README.md
ABB IRB 910 INV-6/0.55
The ABB IRB 910INV-6/0.55 is a compact 4-axis inverted SCARA robot developed by ABB for high-speed assembly, picking, handling and electronics automation. It features a 6kg payload, 550mm reach and 0.01mm position repeatability, enabling fast and precise operation in compact and high-density production environments.
Joint Parameters
| Joint |
Lower Limit |
Upper Limit |
Initial Position |
Maximum Speed |
Recommended Maximum Acceleration |
| J1 |
-225° |
225° |
0° |
420°/s |
1680°/s² |
| J2 |
-225° |
225° |
0° |
780°/s |
3120°/s² |
| J3 |
-190mm |
0mm |
0mm |
1100mm/s |
4400mm/s² |
| J4 |
-720° |
720° |
0° |
3000°/s |
12000°/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.