Hardware

This section contains information specific to different hardware products and accessories. This includes information on modules and actuators, mechanical and electical accessories, robot kits, and details of any hardware-specific parameters for the APIs.

CAD files of the actuators and accessories are available at cad.hebi.us.

Modules

HEBI modules are ethernet-enabled devices that serve as building blocks for a robot or automated system. These modules include actuators to provide physical motion, and devices to interface with other sensors and I/O. Modules run firmware that allow them to communicate over a standard ethernet connection. Aspects of the firmware that are common to all modules are documented in Core Concepts, while aspects that are module-specific are documented below.

X-Series Actuators

X-Series_Actuators

Maximum Performance Range

The chart below indicates, separately, the maximum no-load speed and stall torque capabilities of the different models of X-Series actuators.

For example, an X8-9 is not capable of continuously providing 9 Nm of torque at 30 RPM. It is capable of a continously spinning at maximum speed of 30 RPM at a lower torque, and it is capable of exerting 9 Nm of torque at a lower speed.

More detailed performance information for each actuator is provided in the additional sections below.

X5 X8 Performance Range

Speed-Torque Curves

Each actuator has a range where it can perform continuously, as well as a peak range where it can perform intermittently. While X-Series actuators are rated running at 24V, they are capable of increased intermittent output at higher voltages.

The speed-torque curves below show both the continuous and intermittent operating ranges at 24V, as well as 36V and above. While the actuators can be run at bus voltages up to 48V, the performance is limited in firmware to the equivalent to 36V, allowing safe operation while decreasing the amount of current drawn at the power bus. The ranges shown below are approximate and assume an actuator in normal room-temperature conditions without additional cooling.

To view a larger version of an individual graph, right-click the image and open in a new tab.

X5 1 PerformanceCurves X5 4 PerformanceCurves X5 9 PerformanceCurves

X8 3 PerformanceCurves X8 9 PerformanceCurves X8 16 PerformanceCurves

Frequency Response (Bode Plots)

Because the X-Series actuators are mechanically compliant, there is a limit to how rapidly they can react and track to desired commands. Overall, the actuators are designed to be able to replicate human-like motion, but the details of their frequency response depends on the model of the actuator and the details of its commanded action.

The plots below were generated with a mechanically fixed output and tracking a sinusoidal commanded effort of different amplitudes. The ranges shown below are approximate and assume an actuator running at 24V in normal room-temperature conditions without additional cooling. The gains that are used when controlling an actuator greatly effects the frequency response. The plots below use an effort Kp approximately 2X the default value that ships with a new actuator.

To view a larger version of an individual graph, right-click the image and open in a new tab.

FreqResponse X5 1 FreqResponse X5 4 FreqResponse X5 9

FreqResponse X8 3 FreqResponse X8 9 FreqResponse X8 16

Mechanical Information

Actuator Model Gear Ratio Spring Stiffness Output Bearing Capacity

X5-1

272.222 : 1

~70 Nm / rad

Radial / Axial Load Rating: 2.4 kN / 1.2 kN
Cross-Moment Load Rating: 20 Nm

X5-4

762.222 : 1

Radial Load Rating
Static: 2.2 kN
Dynamic: 3.0 kN

Axial Load Rating
Static: 5.1 kN
Dynamic: 6.9 kN

Cross-Moment Load Rating
Static: 55.6 Nm
Dynamic: 75.5 Nm

X5-9

1742.222 : 1

~130 Nm / rad

X8-3

272.222 : 1

~70 Nm / rad

X8-9

762.222 : 1

X8-16

1462.222 : 1

~170 Nm / rad

Electrical Information

Actuator Model Approximate Torque Constant Approximate Speed Constant Motor Winding Resistance

X5-1

1.1 Nm / A

5.6 RPM / V

10.0 Ω

X5-4

3.1 Nm / A

2.0 RPM / V

10.0 Ω

X5-9

7.1 Nm / A

0.9 RPM / V

10.0 Ω

X8-3

1.6 Nm / A

3.8 RPM / V

5.3 Ω

X8-9

4.6 Nm / A

1.3 RPM / V

5.3 Ω

X8-16

8.8 Nm / A

0.7 RPM / V

5.3 Ω

Actuator Feedback

X-Series actuators provide all the feedback below when feedback is requested. Feedback can be requested at rates up to 1 kHz. Wherever possible values are in SI units.

