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.

T-Series & R-Series Actuators

R-Series_Actuators R-Series_Actuators

The T-Series and R-Series Actuators are 'smart' series-elastic actuators that integrate a brushless motor, geartrain, spring, encoders, and control electronics into a compact package that run on standard DC voltages and communicate using standard 10/100Mbps Ethernet over plastic optical fiber (POF). These actuators are designed to function as full-featured robotic components and enable the simultaneous control of position, velocity, and torque. Each actuator also has a wide range of other sensors, all of which can be easily accessed in the the various APIs. The T-Series Actuators are great for everyday robotics research and indoor robotics systems whereas, the R-Series Actuators are sealed to IP67 that allows them to be used in challenging field applications.

The X-Series section has been removed from this documentation. The charts and information below for the T-Series Actuators can be directly correlated to Legacy X-Series Actuator.
R-Series_Actuators

Maximum Performance Range

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

For example, an R8-9 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.

T5 T8 R8 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 T-Series and R-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.

Frequency Response (Bode Plots)

Because the T-Series and R-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 36V 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.

Mechanical Information

Actuator Model Gear Ratio Spring Stiffness
(Non-Linear)
Output Bearing Capacity

T5-1

272.222 : 1

Min: ~10 Nm / rad
Max: ~50 Nm / rad

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

T5-4

762.222 : 1

Min: ~20 Nm / rad
Max: ~200 Nm / rad

T5-9

1742.222 : 1

Min: ~50 Nm / rad
Max: ~500 Nm / rad

T8-3 / T8-3+
R8-3 / R8-3+

272.222 : 1

Min: ~50 Nm / rad
Max: ~150 Nm / rad

T8-9 / T8-9+
R8-9 / R8-9+

762.222 : 1

Min: ~70 Nm / rad
Max: ~700 Nm / rad

T8-16 / T8-16+
R8-16 / R8-16+

1462.222 : 1

Min: ~140 Nm / rad
Max: ~1400 Nm / rad

Electrical / Motor Information

Actuator Model Approximate Torque Constant Approximate Speed Constant Motor Winding Resistance Gear Inertia @ Motor Motor Inertia

T5-1

1.1 Nm / A

5.6 RPM / V

10.0 Ω

18 gmm^2

43 gmm^2

T5-4

3.1 Nm / A

2.0 RPM / V

10.0 Ω

16 gmm^2

43 gmm^2

T5-9

7.1 Nm / A

0.9 RPM / V

10.0 Ω

15 gmm^2

43 gmm^2

T8-3
R8-3

1.6 Nm / A

3.8 RPM / V

5.3 Ω

11 gmm^2

85 gmm^2

T8-9
R8-9

4.6 Nm / A

1.3 RPM / V

5.3 Ω

6 gmm^2

85 gmm^2

T8-16
R8-16

8.8 Nm / A

0.7 RPM / V

5.3 Ω

5 gmm^2

85 gmm^2

T8-3+
R8-3+

1.8 Nm / A

3.8 RPM / V

3.0 Ω

11 gmm^2

60 gmm^2

T8-9+
R8-9+

5.1 Nm / A

1.3 RPM / V

3.0 Ω

6 gmm^2

60 gmm^2

T8-16+
R8-16+

9.8 Nm / A

0.7 RPM / V

3.0 Ω

5 gmm^2

60 gmm^2

EMC Certifications

Actuator Series Certifications Declarations of Conformity

T-Series

FCC Part 15
EN 55022
CISPR 22
EN 61000

R-Series

FCC Part 15
IC ICES-003
IEC 61000-6-4:2011
IEC 61000-6-2:2005
EN 55011:2009

X-Series

FCC Part 15
ICES-003
EMC Directive 2014/30/EU

N/A

Reference Frames

The reference frames for the T-Series and R-Series Actuators are shown in the images below. The origin of the coordinate frames are on the back plane of the housing, centered on the axis of rotation. This is the frame in which the IMU feedback is reported, and it is also the frame that is used for kinematics calculations in the various APIs and the HRDF file format. The coordinate frames are also physically engraved on the housing of each actuator.

T ref frames R8 ref frames


Default gains (T-Series & R-Series)

We have provided downloadable recommended default gains for all control strategies of each of our T-Series and R-Series modules. Note that these gains should still be tuned for best performance depending on the particular application. For almost all applications we recommend using Strategy 4.

Module Type Strategy 4 (recommended) Strategy 3 Strategy 2

T5-1

T5-4

T5-9

T8-3 / T8-3+
R8-3 / R8-3+

T8-9 / T8-9+
R8-9 / R8-9+

T8-16 / T8-16+
R8-16 / R8-16+

Wiring

T-Series and R-Series actuators were designed to simplify traditional wiring pain points and wire loops by incorporating a through hole. A multi-port switch for daisy chaining POF communication as well as a terminal block for power daisy chaining.

Wiring Block Diagram

Here is a simple Block Diagram showing the wiring setup for the T-Series and R-Series Actuators. All electronics shall be used with a 24-48V power supply. The communications runs off of 100 Mbps Ethernet converted in the Media Converter to plastic optical fiber (POF) into the actuator.

R Series Wiring Diagram2

A POF-Ethernet Media Converter is used to connect the T-Series and R-Series Actuators to the network. The converter can run off the same 24-48VDC as the actuators and can convert 100 Mbps RJ45 Ethernet communication to 2.2mm plastic optical fiber (POF) communication of the same 100 Mbps Ethernet.

media converter install

T-Series Wire Seals

power thru seal

Wires need to be fed thru wire seals for best sealing (~IP64).

plug in terminal block

Power wires connect to the green terminal block which has 2 ports for each cable enabling daisy-chaining.

power on fiber red There are two OptoLock® connectors for POF communication chaining.

sealed t series Fully close the back of the T-Series. There is a retaining feature on the connector cover that will keep the power block from being accidentally pulled out during use.

R-Series Cord Grips

power thru cord grip

Wires need to be fed thru cord grips for sealing.

plug in power block

Power wires connect to the green terminal block which has 2 ports for each cable enabling daisy-chaining.

connect fiber ethernet There are two OptoLock® connectors for POF communication chaining.

two r actuators It is best to group the six cables for Power, M-Stop, and POF in the same cord grip to make routing wires more organized.

M-Stop Wiring

An M-Stop (motor-stop) button can be wired to the T-Series and R-Series Actuators' terminal plug for additional safety. We recommend using a lower voltage (5V) to power the M-Stop for reduced power dissipation. Below are examples of how the MS+ and MS- lines can be wired if you want to use an M-Stop Button in your system:

mStopWiring Regulated

M-Stop connected to a lower voltage source to reduce power dissipation (preferred configuration).

mStopWiring

M-Stop connected to same power supply as the actuator.

The MS+ and MS- lines are the "M-Stop" input for the Actuators. They correspond to the "M-Stop Strategy" setting on the actuators that can be selected from the Scope Application on the 'Gains' Tab shown in the screenshot below:

mStopStrategy

The actuators can be set to have different behaviors when the M-Stop is triggered, described in the table below.

Make sure to use the "Persist Sends" option when setting the M-Stop Strategy in order to maintain setting after actuator the actuator is reset or turned off and on.

M-Stop Strategy

Description

Disabled

The M-Stop input is ignored. The actuator runs normally no matter what voltage is applied to these lines.

Motor Off

The M-Stop pins require voltage (5V-48VDC) for the actuator to run. When voltage is removed, the motor in the actuator is deactivated (set to Control Strategy Off) and the actuator is backdrivable. The status LED will blink yellow.

Motor Hold

The M-Stop pins require voltage (5V-48VDC) for the actuator to run. When voltage is removed, the motor in the actuator is controlled to maintain its current position. The status LED will blink yellow.


Mechanically Mounting Actuators

The T-Series and R-Series Actuators have threaded holes for M5 metric screws on their output and bottom sides and four M3 threaded holes on the front plate for mounting. Additionally, there are two 3mm Dowel Pin holes that are spaced 35mm apart symmetric from the center bore on both the output and input interfaces to help with bracket alignment. If you are using standard HEBI connection parts, the appropriate hardware is provided.

