YASKAWA MA1440 Operating And Maintenance Manual page 23

Installation
Direction of move-
ment
Emergency stop
(Stop category 0)
Acceleration/Decelera-
tion
(Stop category 1)
Horizontal
Force F Moment M
H
10.000 N 4120 Nm
3435 N 1275 Nm
Tab. 4-1: Forces and torques
F
V
M
H
F
H
Fig. 4-3: Forces and torques of the robot
Vertical
Force F
H V
5100 N
2255 N
M
V
Torque M
V
4120 Nm
1670 Nm
-
4 23