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Chapter 3 - Python Linear Module Descriptions
Table 3-3. Carriage Maximum Payload and Transportable Moments
Horizontal Mount
Moments
Mod.
Pitch
Max
Roll
Type
(mm)
Pay-
(N·m)
load
(kg)
L18
10
80
400
20
30
330
L12
10
40
130
20
20
100
L08
10
10
16
20
5
12
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 3-4. Motors Used in Python Linear Modules
Module Type
Motor Type
L18
Sigma-II
L12
Sigma-II
L08
Sigma-III
40
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Vertical Mount
Pitch
Yaw
Max
Roll
(N·m)
(N·m)
Pay-
(N·m)
load
(kg)
450
325
40
n/a
500
530
20
n/a
160
105
30
n/a
160
160
15
n/a
25
13
8
n/a
25
19
5
n/a
Motor Size
(Watts)
400 W
400 W
150 W
Adept Python Modules User's Guide, Rev. E
Side Mount
Moments
Pitch
Yaw
Max
Roll
(N·m)
(N·m)
Pay-
(N·m)
load
(kg)
420
430
80
330
300
320
30
250
120
140
40
100
90
100
20
80
16
18
10
10
10
11
5
10
Peak Torque
(N-m)
3.82
65,536
3.82
65,536
1.43
131,072
Moments
Pitch
Yaw
(N·m)
(N·m)
270
450
400
500
80
140
130
160
8
20
16
25
Encoder
Resolution
(Cnts/Rev)
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