The Fanuc payload checker spreadsheet has a nice conversion sheet that converts from SI units to 'Fanuc Units'. Do you have or can you get the spreadsheet? All the Fanuc reps have them.
Hey, all, stupid question: The Fanuc payload checker spreadsheet takes inertias in kg*m*s^2, but the robot payload setup screen takes kg*cm*s^2.
What's the conversion factor between these two units? I mean, if I'm handed a printout of the spreadsheet from the mechanical design department, how do I transcribe that into the robot? Do I just multiply by 100, since there's 100cm to every meter? Or is there another factor I need to be wary of here?
You were right on with the multiply by 100. I looked at the current payload checker and found this conversion listed there:
I got you. I posted this elsewhere as a duplicate.
You want to put in the primary values Ixx, Iyy, and Izz from the CAD export. I assumed the values are from the flange and not about the center of mass. Corrected: Values are about center of mass.
Select kg and m for the units for CAD.
Use this: 1 kg*m2 = 10.197 kgf*cm*s2
If you need convincing, the conversion is as follows:
First, know that 1kgf = m*g = kg * (9.81)m/s^2=9.81N
Start with what CAD gives you in regular units: kg*m^2
-Then, multiply by (s^2/s^2)
kg*m^2*(s^2/s^2) = (kg*m/s^2)(m)(s^2)
Note: 1 kg*m/s^2 = 1N
Substituting, you have
(kg*m/s^2)(m)(s^2) = (N)*m*s^2
Next, you sub 1kgf = 9.81N
(N)*m*s^2 *(1kgf/9.81N) = kgf*m*s^2/9.81
Finally, convert m -> cm: 1m/100cm
(kgf*m*s^2/9.81)(100cm/1m) = (100/9.81) kgf*cm*s^2
=10.194 kgf*cm*s^2
You can also use PTC Mathcad free version to convert the units.
Hi, You can change the units with a system variable.
$SI_UNIT_ENB = True
By Default it's false.
