Apart from the ratios the system will also modell based on the on the motor inertia, gear box inertia and static torque, After that comes the arm parts and their respective inertia. Most of these are really secret and ABB will protect them.
I cant remember where right now but you can find the motor inertia in the RobotWare files for each motor since any motor has files if you want to use it as an external axis.
The listed standstill torque for this robot modell is listed as:
The standstill torque is usually inaccurate.