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.
<element>.PayloadMassRMassSqIxx = <expression>
Since Version 4.20
Task and Terminal
- Modal only