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3-31
CHAPTER 3 Installation
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 a stay, as shown in Fig. 3-86.
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
.
10cm
2cm
2cm
R-axis
1cm
1cm
2cm
2cm
4cm
6cm
4cm
Stay
Chuck
Workpiece
Fig. 3-35
1) Moment of inertia of the stay
From Fig. 3-36, the weight of the
stay (Ws) is given as follows:
Ws =
r
abc = 0.0078
x
12
x
2
x
2
= 0.37 (kgf)
The moment of inertia of the stay (Js) is then calculated from Eq. 3-7.
Js = 0.37
x
(12
2
+2
2
)
+
0.37
x
5
2
= 0.014 (kgf · cm · sec
2
)
12
x
980
980
Fig. 3-36
12cm
2cm
2cm
Center line
5cm
R-axis
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...
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Страница 53: ...3 13 CHAPTER 3 Installation Fig 3 7 Ground terminal Ground symbol M4 Ground terminal...
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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...
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Страница 203: ...CHAPTER 6 Increasing the robot operating speed 1 Increasing the robot operating speed 6 1...
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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...