General Warnings and Cautions
Danger (May cause serious injury or death)••••

Keep water, flammables, solvents and other liquids clear from unsealed actuator.
Keep fingers away from moving parts during operation.
Cut power immediately if actuator emits strange odors or smoke.
Keep actuator out of reach of children.

Warning (May cause injury or damage to actuator)••••

Do not expose the actuator to permanent and strong magnetic fields.
Do not force screws into the bottom of the actuator. R8 = 8mm Tap Depth
Use provided hardware with accessories and hand tighten as needed.
Attempts to disassemble actuator will void the warranty and may cause permanent damage.

*Sealing (R-Series Actuators are IP67 when properly used)*• Please refer to all online documentation for proper sealing techniques of the actuator.

For more information please visit: docs.hebi.us

R-Series 5-DoF Arm Assembly Instructions

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Technical Specifications
Specifications

Value

Weight6.00 kg

Reach

700 mmPayload at Max Reach*

1.00 kg

Payload at Half Reach*

5.00 kg*Calculated using Default Configuration with Gas Spring.*
Using a different configuration of R-Series Actuators will
provide different payload capacities.

Movement

Working Range

Speed

Axis 1 – Base
[Default: R8-16]

Continuous(limited by wiring)

90°/s

Axis 2 – Shoulder[Default: R8-16]

0° to +70°
(limited by gas spring)

90°/s

Axis 3 – Elbow[Default: R8-16]-155° to +155°(avoid end effector collisions)

90°/s

Axis 4 – Wrist 1[Default: R8-3]

Continuous(avoid end effector collisions)

504°/sAxis 5 – Wrist 2[Default: R8-3]

Continuous(limited by wiring)504°/sSide View
Top View

650mm

650mm

R-Series 5-DoF Arm Assembly Instructions

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Technical Specifications
82mm

105.35mmSpoolModule

Max Finger
TorqueMax Finger
Force at 50mm

R8-3

0.4 Nm

8N

R8-9**

1.1 Nm

23 N

R8-16

2.0 Nm40 N* Values assume a symmetric two-finger grasp** Default Module

5mm

8mm

10mm

4 X M3 THRU

12mm

4 X M3 THRU

10mm

79.5mm

10mm

23mm

113mm

R-Series 5-DoF Arm Assembly Instructions

4Bill of Materials – Mechanical
Default Configuration

1x2xR8-16Straight Connector

1x1xR8-16R8-3
R8-3
Right Angle Connector Straight Connector Right Angle Connector

1x2x

2x

A-2228-01

A-2218-01

A-2090-02

2x
A-2219-01

2x

1x

1x

A-2231-01

A-2221-01

A-2232-01

1x

1x

2x

1x

1x

A-2220-01

A-2235-01

PM-2200-02[300mm]A-2188-02

A-2263-57-30(Gas Spring – 30lbs.)

1x
R8-9 (Gripper Spool)
Straight Connector

1xA-2292-01(Actuators NOT Included)

fasteners included, not shown
R-Series 5-DoF Arm Assembly Instructions

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Bill of Materials - Electrical

PP-2349-RED
18AWG Power Wire, Red

PP-2358-YEL
22AWG M-Stop Cable, Yellow

PP-2401-DUP
POF Duplex Cable

PP-2349-BLK
18AWG Power Wire, Black

PP-2358-BLU
22AWG M-Stop Cable, Blue

A-2256-01
POF Ethernet Media Converterll items are included in R-Series Connection Toolbox
R-Series 5-DoF Arm Assembly Instructions

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Table of Contents
Assembly

Image

Pages

Tubes

[8]

Base

[9-12]

Arm[13-20]

Gripper[21-25]Final[26-38]
R-Series 5-DoF Arm Assembly Instructions

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2x

1x

1x

A-2218-01

A-2219-01

1xPM-2200-02[300mm]

R-Series 5-DoF Arm Assembly Instructions

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1x

1x

1x

R8-16Straight Connector

A-2228-01

R-Series 5-DoF Arm Assembly Instructions

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M6x10mm1x

1xA-2221-01

Flat face towards outside

R-Series 5-DoF Arm Assembly Instructions

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1x

1x1x

Align with actuator
output hub tick mark(Flat face parallel with tick mark)

R-Series 5-DoF Arm Assembly Instructions

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1x

1x

1x
R8-16
Right Angle Connector

Connectors of both modules
point the same way

R-Series 5-DoF Arm Assembly Instructions

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1x1x

1x
Align with actuator
output hub tick mark(Tube aligns with tick mark)

R-Series 5-DoF Arm Assembly Instructions

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1x1x

1x

A-2188-02

A-2263-57-30(Gas Spring – 30lbs.)

