Direct Drive Tech DIABLO User manual

User Manual
V1.1
Important Reminder: This Manual is the Development Kit.
The product has not been officially released, for internal sales only
(DIABLO V1.1 here in after referred to as DIABLO)

Safety Notice
Before using this product, please read the User Manual carefully and operate the product accordingly. If
any property damage or personal injury occurs as a consequence of not following the instructions in this
User Manual while using the product, the company will not assume any responsibility.
We have made every effort to include the descriptions of various functions and the product's usage
instructions in this Manual. However, due to the continuous iteration of the product, there may be
discrepancies between the User Manual and the actual product purchased by the user. Users who require
the latest version of the User Manual should contact with customer service to obtain a download link.
The color and look of the drawings in this Manual may differ from the real product. Please refer to the
actual product.
Legal Notice
Before using this product, make sure that you are familiar with its functions and operating procedures.
It is unsuitable for: This product should not be used by persons with physical, sensory, or intellectual
disabilities and persons without relevant experience and knowledge (including minors under the age of
18). Children under the age of 14 are prohibited from operating this product; Minors between the ages of
14 and 18 shall be accompanied by an adult guardian when using DIABLO.
Operating environment: Do not use this product in harsh environments such as high temperatures, high
pressure, humidity, sand, rain, and snow. Please use this product in a safe and open environment.
Note for cleaning: This product cannot be washed with water, stains should be wiped off with a clean rag.
Usage Restrictions
Please check the product carefully before using. If any damage is discovered, do not use it and contact
with customer service immediately.
After turning on the product, please check whether it is fully charged, if not, we recommend charging it to
full capacity before use.
If the robot cannot function properly in standing mode and it is not due to the site or human factors, the
user can refer to the chapter4 for trouble shooting.
Safety check

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Contents
1 Safety Precautions
1.1 Precautions for use
1.2 Battery and charging
1.3 Storage and transportation
1.4 Use DIABLO legally
1.5 FCC Statement
2 Introduction of DIABLO
2.1 Package contents
2.2 Description of parts
2.3 Product specifications
3 Instructions for Use
3.1 Prepare to turn on the robot
3.2 Description of the remote control
3.3 Operating instruction
3.4 Instructions for shutting down the robot
3.5 Instructions for charging
4 Description of the robot
4.1 Description of tail lights
4.2 Description of the detachable upper cover
3

1 Safety Precautions
1.1 Precautions for use
a.
g.
h.
Children under the age of 14 are prohibited from operating DIABLO. Minors between the
age of 14 and 18 should be accompanied by an adult guardian when using DIABLO.
DIABLO can only be used in an open area and must be away from inflammables or heat
sources. While in use, please always keep DIABLO within your sight and away from crowds,
obstacles, and other objects that it might collide with and cause damage. Do not use
DIABLO on crowded streets, for it may cause injury to others.
It is prohibited to use DIABLO in rainy or snowy conditions or wading through water, and it
must not come into contact with liquid. To avoid user injury or damage
to DIABLO, it is strictly prohibited to turn on the power immediately after the robot is
drenched with rain or water. If your DIABLO accidentally gets wet, stop it immediately, press
the emergency stop switch, and wipe it down with a soft dry cloth right away.
Please use the battery and adapter included in the box correctly. It is prohibited to use
chargers other than that supplied by the factory. If you have any questions, please get in
touch with customer service immediately.
Please ensure that DIABLO has sufficient power. It is prohibited to operate DIABLO while
charging. If the warning light on the tail of DIABLO illuminates, please do not use or
immediately stop using DIABLO.
Please immediately cease using the DIABLO and get in touch with customer service if the
joints actuators are affected by sharp objects, overheating, loose structure, broken wiring
harness, damaged tires, strange noises, excessive running noise, or any other anomalous
circumstances.
Do not operate DIABLO on terrain that challenges its terrain adaptive capabilities to the
extreme or use it on complex terrains, such as stepping on it or lying it on hard, sharp,
uneven ground or dragging it sideways, etc.; such actions could cause the outer layer of the
tire to wear out or cause DIABLO to turn over and get damaged.
Do not operate DIABLO on slippery ground, such as a wet tiled floor, to avoid damage to the
body of the robot.
i.
1
Before use, please ensure that you have carefully read the "DIABLO User Manual" and the
"Safety Precautions" and have a sufficient understanding of this robot. If unsafe conditions
such as slipping, falling, or losing control occur, please immediately stop using and follow
the steps on the "Emergency Stop Procedure Card". If you have any questions, please
contact with customer service immediately.
b.
c.
d.
e.
f.