Parameter Units Description

time

sec

The current time from the system clock used by the API. This is a single value that corresponds to all feedback at this timestep.

pcRxTime

sec

The system time when feedback was received by each module. The most recent of these times is what is reported as the single time above.

pcTxTime

sec

The system time when feedback requests were sent to each module.

hwRxTime

sec

The hardware timestamp when each module in the group transmitted its feedback. Time initializes at 0 when a module is powered on.

hwTxTime

sec

The hardware timestamp when each module in the group received a request for feedback. Time initializes at 0 when a module is powered on.

position

rad or m

Sensed position (absolute) of the output of an actuator.

velocity

rad/sec or m/sec

Sensed velocity at the output of an actuator.

effort

Nm or N

Sensed force or torque (absolute) at the output of an actuator.

positionCmd

rad or m

The currently commanded position. If no position is being commanded a value of NaN is returned.

velocityCmd

rad/sec or m/sec

The currently commanded velocity. If no velocity is being commanded a value of NaN is returned.

effortCmd

Nm or N

The currently commanded effort. In control STRATEGY_2, 3 or 4, this is a commanded torque or force. In DIRECT_PWM mode, this is the commanded PWM to an actuator’s motor. If no effort is being commanded a value of NaN is returned.

innerEffortCmd

Nm or N

In control strategies 2 and 4, this is the torque or force command going to the inner torque PID loop.

pwmCmd

-1 to 1

The currently commanded PWM being sent to an actuator’s motor, after being modified by any internal safety controllers.

deflection

rad

The internal deflection of the spring inside an actuator. This value is directly proportional to the reported torque/force in the effort feedback.

deflectionVelocity

rad/sec

The velocity of the spring deflection.

motorPosition

rad

The position of an actuator’s internal motor before the gear reduction. Initializes at zero when an actuator is first powered on.

motorVelocity

rad/sec

The velocity an actuator’s internal motor before the gear reduction.

accel or accelX accelY accelZ

m/sec^2

A module’s sensed 3-DoF acceleration from an internal IMU, including gravity. Note that this is the sensed motion of the actuator body itself, not the actuator’s output. Depending on the API, XYZ values are combined together into a single vector or returned individually.

gyro or gyroX gyroY gyroZ

rad/sec

A module’s sensed 3-DoF angular velocity from an internal IMU. Note that this is the sensed motion of the actuator body itself, not the actuator’s output. Depending on the API, XYZ values are combined together into a single vector or returned individually.

orientation or orientationW orientationX orientationY orientationZ

unit quaternion

A module’s 3-DoF orientation based on an onboard complimentary filter. The heading component of the estimated orientation will drift over time, as the filter uses only accelerometers and gyros. Depending on the API, quaternion components are combined together into a single vector or returned individually.

motorCurrent

A

The sensed amount of current an actuator’s motor draws at the bus voltage.

windingCurrent

A

The estimated of amount current draw of the motor windings internal to the actuator. This value is modeled based on the known motor parameters, internal motor velocity, and current.

voltage

V

The sensed bus voltage into the module.

motorTemperature

deg-C

The sensed temperature near the motor in the actuator.

ambientTemperature

deg-C

The sensed temperature of the electronics in the actuator.

processorTemperature

deg-C

The sensed temperature of the processor in the actuator.

actuatorTemperature

deg-C

The modeled housing temperature of the motor inside an actuator.

windingTemperature

deg-C

The modeled winding temperature of the motor inside an actuator. This value is used by a safety controller that runs in the firmware of an actuator that will limit the PWM to the motor if it approaches a critical temperature.

LED or ledR ledG ledB

0 to 1

RGB color values of the status LED. Depending on the API, RGB values are combined together into a single vector or returned individually.

