YASKAWA MH180 - Page 22

Installation
4 - 22
Tab. 4-1: Forces and torques
Fig. 4-2: Robot Force and Torque
Direction of move-
ment
Horizontal Vertical
Force F
H
Moment M
H
Force F
V
Torque M
V
Emergency stop
(Stop category 0)
24000 N 37630 Nm 15680 N 49000 Nm
Acceleration/Decelera-
tion
(Stop category 1)
6370 N 9400 Nm 4900 N 22050 Nm
M
V
M
H
F
H
F
V