Revision 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

The TRON 2 Dual-Arm Robot is an embodied robotics research platform designed for scientific research. Its dual-arm configuration gives users the flexibility to develop and test new ideas. Open low-level interfaces and support for Python and C++ reduce the barriers to embodied intelligence research.

The product is available in two configurations: a Fixed-stand version for tabletop manipulation tasks and a Mobile Dual-Arms Version that adds a Mobile Base for mobile manipulation tasks.

1.2 Product Specifications

Parameter Category	Parameter	TRON 2 EDU Version	TRON 2 Standard Version	Notes
— indicates not available, o indicates optional, and ✓ indicates standard equipment.
Mechanical Parameters	Material	Aluminum alloy, plastic	Aluminum alloy, plastic
	Degrees of Freedom	7 DOF per arm 2 DOF for the head	7 DOF per arm 2 DOF for the head
Dimensions	Dual Arms	· Shoulder width: 447 mm · Arm length: 730 mm (excluding grippers)	· Shoulder width: 447 mm · Arm length: 730 mm (excluding grippers)
	Top Expansion Area	Width: 146 mm; depth: 170 mm	Width: 146 mm; depth: 170 mm
Functions	Secondary Development	✔	—
	Dual-Arm Teleoperation Method	VR device (PICO 4 Ultra)	—
	Data Collection and Local Storage	✔	—
	Dual-Arm Safety Boundary Protection	✔	—
Dual-Arms Configuration Performance	Maximum End Effector Load	5 kg per arm with the arm fully extended 3 kg rated	5 kg per arm with the arm fully extended 3 kg rated
	Maximum End-Effector Speed	5 m/s	5 m/s
	Maximum End-Effector Acceleration	36 m/s²	36 m/s²
	Repeat Positioning Accuracy	±0.5 mm	±0.5 mm
	Teleoperation Delay	100 ms	100 ms
	End-Effector Type	Gripper, Dexterous Hand	Gripper, Dexterous Hand
	Gripper Performance	Gripping Force: 20 N Maximum Gripper Stroke: 85 mm	Gripping Force: 20 N Maximum Gripper Stroke: 85 mm
Electrical Parameters	Battery Output Voltage	46.8 V	46.8 V
	Maximum Battery Power	2800 W	2800 W
	Support for Battery Replacement	✔	✔
	Battery Type	Ternary lithium battery	Ternary lithium battery
	Battery Capacity	9 Ah	9 Ah
	Charging Power	542 W	542 W
	Charging Input Voltage/Current	100~240 V/8 A	100~240 V/8 A
	Charging Output Voltage/Current	54.275 V/10 A	54.275 V/10 A
	Charging Time	- 20–80%: 30 min; - 20–100%: 54 min	- 20–80%: 30 min; - 20–100%: 54 min
Sensor Configuration	Waist RGBD Camera	√	√
	IMU	√	√
	Head RGBD Camera	Standard on the Dual-Arms Configuration	—
	Wrist RGBD Camera	Standard on the Dual-Arms Configuration	—
Communication Interfaces	Ethernet Port	✓ (1 port)	✓ (1 port)
	USB 3.0 Port	✓ (1 port)	✓ (1 port)
	EtherCAT Port	✓ (2 ports)	✓ (2 ports)
	RS485 Port	✓ (1 port)	✓ (1 port)
Peripheral Charging Interfaces	24 V Power Output Port	✓ (2 ports)	✓ (2 ports)
	48 V Power Output Port	✓ (1 port)	✓ (1 port)
Power Supply Interface	External Power Supply Port	✓ (1 port)	✓ (1 port)
Developer Expansion Module	Architecture	Intel Core Ultra	—
	Storage	2 TB	—
	Interfaces	3 × ETH ports; 3 × USB 3.0 ports; 1 × 24 V power input; 1 × 12 V power output	—
Software Compatibility and Developer Tools	SDK	√	—
	Robot Management Platform	√	√
	Data Platform	✔	—
	VR Teleoperation Software	✔	—
	Simulation Platform	✔	—
	Software Compatibility	Compatible with Python and C++ development environments; compatible with ROS 1/ROS 2	—

1.3 Packing List

• Flight Case

Carton	Carton

Wooden Crate (Mobile Dual-Arms Version upgrade only)	Carton (Mobile Dual-Arms Version upgrade only)

1.4 Body Components and Ports

1.4.1 Body Components

1.4.2 Robot Body Receptacle Ports

1.4.3 Developer Expansion Module Ports

1.5 Coordinate Frames and Joint Limits

• When all joints of the Dual-Arm Robot are at zero degrees, their coordinate frames are as shown below. Red indicates the x-axis, green indicates the y-axis, and blue indicates the z-axis.

