MC-Basic:robot.INERTIATHRESHOLD

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Distance between where inertia reduction begins in the world space and the mechanism.

IMPORTANT.svgIMPORTANT
Works only for SCARA and PUMA models!


Additional acceleration and jerk reduction based on distance from the coordinate origin (0,0) in XY plane:
INERTIATHRESHOLD.PNG

Short form

IThreshold

Syntax

IThreshold = <numeric expression>

Type

Double

Range

0.1 to 100

Units

Percents of the maximum robot radius (l1+l2)

Default

80%

Scope

Task, Terminal

Limitations

Modal only, The group needs to be attached

Examples

IThreshold = 50

See Also