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Installing Adjustable Hardstops
Adept Cobra s600/s800 Robot User’s Guide, Rev H 103
Figure 7-24. Joint 2 Motion Parameters Menu
5. After confirming you are in the Joint 2 menu, select option 4 => lower joint limit.
Figure 7-25. Joint 2 Menu - Lower Limits
6. In the next menu (see Figure 7-25 ), enter the new value for the J2 lower limit
softstop. See Table 7-8 for recommended softstop values for Position 1. Note that
this value must be a negative number.
7. In the next menu, select option 5=> upper joint limit. See Figure 7-26 .
Table 7-8. 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 a number of positions, depending
on how the robot workcell needs to be configured. The positions are
spaced 30° apart.