1055075
1 1.1 5 5 1.2 6 1.3 10 1.3.1 10 1.3.2 10 1.3.3 12 1.3.4 13 1.3.5 15 1.4 16 1.4.1 16 1.4.2 19 1.4.3 19 25 1.5 28 2
29 2.1 29 1.1 31 2.2 32 2.2.1 32 2.2.2 38 2.2.3 6 40 2.3 45 2.3.1 45 2.3.2 45 2.3.3 47 (1) 15m/Ry 47 47 50 Force/Torque 51 15m/Ry 55 (2) 25m/Ry 60 60 63 Force/Torque 64 25m/Ry 67 2.3.4 71 2.4 76 2.4.1 76 2.4.2 76 2.4.3 78 (1) 15m/Ry 78 78 81 Force/Torque 82 15m/Ry 85 3
(2) 25m/Ry 88 88 92 Force/Torque 93 25m/Ry 98 2.4.4 102 2.5 106 2.5.1 106 2.5.2 106 2.5.3 107 2.5.4 108 2.63 109 2.6.1 109 2.6.2 109 2.6.3 113 2.6.4 114 2.7 115 117 118 119 1. Force/Torque 119 2. 125 4
1 1.1 1) 2) Technology 5
1.2 (1) VX10 1-1 VX10 1-1 1-1 1-1 VX-10 0.1m 0.1m AC VX-10 ESPA 3) 1-2 1-2 6
1-2 7
1-2 Rmax 1-4 4 0.8mm 4mm 1-4 8
9
1.3 1.3.1 VX10 ( ESPA ) 1.3.2 ESPA ESPA 2 1-4 1-5 1-4 4753 4754 4755 4756 4757 4758 4759 4760 SC SC TP TP TP TP GM GM 4 4 0 0 0 0 0 0 4.2 2.3 1.5 1.3 1.2 0.2 1.2 1.2 8.6 6.5 6.0 4.0 2.0 1.0 0.1 0.1 10.5 5.0 4.0 4.0 2.0 2.0 0.4 0.4 F 0 10 10 13 15 13 13 13 1 1 1 1 1 1 1 1 4 3 3 3 3 3 4 4 1 1 1 1 1 1 3 3 0 0 0 0 0 0 0 0 80 80 70 60 60 60 50 50 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 OP 8 8 8 8 8 8 8 8 10
1-5 4817 4818 4819 4820 4821 4822 4823 4824 SC SC TP TP TP TP GM GM 4 4 0 0 0 0 0 0 4.2 2.3 1.5 1.3 1.2 0.2 1.2 1.2 8.6 6.5 6.0 4.0 2.0 1.0 0.1 0.1 10.5 4.0 4.0 4.0 2.0 2.0 0.4 0.4 F 0 10 10 13 15 13 13 13 1 1 1 1 1 1 1 1 4 3 3 3 3 3 4 4 1 1 1 1 1 1 3 3 0 0 0 0 0 0 0 0 80 80 70 60 60 60 50 50 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 OP 8 8 8 8 8 8 8 8 E ( Z ) ( R ) 1-6 1-7 Z R 1-6 Z R [Z,R:mm] 1 2 3 4 5 6 7 8 Z -0.161-0.367-0.411-0.433-0.452-0.473-0.492-0.522 R 0.333 0.494 0.533 0.550 0.563 0.578 0.595 0.555 D 200 E 4753 4754 4755 4756 4757 4578 4579 4760 11
1-7 Z R [Z,R:mm] 1 2 3 4 5 6 7 8 Z -0.251-0.401-0.433-0.449-0.463-0.478-0.492-0.522 R 0.405 0.522 0.550 0.562 0.572 0.583 0.595 0.555 D 200 E 4817 4818 4819 4820 4821 4822 4823 4824 1-6 1-7 1.3.3 1-6 12mm (Cu) S50C SK-5 2 2 60sec ( Z ) E-35A 4 #1500 1-6 12
1.3.4 S50C 1-7 1-8 1-7 1-8 13
SK-5 1-9 SK-5 5sec 1-9 14
1.3.5 1-7 1-8 S50C 1-8 1-9 S50C SK-5 1/3 2/3 1-7 1-8 34 23 1-8 1-8 (Z) [mm] 1 2 3 4 5 6 7 8 0.161 0.206 0.044 0.022 0.019 0.021 0.019 0.030 0.251 0.150 0.032 0.016 0.014 0.015 0.014 0.030 1/3 1/2 15
