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Safety Notice

To ensure the safety of both users and the robot, please read the following precautions carefully before use:

1. Professional Use Only:This product is intended for professional use. Individuals under 18 are not advised to operate the device. The operation should only be
   performed by persons with relevant technical knowledge or under the supervision of qualified personnel.
2. Keep Out of Reach of Children: Prevent children from approaching or interacting with the robot. In environments where children are present, take extra preca
   utions and ensure the robot operates only in safe and supervised conditions.
3. Idle Protection: Do not leave the robot powered on and unattended. Activate mechanical or software-based suspension protection to prevent unintended movement.
4. Safe Operating Environment: Keep the operating area clear of obstacles at all times. Use safety restraints or tethers when necessary toprevent accidental movement, tipping, or injury.
5. Maintain a Safe Distance: Always keep the robot within your line of sight. Maintain a minimum distance of 1 meter (3 feet) from the robot during operation.
6. Handling Precautions: Do not touch the robot,s joints or actuating components immediately after power-on or during transportation, as unexpected movement
   may cause pinching or impact injuries.
7. Low Battery Warning: When a low battery warning is displayed, power off the robot and recharge the battery immediately to prevent unexpected shutdown, system malfunction, or damage.

Safety Warnings

Legal and Compliance Notice

The copyright and ownership of this manual belong to Shenzhen LimX Dynamics Technology Co., Ltd. and its affiliates (collectively referred to as "LimX Dynamics"). Without written authorization from LimX Dynamics, no individual or organization may copy, scan, store, distribute, reprint, sell, transfer, modify, or otherwise use all or part of this manual for themselves or others. This manual and its contents are intended only for operating and using this product and may not be used for any other purpose.

To avoid illegal acts, possible injury, and losses, please strictly observe the following requirements:

1. For safety precautions, refer to the Safety Notice. Before using this product, carefully read this document and the Safety Notice to understand your rights, responsibilities, and legal terms. Failure to comply may result in property loss or safety hazards. By using this product, you indicate that you fully understand and accept all terms in this document. Operate strictly according to the instructions and take full responsibility for your actions and any related consequences. LimX Dynamics assumes no responsibility for injury or loss caused to relevant personnel due to improper operation.
2. Unauthorized disassembly, modification, or non-standard repair of the product is strictly prohibited. LimX Dynamics is not responsible for equipment faults or damage caused by such actions.
3. Do not use this product in extreme environments, such as high temperature, low temperature, or corrosive chemical environments. LimX Dynamics is not responsible for equipment issues caused by such conditions.
4. Under normal use conditions, issues caused by natural component wear or battery aging are not considered product quality issues, and LimX Dynamics assumes no responsibility for them.
5. This product must not be used for any activity that endangers national security, including but not limited to support for terrorism, nuclear facilities, biochemical weapon development, or the design and use of weapons of mass destruction.
6. Please confirm that you are not subject to any trade restrictions or sanctions; otherwise, you may not be able to use LimX Dynamics products and services normally.
7. LimX Dynamics is committed to ensuring product compliance worldwide. Please comply with the laws and regulations of your region and pay attention to relevant compliance requirements.
8. You must comply with the export-control laws and regulations applicable in your region.
9. You must undertake to use this product for legitimate purposes and agree to accept all terms in this document.
10. LimX Dynamics reserves the right of final interpretation of this agreement and may update or adjust it as needed.

1 Product Overview

1.1 Introduction

TRON 2 is a modular, composable, multi-scenario embodied-robotics research platform designed for research users. It enables users to freely implement ideas across different robot configurations. By providing open low-level interfaces and Python/C++ development compatibility, it significantly lowers the research barrier in embodied intelligence. As an ideal platform for university research and teaching as well as secondary development by industry enterprises, TRON 2 is dedicated to advancing robotics from the laboratory toward industrialization.

