Epson C Series Manual page 151

Calculating the Inertia Moment
Refer to the following example formulas to calculate the inertia moment of the load (end
effector with work piece).
The inertia moment of the entire load is calculated by the sum of (a), (b), and (c).
The methods for calculating the inertia moment for (a), (b), and (c) are shown in this and
the next page. Figure out the whole inertia moment using the basic formulas below.
(a) Inertia moment of a rectangular parallelepiped
(b) Inertia moment of a cylinder
Cylinder's Center of Gravity
C series Rev.2
Work Piece (b)
Whole Moment Moment of Inertia
=
of Inertia
of End Effector (a)
Rotation Center
L
h
C8 Manipulator 4. End Effectors
Rotation Center
End Effector (a)
Moment of Inertia
+
of Work Piece (b)
Rectangular Parallelepiped's Center of Gravity
m
b
Rotation Center
r
m
L
Work Piece (c)
Moment of Inertia
+
of Work Piece (c)
b + h
2 2
m
+ m × L 2
12
r 2
m
+ m × L 2
2
135