> 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

<table><thead><tr><th width="252">Part Name</th><th width="144" align="center">Total Quantity</th></tr></thead><tbody><tr><td>5V 12V Power Supply</td><td align="center">1</td></tr><tr><td>Power Cable</td><td align="center">1</td></tr><tr><td>XT60 O ring terminal</td><td align="center">2</td></tr><tr><td>XT60 Connector Pairs</td><td align="center">2</td></tr><tr><td>Dynamixel Cables (3 pin)</td><td align="center">5</td></tr><tr><td>Dynamixel Cables (4 pin)</td><td align="center">1</td></tr><tr><td>JST Expansion Board</td><td align="center">1</td></tr></tbody></table>

#### 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

<table><thead><tr><th width="252">Part Name</th><th width="144" align="center">Total Quantity</th></tr></thead><tbody><tr><td>5V 12V Power Supply</td><td align="center">1</td></tr><tr><td>Power Cable</td><td align="center">1</td></tr><tr><td>XT60 O ring terminal</td><td align="center">2</td></tr></tbody></table>

<img src="https://971518572-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2F4cbJtpXfHVXgNHLpW7Xq%2Fuploads%2Ft4F2Y4jpyeiLtlCSobHB%2FScreenshot%202025-05-31%20at%209.11.40%E2%80%AFPM.png?alt=media&amp;token=abd9eada-4a87-488c-9412-b2a0ec1e1277" alt="" data-size="original">&#x20;

Cut the O-ring terminals off the cables and attach the wires to the 5V and 12V outputs.&#x20;

Attach the power cable.&#x20;

### 2. Prep for Soldering

<table><thead><tr><th width="252">Part Name</th><th width="144" align="center">Total Quantity</th></tr></thead><tbody><tr><td>Dynamixel Cables (3 pin)</td><td align="center">2</td></tr><tr><td>Dynamixel Cables (4 pin)</td><td align="center">1</td></tr></tbody></table>

Cut the cables in half and strip ¾ " of insulation

### 3. Solder

<table><thead><tr><th width="252">Part Name</th><th width="144" align="center">Total Quantity</th></tr></thead><tbody><tr><td>XT60 Connector Pigtails</td><td align="center">2</td></tr><tr><td>Dynamixel Cables (3 pin) cut in half</td><td align="center">3</td></tr><tr><td>Dynamixel Cables (4 pin) cut in half</td><td align="center">2</td></tr></tbody></table>

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.&#x20;

<div><figure><img src="https://971518572-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2F4cbJtpXfHVXgNHLpW7Xq%2Fuploads%2FuBvKMHsF0LgU4GuLRnqv%2FScreenshot%202025-05-31%20at%2010.01.09%E2%80%AFPM.png?alt=media&amp;token=1cd0570f-d7cd-4352-a3b0-68981e159abf" alt="" width="188"><figcaption><p>Materials</p></figcaption></figure> <figure><img src="https://971518572-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2F4cbJtpXfHVXgNHLpW7Xq%2Fuploads%2FYChOThKsxA1IPl51cBHd%2FScreenshot%202025-05-31%20at%209.49.15%E2%80%AFPM.png?alt=media&amp;token=63e9d01a-e3fc-42b3-8f34-6f5179e83797" alt="" width="389"><figcaption></figcaption></figure> <figure><img src="https://971518572-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2F4cbJtpXfHVXgNHLpW7Xq%2Fuploads%2FKgZmzj2qC57dkS7DJUxY%2FScreenshot%202025-05-31%20at%209.55.37%E2%80%AFPM.png?alt=media&amp;token=4c56de43-ab47-4484-a478-fa82cb471283" alt="" width="172"><figcaption><p>Result</p></figcaption></figure></div>

Repeat the same process for the 4-pin, but it will only have two connector ends.&#x20;

### 4. Add Expansion Board

<table><thead><tr><th width="252">Part Name</th><th width="144" align="center">Total Quantity</th></tr></thead><tbody><tr><td>3 Pin Harness</td><td align="center">1</td></tr><tr><td>JST Expansion Board</td><td align="center">1</td></tr><tr><td>Dynamixel Cables (3 pin)</td><td align="center">3</td></tr></tbody></table>

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.

<figure><img src="https://971518572-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2F4cbJtpXfHVXgNHLpW7Xq%2Fuploads%2FQvVLKWYKTBAEbgSFmJrD%2FScreenshot%202025-05-31%20at%2010.09.36%E2%80%AFPM.png?alt=media&amp;token=9776c049-2fa9-4a55-b077-94314d7f46ad" alt="" width="563"><figcaption></figcaption></figure>

You should have two wiring harnesses: one with 3-pin cables and one with 4-pin cables.&#x20;

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.