YASKAWA MA1440 - Page 23

Installation
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Tab. 4-1: Forces and torques
Fig. 4-3: 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)
10.000 N 4120 Nm 5100 N 4120 Nm
Acceleration/Decelera-
tion
(Stop category 1)
3435 N 1275 Nm 2255 N 1670 Nm
M
V
F
V
M
H
F
H