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  • What do all these pins do?

  • Can I get hold of the correct cable?

  • Shall I use the existing cable or make a new one?



The main connection between the robot and the controller is via a heavy duty cable. All signals to/from the resolvers, the motors, breaks and pneumatic valves are carried through this cable. It looks a little overkill for this robot, but I guess the same one is used on larger models too. The cable is terminated using a HAN108 connector. 

Han108 connector
Han108 connector

Below is the sheet I've put together showing the pin numbers and their function. This is based around some work done by the London Hackspace project, but actually, their one is a little different it seems. This took a while to figure out and involved many hours with a continuity tester.

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