References: §4 How the Machine Works

Provenance

References · 66

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-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
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: Verifiediface-100
The record says
In servo mode the controller accepts commands at up to 250 Hz, and commands sent faster are lost. UFACTORY suggests issuing smoothed, interpolated track points at a fixed frequency, preferably 100 Hz or 200 Hz, and for Cartesian servo recommends a command rate within 30-250 Hz.
Evidence · 4 citations
In servoj mode, the maximum receiving frequency of the control box is 250 Hz
UFACTORY Studio User Manual (online), 10. Robotic Arm Motion Mode and State · UFACTORY · 10.1 Mode 1
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
It is recommended that the frequency of user issuing commands be controlled within the range of 30 Hz-250 Hz.
UFACTORY Studio User Manual (online), 10. Robotic Arm Motion Mode and State · UFACTORY · 10.1 Mode 1, Servo Cartesian Motion
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
If the frequency of sending commands exceeds 250Hz, the redundant commands will be lost.
UFACTORY Studio User Manual (online), 10. Robotic Arm Motion Mode and State · UFACTORY · 10.1 Mode 1, Servo Joint Motion
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
issue a smoothed track point with interpolation at a certain frequency (preferably 100Hz or 200 Hz)
UFACTORY Studio User Manual (online), 10. Robotic Arm Motion Mode and State · UFACTORY · 10.1 Mode 1, Servo Joint Motion, suggested use
© 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: Verifiedapp-023
The record says
In UFACTORY's terminology the control box is the core of the robot system: it integrates 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 Studio User Manual (online), 2. Glossary · UFACTORY · Glossary, 'Control Box'
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Confidence: Verifiedapp-025
The record says
The Tool Center Point (TCP) is the reference point the arm positions. Without a TCP offset, the tool coordinate system sits at the flange center; a TCP offset moves it to the actual tool point.
Evidence · 2 citations
If the TCP offset is not set, the default tool coordinate system is located at flange center.
UFACTORY Studio User Manual (online), 2. Glossary · UFACTORY · Glossary, 'Tool Coordinate System'
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Set the relative offset between the default tool coordinate system at flange center and the actual tool coordinate system, with distance unit of mm.
UFACTORY Studio User Manual (online), 2. Glossary · UFACTORY · Glossary, 'TCP Offset'
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Confidence: 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: Verifiedapp-036
The record says
UFACTORY Studio runs inside the control box and is used from a web browser, so the arm can be operated from any computer 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'
© 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: Verifiedapp-026
The record says
The base coordinate system is a Cartesian frame fixed to the arm's mounting base: X is front and back, Y left and right, and Z up and down.
Evidence · 1 citation
Quote not shown (over 40 words). See the source at: Glossary, 'Base Coordinate System'.
UFACTORY Studio User Manual (online), 2. Glossary · UFACTORY · Glossary, 'Base Coordinate System'
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Confidence: Verifiedapp-033
The record says
In manual mode the arm compensates for gravity ('zero gravity'), so a person can move it by hand to teach positions.
Evidence · 1 citation
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 Studio User Manual (online), 2. Glossary · UFACTORY · Glossary, 'Manual Mode'
© 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: 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: Verifiedapp-034
The record says
UFACTORY's collision detection compares each joint's theoretical current with its actual current: the control system uses a dynamic model to calculate the theoretical current for each joint, and triggers collision detection when the difference exceeds a pre-set threshold.
Evidence · 3 citations
By comparing the theoretical current and actual current of each joint, the system determines whether a collision has occurred.
Collision Detection in UFACTORY Robotic Arms: Current and Dynamic Model-based Feature (UFACTORY support article) · UFACTORY · Introduction
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
If the difference exceeds a pre-set threshold, indicating that the joint may have encountered external resistance or collision, the system triggers the collision detection.
Collision Detection in UFACTORY Robotic Arms: Current and Dynamic Model-based Feature (UFACTORY support article) · UFACTORY · Section 1
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
The robot's control system calculates the theoretical current for each joint based on the dynamic model.
Collision Detection in UFACTORY Robotic Arms: Current and Dynamic Model-based Feature (UFACTORY support article) · UFACTORY · Section 1
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Confidence: Inferredsafety-087
The record says
No fetched UFACTORY document calls the 850's collision detection, safety boundary or reduced mode safety-rated, or gives them a performance level.
