Figure 5-17. Joint 2 Adjustable Hardstop Locations; Figure 5-18. Fixed Hardstop Device For Joint 2 - adept technology Cobra i600 User Manual

Figure 5-17. Joint 2 Adjustable Hardstop Locations

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 4.5 N·m (40 in·lb). Repeat the process for
the second plate. Note that the plates can be installed in different positions,
depending on how much you need to limit the range of Joint 2. See
page 75.
3. Slide the fixed hardstop block into the slot on the underside of the outer link. See
Figure 5-18.
Joint 2 Fixed Hardstop
Device installed on
underside of outer link.

Figure 5-18. 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 2.5 N·m (22 in·lb).
Adept Cobra i600/i800 Robot User's Guide, Rev E
Installing Adjustable Hardstops
Joint 2 Adjustable
Hardstop Plates Installed.
Table 5-8 on
73