Used Abb Pick And Place Robot, Stelram Stelram, 8 Abb Pick And Place Robot Cell for sale (45,135)
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Listing
Marl
7,648 km
ABB Robotics
ABBABB 3HAC025097-001 DSQC639
Call
Condition: excellent (used), ABB DSQC639 Maincomputer more units on stock,20% discount at order more then 1 unit
DEVELOPMENT OF GSG ROBOTICS
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GSG Robotics GmbH,Founded in 2005 in Gütersloh, GSG Robotics GmbH has been based in Marl since 2015 with a generous service area for robot maintenance and repair. Over the years, we have developed to be a holistic partner in all matters relating to industrial robots and automation technology. We are a full-service provider for the two well-known robot manufacturers ABB and Fanuc.
Listing
Aschaffenburg
7,871 km
Welding robot welding cell
FANUCARC Mate 100iC 12
Call
Condition: like new (used), operating hours: 33 h, functionality: fully functional, overall weight: 2,500 kg, Fanuc welding robot cell
Type: ARC Mate 100iC 12
Load capacity: 12 kg
Welding power source: Fronius
Guttroff GRZ 2.3-01-201
Year of manufacture: 2016
Operating hours (welding): approx. 33
Reach: see datasheet in the appendix
Prepared for fume extraction
Torch cleaning system
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Rotary table system Siegmund, with integrated light protection
The robot is installed in a closed cell, which has all the necessary safety features.
The welding cell was built in 2016 by Guttroff as a demonstration unit. In 2022, we purchased the welding cell, but it was ultimately not used. We have photographed the operating hour data in the appendix; the actual welding time is approximately 34 hours.
The system is in excellent condition.
External dimensions
Weight: 2500 kg
Listing
Borken
7,623 km
Robot cell with robot
SAMCO OmronR6Y XGL400150 XG-Serie
Call
Condition: excellent (used), Here, we offer you an Omron SCARA industrial robot.
Omron SCARA industrial robot with PB programming box, R6Y XGL400 XG series.
SCARA robots for industrial applications:
• Higher reliability (no belts in the XG series, no moving electronic parts)
• High precision and speed
• Minimal maintenance
• Easy to use
• High stiffness
• Very compact design
SCARA, reach: 400 mm, vertical stroke: 150 mm, max. payload: 5 kg
Max. payload ranges: 1 to 20 kg
Reach: 120 to 1,000 mm
IP40
Technical data:
Reach X-axis Y-axis Z-axis R-axis 400 mm
Maximum payload X-axis Y-axis Z-axis R-axis 5 kg
Repeatability XYZ: +/- 0.01 mm R: +/- 0.004
Axis specifications:
Arm length X-axis 250 mm Y-axis 150 mm Z-axis 150 mm R-axis ---- mm
Rotation angle X-axis +/- 140° Y-axis +/- 144° Z-axis ——° R-axis +/- 360°
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Type: R6Y XGL400150
Condition: used
Scope of delivery: (See picture)
(Changes and errors in the technical data are subject to change!)
We will gladly answer any further questions you may have by phone.
Listing
Tallinn
7,987 km
Pick and place machines
FUJINXT I
Call
Condition: used, Year of construction: 2006, Available in Q3 2026
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NXT base 1: independent, control for second modul
Head1: H12S
Head2: H12S
NXT base 2: dependent, works under modul 1
Head1: H12S
Head2: H04
NXT base 3: independent
Head1: H04
Head2: H01
Feeder slots on each NXT modul 45 pcs. Total slots 270pcs for 8mm
- Feeders included:
o 156 pcs 8mm tape feeders
o 29 pcs 12mm tape feeders
o 16 pcs 16mm tape feeders
Listing
Germany
7,824 km
TRUMPF TRUBEND CELL 5000 with TRUMPF TruBend 5170 and Bend Master 60
TRUMPFTRUBEND CELL 5000 with TRUMPF TruBend 5170 and Bend Master 60
Call
Condition: ready for operation (used), Year of construction: 2017, operating hours: 10,020 h, pressing force: 173 t, controller manufacturer: TRUMPF, controller model: TASC 6000, Press brake manufactured in 2017. This TRUMPF TRUBEND CELL 5000 with TRUMPF TruBend 5170 features a maximum press force of 1700 kN and a stroke length of 445 mm. It includes the BendMaster 60 robot for automated handling and a TRUMPF TASC 6000 control system for efficient programming. If you are looking to get high-quality bending capabilities, consider the TRUMPF TRUBEND CELL 5000 press brake we have for sale. Contact us for further details.