Why we infer this: Verified: collision detection is a model-based current comparison that UFACTORY says can false-trigger with wrong settings and can be disabled (level 0, Advanced Settings toggle, a documented default password); safety boundary and reduced mode are software settings exposed in Studio and the SDK. UFACTORY distinguishes safety signals (EI/SI, redundant pairs) from non-safety devices. Inferred: no fetched UFACTORY source assigns a PL, Category or safety rating to these software functions (see the gap on performance level); this is a statement about the documents fetched, not proof that no rating exists.
Evidence · 3 citations
By comparing the theoretical current and actual current of each joint, the system determines whether a collision has occurred.
Collision Detection in UFACTORY Robotic Arms: Current and Dynamic Model-based Feature (UFACTORY support article) · UFACTORY · Section 1
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
When it is set to 0, it means that collision detection is not enabled.
UFACTORY Studio User Manual (online), 2. Glossary · UFACTORY · Glossary, Collision Sensitivity
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Never connect a safety signal to a non-safety PLC.Failure to follow this warning may result in serious injury or death due to an invalid safety stop function.
UFACTORY 850 Hardware Manual (online), 3. Controller Electrical Interface · UFACTORY · 3.1 Electrical Alarms and Cautions
© 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: 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
Confidence: Verifiediface-039
The record says
The arm's default IP address is in the 192.168.1.xxx range, and the PC must be on the same network segment as the control box.
Evidence · 1 citation
The default IP of robotic arm is 192.168.1.xxx, please make sure that the IP address of the PC and control box are on the same network segment.
UFACTORY Studio User Manual (online), 3. Connection · UFACTORY · 3.2 Software Connection
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Confidence: Verifiediface-023
The record says
The 850 arm and its controller communicate with a host over Ethernet using a private (custom) TCP protocol.
Evidence · 2 citations
Robotic Arm Communication Protocol | Private TCP(custom)
UFACTORY 850 Hardware Manual (online), 8. Technical Specifications · UFACTORY · Specifications table, 'Robotic Arm Communication Protocol' row
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Communication Method | Ethernet
UFACTORY 850 Hardware Manual (online), 8. Technical Specifications · UFACTORY · Controller table, 'Communication Method' row
© 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: Verifiedapp-028
The record says
The arm can be commanded in two ways: joint motion moves point to point in joint space (angles in degrees), while TCP (linear) motion moves the tool along a Cartesian path such as a line or an arc.
Evidence · 2 citations
To achieve point-to-point motion in joint space (unit: degree), the speed is not continuous between each command.
UFACTORY Studio User Manual (online), 9. Motion Characteristics · UFACTORY · Section 9.1.1 Joint Motion
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
TCP motion is the Cartesian space motion, with target position in Cartesian space coordinate and the end follows the specified trajectory(arc, line, etc.)
UFACTORY Studio User Manual (online), 2. Glossary · UFACTORY · Glossary, 'TCP Motion'
© 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 cellapp-039
Project advice
Use a TCP (linear) move when the tool's path matters, for example lowering a part straight down into a slot, and a joint move when only the end point matters.
This is advice from this project, based on: app-028 Verified lim-023 Verified lim-024 Verified
Why: A joint move goes point to point in joint space, so the tool follows whatever path the joint angles produce; a TCP move drives the tool along a chosen Cartesian path such as a line or an arc (app-028). Only the TCP move controls the path in between. It also carries costs a joint move does not: it can stop near a singularity (lim-023), and its joints can exceed their maximum speed (lim-024). So it earns its place where the path itself matters.
Confidence: Inferredapp-032
The record says
The 850 has full 6-degree-of-freedom control in Cartesian space, so any reachable tool position and orientation can be specified; the 5-axis xArm 5 cannot do this.
Why we infer this: UFACTORY's article says 6-axis (xArm 6) and 7-axis arms have full 6-DOF Cartesian control, while the 5-axis xArm 5 is limited to 4 Cartesian DOF. The 850 is also a 6-axis, 6-DOF arm (app-016), and its Cartesian range includes roll, pitch and yaw of ±180° (850 hardware manual, Technical Specifications). The article does not name the 850, so this is inferred rather than stated.
Evidence · 2 citations
Both robotic arms have a full 6 degrees of freedom in Cartesian space.
