YASKAWA NX100 Instructions Manual page 109

* The own moment of inertia (Icxi, Icyi, Iczi) of the gun is disregarded in this example, since
each gun is smaller than the entire tool.
<Setting>
• W :
10.000
• Xg : 100.000
• Yg : -83.333
• Zg
: 60.000
• Ix :
0.100
• Iy :
0.010
• Iz :
0.100
kg
mm
mm
mm
kg.m
2
kg.m
2
kg.m
2
8-43
8.4 ARM Control