Here comes the main character! CRB 15000 is one of the collaborations released by ABB under the name GOFA, which takes the meaning of Go Faster, Go Further Than Ever. Next, let's look at the features of the CRB 15000.

Simple appearance. The CRB 15000 is certainly much weaker than the Yumi (Yumi is pretty good-looking after all), but in terms of structure and color scheme, it is relatively simple. In terms of configuration, CRB 15000 does not adopt UR configuration, which is the most widely used in the market. It is more similar to the YUMI configuration, mainly because the rotation axis of the J3 joint does not cross with the rotation axis of the J4 joint, nor does the rotation axis of the J5 and J6 joint. It is speculated that in addition to the rear center of gravity of the J4 joint, singularities can also be better avoided. The load is 5KG and the arm length is 950mm. This is obvious for UR5, the same load, arm length 100mm longer than UR5. However, it seems that ABB is conservative in end-line velocity, only 2.2m/s, while UR5 is 3m/s, which should be faster in fact. The accuracy of 0.05mm is slightly lower than that of UR5 0.03mm, but the repeated accuracy is not very good. Direct comparison of the data is a reference to the national standard, but the test technique may not be the same, and the results may not be the same, so we do not make an evaluation.

Indicator light with the button. Indicators and buttons are now standard for collaboration, but ABB's light language is a bit simpler, which is disappointing (more on that later). For the design of the button, ABB uses a custom way, that is, 6 axes of 2 by the customer to define the function of the button, this design is quite user-friendly. But why there is no button on the end flange and in 6 axis that is a little regret because the button on the end can be achieved teaching programming, one hand and on the six-axis, might hands operation, in the end, of course, also can increase the design difficulty, so I don't know is it the design difficulty of the trade-off or have other consideration.

Not much joint range. For some unknown reason, the CRB 15000 has a nominal joint range of ±180°, which is similar to that of IIWA, which has an even smaller joint range. I wonder if it is more difficult to wire because the force sensor is more complex, unlike UR plus or minus 360 degrees.

To be honest, the UR marking method is also a bit controversial. One is that it is useless to mark the 2 and 3 joints. If you can't run, you will hit yourself. The most important thing is that in case there is an application where multiple joints have to run ±360°, I wonder how long the UR line can be carried. So at this point, ABB's standard method is still more realistic, not comparing.