#REDIRECT [[MC-Basic:robot.LIMZ]]

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File:JUMP.png

2026-04-19T10:53:19Z

Hallel:

File:JUMP point defenitions.png

2026-04-19T10:44:36Z

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MC-Basic:JUMP3CP

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Hallel: Redirected page to MC-Basic:JUMP JUMP3 JUMP3CP

#REDIRECT [[MC-Basic:JUMP JUMP3 JUMP3CP]]

MC-Basic:JUMP3

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Hallel: Redirected page to MC-Basic:JUMP JUMP3 JUMP3CP

#REDIRECT [[MC-Basic:JUMP JUMP3 JUMP3CP]]

MC-Basic:JUMP

2026-04-19T08:47:02Z

Hallel: Redirected page to MC-Basic:JUMP JUMP3 JUMP3CP

#REDIRECT [[MC-Basic:JUMP_JUMP3_JUMP3CP]]

MC-Basic:JUMP JUMP3 JUMP3CP

2026-04-19T08:42:49Z

Hallel: Created the JUMPX page

{{MC-Basic

|SYNTAX=
JUMP ''<target point> {ArchNo=<x>} {LimZ=<value>} {BlendingPercentage=<value>} {other MOVE properties}''

JUMP3 ''AscendingPoint=<p1> DescendingPoint=<p2> TargetPoint=<p3> {ArchNo=<x>} {BlendingPercentage=<value>} {other MOVE/MOVES properties}''

JUMP3CP ''AscendingPoint=<p1> DescendingPoint=<p2> TargetPoint=<p3> {ArchNo=<x>} {BlendingPercentage=<value>} {other MOVES properties}''

|AVAILABILITY=
0.4.21.2r14

|DESCRIPTION=
The '''JUMPX''' motion commands are '''JUMP''', '''JUMP3''', and '''JUMP3CP'''. A JUMPX motion command is comprised of three motion segments, blended using [[MC-Basic:element.BLENDINGMETHOD|SP blending]].

Starting from a StartPoint, the three points that define the motion are:
* AscendingPoint
* DescendingPoint
* TargetPoint

The three command types differ in the interpolation types of the three segments:
* JUMP – MOVE, MOVE, MOVE
* JUMP3 – MOVES, MOVE, MOVES
* JUMP3CP – MOVES, MOVES, MOVES

The parts of segments 1 and 3 that are not blended with segment 2 are controlled by the properties ''Arch[x][1]'' and ''Arch[x][2]'', where ''x = 1..7''. The pair used in the motion is selected by ''ArchNo = x''.

The default values are:
* ''Arch[x][1] = 20 + 10*x''
* ''Arch[x][2] = 20 + 10*x''
for ''x = 1..7''.

==General JUMPX rules==
* If ''ArchNo'' is not specified in the JUMPX command, there is no blending in the JUMPX motion.
* If ''(Arch[x][y] - Ly) > 0'' for x = ArchNo, y = 1,3, there is no blending for the relevant segment y.
* The blending method used for JUMPX segments is always SP, even if the modal blending method is CP.
* If [[MC-Basic:element.BLENDINGPERCENTAGE|BlendingPercentage]] <> -1, it is used. Otherwise, [[MC-Basic:element.BLENDINGFACTOR|BlendingFactor]] is used to calculate:
''BlendingPercentage = 100 - BlendingFactor''
* The actual ''BlendingPercentage'' used is:
''min(100*(1-Arch[x][y]/Ly), BlendingPercentage)''
* If [[MC-Basic:element.PROFILERTYPE|ProfilerType]] is trapez acceleration, safe SP is used, so the Arch values cannot be guaranteed.
* The robot's configuration flags of the AscendingPoint are the same as those of the StartPoint.
* The robot's configuration flags of the DescendingPoint are the same as those of the TargetPoint.

