adept technology Cobra s800, User Manual, Page: 92 / 156

Chapter 6 - Optional Equipment Installation
92 Adept Cobra s800 Inverted Robot User’s Guide, Rev C
1. Load and execute the SPEC.V2 program. Type the following at the prompt:
LOAD D:\UTIL\SPEC
EXE 1 a.spec
The main screen appears as shown in Figure 6-15 on page 86 .
2. Select Edit robot specifications.
3. In the next menu, select Edit joint motion specs. See Figure 6-16 on page 86 .
4. In the next menu, select Change joint number, and enter 2 (for Joint 2). Verify that
the screen for configuring Joint 2 is displayed by checking the top of the screen
(see
Figure 6-25 for an example).
Figure 6-25. Joint 2 Motion Parameters Menu
5. After confirming you are in the Joint 2 menu, select Lower joint limit.
6. In the next menu (see Figure 6-26 ), enter the new value for the J2 lower limit
softstop. See Table 6-8 for recommended softstop values for Position 1. Note that
this value must be a negative number.
Figure 6-26. Joint 2 Menu - Lower Limits