UFactory XARM User Manual page 104

1.4.6 Mounting
Setting the mounting direction of the robotic arm is mainly to inform the
control box of the current relationship between the actual mounting
direction of the robotic arm and the direction of gravity. If the mounting
direction of the robotic arm is set incorrectly, the robotic arm will not be
able to accurately recognize the direction of gravity, which will cause
the robotic arm to frequently trigger a collision warning and stop
motion, and will also result in uncontrolled motion of the robotic arm
after entering manual mode.
xArm with SN of XF1300/XI1300/XS1300 and later versions, the built-in
IMU of the robot arm will detect the direction of gravity. When the
deviation between the installation direction you set and the installation
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