Adept s600 Cobra - Manual (Page 94)

Chapter 6: Optional Equipment Installation
12 thru holes for M5 x 10 screws,
for installing Joint 2 hardstops, located
30 degrees apart
Joint 2 Left Hardstop Plate,
installed in +81 degree position
Joint 2 Fixed
Hardstop Device
Joint 2
Positive
direction
Joint 2
Negative
direction
Joint 2 Right Hardstop Plate,
installed in -81 degree position
+
_
View of under side of Inner Link, looking up
Figure 6-22. Screw Locations for Joint 2 Adjustable Hardstops
2. Use a 4 mm hex wrench to install three supplied M5 x 10 screws to secure the plate.
Tighten the screws to a torque of 4.5 N·m (40 in-lb). Repeat the process for the second
plate. Note that the plates can be installed in a number of different positions, depending
on how much you need to limit the range of Joint 2.
NOTE: The two sides do not have to have the hardstop in the same position, so the
workspace does not have to be symmetrical.
3. Slide the fixed hardstop device into the slot on the underside of the outer link. See
Figure 6-23.
Adept Cobra s600/s800 Robot, User’s Guide, Rev L1
Page 94 of 128