§6 xArm 850
S2's production cycle first, then the machine's own day: set up, power on, run, stop and shut down.
This section follows the arm through its work. It starts with the cycle this project designed for the arm, then walks through the machine's own day: setting it up, switching it on, running it, stopping it and shutting it down. Every tier below starts from the same three facts.
This project's simulation and agent design, not the physical cell
S2 in one line: S2 is the xArm 850 arm that picks up incoming material and moves it between receiving, staging and production1213.
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 follow the arm's job as this project has designed it, and then the steps that take the machine from switched off to running and back again. No robotics background is needed. Read the numbered steps in order: the order is the lesson.
This project's simulation and agent design, not the physical cell
In this project's simulation design, S2 picks up business cards from one conveyor and places them on another for engraving14. Its cycle runs like this:
UFACTORY's manual sets the arm up in five steps2122232425:
In UFACTORY Studio, the Run and Pause buttons start and pause a Blockly program34. How a computer connects to Studio is in the Novice tier.
Only trained people restart the arm. UFACTORY requires operators to be trained in its software39. If you are not, leave the restart to someone who is.
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 what you do at the arm on an ordinary day: get connected, tell it what it is carrying, move it by hand, send it back to a known position, and get it going again after it stops. It is for someone who will work near or with the cell.
This project's simulation and agent design, not the physical cell
When nobody knows the address any more, the manual resets it in five steps4950515253:
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 start the arm from a program, set it up so its collision detection can be trusted, and recover it when a program or a collision stops it. It is for someone who will set up, program or maintain the arm.
This project's simulation and agent design, not the physical cell
UFACTORY's Python template starts the arm in this order76777879:
From the SDK, recovery is three calls in order909192:
For a collision error, C31, the manual gives six checks, in this order949596979899:
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 take the operating sequence apart: what sets the pace of the arm's cycle, which of those things can be measured today, how a program can fail mid-cycle, and what is still unknown before a real sequence can be written for the cell. It is for someone who designs, integrates or changes the cell.
In ROS 2 the 850 starts up the same way as from the SDK110:
This project's simulation and agent design, not the physical 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.
IntelliMake's flow and layout route incoming material through staging (Receiving → Cobot Handling → Staging → Laser Engraving; S2 → S3 → S4), but this project's S2 design places directly on S4 and uses S3 only when S4 is busy. Whether the physical cell also skips staging, or IntelliMake's diagram is out of date for S2, is unresolved (Q14b).
See reference 10Whether 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 19Cycle 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 20The 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 37What S2 publishes to the other agents or the hub is not defined: placement confirmations, S3 slot updates, faults and error codes, its own ready or busy state, and whether any work-order or traceability data passes through S2 (Q9, Q14).
See reference 46No 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 107The 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 111The 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 112The 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 119The 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 120The fetched manuals do not give a step-by-step unpacking procedure or a packing checklist for the 850.
See reference 123The default collision sensitivity level of the 850 is not stated in the fetched sources.
See reference 124Sources disagree on the top speed of manual jogging from UFACTORY Studio's Live Control page: User Manual V2.3.0 gives the 850 a maximum of 250 mm/s in teaching mode (the Live Control page), while the online UFACTORY Studio manual says the Live Control speed setting reaches 230 mm/s at 100%. Neither source explains the 20 mm/s difference. The 250 mm/s may be a mode ceiling and 230 mm/s the top slider setting, but no source says so. Both are far below program (automatic mode) speed.
See reference 125Each 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
Power-on step 1: turn on the OFF/ON switch and check that the indicator lights are lit.
1. Turn on the OFF/ON button and ensure the indicator lights are lit.
UFACTORY 850 Hardware Manual (online), 2. Hardware Installation · UFACTORY · 2.3.1 Power On, step 1
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
The record says
Power-on step 2: press the power button; the control box is on when the status indicator (CONTROLLER) lights.
Press the power button, when the status indicator（CONTROLLER） lights up, the control box is turned on.
UFACTORY 850 Hardware Manual (online), 2. Hardware Installation · UFACTORY · 2.3.1 Power On, step 2
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
The record says
Power-on step 3: turn the emergency stop button in the direction of the arrow so it pops up; the ROBOT PWR indicator lights and the arm is powered.
Rotate the emergency stop button in the direction indicated by the arrow and is pulled up, at which point the 850 power indicator（ROBOT PWR） lights up.
UFACTORY 850 Hardware Manual (online), 2. Hardware Installation · UFACTORY · 2.3.1 Power On, step 3
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
The record says
Power-on step 4: enable the arm (switch on the servo motors) from UFACTORY Studio or with an SDK command.
Use the UFactory studio / SDK command to complete the operation of enabling the robotic arm. (enable the servo motor)
UFACTORY 850 Hardware Manual (online), 2. Hardware Installation · UFACTORY · 2.3.1 Power On, step 4
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
The record says
Shutdown step 2: switch off the control box; power-off takes about 5 seconds, and the box must not be restarted within those 5 seconds.
The power switch takes about 5 seconds to turn off the power of the control box. Please do not restart the control box within 5 seconds after turning off the power supply
UFACTORY 850 Hardware Manual (online), 2. Hardware Installation · UFACTORY · 2.3.2 Shut Down, step 2
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
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
S3, the Inbound Staging Table, provides temporary storage and buffering for incoming workpieces.
Provides temporary storage/buffering for incoming workplaces.
IntelliMake Phase 1 Factory: Autonomous Production Demonstrator (infographic) · IntelliMake.org · S3 station description (the diagram prints 'workplaces'; read as workpieces)
© 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
S4, the Laser Engraver Conveyor, transfers workpieces through the laser processing area.
Transfers workplaces through the laser processing area.
IntelliMake Phase 1 Factory: Autonomous Production Demonstrator (infographic) · IntelliMake.org · S4 station description (the diagram prints 'workplaces'; read as workpieces)
© 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
In this project's S2 design (simulation and agent), S2 places each workpiece on S4, the laser engraver conveyor, or on S3, the staging table, when S4 is busy. It therefore skips staging when S4 is free (see int-051).
S2 can place on S3 or S4. If S4 is busy, it goes to S3.
Owner statements, 2026-09-21 (verbatim) · Derek Stringfellow · Statement S5
Derek Stringfellow, project record · Project-internal record · retrieved 2026-09-21
Project copy; not published on this site.
