README.md
ABB IRB 4600-40/2.55
The ABB IRB 4600-40/2.55 is a high-performance 6-axis industrial robotic arm developed by ABB for applications including material handling, machine tending, dispensing and process automation. It features a 40kg payload, 2550mm reach and 0.06mm position repeatability, enabling fast and precise operation across large industrial workspaces.
Joint Parameters
| Joint |
Lower Limit |
Upper Limit |
Initial Position |
Maximum Speed |
Recommended Maximum Acceleration |
| J1 |
-165° |
165° |
0° |
175°/s |
700°/s² |
| J2 |
-90° |
150° |
0° |
175°/s |
700°/s² |
| J3 |
-180° |
75° |
0° |
175°/s |
700°/s² |
| J4 |
-400° |
400° |
0° |
250°/s |
1000°/s² |
| J5 |
-125° |
120° |
0° |
250°/s |
1000°/s² |
| J6 |
-400° |
400° |
0° |
360°/s |
1440°/s² |
Cartesian Parameters
- Maximum TCP linear speed: 2500mm/s
- Recommended maximum TCP linear acceleration: 10000mm/s²
- Recommended maximum TCP angular speed: 360°/s
- Recommended maximum TCP angular acceleration: 1440°/s²
Notes
- The selected joint and TCP speeds and accelerations are conservative values rather than strict physical actuator limits.