The emergency stop button is on the control box, not on the arm7.
S2 in one line: S2 is the xArm 850 arm that picks up incoming material and moves it between receiving, staging and production89.
Scroll
Look back
A question from earlier on, to keep it fresh. Skip it if you like; nothing depends on it.
Choose your depth
Four depths, one page. Switch at any time: every tier stays open to everyone. What the four tiers mean
1Beginner
The parts you can see
For: Anyone with no robotics background: a visitor, a new operator, a manager Kind of task: Recognise and recall, with plain-language explanations and pictures
In this part you open the box, name each part, and find the one button everyone near the arm must be able to reach. No robotics background is needed.
What comes in the box
The package holds the arm, a control box, a power and signal cable that joins the arm to the box, a power cable for the box, an adapter cable for the tool, and Ethernet cables4.
A control box is included by default: the arm is always sold as part of a system10.
The arm
The arm has a base and six rotary joints, numbered Joint 1 at the base to Joint 6. Joint 6 is the tool end, where tools attach11.
It is built from carbon fibre and aluminium, which UFACTORY says halves the weight of the system12.
The control box
The control box is the core of the system: it houses the arm's control system6.
The control box houses the arm's control system; its front panel carries the status lights and the emergency stop67. Image: UFACTORY
Its front panel has three lights. ROBOT PWR shows the arm has power, STATE shows the controller has power, and LAN shows communication7.
The same panel carries the EMERGENCY STOP button7.
That is why UFACTORY says the control box must sit outside the arm's working range, where the button can be reached in an emergency13.
The tool on the end
The end effector is the tool on the front of the wrist, such as a gripper or a vacuum gripper. It is the part that touches the workpiece and does the work5.
UFACTORY's own options for the 850 are a Gripper, a Vacuum Gripper, the BIO Gripper G2 and a force-torque sensor14.
Which tool is fitted at S2 is not documented yet. It is waiting for access to the cell15.
Brakes in the joints
The joints contain brakes. If the power is lost, they hold the arm where it is instead of letting it fall16.
The software
UFACTORY Studio is the program people use to control and program the arm. It runs inside the control box and is opened in a web browser, so nothing is installed on the computer17.
People can also program the arm in code, with Python, C++ or ROS18.
Check yourself
Answer, then check. Each option has its own feedback, and nothing is scored.
2Novice
How the parts work together
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 follow a command from a browser all the way to the gripper, and learn the handful of rules that protect the arm and the people beside it. It is for someone who will work near or with the cell.
From a click to a moving gripper
This platform pieces together the path a command takes from UFACTORY's separate descriptions of each part. UFACTORY does not describe the whole path in one place, so the path is Inferred, and its reasoning is printed with the record23.
A computer or browser sends the command over Ethernet to the control box23.
The control box runs UFACTORY Studio and the controller, which work out what the arm must do23.
Through the power and signal cable, the box powers the arm at 48 V DC and talks to the joints over an RS-485 line232.
A second RS-485 line in the same cable carries the tool's traffic232.
The gripper at the flange gets 24 V power and its control signals through the 12-pin tool connector231.
Two kinds of control box
UFACTORY offers two boxes. The AC box has a built-in AC-DC adapter, for mains power. The DC box takes 48–72 V DC, for battery-powered mobile platforms3.
Two control boxes: AC for mains power, DC for battery-powered mobile platforms3. Image: UFACTORY
What Studio holds, and what is missing
Studio includes Live Control, Blockly graphical programming, a Python IDE and GCode24.
No dedicated teach pendant is documented for the 850. People teach it through the browser, in Studio, or by guiding it by hand25.
In manual mode, gravity compensation lets you guide the arm by hand. How easily it gives is set by a teach sensitivity from level 1 to 526.
Collision sensitivity is set from 0, which turns collision detection off, up to 527.
Fitting a tool
A UFACTORY Gripper or Vacuum Gripper is fixed to the end of the arm with 2 M6 bolts and connected with its connection cable with the arm powered off, the e-stop pressed and the arm's power light off. UFACTORY says this avoids arm failure caused by hot-plugging28.
The Vacuum Gripper handles smooth, flat objects up to 5 kg. It has 5 suction cups, and any cup not in use must be sealed. It is switched on and off by digital I/O29.
In Studio's End Effector setting you choose the 850 Gripper, Vacuum Gripper or BIO Gripper, or a Robotiq 2F-85 or 2F-140. Any other tool is set as "other"30.
When the sources disagree about the gripper
The online manual's Gripper G2 has a clamping force of 10–50 N, weighs 800 g and talks Modbus RTU. The older User Manual's "850 Gripper" has at most 30 N, weighs 802 g and talks Modbus TCP31.
They may be two generations of gripper, but the sources do not say. Until the gripper at S2 is identified, neither set of figures can be assumed for it3115.