• The 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 3.19 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 -3.19 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

2 Battery Level Check and Charging Instructions

2.1 Robot Battery Level Check and Charging

2.1.1 Checking the Robot Battery Level

Short-press the Power Button once to check the Battery Level.

2.1.2 Charging the Robot Battery

• Connect the Battery Charging Dock to the Power Adapter. Align the aviation connector with the keyed slot, and insert it.
• Insert the battery into the Battery Charging Dock. Press down until it is fully seated, then connect the Power Adapter to an AC outlet that meets the input rating marked on the Power Adapter.
• A flashing battery indicator and a steady blue Power Adapter indicator mean that charging has started. When the battery indicator and the Power Adapter indicator are both steady green, the battery is fully charged.

2.1.3 Battery and Power Adapter Indicators

NOTICE

• If the device will not be used for an extended period, charge the battery once every three months to prevent battery damage.
• Do not leave the battery charging for an extended period. Disconnect the Power Adapter promptly after the battery is fully charged.

2.2 Remote Controller Battery Level Check and Charging

2.2.1 Checking the Remote Controller Battery Level

Press and hold the Power button below the screen to turn on the Remote Controller, then check the battery icon in the upper-right corner.

2.2.2 Charging the Remote Controller

• Connect the Type-C end of the charging cable to the Remote Controller and the other end to a 5 V/1 A power supply.
• A steady green Remote Controller indicator means that charging has started.

2.2.3 Remote Controller Charging Indicator

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

2.3.1 Checking the Mobile Base Battery Level

The normal Mobile Base battery voltage range is 24–29.4 V. A flashing red base LED indicates low battery voltage. Charge the battery promptly.

2.3.2 Charging the Mobile Base

Use the supplied 10 A charger. Insert the charger plug into the charging port at the rear of the base, connect the charger to power, and turn on the charger switch to start charging.

3 Using Your TRON 2

3.1 Operating Environment Requirements

• Electromagnetic interference: Do not operate near interference sources such as high-voltage power lines or cellular base stations.
• Wi-Fi interference: Avoid co-channel interference. If interference occurs, turn off other nearby wireless signal sources.
• Line-of-sight operation: Keep the robot in sight at all times and maintain a safety distance of at least 1 m from obstacles, people, and bodies of water.
• Temperature range: Operate between -5 °C and 40 °C. Do not use the robot outdoors in heavy fog, rain, snow, thunderstorms, or other severe weather.
• Water and dust protection: The robot is not waterproof or dustproof. Keep it away from humid, sandy, and dusty environments.
• Floor requirements: Operate on a flat, high-friction surface. Use caution on smooth surfaces.
• Safety assistance: For the Bipedal/Wheeled-Legged Configuration, use a safety tether during initial Remote-Control Mode or Developer Mode operation to help prevent falls.

3.2 Mode Descriptions and Operating Flow

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

3.3.1 Power-On Procedure

1. Assemble the robot according to the installation procedure.

NOTICE: Install the robot head and connect the head-joint power and communication cables before powering on the robot.

1. 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 Supply Port, then connect it to an AC outlet that meets the input rating marked on the Power Adapter. For the Mobile Dual-Arms Version, turn on the power switch at the rear of the Mobile Base.
2. Short-press the robot Power Button for 0.5 seconds, then press and hold it for 3 seconds. The Battery Level Indicator turns on.
3. Press and hold the Remote Controller power button for 2 seconds. The display turns on.
4. Check the Status Indicator. It flashes white during startup. After approximately 20 seconds, it remains steady blue or green, indicating that startup is complete.
5. Check the signal icon on the Remote Controller display. A visible signal confirms successful pairing and completes the startup procedure.

