Assembly Instructions - PDF document

4-DoF Arm KitAssembly InstructionsGe
4-DoF Arm KitAssembly InstructionsGeneral Warnings and CautionsDanger (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

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 (-10â

„ƒto 50℃)•Turn off power source
„ƒto 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 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

on please visit: docs.hebi.usX-Serie
on please visit: docs.hebi.usX-Series 4-DoF Arm Assembly Instructions2Technical SpecificationsX-Series 4-DoF Arm Assembly Instructions3650mm650mmSpecificationsValueWeight3.0 kgReach650 mmMax Continuous Payload*1.25 kgMax Peak Payload*1.75 kgMovementWorking RangeMax SpeedAxis 1 â

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

sSide ViewTop View*Calculated using D
sSide ViewTop View*Calculated using Default Configuration.*Using a different configuration of X-Series Actuators will provide different payload capacities.Bill of Materials -MechanicalX-Series 4-DoF Arm Assembly Instructions4fasteners included, not shown2 xA-2038-022 xA-2090-012

xA-2039-022 xA-2091-011 xA
xA-2039-022 xA-2091-011 xA-2040-01R1 xA-2043-012xPP-2200-02[300mm]Default Configuration2xX5-41xX5-91xX5-1Bill of Materials-ElectricalX-Series 4-DoF Arm Assembly Instructions52 xA-2046-12Power Cable, 12” Length3 xA-2046-18Power Cable, 18â€

 Length1xA-2046-24Power Cable,
 Length1xA-2046-24Power Cable, 24” Length1 xPP-2059-01Ethernet Cable, 12” Length3xPP-2061-01Ethernet Cable, 36” Length2 xA-2128-01Power Distribution Board1 xA-2048-02Power JumperTable of ContentsAssemblyImagePagesTubes[6]Base[7-8]Final[9-14]X-Series

4-DoF Arm Assembly Instructions62 x
4-DoF Arm Assembly Instructions62 xX-Series 4-DoF Arm Assembly Instructions71 xPP-2200-02[300mm]1 xA-2038-021 xA-2039-02M5x16mmM5x16mm1 xX5-41 xX-Series 4-DoF Arm Assembly Instructions8Step 1 of 2Step 2 of 21 xA-2040-01RM6x12mmM5x12mmM5x10mm FHCSAxis 1: B

aseDefault X5-4Align with actuatoro
aseDefault X5-4Align with actuatoroutput hub tick mark(face parallel with tick mark and mounting hole pointed on same side)Flat face towards outside1 xX5-9X-Series 4-DoF Arm Assembly Instructions9Axis 2: Shoulder Default X5-91 x1 xM5x14mmX-Series 4-DoF Arm Assembly Instructions1

01x1 x1 xM5x10mmAlign with actuato
01x1 x1 xM5x10mmAlign with actuatoroutput hub tick mark(Tube aligns with tick mark)X-Series 4-DoF Arm Assembly Instructions111x1 x1 xM5x10mm1 xX5-4M5x8mmAxis 3: ElbowDefault X5-4Align with actuatoroutput hub tick mark(Tube aligns with tick mark)X-Series 4-DoF Arm Assembly

Instructions121 x1 xX5-1M5x8mm
Instructions121 x1 xX5-1M5x8mmAxis 4: Wrist 1Default X5-1Wiring 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

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.usX-Series 4-DoF Arm Assembly Instructions13[Spiral sleeving]Wires that come from the previous joint should be inserted directly to actuator ports.Wires that connect to the nex

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 Instructions14Wiring Diagram24”18”12”12”18”network18”36”

36”12”36”BaseShoulderElbowWr
36”12”36”BaseShoulderElbowWrist 1Power CableEthernet CablePower DistributionPower SupplyPower JumperX-Series 4-DoF Arm Assembly Instructions151 x2 xA-2090-012 xA-2091-01Install cables beforeadding capsM2x8mmM2x8mmM2x8mmM2x8mmX-Series 4-DoF Arm Assembly Instru

ctions16All axes at zero degrees•P
ctions16All 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

-01)•Integrate with 3rdparty end
-01)•Integrate with 3rdparty 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 Instructions17Additional AccessoriesX-Series 4-DoF Arm Assembly Instructions18© HEBI Ro