A belt tensioning system provides an improved starting principle in a large, round baler for agricultural crops. In a waiting state, H level data is written in each dummy cell from the Vccs power supply line. The voltage may be used as a voltage bias and supplied to a controller module that is used to control switching of the switch. A burden on a joint actuator of a leg can be reduced, while reducing energy consumption of the robot by using a small and simple construction. The frame includes a horizontal passage linking the left and right panels and the cable guides. The shared IO subsystem includes a plurality of ports that communicatively couple the computer systems to the shared IO subsystem where each of the ports includes at least one corresponding bit in an adjustable span port register.