ABB IRB 2000, Product Manual

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Working range
+ 179,9° -
+ 100° -
+ 60° -
+ 200° -
+ 120° -
+ 300° -
-179,9°
-110°
-60°
-200°
- 120°
-300°
Max. speed
1157sec
1157sec
1157sec
2807sec
3007sec
3007sec
5 TECHNICAL SPECIFICATION
5.1 Features
All data is valid for IRB 2000 independent of whether the robot is installed standing up or
in an inverted position.
5.1.1 Performance
Type of movementCsee chapter 3)
Axis 1 (C) Rotation movement
Axis 2 (B) Arm movement
Axis 3 (A) Arm movement
Axis 4 (D) Wrist movement
Axis 5 (E) Bend movement
Axis 6 (P) Turn movement
Handling capacity
Maximum load 10 kg
Permitted load depending on distance from wrist, see the load diagram, section 5.1.7.
Position resolution 0.125 mm
Repeatability (at mounting flange) <± 0.1 mm
5.1.2 Program capacity
Number of programs
Main program (number 0) 1
Sub-programs (number definable) 1 - 9999
Program memory
Capacity 32 kword
(64 kbyte)
Number of positions (without
supplementary information):
1-6 axes max. 2 500
7-9 axes max. 1500
10-12 axes max. 1000
TCP/TCL positioner
Number of:
Ordinary 0-19
Fixed TCP 20 - 29
Definition range
(from mounting flange ) 0 -1700 mm
Position register
Number of: 200 (no. 0 -199)
Numerical register
Number of: 120 (Nos. 0-119)
Premissible values 0 - ± 32 767 (16 bits)
Description IRB 2000
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