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Axol is available in two configurations:
  • Axol — The dual-arm robot.
  • Axol Kit — Includes Axol, Axol Base, cameras and compute.

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Axol Overview

Almond Axol dual-arm robot
Axol ships fully assembled and ready to mount. It attaches with four M8×12 bolts that thread in from the bottom — see the mounting holes diagram below. The back of the robot exposes the connectors used for power and camera control:
  • 2× GMSL2 ports for the wrist cameras.
  • 1× XT90 connector for power.
  • 1× Locking USB-C connector for control.

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Reference diagrams

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Axol Kit Overview

Almond Axol Kit on its mobile base
The Axol Kit includes a mobile base with locking caster wheels and a manual lift, so you can roll the robot between workstations, lock it in place, and set it to a comfortable working height. Axol Kit includes head and wrist cameras and the compute needed to run Axol.

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Reference diagrams

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Installation

Setting up Axol Kit.

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Tools required

You’ll need hex (Allen) keys for the socket head cap screws used throughout the Kit:

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Mounting Axol

Axol mounts to the base with four M8×12 bolts and their locking washers, threaded in from underneath the base. See the mounting holes diagram for hole positions.
We recommend using two people to lift and place it on the base.
1

Gather the hardware

Have the four M8×12 bolts and locking washers ready, along with a 6 mm hex key.
2

Place Axol on the base

With two people, lift Axol and set it on the base, aligning its mounting holes with the holes in the base.
3

Insert the bolts from below

From underneath the top plate of the base, pass each M8×12 bolt (with its locking washer) up through the base and into Axol’s mounting holes.
Getting the bolts to catch the threads can be tricky. Gently wiggling Axol as you start each bolt helps align the holes and lets the threads bite.
4

Tighten

Tighten all four bolts with the 6 mm hex key to lock Axol in place.

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Mounting the cameras

Before mounting each camera, scan the QR code on the back to grab its serial ID and note down which camera goes where (left wrist, right wrist, head). You’ll need this mapping later to match each camera ID to its position.

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Wrist cameras

1

Mount the camera to the bracket

Fasten each wrist camera to its mount with 4x M2×8 screws.
Wrist camera mounted to its bracket
2

Mount the bracket to the wrist

Attach the camera-and-bracket assembly to the wrist with M3×8 screws.
Wrist camera bracket mounted to the gripper
3

Remove the lens cap

Remove the lens cap from the wrist camera.

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Head camera

1

Mount the camera to the bracket

The head camera screws depend on which model your Kit ships with:
  • ZED X Mini - Use 4x M4×8 screws.
  • ZED X One S (ZX1S) - Use 4x M2×8 screws (same as the wrist cameras).
Head camera mounted to its bracket
2

Mount the bracket to the base

Attach the camera-and-bracket assembly to the top of the base with M4×10 screws.
3

Remove the lens cap

If your head camera is the ZED X One S (ZX1S), remove its lens cap.

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Leveling the casters

Each caster has a ratchet with a small lever arm that raises or lowers the wheel. To level the base, flip the ratchet switch up or down on each caster and adjust it until the base sits level.

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Raising and lowering the robot

Adjust the robot’s height with the manual lift: insert the crank into the hole at the top of the base and turn it to raise or lower the robot.
Inserting the crank into the top of the base to adjust height
Make sure the crank is inserted all the way in before turning it. It’s easy to leave it partially seated, which can slip or damage the mechanism.

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Wiring

Place the ZED Box and the power supply on the base, then connect the cables:
1

Set the ZED Box and power supply on the base

Position the ZED Box and the power supply on the base so their cables comfortably reach the back of the robot.
2

Connect the head camera

Run the head camera’s GMSL cable from the camera to the ZED Box.
3

Connect the wrist cameras

Run the shorter GMSL cable from the wrist cameras to the GMSL port on the wrist.
4

Connect the robot to the ZED Box and power

From the back of the robot, run the power and USB cables to the ZED Box and power supply.

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Next steps

Installation

Install Axol on the robot machine and open the web control panel.