UFactory LITE 6 User manual

V 1.11.0

Table
Table ...............................................................................................................................2
Preface ...................................................................................................................................5
User Manual Information ...........................................................................................5
Product Information ...................................................................................................5
Main Contents of the Manual ...................................................................................5
Terms and Definitions ...............................................................................................6
Motion Parameters .......................................................................................................9
Unit Definition ...........................................................................................................9
Additional Information ...........................................................................................10
Safety Precautions ...................................................................................................10
Lite 6 User Manual-Hardware Section .........................................................................17
1. Hardware Installation Manual .................................................................................17
1.1. The Hardware Composition of the robot ...................................................17
1.2. Robot Installation .........................................................................................19
1.3. Power Supply for the Robotic Arm .............................................................24
2. Electrical Interface .................................................................................................27
2.1. Electrical Alarms and Cautions .................................................................27
2.2. End-Effector I/O .............................................................................................28
2.3. Electrical IO ...................................................................................................33
2.4. Communication Interface ...............................................................................41
2.5. Ethernet TCP/IP ...............................................................................................42
3. End-Effector .................................................................................................................44
3.1. Gripper ...............................................................................................................44
3.2. Vacuum Gripper .................................................................................................46
Lite6 User Manual-Software Section ...........................................................................48
1. UFACTORY Studio ...........................................................................................................48
1.1 Hardware Preparation .......................................................................................48

1.2 Connect to the Robotic Arm ...........................................................................49
1.3 UFACTORY Studio Homepage ...............................................................................55
1.4 Robotic Arm Setting .........................................................................................56
1.5 Live Control .......................................................................................................90
1.6 Blockly Graphical Programming .....................................................................99
1.7 Python IDE .....................................................................................................118
1.8 Recording .......................................................................................................120
2. Motion Analysis .........................................................................................................123
2.1 Robotic Arm Motion Mode and State Analysis .........................................123
2.2. Motion of the Robotic Arm .........................................................................128
2.3. Singularity .....................................................................................................139
Appendix .............................................................................................................................141
Appendix1-Error Reporting and Handling .................................................................141
1.1 Joints Error Message and Error Handling ...............................................141
1.2 Control Box Error Code and Error Handling .......................................143
1.4 Python SDK Error Code & Error Handling .................................................146
Appendix2-Technical Specifications .........................................................................148
1.1 Lite 6 Specifications .............................................................................148
Appendix3-The Software/Firmware Update Method. .................................................149
Appendix4- Maintenance and Inspection ...................................................................157
Appendix5- Repair ...........................................................................................................158
Appendix6-Product Information ...................................................................................160
1.1 Product Mark .....................................................................................................160
1.2 Use Environment ...............................................................................................160
1.3 Transport, Storage and Handling ...............................................................160
1.4 Power Connection .............................................................................................161
1.5 Special Consumables. .....................................................................................161
1.6 Stop Categories ...............................................................................................161

1.7 Maximum Speed ...................................................................................................161
1.8 Specifications .................................................................................................162
Appendix7-Kinematic and Dynamic Parameters of UFACTORY Lite 6 ...................163

Preface
User Manual Information
Translated Version V1.10.0.
Product Information
Package contains:
Robotic Arm x 1
Power Adapter x1
Emergency Stop Button x1
Ethernet Cable x1
Robotic Arm end effector adapter cable x1
Lite 6 Quick Start Guide x1
Main Contents of the Manual
Lite6 User Manual Hardware Section
(1) Lite6 hardware installation
(2) Electrical interface
(3) Lite6 end-effector
Lite6 User Manual Software Section
(1) UFACTORY Studio instructions
(2) Lite6 motion analysis
Appendix
(1) Lite6 error reporting and handling
(2) Lite6 technical specifications
(3) The Lite6 software/firmware update method
(4) Maintenance and Inspection

