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 5-DoF Arm Assembly Instructions

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Technical Specifications
Specifications

Value

Weight3.5 kgReach650 mm

Max Continuous Payload*

3.50 kg

Max Peak Payload*

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

Side View

Movement

Working Range

Speed

Axis 1 – Base
[Default: X8-9]

Continuous(limited by wiring)

180°/sAxis 2 – Shoulder[Default: X8-16]

0° to +70°
(limited by gas spring)

90°/s

Axis 3 – Elbow[Default: X8-9]-155° to +155°(avoid end effector collisions)

180°/sAxis 4 – Wrist 1[Default: X5-1]

Continuous(avoid end effector collisions)

540°/sAxis 5 – Wrist 2[Default: X5-1]

Continuous(limited by wiring)

540°/sTop View

650mm

650mm

X-Series 5-DoF Arm Assembly Instructions

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Technical Specifications
82mm

105.35mm

5mm

8mm

Spool
ModuleMax Finger Torque

Max Finger Force at
50mm

X5-1

0.1 Nm

2N

X5-4

0.5 Nm

10 NX5-9**

1.1 Nm

23 N

X8-3

0.4 Nm8N

X8-9

1.1 Nm

23 N

X8-16

2.0 Nm40 N*Values assume a symmetric two-finger grasp** Default Module

10mm

4 X M3 THRU

10mm
4 X M3 THRU

12mm
23mm

113mm X-Series 5-Dof Arm Assembly Instructions

10mm

79.5mm4

Bill of Materials – Mechanical
Default Configuration

2x
A-2038-03

2x
PM-2200-02[300mm]1x
PM-2292-01
Spool

1x

2x

2x

X8-16

1x

X8-9

X5-1

X5-9

2x

2x

2x

1x

1x

A-2090-02

A-2039-03

A-2091-02

A-2055-01

PP-2239-01

1x
A-2088-90-30(Gas Spring – 30lbs.)

1x
PM-2293-01
Spool Housing

1x

1x

1x

1x

A-2188-01

A-2043-01

A-2040-01RA-2042-01R

1x1x

PM-2222-01

Cable Clamp(part of A-2055-01)

1x

1x
PP-2241-01

PM-2290-01 Cable Housing Adapter PP-2240-01
Cable Housing Cable Housing End Cap

fasteners included, not shown
X-Series 5-DoF Arm Assembly Instructions

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Bill of Materials - Electrical

3x

1x

A-2128-01
Power Distribution Board

A-2048-02
Power Jumper

4x4x

1x

A-2046-12
Power Cable, 12” Length

A-2046-18
Power Cable, 18” Length

A-2046-24
Power Cable, 24” Length

3x3xPP-2059-01
Ethernet Cable, 12” Length

PP-2061-01
Ethernet Cable, 36” Length

X-Series 5-DoF Arm Assembly Instructions

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Table of Contents
AssemblyImagePages

Tubes

[8]

Base

[9-10]

Arm[11-14]

Gripper[15-20]Final[21-29]X-Series 5-DoF Arm Assembly Instructions

7M5x16mm

2x1x

1x

A-2038-03

A-2039-03

1x
PM-2200-02[300mm]M5x16mm

X-Series 5-DoF Arm Assembly Instructions8

Flat face towards outside

1xM5x12mm

Step 2 of 21x1xX8-9

A-2040-01R

M6x10mm
M6x12mmStep 1 of 2

Axis 1: BaseDefault X8-9

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

M5x10mm FHCS

X-Series 5-DoF Arm Assembly Instructions

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1x

1x

Axis 2: Shoulder
1xDefault X8-16

X8-16

M5x14mm

X-Series 5-DoF Arm Assembly Instructions

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1x

1x

M5 x 16mm

Align with actuator
output hub tick mark(Tube aligns with tick mark)1xM5x10mm

1x
A-2188-01

1x
A-2088-90-30(Gas Spring – 30lbs.)

Gas springs require
washer for flush mounting(included in A-2088-90-30)

X-Series 5-DoF Arm Assembly Instructions

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1x1x

Axis 3: Elbow
Default X8-9
M5x8mm

M5x10mm

1x1x
X8-9

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

X-Series 5-DoF Arm Assembly Instructions

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1x

Align with actuator
output hub tick mark

2x
X5-1

1xA-2042-01R

M5x10mm

Axis 4: Wrist 1
Default X5-1

M5x12mm

M5x8mmAxis 5: Wrist 2
Default X5-1

X-Series 5-DoF Arm Assembly Instructions

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All axes at zero degrees

X-Series 5-Dof Arm Assembly Instructions

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Gripper
X-Series 5-Dof Arm Assembly Instructions

