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In no event shall ABB be liable for incidental or consequential damages arising from use of this document.
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and contents therof must not be imparted to a third party nor be used for any unauthorized purpose.
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© Copyright 2004 ABB ALL right reserved.
ABB Automation Technologies AB
Robotics
SE-721 68 Västerås
Sweden
Latest revision:
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PRMP
ECO 70147, WI 7698
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1
2
3
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Customer
:
Robot serial number(s) :
Drawing number
:
Drawing version
:
Manufacture
Type
Type of installation
Control cabinet
Mains voltage
Supply
Control voltage
Year of construction
:
Project start
Project manager
Last revision
Designed by
Designed date
Number of pages
:
:
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:
:
:
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:
:
:
:
:
:
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COPYRIGHT PAGE
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TITLE PAGE
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2008-06-30
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SP
3
TABLE OF CONTENTS 1-117
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2008-06-30
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SP
4
TABLE OF CONTENTS 118-228
APPROVED
2008-06-30
semitot
SP
5-6
TABLE OF CONTENTS 229-321; 600-702
APPROVED
2013-12-06
seermes
SP
S
50
BLOCK DIAGRAM - TYPE S
APPROVED
2008-06-30
semitot
SP
S
51
BLOCK DIAGRAM TYPE S - IRBDP SW5
APPROVED
2008-06-30
semitot
SP
Se
52
BLOCK DIAGRAM - TYPE Se
APPROVED
2008-06-30
semitot
SP
Se
53
BLOCK DIAGRAM TYPE Se - IRBDP SW5
APPROVED
2008-06-30
semitot
SP
H
54
BLOCK DIAGRAM - TYPE H
APPROVED
2008-06-30
semitot
SP
HS
55
BLOCK DIAGRAM - TYPE HS
APPROVED
2008-06-30
semitot
SP
HSe
56
BLOCK DIAGRAM - TYPE HSe
APPROVED
2008-06-30
semitot
SP
CON
57
CONNECTOR LAYOUT
APPROVED
2008-06-30
semitot
SP
CON
58-59
CONNECTOR LAYOUT
APPROVED
2013-12-06
seermes
DP
S
AX3
100
CUSTOMER SIGNALS, PARALLEL
APPROVED
2008-06-30
semitot
DP
S
AX3
101
CUSTOMER SIGNALS, PARALLEL
APPROVED
2008-06-30
semitot
DP
S
AX3
102
CUSTOMER SIGNALS, CANBUS
APPROVED
2008-06-30
seermes
DP
S
AX3
103
CUSTOMER SIGNALS, CANBUS
APPROVED
2008-06-30
semitot
DP
S
AX3
104
CUSTOMER SIGNALS, ETHERNET
APPROVED
2009-12-04
seermes
DP
S
AX3
105
CUSTOMER SIGNALS, ETHERNET
APPROVED
2009-12-04
seermes
DP
S
AX3
106
CUSTOMER SIGNALS, PROFIBUS
APPROVED
2008-06-30
semitot
DP
S
AX3
107
CUSTOMER SIGNALS, PROFIBUS
APPROVED
2008-06-30
semitot
DP
S
-
108
CUSTOMER SIGNALS, PARALLEL
APPROVED
2008-06-30
semitot
DP
S
-
109
CUSTOMER SIGNALS, PARALLEL
APPROVED
2008-06-30
semitot
DP
S
-
110
CUSTOMER SIGNALS, CANBUS
APPROVED
2008-06-30
semitot
DP
S
-
111
CUSTOMER SIGNALS, CANBUS
APPROVED
2008-06-30
semitot
DP
S
-
114
CUSTOMER SIGNALS, PROFIBUS
APPROVED
2008-06-30
semitot
DP
S
-
115
CUSTOMER SIGNALS, PROFIBUS
APPROVED
2008-06-30
semitot
DP
S
AX3
116
CUSTOMER SIGNALS, PARALLEL - SW6
APPROVED
2012-03-21
seermes
DP
S
AX3
117
CUSTOMER SIGNALS, PARALLEL - SW6
APPROVED
2012-03-21
seermes
Latest revision:
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DP
S
AX3
118
CUSTOMER SIGNALS, CANBUS - SW6
APPROVED
2012-03-21
seermes
DP
S
AX3
119
CUSTOMER SIGNALS, CANBUS - SW6
APPROVED
2012-03-21
seermes
DP
S
AX3
120
CUSTOMER SIGNALS, ETHERNET - SW6
APPROVED
2012-03-21
seermes
DP
S
AX3
121
CUSTOMER SIGNALS, ETHERNET - SW6
APPROVED
2012-03-21
seermes
DP
Se
AX3
200
CUSTOMER SIGNALS, PARALLEL
APPROVED
2008-06-30
semitot
DP
Se
AX3
201
CUSTOMER SIGNALS, PARALLEL
APPROVED
2008-06-30
semitot
DP
Se
AX3
202
CUSTOMER SIGNALS, PARALLEL
APPROVED
2008-06-30
semitot
DP
Se
AX3
203
CUSTOMER SIGNALS, CANBUS
APPROVED
2008-06-30
semitot
DP
Se
AX3
204
CUSTOMER SIGNALS, CANBUS
APPROVED
2008-06-30
semitot
DP
Se
AX3
205
CUSTOMER SIGNALS, CANBUS
APPROVED
2008-06-30
semitot
DP
Se
AX3
206
CUSTOMER SIGNALS, ETHERNET
APPROVED
2009-12-04
seermes
DP
Se
AX3
207
CUSTOMER SIGNALS, ETHERNET
APPROVED
2009-12-04
seermes
DP
Se
AX3
208
CUSTOMER SIGNALS, ETHERNET
APPROVED
2009-12-04
seermes
DP
Se
AX3
209
CUSTOMER SIGNALS, PROFIBUS
APPROVED
2008-06-30
semitot
DP
Se
AX3
210
CUSTOMER SIGNALS, PROFIBUS
APPROVED
2008-06-30
semitot
DP
Se
AX3
211
CUSTOMER SIGNALS, PROFIBUS
APPROVED
2008-06-30
semitot
DP
Se
-
212
CUSTOMER SIGNALS, PARALLEL
APPROVED
2008-06-30
semitot
DP
Se
-
