Robot Payload Calculator

This calculator runs two independent safety checks that a robot integrator must both pass. The weight check subtracts End-of-Arm Tool Weight and Bracket/Adapter Weight from the robot's Max Payload rating to get Effective Payload -- the true capacity left over for the part itself -- and compares that against Part Weight. This check has nothing to do with where the tooling's center of gravity sits: CG Distance and the Wrist Moment Limit never affect Effective Payload, only Part Weight and the tooling weights do.

The second check, Calculated Moment, is entirely separate: it multiplies the combined weight of tooling plus part by CG Distance from the flange and gravitational acceleration, checking that against the robot's rated Wrist Moment Limit, and Max Payload never enters that formula at all -- a robot can pass the weight check while badly failing the moment check if its tooling reaches out on a long bracket, since moment grows with lever arm regardless of how much margin remains on raw payload capacity. This is why both Weight Margin and Moment Margin need to stay positive: a lightweight gripper mounted far from the flange can overload the wrist joint's torque rating even while comfortably under the payload weight limit, and conversely a compact, heavy tool close to the flange can be moment-safe while still exceeding the weight budget. The calculator assumes a static, non-dynamic load; rapid acceleration or deceleration of the arm adds additional dynamic moment beyond what this static calculation reports, so real-world margins should exceed zero by a comfortable buffer, not just clear it.