§9 xArm 850
What the machine cannot do, what nobody has published, and what is still open at S2.
This section says what the machine cannot do, where it must not be used, and what nobody yet knows about it or about the station it works at. Read it as two lists: limitations, which a source states, and open questions, which no source answers or where sources disagree.
0–50 °C
rated ambient temperature1
25–85%
relative humidity, non-condensing2
below 2000 m
rated altitude3
S2 in one line: S2 is the xArm 850 arm that picks up incoming material and moves it between receiving, staging and production78.
A question from earlier on, to keep it fresh. Skip it if you like; nothing depends on it.
Choose your depth
1Beginner
For: Anyone with no robotics background: a visitor, a new operator, a manager
Kind of task: Recognise and recall, with plain-language explanations and pictures
In this part you learn the few hard limits a newcomer must know, where the arm may and may not be used, and which basic questions about the real station nobody can answer yet. No robotics background is needed.
Not yet confirmed at S2
Nobody has confirmed these safeguards at the physical S2 cell yet. Until someone does, assume none of them exist.
Many of these open questions are marked "Awaiting cell access". That means only someone looking at the physical station can close them. Until then, this site treats them as unknown and never fills them with a guess.
Answer, then check. Each option has its own feedback, and nothing is scored.
2Novice
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 learn the full list of conditions the arm is rated for, which software features are not finished, and how to tell the project's goal for the station apart from what the station does today. It is for someone who will work near or with the cell.
Answer, then check. Each option has its own feedback, and nothing is scored.
3Intermediate
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 learn the limits that show up when you program the arm: which figures the maker does not give, which moves the controller refuses, and why the firmware on a particular arm matters. It is for someone who will set up, program or maintain the arm.
Answer, then check. Each option has its own feedback, and nothing is scored.
4Expert
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 rank the gaps by what they block. Some stop an engineering estimate, some stop a safety argument, and some are about the station rather than the machine. It is for someone who designs, integrates or changes the cell.
Answer, then check. Each option has its own feedback, and nothing is scored.
What the sources do not settle for this section. Nothing here is papered over with a plausible number.
No fetched UFACTORY source gives an IP (ingress protection) rating for the 850 arm or its control boxes. The 850 technical specifications list IP40 only for the Gripper G2 accessory.
See reference 5The future 3D-printed flow in the IntelliMake diagram has no S2 step (printed parts go from S7 straight to S6), but the owner states S2 will handle material for 3D printing in the future. What S2 does in the future flow is unresolved.
See reference 6No fetched UFACTORY source announces future 850 hardware: no successor model, higher-payload variant, published product roadmap or end-of-life date.
See reference 15Whether business cards are the physical Phase 1 cell's workpiece, or only the workpiece in this project's simulation, is not recorded. IntelliMake's diagram speaks of 'blanks' and 'personalized laser-engraved gifts' (Q14a).
See reference 16The S2 installation's risk assessment has not been confirmed: whether one exists for the complete S2 application (arm, gripper, workpieces, S1/S3/S4/S6 interfaces), who performed and signed it, and whether it was redone after installation as UFACTORY requires.
See reference 17IntelliMake's reason for using two arms, and for putting the 850 at S2 and the xArm 6 at S6, is not documented in any source available to this project (Q14d).
See reference 18S2's current, as-built automation level in the physical cell is not documented. Level 5E is this project's target (int-041), not a description of the cell today (Q14c).
See reference 19The locations of the S2 emergency stops are unknown: whether any e-stop buttons beyond the control box button are wired to EI, where they are, and whether S2 shares an emergency stop circuit with S6 or other stations.
See reference 20The position of the S2 control box is unknown: whether it is outside the arm's working range, at 0.6 to 1.5 m height, with its e-stop reachable.
See reference 21S2's guarding and protective devices are unknown: whether fences, interlocked doors, light curtains, safety mats or laser scanners are wired to the SI protective stop input, or whether SI is still in its factory default state with no additional safety equipment.
See reference 22It is unknown whether S2 is intended to be a collaborative application, with people entering the arm's working area during automatic operation. If it is, it is also unknown which collaborative method is used and how it has been validated.
See reference 23It is unknown whether S2's working range, including the gripper, is marked on the floor or bench as UFACTORY recommends.
See reference 24It 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.
See reference 25Whether 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.
See reference 26The end effector fitted to S2 (the gripper or suction tool used for business cards) is not documented.
See reference 38The absolute positioning accuracy of the 850, and how much UFACTORY's post-August-2023 kinematic calibration improves it, is not published in any fetched source. This matters for offline programming and vision-guided picking, which rely on computed rather than taught coordinates.
See reference 40No fetched UFACTORY source gives a public known-issues list for current 850 firmware. Release notes list only fixes after the fact (lim-029), so open defects in the installed firmware cannot be checked.
See reference 48S2's controller type (AC or DC), firmware version and SDK version are unknown. Firmware determines which reduced-mode and fence APIs are available (1.2.0 or 1.2.11 and above).
See reference 49No fetched source gives a payload diagram for the 850: how the allowable payload falls as the load's centre of mass moves away from the flange, or with speed. Integrators need this to size grippers and parts.
See reference 52No fetched source gives cycle-time data or the maximum speed and acceleration the 850 achieves while carrying its full 5 kg payload across its reach.
See reference 53No fetched source shows the 850 assessed for collaborative power and force limiting (the former ISO/TS 15066 content, now in ISO 10218-2:2025). The SGS verification covers only EN ISO 10218-1:2011 (safety-082), so the permissible contact forces and speeds for collaborative use are undocumented.
See reference 54No fetched source gives a design life, MTBF or harmonic-drive service life for the 850. The only durability figure is the warranty note that it was stress-tested for at least 15,000 hours of full-time operation.
See reference 55Per-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.
See reference 56No fetched UFACTORY source states an ISO 13849-1 Performance Level (PL) or Category, or an IEC 62061 SIL, for any 850 safety function (e-stop, EI/SI inputs, collision detection, safety boundary or reduced mode). No TÜV certification was found. Do not assume any.
See reference 57No UFACTORY source was found that says whether the software safety functions (collision detection, safety boundary, reduced mode) are enforced independently of the motion-command path. It is also unknown whether the safety boundary checks the tool and the arm's links, or only the TCP; the documentation mentions only the TCP.
See reference 58Cycle times for S2's moves (S1 to S4, S1 to S3, S3 to S4) and for the S4/S5 laser step are not documented, so throughput and the benefit of two arms cannot be quantified.
See reference 60The project specification describes S6 as the downstream arm that handles parts after processing, but IntelliMake's future 3D-printed flow has S6 handling parts before laser engraving (S7 → S6 → S4/S5). S6's role is therefore not simply 'after processing' in the future flow.
See reference 62It is unknown whether any S2 safety signals pass through a PLC, and if so whether it is a safety-rated PLC.
See reference 66The S2 arm's current safety settings are unknown: collision detection on or off, collision sensitivity level, safety boundary on and its limits, reduced mode and its limits, self-collision tool model, TCP payload and mounting direction.
See reference 67It is unknown whether the documented default Advanced Settings password has been changed on the S2 controller, and who can change its safety-related settings.
See reference 68It is unknown which CI inputs at S2, if any, are configured as Stop Moving, Safeguard Reset, Reduced Mode or Manual Mode, and where any safeguard reset button is located relative to the safeguarded zone.
See reference 69The number and positions of allocated S3 staging slots are not documented. The diagram's illustration shows six pads on the table, but it is a drawing, not a specification.
See reference 70No 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.
See reference 74Sources 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.
See reference 75Gripper 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.
See reference 76Vacuum 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.
See reference 77No 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.
See reference 78The physical I/O that will carry signals between S2 and S4 (and the other stations) is not defined. It may differ from the simulation's signals.
See reference 79The layout draws unlabelled return paths from the laser and S6 region back toward S1 and S2. Whether reworked parts re-enter through S1 or S2, and what S2 does in rework, is not documented.
See reference 80No fetched source compares the 850's ±0.02 mm repeatability quantitatively with conventional (non-collaborative) industrial robots of similar payload, beyond UFACTORY's own marketing phrase 'industrial grade performance'.
See reference 81UFACTORY documents disagree on the collision sensitivity range. The Studio Settings page says 1 to 5, while the Studio glossary, the Python SDK and the xArm Developer Manual say 0 to 5, with 0 disabling collision detection. A learner reading only the Settings page would not learn that the value can switch detection off.
