| Version | Date | Revision Details | Compatible Software (If incompatible, update to the latest version via the Official Download Center) |
|---|---|---|---|
| V1.0 | 2026.06.05 | Initial Release | V1.0.29 or later |
| V1.1 | 2026.07.16 | Added instructions for main controller software upgrade | V1.0.36 or later |
| Battery Status Indicator (Recharge) | Battery Level | Description |
|---|---|---|
| 1 green LED blinking rapidly | 0%-10% | Initial Charging Stage (Critical Battery Level) |
| 1 green LED blinking slowly | 10%-20% | Initial Charging Stage (Low Battery Level) |
| 1 green LED on, 1 blinking slowly | 21%-40% | Low power; not recommended to disconnect |
| 2 green LEDs on, 1 blinking slowly | 41%-60% | Moderate power, suggested continuing charging |
| 3 green LEDs on, 1 blinking slowly | 61%-80% | Sufficient power, suggested continuing charging |
| 4 green LEDs on, 1 blinking slowly | 81%-99% | Sufficient power, suggested continuing charging |
| 5 green LEDs on | 100% | Fully charged, safe to disconnect power. |
## 1.5 Joint Index and Joint Limits
| **Joint Index** | **Joint Name** | **Limit (rad)** |
| --------------- | -------------------------- | ---------------- |
| **1** | left_hip_pitch_joint | -3.0543 ~ 1.5708 |
| **2** | left_hip_roll_joint | -1.0472 ~ 1.5708 |
| **3** | left_hip_yaw_joint | -1.5708 ~ 1.5708 |
| **4** | left_knee_joint | -0.0873 ~ 2.4435 |
| **5** | left_ankle_pitch_joint | -1.0123 ~ 0.6109 |
| **6** | left_ankle_roll_joint | -0.4363 ~ 0.4363 |
| **7** | right_hip_pitch_joint | -3.0543 ~ 1.5708 |
| **8** | right_hip_roll_joint | -1.5708 ~ 1.0472 |
| **9** | right_hip_yaw_joint | -1.5708 ~ 1.5708 |
| **10** | right_knee_joint | -0.0873 ~ 2.4435 |
| **11** | right_ankle_pitch_joint | -1.0123 ~ 0.6109 |
| **12** | right_ankle_roll_joint | -0.4363 ~ 0.4363 |
| **13** | waist_yaw_joint | -1.5708 ~ 1.5708 |
| **14** | waist_roll_joint | -0.5236 ~ 0.5236 |
| **15** | waist_pitch_joint | -0.5236 ~ 0.7854 |
| **16** | head_yaw_joint | -0.7854 ~ 0.7854 |
| **17** | head_pitch_joint | -0.5236 ~ 0.5236 |
| **18** | left_shoulder_pitch_joint | -3.0543 ~ 1.0472 |
| **19** | left_shoulder_roll_joint | -0.0873 ~ 1.9199 |
| **20** | left_shoulder_yaw_joint | -2.5307 ~ 1.5708 |
| **21** | left_elbow_joint | -2.3911 ~ 0.5236 |
| **22** | left_wrist_yaw_joint | -1.5708 ~ 1.5708 |
| **23** | right_shoulder_pitch_joint | -3.0543 ~ 1.0472 |
| **24** | right_shoulder_roll_joint | -1.9199 ~ 0.0873 |
| **25** | right_shoulder_yaw_joint | -1.5708 ~ 2.5307 |
| **26** | right_elbow_joint | -2.3911 ~ 0.5236 |
| **27** | right_wrist_yaw_joint | -1.5708 ~ 1.5708 |
---
## 1.6 Coordinate Systems, Joint Rotation Axes, and Joint Zero Points
When all joints are at 0°, the coordinate systems are shown below.
The **red**, **green**, and **blue** axes represent the **X**, **Y**, and **Z** axes, respectively.
