adept technology Adept Cobra i600, User Manual

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Installing Adjustable Hardstops
Adept Cobra i600/i800 Robot User’s Guide, Rev E 71
3. Click on Joint 1 .
The following screen opens to allow editing the limits:
Figure 5-14. Configuration Manager - Modifying Joint 1 Limits
4. In the Lower Limit field, enter the new value for the J1 lower limit softstop. See
the following table for recommended softstop values for Position 1 or Position 2.
Note that this value must be a negative number.
5. In the Upper Limit field, enter the new value for the J1 upper limit softstop. See
the preceding table for recommended softstop values for Position 1 or Position 2.
6. Click Apply . The Apply Changes window opens, as illustrated in Figure 5-15 .
7. Select the required options for saving joint limit values to temporary or
permanent memory. For more information on saving changes, click Help
8. Click Write to apply and save the changes.
Table 5-7. Joint 1 Ranges for Adjustable Hardstops
Hardstop Value
Recommended
Joint Limit
Softstop
J1 Hardstop Position 1 ± 50° Lower limit: – 49°
Upper limit: + 49°
J1 Hardstop Position 2 ± 88° Lower limit: – 87°
Upper limit: + 87°