Right Thigh

1
Right Thigh
Top Bar
OL limit switch
OL Heel strike
6-wire CAN 1-2
6-Wire CAN 3-4
Battery power
Term
Hip Encoder
J8 6-wire CAN 1-2
J6 9-wire RS232
Main Brain/ CAN Router
RS232
J7 6-wire CAN 3-4
J9 6-Wire CAN 3-4
2-wire OR limit switch
J5, J6 RC0 1
J7 6-wire CAN 1-2
6-wire OR foot encoder
J4 RC3 (5.5V)
IMU
J3 IMU RS232
6-wire CAN 3-4
3-wire OR heel strike
Leg
2
Center thigh
Term
J7 CAN 3-4
Motor controller steering inner
Center battery
Top bar data connector
2-wire motor power
Top power
J2 3-wire sensor cable
CAN 3-4
J7 CAN 3-4
J3 6-wire motor encoder i. feet
2-wire Motor Power
J9 6-wire encoder i. feet
J4 2-wire limit switch IR
J4 2-wire limit switch IL
J2 3-wire heel strike IR
J2 3-wire heel strike IL
Leg
3
Left thigh
Top Data
PWR -
6-wire CAN 1-2
Limit Switch OL
6-wire Hip Encoder
Heel Strike OL
6-wire CAN 3-4 out
6-wire CAN 3-4 in
6-wire Motor Encoder Hip
2-wire Motor Power
Term
6-wire Foot OL Encoder
Leg
4
Top bar
Center power
Robot chassis ground one connection
Power switch
Outer left limit switch
Outer left limit switch
Outer left heel strike
Outer left heel strike
6-wire Hip Encoder
6-wire Hip Encoder
6-Wire CAN 3-4
6-Wire CAN 3-4
6-Wire CAN 1-2
6-Wire CAN 1-2
6-Wire CAN 3-4
6-Wire CAN 3-4
Left Thigh
Center Thigh
Right Thigh