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2
Installa
tion
2-45
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 the Fig. below is given as
follows.
Moment of inertia for cylinder (part 2)
h
D
2
h
... (3)
J=
rp D
2
h
16g
W
4g
=
D
2
4
h
2
3
(
+
)
D
2
4
h
2
3
(
+
)
I=
rp D
2
h
16
m
4
=
D
2
4
h
2
3
(
+
)
D
2
4
h
2
3
(
+
)
r : Density (kg/m
3
, kg/cm
3
)
g : Gravitational acceleration (cm/sec
2
)
m : Mass of cylinder (kg)
W : Weight of cylinder (kgf)
(kgfcmsec
2
)
(kgm
2
)
4) moment of inertia for prism
The equation for the moment of inertia for a prism that has a rotation center as shown in the Fig. below is given as follows.
Moment of inertia for prism
a
c
b
1/2a
J=
rabc(a
2
+b
2
)
12g
W(a
2
+b
2
)
12g
=
... (4)
I=
rabc(a
2
+b
2
)
12
m(a
2
+b
2
)
12
=
(kgfcmsec
2
)
(kgm
2
)
r : Density (kg/m
3
, kg/cm
3
)
g : Gravitational acceleration (cm/sec
2
)
m : Mass of prism (kg)
W : Weight of prism (kgf)
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 the Fig. below is given as follows.
When the object’s center line is offset from the rotation center.
D
h
x
Center line
Rotation
center
J=
rpD
4
h
32g
WD
2
8g
=
... (5)
+
rpD
2
hx
2
4g
+
Wx
2
g
I=
rpD
4
h
32
+
rpD
2
hx
2
4
mD
2
8
=
mx
2
+
r : Density (kg/m
3
, kg/cm
3
)
g : Gravitational acceleration (cm/sec
2
)
m : Mass of cylinder (kg)
W : Weight of cylinder (kgf)
(kgfcmsec
2
)
(kgm
2
)
Summary of Contents for R6YXG500
Page 1: ...ZX T Series Cat No I155E EN 03A R6Y XG series INSTALLATION MANUAL SCARA Robots XG Series...
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Page 221: ...Chapter 4 Periodic inspection Contents 1 Overview 4 1 2 List of inspection items 4 2...
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Page 227: ...Chapter 5 Harmonic drive replacement period Contents 1 Overview 5 1 2 Replacement period 5 2...
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Page 323: ...8 Specifications 8 77 1 3 Robot inner wiring diagram Robot inner wiring diagram R6YXG500...