ABB-IRC5-IRC5 Product Reference Manual 3HAC021313-001 - Part2 - Reva - en

Product manual (part 2 of 2), reference information
Robot Controller
IRC5 M2004
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Product manual (part 2 of 2), reference information IRC5

M2004 Document ID: 3HAC021313-001 Revision: A
The information in this manual is subject to change without notice and should not be construed as a commitment by ABB. ABB assumes no responsibility for any errors that may appear in this manual. Except as may be expressly stated anywhere in this manual, nothing herein shall be construed as any kind of guarantee or warranty by ABB for losses, damages to persons or property, fitness for a specific purpose or the like. In no event shall ABB be liable for incidental or consequential damages arising from use of this manual and products described herein. This manual and parts thereof must not be reproduced or copied without ABBs written permission, and contents thereof must not be imparted to a third party nor be used for any unauthorized purpose. Contravention will be prosecuted. Additional copies of this manual may be obtained from ABB at its then current charge.
Copyright 2004 ABB All right reserved. ABB Automation Technologies AB Robotics SE-721 68 Vsters Sweden
Table of Contents
Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4 Product documentation, M2004 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 1 Reference information, IRC5 7
1.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7 1.2 Applicable Safety Standards. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8 1.3 Unit conversion. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9 1.4 Screw joints . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10 1.5 Weight specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11 1.6 Standard toolkit, IRC5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12 1.7 Document references . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13 1.8 Lifting equipment and lifting instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15 2 Spare Parts 17
2.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17 2.2 Spare Parts IRC5, Control module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18 2.3 Spare Parts IRC5, Drive module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21 3 Circuit Diagram 23
3.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
3HAC021313-001
Overview
Overview
About This Manual This manual contains reference information for all procedures described in the Product manual procedures. Usage This manual should be used during: operation, installation... installation maintenance work repair work.
Who Should Read This Manual? This manual is intended for: Prerequisites The reader should... be a trained maintenance/repair craftsman have the required knowledge of mechanical and electrical installation/maintenance/ repair work. installation personnel maintenance personnel repair personnel.
Organization of Chapters The manual is organized in the following chapters: Chapter

Reference information
Contents
Useful information when performing installation, maintenance or repair work (lists of necessary tools, reference documents, safety standards). List of controller spare parts. Circuit Diagram of the controller.
Spare part list Circuit diagram
References See section document references. Revisions Revision

-
Description
First edition
3HAC021313-001
Product documentation, M2004

General The robot documentation may be divided into a number of categories. This listing is based on the type of information contained within the documents, regardless of whether the products are standard or optional. This means that any given delivery of robot products will not contain all documents listed, only the ones pertaining to the equipment delivered. However, all documents listed may be ordered from ABB. The documents listed are valid for M2004 robot systems. Hardware manuals All hardware, robots and controller cabinets, will be delivered with a Product manual which is divided into two parts: Product manual, procedures Safety information Installation and commissioning (descriptions of mechanical installation, electrical connections and loading system software) Maintenance (descriptions of all required preventive maintenance procedures including intervals) Repair (descriptions of all recommended repair procedures including spare parts) Additional procedures, if any (calibration, decommissioning)
Product manual, reference information RobotWare manuals The following manuals describe the robot software in general and contain relevant reference information: RAPID Overview: An overview of the RAPID programming language. RAPID reference manual part 1: Description of all RAPID instructions. RAPID reference manual part 2: Description of all RAPID functions and data types. Technical reference manual - System parameters: Description of system parameters and configuration workflows. Reference information (article numbers for documentation referred to in Product manual, procedures, lists of tools, safety standards) Part list Foldouts or exploded views Circuit diagrams
Application manuals Specific applications (e.g. software or hardware options) are described in Application manuals. An application manual can describe one or several applications. An application manual generally contains information about:
3HAC021313-001
The purpose of the application (what it does and when it is useful) What is included (e.g. cables, I/O boards, RAPID instructions, system parameters)
A 5
Operators manuals
How to use the application Examples of how to use the application
This group of manuals is aimed at those having first hand operational contact with the robot, i.e. production cell operators, programmers and trouble shooters. The group of manuals include: Miscellaneous A number of manuals provide generic descriptions of the robot and robot system. These include: Robot fundamentals (describing the fundamental aspects, functions, concept and similar, of a robot system to provide a basic understanding of the robot system) Operators manual - IRC5 with FlexPendant Operators manual - RobotStudioOnline Trouble shooting Manual for the controller and robot
3HAC021313-001
1 Reference information, IRC5

1.1. Introduction

1.1. Introduction
General This chapter includes general information, complementing the more specific information in the following chapters.
3HAC021313-001

1.2. Applicable Safety Standards
1.2. Applicable Safety Standards

Standards, general The robot is designed in accordance with the requirements of: Standards, safety fence The following standards are applicable to the safety fence surrounding the robot cell: Standards, robot cell The following standards are applicable when the robot is part of a robot cell: IEN 294, Safety of machinery - Safety distance to prevent danger zones being reached by the upper limbs. EN 349, Safety of machinery - Minimum gaps to avoid crushing of parts of the human body. EN 811 Safety of machinery - Safety distance to prevent danger zones being reached by the lower limbs. Pr EN 999 Safety of machinery - The positioning of protective equipment in respect of approach speeds of the human body. EN 1088 Safety of machinery - Interlocking device associated with guards principles for design and selection. ISO/DIS 11161, Industrial automation systems -safety of integrated manufacturing systems - Basic requirements prEN 999:1995 ISO10218, Jan. 1992, Industrial Robot Safety ANSI/RIA 15.06-1999 ISO/DIS 11161, Industrial automation systems - safety of integrated manufacturing systems - Basic requirements DIN 19258 - Interbus-S, International Standard
3HAC021313-001

1.3. Unit conversion
1.3. Unit conversion

Converter table Use the table below to convert units used in this manual.
Quantity
Length Weight Pressure Force Moment Volume
Units
1m 1 kg 1 bar 1N 1 Nm 1L 3.28 ft 2.21 lb 100 kPa 0.738 lbf 0.738 lbf-tn 0.264 US gal 14.5 psi 39.37 in
3HAC021313-001

1.4. Screw joints
1.4. Screw joints

General This section details how to tighten the various types of screw joints on the controller. The instructions and torque values are valid for screw joints comprised of metallic materials and do not apply to soft or brittle materials. Tightening torque Before tightening any screw, note the following: Determine whether a standard tightening torque or special torque is to be applied. The standard torques are specified in the tables below. Any special torques are specified in the Repair, Maintenance or Installation procedure description. Any special torque specified overrides the standard value. Use the correct tightening torque for each type of screw joint. Only use correctly calibrated torque keys. Always tighten the joint by hand, and never use pneumatical tools Use the correct tightening technique, i.e. do not jerk. Tighten the screw in a slow, flowing motion. Maximum allowed total deviation from the specified value is 10%!
The table below specify the recommended standard tightening torque for oil-lubricated screws with slotted or cross-recess head screws.
Dimension
M2.5 M3 M4 M5 M6
Tightening torque (Nm) Class 4.8, oil-lubricated

0.25 0.5 1.2 2.5 5.0
10
3HAC021313-001

1.5. Weight specifications
1.5. Weight specifications

Definition In all repair and maintenance instructions, weights of the components handled are sometimes specified. All components exceeding 22 kg (50 lbs) are high-lighted in this way. To avoid injury, ABB recommends the use of lifting equipment when handling components with a weight exceeding 22 kg. Example Below is an example of how a weight specification is presented: CAUTION! Caution! The transformer weighs 55 kg! All lifting equipment used must be sized accordingly!
3HAC021313-001
11

1.6. Standard toolkit, IRC5
1.6. Standard toolkit, IRC5

General All service (repair, maintenance and installation) instructions contain lists of tools required to perform the specified activity. All special tools, i.e. all tools that are not considered standard as defined below, are listed in their instructions respectively. This way, the tools required are the sum of the Standard Toolkit and any tools listed in the instruction. Contents Tool
Screw driver, Torx Screw driver, Torx Ball tipped screw driver, Torx Screw driver, flat blade Screw driver, flat blade Screw driver, flat blade Screw driver Box spanner
Remark
Tx10 Tx25 Tx25 4 mm 8 mm 12 mm Phillips-1 8 mm
12
3HAC021313-001

1.7. Document references

General The contents of this manual may include references to additional documentation necessary to perform certain procedures. This section specifies the article numbers for the referenced documentaion. Product specification, controller The product specification includes generic technical data. The specification listed below is the English version.
Document name
Product Specification - IRC5 with FlexPendant
Document ID
3HAC021785-001
Operators manual The operators manual contains instructions for daily operation of robot systems. The operators manual listed below is the English version.
Document name
Operators manual - IRC5 with FlexPendant
Document ID
3HAC 16590-1
Note
Application documentation Document name

Trouble shooting manual - IRC5 Operators manual - RobotStudio Online
Document ID
3HAC 020738-001 3HAC 18236-1
Getting started - IRC5 and RobotStudio Online 3HAC 021564-001
Product manual, robot The product manuals include information about installation and service activities. The table below specifies the article numbers of the product mnauals for all robot models. The part number -001 is the English version.
Document name
Product manual, IRB 140 Product manual, IRB 1400 Product manual, IRB 2400 Product manual, IRB 4400 Product manual, IRB 6600/6650 type A Product manual, IRB 6600/6650 type B Product manual, IRB 6650S
Document ID
3HAC 021111-001 3HAC 022031-001 3HAC 022032-001 3HAC 020938-001 3HAC 023082-001 3HAC 020993-001
3HAC021313-001
13

Document name
Product manual, IRB 7600 Product manual, IRB 940
Document ID
3HAC 022033-001 3HAC 022054-001
14
3HAC021313-001

1.8. Lifting equipment and lifting instructions

General Many repair and maintenance activities require different pieces of lifting equipment, which are specified in each procedure. The use of each piece of lifting equipment is not detailed in the activity procedure, but in the instruction delivered with each piece of lifting equipment. This implies that the instructions delivered with the lifting equipment should be stored for later reference.
3HAC021313-001
15

16
3HAC021313-001
2 Spare Parts
2.1. Introduction
2 Spare Parts
2.1. Introduction
Definitions This chapter specifies all spare parts and replacement articles of the IRC5 controller.
3HAC021313-001
17
2 Spare Parts
2.2. Spare Parts IRC5, Control module

Control cabinet
xx0400001234
Spare parts Pos

A21
Spare part number

3HAC020665-001 3HAC020901-001 3HAC020901-002 3HAC14605-1 3HAC020586-001 3HAC021009-001 3HNE01586-1 3HAC14944-1 3HAC11819-1 3HAC5579-1 3HAC5577-1 3HNE00009-1 3HNE00006-1 3HAB9715-1 3HAB7342-1 3HAB9743-1 3HAC1836-1 3HAB9664-1 3
Description
Panel Board Unit Control panel 2-pos mode Control panel 3-pos mode Junction board DSQC616 Harness,Panel board/ GTPU Harness-Panel board/Fan u Queue Tracker RS-232/422 converter Interbus slave with Cu InterBus-S adap. Profibus-DP adap Profibus DP Slave unit Interbus-S Unit Multipole con. X1-X4 10p Multipole con.set X7,X8 Multipole con. X1-X4 16p Multipole con. X3 5p Multipole con. X6 6p
Note
DSQC 615
18
3HAC021313-001
2 Spare Parts
Pos
Spare part number

3HAC0053-1 3HAB9764-1 3HAC17970-1 3HAC12934-1 3HAC17971-1 3HAC17973-1 3HAC020892-001 3HAC020890-029 3HAC12817-1 3HAC15639-1 3HNE00554-1 3HNE00065-1 3HNE00025-1 Mains connection and power supply 3HAC020953-002
Description
Multipole con. X8,X9 4p Multip. connector female Dig. 24 VDC I/O Customer I/O Power Supply A D Combi I/O Dig. Relay I/O Heat exchanger unit Customer contact plate DeviceNet M/S Ethernet board Analog I/O Unit Circuit board Circuit board RIO
Note
DSQC 328A DSQC 608 DSQC 327A DSQC 332A
DSQC 603 DSQC 612 APIP-02 ENC-01
Transformer module Backup energy bank Control Power Supply Customer I/O Power supply
1,8kVA DSQC624 DSQC 604 DSQC 608
G3 G2 G4-G5
3HAC020150-001 3HAC12928-1 3HAC12934-1
3HAC021313-001
19
2 Spare Parts
Computer unit
xx0400001236
Spare parts Pos

A3 A3
Spare part number

3HAC020929-001 3HAC020929-002 3HAC12816-1 3HAC020464-001 3HAC020988-001 3HAC020988-002 3HAC020988-003 3HAC 12814-1 3HAC020079-001 3HAC020988-006
Description
Computer A, SSD Computer B, HDD Robot com. card Power supply Mass memory Mass memory Mass memory Main computer board Main computer board Fans
Note
Solid State drive Hard disk drive DSQC 602 DSQC 625 1xHDD 2xHDD 1xSSD DSQC 600 DSQC 623
20
3HAC021313-001
2 Spare Parts
2.3. Spare Parts IRC5, Drive module

Drive cabinet
xx0400001235
Spare parts Spare part number

3HAC14546-1 3HAC14546-2 3HAC14546-3 3HAC14546-4 3HAC14546-6 3HAC14550-1 3HAC14550-2 3HAC14550-3 3HAC14550-4 3HAC14549-1 3HAC14549-2
Pos
A41.1 A41.1 A41.1 A41.1 A41.1 A41.1.3-5 A41.1.3-5 A41.1.3-5 A41.1.3-5 A41.2 A41.2
Description
Main servo drive unit Main servo drive unit Main servo drive unit Main servo drive unit Main servo drive unit Single servo drive unit Single servo drive unit Single servo drive unit Single servo drive unit Rectifier Rectifier
Info
DSQC 617_3B3A DSQC 617_2E2C2B DSQC 617_3E1C DSQC 617_3G3T DSQC 617_3G3W DSQC 619_C DSQC 619_T DSQC 619_U DSQC 619_W
3HAC021313-001
21
2 Spare Parts
Pos
A41.2 A41.3 A41.3 A41.3
Spare part number