1.2 Product Specifications

Parameter Category	Parameter Item	TRON 2 EDU Version	TRON 2 Standard Version	Notes
"–" = Not available, "o" = Optional, "✓" = Standard Version
Mechanical Parameters	Material	Aluminum alloy, plastic	Aluminum alloy, plastic
	Degrees of Freedom	Single arm: 7 DOF; single leg: 5 DOF; head: 2 DOF	Single arm: 7 DOF; single leg: 5 DOF; head: 2 DOF
Dimensions	Dual-Arms	- Shoulder width: 447 mm - Arm length: 730 mm (without gripper)	- Shoulder width: 447 mm - Arm length: 730 mm (without gripper)
	Sole	- Overall width: 453 mm - Standing height: 987 mm	- Overall width: 453 mm - Standing height: 987 mm
	Wheeled-legs	- Overall width: 478 mm - Standing height: 1015 mm	- Overall width: 478 mm - Standing height: 1015 mm
	Top Expansion Area	Width: 146 mm; depth: 170 mm	Width: 146 mm; depth: 170 mm
Functions	Secondary Development	√	—
	Sole/Wheeled Control Functions	Four-directional Movement, Turning, Static Standing, Squatting Down In-place, Robot Height Adjustment, Stand Up After a Fall, and Ground Clearance Detection	Four-direction movement, turning, static standing, height adjustment (squat/stand), fall recovery, off-ground detection
	Dual-Arm Teleoperation Method	VR device (PICO 4 Ultra)	—
	Data Collection and Local Storage	√	—
	Dual-Arm Safety Boundary Protection	√	—
Dual-Arm Configuration	Maximum End Effector Load	Maximum: 5kg per arm; Extended: 3kg per arm	Maximum: 5kg per arm; Extended: 3kg per arm
	Maximum End-Effector Speed	5m/s	5m/s
	Maximum End-Effector Acceleration	36m/s²	36m/s²
	Repeat Positioning Accuracy	± 0.5mm	± 0.5mm
	Teleoperation Delay	100ms	100ms
	End-Effector Type	Gripper \ Dexterous hand	Gripper \ Dexterous hand
	Gripper Performance	Gripping Force: 20N Maximum; Gripping Width: 85mm	Gripping Force: 20N Maximum; Gripping Width: 85mm
Sole/Wheeled Configuration	Maximum Movement Speed	Sole: 2-3 m/s; wheeled: 3-5 m/s	Sole: 2-3 m/s; wheeled: 3-5 m/s
	Maximum Climbing Slope	Sole: 15°; wheeled: 30°	Sole: 15°; wheeled: 30°
	Maximum Step Height	20cm	20cm
	Maximum Load Capacity	30kg for flat ground walking; 20kg for stair climbing	30kg for flat ground walking; 20kg for stair climbing
Electrical Parameters	Battery Output Voltage	46.8V	46.8V
	Maximum Battery Power	2800W	2800W
	Support for Battery Replacement	√	√
	Battery Type	Ternary lithium battery	Ternary lithium battery
	Battery Capacity	9Ah	9Ah
	Charging Power	542W	542W
	Charging Input Voltage/Current	100~240V/8A	100~240V/8A
	Charging Output Voltage/Current	54.275V/10A	54.275V/10A
	Charging Time	20-80% Charge: 30min ; 20-100% Charge: 54min	20-80% Charge: 30min ; 20-100% Charge: 54min
Sensor Configuration	Waist RGBD Camera	√	√
	IMU(Inertial Measurement Unit)	√	√
	Head RGBD Camera	✓ (only for Dual-Arms / Mobile Dual-Arms )	—
	Wrist RGBD Camera	✓ (only for Dual-Arms / Mobile Dual-Arms)	—
Communication Interfaces	Ethernet Port	√ (1 port)	√ (1 port)
	USB 3.0 Port	√ (1 port)	√ (1 port)
	EtherCAT Port	√ (2 port)	√ (2 port)
	RS485 Port	√ (1 port)	√ (1 port)
Peripheral Charging Interfaces	24 V Power Output Port	√ (2 port)	√ (2 port)
	48 V Power Output Port	√ (1 port)	√ (1 port)
Power Supply Port	External Power Supply Port	√ (1 port)	√ (1 port)
Developer Expansion Module	CPU	Intel Core Ultra	—
	Storage Capacity	2TB	—
	Interfaces	3 x ETH ports, 3 x USB 3.0, 1 x 24 V input power, 1 x 12 V output power	—
Software Compatibility and Developer Tools	SDK	√	—
	Robot Management Platform	√	√
	Data Platform	√	—
	Simulation Platform	√	—
	Software Compatibility	Compatible with Python, C++ development environments; Supports ROS1/ROS2 systems	—

