Difference between revisions of "MC-Basic:element.PAYLOADMASSRMASSG"
m (Ron moved page MC-Basic:element.PAYLOADMASSRMASSG to MC-Basic:robot.PAYLOADMASSRMASSG: property for robot, not element) |
m (Ron moved page MC-Basic:robot.PAYLOADMASSRMASSG to MC-Basic:element.PAYLOADMASSRMASSG: mistake, this is for element) |
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* [[MC-Basic:element.PAYLOADMASS|element.PAYLOADMASS]] | * [[MC-Basic:element.PAYLOADMASS|element.PAYLOADMASS]] | ||
| − | * [[MC-Basic: | + | * [[MC-Basic:element.PAYLOADINERTIA|robot.PAYLOADINERTIA]] |
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[[Category:Motion Dynamics]] | [[Category:Motion Dynamics]] | ||
Latest revision as of 12:55, 9 October 2018
| Language: | English |
|---|
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 dynamic model.
Syntax
<robot>.PayloadMassRMass = <expression>
Availability
Since Version 4.20
Type
Double
Units
Kg*m^2/sec^2
Default
0.0
Scope
Task and Terminal
Limitations
- Read/Write
- Modal only