See reference 82The 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).
See reference 83The 850 product page calls UFACTORY arms 'Collaborative Robots' and 'cobots'. A3 says ISO 10218:2025 drops 'collaborative robot' because only an application can be confirmed as collaborative, and UFACTORY's own 850 manual says no people should be in the working area during operation. The marketing label does not establish that S2 is a collaborative application.
See reference 84No fetched UFACTORY source says whether the 850 is suitable or validated for power and force limiting collaborative applications. UFACTORY publishes no contact force or pressure figures, and gives no force or torque threshold for each collision sensitivity level.
See reference 85UFACTORY publishes Stop Category 1 stop data only for Joints 1 to 3 at 100% extension, 100% speed and a 5 kg payload. No data was found for Joints 4 to 6, for other speeds or payloads, for Stop Category 2 (the SI safeguard stop), or for stopping after a collision is detected. These are needed for any separation-distance calculation.
See reference 86No fetched UFACTORY source gives an explicit intended-use or reasonably foreseeable misuse statement for the 850, beyond environmental limits and general warnings.
See reference 87No fetched UFACTORY source identifies specific pinch or crush points on the 850, such as between links or at the gripper fingers. The pinch and crush hazard descriptions found come from OSHA's general guidance.
See reference 88The EC/EU Declaration of Conformity for the 850 was not found or fetched. The SGS verifications say the CE mark depends on one, and the product page says only 'Certifications Complete(CE)'. Nothing fetched from UFACTORY states conformity with ISO 10218-1:2025 or ISO 10218-2.
See reference 89The 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.
See reference 90The 850 manual's 'Limitation of Liability' sentence reads, as published, that safety information 'must be construed as a warranty by UFACTORY [sic], that the 850 will not cause injury or damage even if all safety instructions are complied with'. This is the opposite of what a limitation of liability usually says, and is probably a drafting error for 'must not be construed'. UFACTORY's intended wording is unconfirmed. Do not read it as a guarantee of safety.
See reference 91The ISO 10218-1/-2:2025 texts and ISO/TS 15066 are paywalled and were not read. No clause numbers, force or pressure limits, or required PL values from them are recorded in this corpus.
See reference 92It is unknown whether S2 operators have been trained, as UFACTORY requires, and whether maintenance and safety-configuration changes are documented.
See reference 93Sources disagree on the range of joint 2 (J2): the product page, the online hardware manual and the uf850 URDF give ±132°, but User Manual V2.3.0 (PDF, 2024) gives -118°~120°. The manual's figures match none of the other three sources; the three agreeing sources are probably current, but this is not confirmed.
See reference 94Sources disagree on the range of joint 3 (J3): the product page, the online hardware manual and the uf850 URDF give -242°~3.5°, but User Manual V2.3.0 (PDF, 2024) gives -225°~11°. The manual's figures match none of the other three sources; the three agreeing sources are probably current, but this is not confirmed.
See reference 95Sources disagree on the range of joint 5 (J5): the product page, the online hardware manual and the uf850 URDF give ±124°, but User Manual V2.3.0 (PDF, 2024) gives -97°~180°. The manual's figures match none of the other three sources; the three agreeing sources are probably current, but this is not confirmed.
See reference 96Sources disagree on the 850's typical power consumption: 240 W on the product page and in the online hardware manual, 200 W in User Manual V2.3.0.
See reference 97No IP (ingress protection) rating for the UFACTORY 850 arm or its control box was found. The product page, the online hardware manual and User Manual V2.3.0 give none, though the online manual rates the Gripper G2 accessory IP40, and the manuals warn against liquids and humid environments.
See reference 98No noise (sound pressure) figure for the UFACTORY 850 arm was found in the product page, the online hardware manual or User Manual V2.3.0; the only noise figure given is for the Vacuum Gripper accessory (<60 dB at 30 cm).
See reference 99No dimensioned base drawing values (bolt-circle diameter, base height) were captured as text: the product page and manuals show 'Robot base mounting' and flange drawings only as images.
See reference 100Sources disagree on the AC control box dimensions: 345 × 135 × 101 mm on the product page and in the online hardware manual, 376 × 145 × 130 mm in User Manual V2.3.0.
See reference 101Sources disagree on the control box's RS-485 ports: one RS-485 master on the product page and in the online hardware manual, but one master and one slave (2 × RS-485) in User Manual V2.3.0.
See reference 102Sources disagree on the 850's end-effector communication protocol: the product page says Modbus RTU, and the online hardware manual's Tool RS485 section and Gripper G2 table describe RS-485 with Modbus RTU, but the specification tables of the online hardware manual and User Manual V2.3.0 say Modbus TCP. The tool port is RS-485, which suggests RTU, but this is not confirmed.
See reference 103The 850 product page and manual text do not themselves state conformance to ISO 10218-1 or ISO/TS 15066. The only ISO 10218 evidence found is the SGS verification linked from the manual, which is against EN ISO 10218-1:2011 (safety-082, safety-086). No assessment against the 2025 editions was found.
See reference 104The product page lists the 850's 'Base Connector Type' as M8*4; the page does not say which connector this is. The online manual describes an M8 4-pole Ethernet interface at the end flange, not the base, so the meaning of this row is unclear.
See reference 105Each 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.
The record says
The 850 is rated for ambient temperatures from 0 °C to 50 °C.
Ambient temperature: 0°C ~ 50°C
UFACTORY 850 Hardware Manual (online), 7. Production Information · UFACTORY · Section 7.3 Disposal and Environment
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
The record says
The 850 requires 25% to 85% relative humidity, non-condensing.
Low humidity (25%-85% non-condensing)
UFACTORY 850 Hardware Manual (online), 7. Production Information · UFACTORY · Section 7.3 Disposal and Environment
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
The record says
The 850 is rated for altitudes below 2000 m.
Altitude: <2000m
UFACTORY 850 Hardware Manual (online), 7. Production Information · UFACTORY · Section 7.3 Disposal and Environment
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
The record says
The 850 is for indoor use only, out of direct sunlight.
Avoid direct sunlight (indoor use)
UFACTORY 850 Hardware Manual (online), 7. Production Information · UFACTORY · Section 7.3 Disposal and Environment
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Not known
No fetched UFACTORY source gives an IP (ingress protection) rating for the 850 arm or its control boxes. The 850 technical specifications list IP40 only for the Gripper G2 accessory.
Related: lim-010 Verified lim-012 Inferred spec-052 Gap
Sources disagree
The future 3D-printed flow in the IntelliMake diagram has no S2 step (printed parts go from S7 straight to S6), but the owner states S2 will handle material for 3D printing in the future. What S2 does in the future flow is unresolved.
Related: int-030 Verified int-013 Verified
S7 3D Printing → S6 Robot Handling
IntelliMake Phase 1 Factory: Autonomous Production Demonstrator (infographic) · IntelliMake.org · Future 3D-printed personalized product flow banner
© 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.
and in the future, material for 3d printing
Owner statements, 2026-09-21 (verbatim) · Derek Stringfellow · Statement S4
Derek Stringfellow, project record · Project-internal record · retrieved 2026-09-21
Project copy; not published on this site.
The record says
Station S2 of the Phase 1 factory is the UFactory xArm 850 cobot.
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.
The record says
S2 picks and transfers incoming material between receiving, staging and production.
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.
The record says
The UFACTORY 850 has a rated maximum payload of 5 kg.
Max Payload 5 kg
UFACTORY 850 product page · UFACTORY · Products menu entry for the 850 (page names the machine 'UFACTORY 850'; spec tables say 'UFactory 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Maximum Payload 5kg
UFACTORY 850 Hardware Manual (online), 8. Technical Specifications · UFACTORY · Table 'UFACTORY 850', 'Maximum Payload' row (docs site 'UFACTORY 850 硬件手册', English version; names the machine 'UFACTORY 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Payload 5 kg
UFACTORY 850 User Manual V2.3.0 (PDF, older edition) · UFACTORY · Appendix 2, 1.2 850 Specifications, p.174 (manual names the machine '850' / 'UFactory 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
The record says
The 850's maximum payload is 5 kg, which covers the end-of-arm tool and the part it holds.