3HAC14549-3 3HAC14551-1 3HAC14551-2 3HAC14551-3 3HAC17281-1
Description
Rectifier Capacitor unit Capacitor unit Capacitor unit DC-bus bar
Info
DC_L6 long busbar with six connector groups DC_S2short busbar with two connector groups DSQC 626 DSQC 627 DSQC 601 8,5kVA 13kVA 1,8kVA 24VDC
3HAC17281-3
DC-bus bar
G1 G1 A42 A43
3HAC020465-001 3HAC020466-001 3HAC020919-001 3HAC13389-2 3HAC020953-003 3HAC020953-004 3HAC020953-006 3HAC6647-1 3HAC020900-001 3HAC12924-3 3HAC020953-001 3HAC7097-1 FlexPendant 3HAC12929-1 3HAC11266-1 3HAC12929-4 3HAC11266-4
Drive system power supply Drive system power supply Axis computer Transformer module Transformer module Transformer module Duty time counter Brake resistor bleeder Fan Fan holder with fans Mains line filter FlexPendant with cable FlexPendant Cable FlexPendant with cable FlexPendant Cable
Contactor Interface board DSQC 611
10m 10m 30m 30m
22
3HAC021313-001
3 Circuit Diagram
3.1. Introduction
3 Circuit Diagram
3.1. Introduction
Definitions This chapter specifies the circuit diagram of the IRC5 controller.
3HAC021313-001
23
3 Circuit Diagram
3.1. Introduction
24
3HAC021313-001
EPLAN
The information in this document is subject to change without notice and should not be construed as a commitment by ABB. ABB assumes no responsibility for any errors that may appear in this document.
In no event shall ABB be liable for incidental or consequential damages arising from use of this document or of the software and hardware described in this document.
We reserve all rights in this document and in the information contained therein.Reproduction, use or disclosure to third parties without express authority is strictly forbidden.
Additional copies of this document may be obtained from ABB at its then current charge.
We reserve all rights in this document and in the information contained therein.Reproduction, use or disclosure to third parties without express authority is strictly forbidden. Copyright 2003 ABB
Copyright 2004 ABB All right reserved.
ABB Automation Technologies AB Robotics SE-721 68 Vsters Sweden
Lab/Office:
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Status:
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Title page
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EPLAN
Phone :
: : : 3HAC020538-002_Control :
: 2004-09-28 : : : : : : :
2004-05-05
Customer Robot serial number(s) Drawing number Drawing version
Manufacture Type Type of installation Control cabinet Mains voltage Supply Control voltage Year of construction
: : : : : : : jsundin1 2004-09-28 42
Lab/Office:
Project start Project manager Last revision Designed by Designed date Number of pages
Latest revision:
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EPLAN
Title page
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3HAC020538-002 02
Table of contents
Date 2004-09-24 2004-09-24 2004-09-24 2004-09-24 2004-09-24 2004-09-24 2004-09-24 2004-09-24 2004-09-24 2004-09-24 2004-09-24 2004-09-24 2004-09-24 2004-09-24 2004-09-24 2004-09-24 2004-09-24 2004-09-24 2004-09-24 2004-09-24 2004-09-24 2004-09-24 2004-09-24 2004-09-24 2004-09-24 2004-09-24 2004-09-24 2004-09-24 2004-09-24 2004-09-24
DIN_INV_30_1
Plant
Location
Editor
Page 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30
DOKUMENTEDKB DOKUMENTEDKB DOKUMENTEINV DOKUMENTEINV CM ORT CM ORT CM ORT CM ORT CM ORT CM ORT CM ORT CM ORT CM ORT CM ORT CM ORT CM ORT CM ORT CM ORT CM ORT CM ORT CM ORT CM ORT CM ORT CM ORT CM ORT CM ORT CM ORT CM ORT CM ORT CM ORT
Page description Title page Title page Table of contents: (1 - 30) Table of contents: (31 - 42) BLOCK DIAGRAM VIEW OF CONTROL MODULE MAINS CONNECTION POWER SUPPLY OPTION: POWER SUPPLY EMERGENCY STOP RUN CHAIN OPERATING MODE SELECTOR, 3 MOD EMERGENCY STOP RUN CHAIN RUN CHAIN OPERATING MODE SELECTOR, 2 MOD RUN CHAIN EXT OPERATING MODE SELECTOR, 2 RUN CHAIN EXT OPERATING MODE SELECTOR, 3 FPU, FLEXPENDANT OPTION: EXTERNAL CONNECTIONSYSTEM SIGNAL VIEW OF COMPUTER UNIT CABLING IN COMPUTER UNIT CABLING IN COMPUTER UNIT COMPUTER UNITCOOLING MAIN COMPUTER ROBOT COMMUNICATION CARD ROBOT COMMUNICATION CARD PROFIBUS DP M/S INTERBUS M/S DEVICENET ADAPTER DEVICENET ADAPTER DUAL RS232 CARD
Page supplementary field Approved Approved Approved Approved Approved Approved Approved Approved Approved Approved Approved Approved Approved Approved Approved Approved Approved Approved Approved Approved Approved Approved Approved Approved Approved Approved Approved Approved Approved Approved
jsundin1 jsundin1 jsundin1 jsundin1 jsundin1 jsundin1 jsundin1 jsundin1 jsundin1 jsundin1 jsundin1 jsundin1 jsundin1 jsundin1 jsundin1 jsundin1 jsundin1 jsundin1 jsundin1 jsundin1 jsundin1 jsundin1 jsundin1 jsundin1 jsundin1 jsundin1 jsundin1 jsundin1 jsundin1 jsundin1
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= DOKUMENTE Plant: + INV Location: Sublocation: + Rev. Ind Page 3 Next 4 Total 42
Table of contents
Date 2004-09-24 2004-09-24 2004-09-24 2004-09-24 2004-09-24 2004-09-24 2004-09-24 2004-09-24 2004-09-24 2004-09-24 2004-09-24 2004-09-24
DIN_INV_30_1
Plant
Location
Editor
Page 31 32 33 34 35 36 37 38 39 40 41 42
CM CM CM CM CM CM CM CM CM CM CM CM
ORT ORT ORT ORT ORT ORT ORT ORT ORT ORT ORT ORT
Page description ETHERNET CARD DIGITAL PART OF COMBI I/O ANDDIGITAL I/O DIGITAL I/O UNIT COMBI I/O UNIT RELAY I/O UNIT RELAY I/O UNIT RELAY I/O UNIT ANALOGUE I/O UNIT REMOTE I/O UNIT INTERBUS SLAVE PROFIBUS DP SLAVE ENCODER UNIT
Page supplementary field Approved Approved Approved Approved Approved Approved Approved Approved Approved Approved Approved Approved
jsundin1 jsundin1 jsundin1 jsundin1 jsundin1 jsundin1 jsundin1 jsundin1 jsundin1 jsundin1 jsundin1 jsundin1
Latest revision:
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Status:
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Document no.
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3HAC020538-002 02
230V
X20
Option Service outlet
Q2
XT16
T3
G3 G2
Ultra cap DC AC DC
A21 G6 G4
AC
Option Devicenet PS
Option Customer PS
Option Customer PS
G5
AC DC
AC DC
F5
A3
F4
Panel board
Computer module
Earth fault prot.

S21
I/Ox
I/O
unit
Field bus Drive USB Ethernet service
Drive
LAN
X22
Control panel
FPU
Service outlet
Customer connection
Customer connection
Latest revision:
Lab/Office:
Status:
Approved
EPLAN
BLOCK DIAGRAM
Document no.
Prepared by, date:
Approved by, date:
3HAC020538-002 02
= CM Plant: + ORT Location: Sublocation: + Rev. Ind Page 5 Next 6 Total 42
G4 G5 G2 G3 A3
A21 (Panel Board)
X4
X3
G6 if not G5 if G5 G6 in I/O unit.
X18 X20 X7 X18 X11
Q2
X5 X6 X1 X9 X2
S21.3 (emergency pb)
S21.2 (motor on pb)
Epwr EN1 AS1 AS2 GS1 GS2 SS1 SS2 ES1 ES2
S21.1 (mode selector)
X12 X15
X17 X14 X10

A22.X1 I/O2 I/O4 X28 I/O3 I/O1
X22 (opt service outlet)
X20
XS58 XS8 XS13 XS5 XS17 XT6 XT5

=CM+ORT/7 EPLAN CM
Origin
XS3 XT58 XT8
VIEW OF CONTROL MODULE
Approved 3HAC020538-002_Control
=CM+ORT/5
+ CM Page ORT Crea. for Crea. by
02
2004-09-24
Date
2004-09-28
Edit.
jsundin1
Check.
Modification
Date
Name
Standard
Page 6 42 Pg.
/8.3 / -230V AC1 /9.2 / -230V AC1 /9.5 / -230V AC1 /9.7 / -230V AC1
/8.3 / -230V AC2 /9.2 / -230V AC2 /9.5 / -230V AC2 /9.7 / -230V AC2
1
Latest revision:
Prepared by, date:

Approved by, date:
-X16
-181 -308
AWG16 BK AWG16 BK
DRIVE MODULE
CONTROL MODULE
181 181
-Q2
-X20
-X25
-173 -174
AWG16
BK L1 T1 BK L2 T2
-171 -172
L3 T3
AWG16 AWG16
BK BK
230V AC1 230V AC2
AWG16
2 GND
2 GND
-182 -309
AWG16 BK AWG16 BK
182 182
EPLAN
Lab/Office:
-187 -186
AWG16 BK AWG16 BK 5
MAINS CONNECTION
EARTH FAULT BREAKER
OPTION: SERVICE OUTLET
CIRCUIT BREAKER
-F5
-T3
=CM +X22
230V
-F4
AWG16 BK
Status:
-184 -185
AWG16 BK AWG16 BK
115V 7
-183
Document no.
Approved
2 4
1
0V
2
8
3HAC020538-002 02
/10.2 / -24V SYS /10.2 / -0V SYS

/10.2 / -24V COOL /10.2 / -0V COOL
/20.2 / -24V PC /20.2 / -24V PC /20.2 / -0V PC /20.2 / -0V PC
/23.6 / -USB +5V /23.6 / -USB-BP2 /23.6 / -USB-BP2

/23.6 / -USB_GND
1
Latest revision:
Prepared by, date:

Approved by, date:
=CM +G2
-X2
-250 -251 -252 -253
BU BU
1 2
BU 3 BU 4
PROCESS POWER SUPPLY
PANEL BOARD COMPUTER UNIT
24V SYS 24V COOL
-X1
1 5
-181 -182
AWG16 BK AWG16 BK
-230V AC1 / /7.1 -230V AC2 / /7.3
AC -INPUT
-X3
-301 -302 -303 -304
BU BU
24V PC
BU 3 BU 4
EPLAN + +
NC Lab/Office: NC
=CM -X1 +G3

1 2 3 4
-X4
1 2 3 4
+
5 5 5
6 6
ULTRA CAP
ULTRA CAP
7 8 +Sense 7 8
POWER SUPPLY
MAIN COMPUTER Status: Document no.
9 10
NC
10 6
-X5
AWG24
AWG28
RD
WH
USB
AWG28 AWG24
GN
3
BK
7 4
Approved
3HAC020538-002 02
/29.1 / -+24V devicenet
/32.1 / -+24V devicenet /32.1 / -0V devicenet

3

4
1
Latest revision:
Prepared by, date:

Approved by, date:
DEVICENET POWER SUPPLY =CM -X1 +G6
-X2
AC
+
-308 -309
AWG16 AWG16
BK BK
-230V AC1 / /7.2 -230V AC2 / /7.3

2
DC
/29.1 / -0V devicenet

GND
EPLAN
Lab/Office:
CUSTOMER POWER SUPPLY =CM -X1 +G4
-X2
24V I/O 0V I/O
181 182
-230V AC1 / /7.2 -230V AC2 / /7.3
AC
DC
5 3
Customer Connection
24V I/O
2
OPTION: POWER SUPPLY

Status: Document no.
0V I/O
6 4
CUSTOMER POWER SUPPLY =CM -X1 +G5
-X2
24V I/O 0V I/O
181 182
-230V AC1 / /7.2

7
AC
Approved
DC
-230V AC2 / /7.3
5 3
Customer Connection
24V I/O
2
0V I/O
4 8
3HAC020538-002 02
PANEL BOARD
=CM +A21
BU 1 BU 2 BU 3 BU 4
/8.2 / -24V SYS
-250
-X12
/8.2 / -0V SYS
-251
/8.2 / -24V COOL
-252
/8.2 / -0V COOL
-253
-X1 -X2
3 3 8 0V 4 24V PANEL 4 RunCh_0V RunCh+ 7 6 5
-X10
AWG20 AWG20 AWG20 AWG20
ES1 top ES2 top
-209 -211 -212 -210
-ES FPU 1:A / /17.2 -ES FPU 2:A / /17.2 -ES FPU 2:B / /17.2 -ES FPU 1:B / /17.2
JUNCTION BOARD
EXTERNAL EMERGENCY STOP PB

0V 24V Panel
Run CH1 top Run CH2 top

5 5
-S21.3
EMERGENCY PB -X9
17 18 13 14 11 ES panel 1:A ES panel 1:A ES panel 2:A ES panel 2:A ES panel 2:B ES panel 2:B 12 15 16 ES panel 1:B ES panel 1:B 11 12 21 22
EMERGENCY STOP OUTPUT 1

1 1
ES1OUT:A ES2 OUT:A
EMERGENCY STOP OUTPUT 2

2 2 RunCh_0V 9 9 RunCh+
ES2 OUT:B ES1OUT:B Sep ES2:A Sep ES1:A -ES1

U U
-237 -238 -233 -234 -231 -232 -235 -236
-ES2
Sep ES1:B
A2 A1 A1 10 7 7 8 8 24V PANEL A2 10
Sep ES2:B
EXTERNAL SUPPLY
-X11
1 2 3 4 0V 6 5
ES2 bottom ES1 bottom 0V 24V Panel
AWG24
OG BU
WHBU WHBN
-24V_Sig.ref. / /24.5 -RS485+ / /24.5 -RS485- / /24.5
ROBOT COMM. CARD -0V_Sig.ref. / /24.5

7 8 SOFT_ESO
ES1:int
6
Latest revision:
Lab/Office:
+ORT/12.6 / -RunCh+ +ORT/12.5 / -RunCh_0V +ORT/12.6 / -RCH2 +ORT/12.7 / -RCH1

ES1 ES2 SOFT_ESI
ES2:int
6
EMERGENCY STOP RELAY SIGNALS
Status:
Approved
EPLAN
EMERGENCY STOP
Document no.
Prepared by, date:
Approved by, date:
3HAC020538-002 02
PANEL BOARD
=CM +A21
-X3
General in1 General in2 2 General in3 General in4 4 General in5 General in6 6 General in7 General in8 8 0V +24V 10 9 10 General out1 General out2 AWG20 AWG20 AWG20 6 AWG20 AWG20 3 AWG20 2 AUTO2 MAN2 4 MAN FS2 AUTO1 MAN1 2 General out3 General out4 4 General out5 General out6 6 General out7 General out8 8 0V 9 7 5 7 3 8 8 9 7 7 9 5 4 AWG20 3 AWG20 3 2 AWG20 1 AWG20 AWG20 1
-X10
-205 -206 -207 -208 -213 -24V FPU_POWER / /17.2 -0V / /17.2 -EN1_1 / /17.2 -EN1_2 / /17.2 -FPU START / /17.2
JUNCTION BOARD
-X6
EN2_1A EN2_1B EN2_2A EN2_2B
OPTION EXTERNAL ENABLE DEVICE -S21.1.X1

3 2 1 4 7 6 5 8
-X4
1
EXT.MAN2
EXT.AUTO2
EXT MAN FS2
EXT.AUTO1 EXT.COMMON2
EXT.MAN1
EXT MAN FS1
=CM +A23
-ES2
>1
MODE SELECTOR -S21.1 6 1210

5
2 4 8 1
24V panel 0V
182224 17
141620 13
-ES1
WHOG AWG20 1 5 AWG20 OG 1 2 4 5 3 6 7 8 9 AWG20 19 10 BU
WHBU
-SUP_ST2
-X2
AWG26
-X20
-SUP_ST1
WHGN GN
WHBN
-220 -224
-GS2 0V
RS485+ RS48524V DC
MOTOR ON PB
-S21.2
AWG20 AWG20 MOTON 24V PANEL MONLMP 14 13
-GS1
BN
-AS2
-229 -228 -230
-AS1
X2
X1
-ENABLE1
OPTION: DOOR FAN 52

=CM +E3
-
+ORT/13.3 / -SPEED +ORT/12.5 / -EN1 +ORT/12.5 / -EN2 +ORT/12.5 / -MAN1 +ORT/12.4 / -MAN2
1~
+
24V PANEL
EXT COMPUTER FAN -X1

2 1
-X15
1 3
OP_COM OP_MAN
=CM +E2
2 2 1
TACHO
2 4 3
-362
AWG20 BU 3
BN
2
OP_AUTO OP_MAN_FS
FAN 0V
1
-363
AWG20 BU;BU
-360
AWG20 1
BK
3
Latest revision:
Lab/Office:
Status:
Approved
EPLAN Document no.
Prepared by, date:
Approved by, date:
RUN CHAIN OPERATING MODE SELECTOR, 3 MODES
3HAC020538-002 02
24V COOL
-X18 -364
AWG20 BU;BU
-361
AWG20
-X18
RD
-X1
M
-
EXT.COMMON1
OPTION: STATUS LED ON FRONT
-227 -226 -225 -223 -222 -221

MAN FS1
-245 -244 -243 -246 -241 -240 -239 -242
-X9
EMERGENCY STOP
+ORT/13.3 / -ENABLE2_1 +ORT/13.3 / -ENABLE2_2 +ORT/13.3 / -ENABLE2_3 +ORT/13.3 / -ENABLE2_4
1
Latest revision:
Prepared by, date:

Approved by, date:
AUTO STOP
GENERAL STOP
SUPERIOR STOP
GS1GS2+ GS2-
SS1+
AS1+
AS2GS1+
SS1SS2+
AS1AS2+
SS23 5
11
12
-X6
-X5
PANEL BOARD =CM +A21
4 1
2 4
8 10
3 5
7 1 6
24V PANEL 0V
24V PANEL 24V PANEL 0V 0V
SS2
SS2 SOFT SS
SS1
SS1
AS2
AS1
GS2
GS2 SOFT GS
GS1
GS1
AS2
AS1 4
EPLAN
Lab/Office: CH2
SOFT AS
-MAN2 / +ORT/11.4 -MAN1 / +ORT/11.4
-EN2 / +ORT/11.4 -EN1 / +ORT/11.4 -RunCh_0V / +ORT/10.5
&
-RunCh+ / +ORT/10.5
6
&
+ORT/13.4 / -RCH2
CH1
-RCH2 / +ORT/10.6
+ORT/13.4 / -RCH1
-RCH1 / +ORT/10.6
7
Approved
3HAC020538-002 02
PANEL BOARD
=CM +A21 +ORT/12.7 / -RCH1 +ORT/12.6 / -RCH2
CONTROL MODULE
-X7
0V 2 4 3 5 6 7 8 9 10 1
RUN CH1 RUN CH1Ret
24V PANEL
+ORT/11.4 / -SPEED +ORT/12.5 / -ENABLE2_1 +ORT/12.5 / -ENABLE2_2 +ORT/12.5 / -ENABLE2_3 +ORT/12.5 / -ENABLE2_4 -X8
0V 2 24V PANEL 3 5 6 7 8 9 10 4 1
RUN CH2Ret RUN CH2 SPEED 0V ENABLE2_1 ENABLE2_1Ret AC_ON1 0V
Drive module1 A43.X1
RUN CH1 RUN CH1Ret
if not used
Drive module2 A43.X1 if not used
-X14
0V 2 4 24V PANEL 3 5 6 7 8 9 10 1
RUN CH1 RUN CH1Ret

Drive module3 A43.X1 if not used
if not used
-X17
0V 2 4 24V PANEL 3 5 6 7 8 9 10 1
RUN CH1 RUN CH1Ret
Drive module4 A43.X1 if not used RUN CH2Ret RUN CH2 SPEED 0V ENABLE2_4 ENABLE2_4Ret AC_ON1 0V if not used
Lab/Office:
Latest revision:
Status:
Approved
EPLAN
RUN CHAIN
Document no.
Prepared by, date:
Approved by, date:
3HAC020538-002 02
-X9
-222
AWG20 BU AWG20 BU AWG20 BU AWG20 BU AUTO1 MAN1 AUTO2 MAN2 OG OG OG OG
-241 -240 -245 -244
EXT.AUTO1 EXT.MAN1
-S21.1.X1
7
-221
2
-226
7
EXT.AUTO2 3 EXT.MAN2 2
-225
6
OPTION
MODE SELECTOR
-S21.1
1 2 .5 6 14 .5 10 .5 3 5 9 7 11 13 15
-224
AWG20 BU AWG20 BU 24V panel 0V 5
-246 -242
OG OG
EXT.COMMON2 4 EXT.COMMON1 8
-220
1
MOTOR ON PB
-S21.2 -229
AWG20 BU AWG20 BU X2 AWG20 BU 24V PANEL MONLMP MOTON 14 13 10
-230
19
X1
-228
9
Lab/Office:
Latest revision:
Status:
Approved
EPLAN Document no.
Prepared by, date:
Approved by, date:
RUN CHAIN OPERATING MODE SELECTOR, 2 MODES
3HAC020538-002 02
CONTROL MODULE
EXT. CONTROL PANEL -Ext.A21.X9

AWG20 AWG20 AWG20 AWG20 AUTO1 MAN1 EXT.AUTO2 EXT.MAN2 3 2 AUTO2 EXT.MAN1 MAN2 EXT.AUTO1

3 2 7 6 7 6
-X9
-222 -221 -226 -225 -241 -240 -245 -244
-S21.1.X1
MODE SELECTOR
-S21.1
1 2 AWG20 AWG20 24V panel 0V .6 6 14 EXT.COMMON2 EXT.COMMON1 4 .6 10 .6 3 5 7 9 11 13 15
OPTION
5 1
-224 -220
-246 -242
MOTOR ON PB
-S21.2 -229
AWG20 AWG20 AWG20 24V PANEL MONLMP MOTON 14 10 19 13
10
19 9
-230 -228
X2
X1
-S21.3
ES panel 1:A ES panel 1:A ES panel 2:A ES panel 2:A ES panel 2:B ES panel 2:B ES panel 1:B ES panel 1:B 17 18 13 14 11 12 15 16
EMERGENCY PB
21 11 22 12
17
18
13
14
11
12
15
-237 -238 -233 -234 -231 -232 -235 -236
16
JUNCTION BOARD
=CM +A22
-X10
-X3
1 2 3 4 5 6 7
BN/BK BN/RD BN/OG BN/YE
24V TPU 0V EN1_1 EN1_2
BN/GN
TPU_START
8 9
ROBOT COMMUNICATION CARD

AWG24 WHOG OG WHGN GN 4 2 3
-X2
1
=CM +A32
-A8
TD+ TDRD+ RD-
Latest revision:
Lab/Office:
Status:
Approved
EPLAN Document no.
Prepared by, date:
Approved by, date:
RUN CHAIN EXT OPERATING MODE SELECTOR, 2 MODES
3HAC020538-002 02
CONTROL MODULE
EXT. CONTROL PANEL -Ext.A21..X9

AWG20 AWG20 EXT MAN FS2 EXT.AUTO1 EXT.MAN1 EXT MAN FS1 6 5 1 7 MAN1 EXT.MAN2 MAN FS1 EXT.AUTO2

8 7 6 4 AWG20 AWG20 AUTO2 3 2 MAN2 AUTO1 AWG20 AWG20 MAN FS2 3 2
-X9
-227 -226 -225
-S21.1.X1
-223 -222 -221
-245 -244 -243 -241 -240 -239
MODE SELECTOR
-S21.1 6 1210 5
AWG20 AWG20 24V panel 0V 5 .7
2 4 8 1
.7
182224 17
.7
141620 13
EXT.COMMON1 EXT.COMMON2 8 4
OPTION
5 1
-224 -220
-242 -246
MOTOR ON PB
-S21.2 -229
AWG20 AWG20 AWG20 24V PANEL MONLMP MOTON 10 X2 X1 19 14 13
10
19 9
-230 -228
-S21.3
ES panel 1:A ES panel 1:A ES panel 2:A ES panel 2:A ES panel 2:B ES panel 2:B ES panel 1:B ES panel 1:B 17 18 13 14 11 12 15 16
EMERGENCY PB
21 11 22 12
17
18
13
14
11
12
15
-237 -238 -233 -234 -231 -232 -235 -236
16
JUNCTION BOARD
=CM +A22
-X10
-X3
1 2 3 4 5 6 7
BN/BK BN/RD BN/OG BN/YE 24V TPU 0V EN1_1 EN1_2
BN/GN
TPU_START
8 9
AWG24 WHOG OG WHGN GN 6 2 3
ROBOT COMMUNICATION CARD -X2

1
=CM +A32
-A8
TD+ TDRD+ RD-
Latest revision:
Lab/Office:
Status:
Approved
EPLAN Document no.
Prepared by, date:
Approved by, date:
RUN CHAIN EXT OPERATING MODE SELECTOR, 3 MODES
3HAC020538-002 02
OPTION: FPU-PLUG X22.XP1

3 5
JUNCTION BOARD
6 4 =CM +A22
FLEXPENDANT
=CM +FPU -209
AWG20 BU 5 3 5 6 4 EN-DEVICE 1 AWG20 BU 7 AWG20 8 AWG20 BU 6
EMERGENCY-STOP
/10.7 / -ES FPU 1:A

-211 -212 -210
-X3
-X1
-K1
PANEL BOARD
/10.7 / -ES FPU 2:A
/10.7 / -ES FPU 2:B
/10.7 / -ES FPU 1:B
-K2
/11.6 / -24V FPU_POWER

AWG20 BU 1 12 2 8 AWG20 BU 2
-205 -206
PANEL BOARD
-207
AWG20 3 7 17 AWG20 4
/11.6 / -0V
/11.6 / -EN1_1 -208
/11.6 / -EN1_2
/11.6 / -FPU START

AWG20 BU 9 AWG24 WHOG 1 OG 2 WHGN 3 GN 6
-213
11
/24.6 / -TD+
-X2
13 14
ROBOT COMM. CARD
/24.6 / -TD-
/24.6 / -RD+
ETH_FPU
15 16
Lab/Office:
/24.6 / -RD-
Latest revision:
Status:
Approved
EPLAN
FPU, FLEXPENDANT
Document no.
Prepared by, date:
Approved by, date:
3HAC020538-002 02
PANEL BOARD PANEL BOARD

=CM +A21
AWG20 BU 12 AWG20 BU B1 11
=CM +A21 -260

OG A1 OG AWG20 BU B2 9 AWG20 BU A2 7 AWG20 BU A3 C5 AWG20 BU
ES1 bottom
AWG20 BU AWG20 BU
-X1 24V PANEL AS1+ AS1AWG20 BU
-XS/XP3
-272 -273 -274 -275
AWG20 BU
-X5
-XS/XP3
C1 C2
AWG20 BU
ES2 bottom
-262 -263 0V -264 GS1+
10
-X2
-261
24V PANEL
AWG20 BU C3 C4 AWG20 BU
0V
24V PANEL
-276 -277
8
Run CH1 top

GS1-265
AWG20 BU B3 OG B4 6 OG A4 5 AWG20 BU A5 3 AWG20 BU B5 1 OG OG OG B6 AWG20 BU
AWG20 BU C6 AWG20 BU C7 C8 AWG20 BU
Run CH2 top
0V -266
ES2 top
-267
24V PANEL AS2+ AS20V
-278 -279 -280 -281
AWG20 BU D1 AWG20 BU D2 AWG20 BU D3 AWG20 BU D4
AWG20 BU
ES1 top
-268 -269 -270 -271
OG A6 4 OG A7 OG A8
Sep ES1:A
AWG20 BU
Sep ES2:A
Sep ES2:B
GS2+ GS22
AWG20 BU D5
10
Sep ES1:B
-284 -285 -286
OG B7 OG B8
-282 -283
AWG20 BU D6 AWG20 BU D7 D8 AWG20 BU
10
ES1 OUT A
ES1 OUT B
ES2 OUT A
-287
ES2 OUT B
0V
-X6
1
-289
AWG20 BU A10
AWG20 BU
SS12
-291
AWG20 BU B10
SS23
-293
AWG20 BU C10
SS1+
4
-290
AWG20 BU B9
SS2+
5
-292
AWG20 BU C9
24V PANEL
6 7 8 9 10
-288
AWG20 BU A9
AWG20 BU Lab/Office:
Latest revision:
Status:
Approved
EPLAN Document no.
Prepared by, date:
Approved by, date:
OPTION: EXTERNAL CONNECTION SYSTEM SIGNALS
3HAC020538-002 02
A3 Computer unit
X1
PWR (green)
HDD (yellow) A32 (RCC)
Slot 1 Slot 2
Slot 3
Slot 4
Slot 5
USB1,2
USB3,4
LAN
SERIAL PORT A A33 Profibus DP M/S A37 Interbus M/S (optical fiber) A38 Interbus M/S (copper wire) A35 Devicenet
EPLAN CM
Origin
=CM+ORT/18 VIEW OF COMPUTER UNIT

Approved 3HAC020538-002_Control
=CM+ORT/20
+ CM Page ORT Crea. for Crea. by
02
2004-09-24
Date
2004-09-24
Edit.
jsundin1
Check.
Modification
Date
Name
Standard
Page 19 42 Pg.
COMPUTER UNIT
=CM +A3 COMPUTER POWER SUPPLY =CM +G31 -301
BU P1 1 V+ BU 4 BU OR OR BK 3 RD BK RD BK MOTHER BOARD POWER V+3.3V GND +5V GND +5V GND 7 GY VT YE OR BU PWR_OK 8 +5VSB 9 +12V +3.3V -12V GND BK GN 3 BK BK BK RD RD GND GND GND 17 +5V +5V 19 20 18 15 16 PS_ON 13 14 11 12 10 5 6 3 4 +3.3V 2 BU
MAIN COMPUTER -X1

=CM +A31
/8.3 / -24V PC
-302 -303 -304 -P1
-X1
/8.3 / -24V PC
/8.3 / -0V PC
-J4H1
1 2
/8.3 / -0V PC
-PSU-X1 -PSU-X2
-P1
1 1
-PSU-X2
2
-P1
-IDEpwr
-IDEpwr_GND / +ORT/21.2 -IDEpwr_+5V / +ORT/21.2
Lab/Office:
Latest revision:
Status:
Approved
EPLAN
CABLING IN COMPUTER UNIT
Document no.
Prepared by, date:
Approved by, date:
3HAC020538-002 02
COMPUTER UNIT MAIN COMPUTER

=CM +A31
=CM +A3
SOLID STATE DRIVE

=CM +D32
-X2
-J6H1
ATA/IDE
40
-X1
1 2 3 4
+ORT/20.7 / -IDEpwr_GND +ORT/20.7 / -IDEpwr_+5V
GND +5V
OPTION: HARD DISK DRIVE

=CM +D31
-X2 -X1
1 1 2 3 4
40 -J6H1
ATA/IDE
GND +5V
REMARK: P1 & J6H1 CONNECTS TO EITHER D32 OR D31 DEPENDING OF CHOSED OPTION.
Lab/Office:
Latest revision:
Status:
Approved
EPLAN
CABLING IN COMPUTER UNIT
Document no.
Prepared by, date:
Approved by, date:
3HAC020538-002 02
COMPUTER UNIT
=CM +A3
COMPUTER POWER SUPPLY
=CM +G31
P1
BK YE +12V
GND
CHASSIS BLOWER -E22
MAIN COMPUTER
BK GND +12V
M
AWG 24
=CM +A31 -J9H1

1 2
WH
-C2
1 2
BK RD
YE
FAN2_TACH
CHASSIS BLOWER -E23 -J9H2

1 2 3 AWG 24
M
+
BK YE GND +12V
-C1
1 2
BK RD
WH
FAN1_TACH
Latest revision:
Lab/Office:
Status:
Approved
EPLAN Document no.
Prepared by, date:
Approved by, date:
COMPUTER UNIT COOLING
3HAC020538-002 02
COMPUTER UNIT
CONTROL MODULE
=CM +A3
MAIN COMPUTER
=CM +A31
PWR LED (GREEN)
-J9H3
A K SERIAL PORT A
RX1 TRANSMIT OUT HDD LED (YELLOW) A 4 5 RTS 7 8 9 9 8 7 6 3 1 K RECEIVE IN 3 DTR 0V 5 6 4 3 2 2 1 4
OPTION: 232/485 SERIE CONVERTER =CM +A39 -X1 -X2

-A1
2
TX+
TX-
0V
OPT. EXTERNAL PWR
RX+
-LAN1
TX+ TXRX+ 3 RX6 1 2
-USB1
2 3 1 4
=CM +X24
AWG28 AWG28 AWG24 AWG24 WH GN RD BK USB-BP1 USB-BP1 +5V GND 2 3 1 4
-USB2
2 3 1 4
WH GN RD BK
-USB-BP2 / /8.7 -USB-BP2 / /8.7 -USB +5V / /8.6 -USB_GND / /8.7
-USB3
1 2 3 4
-USB4
1 2 3 4 Lab/Office:
Latest revision:
Status:
Approved
EPLAN
MAIN COMPUTER
Document no.
Prepared by, date:
Approved by, date:
3HAC020538-002 02
=CM +A32
-X8
AWG24 Blue 1 2 3 BU
WHBU
OG
RS 485
4 5 6 7 8
WHBN
-24V_Sig.ref. / /10.7 -RS485+ / /10.7 -RS485- / /10.7
PANEL BOARD
-X1
-0V_Sig.ref. / /10.7
PCI BUS
AWG24
-A8
Green WHOG OG 3
-TD+ / /17.2 -TD- / /17.2
FLEXPENDANT
ETH_FPU
6 4 5 1 2 7 8
WHGN GN
-RD+ / /17.2 -RD- / /17.2
Lab/Office:
Latest revision:
Status:
Approved
EPLAN
Document no.
Prepared by, date:
Approved by, date:
3HAC020538-002 02
CONTROL MODULE

