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Installing Adjustable Hardstops
3. Slide the fixed hardstop device into the slot on the underside of the outer link. See
Figure 6-13.
Joint 2 Fixed Hardstop
Device installed on
underside of Outer Link.
Figure 6-13. Fixed Hardstop Device for Joint 2
4. Use a 3 mm 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
Configuration Manager utility. See the online help for more details on this utility.
1. In <strong>Adept</strong> Desktop, under the Utilities menu, select Configuration Manager.
2. Click on Joint 2. The screen similar to Figure 6-14 opens to allow editing the
limits.
Figure 6-14. Configuration Manager - Modifying Joint 2 Limits
<strong>Adept</strong> <strong>Cobra</strong> <strong>i600</strong>/i800 Robot User’s <strong>Guide</strong>, Rev B 85