==Specific JUMPX rules==
=== JUMP ===
* In JUMP, the property ''LimZ'' is used instead of explicit ''AscendingPoint'' and ''DescendingPoint'' properties.
* The AscendingPoint is exactly above StartPoint, and the DescendingPoint is exactly above TargetPoint, both at height ''LimZ''.
* If ''LimZ'' is not specified in the JUMP command, the modal ''LimZ'' value is used.
* The default value is ''LimZ = 0''.
* The JUMP command can be used only with robots that have a Z Cartesian coordinate.
* JUMP is best suited for robots that have a linear joint in the Z direction, such as SCARA and TARM. Otherwise, the first and third arch segments are not straight-line segments.

=== JUMP3 and JUMP3CP ===
* In JUMP3 and ''JUMP3CP'', segments 1 and 3 are straight-line segments.
* In JUMP3, segment 2 is a joint interpolation motion (MOVE), and its motion is specified by MOVE properties such as [[MC-Basic:element.VELOCITYSCALE|VelocityScale]].
* In JUMP3CP, segment 2 is a Cartesian straight-line motion (MOVES), and its motion is specified by MOVES properties such as [[MC-Basic:robot.VELOCITYTRANS|VelocityTrans]].
* In contrast to JUMP, in JUMP3 and JUMP3CP the AscendingPoint and DescendingPoint can be in any direction, such as in the XY plane.

|TYPE=
Motion command

|RANGE=

|UNITS=

|DEFAULT=

|SCOPE=
Task, Terminal

|LIMITATIONS=
* JUMP can be used only with robots that have a Z Cartesian coordinate.
* The blending method is always SP, even if the modal blending method is CP.
* If ''ProfilerType'' is trapez acceleration, safe SP is used, so Arch values cannot be guaranteed.

|EXAMPLE=
JUMP locTargetPoint

JUMP jntTargetPoint ArchNo=2 LimZ=0 BlendingPercentage=50 Vscale=80 Ascale=30

JUMP3 AscendingPoint=P1 DescendingPoint=P2 TargetPoint=P3 ArchNo=2 BlendingPercentage=50 Vtran=1000 Ascale=20

JUMP3CP AscendingPoint=P1 DescendingPoint=P2 TargetPoint=P3 ArchNo=2 BlendingPercentage=50 Vtran=100 Ascale=20

|SEE ALSO=
* [[MC-Basic:MOVE|MOVE]]
* [[MC-Basic:MOVES|MOVES]]
* [[Robot Kinematics Models]]
}}

PUMA THETA Parameters

2026-03-06T07:25:18Z

Hallel: Added numerical values of ThetaOffset

== Theta of DH for PUMA model ==

{{Note| For description of PUMA Denavit Hartenberg parameters please go to: '''[[PUMA_robot#Geometric.2C_Denavit-Hartenberg_.28DH.29_parameters_of_the_PUMA_robot| Puma DH]]'''}}

{{Note | No need for user functions (PUMA_SET_THETA/PUMA_GET_THETA), you can use directly '''[[MC-Basic:robot.ThetaOffset | ThetaOffset]]''' property}}

 

Theta parameter was added for PUMA kinematics model, to support user-defined zero joint position ( {0,0,0,0,0,0} ) independently of robot actual pose.

Same robot position (joint is {0,0,0,0,0,0}) with different THETA values:

[[File:PUMAZERO.JPG|Zero Theta]] [[File:GRTZERO.JPG|Non zero theta]]

On the left side is the PUMA robot in the zero reference position according to the internal model, with ThetaOffset = {0,0,0,0,0,0}.

On the right side is the PUMA robot in a user-defined zero reference position, with ThetaOffset = {0,-90,180,0,0,0}.

 
<pre>double PUMA_GET_THETA(int hndl, int i);
double PUMA_SET_THETA(int hndl,int i, double value);
</pre>

Remember to add in your PROTO.PRO file:
<pre>import_c PUMA_GET_THETA(byval as long, byval as long) as double
import_c PUMA_SET_THETA(byval as long, byval as long,byval as double) as double
</pre>

== Algorithm ==

Basically the <math>theta_i</math> values are added in IK and DK to each of joint angle values.

