Omron SCARA R6Y-XC Series

3-28
CHAPTER 3 Installation
6-1-5 Acceleration coefcient vs. moment of inertia (R6YXC600)
100
A
X, AY, AR (%)
I
r (kgm
2
)
J
r (kgf
•
cm
•
sec
2
)
80
60
40
20
0
0
0.04
0.4
0.08
0.8
0.12
1.2
0.005(0.05)
Fig. 3-27 m=1kg
100
A
X, AY, AR (%)
I
r (kgm
2
)
J
r (kgf
•
cm
•
sec
2
)
80
60
40
20
0
0
0.04
0.4
0.08
0.8
0.12
1.2
0.005(0.05)
Fig. 3-28 m=2kg
100
A
X, AY, AR (%)
I
r (kgm
2
)
J
r (kgf
•
cm
•
sec
2
)
80
60
40
20
0
0
0.04
0.4
0.08
0.8
0.12
1.2
0.01(0.1)
Fig. 3-29 m=3kg