UFactory xArm User Manual

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⚫ When no end effector is installed at the end of the robotic arm, select
[No End Effector]
1.4.3 TCP Settings
Set TCP Payload and TCP Offset according to the actual situation.
【TCP Payload】
● The load weight refers to the actual mass (end-effector + object) in
Kg; X/Y/Z-axis represents the position of the centre of gravity of
payload in mm, this position is expressed in default TCP coordinate
located at flange center (Frame B in the above figure). If there is
virtually no load at the end, both TCP payload and centre of gravity
must be set to 0.

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