References: §5 Key Specifications and Capabilities

Back to §5 Key Specifications and Capabilities

Provenance

References · 121

Each number in the text points here. Every entry states its confidence class in words and keeps its evidence one click away. How to read the labels.

Key to the badges

Confidence: Verified: A manufacturer or IntelliMake document says so, the project owner stated it as the design, or it was observed directly. It does not mean anyone measured it at S2.
Confidence: Inferred: Reasoned from Verified facts. The reasoning is printed with the record.
Confidence: Assumed: Plausible but untested. The record says how it would be checked.
Kind: Gap: Not known. No figure or answer is given in its place.
Kind: Contradiction: Sources disagree. Both sides are shown, and the site does not pick one silently.
Kind: Recommendation: Project advice drawn from the records it cites. Not a fact about the machine and not a confidence class, so the filter never hides it.
Awaiting cell access: Awaiting cell access: could be confirmed or corrected once the physical S2 cell can be observed.
This project's simulation and agent design, not the physical cell: This project's simulation and agent design, not the physical cell.

Confidence: Verifiedspec-006
The record says
The maximum speed of the UFACTORY 850's end effector (TCP) is 1 m/s.
Evidence · 3 citations
Maximum Speed of End-Effector 1m/s
UFACTORY 850 Hardware Manual (online), 8. Technical Specifications · UFACTORY · Table 'UFACTORY 850', 'Maximum Speed of End-Effector' row (docs site 'UFACTORY 850 硬件手册', English version; names the machine 'UFACTORY 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Max Speed of End-effector 1 m/s
UFACTORY 850 User Manual V2.3.0 (PDF, older edition) · UFACTORY · Appendix 2, 1.1 850 Common Specifications, p.173 (manual names the machine '850' / 'UFactory 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Maximum Speed 1 m/s
UFACTORY 850 product page · UFACTORY · Tech Specs > Comparison table, 'Maximum Speed' row, UFactory 850 column (page names the machine 'UFACTORY 850'; spec tables say 'UFactory 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Confidence: Verifiedspec-004
The record says
The UFACTORY 850 has a stated repeatability of ±0.02 mm.
Evidence · 3 citations
Repeatability ±0.02 mm
UFACTORY 850 product page · UFACTORY · Tech Specs > Comparison table, 'Repeatability' row (page names the machine 'UFACTORY 850'; spec tables say 'UFactory 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Repeatability ±0.02mm
UFACTORY 850 Hardware Manual (online), 8. Technical Specifications · UFACTORY · Table 'UFACTORY 850', 'Repeatability' row (docs site 'UFACTORY 850 硬件手册', English version; names the machine 'UFACTORY 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Repeatability ±0.02 mm
UFACTORY 850 User Manual V2.3.0 (PDF, older edition) · UFACTORY · Appendix 2, 1.1 850 Common Specifications, p.173 (manual names the machine '850' / 'UFactory 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Confidence: Verifiedlim-014
The record says
UFACTORY states 850 repeatability (±0.02 mm), which is how closely it returns to a taught point, but the sources fetched give no absolute accuracy figure for how closely it reaches a computed coordinate.
Evidence · 1 citation
Repeatability
±0.02mm
UFACTORY 850 Hardware Manual (online), 8. Technical Specifications · UFACTORY · Technical Specifications table, 'Repeatability' row
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Kind: Gaplim-013
Not known
No fetched UFACTORY source gives an IP (ingress protection) rating for the 850 arm or its control boxes. The 850 technical specifications list IP40 only for the Gripper G2 accessory.
Related: lim-010 Verified lim-012 Inferred spec-052 Gap
Confidence: Verifiedspec-001
The record says
The UFACTORY 850 has 6 degrees of freedom (six rotary joints).
Evidence · 2 citations
Degrees of freedom 6
UFACTORY 850 product page · UFACTORY · Tech Specs > Comparison table, 'Degrees of freedom' row, UFactory 850 column (page names the machine 'UFACTORY 850'; spec tables say 'UFactory 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Degrees of Freedom 6
UFACTORY 850 User Manual V2.3.0 (PDF, older edition) · UFACTORY · Appendix 2, 1.2 850 Specifications, p.174 (manual names the machine '850' / 'UFactory 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Confidence: Verifiedspec-002
The record says
The UFACTORY 850 has a rated maximum payload of 5 kg.
Evidence · 3 citations
Max Payload 5 kg
UFACTORY 850 product page · UFACTORY · Products menu entry for the 850 (page names the machine 'UFACTORY 850'; spec tables say 'UFactory 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Maximum Payload 5kg
UFACTORY 850 Hardware Manual (online), 8. Technical Specifications · UFACTORY · Table 'UFACTORY 850', 'Maximum Payload' row (docs site 'UFACTORY 850 硬件手册', English version; names the machine 'UFACTORY 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Payload 5 kg
UFACTORY 850 User Manual V2.3.0 (PDF, older edition) · UFACTORY · Appendix 2, 1.2 850 Specifications, p.174 (manual names the machine '850' / 'UFactory 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Confidence: Verifiedspec-003
The record says
The UFACTORY 850 has a reach of 850 mm.
Evidence · 2 citations
Reach 850 mm
UFACTORY 850 product page · UFACTORY · Products menu entry for the 850 (page names the machine 'UFACTORY 850'; spec tables say 'UFactory 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Maximum Reach 850mm
UFACTORY 850 User Manual V2.3.0 (PDF, older edition) · UFACTORY · Appendix 7, 1.11 Specifications, p.185 (manual names the machine '850' / 'UFactory 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Kind: Contradictionspec-027
Sources disagree
Sources disagree on the range of joint 2 (J2): the product page, the online hardware manual and the uf850 URDF give ±132°, but User Manual V2.3.0 (PDF, 2024) gives -118°~120°. The manual's figures match none of the other three sources; the three agreeing sources are probably current, but this is not confirmed. The project reads the manual's J2 as an xArm 6 figure (its support article and URDF) copied in error (spec-581), so the project uses the published ±132° (spec-091; S157); the sources still disagree.
Related: spec-009 Verified spec-091 Verified spec-581 Inferred
Evidence · 3 citations
J1~J6 (±360°, ±132°, -242~3.5°, ±360°, ±124°, ±360°)
UFACTORY 850 Hardware Manual (online), 8. Technical Specifications · UFACTORY · Table 'UFACTORY 850', 'Joint Range' row (docs site 'UFACTORY 850 硬件手册', English version; names the machine 'UFACTORY 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
joint2_lower_limit:=${-2.3038346} joint2_upper_limit:=${2.3038346}
xarm_ros2 (branch humble), xarm_description/urdf/uf850/uf850.urdf.xacro · UFACTORY · macro uf850_urdf default parameters (ROS naming 'uf850')
© UFACTORY Inc., xArm-Developer/xarm_ros2, BSD 3-Clause License · BSD-3-Clause · retrieved 2026-09-21
Open the source
2 -118°~120°
UFACTORY 850 User Manual V2.3.0 (PDF, older edition) · UFACTORY · Appendix 2, 1.2 850 Specifications, 'Joint Range', p.174 (same values in Table 1.1 p.10 and Appendix 7 p.185) (manual names the machine '850' / 'UFactory 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Confidence: Verifiedint-003
The record says
Station S2 of the Phase 1 factory is the UFactory xArm 850 cobot.
Evidence · 2 citations
S2 UFactory xArm 850 Cobot
IntelliMake Phase 1 Factory: Autonomous Production Demonstrator (infographic) · IntelliMake.org · S2 station label
© IntelliMake.org. Used with permission; redrawn for this platform. · Cleared for use by its owner · retrieved 2026-09-21
Project copy; not published on this site.
UFactory xArm 850 | S2
IntelliMake Phase 1 Factory: Autonomous Production Demonstrator (infographic) · IntelliMake.org · HW2 SME topic mapping table
© IntelliMake.org. Used with permission; redrawn for this platform. · Cleared for use by its owner · retrieved 2026-09-21
Project copy; not published on this site.
Confidence: Verifiedint-004
The record says
S2 picks and transfers incoming material between receiving, staging and production.
Evidence · 1 citation
Picks and transfers incoming material between receiving, staging, and production.
IntelliMake Phase 1 Factory: Autonomous Production Demonstrator (infographic) · IntelliMake.org · S2 station description
© IntelliMake.org. Used with permission; redrawn for this platform. · Cleared for use by its owner · retrieved 2026-09-21
Project copy; not published on this site.
Confidence: Verifiedcomp-004
The record says
The 850 arm consists of a base and six rotary joints, numbered Joint 1 (at the base) to Joint 6; the last joint is the tool side, where end effectors attach.
Evidence · 2 citations
Quote not shown (over 40 words). See the source at: 2.1.1 Hardware Composition (docs site 'UFACTORY 850 硬件手册', English version; names the machine 'UFACTORY 850').
UFACTORY 850 Hardware Manual (online), 2. Hardware Installation · UFACTORY · 2.1.1 Hardware Composition (docs site 'UFACTORY 850 硬件手册', English version; names the machine 'UFACTORY 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
DoF
6
UFACTORY USA 850 product page · UFACTORY USA · Specs block
© UFACTORY USA · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Confidence: Inferredlim-001
The record says
The 850's maximum payload is 5 kg, which covers the end-of-arm tool and the part it holds.
Why we infer this: Verified: UFACTORY's specification table gives the 850 a maximum payload of 5 kg (spec-002), but does not say whether the end-of-arm tool counts toward it. Verified: the UFACTORY Studio glossary, which applies to the 850 (iface-145), defines the TCP payload setting as the actual weight of the 'end tool & other object'. No UFACTORY source joins the two in one statement. This platform infers that the 5 kg rating is read against the same total the controller models, tool plus part, so the tool's weight leaves less for the part. Until UFACTORY states it, treat that as an inference, not a rating.
Evidence · 2 citations
Maximum Payload
5kg
UFACTORY 850 Hardware Manual (online), 8. Technical Specifications · UFACTORY · Technical Specifications table, 'Maximum Payload' row
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
The payload weight refers to the actual(end tool &other object) weight in kg
UFACTORY Studio User Manual (online), 2. Glossary · UFACTORY · Glossary, 'TCP Payload'
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Confidence: Verifiedspec-005
The record says
The UFACTORY 850 robot arm (without control box) weighs 20 kg.