Sources disagree
IntelliMake's flow and layout route incoming material through staging (Receiving → Cobot Handling → Staging → Laser Engraving; S2 → S3 → S4), but this project's S2 design places directly on S4 and uses S3 only when S4 is busy. Whether the physical cell also skips staging, or IntelliMake's diagram is out of date for S2, is unresolved (Q14b).
Related: int-014 Verified int-029 Verified int-028 Verified
Receiving → Cobot Handling → Staging → Laser Engraving
IntelliMake Phase 1 Factory: Autonomous Production Demonstrator (infographic) · IntelliMake.org · Initial Personalized Gift Production 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.
S2 can place on S3 or S4. If S4 is busy, it goes to S3.
Owner statements, 2026-09-21 (verbatim) · Derek Stringfellow · Statement S5
Derek Stringfellow, project record · Project-internal record · retrieved 2026-09-21
Project copy; not published on this site.
The record says
Enabling the arm powers it and switches on its motors; the arm can move only once it is enabled.
Power on the robotic arm and turn on the motor of the robotic arm. After the robotic arm is enabled, it can start to move normally.
UFACTORY Studio User Manual (online), 2. Glossary · UFACTORY · Glossary, Enable Robotic Arm
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
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
In this project's simulation of S2, the arm picks up business cards (the current workpiece) from one conveyor and places them on a different conveyor for engraving; in future it is to handle material for 3D printing. Whether business cards are also the physical cell's workpiece is not recorded (see int-052).
The simulation uses the arm to pick up business cards from one conveyor system and places it on a different conveyor system for engraving (current) 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
In this project's S2 design, S2 moves buffered workpieces from S3 to S4 once S4 gives its 'all clear and ready' signal. The concept holds on both substrates; the physical I/O may differ.
S2 goes back and moves from S3 to S4 when S4 is busy and needs to provide an 'all clear and ready' signal.
Owner statements, 2026-09-21 (verbatim) · Derek Stringfellow · Statement S6
Derek Stringfellow, project record · Project-internal record · retrieved 2026-09-21
Project copy; not published on this site.
Yes for the simulation and IO for physical may be different, but the idea is generally the same in concept
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.
The record says
In this project's S2 design, the information S2 consumes includes S4's 'all clear and ready' availability signal.
needs to provide an 'all clear and ready' signal
Owner statements, 2026-09-21 (verbatim) · Derek Stringfellow · Statement S6
Derek Stringfellow, project record · Project-internal record · retrieved 2026-09-21
Project copy; not published on this site.
The record says
In this project's S2 design, when S3 and S4 are both unavailable, S2 monitors S4 and, once S4 is available, dispatches a workpiece from S3 to S4. The freed S3 space then lets S2 take material from S1 again.
If both S3 and S4 are unavailable, S2 monitors s4 for availablilty then dispatches from s3 to make that available again, which then allows for material from S1 as well.
Owner statements, 2026-09-21 (verbatim) · Derek Stringfellow · Statement S6
Derek Stringfellow, project record · Project-internal record · retrieved 2026-09-21
Project copy; not published on this site.
The record says
In this project's S2 design, S2 must not stack workpieces or break the space the system allocates, and it has to use its intelligence to make these placement decisions.
S2 has to use its intelligence to make these decisions. It can not simply stack or break the allocatied space the system will have in place.
Owner statements, 2026-09-21 (verbatim) · Derek Stringfellow · Statement S6
Derek Stringfellow, project record · Project-internal record · retrieved 2026-09-21
Project copy; not published on this site.
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
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
Installation step 1: define the working space.
1. Define Working Space.
UFACTORY 850 Hardware Manual (online), 2. Hardware Installation · UFACTORY · 2.2.3 Installation, step 1
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
The record says
Installation step 2: fix the robot base.
2. Fix the robotic arm base.
UFACTORY 850 Hardware Manual (online), 2. Hardware Installation · UFACTORY · 2.2.3 Installation, step 2
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
The record says
Installation step 3: connect the arm to the controller.
3. Connect the robotic arm with the controller.
UFACTORY 850 Hardware Manual (online), 2. Hardware Installation · UFACTORY · 2.2.3 Installation, step 3
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
The record says
Installation step 4: connect the controller's cables.
4. Connect the controller with cable.
UFACTORY 850 Hardware Manual (online), 2. Hardware Installation · UFACTORY · 2.2.3 Installation, step 4
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
The record says
Installation step 5: install the end effector.
5. Install End-Effector.
UFACTORY 850 Hardware Manual (online), 2. Hardware Installation · UFACTORY · 2.2.3 Installation, step 5
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
The record says
When defining the working space, allow for the arm's full range of motion so it cannot hit nearby people or equipment; the published working range excludes the end effector.
When installing the robotic arm, make sure the range of motion of the robotic arm is taken into account, so as not to bump into the surrounding people and equipment (the end-effector not included in the working range).
UFACTORY 850 Hardware Manual (online), 2. Hardware Installation · UFACTORY · 2.2.2 Define Working Space
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
The record says
The arm cable must be connected or disconnected only with external AC power disconnected, and the control box must be powered off while its electrical interface is wired.
When connecting or disconnecting the arm cable, make sure that the external AC is disconnected.
UFACTORY 850 Hardware Manual (online), 2. Hardware Installation · UFACTORY · 2.2.1 Safety Guidelines, WARNING
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
When wiring the electrical interface of the Control Box, the Control Box must be powered off.
UFACTORY 850 Hardware Manual (online), 3. Controller Electrical Interface · UFACTORY · 3.1 Electrical Alarms and Cautions, WARNING
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
The record says
UFACTORY calls the control box the core of the 850: it houses the arm's control system.
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
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
Before power-on, check that the power and communication cables between the control box and the arm are properly connected.
Ensure the power cable and the communication wire are properly connected between the Control Box and the robotic arm.
UFACTORY 850 Hardware Manual (online), 2. Hardware Installation · UFACTORY · 2.3 Power Supply for 850
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
The record says
Before power-on, check that the network cable or RS-485 cable is properly connected.
Ensure the network cable or RS-485 cable is properly connected.
UFACTORY 850 Hardware Manual (online), 2. Hardware Installation · UFACTORY · 2.3 Power Supply for 850
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
The record says
Before power-on, check that the control box power cable is properly connected.
Ensure the power cable for the Control Box is properly connected.
UFACTORY 850 Hardware Manual (online), 2. Hardware Installation · UFACTORY · 2.3 Power Supply for 850
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
The record says
Before power-on, make sure the 850 cannot hit any person or equipment within its working range.
