1. Role & Application**
– **Function**: Converts high-speed, low-torque motor input into low-speed, high-torque output for precise joint movement in the robot arm.
– **Robot Compatibility**: Primarily used in the **IRB660**, likely in critical axes (e.g., Axis 1, 2, or 3) handling heavy loads or repetitive motions.
– **Technology**: Likely an **RV (Rotary Vector) reducer** or **planetary gearbox**, common in ABB robots for high rigidity, torque density, and minimal backlash.

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