Why we infer this: Verified: UFACTORY's specification table gives the 850 a maximum payload of 5 kg (spec-002), but does not say whether the end-of-arm tool counts toward it. Verified: the UFACTORY Studio glossary, which applies to the 850 (iface-145), defines the TCP payload setting as the actual weight of the 'end tool & other object'. No UFACTORY source joins the two in one statement. This platform infers that the 5 kg rating is read against the same total the controller models, tool plus part, so the tool's weight leaves less for the part. Until UFACTORY states it, treat that as an inference, not a rating.
Maximum Payload
5kg
UFACTORY 850 Hardware Manual (online), 8. Technical Specifications · UFACTORY · Technical Specifications table, 'Maximum Payload' row
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
The payload weight refers to the actual(end tool &other object) weight in kg
UFACTORY Studio User Manual (online), 2. Glossary · UFACTORY · Glossary, 'TCP Payload'
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
The record says
The 850's operating environment must be free of corrosive gases or liquids, flammable materials, oil mist, salt spray, dust and metal powder.
No corrosive gas or liquid.
No flammable materials.
No oil mists.
No salt sprays.
No dust or metal powder.
UFACTORY 850 Hardware Manual (online), 7. Production Information · UFACTORY · Section 7.3 Disposal and Environment
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
The record says
The manual warns against letting water or dust into the arm or the controller.
Prevent the ingress of water or dust into the mechanical arm or controller.
UFACTORY 850 Hardware Manual (online), 1. Safety · UFACTORY · Section 1.4, DANGER list
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
The record says
UFACTORY says UFACTORY Studio is free and receives monthly upgrades that add features.
All features are free to use, no additional
fee charged. Monthly upgrading keeps
unlocking new features.
UFACTORY Studio product and download page · UFACTORY · 'Free to use' panel
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
The record says
UFACTORY states a lead time of 2-3 months for the 850.
The lead time of UFACTORY 850 robot is 2-3 months.
UFACTORY 850 product page · UFACTORY · Q&A
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Not known
No fetched UFACTORY source announces future 850 hardware: no successor model, higher-payload variant, published product roadmap or end-of-life date.
Not known
Whether business cards are the physical Phase 1 cell's workpiece, or only the workpiece in this project's simulation, is not recorded. IntelliMake's diagram speaks of 'blanks' and 'personalized laser-engraved gifts' (Q14a).
Awaiting cell access: this could be confirmed or corrected once the physical S2 cell can be observed.
Related: int-013 Verified
Receives incoming blanks or materials, moves them into production.
IntelliMake Phase 1 Factory: Autonomous Production Demonstrator (infographic) · IntelliMake.org · S1 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.
Not known
The S2 installation's risk assessment has not been confirmed: whether one exists for the complete S2 application (arm, gripper, workpieces, S1/S3/S4/S6 interfaces), who performed and signed it, and whether it was redone after installation as UFACTORY requires.
Awaiting cell access: this could be confirmed or corrected once the physical S2 cell can be observed.
Making a risk assessment for the complete system.
UFACTORY 850 Hardware Manual (online), 1. Safety · UFACTORY · 1.1
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Not known
IntelliMake's reason for using two arms, and for putting the 850 at S2 and the xArm 6 at S6, is not documented in any source available to this project (Q14d).
Related: int-010 Verified int-011 Inferred int-012 Assumed, awaiting cell access int-044 Verified
Not known
S2's current, as-built automation level in the physical cell is not documented. Level 5E is this project's target (int-041), not a description of the cell today (Q14c).
Awaiting cell access: this could be confirmed or corrected once the physical S2 cell can be observed.
Related: int-041 Verified
Not known
The locations of the S2 emergency stops are unknown: whether any e-stop buttons beyond the control box button are wired to EI, where they are, and whether S2 shares an emergency stop circuit with S6 or other stations.
Awaiting cell access: this could be confirmed or corrected once the physical S2 cell can be observed.
In most applications, one or more additional emergency stop buttons are required.
UFACTORY 850 Hardware Manual (online), 3. Controller Electrical Interface · UFACTORY · 3.4.1.1
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Not known
The position of the S2 control box is unknown: whether it is outside the arm's working range, at 0.6 to 1.5 m height, with its e-stop reachable.
Awaiting cell access: this could be confirmed or corrected once the physical S2 cell can be observed.
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
Not known
S2's guarding and protective devices are unknown: whether fences, interlocked doors, light curtains, safety mats or laser scanners are wired to the SI protective stop input, or whether SI is still in its factory default state with no additional safety equipment.
Awaiting cell access: this could be confirmed or corrected once the physical S2 cell can be observed.
The robotic arm has been configured by default and can be operated without any additional safety equipment
UFACTORY 850 Hardware Manual (online), 3. Controller Electrical Interface · UFACTORY · 3.4.1
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Not known
It is unknown whether S2 is intended to be a collaborative application, with people entering the arm's working area during automatic operation. If it is, it is also unknown which collaborative method is used and how it has been validated.
Awaiting cell access: this could be confirmed or corrected once the physical S2 cell can be observed.
“Collaborative application” is used instead, as only the actual use of the robot can be designed, tested, and confirmed as a collaborative application.
Updated ISO 10218: Answers to Frequently Asked Questions (FAQs) (A3 blog, 03/20/2025; Wayback Machine snapshot 2025-10-06) · Association for Advancing Automation (A3) · FAQ 6
© Association for Advancing Automation (A3) · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Not known
It is unknown whether S2's working range, including the gripper, is marked on the floor or bench as UFACTORY recommends.
Awaiting cell access: this could be confirmed or corrected once the physical S2 cell can be observed.
A line should be drawn to mark the range of motion of the robotic arm
UFACTORY 850 Hardware Manual (online), 1. Safety · UFACTORY · 1.4
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Not known
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.
Make sure that the connecting tool and the gripper do not cause any danger when the power is cut
UFACTORY 850 Hardware Manual V2.6.1 (PDF) · UFACTORY · 4.2 Tool IO, DANGER
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Not known
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.
Related: int-024 Verified
AI vision-based monitoring of factory operations, equipment, processes, and safety.
IntelliMake Phase 1 Factory: Autonomous Production Demonstrator (infographic) · IntelliMake.org · S11 label and description
© IntelliMake.org. Used with permission; redrawn for this platform. · Cleared for use by its owner · retrieved 2026-09-21
Project copy; not published on this site.
The record says
S1, the Incoming Logistics Conveyor / Receiving station, precedes S2: it receives incoming blanks or materials and moves them into production.
Receives incoming blanks or materials, moves them into production.
IntelliMake Phase 1 Factory: Autonomous Production Demonstrator (infographic) · IntelliMake.org · S1 station label and description
© IntelliMake.org. Used with permission; redrawn for this platform. · Cleared for use by its owner · retrieved 2026-09-21
Project copy; not published on this site.
The record says
The 850's Cartesian working envelope is X ±850 mm, Y ±850 mm and Z from -400 mm to 1214 mm relative to the base.
X: ±850mm, Y: ±850mm, Z: -400~1214mm, Roll/Pitch/Yaw: ±180°
UFACTORY 850 Hardware Manual (online), 8. Technical Specifications · UFACTORY · Technical Specifications table, 'Cartesian Range' row
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
The record says
UFACTORY says its published working-range diagrams for the 850 are for safety assessment only.
Note: The following working range diagrams are only for safety assessment.
UFACTORY 850 product page · UFACTORY · Tech Specs, 'Working Range'
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
The record says
The 850's environment must also be free of mechanical shock, vibration, electromagnetic noise and radioactive materials.
No mechanical shock, vibration.
No electromagnetic noise.
No radioactive materials.
UFACTORY 850 Hardware Manual (online), 7. Production Information · UFACTORY · Section 7.3 Disposal and Environment
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
The record says
UFACTORY rates the 850 for ISO Class 5 cleanrooms.
ISO Class Cleanroom
5
UFACTORY 850 Hardware Manual (online), 8. Technical Specifications · UFACTORY · Technical Specifications table, 'ISO Class Cleanroom' row
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
The record says
The 850 is not suited to wet, washdown, dusty, oily or outdoor environments, such as machining areas with coolant mist or metal chips, without extra protection that UFACTORY does not specify.
Why we infer this: The manual's environment list excludes oil mist, dust, metal powder, corrosive liquids and direct sunlight (lim-007, lim-008), and the safety chapter forbids water or dust ingress (lim-010). No IP rating is published for the arm (lim-013). Together these exclude the dirty or wet conditions common near machine tools unless the arm is protected, for example with a cover. The manual names no such protection.
No oil mists.
