Adept s800 s800 - Manual (Page 94)

Chapter 6: Optional Equipment Installation
6.9 Installing Adjustable Hardstops
Adept offers an adjustable hardstop kit for Joint 1 and Joint 2 on the Adept Cobra s800
Inverted robot. This is a user-installed option that can be used to limit the work envelope of
the robot. The Adept part number for the kit is p/n 02592-000.
Joint 1 Adjustable Hardstops
The Joint 1 Adjustable Hardstop consists 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 the desired threaded hole, Position 1 or 2, on each side of the
robot.
Refer to Table 6-7 for the angle available for each position.
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. One
side could use Position 1, and the other could use Position 2 (or none).
Modifying Joint Limit Softstop Locations for Joint 1
After installing the adjustable hardstops, you must modify the softstop locations using the
Adept ACE software.
Adept Cobra s800 Inverted Robot User's Guide, Rev H1
Page 94 of 142