=CM +A32 -A9
Red 1 2 3
TX+ TXRX+ RX-
ETH_DRIVE
6 4 5 7 8
DRIVE MODULE AXIS COMPUTER
-A7
Yellow 1 2
=CM +X23
1 2 3
TX+ TXRX+
AWG26 AWG26 AWG26
BU WHBU OG
SERVICE PORT
6
ETH_SERVICE
3 4 5 6 7 8
RXAWG26 WHOG
Lab/Office:
Latest revision:
Status:
Approved
EPLAN
Document no.
Prepared by, date:
Approved by, date:
3HAC020538-002 02
PROFIBUS DP M/S
Customer Connection
=CM +A33
-X1 -X2
1 3 4 5 6 8
SLAVE
PCI BUS
SHIELD RXD/TXD-P CONTROL-P GND +5VDC RXD/TXD-N
-X3
1 3 4 5 6 8
SHIELD RXD/TXD-P CONTROL-P GND +5VDC RXD/TXD-N
Lab/Office:
Latest revision:
OPTION & HARNESS TO CUSTOMER I/O
MASTER
Status:
Approved
EPLAN
PROFIBUS DP M/S
Document no.
Prepared by, date:
Approved by, date:
3HAC020538-002 02
INTERBUS M/S (OPTICAL FIBRE)

A38.1 =CM +A38
INTERBUS M/S (COPPER WIRE) -X4

24V 0V
0V 24V+
=CM +A37
A37.1
1)
-Z1
24V+
-X2
24V 0V
0V 1 4 REMOTE IN
1)
-Z1 -X5
PCI BUS
LW/BK
REMOTE IN BK (IN)
-FO1
PCI BUS
LW/OG
5 3
DO DON DI DIN GNDISI
GY (OUT)
-FO2 LW/BK LW/OG

GY (OUT) REMOTE OUT BK (IN)
REMOTE OUT
-X1
1 6 2 7 3 5 9
A37.2 -FO3 LW/BK LW/OG

GY (OUT) REMOTE BK (IN)
DO DON DI DIN GRND VCCISO RBST
OPTION & HARNESS TO CUSTOMER I/O
A38.2
REMOTE
1 6 2 7 3 4 5 8
-X1
1 2 4 5 6
TXD RXD GND RTS CTS
DO DON DI DIN GNDIM GRND VCCIM VCC
RS232
-X3
1 2 4 5 6
TXD RXD GND RTS CTS
Lab/Office:
1) IT IS IMPORTANT THAT 24 DC EXT SUPPLY ALWAYS IS AVAILABLE OTHERWISE THE INTERBUS CAN NOT WORK IF THE CONTROLLER IS TURNED OFF. Status:
Latest revision:
Approved
EPLAN
INTERBUS M/S
Document no.
Prepared by, date:
Approved by, date:
3HAC020538-002 02
OPTION & HARNESS TO CUSTOMER I/O -X2
DEVICE NET ADAPTER
=CM +A35
CONTROL MODULE
-XS17
-J1 BK
3 1 1
P1 BU
2 2 5
-A35.X1
SC
3 3 1
WH
4 4 4
OPTION
PCI BUS
5 5
RD
2
-V- / /29.2
-CAN_L / /29.2
-DRAIN / /29.2 -CAN_H / /29.2 -V+ / /29.2
Lab/Office:
Latest revision:
Status:
Approved
EPLAN
DEVICENET ADAPTER
Document no.
Prepared by, date:
Approved by, date:
3HAC020538-002 02
-I/O1
1 2 3 4 5
/28.5 / -V/28.5 / -CAN_L /28.5 / -CAN_H /28.5 / -V+ /28.5 / -DRAIN Digital I/O unit
-I/O2
1 2 3 4 5
BK BU WH RD SC
-V- / /32.1 -CAN_L / /32.1 -CAN_H / /32.1 -V+ / /32.1 -DRAIN / /32.1
BK BU WH RD SC
-V- / /35.1 -CAN_L / /35.1 -CAN_H / /35.1 -V+ / /35.1 -DRAIN / /35.1 Relay I/O unit
-I/O3
1 2 3 4 5
BK BU WH RD SC
Analogue I/O unit
-I/O4
1 2 3 4 5
OPTION: HARNESS TO CUSTOMER I/O Remote I/O unit
BK BU WH RD SC
BK BU WH RD SC
Interbus slave
/9.2 / -0V devicenet

1 2 120 OHM 3 4 5
-A35.X2
BK BU WH RD SC
Profibus DP slave
Encoder unit
BK BU WH RD SC
/9.2 / -+24V devicenet
Latest revision:
Lab/Office:
Status:
Approved
EPLAN
DEVICENET ADAPTER
Document no.
Prepared by, date:
Approved by, date:
3HAC020538-002 02
DUAL RS232 CARD

=CM +A34
-X1
1 2 3 4 5 6 7 8
MC CONSOLE RS232
CONSOLE_RXD CONSOLE_TXD CONSOLE_DTR 0V CONSOLE_DSR CONSOLE_RTS-N CONSOLE_CTS-N
X5
9
-X2
1
PCI BUS
2 3 4 5 6 7 8 9
COM1 RS232
COM1_RXD COM1_TXD COM1_DTR 0V COM1_DSR COM1_RTS-N COM1_CTS-N
Latest revision:
Lab/Office:
Status:
Approved
EPLAN
DUAL RS232 CARD
Document no.
Prepared by, date:
Approved by, date:
3HAC020538-002 02
ETHERNET CARD
=CM +A36
-A1
1 2 3 4 5
TX+ TXRX+
DRIVE MODULE 2 (OPTION)
RX-
X1
6 7 8
-A2
1
PCI BUS
2 3 4 5 6 7 8
TX+ TXRX+
RX-
-A3
1 2 3 4 5 6 7 8
TX+ TXRX+
RXLab/Office:
Latest revision:
Status:
Approved
EPLAN
ETHERNET CARD
Document no.
Prepared by, date:
Approved by, date:
3HAC020538-002 02
TO NEXT I/O UNIT
2)
120 ohm 2 1
3)
DIGITAL PART OF COMBI I/O AND DIGITAL I/O UNIT I/Ox

K 1 A 2 3 K 5 2 4 5 9 3 6 10 1 8 2 47nF 7 6 4 A
XTXX.X3 -X3
-X5
1
/29.5 / -V/29.5 / -CAN_L /29.5 / -CAN_H /29.5 / -V+
INPUT CH.1 2 3 4 5 6 7 8 0V
/29.5 / -DRAIN
0V
OR PREVIOUS I/O UNIT

7 8 9 10 11 12 2 A 4 K 47nF 1 2 6 7 8 9 10 5 3 K A
1)
0V NA0 NA1 NA2 NA3 NA4 NA5
XTXX.X4 -X4
1
1) JUMPERS PLACED ACCORDING TO THE ACTUAL NODE ADDRESS.
INPUT CH.9 10 11 12 13 14 15 16 0V
2) RESISTANS 120 OHM SHALL ALWAYS BE CONNECTED IN THE FIRST AND THE LAST CONNECTOR IN THE CAN-BUS CIRCUIT.
Lab/Office:
3) CONNECTED IN THE LAST CONNECTOR IN THE CAN-BUS CIRCUIT.
Latest revision:
Status:
Approved
EPLAN Document no.
Prepared by, date:
Approved by, date:
DIGITAL PART OF COMBI I/O AND DIGITAL I/O UNIT
3HAC020538-002 02
DIGITAL I/O UNIT
I/Ox OUTPUT CH 1-8 XTXX.X1

A
<1
1 1 2 3 4 2 5 6 7 8 9 10 A
-X1
47nF K
0V
OUTPUT CH.1 2 3 4 5 6 7 8 0V 24V DC
OUTPUT CH 9-16 XTXX.X2

A
<1
1 1 2 3 4 2 5 6 7 8 9 10 A
-X2
47nF K 2 1
OUTPUT CH.9 10 11 12 13 14 15 16 0V 24V DC
Lab/Office:
Latest revision:
Status:
Approved
EPLAN
DIGITAL I/O UNIT
Document no.
Prepared by, date:
Approved by, date:
3HAC020538-002 02
COMBI I/O UNIT
I/Ox OUTPUT CH 1-8 XTXX.X1

A
<1
1 1 2 3 4 2 5 6 7 8 9 10 A
-X1
47nF K 2 1
0V
OUTPUT CH.1 2 3 4 5 6 7 8 0V 24V DC
OUTPUT CH 9-16 XTXX.X2

A
<1
1 1 2 3 4 2 5 6 7 8 9 10 A
-X2
47nF K 2 1
OUTPUT CH.9 10 11 12 13 14 15 16 0V 24V DC
-X6
1 2
CPU
K A A K
INPUT CH.1 INPUT CH.2
0V
3
DAC
OUTPUT CH.1
5 REF 4
0VA OUTPUT CH.2

6
DC DC
+15V 0VA -15V Lab/Office:
Latest revision:
Status:
Approved
EPLAN
COMBI I/O UNIT
Document no.
Prepared by, date:
Approved by, date:
3HAC020538-002 02
TO NEXT I/O UNIT
2)
120 ohm 2 1
3)
RELAY I/O UNIT I/Ox XTXX.X3

K 1 A 2 3 K 5 2 4 5 9 3 6 1 8 2 47nF 7 6 4 A
-X3
-X5
1
/29.5 / -V/29.5 / -CAN_L /29.5 / -CAN_H /29.5 / -V+
INPUT CH.1 2 3 4 5 6 7 8 0V
/29.5 / -DRAIN
0V

7 8 9 10 11 12 1 2 A 4 K 47nF 1 2 6 7 8 9 5 3 K A
1)
XTXX.X4 -X4 INPUT CH.9 10 11 12 13 14 15 16 0V
Lab/Office:
Latest revision:
Status:
Approved
EPLAN
RELAY I/O UNIT
Document no.
Prepared by, date:
Approved by, date:
3HAC020538-002 02
RELAY I/O UNIT
XTXX.X1 -X1
1
OUT CH.1A
OUT CH.1B 2
OUT CH.2A 3
OUT CH.2B 4
OUT CH.3A 5
OUT CH.3B 6
OUT CH.4A 7
OUT CH.4B 8
OUT CH.5A 9
OUT CH.5B 10
OUT CH.6A 11
OUT CH.6B 12
OUT CH.7A 13
OUT CH.7B 14
OUT CH.8A 15
OUT CH.8B 16 Lab/Office:
Latest revision:
Status:
Approved
EPLAN
RELAY I/O UNIT
Document no.
Prepared by, date:
Approved by, date:
3HAC020538-002 02
RELAY I/O UNIT
XTXX.X2 -X2
1
OUT CH.9A
OUT CH.9B 2
OUT CH.10A 3
OUT CH.10B 4
OUT CH.11A 5
OUT CH.11B 6
OUT CH.12A 7
OUT CH.12B 8
OUT CH.13A 9
OUT CH.13B 10
OUT CH.14A 11
OUT CH.14B 12
OUT CH.15A 13
OUT CH.15B 14
OUT CH.16A 15
OUT CH.16B 16 Lab/Office:
Latest revision:
Status:
Approved
EPLAN
RELAY I/O UNIT
Document no.
Prepared by, date:
Approved by, date:
3HAC020538-002 02
TO NEXT I/O UNIT
2)
120 ohm 2 1
ANALOGUE I/O UNIT I/Ox -X7

1 2 3 4 19 0V 20 21 22
3)
/9.3 / -+24V devicenet /9.3 / -0V devicenet ADC
MUX
-X5
1 2 4 5 3 6 7 8 9 10 11 12 5 6 7 8 9 0V 10 11 12 13 14 15 4 3 2 1 REF
ANOUT_1 ANOUT_2 ANOUT_3 ANOUT_4 0V 0V 0V 0V
/29.5 / -V/29.5 / -CAN_L /29.5 / -CAN_H /29.5 / -V+
/29.5 / -DRAIN
DAC
OR PREVIOUS I/O UNIT -X8

1)
ANIN_1 ANIN_2 ANIN_3 ANIN_4

24V
0V 0V 0V 0V
Lab/Office:
Latest revision:
Status:
Approved
EPLAN
ANALOGUE I/O UNIT
Document no.
Prepared by, date:
Approved by, date:
3HAC020538-002 02
TO NEXT I/O UNIT
2)
120 ohm 2 1
3)
I/Ox
REMOTE I/O UNIT
-X5
1 2 4 5 3 6 7 8 9 10 11 12 2 3 1 1
NAC
/29.5 / -V/29.5 / -CAN_L /29.5 / -CAN_H /29.5 / -V+ -X8
LINE 1 (BLUE)
REMOTE I/O IN
/29.5 / -DRAIN
1
2
LINE 2 (CLEAR)
-X9

1)
(BLUE) (CLEAR)
REMOTE I/O OUT
-X8
3 1 1 2 2
-X9
4
Lab/Office:
Latest revision:
Status:
Approved
EPLAN
REMOTE I/O UNIT
Document no.
Prepared by, date:
Approved by, date:
3HAC020538-002 02
TO NEXT I/O UNIT
2)
120 ohm 2 1
3)
INTERBUS SLAVE I/Ox
-X5
1 TPDO2 TPDI2 GND 3 5 3 6 7 8 9 10 11 12 9 7 6 +5VDC TPDO2-N TPDI2-N RBST 2 4 5 2 1
/29.5 / -V/29.5 / -CAN_L /29.5 / -CAN_H /29.5 / -V+ -X21
IB-S OUT
/29.5 / -DRAIN

1)
-X20
1 2 3 6 7
TPDO1 TPDI1 GND TPDO1-N TPDI1-N
IB-S IN
GND
-X3
1 3 5
4) 24V DC EXT. SUPPLY

+24VDC
Lab/Office:
4) IT IS IMPORTANT THAT 24V DC EXT SUPPLY ALWAYS IS AVAILABLE. OTHERWISE THE INTERBUS CAN NOT WORK IF THE CONTROLLER IS TURNED OFF.
Latest revision:
Status:
Approved
EPLAN
INTERBUS SLAVE
Document no.
Prepared by, date:
Approved by, date:
3HAC020538-002 02
TO NEXT I/O UNIT
2)
120 ohm 2 1
3)
PROFIBUS DP SLAVE I/Ox

Customer Connection
-X5
1 SHIELD RXD/TXD-P 5 4 3 6 7 8 9 10 11 12 8 6 5 GND +5VDC RXD/TXD-N 3 CONTROL-P 2 4 1
/29.5 / -V/29.5 / -CAN_L /29.5 / -CAN_H /29.5 / -V+ -X20
/29.5 / -DRAIN

1)
0V DC
-X3
1 3 5
External supply
GND +24VDC
Lab/Office:
Latest revision:
Status:
Approved
EPLAN
PROFIBUS DP SLAVE
Document no.
Prepared by, date:
Approved by, date:
3HAC020538-002 02
TO NEXT I/O UNIT
2)
120 ohm 2 1
3)
ENCODER UNIT I/Ox

Encoder Connection
-X20
24 VDC 0V 2 2 ENC +24V 3 5 ENC 0V 4 3 ENC_A 5 A ENC_B 6 +24V 10 11 12 A 9 K 2 8 DIGIN 1 7 0V 8 K 9 6 7 2 1 4
-X5
1
/29.5 / -V/29.5 / -CAN_L /29.5 / -CAN_H /29.5 / -V+
/29.5 / -DRAIN
Encoder

1)
Synch switch
2 A K
Lab/Office:
Latest revision:
Status:
Approved
EPLAN
ENCODER UNIT
Document no.
Prepared by, date:
Approved by, date:
3HAC020538-002 02
= CM Plant: + ORT Location: Sublocation: + Rev. Ind Page 42 Next Total 42
EPLAN
Lab/Office:
Latest revision:
Status:
Approved
EPLAN
Title page
Document no.
Prepared by, date:
Approved by, date:
3HAC020538-002 02
EPLAN
Phone :
: : : 3HAC020538-002_Drive :
: 2004-09-28 : : : : : : :
2004-02-04
: : : : : : : jsundin1 2004-09-28 18
Lab/Office:
Latest revision:
Status:
Approved
EPLAN
Title page
Document no.
Prepared by, date:
Approved by, date:
3HAC020538-002 02
Table of contents
Date 2004-09-13 2004-09-13 2004-09-23 2004-09-22 2004-09-22 2004-09-22 2004-09-23 2004-09-22 2004-09-22 2004-09-22 2004-09-22 2004-09-22 2004-09-22 2004-09-22 2004-09-22 2004-09-22 2004-09-22 2004-09-22
DIN_INV_30_1
Plant
Location
Editor
Page 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18
DOKUMENTEDKB DOKUMENTEDKB DOKUMENTEINV DM ORT DM ORT DM ORT DM ORT DM ORT DM ORT DM ORT DM ORT DM ORT DM ORT DM ORT DM ORT DM ORT DM ORT DM ORT
Page description Title page Title page Table of contents: (1 - 18) VIEW OF DRIVE MODULE VIEW OF DRIVE MODULE MAINS CONNECTION TRANSFORMER UNIT POWER SUPPLY CONTACTOR BOARD POWER UNITSERVO DISCONNECTOR AXIS COMPUTER UNIT AXIS COMPUTER UNIT VIEW OF DRIVE MODULE RECTIFIER AND BLEEDER FAN UNIT ADDITIONAL AXIS 1-3, DRIVE UNIT NO 7 ADDITIONAL AXIS 1-3, DRIVE UNIT NO 8 ADDITIONAL AXIS 1-3, DRIVE UNIT NO 9
Page supplementary field Approved Approved Approved Approved Approved Approved Approved Approved Approved Approved Approved Approved Approved Approved Approved Approved Approved Approved
jsundin1 jsundin1 jsundin1 jsundin1 jsundin1 jsundin1 jsundin1 jsundin1 jsundin1 jsundin1 jsundin1 jsundin1 jsundin1 jsundin1 jsundin1 jsundin1 jsundin1 jsundin1
Latest revision:
Lab/Office:
Status:
Approved
EPLAN
Document no.
Prepared by, date:
Approved by, date:
3HAC020538-002 02
A41.1.4 A41.1 A41.3 G1 Q1 H1 A41.2
A41.1.3
K43
K42
K44
Z1
A43 F1 K41 F2
P1 (opt duty time counter)
XP0 XS25 XS41 XS1 XS7

