Universal Robots UR5e - Page 279

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
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UR5e 279 User Manual
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