Step 9: Complete the Head Enclosure
Route the head Ethernet and power cables to the RPU, connect the speaker cable, and install the three head covers.
Parts needed
| Part | Count |
|---|---|
| Integrated assembly from Step 8 | 1 |
| top head cover | 1 |
| left head cover | 1 |
| right head cover | 1 |
| M4x10 flat bolts | 10 |
XT30 1000mm power cable (red), connected to the Head Board in RPI + Head Board Setup | 1 |
Ethernet 1000mm cable (blue), connected to the RPI in RPI + Head Board Setup | 1 |
| XT30 (2+2) cable - 600mm | 1 |
| WAGO connector for the speaker cable | As needed |
Instructions
Identify the Ethernet 1000mm cable (blue) coming out of the back of the head, and route it down through the port cutout on part into the torso.
Connect the free connector of the Ethernet 1000mm cable (blue), which runs from the RPI , to the specified MCB port. This is exactly the same as the step that you have done previously to assign the actuator ID.
Route the XT30 1000mm power cable (red) from the Head Board through part and the neck cutout, then connect its free connector to the specified port on the Power Distribution Board .
Connect the speaker cable from speaker to the bare end of the single-ended JST-XH 300mm cable (orange) from the Head Board using the WAGO connector.
Take the 600 mm XT30 (2+2) cable and plug it into neck pitch actuator ID 25 as shown. Route it through the port cutout on part , then connect the other end to the specified port on the Power Distribution Board .
Take part and slide it on top of the RPI and align with part .
Take part and fit it to the left side of the head.
Take 5 - M4x10 flat bolts and lightly tighten into the 5 holes on part to align with the head. Once aligned, tighten all 5 - M4x10 flat bolts to secure the part together.
Take part and fit it to the right side of the head.
Take 5 - M4x10 flat bolts and lightly tighten into the 5 holes on part to align with the head. Once aligned, tighten all 5 - M4x10 flat bolts to secure the part together.
How is this guide?
Step 8: Install the Neck Pitch Actuator and Head Base
Attach bracket 700_02B to neck yaw actuator ID 24, install neck pitch actuator ID 25, and secure the prepared head assembly through head base 700_03C.
Step 10: Install the Battery Assembly and Torso Covers
Connect the battery assembly to the MCB with the robot powered off, then install the battery and torso covers. The robot stays powered off until actuator calibration.