- Press Brake Model: TruBend 5170 (Extended Version)- Press Brake Max Press Force: 1700 kN- Press Brake Max Working Pressure: 340 bar- Press Brake Length of Stroke: 445 mm- Press Brake Voltage / Frequency: 400 V / 50 Hz- Press Brake Connected Load: 29 kVA- Press Brake Control Voltage: 24 V- Robot Model: BendMaster 60- Robot Connected Load: 17 kVA- Robot Weight: 2600 kg- Robot Voltage / Frequency: 400 V / 50 Hz- Control System: TRUMPF TASC 6000 (Graphical workshop programming, network capability)- Included Equipment: Extended version press brake, BendMaster 60, automated material handling/grippers, fencing and safety enclosuresTRUMPF BENDMASTER 60- Working Hours: 56,582 h (As of 14.05.2025)- Load Capacity: 60 kg (Sheet metal piece plus gripper)- Sheet Metal Capacity: Up to 40 kg- Supply Voltage: 400 V (3~ Phase)- Frequency: 50 Hz- Connected Load: 14 kVA- Control Voltage: 24 V- Max. Fuse Rating: 32 A- Manipulator Axis System: 6-axis backgauge sensor system- Floor Track: Ground track rail extended to 10 m- Control Unit: PC-based TRUMPF control with terminal (Monitor, mouse, keyboard)- Material Handling Features: Contour recognition sheet sensor, double sheet detection sensor, rotary union for rapid tool-less gripper exchange, gripper coupling on BendMaster- Included Vakuum/Gripping Gear: 3 modular vacuum grippers without separation unit, 1 mechanical tong gripper with rotary axis (including 3 sets of additional jaws)- Feeding Station: 1 sheet extraction station with linear axis- Peripheral Accessories: 1 gripper changing console (max. 4), 1 mobile fanning magnet, safety enclosure fence with access door
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Technical Specification
Bending Length 4250 mm
Listing
Freiberg am Neckar
7,943 km
Industrial robot ABB IRB 4600-60/2.05
ABBIRB 4600-60/2.05 Type C
Call
Condition: used, Year of construction: 2014, operating hours: 28,110 h, functionality: fully functional, machine/vehicle number: Robot: 4600-101310 & 4600-101311 / Controller: 4600-101312, overall weight: 1,130 kg, load capacity: 60 kg, arm reach: 2,050 mm, ABB industrial robot dual system featuring 2x IRB 4600-60/2.05 Type C robots and an IRC5 M2004 dual controller for industrial automation processes. The system is used and has been tested. Typical applications include handling, assembly, machining, and synchronized automation tasks. The payload capacity is 60 kg with a reach of 2050 mm. It was manufactured in 2014 and has 28,110 operating hours, running RobotWare software version 5.15.9100.10. The system is equipped with an ABB FlexPendant teach pendant, cable sets for motor and data connections, and the following software options: MultiMove Independent 604-2, Multitasking 623-1, PROFINET IO m/s, DeviceNet Master/Slave, PC Interface, and HOMEPOSRUNNING V6.03.
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Listing
Freiberg am Neckar
7,943 km
Industrial robot ABB IRB 2400 M2004
ABBIRB 2400 M2004 (IRB 2400/10 Type B)
Call
Condition: used, Year of construction: 2006, functionality: fully functional, machine/vehicle number: Robot: 24-50924 / Controller: 24-50924, overall weight: 534 kg, load capacity: 10 kg, arm reach: 1,550 mm, ABB industrial robot with IRB 2400 M2004 manipulator (IRB 2400/10 Type B Standard) and IRC5 M2004 controller for industrial automation applications. Condition is used and has been tested. Typical applications include handling, assembly, machining, and general automation. Payload capacity is 10 kg with a reach of 1550 mm. Manufactured in 2006, it has 66,804 operating hours and RobotWare Version 5.16.0005.00 software. It is equipped with a main connection cable between the manipulator and controller, a FlexPendant DSQC 679 teach pendant, and the following software options: German language, World Zones, Fixed Position Events, Path Recovery, File and Serial Channel Handling, Logical Cross Connections, and Analog Signal Interrupt.