== Return Value ==

If an error occurs (non-PUMA model or invalid index) both functions return -1

If everything is OK, PUMA_SET_THETA returns 1

== Availability ==

Since version 4.5.15 

[[Category:Motion Control]]

Template:robot model table

2026-01-21T15:33:11Z

Hallel: Added models 19 and 20

 

{| align="left" border="1" summary="This table lists all available Kinematics models in softMC"
|+ ''softMC robot-model codes:''
|-
! Description
! robot-model code
! point-type
|-
| no model
| -1
|  
|-
| Cartesian
| 1
|  
|-
| Cartesian (Pitch & Roll)
| 1
| PR
|-
| Cartesian ( X and Y)
| 1
| XY
|-
| Cartesian (X , Y and Roll)
| 1
| XYR
|-
| Cartesian (X , Y and Z)
| 1
| XYZ
|-
| Cartesian (X , Y , Z and Roll)
| 1
| XYZR
|-
| Cartesian (X , Y , Z , Roll and Pitch)
| 1
| XYZRP
|-
| Cartesian (X , Y , Z ,Yaw , Roll and Pitch)
| 1
| XYZYPR
|-
| Puma
| 2
| XYZYPR
|-
| <del>No Coupling</del>
| <del>3</del>
|  
|-
| '''SCARA (X, Y, Z and Roll)'''
| 4
| XYZR
|-
| SCARA (X, Y, Z )
| 4
| XYZ
|-
| User Defined
| 5
|  
|-
| '''Delta(Flex Picker) (X, Y, Z and Roll)'''
| 6
| XYZR
|-
| Delta(Flex Picker) (X, Y, Z )
| 6
| XYZ
|-
| '''Traverse Arm (Speed Picker) (X, Y, Z and Roll)'''
| 7
| XYZR
|-
| Traverse Arm (Speed Picker) (X, Y, Z )
| 7
| XYZ
|-
| '''Scissor Kinematics (X, Y, Z and Roll)'''
| 8
| XYZR
|-
| Scissor Kinematics (X, Y, Z )
| 8
| XYZ
|-
| Chair Side Engine - 5ON
| 9
| XYZAB
|-
| Chair Side Engine - 5OFF
| 10
| XYZAB
|-
| 3PPPR
| 11
| XYR
|-
| Lab Side Engine - 5ON
| 12
| XYZAB
|-
| Lab Side Engine - 5OFF
| 13
| XYZAB
|-
| 4 Bar linkage
| 14
| XY
|-
| GSR
| 15
| XYZPR
|-
| EVEREST - 5ON
| 16
| XYZPR
|-
| EVEREST - 5OFF
| 17
| XYZPR
|-
| PALLETIZING ROBOT
| 18
| XYZR
|-
| Puma with wrist offset
| 19
| XYZYPR
|-
| Universal DH
| 20
| User Defined
|-
| Linear Delta robot
| 21
| XYZR
|}

MC-Basic:element.TOTALTIME

2026-01-18T12:03:18Z

Hallel: Added reference to CURRENTTIME

{{Languages|MC-Basic:element.TOTALTIME}}
{{MC-Basic
|SHORT FORM=
<''element''>.Ttime

|SYNTAX=
<''element''>?Ttime

|AVAILABILITY=
Versions Since Version 4.5.25 and higher

|DESCRIPTION=
Returns the total time of the motion currently being executing. <br>

Values: <br>

'''-2''' – Not applicable (PrfType = 0 or 1).<br>

'''-1 '''– No motion active. <br>

'''0''' – Cannot happen as there are no motions of zero duration. <br>

'''> 0''' – Total time of running motion.

