README.md
ABB IRB 6640-130/3.2
The ABB IRB 6640-130/3.2 is a heavy-duty 6-axis industrial robotic arm developed by ABB for applications including material handling, machine tending, spot welding, grinding and cutting. It features a 130kg payload, 3200mm reach and 0.05mm position repeatability, enabling precise and reliable operation across large industrial workspaces.
Joint Parameters
| Joint |
Lower Limit |
Upper Limit |
Initial Position |
Maximum Speed |
Recommended Maximum Acceleration |
| J1 |
-170° |
170° |
0° |
100°/s |
400°/s² |
| J2 |
-65° |
85° |
0° |
90°/s |
360°/s² |
| J3 |
-180° |
70° |
0° |
90°/s |
360°/s² |
| J4 |
-300° |
300° |
0° |
170°/s |
680°/s² |
| J5 |
-120° |
120° |
0° |
120°/s |
480°/s² |
| J6 |
-360° |
360° |
0° |
190°/s |
760°/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: 720°/s²
Notes
- The selected joint and TCP speeds and accelerations are conservative values rather than strict physical actuator limits.