YASKAWA MH180 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
24000 N 37630 Nm
6370 N 9400 Nm
Tab. 4-1: Forces and torques
M
F
V
M
H
F
H
Fig. 4-2: Robot Force and Torque
Vertical
Force F
H V
15680 N
4900 N
V
Torque M
V
49000 Nm
22050 Nm