README.md
ABB IRB 6730 S-130/4
The ABB IRB 6730 S-130/4 is a high-performance 6-axis shelf-mounted industrial robotic arm developed by ABB for injection moulding, die casting, material handling and spot welding applications.
It features a 130kg payload, 4000mm reach and 0.07mm position repeatability, providing extended downward reach and precise handling 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 |
-40° |
160° |
0° |
90°/s |
360°/s² |
| J3 |
-160° |
70° |
0° |
90°/s |
360°/s² |
| J4 |
-300° |
300° |
0° |
200°/s |
800°/s² |
| J5 |
-120° |
120° |
0° |
150°/s |
600°/s² |
| J6 |
-360° |
360° |
0° |
210°/s |
840°/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.