Horse Power

[AustinSchuh]

Originally Posted by WizenedEE

Since you can't apply more than 40 amps, you'll get about 120 oz-in of torque.

You are assuming that the breakers will limit the current to 40 amps, or blow instantaneously at 40 amps. That is not true. You can draw much more than 40 amps for short periods of time. It is not a good idea to require more than 40 amps of current for extended periods of time, because eventually the breakers will heat up and blow, and the CIM will start to get rather hot.

[Al Skierkiewicz]

Guys,
40 amp breakers (actually all breakers on the robot) can withstand short periods (seconds) of 600% over rated trip current. CIM motors stall at 133 amps which is well below the 240 amps that would instantly trip the auto resetting circuit breaker. The breaker resets almost instantly.