UFactory xArm User Manual

52
The electrical specifications for the internal and external power supplies
are as follows.
Terminal
Parameter
Min. Value
Typical Value
Max. Value
Unit
Built-in 24V Power Supply
[PWR - GND]
Voltage
23
24
30
V
[PWR - GND]
Current
0
-
1.8
A
External 24V Input Requirement
[24V - 0V]
Voltage
20
24
30
V
[24V - 0V]
Current
0
-
3
A
The digital I/O electrical specifications are as follows.
Terminal
Parameter
Min. Value
Typical Value
Max. Value
Unit
Digital Output
[COx]
Current*
0
-
100
mA
[COx]
Voltage Goes
Down
0
-
0.5
V
[COx]
Open Drain
Current
0
-
0.1
mA
[COx]
Function
-
NPN（OC）
-
Type
Digital Input
[EIx/SIx/CIx/RIx]
Voltage
0
-
30
V
[EIx/SIx/CIx/RIx]
OFF Area
15
-
30
V
[EIx/SIx/CIx/RIx]
ON Area
0
-
5
V
[EIx/SIx/CIx/RIx]
Current（0-0.5）
3
-
8
mA
[EIx/SIx/CIx/RIx]
Function
-
-
-
Type
Note: ** For resistive or inductive loads up to 1H.

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