YASKAWA NX100 - Page 109

8.4 ARM Control
8-43
* The own moment of inertia (Icxi, Icyi, Iczi) of the gun is disregarded in this example, since
each gun is smaller than the entire tool.
<Setting>
• W
:
10.000
kg
• Xg
:
100.000
mm
• Yg
:
-83.333
mm
• Zg
:
60.000
mm
• Ix
:
0.100
kg.m
2
• Iy
:
0.010
kg.m
2
• Iz
:
0.100
kg.m
2