Check out the standard T-Series & R-Series Accessories

T5 Reference Drawing: T5 Dimensional Interface Drawing

T8 Reference Drawing: T8 Dimensional Interface Drawing

R8 Reference Drawing: R8 Dimensional Interface Drawing

Be careful to use the appropriate length screws when mounting the actuators. Using screws that are too long may damage the actuator if they are tightened while bottomed out in the threaded holes.
Be sure to only use Stainless Steel or other Corrosion-Resistant hardware with the R-Series Actuators. This is to prevent the hardware from seizing due to corrosion.

Sealing R-Series Actuators

The R-Series actuators are designed to be sealed to an IP67 rating. In order to achieve the seal, the connector cover needs to be fully installed to the back end of the Actuator.

The connector covers (A-2204-01A and A-2204-01B) have an o-ring that will seal against the back of the actuator. Using the silicone grease in the connection toolbox, fully grease the o-ring before attaching the cover.
sealingCaps
If only one cord grip has wires coming through it, replace the unused cord grip insert with a solid plug (PP-2408-01) and tighten down the cord grip.
solidPlugSeal
  • Lightly pull the slack in the cables through the cord grips to bring the connector cover up agaisnt the actuator. Make sure the terminal block does not disconnect from the actuator.

  • While holding the connector cover up against the actuator, screw down the captive M3 bolts.

connector cover screws
  • Use a 19mm (or 3/4") open wrench to tighten down the cord grip rubber insert around the wires.

cord grip tighten
It is important to note that the media converter and other electronics, like the power supply, are not sealed. Make sure there is enough cable length to keep the electronics in some kind of protective case or box if the actuators are being used in a dirty or wet environment.
sealed actuator

Internal Pressure (R-Series)

In addition to being sealed for intermittent wet use, R-Series actuators contain an internal pressure sensor that can be accessed on the pressure in the actuator feedback.

  • Readings are in kPa

    The readings from the sensor are absolute pressure, which is the sum of gauge pressure and atmospheric pressure. The reading of an unpressurized actuator will fluctuate slightly with changes atmospheric pressure and temperature.
    • Standard Reading: ~101 kPa (1 atm or 14.7 psi)

    • Minimum Internal Pressure : 10 kPa (1.5 psi)

    • Maximum Internal Pressure : 300 kPa (43.5 psi)

Include a valve

When you are internally pressurizing R-Series actuators it is always good to have some kind of valve incorporated for adding and removing air from the system.

Remember to remove all internal pressure from actuators before disassemblying wiring of actuators. This includes prior to loosening cord grips and screws on connector covers. This will prevent causing harm to yourself or damage to actuator’s o-rings and other components.
In most cases it is best to use the M-stop (blue and yellow) wiring, but if you determine you don’t need it, then you can always loop a wire in the last 2 open cord grip holes to keep the Actuator sealed (shown in image below).
r series air in
r series two air in

Plug the last Cord Grip with Solid Wire

Even though the R-Series actuators are sealed, air is still able to pass through the wiring of the actuators. Whether you are pressurizing a single or multiple actuators, the last cord grip in your chain should use solid core wire for the power and M-stop lines. This will prevent air from escaping from the pressurized system.

We recommend using the following solid core wires:

Solid core wires work well with the WAGO wire nuts and a standard HEBI flying-lead power cable (both included in R-Series standard wiring kit).
r series solid wire nut

Alternative method: custom tether pressurization adapter

As an alternative experiment, a group of 5 actuators were daisy-chained together using the standing wiring cables and a tether pressurization adapter. This custom adapter allows for pressure to be added to the system from the tether instead of the end effector actuator and prevents air from escaping back to your power supply with solid core wire.

A constant air supply of ~250 kPa (absolute pressure) was supplied from the tether with the last module having a solid plug.
labeledTestSetup

The following plots show the difference between using using only stranded wires and using the solid core wires in from the tether pressization adapter.

The POF (plastic optical fiber) cables fully block air flow and do not need to be changed.
plots internal pressure
From the plot on the left, the pressure drop between actuators in steady-state appears to be correlated to length of wire between the two actuators. The longer the wires, the larger the pressure drop. Additionally, pressure and temperature are directly proportional, as the actuator temperature increases the internal pressure will also increase.

Actuator Feedback

All actuators (both X-Series and R-Series) 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.

X-Series and R-Series Note:
The output encoder in these actuators is multi-turn absolute to +/- 4 rotations (8 x 360-degree total range). The encoder knows its position within this range immediately when powering on, even if the actuator is moved while it is not powered.

Once the actuator is powered on, it reports its position continuously and unlimited in either direction.

If you go outside the +/- 4 rotation range and restart the actuator, the reported position from the encoder will ‘wrap around’ and initialize within +/- 4 rotations.

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 used with a calibrated spring constant in each actuator to report the actuator’s effort feedback.

deflectionVelocity

rad/sec

The velocity of the internal spring’s 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 complementary 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 or motorWindingCurrent

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 or motorSensorTemperature

deg-C

The sensed temperature near the motor in the actuator.

ambientTemperature or boardTemperature

deg-C

The sensed temperature of the electronics in the actuator.

processorTemperature

deg-C

The sensed temperature of the processor in the actuator.

actuatorTemperature or motorHousingTemperature

deg-C

The modeled housing temperature of the motor inside an actuator.

windingTemperature or motorWindingTemperature

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.

mStopState

enum or HebiEnum.MStopState*

The status of the M-Stop line in the module.

not triggered
triggered

commandLockState

enum or HebiEnum.CommandLockState*

The status of the command lockout on the module, active during the CommandLifetime of a given command.

not locked (ready to receive commands)
locked by sender (receiving commands from this group)
locked by other (commands from this group will be ignored)

temperatureState

enum or HebiEnum.TemperatureState*

The status of the various temperature safety controllers on the module.

normal
critical
exceeds maximum motor temperature
exceeds maximum board temperature

positionLimitState velocityLimitState effortLimitState

enum or HebiEnum.PositionLimitState*

The status of the various motion safety controllers on an actuator.

below lower limit
at lower limit
inside range (normal operation)
at upper limit
above upper limit
not initialized

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.

pressure

kPa

Internal absolute pressure of the actuator in kPa. (R-Series Only)

Actuator Commands

The commands that each actuators support for controlling motion are the same as the commands listed in the Groups 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.


In addition to commands related to motion, a number of hardware-specific parameters 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 Parameters and Gains in the 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.

ledR ledG ledB

0 to 1

Override RGB color values of the status LED.


I/O Board

pcba 2075 01 front pcba 2075 01 back

The HEBI I/O Board is an ethernet-enabled module that allows you to easily integrate various low-level sensors into HEBI’s APIs and framework. This module provides general-purpose analog and digital inputs, digital and PWM outputs, encoder inputs, and exposes in the various HEBI APIs in a way that is syncronized with any other modules on the network. It also includes an IMU and on-board orientation estimate, using the same API format as the X-Series actuator.

Some example uses of the I/O Board:

  • Reading analog load cells / pressure sensors

  • Reading signals from limit switches

  • Reading input from buttons / potentiometers

  • Reading quadrature encoders

  • Controlling pneumatic valves (requires external relays)

  • Controlling solenoids (requires external relays)

  • Controlling LED lights

  • Sending digital line signals to other devices


Revisions

Part Number Description and Downloads Image

A-2432-01

HEBI I/O Board (rev A)
Mechanical Data

A-2432-01

A-2116-02

Legacy HEBI I/O Board (rev C)
Mechanical Drawing

A-2116-02

A-2116-01

Legacy HEBI I/O Board (rev B)

A-2116-01


A-2432-01 Interface

The I/O pins described below can be accessed through the HEBI API with I/O Commands / Feedback.

pcba 2075 01 top annotated

The following specifications only apply to A-2432-01 I/O boards. Contact HEBI Robotics for more details about older revisions.

Interface Rating Description

Power Input

12V - 48V

This input uses a 2-pin Molex Minifit connector to receive power. It has a reverse voltage protection diode to prevent damage if the connector is miswired. Care should be taken to avoid high voltage transients at this connector.

