The numbers that matter, where each one comes from, and which ones are disputed or missing.
Start here
This section gives the numbers that matter for using this machine, where each one comes from, and which ones are disputed or missing. Every figure carries its source. Where sources disagree, the disagreement is shown beside the figure, and where no figure was published, the page says so instead of guessing.
It is a robot arm with six rotary joints, a rated maximum payload of 5 kg and a reach of 850 mm567.
Its stated repeatability is ±0.02 mm. That describes returning to a taught point; no absolute accuracy figure is published23.
Some figures differ between UFACTORY's own documents, such as the range of Joint 28.
S2 in one line: S2 is the xArm 850 arm that picks up incoming material and moves it between receiving, staging and production910.
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Four depths, one page. Switch at any time: every tier stays open to everyone. What the four tiers mean
1Beginner
Six numbers and what they mean
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 handful of numbers that describe the arm, and what each one does and does not tell you. Every number comes from a UFACTORY document, and its source is marked beside it.
Size and strength
The arm has six joints, so it can move in six independent ways5.
The six rotary joints, from Joint 1 at the base to Joint 6 at the tool115. Image: UFACTORY
It can carry at most 5 kg6. This platform infers that the 5 kg includes the tool on the end, because UFACTORY's payload setting counts the tool and the part together. A heavier gripper then leaves less for the part it holds12.
Repeatability is how closely the arm returns to a point it was taught. It is not how accurately it reaches a coordinate that was calculated, and UFACTORY gives no figure for that3.
No dust and water (IP) rating was found for the arm or its control box417. The manual warns against letting water or dust into the arm or the controller18.
Certification
UFACTORY's product page lists CE certification for the 85019. What that listing does and does not cover is Expert material in this section.
Reading a number on this page
A number marked Verified means a UFACTORY document states it. It does not mean anyone has measured it on the arm at the physical cell. When two documents disagree, the site shows both and does not pick one quietly.
Check yourself
Answer, then check. Each option has its own feedback, and nothing is scored.
2Novice
The numbers you need to plan a workspace
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 collect the figures you need before the arm arrives: the power it takes, the connections on its control box, the room it needs and the conditions it tolerates. It is for someone who will prepare the space or wire up the cell.
Power
The arm runs on 48 V DC21. At most it draws 1000 W22.
It gets that power from a control box, which comes in two kinds2324.
The AC control box plugs into mains at 100–240 V AC, 50/60 Hz. The manuals give its input frequency as 47–63 Hz23. It weighs 4.8 kg25.
The DC control box takes 48–72 V DC24. It weighs 2.8 kg26.
Connections on the control box
The control box has 8 configurable digital inputs, CI0 to CI7, and 8 general-purpose digital inputs, DI0 to DI72728.
It has 8 configurable digital outputs, CO0 to CO7, and 8 general-purpose digital outputs, DO0 to DO72930.
At the tool end of the arm there are 2 digital inputs, 2 digital outputs, 2 analog inputs and 1 RS-485 port33.
A computer talks to the control box and arm over Ethernet, using UFACTORY's own private TCP protocol34.
Room and surroundings
The base takes up a circle of Ø190 mm on the mounting surface35.
The rated surroundings are 0–50 °C15 and 25–85% humidity, non-condensing36.
It is for indoor use, away from direct sunlight, corrosive gas or liquid, flammable materials, oil mist, salt spray, dust or metal powder, mechanical shock and vibration, and electromagnetic noise37.
No dust and water (IP) rating was found for the arm or its control boxes4.
What counts against the payload
UFACTORY's payload setting counts the end-of-arm tool and the part together, so this platform infers that the 5 kg maximum covers both. Weigh the gripper before choosing parts12.
Check yourself
Answer, then check. Each option has its own feedback, and nothing is scored.