UFACTORY 850 Hardware Manual (online), 7. Production Information · UFACTORY · Section 7.3 Disposal and Environment
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Prevent the ingress of water or dust into the mechanical arm or controller.
UFACTORY 850 Hardware Manual (online), 1. Safety · UFACTORY · Section 1.4, DANGER list
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
The record says
Current-based collision detection can trigger falsely if the TCP payload mass or centre 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.
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
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
The record says
UFACTORY's API is open source, but integrating the 850 with other products needs custom code: most customers must write their own libraries and install software that does not ship with the robot.
While all integrations are possible, they all require custom code work i.e. most customers will need to write custom libraries and install software packages that are not shipped with the robot.
UFACTORY 850 product page · UFACTORY · Tech Specs, 'Compatibility', 'API Compatibility'
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
The record says
UFACTORY Studio's environment-simulation feature, which checks for collisions with modelled cubes, cylinders and tables, is still in beta testing.
Enable the environment simulation option in Settings - General. (This feature is still in testing)
UFACTORY Studio V2.7.0 New Feature · UFACTORY · 'Settings - Assistive Features - Environment Simulation (Beta)'
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
The record says
UFACTORY has announced an upcoming dual-arm self-collision detection function, still in R&D, for two UFACTORY arms sharing a workspace.
This video demonstrates our ongoing R&D efforts to enhance the safety and usability of dual-arm robotic systems. The upcoming self-collision detection function is designed to help users:
UFACTORY Dual-Arm Robot Self-Collision Detection: Enhancing Safety & Risk Assessment (R&D Stage) · UFACTORY · Video description
© UFACTORY, via YouTube · All rights reserved; quoted briefly as evidence · retrieved 2026-09-22
Watch on YouTube (opens YouTube) Captions: no
Test Potential Collisions: Proactively identify and simulate potential self-collision scenarios between two UFACTORY arms operating in a shared workspace.
UFACTORY Dual-Arm Robot Self-Collision Detection: Enhancing Safety & Risk Assessment (R&D Stage) · UFACTORY · Video description
© UFACTORY, via YouTube · All rights reserved; quoted briefly as evidence · retrieved 2026-09-22
Watch on YouTube (opens YouTube) Captions: no
The record says
The project's target for the S2 agent is IntelliMake level 5, sub-level 'limited autonomous control' (5E in IntelliMake's scale; see lvl-011), and the goal is not to need human approval. Safety sign-off is by the IntelliMake team leads.
the level 5 sub level is "limited autonomous control".
Owner statements, 2026-09-21 (verbatim) · Derek Stringfellow · Statement S1
Derek Stringfellow, project record · Project-internal record · retrieved 2026-09-21
Project copy; not published on this site.
The goal is to not need Human Approval.
Owner statements, 2026-09-21 (verbatim) · Derek Stringfellow · Statement S2
Derek Stringfellow, project record · Project-internal record · retrieved 2026-09-21
Project copy; not published on this site.
Q10 Saftey signoff will be by the IntelliMake team leads.
Owner statements, 2026-09-21 (verbatim) · Derek Stringfellow · Statement S9
Derek Stringfellow, project record · Project-internal record · retrieved 2026-09-21
Project copy; not published on this site.
Not known
The end effector fitted to S2 (the gripper or suction tool used for business cards) is not documented.
Awaiting cell access: this could be confirmed or corrected once the physical S2 cell can be observed.
pick up business cards
Owner statements, 2026-09-21 (verbatim) · Derek Stringfellow · Statement S4
Derek Stringfellow, project record · Project-internal record · retrieved 2026-09-21
Project copy; not published on this site.
The record says
UFACTORY states 850 repeatability (±0.02 mm), which is how closely it returns to a taught point, but the sources fetched give no absolute accuracy figure for how closely it reaches a computed coordinate.
Repeatability
±0.02mm
UFACTORY 850 Hardware Manual (online), 8. Technical Specifications · UFACTORY · Technical Specifications table, 'Repeatability' row
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Not known
The absolute positioning accuracy of the 850, and how much UFACTORY's post-August-2023 kinematic calibration improves it, is not published in any fetched source. This matters for offline programming and vision-guided picking, which rely on computed rather than taught coordinates.
Related: lim-014 Verified lim-027 Verified
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.
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
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
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.
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
The record says
Replacing an 850's control box can cause false collision detections, because the joint friction parameters may no longer match. For the 850 they are stored in the arm and reloaded by pressing and releasing the emergency stop.
Quote not shown (over 40 words). See the source at: Section 2.3 Friction Parameters.
Collision Detection in UFACTORY Robotic Arms: Current and Dynamic Model-based Feature (UFACTORY support article) · UFACTORY · Section 2.3 Friction Parameters
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
850
Robot Arm
Press and release the emergency stop
Collision Detection in UFACTORY Robotic Arms: Current and Dynamic Model-based Feature (UFACTORY support article) · UFACTORY · Section 2.3, friction parameter table
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
The record says
Firmware V2.7.0 (released 27 August 2025) fixed a known issue: sending zero speed in joint-speed mode could still move the arm unintentionally. Earlier firmware may carry this issue.
Fixed an issue where sending zero speed in joint-speed mode could still cause unintended arm motion.
UFACTORY Release Note v2.7.0 · UFACTORY · Firmware V2.7.0 list
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Released Time: 2025.08.27
UFACTORY Release Note v2.7.0 · UFACTORY · Header
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
The record says
Firmware V2.7.0 added compatibility for xArm 850 arms whose serial number has an 'E' as the third character from the end, so such arms need at least that firmware.
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 · Firmware V2.7.0 list
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
The record says
UFACTORY publishes a recommended matching set of firmware, UFACTORY Studio, Python SDK and ROS versions. The newest set is firmware 2.8.2, Studio 2.7.0, Python SDK 1.18.4 and ROS/ROS2 2.0.0; mismatched versions are not the recommended configuration.
Firmware
UFACTORY Studio
Python SDK
ROS&ROS2
2.8.2
2.7.0
1.18.4
2.0.0
UFACTORY Release Note, Version List · UFACTORY · 'Recommended Version' table, first row
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
The record says
Firmware V2.8.2 (31 July 2026), the latest release note fetched, added more status reporting on TCP ports 30000 and 30002, relative-position commands in Cartesian online planning (mode 7), and support for a new force-torque sensor (AI1500).
Released Time: 2026.07.31
UFACTORY Release Note v2.8.2 · UFACTORY · Firmware V2.8.2
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Cartesian online planning (mode 7) now supports relative position commands.
UFACTORY Release Note v2.8.2 · UFACTORY · Firmware V2.8.2 list
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Compatible with the new Force Torque Sensor (AI1500).
UFACTORY Release Note v2.8.2 · UFACTORY · Firmware V2.8.2 list
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
TCP port 30000: added reporting for gripper / control box IO / robot IO
UFACTORY Release Note v2.8.2 · UFACTORY · Firmware V2.8.2 list
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
TCP port 30002: added gripper information reporting.
UFACTORY Release Note v2.8.2 · UFACTORY · Firmware V2.8.2 list
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Not known
No fetched UFACTORY source gives a public known-issues list for current 850 firmware. Release notes list only fixes after the fact (lim-029), so open defects in the installed firmware cannot be checked.
Related: lim-029 Verified
Not known
S2's controller type (AC or DC), firmware version and SDK version are unknown. Firmware determines which reduced-mode and fence APIs are available (1.2.0 or 1.2.11 and above).
Awaiting cell access: this could be confirmed or corrected once the physical S2 cell can be observed.
1. This interface relies on Firmware 1.2.11 or above
xArm-Python-SDK API documentation (doc/api/xarm_api.md) · UFACTORY · def set_fence_mode
© UFACTORY Inc., xArm-Developer/xArm-Python-SDK, BSD 3-Clause licence · BSD-3-Clause · retrieved 2026-09-21
The record says
The official xArm Python SDK supports Python 3 only.
Only Python 3 is supported.
xArm-Python-SDK README (GitHub) · UFACTORY (xArm-Developer) · README, 'Installation'
© UFACTORY Inc., xArm-Developer/xArm-Python-SDK, BSD 3-Clause licence · BSD-3-Clause · retrieved 2026-09-21
The record says
UFACTORY's xarm_ros2 packages are tested only on the ROS 2 distributions that have a matching code branch: Foxy, Galactic, Humble, Jazzy and Rolling.
