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 Hexapod Assembly Instructions

2

Bill of Materials - Mechanical
Default Configuration

6x

12 x
R8-9
Straight Connector

R8-16
Right Angle Connector

12 x

12x

6x

1x

12 x

12 x

A-2218-01

A-2219-01

A-2222-01

A-2096-02

A-2090-02

A-2231-01

2x16 x

6x

PP-2200-200
200mm Tube

PP-2200-02
300mm Tube

PP-2335-01

6x
A-2232-01

6x

6x

A-2188-02

A-2263-57-30(Gas Spring – 30lbs.)

1x
A-2260-01
Sealed Wireless Chassis
Assembly

fasteners included, not shown

R-Series Hexapod Assembly Instructions

3

Bill of Materials - Electrical

PP-2349-RED
18AWG Power Wire, Red

PP-2358-YEL
22AWG M-Stop Cable, Yellow

PP-2349-BLK
18AWG Power Wire, Black

PP-2358-BLU
22AWG M-Stop Cable, Blue

PP-2401-DUP
POF Duplex Cablell items are included in R-Series Connection Toolbox
R-Series Hexapod Assembly Instructions

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Table of Contents
AssemblyImagePagesChassis[6-8]

Left Legs[9-24](includes wiring)

Right Legs

[25-38](includes wiring)Final[39-43](includes wiring)

R-Series Hexapod Assembly Instructions

5

Chassis
R-Series Hexapod Assembly Instructions

6

1x

2x

4x

PP-2200-200
200mm Tube

PP-2200-02
300mm Tube

1x
A-2260-01
Sealed Wireless Chassis
Assembly

R-Series Hexapod Assembly Instructions

7

1x

1x
A-2096-02

R-Series Hexapod Assembly Instructions

8

Left Legs
R-Series Hexapod Assembly Instructions

9Flat face towards inside

3x1xA-2222-01

M6x10mm

R-Series Hexapod Assembly Instructions

10

3x1xR8-9
Straight Connector

1xA-2222-01

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

R-Series Hexapod Assembly Instructions

11

3x1x
R8-16
Right Angle Connector

Connectors of both modules
point the same way

R-Series Hexapod Assembly Instructions

12

3x

1x

1x

A-2218-01

A-2219-01

1x
PP-2200-02[300mm]

R-Series Hexapod Assembly Instructions

13

3x

3x

Align with actuator
output hub tick mark3x(Tube aligns with tick mark)

R-Series Hexapod Assembly Instructions

14

3x1x1x

A-2188-02

A-2263-57-30(Gas Spring – 30lbs.)

R-Series Hexapod Assembly Instructions15

3x3x3x

R-Series Hexapod Assembly Instructions

16

3x1x
A-2218-01

1x
PP-2200-02[300mm]1xPP-2335-01

R-Series Hexapod Assembly Instructions

17

3x1xR8-9
Straight Connector

R-Series Hexapod Assembly Instructions

18

3x

3x3x

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

R-Series Hexapod Assembly Instructions

19

3x1xA-2219-01

R-Series Hexapod 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 Hexapod Assembly Instructions

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Wiring Example

R-Series Hexapod Assembly Instructions

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Wiring Diagram

Elbow
Straight Connector

ShoulderRight Angle Connector

Back toChassis

Power

Fiber

Base
Straight Connector

R-Series Hexapod Assembly Instructions

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3x

2x
A-2090-02

1x
A-2231-01

1x
A-2232-01

Install cables before
adding caps

R-Series Hexapod Assembly Instructions

24

Right Legs
R-Series Hexapod Assembly Instructions

25

Flat face towards inside

3x

1x
A-2222-01

M6x10mm

R-Series Hexapod Assembly Instructions

26

3x1xR8-9
Straight Connector

1xA-2222-01

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

R-Series Hexapod Assembly Instructions

27

3x1x
R8-16
Right Angle Connector

Connectors of both modules
point the same way

R-Series Hexapod Assembly Instructions

28

3x

1x

1x

A-2218-01

A-2219-01

1x
PP-2200-02[300mm]

R-Series Hexapod Assembly Instructions

29

3x

3x

3x

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

R-Series Hexapod Assembly Instructions

30

3x

1x

1x

A-2188-02

A-2263-57-30(Gas Spring – 30lbs.)

R-Series Hexapod Assembly Instructions

31

3x3x3x

R-Series Hexapod Assembly Instructions

32

3x1x
A-2218-01

1xPP-2200-02[300mm]1xPP-2335-01

R-Series Hexapod Assembly Instructions

33

3x1xR8-9
Straight Connector

R-Series Hexapod Assembly Instructions

34

3x3x

Align with actuator
output hub tick mark3x(Tube aligns with tick mark)

R-Series Hexapod Assembly Instructions

35

3x1x
A-2219-01

R-Series Hexapod Assembly Instructions

36

Wiring Diagram

Elbow
Straight Connector

ShoulderRight Angle Connector

Back toChassis

PowerFiber

Base
Straight Connector

R-Series Hexapod Assembly Instructions

37

3x2x
A-2090-02

1xA-2231-01

1xA-2232-01

Install cables before
adding caps

R-Series Hexapod Assembly Instructions

38

Final Assembly
R-Series Hexapod Assembly Instructions

39

3x

3xLoosen M5 X 16mm Screws
to create clearance for the tube

R-Series Hexapod Assembly Instructions

40

Leg Layout
View from Top of Robot

R-Series Hexapod Assembly Instructions

41

Wiring Diagram
View from Top of Robot
From
Leg6 Elbow

From
Leg4 Elbow

RouterEthernet Cable
POF Ethernet
Media Converter
Power and M-Stop
Fiber Cable
Fiber CouplerFrom
Leg5 Elbow
From
Leg1 Elbow

From
Leg3 Elbow

R-Series Hexapod Assembly Instructions

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6xA-2231-01

Install cables before
adding caps

R-Series Hexapod Assembly Instructions

43

Leg Dimensions
View from Top of Robot

315mm

325mm

315mm

262.5mm
325mm
Forward362.5mm
R-Series Hexapod Assembly Instructions

44© HEBI Robotics 2019
R-Series Hexapod Assembly Instructions

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