ABB IRB 6660 gear ratio and motor inertia

    hello, I want to study the dynamics of IRB6660-205/1.9. But, im lacking the 'gear ratio' and 'motor inertia'. It's quite important to build a flexible-joint model of a robot. Is anyone able to provide some help?


    Robot: ABB IRB 6660-205/1.9


    Thanks! :smiling_face:

  • kwakisaki

    Approved the thread.

    Thanks to a thread in 2020 witten by Robson Bilibio in our forum with title: "Is it possible to know the Transmission Gear Ratio for the robot joints?" He found that we can get the ratio from the code of ABB. He gave an example that 3HAC17811 refers to the replacement reducer for axis 6 of IRB 7600 whose code is RV125F-178.41. "178.41" is the ratio we need.

    Here are some information I found about IRB 6660:

    catalog axis code ratio

    3HAC028121-001------>6ax------> RV70E-118.5------>118.5

    3HAC037638-002------>1ax------>RV500C-219.95--->219.95

    3HAC022644-001------>2,3ax--->RV450E i=171 ----->171

    Note:

    I didn't find the spare part of 4,5axis

    Im not so sure about the data of 2,3 axis for its code form is abit different from others

    Axes 4 & 5 are gears so there's no RV numbering to decode.

    You could scope the resolver and see how many zero crossings (revolutions) it takes to get x degrees nad then do the math.

    You look at the software and try to decode ..._6660_1.9_205_... files and see if the info is in there.

    IRB6660-205/1.9


    1: 219.946

    2: 171

    3: -171

    4: 104.286

    5: -103.03

    6: -125.8


    Apart from the ratios the system will also modell based on the on the motor inertia, gear box inertia and static torque, After that comes the arm parts and their respective inertia. Most of these are really secret and ABB will protect them.

    I cant remember where right now but you can find the motor inertia in the RobotWare files for each motor since any motor has files if you want to use it as an external axis.

    The listed standstill torque for this robot modell is listed as:

    1: 0.8nm

    2: 1.5nm

    3: 1.5nm

    4: 0.4nm

    5: 0.7nm

    6: 0.3nm


    The standstill torque is usually inaccurate.

    Thank you so much!!! It helps a lot! I feel so lucky to find this forum!

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