A42
XS2
Lab/Office:
Latest revision:
Status:
Approved
EPLAN
VIEW OF DRIVE MODULE
Document no.
Prepared by, date:
Approved by, date:
= DM Plant: + ORT Location: Sublocation: + Rev. Ind Page 4 Next 5 Total 18
02
A42 Axis computer unit
A43 Contactor unit
X7
X11
X5 X8 X9
X9
X6 X4
X22
X2 X3 X8
X11 X12
X21
X23 X10
X24
X5
X1
X4
X10
X6 X1
Lab/Office:
Latest revision:
Status:
Approved
EPLAN
Document no.
Prepared by, date:
Approved by, date:
02
1 2 3
Latest revision:
Prepared by, date:

Approved by, date:
-Q1
AWG10 BK AWG10 BK
-XP0
/7.3 / -L1 /7.3 / -L2 /7.4 / -L3
-110 -111 -112
AWG10 BK
2 1 AWG10 BK 4 3 AWG10 BK 6 5
-101 -102 -103
1 2 AWG10 BK 3 4
TRANSFORMER UNIT
EPLAN
Lab/Office:
AWG10 GNYE 4
-F6
-Z1
5
107 108 109
2 4 6
1 3 5
4 6
3 5
MAINS CONNECTION
OPTION: CIRCUIT BRAKER
OPTION: MAINS LINE FILTER
Approved
3HAC020538-002 02
/8.4 / -230V AC1 /8.4 / -230V AC2
/10.7 / -L1 /10.7 / -L2 /10.7 / -L3
1
Latest revision:
Prepared by, date:

Approved by, date:
=DM +T1
200V 220V
TRANSFORMER UNIT
-X2
1 2
400V 230V 440V 230V 480V 500V 525V 600V
-X1
200V
-119 -120 -121
AWG10 BK AWG10 BK
220V 3
-X10
400V AWG10 BK 440V 480V 500V 525V 600V
-113 -114 -115
AWG10 BK AWG10 BK
-110 -111
BK BK BK
-L1 / /6.4 -L2 / /6.4 -L3 / /6.4
A1 A2
AWG10 BK B1 B2
MAINS CONNECTION
-112
=DM +L1
200V 220V 400V 440V 480V 2 500V 525V 600V
AWG10 GNYE
EPLAN -X2
F2 1
-X1
-L1
F1
AWG10 GNYE
Lab/Office:
F4
F3
2 3
F6
F5
ONLY FOR IRB 6600-7600
TRANSFORMER UNIT
=DM +T2
6
TRANSFORMER UNIT
-X2
230V 400V
-X1
T2 USED FOR: DIRECT POWER SUPPLY IRB6600 400-480V IRB7600 480V
IN
Approved
440V 480V
113 114 115
3HAC020538-002 02
/11.2 / -24V DRIVE
/11.2 / -0V DRIVE
/15.2 / -24V DRIVE
/15.2 / -0V DRIVE
/9.2 / -24V DRIVE /9.2 / -0V DRIVE
/9.2 / -24V BRAKE /9.2 / -24V BRAKE

/9.2 / -+24V COOL
CONTACTOR UNIT
/9.2 / -0V BRAKE /9.2 / -0V BRAKE /9.2 / -0V COOL

/15.2 / -+24V COOL /15.2 / -0V COOL
Lab/Office:
/11.2 / -+5V
/11.2 / -ACOK /11.2 / -BRAKEOK

/11.2 / -TEMPOK
1
Latest revision:
Prepared by, date:

Approved by, date:
=DM +G1
-X2
BK BN
1 4
DRIVE POWER SUPPLY
AXIS COMP. UNIT MAIN SERVO DRIVE UNIT CONTACTOR UNIT
RD
2
OG
5
-463 -464
BU 3 BU 6 3
-X3
-465 -466 -469 -467 -468 -470 -461 -462
AWG16 AWG16 BU
1 2
AWG16 3 AWG16 5
-F2
-X1
AWG16 BU 6 AWG16 7 AWG16 BU 4
-152
1
AWG16 BK
-230V AC1 / /7.2 -230V AC2 / /7.2
EPLAN
-153
5
BK 14 11
-156
BK
AWG16 BU 8
MAIN SERVO DRIVE UNIT AXIS COMP. UNIT
-X4
BK BN
1 2
RD
3 5
OG
4
POWER SUPPLY
-K41
A2 A1
-155
-154
6
-141
AWG20 BU 2 1
-140
AWG20 BU 2 GND
AWG16 BK 1
AWG16 BK
-XS25
-K41.X1
Approved
GND
230V AC2
230V AC1
0V
AC_ON
3HAC020538-002 02
CONTROL MODULE X20
CONTROL MODULE A21.X7 PANEL BOARD
CONTACTOR UNIT
=DM +A43
BU PTC1 1 0V BRAKE 2 PTC1 ret 3 0V BRAKE 4 2 3 4 0V COOL 1 +24V COOL 2 FAN1 3 FAN1 ret 4 2 4 2 1 BU
DRIVE POWER SUPPLY -X6 -X5
/8.3 / -0V DRIVE
-464
/8.3 / -24V DRIVE
-463
RUN CH1 1
-X1
RUN CH1 RET
RUN CH2
CONTROL MODULE A21.X7
RUN CH2 RET
-X10
LIM2 ch1 1 3
-X22
24VDrive 0VDrive
LIM2 ch2
LIMIT SWITCH 2 EXTERNAL AXIS
LIM2 ch2 ret
LIM2 ch1 ret
24VDrive
-X23
1 +24V COOL 3 FAN2 4 2 FAN2 ret 4 3 2 1
0V COOL
-X11
LIMIT OVERRIDE
LIM1 ch1 1 3 LIM2 4 LIM1 2
-X21
0VDrive
OPTION: DUTY TIME COUNTER

-P1
LIM1 ch2
-X12
1
-491
AWG20 BU
+24V
LIMIT SWITCH 1 CONTROL CABLE
LIM1 ch2 ret
LIM1 ch1 ret
h
-492
AWG20 BU 2 0V
ENABLE2_1 5 INTERLOCKING 6 7 8
-X1
ENABLE2_1Ret
SPEED
0V
RUN_CH2
RUN_CH1
OG 5 7 8
AXIS /11.2 / -RS485+ /11.2 / -RS485COMPUTER /11.2 / -0V ENABLE2 /11.2 / -ENABLE2
K1 4
WHOG
24V COOL
SELF1
LOCK1A
LOCK2B
0V COOL
RUN_CH1
0V COOL
CONTINUATION NEXT PAGE

Lab/Office:
Latest revision:
0V COOL
/8.3 / -24V BRAKE /8.4 / -0V COOL /8.4 / -+24V COOL /8.3 / -24V BRAKE /8.4 / -0V BRAKE /8.4 / -0V BRAKE
1 2 3 4 5
BRAKE
-466 -470 -469 -465 -467 -468
AWG16 BU
RUN_CH2
AWG16 BU
SELF2
PAN_CH2
AWG16 BU
-X7
AWG16 BU
AWG16 BU
DRIVE POWER SUPPLY
AWG16 BU
PAN_CH1
WHBU
24V COOL
BRAKE CTRL
BU
24V COOL
AWG24
-X4
K2
Status:
Approved
EPLAN
CONTACTOR BOARD
Document no.
Prepared by, date:
Approved by, date:
3HAC020538-002 02
/14.4 / -L12 /14.5 / -L22 /14.5 / -L32
1
Latest revision:
Prepared by, date:

Approved by, date:
=DM +A43
-X8
-K42
A2 A1
-471 -472
AWG20 BU AWG20 BU
0V COOL
CONTACTOR UNIT
RUN CH1
1
-K44
AWG20 BU 44 43 A2 1 A1
-473 -474
AWG20 BU 6 AWG20 BU 5
0V COOL
BRAKE
-K43
A2 A1
-475 -476
AWG20 BU 4 AWG20 BU 3
0V COOL
RUN CH2 -X3
-451 -452
2
AWG20 BU AWG20 BU
24V
BRAKE_FB
6
-479 -493 -480 -481 -494

AWG20 BU 44 43
AWG20 BU 5 AWG20 BU 4 AWG20 BU 10 AWG20 BU 9 AWG20 BU 3 AWG20 BU 2 AWG20 BU 7 AWG20 BU 8
0V SELF1 24V SELF2 LOCK1B LOCK1A

4
-H1
STATUS DIOD
-482 -483
22 21
-484 -485
22 21
EPLAN
EXT MON 1A
LOCK2A LOCK2B
-486
-X24
CUSTOMER CONNECTION
Lab/Office:
EXT MON 1B EXT MON 2A EXT MON 2B
&
0V
EXTCONT
34
33
3 4
34
33
24V DRIVE
6
PTC2
1
PTC2 0V
2 EXT. LAMP BRAKE REL.
-X40
1 2
-445 -447 -448 -446 -449 -450
AWG16 BU
-X9
AWG16 BU 4 3 AWG16 BU
-490
BU 14 13
-489
BU 13 14
-487
AWG16 BU
24V BRAKE
POWER UNIT SERVO DISCONNECTOR

BRAKE REL. 3 BRAKE PB 4 EXT. BRAKE REL. 5 EXT. BRAKE PB 6
AWG16 BU 22 21 AWG16 BU 6 5
-488
AWG16 BU 2
24V BRAKE BRAKE PB

3
CONTROL CABLE AND OPTION: EXTERNAL AXIS
AWG16 BU
-F1
-128 -129 -130
AWG10 BK 2 1 2 1 AWG10 BK 4 3 4 3 AWG10 BK 6 5 6 5
-122 -123 -124
BK 2 BK 4 BK 6
-119
1
AWG10 BK AWG10 BK AWG10 BK
-L1 / /7.3
7
I>
Approved
-120
3
RECTIFIER
-L2 / /7.3 -L3 / /7.3
I> I>
-121
5
3HAC020538-002 02
AXIS COMPUTER UNIT

=DM +A42
MAIN SERVO DRIVE UNIT -X1

1
=DM +A41.1
DRIVE POWER SUPPLY BK

2
/8.2 / -0V DRIVE

BN
/8.2 / -24V DRIVE -X11

AWG26 BK 1 BN 2 2 BK 6 3 RD 7 4 11 OG 12 12 BK 3 YE 4 2 8 3 9 6 13 AWG24 BU 14 BK 5 5 OG 7 WHOG 8 5 4
WHBU
-X1
1
/8.5 / -+5V
BK
1
-X10
2
+FRAME RECEIVER -FRAME RECEIVER +CLK RECEIVER
DRIVE POWER SUPPLY BN
/8.5 / -ACOK RD
6
/8.5 / -BRAKEOK
OG
BK 11 7
-CLK RECEIVER +DATA RECEIVER -DATA RECEIVER +FRAME TRANSMITTER 3 -FRAME TRANSMITTER 4 +CLK TRANSMITTER 8 -CLK TRANSMITTER 9 +DATA TRANSMITTER 13 -DATA TRANSMITTER 14 GND
/8.5 / -TEMPOK
TX+ 1 BK GN BK BU
-X2
TX-
CONTROL MODULE A32.A9 RCC
RX+
RX-
/9.2 / -RS485+
-X6
CONTACTOR UNIT
/9.2 / -RS485-
/9.2 / -0V ENABLE2
/9.2 / -ENABLE2
-X9
RXD TXD 3 0V 5 2
Lab/Office:
Latest revision:
Status:
Approved
EPLAN
AXIS COMPUTER UNIT
Document no.
Prepared by, date:
Approved by, date:
3HAC020538-002 02
AXIS COMPUTER UNIT

=DM +A42
MRCO1 1 MRCO1_N 2 MRCI1 4 MRCI1_N GND_O2 0V 6 24V_SMB1 2 0V 3 IN 2 0V 4 5 IN 1 6 GND_01 MRCO2 7 24V_EXT1 MRCO2_N 8 OUT 2 MRCI2 9 MRCI2_N 10 GND_I2 0V 11 24V_SMB2 12 GND_I1 0V 13 0V 14 OUT 1 15 9 J 3 G 7 F 6 E 5 D 4 C 2 B 1 9 J 3 G 7 F E 1 24V_EXT2 5 C D B A
DRIVE MODULE -X4
-XS2
-X8
CONTROL SIGNAL
-X5
-XS41
A
PROCESS I/O
EXT. AXIS SIGNAL
Lab/Office:
Latest revision:
Status:
Approved
EPLAN
AXIS COMPUTER UNIT
Document no.
Prepared by, date:
Approved by, date:
3HAC020538-002 02
3 UNITS FOR IRB140, IRB1400, IRB2400, IRB340 6 UNITS FOR IRB4400, IRB940, IRB6600, IRB7600
A41.1 MAIN SERVO DRIVE UNIT
A41.1.4 SINGLE SERVO DRIVE UNIT OPTION: EXT AXIS 8 A41.1.3 SINGLE SERVO DRIVE UNIT OPTION: EXT AXIS 7 A41.2 RECTIFIER
DC-BUSBAR
A41.2 RECTIFIER
A41.1.3 SINGLE SERVO DRIVE UNIT OPTION: EXT AXIS 7 A41.1.4 SINGLE SERVO DRIVE UNIT OPTION: EXT AXIS 8 A41.1.5 SINGLE SERVO DRIVE UNIT OPTION: EXT AXIS 9
DC-BUSBAR
A41.1 MIAN SERVO DRIVE UNIT
DC-BUSBAR
Lab/Office:
Latest revision:
Status:
Approved
EPLAN
Document no.
Prepared by, date:
Approved by, date:
02
CONTACTOR UNIT
-L12 / /10.7 -L22 / /10.7
AWG10 BK
AWG10 BK
-128
-129
-130
AWG10 BK AWG10 GNYE
MAIN SERVO DRIVE UNIT RECTIFIER

=DM +A41.2
-L32 / /10.7
=DM +A41.1
-X32
1 2 3 4
BLEEDER -X33
-132
1
AWG12 BK 1
Spare BN 1 2 6 7 11 12 3 4 8 9 13 14 5 10 2 BK RD BK OG BK YE BK GN BK BU BK VT
-X2
BK
AWG26
-X30
-R1.1
2
Spare
+24V
0V
-133
AWG12
DATA_TO_DRIVE
DATA_TO_DRIVE_N
11
ENABLE
12
ENABLE_N
CLK
CLK_N
DATA_TO_RECT
CAPACITOR UNIT -X31

1
DATA_TO_RECT_N
13
0V
14
=DM +A41.3 -69 -70

2 AWG20 BU AWG20 BU
+5V
-X34
1 2
10
-71
3
AWG20 BU 3
-72
4
AWG20 BU 4
DC-BUSBAR
Latest revision:
Lab/Office:
Status:
Approved
EPLAN
RECTIFIER AND BLEEDER
Document no.
Prepared by, date:
Approved by, date:
3HAC020538-002 02
MAIN SERVO DRIVE UNIT

