Adept Python - Manual (Page 39)

Linear Module Options
Adept Python Modules User’s Guide, Rev. E 39
Rated payload specifications for Python modules are provided as a general guideline for
users. At these payloads, the user can expect to achieve good performance for the 15,000
km life of the modules, assuming typical cycle and dwell times are used.
Dynamic payload capacities for Python modules are limited by available motor torque
and duty cycle restrictions. These values change based on the ball screw lead selection
and the mounting orientation (horizontal or vertical). Adept specifies sustained cycle
performance for Python modules at SPEED 100 and ACCEL 100 at 100% duty cycle using
a MotionBlox-10 amplifier (unless otherwise specified). These values are measured
without any dwell time or breaks between moves. This performance is limited by a heat
sensor in the motor or amplifier.
Python modules are capable of carrying much higher payloads than the values listed in
the following table. However, the speed or acceleration must be reduced and/or breaks
inserted to avoid envelope errors or duty cycle limits.
In a vertical application, one of the limiting factors for payload capacity is regeneration
energy produced by the motor. Because of this, Adept recommends that vertical axes be
restricted to a stroke length of 400 mm or less.
Table 3-2. Carriage Bearing Static and Dynamic Load Ratings
Module Type
C a
(N)
a Basic Dynamic load rating (50 km)
Co b
(N)
b Basic Static load rating
To c
(N·m)
c Static Roll Moment rating
Tx d
(N·m)
d Static Pitch Moment rating
Ty e
(N·m)
e Static Yaw Moment rating
L18 25200 28800 362 1690 1690
L12 11600 13400 112 556 556
L08 2370 4030 18.7 98.3 82.5