Difference between revisions of "MC-Basic:element.PAYLOADMASSRMASSSQIXX"

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m (Ron moved page MC-Basic:element.PAYLOADMASSRMASSSQIXX to MC-Basic:robot.PAYLOADMASSRMASSSQIXX: property for robot, not element)
m (Ron moved page MC-Basic:robot.PAYLOADMASSRMASSSQIXX to MC-Basic:element.PAYLOADMASSRMASSSQIXX: mistake, this is for element)
 
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* [[Motion Dynamics]]
 
* [[Motion Dynamics]]
 
* [[MC-Basic:element.PAYLOADMASS|element.PAYLOADMASS]]
 
* [[MC-Basic:element.PAYLOADMASS|element.PAYLOADMASS]]
* [[MC-Basic:robot.PAYLOADINERTIA|robot.PAYLOADINERTIA]]
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* [[MC-Basic:element.PAYLOADINERTIA|robot.PAYLOADINERTIA]]
  
 
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[[Category:Motion Dynamics]]
 
[[Category:Motion Dynamics]]

Latest revision as of 12:56, 9 October 2018

Language: English

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 dynamic model.

Syntax

<element>.PayloadMassRMassSqIxx = <expression>

Availability

Since Version 4.20

Type

Double

Units

Kg*m^2

Default

0.0

Scope

Task and Terminal

Limitations

  • Read/Write
  • Modal only

See Also