There is one question about motors that the answer is always YES:
Q: Can Motor X lift Load Y?
A:YES!
Here is a tougher question:
Q: Can Motor X lift Load Y in Time T?
A: Depends.
You can always gear the motor down enough to have enough force. You cannot get more power out of a motor than the peak power (for a given voltage).
As to letting out the magic smoke in a FP motor, this is quite easy to do, but it is also not too hard to avoid.
In my experience, if you design the system to load the FP motor at about 35-40% of stall torque you will
- have the motor running fast enough to keep good air flow on through the motor
- plus you are running near the peak power point of the motor
- plus you stay on the high efficiency side of peak power (this means you turn less electrical power into heat per per watt of mechanical power)
- finally if you need extra torque (e.g. because another robot is in the way and you have to "power through" them) you are moving the motor closer to its peak power point, not away from it.
Good luck.
Joe J.