YASKAWA YRC1000 - 6.1.3.2 Center of Gravity; 6.1.3.3 Moment of Inertia

6 Robot Settings
6.1 Tool Settings
6-5
HW1485509
HW1485509
6.1.3.2 Center of Gravity
The tool’s center of gravity is defined in mm. Measurements are taken
from the flange center point (FCP) in X, Y, Z direction. Enter this data as
provided by the tool manufacturer or from an accurate CAD model. In the
absence of this information, the center of gravity can be approximated
using the Tool Load Estimation feature described in chapter 6.1.3.4
“Automatic Estimation of Tool Mass Properties”.
Fig. 6-6: Tool Center of Gravity
6.1.3.3 Moment of Inertia
The moment of inertia is calculated about the tool's center of gravity
shown in fig. 6-4. The tool’s moment of inertia is inserted in kg•m². Enter
this data as provided by the tool manufacturer or from an accurate CAD
model. In the absence of this information, the moment of inertia can be
approximated using the Tool Load Estimation feature described in Section
6.1.3.4.
Fig. 6-7: Tool Moment of Inertia
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