{{Note| Note that in case of blending the '''TotalTime/CurrentTime''' of the first motion of the blending pair is returned! Once the blending ceased (only the second motion is executing, i.e. the first movement finished) the time values of the second motion are returned.}}

|TYPE=
Long

|RANGE=
-2 to MaxInt

|UNITS=
milliseconds (ms)

|DEFAULT=

|SCOPE=
Task, Terminal

|LIMITATIONS=
Read only

|EXAMPLE=
'''Axis''' <br>
?''A1''.totaltime <br>

'''Group''' <br>
?''G1''totaltime

|SEE ALSO=
* [[MC-Basic:element.CURRENTTIME|CURRENTTIME]]

}}

MC-Basic:element.CURRENTTIME

2026-01-18T12:02:25Z

Hallel: Added reference to TOTALTIME

{{Languages|MC-Basic:element.CURRENTTIME}}
{{MC-Basic
|SHORT FORM=
element.Ctime

|SYNTAX=
?<element>Ctime

|AVAILABILITY=
Versions Since Version 4.5.25 and higher

|DESCRIPTION=
Returns the total time of the currently executing motion. Values:

-1 = No motion active

-2 = Not applicable (PrfType = 0 or 1)

> 0 = Current time of running motion

{{Note| Note that in case of blending the '''TotalTime/CurrentTime''' of the first motion of the blending pair is returned! Once the blending ceased (only the second motion is executing, i.e. the first movement finished) the time values of the second motion are returned.}}

|TYPE=
Long

|RANGE=
-2…MaxInt

|UNITS=
milliseconds

|DEFAULT=

|SCOPE=
Task, terminal

|LIMITATIONS=
Read-only

|EXAMPLE=
'''Axis''' <br>
?''A1''.currenttime <br>

'''Group''' <br>
?''G1''.currenttime <br>

|SEE ALSO=
* [[MC-Basic:element.TOTALTIME|TOTALTIME]]

}}

Robot Working Frames

2026-01-11T07:14:23Z

Hallel: Switched Base and World frames

{{Languages|Robot_Working_Frames}}
= Robot Working Frames =

== TOOL ==

Tool is a Robot property which informs the system to use the specified location as the tool transformation. It defines the position and orientation of the tool tip in relation to the center of the tool flange. The default tool transformation is the NULL transformation, which can be expressed as TOOL = #{0,0,0,0,0,0} Example: Puma.tool = #{25,0,100,0,45,0}

[[File:Axy;Tool frame.png|RTENOTITLE]]

Another example of tool coordinate calculation:<br/> [[File:RBT FRAMES TOOL.PNG|RTENOTITLE]]

== BASE ==

Base is a Robot property which informs the system to use the specified location as the base transformation. It defines the position and orientation of the robot's base reference frame relative to the WORLD reference frame. The default base transformation is the NULL transformation, which can be expressed as Puma.base = #{0,0,0,0,0,0}

[[File:RBT FRAMES BASE2.PNG|RTENOTITLE]]

== MachineTable ==

MachineTable is a Robot property which informs the system to use the specified location as the machinetable transformation. It defines the position and orientation of a machine table reference frame relative to the WORLD reference frame. The default machinetable transformation is the NULL transformation, which can be expressed as Puma.MachineTable = #{0,0,0,0,0,0}

[[File:RBT FRAMES MT.PNG|RTENOTITLE]]

{{Note| The inverse usage of MachineTable and WorkPiece properties!}}

== WorkPiece ==

WorkPiece is a Robot property which informs the system to use the specified location as the workpiece transformation. It defines the position and orientation of a work-piece relative to the MACHINE TABLE reference frame. The default WorkPiece transformation is the NULL transformation, which can be expressed as Puma.WorkPiece = #{0,0,0,0,0,0}

[[File:RBT FRAMES WP.PNG|RTENOTITLE]]

{{Note| The inverse usage of MachineTable and WorkPiece properties!}}

== All frames together ==

[[File:AXY;Robot Working Farmes2.png|RTENOTITLE]]

So we have:

