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Resource Desk

§5 xArm 850

Key Specifications and Capabilities

The numbers that matter, where each one comes from, and which ones are disputed or missing.

Start Here

This section gives the numbers that matter for using this machine, where each one comes from, and which ones are disputed or missing. Every figure carries its source. Where sources disagree, the disagreement is shown beside the figure, and where the sources give no figure, the page says so instead of guessing.

  • 1 m/s

    top speed of the tool point1

  • ±0.02 mm

    repeatability; the UFACTORY sources give no accuracy figure23

  • None

    IP rating in the UFACTORY sources for the arm or its control boxes4

  • It is a robot arm with six rotary joints, a rated maximum payload of 5 kg and a reach of 850 mm567.
  • Its stated repeatability is ±0.02 mm. That describes returning to a taught point; the UFACTORY sources give no absolute accuracy figure23.
  • Some figures differ between UFACTORY's own documents, such as the range of Joint 28.

S2 in one line: S2 is the xArm 850 arm that picks up incoming material and moves it between receiving, staging and production910.

Look Back

A question from earlier on, to keep it fresh. Skip it if you like; nothing depends on it.

q-s04-b-01 What is the TCP?
  1. Check option (a)

    Correct. Right. It is the Tool Center Point, the reference point the arm positions.110

  2. Check option (b)

    Not this one. The network address is the controller's IP address. Here TCP means Tool Center Point. The same three letters also name a network protocol, which Section 8 covers.111110112

  3. Check option (c)

    Not this one. The base is where positions are measured from. The TCP is at the tool end.113110

q-s04-b-03Safety The 850 detects collisions. Does that make it safe to walk into its path?
  1. Check option (a)

    Not this one. It detects a collision from motor current, after contact. The UFACTORY sources do not call it safety-rated. Keep out while the arm runs.114115116

  2. Check option (b)

    Correct. Right. This project's advice is to treat it as a configurable function, not a validated safeguard.117

Choose your depth

Four depths, one page. Switch at any time: every tier stays open to everyone. What the four tiers mean

1Beginner

Six Numbers and What They Mean

For: Anyone with no robotics background: a visitor, a new operator, a manager
Kind of task: Recognize and recall, with plain-language explanations and pictures

In this part you learn the handful of numbers that describe the arm, and what each one does and does not tell you. Every number comes from a UFACTORY document, and its source is marked beside it.

Size and Strength

  • The arm has six joints, so it can move in six independent ways5.
A white UFACTORY 850 arm with its six joints labeled 1 to 6, each with its rotation range.
The six rotary joints, from Joint 1 at the base to Joint 6 at the tool115. Image: UFACTORY
  • It can carry at most 5 kg6. This platform infers that the 5 kg includes the tool on the end, because UFACTORY's payload setting counts the tool and the part together. A heavier gripper then leaves less for the part it holds12.
  • It reaches 850 mm7.
  • The arm itself weighs 20 kg, without its control box13.
Top view of the 850 on its base, with a shaded circle showing its working range and an 850 mm radius marked.
The working range seen from above, with the 850 mm reach marked7. Image: UFACTORY

How Fast It Moves

  • The tool point, the tip of whatever tool is fitted, can move at up to 1 m/s1.
  • That is a maximum. The UFACTORY sources give no figure for the speed the arm reaches while carrying a full 5 kg load14.

How Precisely It Returns

  • UFACTORY states a repeatability of ±0.02 mm2.
  • Repeatability is how closely the arm returns to a point it was taught. It is not how accurately it reaches a coordinate that was calculated, and the UFACTORY sources give no figure for that3.

Where It Can Work

  • It is rated for surroundings from 0 to 50 °C15.
  • It can be mounted in any orientation16.
  • The UFACTORY sources give no dust and water (IP) rating for the arm or its control box417. The manual warns against letting water or dust into the arm or the controller18.

