Company / machine model Fanuc Robotics America Inc./M-10iA Kawasaki Robotics (USA) Inc./FS06N Motoman/HP20 Payload 10 kg 6 kg 20 kg Moment of inertia J4- 0.63 kg-m2, J5 – 0.63 kg-m2, J6 – 0.15 kg-m2 .