213
CUSTOMER SIGNALS, PARALLEL
APPROVED
2008-06-30
semitot
DP
Se
-
214
CUSTOMER SIGNALS, PARALLEL
APPROVED
2008-06-30
semitot
DP
Se
-
215
CUSTOMER SIGNALS, CANBUS
APPROVED
2008-06-30
semitot
DP
Se
-
216
CUSTOMER SIGNALS, CANBUS
APPROVED
2008-06-30
semitot
DP
Se
-
217
CUSTOMER SIGNALS, CANBUS
APPROVED
2008-06-30
semitot
DP
Se
-
221
CUSTOMER SIGNALS, PROFIBUS
APPROVED
2008-06-30
semitot
DP
Se
-
222
CUSTOMER SIGNALS, PROFIBUS
APPROVED
2008-06-30
semitot
DP
Se
-
223
CUSTOMER SIGNALS, PROFIBUS
APPROVED
2008-06-30
semitot
DP
Se
AX3
224
CUSTOMER SIGNALS, PRALLEL - SW6
APPROVED
2012-03-21
seermes
DP
Se
AX3
225
CUSTOMER SIGNALS, PARALLEL - SW6
APPROVED
2012-03-21
seermes
DP
Se
AX3
226
CUSTOMER SIGNALS, CANBUS - SW6
APPROVED
2012-03-21
seermes
DP
Se
AX3
227
CUSTOMER SIGNALS, CANBUS - SW6
APPROVED
2012-03-21
seermes
DP
Se
AX3
228
CUSTOMER SIGNALS, CANBUS - SW6
APPROVED
2012-03-21
seermes
Latest revision:
Lab/Office:
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PRMP
ECO 70147, WI 7698
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Table of contents
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Plant
Location
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Page supplementary field Date
Editor
DP
Se
AX3
229
CUSTOMER SIGNALS, ETHERNET - SW6
APPROVED
2012-03-21
seermes
DP
Se
AX3
230
CUSTOMER SIGNALS, ETHERNET - SW6
APPROVED
2012-03-21
seermes
DP
Se
AX3
231
CUSTOMER SIGNALS, ETHERNET - SW6
APPROVED
2012-03-21
seermes
DP
H
300
CUSTOMER SIGNALS, PARALLEL
APPROVED
2008-06-30
semitot
DP
H
301
CUSTOMER SIGNALS, PARALLEL
APPROVED
2008-06-30
semitot
DP
H
302
CUSTOMER SIGNALS, CANBUS
APPROVED
2008-06-30
semitot
DP
H
303
CUSTOMER SIGNALS, CANBUS
APPROVED
2008-06-30
semitot
DP
H
304
CUSTOMER SIGNALS, ETHERNET
APPROVED
2009-12-04
seermes
DP
H
305
CUSTOMER SIGNALS, ETHERNET
APPROVED
2009-12-04
seermes
DP
H
306
CUSTOMER SIGNALS, PROFIBUS
APPROVED
2008-06-30
semitot
DP
H
307
CUSTOMER SIGNALS, PROFIBUS
APPROVED
2008-06-30
semitot
DP
H.1
308
CUSTOMER SIGNALS, PARALLEL
APPROVED
2008-06-30
semitot
DP
H.1
309
CUSTOMER SIGNALS, PARALLEL
APPROVED
2008-06-30
semitot
DP
H.1
310
CUSTOMER SIGNALS, CANBUS
APPROVED
2008-06-30
semitot
DP
H.1
311
CUSTOMER SIGNALS, CANBUS
APPROVED
2008-06-30
semitot
DP
H.1
312
CUSTOMER SIGNALS, ETHERNET
APPROVED
2009-12-04
seermes
DP
H.1
313
CUSTOMER SIGNALS, ETHERNET
APPROVED
2009-12-04
seermes
DP
H.1
314
CUSTOMER SIGNALS, PROFIBUS
APPROVED
2008-06-30
semitot
DP
H.1
315
CUSTOMER SIGNALS, PROFIBUS
APPROVED
2008-06-30
semitot
DP
H
316
CUSTOMER SIGNALS, PARALLEL - MH6
APPROVED
2013-12-06
seermes
DP
H
317
CUSTOMER SIGNALS, PARALLEL - MH6
APPROVED
2013-12-06
seermes
DP
H
318
CUSTOMER SIGNALS, CANBUS - MH6
APPROVED
2013-12-06
seermes
DP
H
319
CUSTOMER SIGNALS, CANBUS - MH6
APPROVED
2013-12-06
seermes
DP
H
320
CUSTOMER SIGNALS, ETHERNET - MH6
APPROVED
2013-12-06
seermes
DP
H
321
CUSTOMER SIGNALS, ETHERNET - MH6
APPROVED
2013-12-06
seermes
DP
ID
AX3
400
IRB66xID
APPROVED
2008-06-30
semitot
DP
ID
AX3
401
IRB66xID
APPROVED
2008-06-30
semitot
DP
ID
AX3
402
IRB66xID, ETHERNET (On request)
APPROVED
2011-09-23
seermes
DP
ID
AX3
403
IRB66xID, ETHERNET (On request)
APPROVED
2011-09-23
seermes
DP
PG
500
PEDESTAL GUN
APPROVED
2008-06-30
semitot
Latest revision:
Lab/Office:
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PRMP
ECO 70147, WI 7698
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TABLE OF CONTENTS 229-321
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8
Table of contents
ABB_table_of_contents
Plant
Location
Sublocation Page Page description
Page supplementary field Date
Editor
DP
CS
B
DP
CUSTOMER SIGNAL - IRBDP SW5
APPROVED
2008-06-30
semitot
RG
601
ROBOT GUN (RG) - IRBDP SW5
APPROVED
2008-06-30
semitot
DP
RG
602
ROBOT GUN (RG) - IRBDP SW5
APPROVED
2008-06-30
semitot
DP
REV
700
Revision Notes
APPROVED
2008-06-30
semitot
DP
REV
701
Revision Notes
APPROVED
2008-06-30
semitot
DP
REV
702
Revision Notes
APPROVED
2008-06-30
semitot
We reserve all rights in this document and in the information contained therein.Reproduction, use or
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600
Latest revision:
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PRMP
ECO 70147, WI 7698
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IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5
TABLE OF CONTENTS 600-702
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1
2
3
4
5
6
7
8
BLOCK DIAGRAM TYPE S (pneumatic gun)
IRBDP SW2/SW6
Single cabinet controller, IRC5: See circuit diagram, 3HAC024480-004.
