PRELIMINARY - NOT APPROVED FOR PROCUREMENT, FABRICATION, ASSEMBLY, CONNECTION, POWERED TESTING, MOTION OR ENERGIZATION

Every actuator now has a routed branch slot.

One editable six-channel KiCad board, five assembly instances, 25 allocated axes and five visibly unpopulated spares.

25allocated actuator branches
5identical PDU boards
ERC 0/0eight native schematic sheets
DRC 0/0routed 124 × 45 mm candidate; zero unconnected pads

This is not the walking power stage

TPS259474L blocks reverse current. It is retained only for restrained, low-energy commissioning. Standing and walking remain disabled until regenerative energy, connector temperature, dynamic torque and upstream interruption are physically validated.

Native routed candidate

The ten-layer route is complete and KiCad reports DRC 0/0 with zero unconnected pads. This verifies connectivity and geometric rule compliance only; production stackup, copper weight, thermal rise and DFM remain open. Open the KiCad project · Open the native PCB · ERC report · DRC 0/0 report

Inspect all eight internal copper layers

Internal copper 1

Internal copper 2

Internal copper 3

Internal copper 4

Internal copper 5

Internal copper 6

Internal copper 7

Internal copper 8

Five-board population map

BoardChannelAxisFamilyRILMPopulation
PDU-LLEG1L_HIP_YAWXH5401.24kPOPULATE FOR CONTROLLED COMMISSIONING
PDU-LLEG2L_HIP_ROLLXH5401.24kPOPULATE FOR CONTROLLED COMMISSIONING
PDU-LLEG3L_HIP_PITCHXH5401.24kPOPULATE FOR CONTROLLED COMMISSIONING
PDU-LLEG4L_KNEE_PITCHXH5401.24kPOPULATE FOR CONTROLLED COMMISSIONING
PDU-LLEG5L_ANKLE_PITCHXM4301.47kPOPULATE FOR CONTROLLED COMMISSIONING
PDU-LLEG6L_ANKLE_ROLLXM4301.47kPOPULATE FOR CONTROLLED COMMISSIONING
PDU-RLEG1R_HIP_YAWXH5401.24kPOPULATE FOR CONTROLLED COMMISSIONING
PDU-RLEG2R_HIP_ROLLXH5401.24kPOPULATE FOR CONTROLLED COMMISSIONING
PDU-RLEG3R_HIP_PITCHXH5401.24kPOPULATE FOR CONTROLLED COMMISSIONING
PDU-RLEG4R_KNEE_PITCHXH5401.24kPOPULATE FOR CONTROLLED COMMISSIONING
PDU-RLEG5R_ANKLE_PITCHXM4301.47kPOPULATE FOR CONTROLLED COMMISSIONING
PDU-RLEG6R_ANKLE_ROLLXM4301.47kPOPULATE FOR CONTROLLED COMMISSIONING
PDU-ARMS1L_SHOULDER_PITCHXM4301.47kPOPULATE FOR CONTROLLED COMMISSIONING
PDU-ARMS2L_SHOULDER_ROLLXM4301.47kPOPULATE FOR CONTROLLED COMMISSIONING
PDU-ARMS3L_ELBOW_PITCHXM4301.47kPOPULATE FOR CONTROLLED COMMISSIONING
PDU-ARMS4R_SHOULDER_PITCHXM4301.47kPOPULATE FOR CONTROLLED COMMISSIONING
PDU-ARMS5R_SHOULDER_ROLLXM4301.47kPOPULATE FOR CONTROLLED COMMISSIONING
PDU-ARMS6R_ELBOW_PITCHXM4301.47kPOPULATE FOR CONTROLLED COMMISSIONING
PDU-DISTAL1L_WRIST_ROTATIONXC3303.83kPOPULATE FOR CONTROLLED COMMISSIONING
PDU-DISTAL2L_GRIPPERXC3303.83kPOPULATE FOR CONTROLLED COMMISSIONING
PDU-DISTAL3R_WRIST_ROTATIONXC3303.83kPOPULATE FOR CONTROLLED COMMISSIONING
PDU-DISTAL4R_GRIPPERXC3303.83kPOPULATE FOR CONTROLLED COMMISSIONING
PDU-DISTAL5HEAD_PANXC3303.83kPOPULATE FOR CONTROLLED COMMISSIONING
PDU-DISTAL6HEAD_TILTXC3303.83kPOPULATE FOR CONTROLLED COMMISSIONING
PDU-CORE1WAIST_YAWXM5401.24kPOPULATE FOR CONTROLLED COMMISSIONING
PDU-CORE2DNP SPAREDNPDNPDNP - NO COMPONENT POPULATION
PDU-CORE3DNP SPAREDNPDNPDNP - NO COMPONENT POPULATION
PDU-CORE4DNP SPAREDNPDNPDNP - NO COMPONENT POPULATION
PDU-CORE5DNP SPAREDNPDNPDNP - NO COMPONENT POPULATION
PDU-CORE6DNP SPAREDNPDNPDNP - NO COMPONENT POPULATION

Controlled engineering records

channel allocation · torque consequences · component register · terminal register · primary sources · open holds