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Leg Wiring

Hip Motor Wiring

Each of the legs will need to be individually wired.

Because there is a large distance between the shoulder and hip servo, we must use a 20mm Servo Cable between these servos. 20mm Servo Cables may need to be spliced together using two smaller 12mm cables. If you purchase or obtain a 20mm cable, no need to splice your own. Skip to the "Leg Wiring" section of this page.

Repat the below procedures for each of the four legs.

The images shown in this section only show a single leg. It is oaky if the legs are already assembled to the body from the previous steps.

Requirements

  • Scissors
  • Wire Strippers
  • Soldering Iron (pencil or chisel tip)
  • Solder
  • Helping Hands
  • 1x 12mm XYZrobot Smart Servo Cable
  • 1x 20mm XYZrobot Smart Servo Cable (OR 2x additional 12mm Servo Cables)
  • Heat shrink (if not using 20mm Servo Cable)

20mm Servo Cable Splicing

If you do not have a 20mm XYZrobot Smart Servo Cable, you need to splice two 12mm Servo Cables together. If you have a 20mm Servo Cable, skip these steps. Completed Splice

Cable Connector Orientation Matters

When splicing two Servo Cables together in Step 4, make sure that the connector ends are facing in the same orientation. Look at the orientation of the connectors on an uncut cable, and make sure that the orientation is preserved when making the longer spliced cable. Failure to do so will damage the servos when they are powered.

  1. Cut the ends off of each of the Servo Cable.
    Leg Wiring 1
    Leg Wiring 2

  2. Strip the ends off of the free end of each wire.
    Leg Wiring 3

  3. Pre-tin the free ends of each wire.
    Leg Wiring 4

  4. Slide a small strip of heat shrink along one pair of wires. Twist the conductors together of one of the wires. Make sure that the connector-ends of each cable are oriented in the same direction. Solder the conductors together. Test the solder joint by tugging the wires apart and making sure the connection holds.
    Leg Wiring 5
    Leg Wiring 6

  5. Repeat these steps for the remaining wires. Use a lighter or heat source to shrink the heat shrink in the middle of the connection when done soldering and checking each joint. Leg Wiring 7

  6. Using a large-diameter piece of heat shrink, slide the heat shrink over the splices and heat the heat shrink to complete the splice.
    Leg Wiring 8
    Leg Wiring 9

Leg Wiring

  1. Plug one end of the 20mm Servo Cable (or spliced cable) into one of the sockets of the knee servo, as shown.
    Knee Motor Wire

  2. Route the other end of the cable underneath the hip servo and shoulder assembly, as shown. Plug the other end into one of the sockets of the hip servo, as shown.
    Hip Motor Wiring

  3. Using a 12mm Servo Cable, connect the hip servo to the shoulder servo, as shown. use any of the open sockets on the servos.
    Hip Motor Wiring