'''Pworld=Base:PBase:Tool'''<br/> '''Pworld=MachineTable:WorkPiece:PWorkP'''

For the given setup, the user frames will be:<br/> '''Base = #{300,200,1000,0,180,180}'''<br/> '''Tool = #{50,0,0,90,45,0}'''<br/> '''MachineTable = #{400,100,0,0,0,0}'''<br/> '''WorkPiece = #{20,70,150,0,90,-90}'''

Therefore we have:

<big>'''PWP= WorkPiece<sup>-1</sup>: MachineTable<sup>-1</sup>:Base:PBase:Tool'''</big>

 

{{Note| The inverse usage of MachineTable and WorkPiece properties!}}

== See Also ==

*[[MC-Basic:robot.TOOL|TOOL]]
*[[MC-Basic:robot.BASE|BASE]]
*[[MC-Basic:robot.WORKPIECE|WORKPIECE]]
*[[MC-Basic:robot.MACHINETABLE|MACHINETABLE]]
*[[User_Frame|User Frame]]

 

[[Category:Motion Control]]

MC-Basic:element.TIMEOFSHORTMOTIONS

2026-01-01T13:30:13Z

Hallel: Hallel moved page MC-Basic:axis.TIMEOFSHORTMOTIONS to MC-Basic:element.TIMEOFSHORTMOTIONS

{{Languages|MC-Basic:axis.TIMEOFSHORTMOTIONS}}
{{MC-Basic
|SHORT FORM=
<''axis''>.TSHORT

|SYNTAX=
<''axis''>.TSHORT=<''numeric expression''>

|AVAILABILITY=
Since Version 4.4.x

|DESCRIPTION=
Defines the lower threshold below which TACCMIN and TDECMIN no longer affect motion. If the actual values of acceleration (or deceleration) time is below this limit, the entire excitation-limiting algorithm (TACCMIN and TDECMIN) is switched off.

{{Note/Caution|The value of TSHORT is compared to acceleration/deceleration time only, and not to the entire duration of movement. Therefore, long movements with a long cruise-velocity phase and short acceleration/deceleration times could trigger the switch-off of the excitation-limiting algorithm. For best results, use small values (1 to 4 ms).}}

{{Note|Setting one of TACCMIN, TDECMIN or TSHORT to 0, completely disables the entire timing feature (excitation-limiting algorithm)}}

|TYPE=
Long

|RANGE=
0 to maxlong

|UNITS=
milliseconds (ms)

|DEFAULT=
0 – Not active

|SCOPE=
Task, Terminal

|LIMITATIONS=
*Modal/Nodal
*Read/Write

|EXAMPLE=
A1.timeaccmin = 500

A1.timedecmin = 1000

A1.timeofshortmotions = 200

|SEE ALSO=
* [[MC-Basic:element.TIMEACCMIN|TACCCMIN]]

}}

MC-Basic:axis.TIMEOFSHORTMOTIONS

2026-01-01T13:30:13Z

Hallel: Hallel moved page MC-Basic:axis.TIMEOFSHORTMOTIONS to MC-Basic:element.TIMEOFSHORTMOTIONS

#REDIRECT [[MC-Basic:element.TIMEOFSHORTMOTIONS]]

MC-Basic:element.PAYLOADMASSRMSQ IXX

2025-12-23T14:41:22Z

Hallel:

{{Languages|MC-Basic:element.PAYLOADMASSRMASSSQIXX}}
{{MC-Basic
|SHORT FORM=
|SYNTAX=
''<element>''.PayloadMassRmSq_Ixx = <''expression''>

|AVAILABILITY=
Since Version 4.20

|DESCRIPTION=
Payload mass times the distance to the center of mass (C.M) distance in the tool's z direction squared plus the Inertia of the payload in the tool's x direction - M*Lz^2 + Ixx

This value is considered during the computation of joint torques by the [[MC-Basic:element.DYNAMICMODEL|dynamic model]].

