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