3Intermediate
Ranges, settings and disputed figures
For: Someone who will set up, program or maintain the arm: technician, student engineer Kind of task: Apply: work through written scenarios that need a decision (which mode, which setting, what to do about this error), with feedback on each choice. Simulation added in M2/M4 extends this; it does not define it
In this part you work with the figures you need to program and install the arm, and you meet the places where UFACTORY's own documents disagree. Where a figure is disputed, the dispute is cited right beside it: use the figure, but know which source it came from.
Joint ranges
Joint 1 turns ±360°39. Joint 4 and Joint 6 also turn ±360°4041.
Joint 2 turns ±132°42. Sources disagree: the product page, the online hardware manual and the uf850 URDF give ±132°, but User Manual V2.3.0 gives -118°~120°8.
Joint 3 turns from -242° to 3.5°43. Sources disagree: User Manual V2.3.0 gives -225°~11°44.
In each case three sources agree and the PDF manual matches none of them. The three agreeing sources are probably current, but that is not confirmed84446.
Every joint's maximum speed is 180°/s, stated once for all joints47.
Joint 1 at the base to Joint 6 at the tool, each turning about its own axis11. Image: UFACTORY
Speed settings
In teaching mode, on the Live Control page of UFACTORY Studio, the maximum speed is 250 mm/s48.
In automatic mode, running a Blockly or Python program in UFACTORY Studio, the maximum speed is 1000 mm/s49.
In UFACTORY's software, the TCP speed parameter ranges from 0 to 1000 mm/s50.
UFACTORY advises lowering the ambient temperature if the arm must run continuously at high speed51.
The space it can reach
In the base frame, the Cartesian range is ±850 mm in X and ±850 mm in Y52.
The AC control box outputs 48 V DC, up to 1000 W, to the arm58. The DC control box outputs 48 V DC, up to 960 W59.
Mounting and the control box
The base is fixed with four M8 bolts, supplied, through four Ø8.5 mm holes60. UFACTORY recommends tightening them to 20 N·m61.
The mounting surface must withstand at least 10 times the full torsion of the base joint and at least 5 times the arm's weight62.
The product page and the online hardware manual give the AC control box as 345 × 135 × 101 mm63. Sources disagree: User Manual V2.3.0 gives 376 × 145 × 130 mm64.
It is to be used below 2000 m altitude66, and is rated ISO Class 5 for cleanroom use67.
No IP rating was found for the arm or its control box. The online manual rates only the Gripper G2 accessory IP4017.
No noise figure was found for the arm. The only one given is for the Vacuum Gripper accessory, under 60 dB at 30 cm68.
Communication ports
The control box has a gigabit Ethernet interface69.
The product page and the online hardware manual list one RS-485 master port70. Sources disagree: User Manual V2.3.0 lists one master and one slave71.
The product page gives the end-effector protocol as Modbus RTU, and the online manual's Tool RS485 section configures standard Modbus RTU end effectors72.
Sources disagree here too: 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 that is not confirmed73.
Check yourself
Answer, then check. Each option has its own feedback, and nothing is scored.
4Expert
What the figures can and cannot support
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 test which published figures can carry an engineering decision and which cannot. Some numbers come from a robot model file rather than a rated specification, some are software settings rather than capabilities, and some that an integrator needs were never published.
Model limits are not ratings
UFACTORY's uf850 URDF, the robot model file used with ROS, sets a velocity limit of 3.14 rad/s, about 180°/s, for each of the six joints757677787980. That matches the 180°/s maximum joint speed in the spec sheet47.
The same file sets effort limits of 200 for Joint 1 and Joint 2, 90 for Joint 3, 68 for Joint 4, and 19 for Joint 5 and Joint 6818283848586.
The file gives those effort limits no unit. URDF convention is N·m for revolute joints, and UFACTORY does not publish these figures as rated joint torques81. So do not quote them as torque ratings.
With limited:=true the macro narrows J1, J4 and J6 to ±0.99π rad, about ±178.2°, and the lower limit of J3 to about -178.2°. J2 and J5 keep their full ranges, and the default limited:=false applies the full ranges87.
Motion settings and power details
The TCP acceleration parameter ranges from 0 to 50000 mm/s², and the TCP jerk parameter from 0 to 100000 mm/s³8889.
