Hi all, I've got an M-20iB/25 robot to which I'm trying to add payload data. I'm more familiar with Kuka, so I'm a little confused by the units Fanuc uses for moment-of-inertia. As shown in the attached screenshot, the payload setup screen wants the moment-of-inertia in units of "kgfcms^2". What is that supposed to mean? Physically, mass * distance * time doesn't mean anything. If, on the other hand, "kgfcms^2" actually means kg*(cm/s)^2, then that becomes a quantity of energy, measured in Joules. But I still don't get how that would be relevant to moment-of-inertia. Can anybody help me understand this? Thanks!
Help with payload inertia
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SirCumference -
January 9, 2017 at 8:51 PM -
Thread is marked as Resolved.
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Fanuc's measurement is weird. It is actually kilogram force * cm * s^2. Since F =ma, Kilogram force is really kg * 98 cm / s^2.
The kilogram force unit is why the distance is not squared, and why there is the s^2 on the end.