README.md
ABB IRB 6650 S-90/3.9
The ABB IRB 6650S-90/3.9 is a long-reach 6-axis industrial robotic arm developed by ABB for applications including material handling, machine tending and process automation. It features a 90kg payload, 3900mm reach and 0.13mm position repeatability, enabling reliable operation across very large industrial workspaces.
Joint Parameters
| Joint |
Lower Limit |
Upper Limit |
Initial Position |
Maximum Speed |
Recommended Maximum Acceleration |
| J1 |
-180° |
180° |
0° |
100°/s |
400°/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 |
-120° |
120° |
0° |
120°/s |
480°/s² |
| J6 |
-360° |
360° |
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: 1440°/s²
Notes
- The selected joint and TCP speeds and accelerations are conservative values rather than strict physical actuator limits.