V I/O Selection Header

3.3V / 5V

This header is used to switch the output voltage between 3.3V and 5V. Do not move this jumper while the device is powered on. This jumper must be populated for the board to function.

Reset Button

This is the hardware reset button for the onboard I/O Micro.

Digital Outputs

0V / V I/O

All digital outputs are buffered with one 8-channel SN74LVC8T245 translation transciever. These outputs are capable of 32mA each in 5V mode or 24mA in 3.3V mode. Do not exceed 100mA total on all digital outputs. Refer to the buffer datasheet for more details.

Digital Inputs

0V / V I/O

Please note that all of the digital inputs are connected directly to the onboard I/O Micro. The I/O Micro runs at 3.3V, but it has 5V tolerant inputs. The inputs are not 5V tolerant when the power is disconnected however, so it is important that external 5V sensors be either powered by this board or incorporate a switching (or level shifting) circuit.

Analog Inputs

0V - 5V

All analog inputs have a range of 0-5V, and have a fixed, first order low pass filter with a cutoff frequency of approximately 4.8kHz. The analog resolution is 12 bits. All of the analog inputs are buffered with TSV324IPT op amps. It is recommended that an external calibration procedure is used for high-accuracy applications.

PWM Outputs

0V - V I/O

By default, the PWM outputs are configured to switch at approximately 20kHz. This frequency is good for DC motor control and basic DAC applications. The PWM timer resolution is 10 bits. All PWM outputs are buffered with one 8-channel SN74LVC8T245 translation transciever. These outputs are capable of 32mA each in 5V mode or 24mA in 3.3V mode. Do not exceed 100mA total on all digital outputs. Refer to the buffer datasheet for more details.

Misc. I/O

0V - V I/O

Additional connections for use with customized firmware. See I/O Micro Pinout for more details.


Additional Specifications

Power & Thermal Considerations

The HEBI I/O Board is rated to a maximum of 300mA from the I/O voltage supplies. Exceeding this current rating may cause the board to malfunction.

The I/O Micro on this board should be heat sunk when this board is assembled into an enclosure. If the electronics are allowed to heat up above 85C the board will stop responding to Ethernet. An onboard temperature sensor can be used to track the temperature of the processor and Ethernet interface.

Data Registers

All data registers updated at a 1kHz interval, so polling the board faster will not produce any benefit.

ESD Precautions

Although there are no overly sensitive components on the I/O Board, there is also no ESD protection. Care must be taken to not damage the device through ESD by taking the appropriate precautions.

General Precautions

The HEBI I/O Board consists of a bare PCB without an enclosure. Care must be taken to protect the connections on the bottom of the PCB. Do not operate the board while it is resting on a conductive surface. Always double check wiring before powering on the board. Never make connections while power is on.

Reference Frame

The reference frame for the I/O board’s IMU (accelerometer, gyro, orientation) is shown in the image below. The origin of the coordinate frame is shown centered on the IMU.

io carrier imu io legacy imu


I/O Utility Board

pcba 2131 01 front pcba 2131 01 back

The HEBI I/O Utility Board is a high-powered version of the traditional I/O Board. This Board allows you to control up to 2 independent LED outputs, 2 independent DC motor outputs, and a high power FET output. A beefy 5V output puts out enough juice to let you run a Raspberry Pi!

It has everything but the kitchen sink!

Features

  • 2 Ethernet Ports for Ethernet Passthrough

  • Terminal Blocks for All Main Connectors

  • Same size / bolt pattern as the Standard I/O Board

  • High power 5V output

  • 2 x LED Drivers

  • Dual Channel H-Bridge Motor Driver

  • Bus power output


Revisions

Part Number Description and Downloads Image

PCBA-2131-01 B1

HEBI I/O Utility Board (Using I/O Micro)

pcba 2131 01 front


Interface

The I/O pins described below can be accessed through the HEBI API with I/O Commands / Feedback.

pcba 2131 01 top annotated

Interface Rating Description

Power Input

25V - 42V

This input is used to provide power to the board. This board is designed to run off of a 10S Lithium Ion Battery.
It is possible but not recommended to run at up to 48V. The typical rating of the TB67H420FTG is 47V and it may be damaged in the case of transient spikes.

Main 5V Output

5V, 3A
Internally Limited to 3.75A

This output is designed for a 15W output (Enough to drive a RPi4). It is internally limited to 3.75A with a LS0505EVD22 eFuse chip. A status LED indicates when this interface is enabled.

Motor Output

4.5A Per Motor
9 A Total

This connector features a dual-output TB67H420FTG H-Bridge Motor Driver and current sensing provided by a ACS71240 hall effect sensor. LO1 and LO2 are broken out to status LEDs.

LED Output

1A Per Channel

Two independent LED drivers capable of up to 1A each. Fault status LEDs are broken out as well.

Power Output

4A Nominal
Internally Limited to 4.5A

A bus voltage output with current limiting provided by a TPS16530RGER chip.

Reset Button

This is the hardware reset button for the onboard I/O Micro.

A5-8

0V - 5V

Extra analog inputs. Buffered and low-passed with a cutoff frequency of 4.8kHz.

B5-6

0V - 5V

Extra digital inputs.

I/O Power

Extra power outputs for the misc. I/O. No onboard current limiting.


I/O Channel Mapping

I/O Channel Function

a1

Motor B Current

a2

Motor A Current

a3

LED A Current

a4

LED B Current

a5

Spare Analog Input 1

a6

Spare Analog Input 2

a7

Spare Analog Input 3

a8

Spare Analog Input 4

b1

TB67H420FTG LO1

b2

TB67H420FTG LO2

b3

LED Fault A

b4

LED Fault B

b5

Spare Digital Input 1

b6

Spare Analog Input 2

b7

Power Output Fault

e1

Motor B Input 1

e2

Motor B Input 2

e3

Motor A Input 1

e4

Motor A Input 2

e5

LED Enable A

e6

LED Enable B

e8

Power Output Enable

f1

Motor B PWM

f2

Motor A PWM

f3

LED A PWM

f4

LED B PWM


Power & Thermal Considerations

The I/O Micro on this board should be heat sunk when this board is assembled into an enclosure. If the electronics are allowed to heat up above 85C the board will stop responding to Ethernet. An onboard temperature sensor can be used to track the temperature of the processor and Ethernet interface.

Data Registers

All data registers updated at a 1kHz interval, so polling the board faster will not produce any benefit.

ESD Precautions

Although there are no overly sensitive components on the I/O Utility Board, there is also no ESD protection. Care must be taken to not damage the device through ESD by taking the appropriate precautions.

General Precautions

The HEBI I/O Utility Board consists of a bare PCB without an enclosure. Care must be taken to protect the connections on the bottom of the PCB. Do not operate the board while it is resting on a conductive surface. Always double check wiring before powering on the board. Never make connections while power is on.

Reference Frame

The reference frame for the I/O board’s IMU (accelerometer, gyro, orientation) is shown in the image below. The origin of the coordinate frame is shown centered on the IMU.

io util imu


I/O Micro

pcba 2072 01 top pcba 2072 01 bot

The HEBI I/O Micro is the core of every I/O Board. It has all of the circuitry and firmware required to interface with HEBI APIs in a tiny package. A flexible onboard Ethernet switch lets this board interface with both Fiber and Copper Ethernet.

The I/O Micro enables the creation of purpose-built I/O boards for any application!

Features

  • The smallest I/O Board!

  • 100% Rectangular!

  • 32mm x 18mm x 5mm board footprint

  • Built in 100Mbit Ethernet Switch

    • 2 Ports with built-in Ethernet PHYs

    • Each Port Capable of either Fiber or Copper Ethernet

  • Low profile, high density DF40 connector interface

  • Runs off of a 2W power supply of either 5V or 3.3V

  • Onboard IMU

  • Integrated Status LED


Revisions

Part Number Description and Downloads Image

PCBA-2072-01 D2

I/O Micro (rev D)
Based on STM32F765IIK6

PCBA-2072-01 D2

PCBA-2072-01 D1

I/O Micro (rev D)
Based on STM32F765IIK6

PCBA-2072-01 D1

PCBA-2072-01 B2

I/O Micro (rev B)
Based on STM32F427IIH6

PCBA-2072-01 B2

PCBA-2072-01 B1

I/O Micro (rev B)
Based on STM32F427IIH6

PCBA-2072-01 B1


Pinout

The I/O Micro has all of the connections available on the regular I/O board. Additional connections are available with custom HEBI firmware.

