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3-29
CHAPTER 3 Installation
3) Moment of inertia for cylinder (part 2)
The equation for the moment of inertia for a cylinder that has a rotation
center such as shown in Fig. 3-81 is given below.
h
D
2
h
J=
ρπ
D h
16g
W
4g
=
2
... (Eq. 3.3)
D
4
h
3
(
2
2
+
)
D
4
h
3
(
2
2
+
)
I=
ρπ
D h
16
m
4
=
2
D
4
h
3
(
2
2
+
)
D
4
h
3
(
2
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)
(kgf · cm · sec
2
)
(kgm
2
)
Fig. 3-30
4) Moment of inertia for prism
The equation for the moment of inertia for a prism that has a rotation center
as shown in Fig. 3-82 is given as follows.
J=
ρ
abc(a +b )
12g
W(a +b )
12g
=
2
2
... (Eq. 3.4)
a
c
b
1/2a
2
2
I=
ρ
abc(a +b )
12
m(a +b )
12
=
2
2
2
2
(kgf · cm · sec
2
)
(kgm
2
)
ρ
: Density (kg/m
3
, kg/cm
3
)
g : Gravitational acceleration (cm/sec
2
)
m : Mass of prism (kg)
W : Weight of prism (kgf)
Fig. 3-31
Summary of Contents for R6Y Series
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Page 53: ...3 13 CHAPTER 3 Installation Fig 3 7 Ground terminal Ground symbol M4 Ground terminal...
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Page 150: ...4 42 CHAPTER 4 Adjustment End effector R Y X z Fig 4 13 Positions for affixing the stickers...
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Page 203: ...CHAPTER 6 Increasing the robot operating speed 1 Increasing the robot operating speed 6 1...
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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...