Evidence · 3 citations
Weight(robot arm only) 20 kg
UFACTORY 850 product page · UFACTORY · Tech Specs > Comparison table, 'Weight(robot arm only)' row (page names the machine 'UFACTORY 850'; spec tables say 'UFactory 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Robot Weight 20KG(body only)
UFACTORY 850 Hardware Manual (online), 8. Technical Specifications · UFACTORY · Table 'UFACTORY 850', 'Robot Weight' row (docs site 'UFACTORY 850 硬件手册', English version; names the machine 'UFACTORY 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Weight(robotic arm only) 20 kg
UFACTORY 850 User Manual V2.3.0 (PDF, older edition) · UFACTORY · Appendix 2, 1.2 850 Specifications, p.174 (manual names the machine '850' / 'UFactory 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Kind: Gaplim-018
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
Confidence: Verifiedspec-046
The record says
The 850's ambient operating temperature range is 0–50 °C.
Evidence · 2 citations
*Ambient Temperature Range 0-50℃
UFACTORY 850 product page · UFACTORY · Tech Specs > Hardware, '*Ambient Temperature Range' row (page names the machine 'UFACTORY 850'; spec tables say 'UFactory 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Ambient temperature: 0°C ~ 50°C
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 · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Confidence: Verifiedspec-054
The record says
The 850 can be mounted in any orientation.
Evidence · 2 citations
Robot Mounting Any
UFACTORY 850 product page · UFACTORY · Tech Specs > Hardware, 'Robot Mounting' row (page names the machine 'UFACTORY 850'; spec tables say 'UFactory 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Mounting Way Any Direction
UFACTORY 850 Hardware Manual (online), 8. Technical Specifications · UFACTORY · Table 'UFACTORY 850', 'Mounting Way' row (docs site 'UFACTORY 850 硬件手册', English version; names the machine 'UFACTORY 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Kind: Gapspec-052
Not known
No IP (ingress protection) rating for the UFACTORY 850 arm or its control box was found. The product page, the online hardware manual and User Manual V2.3.0 give none, though the online manual rates the Gripper G2 accessory IP40, and the manuals warn against liquids and humid environments.
Related: lim-013 Gap
Evidence · 2 citations
Protection Rating IP40
UFACTORY 850 Hardware Manual (online), 8. Technical Specifications · UFACTORY · Gripper G2(AG1200) table, 'Protection Rating' row (the only IP figure on the page) (docs site 'UFACTORY 850 硬件手册', English version; names the machine 'UFACTORY 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
The robotic arm and its hardware composition must not be in direct contact with the liquid, and should not be placed in a humid environment for a long time.
UFACTORY 850 Hardware Manual (online), 2. Hardware Installation · UFACTORY · 2.2.1 Safety Guidelines, WARNING (docs site 'UFACTORY 850 硬件手册', English version; names the machine 'UFACTORY 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Confidence: Verifiedlim-010
The record says
The manual warns against letting water or dust into the arm or the controller.
Evidence · 1 citation
Prevent the ingress of water or dust into the mechanical arm or controller.
UFACTORY 850 Hardware Manual (online), 1. Safety · UFACTORY · Section 1.4, DANGER list
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Confidence: Verifiedspec-083
The record says
UFACTORY's product page lists CE certification for the 850.
Evidence · 1 citation
Certifications Complete(CE)
UFACTORY 850 product page · UFACTORY · Service & Support > Certificates (page names the machine 'UFACTORY 850'; spec tables say 'UFactory 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Kind: Gaplim-015
Not known
The absolute positioning accuracy of the 850, and how much UFACTORY's post-August-2023 kinematic calibration improves it, is not published in any fetched source. This matters for offline programming and vision-guided picking, which rely on computed rather than taught coordinates.
Related: lim-014 Verified lim-027 Verified
Confidence: Verifiedspec-044
The record says
The 850 arm's input power supply is 48 V DC.
Evidence · 2 citations
Input Power Supply 48VDC 20.8A
UFACTORY 850 product page · UFACTORY · Tech Specs > Hardware, 'Input Power Supply' row (page names the machine 'UFACTORY 850'; spec tables say 'UFactory 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
48V DC, 20.8A
UFACTORY 850 Hardware Manual (online), 8. Technical Specifications · UFACTORY · Table 'UFACTORY 850', 'Input Power Supply' row (docs site 'UFACTORY 850 硬件手册', English version; names the machine 'UFACTORY 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Confidence: Verifiedspec-039
The record says
The UFACTORY 850 arm's maximum power consumption is 1000 W.
Evidence · 3 citations
Typical 240 W, Max 1000 W
UFACTORY 850 product page · UFACTORY · Tech Specs > Hardware, 'Power Consumption' row (page names the machine 'UFACTORY 850'; spec tables say 'UFactory 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Typical 240W, Max 1000W, 500W Power is recommended.
UFACTORY 850 Hardware Manual (online), 8. Technical Specifications · UFACTORY · Table 'UFACTORY 850', 'Power Consumption' row (docs site 'UFACTORY 850 硬件手册', English version; names the machine 'UFACTORY 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Power Consumption Min 20 W, Typical 200 W, Max 1000 W
UFACTORY 850 User Manual V2.3.0 (PDF, older edition) · UFACTORY · Appendix 2, 1.1 Common Specifications, p.173 (manual names the machine '850' / 'UFactory 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Confidence: Verifiedspec-060
The record says
The UFACTORY 850 AC control box accepts 100–240 V AC at 50/60 Hz (the manuals give the input frequency as 47–63 Hz).
Evidence · 2 citations
Input 100-240VAC 50/60Hz
UFACTORY 850 product page · UFACTORY · Tech Specs > Hardware, AC/DC control box table, 'Input' row (page names the machine 'UFACTORY 850'; spec tables say 'UFactory 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
The control box is powered by 100V-240V AC (the input frequency is 47-63HZ)
UFACTORY 850 Hardware Manual (online), 3. Controller Electrical Interface · UFACTORY · 3.2.2 Power Supply (docs site 'UFACTORY 850 硬件手册', English version; names the machine 'UFACTORY 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Confidence: Verifiedspec-063
The record says
The UFACTORY 850 DC control box accepts 48–72 V DC input.
Evidence · 2 citations
48-72VDC
UFACTORY 850 product page · UFACTORY · Tech Specs > Hardware, AC/DC control box table, 'Input' row (page names the machine 'UFACTORY 850'; spec tables say 'UFactory 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
VP+ 48-72V
UFACTORY 850 Hardware Manual (online), 3. Controller Electrical Interface · UFACTORY · 3.3.2 Power Supply (docs site 'UFACTORY 850 硬件手册', English version; names the machine 'UFACTORY 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Confidence: Verifiedspec-065
The record says
The AC control box weighs 4.8 kg.
Evidence · 2 citations
Weight 4.8kg 2.8kg
UFACTORY 850 Hardware Manual (online), 8. Technical Specifications · UFACTORY · AC Controller / DC Controller table, 'Weight' row (docs site 'UFACTORY 850 硬件手册', English version; names the machine 'UFACTORY 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Weight 4.8kg
UFACTORY 850 User Manual V2.3.0 (PDF, older edition) · UFACTORY · Appendix 7, 1.11 Specifications, p.185 (manual names the machine '850' / 'UFactory 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Confidence: Verifiedspec-066
The record says
The DC control box weighs 2.8 kg.
Evidence · 1 citation
Weight 4.8kg 2.8kg
UFACTORY 850 Hardware Manual (online), 8. Technical Specifications · UFACTORY · AC Controller / DC Controller table, 'Weight' row (docs site 'UFACTORY 850 硬件手册', English version; names the machine 'UFACTORY 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Confidence: Verifiedspec-070
The record says
The 850 control box has 8 configurable digital inputs (CI0–CI7).
Evidence · 2 citations
8×CI+8×DI(Digital In)
UFACTORY 850 Hardware Manual (online), 8. Technical Specifications · UFACTORY · AC/DC Controller table, 'I/O Interface' row (docs site 'UFACTORY 850 硬件手册', English version; names the machine 'UFACTORY 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
CI*8+DI*8
UFACTORY 850 product page · UFACTORY · Tech Specs > Hardware, 'Control Box IO' row (page names the machine 'UFACTORY 850'; spec tables say 'UFactory 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Confidence: Verifiedspec-071
The record says
The 850 control box has 8 general-purpose digital inputs (DI0–DI7).
Evidence · 2 citations
8×CI+8×DI(Digital In)
UFACTORY 850 Hardware Manual (online), 8. Technical Specifications · UFACTORY · AC/DC Controller table, 'I/O Interface' row (docs site 'UFACTORY 850 硬件手册', English version; names the machine 'UFACTORY 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
CI*8+DI*8
UFACTORY 850 product page · UFACTORY · Tech Specs > Hardware, 'Control Box IO' row (page names the machine 'UFACTORY 850'; spec tables say 'UFactory 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Confidence: Verifiedspec-072
The record says
The 850 control box has 8 configurable digital outputs (CO0–CO7).
Evidence · 2 citations
8×CO+8×DO(Digital Out)
UFACTORY 850 Hardware Manual (online), 8. Technical Specifications · UFACTORY · AC/DC Controller table, 'I/O Interface' row (docs site 'UFACTORY 850 硬件手册', English version; names the machine 'UFACTORY 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
CO*8+DO*8
UFACTORY 850 product page · UFACTORY · Tech Specs > Hardware, 'Control Box IO' row (page names the machine 'UFACTORY 850'; spec tables say 'UFactory 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Confidence: Verifiedspec-073
The record says
The 850 control box has 8 general-purpose digital outputs (DO0–DO7).
Evidence · 2 citations
8×CO+8×DO(Digital Out)
UFACTORY 850 Hardware Manual (online), 8. Technical Specifications · UFACTORY · AC/DC Controller table, 'I/O Interface' row (docs site 'UFACTORY 850 硬件手册', English version; names the machine 'UFACTORY 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
CO*8+DO*8
UFACTORY 850 product page · UFACTORY · Tech Specs > Hardware, 'Control Box IO' row (page names the machine 'UFACTORY 850'; spec tables say 'UFactory 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Confidence: Verifiedspec-074
The record says
The 850 control box has 2 analog inputs.
Evidence · 1 citation
2×AI(Analog In)
UFACTORY 850 Hardware Manual (online), 8. Technical Specifications · UFACTORY · AC/DC Controller table, 'I/O Interface' row (docs site 'UFACTORY 850 硬件手册', English version; names the machine 'UFACTORY 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Confidence: Verifiedspec-075
The record says
The 850 control box has 2 analog outputs.
