Omron SCARA R6Y-XC Series

3-24
CHAPTER 3 Installation
6-1-3 Acceleration coefcient vs. moment of inertia (R6YXCH400)
100
A
X, A Y, A R (%)
I
r (kgm
2
)
J
r (kgf
•
cm
•
sec
2
)
80
60
40
20
0
0
0.01
0.1
0.02
0.2
0.03
0.3
0.04
0.4
0.05
0.5
Fig. 3-16 m=1kg
100
A
X, A Y, A R (%)
I
r (kgm
2
)
J
r (kgf
•
cm
•
sec
2
)
80
60
40
20
0
0
0.01
0.1
0.02
0.2
0.03
0.3
0.04
0.4
0.05
0.5
Fig. 3-17 m=2kg
100
A
X, A Y, A R (%)
I
r (kgm
2
)
J
r (kgf
•
cm
•
sec
2
)
80
60
40
20
0
0
0.01
0.1
0.02
0.2
0.03
0.3
0.04
0.4
0.05
0.5
Fig. 3-18 m=3kg