Ensure the 850 will not hit any personnel or equipment within the working range.
UFACTORY 850 Hardware Manual (online), 2. Hardware Installation · UFACTORY · 2.3 Power Supply for 850
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
The record says
Blockly programs are started and paused with the Run and Pause buttons in UFACTORY Studio.
1. Run: Run the Blockly program.
UFACTORY Studio User Manual (online), 5. Blockly · UFACTORY · 5.1 Interface Overview
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
2. Pause: Pause the Blockly program.
UFACTORY Studio User Manual (online), 5. Blockly · UFACTORY · 5.1 Interface Overview
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
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.
**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 2026-09-21
The record says
Pressing the control box emergency stop makes the controller decelerate the arm in software, clears all cached commands, and removes power from the arm within 300 ms; the arm will slightly brake and fall.
Quote not shown (over 40 words). See the source at: 2.1.2 Emergency Stop Button.
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
the posture of the robotic arm will slightly brake and fall.
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
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
The record says
UFACTORY states that the emergency stop should not be used as a risk reduction measure.
The emergency stop should not be used as a risk reduction measure.
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
The record says
UFACTORY says installation and commissioning must be done by professionals, and operators must be trained in the SDK and UFACTORY Studio.
Please follow the instructions in this manual, installation, and commissioning needs to be performed by professionals in accordance
UFACTORY 850 Hardware Manual (online), 1. Safety · UFACTORY · 1.3, DANGER list
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
The operator must be trained to guarantee a correct operation procedure when using SDK(Python/ROS/C++) and graphical interface UFactory studio.
UFACTORY 850 Hardware Manual (online), 1. Safety · UFACTORY · 1.3, DANGER list
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
The record says
Restart after an emergency stop, step 1: turn the emergency stop button in the direction of the arrow to power the arm back up.
Power up the 850 (Turn the emergency stop button in the direction of the arrow).
UFACTORY 850 Hardware Manual (online), 2. Hardware Installation · UFACTORY · 2.1.2 Emergency Stop Button, restart
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
The record says
Restart after an emergency stop, step 2: enable the arm (the Studio Enable button, or motion_enable(true) in the SDK).
Enable the 850 (enable the servo motor), Enable button on the UFACTOR Studio or Python SDK `motion_enable(true)`.
UFACTORY 850 Hardware Manual (online), 2. Hardware Installation · UFACTORY · 2.1.2 Emergency Stop Button, restart
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
The record says
After an emergency stop, UFACTORY says to make sure the restart or reset motions will not hit any obstacle.
If the robotic arm is in operation and needs an emergency stop, make sure the restart/reset motions will not collide with any obstacle.
UFACTORY 850 Hardware Manual (online), 1. Safety · UFACTORY · 1.3, CAUTION
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
The record says
Shutdown step 1: press the emergency stop button to cut power to the arm, and check that the power indicator is off.
1. Press the EMERGENCY STOP button to power off the robotic arm, ensure the power indicator light is off.
UFACTORY 850 Hardware Manual (online), 2. Hardware Installation · UFACTORY · 2.3.2 Shut Down, step 1
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
The record says
UFACTORY warns that items can drop from the 850 if power is lost accidentally or if the gripper holds them unstably.
Be careful about dropping items that can be caused by accidental power off or unstable clamping of the robotic arm.
UFACTORY 850 Hardware Manual (online), 1. Safety · UFACTORY · 1.4 Personnel Safety, CAUTION
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
The record says
In this project's S2 design, S2 communicates its own state as well as receiving other stations' state. What it publishes is not yet defined (see int-047).
S2 also communicates.
Owner statements, 2026-09-21 (verbatim) · Derek Stringfellow · Statement S8
Derek Stringfellow, project record · Project-internal record · retrieved 2026-09-21
Project copy; not published on this site.
Not known
What S2 publishes to the other agents or the hub is not defined: placement confirmations, S3 slot updates, faults and error codes, its own ready or busy state, and whether any work-order or traceability data passes through S2 (Q9, Q14).
Related: int-020 Verified int-048 Inferred
The record says
Network setup: set the PC's IP address to the same 192.168.1.x segment as the control box, then open <controller IP>:18333 in a browser to reach UFACTORY Studio.
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
Enter 'IP+:18333' on the browser to access UFACTORY Studio.
UFACTORY Studio User Manual (online), 3. Connection · UFACTORY · 3.2 Software Connection
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
The default IP of robotic arm is 192.168.1.xxx
UFACTORY Studio User Manual (online), 3. Connection · UFACTORY · 3.2 Software Connection
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
The record says
If the IP address is changed, write the new address on the control box.
If you change the IP address, be sure to mark it on the control box.
UFACTORY 850 Hardware Manual (online), 3. Controller Electrical Interface · UFACTORY · 3.4.5 Reset IP
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
The record says
IP reset step 1: press the emergency stop button and turn off the control box.
1. Press the emergency stop button and turn off the power of the control box.
UFACTORY 850 Hardware Manual (online), 3. Controller Electrical Interface · UFACTORY · 3.4.5 Reset IP, step 1
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
The record says
IP reset step 2: connect controller input RI0 to GND with a cable.
2. Connect RI0 to GND with a cable.
UFACTORY 850 Hardware Manual (online), 3. Controller Electrical Interface · UFACTORY · 3.4.5 Reset IP, step 2
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
The record says
IP reset step 3: power on; a beep means the IP address has been reset to 192.168.1.111.
After hearing the sound of 'beep', it means that the IP address of the robot has been reset successfully. The reset IP is 192.168.1.111.
UFACTORY 850 Hardware Manual (online), 3. Controller Electrical Interface · UFACTORY · 3.4.5 Reset IP, step 3
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
The record says
IP reset step 4: remove the RI0-GND cable and wait about 60 seconds for start-up.
Please unplug the cable connecting RI0 and GND and wait for the robot to start up (60 seconds).
UFACTORY 850 Hardware Manual (online), 3. Controller Electrical Interface · UFACTORY · 3.4.5 Reset IP, step 4
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
The record says
IP reset step 5: open 192.168.1.111:18333 in a browser to connect.
5. Enter 192.168.1.111:18333 in the browser to connect the robot.
UFACTORY 850 Hardware Manual (online), 3. Controller Electrical Interface · UFACTORY · 3.4.5 Reset IP, step 5
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
The record says
Set the TCP payload and TCP offset to match the actual tool, in UFACTORY Studio under Settings > Motion > TCP.
