Installation
4 - 23
Tab. 4-1: Forces and torques
Fig. 4-3: Forces and torques of the robot
NOTICE
Ceiling and wall mounting
After the robot has been mounted on the ceiling or on the wall, you will need to change the
installation position of the grease discharge opening and grease inlet opening (see the
figures below). This is to prevent grease from emerging from the grease discharge
aperture.
In a wall mounting, you must assemble the robot with the plug plate facing up (see the
picture for wall mounting).
Direction of move-
ment
Horizontal Vertical
Force F
H
Moment M
H
Force F
V
Torque M
V
Emergency stop
(Stop category 0)
8820 N 6370 Nm 10290 N 13720 Nm
Acceleration/Decelera-
tion
(Stop category 1)
2940 N 1915 Nm 3430 N 5145 Nm
M
V
F
V
M
H
F
H
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