Payload, Reach and Envelope: A Glossary
The terms
| Term | Meaning |
|---|---|
| Rated payload | Maximum mass the manufacturer permits at the flange |
| Effective payload | What is left for the part after tooling |
| Reach | Distance from the mounting point to the wrist centre |
| Working envelope | The volume the tool centre can actually occupy |
| Usable envelope | The part of the envelope where accuracy and speed are acceptable |
How to use them
- Subtract tooling weight before comparing payload figures.
- Check envelope at the points where the task actually happens.
- Leave margin: the limit is not a target.
Manufacturer definitions vary slightly. Compare using the load diagrams for the specific model.