Hardware Wiring

This page is used as the on-site wiring checklist for the Marvin Pro system. It covers Tianzhun electric cabinet power, emergency stop, USB drive, communication network, wired headset access, and robot zero-position preparation.

The new version uses the Tianzhun core controller as the main controller. The deserializer board is integrated inside the robot. The Senyun camera is a standard component mounted at the robot arm end, with wiring routed internally through the arm. No separate deserializer wiring is required on site.

Disconnect the main power before wiring. Confirm that all Ethernet cables, power cables, emergency stop cables, and peripheral cables are firmly connected before powering on.

1. Electric Cabinet Power, Emergency Stop, and USB Drive

Complete the following wiring while the main power is disconnected:

1. Connect the robot power cable to the electric cabinet ACIN power interface. The power connector is keyed; insert it in the correct direction.
2. Connect the emergency stop box to the electric cabinet E-STOP interface. Align the red dots before inserting the connector.
3. Insert the USB drive into the electric cabinet USB port. The USB drive label must be BAG_STORAGE.
4. Confirm that the electric cabinet POWER switch is off before connecting the network and headset.

Wiring notes:

• Release the emergency stop button before starting the system.
• The USB drive is used for data recording. Keep the volume label as BAG_STORAGE.
• When using the system for the first time or after replacing the controller, confirm that the robot controller IP is 6.6.7.190.
• After the electric cabinet is powered on again, initialize the camera before starting the teleoperation system.

2. First-Unpacking Pose Safety

Do not Home directly from the packing pose

The robot is delivered with both arms hanging vertically close to the center column. Calling Home directly from this pose can cause a wrist camera to collide with the column.

After completing all wiring and starting Robot and Teleop, use RQt Service Caller to select Position Mode and Planner input. Then call /control/movej to move all 14 arm joints to zero:

[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]

Enter Impedance Mode and call Home only after both arms reach all zeros. See Startup and Debugging: First Unpacking for the complete procedure.

3. Tianzhun Electric Cabinet Interface Check

The Tianzhun core controller integrates main computing, network, USB, power, and emergency stop interfaces. During on-site wiring, connect cables according to the cabinet panel labels and cable labels.

Recommended interface checks:

Interface / Module	Purpose
ETHERNET1 / ETHERNET2	Connects the host PC, headset Ethernet adapter, or on-site network
USB1 / USB2	Connects the USB drive, debug devices, or peripherals; the USB drive is used for recorded data
HDMI	Local display debugging
ACIN / POWER	Cabinet power input and power switch
E-STOP	Emergency stop circuit
DC48V / DC12V indicators	Check 48 V / 12 V power status

The Senyun camera and deserializer-related wiring are integrated inside the robot. The exposed cable exits from the arm and connects to the camera end. No separate deserializer connection is required on site; only confirm that the camera-end connector and exposed cable are firmly fixed.

4. Network Wiring

The host PC, Tianzhun electric cabinet, and VR headset must be on the same 6.6.7.x subnet.

Headset Ethernet Port

For wired headset networking, connect a Tianzhun controller to Ethernet port 1, whose default connection address is 6.6.7.100. For a Lingjing Thor controller, use Ethernet port 2, whose default connection address is 6.6.8.100. Do not interchange the two ports. If the site network was changed, follow the delivered configuration.

Item	Requirement
Host PC	Connect to the electric cabinet by Ethernet; set the network adapter IP to 6.6.7.xxx, for example 6.6.7.165
Tianzhun electric cabinet	Default IP is 6.6.7.100
Robot controller	Default IP is 6.6.7.190
VR headset	Connect to the electric cabinet through an Ethernet-to-Type-C adapter; set the Apex app connection IP to 6.6.7.100

Headset connection method:

1. Connect one end of the Ethernet cable to port 1 on the robot electric cabinet. For a Lingjing Thor controller, connect it to port 2 instead.
2. Connect the other end to the Ethernet-to-Type-C adapter.
3. Insert the Type-C connector into the left-side port of the headset.
4. Do not enable Wi-Fi on the teleoperation headset. Use the wired network connection first.

Default network parameters:

Device	Default IP
Tianzhun electric cabinet / core controller	6.6.7.100
Robot controller	6.6.7.190
Host PC	6.6.7.xxx, for example 6.6.7.165
Headset Apex app connection IP	6.6.7.100

5. Power-On Check

Step	Operation	Checkpoint
1	Connect the power cable, emergency stop, and USB drive	Connector direction is correct, emergency stop red dots are aligned, and USB label is BAG_STORAGE
2	Connect the host PC Ethernet cable	Host PC adapter IP is 6.6.7.xxx
3	Connect the headset wired network	Headset is connected through the Ethernet-to-Type-C adapter
4	Turn on the electric cabinet POWER	Wait for the system to boot and check the DC48V / DC12V indicators
5	Initialize the camera	Run the camera initialization script after the cabinet is powered on again
6	Check the packing pose	If the arms hang vertically near the column, do not Home directly; use RQt MoveJ to move all 14 arm joints to zero
7	Start the teleoperation system	Confirm that the headset or host PC can display the camera view after startup

If there is no camera view, first check the Senyun camera-end connector, exposed arm cable, camera initialization status, and network signaling address.