Certification

  • UFACTORY's product page lists CE certification for the 85019. What that listing does and does not cover is Expert material in this section.

Reading a Number on This Page

A number marked Verified means a UFACTORY document states it. It does not mean anyone has measured it on the arm at the physical cell. When two documents disagree, the site shows both and does not pick one quietly.

Check Yourself

Answer, then check. Each option has its own feedback, and nothing is scored.

q-s05-b-01 What is the most the 850 can carry, counting its gripper?
  1. Check option (a)

    Correct. Right. The rated maximum payload is 5 kg. This platform infers, from UFACTORY's payload setting, that the tool counts toward it.612

  2. Check option (b)

    Not this one. 20 kg is the arm's own weight, without its control box. The payload is 5 kg.136

  3. Check option (c)

    Not this one. 850 is the reach, in millimeters: 850 mm. The payload is 5 kg.76

q-s05-b-02 The 850's repeatability is ±0.02 mm. What does that describe?

About:2

  1. Check option (a)

    Correct. Yes. Repeatability is about returning to a taught point.3

  2. Check option (b)

    Not this one. That is absolute accuracy, and the UFACTORY sources give no figure for it.320

  3. Check option (c)

    Not this one. Speed is a different figure: the tool point's maximum speed is 1 m/s.1

q-s05-b-03 Do the UFACTORY sources give a dust and water (IP) rating for the 850 arm?
  1. Check option (a)

    Not this one. The documents list IP40 only for the Gripper G2 accessory, not for the arm or its control box.17

  2. Check option (b)

    Correct. Right. It is a recorded gap, and the manual warns against letting water or dust into the arm or the controller.418

Open questions in this section

2Novice

The Numbers You Need to Plan a Workspace

For: Someone who will work near or with the cell: operator, trainee technician
Kind of task: Explain and sequence: put steps in order, match parts to their functions

In this part you collect the figures you need before the arm arrives: the power it takes, the connections on its control box, the room it needs and the conditions it tolerates. It is for someone who will prepare the space or wire up the cell.

Power

  • The arm runs on 48 V DC21. At most it draws 1000 W22.
  • It gets that power from a control box, which comes in two kinds2324.
  • The AC control box plugs into mains at 100–240 V AC, 50/60 Hz. The manuals give its input frequency as 47–63 Hz23. It weighs 4.8 kg25.
  • The DC control box takes 48–72 V DC24. It weighs 2.8 kg26.

Connections on the Control Box

  • The control box has 8 configurable digital inputs, CI0 to CI7, and 8 general-purpose digital inputs, DI0 to DI72728.
  • It has 8 configurable digital outputs, CO0 to CO7, and 8 general-purpose digital outputs, DO0 to DO72930.
  • It has 2 analog inputs and 2 analog outputs3132.
  • At the tool end of the arm there are 2 digital inputs, 2 digital outputs, 2 analog inputs and 1 RS-485 port33.
  • A computer talks to the control box and arm over Ethernet, using UFACTORY's own private TCP protocol34.

Room and Surroundings

  • The base takes up a circle of Ø190 mm on the mounting surface35.
  • The rated surroundings are 0–50 °C15 and 25–85% humidity, non-condensing36.
  • It is for indoor use, away from direct sunlight, corrosive gas or liquid, flammable materials, oil mist, salt spray, dust or metal powder, mechanical shock and vibration, and electromagnetic noise37.
  • UFACTORY rates it for ISO Class 5 cleanrooms38.
  • The UFACTORY sources give no dust and water (IP) rating for the arm or its control boxes4.

What Counts Against the Payload

  • UFACTORY's payload setting counts the end-of-arm tool and the part together, so this platform infers that the 5 kg maximum covers both. Weigh the gripper before choosing parts12.

Check Yourself

Answer, then check. Each option has its own feedback, and nothing is scored.

q-s05-n-01 The workshop gets hotter than 50 °C in summer. Is the 850 rated for that?

