YASKAWA MA2010 Operating And Maintenance Instructions Manual page 20

Installation
Emergency stop
Acceleration
Deceleration
-
4 20
25
Fig. 4-2: Base plate
Horizontal direction
Force F Moment M
H
8820 N
2940 N
Tab. 4-1: Forces and moments of the robot
F
H
Fig. 4-3: Robot Force and Torque
520
335
260
580
Vertical direction
Force F
H
6370 Nm 10290 N
1915 Nm 3430 N
M
V
F
V
M
H
Moment M
V V
13720 Nm
5145 Nm