Chapter 3 - Python Linear Module Descriptions
40 Adept Python Modules User’s Guide, Rev. E
NOTE: Maximum payloads require decreased duty cycle for continuous
operation. Please contact Adept sales for more information.
NOTE: These values apply at 15,000 km of travel which is equivalent to 25
million 300 mm pick and place cycles. For 10,000 km of travel, multiply
all values by 1.14. For 5,000 km of travel, multiply all values by 1.44.
These values are calculated in a traditional manner and assume constant
velocity, they do not take moments caused by acceleration into account.
The motors used in Python modules are high-quality AC servo motors manufactured by
Yaskawa corporation. These motors employ serial absolute encoders. The motor model
numbers, size, maximum torque values, and encoder resolution are provided here for
reference.
Table 3-3. Carriage Maximum Payload and Transportable Moments
Horizontal Mount Vertical Mount Side Mount
Moments Moments Moments
Mod.
Type
Pitch
(mm)
Max
Pay-
load
(kg)
Roll
(N·m)
Pitch
(N·m)
Yaw
(N·m)
Max
Pay-
load
(kg)
Roll
(N·m)
Pitch
(N·m)
Yaw
(N·m)
Max
Pay-
load
(kg)
Roll
(N·m)
Pitch
(N·m)
Yaw
(N·m)
L18 10 80 400 450 325 40 n/a 420 430 80 330 270 450
20 30 330 500 530 20 n/a 300 320 30 250 400 500
L12 10 40 130 160 105 30 n/a 120 140 40 100 80 140
20 20 100 160 160 15 n/a 90 100 20 80 130 160
L08 10 10 16 25 13 8 n/a 16 18 10 10 8 20
20 5 12 25 19 5 n/a 10 11 5 10 16 25
Table 3-4. Motors Used in Python Linear Modules
Module Type Motor Type
Motor Size
(Watts)
Peak Torque
(N-m)
Encoder
Resolution
(Cnts/Rev)
L18 Sigma-II 400 W 3.82 65,536
L12 Sigma-II 400 W 3.82 65,536
L08 Sigma-III 150 W 1.43 131,072
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