3.3.2 Power-Off Procedure

1. To stop robot motion, press L1+X simultaneously in Remote-Control Mode to enter Idle. All joint motors enter torque-damping state and slowly move downward.
2. For the Fixed-stand version, disconnect the External Power Supply Port. For the Mobile Dual-Arms Version, turn off the power switch at the rear of the Mobile Base.
3. Short-press the robot Power Button for 0.5 seconds, then press and hold it for 3 seconds. The Battery Level Indicator and Status Indicator turn off.
4. Press and hold the Remote Controller power button for 3 seconds. The display turns off.

NOTICE: Enter Idle first and allow the joint motors to return slowly. Powering off the robot directly may cause the joints to drop and damage the robot.

3.4 Status Indicator Meanings

4 Remote Controller Instructions

4.1 Powering the Remote Controller On and Off

• Power on: Press and hold the Power button for more than 2 seconds. One beep confirms startup, and the default screen appears.
• Power off: Press and hold the Power button for more than 2 seconds. One beep confirms shutdown, and the display turns off.

4.2 Display Information

• Signal strength: No signal icon appears when the Remote Controller is disconnected. After connection, blue signal bars appear; more bars indicate a stronger signal.
• Battery Level: Shows the Remote Controller Battery Level.
• Information area: Shows the current robot mode, robot Battery Level, and motor power status.
• Current mode/status: High-Level Development / Low-Level Development / Teleoperator / Idle.

4.3 Remote Controller Buttons

4.4 Robot Remote-Control Commands

NOTICE

• An Emergency Stop immediately cuts power to all motors. Confirm that Emergency Stop is released before startup.
• Body Emergency Stop: The robot is in Emergency Stop state when the Emergency Stop Button is pressed and exits it when the button is released. Power-cycle the robot after Emergency Stop Release.
• Remote Emergency Stop: Press both joystick buttons simultaneously to trigger Emergency Stop. Press the right joystick button to release it, then wait several seconds for the robot to recover automatically.

5 VR Device and Dual-Arm Teleoperation Instructions

5.1 VR Controller Buttons

5.2 VR Device Commands

5.2.1 Dual Arms

5.2.2 Mobile Base

5.2.3 Lifting Stand

5.3 Preparing for Teleoperation

5.3.1 Dual-Arm Zero Calibration

NOTICE

• Perform Zero Calibration only after a Main Controller upgrade or if a severe impact causes zero-position loss or position drift.
• On the Mobile Dual-Arms Version, raise the robot to its highest position before Zero Calibration.
• After Zero Calibration, wait approximately 5 seconds while the robot refreshes the new zero-position data before performing another operation.

1. Press L1+X to ensure that both arms are in Idle and hanging naturally.
2. Press L1+R1 on the Remote Controller to start automatic Zero Calibration. When calibration is complete, both arms should hang naturally.
3. If the Status Indicator turns red during calibration, Zero Calibration failed. Try again.

5.3.2 Switching TRON 2 to VR Teleoperation Mode

After the robot starts, switch the Remote Controller to Idle. Modes can be switched only in Idle. Press R1+Right repeatedly until the Remote Controller displays Teleoperator. The robot is now in VR Teleoperation Mode, and its Status Indicator remains steady blue.

5.3.3 Starting the Teleoperation App on the VR Device

NOTICE: Do not remove the sensor cover sticker before use. Removing it may cause the headset to enter sleep mode frequently.

1. Turn on the VR device and connect to the TRON 2 Wi-Fi network, TRON2A_XXX_2.4G or TRON2A_XXX_5G. Enter password 12345678.

1. In Library, select the installed Limx_teleop app.

2. Select tron2-offline and enter robot IP address 10.192.1.2. Keep the default tracking settings with Head, Controller, and Hand selected. Select Connect to enter the TRON 2 teleoperation operating state. The default perspective appears as shown below.

NOTICE: If prompted to enable body tracking, select No.

1. Hang the VR headset horizontally around your neck as shown below, and hold the left controller and right controller.

5.4 Using Teleoperation

5.4.1 Entering the Ready State

Press and hold the X button on the left controller + A button on the right controller simultaneously for 1.0 seconds to initiate the return-to-zero motion. When the motion is complete, both arms are in the teleoperation ready state, with the forearms extended forward at 90 degrees.

5.4.2 Starting Teleoperation

Hold the left controller and right controller with your arms in approximately the same pose as the robot arms and both controllers level and pointing forward. Short-press the X button on the left controller + A button on the right controller simultaneously for approximately 0.2 seconds to unlock the arms and enter the teleoperation operating state.