Dashed cables: See circuit diagram SpotPack, 3HAC026208-001
WELD POWER
Axis 3
R2.ETHERNET
R2.WELD
R2.CP/CS
R2.CBUS
SPOT WELDING
CABINET
X101
Axis 4
XS/XP101
115/230VAC
Axis 6
R3.ETHERNET
R3.WELD
R3.CP/CS
R3.CBUS
Axis 2
RS232/RS485
XP/XS113
WATER AND
AIR UNIT
24VDC SUPPLY, WELDING SIGNALS
Axis 5
XP/XS103
CANBUS INTERFACE
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
24VDC SUPPLY, PARALLEL INTERFACE, PROP. VALVE
Axis 1
Base
Latest revision:
R1.WELD
R1.CP/CS/CBUS
R1.CP/CS
ROBOT SIGNALS, 24VDC SUPPLY
XP/XS13
R1.ETHERNET
BUS SIGNALS
XP/XS9
Lab/Office:
DMRO SE
PRMP
ECO 70147, WI 7698
Page 224-231: Adjusted, "Type Se" was "Type S"
Page 316-321: Adjusted, "Type H" was "Type S"
IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5
BLOCK DIAGRAM - TYPE S
Prepared by, date:
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Document no.
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1
2
3
4
5
6
7
8
Axis 2
CONNECTION BOX
R1.WA
R1.CB
R1.CB
R1.WELD
Axis 1
SINGLE CABINET
CONTROLLER
Base
Latest revision:
REGION E
ECO 70147, WI 7698
Page 224-231: Adjusted, "Type Se" was "Type S"
Page 316-321: Adjusted, "Type H" was "Type S"
Lab/Office:
DMRO SE
PRMP
IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5
BLOCK DIAGRAM TYPE S - IRBDP SW5
Prepared by, date:
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Approved by, date:
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RS232/RS485
Axis 4
3HAC029444-001
Axis 6
R3.CP/CS
R3.WELD
CANBUS INTERFACE
WATER AND
AIR UNIT
SPOT WELDING
CABINET
3HAC029486-001
Axis 3
R2.CP/CS
Axis 5
SWC.24V
SWC.I/O
SWC.WELD
24VDC SUPPLY, WELDING SIGNALS
CUSTOMER POWER
CUSTOMER SIGNAL
WELD POWER
3HAC029446-001
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
BLOCK DIAGRAM TYPE S (pneumatic gun)
IRBDP SW5
Single cabinet controller, IRC5: See circuit diagram, 3HAC024480-004.
Dashed cables: See circuit diagram SpotPack, 3HAC026208-001
DRESS PACK
= SP
Plant:
Location: + S
APPROVED
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Status:
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1
2
3
4
5
6
7
8
BLOCK DIAGRAM TYPE Se (servo gun)
IRBDP SW2/SW6
Single cabinet controller, IRC5: See circuit diagram, 3HAC024480-004.
Dashed cables: See circuit diagram SpotPack, 3HAC026208-001
24VDC SUPPLY, PARALLEL INTERFACE
WELD POWER
Axis 3
R2.CP/CS
R2.WELD
R2.ETHERNET
R2.CBUS
R2.SP
R3.FB
XS/XP101
R2.FB
Axis 1
R1.WELD
Base
R1.CP/CS/CBUS
R1.CP/CS
ROBOT SIGNALS, 24VDC SUPPLY
XP/XS13
SERVO GUN POWER
XP/XS7
BUS SIGNALS
XP/XS9
R1.SP
R1.ETHERNET
Latest revision:
Lab/Office:
DMRO SE
PRMP
ECO 70147, WI 7698
Page 224-231: Adjusted, "Type Se" was "Type S"
Page 316-321: Adjusted, "Type H" was "Type S"
IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5
BLOCK DIAGRAM - TYPE Se
Prepared by, date:
EM 2015-02-17
Approved by, date:
JEN 2015-03-04
DRESS PACK
RS232/RS485
XP/XS113
WATER AND
AIR UNIT
24VDC SUPPLY, WELDING SIGNALS
M
Axis 6
Axis 4
R3.CP/CS
R3.WELD
R3.ETHERNET
R3.CBUS
R3.SP
R4.FB
Axis 2
X101
CANBUS INTERFACE
Axis 5
SPOT WELDING
CABINET
115/230VAC
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
Servo gun
( axis 7 )
XP/XS103
SINGLE CABINET
CONTROLLER
= SP
Plant:
Location: + Se
APPROVED
Sublocation:+
Document no.
