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Almond Axol on the Jelly Mobile base
Jelly Mobile is a powered mobile base for Axol. It has omni-wheels that drive in any direction, a 610 mm telescoping lift and a 2.4 kWh battery. Once Axol is on Jelly, you drive the base and the lift with the headset thumbsticks during teleoperation (see Jelly in the VR interface guide). For specs, see the Jelly Mobile product page. For base and lift dimensions, see the outline drawing (PDF).

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Tools required

You need a 6 mm hex (Allen) key for Axol. The other tools depend on which Compute Kit you have:

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Power panel

Jelly's power panel: on-switch, E-Stop connector, power switch, and charge connector
The power panel is on the back of Jelly. It has four parts:
  • Green on-switch: starts Jelly. It works only when the red power switch is on and the E-Stop is released.
  • E-Stop connector, below the on-switch: plug the E-Stop in here. Keep the E-Stop where the operator can reach it.
  • Red power switch: the main power switch. Turn it off to cut all power to the base.
  • Anderson connector: the charge port. See Charging Jelly.
The E-Stop cuts power to Axol at once, and the arms drop. It does not cut power to the Jetson.
Cutting power to a running Jetson can corrupt its operating system. Shut the Jetson down from its operating system first, then turn the red power switch off.

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Software E-Stop

Some Jelly builds include a safety board. On those, you can also cut power from the control panel, the command line or Python. A software stop works like the E-Stop: Axol loses power at once, and the arms drop.
  • Power stays off after a stop until someone switches it back on.
  • The Jetson stays on through any stop, so the control panel keeps working.
  • The green on-switch always switches power back on, even after a software stop.
  • Nothing switches power on while the E-Stop is pressed. Release it first.
  • A motor fault clears only when the motor restarts. Power-cycle motors switches power off for a few seconds and back on. Support the arms first, because they drop. Stop any running operation before you power-cycle.
  • Guided zeroing (Set zero position → Guided) ends with a power cycle so the new wrist zeros take effect. Support both arms, then press Power-cycle Axol.
  • A stop during a power cycle keeps power off.
A software stop needs the Jetson and its network to work. Keep the E-Stop within reach. It cuts power even when the control panel can’t.

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Assembling Jelly

1

Unbox

Set Jelly on a level floor with room to work around it.
2

Attach the cable chain

The cable chain carries Axol’s cables up the lift column. It may ship with its top end loose. If it does, fasten the chain’s top bracket to the top plate so the chain moves with the lift.
3

Mount the compute

Install the Compute Kit in the compartment in Jelly’s base. Follow Mounting the compute below.
4

Power on

  1. Plug the E-Stop into its connector on the power panel and make sure it is released.
  2. Turn the red power switch on.
  3. Press the green on-switch. The computer in the base starts up.
5

Raise the lift to install height

Run axol lift.goto. With no target given, it raises the lift to 75%, the install height. At this height it is easy to slide Axol onto the mounting plate. The lift ships homed, so you don’t need to calibrate it first.
6

Mount Axol

Follow Mounting Axol below. You need four M8×12 bolts with locking washers, which thread in from under the plate.
7

Connect Axol

Plug the XT90 power lead and the USB-C control cable into the back of Axol. Then fit the cameras with the Axol Cameras guide. You connected the camera cables to the computer when you mounted it.
8

Drive

During teleoperation, drive the base and the lift with the headset thumbsticks. See Jelly in the VR interface guide.

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Mounting the compute

The compute mounted inside Jelly's base compartment, with the power, USB, and antenna cables connected
The Compute Kit ships separately and goes inside the compartment in Jelly’s base. Every cable it needs is already in the compartment, so you only plug them in:
  • A 19V DC power lead (up to 5A) from Jelly’s battery.
  • The USB-to-CAN adapters for the wheels and the lift.
  • Two antenna cables (the braided pair on the right in the photo).
  • Axol’s USB-C control cable.
  • The Camera Kit’s GMSL cables.
1

Mount the compute

Fasten the computer into the compartment with the brackets that come with it. Face the heatsink fins outward so air can flow. The bolts depend on which Compute Kit you have:
  • ZED Box Orin: first attach the brackets to the ZED Box with their Phillips screws. Then fasten it in with 4× M3×12 Torx bolts (T10).
  • Jetson AGX Orin: 4× M6×12 Torx bolts (T30).
2

Connect power, CAN, and antennas

  • Plug the 19V, 5A DC power lead into the computer’s power input.
  • Plug the wheel and lift USB-to-CAN adapters into its USB ports.
  • Connect the two antenna cables to its antenna connectors.
3

Connect Axol and the cameras

Plug Axol’s USB-C control cable into a USB port on the computer. Plug the camera cables into its GMSL2 inputs.

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Mounting Axol

Axol attaches to its mounting plate with four M8×12 bolts and locking washers, which thread in from below. The hole positions are in the mounting holes diagram.
Use two people to lift Axol onto 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.
4

Tighten

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

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Charging Jelly

Jelly’s 2.4 kWh battery lasts 4 to 10 hours, depending on how much you drive and use the lift. Charge it through the Anderson connector on the power panel with the charger in the box. You can keep using Axol on Jelly while it charges.
1

Connect the charger

Plug the charger into a wall outlet, then into the Anderson connector on the power panel.
2

Wait for full

Leave the charger connected until it shows the battery is full, then unplug it.

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Next steps

Axol Cameras

Mount the Camera Kit’s wrist and head cameras and connect them to the computer.

Installation

Install the software on the Host Computer and open the control panel.

Hardware Setup

Back to the setup guides for every mount.