Payloads

This page gives an overview over the available payload properties, their uses and meaning.

Rotational Axes

Dynamic Model 1 - simple rotary axis

The relevant payload property for this model is:

• payloadInertia - the inertia of the payload in the axis direction relative to the axis location - $I_{payload}[kg\cdot m^{2}]$.

Dynamic Model 2 - horizontal crank-arm axis

The relevant payload property for this model is:

• payloadInertia - the inertia of the payload in the axis direction relative to the axis location - $I_{payload}+L^{2}\cdot M_{payload}[kg\cdot m^{2}]$.

Dynamic Model 3 - vertical crank-arm axis

The relevant payload properties for this model are:

• payloadMassRMassG - the payload mass times the distance to the center of mass of the payload times gravity - $M_{payload}\cdot g\cdot L[Nm]$.
• payloadMassRMassSqIxx - the inertia of the payload in the axis direction relative to the axis location - $I_{payload}+L^{2}\cdot M_{payload}[kg\cdot m^{2}]$.

Linear Axes

Dynamic Model 1 - horizontal axis

The relevant payload property for this model is:

• payloadMass - the mass of the payload - $M_{payload}[kg]$.

Dynamic Model 2 - vertical or tilted axis

The relevant payload property for this model is:

• payloadMass - the mass of the payload - $M_{payload}[kg]$.

Dynamic Model 3 - vertical axis with a spring

The relevant payload property for this model is:

• payloadMass - the mass of the payload - $M_{payload}[kg]$.