Difference between revisions of "MC-Basic:element.PAYLOADMASSRMSQ IXX"
m (Ron moved page MC-Basic:element.PAYLOADMASSRMASSSQIXX to MC-Basic:robot.PAYLOADMASSRMASSSQIXX: property for robot, not element) |
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| − | {{Languages}} | + | {{Languages|MC-Basic:element.PAYLOADMASSRMASSSQIXX}} |
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{{MC-Basic | {{MC-Basic | ||
|SHORT FORM= | |SHORT FORM= | ||
|SYNTAX= | |SYNTAX= | ||
| − | ''<element>''. | + | ''<element>''.PayloadMassRmSq_Ixx = <''expression''> |
|AVAILABILITY= | |AVAILABILITY= | ||
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|DESCRIPTION= | |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 | + | 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]]. | This value is considered during the computation of joint torques by the [[MC-Basic:element.DYNAMICMODEL|dynamic model]]. | ||
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* [[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 14:41, 23 December 2025
| 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>.PayloadMassRmSq_Ixx = <expression>
Availability
Since Version 4.20
Type
Double
Units
Kg*m^2
Default
0.0
Scope
Task and Terminal
Limitations
- Read/Write
- Modal only