About:15

  1. Check option (a)

    Correct. Right. Above 50 °C is outside the rating.15

  2. Check option (b)

    Not this one. Humidity has its own limit, 25–85% non-condensing, but it does not extend the 0–50 °C temperature rating.3615

  3. Check option (c)

    Not this one. The ISO Class 5 cleanroom rating is about cleanliness, not heat. The temperature rating is 0–50 °C.3815

q-s05-n-02 How many digital inputs does the 850's control box have in total?
  1. Check option (a)

    Correct. Right. There are two banks of 8.2728

  2. Check option (b)

    Not this one. 2 digital inputs is the tool end of the arm, not the control box.33

  3. Check option (c)

    Not this one. 8 is one bank. The control box has 8 configurable and 8 general-purpose digital inputs.2728

q-s05-n-03Safety A part weighs exactly 5 kg. Can the 850 carry it with a gripper fitted?

About:6

  1. Check option (a)

    Not this one. UFACTORY's payload setting counts the gripper and the part together, so this platform infers that the 5 kg covers both. A 5 kg part plus any gripper would be over it.12

  2. Check option (b)

    Correct. Right. This platform infers, from UFACTORY's payload setting, that the maximum payload covers the end-of-arm tool and the part it holds.12

Open questions in this section

3Intermediate

Ranges, Settings and Disputed Figures

For: Someone who will set up, program or maintain the arm: technician, student engineer
Kind of task: Apply: work through written scenarios that need a decision (which mode, which setting, what to do about this error), with feedback on each choice

In this part you work with the figures you need to program and install the arm, and you meet the places where UFACTORY's own documents disagree. Where a figure is disputed, the dispute is cited right beside it: use the figure, but know which source it came from.

Joint Ranges

  • Joint 1 turns ±360°39. Joint 4 and Joint 6 also turn ±360°4041.
  • Joint 2 turns ±132°42. Sources disagree: the product page, the online hardware manual and the uf850 URDF give ±132°, but User Manual V2.3.0 gives -118°~120°8.
  • Joint 3 turns from -242° to 3.5°43. Sources disagree: User Manual V2.3.0 gives -225°~11°44.
  • Joint 5 turns ±124°45. Sources disagree: User Manual V2.3.0 gives -97°~180°46.
  • In each case three sources agree and the PDF manual matches none of them. The three agreeing sources are probably current, but that is not confirmed84446.
  • Every joint's maximum speed is 180°/s, stated once for all joints47.
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.
Joint 1 at the base to Joint 6 at the tool, each turning about its own axis11. Image: UFACTORY

Speed Settings

  • In teaching mode, on the Live Control page of UFACTORY Studio, the maximum speed is 250 mm/s48.
  • In automatic mode, running a Blockly or Python program in UFACTORY Studio, the maximum speed is 1000 mm/s49.
  • In UFACTORY's software, the TCP speed parameter ranges from 0 to 1000 mm/s50.
  • UFACTORY advises lowering the ambient temperature if the arm must run continuously at high speed51.

The Space It Can Reach

  • In the base frame, the Cartesian range is ±850 mm in X and ±850 mm in Y52.
  • In Z it runs from -400 mm to 1214 mm53.
  • The top view of the working range is in the Beginner panel, with the 850 mm reach marked7.

Power Supply

  • The product page and the online hardware manual give typical power consumption as 240 W54. Sources disagree: User Manual V2.3.0 gives 200 W55.
  • The maximum is 1000 W22. UFACTORY recommends a 500 W power supply56.
  • The arm's input is 48 V DC21, rated at 20.8 A57.
  • The AC control box outputs 48 V DC, up to 1000 W, to the arm58. The DC control box outputs 48 V DC, up to 960 W59.

