README.md
ABB IRB 6650 S-190/3
The ABB IRB 6650S-190/3 is a long-reach 6-axis industrial robotic arm developed by ABB for heavy-duty applications including material handling, machine tending and spot welding. It features a 190kg payload, 3000mm reach and 0.14mm position repeatability, enabling reliable operation across large industrial workspaces.
Joint Parameters
| Joint |
Lower Limit |
Upper Limit |
Initial Position |
Maximum Speed |
Recommended Maximum Acceleration |
| J1 |
-180° |
180° |
0° |
110°/s |
440°/s² |
| J2 |
-40° |
160° |
0° |
90°/s |
360°/s² |
| J3 |
-180° |
70° |
0° |
90°/s |
360°/s² |
| J4 |
-300° |
300° |
0° |
150°/s |
600°/s² |
| J5 |
-100° |
100° |
0° |
120°/s |
480°/s² |
| J6 |
-220° |
220° |
0° |
235°/s |
940°/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.