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2
Installa
tion
2-48
2. Moment of inertia of the chuck
Moment of inertia of the chuck
10cm
2cm
6cm
4cm
R-axis
When the chuck form resembles
that shown in figure, the weight
of the chuck (Wc) is
Wc = 0.0078 × 2 × 4 × 6
= 0.37 (kgf)
The moment of inertia of the
chuck (Jc) is then calculated
from Eq. (7).
Jc =
0.37 × (2
2
+4
2
)
12 × 980
0.37 × 10
2
+
980
= 0.038 (kgfcmsec
2
)
3. Moment of inertia of workpiece
Moment of inertia of workpiece
10cm
4cm
R-axis
2cm
Ww =
rpD
2
h
=
0.0078p × 2
2
× 4
4
4
= 0.098 (kgf)
The moment of inertia of the
workpiece (Jw) is then calculated
from Eq. (5).
When the workpiece form
resembles that shown in figure, the weight of the
workpiece (Ww) is
Jw =
0.097 × 2
2
+
0.097 × 10
2
8 × 980
980
= 0.010 (kgfcmsec
2
)
4. Total weight
The total weight (W) is calculated as follows: W = Ws + Wc + Ww = 0.84 (kgf)
5. Total moment of inertia
The total moment of inertia (J) is then obtained as follows: J = Js + Jc + Jw = 0.062 (kgfcmsec
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...