README.md
ABB CRB 15000-5/0.95
The ABB GoFa CRB 15000-5/0.95 is a 6-axis collaborative robotic arm for flexible automation, human-robot collaboration, machine tending, assembly, material handling and laboratory applications. It features torque sensing in all 6 joints, a 5kg maximum payload, 950mm maximum reach and 0.02mm position repeatability, enabling precise and agile operation in collaborative and space-constrained environments.
Joint Parameters
| Joint |
Lower Limit |
Upper Limit |
Initial Position |
Maximum Speed |
Recommended Maximum Acceleration |
| J1 |
-180° |
180° |
0° |
125°/s |
500°/s² |
| J2 |
-180° |
180° |
0° |
125°/s |
500°/s² |
| J3 |
-225° |
85° |
0° |
140°/s |
560°/s² |
| J4 |
-180° |
180° |
0° |
200°/s |
800°/s² |
| J5 |
-180° |
180° |
0° |
200°/s |
800°/s² |
| J6 |
-270° |
270° |
0° |
200°/s |
800°/s² |
Cartesian Parameters
- Maximum TCP linear speed: 1000mm/s
- Recommended maximum TCP linear acceleration: 4000mm/s²
- Recommended maximum TCP angular speed: 360°/s
- Recommended maximum TCP angular acceleration: 1440°/s²
Notes
- The selected joint and TCP speeds and accelerations are conservative values rather than strict physical actuator limits.