1.2 Battery and charging
To avoid injury, do not put your hands into DIABLO's body, the connection points
between its joints, or the gaps between its legs, and do not touch the joint motors.
j.
It is prohibited to place any part of your body or valuables directly under DIABLO.
k.
.
l. When the robot is used for a long time and the system is overheated, please stop using the
system immediately and shut down for 15 minutes. During this period, it is forbidden to tou
ch the robot.
When pressing the emergency stop switch, please grasp the handle tightly to avoid DIABLO
being suddenly deactivated and losing control.
If your DIABLO accidentally comes into contact with sand, soil, vegetation, dirty water, etc.,
please clean it up immediately after use.
n.
m.
DIABLO's maximum weight-bearing capability is 4 kg in standing mode and 80 kg in
creeping mode. When placing items on top of DIABLO, please make sure the items are
secure to avoid property damage. To prevent damaging the loaded items, it is prohibited
to use the emergency stop function while the robot is carrying a load.
q.
p.
o.
When DIABLO is in a half-creeping mode and carries a load of more than 5 kg, the automatic
battery protection might be triggered. DIABLO will directly enter the power-off protection
state, and the user should press the emergency stop switch immediately.
DIABLO is not designed to transport people; to avoid injury, no one is allowed to ride on it.
After use, please make sure DIABLO is shut down and stored properly.
r.
Please correctly use the battery and adapter included in the package.
a.
When charging the battery, please place the battery charging station and the power
adapter in a flat, dry, and cool place, away from flammables or heat sources, and do not
touch the power adapter.
b.
It is prohibited to operate DIABLO while charging. Before charging, please ensure that
DIABLO is shut down or in a deactivated state.
c.
The ambient temperature for charging is 0-45°C.
d.
To prevent the risk of electric shock, it is strictly prohibited to immerse wires, plugs, and
other parts of DIABLO in water or other liquids.
e.
In order to avoid fire or other damage caused by improper operation, make sure you
have carefully read the instructions (precautions) of the battery and the adapter before charging.
f.
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1.3 Storage and transportation
DIABLO should be stored in a dry and cool environment, away from direct sunlight,
flammable substances, fire sources, and strong electromagnetic environments.
a.
Please use the handle when transporting DIABLO. Do not pull the wiring harness, and
handle it with care; avoid dropping or throwing, which may damage its parts.
b.
1.4 Use DIABLO legally
It is prohibited to use this product for any illegal, criminal, or inappropriate activities
(including but not limited to espionage, military operations, illegal investigations, etc.).
a.
It is prohibited to use this product to infringe on the privacy of others and any other
personal and property rights.
b.
It is prohibited to send DIABLO into the vicinity of sensitive buildings and facilities. These
may include national borders, power stations, substations, prisons, traffic arteries, railway
and road transportation hubs, government buildings, military bases, facilities, etc.
c.
Robots will be used in the manner permitted by local laws if the rules and regulations of the
user's region and country permit their use, and the user is required to be aware of and abide
by the laws and regulations of the region.
d.
Note: All obligations deriving from secondary development, alteration, etc. are the
user's responsibility.
e.
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1.5 ＦCC Statement
a. This device complies with part 15 of the ＦCC Rules. Operation is subject to the following two
conditions: (1) This device may not cause harmful interference, and (2) this device must accept
any interference received, including interference that may cause undesired operation.

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2 Introduction of DIABLO
DIABLO is a super agile & stylish two-wheeled-leg robot and an open development
platform.
Powered by 6 M1502D free-moving direct-drive robot joints, the DIABLO boasts high power,
smooth action, energy-saving, and high efficiency. Different from the traditional reducer
scheme, the DIABLO is extremely quiet during operation and will not cause any noise
concerns. Its unique transformation feature allows the robot to combine the agility of a
legged robot with the robustness and speed of a wheeled robot.
The open development ecology also provides perfect interfaces for various forms of
applications. DIABLO is the perfect carrier whether you need quiet company, stealth patrol,
dexterous maneuvers, or smooth transportation.

