1. A method for tuning a dynamical model of an industrial robot on a foundation, the method comprising the steps of: providing a first dynamical model of the robot, the first dynamical model comprising first model parameters representing dynamical properties of the robot; providing a second dynamical model of a foundation the robot is attached to, the second dynamical model comprising second model parameters representing dynamical properties of the foundation; obtaining information about dynamical properties of the foundation by moving the robot and by measuring at least one property affected by the movement; and setting at least one of the second model parameters on the basis of the dynamical properties of the foundation.