UFactory xArm User Manual

45
There are 12 pins inside the cable with different colors, each color
represents different functions, please refer to the following table:
Pin sequence
Color
Signal
1
Brown
+24V（Power）
2
Blue
+24V（Power）
3
White
0V (GND)
4
Green
0V (GND)
5
Pink
User 485-A
6
Yellow
User 485-B
7
Black
Tool Output 0 （TO0）
8
Grey
Tool Output 1 （TO1）
9
Red
Tool Input 0 （TI0）
10
Purple
Tool Input 1 （TI1）
11
Orange
Analog input 0 (AI0)
12
Light Green
Analog input 1 (AI1)
The electrical specifications are as follows:
Parameter
Min. Value
Typical Value
Max. Value
Unit
Supply Voltage in 24V Mode
-
24
30
V
Supply Current *
-
-
1800
mA
Note: * It is strongly recommended to use a protection diode for inductive loads.
Make sure that the connecting tool and the gripper do
not cause any danger when the power is cut, such as
dropping of the work-piece from the tool.
2.4.1. Digital Output
The digital output is implemented in the form of NPN with an open

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