Open Maintenance with its tile on the hub. The tile is shown to everyone and opens even without a robot connected; the sections that act on the robot need it connected. The sections sit as chips across the top:
Power / System, Calibration, Robot Check, PTZ Check (robots with a PTZ only). Remote check is at the bottom of Robot Check.Vision, Config file, and — on robots with an arm — Arm. Their chips carry an Lv2 tag after the name.Software and firmware updates have their own screen — see Update.
While the in-app simulator is selected or another device is driving, the Power / System chip is dimmed and does not open. Like the Calibration tab, the screen is split into sections: Top ports, Front / rear, Camera, Internal, Robot PC and Vision. CAN-FD robots add Bottom status LEDs (IF board), Top LEDs (TOP board) and Inputs · Battery · Temperature after Internal. Toggles and buttons show the real state from the robot and are disabled until that state has been received; a change can take about a second to show up.
In the power sections a toggle switches with one tap — except that turning off a 12V port asks Turn this off? first, because the app cannot tell what is plugged in: it warns that the connected device loses power and that the app may lose its connection if a network device is plugged in. A row with a Turn off / Turn on button switches only after you confirm Turn this off? / Turn this on?. The confirmation is asked every time.
| Section | Non-CAN-FD robots | CAN-FD robots |
|---|---|---|
Top ports | 12V port 1–4 (toggles, turning off asks first), ARM · ADDON (48V), EXTERN (48V) | 12V port 1–4 (toggles, turning off asks first), ARM · ADDON (48V) |
Front / rear | Front / rear 12V — front and rear switch together (toggle) | Front 12V, Rear 12V (toggles) |
Camera | Cameras (5V) — all cameras, Audio·USB hub (5V) | Cameras 0–5, Side camera left (USB), Side camera right (USB) — one per camera, Front hub reset, Rear hub reset |
Internal | Speaker amp (12V) (toggle), User PC (12V), LEGS (48V drive) | Speaker amp (toggle), LEGS (48V drive), PDU (48V battery rail) (display only) |
? Help next to Top ports opens a dialog that will show where the top ports are; the picture will be added later. The 12V ports are named by number only, because what is plugged into them differs from robot to robot.
WARNING
ARM · ADDON (48V) is one PDU port shared by the arm and the add-on. Turning it off also cuts arm power — make sure the arm is stopped first. Turning off the cameras or User PC (12V) stops video and audio.
DANGER
Turning off LEGS (48V drive) drops the robot. It can be turned off only while the robot is not standing (sitting, control off or fallen); otherwise the row is blocked. Under Robot PC, Restart robot service — Restart robot service → Restart the robot service? → Restart robot service — restarts only the robot software and leaves the PC running; it works only from the device that holds control (otherwise Restart request failed — take control first, see Control home). Reboot robot PC — Reboot robot PC → Reboot the robot PC? → Reboot robot PC — restarts the robot PC. A robot set up without that service shows Restart request failed; use Reboot robot PC then. Either way the robot loses motor power and the app connection drops. Sit the robot on the floor before either one.
On CAN-FD robots each row shows the live state, voltage and current, and the Inputs · Battery · Temperature section lists the charger inputs, both battery packs and the board temperatures.
Front hub reset and Rear hub reset in the Camera section — Reset → Reset the hub? → Reset — make the side board restart its USB hub. Video from that board's three cameras (front cameras 0 · 1 · 4, rear cameras 2 · 3 · 5) drops briefly and comes back, and the result shows under the row. Only hw 1.1.0.1 side boards support this; older boards show This side board does not support hub SMBus — only hw 1.1.0.1 boards do.
VISION RESET → Reset in the Vision section has the Handler restart the vision daemons, such as HAL and Streamer. HAL turns the cameras off and on again as it starts, so video stops until the cameras and the Streamer are back. The button shows Resetting… and stays unavailable for about 8 seconds.