The difference between UFACTORY xArm5, UFACTORY xArm6 and UFACTORY xArm7 (Help Center article) · UFACTORY · Section 3, 'Motion Characteristics of the UFACTORY xArm6 and UFACTORY xArm7'
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source Plain http: this publisher has no certificate for that name, so what loads cannot be verified.
the actual flexible degrees of freedom of linear and circular motions in Cartesian space is 4, which is [x, y, z, yaw]
The difference between UFACTORY xArm5, UFACTORY xArm6 and UFACTORY xArm7 (Help Center article) · UFACTORY · Section 3, xArm5 Cartesian control
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source Plain http: this publisher has no certificate for that name, so what loads cannot be verified.
Confidence: Verifiedapp-020
The record says
UFACTORY says the 850's industrial-grade harmonic drives and servomotors with 17-bit encoders support 24/7 operation and ±0.02 mm repeatability.
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 · 'Durable Collaborative Robots with Easy Deployment' section
© 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: 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: Verifiedsafety-062
The record says
UFACTORY's collision detection compares each joint's actual motor current with the current predicted by a dynamic model, and triggers when the difference exceeds a preset threshold.
Evidence · 2 citations
The collision detection feature of UFACTORY robotic arms relies on the combination of current and dynamic models. By comparing the theoretical current and actual current of each joint, the system determines whether a collision has occurred.
Collision Detection in UFACTORY Robotic Arms: Current and Dynamic Model-based Feature (UFACTORY support article) · UFACTORY · Introduction and section 1
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
If the difference exceeds a pre-set threshold, indicating that the joint may have encountered external resistance or collision, the system triggers the collision detection.
Collision Detection in UFACTORY Robotic Arms: Current and Dynamic Model-based Feature (UFACTORY support article) · UFACTORY · Section 1
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Confidence: Verifiediface-101
The record says
Mode 2 is manual (joint teaching) mode: the arm compensates for gravity so the links can be moved by hand, and it should be switched back to mode 0 when teaching is done.
Evidence · 1 citation
Quote not shown (over 40 words). See the source at: 10.1 Mode 2: Manual Mode.
UFACTORY Studio User Manual (online), 10. Robotic Arm Motion Mode and State · UFACTORY · 10.1 Mode 2: Manual Mode
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Confidence: Verifiediface-095
The record says
The controller's motion modes and states correspond to the Python SDK calls set_mode() and set_state().
Evidence · 1 citation
The controller provides 7 motion mode and 6 state, corresponding to python SDK `set_mode()`, `set_state()`.
UFACTORY Studio User Manual (online), 10. Robotic Arm Motion Mode and State · UFACTORY · 10. introduction
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Confidence: Verifiediface-096
The record says
Mode 0 is position control mode, and the controller enters it by default after start-up.
Evidence · 2 citations
Mode 0: Position Control Mode
UFACTORY Studio User Manual (online), 10. Robotic Arm Motion Mode and State · UFACTORY · 10.1 Mode 0
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
The control box enters this mode by default after startup.
UFACTORY Studio User Manual (online), 10. Robotic Arm Motion Mode and State · UFACTORY · 10.1 Mode 0
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Confidence: Verifiediface-099
The record says
Mode 1 is servo mode: set_servo_angle_j and set_servo_cartesian need it and run only the latest target received, with no buffer.
Evidence · 2 citations
Note: the use of the set_servo_angle_j interface must first be set to this mode
xArm-Python-SDK API documentation (doc/api/xarm_api.md) · UFACTORY · set_mode, mode 1 note
© UFACTORY Inc., xArm-Developer/xArm-Python-SDK, BSD 3-Clause License · BSD-3-Clause · retrieved 2026-09-21
Open the source
Mode 1: Servo(ServoJ) Mode | This command has no buffer, only execute the latest received target point
UFACTORY Studio User Manual (online), 10. Robotic Arm Motion Mode and State · UFACTORY · 10.1 Mode 1, Servo Joint Motion
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Confidence: Verifiediface-104
The record says
Mode 4 is joint velocity control: vc_set_joint_velocity sets a speed for each joint and needs set_mode(4).
