MC-Basic:element.PAYLOADMASSRMASSG

From SoftMC-Wiki
Revision as of 12:55, 9 October 2018 by Ron (talk | contribs) (Ron moved page MC-Basic:robot.PAYLOADMASSRMASSG to MC-Basic:element.PAYLOADMASSRMASSG: mistake, this is for element)
(diff) ← Older revision | Latest revision (diff) | Newer revision → (diff)
Jump to: navigation, search
Language: 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