T-Series 7-DoF Double
Shoulder 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. T8 = 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 7-DoF Double Shoulder Arm Assembly Instructions

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Technical Specifications
Specifications

Value

Weight9.00 kg

Reach

900 mmPayload at Max Reach*

1.00 kg

Payload at Half Reach*

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

Side View

MovementWorking Range

Speed

Axis 1 – Base Yaw[Default: T8-9]

Continuous(limited by wiring)

180°/sAxis 2 – Shoulder Pitch[Default:2x T8-16]-90° to +90°
(avoid end effector collisions)

90°/s

Axis 3 – Shoulder Twist[Default: T8-9]

Continuous(limited by wiring)

90°/s

Axis 4 – Elbow Pitch[Default: T8-16]-155° to +155°(avoid end effector collisions)

90°/s

Axis 5 – Elbow Twist[Default: T8-9]

Continuous(avoid end effector collisions)

540°/sAxis 6 – Wrist Pitch[Default: T5-4]

Continuous(limited by wiring)

540°/sAxis 7 – Wrist Twist[Default: T5-1]

Continuous(limited by wiring)

540°/sTopView

900mm
900mm

T-Series 7-DoF Double Shoulder Arm Assembly Instructions

3Bill of Materials – Mechanical*
Default Configuration

3x

1x

A-2228-01

1x

3x

T8-16

2x

A-2219-01

1xPM-2228-01

1x

T5-4

T8-9

2x

T5-1

2x

A-2231-01

A-2220-01

2xPM-2517-01

2x

A-2235-01

2xPM-2563-01

2x

PM-2200-02[300mm]2x

A-2225-01

2x

PM-3157-01

A-2581-01*fasteners included, not shown*
T-Series 7-DoF Double Shoulder 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 Converter*all items are included in T-Series Connection Toolbox*
T-Series 7-DoF Double Shoulder Arm Assembly Instructions

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Table of Contents
Assembly

Image

Pages

Tubes

[7]

Base[8-14]

Final[14-30]T-Series 7-DoF Double Shoulder Arm Assembly Instructions

62x1xA-2219-01

1xPM-2200-02[300mm]T-Series 7-DoF Double Shoulder Arm Assembly Instructions

71x1xT8-9

1xA-2228-01

M5 x 10mm
FHCS

T-Series 7-DoF Double Shoulder Arm Assembly Instructions

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1x

1xT8-16

1xPM-2228-01

M5 x 10mm

Note orientation ofmodule

T-Series 7-DoF Double Shoulder Arm Assembly Instructions

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1x

1x

T8-16

1xPM-2228-01

M5 x 10mm

Note orientation ofmoduleT-Series 7-DoF Double Shoulder Arm Assembly Instructions

101x1x1x
Align moduleconnectors

1xPM-2517-01

M6 x 10mm

T-Series 7-DoF Double Shoulder Arm Assembly Instructions

111x1x

M5 x 10mm

1xAlign moduleconnectors

T-Series 7-DoF Double Shoulder Arm Assembly Instructions

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1x1x2xPP-2563-01

M5 x 10mm

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

T-Series 7-DoF Double Shoulder Arm Assembly Instructions

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1x1x

1x

M5 x 16mm

PP-3157-01

T-Series 7-DoF Double Shoulder Arm Assembly Instructions

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1x

1x

Note orientation ofmodule

1xT8-9M5 x 10mm

T-Series 7-DoF Double Shoulder Arm Assembly Instructions

15

1x1x

M5 x 10mm1xA-2225-01

Tick mark aligns withinternal dowel pin

T-Series 7-DoF Double Shoulder Arm Assembly Instructions

161x

1x

Note orientation oftube mount1x
M5 x 16mm

T-Series 7-DoF Double Shoulder Arm Assembly Instructions

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1x

1x

M5 x 10mm

1xT8-16

Align moduleconnectors with tube

T-Series 7-DoF Double Shoulder Arm Assembly Instructions

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1x

1x
M5 x 10mm

1xA-2220-01

Align actuator andbracket as shown

T-Series 7-DoF Double Shoulder Arm Assembly Instructions

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1x1x
M5 x 10mm

1xT8-9Align connectors ofeach actuator

T-Series 7-DoF Double Shoulder Arm Assembly Instructions

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1x1x1xA-2225-01

M5 x 10mm

Tick mark aligns withinternal dowel pin

T-Series 7-DoF Double Shoulder Arm Assembly Instructions

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1x

1x1x
M5 x 16mm

Note orientation oftube mount

T-Series 7-DoF Double Shoulder Arm Assembly Instructions

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1x

1x

1x

T5-4

M5 x 10mm

Align moduleconnectors with tube

T-Series 7-DoF Double Shoulder Arm Assembly Instructions

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1x

1x

1x

A-2220-01

M5 x 10mm

Align actuator andbracket as shown

T-Series 7-DoF Double Shoulder Arm Assembly Instructions

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1x1x1xT5-1

M5 x 10mm

Align connectors ofeach actuator
T-Series 7-DoF Double Shoulder Arm Assembly Instructions

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J5 Elbow Twist

Wiring Diagram

Ethernet Cable
J4 Elbow Pitch

POF Ethernet
Media Converter
Power and Fiber

J3 Shoulder Twist

J6 Wrist Pitch

J2 Shoulder Pitch A

J2 Shoulder Pitch B

J1 BaseJ7 Wrist Twist

NetworkPower

T-Series 7-DoF Double Shoulder 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 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 be
inserted directly to actuator ports.

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

T-Series 7-DoF Double Shoulder Arm Assembly Instructions

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Wiring Example

T-Series 7-DoF Double Shoulder Arm Assembly Instructions28

2xA-2231-01

Install cables before
adding caps

2xA-2235-01

1xM3 x 14mm
Captive Screw

T-Series 7-DoF Double Shoulder Arm Assembly Instructions

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All axes at zero degrees

T-Series 7-DoF Double Shoulder Arm 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

T-Series 7-DoF Double Shoulder Arm Assembly Instructions31© HEBI Robotics 2024
T-Series 7-DoF Double Shoulder Arm Assembly Instructions

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