Check yourself
Answer, then check. Each option has its own feedback, and nothing is scored.
3Intermediate
Installing and connecting the parts
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. Simulation added in M2/M4 extends this; it does not define it
In this part you work through what installing the system involves: power, cables, the tool flange, the network line inside the arm, and the rules for storage and the brakes. It is for someone who will set up, program or maintain the arm.
Power into the control box
The AC control box takes mains power through a standard IEC C20 inlet, with an IEC C19 cable34.
Inside, a switching power supply turns 100–240 V AC into 12 V and 48 V DC, which power the box itself and the arm35.
UFACTORY says to place the control box between 0.6 m and 1.5 m above the floor36.
Cables
The cable from the arm to the control box has an 8-pin industrial connector. It carries 48 V and ground, plus two RS-485 buses: one for the arm and one for the tool2.
Use only the original arm cable, and do not use the arm where that cable has to bend. Longer or flexible cables are available through the supplier37.
I/O cables from the control box to other equipment must not be longer than 30 m, unless testing shows a longer run works38.
With the DC control box, the arm connects through a supplied Robot Pwr & Communication Adapter Cable39.
The tool flange and connector
The tool flange follows the standard ISO 9409-1-50-4-M640.
It has six M6 threaded holes and one Ø6 positioning hole, and takes end effectors of two different sizes41.
Power and control signals reach grippers and sensors through a 12-pin female aviation-style socket at the tool side1.
A network line inside the arm
An Ethernet cable runs inside the arm, from a user RJ45 port on the base to an M8 4-pole connector at the end flange. A camera or other device at the tool can reach the network through it42.
Its speed is disputed. The product page and online manual say gigabit, 1000M CAT5E; the older User Manual says 100M, standard CAT543.
This project's advice: until someone checks the arm at S2, size any device at the tool, such as a camera, for 100M, the lower figure44.
The battery, and the brakes
The arm has a built-in battery. If it is stored unused for 3 months or more, UFACTORY says to power it on for 6 hours every 3 months to charge it33.
Studio can release the joint brakes ("unlock joint"). When it does, someone must hold the arm up, or it will fall45.
What the emergency stop does
The emergency stop button sits on the control box7. Image: UFACTORY
The e-stop button on the control box performs a Stop Category 146.
When it is pressed, the arm brakes slightly and falls. UFACTORY says the e-stop should not be used as a risk-reduction measure47.
The manual's own e-stop descriptions do not fit together: one part says arm power is removed quickly, while another calls the stop Category 1, which decelerates with drive power on. The contradiction card sets out both sides48.
Gripper figures you will be asked for
The online manual rates the Gripper G2 (AG1200) for a 5 kg payload49. It weighs 800 g50.
Its clamping force is 10–50 N51, its stroke 84 ± 1 mm52, and its speed 15–225 mm/s53.
It talks RS-485 with Modbus RTU, runs on 24 V DC, has replaceable fingers and is rated IP4054. Its cycle life is more than 2,000,000 cycles55.
The Vacuum Gripper (AS1200) weighs 610 g and measures 122.5 × 91.6 × 75 mm56.
No specification was found for the BIO Gripper G2 or the force-torque sensor: only their names are listed57.
The gripper figures disagree between manuals, and the gripper at S2 is not identified, so check which one is fitted before you use any of them3115.
Check yourself
Answer, then check. Each option has its own feedback, and nothing is scored.
4Expert
Electrical and kinematic detail
For: Someone who designs, integrates or changes the cell: integrator, engineer, the M5 team Kind of task: Analyse and decide: weigh trade-offs, resolve contradictions, critique a configuration
In this part you read the arm's geometry, its model numbers and the electrical detail of its inputs, outputs and tool pins, and learn where the published detail runs out. It is for someone who designs, integrates or changes the cell.
The arm's geometry
In UFACTORY's modified D-H parameters, five link lengths describe the arm, and the uf850 kinematics file agrees with each one6061626364.
d1, from the base up to the Joint 2 axis: 364 mm60.
a2, the upper arm from Joint 2 to Joint 3: 390 mm61.
a3, the offset from Joint 3 to the forearm: 150 mm62.
d6, from the Joint 5 axis to the tool flange: 90 mm64.
Model numbers
UFACTORY's manual gives the arm the model number XF8500 and the AC control box AC15. The online manual calls the DC controller DC850065.
The safety certificates use other model numbers, XI13 and XI15, and the text does not tie them to the name "UFACTORY 850". Which number is on the arm at S2 is unknown66.
Inside a joint
The joints use harmonic drives, also called strain-wave reducers, and servomotors with 17-bit encoders67.
UFACTORY's own render of a joint: carbon fibre and a harmonic drive6712. Image: UFACTORY
That is as far as the published detail goes. Motor model and rating, gear ratio, encoder type and joint-module sizes for each joint are not in the manuals or the URDF68.