Evidence · 1 citation
2×AO(Analog Out)
UFACTORY 850 Hardware Manual (online), 8. Technical Specifications · UFACTORY · AC/DC Controller table, 'I/O Interface' row (docs site 'UFACTORY 850 硬件手册', English version; names the machine 'UFACTORY 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Confidence: Verifiedspec-080
The record says
The 850's tool-end I/O comprises 2 digital inputs, 2 digital outputs, 2 analog inputs and 1 RS-485 port.
Evidence · 2 citations
DI*2/DO*2/AI*2/RS485*1
UFACTORY 850 product page · UFACTORY · Tech Specs > Hardware, 'End Effector I/O' row (page names the machine 'UFACTORY 850'; spec tables say 'UFactory 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
2 Digital inputs, 2 Digital outputs, 2 Analog inputs
UFACTORY 850 User Manual V2.3.0 (PDF, older edition) · UFACTORY · Appendix 2, 1.1 Common Specifications, p.173 (manual names the machine '850' / 'UFactory 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Confidence: Verifiedspec-078
The record says
The 850 control box and arm communicate with a computer over Ethernet, using UFACTORY's private TCP protocol.
Evidence · 2 citations
Robotic Arm Communication Protocol Private TCP(custom)
UFACTORY 850 Hardware Manual (online), 8. Technical Specifications · UFACTORY · Table 'UFACTORY 850', 'Robotic Arm Communication Protocol' row (docs site 'UFACTORY 850 硬件手册', English version; names the machine 'UFACTORY 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Communication Mode Ethernet
UFACTORY 850 product page · UFACTORY · Tech Specs > Hardware, 'Communication Mode' row (page names the machine 'UFACTORY 850'; spec tables say 'UFactory 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Confidence: Verifiedspec-055
The record says
The 850's base footprint is Ø190 mm.
Evidence · 2 citations
Footprint Ø 190 mm
UFACTORY 850 product page · UFACTORY · Tech Specs > Hardware, 'Footprint' row (page names the machine 'UFACTORY 850'; spec tables say 'UFactory 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Footprint Ø 190mm
UFACTORY 850 Hardware Manual (online), 8. Technical Specifications · UFACTORY · Table 'UFACTORY 850', 'Footprint' row (docs site 'UFACTORY 850 硬件手册', English version; names the machine 'UFACTORY 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Confidence: Verifiedspec-048
The record says
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')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Humidity 25%-85% (non-condensing)
UFACTORY 850 User Manual V2.3.0 (PDF, older edition) · UFACTORY · Appendix 7, 1.11 Specifications, p.185 (manual names the machine '850' / 'UFactory 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Confidence: Verifiedspec-050
The record says
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 · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
No dust or metal powder.
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 · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Confidence: Verifiedlim-011
The record says
UFACTORY rates the 850 for ISO Class 5 cleanrooms.
Evidence · 1 citation
ISO Class Cleanroom
5
UFACTORY 850 Hardware Manual (online), 8. Technical Specifications · UFACTORY · Technical Specifications table, 'ISO Class Cleanroom' row
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Confidence: Verifiedspec-008
The record says
The UFACTORY 850's joint 1 (J1) range of motion is ±360°.
Evidence · 3 citations
J1~J6 (±360°, ±132°, -242~3.5°, ±360°, ±124°, ±360°)
UFACTORY 850 Hardware Manual (online), 8. Technical Specifications · UFACTORY · Table 'UFACTORY 850', 'Joint Range' row, listed J1~J6 in order (docs site 'UFACTORY 850 硬件手册', English version; names the machine 'UFACTORY 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Joint 1 ±360°
UFACTORY 850 product page · UFACTORY · Tech Specs > joint range table, UFactory 850 column (page names the machine 'UFACTORY 850'; spec tables say 'UFactory 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
joint1_lower_limit:=${-2.0*pi} joint1_upper_limit:=${2.0*pi}
xarm_ros2 (branch humble), xarm_description/urdf/uf850/uf850.urdf.xacro · UFACTORY · macro uf850_urdf default parameters, joint1 limits in radians (±2π rad = ±360°) (ROS naming 'uf850')
© UFACTORY Inc., xArm-Developer/xarm_ros2, BSD 3-Clause License · BSD-3-Clause · retrieved 2026-09-21
Open the source
Confidence: Verifiedspec-011
The record says
The UFACTORY 850's joint 4 (J4) range of motion is ±360°.
Evidence · 3 citations
J1~J6 (±360°, ±132°, -242~3.5°, ±360°, ±124°, ±360°)
UFACTORY 850 Hardware Manual (online), 8. Technical Specifications · UFACTORY · Table 'UFACTORY 850', 'Joint Range' row, listed J1~J6 in order (docs site 'UFACTORY 850 硬件手册', English version; names the machine 'UFACTORY 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Joint 4 ±360°
UFACTORY 850 product page · UFACTORY · Tech Specs > joint range table, UFactory 850 column (page names the machine 'UFACTORY 850'; spec tables say 'UFactory 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
joint4_lower_limit:=${-2.0*pi} joint4_upper_limit:=${2.0*pi}
xarm_ros2 (branch humble), xarm_description/urdf/uf850/uf850.urdf.xacro · UFACTORY · macro uf850_urdf default parameters, joint4 limits in radians (±2π rad = ±360°) (ROS naming 'uf850')
© UFACTORY Inc., xArm-Developer/xarm_ros2, BSD 3-Clause License · BSD-3-Clause · retrieved 2026-09-21
Open the source
Confidence: Verifiedspec-013
The record says
The UFACTORY 850's joint 6 (J6) range of motion is ±360°.
Evidence · 3 citations
J1~J6 (±360°, ±132°, -242~3.5°, ±360°, ±124°, ±360°)
UFACTORY 850 Hardware Manual (online), 8. Technical Specifications · UFACTORY · Table 'UFACTORY 850', 'Joint Range' row, listed J1~J6 in order (docs site 'UFACTORY 850 硬件手册', English version; names the machine 'UFACTORY 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Joint 6 ±360°
UFACTORY 850 product page · UFACTORY · Tech Specs > joint range table, UFactory 850 column (page names the machine 'UFACTORY 850'; spec tables say 'UFactory 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
joint6_lower_limit:=${-2.0*pi} joint6_upper_limit:=${2.0*pi}
xarm_ros2 (branch humble), xarm_description/urdf/uf850/uf850.urdf.xacro · UFACTORY · macro uf850_urdf default parameters, joint6 limits in radians (±2π rad = ±360°) (ROS naming 'uf850')
© UFACTORY Inc., xArm-Developer/xarm_ros2, BSD 3-Clause License · BSD-3-Clause · retrieved 2026-09-21
Open the source
Confidence: Verifiedspec-009
The record says
The UFACTORY 850's joint 2 (J2) range of motion is ±132°; see the conflicting figures in User Manual V2.3.0.
Evidence · 3 citations
J1~J6 (±360°, ±132°, -242~3.5°, ±360°, ±124°, ±360°)
UFACTORY 850 Hardware Manual (online), 8. Technical Specifications · UFACTORY · Table 'UFACTORY 850', 'Joint Range' row, listed J1~J6 in order (docs site 'UFACTORY 850 硬件手册', English version; names the machine 'UFACTORY 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Joint 2 -132°～132°
UFACTORY 850 product page · UFACTORY · Tech Specs > joint range table, UFactory 850 column (page names the machine 'UFACTORY 850'; spec tables say 'UFactory 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
joint2_lower_limit:=${-2.3038346} joint2_upper_limit:=${2.3038346}
xarm_ros2 (branch humble), xarm_description/urdf/uf850/uf850.urdf.xacro · UFACTORY · macro uf850_urdf default parameters, joint2 limits in radians (±2.3038346 rad ≈ ±132.0°) (ROS naming 'uf850')
© UFACTORY Inc., xArm-Developer/xarm_ros2, BSD 3-Clause License · BSD-3-Clause · retrieved 2026-09-21
Open the source
Confidence: Verifiedspec-010
The record says
The UFACTORY 850's joint 3 (J3) range of motion is -242°~3.5°; see the conflicting figures in User Manual V2.3.0.
Evidence · 3 citations
J1~J6 (±360°, ±132°, -242~3.5°, ±360°, ±124°, ±360°)
UFACTORY 850 Hardware Manual (online), 8. Technical Specifications · UFACTORY · Table 'UFACTORY 850', 'Joint Range' row, listed J1~J6 in order (docs site 'UFACTORY 850 硬件手册', English version; names the machine 'UFACTORY 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Joint 3 -242°~3.5°
UFACTORY 850 product page · UFACTORY · Tech Specs > joint range table, UFactory 850 column (page names the machine 'UFACTORY 850'; spec tables say 'UFactory 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
joint3_lower_limit:=${-4.2236968} joint3_upper_limit:=${0.061087}
xarm_ros2 (branch humble), xarm_description/urdf/uf850/uf850.urdf.xacro · UFACTORY · macro uf850_urdf default parameters, joint3 limits in radians (-4.2236968 to 0.061087 rad ≈ -242.0° to 3.5°) (ROS naming 'uf850')
© UFACTORY Inc., xArm-Developer/xarm_ros2, BSD 3-Clause License · BSD-3-Clause · retrieved 2026-09-21
Open the source
Kind: Contradictionspec-028
Sources disagree
Sources disagree on the range of joint 3 (J3): the product page, the online hardware manual and the uf850 URDF give -242°~3.5°, but User Manual V2.3.0 (PDF, 2024) gives -225°~11°. The manual's figures match none of the other three sources; the three agreeing sources are probably current, but this is not confirmed. The project reads the manual's J3 as an xArm 6 figure (its support article and URDF) copied in error (spec-581), so the project uses the published -242°~3.5° (spec-091; S157); the sources still disagree.
Related: spec-010 Verified spec-091 Verified spec-581 Inferred
Evidence · 3 citations
J1~J6 (±360°, ±132°, -242~3.5°, ±360°, ±124°, ±360°)
UFACTORY 850 Hardware Manual (online), 8. Technical Specifications · UFACTORY · Table 'UFACTORY 850', 'Joint Range' row (docs site 'UFACTORY 850 硬件手册', English version; names the machine 'UFACTORY 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
joint3_lower_limit:=${-4.2236968} joint3_upper_limit:=${0.061087}
xarm_ros2 (branch humble), xarm_description/urdf/uf850/uf850.urdf.xacro · UFACTORY · macro uf850_urdf default parameters (ROS naming 'uf850')
© UFACTORY Inc., xArm-Developer/xarm_ros2, BSD 3-Clause License · BSD-3-Clause · retrieved 2026-09-21
Open the source
3 -225°~11°
UFACTORY 850 User Manual V2.3.0 (PDF, older edition) · UFACTORY · Appendix 2, 1.2 850 Specifications, 'Joint Range', p.174 (same values in Table 1.1 p.10 and Appendix 7 p.185) (manual names the machine '850' / 'UFactory 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Confidence: Verifiedspec-012
The record says
The UFACTORY 850's joint 5 (J5) range of motion is ±124°; see the conflicting figures in User Manual V2.3.0.