1.3 Packing List

• Flight Case
  

Carton	Carton

• Carton
  

• Carton
  

Wooden Crate (Equipped on mobile dual-arms version only)	Carton (Equipped on mobile dual-arms version only)

1.4 Body Components and Ports

Body Components

Robot Body Receptacle Interfaces

Developer Expansion Module Ports

1.5 Coordinate Frames and Joint Limits

Dual-Arms Configuration

When all joints are at zero degrees, their joint coordinate frames are shown below. Red indicates the x-axis, green indicates the y-axis, and blue indicates the z-axis.

Joint numbers and limits are shown below.

Joint No. English Joint Name Limits (deg) Limits (rad) Lower Limit Upper Limit Lower Limit Upper Limit 0 proximal_pitch_L_Joint -180 149 -3.14 2.60 1 proximal_roll_L_Joint -15 183 -0.26 3.22 2 proximal_yaw_L_Joint -210 85 -3.66 1.48 3 elbow_L_Joint -150 15 -2.61 0.26 4 wrist_yaw_L_Joint -100 80 -1.74 1.39 5 wrist_pitch_L_Joint -45 45 -0.78 0.78 6 wrist_roll_L_Joint -90 90 -1.57 1.57 7 proximal_pitch_R_Joint -180 149 -3.14 2.60 8 proximal_roll_R_Joint -183 15 -3.22 0.26 9 proximal_yaw_R_Joint -85 210 -1.48 3.66 10 elbow_R_Joint -150 15 -2.61 0.26 11 wrist_yaw_R_Joint -80 100 -1.39 1.74 12 wrist_pitch_R_Joint -45 45 -0.78 0.78 13 wrist_roll_R_Joint -90 90 -1.57 1.57 14 head_pitch_Joint -45 60 -0.78 1.04 15 head_yaw_Joint -90 90 -1.57 1.57

Sole/Wheeled Configuration

When all joints are at zero degrees, their joint coordinate frames are shown below. Red indicates the x-axis, green indicates the y-axis, and blue indicates the z-axis.

Joint No. English Joint Name Limits (deg) Limits (rad) Lower Limit Upper Limit Lower Limit Upper Limit 0 proximal_pitch_L_Joint -180 149 -3.14 2.60 1 proximal_roll_L_Joint -15 183 -0.26 3.19 2 proximal_yaw_L_Joint -210 85 -3.66 1.48 3 knee_L_Joint -150 15 -2.61 0.26 4 ankle_pitch_L_Joint -97 97 -1.69 1.69 wheel_L_Joint ∞ ∞ ∞ ∞ 5 proximal_pitch_R_Joint -180 149 -3.14 2.60 6 proximal_roll_R_Joint -183 15 -3.19 0.26 7 proximal_yaw_R_Joint -85 210 -1.48 3.66 8 knee_R_Joint -150 15 -2.61 0.26 9 ankle_pitch_R_Joint -97 97 -1.69 1.69 wheel_R_Joint ∞ ∞ ∞ ∞

1.6 Installation Guide

1.6.1 Installation Video Guide

1.6.2 Pre-Power-On Wiring Check

Mandatory Checks Before Power-On

1. Verify that the robot, power adapter, and Mobile Base are all powered off.
2. Check each cable label against its port label as shown in the wiring diagrams. Pay particular attention to the power cable connections.
3. Verify the connector orientation. Never force a connector into a port.
4. Verify that every connector is fully seated and locked, with no looseness, misalignment, or exposed metal contacts.
5. Inspect the cables and connectors for damage, deformation, signs of burning, or unusual odors.
6. If you cannot confirm that the wiring is correct, do not power on the robot. Contact LimX Dynamics Technical Support.

Dual-Arm Robot Wiring

Before power-on, check the Dual-Arm Robot wiring against the diagram below.

Tip

The robot can be converted from the Dual-Arm Configuration to either the Sole or Wheeled-legs Configuration. The robot-body wiring remains the same. Check the wiring against the Dual-Arm Robot wiring diagram.

Mobile Base Wiring

This wiring diagram applies only to the Mobile Dual-Arms Robot. Before power-on, check the wiring of both the Dual-Arm Robot and the Mobile Base.