Rev. Ind Page52
Next 53
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Total 98
Status:
2015-03-04
12
1
2
3
4
5
6
7
8
BLOCK DIAGRAM TYPE Se (servo gun)
IRBDP SW5
Single cabinet controller, IRC5: See circuit diagram, 3HAC024480-004.
Dashed cables: See circuit diagram SpotPack, 3HAC026208-001
CUSTOMER POWER
CUSTOMER SIGNAL
WELD POWER
Axis 2
CONNECTION BOX
R1.CB
R1.CB
R1.CB
R1.WELD
Axis 1
Base
REGION E
ECO 70147, WI 7698
Page 224-231: Adjusted, "Type Se" was "Type S"
Page 316-321: Adjusted, "Type H" was "Type S"
R1.SP
SERVO GUN POWER
Lab/Office:
DMRO SE
PRMP
IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5
BLOCK DIAGRAM TYPE Se - IRBDP SW5
Prepared by, date:
EM 2015-02-17
Approved by, date:
JEN 2015-03-04
DRESS PACK
XP/XS7
RS232/RS485
R2.CP/CS
R2.WELD
3HAC029486-001
Axis 4
3HAC029446-001
Axis 6
R3.CP/CS
R3.WELD
CANBUS INTERFACE
WATER AND
AIR UNIT
24VDC SUPPLY, WELDING SIGNALS
Axis 3
Axis 5
M
Latest revision:
SPOT WELDING
CABINET
3HAC029444-001
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
Servo gun
( axis 7 )
SWC.24V
SWC.I/O
SWC.WELD
SINGLE CABINET
CONTROLLER
= SP
Plant:
Location: + Se
APPROVED
Sublocation:+
Document no.
Rev. Ind Page53
Next +H/54
3HAC026209-001
Total 98
Status:
2015-03-04
12
1
2
3
4
5
6
7
8
BLOCK DIAGRAM TYPE H
IRBDP SW2
Single cabinet controller, IRC5: See circuit diagram, 3HAC024480-004.
Axis 3
R2.ETHERNET
R2.CP/CS
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
Axis 5
Axis 4
Axis 6
R3.ETHERNET
R3.CP/CS
Axis 2
Axis 1
Base
Latest revision:
ROBOT SIGNALS, 24VDC SUPPLY
BUS SIGNALS
R1.CP/CS/CBUS
R1.ETHERNET
Lab/Office:
DMRO SE
PRMP
ECO 70147, WI 7698
Page 224-231: Adjusted, "Type Se" was "Type S"
Page 316-321: Adjusted, "Type H" was "Type S"
IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5
BLOCK DIAGRAM - TYPE H
Prepared by, date:
EM 2015-02-17
Approved by, date:
JEN 2015-03-04
DRESS PACK
XP/XS13
XP/XS9 SINGLE CABINET
CONTROLLER
= SP
Plant:
Location: + H
APPROVED
Sublocation:+
Document no.
Rev. Ind Page54
Next +HS/55
3HAC026209-001
Total 98
Status:
2015-03-04
12
1
2
3
4
5
6
7
8
BLOCK DIAGRAM TYPE HS (material handling and pneumatic gun)
IRBDP SW2
Single cabinet controller, IRC5: See circuit diagram, 3HAC024480-004.
Dashed cables: See circuit diagram SpotPack, 3HAC026208-001
24VDC SUPPLY, PARALLEL INTERFACE, PROP. VALVE
Axis 3
R2.ETHERNET
R2.CP/CS
SPOT WELDING
CABINET
X101
X104
115/230VAC
XS/XP101
Axis 2
RS232/RS485
Axis 4
Axis 6
R3.ETHERNET
R3.CP/CS
24VDC SUPPLY, WELDING SIGNALS
XP/XS113
WATER AND
AIR UNIT
CANBUS INTERFACE
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
Axis 5
XP/XS103
Axis 1
Base
R1.CP/CS/CBUS
ROBOT SIGNALS, 24VDC SUPPLY
R1.ETHERNET
BUS SIGNALS
XP/XS13
XP/XS9
SINGLE CABINET
CONTROLLER
PEDESTAL
GUN
SG.WELD
SG.CP/CS
Latest revision:
WELD POWER
WELDING SIGNALS, 24VDC SUPPLY
Lab/Office:
DMRO SE
PRMP
ECO 70147, WI 7698
Page 224-231: Adjusted, "Type Se" was "Type S"
Page 316-321: Adjusted, "Type H" was "Type S"
IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5
BLOCK DIAGRAM - TYPE HS
Prepared by, date:
EM 2015-02-17
Approved by, date:
JEN 2015-03-04
DRESS PACK
= SP
Plant:
Location: + HS
APPROVED
Sublocation:+
Document no.
Rev. Ind Page55
Next +HSe/56
3HAC026209-001
Total 98
Status:
2015-03-04
12
1
2
3
4
5
6
7
8
BLOCK DIAGRAM TYPE HSe (material handling and servo gun)
IRBDP SW2
Single cabinet controller, IRC5: See circuit diagram, 3HAC024480-004.