Info Feedback

Parameter Units Description

name

string

The current user-settable name that a module shows up as in a Lookup.

family

string

The current user-settable family that a module shows up as in a Lookup.

macAddress

XX:XX:XX:XX:XX:XX

The MAC Address of the module. This is a unique identifier used in Ethernet communication.

ipAddress

XXX.XXX.XXX.XXX

The IP Address of a module.

netMask

XXX.XXX.XXX.XXX

The network mask of a module.

gateway

XXX.XXX.XXX.XXX

The gateway of a module.

firmwareType

X5_8_*

The specific type of firwmare that a module is currently running.

firmwareRevision

X.XXX.XXX

The revision number of the firmware that is a module is currently running.

serialNumber

string

The unique HEBI-assigned serial number for a module.

mechanicalType

string

The mechanical type of an actuator, for example "X5-1" or "X8-9".

mechanicalRevision

string

The revision identifier for the mechanical components for a module.

electricalType

string

The specific type of electronics in a module.

electricalRevision

string

The revision identifier for the electrical components for a module.

gains

All controller parameters are settable in the API. See Core Concepts section for more information.

Motion Commands

The commands that each actuators support for controlling motion are the same as the commands listed in the Group API section of Core Concepts. They are included here for convenience.

Parameter Units Description

position

rad or m

The desired position of the output of an actuator.

velocity

rad/sec or m/sec

The desired velocity of the output of an actuator.

effort

Nm or N

The desired torque or force of the output of an actuator. For an actuator in`DIRECT_PWM` control strategy, this will be the desired PWM of the motor, from -1 to 1.

Additional Commands and Settings

In addition to commands related to an actuator’s motion a number of other things can be commanded and/or set.

Parameter Units Description

name

string

The desired user-settable name that an actuator shows up as in a Lookup.

family

string

The desired user-settable family that an actuator shows up as in a Lookup.

boot

boolean

Boots a module from bootloader mode into application mode.

reset

boolean

Reboots a module.

persist

boolean

Saves all the settings and gains that are currently set on a module, so that they are loaded after reboot.

gains

All controller parameters are settable in the API. See Core Concepts section for more information.

referencePosition

rad or m

Sets the current feedback position by adjusting the user-settable reference point for the zero position. This persists automatically.

referenceEffort

Nm or N

Sets the current feedback effort by adjusting the user-settable reference point for zero effort. This persists automatically.

springConstant

Nm/rad or N/m

Sets the linear stiffness parameter for an actuator that is used to turn its sensed spring deflection into an estimated effort (torque).

ledR ledG ledB

0 to 1

Override RGB color values of the status LED.

Default gains

We have provided downloadable recommended default gains for all control strategies of each of our X-Series modules. Note that these gains should still be tuned for best performance depending on the particular application.

The default gains provided below assume firmware v10 or higher! Using these settings on earlier firmware versions will cause poorly scaled Kd, Ki, and Feedforward gains.

If you have gains that you have tuned for a specific application, that was running on firmware before v10 you can update the values with the following re-scaling:
- All Feedforward gains that are non-zero will get changed to 1.0.
- All Ki gains get multiplied by 1000.
- All Kd gains get multiplied by .001.

For the MATLAB API we have provided a helper function for scaling gains to firmware v10 on all the modules of a given family name, as well as a function for setting the default gains onto a group of modules. For this script to work you will need to download all the individual gain XML files from the table below. You will also need at least the 1.0 version of the Matlab API.

For the C++ API there is a code snippet in the API documentation that shows how to iterate through a group of modules and scale the gains.

Module Type Strategy 2 Strategy 3 Strategy 4

X5-1

X5-4

X5-9

X8-3

X8-9

X8-16

Wiring

X-Series actuators were designed to simplify traditional wiring pain points and feature a through hole as well as a multi-port switch for daisy chaining. Additionally, we recommend using external power splitters to also daisy chain power wires. They can usually be hidden inside tubes such as shown in the image below.

ext with splitterlegend

no through hole

Wires that come from the previous joint should be inserted directly.

through hole

Wires that connect to the next joint should be threaded through the hole.