Set TCP Payload and TCP Offset according to the actual situation.
UFACTORY Studio User Manual (online), 7. Settings · UFACTORY · 7.1.2 TCP
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
The record says
The TCP payload is the mass of end effector plus workpiece in kg, with its centre of gravity in mm in the default flange frame; with no load, both must be set to 0.
The load weight refers to the actual mass (end-effector + object) in Kg
UFACTORY Studio User Manual (online), 7. Settings · UFACTORY · 7.1.2 TCP, TCP Payload
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
If there is virtually no load at the end, both TCP payload and centre of gravity must be set to 0.
UFACTORY Studio User Manual (online), 7. Settings · UFACTORY · 7.1.2 TCP, TCP Payload
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
The record says
The TCP offset gives the tool point's position (X, Y, Z) and orientation (roll, pitch, yaw) relative to the tool frame at the flange centre; all zeros puts the TCP at the flange centre.
When the specified value is zero, TCP coincides with the centre point of the tool output flange.
UFACTORY Studio User Manual (online), 7. Settings · UFACTORY · 7.1.2 TCP, TCP Offset
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
The record says
Set the mounting direction to match how the arm is really installed; a wrong setting makes the arm misjudge gravity, causing frequent false collision stops and uncontrolled motion in manual mode.
Quote not shown (over 40 words). See the source at: 7.1.3 Mounting.
UFACTORY Studio User Manual (online), 7. Settings · UFACTORY · 7.1.3 Mounting
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
The record says
In setup, set the mounting direction and TCP payload before tuning collision sensitivity (and before using manual mode).
Why we infer this: No UFACTORY document gives an explicit setup order that places collision sensitivity. The Studio manual says false collision alarms come from inaccurate load or mounting settings and that sensitivity can be tried lower once those are confirmed accurate; the mode 2 note requires the same settings before manual mode. So the order mounting, then payload/TCP, then sensitivity follows from those dependencies.
If the load or installation direction is not set accurately, it may cause false alarms.
UFACTORY Studio User Manual (online), 7. Settings · UFACTORY · 7.1.1 Collision Detection Sensitivity
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
be sure to confirm that the installation direction of the robotic arm and the TCP load are set correctly
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
The record says
Manual Mode in Studio Live Control lets the joints be moved freely by hand to reach and record positions, and can also be used to drag the arm out of a dangerous position.
By turning on the Manual Mode, the joint can be driven freely by hand.
UFACTORY Studio User Manual (online), 4. Live Control · UFACTORY · 4.4 Manual Mode
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
When danger occurs, you can also use the manual mode to manually drag the robot away from the danger zone.
UFACTORY Studio User Manual (online), 4. Live Control · UFACTORY · 4.4 Manual Mode
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
The record says
Before turning on manual mode, the arm's installation method and payload setting must be consistent with the actual situation; UFACTORY says otherwise it will be dangerous.
Before opening the manual mode, you must ensure that the installation method of the robotic arm and the payload setting of the robotic arm are consistent with the actual situation, otherwise it will be dangerous.
UFACTORY Studio User Manual (online), 4. Live Control · UFACTORY · 4.4 Manual Mode
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
The record says
Manual mode can be turned on only when the serial numbers of the arm and the control box are matched.
The serial number of robotic arm and the control box need to be matched before Manual Mode can be turned on.
UFACTORY Studio User Manual (online), 4. Live Control · UFACTORY · 4.4 Manual Mode
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
The record says
Teach sensitivity (levels 1-5) sets how much force it takes to drag the arm in manual mode; a higher level needs less force.
The larger the set value, the higher the teach sensitivity level, and the less the force required to drag the joint in the manual mode.
UFACTORY Studio User Manual (online), 2. Glossary · UFACTORY · Glossary, Teach Sensitivity
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Teach sensitivity range is from 1 to 5 level.
UFACTORY Studio User Manual (online), 2. Glossary · UFACTORY · Glossary, Teach Sensitivity
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
The record says
A trajectory taught by hand can be recorded at 250 Hz for up to 5 minutes and played back at 1x, 2x or 4x speed; recordings can be imported into Blockly projects.
The position of the joint is obtained and recorded by 250HZ to record the motion trajectory of the robotic arm in free driving, and the maximum recording time is 5 minutes.
UFACTORY Studio User Manual (online), 4. Live Control · UFACTORY · 4.2 Recording
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
A recorded trajectory can be imported into Blockly projects.
UFACTORY Studio User Manual (online), 4. Live Control · UFACTORY · 4.2 Recording
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
the playback speed of the trajectory can be set (x1, x2, x4)
UFACTORY Studio User Manual (online), 4. Live Control · UFACTORY · 4.2 Recording
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
The record says
UFACTORY's 850 page, under 'Flexible Deployment With Safe Feature', cites hand teaching, a space-saving footprint and easy re-deployment to multiple applications without changing the production layout, and says collision detection is available for all its cobots.
Hand teaching, space-saving and easy to re-deploy to multiple applications without changing your production layout. Perfectly for recurrent tasks.
UFACTORY 850 product page · UFACTORY · 'Flexible Deployment With Safe Feature' section
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Collision detection is available for all of our cobots.
UFACTORY 850 product page · UFACTORY · 'Flexible Deployment With Safe Feature' section
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
The record says
In manual mode the arm compensates for gravity ('zero gravity'), so a person can move it by hand to teach positions.
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
The record says
In UFACTORY Studio Live Control, long-pressing Initial Position moves the arm to its initial position; for the xArm and 850 the default initial position has all joints at 0.
**Initial Position:** Long press for continuous motion, the robotic arm will back to the initial position.
UFACTORY Studio User Manual (online), 4. Live Control · UFACTORY · 4.4 Position & Joint Control
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
xArm/850: ``` [0,0,0,0,0,0,0]```
UFACTORY Studio User Manual (online), 4. Live Control · UFACTORY · 4.4 Position & Joint Control
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
The record says
Live Control jog speed runs from 1% (2.3 mm/s) to 100% (230 mm/s), default 50% (115 mm/s); this is not the arm's maximum program speed.
50%=115mm/s, default
UFACTORY Studio User Manual (online), 4. Live Control · UFACTORY · 4.4 Speed
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
100% = 230mm/s
UFACTORY Studio User Manual (online), 4. Live Control · UFACTORY · 4.4 Speed
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Note: The maximum speed of the live control interface is not the actual maximum motion speed of the robotic arm.