The I/O pins described below can be accessed through the HEBI API with I/O Commands / Feedback.

PCBA-2072-01 B1


I/O Pins
Connector Pin API Name Function

J1

37

E1

Digital Output 1

J1

35

E2

Digital Output 2

J1

33

E3

Digital Output 3

J1

31

E4

Digital Output 4

J1

50

E5

Digital Output 5

J1

48

E6

Digital Output 6

J1

46

E7

Digital Output 7

J1

44

E8

Digital Output 8

J2

54

A1

Analog Input 1

J2

52

A2

Analog Input 2

J2

51

A3

Analog Input 3

J2

57

A4

Analog Input 4

J2

59

A5

Analog Input 5

J2

68

A6

Analog Input 6

J2

58

A7

Analog Input 7

J2

53

A8

Analog Input 8

J2

60

A9

Analog Input 9 Custom Firmware Required

J2

67

A10

Analog Input 10 Custom Firmware Required

J2

65

A7

Analog Input 11 Custom Firmware Required

J2

63

A8

Analog Input 12 Custom Firmware Required

J2

36

F1

PWM Output 1

J2

30

F2

PWM Output 2

J2

18

F3

PWM Output 3

J2

20

F4

PWM Output 4

J2

39

F5

PWM Output 5

J2

43

F6

PWM Output 6

J2

40

F7

PWM Output 7

J2

44

F8

PWM Output 8

J2

17

B1

Digital Input 1

J2

15

B2

Digital Input 2

J2

7

B3

Digital Input 3

J2

9

B4

Digital Input 4

J2

34

B5

Digital Input 5

J2

38

B6

Digital Input 6

J2

28

B7

Digital Input 7

J2

26

B8

Digital Input 8

J2

23

C1

Quad Encoder 1 A

J2

4

C2

Quad Encoder 1 B

J2

6

C3

Quad Encoder 1 I

J2

16

C4

Quad Encoder 2 A

J2

5

C5

Quad Encoder 2 B

J2

19

C6

Quad Encoder 2 I

J2

29

C7

UART 1 RX Custom Firmware Required

J2

33

C8

UART 1 TX Custom Firmware Required

J2

46

D1

UART 2 RX Custom Firmware Required

J2

45

D2

UART 2 TX Custom Firmware Required

J2

25

D3

I2C SCL Custom Firmware Required

J2

13

D4

I2C SDA Custom Firmware Required

J2

3

D5

SPI MISO Custom Firmware Required

J2

8

D6

SPI MOSI Custom Firmware Required

J2

14

D7

SPI SCK Custom Firmware Required

J2

24

D8

SPI CS Custom Firmware Required


Other Pins
Connector Pin Name Function

J1

3

V+

Voltage Sense Input [48V max] (Optional, but Recommended Functionality)

J1

7

LEDG

RGB LED Green Output [Active High] (Should be buffered if used for external LED)

J1

9

LEDR

RGB LED Red Output [Active High] (Should be buffered if used for external LED)

J1

11

LEDB

RGB LED Blue Output [Active High] (Should be buffered if used for external LED)

J1

27

RESET

Hardware Reset Button Input [Active Low] (Onboard Pullup)

J1

29

MSTOP_IN

MSTOP Input (External Circuitry Required)

J1

2

TX1-

Negative Diff. Pair Connection for Ethernet Port 1 TX

J1

4

TX1+

Positive Diff. Pair Connection for Ethernet Port 1 TX

J1

8

RX1-

Negative Diff. Pair Connection for Ethernet Port 1 RX

J1

10

RX1+

Positive Diff. Pair Connection for Ethernet Port 1 RX

J1

32

SD1

Signal Detect input for Fiber Mode for Eth. Port 1

J1

34

FX_SEL 1

Fiber / Copper Mode Select for Eth. Port 1

J1

13

P1 LED0

Link / Activity Indicator for Eth. Port 1

J1

15

P1 LED1

Speed Indicator for Eth. Port 1

J1

28

TX2-

Negative Diff. Pair Connection for Ethernet Port 2 TX

J1

26

TX2+

Positive Diff. Pair Connection for Ethernet Port 2 TX

J1

22

RX2-

Negative Diff. Pair Connection for Ethernet Port 2 RX

J1

20

RX2+

Positive Diff. Pair Connection for Ethernet Port 2 RX

J1

36

SD2

Signal Detect input for Fiber Mode for Eth. Port 2

J1

38

FX_SEL 2

Fiber / Copper Mode Select for Eth. Port 2

J1

17

P1 LED0

Link / Activity Indicator for Eth. Port 2

J1

19

P1 LED1

Speed Indicator for Eth. Port 2

J1

51, 53, 55, 57, 59

5V

5V Power Supply Input

J1

52, 54, 56, 58, 60

3V3

3.3V Power Supply Output (or input when bypassing 5V regulator)

J2

64

VDDA

Analog Voltage Supply Output (Reference Only)

J2

66

V_REF

ADC Reference Voltage Output

J1

6, 12, 14, 16, 18, 21, 23, 24, 25, 30, 39, 40, 41, 42

GND

Ground Connection

J2

1, 2, 11, 12, 21, 22, 31, 32, 41, 42, 49, 50, 55, 56, 61, 62, 69, 70

GND

Ground Connection

J1

1,5

N/C

Unused

J1

43,45,47,49

RSVD

Additional reserved I/O Pins

J2

10, 27, 35, 37, 47, 48

RSVD

Additional reserved I/O Pins


Additional Specifications

Connector Precautions

The DF40 connectors on the bottom of the board are fragile. Take care to remove the I/O Micro such that it is as parallel to its carrier board as possible. If it cannot be removed easily, the best way to remove it is to lift it gently, one side at a time, on the long edge. This will allow you to dislodge the board to board connectors with lower risk of damage.

io micro connector

Power & Thermal Considerations

The I/O Micro has onboard 5V → 3.3V and 3.3V → 1.2V DC/DC converters to provide the various voltage rails required for its circuitry. The 5V input and the 3.3V output are exposed to the connector. The 1.2V supply is internal to the board. The 3.3V DC/DC is designed with enough headroom to run peripheral circuitry. Typical usage should be kept under 300mA when the DC/DC converters on the board do not have a good heat sink.

The two chips on board that consume the most power are the LAN9353 and the STM32F7. The LAN9353 has a worst case power draw of ~560mW and the STM32F7 has a worst case power draw of ~900mW. When no other peripherals are used the I/O Micro can be powered with a minimum 2W supply. It is recommended to power the I/O Micro with a 5V, 1A supply to provide sufficient power for the I/O Micro itself as well as any peripheral circuitry. Ensure a good connection to the Ground and 5V pins of the I/O Micro.

The I/O Micro should be heat sunk when assembled into an enclosure. If the electronics are allowed to heat up above 85C the board will stop responding to Ethernet. An onboard temperature sensor can be used to track the temperature of the processor and Ethernet interface.

ESD Precautions

The I/O Micro does not have any additional ESD protection built in. All pins are directly connected to a pin on the onboard Microcontroller or Ethernet Switch. Take appropriate precautions to avoid damaging the device through ESD.

General Precautions

The I/O Micro consists of a bare PCB without an enclosure. Care must be taken to protect the board from mechanical damage. Do not remove the I/O micro from its carrier board while the board is powered on.

Reference Frame

The reference frame for the I/O Micro’s IMU (accelerometer, gyro, orientation) is shown in the image below. The origin of the coordinate frame is shown centered on the IMU.

io micro imu


I/O Board 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

volts

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.

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 complementary 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.

voltage

V

The sensed bus voltage into the module.

ambientTemperature or boardTemperature

deg-C

The sensed temperature of the electronics (IMU) on the IO Micro.

processorTemperature

deg-C

The sensed temperature of the processor on the IO Micro.

