> For the complete documentation index, see [llms.txt](https://docs-origin.anvil.bot/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://docs-origin.anvil.bot/user-guides/setting-up-the-anvil-openarm.md).

# Setting up the Anvil OpenARM

Get your OpenARM up and running

## Mechanical Set Up

### Unboxing

When you first open up the box, your arms should look something like this:

<figure><img src="https://4223670213-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FT8swLPls6cg6zxcYD7sj%2Fuploads%2FWY9iNICwICUPnbdsiqCU%2Farms_in_box_cropped.png?alt=media&amp;token=3635010b-7396-4b57-a84e-fed0d72b5f9e" alt=""><figcaption></figcaption></figure>

{% hint style="info" %}
Exact contents may vary based on order.
{% endhint %}

### Attaching pedestal to base

Secure the base plate to a flat surface, and then attach the included pedestal to the base plate, using the eight included M6x12 screws.

<figure><img src="https://4223670213-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FT8swLPls6cg6zxcYD7sj%2Fuploads%2F7vBPdNLEdjgXaep8dWdT%2Fstand_on_base_cropped.png?alt=media&amp;token=bd10c689-c3af-41f3-82a4-3bfb8dc077a3" alt=""><figcaption></figcaption></figure>

{% hint style="info" %}
The OpenARM can come with toppling risk. Whether using a table or our [Wheeled Lift Base](https://shop.anvil.bot/products/wheeled-lift-base), make sure the base plate is firmly secured, and can handle the weight of the robot as it moves around.\
\
We recommend using multiple C-clamps at appropriate positions to make sure your setup cannot shift or topple. See the [#tool-equipment-reference](#tool-equipment-reference "mention") for more detail.
{% endhint %}

### Attaching grippers

#### Mechanical

Use the included M3x6 screws (three per wrist) to attach the gripper to the wrist attachment point.

<figure><img src="https://4223670213-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FT8swLPls6cg6zxcYD7sj%2Fuploads%2FiWxBajyGllzq4Xy2zj4j%2Fgripper_screws_edited.png?alt=media&amp;token=9dd8eecf-12b4-4046-a12b-25d917364403" alt=""><figcaption></figcaption></figure>

#### Electrical

Plug the gripper motor into the last motor on the arm as shown:

<figure><img src="https://4223670213-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FT8swLPls6cg6zxcYD7sj%2Fuploads%2FLFyII5NobQruEhchiAcI%2Fgriper_cable_edited.png?alt=media&amp;token=8cf48466-e45f-4836-bd73-312979492533" alt=""><figcaption></figcaption></figure>

### Connecting cameras

The camera module comes with two M3x6 screws attached. Use them to fasten the camera module to the camera mount on the robot, which is already in place. Then plug in the already-attached screw-lock cable, and tighten. Take care not to over-tighten these screws as it may damage the camera.

<figure><img src="https://4223670213-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FT8swLPls6cg6zxcYD7sj%2Fuploads%2FIcCGRV1JIrKoyIQbAvWG%2Fcam_closeup_cropped.png?alt=media&amp;token=4cac787e-18d1-42bd-a68c-416e23f6c144" alt=""><figcaption></figcaption></figure>

If you are not an Anvil Devbox customer, congratulations, your OpenARM setup is complete! If you are a DevBox customer, please continue to the cable set up below.&#x20;

## DevBox 2.0 Cable Set Up

<figure><img src="https://4223670213-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FT8swLPls6cg6zxcYD7sj%2Fuploads%2F6QcJ7p1Pq4aqkreEEUbK%2FDevbox%20diagram%20(Full).jpg?alt=media&amp;token=3632329d-2f15-476d-9162-cf6c5a092031" alt=""><figcaption></figcaption></figure>

The Devbox 2.0, when paired with OpenARM and OpenYAM robots shipped after August 26th 2026, will automatically detect left vs right arm and leader vs follower so robot cables can be plugged into any of the Robot CAN ports highlighted in orange.&#x20;

{% hint style="info" %}
WARNING: Plug in the robot CAN cables *BEFORE* you turn on the Devbox 2.0. If the robot is plugged in while the devbox is powered on, it could temporarily disable the CAN bus, requiring a reboot of the Devbox to resolve.&#x20;
{% endhint %}

If you are using the Devbox 2.0 with an OpenARM 1.0 or OpenARM 2.0 shipped before August 26th 2026, the Devbox will not automatically detect left versus right arm. Please plug in the CAN ports as specified below

<details>

<summary>DevBox 2.0 with old OpenARM</summary>

<figure><img src="https://4223670213-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FT8swLPls6cg6zxcYD7sj%2Fuploads%2FklwH1UVQ9ptDvFKl3vGb%2FDevbox%20diagram%20(1).jpg?alt=media&amp;token=e0ed57c3-6ba8-4ad9-8624-d03978d18e12" alt=""><figcaption></figcaption></figure>

If you are using quest teleop, please plug the left and right arms into the left and right follower ports. The leader ports can be left empty.