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Listing
Freiberg am Neckar
7,943 km
Industrial robot ABB IRB 2400 M2004
ABBIRB 2400 M2004
Call
Condition: used, Year of construction: 2017, operating hours: 13,500 h, functionality: fully functional, machine/vehicle number: Robot: 2400-100778 / Controller: 2400-101444, overall weight: 515 kg, load capacity: 16 kg, arm reach: 1,550 mm, ABB industrial robot with IRB 2400 M2004 (2400/16 Type B Foundry Plus) manipulator and IRC5 Single controller for industrial automation applications. Condition: used and tested. Typical applications include handling, assembly, machining, and general automation. Payload: 16 kg with a reach of 1550 mm. System year: 2017, with 13,500 operating hours and RobotWare Version 6.04.01.00 software. Equipped with 3 cable sets, including controller and power cables, a FlexPendant programming device, and the software options World Zones, Path Recovery, Collision Detection, Multitasking, and Service Information System (SIS).
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Listing
Freiberg am Neckar
7,943 km
Industrial robot ABB IRB 2600-12/1.85
ABBIRB 2600-12/1.85
Call
Condition: used, Year of construction: 2017, operating hours: 2,509 h, functionality: fully functional, machine/vehicle number: Robot: 2600-109101 / Controller: 6700-101707, overall weight: 434 kg, load capacity: 12 kg, arm reach: 1,850 mm, ABB industrial robot featuring an IRB 2600-12/1.85 Foundry Plus Type B manipulator and an IRC5 M2004 controller, designed for industrial automation applications. The robot is used and has been tested. Typical applications include handling, foundry operations, assembly, and general automation. It has a payload capacity of 12 kg with a reach of 1850 mm. Manufactured in 2017, it has 2509 operating hours and is running RobotWare 6.07.00.00 software. The robot is equipped with a FlexPendant teach pendant, a power cable, two connection cable sets, a floor mounting plate, and a Foundry Plus protection package.
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Listing
Freiberg am Neckar
7,943 km
Industrial robot ABB IRB 2600-20/1.65
ABBIRB 2600-20/1.65 Type A
Call
Condition: used, Year of construction: 2015, operating hours: 16,215 h, functionality: fully functional, machine/vehicle number: Robot: 2600-104749 / Controller: 2600-104749, overall weight: 422 kg, load capacity: 20 kg, arm reach: 1,650 mm, ABB industrial robot with IRB 2600-20/1.65 Type A manipulator and IRC5 M2004 controller for industrial automation applications. The unit is used and has been tested. Typical applications include handling, assembly, machining, and general automation. The payload is 20 kg with a reach of 1650 mm. Manufactured in 2015, it has 16,215 operating hours and runs RobotWare software version 5.61.8001.08. It is equipped with a FlexPendant teach pendant, a power cable, and two connection cable sets.
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Listing
Freiberg am Neckar
7,943 km
Industrial robot ABB IRB 4600-45/2.05
ABBIRB 4600-45/2.05 Type C
Call
Condition: used, Year of construction: 2013, operating hours: 12,310 h, functionality: fully functional, overall weight: 575 kg, load capacity: 45 kg, arm reach: 2,050 mm, ABB industrial robot featuring an IRB 4600-45/2.05 Type C manipulator and an IRC5 M2004 controller, designed for industrial automation applications. The unit is used and has been tested. Typical applications include handling, assembly, machining, and general automation. It has a payload capacity of 45 kg and a reach of 2050 mm. Manufactured in 2013, it has accumulated 12,310 operating hours and is running RobotWare software version 5.15.0266.00. It is equipped with a FlexPendant teach pendant, two connection cable sets, and a power cable.
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Listing
Freiberg am Neckar
7,943 km
Industrial robot ABB IRB 4600-45/2.05
ABBIRB 4600-45/2.05
Call
Condition: used, Year of construction: 2014, operating hours: 11,447 h, functionality: fully functional, machine/vehicle number: Robot: 4600-101619 / Controller: 4600-101619, overall weight: 575 kg, load capacity: 45 kg, arm reach: 2,050 mm, ABB industrial robot with IRB 4600-45/2.05 manipulator and IRC5 M2004 controller for industrial automation applications. The unit is used and has been tested. Typical applications include handling, assembly, machining, and general automation. The payload is 45 kg with a reach of 2050 mm. It was manufactured in 2014 and has 11,447 operating hours. It is equipped with RobotWare 5.61.01.00.1001 software. It comes with a FlexPendant teach pendant, a connection cable set, a power cable, and a standard protection system.
