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HEBI Robotics T Series Assembly Instructions Manual

6-dof arm kit
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T-Series 6-DoF Arm Kit
Assembly Instructions

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Summary of Contents for HEBI Robotics T Series

  • Page 1 T-Series 6-DoF Arm Kit Assembly Instructions...

  • Page 2: General Warnings And Cautions

    General Warnings and Cautions Danger (May cause serious injury or death) • Keep water, flammables, solvents and other liquids clear from actuator. • Keep fingers away from moving parts during operation. • Cut power immediately if actuator emits strange odors or smoke. •...

  • Page 3: Technical Specifications

    Technical Specifications Specifications Value Movement Working Range Speed Weight 5.60 kg Axis 1 – Base Continuous 180°/s [Default: T8-9] (limited by wiring) Reach 750 mm Axis 2 – Shoulder 0° to +70° 90°/s Payload at Max Reach* 0.60 kg [Default: T8-16] (limited by gas spring) Payload at Half Reach* 3.50 kg...
  • Page 4 Technical Specifications Spool Max Finger Force at Max Finger Torque Module 50mm T5-1 0.1 Nm T5-4 0.5 Nm 10 N T5-9** 1.1 Nm 23 N T8-3 0.4 Nm T8-9 1.1 Nm 23 N T8-16 2.0 Nm 40 N * Values assume a symmetric two-finger grasp ** Default Module 10mm 79.5mm...
  • Page 5 Bill of Materials – Mechanical Default Configuration T8-9 T8-16 T5-1 A-2221- A-2232-01 A-2231- A-2090-02 A-2219- A-2228-01 A-2218- PP-2141-12 A-2263-57-30 A-2220-01 A-2235-01 PM-2200-02 A-2188-02 (optional) (Gas Spring – 30lbs.) [300mm] A-2292-01 (Actuators NOT Included) T5-9 (Gripper Spool) *fasteners included, not shown* T-Series 6-DoF Arm Assembly Instructions...
  • Page 6 Bill of Materials - Electrical PP-2349-RED PP-2349-BLK 18AWG Power Wire, Red 18AWG Power Wire, Black PP-2358-YEL PP-2358-BLU 22AWG M-Stop Cable, Yellow 22AWG M-Stop Cable, Blue PP-2401-DUP A-2256-01 POF Duplex Cable POF Ethernet Media Converter *all items are included in T-Series Connection Toolbox* T-Series 6-DoF Arm Assembly Instructions...
  • Page 7 Table of Contents Assembly Image Pages Tubes Base [9-13] [14-23] Gripper [24-36] Final [37-44] T-Series 6-DoF Arm Assembly Instructions...
  • Page 8 PM-2200-02 [300mm] A-2218-01 A-2219-01 T-Series 6-DoF Arm Assembly Instructions...
  • Page 9 R8-16 A-2228-01 M5 x 10mm FHCS T-Series 6-DoF Arm Assembly Instructions...
  • Page 10 PP-2141-12 (optional) T-Series 6-DoF Arm Assembly Instructions...
  • Page 11 A-2221-01 Flat face towards outside T-Series 6-DoF Arm Assembly Instructions...
  • Page 12 M5 x 10mm Align with actuator output hub tick mark (Flat face parallel with tick mark) T-Series 6-DoF Arm Assembly Instructions...
  • Page 13 T8-16 M5 x 10mm Connectors of both modules point the same way T-Series 6-DoF Arm Assembly Instructions...
  • Page 14 Align with actuator output hub tick mark (Tube aligns with tick mark) M5 x 10mm T-Series 6-DoF Arm Assembly Instructions...
  • Page 15 A-2263-57-30 A-2188-02 (Gas Spring – 30lbs.) T-Series 6-DoF Arm Assembly Instructions...
  • Page 16 M5 x 16mm T-Series 6-DoF Arm Assembly Instructions...
  • Page 17 M5 x 10mm T8-9 Align actuator connectors with tube T-Series 6-DoF Arm Assembly Instructions...
  • Page 18 M5 x 10mm Align with actuator output hub tick mark (Tube aligns with tick mark) T-Series 6-DoF Arm Assembly Instructions...
  • Page 19 T5-1 M5 x 10mm Align actuator T-Series 6-DoF Arm Assembly Instructions connectors with tube...
  • Page 20 A-2220-01 Align with actuator output hub tick mark (Flat face parallel with tick mark) M5 x 10mm T-Series 6-DoF Arm Assembly Instructions...
  • Page 21 T5-1 M5 x 10mm Connectors of both modules point the same way T-Series 6-DoF Arm Assembly Instructions...
  • Page 22 A-2220-01 M5 x 10mm Align with actuator output hub tick mark T-Series 6-DoF Arm Assembly Instructions (Flat face parallel with tick mark)
  • Page 23 M5 x 10mm T5-1 Connectors of both modules point the same way T-Series 6-DoF Arm Assembly Instructions...
  • Page 24 Gripper T-Series 6-DoF Arm Assembly Instructions...
  • Page 25 M5 x 10mm PM-2292-01 Spool T-Series 6-DoF Arm Assembly Instructions...
  • Page 26 M3 x 12mm PM-2546-01 Spool Housing T-Series 6-DoF Arm Assembly Instructions...
  • Page 27 PM-2519-01 Housing Mid-Tube Mount M5 x 10mm T-Series 6-DoF Arm Assembly Instructions...
  • Page 28 PM-2148-02 Tube Clamp M5 x 16mm T-Series 6-DoF Arm Assembly Instructions...
  • Page 29 M5 x 8mm Align with actuator output hub tick mark T-Series 6-DoF Arm Assembly Instructions (Fingers perpendicular to the tick mark)
  • Page 30 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.
  • Page 31 PP-2240-01 PP-2239-01 Cable Housing Cable Cable shown in blue PM-2222-01 Cable Housing Adapter T-Series 6-DoF Arm Assembly Instructions...
  • Page 32 Cable Routing Example (6-Dof Arm) Cable shown in blue T-Series 6-DoF Arm Assembly Instructions...
  • Page 33 Press cable through channel as shown by the white arrows T-Series 6-DoF Arm Assembly Instructions...
  • Page 34 PM-2290-02 Wire Clamp M3 x 5mm T-Series 6-DoF Arm Assembly Instructions...
  • Page 35 PM-2555-01 Spool Cover M3 x 14mm Captive Screw T-Series 6-DoF Arm Assembly Instructions...
  • Page 36 A-2143-02 Gripper Fingers M3 x 6mm Low Profile M2 x 8mm T-Series 6-DoF Arm Assembly Instructions...

