MC-Basic:element.PAYLOADMASSRMASSG

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Payload mass times the distance to the center of mass (C.M) distance in the tool's z direction times gravity - M*Lz*G

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^2/sec^2

Default

0.0

Scope

Task and Terminal

Limitations

• Read/Write
• Modal only

See Also

• Motion Dynamics
• element.PAYLOADMASS
• robot.PAYLOADINERTIA