Epson G3 Series Manual page 71

(a) Moment of inertia of a rectangular parallelepiped
(b) Moment of inertia of a cylinder
Cylinder's center of gravity
(c) Moment of inertia of a sphere
G3 Rev.14
Rotation center Rectangular parallelepiped's center of gravity
Mass (m)
L
h
Rotation center
r
Mass (m)
Rotation center
Mass (m)
L
Setup & Operation 4. Setting of End Effectors
b
L
Sphere's center of gravity
r
2 2
b + h
+ m × L 2
m
12
2
r
+ m × L
2
m
2
2
+ m × L
2 2
m r
5
59