On CAN-FD robots Bottom status LEDs (IF board) sits below the Internal section, one row for each of the two status LEDs under the body: Right LED and Left LED. A row shows the LED's current setting, its power in W, and a swatch of the color it actually puts out. Settings opens a dialog filled with what the robot reports. Under Recommended, pick Keep off or one of the values approved for RBQ; the dialog also shows the Current setting. Check Apply the same to the other LED to set both LEDs at once. Apply sends the setting and reads it back from the robot — Applied — matches the robot means the LED took it. Reload fills the dialog again from the robot.
The IF board limits LED power by itself (20 W instant, 10.5 W sustained), so a bright setting can come out dimmer than you set, and the row then shows Limited. When the robot cannot be read, the row shows No reading together with the last value this device read or sent. Right after the IF board restarts, the rows show Not set — the IF board restarted and hasn't received a setting yet until a setting reaches it. If the robot software is older than this feature, the rows read The robot software doesn't have this feature yet. An update is needed. If the IF board firmware is older than these LEDs need, the rows instead give the board's version and the minimum, for example IF firmware update needed — it is 261003 and must be 261005 or later, and Apply stays disabled until the board is updated.
Below them, Top LEDs (TOP board) has one row, Lamp test. Tapping Lamp test lights the seven LEDs on the top panel red, then green, then blue for 1.6 s, over whatever they were showing, and the seven dots next to the button follow the same colors so you can compare them with the real LEDs. The app only learns that the request was sent (Sent — check that the 7 top LEDs change color along with the dots on the right), so check the LEDs by eye. A TOP board with firmware older than 261006 runs the test only once it has been on for 10 s. If the robot software is older than this feature, the row reads The robot software doesn't have this feature yet. An update is needed.
What developer mode adds here is collected on Developer mode.
WARNING
Every calibration here must be run with the robot on flat ground and stationary. The IMU and ZMP rows are blocked while the robot is walking, has fallen, or is not reporting its state, and each one asks Run calibration? before it sends the command. Joint home-pose setup has its own confirmation. Do not touch the robot until the calibration has finished.
| Row | What it does |
|---|---|
Accelerometer calib (ACC) | Field correction of accelerometer drift. Run it while the robot is sitting, on level ground; it averages the gravity magnitude for about 2 s and stores the factor. |
IMU roll/pitch zero | Makes the current posture the level reference. Takes about half a second — if the robot is tilted when you run it, all later control will be off. |
Gyro Bias Calibration | Resets the IMU, waits for the values to settle, then measures the gyro again — about 5 s, while the robot is sitting. When it finishes it reports all three axes and whether each one is within the limit. If the bias is still over the limit, hold the robot completely still and run it again. |
Press Run, then confirm Run in the dialog. When a row is blocked, the app tells you why, and if it can clear the block itself, a button appears next to Run: Sit when the robot needs to sit, Stand when it needs to stand, and Auto Start when control is off, which asks first. You get no such button while the robot has fallen, is docking, or is not reporting.
IMU roll/pitch zero shows the current roll and pitch under the level in its dialog. A progress dialog follows while it runs. It ends with Success only when roll and pitch both come back within 1° — if the robot is still tilted, it reads The zero may not have taken effect instead, and you put the robot on flat ground and run it again.
Auto-calibrate ZMP offset finds the center-of-mass offset automatically. The robot must be in STAND on flat ground. It walks one step to square up its legs, then takes up to 60 s to converge. Once the offset converges, the robot saves it on its own and returns to STAND. The panel shows the progress and a completion message.
Re-establishes the leg joints' zeros and offsets. Run it with the robot sitting.
| Row | What it does |
|---|---|
Joint home-pose setup | Hold the home pose with the jig, then store it as the joint zero — four legs |
Motor Calibration | Re-establishes one joint's motor calibration reference in place — a popup with a button for every joint of the four legs |
Joint home-pose setup opens two dialogs: first the notice (This rewrites the joint zeros — running it without the jig, or with the pose off, leaves the robot booting on wrong zeros), then the per-leg screen. On that screen, tap a joint card to see that joint move to its target pose in the 3D view on the left. Fit the jig, hold that pose, and press Save LEG{n} {g} home pose on that card — the roll card and the pitch/knee card each have their own button. Writing the zero switches control off (BOARD_RESET), so sit the robot down first — it will collapse if it is standing. The jig is required.
