YASKAWA Motoman UP6 Instructions Manual page 214

3.11 ARM Control
<Example1>
In the example of sealing gun of the figure below, it is assumed that there is center of gravity
in the position where inclined to head from the center a little, and sets the center of gravity
position on the flange coordinates.
There is no problem even if the moment of inertia at the center of gravity is not set because
the size of the gun is not too large.
Y
X
F
Total Weight
Approx. 6.3 [kg]
7.00 [kg]
<Setting>
• W
: 7.000 kg
• Xg : 100.000 mm
• Yg : 0.000 mm
• Zg : 70.000 mm
• Ix : 0.000 kg.m
• Iy : 0.000 kg.m
• Iz : 0.000 kg.m
F
2
2
2
Center of Gravity Position
= (100, 0, 70)
Z
F
3-56