README.md
ABB IRB 120 T-3/0.58
The ABB IRB 120T-3/0.58 is a compact high-speed 6-axis industrial robotic arm developed by ABB for applications including assembly, pick-and-place, material handling, packaging and machine tending. It features a 3kg payload, 580mm reach and 0.01mm position repeatability, with increased wrist-axis speeds for faster cycle times in compact automation environments.
Joint Parameters
| Joint |
Lower Limit |
Upper Limit |
Initial Position |
Maximum Speed |
Recommended Maximum Acceleration |
| J1 |
-165° |
165° |
0° |
250°/s |
1000°/s² |
| J2 |
-110° |
110° |
0° |
250°/s |
1000°/s² |
| J3 |
-90° |
70° |
0° |
250°/s |
1000°/s² |
| J4 |
-160° |
160° |
0° |
320°/s |
1280°/s² |
| J5 |
-120° |
120° |
0° |
320°/s |
1280°/s² |
| J6 |
-400° |
400° |
0° |
420°/s |
1680°/s² |
Cartesian Parameters
- Maximum TCP linear speed: 6200mm/s
- Recommended maximum TCP linear acceleration: 28000mm/s²
- Recommended maximum TCP angular speed: 420°/s
- Recommended maximum TCP angular acceleration: 1680°/s²
Notes
- The selected joint and TCP speeds and accelerations are conservative values rather than strict physical actuator limits.