HEBI Robotics 4-DoF SCARA Style Arm Kit, Assembly Instructions Manual

Page 1: ...4 DoF SCARA Style Arm Kit Assembly Instructions ...

Page 2: ... 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 ...

Page 3: ...kg Reach 650 mm Max Continuous Payload 1 00 kg Max Peak Payload 1 50 kg Movement Working Range Max Speed Axis 1 Base Default X5 4 50 to 80 limited by wiring 192 s Axis 2 Shoulder Default X5 9 30 to 90 84 s Axis 3 Elbow Default X5 4 155 to 155 avoid end effector collisions 192 s Axis 4 Wrist 1 Default X5 1 Continuous avoid end effector collisions 540 s X Series 4 DoF SCARA Arm Assembly Instructions...

Page 4: ...components available from McMaster Carr or 80 20 Inc 2 x X5 4 1 x X5 9 1 x X5 1 6 x PP 2141 18 2 x 1 T Slot 18 Length 2 x PP 2146 01 4 x PP 2155 01 2 x PP 2145 01 2 x A 2039 02 2 x A 2091 01 2 x A 2038 02 2 x A 2090 01 2 x PP 2200 02 300mm 1 x A 2043 01 1 x A 2040 01R Bill of Materials Mechanical ...

Page 5: ...structions 5 2 x A 2046 12 Power Cable 12 Length 3 x A 2046 18 Power Cable 18 Length 1 x A 2046 24 Power Cable 24 Length 1 x PP 2059 01 Ethernet Cable 12 Length 3 x PP 2061 01 Ethernet Cable 36 Length 2 x A 2128 01 Power Distribution Board 1 x A 2048 02 Power Jumper ...

Page 6: ...Table of Contents Assembly Image Pages Frame 6 8 Tubes 9 10 Base 11 12 Final 13 17 X Series 4 DoF SCARA Arm Assembly Instructions 6 ...

Page 7: ...X Series 4 DoF SCARA Arm Assembly Instructions 7 3 x PP 2141 18 2 x 1 T Slot 18 Length 2 x PP 2155 01 20 80 20 T Nut 20 x BHCS ...

Page 8: ...X Series 4 DoF SCARA Arm Assembly Instructions 8 20 80 20 T Nut 20 x BHCS 2 x PP 2141 18 2 x 1 T Slot 18 Length 2 x PP 2155 01 ...

Page 9: ...X Series 4 DoF SCARA Arm Assembly Instructions 9 Insert 4 extra T Nuts for Arm see page 15 20 80 20 T Nut 20 x BHCS 2 x PP 2146 01 2 x PP 2145 01 1 x PP 2141 18 2 x 1 T Slot 18 Length ...

Page 10: ...X Series 4 DoF SCARA Arm Assembly Instructions 10 1 x PP 2200 02 300 mm Align with tube pin holes M5x16mm M5x16mm 1 x A 2039 02 1 x A 2038 02 ...

Page 11: ...X Series 4 DoF SCARA Arm Assembly Instructions 11 Align with tube pin holes M5x16mm M5x16mm 1 x PP 2200 02 300 mm 1 x A 2039 02 1 x A 2038 02 ...

Page 12: ...ly Instructions 12 Step 1 of 2 Step 2 of 2 1 x A 2040 01R M6x12mm M5x12mm M5x10mm FHCS Axis 1 Base Default X5 4 Align with actuator output hub tick mark face parallel with tick mark and mounting hole pointed on same side Flat face towards outside ...

Page 13: ...1 x X5 9 X Series 4 DoF SCARA Arm Assembly Instructions 13 Axis 2 Shoulder Default X5 9 1 x 1 x M5x14mm ...

Page 14: ...X Series 4 DoF SCARA Arm Assembly Instructions 14 1 x X5 4 M5x10mm M5x8mm Axis 3 Elbow Default X5 4 Align with actuator output hub tick mark Tube aligns with tick mark ...

Page 15: ...X Series 4 DoF SCARA Arm Assembly Instructions 15 1 x X5 1 M5x10mm M5x8mm Axis 4 Wrist 1 Default X5 1 Align with actuator output hub tick mark Tube aligns with tick mark ...

Page 16: ...ease pass connectors thru bore hole 1 at a time For more information visit docs hebi us X Series 4 DoF SCARA Arm Assembly Instructions 16 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 Power distribution boards are included to help daisy chain power connec...

Page 17: ...X Series 4 DoF SCARA Arm Assembly Instructions 17 Wiring Diagram 24 18 12 12 18 network 18 36 36 12 36 Base Shoulder Elbow Wrist 1 Power Cable Ethernet Cable Power Distribution Power Supply Power Jumper ...

Page 18: ...X Series 4 DoF SCARA Arm Assembly Instructions 18 2 x A 2091 01 2 x A 2090 01 Route wires before installing caps End Effector Accessory Not Included M2x8mm M2x8mm M2x8mm M2x8mm ...

Page 19: ...X Series 4 DoF SCARA Arm Assembly Instructions 19 20 x BHCS 20 80 20 T Nut From Page 7 All axes at zero degrees ...

Page 20: ...th hex shaft driver bits for screwing bolting tasks Screwdriver bits not included 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 X Series 4 DoF SCARA Arm Assembly Instructions 20 Additional Accessories ...

Page 21: ...X Series 4 DoF SCARA Arm Assembly Instructions 21 HEBI Robotics 2018 ...