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

Latest revision as of 09:09, 9 October 2018

Language:	English

Payload inertia of mass around the axis of the last joint.

This value is considered during the computation of joint torques by the dynamic model.

<element>.PayloadInertia = <expression>

Since Version 4.7.14

Double

$kg\cdot m^{2}$

0.0

Task and Terminal

@@ Line 1: / Line 1: @@
+{{Languages|MC-Basic:element.PAYLOADINERTIA}}
 {{MC-Basic
 |SHORT FORM=
 |SYNTAX=
-''<robot>''.PayloadInertia[''<dimension>''] = ''<expression>''
+''<element>''.PayloadInertia = <''expression''>
 |AVAILABILITY=
-FW 4.8.x
+Since Version 4.7.14
 |DESCRIPTION=
-Payload inertia of a robot.
+Payload inertia of mass around the axis of the last joint.
+This value is considered during the computation of joint torques by the [[MC-Basic:element.DYNAMICMODEL|dynamic model]].
 |TYPE=
-*<dimension>: Long
+Double
-*<expression>: Double
 |RANGE=
-;<dimension>
-* 1 = Around X axis
-* 2 = Around Y axis
-* 3 = Around Z axis
 |UNITS=
@@ Line 24: / Line 23: @@
 |DEFAULT=
-.0 for all dimensions
+.0
 |SCOPE=
+Task and Terminal
 |LIMITATIONS=
+* Read/Write
+* Modal only
 |EXAMPLE=
 |SEE ALSO=
+* [[Motion Dynamics]]
+* [[MC-Basic:axis.PAYLOADINERTIA|axis.PAYLOADINERTIA]]
+* [[MC-Basic:element.PAYLOADMASS|PAYLOADMASS]]
+* [[Control:Assist:PAYLOAD_INERTIA(MotionDevice)]]
 }}
-[[Category:AXY:IDM properties]]
+[[Category:Motion Dynamics]]