R-Series 4-DoF SCARA Arm Kit
Assembly Instructions

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 4-DoF SCARA Arm Assembly Instructions

2

Technical Specifications
Specifications

Value

Movement

Working Range

Max Speed

Weight (Excludes T-Slot Frame)

3.5 kg
650 mm-50° to +80°
(limited by wiring)192°/s

Reach

Axis 1 – Base
[Default: R8-9]

Max Continuous Payload*

1.00 kg

Axis 2 – Shoulder[Default: R8-16]-30° to +90°

84°/s

Max Peak Payload*

1.50 kg

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

192°/sAxis 4 – Wrist 1[Default: R8-3]

Continuous(avoid end effector collisions)

540°/s*Calculated using Default Configuration.*
Using a different configuration of R-Series Actuators
will provide different payload capacities.

Top View

Side View

650mm650mm

R-Series 4-DoF SCARA Arm Assembly Instructions

3

Bill of Materials – Mechanical
Default Configuration

2x1x

1x

R8-3
Straight Connector

R8-9
Straight Connector

R8-16
Right Angle Connector

2x2x

2x

2x

A-2218-01

A-2090-02

A-2219-01

1x

1x

1x

A-2221-01

A-2232-01

2xPM-2200-02[300mm]A-2228-01

6x
PP-2141-18[2” x 1” T-Slot 18” Length]

A-2231-01

4x

2x

6x

PP-2155-01

PP-2146-01

PP-2145-01

fasteners included, not shown
R-Series 4-DoF SCARA Arm Assembly Instructions

4

Bill of Materials - ElectricalPP-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 4-DoF SCARA Arm Assembly Instructions

5

Table of Contents
AssemblyImagePages

Frame

[6-8]

Tubes

[9-10]

Base[11-12]

Final[13-17]

R-Series 4-DoF SCARA Arm Assembly Instructions

6

3x
PP-2141-18

2x[2” x 1” T-Slot 18” Length]

PP-2155-01

R-Series 4-DoF SCARA Arm Assembly Instructions

72x
PP-2141-18

2x[2” x 1” T-Slot 18” Length]

PP-2155-01

R-Series 4-DoF SCARA Arm Assembly Instructions

82x
PP-2146-01

1x
PP-2141-18[2” x 1” T-Slot 18” Length]

R-Series 4-DoF SCARA Arm Assembly Instructions

9

6x
PP-2145-01

R-Series 4-DoF SCARA Arm Assembly Instructions10

1x
PM-2200-02[300 mm]1x1x

A-2039-02

A-2038-02

Align with tube
pin holes

R-Series 4-DoF SCARA Arm Assembly Instructions11

1x
PM-2200-02[300 mm]1x1x

A-2039-02

A-2038-02

Align with tube
pin holesR-Series 4-DoF SCARA Arm Assembly Instructions

12

1x1x
A-2228-01

R-Series 4-DoF SCARA Arm Assembly Instructions

13

M6x10mm

1x1x
A-2221-01

Flat face towards outside

R-Series 4-DoF SCARA Arm Assembly Instructions

14

Flat face towards outside

1x1x

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

R-Series 4-DoF SCARA Arm Assembly Instructions

15

1x

1x

1x
R8-16

R-Series 4-DoF SCARA Arm Assembly Instructions

16

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

R-Series 4-DoF SCARA Arm Assembly Instructions

17

1x

1x

1xR8-3

R-Series 4-DoF SCARA Arm Assembly Instructions

18

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

R-Series 4-DoF SCARA Arm Assembly Instructions

19

1x1x

1x
R8-3

R-Series 4-DoF SCARA Arm Assembly Instructions

20

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 4-DoF SCARA Arm Assembly Instructions

21

Wiring Example

R-Series 4-DoF SCARA Arm Assembly Instructions

22

Wiring Diagram
Ethernet Cable
Elbow
Straight Connector

POF Ethernet
Media Converter

Wrist 1
Straight Connector

ShoulderRight Angle Connector

Base
Straight Connector

NetworkPower

R-Series 4-DoF SCARA Arm Assembly Instructions

23

2x2x

A-2091-01

A-2090-01

Route wires before
installing caps

R-Series 4-DoF SCARA Arm Assembly Instructions

24

*All axes at zero degrees*

R-Series 4-DoF SCARA Arm Assembly Instructions

25

Additional Accessories• 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*

R-Series 4-DoF SCARA Arm Assembly Instructions

26

© HEBI Robotics 2021
R-Series 4-DoF SCARA Arm Assembly Instructions

27