Please switch to the corresponding code branch according to different ros2 versions (no corresponding code branch means it has not been tested in this version)
xarm_ros2 README (GitHub, humble branch) · UFACTORY (xArm-Developer) · README, section 1 Introduction
© UFACTORY Inc., xArm-Developer/xarm_ros2, BSD 3-Clause licence · BSD-3-Clause · retrieved 2026-09-21
Not known
No fetched source gives a payload diagram for the 850: how the allowable payload falls as the load's centre of mass moves away from the flange, or with speed. Integrators need this to size grippers and parts.
Related: lim-001 Inferred
Not known
No fetched source gives cycle-time data or the maximum speed and acceleration the 850 achieves while carrying its full 5 kg payload across its reach.
Related: lim-001 Inferred
Not known
No fetched source shows the 850 assessed for collaborative power and force limiting (the former ISO/TS 15066 content, now in ISO 10218-2:2025). The SGS verification covers only EN ISO 10218-1:2011 (safety-082), so the permissible contact forces and speeds for collaborative use are undocumented.
Related: app-019 Inferred safety-082 Verified safety-086 Inferred safety-122 Gap safety-126 Gap spec-086 Gap
Certifications Complete(CE)
UFACTORY 850 product page · UFACTORY · Tech Specs, 'Service & Support', 'Certificates'
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Not known
No fetched source gives a design life, MTBF or harmonic-drive service life for the 850. The only durability figure is the warranty note that it was stress-tested for at least 15,000 hours of full-time operation.
Stress-tested for at least 15,000 hours of full-time operation.
UFACTORY 850 product page · UFACTORY · Tech Specs, 'Service & Support'
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
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.
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
Not known
No fetched UFACTORY source states an ISO 13849-1 Performance Level (PL) or Category, or an IEC 62061 SIL, for any 850 safety function (e-stop, EI/SI inputs, collision detection, safety boundary or reduced mode). No TÜV certification was found. Do not assume any.
All safety I/Os exist in pairs (redundancy) and must be kept in two separate branches.
UFACTORY 850 Hardware Manual (online), 3. Controller Electrical Interface · UFACTORY · 3.4.1 Safety IO(EISI): redundancy described, no PL/Category stated
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
DSS_MD-GZES2403005468MD.pdf DSS_GZEM2403001755MDVR.pdf
UFACTORY 850 Hardware Manual (online), 7. Production Information · UFACTORY · 7.10 Certification: only SGS MD and EMC verifications linked
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Not known
No UFACTORY source was found that says whether the software safety functions (collision detection, safety boundary, reduced mode) are enforced independently of the motion-command path. It is also unknown whether the safety boundary checks the tool and the arm's links, or only the TCP; the documentation mentions only the TCP.
Related: safety-073 Verified
If the tool center point (TCP) of the robotic arm exceeds the set safety boundary, the robotic arm will stop moving.
UFACTORY Studio User Manual (online), 7. Settings · UFACTORY · 7.3.1 Safety Boundary
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
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.
Not known
Cycle times for S2's moves (S1 to S4, S1 to S3, S3 to S4) and for the S4/S5 laser step are not documented, so throughput and the benefit of two arms cannot be quantified.
Awaiting cell access: this could be confirmed or corrected once the physical S2 cell can be observed.
Related: int-011 Inferred
The record says
With two arms, loading incoming material (S2) and unloading and routing finished parts (S6) can happen at the same time. With one arm, both handling steps for every part would run one after the other on the same arm. How much this helps throughput is unknown, because no cycle times are documented (int-033), and the laser step may be the real bottleneck.
Why we infer this: Verified: the gift flow has two separate Cobot Handling steps, one before staging and laser engraving and one after (int-028), assigned to S2 and S6 (int-029). One arm would have to perform both in series; two arms let them overlap. This shows the steps can overlap, not that one arm would be the bottleneck: that depends on cycle times, which are undocumented (int-033).
Receiving → Cobot Handling → Staging → Laser Engraving → Cobot Handling → Quality Decision
IntelliMake Phase 1 Factory: Autonomous Production Demonstrator (infographic) · IntelliMake.org · Initial Personalized Gift Production Flow
© 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.
Sources disagree
The project specification describes S6 as the downstream arm that handles parts after processing, but IntelliMake's future 3D-printed flow has S6 handling parts before laser engraving (S7 → S6 → S4/S5). S6's role is therefore not simply 'after processing' in the future flow.
Related: int-010 Verified int-045 Verified int-031 Contradiction
The xArm 6 at S6 is the **downstream** arm, handling parts after processing and routing them to inspection, rework, or shipping.
CODE_SESSION 01 — xArm 850 Interactive Learning Platform (project specification) · Derek Stringfellow · Header, 'Confirmed role'
Derek Stringfellow, project record · Project-internal record · retrieved 2026-09-21
Project copy; not published on this site.
S7 3D Printing → S6 Robot Handling → S4/55 Laser Engraving or Marking
IntelliMake Phase 1 Factory: Autonomous Production Demonstrator (infographic) · IntelliMake.org · Future 3D-printed personalized product flow banner
© 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.
The record says
Kinematic calibration can be added to the URDF model in UFACTORY's ROS packages for xArm and UF850 arms produced after August 2023.
Note: for xArm/UF850 produced **after August 2023**, kinematic calibration can be added to the URDF model, you can specify `kinematics_suffix` parameter for better accuracy
xarm_ros ReadMe (ROS 1, master branch) · UFACTORY · README, note in section 7
© UFACTORY Inc., xArm-Developer/xarm_ros, BSD 3-Clause licence · BSD-3-Clause · retrieved 2026-09-21
The record says
Torque-sensor-based collision detection, added in Studio V2.7.0, has a documented limit: at end speeds of 100 mm/s or more, a collision may damage the sensor.
When the end speed ≥100mm/s, the sensor may be damaged by collision. Please enable with caution.
UFACTORY Studio V2.7.0 New Feature · UFACTORY · 'Settings - Externals - Torque Sensor'
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Added torque sensor collision detection.
UFACTORY Studio V2.7.0 New Feature · UFACTORY · V2.7.0 New Feature, 'Settings - Externals - Torque Sensor'
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
The record says
UFACTORY states that its unified uf_robot_moveit_config package, which supports xArm, Lite 6 and UFACTORY 850 with MoveIt in ROS 1, may replace the older per-model packages in the future.
support xArm/Lite6/UFACTORY850 series of robotic arm controls with moveit, which may replace these packages in the future.
xarm_ros ReadMe (ROS 1, master branch) · UFACTORY · README, update history (2023-06-07)
© UFACTORY Inc., xArm-Developer/xarm_ros, BSD 3-Clause licence · BSD-3-Clause · retrieved 2026-09-21
Not known
It is unknown whether any S2 safety signals pass through a PLC, and if so whether it is a safety-rated PLC.
Awaiting cell access: this could be confirmed or corrected once the physical S2 cell can be observed.
Never connect a safety signal to a non-safety PLC.
UFACTORY 850 Hardware Manual (online), 3. Controller Electrical Interface · UFACTORY · 3.1
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Not known
The S2 arm's current safety settings are unknown: collision detection on or off, collision sensitivity level, safety boundary on and its limits, reduced mode and its limits, self-collision tool model, TCP payload and mounting direction.
Awaiting cell access: this could be confirmed or corrected once the physical S2 cell can be observed.
When this mode is turned on, the working range of the robotic arm in Cartesian space can be limited.
UFACTORY Studio User Manual (online), 7. Settings · UFACTORY · 7.3 Safety
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Not known
It is unknown whether the documented default Advanced Settings password has been changed on the S2 controller, and who can change its safety-related settings.
Awaiting cell access: this could be confirmed or corrected once the physical S2 cell can be observed.
Quote not shown: it contains a value this site does not publish.
UFACTORY Studio User Manual (online), 7. Settings · UFACTORY · 7.4.3 Advanced Settings
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Not known
It is unknown which CI inputs at S2, if any, are configured as Stop Moving, Safeguard Reset, Reduced Mode or Manual Mode, and where any safeguard reset button is located relative to the safeguarded zone.
Awaiting cell access: this could be confirmed or corrected once the physical S2 cell can be observed.
you need to reset from outside the safety zone. The reset button must be a two-channel button.
UFACTORY 850 Hardware Manual (online), 3. Controller Electrical Interface · UFACTORY · 3.4.1.4
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Not known
The number and positions of allocated S3 staging slots are not documented. The diagram's illustration shows six pads on the table, but it is a drawing, not a specification.