## 1.7 Specifications
| Model | LimX Luna |
| Mechanical Parameters | |
| Height | 160cm |
| Shoulder Width | 47cm |
| Arm Length | 69cm (including hand model) |
| Weight (Battery Included) | 56kg |
| Active DoF (Total) | 27 |
| Single Leg DoF | 6 |
| Single Arm DoF | 5 |
| Waist DoF | 3 |
| Neck DoF | 2 |
| Handle | |
| Handheld remote control (with charging cable) | ✓ |
| Tablet | ✓ |
| End effector | |
| Palm-shaped hand model | ✓ |
| Fist-shaped hand model | ✓ |
| 5-finger dexterous hand (6 DoF) | o |
| Joint Range of Motion | |
| Neck Joint | P±30°、Y±45° |
| Shoulder Joint | P-60°～175°、R-5°～110°、Y-90°～145° |
| Elbow Joint | P-30°～137° |
| Wrist Joint | Y±90° |
| Waist Joint | P-45°~30°、R±30° 、Y±90° |
| Hip Joint | P-90°-175°、R-60°~90°、Y±90° |
| Knee Joint | P+5°-140° |
| Ankle Joint | P-35°~58°、R±25° |
| Thermal Management | |
| Air-Cooled Main Control Area | ✓ |
| Communication Interfaces | |
| WiFi 6 | ✓ |
| Bluetooth | ✓ |
| Perception sensors | |
| Self-developed IMU | 6-axis |
| RGB camera | ✓ |
| Battery | |
| Slide-Out Battery Module | ✓ |
| Battery Capacity | 10,000mAh |
| Battery Life | About 4H |
| Recharging method | Supports direct charging and battery swapping |
| Charging time | About 1 h |
| Charging input voltage | 110V-220V |
| Charger output | 58.8V 10A |
| Capability | |
| Maximum Load Capacity (Single Arm) | 3kg |
| Maximum Moving Speed | 5km/h |
| Maximum Joint Torque [1] | 200N·m |
| Computing Configuration | Motion Control: - RK3588 SoC + 16G RAM + 256G Storage Perception: - RK3588 SoC + 8G RAM + 32G Storage |
| Interactive Modules | |
| Facial Interaction Screen | ✓ |
| Microphone | ✓ |
| Speaker | ✓ |
| Status Indicator Light | ✓ |
| Software | |
| LimX UP[2] | ✓ |
| Content Development Expansion Kit [3] | ✓ |
| OTA Updates | ✓ |
| Dances | 20 |
| Motions | 20 |
| LimX Studio[3] | ✓ |
| Cloud-Based Motion Capture Training Platform | ✓ (Subscription Required) |
| COSA System | ✓ |
| Other Features | |
| Warranty Period | 12 Months |
| Special Edition Skin | ✓ |
| Portable Carrying Case | ✓ |
- Power On:
- Method 1: Press and hold the [Home button] for 1 second or longer
- Method 2: Pull out the handle to power on automatically
- Power Off:
- Method 1: Press and hold the [Home button] for 5 seconds or longer
- Method 2: Fold the handle to power off automatically
# 3 Operation Guide
## 3.1 Startup Procedure
### 3.1.1 Powering On in Packing Posture
**Step 1: Powering On**
1. Insert one battery from the accessory layer into Luna.
1. Briefly press and release the Power Button, then press and hold it for 2 seconds to power on. Next, press the Startup button to start the device (First-time setup only).
Suspend Luna using the protective frame, ensuring the feet are at least 15 cm above the ground. Then carefully lift Luna out of the packaging box.
**Step 3: Lower the Suspension Rope**
After Luna enters the Standing State, gradually lower the suspension rope until both feet are firmly on the ground.
**Step 4: Release the Suspension Rope**
Once Luna maintains stable motion, carefully detach the suspension rope. Luna is now ready for operation.
