GravityCenter Property

Application
Mass Property Object MP#

Description
Sets or returns the value of the center of gravity for the overall robot hand and workpiece/payload at the leading end side from the force sensor.

Usage
MPGet Object.GravityCenter, rArray()
MPSet Object.GravityCenter, rValueX, rValueY, rValueZ

• Object
  Object name
  The object is specified as either of MP (numerical value) or MP (label).

• rArray()
  The maximum element number defining the value of the property is an array of 3 or more real number variables

• rVvalueX
  A real number or formula defining the new value of the property.

• rValueY
  A real number or formula defining the new value of the property.

• rValueZ
  A real number or formula defining the new value of the property.

Values
rArray()

Element number	Element number constant	Description
0	FG_X	Center of gravity in X direction
1	FG_Y	Center of gravity in Y direction
2	FG_Z	Center of gravity in Z direction

rVvalueX, rValueY, rValueZ (Unit: [mm])

	Values
Minimum	-2000
Maximum	2000

Default: 0

Detailed Explanation
Sets or returns the value of the center of gravity for the overall robot hand and workpiece/payload at the leading end side from the force sensor (not including the force sensor).

Set the position of the center of gravity for the Tool 0 coordinate system (robot hand center datum).
Mass Property Object is used to compensate for the effects of gravity on the force control function.

Usage Example
This example carries out a motion using the force control function after setting the Mass Property Object.

> MPSet MP1.GravityCenter, 10, 10, 100
> MPSet MP1.Mass, 2
> MP 1
> Move CurPos +TLW(10) FC1 ROT

See Also
Mass Property Object MP#