Step 7: Connect and Join the Shoulder Assemblies
Connect the XT30 (2+2) connector to actuator ID 14, solder the corresponding cable conductors from actuators ID 13 and ID 14, and join the shoulder and upper arm assemblies with plates 400_03A and 400_01A and threadlocked flat bolts.
Parts needed
| Part | Count |
|---|---|
| Shoulder assembly from Step 2 | 1 |
| Upper arm assembly from Step 6 | 1 |
| 100 mm single-ended XT30 (2+2) cable | 1 |
| 1 | |
| 1 | |
| 8 | |
| 6 | |
| Threadlocker | As needed |
| Approved soldering and insulation supplies | As needed |
Instructions
Connect the XT30 (2+2) connector of the 100 mm single-ended XT30 (2+2) cable to the port on the shoulder roll (ID 14) in the upper arm assembly.
Solder each corresponding conductor from the cable leads routed from the (ID 13) to the cable leads connected to (ID 14), following the released pinout.
Follow the video below for the soldering process
Follow the video below for the soldering process to make sure that the connection is made correctly else it can cause signal infidelity in the system.
Lay the upper arm assembly on its side such that the part with the bearing faces upward. Lay the shoulder assembly on its side such that the holes on part face upward. This part is symmetrical so any side is fine.
Align the protruded portion of part with the bearing, then align the 4 holes arranged in a moon shape with part from the shoulder assembly.
Take 4 of and lightly tighten into the 4 holes on part to align the part with part
After the parts are aligned:
- remove 4 of one at a time,
- apply threadlocker,
- then tighten them back to secure Part and part together.
Now flip the entire assembly to the opposite side, with the actuator shaft on the upper arm assembly facing upward.
Align the 6 circular holes on part with the 6 threaded holes on the actuator shaft, then align the 4 moon-shaped holes with the 4 threaded holes on part .
Take 6 of and then lightly tighten them in the 6 holes arrange in a circle on Part to the actuator shaft.
After the parts are aligned:
- remove 6 of one at a time in a star formation,
- apply threadlocker,
- then tighten them back to secure Part and the actuator together.
Take 4 of and lightly tighten into the 4 holes arrange in a moon shape on part to align with part .
After the parts are aligned:
- remove 4 of one at a time,
- apply threadlocker,
- then tighten them back to secure Part and part together.
How is this guide?
Step 6: Close the Shoulder Actuator Housing
Join parts 400_13C and 400_14C around the actuators with the carried socket bolts and secure part 400_13C to actuator ID 15 with three threadlocked M4x8 Socket bolts.
Step 8: Attach the Shoulder Yaw Joint Plate and Shaft Mount
Secure part 400_05A to actuator ID 15 with eight threadlocked M3x12 Flat bolts, then route the cable through part 400_06B and secure it to the actuator shaft with six threadlocked M4x20 Socket bolts.