LED or ledR ledG ledB

0 to 1

RGB color values of the status LED.


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.


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.


Motor Driver

MotorDriverTop A 2433 02

The Motor Driver is a beta product and not available for individual sale on our website. Contact HEBI Robotics for more details.

The HEBI Motor Driver is a flexible system intended for driving third party motors with the HEBI API. It’s designed from the ground up to be modular in every way!

The HEBI Motor Driver is a stackup of multiple boards that are designed to be swapped out easily. At its core is an I/O Micro with an integrated IMU and HEBI API functionality. The interface board on the top allows the Motor Driver to function with either Copper or Fiber Ethernet. The interface board can be customized for maximum flexibility!

Features:

  • Flexible input voltage (15-50V)

  • 500W continuous power rating at 36-50V

  • 1000W peak power rating at 36-50V

  • Small Package: 60mm x 65mm x 25mm

  • Integrated Heat Spreader

  • Integrated IMU

  • 100 Mbps Ethernet, available in either Copper or Fiber interfaces

  • Flexible I/O inputs

    • Onboard I/O Voltage Supply (Selectable 5V / 3.3V, 300mA)

    • 6 Analog inputs

    • Up to 4 SPI Encoders or 2 Quadrature Encoders

    • On/Off Board Temperature Sensoprs

    • Hall Sensor inputs

    • Rich feedback on input/output voltage and current

    • Integrated MSTOP inputs

  • Auxiliary output

    • Used for driving brake solenoids or shunt regulators

    • Rated to 2A continuous in inductive loads

    • Rated to 10A continuous in resistive loads


Available Configurations

Part Number Description and Downloads Image

A-2433-01

MD-A Motor Driver with Copper Ethernet (rev C)

A-2433-01

A-2433-02

MD-AF Motor Driver with Fiber Ethernet (rev C)

A-2433-02


Physical Interface

The Motor Driver has connectors and LEDs on nearly every side to minimize the footprint of the device. The most important components are explained below.

MotorDriverAnnotated


Interface Description

Status LEDs

The Status LEDs implement all standard module status codes as well as a few Motor Driver specific status codes listed below.

I/O Inputs

These terminal blocks provide the interface for the various analog, encoder, and hall sensor inputs.

Reset Button

This is the hardware reset button

Motor Inputs

The windings of a 3 phase motor are connected to the motor driver here.

Power Inputs

Power (and optional capacitors) are connected to the motor driver here.

V I/O Selection Header

This header allows for VIO to be switched between 3.3V and 5V.

Fault LED

This LED will turn on when a hardware fault has occured. This LED should not light up in normal usage.

Additional Status LED Codes
LED Pattern Meaning

Green Blink

Relative encoder not initialized yet.

Red Solid On

Module safety fault.


Interface Configuration

The Motor Driver is designed with a replaceable interface board that allows for easy swapping of connectors. The base configuration features connections for Hall Effect Sensors, up to 4 SPI encoders, up to 2 quadrature encoders, and 6 Analog Inputs.

MotorDriverTopAnnotated

Example Encoder Configuration Matrix

There are four possible encoder ports on the Motor Driver, subdivided into two groups (A, B). You can run up to two SPI encoders per group or one Quadrature encoder per group. Quadrature encoders cannot be run on the same group as a SPI encoder - they use the same electrical interface.

Port Group Sub Port Ex. Config 1 Ex. Config 2 Ex. Config 3 Ex. Config 4 Ex. Config 5

A

1

SPI

QUAD

SPI

QUAD

X

2

X

SPI

X

B

1

SPI

X

SPI

QUAD

QUAD

2

X

SPI

SPI


Basic Wiring

The Motor Driver uses terminal blocks for most inputs to maximize wiring flexibility. At a bare minimum, you will need to connect the following for every motor:

  • 3 Phase Motor Winding Leads

  • 15-48V DC Power Input

  • Ethernet Connection to a Computer

  • Motor Encoder

    • Hall Effect Sensors (For Block Commutation)

    • Quad / SPI Encoder (For FOC)

The base configuration has ~135 uF of ceramic capacitors on board connected to the main power input. For certain high power motors or high-impedance power supplies, you may need additonal bulk capacitance (shown below).

Example Wiring of a Maxon EC90 Motor with a SPI AS5047U Encoder for FOC Operation

MotorDriverEC90FOC


Fault / Status Registers

In typical use cases the Hardware Fault LED will remain off and the fault status registers (on I/O channels b1 and b2) will remain zero.

Certain situations such as faulty motors / wiring, bad power supplies, or bad commands can cause the hardware safety features to trigger. When this happens b1 and b2 will go nonzero according to the datasheet of the low-level FET driver chip.

Faults can typically be resolved by re-sending the control strategy (after the cause of the fault has been remedied). In certain situations it may be necessary to perform a full reset of the Motor Driver.

In brownout situations the low level driver chip can lock up. The symptom of this is that b1-b6 will read 4095. In this case a full power cycle to the device is required to return the Motor Driver to a normal state.

Contact support@hebirobotics.com for more information.

Default Register Mapping

I/O Channel

Mapped Register

b1

Fault Status 1

b2

Fault Status 2

b3

Control Register 1

b4

Control Register 2

b5

Control Register 3

b6

Control Register 4


Motor Driver Config Fields

Encoders

These parameters set the encoder selection and configurations. With the exception of encoder port selections, they are all loaded on reset. The hall sensor port is special and cannot be enabled / disabled.

Parameter Units Description

Output Encoder Port

enum

What encoder is used for Position/Velocity feedback.

Deflection Encoder Port

enum

Planned For Future Release

Motor Encoder Port

enum

What encoder is used for Motor Position/Velocity feedback.

Torque Source

enum

Planned For Future Release

Encoder Type

enum

The type of encoder that is connected to this port. [Disabled, Quadrature, SPI AS5047U]

Direction

Forward / Reverse

The sign of the measured position.

Initialization

Absolute / Relative

This determines the initialization behavior of a relative encoder. More Details

Ticks Per Revolution

unsigned int

The number of pulses per revolution an encoder has. Equivalent to the encoder resolution.

Position Filter Size

unsigned int

Planned For Future Release

Velocity Filter Size

unsigned int

The width of the moving average filter on the velocity feedback from this encoder.

Calibration Type

enum

The type of calibration that should be used with this encoder. [Disabled, Offset]

Offset Value

float

The value used in an offset calibration.


Motor Parameters

These are parameters that are inherent to the motor - they can usually be either derived from a datasheet or measured directly. These parameters are reloaded whenever they are set.

Parameter Units Description

Pole Pairs

unsigned int

The number of pole pairs in the motor.

Speed Constant

RPM/V

The relationship between applied motor voltage and velocity.

Torque Constant

Nm/A

The relationship between applied motor current and torque.

Max Speed

RPM

The max rated speed of the motor from the datasheet. This is used in a safety controller.

Torque Temp. Constant

N/A

Planned For Future Release

Velocity Temp. Constant

N/A

Planned For Future Release

Winding Resistance

Ohm

Terminal (line-to-line) resistance of the motor.

Winding Inductance

mH

Terminal (line-to-line) inductance of the motor.

Max Winding Current

A

The max winding current goal for FOC.

Max Winding Temperature

C

The maximum allowable winding temperature from the datasheet.


Thermal Model

These are used in the onboard thermal model. They can be determined experimentally or estimated from a motor datasheet. These parameters are reloaded whenever they are set.

Parameter Units Description

Winding Thermal Resistance

C/W

The thermal resistance between the motor windings and the bulk housing.

Winding Thermal Time Constant

sec

The thermal time constant of the motor windings.

Motor Housing Thermal Resistance

C/W

The thermal resistance between the motor housing and the ambient environment (or temperature source).

Motor Housing Time Constant

sec

The thermal time constant of the motor housing.

Temperature Source

sec

The source for the ambient temperature that is fed into the thermal model.

Start %

0-1

The initialization point of the thermal model.


Controller

These parameters configure the commutation mode that the motor driver uses.