(5) After-sales service
Terms and Definitions
The following terms and definitions apply to this manual.
End Effector
The end effector, installed on the front end of the wrist of the
robotic arm, is used to install special tools (such as grippers,
vacuum gripper, etc.), which can directly perform work tasks.
Enable Robotic Arm
Power on the robotic arm and turn on the motor of the robotic
arm. After the robotic arm is enabled, it can start to move
normally.
TCP
Tool center point.
TCP Motion
TCP motion is the Cartesian space motion, with target position
in Cartesian space coordinate and the end follows the specified
trajectory (arc, line, etc.).
TCP Payload
（End Payload）
The payload weight refers to the actual (end tool +other object)
weight in Kg; the X / Y / Z-axis indicates the position of the
center of mass of the TCP relative to the default tool
coordinate system, with unit of mm.
TCP Offset
(Tool Center Point
Offset)
Set the relative offset between the default tool coordinate
system at flange center and the actual tool coordinate system,
with distance unit of mm.
Roll/Pitch/Yaw
Roll / Pitch / Yaw sequentially rotates around the X / Y / Z of
the selected coordinate system (base coordinate system).
The following describes the roll/pitch/yaw orientation
representation of {B} relative to {A}:
For example, the coordinate system {B} and a known reference
coordinate system {A} are first superposed. First rotate {B}
around
A
X
ˆ
by γ, then around
A
Y
ˆ
by β, and finally around
A
Z
ˆ
by α.
Each rotation is around a fixed axis of the reference coordinate
system {A}. This method is called the XYZ fixed angle coordinate
system, and sometimes they are defined as the roll angle, pitch
angle, and yaw angle.
The above description is shown in the following figure:

The equivalent rotation matrix is:
       

XYZXYZ
A
BRRRR ,,
Note: γ corresponds to roll; β corresponds to pitch; α
corresponds to yaw.
Axis-Angle
Rx / Ry / Rz representation also, using 3 values to represent
the pose (but not three rotation angles), which is the product
of a three-dimensional rotation vector [x, y, z] and a rotation
angle [phi (scalar)].
The characteristics of the axis angle:
Assume the rotation axis is [x, y, z], and the rotation angle is
phi.
Then the representation of the axial angle:
[Rx, Ry, Rz] = [x * phi, y * phi, z * phi]
Note:
1. [x, y, z] is a unit vector, and phi is a non-negative value.
2. The vector length (modulus) of [Rx, Ry, Rz] can be used to
estimate the rotation angle, and the vector direction is the
rotation direction.
3. If you want to express reverse rotation, invert the rotation
axis vector [x, y, z], and the value of phi remains unchanged.
4. Using phi and [x, y, z] can also derive the attitude
representation as unit quaternion q = [cos (phi / 2), sin (phi /
2) * x, sin (phi / 2) * y, sin (phi / 2) * z].
For example:
The vector of the rotation axis represented by the base
coordinate system is [1, 0, 0], and the rotation angle is 180
degrees (π), then the axis angle representation of this pose is
[π, 0, 0].
The rotation axis is [0.707, 0.707, 0] and the rotation angle is
90 degrees (π / 2), then the axis angle posture is [0.707 * (π
/ 2), 0.707 * (π / 2), 0].
The Base Coordinate
System
(Please refer to the
figure 1)
The base coordinate system is a Cartesian coordinate system
based on the mounting base of the robotic arm and used to
describe the motion of the robotic arm.
(Front and back: X axis, left and right: Y axis, up and down: Z

axis)
Tool Coordinate System
(Please refer to the
figure 1)
Consists of tool center point and coordinate orientation. If the
TCP offset is not set, the default tool coordinate system is
located at flange center.
For tool coordinate System based motion: The tool center point
is taken as the zero point, and the trajectory of the robotic
arm refers to the tool coordinate system.
User Coordinate System
(Please refer to the
figure 1)
The user coordinate system can be defined as any other reference
coordinate system rather than the robot base.
Manual Mode
In this mode, the robotic arm will enter the ‘zero gravity’
mode, since the gravity is compensated, the user can guide the
robotic arm position directly by hand.
Teach Sensitivity
Teach sensitivity range is from 1 to 5 level. The larger the set
value, the higher the teach sensitivity level, and the less the
force required to drag the joint in the manual mode.
Collision Sensitivity
The collision sensitivity range is from 0 to 5 level. When it is
set to 0, it means that collision detection is not enabled. The
larger the set value, the higher the collision sensitivity
level, and the smaller the force required to trigger the
collision protection response of the robotic arm.
GPIO
General-purpose input and output.
For the input, you can check the potential of the pin by reading
a register;
For the output, you can write a certain register to make this
pin output high or low potential;
Safety Boundary
When this mode is activated, the boundary range of the cartesian
space of the robotic arm can be limited. If the tool center
point (TCP) exceeds the set safety boundary, the robotic arm
will stop moving.
Reduced Mode
When this mode is activated, the maximum linear velocity of the
Cartesian motion of the robotic arm, the maximum joint speed,
and the range of the joint motion will be limited.
Figure 1