1.4 1.4.1 3 1.4.2 3 1-9 3 SK-5 1-9 Z R [Z,R:mm] 1 2 3 4 5 6 7 8 Z -0.251-0.401-0.433-0.449-0.463-0.478-0.492-0.522 R 0.405 0.522 0.550 0.562 0.572 0.583 0.595 0.555 D 200 E 4817 4818 4819 4820 4821 4822 4823 4824 1-9 6 1-10 1-14 1-10 2 [Z,R:mm] 1 2 Z -0.251 R 0.405 0.522 2 0 0 E 4817 4818 16
1-11 3 1 [Z,R:mm] 1 2 3 Z -0.251-0.401 R 0.405 0.522 0.550 2 0 0 E 4817 4818 4819 1-12 4 1 [Z,R:mm] 1 2 3 4 Z -0.251-0.401-0.433 R 0.405 0.522 0.550 0.562 2 0 0 E 4817 4818 4819 4820 1-13 5 1 [Z,R:mm] 1 2 3 4 5 Z -0.251-0.401-0.433-0.449 R 0.405 0.522 0.550 0.562 0.572 2 0 0 E 4817 4818 4819 4820 4821 1-14 6 1 [Z,R:mm] 1 2 3 4 5 6 Z -0.251-0.401-0.433-0.449-0.463 R 0.405 0.522 0.550 0.562 0.572 0.583 2 0 0 E 4817 4818 4819 4820 4821 4822 17
1-10 1-14 10m 18
1.4.3 2 6 1-10 1-14 1-10 2 1-11 3 19
1-12 4 1-13 5 20
1-14 6 1-10 1-14 1-5 1-15 [m] [m/rmax] 2 50 46.90 3 30 12.16 4 30 6.70 5 30 6.43 6 10 2.22 21
1-15 10m 10m 5m 6-1 -5 6 1-10 1-14 6 1-16 1-16 2 y =6.51110 7 x 6-3.95810 7 x5 + 9.60410 6 x 4-1.19510 6 x3 + 8.15410 4 x 2 2.97510 3 x + 81.4 3 y =8.79910 6 x 6 1.81610 7 x 5 +5.22210 6 x 4 6.18610 5 x 3 + 3.62610 4 x 2 1.05210 3 x + 36.08 4 y =4.42810 8 x 6 + 1.35010 8 x 5 1.54610 7 x 4 +7.90910 5 x 3 1.40710 4 x 2 1.82810 2 x + 24.23 5 y = 4.02010 7 x 6 + 1.38110 7 x 5-1.48310 6 x 4 + 2.083 10 4 x 3 + 6.06910 3 x 2-3.80610 2 x + 17.51 6 y =2.28110 9 x 6 + 1.87510 8 x 5 +4.50810 6 x 4-8.79410 5 x 3 + 3.15310 4 x 2 4.47310 2 x + 10.2 22
1-15 1-16 1-15 2 2 150m 50m 1-16 3 4 5 1-17 2 35.73 33.73 1-15 2 23
3 23.57 1-16 3 1-17ESPA (Z) [m] 1 2 3 4 5 6 7 8 161 206 44 22 19 21 19 30 251 150 32 16 14 15 14 30 ------- 50 30 30 30 10 ------- ------- 1-17 1 24
1-17 1-18 1-18ESPA [mm] 1 2 3 4 5 6 7 8-0.251-0.401-0.433-0.449-0.463-0.478-0.492-0.522 1-0.358-0.408-0.438-0.454-0.468-0.478-0.492-0.522 (0%) 2-0.350-0.405-0.438-0.454-0.468-0.478-0.492-0.522 (10%) 3-0.342-0.402-0.438-0.454-0.468-0.478-0.492-0.522 (20%) 1-18 1 3 3 1 16m 14m 30m 123 1-19 1-17 16 ( 7) (%) 1-20 25
1-19 1 2 3 4 5 6 7 8 5 11 33 18 79 6 49 55 48 58 8 43 1 27 1 8 1 2 15 18 53 (0%) 30 47 41 22 32 9 19 1 21 2 7 1 1 2 2 15 18 52 (10%) 4 45 49 28 42 38 57 1 24 3 7 1 1 21 18 59 (20%) 37 53 59 43 19 1 8 1 41 1-17 1-20 [%] 16 ( 7) 1 (0%) 27.8 54.6 2 (10%) 33.5 52.7 3 (20%) 26.0 37.3 26
