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Chapter 6 - Optional Equipment Installation
Figure 6-8. Configuration Manager - Modifying Joint 1 Limits
3. In the Lower Limit field, enter the new value for the J1 lower limit softstop. See
Table 6-1 for re<strong>com</strong>mended softstop values for Position 1 or Position 2. Note that
this value must be a negative number.
Table 6-1. 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°
4. In the Upper Limit field, enter the new value for the J1 upper limit softstop. See
Table 6-1 for re<strong>com</strong>mended softstop values for Position 1 or Position 2.
5. In the next screen, you must write the changes to either temporary or permanent
memory. See Figure 6-9.
Figure 6-9. Configuration
Manager - Apply Changes
82 <strong>Adept</strong> <strong>Cobra</strong> <strong>i600</strong>/i800 Robot User’s <strong>Guide</strong>, Rev B