|TYPE=
Double

|RANGE=

|UNITS=
Kg*m^2

|DEFAULT=
0.0

|SCOPE=
Task and Terminal

|LIMITATIONS=
* Read/Write
* Modal only

|EXAMPLE=
|SEE ALSO=
* [[Motion Dynamics]]
* [[MC-Basic:element.PAYLOADMASS|element.PAYLOADMASS]]
* [[MC-Basic:element.PAYLOADINERTIA|robot.PAYLOADINERTIA]]

}}

[[Category:Motion Dynamics]]

MC-Basic:element.PAYLOADMASSRMSQ IXX

2025-12-23T14:40:43Z

Hallel: Hallel moved page MC-Basic:element.PAYLOADMASSRMASSSQIXX to MC-Basic:element.PAYLOADMASSRMSQ IXX

{{Languages|MC-Basic:element.PAYLOADMASSRMASSSQIXX}}

{{MC-Basic
|SHORT FORM=
|SYNTAX=
''<element>''.PayloadMassRMassSqIxx = <''expression''>

|AVAILABILITY=
Since Version 4.20

|DESCRIPTION=
Payload mass times the distance to the center of mass (C.M) distance in the tool's z direction squared plus the Inertia of the payload in the tool's x direction - M*Lz^2 + Ixx

This value is considered during the computation of joint torques by the [[MC-Basic:element.DYNAMICMODEL|dynamic model]].

|TYPE=
Double

|RANGE=

|UNITS=
Kg*m^2

|DEFAULT=
0.0

|SCOPE=
Task and Terminal

|LIMITATIONS=
* Read/Write
* Modal only

|EXAMPLE=
|SEE ALSO=
* [[Motion Dynamics]]
* [[MC-Basic:element.PAYLOADMASS|element.PAYLOADMASS]]
* [[MC-Basic:element.PAYLOADINERTIA|robot.PAYLOADINERTIA]]

}}

[[Category:Motion Dynamics]]

MC-Basic:element.PAYLOADMASSRMASSSQIXX

2025-12-23T14:40:43Z

Hallel: Hallel moved page MC-Basic:element.PAYLOADMASSRMASSSQIXX to MC-Basic:element.PAYLOADMASSRMSQ IXX

#REDIRECT [[MC-Basic:element.PAYLOADMASSRMSQ IXX]]

MC-Basic:element.PAYLOADMASSRMG

2025-12-23T14:37:32Z

Hallel:

{{Languages|MC-Basic:element.PAYLOADMASSRMASSG}}
{{MC-Basic
|SHORT FORM=
|SYNTAX=
''<robot>''.PayloadMassRMG = <''expression''>

|AVAILABILITY=
Since Version 4.20

|DESCRIPTION=
Payload mass times the distance to the center of mass (C.M) distance in the tool's z direction times gravity - M*Lz*G

This value is considered during the computation of joint torques by the [[MC-Basic:element.DYNAMICMODEL|dynamic model]].

|TYPE=
Double

|RANGE=

|UNITS=
Kg*m^2/sec^2

|DEFAULT=
0.0

|SCOPE=
Task and Terminal

|LIMITATIONS=
* Read/Write
* Modal only

|EXAMPLE=
|SEE ALSO=
* [[Motion Dynamics]]
* [[MC-Basic:element.PAYLOADMASS|element.PAYLOADMASS]]
* [[MC-Basic:element.PAYLOADINERTIA|robot.PAYLOADINERTIA]]

}}

[[Category:Motion Dynamics]]

MC-Basic:element.PAYLOADMASSRMG

2025-12-23T14:37:04Z

Hallel: Hallel moved page MC-Basic:element.PAYLOADMASSRMASSG to MC-Basic:element.PAYLOADMASSRMG

