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hr30-whole-body-electrical-p0.1 — detailed specs to build a humanoid robot (with kids) | Open App Note

humanoid-robot

amyleesterling

detailed specs to build a humanoid robot (with kids)

Components (105)

Reference	Value	Description
ACB1	FACILITY AC / PE PANEL BOUNDARY - SELECTION REQUIRED	Mains inlet, disconnect, branch protection, enclosure, terminals, conductor sizes and Boston installation jurisdiction require qualified selection.
ADC_L_FOOT?	LEFT FOOT LOAD ACQUISITION - SELECTION REQUIRED	Exact ADC, excitation, anti-aliasing, protection, timing, calibration and connector pins remain open.
ADC_R_FOOT?	RIGHT FOOT LOAD ACQUISITION - SELECTION REQUIRED	Exact ADC, excitation, anti-aliasing, protection, timing, calibration and connector pins remain open.
AMP1	AUDIO AMPLIFIER - SELECTION REQUIRED	Output power, protection, acoustic limit and exact pins remain open.
AUXD1	CONTROLLED 12 V TO 5.1 V AUXILIARY CONVERTER - SELECTION REQUIRED	Exact converter, protection, isolation/bonding, inrush, thermal and EMC evidence remain open.
AX_HEAD_PAN?,AX_HEAD_TILT?	ROBOTIS XC330-class compact X-series candidate	Axis identity, protocol and manufacturer actuator-side pins are allocated. Exact order code, actuator ID, cable assembly, controller-side connector, branch current/protection and installed thermal/communication behavior remain selection and test work.
AX_L_ANKLE_PITCH?,AX_L_ANKLE_ROLL?,AX_R_ANKLE_PITCH?,AX_R_ANKLE_ROLL?	ROBOTIS XM430-W350-R evaluation candidate	Axis identity, protocol and manufacturer actuator-side pins are allocated. Exact order code, actuator ID, cable assembly, controller-side connector, branch current/protection and installed thermal/communication behavior remain selection and test work.
AX_L_ELBOW_PITCH?,AX_L_SHOULDER_PITCH?,AX_L_SHOULDER_ROLL?,AX_R_ELBOW_PITCH?,AX_R_SHOULDER_PITCH?,AX_R_SHOULDER_ROLL?	ROBOTIS XM430-W350-R candidate	Axis identity, protocol and manufacturer actuator-side pins are allocated. Exact order code, actuator ID, cable assembly, controller-side connector, branch current/protection and installed thermal/communication behavior remain selection and test work.
AX_L_GRIPPER?,AX_R_GRIPPER?	ROBOTIS XC330-class compact candidate	Axis identity, protocol and manufacturer actuator-side pins are allocated. Exact order code, actuator ID, cable assembly, controller-side connector, branch current/protection and installed thermal/communication behavior remain selection and test work.
AX_L_HIP_PITCH?,AX_L_HIP_ROLL?,AX_L_HIP_YAW?,AX_L_KNEE_PITCH?,AX_R_HIP_PITCH?,AX_R_HIP_ROLL?,AX_R_HIP_YAW?,AX_R_KNEE_PITCH?	ROBOTIS XH540-W270-R evaluation candidate

humanoid-robot schematic

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humanoid-robot board

AX_L_WRIST_ROTATION?,AX_R_WRIST_ROTATION?	ROBOTIS XC330-T288-T candidate	Axis identity, protocol and manufacturer actuator-side pins are allocated. Exact order code, actuator ID, cable assembly, controller-side connector, branch current/protection and installed thermal/communication behavior remain selection and test work.

AX_WAIST_YAW?	ROBOTIS XM540-W270-R candidate	Axis identity, protocol and manufacturer actuator-side pins are allocated. Exact order code, actuator ID, cable assembly, controller-side connector, branch current/protection and installed thermal/communication behavior remain selection and test work.

BATT_LATER?	BIOENNO BLF-1209WS ONBOARD-LATER EVALUATION CANDIDATE	This candidate is not connected to the tether-first main. Its 18 A continuous / 40 A for 2 s limits do not close the provisional whole-body peak; cassette, PCM behavior and fault evidence remain open.

