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3. Click Joint 2. The following screen opens to allow editing the limits:
Figure 5-20. Configuration Manager - Modifying Joint 2 Limits
4. In the Lower Limit field, enter the new value for the J2 lower limit softstop. See
for recommended softstop values. Note that this value must be a
Table 5-8
negative number.
Table 5-8. Joint 2 Ranges for Adjustable Hardstops
J2 Hardstops installed as
shown in
Figure
5-19.
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.
5. In the Upper Limit field, enter the new value for the J2 upper limit softstop. See
Table 5-8
for recommended softstop values.
6. Click Apply. The Apply Changes window opens, as illustrated in
7. Select the required options for saving joint limit values to temporary or
permanent memory. For more information saving changes, click Help
8. Click Write to apply and save the changes.
9. 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°.
Adept Cobra i600/i800 Robot User's Guide, Rev E
Installing Adjustable Hardstops
Recommended Joint
Hardstop Value
Limit Softstop
± 81°
Lower limit: – 80°
Upper limit: + 80°
Figure
5-15.
75
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