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Chapter 6 - Optional Equipment Installation
3. In the Lower Limit field, enter the new value for the J2 lower limit softstop. See
Table 6-2 for re<strong>com</strong>mended softstop values. Note that this value must be a
negative number.
Table 6-2. Joint 2 Ranges for Adjustable Hardstops
Hardstop Value
Re<strong>com</strong>mended Joint
Limit Softstop
J2 Hardstops installed as
shown in Figure 6-12 on
page 84.
+/– 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.
4. In the Upper Limit field, enter the new value for the J2 upper limit softstop. See
Table 6-2 for re<strong>com</strong>mended softstop values.
5. In the next screen, you must write the changes to either temporary or permanent
memory. See Figure 6-9 on page 82.
6. Once the joint limits have been changed and written to memory, the system is
ready to use with the new limits in place.
NOTE: With both adjustable hardstop plates installed, Joint 2 has a
maximum range of motion of 160°.
86 <strong>Adept</strong> <strong>Cobra</strong> <strong>i600</strong>/i800 Robot User’s <strong>Guide</strong>, Rev B