README.md
ABB IRB 1100-4/0.47
The ABB IRB 1100-4/0.47 is a compact 6-axis industrial robotic arm developed by ABB for high-speed applications including assembly, testing, material handling and surface finishing. It features a 4kg payload, 470mm reach and 0.01mm position repeatability, enabling fast and precise operation in space-constrained automation environments.
Joint Parameters
| Joint |
Lower Limit |
Upper Limit |
Initial Position |
Maximum Speed |
Recommended Maximum Acceleration |
| J1 |
-230° |
230° |
0° |
460°/s |
1840°/s² |
| J2 |
-115° |
113° |
0° |
380°/s |
1520°/s² |
| J3 |
-205° |
55° |
0° |
280°/s |
1120°/s² |
| J4 |
-230° |
230° |
0° |
560°/s |
2240°/s² |
| J5 |
-125° |
120° |
0° |
420°/s |
1680°/s² |
| J6 |
-400° |
400° |
0° |
750°/s |
3000°/s² |
Cartesian Parameters
- Maximum TCP linear speed: 2500mm/s
- Recommended maximum TCP linear acceleration: 10000mm/s²
- Recommended maximum TCP angular speed: 720°/s
- Recommended maximum TCP angular acceleration: 2880°/s²
Notes
- The selected joint and TCP speeds and accelerations are conservative values rather than strict physical actuator limits.