Universal Robots UR10e

Setting Inertia
Values
You can select Use custom Inertia Matrix to set inertia values.
Tap the fields: IXX, IYY, IZZ, IXY, IXZ and IYZ to set the inertia for the selected
Payload.
The inertia is specified in a coordinate system with the origin at the Center of Gravity
(CoG) of the payload and the axes aligned with the tool flange axes.
The default inertia is calculated as the inertia of a sphere with the user specified mass,
and a mass density of 1g/cm
3
User Manual 283 UR10e
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