README.md
ABB CRB 1920-16/1.96
The ABB CRB 1920-16/1.96 PoWa is a high-speed 6-axis collaborative robotic arm developed by ABB for machine tending, material handling, welding and palletizing applications.
It features a 16kg nominal payload, 1960mm wrist reach and 0.03mm position repeatability, combining collaborative safety functionality with TCP speeds up to 5200mm/s for high-productivity automation.
Joint Parameters
| Joint |
Lower Limit |
Upper Limit |
Initial Position |
Maximum Speed |
Recommended Maximum Acceleration |
| J1 |
-360° |
360° |
0° |
149°/s |
596°/s² |
| J2 |
-180° |
180° |
0° |
149°/s |
596°/s² |
| J3 |
-248° |
80° |
0° |
230°/s |
920°/s² |
| J4 |
-360° |
360° |
0° |
283°/s |
1132°/s² |
| J5 |
-270° |
270° |
0° |
300°/s |
1200°/s² |
| J6 |
-400° |
400° |
0° |
300°/s |
1200°/s² |
Cartesian Parameters
- Maximum TCP linear speed: 5200mm/s
- Recommended maximum TCP linear acceleration: 20800mm/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.