Motion Parameters
The parameters of the robotic arm are shown in Table 1.1 and Table 1.2.
Table 1.1 working range of each joint of the robotic arm
Table 1.2 range of various motion parameters of the robotic arm
Note:
1. In the TCP motion (Cartesian space motion) commands (set_position () function of
the SDK), If a motion command involves both position transformation and attitude
transformation, the attitude rotation speed is generally calculated automatically by
the system. In this situation, the specified speed parameter is the maximum linear
speed, range from: 0 ～ 500mm / s.
2. When the expected TCP motion only changes the attitude (roll, pitch, yaw), with
position (x, y, z) remains unchanged, the specified speed is the attitude rotation
speed, so the range 0 to 500 corresponds to 0 to 180 ° / s.
Unit Definition
The Python / Blockly examples and the units standard in the communication
protocol are shown in Table 1.3.
Joint
Range
1st Axis
±360°
2st Axis
±150°
3st Axis
-3.5°～300°
4st Axis
±360°
5st Axis
±124°
6st Axis
±360°
TCP Motion
Joint Motion
Speed
0～500mm/s
0～180°/s
Acceleration
0～50000mm/s2
0～1145°/s2
Jerk
0～10000mm/s3
0～28647°/s3

Table 1.3. Default units in Python / Blockly example and Communication
Protocol
Parameter
Python-SDK
Blockly
Communication
Protocol
X（Y/Z）
millimeter（mm）
millimeter（mm）
millimeter（mm）
Roll（Pitch/Yaw）
degree（°）
degree（°）
radian（rad）
J1（J2/J3/J4/J5/J6/J7）
degree（°）
degree（°）
radian（rad）
TCP Speed
mm/s
mm/s
mm/s
TCP Acceleration
mm/s²
mm/s²
mm/s²
TCP Jerk
mm/s³
mm/s³
mm/s³
Joint Speed
°/s
°/s
rad/s
Joint Acceleration
°/s²
°/s²
rad/s²
Joint Jerk
°/s³
°/s³
rad/s³
Additional Information
For UFACTORY Studio software download and the developer manual, please
refer to the UFACTORY official website.
https://www.ufactory.cc/download
Safety Precautions
●Introduction
This chapter contains essential safety information, integrators and users
must follow the instructions and pay special attention to the content
with warning signs. Due to the complexity of the robotic arm system and
its degree of danger, please ensure you fully understand the content of
this manual and strictly adhere to the instructions. When using SDK
(Python/ROS/C++) and graphical interface (UFACTORY Studio), please read
the relevant interface instructions demonstrated in this operation manual.
UFACTORY devotes to providing reliable and safety information, but these
contents do not constitute warranties by UFACTORY. UFACTORY will not have
or accept any liability, obligation, or responsibility whatsoever for any
loss, destruction, or damage arising from or in respect of any use or

misuse of the robot.
●Validity and Responsibility
The information does not cover how to design, install, and operate a
complete robotic arm application, nor does it cover all peripheral
equipment that can influence the safety of the complete system. The
complete system must be designed and installed under the safety
requirements outlined in the standards and regulations of the country
where the robotic arm installed.
The integrators of the robot are responsible for the compliance of
applicable safety laws and regulations in the country, to prevent any
hazards in the operating environment.
Safety precautions include but are not limited to:
●Making a risk assessment for the complete system. Make sure to have a
safe distance between people and the robot when interacting with the
robot.
●Interfacing other machines and additional safety devices if defined
by the risk assessment.
●For software programming, please read the interface documentations
carefully and set up the appropriate safety functions in the software.
●Specifying instructions for use to prevent unnecessary property damage
or personal injury caused by improper operation.
●Limitations on Liability Exceptions
Any information given in this manual regarding safety must not be
construed as a warranty by UFACTORY that the robot will not cause injury
or damage even if all safety instructions are complied with.
●Safety Alarms in this Manual