1-19 1-17 1 3 2 6 2/3 7 2/3 1/2 1-20 1 3 (500) 1-18 1-20 100m 100m 100m 1-18 10% 1-19 2 (10%) 1-20 3(20%) 2 3 1 1-19 10 20% 3 3 2.17m/Rmax 2.56m/Rmax 27
1.5 ESPA 2/3 ESPA ESPA 20 ESPA 24.9 1. 1/3 1/2 2. 6 3. 28
2 2.1 1 1 2/3 4) 2) 1. 2. 3. 29
4. 5. 3 4 Z 3 30
31 2.1.1 2 3m/Ry 1.1 1.1 38 25 #120 #180 #320 ( )( #400 #600 #900 #1200 #3000 #8000 #120 #180 #320 ( )( #400 #600 #900 #1200 #3000 #8000 2-1 5)
2.2 2.2.1 (1) VX10 2-1 1 VX10 2-1 2-1 2-1VX10 VX-10 ESPA 1 2.2 32
2-2 33
2-3 2-4 34
2-5 35
2-7 2-6 36
37
2.2.2 2-9 2-5 6 2-10 6 2-10 2-9 6 2-9 38
2-5 2-9 2-10 2-10 39
2.2.3 6 2-9 Force/Torque 2-11Force/Torque 2-12 2-13 40000rpm Force Torque 5 100Hz Force/Torque Force 0.1[N] Torque 0.0025[N-M] 0.005[N-M] 40
2-12 40000rpm Force 2-13 40000rpm Torque 41
10mm Force/Torque Force/Torque 2-14 2-17 2-14 Force 2-15 Torque 42
2-16 Force 2-17 Torque 2-14 2-17 2-6 2-7 43
2-6 Force/Torque Fy Fz Tx Ty Tz 0 0 0 0 0 0 2-7 Force/Torque Fy Fz Tx Ty Tz 0 0 0 0 0 0 2-6 2-7 Force Torque Force Torque 44
2.3 2.3.1 15m/Ry 25m/Ry Z Force/Torque Z 2.3.2 SK-5 15 m/ry 25m/Ry 2-8 Z 10mm 2-18 2-9 2-8 2-8 15 /Ry 25 /Ry 15 25 20 35 Z 25 40 m 35 45 2-9 45
Z Y 2-18 46
2.3.3 (1) 15m/Ry 15m/Ry 2-19 (Z) 2-20 2-23 2-20 15 m/ry (Z)15m 40 2-21 (Z)20m 10 2-22 (Z)25m 5 2-23 (Z)30m 15m/Ry (Z) 25m35m 2-19 15m/Ry (100) 47
2-20 15m/Ry 15m (100) 2-21 15m/Ry 20m (100) 48
2-22 15m/Ry 25m (100) 2-23 15m 35m (100) 49
2-24 4 Ry 1.04m 1m Ry 0.34 0.49m Z15 m Z 15m 2-24 15m/Ry 50
Force/Torque Force/Torque 2-25 2-48 Force/Torque 40000rpm 5 2-25 Z15m Fx 2-26 Z20m Fx 2-27 Z25m Fx 2-28 Z35m Fx 2-29 Z15m Fy 2-30 Z25m Fy 51
2-31 Z25m Fy 2-32 Z30m Fy 2-33 Z15m Fz 2-34 Z20m Fz 2-35 Z25m Fz 2-36 Z35m Fz 52
2-37 Z15m Tx 2-38 Z20m Tx 2-39 Z25m Tx 2-40 Z35m Tx 2-41 Z15m Ty 2-42 Z20m Ty 2-43 Z25m Ty 2-44 Z35m Ty 53
2-45 Z15m Tz 2-46 Z20m Tz 2-47 Z25m Tz 2-48 Z35m Tz 54
15m/Ry 2-49 Force/Torque A 40000rpm B X First Approach X + Fx Tx 2-10 Tx B X X Y X Force/Torque 2-49 B B X 2 2-49Force/Torque 55
2-10 2-50 2-51 15m/Ry First Approach Force/Torque 2-52 2-55 X X Force/Torque Z 2-52 2-55 Z 100m200m300m 2-50 First Approach Force Z ForceXY Z 2-51 First Approach Torque Tz First Approach X Ty Tx Ty 2-52 2-53 Force Z Force 1[N] First Approach 9[N] 2-54 2-55 Torque Z Torque 0.1[N-m] First Approach 0.8[N] 56
2-50 First Approach Force 2-51 First Approach Torque 57
2-52 Force 2-53 Force 58
