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

Chapter 6 - Optional Equipment Installation
Joint 2 Left Hardstop Plate,
installed in +81 degree position
Joint 2 Fixed
Hardstop Device
Joint 2
Positive
direction
+
Joint 2
Negative
direction
_
12 thru holes for M5 x 10 screws,
for installing Joint 2 hardstops, located
30 degrees apart
View of under side of Inner Link, looking up
Joint 2 Right Hardstop Plate,
installed in -81 degree position
Figure 6-22. Screw Locations for Joint 2 Adjustable Hardstops
2. Use a 4 mm Allen wrench to install three supplied M5 x 10 screws to secure the
plate. Tighten the screws to a torque of 40 in-lbs. Repeat the process for the second
plate. Note that the plates can be installed in multiple different positions,
depending on how much you need to limit the range of Joint 2.
3. Slide the fixed hardstop device into the slot on the underside of the outer link. See
Figure 6-23 on page 87.
86 <strong>Adept</strong> <strong>Cobra</strong> <strong>s600</strong>/<strong>s800</strong> <strong>Robot</strong> User’s <strong>Guide</strong>, Rev C