Figure 5-19. Screw Locations For Joint 2 Adjustable Hardstops - adept technology Cobra i600 User Manual

Chapter 5 - Optional Equipment Installation
Joint 2 Fixed
Hardstop Device
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

Figure 5-19. Screw Locations for Joint 2 Adjustable Hardstops

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. Double-click the iCobra object in the Folder pane of the Workspace Explorer.
2. In the object editor, select Configure > Configuration Manager.
74 Adept Cobra i600/i800 Robot User's Guide, Rev E
Joint 2 Left Hardstop Plate,
installed in +81 degree position
Joint 2 Right Hardstop Plate,
installed in -81 degree position