The joint acceleration parameter ranges from 0 to 1145°/s², and the joint jerk parameter from 0 to 28647°/s³9091.
These are ranges the software accepts. No source gives the speed and acceleration the arm actually achieves while carrying its full 5 kg payload across its reach14.
Only User Manual V2.3.0 gives a minimum power consumption, 20 W92.
The same manual rates the AC control box, model AC15, at 1050 W maximum input, single phase, with a 50 A short-circuit rating93.
Stopping data
UFACTORY measured Stop Category 1 stops with the arm fully extended horizontally, at 100% speed (joint speed 180 °/s) and a 5 kg payload at the TCP. Joint 1 stops within 0.62 rad, in 521 ms9495.
Joint 2 stops within 1.12 rad, in 885 ms, and Joint 3 within 0.67 rad, in 577 ms, both measured moving downwards96979899.
That is all the stop data published. None was found for Joints 4 to 6, for other speeds or payloads, for Stop Category 2, or for stopping after a collision is detected, and any separation-distance calculation needs those100.
Payload and accuracy gaps
No source gives a payload diagram: how the allowable payload falls as the load's centre of mass moves away from the flange, or with speed. Integrators need it to size grippers and parts101.
The ±0.02 mm figure is repeatability. Absolute positioning accuracy, which offline programming and vision-guided picking depend on, is not published320.
Certification
UFACTORY's product page lists CE certification19. The hardware manual's EMC section lists IEC/EN 61000-6-2 for immunity and IEC/EN 61000-6-4 for emissions, both for industrial environments102.
The manual's Certification section links two SGS test-report files without saying in its own text which standards they cover103.
Of the two files, one is a machinery verification for model numbers XI13 and XI15, which found the tested samples conformed to EN ISO 10218-1:2011, EN 60204-1:2018 and EN ISO 12100:2010104. The other is the EMC verification for the same model numbers105.
Neither the product page nor the manual's own text states conformance to ISO 10218-1 or ISO/TS 15066. That SGS verification, against the 2011 edition, is the only ISO 10218 evidence found106.
The EC/EU Declaration of Conformity was not found, and nothing fetched from UFACTORY states conformity with ISO 10218-1:2025 or ISO 10218-2107.
Missing drawings and an unclear row
No dimensioned base drawing values, such as the bolt-circle diameter or base height, were captured as text: the drawings exist only as images108.
The product page lists a base connector type of M8*4 without saying what it is. The online manual describes an M8 4-pole Ethernet interface at the end flange, not the base, so the row's meaning is unclear109.
Check yourself
Answer, then check. Each option has its own feedback, and nothing is scored.
Not settled
Open questions · 23
What the sources do not settle for this section. Nothing here is papered over with a plausible number.
Kind: Gap
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.
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.
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.
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.
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.
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.
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.
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).
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.
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.
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.
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.
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.
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.
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.
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.
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.
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.
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.
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.
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.
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.
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.
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.
The 850 arm consists of a base and six rotary joints, numbered Joint 1 (at the base) to Joint 6; the last joint is the tool side, where end effectors attach.
Evidence · 2 citations
Quote not shown (over 40 words). See the source at: 2.1.1 Hardware Composition (docs site 'UFACTORY 850 硬件手册', English version; names the machine 'UFACTORY 850').
UFACTORY 850 Hardware Manual (online), 2. Hardware Installation · UFACTORY · 2.1.1 Hardware Composition (docs site 'UFACTORY 850 硬件手册', English version; names the machine 'UFACTORY 850')
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.
UFACTORY 850 Hardware Manual (online), 7. Production Information · UFACTORY · 7.3 Disposal and Environment (docs site 'UFACTORY 850 硬件手册', English version; names the machine 'UFACTORY 850')
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.
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')
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')
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.
The 850's permitted humidity is 25–85% non-condensing.
