> For the complete documentation index, see [llms.txt](https://ruka.gitbook.io/instructions/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://ruka.gitbook.io/instructions/hardware/motor-base-assembly.md).

# Motor Base Assembly

## Materials

#### 3D Printed Parts

<table><thead><tr><th width="252">Part Name</th><th width="144" align="center">Total Quantity</th></tr></thead><tbody><tr><td>Top Panel</td><td align="center">1</td></tr><tr><td>Front Panel</td><td align="center">1</td></tr><tr><td>Thumb Motor Panel</td><td align="center">1</td></tr><tr><td>Motor Panel 1</td><td align="center">1</td></tr><tr><td>Motor Panel 2</td><td align="center">1</td></tr><tr><td>Base Plate</td><td align="center">1</td></tr></tbody></table>

#### Hardware

<table><thead><tr><th width="252">Part Name</th><th width="144" align="center">Total Quantity</th></tr></thead><tbody><tr><td>DYNAMIXEL XL330-M288-T Motors</td><td align="center">11</td></tr><tr><td>JST Connector Cables (Come with Dynamixel Motors)</td><td align="center">6</td></tr><tr><td>PH M2 x 6 mm Screws (Come with Dynamixel Motors)</td><td align="center">22</td></tr><tr><td>M3 x 8 mm Screws</td><td align="center">8</td></tr><tr><td>M5 x 6 mm Screws</td><td align="center">6</td></tr><tr><td>M2 x 8 mm Screws</td><td align="center">4</td></tr></tbody></table>

#### Previously Assembled Parts

* Wiring Harness

#### Tools

* Phillips head screwdriver (PH1)
* 1.5 mm Allen Key
* 2.5 mm Allen Key
* 4 mm Allen Key

## Instructions

### 1. Attach Motors

<table><thead><tr><th width="252">Part Name</th><th width="144" align="center">Total Quantity</th></tr></thead><tbody><tr><td>Motors</td><td align="center">11</td></tr><tr><td>Thumb Motor Panel</td><td align="center">1</td></tr><tr><td>Motor Panel 1</td><td align="center">1</td></tr><tr><td>Motor Panel 2</td><td align="center">1</td></tr></tbody></table>

Slot the motors into the panel following the ID schema.

<table data-header-hidden><thead><tr><th width="259.75"></th><th></th><th></th></tr></thead><tbody><tr><td><strong>Thumb Motor Panel</strong></td><td><strong>Motor Panel 1</strong></td><td><strong>Motor Panel 2</strong></td></tr><tr><td><img src="/files/XCA7A9mHKAHJyokWuwhT" alt=""></td><td><img src="/files/B6FEHAXOi6x4Hf0hnfv6" alt=""></td><td><img src="/files/LLsloooFvtb1Izu9WWFU" alt=""></td></tr></tbody></table>

Use the screws that came with the Dynamixel motors to screw the motors in place. You may use four screws, but 2 is enough.

### 2. Wire the motors

<table><thead><tr><th width="252">Part Name</th><th width="144" align="center">Total Quantity</th></tr></thead><tbody><tr><td>3 Pin JST Connector Cables</td><td align="center">4</td></tr><tr><td>4 Pin JST Connector Cables</td><td align="center">2</td></tr><tr><td>Wiring Harness</td><td align="center">1</td></tr><tr><td>Thumb Motor Panel</td><td align="center">1</td></tr><tr><td>Motor Panel 1</td><td align="center">1</td></tr><tr><td>Motor Panel 2</td><td align="center">1</td></tr></tbody></table>

**Blue** is where the wiring harness connects

**White** is where you connect using the JST connectors that come with the Dynamixel motors.&#x20;

<figure><img src="/files/E4vY7I7GGR4W7FMF0OxH" alt=""><figcaption></figcaption></figure>

### 3. Assembly Motor Panels

<table><thead><tr><th width="252">Part Name</th><th width="144" align="center">Total Quantity</th></tr></thead><tbody><tr><td>M3 x 8 mm Screws</td><td align="center">4</td></tr><tr><td>Thumb Motor Panel</td><td align="center">1</td></tr><tr><td>Motor Panel 1</td><td align="center">1</td></tr><tr><td>Motor Panel 2</td><td align="center">1</td></tr></tbody></table>

<figure><img src="/files/6pKZ1Jom2XZSSMQhfoY4" alt=""><figcaption></figcaption></figure>

### 4. Attach Top Plate

<table><thead><tr><th width="252">Part Name</th><th width="144" align="center">Total Quantity</th></tr></thead><tbody><tr><td>M5 x 6 mm Screws</td><td align="center">6</td></tr><tr><td>Motor Panel Assembly</td><td align="center">1</td></tr><tr><td>Top Plate</td><td align="center">1</td></tr></tbody></table>

<figure><img src="/files/0xzLurJAXLHt7b1bLLln" alt="" width="563"><figcaption></figcaption></figure>

### 5. Attach Bottom Plate

<table><thead><tr><th width="252">Part Name</th><th width="144" align="center">Total Quantity</th></tr></thead><tbody><tr><td>M3 x 8 mm Screws</td><td align="center">4</td></tr><tr><td>M3 x 10 mm Screws</td><td align="center">2</td></tr><tr><td>Motor Panel Assembly</td><td align="center">1</td></tr><tr><td>Bottom Plate</td><td align="center">1</td></tr></tbody></table>

| **4x** - M3 x 8 mm Screws        | **2x** - M3 x 10 mm Screws       |
| -------------------------------- | -------------------------------- |
| ![](/files/6GkXNwZ6drEZmxfr6mY4) | ![](/files/lLuSAqsCMIDuMHOEVfWY) |

### 6. Connect U2D2 and Front Panel

<table><thead><tr><th width="252">Part Name</th><th width="144" align="center">Total Quantity</th></tr></thead><tbody><tr><td>M2 x 8 mm Screws</td><td align="center">4</td></tr><tr><td>U2D2</td><td align="center">1</td></tr><tr><td>Micro USB to USB-C</td><td align="center">1</td></tr><tr><td>Motor Base Assembly</td><td align="center">1</td></tr><tr><td>Front Panel</td><td align="center">1</td></tr></tbody></table>

{% embed url="<https://drive.google.com/file/d/16OwNPLl-nnUDOPR4aFlUZ-a-vYKO65Nn/view?quality=hd&usp=sharing>" %}


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