README.md
ABB IRB 1660 ID-4/1.55
The ABB IRB 1660ID-4/1.55 is a 6-axis industrial robotic arm developed by ABB for high-performance applications including arc welding, machine tending and material handling. It features integrated process dressing, a 4kg payload, 1550mm reach and 0.02mm position repeatability, enabling precise operation and reliable cable management in demanding automation environments.
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 |
-238° |
79° |
0° |
180°/s |
720°/s² |
| J4 |
-175° |
175° |
0° |
320°/s |
1280°/s² |
| J5 |
-120° |
120° |
0° |
360°/s |
1440°/s² |
| J6 |
-400° |
400° |
0° |
500°/s |
2000°/s² |
Cartesian Parameters
- Maximum TCP linear speed: 2500mm/s
- Recommended maximum TCP linear acceleration: 10000mm/s²
- Recommended maximum TCP angular speed: 500°/s
- Recommended maximum TCP angular acceleration: 2000°/s²
Notes
- The selected joint and TCP speeds and accelerations are conservative values rather than strict physical actuator limits.