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 6-DoF Arm Assembly Instructions

2Movement

Working Range

Speed

Continuous(limited by wiring)

15 RPM

Axis 2 – Shoulder Pitch[Default: 2 x X8-16]-90° to +90°
(avoid end effector collisions)

Axis 3 – Shoulder Twist[Default: X8-16]

Axis 1 – Base
[Default: X8-16]

Specifications

ValueWeight

9 kg

Max Reach

900 mm

15 RPM

Payload @ Max Reach

1.5 kgContinuous(limited by wiring)

15 RPM

Half Reach

450 m

Axis 4 – Elbow[Default: X8-16]-155° to +155°(avoid end effector collisions)

Payload @ Half Reach

3 kg

15 RPM

Axis 5 – Wrist 1[Default: X5-4]

Continuous(limited by wiring)

32 RPM

Axis 6 – Wrist 2[Default: X5-4]

Continuous(limited by wiring)

32 RPM

Axis 7 – Wrist 3[Default: X5-4]

Continuous(limited by wiring)

32 RPM

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

Top View

Side View

900mm
Max Reach: 0.900m

Half Reach: 0.450m
X-Series 7-DoF Double Shoulder Arm Assembly Instructions

3

5x

3x

X8-16

X5-4

1x

1x

2x

2x

A-2038-03

A-2090-02

A-2039-03

A-2091-02

2x

PM-2200-02

1x

1x

A-2074-01

A-2043-01

2x

A-2042-01R

1x
PM-2150-01R[300mm]1x

1x

PM-2150-01L

PM-2149-02

1x

2x

PM-2461-01

PM-2460-01

1x

A-2190-01

X-Series 7-DoF Double Shoulder Arm Assembly Instructions

44x

1x

A-2128-01
Power Distribution Board

A-2048-02
Power Jumper

4x

4x

4x

A-2046-12
Power Cable, 12” Length

A-2046-18
Power Cable, 18” Length

A-2046-24
Power Cable, 24” Length

5x3xPP-2059-01
Ethernet Cable, 12” Length

PP-2061-01
Ethernet Cable, 36” Length

X-Series 7-DoF Double Shoulder Arm Assembly Instructions

5

X-Series 7-DoF Double Shoulder Arm Assembly Instructions

6

1x
A-2039-03

1x
PM-2200-02[300mm]

X-Series 7-DoF Double Shoulder Arm Assembly Instructions

7

1x

1x

A-2038-03

A-2039-03

1x
PM-2200-02[300mm]

X-Series 7-DoF Double Shoulder Arm Assembly Instructions

8

1x

1x
X8-16

1x
A-2043-01

X-Series 7-DoF Double Shoulder Arm Assembly Instructions

9

1x

1x

1x

X8-16

PM-2150-01L

X-Series 7-DoF Double Shoulder Arm Assembly Instructions

10

1x

1x

1x

X8-16

PM-2150-01RX-Series 7-DoF Double Shoulder Arm Assembly Instructions

11

1x

1x

Module output faces towards outside

1x1x
PM-2149-02

M6x10mm

X-Series 7-DoF Double Shoulder Arm Assembly Instructions

12

1x

1x

1x

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

13

1x

1x

2x
PM-2460-01

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

X-Series 7-DoF Double Shoulder Arm Assembly Instructions

14

1x1x

1x

X8-16

PM-2461-01

X-Series 7-DoF Double Shoulder Arm Assembly Instructions

15

1x

1x

1x

X-Series 7-DoF Double Shoulder Arm Assembly Instructions

16

1x

1x

1x
A-2074-01

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

X-Series 7-DoF Double Shoulder Arm Assembly Instructions

17

1x1x1xX-Series 7-DoF Double Shoulder Arm Assembly Instructions

18

1x1x

1xX8-16

X-Series 7-DoF Double Shoulder Arm Assembly Instructions

19

1x1x1x

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

X-Series 7-DoF Double Shoulder Arm Assembly Instructions

20

1x1x

1x
X5-4

X-Series 7-DoF Double Shoulder Arm Assembly Instructions

21

1x

1x

1x
A-2042-01R

Align with actuator
output hub tick mark

X-Series 7-DoF Double Shoulder Arm Assembly Instructions

22

1x1x

1x
X5-4

X-Series 7-DoF Double Shoulder Arm Assembly Instructions

23

1x

1x

1x
A-2042-01R

Align with actuator
output hub tick mark

X-Series 7-DoF Double Shoulder Arm Assembly Instructions

24

1x

1x

1xX5-4

X-Series 7-DoF Double Shoulder Arm Assembly Instructions

25

X-Series 7-DoF Double Shoulder Arm Assembly Instructions26

• 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 7-DoF Double Shoulder Arm Assembly Instructions

27

36”

12”

Elbow

18”
12”

36”

12”

18”

12”

24”
12”
Shoulder Twist

18”

12”

Wrist 112”

Shoulder Pitch 1

Power Cable

Shoulder Pitch 2

24”
12”

24”

12”

18”

Ethernet Cable

Power Distribution

24”
Wrist 2

Wrist 3

Power Jumper
36”

network

BasePower Supply
X-Series 7-DoF Double Shoulder Arm Assembly Instructions28

1x
M3 x 14mm1x

2x

A-2090-02

A-2091-02

M3 x 14mm

Install cables before
adding caps

M3 x 14mm

X-Series 7-DoF Double Shoulder Arm Assembly Instructions29

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

30