Working on the gantry¶
The gantry is the safe working position for development, calibration and diagnostics. Use it whenever the robot does not need to be walking on the floor.
Mounting the robot¶
| Step | Action |
|---|---|
| 1 | Check which way round the mount is fitted. Mounted the wrong way round, it physically prevents the robot from moving |
| 2 | Raise the robot until the sling is slightly taut with the robot in its standing position |
| 3 | Do not lower the robot too far and do not raise it too high. Both are hazardous and neither is prevented in software |
| 4 | Close the sling catches on the gantry |
| 5 | Work in pairs: one person steadies and moves the stand, the other operates the remote |
Suspended too high
A robot suspended too high and then powered on cannot feel the floor, cannot reach its working stance, and starts extending its legs erratically trying to reach the ground. Keep a finger on L2+B (Damping). If that does not settle it, power the robot off. This situation is uncommon but likely when working with students.
Powering on a suspended robot¶
| Step | Action | TTS |
|---|---|---|
| 1 | Apply power and wait ~1 minute | — |
| 2 | The robot enters Zero Torque automatically | — |
| 3 | Press L2+B | Damp mode. |
| 4 | Run Lock Stand (L2+↑) |
Ready mode. |
| 5 | Only now may the robot be lowered or placed on the floor | — |
| 6 | Switch to a working mode (R2+A or R1+Y) | Walk-around mode activated… |
Do not handle the robot before Lock Stand
Do not pick the robot up or manipulate its legs before the Lock Stand step. It will go limp and fall.
Debug mode¶
Debug Mode is L2+R2. Enter it while the robot is suspended and in Damping. Return to Damping with L2+B.
Standby during development¶
Leave the robot suspended on the gantry, connect the power cable — the indicator turns blue — and switch it to Zero Torque. In this state it does not stand under tension and is available for work at any moment.
Removing the robot from the gantry¶
- Pull the robot back slightly.
- Lift it by hand and clear it from the sling.
- Remove the catches.
Why L2+B must be held¶
The asymmetry is deliberate:
- When powering on, L2+B responds to a single short press.
- When shutting down, or from an active state, a single press is not enough — the combination must be held.
This prevents an accidental brush against L2+B during operation from de-energising the motors and dropping a standing robot.