Epson C12 Series Manipulator Manual page 61

Calculating the Inertia Moment
Refer to the following example formulas to calculate the inertia moment of the load (end
effector with work piece).
The inertia moment of the entire load is calculated by the sum of (a), (b), and (c).
The methods for calculating the inertia moment for (a), (b), and (c) are shown in this and
the next page. Figure out the whole inertia moment using the basic formulas below.
C12 Rev.3
Work Piece (b)
Whole Moment Moment of Inertia
=
of Inertia
of End Effector (a)
Setup & Operation 4. End Effectors
Rotation Center
End Effector (a)
Moment of Inertia
+
of Work Piece (b)
Work Piece (c)
Moment of Inertia
+
of Work Piece (c)
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