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Portable aluminum case × 1
Charger × 1
Remote control × 1
Accessory box × 1
Two-wheeled robot DIABLO × 1
Special note: The accessories box contains M2.5 Allen wrench*1, M3 Allen wrench*1, M4 Allen
wrench*1, Phillips wrench*1, M3 locking nut*5, M3 square nut*5, M3X20 Screw*5, M3X16 Screw*5,
M3X10 Screw*10, M4X15 Screw*5, M3X12 Thumb Screw*5, M6X16 Flange Screw*2, M3X14 Gasket*5,
M6X18 Gasket*2, M4 Flange lock nut*5, serial port module*1, serial port module cable*1 (Note: The
serial port module and cable are only included in the Horizon X3 version)
2.1 Package contents
2.2 Description of parts
Side view of DIABLO Top view of DIABLO
Steering support
wheel
Handle
Leg extension drive
motor
Leg swing drive motor
Emergency stop switch
Space for top load
mounting
Battery module
Four-link
telescopic legs
Tires
Wheel hub motor
User manual × 1

2.3 Product specifications
Front view of DIABLO
Power adapter specifications
Back view of DIABLO
Upper cover
Lower cover
Motion control panel
Application control panel(Raspberry Pi/X3)
Wired network card
Space for the front
sensor installation
Battery power
display
Charging port
Model XVE126-3290300
3A
32.9V
110V AC
Output current
Output voltage
Input voltage
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540×371×270mm
540×371×491mm
22.9KG
The travel time at low speed in standing mode is
≈3h at an ambient temperature of 34 °C.
The jumping height is about 8cm with no load
（non-continuous work）
Motor specifications
Robot specifications
Motor dimensions
Weight of a single
motor
Operating voltage
Rated voltage
Stall current
Rated current
Rated torque
Rated speed
Encoder resolution
Net weight
Length, width, and height in
standing mode
Maximum load in standing
mode 4kg
80kg
Noise during operation <49dB
Application control panel Raspberry Pi 4
perating system Ubuntu Mate
Standing time in an upright
position
The standing time is ≈3h at an ambient
temperature of 25 °C.
Maximum continuous travel
time in creeping mode
The travel time in creeping mode at high speed is
≈4h at an ambient temperature of 34 °C.
The standing time is ≈15min at an ambient
temperature of 25 °C.
Maximum continuous travel
time in standing mode
Jumping height
Φ144x41.8
2.3kg
28-32V
32V
28A
12A
9.6Nm
115rpm
Stall torque 20Nm
15 bits
Length, width, and height in
creeping mode
Maximum load in
creeping mod
Standing time in half squat
state
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6AH
Capacity
Remote control
Model RadioLink T8S
Receiver sensitivity -104dbm
Output frequency 2.4GHz
Maximum safe remote
control distance 150m
Description of the main control pins
Battery type
It retains more than 80% of its initial capacity after 1000 cycles
Cycle life
Battery specifications
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Li-ion battery
Maximum travel speed 2m/s

Pins
1 NC
GND
GND
GND
GND
GND
GND
GND
GND
NC
5VDC
5VDC
NC
NC NC
UART4_RX
UART4_TX
NC
NC
NC
NCNC
NC
NC
NC
NC
NC
NC NC
NC
NC
NC
NC
2
3 4
5 6
7 8
9 10
11 12
13 14
15 16 NC
17 18
19 NC 20
21 NC 22 NC
23 NC 24 NC
25 26
27 28
29 30
31 32
33 NC 34
35
37
40
38
36
39
Functions Pins Functions
9

Swing
left Turn left
3 Instructions for Use
3.1 Prepare to turn on the robot
The red emergency stop is rotated clockwise,pulling the left trigger of the remote control down,and pulling the right t
rigger in the middle,and do not move the joystick of the remote control,after the power indicator light on the tail light
s up,the robot is in the power-on state
(If Diablo tent to veer slightly in
one direction, the user can use
these buttons to make
adjustments)
Left thumbstick controls:
Remote control battery indicator
(it is fully charged when all 4 lights are illuminated)
The power switch of the remote control
Right thumbstick controls:
Go forwardLook up
Look down
Swing
right Turn right
Go backward
Fine-tuning of remote
control channels
(All small buttons are designed
for fine-tuning of channels)
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3.2 Description of the remote control
(Press and hold the switch for 2 seconds, after hearing a beep, the green light will turn on
and remain solid, indicating that the remote control is turned on)

