Difference between revisions of "MC-Basic:element.PAYLOADMASSRMASS"
(property for robot, not element) |
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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]] | ||
Revision as of 09:09, 9 October 2018
| Language: | [[::MC-Basic:element.PAYLOADMASSRMASS|English]] |
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Payload mass times the distance to the center of mass (C.M) distance in the tool's z direction - M*Lz
This value is considered during the computation of joint torques by the dynamic model.
Syntax
<robot>.PayloadMassRMass = <expression>
Availability
Since Version 4.20
Type
Double
Units
Kg*m
Default
0.0
Scope
Task and Terminal
Limitations
- Read/Write
- Modal only