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

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.

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.

Materials

Result

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.