Universal Robots UR12e User Manual page 97

Setting 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.
Inertia
The inertia is specified in a coordinate system with the origin at the Center of Gravity (CoG) of
Values
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
User Manual
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98 UR12e