Evidence · 2 citations
Low humidity (25%-85% non-condensing)
UFACTORY 850 Hardware Manual (online), 7. Production Information · UFACTORY · 7.3 Disposal and Environment (docs site 'UFACTORY 850 硬件手册', English version; names the machine 'UFACTORY 850')
The 850 is for indoor use away from direct sunlight, corrosive gas or liquid, flammable materials, oil mist, salt spray, dust or metal powder, mechanical shock and vibration, and electromagnetic noise.
Evidence · 2 citations
Avoid direct sunlight (indoor use)
UFACTORY 850 Hardware Manual (online), 7. Production Information · UFACTORY · 7.3 Disposal and Environment (docs site 'UFACTORY 850 硬件手册', English version; names the machine 'UFACTORY 850')
UFACTORY 850 Hardware Manual (online), 7. Production Information · UFACTORY · 7.3 Disposal and Environment (docs site 'UFACTORY 850 硬件手册', English version; names the machine 'UFACTORY 850')
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.
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.
The 850's mounting surface must withstand at least 10 times the full torsion of the base joint and at least 5 times the arm's weight.
Evidence · 1 citation
The robotic arm should be installed on a sturdy surface that is sufficient to withstand at least 10 times the full torsion of the base joint and at least 5 times the weight of the arm.
UFACTORY 850 Hardware Manual (online), 2. Hardware Installation · UFACTORY · 2.2.1 Safety Guidelines, DANGER (docs site 'UFACTORY 850 硬件手册', English version; names the machine 'UFACTORY 850')
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.
UFACTORY 850 Hardware Manual (online), 7. Production Information · UFACTORY · 7.3 Disposal and Environment (docs site 'UFACTORY 850 硬件手册', English version; names the machine 'UFACTORY 850')
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).
Evidence · 1 citation
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')
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.
The product page gives the 850's end-effector communication protocol as Modbus RTU, and the online manual's Tool RS485 section configures standard Modbus RTU end effectors.
Evidence · 2 citations
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')
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.
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.
UFACTORY's uf850 URDF sets a velocity limit of 3.14 rad/s (about 180°/s) for joint 1 (J1), consistent with the 180°/s maximum joint speed in the spec sheet.
UFACTORY's uf850 URDF sets a velocity limit of 3.14 rad/s (about 180°/s) for joint 2 (J2), consistent with the 180°/s maximum joint speed in the spec sheet.
UFACTORY's uf850 URDF sets a velocity limit of 3.14 rad/s (about 180°/s) for joint 3 (J3), consistent with the 180°/s maximum joint speed in the spec sheet.
UFACTORY's uf850 URDF sets a velocity limit of 3.14 rad/s (about 180°/s) for joint 4 (J4), consistent with the 180°/s maximum joint speed in the spec sheet.
UFACTORY's uf850 URDF sets a velocity limit of 3.14 rad/s (about 180°/s) for joint 5 (J5), consistent with the 180°/s maximum joint speed in the spec sheet.
UFACTORY's uf850 URDF sets a velocity limit of 3.14 rad/s (about 180°/s) for joint 6 (J6), consistent with the 180°/s maximum joint speed in the spec sheet.
UFACTORY's uf850 URDF sets an effort limit of 200 for joint 1 (J1); the file gives no unit (URDF convention is N·m for revolute joints), and UFACTORY does not publish this figure as a rated joint torque.
UFACTORY's uf850 URDF sets an effort limit of 200 for joint 2 (J2); the file gives no unit (URDF convention is N·m for revolute joints), and UFACTORY does not publish this figure as a rated joint torque.
UFACTORY's uf850 URDF sets an effort limit of 90 for joint 3 (J3); the file gives no unit (URDF convention is N·m for revolute joints), and UFACTORY does not publish this figure as a rated joint torque.
UFACTORY's uf850 URDF sets an effort limit of 68 for joint 4 (J4); the file gives no unit (URDF convention is N·m for revolute joints), and UFACTORY does not publish this figure as a rated joint torque.
