README.md
ABB IRB 1200 Gen2-9/0.71
The ABB IRB 1200 Gen2-9/0.71 is a compact 6-axis industrial robotic arm developed by ABB for high-speed, high-precision applications including assembly, dispensing, material handling and machine tending. It features a 9kg payload, approximately 710mm reach and 0.011mm position repeatability, enabling fast and precise operation in compact automation environments.
Joint Parameters
| Joint |
Lower Limit |
Upper Limit |
Initial Position |
Maximum Speed |
Recommended Maximum Acceleration |
| J1 |
-220° |
220° |
0° |
360°/s |
1440°/s² |
| J2 |
-100° |
140° |
0° |
300°/s |
1200°/s² |
| J3 |
-200° |
70° |
0° |
360°/s |
1440°/s² |
| J4 |
-230° |
230° |
0° |
500°/s |
2000°/s² |
| J5 |
-130° |
130° |
0° |
470°/s |
1880°/s² |
| J6 |
-400° |
400° |
0° |
840°/s |
3360°/s² |
Cartesian Parameters
- Maximum TCP linear speed: 2500mm/s
- Recommended maximum TCP linear acceleration: 10000mm/s²
- Recommended maximum TCP angular speed: 600°/s
- Recommended maximum TCP angular acceleration: 2400°/s²
Notes
- The selected joint and TCP speeds and accelerations are conservative values rather than strict physical actuator limits.