Yamaha YK120X Robotics User Manual


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3-23
CHAPTER 3 Installation
7-1-3
Acceleration coefficient vs. moment of inertia (YK180X, YK220X)
W=0.9, 1.0kg
0.0005
(
0.005
)
0.0005
(
0.005
)
0.0005
(
0.005
)
0
0
0.005
0.05
0.01
0.1
I
r (kgm
2
)
J
r (kgfcmsec
2
)
100
80
60
40
20
A
X, AY, AR (%)
W=0.5 to 0.8kg
0
0
0.005
0.05
0.01
0.1
I
r (kgm
2
)
J
r (kgfcmsec
2
)
100
80
60
40
20
A
X, AY, AR (%)
W=0.1 to 0.4kg
0
0
0.005
0.05
0.01
0.1
I
r (kgm
2
)
J
r (kgfcmsec
2
)
100
80
60
40
20
A
X, AY, AR (%)
Fig. 3-11
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