README.md
ABB IRB 7720-400/3.5
The ABB IRB 7720-400/3.5 is a heavy-duty 6-axis industrial robotic arm developed by ABB for high-payload material handling, press tending, machining and large-scale assembly applications.
It features a 400kg payload, 3500mm reach and 0.06mm position repeatability, enabling precise and reliable handling of very heavy components across large industrial workspaces.
Joint Parameters
| Joint |
Lower Limit |
Upper Limit |
Initial Position |
Maximum Speed |
Recommended Maximum Acceleration |
| J1 |
-170° |
170° |
0° |
75°/s |
300°/s² |
| J2 |
-65° |
82.2° |
0° |
60°/s |
240°/s² |
| J3 |
-65° |
67° |
0° |
55°/s |
220°/s² |
| J4 |
-300° |
300° |
0° |
100°/s |
400°/s² |
| J5 |
-120° |
120° |
0° |
100°/s |
400°/s² |
| J6 |
-220° |
220° |
0° |
160°/s |
640°/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.