Awaiting cell access: this could be confirmed or corrected once the physical S2 cell can be observed.
Related: int-017 Verified
S3 Inbound Staging Table
IntelliMake Phase 1 Factory: Autonomous Production Demonstrator (infographic) · IntelliMake.org · S3 illustration
© 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.
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.
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
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
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
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
The record says
The UFACTORY 850 robot arm (without control box) weighs 20 kg.
Weight(robot arm only) 20 kg
UFACTORY 850 product page · UFACTORY · Tech Specs > Comparison table, 'Weight(robot arm only)' row (page names the machine 'UFACTORY 850'; spec tables say 'UFactory 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Robot Weight 20KG(body only)
UFACTORY 850 Hardware Manual (online), 8. Technical Specifications · UFACTORY · Table 'UFACTORY 850', 'Robot Weight' row (docs site 'UFACTORY 850 硬件手册', English version; names the machine 'UFACTORY 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Weight(robotic arm only) 20 kg
UFACTORY 850 User Manual V2.3.0 (PDF, older edition) · UFACTORY · Appendix 2, 1.2 850 Specifications, p.174 (manual names the machine '850' / 'UFactory 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
The record says
The UFACTORY 850 has a reach of 850 mm.
Reach 850 mm
UFACTORY 850 product page · UFACTORY · Products menu entry for the 850 (page names the machine 'UFACTORY 850'; spec tables say 'UFactory 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Maximum Reach 850mm
UFACTORY 850 User Manual V2.3.0 (PDF, older edition) · UFACTORY · Appendix 7, 1.11 Specifications, p.185 (manual names the machine '850' / 'UFactory 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Not known
No dedicated teach pendant for the 850 is documented in the sources fetched: teaching is by browser (UFACTORY Studio) and by hand guiding. User Manual V2.3.0 lists stop categories for a 'Three-Position Enabling Device', but no source fetched names the product or says whether it is offered for the 850.
Three-Position Enabling Device Performs a Stop Category 2.
UFACTORY 850 User Manual V2.3.0 (PDF, older edition) · UFACTORY · Appendix 7, 1.8 Stop Categories, p.184 (manual names the machine '850' / 'UFactory 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Sources disagree
Sources disagree on the speed of the 850's internal base-to-flange Ethernet cable: gigabit or 1000M CAT5E on the product page and in the online hardware manual, but 100M and 'Standard CAT5' in User Manual V2.3.0.
Related: comp-055 Verified
1000M Ethernet cable, which further enhances the stability of the system. Standard CAT5E
UFACTORY 850 Hardware Manual (online), 4. Robotic Electrical Interface · UFACTORY · 4.5 Ethernet Interface (docs site 'UFACTORY 850 硬件手册', English version; names the machine 'UFACTORY 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
through a physical internal 100M Ethernet cable
UFACTORY 850 User Manual V2.3.0 (PDF, older edition) · UFACTORY · Hardware Section 1.2.2.5, Ethernet Interface, p.27 (manual names the machine '850' / 'UFactory 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Sources disagree
Gripper specifications differ between sources: the online hardware manual's 'Gripper G2(AG1200)' has 10–50 N clamping force, 800 g weight and Modbus RTU, while User Manual V2.3.0's '850 Gripper' has 30 N maximum clamping force, 802 g weight and Modbus TCP. They may describe different gripper generations; the sources do not say.
Related: comp-061 Verified comp-060 Verified
Clamping Force 10-50N
UFACTORY 850 Hardware Manual (online), 8. Technical Specifications · UFACTORY · Gripper G2(AG1200) table (docs site 'UFACTORY 850 硬件手册', English version; names the machine 'UFACTORY 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Maximum Clamping Force 30 N Weight (g) 802 g
UFACTORY 850 User Manual V2.3.0 (PDF, older edition) · UFACTORY · Appendix 2, 850 accessories parameters, Gripper, p.174 (manual names the machine '850' / 'UFactory 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Sources disagree
Vacuum gripper specifications differ between sources: the online hardware manual (AS1200) gives -55 kPa, more than 4 L/min, 20 mA quiescent and 500 mA peak current, while User Manual V2.3.0 gives 78% vacuum, more than 5.6 L/min, 30 mA quiescent and 400 mA peak. They may be different product revisions; the sources do not say.
Related: comp-071 Verified
Vacuum Flow (L/min) ＞4L/min
UFACTORY 850 Hardware Manual (online), 8. Technical Specifications · UFACTORY · Vacuum Gripper(AS1200) table (docs site 'UFACTORY 850 硬件手册', English version; names the machine 'UFACTORY 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Vacuum 78 % Vacuum Flow (L/min) > 5.6 L/min
UFACTORY 850 User Manual V2.3.0 (PDF, older edition) · UFACTORY · Appendix 2, 850 accessories parameters, Vacuum Gripper, p.174 (manual names the machine '850' / 'UFactory 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Not known
No specification for the 850's BIO Gripper G2 or 6-axis force/torque sensor (payload, force range, resolution) was found in the product page or the 850 manuals fetched; only their names are listed.
BIO Gripper G2 6 Axis Force Torque Sensor
UFACTORY 850 product page · UFACTORY · Overview, 'Seamless Integration With Official Accessories' (page names the machine 'UFACTORY 850'; spec tables say 'UFactory 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Not known
The physical I/O that will carry signals between S2 and S4 (and the other stations) is not defined. It may differ from the simulation's signals.
Awaiting cell access: this could be confirmed or corrected once the physical S2 cell can be observed.
Related: int-018 Verified
IO for physical may be different
Owner statements, 2026-09-21 (verbatim) · Derek Stringfellow · Statement S7
Derek Stringfellow, project record · Project-internal record · retrieved 2026-09-21
Project copy; not published on this site.
Not known
The layout draws unlabelled return paths from the laser and S6 region back toward S1 and S2. Whether reworked parts re-enter through S1 or S2, and what S2 does in rework, is not documented.
Not known
No fetched source compares the 850's ±0.02 mm repeatability quantitatively with conventional (non-collaborative) industrial robots of similar payload, beyond UFACTORY's own marketing phrase 'industrial grade performance'.
Related: app-001 Verified lim-014 Verified
Sources disagree
UFACTORY documents disagree on the collision sensitivity range. The Studio Settings page says 1 to 5, while the Studio glossary, the Python SDK and the xArm Developer Manual say 0 to 5, with 0 disabling collision detection. A learner reading only the Settings page would not learn that the value can switch detection off.
Related: safety-065 Verified safety-066 Verified
The collision sensitivity range is 1 to 5 levels.
UFACTORY Studio User Manual (online), 7. Settings · UFACTORY · 7.1.1 Parameters
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
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 Studio User Manual (online), 2. Glossary · UFACTORY · Glossary, Collision Sensitivity
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
:param value: sensitivity value, 0~5
xArm-Python-SDK API documentation (doc/api/xarm_api.md) · UFACTORY · def set_collision_sensitivity
© UFACTORY Inc., xArm-Developer/xArm-Python-SDK, BSD 3-Clause licence · BSD-3-Clause · retrieved 2026-09-21
The collision sensitivity range is from 0 to 5 level. When it is set to 0, it means that collision detection is not enabled.
xArm Developer Manual V2.0.1 (PDF) · UFACTORY · Glossary, 'Collision Sensitivity'
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Sources disagree
The 850 manual's e-stop figures appear inconsistent. Section 2.1.2 says arm power is removed within 300 ms of pressing the e-stop. Section 7.8 says the e-stop is Stop Category 1, which decelerates 'with drive power on'. Section 7.9 gives Stop Category 1 stopping times of 521 to 885 ms. 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).
Related: safety-025 Verified safety-042 Verified safety-043 Verified safety-044 Verified safety-045 Verified safety-046 Verified safety-047 Verified safety-048 Verified comp-024 Verified comp-026 Verified
the power supply for the robotic arm will be removed within 300ms.
UFACTORY 850 Hardware Manual (online), 2. Hardware Installation · UFACTORY · 2.1.2 Emergency Stop Button
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Stop Category 1 and Stop Category 2 decelerates the robot with drive power on, which enables the robot to stop without deviating from its current path.