DANGER:
This indicates an imminently hazardous
electrical situation, which if not avoided,
could result in death or serious damage to the
device.
WARNING:
This indicates a potentially hazardous
situation which, if not avoided, could result
in death or serious damage to the device.
HIGH TEMPERATURE
This indicates a potential hot surface, which
if touched, could result in personal injury.
NOTICE
If not avoided, could result in personal
injury or damage to the equipment.
CAUTION:
If not avoided, could result in personal
injury or damage to the equipment.
●Safety Precautions
Overview
This section contains some general warnings and cautions on installation
and application planning for the robotic arm. To prevent damage to the
machine and associated equipment, users need to learn all the relevant
content and fully understand the safety precautions. We do not control or
guarantee the relevance or completeness of such information in this
manual, for which users should conduct self-assessment of their specific
problems.

General Alarms and Cautions
1. Make sure to use the correct installation
settings in this manual for the robotic arm
and all the electrical equipment.
2. Please follow the instructions in this manual,
installation, and commissioning needs to be
performed by professionals in accordance with
the installation standards.
3. Make sure the robotic arm and tool are
properly and securely bolted in place.
4. The integrity of the device and system must be
checked before each use (e. g. the operational
safety and the possible damage of the robotic
arm and other device systems).
5. Preliminary testing and inspection for both
robotic arm and peripheral protection system
before production is essential.
6. The operator must be trained to guarantee a
correct operation procedure when using
SDK(Python/ROS/C++) and graphical interface
UFACTORY Studio.
7. A complete safety assessment must be recorded
each time the robotic arm is re-installed and
debugged.
8. When the robotic arm is in an accident or
abnormal operation, the emergency stop switch
needs to be pressed down to stop the movement,
and the posture of the robotic arm will
slightly brake and fall.
9. The robot joint module has brakes inside,
which will remain manipulator’s pose when a
power outage occurs.
10. When the robotic arm is in operation, make

sure no people or other equipment are in the
working area.
11. When releasing the brakes of robot, please
take protective measures to prevent the
robotic arm or operator from damage or injury.
12. When connecting the robot with other
machinery, it may increase risk and result in
dangerous consequences. Make sure a consistent
and complete safety assessment is conducted
for the installation system.
1. The robotic arm and Control Box will generate
heat during operation. Do not handle or touch
the robotic arm and Control Box while in
operation or immediately after the operation.
2. Never stick fingers to the connector of the
end-effector.
1. Make sure the robotic arm’s joints and tools
are installed properly and safely, and check
the status for all circuits.
2. Make sure that there is enough space for the
manipulator to move freely.
3. Make sure that there is no obstacle in the
robotic arm’s working space.
4. The Control Box must be placed outside the
working range of the robotic arm to ensure the
emergency stop button can be pressed once an
emergency occurs.
5. If the robotic arm is in operation and needs
an emergency stop, make sure the restart/reset
motions will not collide with any obstacle.
6. Do not modify the robotic arm (or Control
Box). Any modification may lead to
unpredictable danger to the integrators. The
authorized restructuring needs to be in
accordance with the latest version of all
relevant service manuals. If the robotic arm
is modified or altered in any way, UFACTORY