If the motor boards do not answer, the row is blocked with No communication with the motor boards — turn the 48 V drive (LEGS) power on and run it again; that rail is under Power / System on this page.
For the roll joint you pick the reference in the wizard: Limit pushes the joint against its inner limit as before, and Level 0° lets you make sure the body is level, set the joint to 0° with a bubble level, and shift the zero to match. Both references switch control off. The notice on closing offers Auto Start to bring the robot up again right away. If the correction is 9° or more, the robot rejects it and asks you to set the home against the limit first.
Motor Calibration opens a popup with the robot seen from above and the four legs around it, each with a Roll, Pitch and Knee button. Press a button and that joint is calibrated right away, with no further confirmation: the board stops that joint for a moment, locks the rotor, stores the new reference and switches the joint back on, so its zero is kept and no restart is needed. The robot must be sitting (while it stands, a Sit button comes first). The button then reads Done, or Rejected / No reply when the board refused or the motor firmware does not support it. Do one joint at a time and do not touch the robot while it runs.
| Row | What it does |
|---|---|
Basic Camera Check | Shows the live views of the six cameras with their FPS on one screen. Use the buttons at the top of each tile to choose the stream (RGB · IR · Depth). For cameras with an IR projector, whether it is on (EMIT ON · EMIT OFF) is shown to the left of those buttons. The IR projector (all) toggle at the top of the window turns the IR projectors of all cameras on or off together. It is for checking by eye that no view is blocked or blurry; it gives no verdict. |
Lower Depth Camera On-chip Calibration | Runs on-chip calibration for the lower depth cameras. See On-chip calibration below. |
Lower Depth Camera Position Calibration | Calibrates the positions of the four lower depth cameras with the calibration board plate. See Position calibration below. |
The bottom of the Calibration section holds the auto-docking alignment parameters: Offset X (m), Offset Y (m), Req Count, Try Count.
Reload re-reads the values from the robot.Defaults fills the fields with factory defaults — nothing is saved until you press Apply.Apply writes the values to the robot and reads them back.
Robot Check checks the robot's condition in order, from sitting to walking. Each stage is a card: press Measure, read the result, and if a value is out of range, fix it on the spot with the button next to it. The fix buttons work whether or not you have measured — they only follow the robot's state. An out-of-range value only marks the card Caution.
WARNING
Stages 2, 4 and 5 move the robot by itself, and joystick input is ignored while they run. Clear 1 m around the robot before you start. Stop ends the run and the robot stands.
| Stage | Robot | What it measures | Reference | Fix |
|---|---|---|---|---|
1 Sitting · IMU | Sitting | Gravity magnitude and gyro bias, averaged over 3 s | 9.75 ~ 9.85 m/s², gyro under 1.0 °/s | Accelerometer Calibration, Gyro Bias Calibration |
2 Motor Calibration Status | Standing | Lifts one leg at a time, relaxes the knee, pitch and roll in turn and locks the rotor on the three phases (U·V·W) to measure how far it is from the stored motor calibration reference, in electrical degrees — the worst of the three is dropped and the other two are judged | ±6° (electrical): both within = normal, one outside = caution, both outside = fail | Calibrate again (asked in a popup at a failed joint) |
3 Standing · Level | Standing | Roll and pitch over 2 s, after you level the body by hand with a bubble level placed on it | ±0.3° | IMU roll/pitch zero |
4 Joint Communication | Standing | CAN communication of each joint while the body twists left and right up to 30°, five times (about 10 s) — Per motor: missed frames, lowest receive rate, longest receive gap; Per channel: Error frames, error-warning, error-passive, bus-off | 450 Hz or more received, gaps of 10 ms or less | — |
5 Trot in place · Drift | Standing | Trots in place for 10 s, stands again, and compares the body position with the start | under ±10 cm fore-aft, under ±5 cm lateral | Visual Check, then Joint home-pose setup, then ZMP Calibration |
