YASKAWA DX100 - Page 110

8 System Setup
DX100 8.4 ARM Control
8-45
<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.
<Setting>
Z
F
X
F
Y
F
70
100
Center of Gravity Position
= (100, 0, 70)
Total Weight
Approx. 6.3 [kg]
7.00 [kg]
• W : 7.000 kg
• Xg : 100.000 mm
• Yg : 0.000 mm
• Zg : 70.000 mm
• Ix : 0.000 kg •m
2
• Iy : 0.000 kg •m
2
• Iz : 0.000 kg •m
2
SUPPLE
-MENT
• The own moment of inertia calculation for hexahedron
and cylinder
The own moment of inertia
of hexahedron and cylinder can
be calculated by the next 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 gravity.
3 r
2
+ H
2
Ix = Iy = * W
12
r
2
Iz = * W
2
Ly
2
+ Lz
2
Ix = * W
12
Lx
2
+ Lz
2
Iy = * W
12
Lx
2
+ Ly
2
Iz = * W
12
* Unit of Length : [m]
2
* Unit of Weight : [kg]
X
Y
Z
Iy
Iz
Ix
Ly
Lx
Weight:W
Lz
H
X
Z
Iz
Ix
r
Weight: W
Iy
Y
* Unit of Ix, Iy, Iz : [kg x m ]
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