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Precautions for Correct Use
Do not remove factory-installed Joint 1 hardstops.
When adjusting Joint 1 hardstops, do not let screws or other objects drop into the robot body.
1
Remove the 5 M4 screws that hold the Joint 1 hardstop cover in place. Then, remove the Joint
1 hardstop cover to expose the adjustment slots.
Cover
Screws (x5)
Joint 1 Hardstop
Cover
Hardstop
Slots
2
Move the inner arm to the desired position to expose the appropriate slot.
Use the following figure to determine the Joint 1 position required to expose a specific hard
stop slot. Positions in parenthesis represent the hardstop limit value.
Position 4
0°
(-28° or +28°)
Position 3+
45°
(+17°)
Position 2+
90°
(+62°)
Position 1+
135°
(+107°)
Position 3-
-45°
(-17°)
Position 2-
-90°
(-62°)
Position 1-
-135°
(-107°)
Position 1+
Position 2+
Position 3+
Position 4
Position 3-
Position 2-
Position 1-
3
Apply Loctite thread lock type 243 to the M10 X 1.5 - 14 mm socket head screws and insert
them into the appropriate slot(s). Apply a torque of 34 N-m.
4
Repeat steps 2 and 3 if a second hardstop is required.
5
Replace the Joint 1 hardstop cover. Apply Loctite 222 or equivalent to the fasteners, insert
them, and tighten to a torque of 1.1 N-m to complete this procedure.
3 Installation
3-21
i4H Robots User's Manual (I660)
3-5 Adjustable Hardstop Details
3
3-5-1
Joint 1 Adjustable Hardstops
Summary of Contents for i4-650H
Page 1: ...i4H Robots User s Manual i4 650H i4 750H i4 850H I660 E 02...
Page 6: ...Manual Information 4 i4H Robots User s Manual I660...
Page 74: ...2 Specifications 2 20 i4H Robots User s Manual I660...
Page 142: ...5 Troubleshooting 5 6 i4H Robots User s Manual I660...
Page 176: ...Appendix A 16 i4H Robots User s Manual I660...
Page 177: ...I Index I 1 i4H Robots User s Manual I660 I...
Page 180: ...Index I 4 i4H Robots User s Manual I660...
Page 181: ......