Evidence · 1 citation
Joint velocity control, need to be set to joint velocity control mode(self.set_mode(4))
xArm-Python-SDK API documentation (doc/api/xarm_api.md) · UFACTORY · vc_set_joint_velocity
© UFACTORY Inc., xArm-Developer/xArm-Python-SDK, BSD 3-Clause License · BSD-3-Clause · retrieved 2026-09-21
Open the source
Confidence: Verifiediface-105
The record says
Mode 5 is Cartesian velocity control: vc_set_cartesian_velocity sets a TCP velocity [x, y, z, rx, ry, rz] and needs set_mode(5).
Evidence · 1 citation
Cartesian velocity control, need to be set to cartesian velocity control mode(self.set_mode(5))
xArm-Python-SDK API documentation (doc/api/xarm_api.md) · UFACTORY · vc_set_cartesian_velocity
© UFACTORY Inc., xArm-Developer/xArm-Python-SDK, BSD 3-Clause License · BSD-3-Clause · retrieved 2026-09-21
Open the source
Confidence: Verifiediface-106
The record says
Velocity commands take a duration argument: a positive value stops the motion after that many seconds, and 0 keeps the speed until changed (firmware 1.8.0 or later).
Evidence · 3 citations
duration > 0: seconds, indicates the maximum number of seconds that this speed can be maintained
xArm-Python-SDK API documentation (doc/api/xarm_api.md) · UFACTORY · vc_set_cartesian_velocity, parameter duration
© UFACTORY Inc., xArm-Developer/xArm-Python-SDK, BSD 3-Clause License · BSD-3-Clause · retrieved 2026-09-21
Open the source
duration == 0: Always effective, will not stop automatically
xArm-Python-SDK API documentation (doc/api/xarm_api.md) · UFACTORY · vc_set_cartesian_velocity, parameter duration
© UFACTORY Inc., xArm-Developer/xArm-Python-SDK, BSD 3-Clause License · BSD-3-Clause · retrieved 2026-09-21
Open the source
Note: only available if firmware_version >= 1.8.0
xArm-Python-SDK API documentation (doc/api/xarm_api.md) · UFACTORY · vc_set_cartesian_velocity, parameter duration
© UFACTORY Inc., xArm-Developer/xArm-Python-SDK, BSD 3-Clause License · BSD-3-Clause · retrieved 2026-09-21
Open the source
Confidence: Verifiediface-107
The record says
Mode 6 is joint online trajectory planning: each new set_servo_angle command interrupts the current motion and is re-planned from the current position.
Evidence · 1 citation
Mode 6: Joint online planning Mode | Command sent by set_servo_angle(). In this mode, every time a motion command is received, the current motion command will be interrupted
UFACTORY Studio User Manual (online), 10. Robotic Arm Motion Mode and State · UFACTORY · 10.1 Mode 6
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Confidence: Verifiediface-108
The record says
Mode 7 is Cartesian online trajectory planning for set_position and set_position_aa; it only uses the base coordinate system as reference.
Evidence · 2 citations
Mode 7: Cartesian online planning Mode | Command sent by set_position() or set_position_aa().
UFACTORY Studio User Manual (online), 10. Robotic Arm Motion Mode and State · UFACTORY · 10.1 Mode 7
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Cartesian online planning mode can only use **the base coordinate system** as the reference coordinate system
UFACTORY Studio User Manual (online), 10. Robotic Arm Motion Mode and State · UFACTORY · 10.1 Mode 7, Note
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Confidence: Verifiediface-109
The record says
Setting state 0 puts the arm in STANDBY in the current mode and clears the error code; the reported state then changes to 2 (ready) on its own.
Evidence · 2 citations
State 0 | Set: configure the robot the be STANDBY state in corresponding mode, and clear the error code as well.
UFACTORY Studio User Manual (online), 10. Robotic Arm Motion Mode and State · UFACTORY · 10.2 State 0
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
State 0 | Note: after this setting, the feedback state will switch to 2(REDDY) automatically.
UFACTORY Studio User Manual (online), 10. Robotic Arm Motion Mode and State · UFACTORY · 10.2 State 0
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Confidence: Verifiediface-110
The record says
Reported state 1 means the robot is in motion.
Evidence · 1 citation
State 1 | Feedback. The robot is in motion.
UFACTORY Studio User Manual (online), 10. Robotic Arm Motion Mode and State · UFACTORY · 10.2 State 1
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Confidence: Verifiediface-111
The record says
The Studio manual defines reported state 2 as ready to receive and execute commands.