The controller's inputs and outputs
The control box has dedicated safety inputs: an emergency stop input and a protective stop input, each wired as a pair in two separate branches69.
The configurable inputs CI0–CI7 can be set for Stop Moving, Safeguard Reset and Reduced Mode. The general inputs DI0–DI7 cannot70.
The digital outputs are NPN open-collector or open-drain71.
The internal 24 V I/O supply delivers up to 1.8 A. An external 24 V supply of up to 3 A can be connected instead72.
Analog inputs and outputs work at 0–10 V with 12-bit resolution73.
The tool connector, pin by pin
Pins 1–2 carry +24 V, pins 3–4 are 0 V, pins 5–6 are RS-485 A and B, pins 7–8 are tool outputs TO0 and TO1, pins 9–10 are tool inputs TI0 and TI1, and pins 11–12 are analog inputs AI0 and AI158.
Tool outputs are NPN open-collector, sinking up to 100 mA, with no current protection75.
Tool inputs have pull-down resistors, so an input left floating reads low. They accept up to 30 V and read high above 1.6 V76.
Tool analog inputs are not differential, accept -0.5 to 3.3 V in voltage mode, and have 12-bit resolution77.
Third-party RS-485 devices can be driven through the tool port. UFACTORY's own tool uses ID 9; standard Modbus RTU devices are set up under Settings-Externals-Modbus RTU, and other devices use transparent transmission78.
A pogo-pin connector at the tool end has the same electrical specifications as the tool I/O79.
Where the vacuum gripper figures split
The online manual's Vacuum Gripper (AS1200) gives -55 kPa, more than 4 L/min, 20 mA quiescent and 500 mA peak. The older User Manual gives 78% vacuum, more than 5.6 L/min, 30 mA quiescent and 400 mA peak. They may be different revisions; the sources do not say80.
Check yourself
Answer, then check. Each option has its own feedback, and nothing is scored.
Not settled
Open questions · 11
What the sources do not settle for this section. Nothing here is papered over with a plausible number.
Kind: Gap
The end effector fitted to S2 (the gripper or suction tool used for business cards) is not documented.
It is unknown what the S2 gripper does to a held workpiece on power loss or e-stop (holds or drops), and what lies beneath the arm's path if a part drops.
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.
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.
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.
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. UFACTORY does 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).
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.
The fetched text does not tie the certificate model numbers XI13 and XI15 to the name 'UFACTORY 850', although UFACTORY links the certificates from the 850 manual. It is also unknown which of these model numbers appears on the S2 arm's label.
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.
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.
Whether S11 IntelliAware has any authority to stop or slow S2, whether it is a safety-rated protective device, and who owns S11 are not documented (Q14f). The diagram calls S11 'monitoring of ... safety', which does not make it a safeguard.
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')
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.
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')
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')
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'
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')
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 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 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.
It is unknown what the S2 gripper does to a held workpiece on power loss or e-stop (holds or drops), and what lies beneath the arm's path if a part drops.
Awaiting cell access: this could be confirmed or corrected once the physical S2 cell can be observed.
Evidence · 1 citation
Make sure that the connecting tool and the gripper do not cause any danger when the power is cut
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:Synthesised 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 labelled 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
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.
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')
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;
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')
The 850 Vacuum Gripper (AS1200) handles smooth flat objects up to 5 kg, has 5 suction cups (unused cups must be sealed), 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 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')
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.
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 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')
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')
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.
Kind: RecommendationAwaiting cell accessThis project's simulation and agent design, not the physical cellProject 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 Verifiedcomp-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.
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')
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. UFACTORY does 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).
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
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')
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
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).
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).
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).
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).
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).
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.
The fetched text does not tie the certificate model numbers XI13 and XI15 to the name 'UFACTORY 850', although UFACTORY links the certificates from the 850 manual. It is also unknown which of these model numbers appears on the S2 arm's label.
Awaiting cell access: this could be confirmed or corrected once the physical S2 cell can be observed.
Related: safety-082 Verified
Evidence · 1 citation
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) · Model No. field
SGS verification document, published by UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
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')
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
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:
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.
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')
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')
Kind: RecommendationThis project's simulation and agent design, not the physical cellProject 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 Inferredsafety-062 Verifiedsafety-067 Verifiedsafety-073 Verifiedsafety-074 Verifiedsafety-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.
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
Whether S11 IntelliAware has any authority to stop or slow S2, whether it is a safety-rated protective device, and who owns S11 are not documented (Q14f). The diagram calls S11 'monitoring of ... safety', which does not make it a safeguard.
Awaiting cell access: this could be confirmed or corrected once the physical S2 cell can be observed.
Kind: RecommendationThis project's simulation and agent design, not the physical cellProject 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 Verifiedint-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.
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.
Owner statements, 2026-09-21 (verbatim) · 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.
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
