Difference between revisions of "MC-Basic:element.PAYLOADINERTIA"
(property for element, not just robot) |
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| + | {{Languages|MC-Basic:element.PAYLOADINERTIA}} | ||
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{{MC-Basic | {{MC-Basic | ||
|SHORT FORM= | |SHORT FORM= | ||
|SYNTAX= | |SYNTAX= | ||
| − | ''< | + | ''<element>''.PayloadInertia = <''expression''> |
|AVAILABILITY= | |AVAILABILITY= | ||
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Payload inertia of mass around the axis of the last joint. | Payload inertia of mass around the axis of the last joint. | ||
| − | This value is considered during the computation of joint torques by the [[MC-Basic: | + | This value is considered during the computation of joint torques by the [[MC-Basic:element.DYNAMICMODEL|dynamic model]]. |
|TYPE= | |TYPE= | ||
| Line 34: | Line 36: | ||
* [[Motion Dynamics]] | * [[Motion Dynamics]] | ||
* [[MC-Basic:axis.PAYLOADINERTIA|axis.PAYLOADINERTIA]] | * [[MC-Basic:axis.PAYLOADINERTIA|axis.PAYLOADINERTIA]] | ||
| − | * [[MC-Basic: | + | * [[MC-Basic:element.PAYLOADMASS|PAYLOADMASS]] |
* [[Control:Assist:PAYLOAD_INERTIA(MotionDevice)]] | * [[Control:Assist:PAYLOAD_INERTIA(MotionDevice)]] | ||
}} | }} | ||
[[Category:Motion Dynamics]] | [[Category:Motion Dynamics]] | ||
Latest revision as of 09:09, 9 October 2018
| Language: | English |
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Payload inertia of mass around the axis of the last joint.
This value is considered during the computation of joint torques by the dynamic model.
Syntax
<element>.PayloadInertia = <expression>
Availability
Since Version 4.7.14
Type
Double
Units
Default
0.0
Scope
Task and Terminal
Limitations
- Read/Write
- Modal only