Difference between revisions of "MC-Basic:element.PAYLOADMASSRMG"
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| − | {{Languages|MC-Basic:element.PAYLOADMASSRMASSG}} | + | {{Languages|MC-Basic:element.PAYLOADMASSRMASSG}} |
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{{MC-Basic | {{MC-Basic | ||
|SHORT FORM= | |SHORT FORM= | ||
|SYNTAX= | |SYNTAX= | ||
| − | ''<robot>''. | + | ''<robot>''.PayloadMassRMG = <''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 times gravity | + | 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 [[MC-Basic:element.DYNAMICMODEL|dynamic model]]. | This value is considered during the computation of joint torques by the [[MC-Basic:element.DYNAMICMODEL|dynamic model]]. | ||
Latest revision as of 14:37, 23 December 2025
| Language: | English |
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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>.PayloadMassRMG = <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