README.md
ABB IRB 920T-6/0.65
The ABB IRB 920T-6/0.65 is a compact 4-axis SCARA robot developed by ABB for high-speed assembly, picking, packaging and material handling applications. It features a 6kg payload, 650mm reach and 0.02mm position repeatability, enabling fast and precise operation across compact automation workspaces.
Joint Parameters
| Joint |
Lower Limit |
Upper Limit |
Initial Position |
Maximum Speed |
Recommended Maximum Acceleration |
| J1 |
-150° |
150° |
0° |
396°/s |
1584°/s² |
| J2 |
-145° |
145° |
0° |
780°/s |
3120°/s² |
| J3 |
-180mm |
0mm |
0mm |
1200mm/s |
4800mm/s² |
| J4 |
-400° |
400° |
0° |
2500°/s |
10000°/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.