▸ Quick Start > Quick Setup

Environment Preparation

Confirming the Motor Versions

The following motor hardware versions are supported:

Motor Type	Description	Applicable Joints	Firmware Version
OD	First-generation motor developed by Airbot	Robotic arm joints 1–3 and E2 teaching device	04114 (or later)
DM	Damiao motor (legacy protocol)	Robotic arm joints 4–6 and G2 gripper	5015

Additional information:

• If you are currently using version 2.9, 4.x, or an earlier legacy version, upgrade the firmware first.
• If you have previously controlled the robotic arm successfully through a hardware-version control interface, the current firmware already meets the operating requirements and can be used directly.
• When using software version 5.1.6, confirm that the DM motor firmware version is 5015. Firmware information appears at the beginning of the service startup log.

If the firmware version does not meet the requirements, contact after-sales support for the firmware-upgrade documentation.

Viewing the Robotic Arm CAN Interface

Connect the robotic arm's USB-2 port to the computer, then enter the following command in a terminal:

ip link | grep can

First-Time Installation

1. Confirm that the slcan kernel module is loaded
   Run lsmod | grep slcan to check. If it is not loaded, load the kernel module before continuing.

2. Install the can-utils toolset
   Run the following commands to make sure the system can identify CAN correctly:

sudo apt update
sudo apt install can-utils

Joint-Limit Values

Part	Degrees of Freedom	Joint Limits	Description
Robotic arm	6	j1: (-3.14, 2.09) | j2: (-2.96, 0.17) | j3: (-0.087, 3.14) | j4: (-3.01, 3.01) | j5: (-1.76, 1.76) | j6: (-3.01, 3.01)	These differ from the robotic arm's actual physical limits; the safe limits in the URDF are used.
Gripper (G2)	1	GRIPPER_MIN = 0.0 GRIPPER_MAX = 0.072	0.0 — fully closed 0.072 — fully open
Gripper (G2L)	1	GRIPPER_MIN = 0.0 GRIPPER_MAX = 0.1	0.0 — fully closed 0.1 — fully open