> **Note:**
> If Luna encounters an unexpected condition, press **[Left + Right]** to switch to Damping State. Luna will gradually fall to the ground. This operation may damage the device and should **only be used in an emergency**
## 3.2 Remote Control Operation
### 3.2.1 Control Methods
#### 3.2.1.1 Remote control
Once the device is powered on, use the remote controller to control Luna’s basic movements
#### 3.2.1.2 App control
Once connected using the supplied tablet, you can control Luna using the app
> **Note：**
> More features are available via the Limx Studio App on the supplied tablet.
### 3.2.2 State switching
> **Note:**
> Please operate the robot on a flat, level surface when performing forward/backward movement, lateral movement, or in-place turning to prevent potential damage.
### 3.2.3 Button Functions
| Type | Mode/Action | Description | Button | Prerequisite States |
| State Switching | Zero-Torque State | All joints are torque-free and can be manually adjusted. | LT + B | Damping State |
| Zero-Point Calibration | Resets all joints to their mechanical zero positions. | Press & Hold L1 + R1 | Zero-Torque State | |
| Damping State | Applies damping torque to the joints, allowing slow movement while preventing free swinging. | RB + Left | Zero-Torque State | |
| Lying State | The robot transitions to a lying posture after receiving the command. | LT + Left | Walking State | |
| Standing State | Engages preload torque, maintains balance, and awaits control commands. | - L2 + Y - L2 + Up - L1 + A | - Hanging State - Lying State - Cat-Walk State | |
| Movement Control | Move Forward/Backward | Moves the robot forward or backward via the controller. | Left Joystick ↕ | Standing State |
| Lateral Movement | Moves the robot left or right via the controller. | Left Joystick ↔ | Standing State | |
| In-Place Turning | Rotates the robot on the spot via the controller. | Right Joystick ↔ | Standing State | |
| Cat-Walk State | Switches the robot to a cat-walk gait after receiving the command. | RT + A | Standing State | |
| Safety Protection | Emergency Stop | Immediately cuts off joint power. The robot will not respond to any motion commands. | Press Left + Right Joystick | - |
| Release Emergency Stop | Re-enables power and returns the robot to the Zero-Torque State. | Press Right Joystick | Emergency Stop State |
| Status Category | Operating Status / Mode | Indicator Status |
| Basic State | Zero-Torque / Damping / Standing / Walking | ⚪️ Solid White |
| Safety / Fault | Emergency Stop | 🔴 Solid Red |
| Abnormal Warning | 🔴 Slow Flashing Red | |
| Functional State | Dance / Automation Execution / Motion Teaching | 🟣 Solid Light Purple |
| Voice Interaction Active | 🔵 Breathing Sky Blue | |
| Fleet Control Active | Solid Light Pink | |
| System Process | Powering On | ⚪️ Single-Side White Flow |
| Calibration in Progress | ⚪️ Breathing White | |
| OTA Update in Progress | ⚪️ Symmetric White Back-and-Forth Flow | |
| Battery | Low Battery Warning (Battery ≤ 20%) | 🟡 Slow Flashing Yellow |
| Critical Battery Warning (Battery ≤ 10%) | 🟡 Fast Flashing Yellow | |
| Low-Power Mode | Low-Power Mode | LED Off |
**Step 1: State Adjustment**
1. Press **[L2 + Left]** to switch Luna from standing to lying position
2. Press **[L2 + Down + X]** to enter damping state
**Step 2: Power Off**
- After Luna has entered the **Damping State**, briefly press and release the power button, then press and hold for **2 seconds** to shut down.
### 3.3.2 Shutdown in Hanging Position
**Step 1: Posture Adjustment**
Suspend Luna using the lifting frame, then press **[L2 + Down + X]** to switch Luna from a standing posture to a damped state
**Step 2: Power Off**
- After **Luna** has entered the **Damping State**, briefly press and release the power button, then press and hold for **2 seconds** to shut down.
> **Note:**
> The robot automatically shuts down when the battery level falls below 1%. Recharge the battery before it drops below **20%** to ensure normal operation.
## 3.4 Voice Interaction Instructions
Once connected to the Internet, the voice interaction feature enables conversational control and action execution. If the network connection fails, offline dialogue mode remains available.
