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 4-DoF Arm Assembly Instructions

2

Technical Specifications
Specifications

Value

Weight3.75 kg

Reach

650 mmPayload at Max Reach*

1.00 kg

Payload at Half Reach*

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

Movement

Working Range

Speed

Axis 1 – Base
[Default: R8-16]

Continuous(limited by wiring)

90°/s

Axis 2 – Shoulder[Default: R8-16]

0° to +180°

90°/s

Axis 3 – Elbow[Default: R8-16]-155° to +155°(avoid end effector collisions)

90°/s

Axis 4 – Wrist 1[Default: R8-3]

Continuous(avoid end effector collisions)

504°/sTop View

Side View

650mm
650mm

R-Series 4-DoF Arm Assembly Instructions

3

Bill of Materials – MechanicalDefault Configuration

1x2x
R8-16
Straight Connector

1xR8-16
R8-3
Right Angle Connector Straight Connector

2x2x2x

A-2218-01

A-2090-02

A-2219-01

2x
PM-2200-02[300mm]2x
A-2231-01

1x

1x

1x

A-2228-01

A-2221-01

A-2232-01

fasteners included, not shown

R-Series 4-DoF Arm Assembly Instructions

4

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, BlueA-2256-01
POF Ethernet Media Converterll items are included in R-Series Connection Toolbox
R-Series 4-DoF Arm Assembly Instructions

5

Table of Contents
AssemblyImagePages

Tubes

[7]

Base

[8-11]

Arm[12-18]Final[19-23]
R-Series 4-DoF Arm Assembly Instructions

6

2x

1x

1x

A-2218-01

A-2219-01

1xPM-2200-02[300mm]

R-Series 4-DoF Arm Assembly Instructions

7

1x

1x

1x

R8-16
Straight Connector

A-2228-01

R-Series 4-DoF Arm Assembly Instructions

8M6x10mm

1x1x
A-2221-01

Flat face towards outside

R-Series 4-DoF Arm Assembly Instructions91x1x1x

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

R-Series 4-DoF Arm Assembly Instructions

10

1x1x1xR8-16
Right Angle Connector

Connectors of both modules
point the same way

R-Series 4-DoF Arm Assembly Instructions

11

1x

1x

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

R-Series 4-DoF Arm Assembly Instructions

12

1x

1x
R8-16
Straight Connector

R-Series 4-DoF Arm Assembly Instructions

13

1x

1x1x

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

R-Series 4-DoF Arm Assembly Instructions

14

1x1xR8-3
Straight Connector

R-Series 4-DoF Arm Assembly Instructions

15

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 be
inserted directly to actuator ports.

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

R-Series 4-DoF Arm Assembly Instructions

16

Wiring Example

R-Series 4-DoF Arm Assembly Instructions

17

Wiring Diagram
Ethernet Cable
Elbow
Straight Connector

POF Ethernet
Media Converter

Wrist 1
Straight Connector

ShoulderRight Angle Connector

Base
Straight Connector

NetworkPower

R-Series 4-DoF Arm Assembly Instructions

18

1x

1x

2x

A-2232-01

A-2090-02

2x
A-2231-01

Install cables before
adding caps

R-Series 4-DoF Arm Assembly Instructions

19

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

• HEBI Gripper• Cable driven gripper keeps weight away from end of arm• *Modules sold separately*

R-Series 4-DoF Arm Assembly Instructions

20

© HEBI Robotics 2021
R-Series 4-DoF Arm Assembly Instructions

21