T-Series 4-DoF 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.
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.

For more information please visit: docs.hebi.us

T-Series 4-DoF Arm Assembly Instructions2Technical Specifications
Specifications

Value

Weight3.50 kg

Reach

650 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 T-Series Actuators will
provide different payload capacities.

Movement

Working Range

SpeedAxis 1 – Base
[Default: T5-4]

Continuous(limited by wiring)

180°/sAxis 2 – Shoulder[Default: T5-9]

0° to +180°

90°/s

Axis 3 – Elbow[Default: T5-4]-155° to +155°(avoid end effector collisions)

180°/sAxis 4 – Wrist 1[Default: T5-1]

Continuous(avoid end effector collisions)

540°/sSide View
TopView

650mm
650mm

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Bill of Materials – Mechanical*
Default Configuration

2x1x

1x

T5-4

T5-1

1x

2x

2x

A-2228-01

A-2218-01

1x

A-2221-01T5-9

1x

A-2232-01

A-2090-02

A-223101

A-221901

2x

PM-2200-02[300mm]2x2x1xPP-2141-12(optional)*fasteners included, not shown*
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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 Converter*all items are included in T-Series Connection Toolbox*
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Table of ContentsAssembly

ImagePages

Tubes

[7]

Base

[8-12]

Final[13-20]T-Series 4-DoF Arm Assembly Instructions

62x1x

A-2218-01

1xA-2219-01

1xPM-2200-02[300mm]T-Series 4-DoF Arm Assembly Instructions

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1x1x

T5-4

1x

A-2228-01

M5 x 10mm
FHCS

T-Series 4-DoF Arm Assembly Instructions

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1x

1x1x

PP-2141-12(optional)

T-Series 4-DoF Arm Assembly Instructions

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1x

1x

A-2221-01

Flat face towards outside

T-Series 4-DoF Arm Assembly Instructions

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1x1x

M5 x 10mm

1xAlign with actuator
output hub tick mark(Flat face parallel with tick mark)

T-Series 4-DoF Arm Assembly Instructions11

1x1x1x

T5-9

M5 x 10mm

Connectors of both modules
point the same way
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1x

1x

1x
Align with actuator
output hub tick mark(Tube aligns with tick mark)M5 x 10mm

T-Series 4-DoF Arm Assembly Instructions

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1x

1x

M5 x 10mm

T5-4

Align actuatorconnectors with tube

T-Series 4-DoF Arm Assembly Instructions

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1x1x
M5 x 10mm

1x

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

T-Series 4-DoF Arm Assembly Instructions

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1x1x1xT5-1

M5 x 10mm

Align actuatorconnectors with tube

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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 T-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.

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Wiring Example

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Wiring Diagramwith Gripper
J3 Elbow

Ethernet Cable
POF Ethernet
Media Converter
Power and Fiber

J4 Wrist

J2 Shoulder

J1 Base

NetworkPower

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2x

2x

A-2231-01

A-2090-02

1x

Install cables before
adding caps

1xA-2232-01

M3 x 14mm
Captive Screw

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All axes at zero degrees

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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

T-Series 4-DoF Arm Assembly Instructions22

© HEBI Robotics 2024
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