Set the Radius of Gyration

The RC9 robot controller limits the motion speed of both robot joints and auxiliary axes being driven to a maximum of 250 mm/sec in Manual mode or the Program check operation.
Using an auxiliary axis as a rotational axis requires specifying the radius of gyration of the auxiliary axis as a parameter.

Notes for Setting Up the Radius of Gyration

1. When the robot is equipped with a tool (e.g., servo hand) having Rotational axis J7 as shown in Figure A, specify the radius of gyration of the rotational axis as a parameter.
2. When the robot is mounted on Rotational axis J8 (e.g., turntable) as shown in Figure B, it is necessary to specify the total value of the "Radius of gyration of J8", "Maximum arm length of the robot" (see the table below), and "Maximum Z-direction length of the tool" as a parameter.
3. In the combination of the figures A and B, that is, when the robot is mounted on Rotation axis J8 (e.g., turntable) and it is equipped with a tool (e.g., servo hand) having Rotational axis J7, it is necessary to specify the related parameters for each axis.

Robot Models and Max. Arm Length