Evidence · 3 citations
J1~J6 (±360°, ±132°, -242~3.5°, ±360°, ±124°, ±360°)
UFACTORY 850 Hardware Manual (online), 8. Technical Specifications · UFACTORY · Table 'UFACTORY 850', 'Joint Range' row, listed J1~J6 in order (docs site 'UFACTORY 850 硬件手册', English version; names the machine 'UFACTORY 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Joint 5 -124°~124°
UFACTORY 850 product page · UFACTORY · Tech Specs > joint range table, UFactory 850 column (page names the machine 'UFACTORY 850'; spec tables say 'UFactory 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
joint5_lower_limit:=${-2.1642} joint5_upper_limit:=${2.1642}
xarm_ros2 (branch humble), xarm_description/urdf/uf850/uf850.urdf.xacro · UFACTORY · macro uf850_urdf default parameters, joint5 limits in radians (±2.1642 rad ≈ ±124.0°) (ROS naming 'uf850')
© UFACTORY Inc., xArm-Developer/xarm_ros2, BSD 3-Clause License · BSD-3-Clause · retrieved 2026-09-21
Open the source
Kind: Contradictionspec-029
Sources disagree
Sources disagree on the range of joint 5 (J5): the product page, the online hardware manual and the uf850 URDF give ±124°, but User Manual V2.3.0 (PDF, 2024) gives -97°~180°. The manual's figures match none of the other three sources; the three agreeing sources are probably current, but this is not confirmed. The project reads the manual's J5 as the xArm 6's range copied in error, so the project uses ±124° for the 850's J5 (spec-090; S70, S155); the sources still disagree.
Related: spec-012 Verified spec-090 Verified spec-581 Inferred
Evidence · 3 citations
J1~J6 (±360°, ±132°, -242~3.5°, ±360°, ±124°, ±360°)
UFACTORY 850 Hardware Manual (online), 8. Technical Specifications · UFACTORY · Table 'UFACTORY 850', 'Joint Range' row (docs site 'UFACTORY 850 硬件手册', English version; names the machine 'UFACTORY 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
joint5_lower_limit:=${-2.1642} joint5_upper_limit:=${2.1642}
xarm_ros2 (branch humble), xarm_description/urdf/uf850/uf850.urdf.xacro · UFACTORY · macro uf850_urdf default parameters (ROS naming 'uf850')
© UFACTORY Inc., xArm-Developer/xarm_ros2, BSD 3-Clause License · BSD-3-Clause · retrieved 2026-09-21
Open the source
5 -97°~180°
UFACTORY 850 User Manual V2.3.0 (PDF, older edition) · UFACTORY · Appendix 2, 1.2 850 Specifications, 'Joint Range', p.174 (same values in Table 1.1 p.10 and Appendix 7 p.185) (manual names the machine '850' / 'UFactory 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Confidence: Verifiedspec-007
The record says
The UFACTORY 850's maximum joint speed is 180°/s (stated once for all joints).
Evidence · 2 citations
Maximum Joint Speed 180°/s
UFACTORY 850 Hardware Manual (online), 8. Technical Specifications · UFACTORY · Table 'UFACTORY 850', 'Maximum Joint Speed' row (docs site 'UFACTORY 850 硬件手册', English version; names the machine 'UFACTORY 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Maximum Joint Speed 180 °/s
UFACTORY 850 User Manual V2.3.0 (PDF, older edition) · UFACTORY · Appendix 2, 1.1 850 Common Specifications, p.173 (manual names the machine '850' / 'UFactory 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Confidence: Verifiedspec-035
The record says
In teaching mode (the Live Control page of UFACTORY Studio) the 850's maximum speed is 250 mm/s.
Evidence · 1 citation
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
Open the source
Confidence: Verifiedspec-036
The record says
In automatic mode (Blockly or the Python IDE in UFACTORY Studio) the 850's maximum speed is 1000 mm/s.
Evidence · 1 citation
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
Open the source
Confidence: Verifiedspec-030
The record says
In UFACTORY's software, the TCP (Cartesian) speed parameter for the 850 ranges from 0 to 1000 mm/s.
Evidence · 1 citation
Speed 0~1000mm/s
UFACTORY 850 Hardware Manual (online), Preface · UFACTORY · 'Motion Parameters' table, TCP Motion column (docs site 'UFACTORY 850 硬件手册', English version; names the machine 'UFACTORY 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Confidence: Verifiedspec-047
The record says
UFACTORY advises lowering the ambient temperature if the 850 must run continuously at high speed.
Evidence · 1 citation
The ambient temperature of 850 is 0-50 °C, please reduce the temperature if continuous high-speed operation is needed.
UFACTORY 850 User Manual V2.3.0 (PDF, older edition) · UFACTORY · Appendix 2, notes under accessories table, p.174 (manual names the machine '850' / 'UFactory 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Confidence: Verifiedspec-037
The record says
The 850's Cartesian range is ±850 mm in X and ±850 mm in Y.
Evidence · 2 citations
X: ±850mm, Y: ±850mm, Z: -400~1214mm, Roll/Pitch/Yaw: ±180°
UFACTORY 850 Hardware Manual (online), 8. Technical Specifications · UFACTORY · Table 'UFACTORY 850', 'Cartesian Range' row (docs site 'UFACTORY 850 硬件手册', English version; names the machine 'UFACTORY 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
X ±850 mm Y ±850 mm
UFACTORY 850 User Manual V2.3.0 (PDF, older edition) · UFACTORY · Appendix 2, 1.1 Common Specifications, Cartesian Range, p.173 (manual names the machine '850' / 'UFactory 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Confidence: Verifiedspec-038
The record says
The 850's Cartesian range in Z runs from -400 mm to 1214 mm. The table does not name the reference frame (the project's reading is spec-579).
Evidence · 2 citations
Z: -400~1214mm
UFACTORY 850 Hardware Manual (online), 8. Technical Specifications · UFACTORY · Table 'UFACTORY 850', 'Cartesian Range' row (docs site 'UFACTORY 850 硬件手册', English version; names the machine 'UFACTORY 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Z -400 mm~1214 mm
UFACTORY 850 User Manual V2.3.0 (PDF, older edition) · UFACTORY · Appendix 2, 1.1 Common Specifications, Cartesian Range, p.173 (manual names the machine '850' / 'UFactory 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Confidence: Verifiedspec-040
The record says
The product page and the online hardware manual give the 850's typical power consumption as 240 W.
Evidence · 2 citations
Typical 240 W, Max 1000 W
UFACTORY 850 product page · UFACTORY · Tech Specs > Hardware, 'Power Consumption' row (page names the machine 'UFACTORY 850'; spec tables say 'UFactory 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Typical 240W, Max 1000W, 500W Power is recommended.
UFACTORY 850 Hardware Manual (online), 8. Technical Specifications · UFACTORY · Table 'UFACTORY 850', 'Power Consumption' row (docs site 'UFACTORY 850 硬件手册', English version; names the machine 'UFACTORY 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Kind: Contradictionspec-041
Sources disagree
Sources disagree on the 850's typical power consumption: 240 W on the product page and in the online hardware manual, 200 W in User Manual V2.3.0.
Related: spec-040 Verified
Evidence · 2 citations
Typical 240 W, Max 1000 W
UFACTORY 850 product page · UFACTORY · Tech Specs > Hardware, 'Power Consumption' row (page names the machine 'UFACTORY 850'; spec tables say 'UFactory 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Power Consumption Min 20 W, Typical 200 W, Max 1000 W
UFACTORY 850 User Manual V2.3.0 (PDF, older edition) · UFACTORY · Appendix 2, 1.1 Common Specifications, p.173 (manual names the machine '850' / 'UFactory 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Confidence: Verifiedspec-043
The record says
UFACTORY recommends a 500 W power supply for the 850.
Evidence · 1 citation
Typical 240W, Max 1000W, 500W Power is recommended.
UFACTORY 850 Hardware Manual (online), 8. Technical Specifications · UFACTORY · Table 'UFACTORY 850', 'Power Consumption' row (docs site 'UFACTORY 850 硬件手册', English version; names the machine 'UFACTORY 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Confidence: Verifiedspec-045
The record says
The 850 arm's input supply current rating is 20.8 A.
Evidence · 2 citations
Input Power Supply 48VDC 20.8A
UFACTORY 850 product page · UFACTORY · Tech Specs > Hardware, 'Input Power Supply' row (page names the machine 'UFACTORY 850'; spec tables say 'UFactory 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
48V DC, 20.8A
UFACTORY 850 Hardware Manual (online), 8. Technical Specifications · UFACTORY · Table 'UFACTORY 850', 'Input Power Supply' row (docs site 'UFACTORY 850 硬件手册', English version; names the machine 'UFACTORY 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Confidence: Verifiedspec-061
The record says
The AC control box outputs 48 V DC, up to 1000 W, to the arm.
Evidence · 1 citation
48V DC 1000Wmax
UFACTORY 850 Hardware Manual (online), 8. Technical Specifications · UFACTORY · AC Controller / DC Controller table, 'Output' row, AC column (docs site 'UFACTORY 850 硬件手册', English version; names the machine 'UFACTORY 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Confidence: Verifiedspec-064
The record says
The DC control box outputs 48 V DC, up to 960 W, to the arm.
Evidence · 1 citation
Output 48VDC 960Wmax
UFACTORY 850 Hardware Manual (online), 3. Controller Electrical Interface · UFACTORY · 3.3.2 Power Supply, 'Output' (docs site 'UFACTORY 850 硬件手册', English version; names the machine 'UFACTORY 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Confidence: Verifiedspec-056
The record says
The 850 base is fixed with four M8 bolts (supplied) through four Ø8.5 mm holes.
Evidence · 1 citation
The robotic arm has four M8 bolts provided and can be mounted through four ∅8.5 holes in the base of the robotic arm.