A 2043 01 transparent The T-slot adapter (A-2043-01) has an open side to allow for thru bore access. Try not to pinch wires in this configuration.

A 2043 01 crossSection Wires from a T-slot adapter should use the base module through bore.

I/O Board

Part Number Description Image

A-2116-01

HEBI I/O Board (rev B)
User Manual

A-2116-01

A-2116-02

HEBI I/O Board (rev C)
User Manual

A-2116-02

Standard Feedback

Parameter Units Description

time

sec

The current time from the system clock used by the API. This is a single value that corresponds to all feedback at this timestep.

pcRxTime

sec

The system time when feedback was received by each module. The most recent of these times is what is reported as the single time above.

pcTxTime

sec

The system time when feedback requests were sent to each module.

hwRxTime

sec

The hardware timestamp when each module in the group transmitted its feedback. Time initializes at 0 when a module is powered on.

hwTxTime

sec

The hardware timestamp when each module in the group received a request for feedback. Time initializes at 0 when a module is powered on.

accel or accelX accelY accelZ

m/sec^2

A module’s sensed 3-DoF acceleration from an internal IMU, including gravity. Depending on the API, XYZ values are combined together into a single vector or returned individually.

gyro or gyroX gyroY gyroZ

rad/sec

A module’s sensed 3-DoF angular velocity from an internal IMU. Depending on the API, XYZ values are combined together into a single vector or returned individually.

orientation or orientationW orientationX orientationY orientationZ

unit quaternion

A module’s 3-DoF orientation based on an onboard complimentary filter. The heading component of the estimated orientation will drift over time, as the filter uses only accelerometers and gyros. Depending on the API, quaternion components are combined together into a single vector or returned individually.

LED or ledR ledG ledB

0 to 1

RGB color values of the status LED.

I/O Feedback

Parameter Units Description

time

sec

The current time from the system clock used by the API. This is a single value that corresponds to all feedback at this timestep.

pcRxTime

sec

The system time when feedback was received by each module. The most recent of these times is what is reported as the single time above.

pcTxTime

sec

The system time when feedback requests were sent to each module.

hwRxTime

sec

The hardware timestamp when each module in the group transmitted its feedback. Time initializes at 0 when a module is powered on.

hwTxTime

sec

The hardware timestamp when each module in the group received a request for feedback. Time initializes at 0 when a module is powered on.

a1 - a8

V

8 analog inputs, with a range of 0-5V.

b1 - b8

0 or 1

8 digital inputs, which can handle either 3.3V or 5V levels.

c1-c3

ticks

Quadrature encoder input. c1 and c2 will both report the incremental count (32 bits), starting at zero on boot. c3 is for an index pulse and is not currently implemented.

c4-c6

ticks

Quadrature encoder input. c4 and c5 will both report the incremental count (32 bits), starting at zero on boot. C6 is for an index pulse and is not currently implemented.

e1 - e8

0 or 1

The currently commanded values on the 8 digital outputs.

f1 - f8

0 to 1

The currently commanded values on the 8 PWM outputs.

Info Feedback

Parameter Units Description

name

string

The current user-settable name that a module shows up as in a Lookup.

family

string

The current user-settable family that a module shows up as in a Lookup.

macAddress

XX:XX:XX:XX:XX:XX

The MAC Address of the module. This is a unique identifier used in Ethernet communication.

ipAddress

XXX.XXX.XXX.XXX

The IP Address of a module.

netMask

XXX.XXX.XXX.XXX

The network mask of a module.

gateway

XXX.XXX.XXX.XXX

The gateway of a module.

firmwareType

X5_8_*

The specific type of firwmare that a module is currently running.

firmwareRevision

X.XXX.XXX

The revision number of the firmware that is a module is currently running.

serialNumber

string

The unique HEBI-assigned serial number for a module.

mechanicalType

string

The mechanical type of an actuator, for example "X5-1" or "X8-9".

mechanicalRevision

string

The revision identifier for the mechanical components for a module.

electricalType

string

The specific type of electronics in a module.

electricalRevision

string

The revision identifier for the electrical components for a module.

