README.md
ABB IRB 6720-150/3.1
The ABB IRB 6720-150/3.1 is a high-performance 6-axis industrial robotic arm developed by ABB for material handling, machine tending, spot welding and process automation applications.
It features a 150kg payload, 3100mm reach and 0.06mm position repeatability, enabling precise handling across large industrial workspaces.
Joint Parameters
| Joint |
Lower Limit |
Upper Limit |
Initial Position |
Maximum Speed |
Recommended Maximum Acceleration |
| J1 |
-170° |
170° |
0° |
110°/s |
440°/s² |
| J2 |
-65° |
85° |
0° |
90°/s |
360°/s² |
| J3 |
-160° |
72° |
0° |
90°/s |
360°/s² |
| J4 |
-300° |
300° |
0° |
170°/s |
680°/s² |
| J5 |
-120° |
120° |
0° |
120°/s |
480°/s² |
| J6 |
-220° |
220° |
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.