2 Battery Level Check and Charging Instructions

2.1 Robot Battery Level Check and Charging

Checking the Robot Battery Level

Short-press the power button once to check the battery level.

Charging the Robot Battery

1. Connect the battery charging dock and power adapter, align the aviation connector with the keyed position, and insert it.
2. Insert the battery into the charging dock, press it down to ensure it is fully seated, and plug the power adapter into a power outlet (220 V AC).
3. If the battery indicator flashes and the power adapter indicator is steady blue, charging has started. When the battery indicator and the power adapter indicator are both steady green, the battery is fully charged.

Battery and Adapter Indicator Lights

Tip:

• If the device will not be used for an extended period, charge the battery once every three months to avoid battery damage.
• Long-term charging is not recommended. Remove the power adapter promptly after the battery is fully charged.

2.2 Remote Controller Battery Level Check and Charging

Checking the Remote Controller Battery Level

After long-pressing the Power button below the remote controller screen to turn it on, check the battery icon at the upper right of the screen.

Charging the Remote Controller

1. Connect the Type-C end of the remote controller charging cable to the remote controller and connect the other end to a 5 V/1 A power supply.
2. A steady green remote controller indicator means charging has started successfully.

Remote Controller Charging Indicator

2.3 Mobile Bases Battery Level Check and Charging (Mobile Dual-Arms Version Only)

Checking the Mobile Bases Battery Level

The normal battery voltage range is 24-29.4 V. If the chassis LED flashes red, the battery voltage is too low. Charge it promptly.

Charging the Mobile Bases

Use the 10A charger provided with the product. Insert the charger plug into the charging port on the rear of the mobile base, then connect the charger to a power source. The robot will begin charging.

3 Using Your TRON 2

3.1 Operating Environment Requirements

• Electromagnetic interference: Avoid operating near interference sources such as high-voltage power lines and mobile base stations.
• Wi-Fi signal interference: Avoid co-channel interference. If interference occurs, turn off other nearby wireless signal sources.
• Line-of-sight control: Keep the robot within visual range at all times and maintain a safety distance of at least 1 m from obstacles, crowds, water surfaces, etc.
• Temperature range: -5°C to 40°C. Outdoor use is prohibited in severe weather such as heavy fog, rain, snow, or thunderstorms.
• Water and dust protection: The robot is not waterproof or dustproof. Avoid humid, sandy, or dusty environments.
• Ground requirements: Use on flat ground with high friction. Operate cautiously if the robot must be used on smooth surfaces.
• Safety assistance: In Sole/wheeled configurations, use a tether to avoid falls during remote control and early development testing.

3.2 Mode Descriptions and Usage Flow

3.3 Dual-Arms/Mobile Dual-Arms Robot Power-On/Off Procedure

Power-On Procedure

1. Complete robot installation according to the installation procedure and wait for startup.
2. Insert a fully charged battery into the battery compartment and press until the latch locks. For the fixed-stand version, connect the power adapter to the external power interface and to 220 V power before startup. For the mobile base version, turn on the power switch at the rear of the base.
3. Short-press for 0.5 s, then long-press the robot Power button for 3 s to start the robot. The battery level indicator will turn on.
4. Long-press the remote controller power button for 2 s to turn it on. The display will light up and show information.
5. Observe the status indicator. During startup, it flashes white. After about 20 s, it changes to steady Blue/Cyan/Green, indicating startup is complete.
6. Check the signal indicator on the remote controller display. If a signal is shown, pairing has succeeded and startup is complete.

Tip:
The robot can start normally only after the head is installed and the head joint power cable and joint communication cable are connected.

Power-Off Procedure

1. To stop robot motion, press L1+X simultaneously in remote-control mode to enter idle state. All joint motors enter torque-damping state and will slowly move downward.
2. For the fixed-base version, unplug the external power interface. For the mobile base version, turn off the power switch at the rear of the base.
3. Short-press for 0.5 s, then long-press the robot Power button for 3 s to power off. The battery level indicator and status light will turn off.
4. Long-press the remote controller power-off button for 3 s to power off. The display will turn off.

Tip:
Note: Enter idle state first and allow the joint motors to return slowly. If the power-off button is pressed directly, the joints will drop immediately and may damage the robot.

