Inertia Parametrization

The inertia parametrization is defined as the total inertia for the following objects:

• Mover with mounted tool
• Mover coupling, all submovers with frame and any tools mounted
• Mover with a constant payload

If no inertia parametrization is assigned or this parametrization has a value of zero, the default inertia parameters of the respective mover type are used.

The inertia of the payload is combined with the inertia of the mover. The center of mass of the payload is specified in relation to the setpoint origin of the mover. The setpoint origin of a standard mover is located in the center of the mover's surface. The axes used to define the inertia must be parallel to the coordinate axes of the mover.