ABB IRB 120 Product Specification page 18

1 Description
1.3.2 Mounting the manipulator
Continued
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Note regarding M and F
xy
The bending torque (M
coordinate system.The same applies to the transverse force (F
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18
Torque
Force (F )
z z
Force (F )
xy xy
Torque (M )
xy
) can occur in any direction in the XY-plane of the base
xy
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(M )
xy xy
z
z
Product specification - IRB 120
).
xy
3HAC035960-001 Revision: T