CTRLPS1	MEAN WELL SD-15A-24 SAFETY-CONTROL SUPPLY CANDIDATE	Official SD-15 specification gives 9.2-18 V input and 24 V / 0.625 A output. Protection, loading, grounding, thermal and EMC integration remain open.

ISO_RS_LARM?	TI ISOW1432DFMR 12 Mbps ISOLATED RS-485 - RS-LARM	Integrated isolated-power candidate. DE and active-low RE share the hardware DE net for half duplex. Y/A and Z/B form the two-wire bus. Exact decoupling/ferrites, termination, bias, surge/ESD, emissions layout and fault behavior remain design and test work.

ISO_RS_LLEG?	TI ISOW1432DFMR 12 Mbps ISOLATED RS-485 - RS-LLEG	Integrated isolated-power candidate. DE and active-low RE share the hardware DE net for half duplex. Y/A and Z/B form the two-wire bus. Exact decoupling/ferrites, termination, bias, surge/ESD, emissions layout and fault behavior remain design and test work.

ISO_RS_RARM?	TI ISOW1432DFMR 12 Mbps ISOLATED RS-485 - RS-RARM	Integrated isolated-power candidate. DE and active-low RE share the hardware DE net for half duplex. Y/A and Z/B form the two-wire bus. Exact decoupling/ferrites, termination, bias, surge/ESD, emissions layout and fault behavior remain design and test work.

ISO_RS_RLEG?	TI ISOW1432DFMR 12 Mbps ISOLATED RS-485 - RS-RLEG	Integrated isolated-power candidate. DE and active-low RE share the hardware DE net for half duplex. Y/A and Z/B form the two-wire bus. Exact decoupling/ferrites, termination, bias, surge/ESD, emissions layout and fault behavior remain design and test work.

ISO_RS_WAIST?	TI ISOW1432DFMR 12 Mbps ISOLATED RS-485 - RS-WAIST	Integrated isolated-power candidate. DE and active-low RE share the hardware DE net for half duplex. Y/A and Z/B form the two-wire bus. Exact decoupling/ferrites, termination, bias, surge/ESD, emissions layout and fault behavior remain design and test work.

JMCU_A?	JST BM15B-GHS-TBT - CARRIER A CONTROLLER HEADER	Exact active 15-circuit JST GH top-entry header candidate. Mates GHR-15V-S with SSHL-002T-P0.2 contacts. Carries only logic rails and four UART triplets; no actuator VDD.

JMCU_B?	JST BM15B-GHS-TBT - CARRIER B CONTROLLER HEADER	Exact active 15-circuit JST GH top-entry header candidate. Carries one RS-485 UART triplet, three TTL IO/DIR pairs and three reserved open contacts; no actuator VDD.

J_RS_LARM?,J_RS_LLEG?,J_RS_RARM?,J_RS_RLEG?,J_RS_WAIST?	JST BM03B-GHS-TBT DATA-ONLY FIELD HEADER	Three-contact data-only connector. It intentionally has no actuator VDD contact. Mating GHR-03V-S/SSHL-002T-P0.2 cable, shield/bond, termination, protection and routing remain open.

J_TTL_HEAD?,J_TTL_LDIST?,J_TTL_RDIST?	JST BM02B-GHS-TBT DATA-ONLY FIELD HEADER	Two-contact data-only connector; no actuator VDD contact. Mating GHR-02V-S/SSHL-002T-P0.2 cable, protection and routing remain open.

K1	SENSATA GIGAVAC GV12-FAMILY DC CONTACTOR 1 CANDIDATE	Family datasheet lists an optional mechanically linked auxiliary; it is not claimed as an IEC mirror contact. Exact order code, DC duty, coil suppression, EDM suitability, fault current and life require confirmation.

K2	SENSATA GIGAVAC GV12-FAMILY DC CONTACTOR 2 CANDIDATE	Second series interruption candidate. Exact order code, common-cause, welded-contact detection, DC interruption and energy-removal behavior remain unvalidated.

LVL_TTL_HEAD?	TI SN74LVC1T45DCKR 3.3 V / 5 V TRANSLATOR - TTL-HEAD	Direction-controlled dual-supply translator. MCU UART TX pin is configured as STM32 single-wire half-duplex IO; RX package pin is intentionally unused. DIR defaults and rail sequencing, series resistance, ESD, loading and waveform behavior require PCB/HIL validation.

