UFactory xArm User Manual

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C37
Abnormal Motion in Manual Mode
Please check whether the TCP payload setting of the robotic arm and the
installation method of the robotic arm match the actual settings.
C38
Abnormal Joint Angle
Please stop the xArm by pressing the Emergency Stop Button on the Control
Box.
C39
Control Box Power Board Master and Slave IC Communication Error
Please contact technical support.
C50
Six-axis Force Torque Sensor Error
Please check the sensor error code, locate the problem, and power on again.
If it cannot be resolved, please contact technical support.
C51
Six-axis Force Torque Sensor Mode Setting Error
Please make sure that the robotic arm is not in Manual Mode, check whether
the given value of this command is 0/1/2
C52
Six-axis Force Torque Sensor Zero Setting Error
Please check the sensor communication wiring and whether the power is
normal.
C53
Six-axis Force Torque Sensor Overload
Please reduce the payload or applied external force.
C110
Robot Arm Base Board Communication Error.
Please contact technical support.
C111
Control Box External 485 Device Communication Error
Please contact technical support.
For alarm codes that are not listed in the above table: Power on again. If the problem remains
unsolved after power on/off for multiple times, please contact technical support.
1.2.2 Control Box Error Code
The error does not affect the normal operation of the robotic arm, but it
may affect the user's program operation. Once the warning occurs, the
arm will set the warning flag and return it together in the command
reply. Otherwise, no other operations will be performed. The robotic arm

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