Dashed cables: See circuit diagram SpotPack, 3HAC026208-001
24VDC SUPPLY, PARALLEL INTERFACE, PROP. VALVE
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
SPOT WELDING
CABINET
X101
Axis 3
Axis 5
XP/XS103
X104
Axis 2
RS232/RS485
115/230VAC
XS/XP101
24VDC SUPPLY, WELDING SIGNALS
R2.CP/CS
R2.WELD
R2.ETHERNET
Axis 6
Axis 4
R3.CP/CS
R3.WELD
R2.ETHERNET
CANBUS INTERFACE
XP/XS113
WATER AND
AIR UNIT
Axis 1
M
PEDESTAL
FB.M7
RESOLVER/SMB SIGNALS
R1.CP/CS/CBUS
R1.ETHERNET
ROBOT SIGNALS, 24VDC SUPPLY
BUS SIGNALS
XP/XS13
XP/XS9 SINGLE CABINET
CONTROLLER
R3.FB7
Base
Servo gun
( axis 7 )
GUN
R1.SP
Latest revision:
POWER SERVOGUN
SG.WELD
WELD POWER
SG.CP/CS
WELDING SIGNALS, 24VDC SUPPLY
Lab/Office:
DMRO SE
PRMP
ECO 70147, WI 7698
Page 224-231: Adjusted, "Type Se" was "Type S"
Page 316-321: Adjusted, "Type H" was "Type S"
IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5
BLOCK DIAGRAM - TYPE HSe
Prepared by, date:
EM 2015-02-17
Approved by, date:
JEN 2015-03-04
DRESS PACK
XP/XS7
= SP
Plant:
Location: + HSe
APPROVED
Sublocation:+
Document no.
Rev. Ind Page56
Next +CON/5
3HAC026209-001
Total 98
Status:
2015-03-04
12
1
2
3
4
5
6
7
8
BLOCK DIAGRAM TYPE S/ Se/ H/ HS/ HSe
Female (R3.CP/CS)
only for IRB66X0ID
Male (R1.CP/CS)
a
b
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
7
9
18
1
c
18
1
d
C
1
5
9
D
1
B
5
1
1
9 18
25
8
12
6
HARTING HAN MODULE/
25
DD
17
8
25
HD
17
8
17
4
HD
C
EE
1
B
18
25
8
17
Latest revision:
A
9
1
1
18
25
8
17
1
7
6
12
HD
HD
Approved by, date:
9
A
18
25
8
17
DD
IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5
DRESS PACK
1
7
6
12
8
EE
Lab/Office:
DMRO SE
PRMP
JEN 2015-03-04
B
1
CONNECTOR LAYOUT
EM 2015-02-17
DD
5
4
ECO 70147, WI 7698
Page 224-231: Adjusted, "Type Se" was "Type S"
Page 316-321: Adjusted, "Type H" was "Type S"
Prepared by, date:
12
HD
C
8
EE
6
8
EE
5
9
HARTING HAN MODULE/
7
Female (R3.CP/CS)
D
4
1
4
8
Female (R2.CP/CS)
1
A
HD
DD
= SP
Plant:
Location: + CON
APPROVED
Sublocation:+
Document no.
Rev. Ind Page57
Next 58
3HAC026209-001
Total 98
Status:
2015-03-04
12
1
2
3
4
5
6
7
8
BLOCK DIAGRAM TYPE H/HS/HSe model (IRBDP MH3)
Female 19p (R3.CBUS)
Female 32p (R3.CP/CS)
Female 4p
R1.ETHERNET
R2.ETHERNET
A
A
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
Male 4p
R2.ETHERNET
R3.ETHERNET
SOURIAU UTOW
OR COMPATIBLE
2
1
1
3
4
4
2
3
SOURIAU UTOW
OR COMPATIBLE
BLOCK DIAGRAM TYPE Se/HSe
Female 23p (R1.SP)
Female 8p (R2.FB7 & FB.M7)
A
Latest revision:
A
A
SOURIAU UTOW
OR COMPATIBLE
SOURIAU UTOW
OR COMPATIBLE
Male 8p (R3.FB7)
SOURIAU UTOW
OR COMPATIBLE
Lab/Office:
DMRO SE
PRMP
ECO 70147, WI 7698
Page 224-231: Adjusted, "Type Se" was "Type S"
Page 316-321: Adjusted, "Type H" was "Type S"
IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5
CONNECTOR LAYOUT
Prepared by, date:
EM 2015-02-17
Approved by, date:
JEN 2015-03-04
DRESS PACK
= SP
Plant:
Location: + CON
APPROVED
Sublocation:+
Document no.
Rev. Ind Page58
Next 59
3HAC026209-001
Total 98
Status:
2015-03-04
12
1
2
3
4
5
6
7
8
BLOCK DIAGRAM TYPE H, S, Se (Unique on SW6, MH6)
Female 26p (R2.CP/CS)
A
A
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
Male 26p (R2.CPS)
A
SOURIAU UTOW
OR COMPATIBLE
SOURIAU UTOW
OR COMPATIBLE
Female 10p (R2.CBUS)
SOURIAU UTOW
OR COMPATIBLE
Latest revision:
Male 10p (R2.CBUS)
SOURIAU UTOW
OR COMPATIBLE
Female 10p (R3.CBUS)
SOURIAU UTOW
OR COMPATIBLE
SOURIAU UTOW
OR COMPATIBLE
Lab/Office:
DMRO SE
PRMP
ECO 70147, WI 7698
Page 224-231: Adjusted, "Type Se" was "Type S"
Page 316-321: Adjusted, "Type H" was "Type S"
EM 2015-02-17
Approved by, date:
Male 8p
R2.SP
R3.SP
M23
M23
Male 17p (R3.FB7)
Female 17p (R3.FB7 & R4.FB7)
SOURIAU UTOW
OR COMPATIBLE
SOURIAU UTOW
OR COMPATIBLE
IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5
CONNECTOR LAYOUT
Prepared by, date:
Female 8p
R2.SP
R3.SP
A
A
A
Female 26p (R3.CPS)
JEN 2015-03-04
DRESS PACK
= SP
Plant:
Location: + CON
APPROVED
Sublocation:+
Document no.
Rev. Ind Page59
Next =DP+S.