LVL_TTL_LDIST?	TI SN74LVC1T45DCKR 3.3 V / 5 V TRANSLATOR - TTL-LDIST	Direction-controlled dual-supply translator. MCU UART TX pin is configured as STM32 single-wire half-duplex IO; RX package pin is intentionally unused. DIR defaults and rail sequencing, series resistance, ESD, loading and waveform behavior require PCB/HIL validation.

LVL_TTL_RDIST?	TI SN74LVC1T45DCKR 3.3 V / 5 V TRANSLATOR - TTL-RDIST	Direction-controlled dual-supply translator. MCU UART TX pin is configured as STM32 single-wire half-duplex IO; RX package pin is intentionally unused. DIR defaults and rail sequencing, series resistance, ESD, loading and waveform behavior require PCB/HIL validation.

MCU1	STM32H743ZIT6 LQFP144 MOTION-CONTROL CARRIER CANDIDATE	Active 2 MB STM32H743 LQFP144 candidate. Owns state estimation, bounded trajectories, joint limits, eight UARTs, bus timing and fault states. Clock, power, reset, debug, Ethernet/CAN, PCB layout, firmware and real-time validation remain open.

MCU_IO_RS_LARM?	MCU1 USART3 PHYSICAL PIN UNIT - RS-LARM	Alternate physical-pin unit of MCU1, not another controller. TTL segments use the documented STM32 single-wire half-duplex mode on TX/IO; their RX package pin is intentionally unused in P0.1.

MCU_IO_RS_LLEG?	MCU1 USART1 PHYSICAL PIN UNIT - RS-LLEG	Alternate physical-pin unit of MCU1, not another controller. TTL segments use the documented STM32 single-wire half-duplex mode on TX/IO; their RX package pin is intentionally unused in P0.1.

MCU_IO_RS_RARM?	MCU1 USART6 PHYSICAL PIN UNIT - RS-RARM	Alternate physical-pin unit of MCU1, not another controller. TTL segments use the documented STM32 single-wire half-duplex mode on TX/IO; their RX package pin is intentionally unused in P0.1.

MCU_IO_RS_RLEG?	MCU1 USART2 PHYSICAL PIN UNIT - RS-RLEG	Alternate physical-pin unit of MCU1, not another controller. TTL segments use the documented STM32 single-wire half-duplex mode on TX/IO; their RX package pin is intentionally unused in P0.1.

MCU_IO_RS_WAIST?	MCU1 UART4 PHYSICAL PIN UNIT - RS-WAIST	Alternate physical-pin unit of MCU1, not another controller. TTL segments use the documented STM32 single-wire half-duplex mode on TX/IO; their RX package pin is intentionally unused in P0.1.

MCU_IO_TTL_HEAD?	MCU1 UART8 PHYSICAL PIN UNIT - TTL-HEAD	Alternate physical-pin unit of MCU1, not another controller. TTL segments use the documented STM32 single-wire half-duplex mode on TX/IO; their RX package pin is intentionally unused in P0.1.

MCU_IO_TTL_LDIST?	MCU1 UART5 PHYSICAL PIN UNIT - TTL-LDIST	Alternate physical-pin unit of MCU1, not another controller. TTL segments use the documented STM32 single-wire half-duplex mode on TX/IO; their RX package pin is intentionally unused in P0.1.

MCU_IO_TTL_RDIST?	MCU1 UART7 PHYSICAL PIN UNIT - TTL-RDIST	Alternate physical-pin unit of MCU1, not another controller. TTL segments use the documented STM32 single-wire half-duplex mode on TX/IO; their RX package pin is intentionally unused in P0.1.

PBR_HEAD_PAN?	HEAD_PAN INDIVIDUAL PROTECTION / TELEMETRY - SELECTION REQUIRED	One independently protected feed is allocated to this actuator. No fuse, limiter, conductor or connector rating is released; fault current, inrush, cable length, ambient, bundling, duty cycle and jurisdiction remain required inputs.

