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• OPC-40010-1 – OPC UA for Robotics - Part 1: Vertical Integration
  7.23.2 LoadType definition
  Unified Architecture 0:HasComponent Variable Mass 0:Double AnalogUnitType M 0:HasComponent Variable CenterOfMass 0:3DFrame 3DFrameType O 0:HasComponent Variable Inertia 0:3DVector 3DVectorType O The variable Mass provides ... mounting point. The EngineeringUnits of the Mass shall be provided. The variable CenterOfMass provides the position and orientation of the center of the mass related to the mounting point using