YASKAWA MPL300-J00 - Page 20

Installation
4 - 20
Tab. 4-1: Forces and torques
Fig. 4-3: Forces and moments 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)
20580 N 39200 Nm 49980 N 62720 Nm
Acceleration/Decelera-
tion
(Stop category 1)
6370 N 11760 Nm 21560 N 15680 Nm
MV
MH
FH
F V