3-30
CHAPTER 3 Installation
5) When the object's center line is offset from the rotation center.
The equation for the moment of inertia, when the center of the cylinder is
offset by the distance "x" from the rotation center as shown in Fig. 3-83, is
given as follows.
D
h
J=
ρπ
D h
32g
WD
8g
=
4
2
... (Eq. 3.5)
x
+
ρπ
D hx
4g
2
+ Wx
g
2
Center line
Rotation center
2
I=
ρπ
D h
32
4
+
ρπ
D hx
4
2
2
mD
8
=
2
mx
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. 3-32
In the same manner, the moment of inertia of a cylinder as shown in Fig.
3-84 is given by
W
4g
=
... (Eq. 3.6)
D
4
h
3
(
2
2
+
)
h
D
x
Cneter line
J=
ρπ
D h
16g
+
2
D
4
h
3
(
2
2
+
)
ρπ
D h x
4g
2
2
+ Wx
g
2
I=
ρπ
D h
16
+
2
D
4
h
3
(
2
2
+
)
ρπ
D h x
4
2
2
m
4
=
D
4
h
3
(
2
2
+
) + mx
2
(kgf · cm · sec
2
)
(kgm
2
)
Fig. 3-33
In the same manner, the moment of inertia of a prism as shown in Fig. 3-85
is given by
J=
ρ
abc(a + b )
12g
W(a + b )
12g
=
2
2
... (Eq. 3.7)
2
2
+
ρ
abcx
g
Wx
g
+
2
2
a
c
b
x
Center line
I=
ρ
abc(a + b )
12
2
2
+
ρ
abcx
2
= m(a +b )
12
2
2
+ mx
2
m : Mass of prism (kg)
W : Weight of prism (kgf)
(kgf · cm · sec
2
)
(kgm
2
)
Fig. 3-34
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...
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: ......
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Page 203: ...CHAPTER 6 Increasing the robot operating speed 1 Increasing the robot operating speed 6 1...
Page 204: ......
Page 210: ......
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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...