README.md
ABB IRB 1600-6/1.45
The ABB IRB 1600-6/1.45 is a versatile 6-axis industrial robotic arm developed by ABB for high-performance applications including arc welding, material handling, machine tending and assembly. It features a 6kg payload, 1450mm reach and 0.02mm position repeatability, enabling fast and precise operation across larger automation workspaces.
Joint Parameters
| Joint |
Lower Limit |
Upper Limit |
Initial Position |
Maximum Speed |
Recommended Maximum Acceleration |
| J1 |
-180° |
180° |
0° |
180°/s |
720°/s² |
| J2 |
-90° |
150° |
0° |
180°/s |
720°/s² |
| J3 |
-245° |
65° |
0° |
180°/s |
720°/s² |
| J4 |
-200° |
200° |
0° |
320°/s |
1280°/s² |
| J5 |
-115° |
115° |
0° |
400°/s |
1600°/s² |
| J6 |
-400° |
400° |
0° |
460°/s |
1840°/s² |
Cartesian Parameters
- Maximum TCP linear speed: 2500mm/s
- Recommended maximum TCP linear acceleration: 10000mm/s²
- Recommended maximum TCP angular speed: 460°/s
- Recommended maximum TCP angular acceleration: 1840°/s²
Notes
- The selected joint and TCP speeds and accelerations are conservative values rather than strict physical actuator limits.