5.4.3 Returning Both Arms to the Ready State

Press and hold the X button on the left controller + A button on the right controller simultaneously for 1.0 seconds to return both arms to the initial forward-ready position.

5.4.4 Unlocking Both Arms

After a return-to-zero motion, both arms are locked by default. Short-press the X button on the left controller + A button on the right controller simultaneously for approximately 0.2 seconds to unlock them. The arm end effectors then track the controller positions.

5.4.5 Pausing/Resuming One Arm

Use this function to correct a large difference between the operator's arm pose and the robot arm pose.

• Short-press X to pause the left arm; short-press it again to resume.
• Short-press A to pause the right arm; short-press it again to resume.

When resumed, the arm continues moving from the paused position.

5.4.6 Operating the Grippers

Short-press the Trigger button on the left controller/right controller to open the corresponding gripper. Press it again to close the gripper.

5.4.7 Controlling the Mobile Base and Lifting Stand (Mobile Dual-Arms Version Only)

The Mobile Base and Lifting Stand can now be controlled using the VR device commands described above.

6 Robot Network Connection

6.1 Connecting a Computer to the Robot by Ethernet

• Connect the Gigabit Ethernet port on the rear of the robot to the computer with an Ethernet cable.
• Set the computer IP address to the same subnet as the robot. The robot IP address is 10.192.1.2; for example, set the computer IP address to 10.192.1.120.

6.2 Connecting a Computer to the Robot by Wi-Fi

• After the robot starts, connect the computer to a robot Wi-Fi network. The SSID format is typically XXXX_TRON2A_XXX_2.4G or XXXX_TRON2A_XXX_5G.
• Enter Wi-Fi password 12345678.

6.3 Connecting the Robot to the Internet

• After connecting the computer to the robot, open the Robot Management page at http://10.192.1.2:8080.
• Select the Wi-Fi icon on the right and enter the external network's Wi-Fi band, SSID, Wi-Fi password, and router administrator password.

7 Software Upgrade

7.1 Upgrading Robot Firmware

Open the Robot Management page in a browser and select a previously downloaded robot software package. Follow these steps:

1. Connect and configure the IP address:

   • Connect the computer to the robot.
   • Run ping 10.192.1.2 in a shell to verify the connection.

2. Open the Robot Management page: Enter http://10.192.1.2:8080 in the browser address bar.

3. Select and upgrade the software:

   • Go to the LimX Dynamics website > Download Center at https://www.limxdynamics.com/en/downloads. Select TRON 2, then download the required firmware type and version.

• On the Robot Management page, open Version Management, select the firmware type, select Choose File, and upload the firmware package. After the upload completes, select Upgrade and wait for the process to finish.

• NOTICE: Motor-drive firmware requires two upgrade passes for all configurations. First, select all motors, choose the downloaded TRON 2 Motor Driver Firmware package, and select Upgrade. Then select all motors again, choose the downloaded TRON 2 Motor Driver Firmware Supplementary Package, and select Upgrade.

• NOTICE: The robot restarts automatically after some firmware upgrades.

7.2 Upgrading the VR Device App

1.Delete the installed app before upgrading.

2.Connect the PICO device to the computer with a Type-C cable. Move the downloaded PICO update package to the pico folder in the PICO 4 Ultra internal shared storage.

3.Use the VR controller to open the pico folder.

4.Select the software package to install.

Select Install.

8 Exporting Logs

1. Connect to the robot Wi-Fi network using password 12345678.
2. Enter http://10.192.1.2:8090 in the browser address bar to open the log management page.
3. Export the log and bag files for the time when the issue occurred.

9 Routine Care and Maintenance

9.1 Cleaning and Storage

• Clean the robot surface regularly with a clean microfiber cloth, especially after operation in a dusty environment.
• Store and transport the robot in a case designed for TRON 2 to protect it from impact and vibration.

9.2 Inspection and Maintenance

• Exterior maintenance: Remove dust from the joints and check for loose screws.
• Software updates: Install official firmware updates promptly to address potential system vulnerabilities and improve motion-control algorithms.
• Battery pack: Charge the battery to 50%–60% before storage. Do not store it fully charged or depleted. Recharge it to the same level every three months.
• Remote Controller: Keep the ports clean, ensure that the joysticks are not subjected to external force during storage, and periodically check the controller for signal interference.