</details>

For legacy DevBox 1.0 customers, refer to the DevBox 1.0 cabling for setup.&#x20;

<details>

<summary><strong>DevBox 1.0 Cabling</strong></summary>

## Port Assignment

The Anvil Devbox is pre-configured so that certain ports are assigned to certain devices, making setup exceedingly quick and simple. When connecting the workcell's other devices, make sure everything is plugged into the right place, as shown in the diagram below:

<figure><img src="https://4223670213-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FT8swLPls6cg6zxcYD7sj%2Fuploads%2FSMfC27OJt0GCUgfcLJyw%2Fbetter_devbox_labels_cropped.png?alt=media&amp;token=db9a3e9f-6e5c-41ad-8e26-5892d963c970" alt=""><figcaption></figcaption></figure>

If you don't have one of these devices, you can leave that port empty, and it can also be used for any of your own devices. If you have the Quest for teleoperation, it can go into any of the ports here not already assigned. If you are using the Quest, the robot arms should be plugged into the right and left follower ports.

#### Communication

The communication terminals for the robots are attached to the Devbox as below:

<figure><img src="https://4223670213-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FT8swLPls6cg6zxcYD7sj%2Fuploads%2FyazpKBsTTqoMouRqOj3w%2Fcanables_on_devbox_cropped.png?alt=media&amp;token=458bc475-0386-4589-ab8c-c16338c20c39" alt=""><figcaption></figcaption></figure>

Do a quick check that each terminal is connected to the correct port on the devbox, so that the terminal labels match the labeled ports in the port assignment image above. This should be the case by default.

#### Arm connection

Find the labeled cables combining power and communication (seen below), and plug them into the associated arm.

<figure><img src="https://4223670213-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FT8swLPls6cg6zxcYD7sj%2Fuploads%2FNLJG7AhPDpBq5dSurtHm%2FIMG_9158.png?alt=media&amp;token=25eec2b1-d2d1-4046-bed3-65aeddb7a470" alt=""><figcaption></figcaption></figure>

</details>

Finally, plug in the usb plug adaptor for the provided keyboard into any available usb slot.

## Power

Make sure both Devbox power cables are plugged into a wall socket. Note that the robot and dev computer are powered separately. You will need to turn on the robot with the large red power switch at the back of the box AND turn on the computer with the power switch on the front of the box.

## Tool / Equipment reference

To avoid any guess-work, we include here some examples of equipment that work well for various small setup / tuning steps that may be necessary either now or in the future (clamping, screw-tightening, etc). These will make it even easier to setup and work with your OpenARM:

* [C-clamps](https://www.amazon.com/WORKPRO-Woodworking-Quick-Release-Spreader-Projects/dp/B0875RW1Y6)
* [Hex key set](https://www.amazon.com/dp/B0BVHK7GTF?ref_=pe_123509780_1038749300_t_fed_asin_title\&th=1)
* [Stripped-screw extractor set](https://www.amazon.com/HSS-%E8%9E%BA%E7%B5%B2%E6%8F%90%E5%8F%96%E5%99%A8%E7%B5%84-%E5%B0%88%E6%A5%AD%E7%B4%9A%E9%91%BD%E9%A0%AD%E5%A5%97%E7%B5%84-%E9%81%A9%E7%94%A8%E6%96%BC%E6%90%8D%E5%A3%9E%E7%9A%84%E8%9E%BA%E7%B5%B2-%E7%81%B0%E8%89%B2%E5%B7%A5%E6%A5%AD%E8%A1%A8%E9%9D%A2/dp/B0G3FF1V99/ref=sr_1_4_sspa?crid=KYSHMAZX3ERN\&dib=eyJ2IjoiMSJ9.M0A7jZd_hEh8GV7g9u5jBbmSCLRoxZ_u7CEEkHLQClEHoEpjoznkkkMf7b9qS1rBsx1-2RY8c80r6nXD5jlW5V4-krCej5Wl64tcdnWtjhgZjNS8mW8Nsi8snO67DtevFEfeX6vzgO6-ncpmtgNQjD4fwyt3TmUSnRcRJwKm5tEMpDUhl320r4s8gkvaVB51oSNBOZppf8kjc_gFZ3yhrBN_2xsGyGeMNWiwm7v5deHTJSsBcjkLdKulx4_xWJOcocJ8Za9inkX99EWSX-vLthnjlH2I1MIwbeg2Jc-dhO0.7K3Q2lYxm33GfnoVlu9-hOKkSgosPm6Ovv4iUyEfyrI\&dib_tag=se\&keywords=screw%2Bextractor%2Bm3\&qid=1776829522\&sprefix=screw%2Bextractor%2Bset%2Bm3%2Caps%2C465\&sr=8-4-spons\&sp_csd=d2lkZ2V0TmFtZT1zcF9hdGY\&th=1)

## Next Steps

Your OpenARM is now assembled and connected. Continue with [Starting Robot Operation](/user-guides/starting-robot-operation.md).