![background image](http://html1.mh-extra.com/html/omron/r6y-series/r6y-series_user-manual_743981068.webp)
3-28
CHAPTER 3 Installation
6-2
Equation for moment of inertia calculation
Usually the R axis load is not a simple form, and the calculation of the moment
of inertia is not easy.
As a method, the load is replaced with several factors that resemble a simple
form for which the moment of inertia can be calculated. The total of the mo-
ment of inertia for these factors is then obtained.
The objects and equations often used for the calculation of the moment of iner-
tia are shown below. Incidentally, there is the following relation:
J (kgf·cm·sec
2
) = I (kgm
2
) × 10.2.
1) Moment of inertia for material particle
The equation for the moment of inertia for a material particle that has a ro-
tation center such as shown in Fig. 3-79 is as follows:
This is used as an approximate equation when x is larger than the object
size.
x
J= Wx
g
2
(kgf · cm · sec
2
)
g : Gravitational acceleration (cm/sec
2
)
m : Mass of material particle (kg)
... (Eq. 3.1)
I= mx
2
(kgm
2
)
W : Weight of material particle (kgf)
Fig. 3-28
2) Moment of inertia for cylinder (part 1)
The equation for the moment of inertia for a cylinder that has a rotation
center such as shown in Fig. 3-80 is given below.
D
h
J=
ρπ
D h
32g
WD
8g
=
4
2
(kgf · cm · sec
2
)
... (Eq. 3.2)
I=
ρπ
D h
32
mD
8
=
4
2
(kgm
2
)
ρ
: Density (kg/m
3
, kg/cm
3
)
g : Gravitational acceleration (cm/sec
2
)
m : Mass of cylinder (kg)
W : Weight of cylinder (kgf)
Fig. 3-29
Summary of Contents for R6Y Series
Page 2: ......
Page 12: ......
Page 30: ......
Page 32: ......
Page 38: ......
Page 53: ...3 13 CHAPTER 3 Installation Fig 3 7 Ground terminal Ground symbol M4 Ground terminal...
Page 108: ......
Page 150: ...4 42 CHAPTER 4 Adjustment End effector R Y X z Fig 4 13 Positions for affixing the stickers...
Page 160: ......
Page 162: ......
Page 202: ......
Page 203: ...CHAPTER 6 Increasing the robot operating speed 1 Increasing the robot operating speed 6 1...
Page 204: ......
Page 210: ......
Page 212: ......
Page 215: ...7 3 CHAPTER 7 Specifications 1 2 External view and dimensions Fig 7 1 R6YXH250...
Page 216: ...7 4 CHAPTER 7 Specifications User tubing 1 f4 black User tubing 2 f4 red User tubing 3 f4 blue...
Page 217: ...7 5 CHAPTER 7 Specifications Fig 7 2 R6YXH350...
Page 218: ...7 6 CHAPTER 7 Specifications...
Page 219: ...7 7 CHAPTER 7 Specifications Fig 7 3 R6YXH400...
Page 221: ...7 9 CHAPTER 7 Specifications Fig 7 4 R6YXX1200...
Page 222: ...7 10 CHAPTER 7 Specifications...
Page 224: ...7 12 CHAPTER 7 Specifications Fig 7 6 R6YXX1200...
Page 225: ...7 13 CHAPTER 7 Specifications 1 4 Wiring table Robot cable wiring table...
Page 226: ...7 14 CHAPTER 7 Specifications...
Page 229: ...7 17 CHAPTER 7 Specifications Motor wiring table Motor X Y Motor Z R...
Page 230: ...7 18 CHAPTER 7 Specifications Resolver wiring table Resolver X Y Resolver Z R...