IAI America RCS2-RTC12L - Manual (Page 42)

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7. How to Select a Hollow Rotary
Actuator Model
(2) Work part offset from the center of the output shaft
J = M•r2
(Offset distance)
Offset work part
Mass of work part [kg] Mass of work part [kg]
Offset distance [cm]
Offset work part
Offset distance [cm]
Offset work part
Mass of work part [kg]
Offset distance [cm]
* When the rotational axis is used horizontally, a load
torque will generate due to the gravitational
acceleration if the work part is installed at a position
offset from the center of rotation. In this case, you
must lower the rotational speed or reduce the mass of
the work part.