adept technology Cobra s600, User Manual

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Installing Adjustable Hardstops
Adept Cobra s600/s800 Robot User’s Guide, Rev H 97
7.9 Installing Adjustable Hardstops
Adept offers an adjustable hardstop kit for Joint 1 and Joint 2 on the Adept Cobra
s600/s800 robots. These are user-installed options that can be used to limit the work
envelope of the robot. The Adept part number for the kit is 02592-000.
Joint 1 Adjustable Hardstops
The Joint 1 Adjustable Hardstops consist of two black rubber stop cylinders, and the
required screws to install them. There are two locations for the hardstops on each side of
the robot, Position 1 and Position 2. See
Figure 7-14 .
Figure 7-14. Joint 1 Adjustable Hardstops
Installation Procedure
1. Remove the plug from desired threaded hole, Position 1 or 2, on each side of the
robot.
2. Install the adjustable hardstop into the threaded hole using an 8 mm Allen
wrench. Tighten to a torque of 5.1 N•m (45 in-lb).
3. Repeat the process on the other side of the robot.
Modifying Joint Limit Softstop Locations for Joint 1
After installing the adjustable hardstops, you must modify the softstop locations using the
SPEC program. See the
Instructions for Adept Utility Programs for more details on the
SPEC program.
1. Load and run the SPEC.V2 program. The main screen appears as shown in Figure
7-15 .
2. Select option 4 => Edit robot specifications.
Joint 1 Adjustable
Hardstop
installed in
Position 2
Location for
Position 1