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 Arm Assembly Instructions

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Technical Specifications
Specifications

Value

Weight3.0 kgReach650 mm

Max Continuous Payload*

1.25 kg

Max Peak Payload*

1.75 kg*Calculated using Default Configuration.*
Using a different configuration of X-Series Actuators
will provide different payload capacities.

Movement

Working Range

Max Speed

Axis 1 – Base
[Default: X5-4]

Continuous(limited by wiring)

192°/sAxis 2 – Shoulder[Default: X5-9]0° to +180°

84°/s

Axis 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 View

Top View

650mm
650mm

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Bill of Materials - Mechanical
Default Configuration

1x2x

1x

X5-1

X5-4

X5-9

2x

2x

2x

2x

A-2038-03

A-2090-02

A-2039-03

A-2091-02

1x1x

A-2043-01

A-2040-01R

2x
PM-2200-02[300mm]fasteners included, not shown

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Bill of Materials - Electrical2x

1x

A-2128-01
Power Distribution Board

A-2048-02
Power Jumper

2x3x1x

A-2046-12
Power Cable, 12” Length

A-2046-18
Power Cable, 18” Length

A-2046-24
Power Cable, 24” Length

1x3xPP-2059-01
Ethernet Cable, 12” Length

PP-2061-01
Ethernet Cable, 36” Length

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Table of Contents
AssemblyImage

Pages

Tubes

[6]

Base

[7-8]

Final

[9-14]

X-Series 4-DoF Arm Assembly Instructions

6M5x16mm

2x1x

1x

A-2038-03

A-2039-03

1xPM-2200-02[300mm]M5x16mm

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Flat face towards outside

1x
M5x12mmStep 2 of 2
1x1xX5-4

A-2040-01R

M6x10mm
M6x12mmStep 1 of 2
Axis 1: Base
Default X5-4

Align with actuator
output hub tick mark(face parallel with tick mark andmounting hole pointed on same side)

M5x10mm FHCS

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1x

1x
Axis 2: Shoulder
Default X5-9

1x
X5-9

M5x14mm

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1x1x1x

Align with actuator
output hub tick mark(Tube aligns with tick mark)M5x10mm

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1x1x
M5x8mmAxis 3: Elbow
Default X5-4

M5x10mm1x1xX5-4

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

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1x1x
X5-1

Axis 4: Wrist 1
Default X5-1

M5x8mm

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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• 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[Spiral sleeving]
Power distribution boards are included to help
daisy-chain power connections.
These fit well within the tubes between actuators.

Wires that come from theprevious joint should be inserted
directly to actuator ports.

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

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Wiring Diagram

12”
36”

Elbow

18”

18”
36”
12”

Wrist 1

Power Cable

12”
Shoulder18”

24”

Ethernet Cable
Power Distribution
Power Jumper
Power Supply36”

Basenetwork
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M3M2x8mm
x 14mm1x

M3x 14mm
M2x8mm2x2xA-2090-02

A-2091-02

Install cables before
adding caps

M3Mx2x8mm
14mm

M3x 14mm
M2x8mm

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All axes at zero degrees

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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*

X-Series 4-DoF Arm Assembly Instructions17

© HEBI Robotics 2021
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