Chapter 5: Optional Equipment Installation
5.5 Installing Adjustable Hardstops
Use the following information to understand the installation procedure for the adjustable hard-
stops.
Joint 1 Adjustable Hardstop Installation
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, Pos-
ition 1 and Position 2.
Tools Required
l
Torque wrench
l
8mm hex bit
Figure 5-13. Hardstop Mounting Positions - Position 1 (A), Position 2 (B)
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 hex wrench.
Tighten to a torque of 5.1 N·m.
3. Repeat the process on the other side of the robot.
NOTE:
The two sides do not have to have a hardstop in the same position. You
can use Position 1 on one side and Position 2 (or none) on the other side.
IMPORTANT:
After installing any adjustable hardstops, modify the robot joint
motion limit(s). Refer to the
Sysmac Studio Version 1 Operation Manual (Cat. No.
W504)
for more information. Refer to Adjustable Hardstops on page 32 for
information about robot joint range limitations.
24402-000 Rev B
eCobra 600 and 800 Robots with EtherCAT
95