UFACTORY's uf850 URDF sets an effort limit of 19 for joint 5 (J5); the file gives no unit (URDF convention is N·m for revolute joints), and UFACTORY does not publish this figure as a rated joint torque.
UFACTORY's uf850 URDF sets an effort limit of 19 for joint 6 (J6); the file gives no unit (URDF convention is N·m for revolute joints), and UFACTORY does not publish this figure as a rated joint torque.
When the uf850 robot macro is instantiated with limited:=true, it narrows J1, J4 and J6 to ±0.99π rad (about ±178.2°) and the lower limit of J3 to -0.99π rad (about -178.2°); J2 and J5 keep their full ranges. With the default limited:=false the full ranges apply.
UFACTORY's measured Stop Category 1 stopping distance for Joint 1 is 0.62 rad (Stop Category 1, arm fully extended horizontally, 100% speed (joint speed 180 °/s), 5 kg payload at TCP; Joint 1 tested with a horizontal movement.)
Evidence · 5 citations
Joint1 0.62 521
UFACTORY 850 Hardware Manual (online), 7. Production Information · UFACTORY · 7.9 Stop Time and Stop Distance, table
UFACTORY's measured Stop Category 1 stopping time for Joint 1 is 521 ms (Stop Category 1, arm fully extended horizontally, 100% speed (joint speed 180 °/s), 5 kg payload at TCP; Joint 1 tested with a horizontal movement.)
Evidence · 5 citations
Joint1 0.62 521
UFACTORY 850 Hardware Manual (online), 7. Production Information · UFACTORY · 7.9 Stop Time and Stop Distance, table
During the tests for Joint 2 and 3 the robot followed a vertical trajectory, i.e. the axes of rotation were parallel to the ground, and the stop was performed while the robot was moving downwards.
UFACTORY 850 Hardware Manual (online), 7. Production Information · UFACTORY · 7.9, test configuration
UFACTORY's measured Stop Category 1 stopping time for Joint 2 is 885 ms (Stop Category 1, arm fully extended horizontally, 100% speed (joint speed 180 °/s), 5 kg payload at TCP; Joint 2 and 3 measured moving downwards.)
Evidence · 5 citations
Joint2 1.12 885
UFACTORY 850 Hardware Manual (online), 7. Production Information · UFACTORY · 7.9 Stop Time and Stop Distance, table
During the tests for Joint 2 and 3 the robot followed a vertical trajectory, i.e. the axes of rotation were parallel to the ground, and the stop was performed while the robot was moving downwards.
UFACTORY 850 Hardware Manual (online), 7. Production Information · UFACTORY · 7.9, test configuration
During the tests for Joint 2 and 3 the robot followed a vertical trajectory, i.e. the axes of rotation were parallel to the ground, and the stop was performed while the robot was moving downwards.
UFACTORY 850 Hardware Manual (online), 7. Production Information · UFACTORY · 7.9, test configuration
UFACTORY's measured Stop Category 1 stopping time for Joint 3 is 577 ms (Stop Category 1, arm fully extended horizontally, 100% speed (joint speed 180 °/s), 5 kg payload at TCP; Joint 2 and 3 measured moving downwards.)
Evidence · 5 citations
Joint3 0.67 577
UFACTORY 850 Hardware Manual (online), 7. Production Information · UFACTORY · 7.9 Stop Time and Stop Distance, table
During the tests for Joint 2 and 3 the robot followed a vertical trajectory, i.e. the axes of rotation were parallel to the ground, and the stop was performed while the robot was moving downwards.
UFACTORY 850 Hardware Manual (online), 7. Production Information · UFACTORY · 7.9, test configuration
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.
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.
UFACTORY's hardware manual lists, in its EMC section, IEC/EN 61000-6-2 (immunity for industrial environments) and IEC/EN 61000-6-4 (emission for industrial environments), with 2019 editions of EN 61000-6-2 and EN 61000-6-4 also listed.
