Adept Cobra s600/s800 Robot User's Guide - pulsar.com.tr

Installing Adjustable Hardstops
6.9 Installing Adjustable Hardstops
<strong>Adept</strong> offers an adjustable hardstop kit for Joint 1 and Joint 2 on the <strong>Adept</strong> <strong>Cobra</strong>
<strong>s600</strong>/<strong>s800</strong> robots. These are user-installed options that can be used to limit the work
envelope of the robot. The <strong>Adept</strong> part number for the kit is 02592-000.
Joint 1 Adjustable Hardstops
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, Position 1 and Position 2. See Figure 6-14.
Location for
Position 1
Joint 1 Adjustable
Hardstop
installed in
Position 2
Installation Procedure
Figure 6-14. Joint 1 Adjustable Hardstops
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 Allen
wrench. Tighten to a torque of 45 in-lbs.
3. Repeat the process on the other side of the robot.
Modifying Joint Limit Softstop Locations for Joint 1
After installing the adjustable hardstops, you must modify the softstop locations using the
SPEC program. See the Instructions for <strong>Adept</strong> Utility Programs for more details on the
SPEC program.
1. Load and run the SPEC.V2 program. The main screen appears as shown in Figure
6-15.
2. Select option 4 => Edit robot specifications.
<strong>Adept</strong> <strong>Cobra</strong> <strong>s600</strong>/<strong>s800</strong> <strong>Robot</strong> User’s <strong>Guide</strong>, Rev C 81