README.md
ABB IRB 5720-90/3
The ABB IRB 5720-90/3 is a high-performance 6-axis industrial robotic arm developed by ABB for applications including material handling, machine tending and high-precision assembly. It features a 90kg payload, 3000mm reach and 0.05mm position repeatability, enabling fast and accurate operation across large industrial workspaces.
Joint Parameters
| Joint |
Lower Limit |
Upper Limit |
Initial Position |
Maximum Speed |
Recommended Maximum Acceleration |
| J1 |
-170° |
170° |
0° |
110°/s |
440°/s² |
| J2 |
-75° |
145° |
0° |
90°/s |
360°/s² |
| J3 |
-160° |
70° |
0° |
110°/s |
440°/s² |
| J4 |
-300° |
300° |
0° |
250°/s |
1000°/s² |
| J5 |
-120° |
120° |
0° |
200°/s |
800°/s² |
| J6 |
-200° |
200° |
0° |
250°/s |
1000°/s² |
Cartesian Parameters
- Maximum TCP linear speed: 2500mm/s
- Recommended maximum TCP linear acceleration: 10000mm/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.