UFACTORY 850 Hardware Manual (online), 7. Production Information · UFACTORY · 7.8 Stop Categories
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Emergency Stop Button of the Control Box Stop Category 1
UFACTORY 850 Hardware Manual (online), 7. Production Information · UFACTORY · 7.8 Stop Categories, table
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Joint1 0.62 521
UFACTORY 850 Hardware Manual (online), 7. Production Information · UFACTORY · 7.9 Stop Time and Stop Distance, table
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Joint2 1.12 885
UFACTORY 850 Hardware Manual (online), 7. Production Information · UFACTORY · 7.9 Stop Time and Stop Distance, table
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Joint3 0.67 577
UFACTORY 850 Hardware Manual (online), 7. Production Information · UFACTORY · 7.9 Stop Time and Stop Distance, table
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Sources disagree
The 850 product page calls UFACTORY arms 'Collaborative Robots' and 'cobots'. A3 says ISO 10218:2025 drops 'collaborative robot' because only an application can be confirmed as collaborative, and UFACTORY's own 850 manual says no people should be in the working area during operation. The marketing label does not establish that S2 is a collaborative application.
Durable Collaborative Robots with Easy Deployment
UFACTORY 850 product page · UFACTORY · Section heading
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
“Collaborative application” is used instead, as only the actual use of the robot can be designed, tested, and confirmed as a collaborative application.
Updated ISO 10218: Answers to Frequently Asked Questions (FAQs) (A3 blog, 03/20/2025; Wayback Machine snapshot 2025-10-06) · Association for Advancing Automation (A3) · FAQ 6
© Association for Advancing Automation (A3) · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
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
Not known
No fetched UFACTORY source says whether the 850 is suitable or validated for power and force limiting collaborative applications. UFACTORY publishes no contact force or pressure figures, and gives no force or torque threshold for each collision sensitivity level.
Related: safety-065 Verified
The larger the value is set, the higher the collision sensitivity level is, and the smaller the additional torque required for the robotic arm to trigger collision protection.
UFACTORY Studio User Manual (online), 7. Settings · UFACTORY · 7.1.1: sensitivity described only qualitatively
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Not known
UFACTORY publishes Stop Category 1 stop data only for Joints 1 to 3 at 100% extension, 100% speed and a 5 kg payload. No data was found for Joints 4 to 6, for other speeds or payloads, for Stop Category 2 (the SI safeguard stop), or for stopping after a collision is detected. These are needed for any separation-distance calculation.
Related: safety-043 Verified safety-044 Verified safety-045 Verified safety-046 Verified safety-047 Verified safety-048 Verified
Stop Category 1 stopping distances and times.
UFACTORY 850 Hardware Manual (online), 7. Production Information · UFACTORY · 7.9 Stop Time and Stop Distance
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Not known
No fetched UFACTORY source gives an explicit intended-use or reasonably foreseeable misuse statement for the 850, beyond environmental limits and general warnings.
Avoid direct sunlight (indoor use)
UFACTORY 850 Hardware Manual (online), 7. Production Information · UFACTORY · 7.3 Disposal and Environment: environment conditions only
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Not known
No fetched UFACTORY source identifies specific pinch or crush points on the 850, such as between links or at the gripper fingers. The pinch and crush hazard descriptions found come from OSHA's general guidance.
Never stick fingers to the connector of the end-effector.
UFACTORY 850 Hardware Manual (online), 1. Safety · UFACTORY · 1.3/1.4: nearest manufacturer warning
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Not known
The EC/EU Declaration of Conformity for the 850 was not found or fetched. The SGS verifications say the CE mark depends on one, and the product page says only 'Certifications Complete(CE)'. Nothing fetched from UFACTORY states conformity with ISO 10218-1:2025 or ISO 10218-2.
Related: lim-019 Gap safety-082 Verified safety-086 Inferred safety-126 Gap spec-086 Gap
after completion of an EC Declaration of Conformity and compliance with all relevant EC Directives.
SGS Verification of MD Compliance No. MD GZES2403005468MD (UFACTORY Robotic Arm, Model No. XI13, XI15) · SGS-CSTC Standards Technical Services Co., Ltd. (published by UFACTORY) · Closing paragraph
SGS verification document, published by UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Certifications Complete(CE)
UFACTORY 850 product page · UFACTORY · Certificates
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Not known
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
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
Not known
The 850 manual's 'Limitation of Liability' sentence reads, as published, that safety information 'must be construed as a warranty by UFACTORY [sic], that the 850 will not cause injury or damage even if all safety instructions are complied with'. This is the opposite of what a limitation of liability usually says, and is probably a drafting error for 'must not be construed'. UFACTORY's intended wording is unconfirmed. Do not read it as a guarantee of safety.
Any safety information provided in this manual must be construed as a warranty by UFACTORY, that the 850 will not cause injury or damage even if all safety instructions are complied with.
UFACTORY 850 Hardware Manual (online), 1. Safety · UFACTORY · 1.2 Limitation of Liability
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Not known
The ISO 10218-1/-2:2025 texts and ISO/TS 15066 are paywalled and were not read. No clause numbers, force or pressure limits, or required PL values from them are recorded in this corpus.
Related: lim-019 Gap safety-082 Verified safety-086 Inferred safety-122 Gap spec-086 Gap
U.S. customers can purchase ISO 10218 through the A3 bookstore with discounts available to A3 members.
Updated ISO 10218: Answers to Frequently Asked Questions (FAQs) (A3 blog, 03/20/2025; Wayback Machine snapshot 2025-10-06) · Association for Advancing Automation (A3) · FAQ 10
© Association for Advancing Automation (A3) · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Not known
It is unknown whether S2 operators have been trained, as UFACTORY requires, and whether maintenance and safety-configuration changes are documented.
Awaiting cell access: this could be confirmed or corrected once the physical S2 cell can be observed.
Document all maintenance operations in writing and retain these records within the technical documentation associated with the entire robot system.
UFACTORY 850 Hardware Manual (online), 1. Safety · UFACTORY · 1.4, WARNING
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Sources disagree
Sources disagree on the range of joint 2 (J2): the product page, the online hardware manual and the uf850 URDF give ±132°, but User Manual V2.3.0 (PDF, 2024) gives -118°~120°. The manual's figures match none of the other three sources; the three agreeing sources are probably current, but this is not confirmed.
Related: spec-009 Verified
J1~J6 (±360°, ±132°, -242~3.5°, ±360°, ±124°, ±360°)
UFACTORY 850 Hardware Manual (online), 8. Technical Specifications · UFACTORY · Table 'UFACTORY 850', 'Joint Range' row (docs site 'UFACTORY 850 硬件手册', English version; names the machine 'UFACTORY 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
joint2_lower_limit:=${-2.3038346} joint2_upper_limit:=${2.3038346}
xarm_ros2 (branch humble), xarm_description/urdf/uf850/uf850.urdf.xacro · UFACTORY · macro uf850_urdf default parameters (ROS naming 'uf850')
© UFACTORY Inc., xArm-Developer/xarm_ros2, BSD 3-Clause licence · BSD-3-Clause · retrieved 2026-09-21
2 -118°~120°
UFACTORY 850 User Manual V2.3.0 (PDF, older edition) · UFACTORY · Appendix 2, 1.2 850 Specifications, 'Joint Range', p.174 (same values in Table 1.1 p.10 and Appendix 7 p.185) (manual names the machine '850' / 'UFactory 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Sources disagree
Sources disagree on the range of joint 3 (J3): the product page, the online hardware manual and the uf850 URDF give -242°~3.5°, but User Manual V2.3.0 (PDF, 2024) gives -225°~11°. The manual's figures match none of the other three sources; the three agreeing sources are probably current, but this is not confirmed.
Related: spec-010 Verified
J1~J6 (±360°, ±132°, -242~3.5°, ±360°, ±124°, ±360°)
UFACTORY 850 Hardware Manual (online), 8. Technical Specifications · UFACTORY · Table 'UFACTORY 850', 'Joint Range' row (docs site 'UFACTORY 850 硬件手册', English version; names the machine 'UFACTORY 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
joint3_lower_limit:=${-4.2236968} joint3_upper_limit:=${0.061087}
xarm_ros2 (branch humble), xarm_description/urdf/uf850/uf850.urdf.xacro · UFACTORY · macro uf850_urdf default parameters (ROS naming 'uf850')
© UFACTORY Inc., xArm-Developer/xarm_ros2, BSD 3-Clause licence · BSD-3-Clause · retrieved 2026-09-21
3 -225°~11°
UFACTORY 850 User Manual V2.3.0 (PDF, older edition) · UFACTORY · Appendix 2, 1.2 850 Specifications, 'Joint Range', p.174 (same values in Table 1.1 p.10 and Appendix 7 p.185) (manual names the machine '850' / 'UFactory 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Sources disagree
Sources disagree on the range of joint 5 (J5): the product page, the online hardware manual and the uf850 URDF give ±124°, but User Manual V2.3.0 (PDF, 2024) gives -97°~180°. The manual's figures match none of the other three sources; the three agreeing sources are probably current, but this is not confirmed.
