Difference between revisions of "MC-Basic:element.PAYLOADMASSRMASSG"
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|AVAILABILITY= | |AVAILABILITY= | ||
Revision as of 08:08, 9 October 2018
| Language: | [[::MC-Basic:element.PAYLOADMASSRMASSG|English]] |
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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