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 Gripper Assembly Instructions

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17mm
19mm
Spool
ModuleMax Finger
TorqueMax Finger
Force at 50mm

R8-3

0.4 Nm

8N

R8-9**

1.1 Nm23 NR8-16

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

90°

5mm
10mm
30mm

R22.5mmFinger Force

50mm
from the Centerof the Rotation

12mm

Finger Torque
4 X M3 THRU

8mm
22.5mm
R-Series Gripper Assembly Instructions

382mm105.35mm

5mm

8mm

10mm

4 X M3 THRU

12mm

4 X M3 THRU

10mm

79.5mm

10mm

23mm

113mm
R-Series Gripper Assembly Instructions

4Default Configuration

1x

1x

R8-3

R8-9

Right Angle Connector

Straight Connector

1x1xPM-2292-01
Spool

1x

PM-2546-01

PM-2290-01

R-Series Spool Housing Cable Clamp

1x

1xA-2293-01

PM-2343-01

Gripper AssemblyGripper Cover(part of A-2055-01)

1x

1x

1x

PM-2222-01

PP-2239-01

Cable Housing Adapter(part of A-2055-01)

Cable

1x

A-2143-02

A-2224-01

Parallel Linkage Add-on

1x1xPP-2240-01

PP-2241-01

Cable Housing
Cable Housing End Cap(Standard Road Bike Brake Cable Set)

R-Series Actuators sold separately
Fasteners included, not shown
R-Series Gripper Assembly Instructions

5

1x

1x

PM-2292-01

PM-2546-01

Spool

R-Series Spool Housing

R-Series Gripper Assembly Instructions

6

1xPM-2519-01
Housing Mid-Tube Mount

R-Series Gripper Assembly Instructions

72xPM-2148-02
Tube Clamp

R-Series Gripper Assembly Instructions

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1x1x

A-2293-01

R8-3

Gripper Assembly

Right Angle Connector

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

R-Series Gripper 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

R-Series Gripper Assembly Instructions

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R-Series Gripper Assembly Instructions11

1x
PP-2239-01
Cable

1x
PP-2240-01
Cable Housing

1x
PM-2222-01
Cable Housing Adapter

R-Series Gripper Assembly Instructions

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1x
PM-2290-01
Cable Clamp

Do NOT operate the gripper atthis state. The pins at the pivotof the fingers will fall out.

R-Series Gripper Assembly Instructions

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1xA-2143-02
Parallel Linkage Add-on

R-Series Gripper Assembly Instructions

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Use PM-2343-01 when theparallel linkage is not needed.

1xPM-2343-01
Gripper Cover

R-Series Gripper Assembly Instructions

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Initializing the Spool, pt. 1I.
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

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Initializing the Spool, pt. 2

V.

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 Spool1. 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 Instructions18

© HEBI Robotics 2021
R-Series Gripper Assembly Instructions

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