UFactory xArm User Manual

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c. Set the motion state: set_state(0)
Appendix2-Technical Specifications
1.1 xArm5/6/7 Common Specifications
xArm
Cartesian Range
X
±700mm
Y
±700mm
Z
-400mm~951.5mm
Roll/Yaw/Pitch
± 180°
Maximum Joint Speed
180°/s
Reach
700mm
Repeatability
±0.1mm
Max Speed of End-effector
1m/s
*Ambient Temperature Range
0-50 °C*
Power Consumption
Min 8.4 W, Typical 200W, Max 500W
Input Power Supply
24 V DC, 16.5 A
ISO Class Cleanroom
5
Robotic Arm Mounting
Any
Programming
xArm Studio/Python/C++/ROS
Robotic Arm Communication Protocol
Modbus-TCP
End-effector I/O Interface
2 Digital inputs, 2 Digital outputs,
2 Analog inputs
End-effector Communication Protocol
Modbus-RTU
Footprint
Ø 126 mm
Materials
Aluminium, Carbon Fiber
End Tool Flange
DIN ISO 9409-1-A50/63（M5*6）
Control Box
AC Control Box
DC Control Box
Input
100-240VAC 50/60Hz
24VDC
Output
24VDC 20.8A
24VDC 16.5A
Control Box Communication Protocol
Modbus TCP
Control Box Communication Model
Ethernet

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