YASKAWA MA2010 - Page 20

Installation
4
- 20
Fig. 4-2: Base plate
Tab. 4-1: Forces and moments of the robot
Fig. 4-3: Robot Force and Torque
Horizontal direction Vertical direction
Force F
H
Moment M
H
Force F
V
Moment M
V
Emergency stop 8820 N 6370 Nm 10290 N 13720 Nm
Acceleration
Deceleration
2940 N 1915 Nm 3430 N 5145 Nm
25
80
580
580
520
520
335
260
335 260
36
(4x)
24
(8x)
M
V
F
V
M
H
F
H