UFACTORY 850 Hardware Manual (online), 2. Hardware Installation · UFACTORY · 2.2.3.1 Robot Base Mounting (docs site 'UFACTORY 850 硬件手册', English version; names the machine 'UFACTORY 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Confidence: Verifiedspec-057
The record says
UFACTORY recommends tightening the 850's base bolts to 20 N·m.
Evidence · 1 citation
It is recommended to tighten these bolts with a torque of 20Nm.
UFACTORY 850 Hardware Manual (online), 2. Hardware Installation · UFACTORY · 2.2.3.1 Robot Base Mounting (docs site 'UFACTORY 850 硬件手册', English version; names the machine 'UFACTORY 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Confidence: Verifiedspec-058
The record says
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')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Confidence: Verifiedspec-067
The record says
The product page and the online hardware manual give the AC control box dimensions as 345 × 135 × 101 mm (L × W × H).
Evidence · 2 citations
345*135*101mm
UFACTORY 850 product page · UFACTORY · Tech Specs > Hardware, 'Dimension(L*W*H)' row (page names the machine 'UFACTORY 850'; spec tables say 'UFactory 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
345×135×101mm
UFACTORY 850 Hardware Manual (online), 8. Technical Specifications · UFACTORY · AC Controller / DC Controller table, 'Dimension(L×W×H)' row (docs site 'UFACTORY 850 硬件手册', English version; names the machine 'UFACTORY 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Kind: Contradictionspec-068
Sources disagree
Sources disagree on the AC control box dimensions: 345 × 135 × 101 mm on the product page and in the online hardware manual, 376 × 145 × 130 mm in User Manual V2.3.0.
Related: spec-067 Verified
Evidence · 2 citations
345×135×101mm
UFACTORY 850 Hardware Manual (online), 8. Technical Specifications · UFACTORY · AC Controller / DC Controller table, 'Dimension(L×W×H)' row (docs site 'UFACTORY 850 硬件手册', English version; names the machine 'UFACTORY 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Dimension(L*W*H) 376mm*145mm*130mm
UFACTORY 850 User Manual V2.3.0 (PDF, older edition) · UFACTORY · Appendix 2, Control Box, p.173 (same value, Appendix 7 p.185) (manual names the machine '850' / 'UFactory 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Confidence: Verifiedspec-069
The record says
The DC control box measures 262 × 160 × 76 mm (L × W × H).
Evidence · 2 citations
262*160*76mm
UFACTORY 850 product page · UFACTORY · Tech Specs > Hardware, 'Dimension(L*W*H)' row (page names the machine 'UFACTORY 850'; spec tables say 'UFactory 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
262×160×76mm
UFACTORY 850 Hardware Manual (online), 8. Technical Specifications · UFACTORY · AC Controller / DC Controller table, 'Dimension(L×W×H)' row (docs site 'UFACTORY 850 硬件手册', English version; names the machine 'UFACTORY 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Confidence: Verifiedspec-049
The record says
The 850 is to be used below 2000 m altitude.
Evidence · 1 citation
Altitude: <2000m
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 · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Confidence: Verifiedspec-051
The record says
The 850 is rated ISO Class 5 for cleanroom use.
Evidence · 2 citations
ISO Class Cleanroom 5
UFACTORY 850 product page · UFACTORY · Tech Specs > Hardware, 'ISO Class Cleanroom' row (page names the machine 'UFACTORY 850'; spec tables say 'UFactory 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
ISO Class Cleanroom 5
UFACTORY 850 Hardware Manual (online), 8. Technical Specifications · UFACTORY · Table 'UFACTORY 850', 'ISO Class Cleanroom' row (docs site 'UFACTORY 850 硬件手册', English version; names the machine 'UFACTORY 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Kind: Gapspec-053
Not known
No noise (sound pressure) figure for the UFACTORY 850 arm was found in the product page, the online hardware manual or User Manual V2.3.0; the only noise figure given is for the Vacuum Gripper accessory (<60 dB at 30 cm).
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')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Confidence: Verifiedspec-079
The record says
The 850 control box provides a gigabit Ethernet interface.
Evidence · 1 citation
The control box provides a gigabit Ethernet interface.
UFACTORY 850 User Manual V2.3.0 (PDF, older edition) · UFACTORY · Hardware Section 2.6 Ethernet TCP/IP, p.50 (manual names the machine '850' / 'UFactory 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Confidence: Verifiedspec-076
The record says
The product page and the online hardware manual list one RS-485 master port on the 850 control box.
Evidence · 2 citations
1×RS-485 Master
UFACTORY 850 Hardware Manual (online), 8. Technical Specifications · UFACTORY · AC/DC Controller table, 'I/O Interface' row (docs site 'UFACTORY 850 硬件手册', English version; names the machine 'UFACTORY 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Ethernet, RS485 Master*1
UFACTORY 850 product page · UFACTORY · Tech Specs > Hardware, 'Communication Mode' row of control box table (page names the machine 'UFACTORY 850'; spec tables say 'UFactory 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Kind: Contradictionspec-077
Sources disagree
Sources disagree on the control box's RS-485 ports: one RS-485 master on the product page and in the online hardware manual, but one master and one slave (2 × RS-485) in User Manual V2.3.0.
Related: spec-076 Verified
Evidence · 3 citations
1×RS-485 Master
UFACTORY 850 Hardware Manual (online), 8. Technical Specifications · UFACTORY · AC/DC Controller table, 'I/O Interface' row (docs site 'UFACTORY 850 硬件手册', English version; names the machine 'UFACTORY 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
1*RS-485 Master 1*RS-485 Slave
UFACTORY 850 User Manual V2.3.0 (PDF, older edition) · UFACTORY · Appendix 2, Control Box I/O Interface, p.173 (manual names the machine '850' / 'UFactory 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
I/O Ports 8*CI 8*DI 8*CO 8*DO 2*AI 2*AO 2*RS-485
UFACTORY 850 User Manual V2.3.0 (PDF, older edition) · UFACTORY · Appendix 7, 1.11 Specifications, p.185 (manual names the machine '850' / 'UFactory 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Confidence: Verifiedspec-081
The record says
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')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
If end effector supports standard Modbus RTU, user can debug it via '
UFACTORY 850 Hardware Manual (online), 4. Robotic Electrical Interface · UFACTORY · 4.4.4 Tool RS485 (docs site 'UFACTORY 850 硬件手册', English version; names the machine 'UFACTORY 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Kind: Contradictionspec-082
Sources disagree
Sources disagree on the 850's end-effector communication protocol: the product page says Modbus RTU, and the online hardware manual's Tool RS485 section and Gripper G2 table describe RS-485 with Modbus RTU, but the specification tables of the online hardware manual and User Manual V2.3.0 say Modbus TCP. The tool port is RS-485, which suggests RTU, but this is not confirmed.
Related: spec-081 Verified
Evidence · 5 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')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
End Effector Communication Protocol Modbus TCP
UFACTORY 850 Hardware Manual (online), 8. Technical Specifications · UFACTORY · Table 'UFACTORY 850', 'End Effector Communication Protocol' row (docs site 'UFACTORY 850 硬件手册', English version; names the machine 'UFACTORY 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
End-effector Communication Protocol Modbus TCP
UFACTORY 850 User Manual V2.3.0 (PDF, older edition) · UFACTORY · Appendix 2, 1.1 Common Specifications, p.173 (manual names the machine '850' / 'UFactory 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
| Communication Method | RS485 | Communication Protocol | Modbus RTU |
UFACTORY 850 Hardware Manual (online), 8. Technical Specifications · UFACTORY · Gripper G2 table
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
If end effector supports standard Modbus RTU
UFACTORY 850 Hardware Manual (online), 4. Robotic Electrical Interface · UFACTORY · 4.4.4 Tool RS485
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Kind: Contradictionspec-089
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
Evidence · 3 citations
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
Open the source
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
Open the source
100% = 230mm/s
UFACTORY Studio User Manual (online), 4. Live Control · UFACTORY · 4.4 Speed
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-13
Open the source
Confidence: Verifiedspec-014
The record says
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.
Evidence · 2 citations
effort="200.0" velocity="3.14"
xarm_ros2 (branch humble), xarm_description/urdf/uf850/uf850.urdf.xacro · UFACTORY · <joint name="${prefix}joint1"> <limit> element (ROS naming 'uf850')
© UFACTORY Inc., xArm-Developer/xarm_ros2, BSD 3-Clause License · BSD-3-Clause · retrieved 2026-09-21
Open the source
Maximum Joint Speed 180°/s
UFACTORY 850 Hardware Manual (online), 8. Technical Specifications · UFACTORY · Table 'UFACTORY 850', 'Maximum Joint Speed' row
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Confidence: Verifiedspec-015
The record says
UFACTORY's uf850 URDF sets a velocity limit of 3.14 rad/s (about 180°/s) for joint 2 (J2), consistent with the 180°/s maximum joint speed in the spec sheet.
Evidence · 2 citations
effort="200.0" velocity="3.14"
xarm_ros2 (branch humble), xarm_description/urdf/uf850/uf850.urdf.xacro · UFACTORY · <joint name="${prefix}joint2"> <limit> element (ROS naming 'uf850')
© UFACTORY Inc., xArm-Developer/xarm_ros2, BSD 3-Clause License · BSD-3-Clause · retrieved 2026-09-21
Open the source
Maximum Joint Speed 180°/s
UFACTORY 850 Hardware Manual (online), 8. Technical Specifications · UFACTORY · Table 'UFACTORY 850', 'Maximum Joint Speed' row
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Confidence: Verifiedspec-016
The record says
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.
Evidence · 2 citations
effort="90.0" velocity="3.14"
xarm_ros2 (branch humble), xarm_description/urdf/uf850/uf850.urdf.xacro · UFACTORY · <joint name="${prefix}joint3"> <limit> element (ROS naming 'uf850')
© UFACTORY Inc., xArm-Developer/xarm_ros2, BSD 3-Clause License · BSD-3-Clause · retrieved 2026-09-21
Open the source
Maximum Joint Speed 180°/s
UFACTORY 850 Hardware Manual (online), 8. Technical Specifications · UFACTORY · Table 'UFACTORY 850', 'Maximum Joint Speed' row
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Confidence: Verifiedspec-017
The record says
UFACTORY's uf850 URDF sets a velocity limit of 3.14 rad/s (about 180°/s) for joint 4 (J4), consistent with the 180°/s maximum joint speed in the spec sheet.
