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Version: 2.0

Questions

Where is the OpenArm 1.0 documentation?​

This site shows the latest documentation (OpenArm 2.0) by default. To view the OpenArm 1.0 documentation, use the version dropdown in the top right of the navigation bar, or go directly to the 1.0 documentation.

Is there a mobile base?​

The OpenArm project does not currently have any short-term plans for a mobile base. Please consider integrating it with another project, for more information, refer to this GitHub issue.

The motor is not working.​

See the troubleshooting section.

The arm stops moving or doesn't communicate.​

Turn off the power, then check the following. See also the safety guide.

  • Loose connectors and broken wires: a loose connector or a broken wire can stop a motor from moving or block communication. Check the connectors and wiring first. The wiring around the elbow (J4) comes off easily, so check it carefully.
  • CAN bus-off: long wires or some cable routings can cause signal reflections that put the CAN bus into bus-off. This is rare, but it stops the arm. Bring the CAN interface down and up again to restore communication. See Setup CAN Interface.
  • Termination resistors: the arm can stop working if a termination resistor is removed. Make sure the termination resistors are connected. See also OpenArm CAN CLI troubleshooting.

A connector comes off during operation.​

Wrap the L-shaped connector with cable ties or tape so that it doesn't come off. Turn off the power before working on it.

The arm wobbles or its motion is unstable.​

Turn off the power, then check the screws.

  • Vibration during operation tends to loosen the screws around the wrist.
  • Loose screws around the elbow can cause play in the joint and make the arm's motion unstable.

The cameras disconnect.​

In the standard configuration in the OpenArm 2.0 BOM, the head stereo camera (ZED mini) and both wrist cameras share one USB hub and one USB repeater cable.

PC ── USB repeater cable (5 Gbps) ── USB hub ─┬─ Head stereo camera (ZED mini)
                                              ├─ Right wrist camera
                                              └─ Left wrist camera

The cameras can disconnect when the hub's power or the shared link is not stable. Check the following in order.

  • Connect the auxiliary power supply (USB charger) to the USB hub.
  • Connect the USB repeater cable to a USB Type-C port of 5 Gbps or faster on the PC.
  • If the cameras still disconnect, connect the head stereo camera directly to the PC instead of the USB hub. Some PCs share an internal hub among several ports, so run lsusb -t to make sure that it is not under the same hub as the wrist cameras.

OpenArm Cell shuts off during zero-position calibration.​

The wiring around the elbow or other joints may enter the detection area of the area sensors and trigger the Reach-In Stop. Turn off the power, then secure the wiring along the arm so that it stays out of the detection area.

The LED panels of OpenArm Cell get very hot.​

The LED panels get very hot when they are left on. Turn them off when you are not using OpenArm Cell, and do not touch them while they are on. Adding a switch to the power supply of the LED panels makes it easy to turn them off.

Please use the CAN-FD devices listed in the OpenArm 1.0 Bill of Materials > Electronics. Using other CAN devices may result in unexpected behavior.

How accurate and repeatable is it?​

We're preparing the documentation.

How much power does it consume?​

We're preparing the documentation.

Where can I get support?​

You can also reach out to our community for tips and help.

  • Discord Connect with other builders, researchers, and the OpenArm team for real-time support and discussions: Join Now

  • GitHub Issues Report bugs or request features directly in our repository: Open an Issue

  • GitHub Discussions Ask technical questions directly in our repository: Start a Discussion

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