Electrical Preparation
Review actuator-chain routing, branch entries, hollow-shaft constraints, and cable handling before assembly.
Complete this review before assembling any module that routes actuator cables through a joint.
Keep the robot unpowered
Keep the battery disconnected and its output protected. Do not connect, disconnect, route, strip, or join conductors while any part of the robot is energized.
Understand the Six Branches
Actuator power and CAN communication are organized into six daisy chains that begin near the central body:
- left leg at left hip pitch
- right leg at right hip pitch
- waist at waist yaw
- left arm at left shoulder pitch
- right arm at right shoulder pitch
- neck at neck yaw
The leg chains run:
- Left:
hip pitch -> hip roll -> hip yaw -> knee -> ankle A -> ankle B - Right:
hip pitch -> hip roll -> hip yaw -> knee -> ankle A -> ankle B
At each branch entry, CAN_H and CAN_L route toward the RPU while BATT+ and BATT- route toward the robot power bus.
Actuator Ports
Each actuator has two electrically equivalent XT30 (2+2) ports carrying:
BATT+BATT-CAN_HCAN_L
There is no fixed electrical input or output port. Use the port and orientation shown in the applicable assembly step so the cable follows the intended mechanical path.
Hollow-Shaft Routing
Hip roll, hip yaw, and shoulder pitch use hollow shafts. Route each supplied single-ended cable assembly through the joint before completing its documented conductor join.
The post-routing joins occur:
- at hip roll, for the connection to hip yaw
- at the knee, along the hip-yaw cable path
- at shoulder roll, for the connection to shoulder pitch
Normal assembly does not require crimping actuator connectors. Do not pre-join these cable assemblies; the applicable assembly step defines the routing, stripping, joining, insulation, and strain-relief sequence.
Before Continuing
- The battery remains disconnected and protected.
- The six branch-entry locations are identified.
- Single-ended hollow-shaft cables remain unjoined.
- Supplied cables are grouped with the module where they will be routed.
- No cable will be connected or disconnected under power.
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