---
### 3.4.1 Voice Activation and Deactivation
- **Enable:** Voice interaction is enabled automatically when the device is powered on. Before activation, the system remains in sleep mode until it is woken up
- **Disable:** Voice interaction can be disabled in the app. When disabled, Luna will no longer respond to voice commands. You can re-enable the feature at any time in the app
**When voice interaction is disabled or the system is in sleep mode, audio recording is stopped. No audio is recorded during these states, helping protect your privacy.**
### 3.4.2 **Wake-up Methods**
- **Wake word:** "Hello Zhuji" - The wake word can be customized via the app
- **Wake-Up feedback:** Luna will automatically turn toward the speaker and respond "I'm here, go ahead", and the system status indicators will display a breathing sky blue effect
### 3.4.3 Conversation Mode
- **Continuous conversation:** After a successful wake-up, Luna supports continuous, multi-turn conversations. The dialogue will automatically end if no voice input is detected for **15 seconds**, requiring a re-wake-up.
### 3.4.4 Voice Motion Control
- **Sequential Commands:** Supports issuing multiple voice commands in a single request.
- **Command Limit:** Maximum of **5** commands per request.
- **Execution Feedback:** After receiving commands, Luna will parse them and provide a voice prompt before executing the actions.
> **Notes:**
> 1. In noisy environments, if the system status indicator does not display a blue breathing light while speaking, it indicates a failed voice reception. In this case, please move closer to the robot and speak again.
> 2. If the battery level drops below 10% during the execution of action commands, Luna will no longer carry out the remaining instructions.
### 3.4.5 Multilingual Switching
- **Supported languages:** Supports recognition and responses in Chinese, English, and Korean.
- **Language switching:** Automatically switches based on the detected language or via voice commands (e.g., “Switch to English”).
## 3.5 Main Controller Software Upgrade
### 3.5.1 Preparation Before Upgrade
Before upgrading, ensure the following conditions are met:
- Ensure the robot battery level is at least 60% (80% or higher is recommended).
- Keep the robot connected and powered on during the entire upgrade process. Do not disconnect the robot or turn off the power.
### 3.5.2 Upgrade Procedure
1. Open the App and navigate to「Me」 → 「Device Management」
2. Select the robot to be upgraded and tap「Download Installation Package」
3. The App will automatically check for and download the latest software installation package
4. After the download is complete, follow the on-screen instructions to start the installation
5. Wait until the upgrade is complete. The robot will restart or complete the upgrade automatically. After completion, go to「Device Information」to verify the current software version.
> **Notes:**
> 1. To access the latest features, improve product performance, and fix known issues, keep the main controller software updated to the latest version.
> 2. During the upgrade process, ensure sufficient battery power and a stable network connection.
## 3.6 App Upgrade
1. Open the App and navigate to 「My」 → 「Settings」 → 「About App」
2. On the 「About App」 page, you can view the current App version information
3. When a new version is available, tap 「Download Installation Package」 and follow the on-screen instructions to complete the installation
> **Notes:**
> 1. We recommend keeping the App updated to the latest version to access the newest features and enjoy an improved user experience.
# 4 Care and Maintenance
## 4.1 Power and Charging Management
### 4.1.1 Remote Controller Charging
- Remote control low battery indicator: **[M Button]** indicator light flashes red slowly
- When the battery level is low, use the supplied Type-C charging cable to connect the controller to a power adapter for charging (as shown below).
