ABB M2004 - Page 24

1 Description
1.3.3 Mounting the manipulator
22 Rev.N 3HAC9117-1
Figure 9 Direction 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
).