On the tool of UFACTORY xArm: 2 digital input, 2 digital output; 1 analog input, 1 analog output. On the UFACTORY xArm Controller: 8 digital input, 8 digital output; 2 analog input, 2 analog output; 2 Emergency Stop Input; 2 Safeguard Input.

For more details, please download and read the "xArm User Manual" on this page: https://www.ufactory.cc/#/en/support/download/xarm