UFactory xArm User Manual

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3. Re-enable the gripper.
If the problem remains unsolved after power on/off multiple times,
please contact UFACTORY team for support.
Software Error Code
Error Handling
G9
Gripper Current Detection Error
Please restart the xArm with the Emergency Stop Button on the xArm
Control Box.
G11
Gripper Current Overlimit
Please click “OK” to re-enable the Gripper.
G12
Gripper Speed Overlimit
Please click “OK” to re-enable the Gripper.
G14
Gripper Position Command Overlimit
Please click “OK” to re-enable the Gripper.
G15
Gripper EEPROM Read and Write Error
Please click “OK” to re-enable the Gripper.
G20
Gripper Driver IC Hardware Error
Please click “OK” to re-enable the Gripper.
G21
Gripper Driver IC Initialization Error
Please click “OK” to re-enable the Gripper.
G23
Gripper Large Motor Position Deviation
Please check if the movement of the Gripper is blocked, if not, please
click “OK” to re-enable the Gripper.
G25
Gripper Command Over Software Limit
Please check if the gripper command is set beyond the software limit.
G26
Gripper Feedback Position Software Limit
Please contact technical support.
G33
Gripper Drive Overloaded
Please contact technical support.
G34
Gripper Motor Overload
Please contact technical support.

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