I/O Commands

Parameter Units Description

e1 - e8

0 or 1

8 digital outputs, which can output either 3.3V or 5V levels.

f1 - f8

0 to 1

8 PWM outputs, which can output either 3.3V or 5V levels. They are configured to switch at approximately 20kHz, which is appropriate for most DC motor control applications.

Additional Commands and Settings

In addition to commands related to I/O a number of other things can be commanded and/or set.

Parameter Units Description

name

string

The desired user-settable name that an actuator shows up as in a Lookup.

family

string

The desired user-settable family that an actuator shows up as in a Lookup.

boot

boolean

Boots a module from bootloader mode into application mode.

reset

boolean

Reboots a module.

persist

boolean

Saves all the settings and gains that are currently set on a module, so that they are loaded after reboot.

LED or ledR ledG ledB

0 to 1

Override RGB color values of the status LED.

Accessories

We offer a wide variety of accessories in order to help build and configure your robot with ease.

If your application requires an accessory that is not listed below, HEBI can provide a quote custom development.

Mechanical Accessories

Additional drawings and CAD models can be accessed at cad.hebi.us.
Part Number Description and Drawings Image

A-2038-02

X5/X8-Series 1.25" Tube Adapter w/ indexing pins (Output)
Assembly Drawing: A-2038-02

A-2038-02

A-2039-02

X5/X8-Series 1.25" Tube Adapter w/ indexing pins (Housing)
Assembly Drawing: A-2039-02

A-2039-02

A-2040-01R

X5/X8-Series 90o Bracket Heavy Duty (Right)
Assembly Drawing: A-2040-01R

A-2040-01R

A-2040-01L

X5/X8-Series 90o Bracket Heavy Duty (Left)
Assembly Drawing: A-2040-01L

A-2040-01L

A-2042-01R

X5/X8-Series 90o Bracket Lite (Right)
Assembly Drawing: A-2042-01R

A-2042-01R

A-2042-01L

X5/X8-Series 90o Bracket Lite (Left)
Assembly Drawing: A-2042-01L

A-2042-01L

A-2043-01

X5/X8-Series T-Slot Mount Plate 25mm/1"
Assembly Drawing: A-2043-01

A-2043-01

A-2074-01

X5/X8-Series In-line Tube Adapter (Output)
Assembly Drawing: A-2074-01

A-2074-01

A-2076-01

A-2076-01

A-2089-01

X5/X8-Series Mid-Tube Adapter (Housing)
Assembly Drawing: A-2089-01

A-2089-01

A-2090-01

X5/X8-Series Tube Adapter Cover (Output)
Assembly Drawing: A-2090-01

A-2090-01

A-2091-01

X5/X8-Series Tube Adapter Cover (Housing)
Assembly Drawing: A-2091-01

A-2091-01

A-2118-01

Tube-to-Tube T-Adapter for 1.25" OD Tube
Assembly Drawing: A-2118-01

A-2118-01

A-2129-01

Tube-to-Tube Plus-Adapter for 1.25" OD Tube
Assembly Drawing: A-2129-01

A-2129-01

PM-2200-01

1.25" OD Aluminum Tube w/ indexing holes, 150mm length
Drawing: PM-2200-01

PM-2200-01

PM-2200-02

1.25" OD Aluminum Tube w/ indexing holes, 300mm length
Drawing: PM-2200-02

PM-2200-02

PM-2200-03

1.25" OD Aluminum Tube w/ indexing holes, 500mm length
Drawing: PM-2200-03

PM-2200-03

Electrical Accessories

Part Number Description and Drawings Image

PP-2059-01
PP-2060-01
PP-2061-01

High-Flex Ethernet Patch Cable
PP-2059-01: 12" (300mm) Length
PP-2060-01: 24" (600mm) Length
PP-2061-01: 36" (900mm) Length

