Installing Adjustable Hardstops
Adept Cobra s800 Inverted Robot User’s Guide, Rev C
87
Figure 6-17. Joint 1 Motion Parameters Menu
6. In the next menu, enter the new value for the J1 lower limit softstop (see
). See
for recommended softstop values for Position 1 or Position 2.
Note that the lower limit softstop value must be a negative number.
Figure 6-18. Joint 1 Menu - Lower Limit
7. In the next menu, select Upper joint limit. See
.
8. In the next menu, enter the new value for the J1 upper limit softstop (see
). See
for the recommended value.
Table 6-7. Joint 1 Ranges for Adjustable Hardstops
Hardstop Value
Recommended Joint
Limit Softstop
J1 Hardstop Position 1
± 93.5°
Lower limit: – 92.5°
Upper limit: + 92.5°
J1 Hardstop Position 2
± 114°
Lower limit: – 113°
Upper limit: + 113°
