Assembly Instructions

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Document on Subject : "Assembly Instructions"— Transcript:

1 4 - DoF Arm Kit Assembly Instructions Ge
4 - DoF Arm Kit Assembly Instructions General Warnings and Cautions 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 st

2 range odors or smoke. • Keep actuator
range 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

3 to 50 ℃ ) • Turn off power source
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

4 permanent damage. • Do not force scre
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 informati

5 on please visit: docs.hebi.us X - Serie
on please visit: docs.hebi.us X - Series 4 - DoF Arm Assembly Instructions 2 Technical Specifications X - Series 4 - DoF Arm Assembly Instructions 3 650mm 650mm Specifications Value Weight 3.0 kg Reach 650 mm Max Continuous Payload* 1.25 kg Max Peak Payload* 1.75 kg Movement Working Range Max Speed Axis 1

6 Base [Default: X5 - 4] Continuous (li
Base [Default: X5 - 4] Continuous (limited by wiring) 192 /s Axis 2 – Shoulder [Default: X5 - 9] 0 to +180 84 /s Axis 3 – Elbow [Default: X5 - 4] - 155 to +155 (avoid end effector collisions) 192 /s Axis 4 – Wrist 1 [Default: X5 - 1] Continuous (avoid end effector collisions) 540 /

7 s Side View Top View *Calculated using D
s Side View Top View *Calculated using Default Configuration.* Using a different configuration of X - Series Actuators will provide different payload capacities. Bill of Materials - Mechanical X - Series 4 - DoF Arm Assembly Instructions 4 fasteners included, not shown 2 x A - 2038 - 02 2 x A - 2090 - 01 2

8 x A - 2039 - 02 2 x A - 2091 - 01 1 x A
x A - 2039 - 02 2 x A - 2091 - 01 1 x A - 2040 - 01R 1 x A - 2043 - 01 2 x PP - 2200 - 02 [300mm] Default Configuration 2 x X5 - 4 1 x X5 - 9 1 x X5 - 1 Bill of Materials - Electrical X - Series 4 - DoF Arm Assembly Instructions 5 2 x A - 2046 - 12 Power Cable, 12” Length 3 x A - 2046 - 18 Power Cable, 18

9 Length 1 x A - 2046 - 24 Power Cable,
Length 1 x A - 2046 - 24 Power Cable, 24” Length 1 x PP - 2059 - 01 Ethernet Cable, 12” Length 3 x PP - 2061 - 01 Ethernet Cable, 36” Length 2 x A - 2128 - 01 Power Distribution Board 1 x A - 2048 - 02 Power Jumper Table of Contents Assembly Image Pages Tubes [6] Base [7 - 8] Final [9 - 14] X - Series

10 4 - DoF Arm Assembly Instructions 6 2 x
4 - DoF Arm Assembly Instructions 6 2 x X - Series 4 - DoF Arm Assembly Instructions 7 1 x PP - 2200 - 02 [300mm] 1 x A - 2038 - 02 1 x A - 2039 - 02 M5x16mm M5x16mm 1 x X5 - 4 1 x X - Series 4 - DoF Arm Assembly Instructions 8 Step 1 of 2 Step 2 of 2 1 x A - 2040 - 01R M6x12mm M5x12mm M5x10mm FHCS Axis 1: B

11 ase Default X5 - 4 Align with actuator o
ase Default X5 - 4 Align with actuator output hub tick mark (face parallel with tick mark and mounting hole pointed on same side) Flat face towards outside 1 x X5 - 9 X - Series 4 - DoF Arm Assembly Instructions 9 Axis 2: Shoulder Default X5 - 9 1 x 1 x M5x14mm X - Series 4 - DoF Arm Assembly Instructions 1

12 0 1 x 1 x 1 x M5x10mm Align with actuato
0 1 x 1 x 1 x M5x10mm Align with actuator output hub tick mark (Tube aligns with tick mark) X - Series 4 - DoF Arm Assembly Instructions 11 1 x 1 x 1 x M 5x10mm 1 x X5 - 4 M 5x8mm Axis 3: Elbow Default X5 - 4 Align with actuator output hub tick mark (Tube aligns with tick mark) X - Series 4 - DoF Arm Assembly

13 Instructions 12 1 x 1 x X5 - 1 M 5x8mm
Instructions 12 1 x 1 x X5 - 1 M 5x8mm Axis 4: Wrist 1 Default X5 - 1 Wiring Notes • Keeping wires organized will help prevent tangling and add a nice aesthetic. • Spiral sleeving is a good accessory for organizing loose wires • HEBI X - Series actuators have a thru bore specifically designed to fit et

14 hernet and power connectors. • Please
hernet and power connectors. • Please pass connectors thru bore hole 1 at a time. For more information visit: docs.hebi.us X - Series 4 - DoF Arm Assembly Instructions 13 [Spiral sleeving] Wires that come from the previous joint should be inserted directly to actuator ports. Wires that connect to the nex

15 t joint should be threaded through the
t joint should be threaded through the actuator’s bore hole. Power distribution boards are included to help daisy - chain power connections. These fit well within the tubes between actuators. X - Series 4 - DoF Arm Assembly Instructions 14 Wiring Diagram 24” 18” 12” 12” 18” network 18” 36”

16 36” 12” 36” Base Shoulder Elbow Wr
36” 12” 36” Base Shoulder Elbow Wrist 1 Power Cable Ethernet Cable Power Distribution Power Supply Power Jumper X - Series 4 - DoF Arm Assembly Instructions 15 1 x 2 x A - 2090 - 01 2 x A - 2091 - 01 Install cables before adding caps M 2x8mm M 2x8mm M 2x8mm M 2x8mm X - Series 4 - DoF Arm Assembly Instru

17 ctions 16 All axes at zero degrees • P
ctions 16 All axes at zero degrees • Power Supply, 24V 220W (A - 2098 - 24) • Comes with correct Molex Minifit Jr 2 connector • Magnet embedded end effector (A - 2081 - 01) • Interfaces with hex shaft driver bits for screwing/bolting tasks • Screwdriver bits not included • HEBI I/O Board (A - 2116

18 - 01) • Integrate with 3 rd party end
- 01) • Integrate with 3 rd party end effectors or tools using HEBI APIs • HEBI Gripper • Cable driven gripper keeps weight away from end of arm • *Modules sold separately* X - Series 4 - DoF Arm Assembly Instructions 17 Additional Accessories X - Series 4 - DoF Arm Assembly Instructions 18 HEBI Ro