PP-2060-01

PE-2026-01

X5/8 Power Distribution Board

PE-2026-01

A-2046-12
A-2046-18
A-2046-24

Female/Female Power Cable
A-2046-12: 12" (300mm) Length
A-2046-18: 18" (450mm) Length
A-2046-24: 24" (600mm) Length

A-2046-18

A-2047-12

Female/Flying-Lead Power Cable
12" (300mm) Length

A-2047-12

A-2048-02

Male/Male Power Cable
2" (50mm) Length

A-2048-02

A-2098-24
A-2098-48

Power Supply w/ Mini-Fit Jr. Terminations
24V DC, 220W
48V DC, 220W

A-2098-24

Whenever feasible we try to make all HEBI components compatible with existing standards. While we do offer and sell all of the required parts, below are suggestions for some of the most common items that customers may want get from other sources.

Commercial Off-The-Shelf (COTS)

Type Comments Links

Power Supply
(X-Series)

24-48 VDC output

Even though the peak power draw can be over 50W per actuator, in practice we have found 200W power supplies to be more than sufficient for a typical 4 to 6 DoF arm.+
Note that the power supply’s connector will need to be changed to be compatible with the Molex Mini-Fit Jr. connector

Network Cables

Slim snag-less Ethernet cables

Power Supply
(I/O Board, rev B only)

7V-24 VDC output

Compatible with Arduino power supplies

Kits

In addition to individual components, we have designed ready-to-go robotic systems we refer to as "kits". All kits include actuators, connecting accessories, wiring, assembly instructions, and example code.

All kits have a suggested set of X-Series actuators. It is possible to adjust parameters such as payload or speed with a different configuration of actuators.
Table 1. Currently available kits
Part Number Description and Info Image

A-2084-01

4 - Degree of Freedom (DoF)
SCARA Style Arm Kit
Assembly Instructions
HRDF file

4-DoF SCARAish Arm

A-2085-04

4-DoF Arm

A-2085-05

5-DoF Arm

A-2085-06

6-DoF Arm

A-2049-01

Daisy
Hexapod Robot Kit (18-DoF)
Assembly Instructions

Hexapod

A-2058-02

Igor
Balancing Wheeled Robot Kit (14-DoF)
Assembly Instructions

IGOR_2

A-2120-01

Edward
Omni-Directional Mobile Manipulator Robot Kit (13-DoF)
Assembly Instructions

Edward

A-2132-01

Modular Chassis Kit (Square)
A great starting point to build your own robotic system.
HEBI actuators interface seemlessly with this chassis.
Includes:
- Structural Chassis made with T-Slot extrusion for easy attachment
- Internal computer, Ethernet switch, and wireless adapters for a self-contained wireless robotic system
- Bulkhead Connectors to fit every need
- Up to 4 batteries
Reference Drawing

HEBI Chassis

Assembly Instructions

Tubing and Tube Adapters

HEBI tubes and tube adapters are an easy way to create systems such as robotic arms. The indexing holes allow for precise length and twist measurements for your robot’s kinematics (see X5 Link in Kinematics section). Our tubes come in standard lengths of 150mm, 300mm, and 500mm, but are easily cut down to custom lengths. Tubes were chosen for their lightweight and thru bore allowing for easy installation of wires (see Module Documentation).

A 2038 02 outputTube clean A-2038-02: Output Tube Adapter

A 2039 02 inputTube clean A-2039-02: Input Tube Adapter

A 2038 02 explode A-2038-02 Assembly Instructions

A 2039 02 explode A-2039-02 Assembly Instructions

Right Angle Brackets

HEBI right angle brackets allow you to use X-Series actuators in perpendicular axes, commonly needed for bases or end effectors of robotic arms. These brackets come in both a 'Left' and 'Right' configuration making it easy to setup your system specific to your application’s needs.

Lightweight Bracket

These brackets are 3D printed glass-filed nylon and are best for connecting end effectors to a final "wrist" degree of freedom on robotic arms.

