Yamaha Robotics YK120X User Manual
3-19
CHAPTER 3 Installation
7-1-1
Acceleration coefficient vs. moment of inertia (YK120X)
0
0
0.0005
0.005
0.005
0.0010
0.010
0.010
W=0.1kg
W=0.2kg
W=0.3kg
0.0015
0.015
0.015
0.0020
0.020
0.020
I
r
(kgm
2
)
J
r
(kgfcmsec
2
)
100
80
60
40
20
A
X,
A
Y,
A
R
(%)
0.00025 (0.0025)
0
0
0.0005
0.005
0.005
0.0010
0.010
0.010
0.0015
0.015
0.015
0.0020
0.020
0.020
I
r
(kgm
2
)
J
r
(kgfcmsec
2
)
100
80
60
40
20
A
X,
A
Y,
A
R
(%)
0.0008 (0.00008)
0.0005 (0.00005)
0
0
0.0005
0.005
0.005
0.0010
0.010
0.010
0.0015
0.015
0.015
0.0020
0.020
0.020
I
r
(kgm
2
)
J
r
(kgfcmsec
2
)
100
80
60
40
20
A
X,
A
Y,
A
R
(%)
0.0011 (0.011)