YASKAWA DX200 - Page 134

8 System Setup
8.4 ARM Control
8-47
182582-1CD
182582-1CD
MH900, DX200 Controller
<Example 2>
It is necessary to set the moment of inertia at the center of gravity when
the entire size of the tool and workpiece is large compared to the distance
from the flange to the center of gravity position.
Calculate the moment of inertia at the center of gravity roughly from the
expression (refer to the forementioned supplement: “The own moment of
inertia calculation for hexahedron and cylinder”), by approximating the
entire tool in the shape of the hexahedron or the cylinder.
If the weight of held workpiece is greatly different in the handling usage
etc., it is more effective to set tool load information on each workpiece and
to switch the tool on each step according to the held workpiece. Set the
tool load information in the state to hold the heaviest workpiece when
using the tools without switching them.
Weight: W = 55 + 40 = 95
= approx. 100[kg]
Center of gravity: Position at flange right under 250mm almost
(Xg, Yg, Zg) = (0,0,250)
Moment of inertia at the center of gravity:
The hexahedron of 0.500 x 0.400 x 1.000[m] which encloses the
entire tool + workpiece is assumed.
By the expression to calculate the own moment of inertia of
hexahedron,
Ix = (Ly
2
+ Lz
2
/ 12) * W
= ((0.400
2
+ 1.000
2
) / 12) * 100 = 9.667 = approx. 10.000
Iy = (Lx
2
+ Lz
2
/ 12) * W = ((0.500
2
+ 0.400
2
) / 12) * 100 = 3.417
= approx. 3.500
Iz = (Lx
2
+ Ly
2
/ 12) * W = ((0.500
2
+ 1.000
2
) / 12) * 100 = 10.417
= approx. 10.500
<Setting>
• W : 100.000 kg
• Xg : 0.000 mm
• Yg : 0.000 mm
• Zg : 250.000 mm
• Ix : 10.000 kg.m
2
• Iy : 3.500 kg.m
2
• Iz : 10.500 kg.m
2
250
1000
400
500
XF
ZF
YF
Weight of tool:
Approx. 55 kg.
Weight of workpiece:
Approx. 40 kg.
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