UFactory xArm Manual

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13
45
Six-axis Force Torque Sensor Tx Torque Exceeds Limit
Please reduce the torque applied around the X axis
46
Six-axis Force Torque Sensor Ty direction Torque Exceeds Limit
Please reduce the torque applied around the Y axis
47
Six-axis Force Torque Sensor Tz direction Torque Exceeds Limit
Please reduce the torque applied around the Z axis
49
Six-axis Force Torque Sensor Failed to Initialize
Please check
1. Whether the baud rate of the Data Collector and the Six-axis Force
Torque Sensor are the same.
2. Whether the wire between the Data Collector and the Six-axis Force
Torque Sensor is connected properly.
For error codes that are not listed in the above table: Please click “Clear Error” clear the error.
If it reports the same error repeatedly, please contact technical support.
6. 6 Axis Force Torque Sensor Specifications
Fx, Fy
Fz
Tx, Ty, Tz
Load capacity
150N
200N
4Nm
Resolution
100mN
150mN
5mNm
Hysteresis
2.5%FS
1%FS
1%FS
Crosstalk
3%FS
3%FS
3%FS
Overload capacity
150%
150%（Fz+）
300%（Fz-）
150%

UFactory xArm Specifications

General

Payload	5 kg
Repeatability	±0.1 mm
Programming Language	Python, C++, ROS
Communication Interface	Ethernet
Operating Temperature	0°C to 45°C