3.4 Sole/Wheeled Robot Power-On/Off Procedure

Power-On Procedure

1. Before powering on, place the robot in the position shown and keep it self-balanced.
2. Insert a fully charged battery into the battery compartment and press until the latch locks.
3. Short-press for 0.5 s, then long-press the robot Power button for 3 s to start the robot. The battery level indicator will turn on.
4. Long-press the remote controller power button for 2 s to turn it on. The display will light up and show information.
5. Observe the status indicator. It flashes white during startup, and steady blue indicates startup is complete.
6. About 20 s after startup, the body status indicator changes from white to steady Blue/Cyan/Green. Check the signal indicator on the remote controller display. If a signal is shown, pairing has succeeded and startup is complete.

Power-Off Procedure

1. To stop robot motion, press L1+X simultaneously in remote-control mode to enter squat state and let the device land stably.
2. Long-press the robot power-off button for 3 s to power off. The battery level indicator and status light will turn off.
3. Long-press the remote controller power-off button for 2 s to power off. The display will turn off.
4. After all indicators turn off, remove the battery.

3.5 Robot Light Indicator Meanings

3.6 Robot Configuration Switching

• Automatic recognition is supported between configurations; manual configuration is not required.
• The leg and arm configurations share the same first three joints. To replace an arm or leg, detach it below the hip (for legs) or shoulder (for arms) joint. This can be done by one person using the supplied toolkit.
• Switching between bipedal and wheeled-biped configurations can be completed quickly. The mounting structure includes poka-yoke design to prevent the feet from being installed front/back reversed or the wheeled legs from being installed inside/out reversed.

4 Remote Controller Instructions

4.1 Remote Controller Power On/Off

• Turn on the remote controller: Press and hold the Power button for more than 2 s. When you hear a beep, the remote controller has turned on successfully and enters the default interface.
• Turn off the remote controller: Press and hold the Power button for more than 2 s. When you hear a beep, the remote controller turns off and the display goes dark.

4.2 Screen Information

Signal Strength: When the remote controller is not connected to the robot, no signal icon is shown. After connection, blue signal bars are displayed. More lit bars indicate stronger signal.

Battery Level: Indicates the remote controller battery level

Information Area: Returns the robot's current mode, battery level, whether the robot is powered on, etc.

Current Mode/Status: High-Level Development(High-Level Developer Mode)/Low-Level Development(Low-Level Developer Mode)/Teleoperator(Remote-Control Mode)/show Mode/Idle(idle state in different modes)

4.3 Remote Controller Buttons

4.4 Dual-Arms/Mobile Dual-Arms Robot Remote-Control Commands

4.5 Sole/Wheeled Robot Remote-Control Commands

Tip:

After emergency stop is triggered, power to all motors is immediately cut off (confirm the emergency stop state before startup).
a.Body emergency stop: The robot is in emergency stop state when the emergency stop button is pressed, and not in emergency stop state when it is released. After emergency stop is released, the robot must be powered on again to restore its state.
b.Remote controller emergency stop: Pressing the left and right joysticks simultaneously enters emergency stop state. Press the right joystick button to exit emergency stop state, and the robot state will automatically recover after a few seconds.

5 VR Device and Dual-Arms Teleoperation Instructions

5.1 VR controller Buttons

5.2 VR controller Commands

5.3 Teleoperation Preparation

5.3.1 Dual-Arms Zero Calibration

Tip:

• Zero calibration is required only after the main controller has been upgraded or after severe impact causes zero-position loss or position drift.
• In the mobile chassis configuration, raise the robot to the highest point before performing zero calibration.
• After zero calibration is complete, wait about 5 seconds while the robot refreshes the new zero-position information before performing other operations.

1. Press L1+X to ensure the dual arms are in idle state and hanging naturally;
2. Press L1+R1 on the remote controller to start automatic zero calibration. After calibration ends, the dual arms should hang naturally;
3. If the indicator turns red during the process, zero calibration has failed. Try calibrating again.

5.3.2 Switching the TRON2 Robot to Teleoperation Mode

Press R1+Right button on the remote controller to switch to Teleoperation Mode.

5.3.3 Starting the Teleoperation App on the VR Device

Note: Do not remove the protective sticker covering the detection sensor before teleoperation use (otherwise the headset may frequently enter sleep mode).

