Difference between revisions of "MC-Basic:element.PAYLOADINERTIA"
| Line 5: | Line 5: | ||
|AVAILABILITY= | |AVAILABILITY= | ||
| − | FW 4.7. | + | FW 4.7.14 |
|DESCRIPTION= | |DESCRIPTION= | ||
Payload inertia of mass around the axis of the last joint. | Payload inertia of mass around the axis of the last joint. | ||
| + | |||
| + | This value is considered during the computation of joint torques by the [[Axystems:MC-Basic:group.DYNAMICMODEL|dynamic model]]. | ||
|TYPE= | |TYPE= | ||
| Line 30: | Line 32: | ||
|EXAMPLE= | |EXAMPLE= | ||
|SEE ALSO= | |SEE ALSO= | ||
| + | * [[Axystems:Motion Dynamics]] | ||
| + | * [[Axystems:MC-Basic:axis.PAYLOADINERTIA|axis.PAYLOADINERTIA]] | ||
| + | * [[Axystems:MC-Basic:robot.PAYLOADMASS|robot.PAYLOADMASS]] | ||
* [[Control:Assist:PAYLOAD_INERTIA(MotionDevice)]] | * [[Control:Assist:PAYLOAD_INERTIA(MotionDevice)]] | ||
}} | }} | ||
| − | [[Category: | + | [[Category:Axystems:Motion Dynamics]] |
Revision as of 09:49, 23 October 2011
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
<robot>.PayloadInertia = <expression>
Availability
FW 4.7.14
Type
Double
Units
Default
0.0
Scope
Task and Terminal
Limitations
- R/W
- Modal only