Start calibration. Press it and the robot stands on three legs and lifts each leg in turn to measure (about 20 s per leg), then returns to standing on four legs by itself. Do not touch the robot while it measures. If a joint is judged as fail, the robot holds that pose and asks whether to Calibrate again. If you do not choose within 30 s, it skips calibration and moves on to the next joint. The popup shows the two values used for the verdict. After calibrating it measures that joint again. If every value is now within the limit, the popup title says the motor DQ check passed and Next joint is the main button, with Calibrate again beside it; otherwise it asks again whether to Calibrate again or move on to the Next joint. The table fills in as each joint finishes while the robot is still measuring.Per channel lists the CAN channels the legs are on, with the legs on each. Error frames counts how many times the channel reported a state change (error-warning, error-passive, bus-off or recovery) during the twist. These numbers are shown for reference and are not part of the verdict. The sim has no CAN measurement, so it is not judged there.Visual Check, then Joint home-pose setup, then ZMP Calibration, in that order. The home-pose setup is the same wizard as in Calibration and needs the robot sitting — while it stands, a Sit button comes first.| Stage | What it measures | Verdict | Fix |
|---|---|---|---|
1 Camera View · FPS | Status and RGB · IR · Depth FPS of the six cameras, for 10 s | Needs service if a stream falls below 70% of its target FPS three times, or twice in a row | Basic Camera Check |
2 Depth Camera Quality | Depth quality of the floor in the middle of the view, for each lower depth camera (about 2 s each) | Normal, OCC advised, Check view, No plane, No stream | On-Chip Calibration |
3 Depth Camera Alignment | Roll · pitch · z of each lower depth camera against the reference plane, and on the calibration board also x · y · yaw against the neighbouring camera (about 4 s) | Normal, Needs calibration, No plane, Board not in view, Off | Lower Depth Camera Position Calibration |
The fix buttons open the same dialogs as Calibration › Camera Check · Calibration.
Robot Check.Measure and On-Chip Calibration are blocked and a stand button comes first. The robot keeps the last result, so it is still shown when you come back, until you measure again. Hover over or tap the ? next to a metric name for its description. FILL — the share of pixels in the middle of the view that have a depth value. When it is low you get Check view: make sure the lens is not blocked and the robot is not sitting.SUBPIXEL — how far the points deviate from the floor plane, in disparity (px); this is the stereo matching precision. Above the threshold you get OCC advised.PLANE RMS — the same deviation in mm. It grows with distance, so it is for reference.No plane means no floor plane was found in the middle of the view.Quality is the measured depth quality; Calibration is the result of the last on-chip calibration (Saved, Kept original, Failed). A failed calibration does not change Quality.Measure is blocked and a stand button comes first, and the robot keeps the last result. The result comes in two tables. ① Against the reference plane — roll · pitch · z — compares Bottom0 · 1 · 3 with the plane the reference sensor Bottom2 sees. If Bottom2 finds no plane, the reason appears in red under the table.② Against the neighbouring camera — x · y · yaw — the position and heading difference between two neighbouring cameras (Bottom1 ↔ Bottom2, Bottom3 ↔ Bottom2, Bottom0 ↔ Bottom1) that see the same board. It appears only when you measure on the calibration board; the floor alone cannot show x · y · yaw.Reference row shows the threshold for each axis, and values above it are shown in orange. If any axis is above its threshold, that camera shows Needs calibration.The camera recomputes the stereo calibration of a lower depth camera by itself. Keep the robot standing on a flat floor and do not move it until it finishes.
OCC advised ones are already selected. If nothing has been measured, all four are selected.Start calibration. Each camera goes through measuring, computing OCC, then applying and re-measuring.SUBPIXEL and PLANE RMS before → after, with the change in percent. If the result is clearly better, the robot saves the new calibration to the camera and you see Saved; otherwise it restores the original values right away and you see Kept original.Re-calibration.WARNING
A saved calibration stays in the camera and is kept after the robot restarts. Do not move the robot until the calibration finishes.