Evidence · 1 citation
State 2 | Feedback. The robot is ready to receive and execute commands.
UFACTORY Studio User Manual (online), 10. Robotic Arm Motion Mode and State · UFACTORY · 10.2 State 2
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Kind: Contradictioniface-117
Sources disagree
The Python SDK and the Studio manual name state 2 differently: the SDK's get_state and state documentation call it 'sleeping', while the Studio manual calls it ready to receive and execute commands.
Evidence · 2 citations
2: sleeping
xArm-Python-SDK API documentation (doc/api/xarm_api.md) · UFACTORY · get_state / state property, return values
© UFACTORY Inc., xArm-Developer/xArm-Python-SDK, BSD 3-Clause License · BSD-3-Clause · retrieved 2026-09-21
Open the source
Feedback. The robot is ready to receive and execute commands.
UFACTORY Studio User Manual (online), 10. Robotic Arm Motion Mode and State · UFACTORY · 10.2 State 2
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Confidence: Verifiediface-112
The record says
Setting state 3 pauses a running motion, and setting state 0 resumes it; state 3 is also reported while paused.
Evidence · 1 citation
State 3 | set: set the robot to a PAUSED state when executing motion commands, the motion can be resumed by setting state 0.
UFACTORY Studio User Manual (online), 10. Robotic Arm Motion Mode and State · UFACTORY · 10.2 State 3
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Confidence: Verifiediface-113
The record says
Setting state 4 stops the arm at once; it then accepts no new commands until the state is set back to standby (0). The controller also enters state 4 on its own when any error occurs.
Evidence · 2 citations
State 4 | set: set the robot to STOP state, it will terminate any execution immediately and will not receive or execute any new command until the state is set back to STANDBY.
UFACTORY Studio User Manual (online), 10. Robotic Arm Motion Mode and State · UFACTORY · 10.2 State 4
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
State 4 | will automatically switch to this state when any error occurs.
UFACTORY Studio User Manual (online), 10. Robotic Arm Motion Mode and State · UFACTORY · 10.2 State 4
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Confidence: Verifiediface-114
The record says
State 5 (MODE_CHANGED) is entered on its own after critical settings change (mode, payload, TCP offset, collision sensitivity, etc.); the arm accepts no commands until state 0 is set.
Evidence · 1 citation
State 5 | MODE_CHANGED state, will automatically switch to this state if some critical configurations (mode, payload, TCP offset, collision sensitivity, etc) have been changed, and cannot receive and execute any command until set state 0.
UFACTORY Studio User Manual (online), 10. Robotic Arm Motion Mode and State · UFACTORY · 10.2 State 5
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Confidence: Verifiediface-115
The record says
Setting state 6 makes the arm perform a decelerated stop immediately.
Evidence · 1 citation
State 6 | Set and Feedback. Perform a decelerated stop immediately.
UFACTORY Studio User Manual (online), 10. Robotic Arm Motion Mode and State · UFACTORY · 10.2 State 6
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Confidence: Verifiedapp-029
The record says
For Cartesian (linear or circular) motion the controller must solve inverse kinematics to turn a tool pose into joint angles; that solution may not exist, may not be unique, or may be approximate.
Evidence · 1 citation
Linear motion and circular linear motion belong to the Cartesian space trajectory planning, which needs to be solved by inverse kinematics. Therefore, there may be no solution, multiple solutions, and approximated solutions
UFACTORY Studio User Manual (online), 9. Motion Characteristics · UFACTORY · Section 9.1.2 Linear Motion
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Confidence: Verifiedapp-027
The record says
UFACTORY describes tool orientation as roll, pitch and yaw: successive rotations about the fixed X, Y and Z axes of the reference (base) frame.
Evidence · 1 citation
Roll/Pitch/Yaw sequentially rotates around the X / Y / Z of the selected coordinate system (base coordinate system).
UFACTORY Studio User Manual (online), 2. Glossary · UFACTORY · Glossary, 'Roll/Pitch/Yaw(RPY)'
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Confidence: Verifiediface-013
The record says
Units differ by interface: the Python SDK and Blockly use degrees for joint angles and roll/pitch/yaw, while the raw communication protocol uses radians; positions are in millimeters in all three.
