MC-Basic:element.PAYLOADMASSRMASSSQIXX

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Language: [[::MC-Basic:element.PAYLOADMASSRMASSSQIXX|English]]

Payload mass times the distance to the center of mass (C.M) distance in the tool's z direction squared plus the Inertia of the payload in the tool's x direction - M*Lz^2 + Ixx

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

Syntax

<element>.PayloadMassRMassSqIxx = <expression>

Availability

Since Version 4.20

Type

Double

Units

Kg*m^2

Default

0.0

Scope

Task and Terminal

Limitations

  • Read/Write
  • Modal only

See Also