Adept technology Adept XUSR Guia do Utilizador descarregar pdf (Página 85)

Installing Adjustable Hardstops

Adept Cobra i600/i800 Robot User’s Guide, Rev G 85

3. Click Joint 1.

The following screen opens to allow editing the limits:

Figure 6-14. Configuration Manager - Modifying Joint 1 Limits

4. In the Lower Limit field, enter the new value for the J1 lower limit softstop. See

the following table for recommended softstop values for Position 1 or Position 2.

5. In the Upper Limit field, enter the new value for the J1 upper limit softstop. See

the preceding table for recommended softstop values for Position 1 or Position 2.

6. Click Apply. The Apply Changes window opens, as illustrated in Figure 6-15.

7. Select the required options for saving joint limit values to temporary or

permanent memory. For more information on saving changes, click Help

8. Click Write to apply and save the changes.

Table 6-7. Joint 1 Ranges for Adjustable Hardstops

Hardstop Value

Recommended Joint

Limit Softstop

J1 Hardstop Position 1 ± 50° Lower limit: – 49°

Upper limit: + 49°

J1 Hardstop Position 2 ± 88° Lower limit: – 87°

Upper limit: + 87°

1 2 ... 80 81 82 83 84 85 86 87 88 89 90 ... 109 110

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Adept technology Adept XUSR Guia do Utilizador Página 85