PBR_HEAD_TILT?	HEAD_TILT INDIVIDUAL PROTECTION / TELEMETRY - SELECTION REQUIRED	One independently protected feed is allocated to this actuator. No fuse, limiter, conductor or connector rating is released; fault current, inrush, cable length, ambient, bundling, duty cycle and jurisdiction remain required inputs.

PBR_L_ANKLE_PITCH?	L_ANKLE_PITCH INDIVIDUAL PROTECTION / TELEMETRY - SELECTION REQUIRED	One independently protected feed is allocated to this actuator. No fuse, limiter, conductor or connector rating is released; fault current, inrush, cable length, ambient, bundling, duty cycle and jurisdiction remain required inputs.

PBR_L_ANKLE_ROLL?	L_ANKLE_ROLL INDIVIDUAL PROTECTION / TELEMETRY - SELECTION REQUIRED	One independently protected feed is allocated to this actuator. No fuse, limiter, conductor or connector rating is released; fault current, inrush, cable length, ambient, bundling, duty cycle and jurisdiction remain required inputs.

PBR_L_ELBOW_PITCH?	L_ELBOW_PITCH INDIVIDUAL PROTECTION / TELEMETRY - SELECTION REQUIRED	One independently protected feed is allocated to this actuator. No fuse, limiter, conductor or connector rating is released; fault current, inrush, cable length, ambient, bundling, duty cycle and jurisdiction remain required inputs.

PBR_L_GRIPPER?	L_GRIPPER INDIVIDUAL PROTECTION / TELEMETRY - SELECTION REQUIRED	One independently protected feed is allocated to this actuator. No fuse, limiter, conductor or connector rating is released; fault current, inrush, cable length, ambient, bundling, duty cycle and jurisdiction remain required inputs.

PBR_L_HIP_PITCH?	L_HIP_PITCH INDIVIDUAL PROTECTION / TELEMETRY - SELECTION REQUIRED	One independently protected feed is allocated to this actuator. No fuse, limiter, conductor or connector rating is released; fault current, inrush, cable length, ambient, bundling, duty cycle and jurisdiction remain required inputs.

PBR_L_HIP_ROLL?	L_HIP_ROLL INDIVIDUAL PROTECTION / TELEMETRY - SELECTION REQUIRED	One independently protected feed is allocated to this actuator. No fuse, limiter, conductor or connector rating is released; fault current, inrush, cable length, ambient, bundling, duty cycle and jurisdiction remain required inputs.

PBR_L_HIP_YAW?	L_HIP_YAW INDIVIDUAL PROTECTION / TELEMETRY - SELECTION REQUIRED	One independently protected feed is allocated to this actuator. No fuse, limiter, conductor or connector rating is released; fault current, inrush, cable length, ambient, bundling, duty cycle and jurisdiction remain required inputs.

PBR_L_KNEE_PITCH?	L_KNEE_PITCH INDIVIDUAL PROTECTION / TELEMETRY - SELECTION REQUIRED	One independently protected feed is allocated to this actuator. No fuse, limiter, conductor or connector rating is released; fault current, inrush, cable length, ambient, bundling, duty cycle and jurisdiction remain required inputs.

PBR_L_SHOULDER_PITCH?	L_SHOULDER_PITCH INDIVIDUAL PROTECTION / TELEMETRY - SELECTION REQUIRED	One independently protected feed is allocated to this actuator. No fuse, limiter, conductor or connector rating is released; fault current, inrush, cable length, ambient, bundling, duty cycle and jurisdiction remain required inputs.

PBR_L_SHOULDER_ROLL?	L_SHOULDER_ROLL INDIVIDUAL PROTECTION / TELEMETRY - SELECTION REQUIRED	One independently protected feed is allocated to this actuator. No fuse, limiter, conductor or connector rating is released; fault current, inrush, cable length, ambient, bundling, duty cycle and jurisdiction remain required inputs.

PBR_L_WRIST_ROTATION?	L_WRIST_ROTATION INDIVIDUAL PROTECTION / TELEMETRY - SELECTION REQUIRED	One independently protected feed is allocated to this actuator. No fuse, limiter, conductor or connector rating is released; fault current, inrush, cable length, ambient, bundling, duty cycle and jurisdiction remain required inputs.

