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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 casters fitted; see the Ox Cart product page for specs.

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Tools required

You’ll need a hex (Allen) key for the socket head cap screws that hold Axol to the cart:

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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 cart, 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 cart and turn it to raise or lower the robot.
Inserting the crank into the Ox Cart to adjust its 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.
Crank the cart down to a comfortable lifting height before mounting Axol, then raise it to working height once the bolts are tight.

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Mounting Axol

Axol attaches to its mounting plate 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.
4

Tighten

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

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Power

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 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 Compute Kit is powered separately. Use the DC adapter that ships with it (the ZED Box Orin takes 12–19V, up to 60W).
Abruptly shutting down the Jetson can sometimes corrupt the OS. Shut it down from the OS first, then unplug its adapter.
The cart’s T-slot frame is a convenient place for the power supply and compute, so everything rolls together.

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Next steps

Axol Cameras

Mount the Camera Kit’s wrist and head cameras and wire them to the compute.

Installation

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

Hardware Setup

Back to the setup guides for every configuration.