System Setup
9 - 117
<Example 1>
In the welding gun example below, the center of gravity is set in the flange coordinates. It
is assumed that the center of gravity is at a slight angle from the head to the center point.
It is not necessary to set the moment of inertia at the center of gravity, since the welding
gun is not too large.
NOTICE
Moment of inertia of the moment of inertia calculation for hexahedron or cylinder.
The moment of inertia for hexahedron or cylinder can be calculated with the following
formula when the center of gravity is near the center.
See the formula for the calculation of the moment of inertia at the center of gravity.
Centre of gravity = (100, 0, 70)
Total weight approx. 6.3 [kg]..7.00 [kg]
<Setting>
W : 7,000 kg
Xg : 100,000 mm
Yg : 0.000 mm
Zg : 70,000 mm
lx : 0 kgm²
ly : 0 kgm²
lz : 0 kgm²
Weight: W
Unit of weight: [kg] Unit of length: [m]
Unit of lx, ly, lz: [kg]
1
Z
F
X
F
Y
F
70
100
2
1
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
X
Y
Z
Iy
Iz
Ix
Ly
Lx
Lz
H
X
Z
Iz
Ix
r
Iy
Y
1 1
2
2
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