Skip to main content
Almond Axol on the height-adjustable Ox Cart
The Ox Cart is a height-adjustable mobile cart with four leveling casters and a manual crank lift. It ships with the crank handle, and the casters are already fitted. For specs, see the Ox Cart product page.

​
Tools required

You need a hex (Allen) key for the bolts that hold Axol to the cart:

​
Leveling the casters

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

​
Raising and lowering the robot

To change Axol’s height, insert the crank into the hole at the top of the cart and turn it.
Inserting the crank into the Ox Cart to adjust its height
Push the crank all the way in before you turn it. A crank that is only partly in can slip or damage the lift.
Before you mount Axol, crank the cart down to a height that is easy to lift to. Raise it to working height after the bolts are tight.

​
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.

​
Power

Axol runs on 24V DC, 60A peak through the XT90 connector on its back. Almond offers two power supplies. Both are 1500W (24V, 62.5A) with an XT90 output:
  • Standard Power Supply: the desktop supply that ships with Axol.
  • Industrial Power Supply: for permanent installations. It adds an E-Stop, a power switch, and a brake resistor that safely absorbs the current the arms send back.
1

Place the power supply

Set the supply close enough that the XT90 cable reaches the back of Axol.
2

Connect DC

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

Connect the E-Stop (Industrial Power Supply only)

Plug the E-Stop into the supply and put it where the operator can reach it. The supply does not turn on without the E-Stop.
4

Connect AC and power on

Plug the supply’s AC cord into a wall outlet, then switch the supply on. On the Industrial Power Supply, press the power switch to power Axol.
On the Industrial Power Supply, the E-Stop cuts power to the arms at once. To restore power, release the E-Stop and press the power switch again.
The supply draws up to 1500W. Plug it into an outlet with nothing else on it.
The Compute Kit has its own power. Use the DC adapter that ships with it. The ZED Box Orin takes 12–19V, up to 60W.
Cutting power to a running Jetson can corrupt its operating system. Shut it down from the operating system first, then unplug its adapter.
Fix the power supply and the computer to the cart’s T-slot frame so everything rolls together.

​
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.