Evidence · 2 citations
| J1~J6 | degree（°） | degree（°） | radian（rad） |
UFACTORY 850 Hardware Manual (online), Preface · UFACTORY · Preface, 'Unit Definition' table, row J1~J6
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
| Parameter | Python-SDK | Blockly | Communication Protocol |
UFACTORY 850 Hardware Manual (online), Preface · UFACTORY · Preface, 'Unit Definition' table, header
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Confidence: Verifiedlim-025
The record says
Current-based collision detection can trigger falsely if the TCP payload mass or center of mass is set wrongly. UFACTORY's support article says that in pick-and-place programs the payload is typically set before the pick command and reset after the place command.
Evidence · 2 citations
Quote not shown (over 40 words). See the source at: Section 2.1 End Effector Load Setting.
Collision Detection in UFACTORY Robotic Arms: Current and Dynamic Model-based Feature (UFACTORY support article) · UFACTORY · Section 2.1 End Effector Load Setting
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Typically, the payload is set before the "pick-up" command and reset after the "place" command.
Collision Detection in UFACTORY Robotic Arms: Current and Dynamic Model-based Feature (UFACTORY support article) · UFACTORY · Section 2.1, 'Dynamic Payload Changes'
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Confidence: Verifiediface-102
The record says
Mode 2 can only be entered from mode 0: from any other mode, a request for mode 2 first switches to mode 0, and mode 2 takes effect on a second command.
Evidence · 1 citation
Mode 2 must be configured via Mode 0.
UFACTORY Studio User Manual (online), 10. Robotic Arm Motion Mode and State · UFACTORY · 10.1 Mode 2, Note
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Confidence: Verifiediface-103
The record says
Mode 3 (Cartesian teaching mode) is marked invalid in the Python SDK.
Evidence · 1 citation
3: cartesian teaching mode (invalid)
xArm-Python-SDK API documentation (doc/api/xarm_api.md) · UFACTORY · set_mode, parameter mode
© UFACTORY Inc., xArm-Developer/xArm-Python-SDK, BSD 3-Clause License · BSD-3-Clause · retrieved 2026-09-21
Open the source
Confidence: Inferredapp-030
The record says
Forward kinematics runs the other way: given the six joint angles and the arm's geometry (link lengths, joint zero positions), there is exactly one resulting TCP pose. UFACTORY publishes the 850's geometry as D-H parameters.
Why we infer this: The general definition comes from Mech-Mind, a robot-vision software vendor whose manual documents kinematics for integrating with many arm brands. It is a credible secondary educational source, but not UFACTORY's. It agrees with UFACTORY's own account of inverse kinematics (app-029). UFACTORY's publication of modified and standard D-H parameters for the 850 supplies the link geometry that forward kinematics requires.
Evidence · 2 citations
Forward kinematics calculates the TCP based on the known joint positions. By substituting joint positions into the robot’s configuration equations (including link lengths, joint zero positions, and rotation directions), the TCP can be uniquely determined.
Robot Kinematics (Mech-Mind Software Suite manual 2.1.2, appendix) · Mech-Mind Robotics · Appendix 'Robot Kinematics', 'Forward Kinematics'
© Mech-Mind Robotics · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Kinematic and Dynamic Parameters of UFACTORY 850
1. Modified D-H Parameters
Kinematic and Dynamic Parameters of UFACTORY 850 (support article) · UFACTORY · Article heading and section 1
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Confidence: Verifiedapp-031
The record says
UFACTORY publishes both modified and standard Denavit-Hartenberg (D-H) kinematic parameters and link mass parameters for the 850, so users can model its kinematics and dynamics themselves.
Evidence · 3 citations
1. Modified D-H Parameters
Kinematic and Dynamic Parameters of UFACTORY 850 (support article) · UFACTORY · Section headings
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
2. Standard D-H Parameters
Kinematic and Dynamic Parameters of UFACTORY 850 (support article) · UFACTORY · Section headings
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
3. Mass Parameters
Kinematic and Dynamic Parameters of UFACTORY 850 (support article) · UFACTORY · Section headings
© UFACTORY · All rights reserved; quoted briefly as evidence · 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: Verifiedlim-023
The record says
Near a singularity the arm cannot carry out planned Cartesian (linear or circular) moves; it stops instead. UFACTORY advises avoiding the central area near the base.