2-54 Torque 2-55 Torque 59
(2) 25m/Ry 25m/Ry 2-56 2-57 2-60 2-57 2-60 15 /Ry 25m Z35m Z 40m Z 45m Z 40m 2-56 25m/Ry 100 60
2-57 25m/Ry 25m (100) 2-58 25m/Ry 35m (100) 61
2-59 25m/Ry 40m (100) 2-60 25m/Ry 45m (100) 62
2-61 15m/Ry Ry 0.21m Z25m 25m/Ry Z 25 Z 40 2-61 25m/Ry 63
Force/Torque Force/Torque 2-62 2-85 2-62 Z25m Fx 2-63 Z35m Fx 2-64 Z40m Fx 2-65 Z45m Fx 2-66 Z25m Fy 2-67 Z35m Fy 2-68 Z40m Fy 2-69 Z45m Fy 64
2-70 Z25m Fz 2-71 Z35m Fz 2-72 Z40m Fz 2-73 Z45m Fz 2-74 Z25m Tx 2-75 Z35m Tx 2-76 Z40m Tx 2-77 Z45m Tx 65
2-78 Z25m Ty 2-79 Z35m Ty 2-80 Z45m Ty 2-81 Z45m Ty 2-82 Z25m Tz 2-83 Z35m Tz 2-84 Z40m Tz 2-85 Z45m Tz 66
25m/Ry 2-86 2-87 25m/Ry First Approach Force Torque 2-88 2-91 First Approach Force Torque 25m/Ry (Z) 100m200m300m 2-86 First Approach Force FxFyFz (Z) 2-87 First Approach Torque Tx Tx Ty Tz First Approach 2-88 2-89 Force (Z) Fz 1[N] Fz (Z) 25m45m 2[N] 100m300m Fz (Z)25m45m Fz (Z) m Fz 2-90 2-91 Torque Force XYZ 67
2-86 First Approach Force 2-87 First Approach Torque 68
2-88 Force 2-89 Force 69
2-90 Torque 2-91 Torque 70
2.3.4 15 /Ry 25 /Ry Z Z 15m/Ry Z 25 25m/Ry Z40m Z Ry 1.7 Z Ry 1.7 2-92 2-92 Force/Torque 15 /Ry 25 /Ry 71
20 Z 2-93 Z 25 10m 20 30 Force/Torque First Approach Force/Torque First Approach First Approach FxFyFz (Z) Torque Tx Tx Ty First Approach 15 m/ry 25 /Ry 15 /Ry Z Ry 2-93 Z 72
m 2 6) ( ) 7) Z 2-94 1.48m/Ry 2-95 25m/Ry 2-94 1.48m/Ry (500) 2-95 1.48 m/ry 15m/Ry 25m/Ry 2-96 2-97 2-96 2-97 2-95 25m/Ry (500) 15m/Ry 2-94 2-11 2-98 2-98 Ry 2-99 73
Z 2-96 15m/Ry (500) 2-97 25m/Ry (500) 2-11 Ry 2-98 Ry 74
2-99 75
2.4 2.4.1 2-100 Y Force/Torque Z Y 2-100 2.4.2 15 /Ry 25m/Ry 2-12 2-13 2-12 76
2-13 15 25 m/ry m/ry 10 10 50 20 75 25 100 30 50 75 100 77
2.4.3 (1) 15m/Ry 2-101 2-104 Y10m 50m Y75m 100m 2-101 15m/Ry 10m (100) 78
2-102 15m/Ry 50m (100) 2-103 15m/Ry 75m (100) 79
2-104 15m/Ry 100m (100) 80
2-105 Ry Y (Y) 100m 10m Ry 1.49 Ry Y 10m 50m 0.19m Y 75m 100m Y 50m 50 Y 50m 2-105 15m/Ry 81
Force/Torque 2-106 2-129 Force/Torque 2-106 Y10m Fx 2-107 Y50m Fx 2-108 Y75m Fx 2-109 Y100m Fx 2-110 Y10m Fy 2-111 Y50m Fy 2-112 Y75m Fy 2-113 Y100m Fy 82
2-114 Y10m Fz 2-115 Y50m Fz 2-116 Y75m Fz 2-117 Y100m Fz 2-118 Y10m Tx 2-119 Y50m Tx 2-120 Y75m Tx 2-121 Y100m Tx 83
2-122 Y10m Ty 2-123 Y50m Ty 2-124 Y75m Ty 2-125 Y100m Ty 2-126 Y10m Tz 2-127 Y50m Tz 2-128 Y75m Tz 2-129 Y100m Tz 84