Evidence · 2 citations
effort="68.0" velocity="3.14"
xarm_ros2 (branch humble), xarm_description/urdf/uf850/uf850.urdf.xacro · UFACTORY · <joint name="${prefix}joint4"> <limit> element (ROS naming 'uf850')
© UFACTORY Inc., xArm-Developer/xarm_ros2, BSD 3-Clause License · BSD-3-Clause · retrieved 2026-09-21
Open the source
Maximum Joint Speed 180°/s
UFACTORY 850 Hardware Manual (online), 8. Technical Specifications · UFACTORY · Table 'UFACTORY 850', 'Maximum Joint Speed' row
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Confidence: Verifiedspec-018
The record says
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.
Evidence · 2 citations
effort="19.0" velocity="3.14"
xarm_ros2 (branch humble), xarm_description/urdf/uf850/uf850.urdf.xacro · UFACTORY · <joint name="${prefix}joint5"> <limit> element (ROS naming 'uf850')
© UFACTORY Inc., xArm-Developer/xarm_ros2, BSD 3-Clause License · BSD-3-Clause · retrieved 2026-09-21
Open the source
Maximum Joint Speed 180°/s
UFACTORY 850 Hardware Manual (online), 8. Technical Specifications · UFACTORY · Table 'UFACTORY 850', 'Maximum Joint Speed' row
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Confidence: Verifiedspec-019
The record says
UFACTORY's uf850 URDF sets a velocity limit of 3.14 rad/s (about 180°/s) for joint 6 (J6), consistent with the 180°/s maximum joint speed in the spec sheet.
Evidence · 2 citations
effort="19.0" velocity="3.14"
xarm_ros2 (branch humble), xarm_description/urdf/uf850/uf850.urdf.xacro · UFACTORY · <joint name="${prefix}joint6"> <limit> element (ROS naming 'uf850')
© UFACTORY Inc., xArm-Developer/xarm_ros2, BSD 3-Clause License · BSD-3-Clause · retrieved 2026-09-21
Open the source
Maximum Joint Speed 180°/s
UFACTORY 850 Hardware Manual (online), 8. Technical Specifications · UFACTORY · Table 'UFACTORY 850', 'Maximum Joint Speed' row
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Confidence: Verifiedspec-020
The record says
UFACTORY's uf850 URDF sets an effort limit of 200 for joint 1 (J1); the file gives no unit and does not call it a rated torque.
Evidence · 1 citation
effort="200.0" velocity="3.14"
xarm_ros2 (branch humble), xarm_description/urdf/uf850/uf850.urdf.xacro · UFACTORY · <joint name="${prefix}joint1"> <limit> element (ROS naming 'uf850')
© UFACTORY Inc., xArm-Developer/xarm_ros2, BSD 3-Clause License · BSD-3-Clause · retrieved 2026-09-21
Open the source
Confidence: Verifiedspec-021
The record says
UFACTORY's uf850 URDF sets an effort limit of 200 for joint 2 (J2); the file gives no unit and does not call it a rated torque.
Evidence · 1 citation
effort="200.0" velocity="3.14"
xarm_ros2 (branch humble), xarm_description/urdf/uf850/uf850.urdf.xacro · UFACTORY · <joint name="${prefix}joint2"> <limit> element (ROS naming 'uf850')
© UFACTORY Inc., xArm-Developer/xarm_ros2, BSD 3-Clause License · BSD-3-Clause · retrieved 2026-09-21
Open the source
Confidence: Verifiedspec-022
The record says
UFACTORY's uf850 URDF sets an effort limit of 90 for joint 3 (J3); the file gives no unit and does not call it a rated torque.
Evidence · 1 citation
effort="90.0" velocity="3.14"
xarm_ros2 (branch humble), xarm_description/urdf/uf850/uf850.urdf.xacro · UFACTORY · <joint name="${prefix}joint3"> <limit> element (ROS naming 'uf850')
© UFACTORY Inc., xArm-Developer/xarm_ros2, BSD 3-Clause License · BSD-3-Clause · retrieved 2026-09-21
Open the source
Confidence: Verifiedspec-023
The record says
UFACTORY's uf850 URDF sets an effort limit of 68 for joint 4 (J4); the file gives no unit and does not call it a rated torque.
Evidence · 1 citation
effort="68.0" velocity="3.14"
xarm_ros2 (branch humble), xarm_description/urdf/uf850/uf850.urdf.xacro · UFACTORY · <joint name="${prefix}joint4"> <limit> element (ROS naming 'uf850')
© UFACTORY Inc., xArm-Developer/xarm_ros2, BSD 3-Clause License · BSD-3-Clause · retrieved 2026-09-21
Open the source
Confidence: Verifiedspec-024
The record says
UFACTORY's uf850 URDF sets an effort limit of 19 for joint 5 (J5); the file gives no unit and does not call it a rated torque.
Evidence · 1 citation
effort="19.0" velocity="3.14"
xarm_ros2 (branch humble), xarm_description/urdf/uf850/uf850.urdf.xacro · UFACTORY · <joint name="${prefix}joint5"> <limit> element (ROS naming 'uf850')
© UFACTORY Inc., xArm-Developer/xarm_ros2, BSD 3-Clause License · BSD-3-Clause · retrieved 2026-09-21
Open the source
Confidence: Verifiedspec-025
The record says
UFACTORY's uf850 URDF sets an effort limit of 19 for joint 6 (J6); the file gives no unit and does not call it a rated torque.
Evidence · 1 citation
effort="19.0" velocity="3.14"
xarm_ros2 (branch humble), xarm_description/urdf/uf850/uf850.urdf.xacro · UFACTORY · <joint name="${prefix}joint6"> <limit> element (ROS naming 'uf850')
© UFACTORY Inc., xArm-Developer/xarm_ros2, BSD 3-Clause License · BSD-3-Clause · retrieved 2026-09-21
Open the source
Confidence: Verifiedspec-026
The record says
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.
Evidence · 3 citations
joint1_lower_limit="${-pi*0.99}" joint1_upper_limit="${pi*0.99}"
xarm_ros2 (branch humble), xarm_description/urdf/uf850/uf850_robot_macro.xacro · UFACTORY · macro uf850_robot, <xacro:if value="${limited}"> branch, uf850_urdf call (ROS naming 'uf850')
© UFACTORY Inc., xArm-Developer/xarm_ros2, BSD 3-Clause License · BSD-3-Clause · retrieved 2026-09-21
Open the source
joint3_lower_limit="${-pi*0.99}" joint3_upper_limit="${0.061087}"
xarm_ros2 (branch humble), xarm_description/urdf/uf850/uf850_robot_macro.xacro · UFACTORY · same branch (ROS naming 'uf850')
© UFACTORY Inc., xArm-Developer/xarm_ros2, BSD 3-Clause License · BSD-3-Clause · retrieved 2026-09-21
Open the source
limited:=false
xarm_ros2 (branch humble), xarm_description/urdf/uf850/uf850_robot_macro.xacro · UFACTORY · macro parameter list (ROS naming 'uf850')
© UFACTORY Inc., xArm-Developer/xarm_ros2, BSD 3-Clause License · BSD-3-Clause · retrieved 2026-09-21
Open the source
Confidence: Verifiedspec-031
The record says
The TCP acceleration parameter for the 850 ranges from 0 to 50000 mm/s².
Evidence · 1 citation
Acceleration 0~50000mm/s²
UFACTORY 850 Hardware Manual (online), Preface · UFACTORY · 'Motion Parameters' table, TCP Motion column (docs site 'UFACTORY 850 硬件手册', English version; names the machine 'UFACTORY 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Confidence: Verifiedspec-032
The record says
The TCP jerk parameter for the 850 ranges from 0 to 100000 mm/s³.
Evidence · 1 citation
Jerk 0～100000mm/s³
UFACTORY 850 Hardware Manual (online), Preface · UFACTORY · 'Motion Parameters' table, TCP Motion column (docs site 'UFACTORY 850 硬件手册', English version; names the machine 'UFACTORY 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Confidence: Verifiedspec-033
The record says
The joint acceleration parameter for the 850 ranges from 0 to 1145°/s².
Evidence · 1 citation
0～1145°/s²
UFACTORY 850 Hardware Manual (online), Preface · UFACTORY · 'Motion Parameters' table, Joint Motion column (docs site 'UFACTORY 850 硬件手册', English version; names the machine 'UFACTORY 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Confidence: Verifiedspec-034
The record says
The joint jerk parameter for the 850 ranges from 0 to 28647°/s³.
Evidence · 1 citation
0～28647°/s³
UFACTORY 850 Hardware Manual (online), Preface · UFACTORY · 'Motion Parameters' table, Joint Motion column (docs site 'UFACTORY 850 硬件手册', English version; names the machine 'UFACTORY 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Confidence: Verifiedspec-042
The record says
User Manual V2.3.0 gives the 850's minimum power consumption as 20 W (no other source states a minimum).
Evidence · 1 citation
Power Consumption Min 20 W, Typical 200 W, Max 1000 W
UFACTORY 850 User Manual V2.3.0 (PDF, older edition) · UFACTORY · Appendix 2, 1.1 Common Specifications, p.173 (manual names the machine '850' / 'UFactory 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Confidence: Verifiedspec-062
The record says
User Manual V2.3.0 rates the AC control box (model AC15) input at 1050 W maximum, single phase, with a 50 A short-circuit rating.
Evidence · 3 citations
Input 1PHASE AC 100-240V 47~63HZ 1050Wmax
UFACTORY 850 User Manual V2.3.0 (PDF, older edition) · UFACTORY · Appendix 7, 1.11 Specifications, p.185 (manual names the machine '850' / 'UFactory 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Short Circuit Rating 50A
UFACTORY 850 User Manual V2.3.0 (PDF, older edition) · UFACTORY · Appendix 7, 1.11 Specifications, p.185 (manual names the machine '850' / 'UFactory 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Control Box Model AC15
UFACTORY 850 User Manual V2.3.0 (PDF, older edition) · UFACTORY · Appendix, Control Box specifications
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Confidence: Verifiedsafety-043
The record says
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 · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Extension: 100% (the robot arm is fully extended horizontally).
UFACTORY 850 Hardware Manual (online), 7. Production Information · UFACTORY · 7.9, test configuration
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Speed: 100% (the general speed of the robot is set to 100% and the movement is performed at a joint speed of 180 °/s).
UFACTORY 850 Hardware Manual (online), 7. Production Information · UFACTORY · 7.9, test configuration
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Payload: maximum payload handled by the robot attached to the TCP (5 kg).
