UFactory xArm User Manual

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2.5.1. General Specifications for all Digital I/O
This section describes the electrical specifications for the following 24V
digital I/Os for the Control Box.
• Dedicated safety I/O.
• Configurable I/O.
For the specific configuration functions of IO, see the following table:
Configurable Function
CI0-CI7
（Configurable Input）
DI0-DIO7
（Digital Input）
General Input
Yes
Yes
Stop Moving
Yes
No
Safeguard Reset
Yes
No
Offline Task
Yes
Yes
Manual Mode
Yes
Yes
Reduced Mode
Yes
No
Enable Robot
Yes
Yes
Configurable Function
CO0-CO7
（Configurable Output）
DO0-DO7
（Digital Output）
General Output
Yes
Yes
Motion Stopped
Yes
Yes
Robot Moving
Yes
Yes
Error
Yes
Yes

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