Parameter Units Description

Mode

Enum

Block Commutation or Field Oriented Control

K

N/A

[Iq/Id] Proportional gain for the FOC PI loop

Ki

N/A

[Iq/Id] Integral gain for the FOC PI loop

I Clamp

A

[Iq/Id] The anti-windup term for the FOC PI loop


Gear Train

These parameters are used to calculate output position. These parameters are reloaded whenever they are set.

Parameter Units Description

Gear Ratio Numerator

unsigned int

The numerator of the ratio of the reduction between the motor and the actuator output.

Gear Ratio Denominator

unsigned int

The denominator of the ratio of the reduction between the motor and the actuator output.

Efficiency

%

The assumed efficiency of the geartrain. This is used in the torque estimate.

Maximum Output Torque

Nm

Planned For Future Release


Calibration

These are advanced parameters. They set the offsets used for current / voltage measurements. These parameters are reloaded whenever they are set.

Parameter Units Description

Offset I A

A

Phase A Winding Current Sense Offset.

Offset I B

A

Phase B Winding Current Sense Offset.

Offset I C

A

Phase C Winding Current Sense Offset.

Offset I Bus

A

Bus Current Sense Offset.

Offset V A

V

Planned For Future Release

Offset V B

V

Planned For Future Release

Offset V C

V

Planned For Future Release


Board

These are advanced parameters. They are mostly low level parameters that don’t need to be changed often. All of these parameters (except for Winding Order and Hall Order) are reloaded on reset.

Parameter Units Description

Winding Order

ABC / CBA

This sets the direction the motor spins. It is functionally equivalent to swapping two motor leads.

Hall Order

enum

The hall order determines how the hall effect sensors index into the motor excitation table. There are six possible combinations.

Hall Sensor Offset

0 / +60

Planned For Future Release This accounts for where the hall sensors are located relative to the motor windings. There are two possible options.

Min Duty Cycle

Duty Cycle

The minimum allowable duty cycle of the power stage.

Max Duty Cycle

Duty Cycle

The maximum allowable duty cycle of the power stage.

Max Board Current

A

Planned For Future Release The maximum allowable board current.

Switching Frequency

Hz

This sets the switching frequency of the power stage. (10kHz-100kHz)

Control Divider

unsigned int

This parameter determines the FOC control loop sampling frequency. The allowed values are (2-32) and are also limited by the min/max control loop sampling frequency (5kHz - 35kHz).

sampling_frequency = switching_frequency / control_divider

Threshold VDS

mV

Low level FET overcurrent safety threshold.

Threshold Winding

mV

Low level current sense overcurrent safety threshold.

Filter Size

unsigned int

Winding current feedback filter size.

Gain

V/V

Winding current sense amplifier gain.


Motor Driver Feedback Fields

The motor driver includes all normal actuator feedback fields, in addition to the ones below.

Parameter Units Description

phaseDutyCycleA

V

The power stage duty cycle for Phase A.

phaseDutyCycleB

V

The power stage duty cycle for Phase B.

phaseDutyCycleC

V

The power stage duty cycle for Phase C.

phaseCurrentA

A

Measured winding current on Phase A.

phaseCurrentB

A

Measured winding current on Phase B.

phaseCurrentC

A

Measured winding current on Phase C.

phaseVoltageA

V

Measured winding voltage on Phase A. Beta Feature, Not Calibrated. More Details Here.

phaseVoltageB

V

Measured winding voltage on Phase B. Beta Feature, Not Calibrated. More Details Here.

phaseVoltageC

V

Measured winding voltage on Phase C. Beta Feature, Not Calibrated. More Details Here.

focIdCmd

A

The desired FOC Direct Axis Current.

focIqCmd

A

The desired FOC Quadrature Axis Current.

focVdCmd

V

The desired FOC Direct Axis Voltage.

focVqCmd

V

The desired FOC Quadrature Axis Voltage.

focId

A

Measured FOC Direct Axis Current.

focIq

A

Measured FOC Quadrature Axis Current.

focVd

V

Measured FOC Direct Axis Voltage.

focVq

V

Measured FOC Quadrature Axis Voltage.

innerFocIdCmd

A

The commanded FOC Direct Axis Current, after going through onboard safety controllers.

innerFocIqCmd

A

The commanded FOC Quadrature Axis Current, after going through onboard safety controllers.

innerFocVdCmd

V

The commanded FOC Direct Axis Voltage, after going through onboard safety controllers.

innerFocVqCmd

V

The commanded FOC Quadrature Axis Voltage, after going through onboard safety controllers.

hallState

N/A

The electrical rotor position measured using the hall effect sensors.

a1 - a6

volts

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

b1 - b6

Bitvector

Fault / Status fields for the RAA227063 Gate Driver

a8

A

Auxiliary input current.

f8

0 to 1

Auxiliary output pwm.


Motor Driver Command Fields

The motor driver includes all normal actuator command fields, in addition to the ones below.

Parameter Units Description

focId

A

The desired FOC Direct Axis Current.

focIq

A

The desired FOC Quadrature Axis Current.

focVd

V

The desired FOC Direct Axis Voltage.

focVq

V

The desired FOC Quadrature Axis Voltage.

f8

0 to 1

Auxiliary output pwm.


Module Info Feedback

All modules (actuators and I/O devices) return feedback that provides information about their hardware, networking paramaeters, and other state like gains and control parameters.

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 Parameters and Gains in the Core Concepts section for more information.


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.

T-Series & R-Series Accessories

The T-Series Actuators have replaced the X-Series Actuators. The T-Series are mechanically compatible with the R-Series and use the same accessories.

Mechanical Accessories

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

A-2292-01

R/T-Series Gripper
Assembly Drawing: A-2292-01

A-2292-01

A-2218-01

R/T-Series 1.25" Output Tube Adapter w/ indexing pins
Assembly Drawing: A-2218-01

A-2218-01

A-2219-01

R/T-Series 1.25" Housing Tube Adapter w/ indexing pins
Assembly Drawing: A-2219-01

A-2039-02

A-2220-01

R/T-Series Light 90o Bracket
Assembly Drawing: A-2220-01

A-2220-01

A-2221-01

R/T-Series Heavy 90o Bracket
Assembly Drawing: A-2221-01

A-2221-01

A-2228-01

R/T-Series T-Slot Mount Plate 25mm/1"
Assembly Drawing: A-2228-01

A-2228-01

A-2225-01

R/T-Series Output In-line Tube Adapter
Assembly Drawing: A-2225-01

A-2225-01

A-2227-01

R/T-Series Wheel Adapter
Assembly Drawing: A-2227-01

A-2227-01

A-2224-01

R/T-Series Housing Mid-Tube Adapter
Assembly Drawing: A-2225-01

A-2225-01

A-2090-01

R/T-Series Output Tube Adapter Cover
Assembly Drawing: A-2090-01

A-2090-01

A-2231-01

R/T-Series Housing Tube Adapter Cover
Assembly Drawing: A-2231-01

A-2231-01

A-2232-01

R/T-Series Heavy 90o Bracket Cover
Assembly Drawing: A-2232-01

A-2232-01

A-2235-01

R/T-Series Light 90o Bracket Cover
Assembly Drawing: A-2235-01

A-2235-01

Electrical Accessories

Part Number Description and Drawings Image

A-2456-02

R/T-Series Wiring Kit

Includes:
3 Ft PP-2349-BLK: 18AWG Power Wire for R/T-Series Actuator, Black
3 Ft PP-2349-RED: 18AWG Power Wire for R/T-Series Actuator, Red
3 Ft PP-2358-BLU: 22AWG M-Stop Cable for R/T-Series Actuator, Blue
3 Ft PP-2358-BLU: 22AWG M-Stop Cable for R/T-Series Actuator, Yellow
3 Ft PP-2358-YEL: 1.0mm x 2.2mm POF Duplex Cable
4x PP-2655-2: Wago 2-Conductor Lever-Nuts