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Listing
Freiberg am Neckar
7,943 km
Industrial Robot ABB IRB 6640-185/2.8
ABBIRB 6640-185/2.8
Call
Condition: used, Year of construction: 2010, functionality: fully functional, overall weight: 1,483 kg, load capacity: 185 kg, arm reach: 2,800 mm, ABB industrial robot with IRB 6640-185/2.8 Foundry Plus manipulator and IRC5 M2004 controller for industrial automation processes. The condition is used and tested. Typical applications include handling, foundry applications, machining, and general automation. The payload is 185 kg with a reach of 2800 mm. Manufactured in 2010, it has 47,532 operating hours and RobotWare 5.12.4003.04 software. It is equipped with a FlexPendant teach pendant, a robot connection cable set, a power cable, and a Foundry Plus protection version.
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Listing
Freiberg am Neckar
7,943 km
Industrial robot ABB IRB 4600-60/2.05
ABB2x IRB 4600-60/2.05 Type C
Call
Condition: used, Year of construction: 2014, operating hours: 33,394 h, functionality: fully functional, machine/vehicle number: Roboter: 4600-101312 & 4600-101313 / Steuerung:, overall weight: 1,150 kg, load capacity: 60 kg, arm reach: 2,050 mm, ABB industrial robot dual system with 2x IRB 4600-60/2.05 Type C and IRC5 M2004 dual controller for industrial automation processes. Condition: used and tested. Typical applications include handling, assembly, machining, and synchronized automation tasks. Payload: 60 kg with a reach of 2050 mm, manufactured in 2014, with 33,394 operating hours and RobotWare 5.15.9100.10 software. Equipped with an ABB FlexPendant programming teach pendant, 2x interconnect cable sets, and software options including MultiMove Independent 604-2, Multitasking 623-1, PROFINET IO m/s, DeviceNet Master/Slave, and PC Interface.
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Listing
Freiberg am Neckar
7,943 km
Industrial robot ABB IRB 4600-40/2.55
ABBIRB 4600-40/2.55 Type C
Call
Condition: used, Year of construction: 2018, operating hours: 7,490 h, functionality: fully functional, machine/vehicle number: Robot: 4600-107494 / Controller: 4600-107494, overall weight: 538 kg, load capacity: 40 kg, arm reach: 2,550 mm, ABB industrial robot with IRB 4600 manipulator (variant: IRB 4600-40/2.55 Type C) and IRC5 Single controller for industrial automation applications. Condition: used and tested. Typical applications include handling, assembly, machining, and general automation. Payload: 40 kg with a reach of 2550 mm. Year of manufacture: 2018. Operating hours: 7490. Software: RobotWare RW 6.07.01.00. Equipped with an ABB FlexPendant programming device, connection cable set, and a Foundry Plus protective version with a label bearing the inscription “Foundry Plus”.
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Listing
Freiberg am Neckar
7,943 km
Industrial robot ABB IRB 4600-40/2.55
ABBIRB 4600-40/2.55 Type C
Call
Condition: used, Year of construction: 2017, operating hours: 18,243 h, functionality: fully functional, machine/vehicle number: Robot: 4600-105209 / Controller: 4600-105209, overall weight: 562 kg, load capacity: 40 kg, arm reach: 2,550 mm, ABB industrial robot with IRB 4600 manipulator (variant: IRB 4600-40/2.55 Type C) and IRC5 Single controller for industrial automation applications. Condition: used and tested. Typical applications include handling, assembly, machining, and general automation. Payload: 40 kg with a reach of 2550 mm, manufactured in 2017, with 18,243 operating hours and RobotWare RW 6.05.00.00 software. Equipped with an ABB FlexPendant teach pendant and a connection cable set.
