README.md
ABB IRB 390-15/1.3
The ABB IRB 390-15/1.3 FlexPacker is a high-speed 4-axis delta robot developed by ABB for picking, packing, sorting and material handling applications.
It features a 15kg payload, 1300mm working diameter and 0.02mm position repeatability, enabling rapid and precise handling of heavier products in high-throughput production lines.
Joint Parameters
| Joint |
Lower Limit |
Upper Limit |
Initial Position |
Maximum Speed |
Recommended Maximum Acceleration |
| J1 |
-56° |
90° |
0° |
720°/s |
7200°/s² |
| J2 |
-56° |
90° |
0° |
720°/s |
7200°/s² |
| J3 |
-56° |
90° |
0° |
720°/s |
7200°/s² |
| J4 |
-720° |
720° |
0° |
3600°/s |
36000°/s² |
Cartesian Parameters
- Maximum TCP linear speed: 5000mm/s
- Recommended maximum TCP linear acceleration: 20000mm/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.