Switching of rocker's switch position
Center (default position) Down
Up
Note : In order to ensure the user's safety, In the creeping mode of the robot, first reset the buttons of
the remote control (the left trigger is down, the right trigger is in the middle, the joystick is in the mid
dle, release the jump button), and then the left trigger is in the middle, DIABLO can stand.
(The high-speed mode is a special mode that requires the user to have good controlling skills. The user should pay
attention to safety when operating in this mode. It is prohibited to operate DIABLO in a complex road environment, such
as one with too many people and vehicles. The user is responsible for any accidents involving equipment and people
that occur in this mode)
Low High
The left rocker switch has 3 positions:
Up: standing mode
Center: standing mode
Down: creeping mode
The right rocker switch has 3 positions:
Up: high-speed mode
Center: low-speed mode
Down: Disable the remote control
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The height adjustment
thumb wheel
(It can only be used in
standing mode)
Button for jumping
(Jumping is only possible
in low-speed mode)

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Left rocker
switch Right rocker switch Jump key Status Remarks
Description of switch combinations
⸺first adjust the position of the left rocker switch, then adjust the right one
Down
Down
Down
Down
Down
Centre
UpDown
Released
Click and hold
for 2 seconds
Creeping mode
with remote
control disabled
The motor is in a
deactivated state
Creeping mode
Released with low-speed
movement
Creeping mode
Released with high-speed
movement
Left and right thumbstick、
scroll wheel functions disabled
This state can disable the
robot's motor, please use it with
caution in the standing mode
The left thumbstick is disabled,
and the right thumbstick
functions normally
The left thumbstick is disabled,
and the right thumbstick
functions normally
Left rocker
switch Right rocker switch Jump key Status Remarks
Down
Centre
Up
Standing mode
with remote
control disabled
Standing mode
Click and hold
for 2 seconds with jumped
Standing mode
Released with high-speed
movement
Left and right
Released thumbsticks disabled
Left and right thumbstick
functions normally
Left and right thumbstick
functions normally
Centre
Centre
Centre
Note : In order to ensure the user's safety, In the creeping mode of the robot, first reset the buttons of the remote c
ontrol (the left trigger is down, the right trigger is in the middle, the joystick is in the middle, release the jump butto
n), and then the left trigger is in the middle, DIABLO can stand.

Note : In order to ensure the user's safety, In the creeping mode of the robot, first reset the buttons of the remote c
ontrol (the left trigger is down, the right trigger is in the middle, the joystick is in the middle, release the jump butto
n), and then the left trigger is in the middle, DIABLO can stand.
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Left rocker
switch Right rocker switch Jump key Status Remarks
Down
Standing mode
with remote
control disabled
Left and right
Released thumbsticks disabled
Up

3.3 Operating instruction
Creeping mode
Standing mode
Go forward
Turn
left Turn
right
Go backward
The transition from creeping mode to standing mode
In the creeping mode, the left thumbstick has no function, and the
right thumbstick is used to control the forward, backward, turn left ,
and turn right movements.
In the creeping mode, DIABLO cannot jump and the height cannot be
adjusted.
In order to ensure safety, In the creeping mode of the robot, first rese
t the buttons of the remote control (the left trigger is down, the right t
rigger is in the middle, the joystick is in the middle, release the jump
button), and then the left trigger is in the middle, DIABLO can stand.
14

The right thumbstick is used to control Diablo's traveling status
The right thumbstick is used to control Diablo's pose
Turn left/turn right
Swing left/right Look up/down
Go forward/backward
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Go forward
Turn
left Turn
right
Go backward
Look up
Swing
left Swing
right
Look down

The height adjustment thumbwheel is used to adjust the height
The jump button is used to make DIABLO jump while in standing mode
Creeping mode
The height adjustment thumbwheel
(It can only be used in standing mode)
Low High
Button for jumping
(1. Jumping is only possible in low-speed mode
2. When DIABLO's battery is ＜15%, the jumping
action cannot be performed)
Squatting mode Standing mode
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A red charger display light indicates that DIABLO is not fully charged.
A green charger display light indicates that DIABLO is fully charged.
Before charging, please ensure that DIABLO is shut down or in a deactivated state
3.4 Instructions for shutting down the robot
3.5 Instructions for charging
Once the light turns off after pressing and holding the
remote control power switch for two seconds, the
remote control is off.
First, connect the charger to the socket Then plug the charging cable into the rear charging jack
Press the red emergency stop switch, the
tail power indicator light goes out, and
Diablo is turned of.
2s
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