Installation
4 - 20
Tab. 4-1: Forces and torques
Fig. 4-3: Forces and moments of the robot
Types of Mounting
The robot can be mounted in the following positions:
Fig. 4-4: Types of Mounting
Suspended mounting
Suspended mounting differs from assembly in a standing position in the following points.
• S-axis working range
• Fixing the robot base
Direction of move-
ment
Horizontal Vertical
Force F
H
Moment M
H
Force F
V
Torque M
V
Emergency stop
(Stop category 0)
1079 N 765 Nm 1765 N 1000 Nm
Acceleration/Decelera-
tion
(Stop category 1)
343 N 216 Nm 343 N 265 Nm
0° = standing (standard) 180° = hanging from the ceiling
90°= hanging on the wall 10° - 90° = mounted on an angle
M
V
M
H
F
H
F
V
1
2
3
4
1
3
2
4
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