adept technology Cobra s800, User Manual, Page: 93 / 156

Installing Adjustable Hardstops
Adept Cobra s800 Inverted Robot User’s Guide, Rev C 93
7. In the next menu, select Upper joint limit. See Figure 6-27 .
8. In the next menu, enter the new value for the J2 upper limit softstop (see Figure
6-27 ). See Table 6-8 for the recommended value.
Figure 6-27. Joint 2 Menu - Upper Limits
9. Once you have modified the upper and lower joint limit softstops, you must save
the new values. Select Exit, then select Save ALL specifications to system disk. See
Figure 6-15 on page 86 .
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 complete.
Table 6-8. Joint 2 Ranges for Adjustable Hardstops
Hardstop Value
Recommended Joint
Limit Softstop
J2 Hardstop Position 1
±
81° Lower limit: – 80°
Upper limit: + 80°
Note: J2 Hardstops can be installed in multiple positions, depending on
how the robot workcell needs to be configured. Each position is spaced
30° apart.