15.3 ASEA IRB-1000

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In general

maximum payload (for a 200mm tool offset) 6 kg

Maximum moment of inertia 2.5 Nm (dynamic)

Maximum static moment 12 Nm (static)

weight 125 kg

accuracy at wrist +/- 0.20mm

Axis 1

joint type revolute

range 340 deg.

speed 95 deg/sec

actuator servo

Axis 2

joint type revolute

range +/-40 deg.

speed 0.75 m/sec

actuator servo

Axis 3

joint type revolute

range +/-25 deg. to -40 deg.

speed 1.1 m/s

actuator servo

Axis 4

joint type revolute

range +/- 90 deg.

speed 115 deg/sec.

actuator servo

Axis 5

joint type revolute

range +/- 180 deg.

speed 195 deg/sec

actuator servo

Gripper

Pneumatic 2 solenoid valves are located in the

upper arm, and can be operated by

the programs.

electrical There is a four pole electrical outlet

in the upper arm for use with more

advanced grippers having search

functions.