Setup & Operation 4. End Effectors
C12 Rev.3
47
Calculating the Inertia Moment
Refer to the following example formulas to calculate the inertia moment of the load (end
effector with work piece).
The inertia moment of the entire load is calculated by the sum of (a), (b), and (c).
Work Piece (b)
Work Piece (c)
End Effector (a)
Rotation Center
Moment of Inertia
of End Effector (a)
=
Moment of Inertia
of Work Piece (b)
+
Moment of Inertia
of Work Piece (c)
+
Whole Moment
of Inertia
The methods for calculating the inertia moment for (a), (b), and (c) are shown in this and
the next page. Figure out the whole inertia moment using the basic formulas below.
Summary of Contents for C12 Series
Page 1: ...Rev 3 EM204R4255F 6 Axis Robots C12 series MANIPULATOR MANUAL ...
Page 2: ...Manipulator manual C12 series Rev 3 ...
Page 8: ...vi C12 Rev 3 ...
Page 14: ...Table of Contents xii C12 Rev 3 ...
Page 16: ......
Page 30: ...Setup Operation 2 Specifications 16 C12 Rev 3 2 4 Outer Dimensions Unit mm ...
Page 84: ......
Page 155: ...Maintenance 4 Cable Unit C12 Rev 3 141 4 2 Connector Pin Assignment 4 2 1 Signal Cable ...
Page 156: ...Maintenance 4 Cable Unit 142 C12 Rev 3 ...
Page 157: ...Maintenance 4 Cable Unit C12 Rev 3 143 ...
Page 158: ...Maintenance 4 Cable Unit 144 C12 Rev 3 4 2 2 Power Cable ...