=DM +A41.1
/8.2 / -0V DRIVE

OG
1
DRIVE POWER SUPPLY
-X3 FAN UNIT

=DM +E1
/8.2 / -24V DRIVE

2
RD
+24V AWG16 BU 8 8 1 AWG16 BU 2 T1 4 4 2 1
-X5
1 1
-X5
BK VT
-X1
8 1
/8.4 / -+24V COOL
-461
-X4
-X4
+24V
-354 -350
DRIVE POWER SUPPLY
/8.4 / -0V COOL
-462
OG
3
-352
M
3
M
3 BU BN
2
M
3 -351 -355
1 -E41
1 -E42
1 -E43
1 -E44
M
3
0V 0V 2 T2 T3 T4 6 3 5 5 3 6 7 7 2
7 4 5 6
YE RD GN
-353 -356 -357
OPTION: 52 deg.
Lab/Office:
Latest revision:
Status:
Approved
EPLAN
FAN UNIT
Document no.
Prepared by, date:
Approved by, date:
3HAC020538-002 02
MAIN SERVO DRIVE UNIT ADDITIONAL AXIS 1-3, DRIVE UNIT NO 7

=DM +A41.1.3
SINGLE SERVO DRIVE UNIT
=DM +A41.1
-X7
1 2 3 4 5 6 7 8 9 10 11 12 13 14 16 17 19 20 21 22 15 23 18 24 25 26 26 24 25 23 18 22 15 20 21 17 19 14 16 12 13 11 10 9 8 7 6 5 4 3 2 1
-X20
DC-BUSBAR
Latest revision:
Lab/Office:
Status:
Approved
EPLAN
ADDITIONAL AXIS 1-3, DRIVE UNIT NO 7
Document no.
Prepared by, date:
Approved by, date:
3HAC020538-002 02

=DM +A41.1.4
ADDITIONAL AXIS 1-3, DRIVE UNIT NO 8 SIGNLE SERVO DRIVE UNIT
=DM +A41.1
-X8
1 2 3 4 5 6 7 8 9 10 11 12 13 14 16 17 19 20 21 22 15 23 18 24 25 26 26 24 25 23 18 22 15 20 21 17 19 14 16 12 13 10 11 9 8 7 6 5 4 3 2 1
-X20
DC-BUSBAR
Latest revision:
Lab/Office:
Status:
Approved
EPLAN
Document no.
Prepared by, date:
Approved by, date:
3HAC020538-002 02
ADDITIONAL AXIS 1-3, DRIVE UNIT NO 9 SINGLE SERVO DRIVE UNIT

=DM +A41.1.5
=DM +A41.1
-X9
1 2 3 4 5 6 7 8 9 10 11 12 13 14 16 17 19 20 21 22 15 23 18 24 25 26 26 24 25 23 18 22 15 20 21 17 19 14 16 12 13 10 11 9 8 7 6 5 4 3 2 1
-X20
DC-BUSBAR
Latest revision:
Lab/Office:
Status:
Approved
EPLAN
Document no.
Prepared by, date:
Approved by, date:
3HAC020538-002 02
= DM Plant: + ORT Location: Sublocation: + Rev. Ind Page 18 Next Total 18
EPLAN
Lab/Office:
Latest revision:
Status:
Approved
EPLAN
Title page
Document no.
Prepared by, date:
Approved by, date:
3HAC020538-002 02
EPLAN
Phone :
: : : 3HAC020538-002_Cables for 6600-7600 :

: 2004-09-23 : : : : : : :
2004-02-16
: : : : : : : jsundin1 2004-09-23 15
Lab/Office:
Latest revision:
Status:
Approved
EPLAN
Title page
Document no.
Prepared by, date:
Approved by, date:
3HAC020538-002 02
Table of contents
Date 2004-09-09 2004-09-09 2004-09-23 2004-09-23 2004-09-23 2004-09-23 2004-09-23 2004-09-23 2004-09-23 2004-09-23 2004-09-23 2004-09-23 2004-09-23 2004-09-23 2004-09-23
DIN_INV_30_1
Plant
Location
Editor
Page 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15
DOKUMENTEDKB DOKUMENTEDKB DOKUMENTEINV DM ORT DM ORT CM ORT CM ORT DM ORT DM ORT CM ORT CM ORT CM ORT CM ORT DM ORT DM ORT
Page description Title page Title page Table of contents: (1 - 15) SERVO DRIVE SYSTEMIRB 6600-7600 CONTROL CABLEIRB 6600-7600 POSITION SWITCH 1IRB 6600-7600 POSITON SWITCH 2/3IRB 6600-7600 POSITION SWITCH 2/3 AND COOLING AXIS 1,2 COOLINNG AXIS 1,2 CUSTOMER POWER/SIGNALSIRB 6600-7600 CUSTOMER POWER/SIGNALS/DeviceNetIRB 6600 CUSTOMER POWER/SIGNALS/IBSIRB 6600-7600 CUSTOMER POWER/SIGNALS/PROFIBUSIRB 6600EXTERNAL AXIS no 7 EXTERNAL AXIS no 8
Page supplementary field Approved Approved Approved Approved Approved Approved Approved Approved Approved Approved Approved Approved Approved Approved Approved
jsundin1 jsundin1 jsundin1 jsundin1 jsundin1 jsundin1 jsundin1 jsundin1 jsundin1 jsundin1 jsundin1 jsundin1 jsundin1 jsundin1 jsundin1
Latest revision:
Lab/Office:
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EPLAN
Document no.
Prepared by, date:
Approved by, date:
3HAC020538-002 02
=DM +A41.1
34
1
Latest revision:
Prepared by, date:

Approved by, date:
-XS/XP1
-R1.MP
17 24 19 26 18 25 1 10 2 23 32 21 30 22 31
-X11
GNRD OGGN
-400 -401
AWG12 AWG12 AWG12 AWG12 AWG12 AWG12
BK BK
17 24 BK
BN 19 OGBU 26 GNWH 18 OGBK 25
-402 -403 -404 -405
BK 4 BK 5 BK 6
-X12
BKBU 1 BKRD 10 BKGN 2
-418 -420 -422
AWG12 AWG12 AWG12
BK BK BK
DC-BUSBAR
1 2 3 4 5 6
-X13
GYWH 23 BNWH 32 GY 21 BNGN 30 GYRD 22 BNRD 31
-406 -407 -408 -409 -410 -411
BK BK
1 2
BK 3 BK 4 BK 5 BK 6 4
EPLAN
Lab/Office:
-X14
GYBU 20 GYGN 29 GYBK 28 BU 3 BKWH 4 BNBU 7 BK 14 14 BNBK 5 5 BUBK 6 6 7 4 3 28 29 20
-424 -425 -426
AWG12 AWG12 AWG12
BK BK BK
1 2 3 4 5 6 5
-X15
-412 -413 -414 -415 -416 -417
BK BK
1 2
BK 3 BK 4 BK 5 6 BK 6
SERVO DRIVE SYSTEM IRB 6600-7600

-X16
BUWH 9 BUGN 16 BURD 8 8 AWG10 AWG10 GNYE GNYE 16 9
-428 -430 -432
AWG12 AWG12 AWG12
BK BK BK
1 2 3 4 5 6 7
Approved
3HAC020538-002 02
DRIVE MODULE
MANIPULATOR
AXIS COMPUTER UNIT MANIPULATOR
=DM +A42
DRIVE MODULE
-X4 SDI SDI-N

B B A A
-XS/XP2
-R1.SMB
SDO
C D E F G H J K F E D C
SDO-N
0V 24V
SERIAL MEASUREMENT BOARD
BAT BR
G
BAT BR
H
0V
J
BATSUP
K
EXT.LAMP
L L
EXT.LAMP
-Y1 -C1
-X40
EXT LAMP BRAKE PB 11 BRAKE REL. 13 BRAKE REL.
-433
AWG16 BU AWG16 BU AWG16 BU AWG16 BU
34 0,00
-434 -435 -436
-XS/XP1
OGRD OG
-R1.MP
11 13
BRAKE PB
DRIVE MODULE XP40
BRAKE RELEASE BRAKE RELEASE
CONTACTOR UNIT
0V BRAKE PTC PTC 0V 0V BRAKE
=DM +A43 -437

AWG16 BU 12 AWG16 BU 27 AWG16 BU 15 AWG16 BU
-X5
-439 -440 -438
OGWH 12 PKBK 27
PKWH
0V BRAKE 0V BRAKE PTC 0V PTC

15
Lab/Office:
Latest revision:
Status:
Approved
EPLAN Document no.
Prepared by, date:
Approved by, date:
CONTROL CABLE IRB 6600-7600
3HAC020538-002 02
Customer Connection
AWG 24 OG
CONTROL MODULE
MANIPULATOR IRB 6600, 7600 -XS/XP8

-R1.SW1
A A B C D E F G H J K L M
-XP/XT8.1
OG OG B OG C OG D OG E OG F OG G OG H OG J OG K OG L OG M
-601
A 1
-602
-603
-604
-605
-606
-607
-608
-609
-610
10
-611
11
-612
12
-XP/XT8.2
OG N OG P OG R OG S OG T OG U OG V OG
W W
-613
13
N P R S T U V
-614
14
-615
15
-616
16
-617
17
-618
18
-619
19
-620
OG X OG Y OG Z OG a
20
-621
21
X Y Z a
-622
Lab/Office:
22
-623
23
-624
24
Latest revision:
Status:
Approved
EPLAN Document no.
Prepared by, date:
Approved by, date:
POSITION SWITCH 1 IRB 6600-7600
3HAC020538-002 02
Customer Connection
AWG 24 OG
CONTROL MODULE -XS/XP58

-R1.SW23
A A B C D E F G H J K L M
MANIPULATOR IRB 6600, 7600
-XP/XT58.1
601 602
B
603
C
604
D
605
E
606
F
607
G
608
H
609
J
610
K
10
611
L
11
612
M
12
-XP/XT58.2
613
T T U V
W
13
614
U
14
615
V
15
616
W
16
617
X X Y Z a b c d e
17
618
Y
18
619
Z
19
620
a
20
621
b
21
622
c
22
623
d
23
624
e
24
Latest revision:
Lab/Office:
Status:
Approved
EPLAN Document no.
Prepared by, date:
Approved by, date:
POSITON SWITCH 2/3 IRB 6600-7600
3HAC020538-002 02
MANIPULATOR
=DM +BOX -R1.XP.SW23
A B C D E F G H J K L M T U V U V
W
R1.XS.SW23 -R1.SW23
A B C D E F G H J K L M T
DRIVE MODULE
W
X Y Z a b c d e S e S c a Y
X Z
CONTACTOR UNIT
=DM +A43
b d
-X10
24V FAN 1 0V FAN 1
-R1FAN.SW23
N P N P R R
-X11 24V FAN 2
T1
1 f f g g
h h
0V FAN 2
T2
Lab/Office:
Latest revision:
Status:
Approved
EPLAN Document no.
Prepared by, date:
Approved by, date:
POSITION SWITCH 2/3 AND COOLING AXIS 1,2
3HAC020538-002 02
MANIPULATOR
-R1.SW23
A B C D E F G H J K L M T U V
DRIVE MODULE
X Y Z a b c d e S
CONTACTOR UNIT
=DM +A43
-X10
24V FAN 1
N
0V FAN 1
P
-X11 24V FAN 2
T1
R
1 f
0V FAN 2
g
T2
h
Lab/Office:
Latest revision:
Status:
Approved
EPLAN
COOLINNG AXIS 1,2
Document no.
Prepared by, date:
Approved by, date:
3HAC020538-002 02
CONTROL MODULE
Customer Connection
AWG 18 OG
-XS/XP13 -R1.CP/CS
A1 D1 CP5 A2 D6 CP6 A3 D3 CP7 A4 D4 CP1 A5 D5 CP2 A6 D2 CP3 A7 D7 CP4
MANIPULATOR IRB 6600-7600
-XP/XT6
670 671 672 673 674 675 676
AWG 14 OG AWG 24 OG
-XP/XT5.1
B1 B2 B11 B12 B13 B14 B15 B16 B18 B19 B20 B21
CS B1 B2 B11 B12 B13 B14 B15 B16 B18 B19 B20 B21 CS CS CS CS CS CS CS CS CS CS CS
10
11
677 678 679 680 681 682 683 684 685 686 687 688
12
-XP/XT5.2
CS C1 C2 C3 C4 C3 C4 C1 C2 CS CS CS
19
20
23
695 696 699 700
24
CS B7 B8 B9 B10 B3 B4 B5 B6 B5 B6 B3 B4 B9 B10 B7 B8 CS CS CS CS CS CS CS
13
14
15
16
17
18
21
689 690 691 692 693 694 697 698
Lab/Office:
22
Latest revision:
Status:
Approved
EPLAN Document no.
Prepared by, date:
Approved by, date:
CUSTOMER POWER/SIGNALS IRB 6600-7600
3HAC020538-002 02
CONTROL MODULE
Customer Connection
AWG 18 OG
-XS/XP13 -R1.CP/CS
CP4 CP5 A2 D6 CP6 A3 D3 CP7 A4 D4 A1 D1
-XP/XT6
670 671 672 673
-XP/XT5.1
B1 B2 B3 B4 B5 B6 B7 B8 B9 B10 B11 B12
AWG 24 OG CS B11 B12 B13 B14 B15 B16 B18 B19 B20 B21 B9 B10 CS CS CS CS CS CS CS CS CS CS CS
10
11
677 678 679 680 681 682 683 684 685 686 687 688
12
-XP/XT5.2
CS F5 F6 F7 F8 F9 F10 F11 F12 A9 A10 A11 A12 B24 B25 A5 A6 CS CS CS CS CS CS CS
13
14
15
16
17
18
19
689 690 691 692 693 694 695 696
20
DEVICE NET ADAPTER

CAN_L
F4 A4 CAN_L
=CM +A35
-J1
120 Ohm
CAN_H
F3 A3
CAN_H
701 +24V CAN
F1 B22 0V F2 B23 +24V CAN
CONTROL MODULE G4.X2 702 0V
Latest revision:
Lab/Office:
Status:
Approved
EPLAN Document no.
Prepared by, date:
Approved by, date:
CUSTOMER POWER/SIGNALS/DeviceNet IRB 6600-7600
3HAC020538-002 02
CONTOL MODULE
AWG 18 OG
Customer Connection
-XS/XP13 -R1.CP/CS
A1 D1 CP5 A2 D6 CP6 A3 D3 CP7 A4 D4 CP4
-XP/XT6
670 671 672 673
-XP/XT5.1
B1 B2 B3 B4 B5 B6 B7 B8 B9 B10 B11 B12
AWG 24 OG CS1 B11 B12 B13 B14 B15 B16 B18 B19 B20 B21 B9 B10 CS2 CS11 CS12 CS13 CS14 CS15 CS16 CS17 CS18 CS19 CS20
10
11
677 678 679 680 681 682 683 684 685 686 687 688
12
-XP/XT5.2
CS7 F5 F6 F3 F4 F2 F11 F12 B23 B24 B25 A3 A4 A5 A6 CS8 CS9 CS10 CS11 CS3 CS4
13
14
15
16
17
18
689 690 691 692 693 694 695
19
DO DO_N DI DI_N GND GND F1 F10 F9 F8 F7 A9 A10 A11 A12 B22
DO DO_N DI DI_N GND
Lab/Office:
CONTROL MODULE A38.2.X2
Latest revision:
Status:
Approved
EPLAN Document no.
Prepared by, date:
Approved by, date:
CUSTOMER POWER/SIGNALS/IBS IRB 6600-7600
3HAC020538-002 02
CONTROL MODULE
AWG 18 OG
Customer Connection
-XS/XP13 -R1.CP/CS
A1 D1 CP5 A2 D6 CP6 A3 D3 CP7 A4 D4 CP4
-XP/XT6
670 671 672 673
-XP/XT5.1
B1 B2 B3 B4 B5 B6 B7 B8 B9 B10 B11 B12
AWG 24 OG CS B11 B12 B13 B14 B15 B16 B18 B19 B20 B21 B9 B10 CS CS CS CS CS CS CS CS CS CS CS
10
11
677 678 679 680 681 682 683 684 685 686 687 688
12
-XP/XT5.2
CS F3 F4 F7 F8 F9 F10 F11 F12 F1 F2 A9 A10 A11 A12 B24 B25 B22 B23 A3 A4 CS CS CS CS CS CS CS CS CS
13
14
15
16
17
18
19
20
21
689 690 691 692 693 694 695 696 697 698
22
RD
F5
RXD/TXD-P
A5
RXD/TXD-P RXD/TXD-N
F6 A6
RXD/TXD-N
Lab/Office:
GN
Latest revision:
Status:
Approved
EPLAN Document no.
Prepared by, date:
Approved by, date:
CUSTOMER POWER/SIGNALS/PROFIBUS IRB 6600-7600
3HAC020538-002 02
SINGLE SERVO DRIVE UNIT -XS/XP7 U