(Shenzhen) Technology Co., Ltd. disclaims all
liability.
7. Users need to check the collision protection
and water-proof measures before any
transportation.
When the robot cooperates with other machinery, a
comprehensive safety assessment of the entire
collaboration system should be performed. It is
recommended that any equipment that may cause
mechanical damage to robot be placed outside the
working range during application planning.
Operator Safety
In the operation of the robotic arm system, we must ensure the safety of
the operators first, with the general precautions listed in the table
below. Please take appropriate measures to ensure the safety of operators.
1. Each operator who uses the robotic arm system
should read the product user manual carefully.
Users should fully understand the standardized
operating procedures with the robotic arm, and
the solution to the robotic arm running error.
2. When the device is running, even if the robotic
arm seems to stop, the robotic arm may be
waiting for the signal and in the upcoming
action status. Even in such a state, it should
be considered as the robotic arm is in action.
3. A line should be drawn to mark the range of
motion of the robotic arm to let the operator
acknowledge the robotic arm, including its end
tools (such as gripper and suction cup, etc)
operating range.
4. Check the robotic arm regularly to prevent
loosening of the bolts that may cause
undesirable consequences.
5. Be careful when the robotic arm is running too

fast.
6. Be careful about dropping items that can be
caused by accidental power off or unstable
clamping of the robotic arm.

Lite 6 User Manual-Hardware Section
1. Hardware Installation Manual
1.1. The Hardware Composition of the robot
1.1.1. Hardware Composition
The composition of robotic arm hardware includes:
Robotic Arm（Figure 2-1）
Power Adapter (Figure 2-2)
Emergency Stop Button (Figure 2-3)
The Lite 6 robotic arm system consists of a base and rotary joints, and
each joint represents a degree of freedom. From the bottom to the top,
in order, Joint 1, Joint 2, Joint 3, etc. The last joint is known as the
tool side and can be used to connect end-effector (e. g. gripper, vacuum
gripper, etc).
Figure 2-2
Figure 2-1
Figure 2-3

1.1.2. Emergency Stop Button
By pressing the emergency stop button, a command will be sent to the Lite
6 for software deceleration to stop all activities of the robotic arm and
clear all the cached commands in the Control Box; the power supply for
the robotic arm will be removed within 300ms. The emergency stop should
not be used as a risk reduction measure. When an emergency occurs during
the operation of the robotic arm, users need to press the emergency stop,
and the posture of the robotic arm will slightly brake and fall. The
emergency stop button is shown below:
Power off: press the emergency stop button to power off the robot, and
the power indicator will go out.
Power on: when the button is rotated in the direction indicated by the
arrow, the button is pulled up, the robot power indicator lights up, and
the robot is powered.
Note:
After pressing the emergency stop button, the following operations should
be performed to re-start the robot:
1. Power up the Lite 6 (Turn the emergency stop button in the direction
of the arrow)
2. Enable the Lite 6 (enable the servo motor)
UFACTORY Studio：enable the robotic arm: click the button: [Enable

Robot]
Python-SDK：enable the robotic arm: motion_enable (true)
1.2. Robot Installation
1.2.1. Safety Guidelines for the Robot Environment
1. Make sure the arm is properly and safely
installed in place. The mounting surface must
be shockproof and sturdy.
2. To install the arm body, check that the bolts
are tight.
3. The robotic arm should be installed on a sturdy
surface that is sufficient to withstand at
least 10 times the full torsion of the base
joint and at least 5 times the weight of the
arm.
1. The robotic arm and its hardware composition
must not be in direct contact with the liquid,
and should not be placed in a humid environment
for a long time.
2. A safety assessment is required each time
installed.
3. When connecting or disconnecting the arm cable,
make sure that the external AC is disconnected.
To avoid any electric shock hazard, do not
connect or disconnect the robotic arm cable
when the robotic arm is connecting with
external AC.
1.2.2. Robot Installation
1. Brief installation steps:
a. Define a robotic arm workspace.

b. Fix the robotic arm base.
c. Connect the Power Adapter.
d. Connect the Emergency Stop Button.
e. Install end-effector.
1.2.2.1. Define a Robotic Arm Workspace
The robotic arm workspace refers to the area within the extension of the
links. The figure below shows the dimensions and working range of the
robotic arm. When installing the robotic arm, make sure the range of
motion of the robotic arm is taken into account, so as not to bump into
the surrounding people and equipment (the end-effector not included in
the working range).
Working space of Lite 6 (unit: mm)
Note：The following working range diagrams are only for safety assessment.