Evidence · 2 citations
When the robot performs motion planning (linear, circular, etc., excluding joint movements) near the singularity point, it will stop to avoid high instantaneous speed of the joint when it passes the singularity point.
UFACTORY Studio User Manual (online), 9. Motion Characteristics · UFACTORY · Section 9.3 Singularity
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
the robotic arm should try to avoid passing directly the central area near the base, which is likely to cause 1st Joint speed too high
UFACTORY Studio User Manual (online), 9. Motion Characteristics · UFACTORY · Section 9.3 Singularity
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Confidence: Verifiedlim-024
The record says
In Cartesian moves the joints can exceed their maximum speed and acceleration limits, because joint space and Cartesian space are related non-linearly.
Evidence · 1 citation
due to the nonlinear relationship between the joint space and Cartesian space, the joint motion may exceed its maximum speed and acceleration limits.
UFACTORY Studio User Manual (online), 9. Motion Characteristics · UFACTORY · Section 9.1.2 Linear Motion
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Confidence: Verifiediface-129
The record says
Controller error 22 is a self-collision error, 23 means a joint angle is past its limit, and 24 means speed is over its limit.
Evidence · 3 citations
- 22: Self-Collision Error
xArm-Python-SDK API code description (doc/api/xarm_api_code.md) · UFACTORY · Controller Error Code
© UFACTORY Inc., xArm-Developer/xArm-Python-SDK, BSD 3-Clause License · BSD-3-Clause · retrieved 2026-09-21
Open the source
- 23: Joints Angle Exceed Limit
xArm-Python-SDK API code description (doc/api/xarm_api_code.md) · UFACTORY · Controller Error Code
© UFACTORY Inc., xArm-Developer/xArm-Python-SDK, BSD 3-Clause License · BSD-3-Clause · retrieved 2026-09-21
Open the source
- 24: Speed Exceeds Limit
xArm-Python-SDK API code description (doc/api/xarm_api_code.md) · UFACTORY · Controller Error Code
© UFACTORY Inc., xArm-Developer/xArm-Python-SDK, BSD 3-Clause License · BSD-3-Clause · retrieved 2026-09-21
Open the source
Confidence: Inferredlim-042
The record says
A straight-line or circular (Cartesian) move that would drive a joint past its maximum speed is one likely cause of controller error 24, 'Speed Exceeds Limit'. The UFACTORY sources do not link the two in one statement.
Why we infer this: Verified: in Cartesian moves the joints may exceed their maximum speed and acceleration, because joint space and Cartesian space are related non-linearly (lim-024). Verified: controller error 24 means speed exceeds its limit (iface-129). No UFACTORY source says that such a Cartesian move raises error 24, so the link is inferred. It is a cause to check first, not the only possible one.
Evidence · 2 citations
due to the nonlinear relationship between the joint space and Cartesian space, the joint motion may exceed its maximum speed and acceleration limits.
UFACTORY Studio User Manual (online), 9. Motion Characteristics · UFACTORY · Section 9.1.2 Linear Motion
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
- 24: Speed Exceeds Limit
xArm-Python-SDK API code description (doc/api/xarm_api_code.md) · UFACTORY · Controller Error Code
© UFACTORY Inc., xArm-Developer/xArm-Python-SDK, BSD 3-Clause License · BSD-3-Clause · retrieved 2026-09-21
Open the source
Confidence: Inferrediface-029
The record says
In the Modbus TCP map, holding register 32 (0x20) is the robot mode and holding register 33 (0x21) is the robot state.
Why we infer this: Verified: UFACTORY's ModbusTCP User Instructions (UF_ModbusTCP_Manual, in the xArm-Python-SDK repository) state this. That manual names no robot model, and iface-026 establishes that the 850 controller accepts standard Modbus TCP on port 502, but no 850-specific UFACTORY document gives this register map or its details; the 850 bridging records (iface-145, iface-146) cover UFACTORY Studio and the SDKs, not this manual. Verified: UFACTORY's release note for firmware V2.7.0 lists, in one firmware change list, a Modbus TCP change and compatibility for xArm 850 arms whose serial number has an 'E' as the third character from the end (lim-030). Inferred: the 850 therefore runs the same series firmware that carries this Modbus TCP interface, and the interface very probably behaves the same on the 850, but this is not confirmed for the 850 until an 850 document or the physical controller shows it.