Mounting and the Control Box

  • The base is fixed with four M8 bolts, supplied, through four Ø8.5 mm holes60. UFACTORY recommends tightening them to 20 N·m61.
  • The mounting surface must withstand at least 10 times the full torsion of the base joint and at least 5 times the arm's weight62.
  • The product page and the online hardware manual give the AC control box as 345 × 135 × 101 mm63. Sources disagree: User Manual V2.3.0 gives 376 × 145 × 130 mm64.
  • The DC control box measures 262 × 160 × 76 mm65.

Surroundings

  • It is to be used below 2000 m altitude66, and is rated ISO Class 5 for cleanroom use67.
  • The product page, the online hardware manual and User Manual V2.3.0 give no IP rating for the arm or its control box. The online manual rates only the Gripper G2 accessory IP4017.
  • The product page, the online hardware manual and User Manual V2.3.0 give no noise figure for the arm. The only one given is for the Vacuum Gripper accessory, under 60 dB at 30 cm68.

Communication Ports

  • The control box has a gigabit Ethernet interface69.
  • The product page and the online hardware manual list one RS-485 master port70. Sources disagree: User Manual V2.3.0 lists one master and one slave71.
  • The product page gives the end-effector protocol as Modbus RTU, and the online manual's Tool RS485 section configures standard Modbus RTU end effectors72.
  • Sources disagree here too: the specification tables of the online hardware manual and User Manual V2.3.0 say Modbus TCP. The tool port is RS-485, which suggests RTU, but that is not confirmed73.

Check Yourself

Answer, then check. Each option has its own feedback, and nothing is scored.

q-s05-i-01 What is the 850's maximum speed in teaching mode (Live Control), compared with automatic mode (a Blockly program)?
  1. Check option (a)

    Correct. Right, by User Manual V2.3.0: teaching mode is capped much lower than automatic mode. One caution: the online Studio manual puts Live Control's top jog speed at 230 mm/s, not 250, and neither source explains the difference.484974

  2. Check option (b)

    Not this one. 1000 mm/s is the automatic-mode maximum. In Live Control, User Manual V2.3.0 gives 250 mm/s; the online Studio manual gives 230 mm/s.494874

  3. Check option (c)

    Not this one. 180 is the maximum joint speed, in degrees per second (180°/s), not a tool speed in mm/s.47

q-s05-i-02 You are setting a software limit for Joint 2. Which range do you use, and why?
  1. Check option (a)

    Correct. Right. Three sources agree on ±132°. They are probably current, but that is not confirmed, so the dispute stays visible.428

  2. Check option (b)

    Not this one. User Manual V2.3.0's figures match none of the other three sources, which all give ±132°.8

  3. Check option (c)

    Not this one. ±360° is the range of Joint 1, Joint 4 and Joint 6. Joint 2 is given as ±132°.3942

q-s05-i-03Safety What must the 850's mounting surface withstand?
  1. Check option (a)

    Correct. Right. That is UFACTORY's stated requirement for the mounting surface.62

  2. Check option (b)

    Not this one. Weight plus payload is not the test. UFACTORY requires at least 5 times the arm's weight and 10 times the base joint's full torsion.62136

  3. Check option (c)

    Not this one. 20 N·m is the recommended tightening torque for the base bolts, not the load the surface must bear.6162

Open questions in this section

4Expert

What the Figures Can and Cannot Support

For: Someone who designs, integrates or changes the cell: integrator, engineer, agent developer
Kind of task: Analyze and decide: weigh trade-offs, resolve contradictions, critique a configuration

In this part you test which published figures can carry an engineering decision and which cannot. Some numbers come from a robot model file rather than a rated specification, some are software settings rather than capabilities, and some that an integrator needs are not in the UFACTORY sources.