  • Page 37: Wiring Notes

    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 T-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...

  • Page 38: Wiring Example

    Wiring Example T-Series 6-DoF Arm Assembly Instructions...
  • Page 39 Wiring Diagram Ethernet Cable with Gripper POF Ethernet Media Converter J3 Elbow Power and Fiber Spool J4 Wrist 1 J2 Shoulder J5 Wrist 2 J1 Base J6 Wrist 3 Network Power T-Series 6-DoF Arm Assembly Instructions...
  • Page 40 Wiring Diagram without Gripper J3 Elbow Ethernet Cable POF Ethernet Media Converter Power and Fiber J4 Wrist 1 J2 Shoulder J5 Wrist 2 J1 Base J6 Wrist 3 Network Power T-Series 6-DoF Arm Assembly Instructions...
  • Page 41 Initializing the Spool, pt. 1 I. Connect the Spool Module into the network, and turn it on II. Open HEBI Scope GUI III.Set the Strategy of the Spool Module to “STRATEGY_4” IV.Command the Effort to -5 Nm 1. Click on your Spool Module 1.
  • Page 42 Initializing the Spool , pt. 2 V. While Commanding the Effort, set the current VI.Stop commanding the effort, and command the position to “-0.7” position to 0. 1. Go to “Dashboard” tab 1. Go to “Monitoring” tab 2. Toggle “Params” as shown 2.
  • Page 43 Initializing the Spool, pt. 3 *If the Safety Limits are not set, the spool can turn to a position greater than zero, and break the cable.* *To close the gripper, turn the spool clockwise (negative effort).* *To open the gripper, turn the spool counter- clockwise (positive effort)* VII.Set Safety Limits for the Spool 1.
  • Page 44 A-2231-01 A-2090-02 Install cables before adding caps A-2232-01 A-2235-01 M3 x 14mm Captive Screw T-Series 6-DoF Arm Assembly Instructions...
  • Page 45 All axes at zero degrees T-Series 6-DoF Arm Assembly Instructions...

  • Page 46: Additional Accessories

    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 3 party end effectors or tools using HEBI APIs T-Series 6-DoF Arm Assembly Instructions...
  • Page 47 © HEBI Robotics 2024 T-Series 6-DoF Arm Assembly Instructions...