3HAC026209-001
Total 98
Status:
2015-03-04
12
2
-ROBOTCABINET
*
DUAL
-XP6
1
1
2
2
3
3
4
4
FOR IRB66x0ID
CONNECTION BETWEEN
R2.CP/CS AND R3.CP/CS
SEE PAGE IRB66x0ID
LOWER ARM HARNESS
3HAC022478-001
UPPER ARM HARNESS
3HAC025532-001
BK
BN
671
RD
672
-
OG
YE
GN
673
BU
-
VT
GN/YE
-XP5.1
-AXIS 3
-AXIS 6
A1
a1
1
D1
d1
A2
a2
2
D6
d6
A3
a3
3
D3
A4
a4
4
D4
GN/YE
-R2CP/CS
-R3.CP/CS
D1
d1
4
C4
5
D6
d6
5
C5
c5
d3
6
D3
d3
6
C6
c6
d4
7
D4
d4
7
C7
c7
GN/YE
GN/YE
GN/YE
677
BK
B1
b1
WH
B1
B1
WH/BK
B1
b1
WH/BK
B18
2
2
678
BN
B2
b2
BU
B2
b2
BK
B2
b2
BK
B19
WH/GN
B3
b3
WH/GN
B3
b3
WH/BN
B3
b3
WH/BN
B20
GN
B4
b4
GN
B4
b4
BN
B4
b4
BN
B21
WH/BN
B5
b5
WH/BN
B5
b5
WH/RD
B5
b5
WH/RD
B22
BN
B6
b6
BN
B6
b6
RD
B6
b6
RD
B23
WH/BU
B7
b7
WH/BU
B7
b7
WH/OG
B7
b7
WH/OG
B24
BU
B8
b8
BU
B8
b8
OG
B8
b8
OG
B25
b9
WH/YE
B9
b9
WH/YE
B16
b10
YE
B10
b10
YE
B17
-XP5.2
1
1 WH/GN
2
2
3
3 WH/BN
4
4
GN
BN
-XP5.1
9 WH/BU
9
10
10
BU
11 WH/OG
11
12
12
OG
WH/OG
B9
OG
B10
WH/OG
b9
B9
OG
b10
B10
24V
0V
24V
0V
PE
1
KSR
KSR
Note 1.3 on Page 700
3
3
679
RD
B11
b11
WH
B11
b11
WH/GN
B11
b11
WH/GN
B1
4
4
680
OG
B12
b12
OG
B12
b12
GN
B12
b12
GN
B2
5
5
681
YE
B13
b13
WH
B13
b13
WH/BU
B13
b13
WH/BU
B3
6
6
682
GN
B14
b14
GN
B14
b14
BU
B14
b14
BU
B4
693
GY
B15
b15
WH
B15
b15
WH/VT
B15
b15
WH/VT
B5
2
2
694
WH
B16
b16
BN
B16
b16
VT
B16
b16
VT
B6
3
3
695
WH/BK
B18
b18
WH
B18
b18
WH/GY
B18
b18
WH/GY
B7
4
4
696
WH/BN
B19
b19
GY
B19
b19
GY
B19
b19
GY
B8
5
5
697
WH/RD
B20
b20
RD
B20
b20
WH/BK
B20
b20
WH/BK
B9
6
6
698
WH/OG
B21
b21
BU
B21
b21
BK
B21
b21
BK
685
GY
C16
c16
RD
C16
c16
WH/OG
C16
c16
WH/OG
B11
686
WH
C17
c17
OG
C17
c17
OG
C17
c17
OG
B12
5
5
6
101/5
1
101/4
1
-XP5.2
Lab/Office:
DMRO SE
PRMP
ECO 70147, WI 7698
Page 224-231: Adjusted, "Type Se" was "Type S"
Page 316-321: Adjusted, "Type H" was "Type S"
Note 1.5 on Page 701
IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5
CUSTOMER SIGNALS, PARALLEL
EM 2015-02-17
8
1
-XP5.3
Prepared by, date:
7
Note 1.1 on Page 700
4
-R1.CP/CS
* Circuitdiagram shows
marking on wires for both
dual and single cabinet
Latest revision:
6
Approved by, date:
JEN 2015-03-04
TYPE S
B10
101/8
SILVER LINE
LOWER ARM HARNESS
3HAC022135-001
3HAC022136-001
UPPER ARM HARNESS
3HAC022474-001
3HAC022474-002
3HAC022474-003
670
-
5
-MANIPULATOR BASE
-XS13
101/3
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
ORANGE LINE
LOWER ARM HARNESS
3HAC022478-001
UPPER ARM HARNESS
3HAC023170-001,002
*
SINGLE
4
101/7
TYPE S
CUSTOMER SIGNALS
PARALLEL
COMMUNICATION
VALID FOR
HARNESS IN CABINET
3HAC022852-001 (Dual)
3HAC024371-001 (Single)
FLOOR HARNESS
3HAC022957-001,002,003,006
3
101/6
1
= DP
Plant:
Location: + S
APPROVED
Sublocation:+ AX3
Document no.
