README.md
ABB IRB 930-12/0.85 Extended
The ABB IRB 930-12/0.85 Extended is a high-performance 4-axis SCARA robot developed by ABB for high-speed assembly, picking, handling and electronics automation. It features a 12kg payload, 850mm reach, 450mm vertical stroke and 0.01mm position repeatability, enabling fast and precise operation across demanding automation environments.
Joint Parameters
| Joint |
Lower Limit |
Upper Limit |
Initial Position |
Maximum Speed |
Recommended Maximum Acceleration |
| J1 |
-145° |
145° |
0° |
410°/s |
1640°/s² |
| J2 |
-145° |
145° |
0° |
524°/s |
2096°/s² |
| J3 |
-450mm |
0mm |
0mm |
2240mm/s |
8960mm/s² |
| J4 |
-400° |
400° |
0° |
1702°/s |
6808°/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.