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Axol is configured at order time from three choices:
  • Axol — The dual-arm robot. Every configuration starts here.
  • Mounting — Standalone (bolt Axol to your own table or fixture), the Axol Mount (rigid table/fixture column), or the Axol Cart (height-adjustable mobile cart).
  • Perception Kit (optional) — Head and wrist cameras plus the compute needed to run Axol.

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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 (24V DC, 60A peak).
  • 1× Locking USB-C connector for control.

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Reference diagrams

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Axol Mount Overview

Almond Axol on the Axol Mount
The Axol Mount is a rigid 400mm 8080 aluminum T-slot extrusion column that bolts Axol to a table, workbench, or fixture. Its base brackets include clearance holes for 2020, 4040, and 4545 extrusion patterns, so it drops onto most T-slot tables without drilling, and the column’s T-slots stay free for cable management and accessories. An Axol mounting plate and all table/fixture hardware are included.

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Reference diagrams

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Axol Cart Overview

Almond Axol on the height-adjustable Axol Cart
The Axol Cart is a height-adjustable mobile cart with leveling casters and a manual lift, so you can roll the robot between workstations, lock it in place, and set it to a comfortable working height. Its 60x60cm footprint fits through standard doors, and T-slot mounting keeps it easy to customize.

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Perception Kit Overview

Almond Axol with the Perception Kit cameras and head mount
The Perception Kit adds the cameras and compute for data collection and policy inference:
  • 2× ZED X One S wrist cameras with wrist mounts.
  • 1× ZED X Mini head camera with a head mount.
  • 1× ZED Box Orin NX 16GB for onboard compute.
  • FAKRA GMSL2 cabling for all three cameras.

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Reference diagrams

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Installation

Setting up your Axol configuration.

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Tools required

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

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Mounting Axol

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

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

Insert the bolts from below

From underneath the mounting plate, pass each M8×12 bolt (with its locking washer) up through the plate 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

This section applies to configurations with the Perception Kit.
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 Perception 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 robot

Attach the camera-and-bracket assembly to the head-camera mounting holes on top of Axol 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

This section applies to configurations with the Axol Cart. Each caster has a ratchet with a small lever arm that raises or lowers the wheel. To level the cart, flip the ratchet switch up or down on each caster and adjust it until the cart sits level.

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Raising and lowering the robot

This section applies to configurations with the Axol Cart. Adjust the robot’s height with the manual lift: insert the crank into the hole at the top of the cart and turn it to raise or lower the robot.
Inserting the crank into the top of the cart 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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Power

This section applies to every configuration. Axol is powered at 24V DC, 60A peak through the XT90 on the back of the robot. Two supplies are available, both 1500W (24V, 62.5A) with an XT90 output:
  • Standard Power Supply — the desktop supply that ships with Axol.
  • Industrial Power Supply — an industrial-grade supply with a dedicated E-Stop, an integrated power switch, and a brake resistor that safely dissipates back current from the arms. Built for permanent installations and industrial cells.
1

Place the power supply

Set the supply near the robot (on the cart, if you have one) so the XT90 cable comfortably reaches the back of the robot.
2

Connect DC

Plug the XT90 cable from the robot into the power supply.
3

Connect the E-Stop (Industrial Power Supply only)

Plug the E-Stop into the supply and place it somewhere accessible. The supply will not turn on without the E-Stop connected.
4

Connect AC and power on

Plug the AC cord from the supply into a wall outlet, then switch the supply on. On the Industrial Power Supply, press the integrated power switch to power the robot.
On the Industrial Power Supply, pressing the E-Stop cuts arm power instantly. To restore power, release the E-Stop and press the power switch again.
The supply is 1500W. Use a dedicated wall outlet.
The Perception Kit’s ZED Box is powered separately. Use the DC adapter that ships with it (12–19V, up to 60W).

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Wiring

This section applies to configurations with the Perception Kit. Place the ZED Box near the robot (on the cart, if you have one), then connect the cables:
1

Position the ZED Box

Set the ZED Box down so its camera, USB, and power 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 USB and ZED Box power

From the back of the robot, run the USB cable to the ZED Box. Plug the ZED Box into its own DC adapter (see Power).

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Next steps

Installation

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

Mantis Hardware

Set up the handheld Mantis rigs for collecting demonstrations without moving the robot.