A-2456-02

A-2262-02

R/T-Series Connection Toolbox
R-Series Connection Toolbox BOM

A-2262-02

A-2467-01

POF Ethernet Converter Connection Kit

Includes:
1x A-2256-01: POF Ethernet Media Converter
1x A-2047-12: Female Flying Lead Power Cable (12")
1x PP-2061-01: 3ft Ethernet Patch Cable
3 Ft PP-2401-DUP: 1.0mm x 2.2mm POF Duplex Cable
4x PP-2655-2: Wago 2-Conductor Lever-Nuts

A-2467-01

A-2467-02

POF Ethernet 4-Port Switch Connection Kit

Includes:
1x PCBA-2099-01: POF-Ethernet 4-port Switch
1x A-2047-12: Female Flying Lead Power Cable (12")
1x PP-2061-01: 3ft Ethernet Patch Cable
3 Ft PP-2401-DUP: 1.0mm x 2.2mm POF Duplex Cable

A-2467-02

PP-2401-DUP

1.0mm x 2.2mm POF Duplex Cable
Sold By the Foot

PP-2401-DUP

PP-2402-01

POF Termination Cutter

PP-2402-01

PP-2349-RED
PP-2349-BLK

18AWG Power Wire for R-Series Actuator, Bundle of Black and Red
Sold By the Foot

PP-2349-XX

PP-2358-YLW
PP-2358-BLU

22AWG M-Stop Cable for R-Series Actuator, Bundle of Blue and Yellow
Sold By the Foot

PP-2358-XX

A-2098-36

Power Supply w/ Mini-Fit Jr. Terminations
36V DC, 220W

A-2098-36

X-Series Accessories

The X-Series Actuators are Discontinued. Some stock of X-Series Accessories may still remain. If interested, please contact sales@hebirobotics.com.

Legacy X-Series Accessories can physically attach to T-Series and R-Series Actuators, but the housing bolt patterns are offset 2mm in the x-axis which causes some inconsistencies in kinematics and control if not compensated for in the HRDF configuration.

Any accessories noted as an R/T-Series Accessory have a symmetric bolt pattern relative to the actuator thru bore. Please refer to the actuator and accessory drawings and CAD files for more information.

Mechanical Accessories

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

A-2138-01

X-Series Gripper
Assembly Drawing: A-2138-01

A-2138-01

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

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

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

Tubes and Tube Accessories

These Tubes and Tube Accessories are compatible with both X-Series and R-Series Actuators and their corresponding Accessories.

Part Number Description and Drawings Image

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

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

A-2095-01

Six Tube Adapter for 1.25" OD Tube
Assembly Drawing: A-2095-01

A-2095-01

Battery

HEBI-Wattman

The HEBI “Wattman” Battery is our modular, airline-ready Lithium Ion battery pack designed for robotics applications. This 36V 93.6Wh pack is under the 100Wh limit for lithium ion batteries in carry on luggage and comes UN-38.3 and CB-IEC62133 certified.

Each battery pack is equipped with a blade-type power connector, M3 mounting holes, and embossed features for maximum implementation flexibility. Built-in enable circuitry keeps the connector de-energized for storage.

Integrated LEDs provide a quick charge estimate on demand. An integrated bq34z100-G1 chip provides more accurate state-of-charge information and is accessible through I2C.

Pack Arrangement

10S1P ITR18650-2600P Lithium Ion Cells

Capacity

93.6Wh (36V, 2.6Ah)

Charge Profile

1.3A (0.5C), 0 to 45°C
42V Cutoff

Discharge Profile

7.8A Cont. / 13A Peak, -20 to 60°C
27.5V Cutoff

Connector

Dimensions

Battery: 206mm x 80mm x 25mm
Battery w/ Cap: 221mm x 80mm x 25mm

Weight

Battery: 650g
Battery w/ Cap: 700g

CAD

Battery: PDF Drawing
Battery: 3D Model
Battery w/ Cap: PDF Drawing
Battery w/ Cap: 3D Model

Datasheet

Standard Connector Cap

A-2473-01

HEBI sells a standard connector cap (A-2473-01) that has the necessary interfaces to use the HEBI Wattman Battery out-of-the-box. The connector cap comes standard with a membrane on/off button and two Anderson Powerpole connector pairs, but can be customized to customer application requirements.

CAD

Standard Connector Cap: PDF Drawing
Standard Connector Cap: 3D Model

CR1 Camera Module

CR1-isometric

The CR1 Inspection Camera is a sealed, self contained module that can be mounted externally to a kit to provide the user with additional camera coverage.

Connector

A-2530-02: RJ45 + 18awg wire-seals
or
A-2530-01: 8-pin Microcircular Subconn MacArtney MCBH8F

Dimensions

A-2530-02: 165mm x 77mm x 67mm
A-2530-01: 183mm x 77mm x 67mm

Weight

750g

Camera

1080p HD video output over RTSP stream
120 degree Field of View

CAD

A-2530-02 (RJ45): PDF Drawing
A-2530-02 (RJ45): 3D Model
A-2530-01 (Subconn): PDF Drawing
A-2530-01 (Subconn): 3D Model

Datasheet

Quick start guide for the CR1 camera module can be found here.

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

A-2302-01

4 - Degree of Freedom (DoF)
R-Series SCARA Style Arm Kit
Manual
Datasheet
YAML file (A-2302-01)
HRDF file (A-2302-01)
Gains file (A-2302-01)

A-2302-01

A-2240-04

4 - Degree of Freedom (DoF)
R-Series Arm Kit
Manual
Datasheet
YAML file
HRDF file
Gains file

A-2240-04

A-2240-05

5 - Degree of Freedom (DoF)
R-Series Arm Kit
Manual
Datasheet
YAML file
HRDF file
Gains file

A-2240-05

A-2240-05G

5 - Degree of Freedom (DoF)
R-Series Arm Kit with HEBI Gripper
Manual
Datasheet
YAML file
HRDF file
Gripper Gains file

A-2240-05G

A-2240-06

6 - Degree of Freedom (DoF)
R-Series Arm Kit
Manual
Datasheet
YAML file
HRDF file
Gains file

A-2240-06

A-2240-06G

6 - Degree of Freedom (DoF)
R-Series Arm Kit with HEBI Gripper
Manual
Datasheet
YAML file
HRDF file
Gripper Gains file

A-2240-06G

A-2303-01

7 - Degree of Freedom (DoF)
R-Series Double Shoulder Arm Kit
Manual
Datasheet
YAML file
HRDF file
Gains file

A-2240-06G

A-2257-01

Lily
R-Series Hexapod Robot Kit
Manual
Datasheet
HRDF files

Lily

A-2361-01

R-Series Tracked Mobile Base
Datasheet

R-Series Tracked Base

A-2313-01

R-Series Mecanum Mobile Base
Datasheet

R-Series Mecanum Base

A-2363-01

Tready
R-Series Tracked Flipper Mobile Base
Tready Manual
Datasheet
YAML file
HRDF files

Tready

A-2403-02

Maggie
R-Series Tracked Magnetic Crawler
Maggie Manual
v1 Datasheet (Slightly Out-of-Date)

Maggie

A-2403-03TM

Mack
Track Actuator Magnetic Crawler
Maggie Manual (Same for Mack)
Mack Datasheet

Mack

All T-Series Kits use R/T-Series Accessories. Kits listed below that mention "Similar to X-Series Kits" refer to the configuration of Actuators. All accessories will need to be updated to the latest part numbers. Technical specifications and payloads between new T-Series kits and legacy X-Series kits will be relatively the same.
Table 2. Currently available T-Series kits
Part Number Description and Info Image

A-2590-01

4 - Degree of Freedom (DoF)
SCARA Style Arm Kit
Similar to: Manual (X-Series)
YAML file
HRDF file

A-2084-01

A-2580-04

4 - Degree of Freedom (DoF)
T-Series Arm Kit
Manual
Datasheet
YAML file
HRDF file
Gains file
Gains file
Gripper Gains file

A-2580-04

A-2580-05
A-2580-05G*

*with HEBI Gripper

A-2580-05

A-2580-06
A-2580-06G*

*with HEBI Gripper

A-2580-06

A-2582-07
A-2582-07G*

*with HEBI Gripper

7 - Degree of Freedom (DoF)
T-Series Arm Kit with Double Shoulder Joints
Manual
Datasheet
YAML file (A-2582-07)
HRDF file (A-2582-07)
YAML file (A-2582-07G)
HRDF file (A-2582-07G)