If OCC fails on a camera, check that it can see the floor (lens blocked, robot sitting) and run it again. After you close the dialog, the table on the Depth Camera Quality card shows the values after calibration.
This calibrates the positions of the four lower depth cameras with the calibration board plate. The top of the dialog shows four steps: Pre-check · Measure · Calibrating · Results.
The plate carries five calibration boards (boards 1–5) in one row with no gaps. Board 1 goes at the robot's front, and each board's printed top edge faces the front of the robot. Stand the robot on a flat floor first, then slide the plate under the body, between the four legs, with the top edge of the boards toward the front of the robot.
Pre-check — press Start measure and the robot looks at the board in the middle of the plate and walks to the middle of the plate. Progress shows Finding the board → Walking → Done, and the robot walks up to twice until it is in place. If the plate is placed the other way round, the robot does not walk and you see The calibration board is upside down. Place it again with its top edge toward the front of the robot. Turn the plate around and start again. Press Stop to stop walking and stand. Once the robot is in place, the measurement starts on its own.Measure — the four camera tiles and the two tables above appear. If a camera does not see enough of the board, move the robot to the middle of the plate and press Measure Again. If all four are normal, no calibration is needed. If any shows Needs calibration, press Start Calibration.Calibrating — the neighbouring cameras are aligned to the reference sensor Bottom2 in turn. This calibration does not change Bottom2.Results — the robot measures again after calibrating. If all four are normal, it keeps the calibration and you see Calibrated; otherwise it reverts all four to the values before calibrating and you see Reverted without calibrating. If there was nothing to change, you see Already normal. After keeping a calibration you can still go back to the previous values with Revert to Before. If it was reverted, check that the plate has not shifted and press Calibrate Again.WARNING
During Pre-check the robot walks on its own. Clear the area around the robot before you start. After that, do not move the robot or the plate until it finishes.
Revert to Before works only until vision is restarted.
Remote check is the last section at the bottom of Robot Check. Turning it on lets Rainbow Robotics support check this robot from outside your network for a limited time. Support joins the robot through the app to see its state and operate it, and over SSH to work on the robot PC with the same rights as a technician on site — reading logs, changing settings and software, restarting the robot software or rebooting it, and sending robot commands. The robot makes a one-time key itself and gives it to support only, so you never set or pass on a password. The robot must be connected to the internet — see Connecting the Robot to the Internet. Remote check is turned on in the robot, so the app must be connected to it; otherwise this section only shows Not connected to a robot.
Turn on 1h, Turn on 2h or Turn on 4h in this section. Support never connects or asks to connect on their own — it starts only when you turn it on.Could not turn on — The robot is not connected to the internet means the robot must reach the internet first — see Connecting the Robot to the Internet. Could not turn on — The robot's SSH server is not running means the robot PC is not ready to accept the connection — turn the robot off and on again, and contact support if it keeps happening.Remote check on banner on every screen of a device connected directly to the robot (not over a remote connection) shows the number of SSH connections, the time left and a Disconnect button. Connecting does not take control away from you. If support takes control to operate the robot, this device becomes a spectator and shows Rainbow Robotics support is controlling remotely · tap to take control — tap it to take control back at any time. E-STOP, the banner's Disconnect and this section keep working while you spectate — Maintenance then shows only Robot Check, with only this section in it.Disconnect ends support's app and SSH connections at once, along with anything support left running on the robot PC. Running out of time does the same. Turn it on again for the next check.Every turn-on, disconnect and connection is written to the robot's system log, with the address it came from. If the robot is not registered for remote connection yet, pressing a Turn on button first asks to register it with the Rainbow server (Remote registration). Press Register — registration alone lets no one in — and then Restart robot service, which restarts the robot software and leaves the PC running, or Reboot robot PC (both stay greyed out while the robot is standing — sit it first; if Restart robot service fails, use Reboot robot PC); once the robot is back, turn remote check on again. The phone needs internet for this, which it gets through the robot once the robot is connected to the internet (see Connecting the Robot to the Internet). Press Cancel to leave the robot unregistered. If only part of the settings is missing, the section lists what is missing (for example Remote connection is turned off (enabled) or The robot name is empty (robot_id)), and Turn on asks to fill in only those values (Fill in) before the restart. If the robot is already registered with the server but its key is gone, the section says so — ask support to register it again.
