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4.9
Limiting Joint Travel
The joint motion range, or travel, is limited by both software and hardware. The program-
mable software limits are known as softstops. The fixed mechanical stops are called
hardstops.
Softstops
Softstops are used when the normal motion range of the robot must be limited (if other
equipment is installed inside the envelope, for example). The softstops for each joint are
set to their maximum value at the factory. To limit any joint's motion range, change the
joint's softstop value using the SPEC utility program (formerly CONFIG_R) on the Adept
Utility Disk supplied with the system. Refer to the Instructions for Adept Utility Programs
for information regarding this utility program.
When you are using the MCP to move the robot, the robot will stop abruptly when it
encounters a softstop. This abruptness does not mean a hardstop has been contacted.
Hardstops
Joints 1, 2, and 3 have hardstops at each end of the joint's travel.
Joint 4 does not have hardstops. However, its motion is limited by software, and its soft-
stops can be set to further limit Joint 4 motion (see above).
NOTE: Joint 4 can be rotated an infinite number of turns. To avoid
wind-up of harnesses going to end-of-arm tooling, Joint 4 should always
be left at +/– 90 degrees (in joint coordinates) when powering down the
controller. This ensures that when the system is next powered on and the
robot is recalibrated, it calibrates in the same Joint 4 orientation, without
winding up user harnesses.
Table 4-1. Softstop and Hardstop Specifications
Joint 1
Joint 2
Joint 3
CleanRoom
Joint 3
Joint 4
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Softstop
±100°
±140°
0 to 200 mm
0 to 180 mm
±360° max
Adept 550 Robot Instruction Handbook, Rev A
Limiting Joint Travel
Hardstop –
Approximate
±108°
±149°
–13 to 213 mm
–13 to 195 mm
None
71
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