How do payload and center-of-gravity offset affect the usable payload of a 6-axis robot?

• Rated payload is calibrated with CoG at flange center; offset reduces usable payload.
• Request the payload curve and check derating at rated CoG distance (e.g., 200mm).
• Adding an end-effector moves CoG outward; recalculate dynamic torque with 1.5x safety factor.
• Overload by 0.5kg triggers servo overload alarms; verify with test weights on site.
• Specify payload/CoG operating point in the contract to avoid speed derating after delivery.