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

Chapter 6 - Optional Equipment Installation
Figure 6-25. Joint 2 Menu - Lower Limits
6. In the next menu (see Figure 6-25), enter the new value for the J2 lower limit
softstop. See Table 6-7 for re<strong>com</strong>mended softstop values for Position 1. Note that
this value must be a negative number.
Table 6-7. Joint 2 Ranges for Adjustable Hardstops
Hardstop Value
Re<strong>com</strong>mended Joint
Limit Softstop
J2 Hardstop Position 1 +/– 81° Lower limit: – 80°
Upper limit: + 80°
Note: J2 Hardstops can be installed in multiple positions, depending on
how the robot workcell needs to be configured. Each position is spaced
30° apart.
7. In the next menu, select option 5=> upper joint limit. See Figure 6-26.
Figure 6-26. Joint 2 Menu - Upper Limits
88 <strong>Adept</strong> <strong>Cobra</strong> <strong>s600</strong>/<strong>s800</strong> <strong>Robot</strong> User’s <strong>Guide</strong>, Rev C