Acorn Harness

Custom XT30 & XT30(2+2) harnesses

XT30 wire harnesses, built to your exact length.

Choose XT30 for power only, or XT30(2+2) for power plus two signal wires (CAN) in one plug. Then pick the length, wire gauge, how each end exits, and the wire colors. We solder, crimp, test, and ship it. From $17.

Assembled in the USAAssembled
in the USA
350 mm ± 15 wireXT30(2+2)End AStraightXT30(2+2)End BRight Angle ↓

Side view, not to scale. Length is the wire only, from the back of one plug to the back of the other. Up and down match the rear views below. Arrows point the way each plug mates.

End A · Straight
+−21Rear (wire side) view
End B · Right Angle ↓
+−21WIRE BENDRear (wire side) view
Build sheet
Connectors
2× XT30(2+2) female, gold
Power
16 AWG silicone, soldered + heat shrink
Signal
24 AWG silicone, crimped, twisted pair
Ends
A Straight · B Right Angle ↓
Test
100% continuity + insulation

Connector

Same on both ends

Wire length

Wire only, plugs not included

30–3000 mm in 5 mm steps.

Power wire gauge

Signal is 24 AWG

End A

How the wires leave the plug

Wires exit inline with the plug.

End B

How the wires leave the plug, or no plug

Power wires bend 90° down, as drawn in the rear (wire side) view.

Signal pair

Signal wires crimped into the XT30(2+2) with the power wires.

Wire colors

Power +PIN+ · power
Power −PIN- · power
Signal 1SIG1 · 24 AWG
Signal 2SIG2 · 24 AWG

Quantity

1–9
List
$28.37
10+
5% off
$26.95
100+
10% off
$25.53
1000+
20% off
$22.70

Price per harness for this design. Tiers count every harness in your order, across all designs.

$28.37 each$28.37

Instant price for this design. Ships in 1 week. Assembled in the USA.

Your order

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Nothing here yet. Design a harness above and press Add to order. Add as many designs as you need; they're priced and checked out together.

Built like the harnesses in our own robots

Acorn is the harness shop behind the Almond Axol dual-arm robot. Every order is built to the same drawing standard and parts as our production cables.

Connectors

XT30, XT30(2+2) (fits Damiao, MyActuator and similar actuators), or XT30 + JST GH 1.25 mm for the signal pair. Gold-plated contacts.

Power wires

14, 16 or 18 AWG UL3135 silicone, red or black. Soldered and sealed in heat shrink.

Signal wires

Green or yellow, crimped and twisted. 24 AWG, or 30 AWG with a JST GH end. Can be crossed to swap CAN H/L.

Terminations

Straight or right angle (up or down) on each end. End B can be tinned leads instead.

Tolerance

±5 mm under 100 mm, up to ±25 mm over 1200 mm. Wire only, plug to plug.

Testing

100% continuity and insulation tested before it ships.

Drawn in Almond Harness Studio

Every design you build here exports as a Harness Studio file, the same format we use for the cables inside the Almond Axol robot. Download your spec and drop it into Harness Studio to see the full manufacturing drawing, BOM, and wire list.

Open Harness Studio ↗
Assembled in the USA

Assembled in the USA

Every Acorn harness is cut, soldered, crimped, and 100% tested by hand in the United States, to the same drawing standard as the cables inside the Almond Axol robot.

For people and agents

Order from code or your AI agent

Every design here can be priced and ordered through a public JSON API, no key needed. Send a list of designs and get back the price and a Stripe checkout link for whoever pays.

Read the API docs →
curl -X POST https://acornharness.com/api/orders \
  -H 'Content-Type: application/json' \
  -d '{"items": [{"connector": "xt30-22",
       "length_mm": 350, "quantity": 10}]}'

Questions

XT30 or XT30(2+2)?+
  • XT30: 2-pin power, for batteries, ESCs and power boards.
  • XT30(2+2): power plus a CAN pair, as on Damiao and MyActuator actuators.
  • Match the male connector you're plugging into.
Which gauge should I pick?+
  • 14 AWG: long runs, or over ~20 A continuous.
  • 16 AWG: most robot joints.
  • 18 AWG: tightest bends.
Can I get the CAN wires on a JST GH plug?+
  • Both ends: pick XT30 + JST GH.
  • End B only: pick XT30(2+2), then "JST GH plug" under end B.
  • Pin 1 is on the left, seen from the wire side with the latch up.
  • +$2 per GH end.
Can the CAN wires swap pins between the ends?+
  • Yes: turn on Cross signal pair. It's free.
  • End A pin 1 goes to end B pin 2, swapping CAN H and L.
Which way does a right-angle end bend?+
  • Seen from the wire side, power pins on the left, as in the rear views.
  • Right Angle ↑ bends up, ↓ bends down.
How long does it take, and where do you ship?+
  • Ships within 5 business days.
  • US Ground, Two-Day or Next Day, priced by weight, or free San Francisco pickup.
  • US only for now.
Shipping policy →
Can I return a wire harness?+
  • No returns: every harness is made to order.
  • Damaged or defective? Email support@almond.bot with photos within 14 days for a repair or replacement.
Returns policy →