# xArm Series

Kinematic and Dynamic Parameters of xArm Series

Last updated

Kinematic and Dynamic Parameters of xArm Series

Last updated

The purpose of this article is to guide the user to distinguish the model of UFactory xArm by SN.

①: stands for the number of axes of the arm.

There are three values: S / I / F.

S | I | F |
---|---|---|

xArm7 | xArm6 | xArm5 |

⑪：stands for the type of harmonic type.

If ⑪ is 0, please send the SN of the xArm to technical support(email:support@ufactory.cc)

If⑪ is A, the robotic arm is model 4.

If ⑪ is L, the robotic arm is **model 2**.

If ⑪ is B, the robotic arm is model1/model3:

1) If ⑥⑦ is 04-12 and the position ⑧⑨ is 20, the model of the UFACTORY xArm is **model 3** (such as 0420).

2) If ⑥⑦⑧⑨ is other numbers, the model of the UFACTORY Arm is **model 1.**

**For example:**

SN of the robotic arm: ** **XF 1304 12C2 3B1E

It is xArm5, model 1.

SN of the robotic arm: XI130506D43A0A

It is xArm6, model 4.