HEBI Robotics 7-DoF User manual

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

Using a different configuration of X-Series Actuators
will provide different payload capacities.
X-Series 7-DoF Double Shoulder Arm Assembly Instructions 3
Specifications Value
Weight
9 kg
Max Reach
900 mm
Payload @ Max Reach
1.5 kg
Half Reach
450 m
Payload @ Half Reach
3 kg
Movement Working Range Speed
Axis 1
–Base
[Default: X8
-16] Continuous (limited by wiring) 15 RPM
Axis 2
–Shoulder Pitch
[Default: 2 x X8
-16] -90° to +90° (avoid end effector collisions) 15 RPM
Axis 3
–Shoulder Twist
[Default: X8
-16] Continuous (limited by wiring) 15 RPM
Axis 4
–Elbow
[Default: X8
-16] -155° to +155° (avoid end effector collisions) 15 RPM
Axis 5
–Wrist 1
[Default: X5
-4] Continuous (limited by wiring) 32 RPM
Axis 6
–Wrist 2
[Default: X5
-4] Continuous (limited by wiring) 32 RPM
Axis 7
–Wrist 3
[Default: X5
-4] Continuous (limited by wiring) 32 RPM
Half Reach: 0.450m
Side View
Max Reach: 0.900m
Top View
900mm

4
1 x
A-2038-03
1 x
A-2090-02
2 x
A-2039-03
2 x
A-2091-02
3 x
X5-4
5 x
X8-16
X-Series 7-DoF Double Shoulder Arm Assembly Instructions
1 x
A-2043-01
2 x
PM-2200-02
[300mm]
1 x
A-2074-01
2 x
A-2042-01R
1 x
PM-2150-01L
1 x
PM-2150-01R
1 x
PM-2461-01
1 x
PM-2149-02
2 x
PM-2460-01
1 x
A-2190-01

5
4 x
A-2046-12
Power Cable, 12” Length
4 x
A-2046-18
Power Cable, 18” Length
4 x
A-2046-24
Power Cable, 24” Length
5 x
PP-2059-01
Ethernet Cable, 12” Length
3 x
PP-2061-01
Ethernet Cable, 36” Length
4 x
A-2128-01
Power Distribution Board
1 x
A-2048-02
Power Jumper
X-Series 7-DoF Double Shoulder Arm Assembly Instructions

6X-Series 7-DoF Double Shoulder Arm Assembly Instructions

7
1 x
PM-2200-02
[300mm]
1 x
A-2039-03
X-Series 7-DoF Double Shoulder Arm Assembly Instructions

8
1 x
PM-2200-02
[300mm]
1 x
A-2039-03
1 x
A-2038-03
X-Series 7-DoF Double Shoulder Arm Assembly Instructions

1 x
9
1 x
X8-16
1 x
A-2043-01
X-Series 7-DoF Double Shoulder Arm Assembly Instructions

1 x
10
1 x
X8-16
X-Series 7-DoF Double Shoulder Arm Assembly Instructions
1 x
PM-2150-01L

1 x
11
1 x
X8-16
X-Series 7-DoF Double Shoulder Arm Assembly Instructions
1 x
PM-2150-01R

1 x
12
Module output faces towards outside
1 x
1 x
X-Series 7-DoF Double Shoulder Arm Assembly Instructions
1 x
PM-2149-02

1 x
13
Align with actuator
output hub tick mark
(face parallel with tick mark and spring
mounting hole pointed on same side)
1 x
1 x
X-Series 7-DoF Double Shoulder Arm Assembly Instructions

14
1 x1 x
Align with actuator
output hub tick mark
(flat surface with two tapped holes face towards +x*)
*Axis direction specified on the bottom of the module
X-Series 7-DoF Double Shoulder Arm Assembly Instructions
2 x
PM-2460-01

15
1 x
1 x
X8-16
X-Series 7-DoF Double Shoulder Arm Assembly Instructions
1 x
PM-2461-01

1 x
16
1 x
1 x
X-Series 7-DoF Double Shoulder Arm Assembly Instructions

17
1 x1 x
Align with actuator
output hub tick mark
(symmetric about tick mark with flat surface facing towards +x*)
*Axis direction specified on the bottom of the module
X-Series 7-DoF Double Shoulder Arm Assembly Instructions
1 x
A-2074-01

18
1 x1 x
1 x
X-Series 7-DoF Double Shoulder Arm Assembly Instructions

19
1 x1 x
1 x
X8-16
X-Series 7-DoF Double Shoulder Arm Assembly Instructions

20
1 x1 x
1 x
Align with actuator
output hub tick mark
(Tube aligns with tick mark)
X-Series 7-DoF Double Shoulder Arm Assembly Instructions