Difference between revisions of "MC-Basic:robot.PAYLOADLZ"
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| − | {{Languages}} | + | {{Languages|MC-Basic:robot.PAYLOADLZ}} |
{{MC-Basic | {{MC-Basic | ||
|SHORT FORM= | |SHORT FORM= | ||
|SYNTAX= | |SYNTAX= | ||
| − | ''< | + | ''<robot>''.PayloadLz = <''expression''> |
|AVAILABILITY= | |AVAILABILITY= | ||
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|DESCRIPTION= | |DESCRIPTION= | ||
| − | Payload center of mass (C.M) distance of | + | Payload center of mass (C.M) distance of a robot in the tool's z direction. |
This value is considered during the computation of joint torques by the [[MC-Basic:element.DYNAMICMODEL|dynamic model]]. | This value is considered during the computation of joint torques by the [[MC-Basic:element.DYNAMICMODEL|dynamic model]]. | ||
| Line 36: | Line 36: | ||
* [[Motion Dynamics]] | * [[Motion Dynamics]] | ||
* [[MC-Basic:element.PAYLOADMASS|element.PAYLOADMASS]] | * [[MC-Basic:element.PAYLOADMASS|element.PAYLOADMASS]] | ||
| − | * [[MC-Basic: | + | * [[MC-Basic:element.PAYLOADINERTIA|robot.PAYLOADINERTIA]] |
}} | }} | ||
[[Category:Motion Dynamics]] | [[Category:Motion Dynamics]] | ||
Latest revision as of 09:09, 9 October 2018
| Language: | English |
|---|
Payload center of mass (C.M) distance of a robot in the tool's z direction.
This value is considered during the computation of joint torques by the dynamic model.
Syntax
<robot>.PayloadLz = <expression>
Availability
Since Version 4.20
Type
Double
Units
meters
Default
0.0
Scope
Task and Terminal
Limitations
- Read/Write
- Modal only