2021 ABB IRB 6640-180/2.55 6-Axis Industrial Robotic Arm, IRC5 Controller, IP 67 Protection, Load Identification, Movable Mechanical Stops, Electronic Positions Switches
| # Axis | 6 | 6 |
| Payload | 396 lb | 179.6 kg |
| Reach | 100" | 2,540 mm |
| Repeatability | 0.002" | 0.002" |
| Axis-1 | +170° to -170° | +170° to -170° |
| Axis-2 | +85° to -65° | +85° to -65° |
| Axis-3 | +70° to -180° | +70° to -180° |
| Axis-4 | +300° to -300° | +300° to -300° |
| Axis-5 | +120° to -120° | +120° to -120° |
| Axis-6 | +360° to -360° | +360° to -360° |
| Axis-1 Speed | 100 to -110 deg/sec. | 100 to -110 deg/sec. |
| Axis-2 Speed | 90 deg/sec. | 90 deg/sec. |
| Axis-3 Speed | 90 deg/sec. | 90 deg/sec. |
| Axis-4 Speed | 170 to -190 deg/sec. | 170 to -190 deg/sec. |
| Axis-5 Speed | 120 to -140 deg/sec. | 120 to -140 deg/sec. |
| Axis-6 Speed | 190 to -235 deg/sec. | 190 to -235 deg/sec. |
| Control | CNC (IRC5) | CNC (IRC5) |
| Weight | 2,888 lb | 2,888 lb |
IP 67 - Foundry Prime 2 protection
Load identification
Movable mechanical stops
Electronic positions switches (EPS)
