ABB Robots

SUMMARY

Synapse supports different ABB industrial manipulator models ranging from the compact CRB 15000 collaborative robot (5 kg payload) to the heavy-duty IRB 7600 (150 kg payload).

CAPABILITY SCOPE

Live hardware skills (connect, servo modes, force mode, etc.) are not implemented and will raise NotImplementedError. For live hardware control, see Universal Robots.

from synapse.robots.manipulators import abb

robot = abb.AbbIRB6600()

ABB CRB 15000 5/0.95

ABB IRB 120 3/0.58

ABB IRB 120T 3/0.58

ABB IRB 1200 5/0.90

ABB IRB 1600 6/1.2

ABB IRB 1600 8/1.45

ABB IRB 2400

ABB IRB 2600 12/1.65

ABB IRB 4400L 30/2.43

ABB IRB 52 7/1.20

ABB IRB 52 7/1.45

ABB IRB 5400

ABB IRB 6600

ABB IRB 6650S 125/3.50

ABB IRB 6650S 90/3.90

ABB IRB 6700 200/2.60

ABB IRB 6700 235/2.65

ABB IRB 7600 150/3.50

Supported Robots

Model	Class	Payload (kg)	Reach (mm)	Accuracy (mm)
CRB 15000 5/0.95	AbbCRB15000595	5	1050	0.03
IRB 120T 3/0.58	AbbIRB120T358	3	600	0.02
IRB 1200 5/0.90	AbbIRB1200590	5	901	0.025
IRB 1200 7/0.70	AbbIRB1200770	7	703	0.02
IRB 120 3/0.58	AbbIRB120358	3	600	0.02
IRB 1600 6/1.2	AbbIRB1600612	6	1200	0.02
IRB 1600 8/1.45	AbbIRB16008145	8.5	1450	0.05
IRB 2400	AbbIRB2400	10	1550	0.03
IRB 2600 12/1.65	AbbIRB260012165	12	1650	0.04
IRB 4400L 30/2.43	AbbIRB4400L30243	30	2430	0.1
IRB 4600 20/2.50	AbbIRB460020250	20	2510	0.05
IRB 4600 40/2.55	AbbIRB460040255	40	2550	0.06
IRB 4600 60/2.05	AbbIRB460060205	60	2050	0.06
IRB 52 7/1.20	AbbIRB527120	4	475	2
IRB 52 7/1.45	AbbIRB527145	4	700	2
IRB 5400	AbbIRB5400	25	2277	0.1
IRB 6600	AbbIRB6600	175	2550	0.1
IRB 6650S 125/3.50	AbbIRB6650S125350	125	3500	0.14
IRB 6650S 90/3.90	AbbIRB6650S90390	90	3900	0.14
IRB 6700 200/2.60	AbbIRB6700200260	200	2600	0.75
IRB 6700 235/2.65	AbbIRB6700235265	235	2650	0.75
IRB 7600 150/3.50	AbbIRB7600150350	150	3500	0.1