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2
Installa
tion
2-39
6.1.4 Acceleration coefficient vs. moment of inertia (R6YXGL500)
m=1 to 5kg
A
X
, A
Y
, A
R
(%)
0
10
20
30
40
50
60
70
80
90
100
0
0.005
0.01
0.015
0.02
0.025
0.03
0.035
0.04
0.045
0.05
0.05
0.1
0.15
0.2
0.25
0.3
0.35
0.4
0.45
0.5
Ir (kgm
2
)
Jr (kgfcmsec
2
)
m=1 to 5kg
A
X
, A
Y
, A
R
(%)
50
55
60
65
70
75
80
85
90
95
100
0.0005
0.001
0.0015
0.002
0.0025
0.003
0.0035
0.004
0.0045
0.005
0
0.005
0.01
0.015
0.02
0.025
0.03
0.035
0.04
0.045
0.05
Ir (kgm
2
)
Jr (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...