Awaiting cell access: this could be confirmed or corrected once the physical S2 cell can be observed.
Related: int-064 Verified, awaiting cell access int-069 Verified, awaiting cell access comp-069 Verified comp-070 Verified
Evidence · 4 citations
850 uses a single suction apperture as its attachment
Owner statements from 2026-09-24 onward (verbatim; S40 and later) · Derek Stringfellow · Statement S90
Derek Stringfellow, project record · Project-internal record · retrieved 2026-10-04
Project copy; not published on this site.
The gripper consists of the rounded mount piece and the attached cups in our case, as one unit.
Owner statements from 2026-09-24 onward (verbatim; S40 and later) · Derek Stringfellow · Statement S104
Derek Stringfellow, project record · Project-internal record · retrieved 2026-10-04
Project copy; not published on this site.
Basically the same attachement, the 5 uses all prods on the mount and the 1 uses just one.
Owner statements from 2026-09-24 onward (verbatim; S40 and later) · Derek Stringfellow · Statement S105, second message
Derek Stringfellow, project record · Project-internal record · retrieved 2026-10-04
Project copy; not published on this site.
The vacuum gripper is equipped with 5 suction cups
UFACTORY 850 User Manual V2.3.0 (PDF, older edition) · UFACTORY · Hardware Section 3.2 Vacuum Gripper, p.54–55 (manual names the machine '850' / 'UFactory 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Kind: GapAwaiting cell accessint-557
Not known
What the xArm 850's payload setting of 0.61 kg (int-552) stands for is not stated. The figure equals the weight UFACTORY lists for its Vacuum Gripper (AS1200), 610 g (comp-070), and the payload of UFACTORY Studio's preset named 'Vacuum Gripper', 0.61 kg (ops-092). The figures match; the match does not show which tool the arm carries (int-034).
Awaiting cell access: this could be confirmed or corrected once the physical S2 cell can be observed.
Related: int-552 Verified, awaiting cell access comp-070 Verified ops-092 Verified int-034 Gap, awaiting cell access int-547 Verified
Evidence · 3 citations
Payload：0.61 Kg
UFACTORY Studio's Device Info page for the xArm 850, screenshot (2026-10-16) · Derek Stringfellow · Device Info page (Settings, My Device, Device Info), status panel under the 3D view, 'Payload' line; 'Real' selected, not 'Sim'; the colon is full-width (U+FF1A) on screen, read by eye
Derek Stringfellow, project record · Project-internal record · retrieved 2026-10-16
Project copy; not published on this site.
Weight 610g
UFACTORY 850 Hardware Manual (online), 8. Technical Specifications · UFACTORY · Vacuum Gripper(AS1200) table (docs site 'UFACTORY 850 硬件手册', English version; names the machine 'UFACTORY 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Vacuum Gripper: [0.61,0,0,53]
UFACTORY Studio User Manual (online), 7. Settings · UFACTORY · 7.1.2 TCP, Default TCP payload, list item 'Vacuum Gripper' (as read 2026-10-13, publisher's commit cf19147)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-13
Open the source

Image Credits

Line drawings of the 850 control box with its front and back panels labeled: emergency stop, robot power, state, power switch, AC port, network port, LAN, robot 48V, enabling switch and IO. © UFACTORY (Shenzhen UFACTORY Co., Ltd.). Source. Used with UFACTORY's written permission (2026-09-23), on the condition that each image links back to its source page.
UFACTORY's AC control box, marked 100 to 240 V AC, beside the DC control box, marked 48 to 72 V DC. © UFACTORY (Shenzhen UFACTORY Co., Ltd.). Source. Used with UFACTORY's written permission (2026-09-23), on the condition that each image links back to its source page.
A line drawing of the 850 control box from the front, with the red emergency stop button on top and the network port, LAN, robot 48V, enabling switch, state and robot power labeled. © UFACTORY (Shenzhen UFACTORY Co., Ltd.). Source. Used with UFACTORY's written permission (2026-09-23), on the condition that each image links back to its source page.
A cut-away render of a UFACTORY joint module showing a carbon fiber tube and a harmonic drive, with the words carbon fiber and harmonic. © UFACTORY (Shenzhen UFACTORY Co., Ltd.). Source. Used with UFACTORY's written permission (2026-09-23), on the condition that each image links back to its source page.
3D model: © 2018 UFACTORY Inc., BSD-3-Clause, from UFACTORY Inc. (xArm-Developer/xarm_ros2). License text · Source

Sources for This Section

CODE_SESSION 01 — xArm 850 Interactive Learning Platform (project specification) · Derek Stringfellow (project owner)
Derek Stringfellow, project record · Project-internal record · retrieved 2026-09-21 · cited by 1 record here · Project copy; not published on this site.
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 6 records here · Project copy; not published on this site.
Owner statements from 2026-09-24 onward (verbatim; S40 and later) · Derek Stringfellow (project owner)
Derek Stringfellow, project record · Project-internal record · retrieved 2026-10-04 · cited by 4 records here · Project copy; not published on this site.
SGS Verification of MD Compliance No. MD GZES2403005468MD (UFACTORY Robotic Arm, Model No. XI13, XI15) · 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 2026-09-21 · cited by 1 record here · Open the source
UFACTORY 850 Hardware Manual (online), 1. Safety · UFACTORY (manufacturer)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21 · cited by 4 records here · Open the source
UFACTORY 850 Hardware Manual (online), 2. Hardware Installation · UFACTORY (manufacturer)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21 · cited by 3 records here · Open the source
UFACTORY 850 Hardware Manual (online), 3. Controller Electrical Interface · UFACTORY (manufacturer)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21 · cited by 11 records here · Open the source
UFACTORY 850 Hardware Manual (online), 4. Robotic Electrical Interface · UFACTORY (manufacturer)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21 · cited by 15 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 3 records here · Open the source
UFACTORY 850 Hardware Manual (online), 8. Technical Specifications · UFACTORY (manufacturer)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21 · cited by 15 records here · Open the source
UFACTORY 850 User Manual V2.3.0 (PDF, older edition) · UFACTORY (manufacturer)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21 · cited by 28 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 1 record 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 2 records 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 3 records here · Open the source
UFACTORY Studio User Manual, 7. Settings, as it read until 2026-10-13 (publisher's repository, commit 533b75d) · UFACTORY (manufacturer)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-13 · cited by 1 record here · Open the source
UFACTORY Studio's Device Info page for the xArm 850, screenshot (2026-10-16) · Derek Stringfellow (project owner)
Derek Stringfellow, project record · Project-internal record · retrieved 2026-10-16 · cited by 1 record here · Project copy; not published on this site.
xarm_ros2 (branch humble), xarm_description/config/kinematics/default/uf850_default_kinematics.yaml · UFACTORY (manufacturer)
© UFACTORY Inc., xArm-Developer/xarm_ros2, BSD 3-Clause License · BSD-3-Clause · retrieved 2026-09-21 · cited by 5 records here · Open the source

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References: §3 Major Components

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