• When connecting the VR device to the robot for the first time, wear the VR Headset and complete the following settings in the VR interface.
• Tip: Point with the right-hand controller. Short-press the Trigger Button on the right-hand controller to select or confirm.

Step	Operation	Illustration
1. Power on the VR device	Press and hold the Power Button on the right side of the Headset for approximately 3 seconds to power on, then put on the Headset to enter the system home screen
2. Connect to the robot Wi-Fi	In the quick panel / Settings, connect to TRON2A_XXX_2.4G or TRON2A_XXX_5G with password 12345678
3. Start the teleoperation app	Library > Unknown Sources > Limx_teleop
4. Configure and connect	Select tron2-offline, enter 10.192.1.2 as the IP, and click Connect

• Click Connect to enter the TRON 2 teleoperation working state. The default see-through view displays the head camera and the left and right wrist camera feeds. The wrist camera feeds can be toggled on or off in the lower-right corner.

Note: If prompted whether to enable body following during the process, select No.

1. Hang the VR headset horizontally around your neck, as shown below. Hold the VR controllers in your hands, ready for teleoperation.

5.4 Using Teleoperation

5.4.1 Dual-Arms Zero Return: Entering the Ready Posture

Long-press the left X button + right A button simultaneously for at least 1.0 s. After zero return is complete, the dual arms enter the teleoperation ready state, with the forearms extended forward at 90° to the upper arms. This operation can also be performed during teleoperation to return the dual arms to the ready state.

Right after startup, entering the teleoperation ready state requires long-pressing the left X button + right A button simultaneously for about 3.0 s.

5.4.2 Entering Teleoperation Working State

Dual-arm motion unlock: Hold the controllers with both hands, keep your arms close to the robot arms' posture, and hold the controllers level and pointing forward. Simultaneously short-press X+A for about 0.2 s to unlock the dual arms. The arm tips then start following the controllers, and the robot enters the teleoperation working state.

⚠️ When operating for the first time, use small, slow movements. Avoid sudden large movements of the controllers, which can cause the robotic arms to swing rapidly or strike nearby objects. The teleoperation link introduces a latency of about 100 ms; allow a lead time for your movements.

5.4.3 Gripper Grasping

Press the left trigger button/right trigger button to open the left/right gripper; press again to close it.

5.4.4 Mobile Base and Lift Stand Control

At this point, the Mobile Base and Lift Stand can be controlled normally according to the VR controller commands.

6 Robot Network Connection

6.1 PC to dual-arm – Wired

1. Use an Ethernet cable to connect the Gigabit Ethernet port on the robot's rear side to the PC Ethernet port.
2. Modify the IP address of the personal computer to the same network segment as the robot to access the system. The robot IP address is 10.192.1.2. For example, set the PC address to 10.192.1.120.

6.2 PC to dual-arm – Wireless

1. After the robot startup is complete, use a personal computer to connect to the robot Wi-Fi. The name format is usually "TRON2A_XXX_2.4G" or "TRON2A_XXX_5G".
2. Enter the Wi-Fi password: 12345678.

6.3 dual-arm to an External Network

1. After the PC is connected to the dual-arm, open a browser and access the dual-arm management page at http://10.192.1.2:8080.
2. Click the Wi-Fi icon on the right, and enter the Wi-Fi information required for the dual-arm to connect, including Wi-Fi Band, Wi-Fi SSID, Wi-Fi Password, and Router Admin Password.

6.4 Remote Teleoperation Configuration

After completing the following settings, you can use a VR device to teleoperate a bound robot over an external network.

Before proceeding, complete the settings in 6.3 dual-arm to an External Network, and make sure both the robot and the VR device are connected to an external network.

6.4.1 Binding the Robot

1.Access the Robot Management Platform at http://robonexus.limxdynamics.com/ over the external network. Register and log in to your account, then obtain the Access Key on the personal information page.

2.Connect to the robot via Wi-Fi or the Ethernet port, then access the Remote Teleoperation Configuration page at http://10.192.1.2:9191 in a browser. Enter the platform address http://robonexus.limxdynamics.com/ and your account's Access Key, then save and apply the configuration.

