Installing User-Supplied Hardstops 5.2 Installing User-Supplied Hardstops For the purpose of limiting the robot working envelope, the hardstops, or mechanical ends, for Joints 1, 2, and 3 on the Adept Viper robots can be changed by installing user-supplied hardstop devices. In addition, the default softstops, or software limits, must be modified after the hardstops have been installed. If you need information on modifying hardstops, please contact Adept. CAUTION: Failures caused by user-supplied hardstops are not covered by the warranty, even if the robot is under warranty. Adept Viper s1300 Robot User’s Guide, Rev B 53