This does not authorize energization
A qualified reviewer must approve the received hardware, calibrated limits, restraint, host configuration and signed procedure. First power permits no torque or motion command.
Wiring architecture
Printable station fixture
station STEP · tray STL · cover STL · native KiCad
Twenty-five-axis work order
| Seq. | Axis | Family | Station cable | Proposed ID |
|---|---|---|---|---|
| 1 | L_HIP_YAW | XH540 | X4P 180 mm / 903-0244-000 | 1 |
| 2 | L_HIP_ROLL | XH540 | X4P 180 mm / 903-0244-000 | 2 |
| 3 | L_HIP_PITCH | XH540 | X4P 180 mm / 903-0244-000 | 3 |
| 4 | L_KNEE_PITCH | XH540 | X4P 180 mm / 903-0244-000 | 4 |
| 5 | L_ANKLE_PITCH | XM430 | X4P 180 mm / 903-0244-000 | 5 |
| 6 | L_ANKLE_ROLL | XM430 | X4P 180 mm / 903-0244-000 | 6 |
| 7 | R_HIP_YAW | XH540 | X4P 180 mm / 903-0244-000 | 7 |
| 8 | R_HIP_ROLL | XH540 | X4P 180 mm / 903-0244-000 | 8 |
| 9 | R_HIP_PITCH | XH540 | X4P 180 mm / 903-0244-000 | 9 |
| 10 | R_KNEE_PITCH | XH540 | X4P 180 mm / 903-0244-000 | 10 |
| 11 | R_ANKLE_PITCH | XM430 | X4P 180 mm / 903-0244-000 | 11 |
| 12 | R_ANKLE_ROLL | XM430 | X4P 180 mm / 903-0244-000 | 12 |
| 13 | L_SHOULDER_PITCH | XM430 | X4P 180 mm / 903-0244-000 | 13 |
| 14 | L_SHOULDER_ROLL | XM430 | X4P 180 mm / 903-0244-000 | 14 |
| 15 | L_ELBOW_PITCH | XM430 | X4P 180 mm / 903-0244-000 | 15 |
| 16 | R_SHOULDER_PITCH | XM430 | X4P 180 mm / 903-0244-000 | 16 |
| 17 | R_SHOULDER_ROLL | XM430 | X4P 180 mm / 903-0244-000 | 17 |
| 18 | R_ELBOW_PITCH | XM430 | X4P 180 mm / 903-0244-000 | 18 |
| 19 | WAIST_YAW | XM540 | X4P 180 mm / 903-0244-000 | 19 |
| 20 | L_WRIST_ROTATION | XC330 | X3P 180 mm / 903-0249-000 | 20 |
| 21 | L_GRIPPER | XC330 | X3P 180 mm / 903-0249-000 | 21 |
| 22 | R_WRIST_ROTATION | XC330 | X3P 180 mm / 903-0249-000 | 22 |
| 23 | R_GRIPPER | XC330 | X3P 180 mm / 903-0249-000 | 23 |
| 24 | HEAD_PAN | XC330 | X3P 180 mm / 903-0249-000 | 24 |
| 25 | HEAD_TILT | XC330 | X3P 180 mm / 903-0249-000 | 25 |
Download the complete matrix · first-power procedure · candidate BOM · open holds
Editable schematic sheets
01 · Safety-listed current-limited DC source
02 · U2D2 and Power Hub boundary
03 · One-actuator cable selection
04 · Read-only no-motion boundary
Assembly-controlled bench harness
The two-wire source lead now uses exact manufacturer-assembled Mueller leads, an exact Mini-Fit contact map and exact candidate crimp, measurement, pull-test, cutting and silicone-stripping tools. The traveler controls the 1.00-1.10 mm crimp and 25 +/-6 mm/min, greater-than-88 N coupon. Receipt, calibration, sample compatibility and all physical evidence remain open.
Open the interactive bench-harness guide · assembly drawing · as-built record.
No-motion fixture and write-free inspector
The station now has exact-envelope restraint and output-guard CAD for XH540, XM540, XM430 and XC330, plus a single-ID inspector whose AST contains no DYNAMIXEL device-write method. These artifacts do not close received-fit, software approval or connection authority.
Open the interactive no-motion guide · fixture STEP · inspector source.