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

Installing Adjustable Hardstops
5. After confirming you are in the Joint 1 menu, select option 4 => lower joint limit.
See Figure 6-17.
Figure 6-17. Joint 1 Motion Parameters Menu
6. In the next menu, enter the new value for the J1 lower limit softstop. See Table 6-6
for re<strong>com</strong>mended softstop values for Position 1 or Position 2. Note that this value
must be a negative number.
Table 6-6. Joint 1 Ranges for Adjustable Hardstops
Hardstop Value
Re<strong>com</strong>mended Joint
Limit Softstop
J1 Hardstop Position 1 ± 50° Lower limit: – 49°
Upper limit: + 49°
J1 Hardstop Position 2 ± 88° Lower limit: – 87°
Upper limit: + 87°
Figure 6-18. Joint 1 Menu - Lower Limits
<strong>Adept</strong> <strong>Cobra</strong> <strong>s600</strong>/<strong>s800</strong> <strong>Robot</strong> User’s <strong>Guide</strong>, Rev C 83