AdditionalMass

General

Type	EF
Offline editable	Yes
Devices supporting the parameter	Lexium MC Carrier
Traceable	Yes

Functional description

The parameter AdditionalMass indicates the mass of the tool mounted to the carrier and the product (in grams).

The default value of the parameter is 0 g (0 lb).

NOTE: The sum of the parameters Mass and AdditionalMass has an impact to the control-loop behavior of the carrier. It affects Kp and Ki of the velocity controller and also the feed forward behavior.

NOTE: This carrier-specific setting can be enabled by the parameter EnableMassSettings.

NOTE: The parameter AdditionalMass is mapped to the cyclic Sercos data of the carrier so that modifications are possible on the fly.

Unit	Data type	Meaning
g	UDINT	The mass of the tool mounted to the carrier and the product (in grams).