PRELIMINARY - PHYSICAL HARNESS ARCHITECTURE ONLY - NOT APPROVED FOR PROCUREMENT, FABRICATION, CONNECTION, POWERED TESTING, MOTION, OR ENERGIZATION

HR-30 · Whole-body P0.1

Physical harness guide

Every body corridor, actuator feed, data bus, joint loop and current ECAD terminal is accounted for—without pretending unresolved cable and protection choices are finished.

25separate actuator feeds
113route segments
681logical terminals
71.88A endpoint sum, not demand
76direct-power crossings

Orbit all 113 routes in the complete body

Gold rods are actuator-power centerlines; sky-blue rods are data/low-voltage centerlines. The translucent body is lightweight positional context. Rod diameter is illustrative and does not release cable OD, bundle clearance, or bend radius.

Download editable route STEP · Inspect the 113-solid CAD register

Whole-body route map

Front map of the HR-30 physical harness routes and joint loops

Eight data buses

Select a data bus to filter the joint table; select it again to show all.

Eight serial data-chain assembly drawings

Each actuator receives an individual VDD/return pair. Inter-actuator outgoing connectors carry data only; GND and VDD cavities stay empty.

RS-LLEG

RS-LLEG serial data chain and individual power-pair drawing

RS-RLEG

RS-RLEG serial data chain and individual power-pair drawing

RS-LARM

RS-LARM serial data chain and individual power-pair drawing

RS-RARM

RS-RARM serial data chain and individual power-pair drawing

RS-WAIST

RS-WAIST serial data chain and individual power-pair drawing

TTL-LDIST

TTL-LDIST serial data chain and individual power-pair drawing

TTL-RDIST

TTL-RDIST serial data chain and individual power-pair drawing

TTL-HEAD

TTL-HEAD serial data chain and individual power-pair drawing

All 25 protected-feed candidates

AxisData busActuatorJoint datum (mm)Required moving segments
L_HIP_YAWRS-LLEGXH540(62.500,0.000,410.000)1 direct-power crossings
LOOP-L_HIP_YAW-DATA
L_HIP_ROLLRS-LLEGXH540(62.500,0.000,390.000)2 direct-power crossings
LOOP-L_HIP_ROLL-DATA
L_HIP_PITCHRS-LLEGXH540(62.500,0.000,370.000)3 direct-power crossings
LOOP-L_HIP_PITCH-DATA
L_KNEE_PITCHRS-LLEGXH540(62.500,0.000,210.000)4 direct-power crossings
LOOP-L_KNEE_PITCH-DATA
L_ANKLE_PITCHRS-LLEGXM430(62.500,0.000,55.000)5 direct-power crossings
LOOP-L_ANKLE_PITCH-DATA
L_ANKLE_ROLLRS-LLEGXM430(62.500,0.000,35.000)6 direct-power crossings
LOOP-L_ANKLE_ROLL-DATA
R_HIP_YAWRS-RLEGXH540(-62.500,0.000,410.000)1 direct-power crossings
LOOP-R_HIP_YAW-DATA
R_HIP_ROLLRS-RLEGXH540(-62.500,0.000,390.000)2 direct-power crossings
LOOP-R_HIP_ROLL-DATA
R_HIP_PITCHRS-RLEGXH540(-62.500,0.000,370.000)3 direct-power crossings
LOOP-R_HIP_PITCH-DATA
R_KNEE_PITCHRS-RLEGXH540(-62.500,0.000,210.000)4 direct-power crossings
LOOP-R_KNEE_PITCH-DATA
R_ANKLE_PITCHRS-RLEGXM430(-62.500,0.000,55.000)5 direct-power crossings
LOOP-R_ANKLE_PITCH-DATA
R_ANKLE_ROLLRS-RLEGXM430(-62.500,0.000,35.000)6 direct-power crossings
LOOP-R_ANKLE_ROLL-DATA
L_SHOULDER_PITCHRS-LARMXM430(90.000,0.000,590.000)1 direct-power crossings
LOOP-L_SHOULDER_PITCH-DATA
L_SHOULDER_ROLLRS-LARMXM430(90.000,0.000,590.000)2 direct-power crossings