### 4.1.2 Robot Charging
#### 4.1.2.1 Battery Charging
1. Connect the charging dock to the power source.
2. Insert the battery into the charging dock. A flashing green indicator light indicates that charging has started.
#### 4.1.2.2 Direct Charging via Robot Charging Port
1. Open the charging port cover and ensure the port is dry and clean.
2. Align the aviation connector with the guide slot and insert it securely into the charging port.
3. Plug the power adapter into an appropriate AC outlet (refer to adapter rating label).
> **Note:**
> **When charging through the onboard charging port, avoid pulling or tugging on the power cable while operating the robot.**
### 4.1.3 Stop Charging
1. Unplug the power adapter from the outlet to disconnect the power supply.
2. Carefully remove the charging connector.
3. Close the charging port cover to prevent dust or foreign objects from entering.
### 4.1.4 Battery and Charging Maintenance
1. Do not power on or operate the device while charging via the robot’s charging port. This ensures a safe and stable charging process.
2. While charging the battery, ensure that the power adapter is not subjected to pressure, stepping, tipping, or frequent movement, and keep it placed on a stable surface.
3. If the system indicates that the battery level is critically low, **promptly power off the device and recharge the battery** to prevent system abnormalities caused by sudden power loss.
4. Before long-term storage, maintain the battery level at **50%–60%** (avoid storing the battery fully charged or fully discharged). During storage, perform a full charge–discharge cycle every **three months**, then restore the battery level to **50%–60%** to help minimize performance degradation over time.
5. **Do not plug or unplug the battery while the robot is powered on or in operation.** This prevents burn damage to the power connector pins and damage to the interface circuit.
6. When plugging or unplugging the battery, apply steady, even force perpendicular to the interface. **Do not pry with uneven force, pull violently, or wiggle the connector**
## 4.2 Exterior and Structural Maintenance
1. Regularly clean dust from the robot’s exterior surfaces and joint areas, and verify that all screws and fasteners are securely tightened.
2. If the robot is used in dusty environments, promptly wipe the housing with a clean microfiber cloth.
## 4.3 Storage and Transportation
1. Use a transport case specifically designed for the robot during storage and transportation to minimize impact and vibration.
2. When storing the remote controller, avoid applying external pressure to the joysticks and ensure that all ports remain clean.
## 4.4 Software and System Maintenance
1. Regularly update the official firmware to resolve potential system issues and optimize motion control algorithms.
2. If the device remains powered on but unused for an extended period, enable mechanical or software-based “suspension protection” to prevent unintended movement.
# 5 FAQ
| Issues Category | Issue Description | Possible Causes | Troubleshooting & Solutions |
| Power Related | Failure to Power On | - Depleted battery - Emergency stop button pressed | - Check the battery level and choose to replace the battery or plug in the power supply. - Ensure the emergency stop button is released |
| Sudden Motor Shutdown | - Safety protection triggered - Loose connection - Power supply abnormality | - Check whether it is in an emergency stop state or whether the app has displayed a fault pop-up window - Reconnect the power cable or check connectors - Restart the system. | |
| Failure to Charge | - Incorrect connection sequence - Adapter malfunction - Loose connection | - Insert the aviation plug first, then power on. - Check the indicator light (Red = Charging, Green = Full) - Tighten screw sleeve, check contact | |
| Control & Execution | Remote Controller Unresponsive | - Pairing unsuccessful - Remote control signal disconnected - Remote controller low battery - Severe wireless interference | - Re-pair the remote control - Move closer to the robot and wait for the remote to reconnect automatically - Charge the remote control - Move away from strong interference environments |
| App cannot control the robot | - Disconnected from the robot - Conflict with remote control operation | - Wait for automatic reconnection or manually reconnect to the robot hotspot - Can resume once the remote control stops operating | |
| Zero Calibration Failure | - Restricted space - Incorrect posture - Command not sent successfully | - Ensure no obstacles within 2m/6' 6.74" - Operate in a naturally suspended state - Check whether the remote control button operations are correct | |
| Communication & Network | Unable to configure WiFi network | - Weak signal - Incorrect password - Network error | - Switch to a WiFi network with stronger signal strength - Check whether the WiFi password is correct - Try another available WiFi network |
| Unable to connect to the robot hotspot | - Weak signal - Incorrect password - Module malfunction | - Move closer to the robot and reconnect. - Verify the password is `12345678` - Restart the robot |