Evidence · 3 citations
IEC 61000-6-2:2005 IEC 61000-6-4/A1:2010 EN 61000-6-2:2005 [2004/108/EC] EN 61000-6-4/A1:2011 [2004/108/EC]
UFACTORY 850 Hardware Manual (online), 7. Production Information · UFACTORY · 7.2 EMC(Electromagnetic Compatibility) (docs site 'UFACTORY 850 硬件手册', English version; names the machine 'UFACTORY 850')
UFACTORY 850 Hardware Manual (online), 7. Production Information · UFACTORY · 7.2 EMC (docs site 'UFACTORY 850 硬件手册', English version; names the machine 'UFACTORY 850')
Part 6-2: Generic standards - Immunity for industrial environments. Part 6-4: Generic standards - Emission standard for industrial environments.
UFACTORY 850 Hardware Manual (online), 7. Production Information · UFACTORY · 7.2 EMC (docs site 'UFACTORY 850 硬件手册', English version; names the machine 'UFACTORY 850')
The online hardware manual's Certification section (7.10) links two test-report files, DSS_MD-GZES2403005468MD.pdf and DSS_GZEM2403001755MDVR.pdf, without saying in its own text which standards they cover. The files are SGS verifications; their contents are recorded in safety-081 to safety-084.
UFACTORY 850 Hardware Manual (online), 7. Production Information · UFACTORY · 7.10 Certification (docs site 'UFACTORY 850 硬件手册', English version; names the machine 'UFACTORY 850')
The SGS Verification of MD Compliance linked from the 850 manual covers 'UFACTORY Robotic Arm', model numbers XI13 and XI15. It states that sufficient samples were tested and found to be in conformity with EN ISO 10218-1:2011, EN 60204-1:2018 and EN ISO 12100:2010.
Evidence · 3 citations
Product Description: UFACTORY Robotic Arm Model No.: XI13, XI15
SGS Verification of MD Compliance No. MD GZES2403005468MD (UFACTORY Robotic Arm, Model No. XI13, XI15) · SGS-CSTC Standards Technical Services Co., Ltd. (published by UFACTORY) · Verification No. MD GZES2403005468MD, product and standard fields
SGS verification document, published by UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Test Standard: EN ISO 10218-1: 2011 EN 60204-1:2018 EN ISO 12100: 2010
SGS Verification of MD Compliance No. MD GZES2403005468MD (UFACTORY Robotic Arm, Model No. XI13, XI15) · SGS-CSTC Standards Technical Services Co., Ltd. (published by UFACTORY) · Test Standard field
SGS verification document, published by UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Sufficient samples of the product have been tested and found to be in conformity with
SGS Verification of MD Compliance No. MD GZES2403005468MD (UFACTORY Robotic Arm, Model No. XI13, XI15) · SGS-CSTC Standards Technical Services Co., Ltd. (published by UFACTORY) · Verification text, above the Test Standard field
SGS verification document, published by UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
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.
UFACTORY 850 product page · UFACTORY · Service & Support > Certificates (the only certification listed) (page names the machine 'UFACTORY 850'; spec tables say 'UFactory 850')
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.
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.
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.
The Tool Center Point (TCP) is the reference point the arm positions. Without a TCP offset, the tool coordinate system sits at the flange centre; a TCP offset moves it to the actual tool point.
Evidence · 2 citations
If the TCP offset is not set, the default tool coordinate system is located at flange center.
UFACTORY Studio User Manual (online), 2. Glossary · UFACTORY · Glossary, 'Tool Coordinate System'
UFACTORY's collision detection compares each joint's theoretical current with its actual current: the control system uses a dynamic model to calculate the theoretical current for each joint, and triggers collision detection when the difference exceeds a pre-set threshold.
Evidence · 3 citations
By comparing the theoretical current and actual current of each joint, the system determines whether a collision has occurred.
Collision Detection in UFACTORY Robotic Arms: Current and Dynamic Model-based Feature (UFACTORY support article) · UFACTORY · Introduction
If the difference exceeds a pre-set threshold, indicating that the joint may have encountered external resistance or collision, the system triggers the collision detection.
