Version History

Safety and Responsibility Guidelines

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. Before using this product, carefully read this document to understand your rights, responsibilities, and safety instructions. 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.
2. This product is not a toy and is not recommended for persons under 18 years old. Keep children away from the product and exercise special caution when operating it in environments where children are present.
3. This product should not be used in crowded areas. During use, ensure that people remain outside a 1 m radius from the robot. LimX Dynamics assumes no responsibility for injury or loss caused to relevant personnel due to improper operation.
4. 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.
5. 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.
6. 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.
7. 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.
8. 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.
9. 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.
10. You must comply with the export-control laws and regulations applicable in your region.
11. You must undertake to use this product for legitimate purposes and agree to accept all terms in this document.
12. 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 wheel_L_Joint -97 ∞ 97 ∞ -1.69 ∞ 1.69 ∞ 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 wheel_R_Joint -97 ∞ 97 ∞ -1.69 ∞ 1.69 ∞

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 blues light stays on, charging has started successfully. If the battery indicator stays on and the adapter green light flashes, 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).

1. Turn on the VR device and connect to the TRON2 robot Wi-Fi "TRON2A_XXX_2.4G" or "TRON2A_XXX_5G". The password is 12345678.

1. In the Resource Library, click the installed teleoperation mini-program Limx_teleop to launch it.

2. Select "tron2-offline" in the configuration options. For the robot IP, enter 10.192.1.2. Keep the tracking settings at their defaults (check "Head", "Controller", and "Hands"). Click Connect to enter the TRON2 teleoperation working state. The default view is the see-through interface shown below.
   
   

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 Starting Teleoperation and Entering Ready State

Long-press left X button + right A button simultaneously for 1.0 s to start zero return. After zero return ends, the dual arms should be in teleoperation ready state, with the forearms extended forward at a 90° angle.

5.4.2 Entering Teleoperation Working State

Hold the controllers with both hands, align the user's arms close to the robot arms' posture, keep the controllers level and forward, then short-press X+A simultaneously for about 0.2 s to unlock and enter teleoperation working state.

5.4.3 Returning Dual Arms to Ready State

This function returns the dual arms to the initial forward-extended ready state. Long-press X+A simultaneously for 1.0 s to trigger it.

5.4.4 Unlocking Dual-Arm Motion

After zero return is triggered, the dual arms enter locked state by default. Short-pressX+A for about 0.2 seconds to unlock. The robotic arm end effectors will then start moving by following the positions of the user's controllers.

5.4.5 Single-Arm Pause/Resume

This function pauses a specified arm and is used for correction when the user's arm posture differs greatly from the robotic arm posture. Short-pressX (left arm) or short-pressA (right arm) once to pause. Short-pressX (left arm) or short-pressA (right arm) again to resume motion. When resumed, motion continues from the paused position.

5.4.6 Gripper Grasping

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

5.4.7 Mobile base and Lift Stand Control

At this point, the mobile chassis and lift stand can be controlled normally according to the VR device 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.

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 Choose 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 VR设备APP升级

1. Before upgrading, first delete the existing program.

1. Use a Type-C cable to connect the Pico to your computer. Drag the downloaded Pico update package into the pico folder located in the internal shared storage of the Pico4 Ultra.

2. Using the VR controller, click the pico folder.
   

3. Using the VR controller, click the software package you want to install.
   

4. Click Install.

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.