You can turn it on and off without the app: open http://<robot address>:8080 in a browser on the robot's network, sign in, and press Turn on · 1 h (2 h, 4 h) in Settings › Remote check. Disconnect ends it. The same page lists missing remote connection settings and registers an unregistered robot the same way as the app (Restart robot afterwards); the device opening the page needs the internet for this.
Shown only on robots with a PTZ (the unit that pans and tilts the cameras). The robot checks the PTZ axes, cameras, sound and communication in turn and keeps the results. The check runs on the robot, so it finishes even if you close the app, and any device can watch it or stop it. The section has two tabs, Tests and Results.
WARNING
During the check the PTZ axes move from end to end and the camera speaker beeps at 1 kHz and 2 kHz for 2 s each. Keep the area around the axes clear. In a noisy place step 13 (speaker → microphone) can FAIL. The PTZ cannot be controlled while the check runs, and if someone controlled the PTZ within the last 10 s the start dialog warns you.
| User | Button | What it does |
|---|---|---|
| Everyone | Start check | 16 steps, about 2 min. The stored current zeros are only read and range-checked, and the preset steps 11 and 18 are left out |
| Developer mode | Start basic check | Steps 1–18. Measures and saves the current zeros again. The preset steps (11, 18) run if you agree at the start |
| Developer mode | Start aging check | Steps 1–18 → soak (30 min, 2 h, 12 h, 12 h by default) → recheck (20), then the final report. PITCH current is limited to 3 A during the soak and released afterwards |
Step 3 (Firmware up to date) is skipped for now and shows Skipped — no reference firmware on the robot: the reference firmware does not ship with the robot software yet.
In an aging check, if steps 1–18 have a FAIL you are asked End here or Continue aging before the soak. With no answer for 10 minutes it ends. If you continue, the final report stays FAIL.
While the check runs, the Tests tab shows the step table and the current PTZ angles; during the soak it shows the current chart and the status so far (position signals, command vs position, communication round trip, camera video). Stop ends the check and keeps the result as Invalid. A robot battery at 10 % or below, or a power cut during the check, also leaves it Invalid.
The Results tab lists up to the 20 latest PTZ checks on this robot; the oldest is removed when a new one is added. Tap a row to open its report — verdict, results table, key values, what/how/why and the criteria for each step, the soak charts and the recheck comparison. Recordings (30 s) can only be viewed on the same network as the robot.
| Verdict | Meaning |
|---|---|
PASS | Normal |
WARN | Needs a check — usable; review it with support at the next service |
FAIL | Contact support |
Invalid | The check did not finish (stopped, battery, power cut). It is not a product verdict — run the check again |
The latest check has Re-run steps: only the steps you pick from 1–18 run again, together with the preparation steps they need (1, 2, 17 and so on). The first results are kept, and a step that first FAILed only raises the overall verdict to WARN even if a re-run passes. When a finished result has not been viewed yet, the hub Maintenance tile shows a dot.
Vision toggles — night mode, stealth, IR projector, video resolution and the rest — are in the Vision popover on the control screen; see Camera & Vision. This section holds the developer tools.
Camera Calibration:
| Row | What it does |
|---|---|
Jig Extrinsic Calibration | Calibrates each sensor's base↔sensor transform from the jig markers. The robot must be seated on the calibration jig. The result is written to the HAL settings. |
OAK-D Intrinsic Calibration | Calibrates the front and rear stereo cameras while walking. The front camera must face a ChArUco board within 1 m. The result is written to each camera's EEPROM. |
Run opens a confirmation that lists what to check first; progress and the result appear in the top banner. While a calibration runs, both buttons change to Cancel.
