Introduction

Thank you for purchasing your OpenArm(s) from Anvil Robotics. This guide will help you get your robot up and running quickly. Follow the steps below to assemble the hardware & configure the software.

FAQ

• The robot experienced damage during shipping . How can I get replacement parts? To help us process the replacement shipment, please complete the following form form: OpenArm Replacement Parts Request Form
• How do I wire the USB CAN device? The red wire connects to CAN_H. The black wire connects to CAN_L. More details in the electrical assembly section below.
• I’m receiving motor state information, but the motor is not moving when I command it. Damiao motors ignore “MIT Mode” commands when in “PosVel” mode, and ignore “PosVel” commands when in “MIT Mode”. Please test each individual motor using the following guide (openarm/motor-testing.md), which sets the control mode before sending a command.
• Enactic’s OpenArm Demo Apps are not working as expected. Enactic is unaffiliated with Anvil Robotics. Please follow up directly with the OpenArm discord forums. To verify that your hardware is working as expected, please follow the setup instructions below, and test the motors as described in https://github.com/anvil-robotics/openarm
• Why are there 2x of all accessories when I ordered just 1 OpenArm? A single OpenArm is a “bi-manual manipulator” (i.e. it has 2 arms: 1 left arm and 1 right arm). Each of the two arms is electrically independent, and thus each arm requires its own power supply, cabling, and CAN transceiver.

What's in the Box

• 1x Two Armed Robot with Pedestal
• 2x Accessory Boxes
• 1x Base Plate
• 2x Grippers or 2x Handles (depending on which model was purchased)

If you purchased a leader & follower two robot kit, you will have two boxes, with each containing the contents listed above.

If you purchased the OpenARM Quest Teleop Kit, we will pre-install the power supply and CAN bus from the accessory box into the Devbox to help you get started more quickly.

The accessory box will contain the following:

• 1x Power Supply
• 1x Power Supply Wall Plug
• 1x Power Cable