Evidence · 4 citations
| 32 | 0x20 | Robot Mode |
UFACTORY ModbusTCP User Instructions (xArm-Python-SDK doc/UF_ModbusTCP_Manual.md) · UFACTORY · Appendix, Holding Registers
© UFACTORY Inc., xArm-Developer/xArm-Python-SDK, BSD 3-Clause License · BSD-3-Clause · retrieved 2026-09-21
Open the source
| 33 | 0x21 | Robot State |
UFACTORY ModbusTCP User Instructions (xArm-Python-SDK doc/UF_ModbusTCP_Manual.md) · UFACTORY · Appendix, Holding Registers
© UFACTORY Inc., xArm-Developer/xArm-Python-SDK, BSD 3-Clause License · BSD-3-Clause · retrieved 2026-09-21
Open the source
Modbus TCP: added a method to trigger trajectory execution or Python scripts.
UFACTORY Release Note v2.7.0 · UFACTORY · v2.7.0, 'Firmware V2.7.0' list
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Added compatibility for xArm XX1305-series and xArm 850 arms whose serial number has an "E" as the third character from the end.
UFACTORY Release Note v2.7.0 · UFACTORY · v2.7.0, 'Firmware V2.7.0' list
© 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: 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-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
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

Image Credits

A line drawing of the 850 arm with Joint 1 to Joint 6 labeled and a curved arrow at each joint showing its direction of rotation. © 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

Collision Detection in UFACTORY Robotic Arms: Current and Dynamic Model-based Feature (UFACTORY support article) · UFACTORY (manufacturer)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21 · cited by 4 records here · Open the source
IntelliMake Phase 1 Factory: Autonomous Production Demonstrator (infographic) · IntelliMake.org (IntelliMake)
© IntelliMake.org. Used with permission; redrawn for this platform. · Cleared for use by its owner · retrieved 2026-09-21 · cited by 2 records here · Project copy; not published on this site.
Kinematic and Dynamic Parameters of UFACTORY 850 (support article) · UFACTORY (manufacturer)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21 · cited by 2 records here · Open the source
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 1 record here · Project copy; not published on this site.
Robot Kinematics (Mech-Mind Software Suite manual 2.1.2, appendix) · Mech-Mind Robotics (secondary)
© Mech-Mind Robotics · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21 · cited by 1 record here · Open the source
The difference between UFACTORY xArm5, UFACTORY xArm6 and UFACTORY xArm7 (Help Center article) · UFACTORY (manufacturer)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21 · cited by 1 record here · Open the source Plain http: this publisher has no certificate for that name, so what loads cannot be verified.
UFACTORY 850 Hardware Manual (online), 1. Safety · 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), 2. Hardware Installation · UFACTORY (manufacturer)
© 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), 3. Controller Electrical Interface · UFACTORY (manufacturer)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21 · cited by 2 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 2 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 2 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 6 records here · Open the source
UFACTORY ModbusTCP User Instructions (xArm-Python-SDK doc/UF_ModbusTCP_Manual.md) · UFACTORY (manufacturer)
© UFACTORY Inc., xArm-Developer/xArm-Python-SDK, BSD 3-Clause License · BSD-3-Clause · retrieved 2026-09-21 · cited by 1 record here · Open the source
UFACTORY Studio User Manual (online), 10. Robotic Arm Motion Mode and State · UFACTORY (manufacturer)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21 · cited by 16 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 8 records here · Open the source
UFACTORY Studio User Manual (online), 3. Connection · 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), 9. Motion Characteristics · UFACTORY (manufacturer)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21 · cited by 5 records here · Open the source
xArm-Python-SDK API code description (doc/api/xarm_api_code.md) · UFACTORY (manufacturer)
© UFACTORY Inc., xArm-Developer/xArm-Python-SDK, BSD 3-Clause License · BSD-3-Clause · retrieved 2026-09-21 · cited by 2 records here · Open the source
xArm-Python-SDK API documentation (doc/api/xarm_api.md) · UFACTORY (manufacturer)
© UFACTORY Inc., xArm-Developer/xArm-Python-SDK, BSD 3-Clause License · BSD-3-Clause · retrieved 2026-09-21 · cited by 6 records here · Open the source
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 1 record here · Open the source

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