Installing Adjustable Hardstops
Adept Cobra s800 Inverted Robot User’s Guide, Rev C
85
Figure 6-14. Joint 1 Adjustable Hardstops
Installing
1. Remove the plug from the desired threaded hole, Position 1 or 2, on each side of
the robot.
Refer to
for the angle available for each position.
2. Install the adjustable hardstop into the threaded hole using an 8 mm Allen
wrench. Tighten to a torque of 5.1 N
·
m (45 in-lb).
3. Repeat the process on the other side of the robot.
Modifying Joint Limit Softstop Locations for Joint 1
After installing the adjustable hardstops, you must modify the softstop locations using the
SPEC program. See the
Instructions for Adept Utility Programs
for more details on the
SPEC program.
1. Load and execute the SPEC.V2 program. Type the following at the prompt:
LOAD D:\UTIL\SPEC
EXE 1 a.spec
The main screen appears as shown in
.
2. Select Edit robot specifications.
Joint 1 Adjustable
Hardstop installed
in Position 1
