ABB IRB 2400/L - Page 22

1 Description
1.3.3 Mounting the manipulator
20 Rev.N 3HAC 9112-1
Figure 5 Directions of forces.
Note regarding M
xy
and F
xy
The bending torque (M
xy
) can occur in any direction in the XY-plane of the base
coordinate system.
The same applies to the transverse force (F
xy
).