> 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/power-supply-and-wiring-harness-assembly.md). # Power Supply and Wiring Harness Assembly ## Materials

Part Name	Total Quantity
5V 12V Power Supply	1
Power Cable	1
XT60 O ring terminal	2
XT60 Connector Pairs	2
Dynamixel Cables (3 pin)	5
Dynamixel Cables (4 pin)	1
JST Expansion Board	1

#### Tools * Soldering Iron * Heat Shrink * Wire Strippers ## Instructions {% hint style="info" %} We are still working on an instruction video for the wiring harness. The following instructions require knowledge of soldering.\ \ The current instructions use a JST expansion board, but it can be done without one. {% endhint %} ### 1. Set Up Power Supply

Part Name	Total Quantity
5V 12V Power Supply	1
Power Cable	1
XT60 O ring terminal	2

Cut the O-ring terminals off the cables and attach the wires to the 5V and 12V outputs. Attach the power cable. ### 2. Prep for Soldering

Part Name	Total Quantity
Dynamixel Cables (3 pin)	2
Dynamixel Cables (4 pin)	1

Cut the cables in half and strip ¾ " of insulation ### 3. Solder

Part Name	Total Quantity
XT60 Connector Pigtails	2
Dynamixel Cables (3 pin) cut in half	3
Dynamixel Cables (4 pin) cut in half	2

Using the following schema, solder the ground cables of the 3-pin connectors to the ground wire of the XT60 pigtail, and the same for the power. Take the remaining data wires and solder them together.

Repeat the same process for the 4-pin, but it will only have two connector ends. ### 4. Add Expansion Board

Part Name	Total Quantity
3 Pin Harness	1
JST Expansion Board	1
Dynamixel Cables (3 pin)	3

Attach one connector from the 3-pin harness to the expansion board and connect an additional 3 cables to it. There should be 5 connector ends exposed at the end.

You should have two wiring harnesses: one with 3-pin cables and one with 4-pin cables. With a Sharpie or sticker, mark the 3-pin one as **5V** and the 4-pin one as **12V**.\ The 3-pin one is for the XL-330 motors, and the 4-pin is for the XM-430 motors. --- # Agent Instructions This documentation is published with GitBook. GitBook is the documentation platform designed so that both humans and AI agents can read, navigate, and reason over technical content effectively. Learn more at gitbook.com. ## Querying This Documentation If you need additional information that is not directly available in this page, you can query the documentation dynamically by asking a question. Perform an HTTP GET request on the current page URL with the `ask` query parameter, and the optional `goal` query parameter: ``` GET https://ruka.gitbook.io/instructions/hardware/power-supply-and-wiring-harness-assembly.md?ask=&goal= ``` `ask` is the immediate question: it should be specific, self-contained, and written in natural language. `goal` is optional and describes the broader end goal you are ultimately trying to accomplish on behalf of the user. GitBook uses it to tailor the answer towards what is most useful for that goal. The response will contain a direct answer to the question and relevant excerpts and sources from the documentation. Use this mechanism when the answer is not explicitly present in the current page, you need clarification or additional context, or you want to retrieve related documentation sections.