User`s guide

Chapter 6: Optional Equipment Installation
Figure 6-26. Robot Editor, with Joint 2 Expanded
5.
Highlight the current values for joint 2, and replace them with the new values. See the
following table for recommended softstop values.
Table 6-8. Joint 2 Ranges for Adjustable Hardstops
Hardstop Value
Recommended
Joint Limit Softstop
J2 Hardstop Position 1
± 81°
Lower limit: – 80°
Upper limit: + 80°
J2 Hardstop Position 2
± 51°
Lower limit: – 50°
Upper limit: + 50°
J2 Hardstop Position 3
± 21°
Lower limit: – 20°
Upper limit: + 20°
Note: J2 Hardstops can be installed in a number of positions, depending on how
the robot workcell needs to be configured. The positions are spaced 30° apart.
Adept Cobra s600/s800 Robot, User’s Guide, Rev L
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