Adept s600 Cobra - Manual (Page 89)

Chapter 6: Optional Equipment Installation
Joint 1 Adjustable Hardstops
The Joint 1 Adjustable Hardstops consist of two black rubber stop cylinders, and the required
screws to install them. There are two locations for the hardstops on each side of the robot,
Position 1 and Position 2. See the following figure.
Figure 6-16. Joint 1 Adjustable Hardstops
Installation Procedure
1. Remove the plug from desired threaded hole, Position 1 or 2, on each side of the robot.
2. Install the adjustable hardstop into the threaded hole using an 8 mm hex wrench.
Tighten to a torque of 5.1 N·m (45 in-lbf).
3. Repeat the process on the other side of the robot.
NOTE: The two sides do not have to have a hardstop in the same position, i.e., you
can use Position 1 on one side, and Position 2 (or none) on the other, if you choose.
Modifying Joint Limit Softstop Locations for Joint 1
After installing the adjustable hardstops, you must modify the softstop locations using the
Adept ACE software.
1. From Adept ACE, select the robot in the tree structure pane.
2. Open the robot editor.
Adept Cobra s600/s800 Robot, User’s Guide, Rev L1
Page 89 of 128