Collision Detection in UFACTORY Robotic Arms: Current and Dynamic Model-based Feature (UFACTORY support article) · UFACTORY · Section 1
No fetched UFACTORY document calls the 850's collision detection, safety boundary or reduced mode safety-rated, or gives them a performance level.
Why we infer this:Verified: collision detection is a model-based current comparison that UFACTORY says can false-trigger with wrong settings and can be disabled (level 0, Advanced Settings toggle, a documented default password); safety boundary and reduced mode are software settings exposed in Studio and the SDK. UFACTORY distinguishes safety signals (EI/SI, redundant pairs) from non-safety devices. Inferred: no fetched UFACTORY source assigns a PL, Category or safety rating to these software functions (see the gap on performance level); this is a statement about the documents fetched, not proof that no rating exists.
Evidence · 3 citations
By comparing the theoretical current and actual current of each joint, the system determines whether a collision has occurred.
Collision Detection in UFACTORY Robotic Arms: Current and Dynamic Model-based Feature (UFACTORY support article) · UFACTORY · Section 1
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.
Kind: RecommendationThis project's simulation and agent design, not the physical cellProject design, not the physical cellsafety-140
Project advice
Treat the 850's collision detection, safety boundary and reduced mode as configurable controller functions, not as validated safeguards: they must not replace the risk-assessed protective devices wired to the EI and SI inputs.
This is advice from this project, based on: safety-087 Inferredsafety-062 Verifiedsafety-067 Verifiedsafety-073 Verifiedsafety-074 Verifiedsafety-057 Verified
Why:No fetched UFACTORY document gives these functions a safety rating or performance level (safety-087). Collision detection is a current-model comparison that can false-trigger and can be switched off (safety-062, safety-067); safety boundary and reduced mode are software settings (safety-073, safety-074). UFACTORY keeps safety signals separate from non-safety devices (safety-057). A function with no documented rating cannot stand in for a rated protective device.
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 Verifiedcomp-060 Verified
Evidence · 2 citations
Clamping Force 10-50N
UFACTORY 850 Hardware Manual (online), 8. Technical Specifications · UFACTORY · Gripper G2(AG1200) table (docs site 'UFACTORY 850 硬件手册', English version; names the machine 'UFACTORY 850')
Vacuum gripper specifications differ between sources: the online hardware manual (AS1200) gives -55 kPa, more than 4 L/min, 20 mA quiescent and 500 mA peak current, while User Manual V2.3.0 gives 78% vacuum, more than 5.6 L/min, 30 mA quiescent and 400 mA peak. They may be different product revisions; the sources do not say.
Related: comp-071 Verified
Evidence · 2 citations
Vacuum Flow (L/min) ＞4L/min
UFACTORY 850 Hardware Manual (online), 8. Technical Specifications · UFACTORY · Vacuum Gripper(AS1200) table (docs site 'UFACTORY 850 硬件手册', English version; names the machine 'UFACTORY 850')
No specification for the 850's BIO Gripper G2 or 6-axis force/torque sensor (payload, force range, resolution) was found in the product page or the 850 manuals fetched; only their names are listed.
Evidence · 1 citation
BIO Gripper G2 6 Axis Force Torque Sensor
UFACTORY 850 product page · UFACTORY · Overview, 'Seamless Integration With Official Accessories' (page names the machine 'UFACTORY 850'; spec tables say 'UFactory 850')
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.
SGS Verification of Compliance No. GZEM2403001755MDVR (EMC; UFACTORY Robotic Arm, Model No. XI13, XI15) · SGS-CSTC Standards Technical Services Co., Ltd. (published by UFACTORY) (manufacturer) SGS verification document, published by UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21 · cited by 2 records here · Open the source
SGS Verification of MD Compliance No. MD GZES2403005468MD (UFACTORY Robotic Arm, Model No. XI13, XI15) · SGS-CSTC Standards Technical Services Co., Ltd. (published by UFACTORY) (manufacturer) SGS verification document, published by UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21 · cited by 3 records here · Open the source