Model Limits Are Not Ratings

  • UFACTORY's uf850 URDF, the robot model file used with ROS, sets a velocity limit of 3.14 rad/s, about 180°/s, for each of the six joints757677787980. That matches the 180°/s maximum joint speed in the spec sheet47.
  • The same file sets effort limits of 200 for Joint 1 and Joint 2, 90 for Joint 3, 68 for Joint 4, and 19 for Joint 5 and Joint 6818283848586.
  • The file gives those effort limits no unit, and does not call them rated torques81. So do not quote them as torque ratings.
  • With limited:=true the macro narrows J1, J4 and J6 to ±0.99π rad, about ±178.2°, and the lower limit of J3 to about -178.2°. J2 and J5 keep their full ranges, and the default limited:=false applies the full ranges87.

Motion Settings and Power Details

  • The TCP acceleration parameter ranges from 0 to 50000 mm/s², and the TCP jerk parameter from 0 to 100000 mm/s³8889.
  • The joint acceleration parameter ranges from 0 to 1145°/s², and the joint jerk parameter from 0 to 28647°/s³9091.
  • These are ranges the software accepts. The UFACTORY sources give no figure for the speed and acceleration the arm actually achieves while carrying its full 5 kg payload across its reach14.
  • Only User Manual V2.3.0 gives a minimum power consumption, 20 W92.
  • The same manual rates the AC control box, model AC15, at 1050 W maximum input, single phase, with a 50 A short-circuit rating93.

Stopping Data

  • UFACTORY measured Stop Category 1 stops with the arm fully extended horizontally, at 100% speed (joint speed 180 °/s) and a 5 kg payload at the TCP. Joint 1 stops within 0.62 rad, in 521 ms9495.
  • Joint 2 stops within 1.12 rad, in 885 ms, and Joint 3 within 0.67 rad, in 577 ms, both measured moving downwards96979899.
  • The fetched UFACTORY manual gives stop data only for that one case. The UFACTORY sources give none for Joints 4 to 6, for other speeds or payloads, for Stop Category 2, or for stopping after a collision is detected, and any separation-distance calculation needs those100.

Payload and Accuracy Gaps

  • The UFACTORY sources give no payload diagram: how the allowable payload falls as the load's center of mass moves away from the flange, or with speed. Integrators need it to size grippers and parts101.
  • The ±0.02 mm figure is repeatability. The UFACTORY sources give no absolute positioning accuracy, which offline programming and vision-guided picking depend on320.

Certification

  • UFACTORY's product page lists CE certification19. The hardware manual's EMC section lists IEC/EN 61000-6-2 for immunity and IEC/EN 61000-6-4 for emissions, both for industrial environments102.
  • The manual's Certification section links two SGS test-report files without saying in its own text which standards they cover103.
  • Of the two files, one is a machinery verification for model numbers XI13 and XI15, which found the tested samples conformed to EN ISO 10218-1:2011, EN 60204-1:2018 and EN ISO 12100:2010104. The other is the EMC verification for the same model numbers105.
  • Neither the product page nor the manual's own text states conformance to ISO 10218-1 or ISO/TS 15066. That SGS verification, against the 2011 edition, is the only ISO 10218 evidence in the sources106.
  • The UFACTORY sources include no EC/EU Declaration of Conformity, and none states conformity with ISO 10218-1:2025 or ISO 10218-2107.

Missing Drawings and an Unclear Row

  • The product page and manuals show the base mounting and flange drawings only as images, so they give no dimension values, such as the bolt-circle diameter or base height, as text108.
  • The product page lists a base connector type of M8*4 without saying what it is. The online manual describes an M8 4-pole Ethernet interface at the end flange, not the base, so the row's meaning is unclear109.

Check Yourself

Answer, then check. Each option has its own feedback, and nothing is scored.

q-s05-e-01 Can you quote the URDF's effort limit of 200 as Joint 1's rated torque?