AWG12 BK A1 AWG12 BK A2 AWG12 BK A3 AWG12 BK A4 AWG12 BK A5 AWG12 BK A6
=DM +A41.1.3 4000 4001 4002 4003 4004 4005
-X21 U
W W
V V
CONTACTOR UNIT
PTC
AWG16 BU E1
=DM +A43 4013 4014

AWG16 BU E2 E3 E4 E5 E6
-X24 PTC 0V
0V BRAKE
AWG16 BU
-4012
F9 F10 F11
-X22 LIM2 ch1 LIM2 ch1 ret LIM2 ch2 LIM2 ch2 ret
-4009 -4008 -6007 -4006
AWG16 BU F1 AWG16 BU F4 AWG16 BU F2 AWG16 BU F3
-XS40
F5 F6 AWG16 BU AWG16 BU F7 F8
-445 -447 -448 -446
BRAKE REL. +24V BRAKE PB
-4010 -4011
AWG16 BU AWG16 BU AWG16 BU AWG16 BU AWG10 GNYE Lab/Office:
DRIVE MODULE X40
-XP40
Latest revision:
Status:
Approved
EPLAN
EXTERNAL AXIS no 7
Document no.
Prepared by, date:
Approved by, date:
3HAC020538-002 02
FOR 8 AXIS
SINGLE SERVO DRIVE UNIT -XS/XP7 -X21 U

AWG12 B1 AWG12 B2 AWG12 B3 AWG12 B4 AWG12 B5 AWG12 B6
=DM +A41.1.4 -4000 -4001 -4002 -4003 -4004 -4005

1
U
2
W
3
W
4
V
5
V
6
Lab/Office:
Latest revision:
Status:
Approved
EPLAN
EXTERNAL AXIS no 8
Document no.
Prepared by, date:
Approved by, date:
3HAC020538-002 02
EPLAN
Lab/Office:
Latest revision:
Status:
Approved
EPLAN
Title page
Document no.
Prepared by, date:
Approved by, date:
3HAC020538-002 02
EPLAN
Phone :
: : : 3HAC020538-002_Cables for 4400 :

: 2004-09-23 : : : : : : :
2004-02-16
: : : : : : : jsundin1 2004-09-23 9
Lab/Office:
Latest revision:
Status:
Approved
EPLAN
Title page
Document no.
Prepared by, date:
Approved by, date:
3HAC020538-002 02
Table of contents
Date 2004-09-09 2004-09-09 2004-09-23 2004-09-23 2004-09-23 2004-09-23 2004-09-23 2004-09-23 2004-09-23
DIN_INV_30_1
Plant
Location
Editor
DOKUMENTEDKB DOKUMENTEDKB DOKUMENTEINV DM ORT DM ORT CM ORT CM ORT DM ORT DM ORT
Page 1 2 3 4 5 6 7 8 9
Page description Title page Title page Table of contents: (1 - 9) SERVO DRIVE SYSTEMIRB 4400 CONTROL CABLEIRB 4400 CUSTOMER POWER/SIGNALIRB 4400 POSITION SWITCHIRB 4400 EXTERNAL AXIS no 7 EXTERNAL AXIS no 8
Page supplementary field Approved Approved Approved Approved Approved Approved Approved Approved Approved
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54 0,00 1
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=CAB +A41.1
-XS/XP1
-R1.MP
M1R A1 A2 A5 A6 A3 A4 D6 D8 D10 M4R B3 M4T B5 M4S B4 M4R D11 D13 M2R A7 A8 A11 A9 A12 A10 M2R M2T M2T M2S M2S M4S M4T D12 M1R M1T M1T M1S M1S M1R M1S M1T
-X11
BKBU BKGN BUGN BURD BKWH BK BKRD BUBK BUWH D8 A4 A6 A2
A1 A5 A3 D6 D10
2 3 4 5
-400 -401 -402 -403 -404 -405
-X12
GYWH B3 OGGN B5 OGBK B4 GYRD GY OGBU D12 D11 D13
-418 -420 -422
AWG16 AWG16 AWG16
BK BK BK
DC-BUSBAR
1 2 3 4 5 6
-X13
BU BNBK BNRD BNWH BNBU BNGN A12 A10 A8 A11 A9 A7
1 2 3 4 5
-406 -407 -408 -409 -410 -411
6 4
-X14
EPLAN
B6 B8 B7 Lab/Office: D15 A14 B2 A15 C13 A16 C14 D14 D16 A13 B1
M5R M5T M5S M5R M5S M5T
OGWH B6 PKGN B8 PKBK B7 OGRD OG PKBU D15 D14 D16
-424 -425 -426
AWG16 AWG16 AWG16
BK BK BK
1 2 3 4 5 6 5
-X15
M3R M3R M3T M3T M3S M3S
BN GNRD GYBU GYGN GNWH GYBK WHBU WHGN WHRD A16 C14 A14 B2 A15 C13 A13 B1
1 2 3 4 5
-412 -413 -414 -415 -416 -417
SERVO DRIVE SYSTEM IRB 4400

C15 M6R B9 M6T B11 M6S B10 C3 PK PKWH PKRD
C15
-X16
-428
B9
AWG16 AWG16 AWG16
BK BK BK
1 2
-430
B11 AWG10 AWG10 B10
3 4
-432
5 6 7
C4
Approved
C5 C6 C7 C8 C9 C10 C12
DRIVE MODULE
C11
3HAC020538-002 02
MANIPULATOR
AXIS COMPUTER UNIT DRIVE MODULE MANIPULATOR
=CAB +A42 -XS/XP2

A B C D E E D C B A
-X4
-R1.SMB
SDI SDI-N SDO SDO-N 0V

24V
6 F G H J K L L J K G H F
0V BATSUP BATLD
54 0,00 Ext. Lamp C16 Brake PB B16 Brake Release B12 Brake Release B13
-XS/XP40
-433
-XS/XP1
WH
-R1.MP
C16 VT B16 RDBK B12 RDBU B13
-434 -435 -436
DRIVE MODULE X40
CONTACTOR UNIT
0V Brake B14 PTC C2 PTC 0V C1 0V Brake B15
=CAB +A43
-438
-X5
-439 -440 -437
RDGN B14 VTGN C2 VTBU C1 VTWH B15
-X21
LIM 1A LIM 2A LIM 2B LIM 1B
-441
AWG16 BU
RD D2 D2
RDWH
-442
AWG16 BU
1) -443 -444
AWG16 BU
D1 VTBK D3 AWG16 BU D4 VTRD
D1 D3 D4
Lab/Office:
1) Jumper if not used. Status:
Latest revision:
Approved
EPLAN Document no.
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CONTROL CABLE IRB 4400
3HAC020538-002 02
CONTROL MODULE
AWG 18 OG
Customer Connection
=CAB-XS/XP5 =CAB-R1.CP/CS
A1 B1 C1 D1 A2 B2 C2 D2 A3 B3 C3 D3 D1 A2 B2 C2 D2 A3 B3 C3 D3 C1 B1 A1 CPA CPB CPC CPD CPE CPF CPJ CPK CPL CPM
MANIPULATOR IRB 4400
=CAB-XP/XT6
10
11
648 649 650 651 652 653 654 655 656 657 658 659
12
=CAB-XP/XT5.1
B5 C5 D5 A6 B6 C6 D6 A7 B7 C7 D7 A8
AWG 24 OG CSA B5 C5 D5 A6 B6 C6 D6 A7 B7 C7 D7 A8 CSB CSC CSD CSE CSF CSG CSH CSJ CSK CSL CSM
10
11
625 626 627 628 629 630 631 632 633 634 635 636
12
=CAB-XP/XT5.2
CSN B8 C8 D8 A9 B9 C9 D9 A10 B10 C10 C10 D10 B8 C8 D8 A9 B9 C9 D9 A10 B10 C10 D10 CSP CSR CSS CST CSU CSV
CSW
13
14
15
16
17
18
19
20
CSX CSY CSZ
21
22
637 638 639 640 641 642 643 644 645 646 647
Lab/Office:
23
Latest revision:
Status:
Approved
EPLAN Document no.
Prepared by, date:
Approved by, date:
CUSTOMER POWER/SIGNAL IRB 4400
3HAC020538-002 02
CONTROL MODULE
Customer Connection
=CAB-XS/XP8
-601
OG A OG B B C D E F J K L M G H OG C OG D OG E OG F OG J OG K OG L OG M OG G OG H
=CAB-XP/XT8
=CAB-R1.SW
A 1
-602 -603 -604 -605 -606 -607 -608 -609 -610 -611 -612
10
11
Lab/Office:
12
Latest revision:
Status:
Approved
EPLAN Document no.
Prepared by, date:
Approved by, date:
POSITION SWITCH IRB 4400
3HAC020538-002 02

=CAB +A41.1.3
-4000 -4001 -4002 -4003 -4004 -4005
-X21 U
W W
V V
CONTACTOR UNIT
PTC
AWG16 BU E1 AWG16 BU E2 E3 E4 E5 E6
=CAB +A43
-4013 -4014
-X24 PTC 0V
0V BRAKE
AWG16 BU
-4012
F9 F10 F11
-4006 -4007 -4008 -4009
-XS40
F5 F6
-4010 -4011
AWG16 BU BU AWG16 F7 F8
AW G16 BU AW G16 BU AW G16 BU AW G16 BU Lab/Office:
DRIVE MODULE X40
-XP40 -445
-447
-448
-446
Latest revision:
Status:
Approved
EPLAN
EXTERNAL AXIS no 7
Document no.
Prepared by, date:
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3HAC020538-002 02
FOR 8 AXIS

=CAB +A41.1.4
4000 4001 4002 4003 4004 4005
1
U
2
W
3
W
4
V
5
V
6
Lab/Office:
Latest revision:
Status:
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EPLAN
EXTERNAL AXIS no 8
Document no.
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EPLAN
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Table of contents
Date 2004-09-09 2004-09-09 2004-09-23 2004-09-23 2004-09-23 2004-09-23 2004-09-23 2004-09-23
DIN_INV_30_1
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DOKUMENTEDKB DOKUMENTEDKB DOKUMENTEINV DM ORT DM ORT CM ORT DM ORT DM ORT
Page 1 2 3 4 5 6 7 8
Page description Title page Title page Table of contents: (1 - 8) SERVO DRIVE UNITSIRB 340 CONTROL CABLEIRB 340 CUSTOMER SIGNALIRB 340 EXTERNAL AXIS no 7 EXTERNAL AXIS no 8-9
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1 2
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=DM +A41.1
32 0,00
-XS/XP1
-R1-MP 1-3
9 11 13 3
-X17
BKWH BK BUBK
-400 -402 -404
AWG16 BK AWG16 BK
A11 A9 A7
AWG16 BK 3 AWG16 BK 4 AWG16 BK 5 AWG16 BK 6
BKRD A5 BKGN B3 BKBU
-R1.MP 4-6
1 2 9
-410 -408 -406

B4
DC-BUSBAR
-X19
BUGN B10 BURD 6 BUWH 10 B8 BNBU 13 A13 BNBK 17 BU 15
-418 -420 -422 -416 -414 -412
AWG16 BK AWG16 BK
EPLAN
Lab/Office:
B9 AWG16 BK AWG16 BK AWG16 BK A15 B1 AWG10 GNYE AWG10 GNYE AWG16 BK
3 4 5 6 5
SERVO DRIVE UNITS IRB 340

6 7
DRIVE MODULE
Approved
MANIPULATOR
3HAC020538-002 02
=DM +A42
-X4
A B C D E E D C B A
-XS/XP2
-R1.SMB

24V
6 F G H J K L L J K H G F
0V BATSUP BATLD
32 0,00 Ext. Lamp C7 Brake PB B16 Brake Release B12 Brake Release B13
-XS/XP40
-433
AWG16 BU AWG16 BU AWG16 BU AWG16 BU BNGN BNRD GNWH GY
-XS/XP1
-R1.MP
C7 B8 C9 C8
DRIVE MODULE X40

-434 -435 -436
CONTACTOR UNIT
=DM +A43 -438

-X5
-439 -440 -437
BNWH
C10 BN B9 GYBK B2 GNRD B7
-X21
LIM 1A D2
GYBU B3 GYRD D1 GYWH D3 GYGN D4 C1 C2 B4
LIM 2A
Lab/Office:
LIM 2B
LIM 1B
Latest revision:
Status:
Approved
EPLAN Document no.
Prepared by, date:
Approved by, date:
3HAC020538-002 02
CONTROL MODULE
Customer Connection
MANIPULATOR IRB 340
AWG 24 OG
-XS/XP5
625
B5 A
-XP/XT5
-R1.CS
A 1
CSA CSB
626
C5 B
627
D5 C
CSC CSD
A6 D
628 629
B6 E
CSE CSF
C6 F
630 631
D6 G
CSG
CSH
A7 H
632 633
B7 J
CSJ CSK
C7 K
634 635
D7 L
10
CSL
11
636
A8 M
CSM
Lab/Office:
12
Latest revision:
Status:
Approved
EPLAN Document no.
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CUSTOMER SIGNAL IRB 340
3HAC020538-002 02

=DM +A41.1.3 -4000 -4001 -4002 -4003 -4004 -4005
-X21 U
W W
V V
CONTACTOR UNIT
PTC
=DM +A43 -4013 -4014
-X24 PTC 0V
0V BRAKE
AWG16 BU
-4012
F9 F10 F11
-4009 -4008 -4007 -4006
-XS40
EXT. LAMP BRAKE REL. BRAKE REL. BRAKE PB
-4010 -4011
AW G16 BU AW G16 BU AW G16 BU AW G16 BU AWG10 GNYE Lab/Office:
DRIVE MODULE X40
-XP40 -445
-447
-448
-446
Latest revision:
Status:
Approved
EPLAN
EXTERNAL AXIS no 7
Document no.
Prepared by, date:
Approved by, date:
3HAC020538-002 02
FOR 8 AXIS

=DM +A41.1.4 -4000 -4001 -4002 -4003 -4004 -4005

1
U
2
W
3
W
4
V
5
V
6
FOR 9 AXIS -XS/XP7 -X21 U U

2

-4000 -4001 -4002 -4003 -4004 -4005
AWG12 C1 AWG12 C2 AWG12 C3 AWG12 C4 AWG12 C5 AWG12 C6
=DM +A41.1.5
1
W
3
W
4
V
5
V
6
Lab/Office:
Latest revision:
Status:
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EPLAN
EXTERNAL AXIS no 8-9
Document no.
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EPLAN
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Date 2004-09-09 2004-09-09 2004-09-23 2004-09-23 2004-09-23 2004-09-23 2004-09-23 2004-09-23 2004-09-23
DIN_INV_30_1
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Page 1 2 3 4 5 6 7 8 9
Page description Title page Title page Table of contents: (1 - 9) SERVO DRIVE UNITIRB 2400 CONTROL CABLEIRB 2400 CUSTOMER POWER/SIGNALIRB 2400 POSITION SWITCHIRB 2400 EXTERNAL AXIS no 7 EXTERNAL AXIS no 8-9
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1
Latest revision:
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Approved by, date:
=DM +A41.1
32 0,00
-XS/XP1
-R1.MP
M1R A1 M1S A2 M1T A3 M2T D2 M2S D1 M2R A4 M4R A10 M4S A9 M4T A8 M6T B10 M6S D7 M6R D8
-X17
BKBU BKGN
-400 -402
BK BK
A1 A3 BK
BKRD A5 BUBK A11 BK BKWH A7
-404 -410 -408 -406
BK 4 BK 5 BK 6
A9
-X18
BU B3 BNBK B4 BNBU B5 GNWH B11 GNRD BN
-418 -420 -422 -432 -430 -428
BK BK
1 2
DC-BUSBAR
BK 3 BK 4 BK 5
B10
BK 6
EPLAN
Lab/Office:
B9 AWG14 AWG14 BK BK
-X19
M3R D3 M3S D4 M3T B1 M5T D9 M5S D10 M5R A7
BUGN A13 BURD
-412 -414 -416 -426