6.4.2 Connecting the VR Device

1. Open the teleoperation app on the VR device and select connection via an external network.
2. Select tron2-online as the configuration, enter your account's Access Key and the robot's serial number, then click "Connect".

7 Robot Software Upgrade

7.1 Robot Body Firmware Upgrade

Use a browser to enter the robot management page and select the robot software version downloaded locally in advance for upgrade. The steps are as follows:

1. Connection and IP settings:
   a. Connect a personal computer to the robot.
   b. Use the Shell command ping 10.192.1.2 to ensure the connection is normal.
2. Access the management page: enter the following in the browser address bar:http://10.192.1.2:8080 to enter the robot management page.
   
3. Select and upgrade software:
   a. Go to the LimX Dynamics official website → Downloads ，at https://www.limxdynamics.com/en/downloads. Select the product model TRON2, choose the firmware type and version you need, and download the firmware package to your local computer.
   

b. On the robot management page, go to the Version Management section. Select the firmware type you wish to upgrade, click Select file to upload the firmware package, then click the Upgrade button after the upload is complete. Wait patiently for the upgrade to finish.

c. Note: Upgrading the motor driver firmware must be done in two steps (this applies to both the dual-arm configuration and the bipedal/wheeled-leg configuration). First, select all motors, choose the downloaded "TRON2 – Motor Driver Firmware", and click Upgrade.
Then, select all motors again, choose the downloaded "TRON2 – Motor Driver Firmware Supplementary Package", and click Upgrade.
d. Note: The robot will automatically restart after certain firmware upgrades are completed.

7.2 Upgrading the VR Device App Online

Before proceeding, make sure the VR device is connected to an external network.

1. Open the Library from the bottom menu of the VR device and find the teleoperation app. Press and hold the Grip Button on the controller, then select "Uninstall" in the pop-up window.
2. Open the browser on the VR device, search for "LimX Dynamics", and go to the LimX Dynamics official website.
3. Go to "Support > Downloads", select TRON 2, and download the latest VR device app.
4. When the download is complete, select "Install app" in the pop-up installation prompt and wait for the installation to finish.
5. After installation, you can find the teleoperation app in the Library.

Operation Video

7.3 The remote controller firmware upgrade

The remote controller firmware upgrade tool runs on Windows only.

1. Download the remote controller firmware upgrade tool from the official website, unzip it, and open the software.
2. Take out the remote controller charging cable and connect the remote controller to be upgraded to a Windows PC.
3. With the remote controller powered off, press and hold the Left Joystick + Power button. The remote controller will enter Boot state.
4. In the "COM" field, select the device number of the remote controller, then click "OPEN COM" to open the remote controller serial port.
5. After the serial port is opened, the remote controller log information will be displayed, and the status shown on the remote controller screen will switch to "BootUSB".
6. Download the latest remote controller firmware from the official website and save it locally. Click "OPEN FILE" and select the downloaded new firmware.
7. Click "UPGRADING" to start the firmware upgrade. A prompt will pop up after the upgrade is successful.

Operation Video

Long press the power button to turn off the remote controller. After restarting, you can verify the upgraded firmware version: double-click the Power button to enter the settings page, use the Up/Down buttons to select the first item, then press the Right button to enter. The remote controller information will be displayed, where "Firmware Version" is the current firmware version.

8 Log Export

1. Connect to the robot Wi-Fi. Password: 12345678.
2. Enter the following in the browser address bar:http://10.192.1.2:8090 to enter the log management interface.
3. Export the log files and bag files from the time when the issue occurred.

9 Routine Care and Maintenance

9.1 Cleaning and Storage

• Clean the surface regularly or after operation in dusty environments using a clean microfiber cloth.
• Use the transport case designed specifically for the TRON 2 robot for storage and transport to prevent impact and vibration.

9.2 Inspection and Maintenance

• Exterior maintenance: Clean dust from joint areas and check whether screws are loose.
• Software updates: Upgrade official firmware in a timely manner to fix potential system vulnerabilities and optimize motion algorithms.
• Battery pack: Charge to 50%-60% before storage (avoid full charge or deep discharge), and recharge to the same range every 3 months.
• Remote controller: Keep interfaces clean, ensure the joysticks are not subjected to external force during storage, and regularly check anti-interference performance.