A-2582-07

A-2591-01

T-Series Rosie
Omni-directional Mobile Manipulation Kit
Similar to: Manual (X-Series)
Similar to: Datasheet (X-Series)
YAML File
HRDF File
Rosie Gains Files

T-Series Rosie

A-2592-01

Omni-Directional Drive Mobile Base
Similar to: Datasheet (X-Series)

T-Series Omni Drive

A-2598-01

Differential Drive Mobile Base
Similar to: Datasheet (X-Series)

T-Series Diff Drive

A-2599-01

Mecanum Drive Mobile Base
Similar to: Datasheet (R-Series)

T-Series Mecanum Drive

A-2593-01

T-Series Daisy
Hexapod Robot Kit (18-DoF)
Similar to: Manual (X-Series)
Similar to: Datasheet (X-Series)
Daisy YAML File
Daisy HRDF Files
Daisy Leg Gains File

T-Series Daisy

A-2595-01

T-Series Igor
Balancing Wheeled Robot Kit (14-DoF)
Similar to: Manual (X-Series)
Similar to: Datasheet (X-Series)

T-Series Igor

A-2132-02

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 Square Chassis

A-2127-02

Modular Chassis Kit (Hexagonal)
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 Hexagonal Chassis

Table 3. Legacy X-Series kits no longer for sale
Part Number Datasheets and Manuals

A-2084-01

X-Series 4-DoF SCARA Arm
Manual

A-2085-04

X-Series 4-DoF Arm
Manual

A-2085-05

X-Series 5-DoF Arm
Manual

A-2085-06

X-Series 6-DoF Arm
Manual

A-2099-07

X-Series 7-DoF Double Shoulder Arm
Manual

A-2160-01

X-Series Rosie
6-DoF Arm w/ Gripper on Omni-Directional Base
Manual

A-2049-01

X-Series Daisy
Hexapod
X-Series Out of the Box Manual
Manual

A-2058-02

X-Series Igor
14-DoF Wheeled Self-Balancing Robot
Manual

A-2120-01

X-Series Edward
Mobile Manipulator on Omni-Directional Base
Manual

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 R8 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 2218 01 w Actuator A-2218-01: Output Tube Adapter

A 2219 01 w Actuator A-2219-01: Housing Tube Adapter

A 2218 01 explode A-2218-01 Assembly Instructions

A 2219 01 explode A-2219-01 Assembly Instructions

Right Angle Brackets

HEBI right angle brackets allow you to use T-Series and R-Series Actuators in perpendicular axes, commonly needed for bases or end effectors of robotic arms. These brackets can be setup in both a 'Left' and 'Right' configuration making it easy to setup your system specific to your application’s needs.

Lightweight Bracket

This bracket is black anodized aluminum and have been setup for only an 'outside' configuration. It are best for connecting end effectors to a final "wrist" degree of freedom on robotic arms.

A 2220 01L A-2220-01: Lightweight Right Angle Bracket (Left Configuration)

A 2220 01R A-2220-01: Lightweight Right Angle Bracket (Right Configuration)

A 2220 01L explode A-2220-01 Assembly Instructions (Left Configuration)

A 2220 01R explode A-2220-01 Assembly Instructions (Right Configuration)

Heavy Duty Bracket

This bracket is black anodized aluminum and are best for bases of robotic arms. It is symmetric so you can mount the vertical actuator in the 'Left' or 'Right' Configuration as well as in an 'inside' or 'outside' configuration as shown below.

A 2221 01 Left A-2221-01: Heavy Duty Right Angle Bracket (Left)

A 2221 01 Right A-2221-01: Heavy Duty Right Angle Bracket (Right)

A 2221 01 Left explode A-2221-01 Assembly Instructions (Left)

A 2221 01 Right explode A-2221-01 Assembly Instructions (Right)

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 T-Series or R-Series Actuator to standard 25mm or 1 inch t-slot aluminum extrusion.

A 2228 01 Render A-2228-01: T-Slot Aluminum Adapter Plate

A 2228 01 explode A-2228-01 Assembly Instructions

Kinematic Information

T5 / T8 / R8 Actuators

t5 output R8 Output t5 side R8 Side View

t5 housing R8 Housing t5 connector R8 Connector Cord Grip View

t8 output R8 Output t8 side R8 Side View

t8 housing R8 Housing t8 connector R8 Connector Cord Grip View

r8 output R8 Output r8 side R8 Side View

r8 housing R8 Housing r8 connector R8 Connector Cord Grip View

The T-Series and R-Series Actuators all use the same accesories. If this documentation or the HRDF documentation refers to a R-Series Accessory that part can most likely be used on a T-Series Actuator as well.
The R8-Link is very similar to the X5-Link, but is encoded to only fit with R-Series and T-Series parts. The housings of T5, T8, and R8 actuators have the same output interface as X-Series actuators with the addition of M3 dowel pin and slot interfaces, but the housing interface is now actually symmetric about the bore hole where in X-Series actuator the housing bolt pattern has a 2mm offset.

The R8 Link represents a straight extension that is typically used to connect two R-Series and T-Series 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).

r8 twist 0 Twist = 0

r8 twist pi Twist = +/-PI

r8 twist plusPiHalf Twist = +PI/2

r8 twist minusPiHalf Twist = -PI/2

Inline Tube Adapters

An additional attribute for R8 links which is now supported is an inline link adapter for both the output and housing side of actuators. Find out more about these attributes in the HRDF Link format documentation.

r8 twist 0 Twist = 0
Output = RightAngle
Input = RightAngle

r8 twist 0 housing inline Twist = 0
Output = RightAngle
Input = Inline

r8 twist 0 output inline Twist = 0
Output = Inline
Input = RightAngle

r8 twist 0 double inline Twist = 0
Output = Inline
Input = Inline

R8 Light Bracket

The R8 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.

r8 lightBracket
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 the same part mounted in a different orientation.

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

r8 lightBracket left Mounting = "left"

Part Number: A-2220-01

r8 lightBracket right Mounting = "right"

Part Number: A-2220-01

R8 Heavy Bracket

The R8 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.

r8 heavyBracket
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 the same part with a symmetric gas spring mounting, 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.

r8 heavyBracket leftOutside Mounting = "left-outside" r8 heavyBracket leftInside Mounting = "left-inside"

Part Number: A-2221-01

r8 heavyBracket rightOutside Mounting = "right-outside" r8 heavyBracket rightInside Mounting = "right-inside"

Part Number: A-2221-01

X5 and X8 Actuators

The X-Series Actuators are Discontinued.

X5 front view X5 and X8 Output X5 top view X5 Side View

X5 back view X5 and X8 Input X8 top view 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 X-Series 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).

X5 Link twist zero Twist = 0

X5 Link twist pi Twist = +/-PI

X5 Link twist pi over two Twist = +PI/2

X5 Link twist neg pi over two Twist = -PI/2

Inline Tube Adapters

An additional attribute for X5 links which is now supported is an inline link adapter for both the output and housing side of actuators. Find out more about these attributes in the HRDF Link format documentation.

Input is defined as the proximal adapter to the link, whereas Output is defined as the distal adapter to the link.

X5 Link twist zero Twist = 0
Input = RightAngle
Output = RightAngle

x5 twist 0 housing inline Twist = 0
Input = RightAngle
Output = Inline

x5 twist 0 output inline Twist = 0
Input = Inline
Output = RightAngle

x5 twist 0 double inline Twist = 0
Input = Inline
Output = Inline

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.

lightBracket
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.

lightBracket left Mounting = "left"

Part Number: A-2042-01L

lightBracket 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.

heavyBracket
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.

heavyBracket left outside Mounting = "left-outside" heavyBracket left inside Mounting = "left-inside"

Part Number: A-2040-01L

heavyBracket right outside Mounting = "right-outside" heavyBracket right inside Mounting = "right-inside"

Part Number: A-2040-01R