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3. Chest Wiring & Casing

This section covers installing the hub boards, connecting all cables, and closing the chest cover.

Steps

  1. Hub Board Installation
  2. Hub Board Connection
  3. Chest Cover Installation

1. Hub Board Installation

For a list of components with photos, see section 0. Components.

  1. Insert the HNTP6-6 T-slot nuts into the slots at the back of each shoulder.
  2. Attach the hub board back cover and hub board PCB using cap screws. Position the CAN connectors facing inward (toward the center of the body).
  3. Tighten all cap screws securely.
Hub board installation
note

The left and right arms are separate systems. Each hub board operates independently.

2. Hub Board Connection

Connect the J1, J2, and J3-J4 motor cables to the hub board as shown.

Motor cable connection

Connect the communication cables to the hub board as shown.

Communication cable connection

Connect the extension cables to the hub board as shown.

Extension cable connection

Verify that your wiring matches this reference image. Once all connections are confirmed, organize the cables neatly before closing the chest cover.

Complete hub board wiring

3. Chest Cover Installation

Attach Chest-cover_A from the front of the body.

Installing front chest cover

Attach Chest-cover_B from the back. Route the J2 and J3-J4 cables through the U-shaped slots in Chest-cover_B.

Installing back chest cover
warning

Be careful not to pinch any communication or extension cables between the body and the chest cover.

Use six screws to secure the chest cover.

Chest cover screw locations