YASKAWA motoman NX100 - Page 260

9.11 ARM Control
9-60
<Example1>
In the example of sealing gun of the figure below, it is assumed that there is center of gravity in
the position where inclined to head from the center a little, and sets the center of gravity posi-
tion on the flange coordinates.
There is no problem even if the moment of inertia at the center of gravity is not set because
the size of the gun is not too large.
<Setting>
• 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
• 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 grav-
ity.
Z
F
X
F
Y
F
70
1
0
0
Center of Gravity Position
= (100, 0, 70)
Total Weight
Approx. 6.3 [kg]
7.00 [kg]
SUPPLE
-MENT
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]
* Unit of Ix, Iy, Iz : [kg.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