15m/Ry 2-130 2-131 15m/Ry Force 2-130 Fx Fy (Y) 0.5[N] FxFy Fz (Y) 2-131 Fx Fy (Y) 1.5[N] (Y) Fz (Y) 2[N] 2-130 Force 2-131 Force 85
Torque 2-132 2-133 2-132 Torque (Y) Tx 0.3[N-M] Ty Tx Tz (Y) 2-133 Torque Tx (Y) TyTz (Y) 2-14 2-132 Torque 2-133 Torque 86
2-14 Force/Torque 87
(2) 25m/Ry 2-134 2-140 25m/Ry 15m/Ry Y 50m 50 /Ry Y 50m 15m/Ry 2-134 25m/Ry 10m (100) 88
2-135 25m/Ry 20m (100) 2-136 25m/Ry 25m (100) 89
2-137 25m/Ry 30m (100) 2-138 25m/Ry 50m (100) 90
2-139 25m/Ry 75m (100) 2-140 25m/Ry 100m (100) 91
2-141 Ry Y 50m Ry 1.04m Y 50m Y 50m Ry 6m 15m/Ry (Y) 50m Y 50m (Y) 25m/Ry Y 50m 2-141 25m/Ry 92
Force/Torque Force/Torque 2-142 2-177 2-142 Y10m Fx 2-143 Y20m Fx 2-144 Y30m Fx 2-145 Y50m Fx 2-146 Y75m Fx 2-147 Y100m Fx 93
2-148 Y10m Fy 2-149 Y20m Fy 2-150 Y30m Fy 2-151 Y50m Fy 2-152 Y75m Fy 2-153 Y100m Fy 2-154 Y10m Fz 2-155 Y20m Fz 94
2-156 Y30m Fz 2-157 Y50m Fz 2-158 Y75m Fz 2-159 Y100m Fz 2-160 Y10m Tx 2-161 Y20m Tx 2-162 Y30m Tx 2-163 Y50m Tx 95
2-164 Y75m Tx 2-165 Y100m Tx 2-166 Y10m Ty 2-167 Y20m Ty 2-168 Y30m Ty 2-169 Y50m Ty 2-170 Y75m Ty 2-171 Y100m Ty 96
2-172 Y10m Tz 2-173 Y20m Tz 2-174 Y30m Tz 2-175 Y50m Tz 2-176 Y75m Tz 2-177 Y100m Tz 97
25m/Ry 2-142 2-159 Force 2-178 2-179 2-178 Fx Fy (Y) Force 1[N] Fz (Y) Force 7.26[N] 2-142 2-159 Force 2-179 Fx (Y) Force 0.26[N] Fy Fz Force 2.44[N]1.90[N] 2-178 Force 98
2-179 Force 2-180 2-181 Torque Tx Ty Torque TxTy (Y) Torque 0.37[N-M]0.44[N-M] Tz 0.08[N-M] 2-181 Torque (Y) Tx 0.51[N-M] Ty Tz 0.05[N-M]0.01[N-M] Force/Torque 2-15 99
2-180 Torque 2-181 Torque 100
2-15 Force/Torque 101
2.4.4 15 /Ry 25 /Ry Y Y Y 50m (Y 50m (Y) 2-182 2-182 (Y) (Y) 15 /Ry 25 /Ry Y 50m 102
1. 90 2. + 8) 2-183 Y H Y H MS20 Y H 2-184 2-183 (Y) (H) 2-184 (Y) (H) 103
2-184 (Y) (H) Ry (H) (Y) 50m Ry 2-184 (Y)50m (H)1m (H)1m 15m/Ry 25m/Ry (Y) 50m (H) 1m Force/torque 15 /Ry 25m/Ry 2-16 2-17 2-16 2-17 Force/Torque 15 /Ry 25 /Ry 40 15 /Ry 25 15 /Ry 2-16 25m/Ry 15m/R Force 104
2-17 25m/Ry 15m/R Torque 105
2.5 2.5.1 3-D 3-D 2.5.2 2-185 2-18 15 /Ry 25 /Ry 2-185 2-18 106
2.5.3 2-186 15m/Ry (100) 2-187 25m/Ry (100) 107
2-188 2.5.4 2-186 2-187 2-188 2 1 90 108
2.6 3 2.6.1 3 2.6.2 2-189 CNC 2-190 2-191 15 / MS20 2-192 NC 5 1m/Ry 2-189 109