R-Series 5-DoF Arm Assembly Instructions

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1x1x

1x

R-Series 5-DoF Arm Assembly Instructions

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1x

1xR8-16
Straight Connector

R-Series 5-DoF Arm Assembly Instructions

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1x

1x1x

Align with actuator
output hub tick mark(Tube aligns with tick mark)

R-Series 5-DoF Arm Assembly Instructions

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1x

1x
R8-3
Straight Connector

R-Series 5-DoF Arm Assembly Instructions

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1x

1xA-2220-01

Align with actuator
output hub tick mark(Flat face parallel with tick mark)

R-Series 5-DoF Arm Assembly Instructions

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1x

1xR8-3Right Angle Connector

Connectors of both modules
point the same way

R-Series 5-DoF Arm Assembly Instructions

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R-Series 5-DoF Arm Assembly Instructions

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1x

1x

PM-2292-01

PM-2546-01

Spool

R-Series Spool Housing

R-Series 5-DoF Arm Assembly Instructions22

1x
PM-2519-01
Housing Mid-Tube Mount

R-Series 5-DoF Arm Assembly Instructions23

2x
PM-2148-02
Tube Clamp

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The Last Module on the Arm

Align with actuator
output hub tick mark(Fingers perpendicular to the tick mark)

R-Series 5-DoF Arm Assembly Instructions

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Wiring Notes• Keeping wires organized will help prevent tangling and add a nice aesthetic.
•Spiral sleeving is a good accessory for organizing loose wires• Visit the following link to see detailed instruction on connecting wires to R-Series Modules.
http://docs.hebi.us/#r-series-quickstart
For more information visit: docs.hebi.us[Spiral sleeving]

Wires that come from the previous joint should beinserted directly to actuator ports.

Wires that connect to the next joint should be threaded
through the actuator’s bore hole.

R-Series 5-DoF Arm Assembly Instructions

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Wiring Example

R-Series 5-DoF Arm Assembly Instructions

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Wiring Diagramwith Gripper

Ethernet Cable
POF Ethernet
Media Converter
Elbow
Straight Connector

Spool
Straight Connector

Wrist 1
Straight Connector

ShoulderRight Angle Connector
Wrist 2Right Angle Connector

Base
Straight Connector

NetworkPower

R-Series 5-DoF Arm Assembly Instructions

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Wiring Diagram
Ethernet Cable
Elbow
Straight Connector

POF Ethernet
Media Converter

Wrist 1
Straight Connector

ShoulderRight Angle Connector

Wrist 2Right Angle Connector
BaseStraight Connector

NetworkPowerR-Series 5-Dof Arm Assembly Instructions

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Running the Cable Through••••

Make sure to use a Standard Road Bike Brake Cable.
Run the cable to fit your system.
Run both the cable and the cable housing before cutting them to ensure that the cable is long enough.
Cut the cable housing first, and then cut the cable.
*Cross Section View of the Cable

Make sure that the Cable Housing is long enough to be
fully inserted into the Housing End Cap and the Housing Adapter

About 100mm of Cable should
stick out from the Cable Housing

Cable Housingminimum bend radius
25mm

100mm

R-Series 5-DoFArm Assembly Instructions30

1x
PP-2239-01
Cable

1x
PP-2240-01
Cable Housing

1xPM-2222-01
Cable Housing Adapter

R-Series 5-DoFArm Assembly Instructions

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R-Series 5-DoFArm Assembly Instructions

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R-Series 5-DoFArm Assembly Instructions

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1x
PM-2292-01
Spool

R-Series 5-DoFArm Assembly Instructions

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Initializing the Spool, pt. 1
I.
II.

Connect the Spool Module into the network, and turn it on
Open HEBI Scope GUI

III. Set the Strategy of the Spool Module to“STRATEGY_4”

IV.

Command the Effort to -5 Nm
1. Go to “Monitoring” tab

1. Click on your Spool Module

2. Click the “Target Button” for the Effort

2. Go to “Gains” tab3. Type “-5” and Click “OK”

3. Use the Control Strategy drop down menu to select a
Suitable Strategy for your Application

The Spool will wind the Cable and close the Fingers.

4. Click “Send”

R-Series 5-DoFArm Assembly Instructions

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Initializing the Spool , pt. 2V.

While Commanding the Effort, set the current
position to “-0.7”

VI. Stop commanding the effort, and command theposition to 0.

1. Go to “Dashboard” tab1. Go to “Monitoring” tab

2. Toggle “Params” as shown

2. Click the “Target Button” for Position

3. Type “-0.7” for Position

3. Type “0” and Click “OK”

4. Click “Apply”

The Spool will unwind the Cable and open the Fingers.
*To close the gripper, turn the spool clockwise.**To open the gripper, command the spool to zero position.*
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Initializing the Spool, , pt. 3*If the Safety Limits are not set, the spool canturn to a position greater than zero, and breakthe cable.**To close the gripper, turn the spool clockwise(negative effort).**To open the gripper, turn the spool counterclockwise (positive effort)*VII. Set Safety Limits for the Spool
1. Go to “Gains” tab2. Type “-0.9” for Min Position
3. Type “0” for Max Position
4. Toggle “Persist Sends” as shown5. Click “Send”

R-Series 5-DoFArm Assembly Instructions

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1x

1x

2x2x

A-2143-02

A-2090-02

A-2231-01

1x1x

A-2232-01

A-2235-01

Install cables before
adding caps

R-Series 5-DoFArm Assembly Instructions

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Additional Accessories• Power Supply, 36V 220W (A-2098-36)• Comes with correct Molex Minifit Jr 2 connector• 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*

R-Series 5-DoF Arm Assembly Instructions

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© HEBI Robotics 2021
R-Series 5-DoF Arm Assembly Instructions

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