RS-LLEG
6 axes · RS-485 HALF-DUPLEX
Power: HN01_TORSO_POWER_SPINE | HN01_L_LEG_POWER
Data: HN01_TORSO_DATA_SPINE | HN01_L_LEG_DATA
Stall endpoint sum: 24.20 A
One recognizable whole-body route map
Eight bus harness assemblies
RS-RLEG
6 axes · RS-485 HALF-DUPLEX
Power: HN01_TORSO_POWER_SPINE | HN01_R_LEG_POWER
Data: HN01_TORSO_DATA_SPINE | HN01_R_LEG_DATA
Stall endpoint sum: 24.20 A
RS-LARM
3 axes · RS-485 HALF-DUPLEX
Power: HN01_TORSO_POWER_SPINE | HN01_L_ARM_POWER
Data: HN01_TORSO_DATA_SPINE | HN01_L_ARM_DATA
Stall endpoint sum: 6.90 A
RS-RARM
3 axes · RS-485 HALF-DUPLEX
Power: HN01_TORSO_POWER_SPINE | HN01_R_ARM_POWER
Data: HN01_TORSO_DATA_SPINE | HN01_R_ARM_DATA
Stall endpoint sum: 6.90 A
RS-WAIST
1 axes · RS-485 HALF-DUPLEX
Power: HN01_TORSO_POWER_SPINE
Data: HN01_TORSO_DATA_SPINE
Stall endpoint sum: 4.40 A
TTL-LDIST
2 axes · TTL HALF-DUPLEX
Power: HN01_TORSO_POWER_SPINE | HN01_L_ARM_POWER
Data: HN01_TORSO_DATA_SPINE | HN01_L_ARM_DATA
Stall endpoint sum: 1.76 A
TTL-RDIST
2 axes · TTL HALF-DUPLEX
Power: HN01_TORSO_POWER_SPINE | HN01_R_ARM_POWER
Data: HN01_TORSO_DATA_SPINE | HN01_R_ARM_DATA
Stall endpoint sum: 1.76 A
TTL-HEAD
2 axes · TTL HALF-DUPLEX
Power: HN01_TORSO_POWER_SPINE | HN01_HEAD_POWER_BRANCH
Data: HN01_TORSO_DATA_SPINE | HN01_HEAD_BRANCH
Stall endpoint sum: 1.76 A
Corridor budget
| Route | Service | Centerline mm | Diameter mm | Minimum bend radius mm |
|---|---|---|---|---|
| HN01_TORSO_POWER_SPINE | ACTUATOR POWER | 170.0 | 14.0 | 70.0 |
| HN01_TORSO_DATA_SPINE | DATA/LOW VOLTAGE | 170.0 | 10.0 | 50.0 |
| HN01_HEAD_BRANCH | DATA/LOW VOLTAGE | 126.4 | 10.0 | 50.0 |
| HN01_HEAD_POWER_BRANCH | ACTUATOR POWER | 126.4 | 8.0 | 40.0 |
| HN01_L_LEG_POWER | ACTUATOR POWER | 375.0 | 12.0 | 60.0 |
| HN01_L_LEG_DATA | DATA/ENCODER | 375.0 | 9.0 | 45.0 |
| HN01_L_ARM_POWER | ACTUATOR POWER | 280.6 | 10.0 | 50.0 |
| HN01_L_ARM_DATA | DATA/ENCODER | 279.2 | 8.0 | 40.0 |
| HN01_R_LEG_POWER | ACTUATOR POWER | 375.0 | 12.0 | 60.0 |
| HN01_R_LEG_DATA | DATA/ENCODER | 375.0 | 9.0 | 45.0 |
| HN01_R_ARM_POWER | ACTUATOR POWER | 280.6 | 10.0 | 50.0 |
| HN01_R_ARM_DATA | DATA/ENCODER | 279.2 | 8.0 | 40.0 |
What is actually verified
Primary manufacturer documentation defines every actuator-side pin, all eight STM32 channel pins, the five isolated RS-485 and three TTL interface-device pinouts, and data-only JST PA connector candidates whose contact ranges include the planning conductor sizes. It does not release the assembled cables, received insulation O.D., crimp process, branch protection, routing durability, termination, EMC, or fault behavior.
Actuator pinouts · Bus assemblies · 25 drops · 33 boundaries · 12 corridors · Sources
Bounded whole-body current duty
25 axes
50 Hz torque-producing current-equivalent traces.
8 buses
Peak, P95, RMS and mean bounded envelopes.
No ampacity release
Idle current, losses, gripping, transients, faults and thermal tests remain open.
Every actuator route now has a bounded loss case
25 / 25
physical power routes bound to pooled whole-body duty.
8
bus-domain loss and peak/RMS screens.
6
power-corridor bundle obligations.
0
released hot ratings or executed thermal tests.
The power harness now follows the actual direct branches
25 direct branches
One protected VDD/return pair runs from its protection channel to one actuator transition without an intermediate splice.
76 joint crossings
Every distal branch is represented at every upstream joint it must physically cross.
50 guard solids
Rigid link-local channels stop before each axis; flexible dress-pack envelopes cover the nominal joint arcs.
Tap boards rejected
The conflicting 25-board/45-piece Cicoil cascade receives no selection or procurement credit.
Validation remains open
Full-range collision, pinch, torsion, flex life, derating, termination and physical proof are not complete.
The actuator-power trunks now fit their routed corridors
25 protected pairs
Every actuator retains a dedicated positive and return pair with explicit trunk cores and cavities.
6 local nodes
Protection moves to the pelvis, shoulder roots, waist bay and neck base.
6 / 6 diameter screens
The multi-core trunk candidate fits every circular corridor screen.
6 / 6 routed bend screens
Every trunk binds to two dimensioned tangent circular guides at the cable-specific planning radius.
Six neutral route envelopes remain as controlled evidence
6 / 6 neutral calculations
The fixed-pose tangent-radius calculations reproduce.
0 articulated routes
No continuous whole-limb path is eligible to cross a moving joint.
Rigid guards stop at joints
The successor separates rigid link channels from flexible joint bellows.
Historical geometry retained
The STEP and GLB remain useful for endpoint traceability.