PBR_R_ANKLE_PITCH?	R_ANKLE_PITCH INDIVIDUAL PROTECTION / TELEMETRY - SELECTION REQUIRED	One independently protected feed is allocated to this actuator. No fuse, limiter, conductor or connector rating is released; fault current, inrush, cable length, ambient, bundling, duty cycle and jurisdiction remain required inputs.

PBR_R_ANKLE_ROLL?	R_ANKLE_ROLL INDIVIDUAL PROTECTION / TELEMETRY - SELECTION REQUIRED	One independently protected feed is allocated to this actuator. No fuse, limiter, conductor or connector rating is released; fault current, inrush, cable length, ambient, bundling, duty cycle and jurisdiction remain required inputs.

PBR_R_ELBOW_PITCH?	R_ELBOW_PITCH INDIVIDUAL PROTECTION / TELEMETRY - SELECTION REQUIRED	One independently protected feed is allocated to this actuator. No fuse, limiter, conductor or connector rating is released; fault current, inrush, cable length, ambient, bundling, duty cycle and jurisdiction remain required inputs.

PBR_R_GRIPPER?	R_GRIPPER INDIVIDUAL PROTECTION / TELEMETRY - SELECTION REQUIRED	One independently protected feed is allocated to this actuator. No fuse, limiter, conductor or connector rating is released; fault current, inrush, cable length, ambient, bundling, duty cycle and jurisdiction remain required inputs.

PBR_R_HIP_PITCH?	R_HIP_PITCH INDIVIDUAL PROTECTION / TELEMETRY - SELECTION REQUIRED	One independently protected feed is allocated to this actuator. No fuse, limiter, conductor or connector rating is released; fault current, inrush, cable length, ambient, bundling, duty cycle and jurisdiction remain required inputs.

PBR_R_HIP_ROLL?	R_HIP_ROLL INDIVIDUAL PROTECTION / TELEMETRY - SELECTION REQUIRED	One independently protected feed is allocated to this actuator. No fuse, limiter, conductor or connector rating is released; fault current, inrush, cable length, ambient, bundling, duty cycle and jurisdiction remain required inputs.

PBR_R_HIP_YAW?	R_HIP_YAW INDIVIDUAL PROTECTION / TELEMETRY - SELECTION REQUIRED	One independently protected feed is allocated to this actuator. No fuse, limiter, conductor or connector rating is released; fault current, inrush, cable length, ambient, bundling, duty cycle and jurisdiction remain required inputs.

PBR_R_KNEE_PITCH?	R_KNEE_PITCH INDIVIDUAL PROTECTION / TELEMETRY - SELECTION REQUIRED	One independently protected feed is allocated to this actuator. No fuse, limiter, conductor or connector rating is released; fault current, inrush, cable length, ambient, bundling, duty cycle and jurisdiction remain required inputs.

PBR_R_SHOULDER_PITCH?	R_SHOULDER_PITCH INDIVIDUAL PROTECTION / TELEMETRY - SELECTION REQUIRED	One independently protected feed is allocated to this actuator. No fuse, limiter, conductor or connector rating is released; fault current, inrush, cable length, ambient, bundling, duty cycle and jurisdiction remain required inputs.

PBR_R_SHOULDER_ROLL?	R_SHOULDER_ROLL INDIVIDUAL PROTECTION / TELEMETRY - SELECTION REQUIRED	One independently protected feed is allocated to this actuator. No fuse, limiter, conductor or connector rating is released; fault current, inrush, cable length, ambient, bundling, duty cycle and jurisdiction remain required inputs.

PBR_R_WRIST_ROTATION?	R_WRIST_ROTATION INDIVIDUAL PROTECTION / TELEMETRY - SELECTION REQUIRED	One independently protected feed is allocated to this actuator. No fuse, limiter, conductor or connector rating is released; fault current, inrush, cable length, ambient, bundling, duty cycle and jurisdiction remain required inputs.

PBR_WAIST_YAW?	WAIST_YAW INDIVIDUAL PROTECTION / TELEMETRY - SELECTION REQUIRED	One independently protected feed is allocated to this actuator. No fuse, limiter, conductor or connector rating is released; fault current, inrush, cable length, ambient, bundling, duty cycle and jurisdiction remain required inputs.

