Instructions / Shoulder Assembly (S1 + S2)

Shoulder Assembly (S1 + S2)

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Builds the shoulder/chest (stations S1 + S2): chest cover, bus bars, CAN board, X8 motors, and S2 brackets. Tools: RTV162 glue, M4/M3/M5 socket wrenches, T20 wrench, T10 wrench. Source: Notion – Axol Assembly Instructions (migrated 2026-07-14)

Parts used

1

Step 1

Fasten 1x S1 Corner Protector TPU Left and 1x S1 Corner Protector TPU Right to the S1 Chest Cover with 6x FH-TX-M3-10 and 6x NSQ-M3.

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2

Step 2

Fasten 1x S1 Endstop Tab with 2x DP-R-03-06 and 3x BH-TX-M4-12.

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3

Step 3

Fasten 1x XT90E-M Pigtail with 2x FH-TX-M3-10 and 2x NNY-M3.

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4

Step 4

Install 2x NNY-M3 into the bus bar housing, flat side facing the little tab above it.

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5

Step 5

Install 1x HB-HX-M5-16 into the bus bar housing: place the bolt into the housing and press the housing together.

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6

Step 6

Install 2x Bus Bars with 4x BH-TX-M3-10.

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7

Step 7

Press 1x NNY-M2 into the back of the CAN Board Panel.

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8

Step 8

Install 2x RMD-X8-120 Motors with 22x BH-TX-M3-12.

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9

Step 9

Install the CAN Board Panel on the back of S1 with 4x CAN Board Spacers, 4x NNY-M3, and 4x BH-TX-M3-12. Plug the JST into the CAN board, then fasten the CAN board to S1, then plug the XT30 into the motors and apply RTV162 glue.

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10

Step 10

Install 1x S2 Endstop into the S2 bracket with 2x BH-TX-M4-16 and 2x NNY-M4. 2x DP-R-04-14, 2x DP-R-03-06. Tip(coupler should be face opposite and down of the end stop, end stop long side should be in the back of robot)

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11

Step 11

Press 1x S1 Coupler with Endstop 4.75mm into the S2 bracket, using the jig to attach the dowel pins.

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12

Step 12

Fasten with Loctite the S2 brackets onto the S1 motor shaft with 12x BH-TX-M4-16. Use 2x SO-HX-M4-07-80-AL to make sure the screws are seated properly. Chalk the screws.

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13

Step 13

Feed the S2 Cable through the S1 motor and attach CAN to the S1 CAN cable.

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14

Step 14

Attach the ring terminals to the power block. The red and black pigtails from the XT90E cross each other.

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Quality checklist

  • M4x16 for the S1 motor shaft are flush (they can bottom out)
  • WAGO pull test
  • JST pull test
  • XT30 fully seated
  • PWR on left, GND on right
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