YASKAWA GP25-12 - Page 22

Installation
4 - 22
Tab. 4-1: Forces and torques
Fig. 4-2: Forces and torques of the robot
Direction of move-
ment
Horizontal Vertical
Force F
H
Moment M
H
Force F
V
Torque M
V
Emergency stop
(Stop category 0)
8829 N 6700 Nm 11282 N 13734 Nm
Acceleration/Decelera-
tion
(Stop category 1)
2943 N 2011 Nm 4905 N 5150 Nm
M
F
V
V
M H
F H