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1xX5-9

Spool
Default X5-9

X-Series 5-Dof Arm Assembly Instructions

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M5x12mm

1x1xPM-2292-01

PM-2293-01

Spool

M3x35mmSpool Housing

Clocking for the Spool does not matter

Wire Actuated Gripper Assembly Instructions

17

M5x12mm

M3x50mm1x1x

PM-2292-01

PM-2293-01
Spool Housing

Spool

12 x
PM-2467-01
M3 5.9mm OD Flat Washer(Use for X8 Spool ONLY)

PM-2467-01

Clocking for the Spool does not matter

Wire Actuated Gripper Assembly Instructions

18

M5x8mm1xPM-2290-02
Housing Horizontal Tube Adapter

X-Series 5-Dof Arm Assembly Instructions

19

2xPM-2148-01
Tube Clamp

X-Series 5-Dof Arm Assembly Instructions

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The Last Module on the Arm

Align with actuator
output hub tick mark(Fingers perpendicular to the tick mark)M5x8mm

X-Series 5-Dof 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• 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.

X-Series 5-Dof Arm Assembly Instructions

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Wiring Diagram
36”

12” Elbow
18”

12”

12”

12”

Spool

36”18”
12”

12”

Wrist 1

Power Cable
12”

Ethernet Cable
ShoulderPower Distribution

18”
24”

Power Jumper
Power Supply

36”

18”

Wrist 2

Base

network
X-Series 5-Dof Arm Assembly Instructions

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Wiring Diagram(no Spool Module)

36”12” Elbow
18”

12”

12”

36”

12”

12”

Wrist 1

Power Cable
12”

Ethernet Cable
ShoulderPower Distribution

18”
24”

Power Jumper
Power Supply

36”

18”

Wrist 2

Base

network
X-Series 5-Dof Arm Assembly Instructions

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Running the Cable Through••••Make sure to use a Standard Road Bike Brake Cable.
Run the cable to fit your system.
Run both the cable and the cable housing before cutting them to ensure that the cable is long enough.
Cut the cable housing first, and then cut the cable.
*Cross Section View of the Cable

Make sure that the Cable Housing is long enough to be
fully inserted into the Housing End Cap and the Housing Adapter

About 100mm of Cable should
stick out from the Cable Housing

Cable Housing
minimum bend radius
25mm

100mm

X-Series 5-Dof Arm Assembly Instructions

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1x

1x

PP-2240-01

PP-2239-01

Cable Housing

Cable

1x
PM-2222-01
Cable Housing Adapter

X-Series 5-Dof Arm Assembly Instructions

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X-Series 5-Dof Arm Assembly Instructions

27

X-Series 5-Dof Arm Assembly Instructions

28

1xPM-2290-01
Cable Clamp

M3x8mm

X-Series 5-Dof Arm Assembly Instructions

29

M3Mx2x8mm
14mm

M3x 14mm
M2x8mm1x1x2x2x

A-2090-01

A-2090-02

A-2091-02

M3Mx2x8mm
14mm

Install cables before
adding caps
M3x 14mm
M2x8mm

M2x8mm

X-Series 5-Dof Arm Assembly Instructions

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Initializing the Spool, pt. 1
I.
II.

Connect the Spool Module into the network, and turn it on
Open HEBI Scope GUI

III. Set the Strategy of the Spool Module to“STRATEGY_4”

IV.

Command the Effort to -5 Nm
1. Go to “Monitoring” tab

1. Click on your Spool Module

2. Click the “Target Button” for the Effort

2. Go to “Gains” tab3. Type “-5” and Click “OK”

3. Use the Control Strategy drop down menu to select a
Suitable Strategy for your Application

The Spool will wind the Cable and close the Fingers.

4. Click “Send”

R-Series Gripper Assembly Instructions

31

Initializing the Spool, pt. 2V.

While Commanding the Effort, set the current
position to “-0.7”

VI. Stop commanding the effort, and command theposition to 0.

1. Go to “Dashboard” tab

1. Go to “Monitoring” tab

2. Toggle “Params” as shown

2. Click the “Target Button” for Position

3. Type “-0.7” for Position

3. Type “0” and Click “OK”

4. Click “Apply”

The Spool will unwind the Cable and open the Fingers.
*To close the gripper, turn the spool clockwise.**To open the gripper, command the spool to zero position.*
R-Series Gripper Assembly Instructions

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Initializing the Spool, pt. 3*If the Safety Limits are not set, the spool canturn to a position greater than zero, and breakthe cable.**To close the gripper, turn the spool clockwise(negative effort).**To open the gripper, turn the spool counterclockwise (positive effort)*VII. Set Safety Limits for the Spool
1. Go to “Gains” tab2. Type “-0.9” for Min Position
3. Type “0” for Max Position
4. Toggle “Persist Sends” as shown5. Click “Send”

R-Series Gripper Assembly Instructions

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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

X-Series 5-DoF Arm Assembly Instructions

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© HEBI Robotics 2021
X-Series 5-DoF Arm Assembly Instructions

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