YASKAWA NX100 Instructions Manual page 105

<Example 1>
In the example of sealing gun of the figure below, the center of gravity is set on the flange
coordinates assuming that the center of gravity is positioned slightly inclined to the head from
the center.
There is no need to set the moment of inertia at the center of gravity since the size of the gun
is not too large.
Y
F
X
F
Total Weight
Approx. 6.3 [kg]
7.00 [kg]
• The own moment of inertia calculation for hexahedron and cylinder
SUPPLE
The own moment of inertia of hexahedron and cylinder can be calculated by the next
-MENT
expression when the center of gravity is at the center.
Refer to the expression when the calculation of the moment of inertia at the center of grav-
ity.
Lx
Ix =
Iy =
Iz =
Center of Gravity Position
= (100, 0, 70)
100
Z
F
Z
Ly
Iz
Iy
Ix
X
Weight:W
2 2
Ly + Lz
* W
12
2 2
Lx + Lz
* W
12
2 2
Lx + Ly
* W
12
8-39
<Setting>
Iz
Lz
H
Y
X
Ix = Iy =
r
Iz =
2
* Unit of Weight : [kg]
* Unit of Length
* Unit of Ix, Iy, Iz : [kg.m
8.4 ARM Control
• 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
Z
r
Y
Iy
Ix
Weight: W
2 2
3 r + H
* W
12
2
* W
: [m]
2
]
2
2
2