UFactory xArm User Manual

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Control Box I/O Interface
8*CI+8*DI(Digital In)
8*CO+8*DO(Digital Out)
2*AI(Analog In)
2*AO(Analog Out)
1*RS-485 Master
1*RS-485 Slave
8*CI(Digital In)
8*CO(Digital Out)
2*AI(Analog In)
2*AO(Analog Out)
Weight
3.9kg
1.6kg
Dimension(L*W*H)
285*135*101mm
180*145*68mm
xArm accessories parameters：
Gripper
Nominal Supply Voltage
24V DC
Absolute Maximum Supply Voltage
28V DC
Quiescent Power (Minimum Power
Consumption)
1.5W
Peak Current
1.5A
Working Range
84mm
Maximum Clamping Force
30N
Weight (g)
802g
Communication Mode
RS-485
Communication Protocol
Modbus RTU
Programmable Gripping Parameters
Position, Speed
Feedback
Position
Vacuum Gripper
Rated Supply Voltage
24V DC
Absolute Maximum Supply Voltage
28V DC
Quiescent Current(mA)
30mA
Peak Current(mA)
400mA
Vacuum
78%
Vacuum Flow (L/min)
> 5.6L/min
Weight (g)
610 g
Dimensions (L*W*H)
122.5 * 91.6 * 75mm
Payload (kg)
≤5kg
Noise Level (30cm away)
< 60dB
Communication Mode
Digital IO
State Indicator
Power, Working State
Feedback
Air Pressure (Low or Normal)
Notes:
1. The ambient temperature of xArm is 0-50 °C, please reduce the temperature if continuous

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