Related: spec-012 Verified
J1~J6 (±360°, ±132°, -242~3.5°, ±360°, ±124°, ±360°)
UFACTORY 850 Hardware Manual (online), 8. Technical Specifications · UFACTORY · Table 'UFACTORY 850', 'Joint Range' row (docs site 'UFACTORY 850 硬件手册', English version; names the machine 'UFACTORY 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
joint5_lower_limit:=${-2.1642} joint5_upper_limit:=${2.1642}
xarm_ros2 (branch humble), xarm_description/urdf/uf850/uf850.urdf.xacro · UFACTORY · macro uf850_urdf default parameters (ROS naming 'uf850')
© UFACTORY Inc., xArm-Developer/xarm_ros2, BSD 3-Clause licence · BSD-3-Clause · retrieved 2026-09-21
5 -97°~180°
UFACTORY 850 User Manual V2.3.0 (PDF, older edition) · UFACTORY · Appendix 2, 1.2 850 Specifications, 'Joint Range', p.174 (same values in Table 1.1 p.10 and Appendix 7 p.185) (manual names the machine '850' / 'UFactory 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Sources disagree
Sources disagree on the 850's typical power consumption: 240 W on the product page and in the online hardware manual, 200 W in User Manual V2.3.0.
Related: spec-040 Verified
Typical 240 W, Max 1000 W
UFACTORY 850 product page · UFACTORY · Tech Specs > Hardware, 'Power Consumption' row (page names the machine 'UFACTORY 850'; spec tables say 'UFactory 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Power Consumption Min 20 W, Typical 200 W, Max 1000 W
UFACTORY 850 User Manual V2.3.0 (PDF, older edition) · UFACTORY · Appendix 2, 1.1 Common Specifications, p.173 (manual names the machine '850' / 'UFactory 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Not known
No IP (ingress protection) rating for the UFACTORY 850 arm or its control box was found. The product page, the online hardware manual and User Manual V2.3.0 give none, though the online manual rates the Gripper G2 accessory IP40, and the manuals warn against liquids and humid environments.
Related: lim-013 Gap
Protection Rating IP40
UFACTORY 850 Hardware Manual (online), 8. Technical Specifications · UFACTORY · Gripper G2(AG1200) table, 'Protection Rating' row (the only IP figure on the page) (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
The robotic arm and its hardware composition must not be in direct contact with the liquid, and should not be placed in a humid environment for a long time.
UFACTORY 850 Hardware Manual (online), 2. Hardware Installation · UFACTORY · 2.2.1 Safety Guidelines, WARNING (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
Not known
No noise (sound pressure) figure for the UFACTORY 850 arm was found in the product page, the online hardware manual or User Manual V2.3.0; the only noise figure given is for the Vacuum Gripper accessory (<60 dB at 30 cm).
Noise Level(30cm away) ＜60dB
UFACTORY 850 Hardware Manual (online), 8. Technical Specifications · UFACTORY · Vacuum Gripper(AS1200) table, 'Noise Level(30cm away)' 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
Not known
No dimensioned base drawing values (bolt-circle diameter, base height) were captured as text: the product page and manuals show 'Robot base mounting' and flange drawings only as images.
Robot base mounting (mm)
UFACTORY 850 product page · UFACTORY · Tech Specs > Dimension (page names the machine 'UFACTORY 850'; spec tables say 'UFactory 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Mechanical dimensions of end-effector flange (unit: mm)
UFACTORY 850 Hardware Manual (online), 4. Robotic Electrical Interface · UFACTORY · 4.1 End Flange, figure caption (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
Sources disagree
Sources disagree on the AC control box dimensions: 345 × 135 × 101 mm on the product page and in the online hardware manual, 376 × 145 × 130 mm in User Manual V2.3.0.
Related: spec-067 Verified
345×135×101mm
UFACTORY 850 Hardware Manual (online), 8. Technical Specifications · UFACTORY · AC Controller / DC Controller table, 'Dimension(L×W×H)' 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
Dimension(L*W*H) 376mm*145mm*130mm
UFACTORY 850 User Manual V2.3.0 (PDF, older edition) · UFACTORY · Appendix 2, Control Box, p.173 (same value, Appendix 7 p.185) (manual names the machine '850' / 'UFactory 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Sources disagree
Sources disagree on the control box's RS-485 ports: one RS-485 master on the product page and in the online hardware manual, but one master and one slave (2 × RS-485) in User Manual V2.3.0.
Related: spec-076 Verified
1×RS-485 Master
UFACTORY 850 Hardware Manual (online), 8. Technical Specifications · UFACTORY · AC/DC Controller table, 'I/O Interface' 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
1*RS-485 Master 1*RS-485 Slave
UFACTORY 850 User Manual V2.3.0 (PDF, older edition) · UFACTORY · Appendix 2, Control Box I/O Interface, p.173 (manual names the machine '850' / 'UFactory 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
I/O Ports 8*CI 8*DI 8*CO 8*DO 2*AI 2*AO 2*RS-485
UFACTORY 850 User Manual V2.3.0 (PDF, older edition) · UFACTORY · Appendix 7, 1.11 Specifications, p.185 (manual names the machine '850' / 'UFactory 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Sources disagree
Sources disagree on the 850's end-effector communication protocol: the product page says Modbus RTU, and the online hardware manual's Tool RS485 section and Gripper G2 table describe RS-485 with Modbus RTU, but the specification tables of the online hardware manual and User Manual V2.3.0 say Modbus TCP. The tool port is RS-485, which suggests RTU, but this is not confirmed.
Related: spec-081 Verified
End Effector Communication Protocol Modbus RTU
UFACTORY 850 product page · UFACTORY · Tech Specs > Hardware, 'End Effector Communication Protocol' row (page names the machine 'UFACTORY 850'; spec tables say 'UFactory 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
End Effector Communication Protocol Modbus TCP
UFACTORY 850 Hardware Manual (online), 8. Technical Specifications · UFACTORY · Table 'UFACTORY 850', 'End Effector 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
End-effector Communication Protocol Modbus TCP
UFACTORY 850 User Manual V2.3.0 (PDF, older edition) · UFACTORY · Appendix 2, 1.1 Common Specifications, p.173 (manual names the machine '850' / 'UFactory 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
| Communication Method | RS485 | Communication Protocol | Modbus RTU |
UFACTORY 850 Hardware Manual (online), 8. Technical Specifications · UFACTORY · Gripper G2 table
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
If end effector supports standard Modbus RTU
UFACTORY 850 Hardware Manual (online), 4. Robotic Electrical Interface · UFACTORY · 4.4.4 Tool RS485
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Not known
The 850 product page and manual text do not themselves state conformance to ISO 10218-1 or ISO/TS 15066. The only ISO 10218 evidence found is the SGS verification linked from the manual, which is against EN ISO 10218-1:2011 (safety-082, safety-086). No assessment against the 2025 editions was found.
Related: lim-019 Gap safety-082 Verified safety-086 Inferred safety-122 Gap safety-126 Gap
Certifications Complete(CE)
UFACTORY 850 product page · UFACTORY · Service & Support > Certificates (the only certification listed) (page names the machine 'UFACTORY 850'; spec tables say 'UFactory 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Not known
The product page lists the 850's 'Base Connector Type' as M8*4; the page does not say which connector this is. The online manual describes an M8 4-pole Ethernet interface at the end flange, not the base, so the meaning of this row is unclear.
Base Connector Type M8*4
UFACTORY 850 product page · UFACTORY · Tech Specs > Hardware, 'Base Connector Type' row (page names the machine 'UFACTORY 850'; spec tables say 'UFactory 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
The user Ethernet interface(RJ45) of the arm base is connected to the Ethernet interface(M8 4-pole) of the end flange
UFACTORY 850 Hardware Manual (online), 4. Robotic Electrical Interface · UFACTORY · 4.5 Ethernet Interface (docs site 'UFACTORY 850 硬件手册', English version; names the machine 'UFACTORY 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
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