So plugging in inertias' for the PAYLOAD instruction Solidworks models give :
Moments of Inertia: taken at center of mass
Lxx, Lyy, Lzz
Moments of Inertia: taken at output coordinate system
Ixx, Iyy, Izz
if I read the Handling Tool document correct they want the ones at center mass - Lxx, Lyy, Lzz ??