Chapter 7: Optional Equipment Installation
5.
Highlight the current values for joint 2, and replace them with the new values. See the
following table for recommended softstop values.
Table 7-21. 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.
6.
Reboot eV+:
Controller >Control >Reboot eV+
NOTE: This can also be accomplished by momentarily removing 24 VDC
power from the controller.
The new joint limits will be in effect when the system reboot is done.
14402-000 Rev. F eCobra User's Guide 151
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