Payload Torque Check — SCARA (400 mm class)
Static shoulder moment for a scara (400 mm class) from payload, reach and arm mass — the gearbox-sizing number.
SCARA shoulder motors see almost pure inertia, not gravity (the arm swings level), so this static check matters mostly for the Z-axis and the payload's offset CG. It is the reason SCARAs lift little but accelerate like nothing else in the catalog.
Formula
Note: Planning-level engineering estimate — final robot selection, guarding layout and risk assessment must follow the integrator's calculations and a documented ISO 12100/10218 risk assessment.
Static shoulder moment for a scara (400 mm class) from payload, reach and arm mass — the gearbox-sizing number. A free industrial robot kinematics & cell design tool — no sign-up, no upload, instant results in your browser.
About Payload Torque Check — SCARA (400 mm class)
Payload Torque Check — SCARA (400 mm class) computes the governing relationship M = m_p·(g+a)·r + m_arm·(g+a)·0.45r live as you type. SCARA shoulder motors see almost pure inertia, not gravity (the arm swings level), so this static check matters mostly for the Z-axis and the payload's offset CG. It is the reason SCARAs lift little but accelerate like nothing else in the catalog. Defaults are pre-filled with realistic values for this exact scenario, and the worked example substitutes your numbers step by step so the math is never a black box.
How to use Payload Torque Check — SCARA (400 mm class)
- 1Enter your values — Payload (incl. gripper), Horizontal reach to load CG, Arm moving mass, Vertical acceleration (sensible defaults are pre-filled).
- 2Read the live results: Shoulder moment, Gravity-only moment, Payload share of moment.
- 3Check the "with your numbers" line to see M = m_p·(g+a)·r + m_arm·(g+a)·0.45r substituted step by step.
- 4Adjust inputs until the scenario matches yours, then copy or share the result.
Why use Payload Torque Check — SCARA (400 mm class)?
- ✓Instant, free and private — every calculation runs client-side in your browser; nothing is uploaded
- ✓Built on the stated formula M = m_p·(g+a)·r + m_arm·(g+a)·0.45r with authoritative sources cited on the page (Siciliano & Khatib (eds.), Springer Handbook of Robotics, 2nd ed.; ISO 9283 — Manipulating industrial robots: performance criteria)
- ✓SCARA shoulder motors see almost pure inertia, not gravity (the arm swings level), so this static check matters mostly for the Z-axis and the payload's offset CG.
- ✓SI ⇄ Imperial toggle converts your inputs in place, so you can work in the units your drawings use
Frequently asked questions
What formula does the payload torque check — scara (400 mm class) use?+
It evaluates M = m_p·(g+a)·r + m_arm·(g+a)·0.45r, exactly as published. Sources: Siciliano & Khatib (eds.), Springer Handbook of Robotics, 2nd ed.; ISO 9283 — Manipulating industrial robots: performance criteria. The substituted worked example on the page lets you verify every step against the textbook.
How should I read the result — and how far can I trust it?+
SCARA shoulder motors see almost pure inertia, not gravity (the arm swings level), so this static check matters mostly for the Z-axis and the payload's offset CG. Planning-level engineering estimate — final robot selection, guarding layout and risk assessment must follow the integrator's calculations and a documented ISO 12100/10218 risk assessment.
When is this calculator the right tool for the job?+
Static shoulder moment for a scara (400 mm class) from payload, reach and arm mass. It is the reason SCARAs lift little but accelerate like nothing else in the catalog. For neighbouring scenarios, the related tools below cover the same engine with different presets.
Does it support both metric and imperial units?+
Yes — the SI ⇄ Imperial toggle converts the values already in the fields, preserving the physical quantity, so you can flip mid-calculation without re-entering anything.
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