UFACTORY Studio User Manual (online), 4. Live Control · UFACTORY · 4.4 Speed
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
1% = 2.3mm/s
UFACTORY Studio User Manual (online), 4. Live Control · UFACTORY · 4.1 Speed
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
The record says
When an error occurs, the arm stops at once and discards cached commands; the error must be cleared manually and the motion re-planned before normal operation continues.
After the above error occurs, the robotic arm will stop working immediately and discard the Control Box cache command. Users need to clear these errors manually to allow normal operation.
UFACTORY Studio User Manual (online), 12. Error Handling · UFACTORY · 12.1
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
The record says
For error C1 (control box emergency stop pushed), release the emergency stop button, then click 'Enable Robot'.
please release the Emergency Stop Button, and then click "Enable Robot"
UFACTORY Studio User Manual (online), 12. Error Handling · UFACTORY · 12.1 table, C1
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
The record says
To restart after an emergency stop, the 850's button is rotated in the arrow direction to restore arm power, and the arm is then re-enabled from UFACTORY Studio or with the Python SDK call motion_enable(true).
Power up the 850 (Turn the emergency stop button in the direction of the arrow).
UFACTORY 850 Hardware Manual (online), 2. Hardware Installation · UFACTORY · 2.1.2 Emergency Stop Button (docs site 'UFACTORY 850 硬件手册', English version; names the machine 'UFACTORY 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Enable the 850 (enable the servo motor), Enable button on the UFACTOR Studio or Python SDK motion_enable(true).
UFACTORY 850 Hardware Manual (online), 2. Hardware Installation · UFACTORY · 2.1.2 Emergency Stop Button, restart procedure
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
The record says
To recover from a joint servo error, power the arm back up: release the control box emergency stop button, then enable the arm.
Error processing method: Re-power on, the steps are as follows:
UFACTORY Studio User Manual (online), 12. Error Handling · UFACTORY · 12.2 Joint Servo Error Code and Handling
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
* Release the emergency stop button on the control box.
UFACTORY Studio User Manual (online), 12. Error Handling · UFACTORY · 12.2
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
* Enable the robotic arm.
UFACTORY Studio User Manual (online), 12. Error Handling · UFACTORY · 12.2
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
The record says
For an alarm code not listed in the manual, power the arm on again; if several power cycles do not fix it, contact technical support.
For alarm codes that are not listed in the above table: Power on again. If the problem remains unsolved after power on/off for multiple times, please contact technical support.
UFACTORY Studio User Manual (online), 12. Error Handling · UFACTORY · 12.1, after table
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
The record says
Camera C1 (Receiving) monitors incoming material and receiving operations.
Camera C1 – Receiving Monitors incoming material and receiving operations.
IntelliMake Phase 1 Factory: Autonomous Production Demonstrator (infographic) · IntelliMake.org · Camera C1 label and description
© IntelliMake.org. Used with permission; redrawn for this platform. · Cleared for use by its owner · retrieved 2026-09-21
Project copy; not published on this site.
The record says
For error C23 (joint angle past its limit), press Initial Position in Live Control to bring the arm back to its initial position.
Please go to the "Live Control" page and press the "Initial POSITION" button to let the robot back to the Initial position.
UFACTORY Studio User Manual (online), 12. Error Handling · UFACTORY · 12.1 table, C23
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
The record says
To follow its placement policy, S2 must also know which allocated S3 positions are occupied and whether material is waiting at S1.
Why we infer this: The policy in int-014 to int-017 branches on whether S3 has free allocated space and whether S1 has material. S2 cannot choose between those branches without knowing both states, so they are required inputs even though no source names them as signals.
If both S3 and S4 are unavailable, S2 monitors s4 for availablilty then dispatches from s3 to make that available again, which then allows for material from S1 as well.
Owner statements, 2026-09-21 (verbatim) · Derek Stringfellow · Statement S6
Derek Stringfellow, project record · Project-internal record · retrieved 2026-09-21
Project copy; not published on this site.
The record says
SDK start-up (UFACTORY template, steps 1-3): create XArmAPI with the controller IP and connect (the template registers an error/warning callback before connecting).
1. Instantiate XArmAPI and specify do_not_open to be true
xArm-Python-SDK example 0000-template.py · UFACTORY · Docstring, steps 1-3
© UFACTORY Inc., xArm-Developer/xArm-Python-SDK, BSD 3-Clause licence · BSD-3-Clause · retrieved 2026-09-21
arm.connect()
xArm-Python-SDK example 0000-template.py · UFACTORY · code
© UFACTORY Inc., xArm-Developer/xArm-Python-SDK, BSD 3-Clause licence · BSD-3-Clause · retrieved 2026-09-21
The record says
SDK start-up (UFACTORY template, step 4): enable motion with motion_enable(enable=True).
4. Enable motion
xArm-Python-SDK example 0000-template.py · UFACTORY · Docstring, step 4
© UFACTORY Inc., xArm-Developer/xArm-Python-SDK, BSD 3-Clause licence · BSD-3-Clause · retrieved 2026-09-21
arm.motion_enable(enable=True)
xArm-Python-SDK example 0000-template.py · UFACTORY · code
© UFACTORY Inc., xArm-Developer/xArm-Python-SDK, BSD 3-Clause licence · BSD-3-Clause · retrieved 2026-09-21
The record says
SDK start-up (UFACTORY template, step 5): set the mode, e.g. set_mode(0) for position control.
5. Setting mode
xArm-Python-SDK example 0000-template.py · UFACTORY · Docstring, step 5
© UFACTORY Inc., xArm-Developer/xArm-Python-SDK, BSD 3-Clause licence · BSD-3-Clause · retrieved 2026-09-21
arm.set_mode(0)
xArm-Python-SDK example 0000-template.py · UFACTORY · code
© UFACTORY Inc., xArm-Developer/xArm-Python-SDK, BSD 3-Clause licence · BSD-3-Clause · retrieved 2026-09-21
The record says
SDK start-up (UFACTORY template, step 6): set the state with set_state(state=0); the arm then accepts motion commands.