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Listing
Freiberg am Neckar
7,943 km
Industrial robot ABB IRB 4600-40/2.55
ABBIRB 4600-40/2.55 Type C
Call
Condition: used, Year of construction: 2022, operating hours: 9,118 h, functionality: fully functional, machine/vehicle number: Robot: 4600-110103 / Controller: 4600-110103, overall weight: 585 kg, load capacity: 40 kg, arm reach: 2,550 mm, ABB industrial robot with IRB 4600 manipulator (variant: IRB 4600-40/2.55 Type C) and IRC5 Single controller for industrial automation applications. Condition is used and tested. Typical applications include handling, assembly, machining, and general automation. Payload is 40 kg with a reach of 2550 mm, manufactured in 2020, with 9118 operating hours, and RobotWare RW 6.10.02.00 software. Equipped with an ABB FlexPendant programming pendant, a connection cable set, and a Foundry Plus protection version with a “Foundry Plus” label.
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Listing
Freiberg am Neckar
7,943 km
Industrial robot ABB IRB 4600-40/2.55
ABBIRB 4600-40/2.55 Type C
Call
Condition: used, Year of construction: 2022, operating hours: 9,652 h, functionality: fully functional, machine/vehicle number: Robot: 4600-109931 / Controller: 4600-109931, overall weight: 585 kg, load capacity: 40 kg, arm reach: 2,550 mm, ABB industrial robot with IRB 4600 manipulator (variant: IRB 4600-40/2.55 Type C) and IRC5 Single controller for industrial automation applications. The unit is used and has been tested. Typical applications include handling, assembly, machining, and general automation. The payload is 40 kg, with a reach of 2550 mm. It was manufactured in 2020 and has 9652 operating hours. The software version is RobotWare RW 6.10.01.00. It is equipped with an ABB FlexPendant teach pendant, a connection cable set, and a Foundry Plus protective version, indicated by the “Foundry Plus” marking.
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Listing
Freiberg am Neckar
7,943 km
Industrial robot ABB IRB 4600-40/2.55 Type
ABBIRB 4600-40/2.55 Type C
Call
Condition: used, Year of construction: 2019, operating hours: 9,580 h, functionality: fully functional, machine/vehicle number: Robot: 4600-109272 / Controller: 4600-109272, overall weight: 570 kg, load capacity: 40 kg, arm reach: 2,550 mm, ABB industrial robot with IRB 4600 manipulator (variant: IRB 4600-40/2.55 Type C) and IRC5 Single controller for industrial automation applications. Condition: used and tested. Typical applications include handling, assembly, machining, and general automation. Payload: 40 kg with a reach of 2550 mm, manufactured in 2019, with 9580 operating hours. Equipped with ABB FlexPendant programming device, connection cable set, and Foundry Plus protection version with “Foundry Plus” marking.
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Listing
Freiberg am Neckar
7,943 km
Industrial robot ABB IRB 6640-205/2.75
ABBIRB 6640-205/2.75
Call
Condition: used, Year of construction: 2011, operating hours: 26,179 h, functionality: fully functional, machine/vehicle number: Roboter: 66-72943 / Steuerung: 66-72943, overall weight: 1,467 kg, load capacity: 205 kg, arm reach: 2,750 mm, ABB industrial robot with IRB 6640 M2004 manipulator (variant: IRB 6640-205/2.75) and IRC5 M2004 controller for industrial automation applications. The condition is used and tested. Typical applications include handling, assembly, machining, and general automation. The payload is 205 kg with a reach of 2750 mm, manufactured in 2011, with 26,179 operating hours and RobotWare RW 5.15_15.01.9157 software. Equipped with an ABB FlexPendant programming teach pendant, a connection cable set, and a cable management system on the robot arm.
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Listing
Freiberg am Neckar
7,943 km
Industrial robot ABB IRB 6640-205/2.75
ABBIRB 6640-205/2.75
Call
Condition: used, Year of construction: 2011, operating hours: 21,365 h, functionality: fully functional, machine/vehicle number: Roboter: 66-78309 / Steuerung: 66-72035, overall weight: 1,467 kg, load capacity: 205 kg, arm reach: 2,750 mm, ABB industrial robot with IRB 6640 M2004 manipulator (IRB 6640-205/2.75 Standard Absolute Accuracy) and IRC5 M2004 controller for industrial automation applications. The condition is used and has been tested. Typical applications include handling, assembly, machining, and general automation. The payload capacity is 205 kg with a reach of 2750 mm. The system was manufactured in 2011 and has 21,365 operating hours. The software version is RobotWare RW 5.15_15.01.9157. It is equipped with a heavy-duty main connection cable for power and data transmission, a power supply cable, a FlexPendant teach pendant, a heavy-duty mounting base, and the following software options: Absolute Accuracy, World Zones, Path Recovery, Collision Detection, FTP and NFS Client, and Multitasking.