B8
1 2
A15
BUWH BNWH BNRD
BK 3 BK 4 BK 5 BK 6
B1
-425
B7
BNGN B6
SERVO DRIVE UNIT IRB 2400

-424
AWG10 AWG10
GNYE 6 GNYE
Approved
DRIVE MODULE
MANIPULATOR
3HAC020538-002 02
=DM +A42
-X4
A B C D E E D C B A
-XS/XP2
-R1.SMB

24V
0V BATSUP BATLD
32
-XS/XP40
Ext. Lamp OG OGWH B16 Brake Release B12 Brake Release B13 C7 Brake PB
-433
AW G16 BU AW G16 BU AW G16 BU AW G16 BU
-XS/XP1
-R1.MP
C7 B8
DRIVE MODULE X40

-434 -435 -436
GYBK C9 GYBU C8
CONTACTOR UNIT
=DM +A43 -438

AW G16 BU AW G16 BU AW G16 BU AW G16 BU
-X5
-439 -440 -437
GYGN C10 OGBU B9 OGBK B2 OGRD B7
-X21
LIM 1A LIM 2A LIM 2B LIM 1B
-441
AW G16 BU
GYRD D1 B3 GYWH D2 B4 GY D3 C2 OGGN D4 C1
-442
AW G16 BU AW G16 BU AW G16 BU
1) -443 -444
Lab/Office:
1) Jumper if note used.
Latest revision:
Status:
Approved
EPLAN Document no.
Prepared by, date:
Approved by, date:
3HAC020538-002 02
CONTROL MODULE
AWG 18 OG
Customer Connection
-XS/XP5 -R1.CP/CS
A1 B1 C1 D1 A2 B2 C2 D2 A3 B3 C3 D3 C3 D3 A3 B3 C2 D2 A2 B2 C1 D1 B1 A1 CPA CPB CPC CPD CPE CPF CPJ CPK CPL CPM
-XP/XT6
10
11
648 649 650 651 652 653 654 655 656 657 658 659
12
-XP/XT5.1
B5 C5 D5 A6 B6 C6 D6 A7 B7 C7 D7 A8
AWG 24 OG CSA B5 C5 D5 A6 B6 C6 D6 A7 B7 C7 D7 A8 CSB CSC CSD CSE CSF CSG CSH CSJ CSK CSL CSM
10
11
625 626 627 628 629 630 631 632 633 634 635 636
12
-XP/XT5.2
CSN B8 C8 D8 A9 B9 C9 D9 A10 B10 C10 C10 D10 D9 A10 B10 C10 D10 B9 C9 D8 A9 B8 C8 CSP CSR CSS CST CSU CSV
CSW
13
14
15
16
17
18
19
20
CSX CSY CSZ
21
22
637 638 639 640 641 642 643 644 645 646 647
Lab/Office:
23
Latest revision:
Status:
Approved
EPLAN Document no.
Prepared by, date:
Approved by, date:
CUSTOMER POWER/SIGNAL IRB 2400
3HAC020538-002 02
CONTROL MODULE
Customer Connection
-XS/XP8
-601
-XP/XT8
-R1.SW
A 1
-602 -603 -604 -605 -606 -607 -608 -609 -610 -611 -612
10
11
Lab/Office:
12
Latest revision:
Status:
Approved
EPLAN Document no.
Prepared by, date:
Approved by, date:
POSITION SWITCH IRB 2400
3HAC020538-002 02

=DM +A41.1.3 -4000 -4001 -4002 -4003 -4004 -4005
-X21 U
W W
V V
CONTACTOR UNIT
PTC
=DM +A43 -4013 -4014
-X24 PTC 0V
0V BRAKE
AWG16 BU
-4012
F9 F10 F11
-4006 -4007 -4008 -4009
-XS40
EXT. LAMP
1 BRAKE PB
BRAKE REL.
F5 F6
BRAKE REL.
-4010 -4011
DRIVE MODULE X40
-XP40 -445
-447
-448
-446
Latest revision:
Status:
Approved
EPLAN
EXTERNAL AXIS no 7
Document no.
Prepared by, date:
Approved by, date:
3HAC020538-002 02
FOR 8 AXIS

=DM +A41.1.4 4000 4001 4002 4003 4004 4005

1
U
2
W
3
W
4
V
5
V
6

2

4000 4001 4002 4003 4004 4005
=DM +A41.1.5
1
W
3
W
4
V
5
V
6
Lab/Office:
Latest revision:
Status:
Approved
EPLAN
Document no.
Prepared by, date:
Approved by, date:
3HAC020538-002 02
EPLAN
Lab/Office:
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Status:
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EPLAN
Title page
Document no.
Prepared by, date:
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3HAC020538-002 02
EPLAN
Phone :
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EPLAN
Title page
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Table of contents
Date 2004-09-09 2004-09-09 2004-09-23 2004-09-23 2004-09-23 2004-09-23 2004-09-23 2004-09-23 2004-09-23
DIN_INV_30_1
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Page 1 2 3 4 5 6 7 8 9
Page description Title page Title page Table of contents: (1 - 9) SERVO DRIVE SYSTEMIRB 1400 CONTROL CABLEIRB 1400 CUSTOMER SIGNALSIRB 1400 POSITION SWITCHES EXTERNAL AXIS no 7 EXTERNAL AXIS no 8-9
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1
Latest revision:
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=DM +A41.1
32 0,00
-XS/XP1
-R1.MP
M1R A1 M1S A2 M1T A3 M2T D2 M2S D1 M2R A4 M4R A10 M4S A9 M4T A8 M6T B10 M6S D7 M6R D8
-X17
BKBU BKGN
-400 -402
AWG14 BK AWG14 BK
A1 A3 AWG14 BK
BKRD A5 BUBK A11 BK BKWH A7
-404 -410 -408 -406
AWG14 BK 4 AWG14 BK 5 AWG14 BK 6
A9
-X18
BU B3 BNBK B4 BNBU B5 GNWH B11 GNRD BN
-418 -420 -422 -432 -430 -428
AWG14 BK AWG14 BK
DC-BUSBAR
1 2
AWG14 BK 3 AWG14 BK 4 AWG14 BK 5 4 AWG14 BK 6
B10
EPLAN
Lab/Office:
B9 AWG14 BK AWG14 BK
-X19
M3R D3 M3S D4 M3T B1 M5T D9 M5S D10 M5R A7
BUGN A13 BURD
-412 -414 -416 -426

B8
1 2
A15
BUWH BNWH BNRD
B1
-425
B7
BNGN B6

-424
AWG10 GNYE 6 AWG10 GNYE
DRIVE MODULE
Approved
MANIPULATOR
3HAC020538-002 02
=DM +A42
-X4
A B C D E E D C B A
-XS/XP2
-R1.SMB

24V
0V BATSUP BATLD
-XS/XP40
Ext. Lamp C7 Brake PB B16 Brake Release B12 Brake Release B13
-433
-XS/XP1
32 0,00 OG OGWH
-R1.MP
C7 B8
DRIVE MODULE X40

-434 -435 -436
GYBK C9 GYBU C8
CONTACTOR UNIT
=DM +A43 -438

-X5
-439 -440 -437
GYGN C10 OGBU B9 OGBK B2 OGRD B7
-X21
LIM 1A LIM 2A
GYRD D1 GYWH D2 B4 GY D3 C2 OGGN D4 C1 B3
4 LIM 2B LIM 1B
Lab/Office:
Latest revision:
Status:
Approved
EPLAN Document no.
Prepared by, date:
Approved by, date:
3HAC020538-002 02
CONTROL MODULE
Customer Connection
AWG 24 OG
-XS/XP5
625
B5 1
-XP/XT5
-R1.CS
A 1
CSA CSB
626
C5 B
627
D5 C
CSC CSD
A6 D
628 629
B6 E
CSE CSF
C6 F
630 631
D6 G
CSG
CSH
A7 H
632 633
B7 J
CSJ CSK
C7 K
634 635
D7 L
10
CSL
11
636
A8 M
CSM
Lab/Office:
12
Latest revision:
Status:
Approved
EPLAN Document no.
Prepared by, date:
Approved by, date:
CUSTOMER SIGNALS IRB 1400
3HAC020538-002 02
CONTROL MODULE
Customer Connection
-XS/XP8
-601
-XP/XT8
-R1.SW
A 1
-602 -603 -604 -605 -606 -607 -608 -609 -610 -611 -612
10
11
Lab/Office:
12
Latest revision:
Status:
Approved
EPLAN
POSITION SWITCHES
Document no.
Prepared by, date:
Approved by, date:
3HAC020538-002 02

=DM +A41.1.3 -4000 -4001 -4002 -4003 -4004 -4005
-X21 U
W W
V V
CONTACTOR UNIT
PTC
=DM +A43 -4013 -4014
-X24 PTC 0V
0V BRAKE
AWG16 BU
-4012
F9 F10 F11
-4009 -4008 -4007 -4006
-XS40
EXT. LAMP F5 F6
1 BRAKE PB
BRAKE REL.
BRAKE REL.
-4010 -4011
DRIVE MODULE X40
-XP40
-445
-447
-448
-446
Latest revision:
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EXTERNAL AXIS no 7
Document no.
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FOR 8 AXIS

=DM +A41.1.4 -4000 -4001 -4002 -4003 -4004 -4005

1
U
2
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3
W
4
V
5
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6

2

-4000 -4001 -4002 -4003 -4004 -4005
=DM +A41.1.5
1
W
3
W
4
V
5
V
6
Lab/Office:
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EPLAN
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EPLAN
Phone :
: : : 3HAC020538-002_Cables for 140 :

: 2004-09-23 : : : : : : :
2004-04-15
: : : : : : : jsundin1 2004-09-23 8
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Table of contents
Date 2004-09-09 2004-09-09 2004-09-23 2004-09-23 2004-09-23 2004-09-23 2004-09-23 2004-09-23
DIN_INV_30_1
Plant
Location
Editor
DOKUMENTEDKB DOKUMENTEDKB DOKUMENTEINV DM ORT DM ORT CM ORT DM ORT DM ORT
Page 1 2 3 4 5 6 7 8
Page description Title page Title page Table of contents: (1 - 8) SERVO DRIVE SYSTEMIRB 140 CONTROL CABLEIRB 140 CUSTOMER SIGNALIRB 140 EXTERNAL AXIS no 7 EXTERNAL AXIS no 8-9
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1
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=DM +A41.1
32 0,00
-XS/XP1
-X17
-R1.MP1-3
M1R
13
BUGN BURD
-400 -402
AWG14 BK AWG14 BK
A1
M1S
17 M1T 15 M2T 3 M2S 5 M2R 1
A3 AWG14 BK
BUWH A5 BKRD A11 BKGN BKBU A7
-404 -410 -408 -406
AWG14 BK 4 AWG14 BK 5 AWG14 BK 6
DC-BUSBAR
A9
-R1MP4-6
M4R 6 M4S 9 M4T 12 M6T 3 M6S 2 M6R 1
-X18
BN B3 GNRD B4 GNWH B5 BNBU B11 BNBK BU
-418 -420 -422 -432 -430 -428
AWG14 BK AWG14 BK
1 2
AWG14 BK 3 AWG14 BK 4 AWG14 BK 5 4 AWG14 BK 6
B10
EPLAN
Lab/Office: 7 11 9
B9 AWG14 BK AWG14 BK
-X19
M3R M3S M3T M5T 10 M5S 7 M5R 4
BKWH A13 BK
-412 -414 -416 -426

B8
1 2
A15
BUBK BNWH BNRD
B1
-425
B7
BNGN B6

-424
AWG10 GNYE 6 AWG10 GNYE
Approved
DRIVE MODULE
MANIPULATOR
3HAC020538-002 02
=DM +A42
-X4
A B C D E 3 4 8 5 9
-XS/XP2
-R1.SMB

24V
6 F G H J K L 2 6 7
BATSUP BATLD
32 0,00
-XS/XP40
Ext. Lamp C7 Brake PB B16 Brake Release B12 Brake Release B13
-433
AWG16 BU AWG16 BU AWG16 BU AWG16 BU OG GYBU GYBK
-XS/XP1
-R1.H1
1
-434 -435 -436
-R1MP4-6
15 8
DRIVE MODULE X40

OGWH
CONTACTOR UNIT
=DM +A43 -438

-X5
-439 -440 -437
OGRD 13 OGGN OGBU OGBK 14 11
-R1.MP1-3
2
-X21
D2
GY 10 GYWH D1 GYRD D3 GYGN D4 12 18 16
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CONTROL MODULE
MANIPULATOR IRB 140
Customer Connection
AWG 24 OG
-XS/XP5
625
B5
-XP/XT5
-R1.CS
1
CSA CSB
626
C5 9
627
D5 2
CSC CSD
A6 10
628 629
B6 3
CSE CSF
C6 11
630 631
D6 4
CSG
CSH
A7 12
632 633
B7 5
CSJ CSK
C7 13
634 635
D7 6
10
CSL
11
636
A8 14
CSM
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CUSTOMER SIGNAL IRB 140
3HAC020538-002 02
SINGEL SERVO DRIVE -XS/XP7 U

=DM +A41.1.3 -4000 -4001 -4002 -4003 -4004 -4005
-X21 U
W W
V V
CONTACTOR UNIT
PTC
=DM +A43 -4013 -4014
-X24 PTC 0V
0V BRAKE
AWG16 BU
-4012
F9 F10 F11
-4008 -4009 -4007 -4006
-XS40
EXT LAMP BRAKE REL. BRAKE REL. BRAKE PB
-4010 -4011
AWG16 BU AWG10 GNYE AWG16 BU AWG16 BU AWG16 BU Lab/Office:
DRIVE MODULE X40
-XP40 -445
-447
-448
-446
Latest revision:
Status:
Approved
EPLAN
EXTERNAL AXIS no 7
Document no.
Prepared by, date:
Approved by, date:
3HAC020538-002 02
FOR 8 AXIS

=DM +A41.1.4 -4000 -4001 -4002 -4003 -4004 -4005

1
U
2
W
3
W
4
V
5
V
6

2

-4000 -4001 -4002 -4003 -4004 -4005
=DM +A41.1.5
1
W
3
W
4
V
5
V
6
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ABB Automation Technology Products AB Robotics S-721 68 VSTERS SWEDEN Telephone: +46 (0) 21 344000 Telefax: +46 (0) 21 132592
3HAC021313-001 (part 2 of 2), rev A, en

ABB-IRC5-IRC5 Product Reference Manual 3HAC021313-001 - Part2 - Reva - en

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ABB-IRC5-IRC5 Product Reference Manual 3HAC021313-001 - Part2 - Reva - en

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Product manual (part 2 of 2), reference information

Product manual (part 2 of 2), reference information IRC5

Organization of Chapters The manual is organized in the following chapters: Chapter

Spare part list Circuit diagram

References See section document references. Revisions Revision

Product documentation, M2004

Product documentation, M2004

Product documentation, M2004

How to use the application Examples of how to use the application

1 Reference information, IRC5

1 Reference information, IRC5

1 Reference information, IRC5

1.2. Applicable Safety Standards

1 Reference information, IRC5

1.3. Unit conversion

1 Reference information, IRC5

1.4. Screw joints

Tightening torque (Nm) Class 4.8, oil-lubricated

1 Reference information, IRC5

1.5. Weight specifications

1 Reference information, IRC5

1.6. Standard toolkit, IRC5

1 Reference information, IRC5

1.7. Document references

Application documentation Document name

Getting started - IRC5 and RobotStudio Online 3HAC 021564-001

1 Reference information, IRC5

1 Reference information, IRC5

1.8. Lifting equipment and lifting instructions

1 Reference information, IRC5

2.2. Spare Parts IRC5, Control module

Spare parts Pos

Spare part number

Spare part number

DSQC 328A DSQC 608 DSQC 327A DSQC 332A

DSQC 603 DSQC 612 APIP-02 ENC-01

1,8kVA DSQC624 DSQC 604 DSQC 608

3HAC020150-001 3HAC12928-1 3HAC12934-1

Spare parts Pos

Spare part number

2.3. Spare Parts IRC5, Drive module

Spare parts Spare part number

Spare part number

Contactor Interface board DSQC 611

10m 10m 30m 30m

Copyright 2004 ABB All right reserved.

Prepared by, date:

Approved by, date:

Customer Robot serial number(s) Drawing number Drawing version

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Table of contents: (1 - 30)

Prepared by, date:

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Table of contents: (31 - 42)

Prepared by, date:

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Option Service outlet

Earth fault prot.

Prepared by, date:

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= CM Plant: + ORT Location: Sublocation: + Rev. Ind Page 5 Next 6 Total 42