YASKAWA MH50II Operating And Maintenance Manual page 22

Installation
Direction of move-
ment
Emergency stop
(Stop category 0)
Acceleration/Decelera-
tion
(Stop category 1)
NOTICE
Ceiling and wall mounting
After the robot has been mounted on the ceiling or on the wall, you will need to change the
installation position of the grease discharge opening and grease inlet opening (see the
figures below). This is to prevent grease from emerging from the grease discharge
aperture.
In a wall mounting, you must assemble the robot with the plug plate facing up (see the
picture for wall mounting).
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4 22
Horizontal
Force F Moment M
H
23544 N 24525 Nm
5886 N 6131 Nm
Tab. 4-1: Forces and torques
M
F
V
M
H
F
H
Fig. 4-3: Robot Force and Torque
Vertical
Force F
H V
27468 N
5396 N
V
Torque M
V
45126 Nm
11282 Nm