Mass Property

Application
Mass Property Object MP#

Description
This sets or returns the value for the robot hand and workpiece/payload.

Immediate Execution
No

Usage
MPGet Object.Mass, rVar
MPSet Object.Mass, rValue

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

• rVar
  A real number variable defining the value of the property

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

Values
rValue (Unit: [kg])

	Values
Minimum	0
Maximum	Robot’s maximum load capacity×1.5

Default: 0

Detailed Explanation
Sets or returns the value of the overall weight of the robot hand and workpiece/payload at the leading end side from the force sensor (not including the force sensor).
Mass Property Object is used to compensate for the effects of gravity on the force function.

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

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

See Also
Mass Property Object MP#