6. Setting state
xArm-Python-SDK example 0000-template.py · UFACTORY · Docstring, step 6
© UFACTORY Inc., xArm-Developer/xArm-Python-SDK, BSD 3-Clause licence · BSD-3-Clause · retrieved 2026-09-21
arm.set_state(state=0)
xArm-Python-SDK example 0000-template.py · UFACTORY · code
© UFACTORY Inc., xArm-Developer/xArm-Python-SDK, BSD 3-Clause licence · BSD-3-Clause · retrieved 2026-09-21
The record says
Settings changed through the SDK (payload, TCP offset, sensitivities) are lost at reboot unless saved with save_conf().
2. If not saved, it will be lost after reboot
xArm-Python-SDK API documentation (doc/api/xarm_api.md) · UFACTORY · set_tcp_load, notes
© UFACTORY Inc., xArm-Developer/xArm-Python-SDK, BSD 3-Clause licence · BSD-3-Clause · retrieved 2026-09-21
3. The save_conf interface can record the current settings and will not be lost after the restart.
xArm-Python-SDK API documentation (doc/api/xarm_api.md) · UFACTORY · set_tcp_load, notes
© UFACTORY Inc., xArm-Developer/xArm-Python-SDK, BSD 3-Clause licence · BSD-3-Clause · retrieved 2026-09-21
The record says
Settings can be exported from UFACTORY Studio (motion parameters, TCP offset, payload, I/O settings, safety boundary, mounting, coordinate systems) and imported on another arm; export before a factory reset.
The robotic arm parameters that can be exported mainly include: motion parameters, TCP offset, TCP payload, IO settings, safety boundary, installation methods, coordinate systems, and advanced parameters.
UFACTORY Studio User Manual (online), 7. Settings · UFACTORY · 7.4.3 Advanced Settings, Export
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Please export the configuration file of the robotic arm before the factory reset.
UFACTORY Studio User Manual (online), 7. Settings · UFACTORY · 7.4.3 Note
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
The record says
Studio's preset for the xArm Gripper is a payload of 0.82 kg with centre of gravity at z = 48 mm, and a TCP offset of z = 172 mm.
xArm Gripper: [0.82,0,0,48]，[0,0,172,0,0,0]
UFACTORY Studio User Manual (online), 7. Settings · UFACTORY · 7.1.2 TCP, Default TCP payload
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
The record says
The payload can also be identified automatically, only with the arm mounted on a steady floor: the arm runs a series of motions to compute it, so people and equipment nearby must be safe. The TCP offset can be taught with 5 points.
The current robotic arm must be mounted on a steady floor if automatic identification is selected.
UFACTORY Studio User Manual (online), 7. Settings · UFACTORY · 7.1.2 TCP, Method 2
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Teaching 5 points to get the TCP offset.
UFACTORY Studio User Manual (online), 7. Settings · UFACTORY · 7.1.2 TCP, Method 2
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
The record says
Collision detection sensitivity is set in UFACTORY Studio under Settings > Motion; the arm stops when joint torque departs from normal, and a higher value means a smaller extra torque triggers the stop.
When the deviation of the torque detected by the joint exceeds a certain normal range during the movement of the robotic arm, the robotic arm will automatically stop
UFACTORY Studio User Manual (online), 7. Settings · UFACTORY · 7. Settings > 7.1 Motion > 7.1.1 Parameters, Collision Detection Sensitivity
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
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
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
The record says
Inaccurate payload or mounting settings can cause false collision alarms. For high-load or high-speed moves, UFACTORY says you can try lowering the collision sensitivity once you have confirmed those settings are accurate, though UFACTORY does not recommend going below 3.
If the load or installation direction is not set accurately, it may cause false alarms.
UFACTORY Studio User Manual (online), 7. Settings · UFACTORY · 7.1.1 Collision Detection Sensitivity
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
During certain high loads or high speed movements, if you confirm that the load or installation direction is set accurately, you can try to lower the collision sensitivity, but it is not recommended to lower it to less than 3.
UFACTORY Studio User Manual (online), 7. Settings · UFACTORY · 7.1.1 Collision Detection Sensitivity
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
The record says
In pick-and-place programs, UFACTORY says to update the TCP payload after each pick and each place so that collision detection models the actual load.
In pick-and-place programs, update the payload settings after pick and release actions.
Collision Detection in UFACTORY Robotic Arms: Current and Dynamic Model-based Feature (UFACTORY support article) · UFACTORY · Section 3
© 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
From a program, pause motion with set_state(3) and resume with set_state(0); stop with set_state(4), after which set_state(0) is needed before new commands.
State 3 | 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
State 4 | 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
The record says
Manual mode (mode 2) must be set from mode 0: UFACTORY's example switches to mode 0 first if needed, then calls set_mode(2) and set_state(0); switch back to mode 0 when teaching is finished.
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
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
if arm.mode != 0: arm.set_mode(0) arm.set_state(0) arm.set_mode(2) arm.set_state(0)
UFACTORY Studio User Manual (online), 10. Robotic Arm Motion Mode and State · UFACTORY · 10.1 Mode 2, Python Example
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
If the drag teaching is completed, switch back to mode 0.
UFACTORY Studio User Manual (online), 10. Robotic Arm Motion Mode and State · UFACTORY · 10.1 Mode 2
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
The record says
SDK error recovery step 1: clear the error with clean_error().
* error clearing: clean_error()
UFACTORY Studio User Manual (online), 12. Error Handling · UFACTORY · 12.3 Python SDK Error Code and Handling
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
The record says
SDK error recovery step 2: re-enable the arm with motion_enable(true).
* Re-enable the robotic arm: motion_enable(true)
UFACTORY Studio User Manual (online), 12. Error Handling · UFACTORY · 12.3
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
The record says
SDK error recovery step 3: set the motion state with set_state(0).
* Set the motion state: set_state(0)
UFACTORY Studio User Manual (online), 12. Error Handling · UFACTORY · 12.3
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Clean the error, need to be manually enabled motion(arm.motion_enable(True)) and set state(arm.set_state(state=0))after clean error
xArm-Python-SDK API documentation (doc/api/xarm_api.md) · UFACTORY · clean_error
© UFACTORY Inc., xArm-Developer/xArm-Python-SDK, BSD 3-Clause licence · BSD-3-Clause · retrieved 2026-09-21
The record says
For error C22 (self-collision), re-plan the path; if it keeps recurring, turn on manual mode in Live Control and drag the arm back to a normal position.
If the robotic arm continues to report self-collision errors, please go to the "live control" interface to turn on the "manual mode" and drag the robotic arm back to the normal position.
UFACTORY Studio User Manual (online), 12. Error Handling · UFACTORY · 12.1 table, C22
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
The record says
Collision error (Studio C31) check 1: check whether the arm has collided.
