Difference between revisions of "MC-Basic:element.PAYLOADMASSRMASSG"

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(property for robot, not element)
m (Ron moved page MC-Basic:element.PAYLOADMASSRMASSG to MC-Basic:robot.PAYLOADMASSRMASSG: property for robot, not element)
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Revision as of 08:08, 9 October 2018

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

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