Difference between revisions of "MC-Basic:element.PAYLOADINERTIA"
(property for element, not just robot) |
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| + | {{Languages|MC-Basic:element.PAYLOADINERTIA}} | ||
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{{MC-Basic | {{MC-Basic | ||
|SHORT FORM= | |SHORT FORM= | ||
|SYNTAX= | |SYNTAX= | ||
| − | ''< | + | ''<element>''.PayloadInertia = <''expression''> |
|AVAILABILITY= | |AVAILABILITY= | ||
| − | + | Since Version 4.7.14 | |
|DESCRIPTION= | |DESCRIPTION= | ||
| − | Payload inertia of mass around the | + | 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= | |TYPE= | ||
| Line 25: | Line 29: | ||
|LIMITATIONS= | |LIMITATIONS= | ||
| − | * | + | * Read/Write |
* Modal only | * Modal only | ||
|EXAMPLE= | |EXAMPLE= | ||
|SEE ALSO= | |SEE ALSO= | ||
| + | * [[Motion Dynamics]] | ||
| + | * [[MC-Basic:axis.PAYLOADINERTIA|axis.PAYLOADINERTIA]] | ||
| + | * [[MC-Basic:element.PAYLOADMASS|PAYLOADMASS]] | ||
| + | * [[Control:Assist:PAYLOAD_INERTIA(MotionDevice)]] | ||
}} | }} | ||
| − | [[Category: | + | [[Category:Motion Dynamics]] |
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.
Syntax
<element>.PayloadInertia = <expression>
Availability
Since Version 4.7.14
Type
Double
Units
Default
0.0
Scope
Task and Terminal
Limitations
- Read/Write
- Modal only