NC VTLIN[1]=1 VTLFN[1]=1 VTLL[1]=40 VTLA2[1]=5 VTLA1[1]=80 VTLIN[3]=7 VTLFN[3]=1 VTLL[3]=40 VTLA2[3]=3 VTLA1[3]=60 VWKR=9999.999 VCHKL=0 VCHKD=0 VCHKX=38.7 VCHKZ=-122.5 DEF WORK PT LF,LC,[-129,0],[41,41],[1 30,0] END CLEAR DRAW N0001 G00 X500 Z800 N0002 G50 S1500 NAT01 N0100 G97 S611 M41 M03 M08 N0101 G00 Z5 T010101 N0102 X49 N0103 Z6.2 N0104 G96 S94 N0105 G85 N0106 D1 F0.12 M85 N0106 G83 N0107 G01 X0 Z1 N0108 X41 N0109 Z-21.95 N0110 G81 N0111 G00 X0 Z2.2 G42 N0112 G01 Z0.2 E0.12 N0113 G03 X20.347 Z-9.777 K-10.175 E0.18 N0114 X40.3 Z-19.95 I-0.199 K-10.173 E0.12 N0115 G01 Z-21.75 N0116 X43.4 E0.18 N0117 G40 N0118 G80 N0119 G00 X49 N0120 G97 S611 M09 N0121 Z5 N0122 X500 N0123 X500 Z800 T0100 NAT03 N0200 G97 S1500 M42 M08 N0201 G00 Z5 T030303 N0202 X49 N0203 Z2 N0204 X4 N0205 G96 S800 N0206 G87 N0207 N0207 G81 N0208 G00 X-0.8 N0209 G01 Z0 G42 F0.18 N0210 X0 F0.12 N0211 G03 X19.874 Z-9.104 K-9.975 N0212 G02 X21.692 Z-10.013 I0.996 K0.087 N0213 G03 X39.9 Z-19.95 I-0.871 K-9.937 N0214 G01 Z-21.95 F0.18 N0215 X41.8 N0216 G40 N0217 G80 N0218 G01 X42 Z-20.85 N0219 G00 X49 N0220 G97 S1500 M05 M09 N0221 Z5 N0222 X500 N0223 X500 Z800 T0300 N0224 M02 110
2-190CNC 2-191 2-192MS20 111
2-19 2-19 MS20 12 2 0.8mm Z0 1 0 2 90 2 0mm 2 0mm 3 50m 0.01 100mm/min 40000rpm 3mm Z 10mm 112
2.6.3 15 /Ry 2-193 2-194 MS20 2-195 2-193 15m/Ry 2-194 15m/Ry 113
2-195 1m/Ry 2-20 2.6.4 3-D 2-20 5 16 79 3 3-D 3-D 114
2.7 Z [m]=1.7ry (Y)50m 15 /Ry 1.2m 25m/Ry 2.60m 6 Force/Torque Force/Torque Force/Torque 3 1/5 115
1. 2. 3. 4. 5. 6 116
117
1) P3-1P3-22 2) P.4 3) NC VX P.IV-80IV-86 4) 2001 P.314 5) P.155 6) P.165 7) P.7881 8) P5054 118
1 Force/Torque 119
Force/Torque 1. 15m/Ry F-1 15m Force F-2 20m Force F-3 25m Force F-4 15m Force F-5 15m Torque F-6 20m Torque F-7 25m Torque F-8 30m Torque 120
2. 25m/Ry F-9 25m Force F-10 35m Force F-11 40m Force F-12 45m Force F-13 25m Torque F-14 35m Torque F-15 40m Torque F-16 45m Torque 121
Force/Torque 1. 15m/Ry F-17 10m Force F-18 50m Force F-19 75m Force F-20 100m Force F-21 10m Torque F-22 50m Torque F-23 75m Torque F-24 100m Torque 122
2. 25m/Ry F-25 10m Force F-26 20m Force F-27 30m Force F-28 50m Force F-29 75m Force F-30 100m Force 123
F-31 10m Torque F-32 20m Torque F-33 30m Torque F-34 50m Torque F-35 75m Torque F-36 100m Torque 124
2 125
2m 1m 5 126
10m 30m 20m 127
30 128
129