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Cables
Stéphane Caron edited this page Jan 3, 2024
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![](https://private-user-images.githubusercontent.com/1189580/241257892-dca10347-4086-4e3a-96bd-095ed6944346.png?jwt=eyJhbGciOiJIUzI1NiIsInR5cCI6IkpXVCJ9.eyJpc3MiOiJnaXRodWIuY29tIiwiYXVkIjoicmF3LmdpdGh1YnVzZXJjb250ZW50LmNvbSIsImtleSI6ImtleTUiLCJleHAiOjE3MjE5MjY0OTIsIm5iZiI6MTcyMTkyNjE5MiwicGF0aCI6Ii8xMTg5NTgwLzI0MTI1Nzg5Mi1kY2ExMDM0Ny00MDg2LTRlM2EtOTZiZC0wOTVlZDY5NDQzNDYucG5nP1gtQW16LUFsZ29yaXRobT1BV1M0LUhNQUMtU0hBMjU2JlgtQW16LUNyZWRlbnRpYWw9QUtJQVZDT0RZTFNBNTNQUUs0WkElMkYyMDI0MDcyNSUyRnVzLWVhc3QtMSUyRnMzJTJGYXdzNF9yZXF1ZXN0JlgtQW16LURhdGU9MjAyNDA3MjVUMTY0OTUyWiZYLUFtei1FeHBpcmVzPTMwMCZYLUFtei1TaWduYXR1cmU9NzhlMGFkNWRmNTM0NzhlNWUzNDYyZjA0ZjVjZjE0YzMyZDYxYWZjNTdmMTA5MDNhZGY1ZjY2MTQ1YzNhNmVlMSZYLUFtei1TaWduZWRIZWFkZXJzPWhvc3QmYWN0b3JfaWQ9MCZrZXlfaWQ9MCZyZXBvX2lkPTAifQ.mb2XQkHPJakzg0Oy3aMDHFM5AanjmXByE6TCsuH7nFE)
Communications from and to servos are transmitted as a differential signal over twisted pairs of wires. These cables have the following specs:
- Connectors: female JST PH-3 (3-pin JST connectors with 2.0 mm (PH) pin-to-pin pitch)
- Wire gauge: 26 AWG (24 AWG to 32 AWG should work)
- Wire length: 42 cm
- Tip: order PVC rather than Silicon wires (they are easier to twist)
Comms cable have female-female connectors, that is, female connectors on both sides. Pins inside are ordered as follows, when looking at the back of the connector (from the cable to the connector):
- Left:
CAN_H
(typically blue) - Center:
CAN_L
(typically green) - Right:
GND
(typically black)⚠️ we leave this one empty
See also the JST PH-3 CAN section in the power-dist board reference.
Ask questions about this step in Hardware discussions.
![](https://private-user-images.githubusercontent.com/1189580/241259246-1ff23fc4-9ec3-4a43-a17f-5a31972983c0.png?jwt=eyJhbGciOiJIUzI1NiIsInR5cCI6IkpXVCJ9.eyJpc3MiOiJnaXRodWIuY29tIiwiYXVkIjoicmF3LmdpdGh1YnVzZXJjb250ZW50LmNvbSIsImtleSI6ImtleTUiLCJleHAiOjE3MjE5MjY0OTIsIm5iZiI6MTcyMTkyNjE5MiwicGF0aCI6Ii8xMTg5NTgwLzI0MTI1OTI0Ni0xZmYyM2ZjNC05ZWMzLTRhNDMtYTE3Zi01YTMxOTcyOTgzYzAucG5nP1gtQW16LUFsZ29yaXRobT1BV1M0LUhNQUMtU0hBMjU2JlgtQW16LUNyZWRlbnRpYWw9QUtJQVZDT0RZTFNBNTNQUUs0WkElMkYyMDI0MDcyNSUyRnVzLWVhc3QtMSUyRnMzJTJGYXdzNF9yZXF1ZXN0JlgtQW16LURhdGU9MjAyNDA3MjVUMTY0OTUyWiZYLUFtei1FeHBpcmVzPTMwMCZYLUFtei1TaWduYXR1cmU9NGFhZTAwMjk3NWZiYTNkZWQyYzRlYmI5OWM0YjcxNTQ2MzhiODYxNjI2YzZhNzZiYzZhY2QwNmFhZGQyZDRiNSZYLUFtei1TaWduZWRIZWFkZXJzPWhvc3QmYWN0b3JfaWQ9MCZrZXlfaWQ9MCZyZXBvX2lkPTAifQ.2_C7rKTLyUfr09GPSXUZBVXKVEK5Zda4KE1BxTERj7I)
The power bus is obtained by daisy-chaining bigger cables through servos and electronics to the battery. These cables don't need to be twisted.
- Connectors: XT-30
- Wire gauge: 14 AWG (16 AWG works too)
We have two types of power cables, as depicted in the pictures to the right:
- Power cables between actuators:
- Connectors: female-female
- Wire length: 42 cm
- Power cables to the power dist board:
- Connectors: female-male
- Wire length: 20 cm
Ask questions about this step in Hardware discussions.