HEBI Robotics 6-DoF Manuale utente
Danger (May cause serious injury or death)
•Keep water, flammables, solvents and other liquids clear from actuator.
•Never place fingers, arms, toes and other body parts near actuator during operation.
•Cut power if actuator emits strange odors or smoke.
•Keep actuator out of reach of children.
Warning (May cause injury or damage to actuator)
•Before operating, read all applicable instructions and notices found here:
http://docs.hebi.us/#quickstart-guide-x-series-actuator
•Comply with the operating temperature (-10℃to 50℃)
•Turn off power source before connecting or disconnecting actuator power.
•Do not expose the actuator to permanent and strong magnetic fields.
•The actuator must not be exposed to dusty or wet environments.
•If actuator is under load, abruptly removing the power connection can cause permanent damage.
•Do not force screws into the bottom of the actuator.
- X5: 5mm tap depth - X8: 7mm tap depth
•Use provided hardware with accessories and hand tighten as needed.
•Do not attempt to disassemble actuator, this will void the warranty and can cause permanent damage.
For more information please visit: docs.hebi.us
X-Series 6-DoF Arm Assembly Instructions 2
*Calculated using Default Configuration without Gas Spring.*
Using a different configuration of X-Series Actuators will
provide different payload capacities.
X-Series 6-DoF Arm Assembly Instructions 3
Specifications Value
Weight (w/ Gripper Assembly)
4.75 kg
Max Reach
750 mm
Payload @ Max Reach
0.60 kg
Half Reach
375 m
Payload @ Half Reach
3.5 kg
750mm
Movement Working Range Speed
Axis 1
–Base
[Default: X8
-9] Continuous
(limited by wiring) 180°/s
Axis 2
–Shoulder
[Default: X8
-16]
0° to +70°
(limited by gas spring) 90°/s
Axis 3
–Elbow
[Default: X8
-9] -155° to +155°
(avoid end effector collisions) 180°/s
Axis 4
–Wrist 1
[Default: X5
-1] Continuous
(avoid end effector collisions) 540°/s
Axis 5
–Wrist 2
[Default: X5
-1] Continuous
(limited by wiring) 540°/s
Axis 6
–Wrist 3
[Default: X5
-1] Continuous
(limited by wiring) 540°/s
Top View
Side View
Max Reach: 0.750m
Half Reach: 0.375m
X-Series 6-DoF Arm Assembly Instructions 4
Spool
Module
Max Finger Torque
Max Finger Force at
50mm
X5-1 0.1 Nm 2 N
X5-4 0.5 Nm 10 N
X5-9** 1.1 Nm 23 N
X8-3 0.4 Nm 8 N
X8-9 1.1 Nm 23 N
X8-16 2.0 Nm 40 N
*Values assume a symmetric two-finger grasp
** Default Module
79.5mm
82mm
105.35mm
8mm
23mm
4 X M3 THRU
4 X M3 THRU
10mm
10mm
10mm
5mm
113mm
12mm
X-Series 6-DoF Arm Assembly Instructions 5
1 x
A-2040-01R
1 x
A-2043-01
2 x
A-2042-01R
2 x
A-2038-03
2 x
A-2090-02
2 x
A-2039-03
2 x
A-2091-02
2 x
X8-9
3 x
X5-1
1 x
X8-16
1 x
X5-9
1 x
PM-2293-01
Spool Housing
1 x
PM-2292-01
Spool
1 x
PM-2290-01
Cable Clamp
1 x
PP-2240-01
Cable Housing
1 x
PM-2222-01
Cable Housing Adapter
(part of A-2055-01)
1 x
PP-2241-01
Cable Housing End Cap
1 x
PP-2239-01
1 x
A-2055-01
2 x
PM-2200-02
[300mm]
1 x
A-2088-90-30
(Gas Spring –30lbs.)
1 x
A-2188-01
1 x
A-2089-02
X-Series 6-DoF Arm Assembly Instructions 6
4 x
A-2046-12
Power Cable, 12” Length
4 x
A-2046-18
Power Cable, 18” Length
2 x
A-2046-24
Power Cable, 24” Length
4 x
PP-2059-01
Ethernet Cable, 12” Length
3 x
PP-2061-01
Ethernet Cable, 36” Length
3 x
A-2128-01
Power Distribution Board
1 x
A-2048-02
Power Jumper
X-Series 6-DoF Arm Assembly Instructions 7
2 x
X-Series 6-DoF Arm Assembly Instructions 8
1 x
PM-2200-02
[300mm]
1 x
A-2038-03
1 x
A-2039-03
M5x16mm
M5x16mm
1 x
X-Series 6-DoF Arm Assembly Instructions 9
Axis 1: Base
Default X8-9
Step 1 of 2
Step 2 of 2
1 x
A-2040-01R
M6x12mm
M5x12mm
M5x10mm FHCS
1 x
X8-9
Align with actuator
output hub tick mark
(face parallel with tick mark and
mounting hole pointed on same side)
Flat face towards outside
X-Series 6-DoF Arm Assembly Instructions 10
Axis 2: Shoulder
Default X8-16
1 x1 x
M5x14mm
1 x
X8-16
Indice
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