YASKAWA YYR-1-06VXH25-A10 Operating And Maintenance Manual page 22

Installation
Direction of move-
ment
Emergency stop
(Stop category 0)
Acceleration/Decelera-
tion
(Stop category 1)
-
4 22
Horizontal
Force F Moment M
H
8829 N 6700 Nm
2943 N 2011 Nm
Tab. 4-1: Forces and torques
F
H
Fig. 4-2: Forces and torques of the robot
Vertical
Force F
H V
11282 N
4905 N
M
V
F
V
M
H
Torque M
V
13734 Nm
5150 Nm