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 7-DoF Arm Assembly Instructions

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Technical Specifications
Movement

Working Range

Speed

Continuous(limited by wiring)

90°/s

Axis 2 – Shoulder Pitch[Default: 2 x R8-16]-90° to +90°
(avoid end effector collisions)

Axis 3 – Shoulder Twist[Default: R8-9]

Specifications

ValueWeight

8.25 kg

Max Reach

1.00 m90°/sPayload @ Max Reach

1.0 kgContinuous(limited by wiring)

180°/sHalf Reach

500 m

Axis 4 – First Elbow[Default: R8-16]-155° to +155°(avoid end effector collisions)

Payload @ Half Reach

3 kg

90°/s

Axis 5 – Second Elbow[Default: R8-9]

Continuous(limited by wiring)

180°/sAxis 6 – Wrist 1[Default: R8-3]

Continuous(limited by wiring)504°/sAxis 7 – Wrist 2[Default: R8-3]

Continuous(limited by wiring)504°/sAxis 1 – Base
[Default: R8-16]

Using a different configuration of R-Series Actuators will
provide different payload capacities.

Top View

Side View

900mm
Max Reach: 1.00m

Half Reach: 0.50m
R-Series 7-DoF Double Shoulder Arm Assembly Instructions

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Bill of Materials - Mechanical*

1x1x

1x

R8-3
Straight Connector

R8-9
R8-3
Right Angle Connector Straight Connector

2x1x2x

R8-16
R8-9
Right Angle Connector Straight Connector

2xA-2219-01

R8-16
Right Angle Connector

2x2x1x2x2x2x

A-2220-01

A-2225-01

A-2228-01

PM-2200-02[300mm]A-2231-01

A-2235-01

2x

1x

1x

2x

PM-2515-01

PM-2517-02

PM-2562-01

PM-2563-01

1x

A-2269-01*fasteners included, not shown*
R-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 Converterll items are included in R-Series Connection Toolbox
R-Series 7-DoF Arm Assembly Instructions

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R-Series 7-DoF Double Shoulder Arm Assembly Instructions

62x1x
A-2219-01

1xPM-2200-02[300mm]

R-Series 7-DoF Double Shoulder Arm Assembly Instructions

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1x1x
R8-16
Straight Connector

1xA-2228-01

R-Series 7-DoF Double Shoulder Arm Assembly Instructions

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1x

1x

1x

R8-16
Right Angle Connector

PM-2515-01

R-Series 7-DoF Double Shoulder Arm Assembly Instructions

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1x

1x

1x

R8-16
Right Angle Connector

PM-2515-01

R-Series 7-DoF Double Shoulder Arm Assembly Instructions

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1x1xModule output faces towards outside

1x1x
PM-2517-02

M6x10mm

R-Series 7-DoF Double Shoulder Arm Assembly Instructions

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1x

1x1x

Align with actuator
output hub tick mark(face parallel with tick mark and spring
mounting hole pointed on same side) R-Series 7-DoF Double Shoulder Arm Assembly Instructions

12

1x

1x

2x
PM-2563-01

Align with actuator
output hub tick mark(flat surface with two tapped holes face towards +x*)
*Axis direction specified on the bottom of the module

R-Series 7-DoF Double Shoulder Arm Assembly Instructions

131x1xR8-9No Connector

1xPM-2562-01

R-Series 7-DoF Double Shoulder Arm Assembly Instructions

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1x1x1x

R-Series 7-DoF Double Shoulder Arm Assembly Instructions

15

1x

1x1xA-2204-01A

R-Series 7-DoF Double Shoulder Arm Assembly Instructions

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1x

1x

1x
A-2225-01

Align with actuator
output hub tick mark(symmetric about tick mark with flat surface facing towards +x*)
*Axis direction specified on the bottom of the module

R-Series 7-DoF Double Shoulder Arm Assembly Instructions

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1x

1x1x

R-Series 7-DoF Double Shoulder Arm Assembly Instructions

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1x

1x

1xR8-16
Straight Connector

R-Series 7-DoF Double Shoulder Arm Assembly Instructions

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1x1x

1x
A-2220-01

R-Series 7-DoF Double Shoulder Arm Assembly Instructions

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1x1x

1xR8-9Right Angle Connector

R-Series 7-DoF Double Shoulder Arm Assembly Instructions

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1x

1x

1x
A-2225-01

Align with actuator
output hub tick mark(symmetric about tick mark with flat surface facing towards +x*)
*Axis direction specified on the bottom of the module

R-Series 7-DoF Double Shoulder Arm Assembly Instructions

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1x1x1x

R-Series 7-DoF Double Shoulder Arm Assembly Instructions

23

1x

1x1x
R8-3
Straight Connector

R-Series 7-DoF Double Shoulder Arm Assembly Instructions

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1x1x

1x
A-2220-01

Align with actuator
output hub tick mark

R-Series 7-DoF Double Shoulder Arm Assembly Instructions

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1x

1x

1x
R8-3
Right Angle Connector

R-Series 7-DoF Double Shoulder Arm Assembly Instructions

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R-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 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 7-DoF Arm Assembly Instructions

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Wiring Example

R-Series 7-DoF Arm Assembly Instructions

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Wiring Diagramwith Gripper

Ethernet CablePOF Ethernet
Media ConverterFirst Elbow
Straight Connector

Second Elbow
Right Angle Connector

Shoulder Twist
Straight Connector

Shoulder Pitch 1
Right Angle Connector

Shoulder Pitch 2
Right Angle Connector

BaseStraight Connector

NetworkPower

R-Series 7-DoF Arm Assembly Instructions

Wrist 1
Straight Connector

Wrist 2Right Angle Connector30

1x2x2x

A-2231-01

A-2235-01

Install cables before
adding caps

R-Series 7-DoF Double Shoulder Arm Assembly Instructions31© HEBI Robotics 2021
R-Series 7-DoF Double Shoulder Arm Assembly Instructions

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