README.md
ABB IRB 140 T-6/0.81
The ABB IRB 140 T-6/0.81 is a compact high-speed 6-axis industrial robotic arm developed by ABB for assembly, machine tending, material handling and packing applications.
It features a 6kg payload, 810mm reach and 0.03mm position repeatability, providing fast and precise automation within a compact workspace.
Joint Parameters
| Joint |
Lower Limit |
Upper Limit |
Initial Position |
Maximum Speed |
Recommended Maximum Acceleration |
| J1 |
-180° |
180° |
0° |
250°/s |
800°/s² |
| J2 |
-90° |
110° |
0° |
250°/s |
800°/s² |
| J3 |
-230° |
50° |
0° |
260°/s |
1040°/s² |
| J4 |
-200° |
200° |
0° |
360°/s |
1440°/s² |
| J5 |
-115° |
115° |
0° |
360°/s |
1440°/s² |
| J6 |
-400° |
400° |
0° |
450°/s |
1440°/s² |
Cartesian Parameters
- Maximum TCP linear speed: 2500mm/s
- Recommended maximum TCP linear acceleration: 20000mm/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.