PORT_RS_LARM?	RS-LARM DATA-ONLY HARNESS PORT - CONNECTOR SELECTION REQUIRED	Logical data-only boundary from the matching controller interface. Exact connector, pins, reference conductor, shield and strain relief remain open.

PORT_RS_LLEG?	RS-LLEG DATA-ONLY HARNESS PORT - CONNECTOR SELECTION REQUIRED	Logical data-only boundary from the matching controller interface. Exact connector, pins, reference conductor, shield and strain relief remain open.

PORT_RS_RARM?	RS-RARM DATA-ONLY HARNESS PORT - CONNECTOR SELECTION REQUIRED	Logical data-only boundary from the matching controller interface. Exact connector, pins, reference conductor, shield and strain relief remain open.

PORT_RS_RLEG?	RS-RLEG DATA-ONLY HARNESS PORT - CONNECTOR SELECTION REQUIRED	Logical data-only boundary from the matching controller interface. Exact connector, pins, reference conductor, shield and strain relief remain open.

PORT_RS_WAIST?	RS-WAIST DATA-ONLY HARNESS PORT - CONNECTOR SELECTION REQUIRED	Logical data-only boundary from the matching controller interface. Exact connector, pins, reference conductor, shield and strain relief remain open.

PORT_TTL_HEAD?	TTL-HEAD DATA-ONLY HARNESS PORT - CONNECTOR SELECTION REQUIRED	Logical data-only boundary from the matching controller interface. Exact connector, pins, reference conductor, shield and strain relief remain open.

PORT_TTL_LDIST?	TTL-LDIST DATA-ONLY HARNESS PORT - CONNECTOR SELECTION REQUIRED	Logical data-only boundary from the matching controller interface. Exact connector, pins, reference conductor, shield and strain relief remain open.

PORT_TTL_RDIST?	TTL-RDIST DATA-ONLY HARNESS PORT - CONNECTOR SELECTION REQUIRED	Logical data-only boundary from the matching controller interface. Exact connector, pins, reference conductor, shield and strain relief remain open.

PRE_LATER?	ONBOARD-LATER PRECHARGE / DISCHARGE - DESIGN REQUIRED	This disconnected evaluation path has no tie to ACT_MAIN_SAFE_12V. Resistance, energy, timing, regeneration, bypass faults and discharge time remain open.

PS1	MEAN WELL RSP-500-12 TETHER SUPPLY CANDIDATE	Official RSP-500 specification gives 12 V / 41.7 A. Exact physical terminals, adjustment lock, protection, enclosure cooling, regeneration behavior and application rating remain open.

REG1	CONTROL 5 V TO 3.3 V REGULATOR - DESIGN REQUIRED	The exact regulator, filtering, sequencing, brownout, protection, thermal and EMC design remains open. This block does not authorize powering MCU1 or either carrier.

REG_TTL_L?	LEFT DISTAL 9 V BUCK-BOOST CANDIDATE - POLOLU S18V20F9	Item 2576 is a 9 V candidate. Current margin, input/output transients, protection, thermal behavior, mounting and exact contacts remain open.

REG_TTL_R?	RIGHT DISTAL 9 V BUCK-BOOST CANDIDATE - POLOLU S18V20F9	Item 2576 is a 9 V candidate. Current margin, input/output transients, protection, thermal behavior, mounting and exact contacts remain open.

SR1	PILZ PNOZ s4 750104 SAFETY-RELAY CANDIDATE - APPLICATION OPEN	Manual 21396-EN-23 supports monitored manual start and EDM application concepts. Required PLr/SIL, exact terminal wiring, category, common-cause, diagnostic coverage, reset mode, reaction time and validation are not established.

TETH1	TOUCH-SAFE ROBOT DC / PE TETHER BOUNDARY - SELECTION REQUIRED	Connector, current/fault rating, contact sequence, breakaway/retention, flex cable, strain relief and PE treatment remain SELECTION REQUIRED.

WD_INH1	ORDINARY WATCHDOG INHIBIT INTERFACE - DESIGN REQUIRED / ZERO SAFETY CREDIT	The ordinary watchdog may only remove eligibility; it can never bypass S0, reset, EDM or issue motion. Exact fail-low interface and fault validation remain open.