Updated Oct 7, 2021

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 IGOR II Assembly Instructions

2

Robot Workspace

X-Series IGOR II Assembly Instructions

3

Bill of Materials - Mechanical
2x

4x

4x

2x

2x

X5-1

X5-4

X5-9

X8-3

X8-16

8x

8x

8x

8x

4x

A-2039-02

A-2091-01

A-2038-02

A-2090-01

A-2043-01

1x

1x

A-2040-01R

A-2040-01L

2x

2x

A-2088-140-20[Gas Spring – 20lbs.]

A-2188-01

6x

2x

1x

PM-2200-02[300mm]PM-2200-03_Cut[350mm]A-2061-03
Igor II Chassis

2xA-2076-08
8” Wheel and Adapter

2xA-2067-01
Disk Grippers

fasteners included, not shown
X-Series IGOR II Assembly Instructions

4Bill of Materials - Electrical

8x

3x

2x

A-2128-01
Power Distribution Board

PP-2058-01
Ethernet Coupler

PP-2084-01
LiGo Battery

7x

7x

6x

A-2046-12
Power Cable, 12” Length

A-2046-18
Power Cable, 18” Length

A-2046-24
Power Cable, 24” Length

7x

8x

4x

PP-2059-01
Ethernet Cable, 12” Length

PP-2060-01
Ethernet Cable, 24” Length

PP-2062-01
Ethernet Cable, 48” Length

X-Series IGOR II Assembly Instructions

5

Wiring Notes• It is best to wire each limb before moving onto the Final Assembly.
• Keeping wires organized will help prevent tangling and add a nice aesthetic.
•Spiral sleeving is a good accessory for organizing loose wires[Spiral sleeving]• HEBI X-Series actuators have a thru bore specifically designed to fit ethernet and power connectors.
•Please pass connectors thru bore hole one at a time.

For more information visit: docs.hebi.us
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 IGOR II Assembly Instructions

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Table of Contents
Assembly

Quantity

Chassis1x[8-10]

Arms

1x Left
1x Right[11-20]Legs

2x Mirrored[21-29]Final

1x[30-33](includes wiring)

Image

X-Series IGOR II Assembly Instructions

Pages

7

Chassis
X-Series IGOR II Assembly Instructions

8

Chassis Wiring*Cabling will be provided with assembled chassis

Right Arm

Left Arm

Right Leg

Left LegLegend
Power Cable
Ethernet Cable
Battery

X-Series IGOR II Assembly Instructions

9Chassis Bulkhead Layout

X-Series IGOR II Assembly Instructions

10

“”

“ f”

Arms

(1x Left & 1x Right)
X-Series IGOR II Assembly Instructions

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Flat face towards inside

1x L
1x R

1x1x

1x

X5-4

A-2040-01L

A-2040-01R

M6 x 10mm

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

X-Series IGOR II Assembly Instructions

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1x L1x R

1x L
1x R

1xX5-9X-Series IGOR II Assembly Instructions

13

2x

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

1x

A-2039-02

A-2038-02

X-Series IGOR II Assembly Instructions

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2x

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

1x

A-2039-02

A-2038-02

X-Series IGOR II Assembly Instructions

15

1x L
1x R

2x

1x L
1x R

1x
A-2090-01

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

X-Series IGOR II Assembly Instructions

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1x L
1x R

2x1x L
1x R

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

1x

1x

X5-4

X5-1

X-Series IGOR II Assembly Instructions

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1x L
1x R
1x
A-2067-01
Disk Grippers

X-Series IGOR II Assembly Instructions

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1x L
1x R

2x

1x
A-2090-01

A-2091-01

Install cables before
adding covers

X-Series IGOR II Assembly Instructions

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Right Arm Wiring*Refer to Wiring Notes (pg. 6)*””

Right Elbow

””

”
”

””
Right Shoulder

Right Wrist””

To Left Arm”

LegendPower Cable
Ethernet Cable

Right BasePower Distribution

To Chassis

Ethernet Coupler

X-Series IGOR II Assembly Instructions

To Right Leg20

”

Left Arm Wiring”*Refer to Wiring Notes (pg. 6)*
Left Elbow
”
”””

””
Left Shoulder

Left Wrist””

LegendLeft BasePower Cable
Ethernet Cable

From Right Arm

To Chassis

Power Distribution”

Ethernet Coupler

To Left Leg

X-Series IGOR II Assembly Instructions

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“”
“ f”

Legs
X-Series IGOR II Assembly Instructions

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2x

1x

1xX5-9A-2043-01

X-Series IGOR II Assembly Instructions23

2x 350mm1x

1xPM-2200-03_Cut
A-2039-02[350mm]1x
A-2038-02

X-Series IGOR II Assembly Instructions

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2x2x 350mm

2xAlign with actuator
output hub tick mark(Tube aligns with tick mark)

X-Series IGOR II Assembly Instructions25

2x 300mm

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

1x

A-2039-02

A-2038-02

X-Series IGOR II Assembly Instructions26

2x 300mm

2x2x
Align with actuator
output hub tick mark

1x

1x

X8-3

X8-16

(Tube aligns with tick mark)

X-Series IGOR II Assembly Instructions

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2x2x
A-2076-08
8” Wheel and Adapter

X-Series IGOR II Assembly Instructions28

2x2x2x

A-2091-01

A-2090-01

Install cables before
adding covers

X-Series IGOR II Assembly Instructions

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Left Leg Wiring

To NUC*Refer to Wiring Notes (pg. 6)*”

To Chassis””

To Left Arm”
Left Hip””

Left Knee”
LegendPower Cable
Ethernet Cable”

Power Distribution
Ethernet Coupler

Left Wheel

X-Series IGOR II Assembly Instructions

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To Chassis

Right Leg Wiring”*Refer to Wiring Notes (pg. 6)*””

To Right Arm

Right Hip”””

Right Knee””

LegendPower Cable
Ethernet Cable
Power Distribution
Ethernet Coupler

Right Wheel

X-Series IGOR II Assembly Instructions

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Final Assembly
X-Series IGOR II Assembly Instructions32

2x
A-2088-140-20[Gas Spring – 20lbs.]

2x
A-2188-01X-Series IGOR II Assembly Instructions

33

X-Series IGOR II Assembly Instructions

34

Wiring through Chassis(Robot facing you)

Left Elbow

Right Elbow

Left Shoulder

Right Shoulder

Right Wrist

Left Wrist

Left Base

Right Base

ChassisRight Hip

Left Hip

LegendPower Cable
Ethernet Cable

Left Knee
Right Knee

Power Distribution
Ethernet Coupler
RouterRight Wheel

LeftWheel35

© HEBI Robotics 202136