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Chapter 6 - Optional Equipment Installation
2. Use a 4 mm Allen wrench to install four 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 positions, depending on
how much you need to limit the range of Joint 2. See Table 6-2 on page 86.
Joint 2 Fixed
Hardstop Device
Joint 2 Left Hardstop Plate,
installed in +81 degree position
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 6-12. Screw Locations for Joint 2 Adjustable Hardstops
84 <strong>Adept</strong> <strong>Cobra</strong> <strong>i600</strong>/i800 Robot User’s <strong>Guide</strong>, Rev B