The OAK-D Intrinsic Calibration window follows the step bar at the top (Pre-check → Board approach → Capture → Compute · write → Results). In Pre-check, pick the Walk mode: RL Walk, Wave or Stairs, and press Start. Each time the window opens, it starts at RL Walk on a legged robot and Stairs on a wheeled robot. The window stays open after the start; in Capture it shows where the robot is for the front camera and the rear camera, from the board approach to the 180° turn. Results shows success or failure for the front and the rear OAK-D. The robot keeps going if you close the window; only then does the top banner appear, and pressing it opens the window again. Press Stop to stop partway.
WARNING
The OAK-D intrinsic calibration makes the robot walk around by itself for about 10 minutes. Keep 1.5 m around the robot clear before starting it.
Daemon control — VISION RESET → Reset has the Handler restart every vision daemon the robot keeps running, such as HAL and Streamer — all but Vision, which runs the Handler. HAL turns the cameras off and on again as it starts, so video stops until the cameras and the Streamer are back. The button shows Resetting… and stays unavailable for about 8 seconds.
Vision Programs lets you start and stop individual vision daemons by hand (Vision, HAL, Streamer, Handeye, Heightmap, Ptz). Their on/off state comes from the robot's reported program status; only on older daemons that do not report it does it fall back to the last command sent. Stop does not leave a daemon off: with the default settings the robot starts each of them again within a few seconds. Use this to apply a changed setting without a reboot: for example, press Streamer once after changing an RTSP setting in Streamer.ini. While the Streamer restarts, the app's video drops for a few seconds. Stopping HAL turns the cameras off and on again, as VISION RESET does, so video stays off until the cameras are back.
The INI editor edits the robot daemons' configuration files directly. The toggles at the top turn Motion.ini, HAL · config.ini, Handler · config.ini and Streamer.ini on and off; with several on, they are listed one after another. Search keys, values, sections searches every file that is on and opens only the sections with a match. Sections start folded: tap one to open it, or use Expand all and Collapse all. Changed only shows just the keys you have edited. The search row stays at the top while you scroll. Boolean values can be toggled, other values are edited in place. Each file's header shows how many sections were read and when.
In Motion.ini, the robot's model values (gear ratios, link masses, limits) come from a platform profile built into the robot software, and the editor shows those keys dimmed. Editing one and saving stores it in Motion.ini as an override for this robot, and the key is then highlighted. The Reset to profile button next to an override puts the profile value back; saving a value equal to the profile removes the key from the file.
The footer counts unsaved edits ({n} changes). Revert discards them, Reload re-reads the open files from the robot, Save opens the confirmation Save to {label}? (or Save to {n} config files? when several files changed), listing every changed key with its old and new value.
The robot reads these files only when the program that uses them starts, so Save and restart saves the files and then restarts that program:
Motion.ini and Handler · config.ini: the robot software restarts while the computer stays on. The app loses the robot for a moment.HAL · config.ini and Streamer.ini: only HAL or the Streamer restarts. Video stops until it is back.[BlackBox] section of Streamer.ini applies right away, so nothing restarts.Saving works only while the robot is sitting or its control is off; otherwise the confirmation shows Sit the robot or turn control off before saving (now {gait}). Restarting the robot software also needs this device to be in control.
WARNING
Saving replaces the entire file on the robot with what the editor holds — always edit on top of a freshly loaded file. On a robot with a separate vision PC, the app cannot restart Vision: after saving Handler · config.ini, the app says so, and the change applies once the vision PC restarts. Do not change values whose meaning you do not know.
Shown only when the robot reports an arm. This section is the initial bring-up.
CAN check, Release brake, Control Start in that order. Wait for the status badge to light up after each step before pressing the next. ▶ Auto Start ARM runs the whole sequence in one press.Static poses sends a fixed pose (Straight, Folding, Ready, Lift, Packing, DoorReady) without a trajectory — on the first use start from Ready.Joint lock / jog — tap a joint card to lock or unlock it; hold + / − to jog a locked joint (the buttons are disabled while the joint is unlocked).