About:81

  1. Check option (a)

    Correct. Right. The file gives no unit and does not call it a rated torque.81

  2. Check option (b)

    Not this one. The source is UFACTORY's, but the file states no unit and does not call the figure a rated torque.81

  3. Check option (c)

    Not this one. The velocity limit of 3.14 rad/s matches the 180°/s spec sheet figure, but that does not turn an effort limit into a rating.7581

q-s05-e-02 You are sizing a gripper for a part whose center of mass sits well off the flange. What data is missing from the UFACTORY sources?
  1. Check option (a)

    Correct. Right. The UFACTORY sources give none, and integrators need it to size grippers and parts.101

  2. Check option (b)

    Not this one. The 5 kg rating is a single maximum. The UFACTORY sources do not show how it falls with an offset center of mass.6101

  3. Check option (c)

    Not this one. The sources give repeatability, ±0.02 mm. The missing figure for this job is the payload diagram.2101

q-s05-e-03Safety You need the 850's stopping distance to size a separation distance at reduced speed with a light part. Can you get it from UFACTORY's published stop data?
  1. Check option (a)

    Not this one. The manual's figures are only for Joints 1 to 3 at 100% speed with a 5 kg payload. Nothing in the UFACTORY sources supports scaling them to other speeds or payloads.100

  2. Check option (b)

    Correct. Right. The UFACTORY sources give no stop data for Joints 4 to 6, other speeds or payloads, Stop Category 2, or stops after a collision.100

  3. Check option (c)

    Not this one. 521 ms was measured in one condition only: fully extended, 100% speed and a 5 kg payload.95

Open questions in this section

Not settled

Open Questions · 23

What the sources do not settle for this section. Nothing here is papered over with a plausible number.

  • Kind: Gap

    No fetched UFACTORY source gives an IP (ingress protection) rating for the 850 arm or its control boxes. The 850 technical specifications list IP40 only for the Gripper G2 accessory.

    See reference 4
  • Kind: Contradiction

    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.

    See reference 8
  • Kind: Gap

    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.

    See reference 14
  • Kind: Gap

    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.

    See reference 17
  • Kind: Gap

    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.

    See reference 20
  • Kind: Contradiction

    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.

    See reference 44
  • Kind: Contradiction

    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.

    See reference 46
  • Kind: Contradiction

    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.

    See reference 55
  • Kind: Contradiction

    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.

    See reference 64
  • Kind: Gap

    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).

    See reference 68
  • Kind: Contradiction

    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.

    See reference 71
  • Kind: Contradiction

    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.

    See reference 73
  • Kind: Contradiction

    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.

    See reference 74
  • Kind: Gap

    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.

    See reference 100
  • Kind: Gap

    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.

    See reference 101
  • Kind: Gap

    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.

    See reference 106
  • Kind: Gap

    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.

    See reference 107
  • Kind: Gap

    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.

    See reference 108
  • Kind: Gap

    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.

    See reference 109
  • Kind: Contradiction

    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.

    See reference 118
  • Kind: Contradiction

    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.

    See reference 119
  • Kind: Gap

    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.

    See reference 120
  • Kind: Gap

    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.

    See reference 121
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.

Open the 121 references

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.
  • 3D model: © 2018 UFACTORY Inc., BSD-3-Clause, from UFACTORY Inc. (xArm-Developer/xarm_ros2). License text · Source

Sources for This Section

  • Collision Detection in UFACTORY Robotic Arms: Current and Dynamic Model-based Feature (UFACTORY support article) · UFACTORY (manufacturer)
    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21 · cited by 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 Hardware Manual (online), Preface · UFACTORY (manufacturer)
    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21 · cited by 5 records here · Open the source
  • UFACTORY 850 product page · UFACTORY (manufacturer)
    © UFACTORY · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21 · cited by 40 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
  • UFACTORY USA 850 product page · UFACTORY USA (manufacturer)
    © UFACTORY USA · All rights reserved; quoted briefly as evidence · retrieved 2026-09-21 · 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

IntelliMake diagrams are redrawn as native figures, © IntelliMake.org. UFACTORY does not endorse this platform.

All sources and attribution