Table of Contents 7.4 Payload Specifications 127 Payload 127 Torque 127 7.5 Performance 128 Cycle Times 128 Power Consumption 128 Payload Mass vs. Acceleration 129 Payload Inertia vs. Acceleration 129 7.6 Robot Mounting Frame 129 Chapter 8: Environmental Concerns 137 8.1 Ambient Environment 137 8.2 Cleanroom Classification 137 8.3 Design Factors 137 Robot Base and Components 138 Inner Arms 138 Ball Joints 138 Outer Arms 138 Spring Assemblies 139 Platforms 139 Adept Hornet 565 Robot User's Guide, User’s Guide, Rev A Page 9 of 142