UFACTORY 850 Hardware Manual (online), 7. Production Information · UFACTORY · 7.9, test configuration
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
The test on the Joint 1 was carried out by performing a horizontal movement, the axis of rotation was perpendicular to the ground.
UFACTORY 850 Hardware Manual (online), 7. Production Information · UFACTORY · 7.9, test configuration
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Confidence: Verifiedsafety-044
The record says
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
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Payload: maximum payload handled by the robot attached to the TCP (5 kg).
UFACTORY 850 Hardware Manual (online), 7. Production Information · UFACTORY · 7.9, test configuration
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Speed: 100% (the general speed of the robot is set to 100% and the movement is performed at a joint speed of 180 °/s).
UFACTORY 850 Hardware Manual (online), 7. Production Information · UFACTORY · 7.9, test configuration
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
The test on the Joint 1 was carried out by performing a horizontal movement, the axis of rotation was perpendicular to the ground.
UFACTORY 850 Hardware Manual (online), 7. Production Information · UFACTORY · 7.9, test configuration
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Extension: 100% (the robot arm is fully extended horizontally).
UFACTORY 850 Hardware Manual (online), 7. Production Information · UFACTORY · 7.9, test configuration
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Confidence: Verifiedsafety-045
The record says
UFACTORY's measured Stop Category 1 stopping distance for Joint 2 is 1.12 rad (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
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Extension: 100% (the robot arm is fully extended horizontally).
UFACTORY 850 Hardware Manual (online), 7. Production Information · UFACTORY · 7.9, test configuration
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Speed: 100% (the general speed of the robot is set to 100% and the movement is performed at a joint speed of 180 °/s).
UFACTORY 850 Hardware Manual (online), 7. Production Information · UFACTORY · 7.9, test configuration
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Payload: maximum payload handled by the robot attached to the TCP (5 kg).
UFACTORY 850 Hardware Manual (online), 7. Production Information · UFACTORY · 7.9, test configuration
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
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 · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Confidence: Verifiedsafety-046
The record says
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
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Payload: maximum payload handled by the robot attached to the TCP (5 kg).
UFACTORY 850 Hardware Manual (online), 7. Production Information · UFACTORY · 7.9, test configuration
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Speed: 100% (the general speed of the robot is set to 100% and the movement is performed at a joint speed of 180 °/s).
UFACTORY 850 Hardware Manual (online), 7. Production Information · UFACTORY · 7.9, test configuration
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
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 · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Extension: 100% (the robot arm is fully extended horizontally).
UFACTORY 850 Hardware Manual (online), 7. Production Information · UFACTORY · 7.9, test configuration
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Confidence: Verifiedsafety-047
The record says
UFACTORY's measured Stop Category 1 stopping distance for Joint 3 is 0.67 rad (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
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Extension: 100% (the robot arm is fully extended horizontally).
UFACTORY 850 Hardware Manual (online), 7. Production Information · UFACTORY · 7.9, test configuration
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Speed: 100% (the general speed of the robot is set to 100% and the movement is performed at a joint speed of 180 °/s).
UFACTORY 850 Hardware Manual (online), 7. Production Information · UFACTORY · 7.9, test configuration
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Payload: maximum payload handled by the robot attached to the TCP (5 kg).
UFACTORY 850 Hardware Manual (online), 7. Production Information · UFACTORY · 7.9, test configuration
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
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 · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Confidence: Verifiedsafety-048
The record says
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
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Payload: maximum payload handled by the robot attached to the TCP (5 kg).
UFACTORY 850 Hardware Manual (online), 7. Production Information · UFACTORY · 7.9, test configuration
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Speed: 100% (the general speed of the robot is set to 100% and the movement is performed at a joint speed of 180 °/s).
UFACTORY 850 Hardware Manual (online), 7. Production Information · UFACTORY · 7.9, test configuration
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
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 · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Extension: 100% (the robot arm is fully extended horizontally).
UFACTORY 850 Hardware Manual (online), 7. Production Information · UFACTORY · 7.9, test configuration
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Kind: Gapsafety-119
Not known
The fetched UFACTORY manual gives Stop Category 1 stop data only for Joints 1 to 3 at 100% extension, 100% speed and a 5 kg payload. No data was found for Joints 4 to 6, for other speeds or payloads, for Stop Category 2 (the SI safeguard stop), or for stopping after a collision is detected. These are needed for any separation-distance calculation.
Related: safety-043 Verified safety-044 Verified safety-045 Verified safety-046 Verified safety-047 Verified safety-048 Verified
Evidence · 1 citation
Stop Category 1 stopping distances and times.
UFACTORY 850 Hardware Manual (online), 7. Production Information · UFACTORY · 7.9 Stop Time and Stop Distance
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Kind: Gaplim-017
Not known
No fetched source gives a payload diagram for the 850: how the allowable payload falls as the load's center of mass moves away from the flange, or with speed. Integrators need this to size grippers and parts.
Related: lim-001 Inferred
Confidence: Verifiedspec-084
The record says
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 · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
EN 61000-6-4:2019 EN 61000-6-2:2019
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')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
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')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Confidence: Verifiedspec-085
The record says
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.
Evidence · 4 citations
DSS_MD-GZES2403005468MD.pdf DSS_GZEM2403001755MDVR.pdf
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')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
SGS-CSTC Standards Technical Services Co., Ltd.
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) · Document heading
SGS verification document, published by UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
VERIFICATION OF MD COMPLIANCE
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) · Document heading
SGS verification document, published by UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
VERIFICATION OF COMPLIANCE
SGS Verification of Compliance No. GZEM2403001755MDVR (EMC; UFACTORY Robotic Arm, Model No. XI13, XI15) · SGS-CSTC Standards Technical Services Co., Ltd. (published by UFACTORY) · Document heading
SGS verification document, published by UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Confidence: Verifiedsafety-082
The record says
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
Open the source
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
Open the source
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
Open the source
Confidence: Verifiedsafety-084
The record says
The SGS EMC verification for model numbers XI13 and XI15 covers EN IEC 61000-6-2:2019 and EN IEC 61000-6-4:2019 under Directive 2014/30/EU.
Evidence · 3 citations
Standard(s): EN IEC 61000-6-2: 2019 EN IEC 61000-6-4: 2019
SGS Verification of Compliance No. GZEM2403001755MDVR (EMC; UFACTORY Robotic Arm, Model No. XI13, XI15) · SGS-CSTC Standards Technical Services Co., Ltd. (published by UFACTORY) · Standard(s) field
SGS verification document, published by UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Directive 2014/30/EU
SGS Verification of Compliance No. GZEM2403001755MDVR (EMC; UFACTORY Robotic Arm, Model No. XI13, XI15) · SGS-CSTC Standards Technical Services Co., Ltd. (published by UFACTORY) · Closing paragraph
SGS verification document, published by UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Model No.: XI13, XI15
SGS Verification of Compliance No. GZEM2403001755MDVR (EMC; UFACTORY Robotic Arm, Model No. XI13, XI15) · SGS-CSTC Standards Technical Services Co., Ltd. (published by UFACTORY) · Product fields
SGS verification document, published by UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Kind: Gapspec-086
Not known
The 850 product page and manual text do not themselves state conformance to ISO 10218-1 or ISO/TS 15066. The only ISO 10218 evidence found is the SGS verification linked from the manual, which is against EN ISO 10218-1:2011 (safety-082, safety-086). No assessment against the 2025 editions was found.
Related: lim-019 Gap safety-082 Verified safety-086 Inferred safety-122 Gap safety-126 Gap
Evidence · 1 citation
Certifications Complete(CE)
UFACTORY 850 product page · UFACTORY · Service & Support > Certificates (the only certification listed) (page names the machine 'UFACTORY 850'; spec tables say 'UFactory 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Kind: Gapsafety-122
Not known
The EC/EU Declaration of Conformity for the 850 was not found or fetched. The SGS verifications say the CE mark depends on one, and the product page says only 'Certifications Complete(CE)'. Nothing fetched from UFACTORY states conformity with ISO 10218-1:2025 or ISO 10218-2.
Related: lim-019 Gap safety-082 Verified safety-086 Inferred safety-126 Gap spec-086 Gap
Evidence · 2 citations
after completion of an EC Declaration of Conformity and compliance with all relevant EC Directives.
SGS Verification of MD Compliance No. MD GZES2403005468MD (UFACTORY Robotic Arm, Model No. XI13, XI15) · SGS-CSTC Standards Technical Services Co., Ltd. (published by UFACTORY) · Closing paragraph
SGS verification document, published by UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Certifications Complete(CE)
UFACTORY 850 product page · UFACTORY · Certificates
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Kind: Gapspec-059
Not known
No dimensioned base drawing values (bolt-circle diameter, base height) were captured as text: the product page and manuals show 'Robot base mounting' and flange drawings only as images.
Evidence · 2 citations
Robot base mounting (mm)
UFACTORY 850 product page · UFACTORY · Tech Specs > Dimension (page names the machine 'UFACTORY 850'; spec tables say 'UFactory 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Mechanical dimensions of end-effector flange (unit: mm)
UFACTORY 850 Hardware Manual (online), 4. Robotic Electrical Interface · UFACTORY · 4.1 End Flange, figure caption (docs site 'UFACTORY 850 硬件手册', English version; names the machine 'UFACTORY 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Kind: Gapspec-087
Not known
The product page lists the 850's 'Base Connector Type' as M8*4; the page does not say which connector this is. The online manual describes an M8 4-pole Ethernet interface at the end flange, not the base, so the meaning of this row is unclear.
Evidence · 2 citations
Base Connector Type M8*4
UFACTORY 850 product page · UFACTORY · Tech Specs > Hardware, 'Base Connector Type' row (page names the machine 'UFACTORY 850'; spec tables say 'UFactory 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
The user Ethernet interface(RJ45) of the arm base is connected to the Ethernet interface(M8 4-pole) of the end flange
UFACTORY 850 Hardware Manual (online), 4. Robotic Electrical Interface · UFACTORY · 4.5 Ethernet Interface (docs site 'UFACTORY 850 硬件手册', English version; names the machine 'UFACTORY 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Confidence: Verifiedapp-025
The record says
The Tool Center Point (TCP) is the reference point the arm positions. Without a TCP offset, the tool coordinate system sits at the flange center; a TCP offset moves it to the actual tool point.
Evidence · 2 citations
If the TCP offset is not set, the default tool coordinate system is located at flange center.