A 2042 01L full A-2042-01L: Lightweight Right Angle Bracket (Left)

A 2042 01R full A-2042-01R: Lightweight Right Angle Bracket (Right)

A 2042 01L explode A-2042-01L Assembly Instructions

A 2042 01R explode A-2042-01R Assembly Instructions

Heavy Duty Bracket

These brackets are black anodized aluminum and are best for bases of robotic arms. You can mount the vertical actuator in an 'inside' or 'outside' configuration as shown below.

A 2040 01L out in A-2040-01L: Heavy Duty Right Angle Bracket (Left)

A 2040 01R out in A-2040-01R: Heavy Duty Right Angle Bracket (Right)

A 2040 01L explode A-2040-01L Assembly Instructions

A 2040 01R explode A-2040-01R Assembly Instructions

T-Slot Adapter

Need an easy solution for mounting your robotic system? Enjoy building structures out of t-slot aluminum extrusion? The t-slot adapter is for you! This plate helps you attach any X-Series actuator to standard 25mm or 1 inch t-slot aluminum extrusion.

A 2043 01 full A-2043-01: T-Slot Aluminum Adapter Plate

A 2043 01 explode A-2043-01 Assembly Instructions

Kinematic Information

X5 and X8 Actuators

X5 front X5 and X8 Output X5 top X5 Side View

X5 back X5 and X8 Input X8 top X8 Side View

There are no dedicated X8-Link or X8-Bracket parts. The housings of X5 and X8 actuators have the same input and output interface, so the X8 actuators are compatible with X5 connection parts.

The X5 Link represents a straight extension that is typically used to connect two actuators. It consists of input and output adapters, as well as a hollow tube that cables can be wired through. It is defined by the extension length as well as the twist angle to the next output.

Parameter Description

Extension

Defined as the center to center distance in meters between rotating axes of the actuator. It is along the X-axis of the link (red axis in the above image). Depending on the type of tube that is being used there are two common ways for calculating the correct distance:

  • Generic tubes: x + 0.025 where x is the distance between the outer-most tube parts.

  • Indexed tubes: (N+1) * 0.025 where N is the total number of holes on the tube.

For example, a 300mm tube section has 12 holes, so the total distance would be 13 * 0.025 = 0.325m.

Twist

Rotation about the X-axis (red axis in the above image). For example, the images above show a twist of PI radians.

The examples below illustrate the possible variations for the Twist parameter in combination with a 300mm tube (extension=0.325m).

twist zero Twist = 0

twist pi Twist = +/-PI

twist pi over two Twist = +PI/2

twist neg pi over two Twist = -PI/2

X5 Light Bracket

The X5 Light Bracket corresponds to a light-weight right-angle adapter that is typically used at the wrist of an arm. It has a single parameter that specifies the mounting direction.

light
Parameter Description

Mounting

The direction of the output 'Z' axis (blue) pointing towards the next module, assuming that the 'X' axis (red) is pointing forward and the position is zero.

The two possible configurations are:

  • left

  • right

Note that the left and right configurations are physically different parts, rather than the same part mounted in a different orientation.

The below images show both mounting configurations at an output position of zero.

light left Mounting = "left"

Part Number: A-2042-01L

light right Mounting = "right"

Part Number: A-2042-01R

X5 Heavy Bracket

The X5 Heavy Bracket type corresponds to a sturdy right-angle adapter that is typically used at the base of a robot arm configuration. It has a single parameter that specifies the mounting direction.

heavy
Parameter Description

Mounting

Due to the modular design of the bracket there are four different configurations. This parameter describes the output direction (same as the light bracket above) as well as the mounting side (closer or further away from the center).

The four possible configurations are

  • left-outside

  • left-inside

  • right-inside

  • right-outside

Note that the left vs right portion of the configurations are physically different parts, and the inside vs outside portion of the configuration describe the two different ways a given bracket can be assembled.

The below images show the four possible mounting configurations at an output position of zero.

heavy left outside Mounting = "left-outside" heavy left inside Mounting = "left-inside"

Part Number: A-2040-01L

heavy right outside Mounting = "right-outside" heavy right inside Mounting = "right-inside"

Part Number: A-2040-01R