LOOP-L_SHOULDER_ROLL-DATA
L_ELBOW_PITCHRS-LARMXM430(128.000,0.000,444.893)3 direct-power crossings
LOOP-L_ELBOW_PITCH-DATA
R_SHOULDER_PITCHRS-RARMXM430(-90.000,0.000,590.000)1 direct-power crossings
LOOP-R_SHOULDER_PITCH-DATA
R_SHOULDER_ROLLRS-RARMXM430(-90.000,0.000,590.000)2 direct-power crossings
LOOP-R_SHOULDER_ROLL-DATA
R_ELBOW_PITCHRS-RARMXM430(-128.000,0.000,444.893)3 direct-power crossings
LOOP-R_ELBOW_PITCH-DATA
WAIST_YAWRS-WAISTXM540(0.000,0.000,425.000)1 direct-power crossings
LOOP-WAIST_YAW-DATA
L_WRIST_ROTATIONTTL-LDISTXC330(133.000,0.000,299.979)4 direct-power crossings
LOOP-L_WRIST_ROTATION-DATA
L_GRIPPERTTL-LDISTXC330(133.000,0.000,256.979)5 direct-power crossings
LOOP-L_GRIPPER-DATA
R_WRIST_ROTATIONTTL-RDISTXC330(-133.000,0.000,299.979)4 direct-power crossings
LOOP-R_WRIST_ROTATION-DATA
R_GRIPPERTTL-RDISTXC330(-133.000,0.000,256.979)5 direct-power crossings
LOOP-R_GRIPPER-DATA
HEAD_PANTTL-HEADXC330(0.000,0.000,650.000)1 direct-power crossings
LOOP-HEAD_PAN-DATA
HEAD_TILTTTL-HEADXC330(0.000,0.000,690.000)2 direct-power crossings
LOOP-HEAD_TILT-DATA

Fixed transition at every actuator branch

Moving CF130 no longer terminates directly into JST EH. Each of the 25 branches now ends the moving cable at Molex 430250200 / 430300001, mates to panel-mounted 430200200 / 430310001, then continues through a restrained Alpha Wire 3051 pigtail to the actuator.

The parts are exact candidates, not released selections. CF130 core OD, bracket/fastener geometry, pigtail length, crimp qualification, derating, pull, temperature-rise and flex tests remain open.

Inspect all 25 transition bindings

Critical power boundary

Each actuator now has its own positive/return power pair. The P0.1 split-harness candidate combines that pair with incoming data at the actuator input housing, while the outgoing housing populates data contacts only. GND and VDD cavities remain empty so power is not daisy-chained through preceding actuator connectors.

The 71.88 A figure is the arithmetic sum of momentary 12 V stall-current endpoints—not a normal-load forecast, fuse rating, cable rating, or permission to energize.

Manufacturer interface reality check

Pinouts are verified; the cable assembly is not. ROBOTIS lists 21 AWG DYNAMIXEL wire, while JST's EH catalog limits the listed SEH-001T-P0.6 contact to AWG 22. ROBOTIS also writes EHR-03/EHR-04 while JST's own catalog table writes EHR-3/EHR-4. Neither discrepancy is silently normalized.

U2D2 remains a one-segment commissioning candidate only. It is not the final eight-segment controller. The 10 A U2D2 Power Hub is rejected for whole-body and leg power aggregation.

verified device interfaces · commercial cable review · open manufacturer discrepancies

Build registers

route segments · route points · direct-power crossings · route CAD · axis bindings · actuator chain map · individual power pairs · serial data links · all connector cavities · cable cores · equipment interfaces · logical terminals · derating inputs · inspection/tests · open selections

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.

Open the route-specific duty and thermal planning guide.