YASKAWA DX100 Instructions Manual page 109

DX100
The size of the tool is not too big.
Setting the moment of inertia at center
of gravity is not necessary.
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8 System Setup
8.4 ARM Control
Center of gravity position: xg, yg, zg (Unit: mm)
The center of gravity position of the installed tool is set as the position in
the flange coordinates.
Since it is usually difficult to get a strict center of gravity position, it can be
set with a rough value. Presume and set a center of gravity position
roughly from outline of the tool.
Set the value when the center of gravity position of the installed tool is
clear from specifications, etc.
Moment of inertia at the center of gravity: lx, ly, lz (Unit: kg
It is an moment of inertia of the tool at the center of gravity position.
The value is calculated around the each axis of the coordinates which is in
parallel to the flange coordinates and which home position is the center of
gravity position of the tool.
It is not required to set a correct value, however, it is recommended to set
a value slightly larger than the actual value.
This setting is used to calculate the moment of inertia which loads to each
axis of the manipulator. However, the moment of inertia at the center of
gravity does not need to be set when this data is small enough for the
moment of inertia calculated from weight and the center of gravity
position.
However, the setting is required when the moment of inertia of the tool is
large (as a rough guide, the tool is considered to be large when the tool
size is about more than 2-times the distance between the flange and the
center of gravity).
Rough value of the moment of inertia at the center of gravity can be
calculated by the following methods.
• Method to approximate the entire tool in hexahedron or cylinder.
• Method to calculate from each weight and center of gravity position
of plural mass.
Refer to the following setting examples for details.
8-44
The size of the tool is big.
Setting the moment of inertia at center
of gravity is necessary.
2
·
m )