adept technology Cobra s600, User Manual

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Chapter 7 - Optional Equipment Installation
100 Adept Cobra s600/s800 Robot User’s Guide, Rev H
7. In the next menu, select option 5=> upper joint limit. See Figure 7-19 .
Figure 7-19. Joint 1 Menu - Upper Limits
8. In the next menu, enter the new value for the J1 upper limit softstop. See Table
7-7 .
9. Once you have modified the upper and lower joint limit softstops, you must save
the new values. Select option 0 => Exit, then select option 7 = Save ALL
specifications to system disk.
10. Reboot the system by cycling 24 VDC power to the SmartController. The new
joint limits will be in affect when the system reboot is done.
Joint 2 Adjustable Hardstops
The Joint 2 Adjustable Hardstop kit (
Figure 7-20
) consists of two curved plates that are the
adjustable hardstops, a small, black rectangular device that is the fixed hardstop, and the
required screws to install them. The adjustable hardstop plates can be installed in
different locations, depending on how much you need to limit the Joint 2 range of motion.
Figure 7-20. Joint 2 Hardstop Kit