Integrated robot joint actuatorLegacy
HEBI Robotics X-Series integrated robot joint actuator
HEBI's original modular smart actuators (X5 and X8), up to 16 Nm continuous and 38 Nm peak at 24–48 V with dual-port 100 Mbps Ethernet; now listed as legacy.
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HEBI Robotics lists this series as legacy. The manufacturer's recommended replacement: T-Series. We can help with spares for installed machines, a migration to the replacement, or an alternative. Find a replacement.
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What are you specifying?
Select everything you need. A motor, drive and gearbox can be specified together as one axis.
Key specifications
| Voltage (max) | 48 V |
|---|---|
| Data / bus | 100 Mbps Ethernet (dual port) |
| Rated torque (max) | 16 Nm |
| Peak torque (max) | 38 Nm |
| Speed (max) | 90 rpm |
| Supply | 24–48 VDC |
| Weight | 330 g |
| Models | X5-1, X5-4, X5-9, X8-3, X8-9, X8-16 |
Summarised in our own words from HEBI Robotics's published data; series maxima, individual models vary. Last checked 2026-10-30. Source 1 · Source 2
Notes on this data
HEBI actuators page marks the X-Series as legacy, replaced by the T-Series. weight_g is the lightest model.
Specify Motion is not affiliated with HEBI Robotics. HEBI Robotics and X-Series are used only to identify the product. Comparisons use published figures; always confirm against the current datasheet.
HEBI Robotics X-Series replacement and alternative options
Use these supply-network options as a starting point for an engineering check. We can also help source the original HEBI Robotics part. Published series figures do not establish an exact-model or drop-in replacement: confirm ratings, fit, interfaces and approvals for your application.
Hollow-shaft harmonic servo actuator: strain-wave gearing, motor, encoder and brake in one unit, run from a separate servo drive. Six frame sizes, from 48 VDC to 220 VAC.
| Published maximum | X-Series | MAH |
|---|---|---|
| Peak torque | 38 Nm | 800 Nm meets or exceeds |
| Rated torque | 16 Nm | 557 Nm meets or exceeds |
| Speed | 90 rpm | 125 rpm meets or exceeds |
Large-bore version of the harmonic actuator with a frameless 16-pole motor, giving a much bigger through-hole for cabling. Two sizes.
| Published maximum | X-Series | MAT |
|---|---|---|
| Peak torque | 38 Nm | 800 Nm meets or exceeds |
| Rated torque | 16 Nm | 557 Nm meets or exceeds |
| Speed | 90 rpm | 102 rpm meets or exceeds |
Harmonic actuator with an integrated German-made Synapticon Circulo servo drive on EtherCAT, with STO and optional FSoE functional safety.
| Published maximum | X-Series | MGM |
|---|---|---|
| Peak torque | 38 Nm | 459 Nm meets or exceeds |
| Rated torque | 16 Nm | 267 Nm meets or exceeds |
| Speed | 90 rpm | 108 rpm meets or exceeds |
Figures are the highest published for each series and are not always measured the same way. A higher figure is not automatically a better choice: mounting, duty cycle, feedback, connectors and approvals matter too. An engineer will check the fit against your application before recommending anything.
Typical applications
What an integrated robot joint actuator is
An integrated robot joint actuator packages a brushless motor, a reduction gear, encoders, a servo drive and often a brake or torque sensor into one module that bolts in as a robot joint. Gearing may be planetary, strain-wave or cycloidal. Many are designed for legged robots, humanoids and cobots, with low gear ratios or quasi-direct drive to keep the joint back-drivable and responsive. Communication is typically over CAN or EtherCAT, with position, velocity and torque control modes.
When engineers choose an integrated robot joint actuator
Choose an integrated joint actuator to build robots faster with fewer parts, especially legged, humanoid, exoskeleton and collaborative robots. Back-drivable versions suit force control and impacts. The trade-offs are torque density, precision and industrial qualification: low-ratio designs trade output torque for transparency, and some units are aimed at research rather than production duty. For industrial arms with heavy duty cycles, a dedicated harmonic actuator or motor and gear set may be better.
How to specify the HEBI Robotics X-Series
Send these with your enquiry and an engineer can confirm the right X-Series variant or an equivalent:
- Peak and continuous output torque (Nm)
- Output speed (rpm)
- Gear type and ratio
- Back-drivability and torque sensing
- Supply voltage (V DC)
- Communication interface and control modes
- Mass and size (kg, mm)
Common mistakes to avoid
- Using peak torque as continuous torque
- Ignoring thermal limits in legged robots
- Overlooking bus bandwidth with many joints
- Assuming research-grade units meet industrial life requirements
HEBI Robotics X-Series: frequently asked questions
Can you help replace HEBI Robotics X-Series or source the original?
Send the full model code, quantity and required date. Our engineers can check original-part availability and assess suitable alternatives, including supply-network options where appropriate. We confirm compatibility and any changes needed before recommending a replacement.
What is the HEBI Robotics X-Series?
HEBI's original modular smart actuators (X5 and X8), up to 16 Nm continuous and 38 Nm peak at 24–48 V with dual-port 100 Mbps Ethernet; now listed as legacy. Published series figures include voltage 48 V, rated torque 16 Nm, peak torque 38 Nm, speed 90 rpm. It is made by HEBI Robotics; Specify Motion can help source it or propose an equivalent.
Who makes the HEBI Robotics X-Series?
The HEBI Robotics X-Series is made by HEBI Robotics and is listed here for engineers comparing options. Specify Motion is not affiliated with HEBI Robotics; brand names are used only to identify the product.
What is the voltage of the HEBI Robotics X-Series?
The published series maximum voltage is 48 V. Individual models and sizes in the X-Series range vary, so check the exact variant against your duty cycle, mounting and environment, or ask our engineers to confirm the right size for you.
Is the HEBI Robotics X-Series still available?
HEBI Robotics lists the X-Series as legacy. The manufacturer's recommended replacement is T-Series. We can help with spares for installed machines, a migration, or an equivalent from our supply network that meets the same published figures.
What is a quasi-direct-drive actuator?
A quasi-direct-drive actuator uses a high-torque motor with a low gear ratio, typically below about 10:1, so the joint is back-drivable and responds quickly to external forces. This suits legged robots and force control. The trade-off is lower output torque than high-ratio joints of similar size.
Why integrate the drive in a robot joint actuator?
Integrating the drive reduces cabling and lets each joint communicate over a shared bus, which simplifies robot design. It also allows the drive to sit close to the motor, improving control. The trade-off is that heat from both motor and drive must be managed inside the joint.
Further reading: How to select a harmonic actuator · Frameless motor sizing robot joints · Gearboxes and harmonic drives
Other integrated robot joint actuator series
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