YASKAWA MPL300-J00 Operating And Maintenance Manual page 20

Installation
Direction of move-
ment
Emergency stop
(Stop category 0)
Acceleration/Decelera-
tion
(Stop category 1)
-
4 20
Horizontal
Force F Moment M
H
20580 N 39200 Nm
6370 N 11760 Nm
Tab. 4-1: Forces and torques
M
V
F
V
M
H
F
H
Fig. 4-3: Forces and moments of the robot
Vertical
Force F
H V
49980 N
21560 N
Torque M
V
62720 Nm
15680 Nm