Rev. Ind Page100
Next 101
3HAC026209-001
Total 98
Status:
2015-03-04
12
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
ORANGE LINE
LOWER ARM HARNESS
3HAC022478-001
UPPER ARM HARNESS
3HAC023170-001,002
SILVER LINE
LOWER ARM HARNESS
3HAC022135-001
3HAC022136-001
UPPER ARM HARNESS
3HAC022474-001
3HAC022474-002
3HAC022474-003
FOR IRB66x0ID
CONNECTION BETWEEN
R2.CP/CS AND R3.CP/CS
SEE PAGE IRB66x0ID
LOWER ARM HARNESS
3HAC022478-001
UPPER ARM HARNESS
3HAC025532-001
-XP5.1
7
7
-XP5.2
8
8
-XP5.1
8
8
-XP5.2
7
8
-AXIS 6
-AXIS 3
-R2.CP/CS
C18
c18
RD
c18
c18
WH/BN
C18
c18
WH/BN
C19
c19
GN
C19
c19
BN
C19
c19
BN
688 WH/BN
C20
c20
RD
C20
c20
WH/RD
C20
c20
684
C21
c21
BN
C21
c21
RD
C21
c21
683
BU
VT
WH/RD
RD
-R3.CP/CS
B13
B14
B15
C8
9
9
689 WH/RD
B22
b22
RD
B22
b22
WH/YE
B22
b22
10
10
690 WH/OG
B23
b23
GY
B23
b23
YE
B23
b23
YE
A2
11
11
691 WH/YE
B24
b24
BK
B24
b24
WH
B24
b24
WH/GN
A3
12
12
692 WH/GN
B25
b25
BU
B25
b25
GN
B25
b25
GN
A4
-XP5.3
WH/YE
100/8
-R1.CP/CS
6
100/7
*
DUAL SINGLE
-XP5.2
7 7 687 WH/BK
5
-MANIPULATOR BASE
100/6
-XS13
4
100/5
*
3
100/4
TYPE S
CUSTOMER SIGNALS
PARALLEL
COMMUNICATION
VALID FOR
HARNESS IN CABINET
3HAC022852-001 (Dual)
3HAC024371-001 (Single)
FLOOR HARNESS
3HAC022957-001,002,003,006
2
-ROBOTCABINET
100/3
1
A1
Note 1.6 on Page 701
7
7
699 WH/YE
C10
8
8
700 WH/GN
C11
9
9
666 WH/BU
C12
10
10
667 WH/VT
C13
11
11
668 WH/GY
C14
12
12
669 BN/BK
C15
* Circuitdiagram shows marking
on wires for both dual and
single cabinet
Latest revision:
Lab/Office:
DMRO SE
PRMP
ECO 70147, WI 7698
Page 224-231: Adjusted, "Type Se" was "Type S"
Page 316-321: Adjusted, "Type H" was "Type S"
IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5
CUSTOMER SIGNALS, PARALLEL
Prepared by, date:
EM 2015-02-17
Approved by, date:
JEN 2015-03-04
TYPE S
= DP
Plant:
Location: + S
APPROVED
Sublocation:+ AX3
Document no.
Rev. Ind Page101
Next 102
3HAC026209-001
Total 98
Status:
2015-03-04
12
2
-ROBOTCABINET
TYPE S
CUSTOMER SIGNALS
*
DUAL
CANBUS
-XP6
COMMUNICATION
1 1 670
VALID FOR
2 2
HARNESS IN CABINET
671
3HAC022852-001 (Dual)
3HAC024371-001 (Single)
3 3 672
3HAC022866-001
4 4
FLOOR HARNESS
673
3HAC022978-001,002,003,006
-
-XP5.1
1
2
677
678
-XP5.2
1
1 WH/GN
2
2
3
3 WH/BN
4
4
GN
BN
-XP5.1
9 WH/BU
BU
10
10
11
11 WH/OG
12
12
OG
a1
A2
a2
A3
A4
4
C4
5
D6
d6
5
C5
d3
6
D3
d3
6
C6
d4
7
D4
d4
7
C7
1
2
D6
d6
a3
3
D3
a4
4
D4
GN/YE
B1
b1
WH/BK
B1
b1
WH/BK
B18
BU
B2
b2
BK
B2
b2
BK
B19
BN
B2
b2
WH/GN
B3
b3
WH/GN
B3
b3
WH/BN
B3
b3
WH/BN
B20
GN
B4
b4
GN
B4
b4
BN
B4
b4
BN
B21
WH/BN
B5
b5
WH/BN
B5
b5
WH/RD
B5
b5
WH/RD
B22
BN
B6
b6
BN
B6
b6
RD
B6
b6
RD
B23
WH/BU
B7
b7
WH/BU
B7
b7
WH/OG
B7
b7
WH/OG
B24
BU
B8
b8
BU
B8
b8
OG
B8
b8
OG
B25
WH/OG
B9
b9
WH/OG
B9
b9
WH/YE
B9
b9
WH/YE
B16
B10
b10
OG
B10
b10
YE
B10
b10
YE
B17
OG
24V
0V
24V
0V
PE
WH
KSR
KSR
Note 1.3 on Page 700
103/5
Lab/Office:
DMRO SE
PRMP
IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5
CUSTOMER SIGNALS, CANBUS
EM 2015-02-17
GN/YE
b1
ECO 70147, WI 7698
Page 224-231: Adjusted, "Type Se" was "Type S"
Page 316-321: Adjusted, "Type H" was "Type S"
Prepared by, date:
-R3.CP/CS
d1
d1
GN/YE
B1
-R2.CP/CS
D1
D1
* Circuitdiagram shows
marking on wires for both
dual and single cabinet
Latest revision:
-AXIS 6
Approved by, date:
JEN 2015-03-04
TYPE S
103/8
9
8
-AXIS 3
Note 1.1 on Page 700
4
-R1.CP/CS
A1
BU
VT
BK
7
103/7
1
6
-MANIPULATOR BASE
103/3
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
FOR IRB66x0ID
CONNECTION BETWEEN
R2.CP/CS AND R3.CP/CS
SEE PAGE IRB66x0ID
LOWER ARM HARNESS
3HAC022480-001
UPPER ARM HARNESS
3HAC025532-001
RD
OG
YE
GN
5
-XS13
GN/YE GN/YE
2
SILVER LINE
LOWER ARM HARNESS
3HAC022470-001
3HAC022471-001
UPPER ARM HARNESS
3HAC022476-001
3HAC022476-002
3HAC022476-003
SINGLE
BK
BN
4
103/6
ORANGE LINE
LOWER ARM HARNESS
3HAC022480-001
UPPER ARM HARNESS
3HAC023172-001,002
*
3
103/4
1
= DP
Plant:
Location: + S
APPROVED
Sublocation:+ AX3
Document no.