{{Languages|MC-Basic:element.PAYLOADMASSRMASSG}}

{{MC-Basic
|SHORT FORM=
|SYNTAX=
''<robot>''.PayloadMassRMass = <''expression''>

|AVAILABILITY=
Since Version 4.20

|DESCRIPTION=
Payload mass times the distance to the center of mass (C.M) distance in the tool's z direction times gravity - M*Lz*G

This value is considered during the computation of joint torques by the [[MC-Basic:element.DYNAMICMODEL|dynamic model]].

|TYPE=
Double

|RANGE=

|UNITS=
Kg*m^2/sec^2

|DEFAULT=
0.0

|SCOPE=
Task and Terminal

|LIMITATIONS=
* Read/Write
* Modal only

|EXAMPLE=
|SEE ALSO=
* [[Motion Dynamics]]
* [[MC-Basic:element.PAYLOADMASS|element.PAYLOADMASS]]
* [[MC-Basic:element.PAYLOADINERTIA|robot.PAYLOADINERTIA]]

}}

[[Category:Motion Dynamics]]

MC-Basic:element.PAYLOADMASSRMASSG

2025-12-23T14:37:04Z

Hallel: Hallel moved page MC-Basic:element.PAYLOADMASSRMASSG to MC-Basic:element.PAYLOADMASSRMG

#REDIRECT [[MC-Basic:element.PAYLOADMASSRMG]]

MC-Basic:element.PAYLOADMASSRM

2025-12-23T14:36:01Z

Hallel:

{{Languages|MC-Basic:element.PAYLOADMASSRMASS}}
{{MC-Basic
|SHORT FORM=
|SYNTAX=
''<element>''.PayloadMassRM = <''expression''>

|AVAILABILITY=
Since Version 4.20

|DESCRIPTION=
Payload mass times the distance to the center of mass (C.M) distance in the tool's z direction - M*Lz

This value is considered during the computation of joint torques by the [[MC-Basic:element.DYNAMICMODEL|dynamic model]].

|TYPE=
Double

|RANGE=

|UNITS=
Kg*m

|DEFAULT=
0.0

|SCOPE=
Task and Terminal

|LIMITATIONS=
* Read/Write
* Modal only

|EXAMPLE=
|SEE ALSO=
* [[Motion Dynamics]]
* [[MC-Basic:element.PAYLOADMASS|element.PAYLOADMASS]]
* [[MC-Basic:element.PAYLOADINERTIA|robot.PAYLOADINERTIA]]

}}

[[Category:Motion Dynamics]]

MC-Basic:element.PAYLOADMASSRM

2025-12-23T14:35:36Z

Hallel: Hallel moved page MC-Basic:element.PAYLOADMASSRMASS to MC-Basic:element.PAYLOADMASSRM

{{Languages|MC-Basic:element.PAYLOADMASSRMASS}}

{{MC-Basic
|SHORT FORM=
|SYNTAX=
''<element>''.PayloadMassRMass = <''expression''>

|AVAILABILITY=
Since Version 4.20

|DESCRIPTION=
Payload mass times the distance to the center of mass (C.M) distance in the tool's z direction - M*Lz

This value is considered during the computation of joint torques by the [[MC-Basic:element.DYNAMICMODEL|dynamic model]].

|TYPE=
Double

|RANGE=

|UNITS=
Kg*m

|DEFAULT=
0.0

|SCOPE=
Task and Terminal

|LIMITATIONS=
* Read/Write
* Modal only

|EXAMPLE=
|SEE ALSO=
* [[Motion Dynamics]]
* [[MC-Basic:element.PAYLOADMASS|element.PAYLOADMASS]]
* [[MC-Basic:element.PAYLOADINERTIA|robot.PAYLOADINERTIA]]

}}

[[Category:Motion Dynamics]]

MC-Basic:element.PAYLOADMASSRMASS

2025-12-23T14:35:36Z

Hallel: Hallel moved page MC-Basic:element.PAYLOADMASSRMASS to MC-Basic:element.PAYLOADMASSRM

#REDIRECT [[MC-Basic:element.PAYLOADMASSRM]]