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

From SoftMC-Wiki
Jump to: navigation, search
(Add property)
 
m (Ron moved page MC-Basic:element.PAYLOADMASSRMASSSQIXX to MC-Basic:robot.PAYLOADMASSRMASSSQIXX: property for robot, not element)
(No difference)

Revision as of 08:09, 9 October 2018

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

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

See Also