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Theta Module Options
Adept Python Modules User’s Guide, Rev. E 63
Gear Ratio
The LT1 Theta module uses a high-precision Harmonic Drive component set for the gear
reduction in its drive mechanism. The gear ratio is 30:1.
Module Preparation (Assembly)
The LT1 Theta module comes standard with a painted motor cover. An optional
ESD-resistant nickel-plated motor cover is available.
Cleanroom Modules
All Theta modules have cleanroom compliance as a standard feature. The Theta module
meets Class 10 Airborne Particulate Cleanliness Limits, as defined by Federal Standard
209E. See “Module Preparation (Assembly)” on page 51 for information on cleanroom
versions of modules.
Interface
The LT1 Theta module comes standard with a 20 mm diameter output shaft. An optional
user flange is also available. See “Single-Axis Theta Modules” on page 75 for the
mounting dimensions for the standard shaft and optional flange.
Figure 4-1. LT1 (Theta) Module with User Flange
- Adept Python 1
- Table of Contents 5
- List of Figures 11
- Introduction 1 15
- L18 Module with 16
- MotionBlox-10 Amp 16
- L12 Module with 16
- Product Description 17
- Special and Custom Orders 18
- Adept SmartController CX 18
- 1.4 How Can I Get Help? 21
- 1.5 Related Manuals 22
- Safety 2 23
- 2.3 Risk Assessment 25
- Avoidance 26
- Maximum Thrust 27
- Safety Barriers 28
- 2.5 Equipment Modifications 30
- 2.6 Transport 31
- 2.8 Sound Emissions 32
- 2.9 Thermal Hazard 32
- 2.10 Working Areas 32
- Python Linear Module 37
- Descriptions 3 37
- L-Series Module Types 38
- Payloads and Moments 38
- Stroke Length 41
- Accuracy 41
- Acceleration 43
- Resolution and Repeatability 43
- 143.50 mm 45
- 168.50 mm 45
- 295.50 mm 46
- Motor Mount Configuration 47
- Linear Module Options 49
- Harness Exit Configurations 50
- Module Preparation (Assembly) 51
- L18 030 S10 B0 M10 0 P0 0 0 52
- L18 030 S10 B0 53
- M10 0 P0 0 0 54
- L08 010 S10 B0 57
- LG6 020 P0 0 0 59
- Python Theta Module 61
- Description 4 61
- Gear Ratio 63
- Interface 63
- ± 360° RANGE OF MOTION 64
- (CONTINUOUS TURN AVAILABLE) 64
- LT1 G30 B0 64
- Module System Descriptions 5 67
- 10 S 1 0 0 0 69
- A0 A0 A0 A0 X00 0 70
- S 2 0 0 0 72
- Single-Axis Configurations 73
- Z-Axis motion 74
- Single-Axis Theta Modules 75
- 5.4 System Orientation 86
- Single-Axis Orientations 87
- Typical Two-Axis Orientations 87
- Module 1, Flipped 89
- Module 2, Rolled 89
- (Amp 2 facing Amp 1) 89
- 5.5 Mounting Options 90
- Mounting Feet Drawings 91
- Toe Clamp Drawings 92
- All dimensions 93
- CABLE 4 KIT - No cable 97
- CABLE 1 KIT - No cable 97
- 5.7 Gantry Mounting Kits 98
- GANTRY MOUNTING 99
- Dimension determined 100
- Y module 100
- LG6 Gantry Support Module 100
- 5.8 IO Blox 103
- IO BLOX OPTIONS 104
- CABLING/PLUMBING 107
- Module Installation 6 109
- Mounting Plate 110
- General Installation Notes 110
- Cleanroom System Installation 115
- Space Around the Chassis 117
- 7.2 System Cable Diagram 118
- 7.3 Installing the PDU3 119
- Power Distribution Unit 8 121
- 8.2 Installing the PDU3 122
- 200–240V~ 123
- 380–415V~ 123
- 8.5 PDU3 Fuses 125
- 8.6 PDU3 Mounting Brackets 126
- 8.7 PDU3 Dimensions 127
- Note: All dimensions 128
- 8.9 PDU3 Specifications 129
- XDCS Connector 131
- XSLV1/2 Connector 131
- Adept MB-10 Amps 9 133
- 9.2 MB-10 Operation 134
- Indicator LED 135
- Brake Release Button 135
- MB-10 Connectors 135
- IO Blox Connector 136
- 9.3 MB-10 Firmware 137
- 9.4 MB-10 Specifications 138
- Motor Connector 139
- Encoder Connector 139
- System Operation 10 143
- Power Checks 144
- Cable Installation Checks 144
- 10.3 Turning On Power 145
- 10.4 Software Configuration 145
- Load and Run DC_SETUP.V2 146
- 10.5 Enable High Power 150
- 10.6 Run-Time Calibration 151
- 10.7 Turning Off Power 151
- Maintenance 11 153
- 11.2 Checking Safety Systems 154
- Battery Replacement Procedure 155
- Retaining clip 156
- Replacement 158
- 11.6 Additional Maintenance 159
- 11.7 MB-10 Decommissioning 159
- Advanced System 161
- Configurations 12 161
- Robot #1 Robot #2 162
- User-Supplied 163
- 24VDC Power 163
- Terminator 164
- Installed 164
- 5960 Inglewood Drive 170
- Pleasanton, CA 94588 170
- 925·245·3400 170
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