1. Check whether the robotic arm collides.
UFACTORY Studio User Manual (online), 12. Error Handling · UFACTORY · 12.1 table, C31
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
The record says
Collision error (Studio C31) check 2: check that the payload mass and centre of mass under Settings > TCP Settings > TCP Payload match the real payload.
2. Check whether the mass and center of mass set at "Settings"-"TCP Settings"-"TCP Payload" match the actual payload.
UFACTORY Studio User Manual (online), 12. Error Handling · UFACTORY · 12.1 table, C31
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
The record says
Collision error (Studio C31) check 3: check that the mounting direction under Settings > Mounting matches reality.
3. Check whether the mounting direction set at "Settings"-"Mounting" matches the actual situation.
UFACTORY Studio User Manual (online), 12. Error Handling · UFACTORY · 12.1 table, C31
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
The record says
Collision error (Studio C31) check 4: check that TCP payload parameters set inside the program match the real payload.
4. Check whether the TCP payload parameters set in your program match the actual payload.
UFACTORY Studio User Manual (online), 12. Error Handling · UFACTORY · 12.1 table, C31
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
The record says
Collision error (Studio C31) check 5: reduce the arm's motion speed.
5. Reduce the motion speed of the robotic arm.
UFACTORY Studio User Manual (online), 12. Error Handling · UFACTORY · 12.1 table, C31
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
The record says
Collision error (Studio C31) check 6: lower the collision sensitivity under Settings > Motion > Sensitivity Settings.
6. Go to "Settings"-"Motion"-"Sensitivity Settings" to lower the collision sensitivity.
UFACTORY Studio User Manual (online), 12. Error Handling · UFACTORY · 12.1 table, C31
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
The record says
With Collision Rebound on, the arm rebounds backward a certain distance after hitting an obstacle; with it off (and collision detection on), it stays where the collision was detected.
Quote not shown (over 40 words). See the source at: 7.4.3 Advanced Settings, Collision Rebound.
UFACTORY Studio User Manual (online), 7. Settings · UFACTORY · 7.4.3 Advanced Settings, Collision Rebound
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
The record says
When the arm is in error, a single joint can be unlocked (brake released) from Studio's Debugging Tools to move it to a safer posture; someone must support the arm while the joint is unlocked, and all joints must be re-locked afterwards.
The operation of the unlocking joint is mainly used to adjust the posture of the robotic arm to a relatively safe position when the error is reported by the robotic arm.
UFACTORY Studio User Manual (online), 7. Settings · UFACTORY · 7.4.2 Debugging Tools, Joint
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
After confirming the position, please re-lock all the joints manually.
UFACTORY Studio User Manual (online), 7. Settings · UFACTORY · 7.4.2 Debugging Tools, Joint
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Click 'unlock' to unlock a single joint. The unlocked joint does not have any force to provide and thence external force support is needed.
UFACTORY Studio User Manual (online), 7. Settings · UFACTORY · 7.4.2 Debugging Tools, Joint
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
DANGER: When releasing the joint brakes, someone must support the robot's posture to prevent the robotic arm from falling
UFACTORY Studio User Manual (online), 7. Settings · UFACTORY · 7.4.2 Debugging Tools, Joint
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
The record says
Protective-stop reset with a reset button, step 1: in UFACTORY Studio, set CI0 as Safeguard Reset (Settings > External > Controller IO > IO Function) and save.
Configure "CI0" as the safeguard reset in UFactory studio. The specific steps are as follows: Enter 'Settings - External - Controller IO - IO Function', set CI0 as safeguard reset and save.
UFACTORY 850 Hardware Manual (online), 3. Controller Electrical Interface · UFACTORY · 3.4.1.4 Protective Stop with Rest Button, step 1
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
The record says
Protective-stop reset with a reset button, step 2: to resume motion, connect SI0 and SI1 to GND and then trigger CI0 to GND; to pause, disconnect SI0 and SI1 from GND.
If 850 needs to resume motion, connect SI0 and SI1 to GND, and trigger the motion of 850 by connecting CI0 to GND; if 850 needs to pause the motion, disconnect SI0 and SI1 from GND.
UFACTORY 850 Hardware Manual (online), 3. Controller Electrical Interface · UFACTORY · 3.4.1.4, step 2
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
The record says
In the SDK, move_gohome() returns the arm to zero, at 50 °/s by default and without limit checks; pass wait=True to block until it arrives.
Move to go home (Back to zero)
xArm-Python-SDK API documentation (doc/api/xarm_api.md) · UFACTORY · move_gohome
© UFACTORY Inc., xArm-Developer/xArm-Python-SDK, BSD 3-Clause licence · BSD-3-Clause · retrieved 2026-09-21
Warning: without limit detection
xArm-Python-SDK API documentation (doc/api/xarm_api.md) · UFACTORY · move_gohome
© UFACTORY Inc., xArm-Developer/xArm-Python-SDK, BSD 3-Clause licence · BSD-3-Clause · retrieved 2026-09-21
default is 50 °/s
xArm-Python-SDK API documentation (doc/api/xarm_api.md) · UFACTORY · move_gohome, parameter speed
© UFACTORY Inc., xArm-Developer/xArm-Python-SDK, BSD 3-Clause licence · BSD-3-Clause · retrieved 2026-09-21
The record says
The SDK's reset() clears errors and warnings, enables motion and sets the state if the arm is not ready, and moves the arm home (without limit checks).
1. If there are errors or warnings, this interface will clear the warnings and errors.
xArm-Python-SDK API documentation (doc/api/xarm_api.md) · UFACTORY · reset, note 1
© UFACTORY Inc., xArm-Developer/xArm-Python-SDK, BSD 3-Clause licence · BSD-3-Clause · retrieved 2026-09-21
2. If not ready, the api will auto enable motion and set state
xArm-Python-SDK API documentation (doc/api/xarm_api.md) · UFACTORY · reset, note 2
© UFACTORY Inc., xArm-Developer/xArm-Python-SDK, BSD 3-Clause licence · BSD-3-Clause · retrieved 2026-09-21
The record says
In automatic mode (Blockly or the Python IDE in UFACTORY Studio) the 850's maximum speed is 1000 mm/s.
Automatic mode Blockly/ IDE of UFactory studio 1000 mm/s
UFACTORY 850 User Manual V2.3.0 (PDF, older edition) · UFACTORY · Appendix 7, 1.10 Maximum Speed table, p.185 (manual names the machine '850' / 'UFactory 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
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
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.
