> 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-openyam.md). # Setting up the Anvil OpenYAM Get your OpenYAM up and running ## Unboxing When you first open up the box, your robot should look something like this:
{% hint style="info" %} Exact contents may vary based on order. {% endhint %} ## 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.
## Orienting the robot Locate the arrow on your OpenYAM bracket, as seen in the photo below. If your OpenYAM was ordered after October 5, 2026, align that arrow so it points to the right of your workspace. If you have an older OpenYAM, the arrow should be pointing forward towards your workspace. The OpenYAM default orientation can be adjusted anytime, reach out to the Anvil team for further instruction.
## Securing base to surface Make sure to securely fasten the base plate to a flat surface. We recommend using multiple C-clamps at appropriate positions to keep it stable. If you are using the OpenYAM frame for a bimanual OpenYAM setup, follow the instructions below.
OpenYAM Bracket Assembly Two OpenYAMs installed on the OpenYAM bracket This is the bimanual OpenYAM bracket, which allows you to mount two OpenYAMs and a camera together. The OpenYAM bracket ships disassembled into two pieces as seen below.
First, mount the OpenYAM unit onto the black rectangular aluminum extrusion. (The upper, rectangular component in the photo above). The base plate of the OpenYAM has two mounting holes on each side that should align with the slots in the black rectangular aluminum extrusion. The OpenYAMs should be installed with the grippers facing the lower bar of the rectangular bracket (the side without the two L connectors).
Use the included M6x10 screws to secure the OpenYAM base plate to the horizontal beam of the aluminum extrusion. We have pre-installed M6 T-slot nuts inside the extrusion for mounting. Install both OpenYAMs and ensure they are placed at the outer edge of the bracket before tightening. The OpenYAMs should be directly next to the bracket handles for optimal workspace. Next, slide the black aluminum extrusion bar for the camera over the L-type connectors on the main bracket and tighten the set screws as shown in the photo. Attach the camera to the camera mount at the top of the bar. Finally, clamp the entire OpenYAM assembly and bracket down onto your table, workspace, or [wheeled lift base](https://shop.anvil.bot/products/wheeled-lift-base). It is critical to secure the assembly, as the OpenYAMs may present a tipping risk when they move. We recommend using multiple C-clamps.
If you did not purchase an Anvil DevBox, congratulations! Your OpenYAM setup is complete. If you are a DevBox customer, please set up your cables as laid out below. ## Devbox OpenYAM Cable Setup
The Devbox 2.0 will automatically assign left and right for the YAM arms on first bringup, so you can plug them into any of the robot CAN ports highlighted in orange. However, if you'd like to switch the left/right designation, you can do so on the "robot" page of the webapp, shown below. The designation will be persistent, so you only need to switch once and L/R will be recognized regardless of the port.
{% 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. {% endhint %} If you are using the Devbox 2.0 with OpenYAM robots shipped before August 26th 2026, the devbox will not automatically recognize left vs right arm. Please follow the cabling instructions below.
DevBox 2.0 with old OpenYAM
Please plug in the robot can cables into the ports specified above 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.
DevBox 1.0 Cabling ## 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:
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:
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.
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 OpenYAM: * [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 Next, refer to the [Starting Robot Operation](/user-guides/starting-robot-operation.md) guide for software setup instructions.