README.md
ABB IRB 1520 ID-4/1.5
The ABB IRB 1520ID-4/1.5 is a compact 6-axis industrial robotic arm developed by ABB specifically for arc welding applications. It features integrated process dressing, a 4kg payload, 1500mm reach and 0.05mm position repeatability, enabling precise welding and reliable cable management in demanding production environments.
Joint Parameters
| Joint |
Lower Limit |
Upper Limit |
Initial Position |
Maximum Speed |
Recommended Maximum Acceleration |
| J1 |
-170° |
170° |
0° |
130°/s |
520°/s² |
| J2 |
-90° |
150° |
0° |
140°/s |
560°/s² |
| J3 |
-100° |
80° |
0° |
140°/s |
560°/s² |
| J4 |
-155° |
155° |
0° |
320°/s |
1280°/s² |
| J5 |
-135° |
135° |
0° |
380°/s |
1520°/s² |
| J6 |
-200° |
200° |
0° |
460°/s |
1840°/s² |
Cartesian Parameters
- Maximum TCP linear speed: 2500mm/s
- Recommended maximum TCP linear acceleration: 10000mm/s²
- Recommended maximum TCP angular speed: 460°/s
- Recommended maximum TCP angular acceleration: 1840°/s²
Notes
- The selected joint and TCP speeds and accelerations are conservative values rather than strict physical actuator limits.