Adept technology Adept XUSR Guia do Utilizador descarregar pdf (Página 87)

Installing Adjustable Hardstops

Adept Cobra i600/i800 Robot User’s Guide, Rev G 87

Figure 6-17. Joint 2 Adjustable Hardstop Locations

2. Use a 4 mm Allen wrench to install four 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 different positions,

depending on how much you need to limit the range of Joint 2. See Tab le 6 -8 o n

page 89.

3. Slide the fixed hardstop block into the slot on the underside of the outer link. See

Figure 6-18.

Figure 6-18. Fixed Hardstop Device for Joint 2

4. Use a 3 mm Allen wrench to install two supplied M4 x 10 screws to secure the

hardstop block. Tighten the screws to a torque of 2.5 N·m (22 in·lb).

Joint 2 Adjustable

Hardstop Plates Installed

Joint 2 Fixed Hardstop

Block installed on

underside of outer link

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Adept technology Adept XUSR Guia do Utilizador Página 87