PRELIMINARY - UNBUILT GROUNDING CANDIDATE - NOT APPROVED FOR CONNECTION, POWERED TESTING, MOTION OR ENERGIZATION

HR-30 whole-body P0.1

One grounding drawing for the whole humanoid.

The candidate keeps protective earth continuous, keeps normal DC return off the frame, and proposes exactly one removable DC-return/PE bond. It is a design for review—not permission to connect anything.

7

controlled electrical domains

10

candidate bond records

6

instrument connection cases

0

installed or measured bonds

Candidate topology

What each conductor is allowed to do

GR-D01

FACILITY_PE

must remain continuous independently of DC return and control electronics

GR-D02

PANEL_PE

candidate equipotential panel network; exact bar, studs and conductors open

GR-D03

ROBOT_FRAME_PE

candidate first-mate/last-break robot frame path; shells/joints need continuity strategy

GR-D04

ACTUATOR_DC_RETURN

not protective earth; no frame-current routing allowed in normal operation

GR-D05

CTRL_GND

candidate single reference to ACTUATOR_DC_RETURN at distribution boundary; exact impedance/EMC treatment open

GR-D06

CABLE_SHIELD

bonding end(s), capacitance, 360-degree hardware and EMC evidence selection required

GR-D07

BENCH_FLOATING_RETURN

no intentional PE bond; USB, SWD or oscilloscope can change this state

Grounded equipment can change the circuit

GR-I01

SIGLENT SPD3303X CH1 only

no intentional PE bond before other equipment

NOT APPROVED
GR-I02

STLINK-V3MINIE + grounded USB host

possible additional reference path via USB host

NOT APPROVED
GR-I03

ground-referenced bench oscilloscope

can create or bypass the proposed single bond

NOT APPROVED
GR-I04

USB connection to Raspberry Pi

possible reference and shield bond

NOT APPROVED
GR-I05

DMM in resistance/continuity mode

measurement burden/current may affect electronics

NOT APPROVED
GR-I06

isolated differential probe candidate

must not add an uncontrolled PE bond

NOT APPROVED

Controlled engineering records

Bond register · Instrument matrix · Fault cases · Blank measurement traveler · Primary sources

Open holds