HEBI Robotics 4-DoF SCARA Style Arm Kit User manual

4-DoF SCARA Style 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 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 4-DoF SCARA Arm Assembly Instructions 2

*Calculated using Default Configuration.*
Using a different configuration of X-Series Actuators
will provide different payload capacities.
Technical Specifications
3
650mm
Specifications Value
Weight
(Excludes T-Slot Frame) 2.5 kg
Reach
650 mm
Max Continuous Payload*
1.00 kg
Max Peak Payload*
1.50 kg
Movement Working Range
Max Speed
Axis 1
–Base
[Default: X5
-4] -50° to +80° (limited by wiring) 192°/s
Axis 2
–Shoulder
[Default: X5
-9] -30° to +90° 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°/s
X-Series 4-DoF SCARA Arm Assembly Instructions
Top View Side View
650mm

X-Series 4-DoF SCARA Arm Assembly Instructions 4
fasteners included, not shown
Additional T-Slot components available from McMaster-Carr or 80/20 Inc.
2 x
X5-4
1 x
X5-9
1 x
X5-1
6 x
PP-2141-18
[2” x 1” T-Slot 18” Length]
2 x
PP-2146-01
4 x
PP-2155-01
2 x
PP-2145-01
2 x
A-2039-02
2 x
A-2091-01
2 x
A-2038-02
2 x
A-2090-01
2 x
PP-2200-02
[300mm]
1 x
A-2043-01
1 x
A-2040-01R
Bill of Materials - Mechanical

Bill of Materials - Electrical
X-Series 4-DoF SCARA Arm Assembly Instructions 5
2 x
A-2046-12
Power Cable, 12” Length
3 x
A-2046-18
Power Cable, 18” 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
Frame [6-8]
Tubes [9-10]
Base [11-12]
Final [13-17]
X-Series 4-DoF SCARA Arm Assembly Instructions 6

X-Series 4-DoF SCARA Arm Assembly Instructions 7
3 x
PP-2141-18
[2” x 1” T-Slot 18” Length]
2 x
PP-2155-01
¼”-20 (80-20 T-Nut)
¼”-20 x ½” (BHCS)

X-Series 4-DoF SCARA Arm Assembly Instructions 8
¼”-20 (80-20 T-Nut)
¼”-20 x ½” (BHCS)
2 x
PP-2141-18
[2” x 1” T-Slot 18” Length]
2 x
PP-2155-01

X-Series 4-DoF SCARA Arm Assembly Instructions 9
*Insert 4 extra T-Nuts for Arm*
(see page 15)
¼”-20 (80-20 T-Nut)
¼”-20 x ½” (BHCS)
2 x
PP-2146-01
2 x
PP-2145-01
1 x
PP-2141-18
[2” x 1” T-Slot 18” Length]

X-Series 4-DoF SCARA Arm Assembly Instructions 10
1 x
PP-2200-02
[300 mm]
Align with tube
pin holes
M5x16mm
M5x16mm
1 x
A-2039-02
1 x
A-2038-02

X-Series 4-DoF SCARA Arm Assembly Instructions 11
Align with tube
pin holes
M5x16mm
M5x16mm
1 x
PP-2200-02
[300 mm]
1 x
A-2039-02
1 x
A-2038-02

1 x
X5-4
1 x
X-Series 4-DoF SCARA Arm Assembly Instructions 12
Step 1 of 2
Step 2 of 2
1 x
A-2040-01R
M6x12mm
M5x12mm
M5x10mm FHCS
Axis 1: Base
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 SCARA Arm Assembly Instructions 13
Axis 2: Shoulder
Default X5-9
1 x1 x
M5x14mm

X-Series 4-DoF SCARA Arm Assembly Instructions 14
1 x
X5-4
M5x10mm
M5x8mm
Axis 3: Elbow
Default X5-4
Align with actuator
output hub tick mark
(Tube aligns with tick mark)

X-Series 4-DoF SCARA Arm Assembly Instructions 15
1 x
X5-1
M5x10mm
M5x8mm
Axis 4: Wrist 1
Default X5-1
Align with actuator
output hub tick mark
(Tube aligns with tick mark)

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 ethernet and power connectors.
•Please pass connectors thru bore hole 1 at a time.
For more information visit: docs.hebi.us
X-Series 4-DoF SCARA Arm Assembly
Instructions 16
[Spiral sleeving]
Wires that come from the
previous joint should be inserted
directly to actuator ports.
Wires that connect to the next
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 SCARA Arm Assembly Instructions 17
Wiring Diagram
24”
18”
12”
12”
18”
network
18”
36”
36”
12”
36” Base
Shoulder
Elbow
Wrist 1
Power Cable
Ethernet Cable
Power Distribution
Power Supply
Power Jumper

X-Series 4-DoF SCARA Arm Assembly Instructions 18
2 x
A-2091-01
2 x
A-2090-01
Route wires before
installing caps
*End Effector Accessory Not Included*
M2x8mm
M2x8mm
M2x8mm
M2x8mm

X-Series 4-DoF SCARA Arm Assembly Instructions 19
¼”-20 x ½” (BHCS)
¼”-20 (80-20 T-Nut)
*From Page 7*
*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-2116-01)
•Integrate with 3rd 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 SCARA Arm Assembly Instructions 20
Additional Accessories