![background image](http://html1.mh-extra.com/html/omron/r6yxg500/r6yxg500_installation-manual_742792105.webp)
2
Installa
tion
2-47
6.3
Example of moment of inertia calculation
Let's discuss an example in which the chuck and workpiece are at a position offset by 10cm from the R-axis by the stay,
as shown in the Fig. below. The moment of inertia is calculated with the following three factors, assuming that the load
material is steel and its density ρ is 0.0078kg/cm
3
.
Example of moment of inertia calculation
(The chuck and workpiece are at a position offset by 10 cm from the R-axis by the stay.)
10cm
2cm
2cm
R-axis
1cm
1cm
2cm
2cm
4cm
6cm
4cm
Stay
Chuck
Workpiece
1. Moment of inertia of the stay
Moment of inertia of the stay
12cm
2cm
2cm
Center line
5cm
R-axis
The weight of the stay (Ws) is given as follows:
Ws = rabc = 0.0078 × 12 × 2 × 2
= 0.37 (kgf)
The moment of inertia of the stay (Js) is
then calculated from Eq. (7).
Js =
0.37 × (12
2
+2
2
)
+
0.37 × 5
2
= 0.014 (kgfcmsec
2
)
12 × 980
980
Summary of Contents for R6YXG500
Page 1: ...ZX T Series Cat No I155E EN 03A R6Y XG series INSTALLATION MANUAL SCARA Robots XG Series...
Page 2: ......
Page 10: ......
Page 36: ......
Page 38: ......
Page 40: ......
Page 46: ......
Page 48: ......
Page 56: ......
Page 174: ......
Page 176: ......
Page 220: ......
Page 221: ...Chapter 4 Periodic inspection Contents 1 Overview 4 1 2 List of inspection items 4 2...
Page 222: ......
Page 226: ......
Page 227: ...Chapter 5 Harmonic drive replacement period Contents 1 Overview 5 1 2 Replacement period 5 2...
Page 228: ......
Page 232: ......
Page 238: ......
Page 240: ......
Page 244: ......
Page 246: ......
Page 323: ...8 Specifications 8 77 1 3 Robot inner wiring diagram Robot inner wiring diagram R6YXG500...