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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
Содержание R6Y Series
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Страница 31: ...CHAPTER 2 Functions 1 Robot Manipulator 2 1 2 Robot Controller 2 4 3 Robot initialization number list 2 5...
Страница 32: ......
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Страница 53: ...3 13 CHAPTER 3 Installation Fig 3 7 Ground terminal Ground symbol M4 Ground terminal...
Страница 108: ......
Страница 144: ...4 36 CHAPTER 4 Adjustment Z axis mechanical stopper L L Fig 4 10 R6YXH250 to R6YXH400 Fig 4 11 R6YXX1200...
Страница 150: ...4 42 CHAPTER 4 Adjustment End effector R Y X z Fig 4 13 Positions for affixing the stickers...
Страница 160: ......
Страница 162: ......
Страница 202: ......
Страница 203: ...CHAPTER 6 Increasing the robot operating speed 1 Increasing the robot operating speed 6 1...
Страница 204: ......
Страница 210: ......
Страница 212: ......
Страница 215: ...7 3 CHAPTER 7 Specifications 1 2 External view and dimensions Fig 7 1 R6YXH250...
Страница 216: ...7 4 CHAPTER 7 Specifications User tubing 1 f4 black User tubing 2 f4 red User tubing 3 f4 blue...
Страница 217: ...7 5 CHAPTER 7 Specifications Fig 7 2 R6YXH350...
Страница 218: ...7 6 CHAPTER 7 Specifications...
Страница 219: ...7 7 CHAPTER 7 Specifications Fig 7 3 R6YXH400...
Страница 220: ...7 8 CHAPTER 7 Specifications X and Y axis mechanical stopper positions 1 5 Working envelope 1 5...
Страница 221: ...7 9 CHAPTER 7 Specifications Fig 7 4 R6YXX1200...
Страница 222: ...7 10 CHAPTER 7 Specifications...
Страница 223: ...7 11 CHAPTER 7 Specifications 1 3 Robot inner wiring diagram Fig 7 5 R6YXH250 R6YXH350 R6YXH400...
Страница 224: ...7 12 CHAPTER 7 Specifications Fig 7 6 R6YXX1200...
Страница 225: ...7 13 CHAPTER 7 Specifications 1 4 Wiring table Robot cable wiring table...
Страница 226: ...7 14 CHAPTER 7 Specifications...
Страница 229: ...7 17 CHAPTER 7 Specifications Motor wiring table Motor X Y Motor Z R...
Страница 230: ...7 18 CHAPTER 7 Specifications Resolver wiring table Resolver X Y Resolver Z R...