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

Installing Adjustable Hardstops
Joint 2 Fixed Hardstop
Device installed on
underside of Outer Link.
Figure 6-23. Fixed Hardstop Device for Joint 2
4. Use a 3mm Allen wrench to install two supplied M4 x 10 screws to secure the
hardstop device. Tighten the screws to a torque of 22 in-lbs.
Modifying Joint Limit Softstop Locations for Joint 2
After installing the adjustable hardstops, you must modify the softstop locations using the
SPEC program.
1. Load and run the SPEC.V2 program. The main screen appears as shown in Figure
6-15 on page 82.
2. Select option 4 => Edit robot specifications.
3. In the next menu, select option 3 => Edit joint motion specs. See Figure 6-16 on
page 82.
4. In the next menu, select option 1 => Change joint number, and enter 2. Verify this
at the top of the screen as shown in Figure 6-24.
Figure 6-24. Joint 2 Motion Parameters Menu
5. After confirming you are in the Joint 2 menu, select option 4 => lower joint limit.
<strong>Adept</strong> <strong>Cobra</strong> <strong>s600</strong>/<strong>s800</strong> <strong>Robot</strong> User’s <strong>Guide</strong>, Rev C 87