UFACTORY Studio User Manual (online), 2. Glossary · UFACTORY · Glossary, 'Tool Coordinate System'
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Set the relative offset between the default tool coordinate system at flange center and the actual tool coordinate system, with distance unit of mm.
UFACTORY Studio User Manual (online), 2. Glossary · UFACTORY · Glossary, 'TCP Offset'
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Confidence: Verifiediface-039
The record says
The arm's default IP address is in the 192.168.1.xxx range, and the PC must be on the same network segment as the control box.
Evidence · 1 citation
The default IP of robotic arm is 192.168.1.xxx, please make sure that the IP address of the PC and control box are on the same network segment.
UFACTORY Studio User Manual (online), 3. Connection · UFACTORY · 3.2 Software Connection
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Confidence: Verifiediface-023
The record says
The 850 arm and its controller communicate with a host over Ethernet using a private (custom) TCP protocol.
Evidence · 2 citations
Robotic Arm Communication Protocol | Private TCP(custom)
UFACTORY 850 Hardware Manual (online), 8. Technical Specifications · UFACTORY · Specifications table, 'Robotic Arm Communication Protocol' row
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Communication Method | Ethernet
UFACTORY 850 Hardware Manual (online), 8. Technical Specifications · UFACTORY · Controller table, 'Communication Method' row
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Confidence: Verifiedapp-026
The record says
The base coordinate system is a Cartesian frame fixed to the arm's mounting base: X is front and back, Y left and right, and Z up and down.
Evidence · 1 citation
Quote not shown (over 40 words). See the source at: Glossary, 'Base Coordinate System'.
UFACTORY Studio User Manual (online), 2. Glossary · UFACTORY · Glossary, 'Base Coordinate System'
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Confidence: Verifiedapp-034
The record says
UFACTORY's collision detection compares each joint's theoretical current with its actual current: the control system uses a dynamic model to calculate the theoretical current for each joint, and triggers collision detection when the difference exceeds a pre-set threshold.
Evidence · 3 citations
By comparing the theoretical current and actual current of each joint, the system determines whether a collision has occurred.
Collision Detection in UFACTORY Robotic Arms: Current and Dynamic Model-based Feature (UFACTORY support article) · UFACTORY · Introduction
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
If the difference exceeds a pre-set threshold, indicating that the joint may have encountered external resistance or collision, the system triggers the collision detection.
Collision Detection in UFACTORY Robotic Arms: Current and Dynamic Model-based Feature (UFACTORY support article) · UFACTORY · Section 1
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
The robot's control system calculates the theoretical current for each joint based on the dynamic model.
Collision Detection in UFACTORY Robotic Arms: Current and Dynamic Model-based Feature (UFACTORY support article) · UFACTORY · Section 1
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Confidence: Inferredsafety-087
The record says
No fetched UFACTORY document calls the 850's collision detection, safety boundary or reduced mode safety-rated, or gives them a performance level.
Why we infer this: Verified: collision detection is a model-based current comparison that UFACTORY says can false-trigger with wrong settings and can be disabled (level 0, Advanced Settings toggle, a documented default password); safety boundary and reduced mode are software settings exposed in Studio and the SDK. UFACTORY distinguishes safety signals (EI/SI, redundant pairs) from non-safety devices. Inferred: no fetched UFACTORY source assigns a PL, Category or safety rating to these software functions (see the gap on performance level); this is a statement about the documents fetched, not proof that no rating exists.
Evidence · 3 citations
By comparing the theoretical current and actual current of each joint, the system determines whether a collision has occurred.
Collision Detection in UFACTORY Robotic Arms: Current and Dynamic Model-based Feature (UFACTORY support article) · UFACTORY · Section 1
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
When it is set to 0, it means that collision detection is not enabled.
UFACTORY Studio User Manual (online), 2. Glossary · UFACTORY · Glossary, Collision Sensitivity
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Never connect a safety signal to a non-safety PLC.Failure to follow this warning may result in serious injury or death due to an invalid safety stop function.
UFACTORY 850 Hardware Manual (online), 3. Controller Electrical Interface · UFACTORY · 3.1 Electrical Alarms and Cautions
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Confidence: Verifiedsafety-009
The record says
UFACTORY says no people or other equipment should be in the 850's working area while the arm is operating.
Evidence · 1 citation
When the robotic arm is in operation, make sure no people or other equipment are in the working area.
UFACTORY 850 Hardware Manual (online), 1. Safety · UFACTORY · 1.3, DANGER list
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Kind: RecommendationThis project's simulation and agent design, not the physical cellsafety-140
Project advice
Treat the 850's collision detection, safety boundary and reduced mode as configurable controller functions, not as validated safeguards: they must not replace the risk-assessed protective devices wired to the EI and SI inputs.
This is advice from this project, based on: safety-087 Inferred safety-062 Verified safety-067 Verified safety-073 Verified safety-074 Verified safety-057 Verified
Why: No fetched UFACTORY document gives these functions a safety rating or performance level (safety-087). Collision detection is a current-model comparison that can false-trigger and can be switched off (safety-062, safety-067); safety boundary and reduced mode are software settings (safety-073, safety-074). UFACTORY keeps safety signals separate from non-safety devices (safety-057). A function with no documented rating cannot stand in for a rated protective device.
Kind: Contradictioncomp-066
Sources disagree
Gripper specifications differ between sources: the online hardware manual's 'Gripper G2(AG1200)' has 10–50 N clamping force, 800 g weight and Modbus RTU, while User Manual V2.3.0's '850 Gripper' has 30 N maximum clamping force, 802 g weight and Modbus TCP. They may describe different gripper generations; the sources do not say.
Related: comp-061 Verified comp-060 Verified
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')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Maximum Clamping Force 30 N Weight (g) 802 g
UFACTORY 850 User Manual V2.3.0 (PDF, older edition) · UFACTORY · Appendix 2, 850 accessories parameters, Gripper, p.174 (manual names the machine '850' / 'UFactory 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Kind: Contradictioncomp-072
Sources disagree
Vacuum gripper specifications differ between sources: the online hardware manual (AS1200) gives -55 kPa, more than 4 L/min, 20 mA quiescent and 500 mA peak current, while User Manual V2.3.0 gives 78% vacuum, more than 5.6 L/min, 30 mA quiescent and 400 mA peak. They may be different product revisions; the sources do not say.
Related: comp-071 Verified
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')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Vacuum 78 % Vacuum Flow (L/min) > 5.6 L/min
UFACTORY 850 User Manual V2.3.0 (PDF, older edition) · UFACTORY · Appendix 2, 850 accessories parameters, Vacuum Gripper, p.174 (manual names the machine '850' / 'UFactory 850')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Kind: Gapcomp-074
Not known
No specification for the 850's BIO Gripper G2 or 6-axis force/torque sensor (payload, force range, resolution) was found in the product page or the 850 manuals fetched; only their names are listed.
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')
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21
Open the source
Kind: GapAwaiting cell accessint-033
Not known
Cycle times for S2's moves (S1 to S3, S3 to S4, and a defective part's move to the defects area) 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 int-081 Verified int-086 Superseded by int-107 Verified int-538 Verified

Image Credits

A white UFACTORY 850 arm with its six joints labeled 1 to 6, each with its rotation range. © UFACTORY (Shenzhen UFACTORY Co., Ltd.). Source. Used with UFACTORY's written permission (2026-09-23), on the condition that each image links back to its source page.
Top view of the 850 on its base, with a shaded circle showing its working range and an 850 mm radius marked. © UFACTORY (Shenzhen UFACTORY Co., Ltd.). Source. Used with UFACTORY's written permission (2026-09-23), on the condition that each image links back to its source page.
A line drawing of the 850 arm with Joint 1 to Joint 6 labeled and a curved arrow at each joint showing its direction of rotation. © UFACTORY (Shenzhen UFACTORY Co., Ltd.). Source. Used with UFACTORY's written permission (2026-09-23), on the condition that each image links back to its source page.

Sources for This Section

Collision Detection in UFACTORY Robotic Arms: Current and Dynamic Model-based Feature (UFACTORY support article) · UFACTORY (manufacturer)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21 · cited by 2 records here · Open the source
IntelliMake Phase 1 Factory: Autonomous Production Demonstrator (infographic) · IntelliMake.org (IntelliMake)
© IntelliMake.org. Used with permission; redrawn for this platform. · Cleared for use by its owner · retrieved 2026-09-21 · cited by 2 records here · Project copy; not published on this site.
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
UFACTORY 850 Hardware Manual (online), 1. Safety · UFACTORY (manufacturer)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21 · cited by 2 records here · Open the source
UFACTORY 850 Hardware Manual (online), 2. Hardware Installation · UFACTORY (manufacturer)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21 · cited by 5 records here · Open the source
UFACTORY 850 Hardware Manual (online), 3. Controller Electrical Interface · UFACTORY (manufacturer)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21 · cited by 4 records here · Open the source
UFACTORY 850 Hardware Manual (online), 4. Robotic Electrical Interface · UFACTORY (manufacturer)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21 · cited by 4 records here · Open the source
UFACTORY 850 Hardware Manual (online), 7. Production Information · UFACTORY (manufacturer)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21 · cited by 13 records here · Open the source
UFACTORY 850 Hardware Manual (online), 8. Technical Specifications · UFACTORY (manufacturer)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21 · cited by 54 records here · Open the source
UFACTORY 850 User Manual V2.3.0 (PDF, older edition) · UFACTORY (manufacturer)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21 · cited by 29 records here · Open the source
UFACTORY Studio User Manual (online), 2. Glossary · UFACTORY (manufacturer)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21 · cited by 4 records here · Open the source
UFACTORY Studio User Manual (online), 3. Connection · UFACTORY (manufacturer)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21 · cited by 1 record here · Open the source
UFACTORY Studio User Manual (online), 4. Live Control · UFACTORY (manufacturer)
© UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-10-13 · cited by 1 record here · Open the source
xarm_ros2 (branch humble), xarm_description/urdf/uf850/uf850.urdf.xacro · UFACTORY (manufacturer)
© UFACTORY Inc., xArm-Developer/xarm_ros2, BSD 3-Clause License · BSD-3-Clause · retrieved 2026-09-21 · cited by 21 records here · Open the source
xarm_ros2 (branch humble), xarm_description/urdf/uf850/uf850_robot_macro.xacro · UFACTORY (manufacturer)
© UFACTORY Inc., xArm-Developer/xarm_ros2, BSD 3-Clause License · BSD-3-Clause · retrieved 2026-09-21 · cited by 1 record here · Open the source

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