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Listing
Freiberg am Neckar
7,943 km
Industrial robot ABB IRB 6640-130/3.2
ABBIRB 6640-130/3.2
Call
Condition: used, Year of construction: 2010, operating hours: 46,148 h, functionality: fully functional, machine/vehicle number: Roboter: 66-66458 / Steuerung: 66-66458, overall weight: 1,564 kg, load capacity: 130 kg, arm reach: 3,200 mm, ABB industrial robot with IRB 6640 M2004 (variant: IRB 6640-130/3.2) manipulator and IRC5 M2004 controller for industrial automation applications. The unit is used and has been tested. Typical applications include handling, assembly, machining, and general automation. The payload is 130 kg with a reach of 3200 mm; it was manufactured in 2010 and has 46,148 operating hours. The software version is RobotWare RW 5.13.1037.01. It is equipped with an ABB FlexPendant programming pendant, a connection cable set, a cable management system (dresspack) on the robot arm, and a Foundry Prime protective version with a “FOUNDRY 2” label.
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Listing
Freiberg am Neckar
7,943 km
Industrial robot ABB IRB 6640-180/2.55
ABBIRB 6640-180/2.55
Call
Condition: used, Year of construction: 2013, operating hours: 20,684 h, functionality: fully functional, machine/vehicle number: Roboter: 6640-105413 / Steuerung: 6640-105413, overall weight: 1,460 kg, load capacity: 180 kg, arm reach: 2,550 mm, ABB industrial robot with IRB 6640 M2004 manipulator (IRB 6640-180/2.55 Standard) and IRC5 M2004 controller for industrial automation applications. The unit is used and has been tested. Typical applications include handling, assembly, machining, and general automation. The payload is 180 kg with a reach of 2550 mm, manufactured in 2013, with 20,684 operating hours and RobotWare software version RW5.15_02.00.2005. It is equipped with a main connection cable for power and data, a power supply cable, a FlexPendant programming device, resolver offset values on the housing, and the following software options: German, World Zones, Path Recovery, Collision Detection, and Multitasking.
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Listing
Freiberg am Neckar
7,943 km
Industrial robot ABB IRB 6640-235/2.55
ABBIRB 6640-235/2.55
Call
Condition: used, Year of construction: 2011, operating hours: 18,693 h, functionality: fully functional, overall weight: 1,465 kg, load capacity: 235 kg, arm reach: 2,550 mm, ABB industrial robot with IRB 6640 M2004 manipulator (IRB 6640-235/2.55 Standard Absolute Accuracy) and IRC5 M2004 controller for industrial automation applications. The unit is used. Typical applications include handling, assembly, machining, and general automation. The payload is 235 kg with a reach of 2550 mm. It was manufactured in 2011 and has 18,693 operating hours. The installed software is RobotWare Version RW5.15_15.01.9157 (or 5.15.9157.15). It is equipped with a main connection cable for power and data, a FlexPendant programming device, a heavy-duty mounting base, and the following software options: Absolute Accuracy, SafeMove, German language support, World Zones, Path Recovery, Collision Detection, FTP and NFS Client, and Multitasking.
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Listing
Freiberg am Neckar
7,943 km
ABB industrial robot
ABBIRB 2600-12/1.85 Type B
Call
Condition: used, Year of construction: 2017, operating hours: 1,452 h, functionality: fully functional, machine/vehicle number: Roboter: 2600-107871 / Steuerung: 2600-107871, overall weight: 417 kg, load capacity: 12 kg, arm reach: 1,850 mm, ABB industrial robot featuring an IRB 2600-12/1.85 Type B manipulator and an IRC5 Single controller, designed for industrial automation applications. The unit is used and has been tested. Typical applications include handling, assembly, machining, and general automation. It has a payload capacity of 12 kg and a reach of 1850 mm. Manufactured in 2017, it has 1452 operating hours and is running RobotWare Version 6.04.01.00. It is equipped with two cable sets for power and control connections, a FlexPendant DSQC 679 teach pendant, a transport frame/mounting base located under the manipulator, and the software options World Zones, Path Recovery, and Collision Detection.
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