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.
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
The record says
In ROS 2 the 850 start-up is the same: launch uf850_driver.launch.py, enable all joints with /ufactory/motion_enable (id 8, data 1), then call /ufactory/set_mode 0 and /ufactory/set_state 0.
ros2 service call /ufactory/motion_enable xarm_msgs/srv/SetInt16ById "{id: 8, data: 1}"
xarm_ros2 ReadMe (humble branch) · UFACTORY · 5.4 xarm_api, UFACTORY850
© UFACTORY Inc., xArm-Developer/xarm_ros2, BSD 3-Clause licence · BSD-3-Clause · retrieved 2026-09-21
# set proper mode (0) and state (0)
xarm_ros2 ReadMe (humble branch) · UFACTORY · 5.4 xarm_api, UFACTORY850
© UFACTORY Inc., xArm-Developer/xarm_ros2, BSD 3-Clause licence · BSD-3-Clause · 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.
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.
The record says
The Initial Personalized Gift Production Flow runs: Customer Order → Receiving → Cobot Handling → Staging → Laser Engraving → Cobot Handling → Quality Decision → Shipping / Rework → Packing & Labeling.
Customer Order → Receiving → Cobot Handling → Staging → Laser Engraving → Cobot Handling → Quality Decision → Shipping / Rework → Packing & Labeling
IntelliMake Phase 1 Factory: Autonomous Production Demonstrator (infographic) · IntelliMake.org · Initial Personalized Gift Production Flow banner (arrows shown as →)
© 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
S6 is a UFactory xArm 6 cobot that handles parts after processing, routing them to inspection, rework or shipping.
Handles parts after proces. routing them to inspection, rework, or shipping.
IntelliMake Phase 1 Factory: Autonomous Production Demonstrator (infographic) · IntelliMake.org · S6 station label and description
© IntelliMake.org. Used with permission; redrawn for this platform. · Cleared for use by its owner · retrieved 2026-09-21
Project copy; not published on this site.
The record says
The cell uses two collaborative arms: the xArm 850 at S2 is the upstream arm that takes incoming material off receiving toward personalization, and the xArm 6 at S6 is the downstream arm that handles parts after processing.
The xArm 850 at S2 is the **upstream** arm: it takes incoming material off receiving and hands it off toward personalization
CODE_SESSION 01 — xArm 850 Interactive Learning Platform (project specification) · Derek Stringfellow · Header, 'Confirmed role'
Derek Stringfellow, project record · Project-internal record · retrieved 2026-09-21
Project copy; not published on this site.
The xArm 6 at S6 is the **downstream** arm, handling parts after processing and routing them to inspection, rework, or shipping.
CODE_SESSION 01 — xArm 850 Interactive Learning Platform (project specification) · Derek Stringfellow · Header, 'Confirmed role'
Derek Stringfellow, project record · Project-internal record · retrieved 2026-09-21
Project copy; not published on this site.
The record says
The project specification places S2 at the first Cobot Handling step of IntelliMake's gift flow, between Receiving and Staging; the second Cobot Handling step, after laser engraving, is S6's. IntelliMake's layout draws the stations in the matching order (see observation).
Where it sits in the Initial Personalized Gift Production Flow (Receiving → **Cobot Handling** → Staging → Laser Engraving → …)
CODE_SESSION 01 — xArm 850 Interactive Learning Platform (project specification) · Derek Stringfellow · §5 Research requirements
Derek Stringfellow, project record · Project-internal record · retrieved 2026-09-21
Project copy; not published on this site.
Handles parts after proces. routing them to inspection, rework, or shipping.
IntelliMake Phase 1 Factory: Autonomous Production Demonstrator (infographic) · IntelliMake.org · S6 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.
Laser Engraving → Cobot Handling → Quality Decision
IntelliMake Phase 1 Factory: Autonomous Production Demonstrator (infographic) · IntelliMake.org · Initial Personalized Gift Production 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
UFACTORY says no people or other equipment should be in the 850's working area while the arm is operating.
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
The record says
UFACTORY makes the integrator of the 850 responsible for a risk assessment of the complete system, including keeping a safe distance between people and the 850 when they interact with it.
Making a risk assessment for the complete system. Make sure to have a safe distance between people and 850 when interacting with the 850.
UFACTORY 850 Hardware Manual (online), 1. Safety · UFACTORY · 1.1 Validity and Responsibility, integrator responsibilities list
© 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
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
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.
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
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
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
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
The fetched manuals do not give a step-by-step unpacking procedure or a packing checklist for the 850.
Lift both tubes of the robot arm at the same time when moving it from the packaging to the installation place.
UFACTORY 850 Hardware Manual (online), 7. Production Information · UFACTORY · 7.4 Transportation (only guidance found)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Not known
The default collision sensitivity level of the 850 is not stated in the fetched sources.
The collision sensitivity range is from 0 to 5 level.
UFACTORY Studio User Manual (online), 2. Glossary · UFACTORY · Glossary, Collision Sensitivity (range only)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Sources disagree
Sources disagree on the top speed of manual jogging from UFACTORY Studio's Live Control page: User Manual V2.3.0 gives the 850 a maximum of 250 mm/s in teaching mode (the Live Control page), while the online UFACTORY Studio manual says the Live Control speed setting reaches 230 mm/s at 100%. Neither source explains the 20 mm/s difference. The 250 mm/s may be a mode ceiling and 230 mm/s the top slider setting, but no source says so. Both are far below program (automatic mode) speed.
Related: spec-035 Verified ops-056 Verified
Teaching mode Live Control Page of UFactory studio 250 mm/s
UFACTORY 850 User Manual V2.3.0 (PDF, older edition) · UFACTORY · Appendix 7, 1.10 Maximum Speed table, p.185 (manual names the machine '850' / 'UFactory 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Automatic mode Blockly/ IDE of UFactory studio 1000 mm/s
UFACTORY 850 User Manual V2.3.0 (PDF, older edition) · UFACTORY · Appendix 7, 1.10 Maximum Speed table, p.185 (manual names the machine '850' / 'UFactory 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
100% = 230mm/s
UFACTORY Studio User Manual (online), 4. Live Control · UFACTORY · 4.4 Speed
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
IntelliMake diagrams are redrawn as native figures, © IntelliMake.org. UFACTORY does not endorse this platform.