YASKAWA YR-1-06VX50-A00 - Page 22

Installation
4 - 22
Tab. 4-1: Forces and torques
Fig. 4-2: Forces and torques 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)
23544 N 24525 Nm 27468 N 45126 Nm
Acceleration/Decelera-
tion
(Stop category 1)
5886 N 6161 Nm 5396 N 11282 Nm
M V
F V
M H
F H