Rev. Ind Page102
Next 103
3HAC026209-001
Total 98
Status:
2015-03-04
12
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
ORANGE LINE
LOWER ARM HARNESS
3HAC022480-001
UPPER ARM HARNESS
3HAC023172-001,002
SILVER LINE
LOWER ARM HARNESS
3HAC022470-001
3HAC022471-001
UPPER ARM HARNESS
3HAC022476-001
3HAC022476-002
3HAC022476-003
FOR IRB66x0ID
CONNECTION BETWEEN
R2.CP/CS AND R3.CP/CS
SEE PAGE IRB66x0ID
LOWER ARM HARNESS
3HAC022480-001
UPPER ARM HARNESS
3HAC025532-001
* Circuitdiagram shows marking
on wires for both dual and
single cabinet
-R1.CP/CS
3
679
RD
B11
b11
4
4
680
OG
B12
b12
WH
OG
B11
b11
WH/GN
B12
b12
GN
B13
b13
WH/BU
-R3.CP/CS
B11
b11
B12
b12
WH/GN
GN
B13
b13
WH/BU
B3
B1
B2
5
5
681
YE
B13
b13
6
6
682
GN
B14
b14
GN
B14
b14
BU
B14
b14
BU
B4
693
GY
B15
b15
WH
B15
b15
WH/VT
B15
b15
WH/VT
B5
b16
BN
b16
VT
B6
B18
b18
WH/GY
B18
b18
WH/GY
B7
-XP5.3
1
2
1
2
694
WH
B16
B16
b16
VT
B16
3
3
695
WH/BK
B18
b18
WH
4
4
696
WH/BN
B19
b19
GY
B19
b19
GY
B19
b19
GY
B8
5
5
697
WH/RD
B20
b20
RD
B20
b20
WH/BK
B20
b20
WH/BK
B9
B21
b21
BK
B21
b21
BK
B10
C16
c16
WH/OG
C16
c16
WH/OG
B11
C17
c17
OG
C17
c17
OG
B12
C18
c18
WH/BN
C18
c18
WH/BN
B13
6
6
-XP5.2
698
WH/OG
B21
b21
BU
RD
5
5
685
GY
C16
c16
6
6
686
WH
C17
c17
7
7
687
WH/BK
C18
c18
OG
RD
683
BU
C19
c19
GN
C19
c19
BN
C19
c19
BN
B14
688
WH/BN
C20
c20
RD
C20
c20
WH/RD
C20
c20
WH/RD
B15
684
VT
C21
c21
BN
C21
c21
RD
C21
c21
RD
RD
RD
F1
F1
RD
B22
b22
WH/BK
F2
BK
b23
BK
-XP5.1
7
7
-XP5.2
8
8
-XP5.1
8
8
-A35.X2
5
1
5
1
BK
BK
F2
B23
B22
B23
C8
b22
WH/BK
A1
b23
BK
A2
+24V CAN
0V CAN
-XP5.2
11
11
691
WH/YE
B24
B24
BK
B24
b24
WH/BN
B24
b24
WH/BN
A3
12
12
692
WH/GN
B25
B25
BU
B25
b25
BN
B25
b25
BN
A4
9
9
689
WH/RD
B22
10
10
690
WH/OG
B23
4
4
WH
WH
F3
F3
WH
A3
a3
5
YE
A3
a3
5
YE
A7
2
2
BU
BU
F4
F4
BU
A4
a4
6
YE
A4
a4
6
YE
A8
3
3
699
WH/YE
c10
BK
A5
a5
A5
a5
A6
A6
A9
A9
7
7
C10
a6
7
8
VT
VT
a9
1
GN
GN
8
8
700
WH/GN
C11
c11
OG
9
9
666
WH/BU
C12
c12
BK
A10
a10
2
A11
a11
3
GN
a12
4
GN
10
10
667
WH/VT
C13
c13
GN
11
11
668
WH/GY
C14
c14
BK
c15
BN
12
12
669
BN/BK
C15
A12
Lab/Office:
DMRO SE
PRMP
ECO 70147, WI 7698
Page 224-231: Adjusted, "Type Se" was "Type S"
Page 316-321: Adjusted, "Type H" was "Type S"
Approved by, date:
JEN 2015-03-04
a6
7
8
VT
VT
A10
a9
1
GN
A5
A10
a10
2
GN
A6
A11
a11
3
GN
A11
a12
4
GN
A12
A12
IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5
CUSTOMER SIGNALS, CANBUS
EM 2015-02-17
-R2.CP/CS
-AXIS 6
WH
-XP5.3
Prepared by, date:
-AXIS 3
8
102/8
-MANIPULATOR BASE
7
102/7
-XS13
6
102/6
5
3
-A35.X2
Latest revision:
*DUAL *SINGLE
4
102/5
-XP5.1
3
102/4
TYPE S
CUSTOMER SIGNALS
CANBUS
COMMUNICATION
VALID FOR
HARNESS IN CABINET
3HAC022852-001 (Dual)
3HAC024371-001 (Single)
3HAC022866-001
FLOOR HARNESS
3HAC022978-001,002,003,006
2
-ROBOTCABINET
102/3
1
TYPE S
CAN_H
CAN_L
A9
= DP
Plant:
Location: + S
APPROVED
Sublocation:+ AX3
Document no.
Rev. Ind Page103
Next 104
3HAC026209-001
Total 98
Status:
2015-03-04
12
1
2
3
-XP5.2
* Circuit diagram shows
marking on wires for both
dual and single cabinet
1
1 WH/GN
2
2
3
3 WH/BN
4
4
GN
6
-MANIPULATOR BASE
8
-AXIS 3
Note 1.1 on Page 700
-R1.CP/CS
7
-AXIS 6
-R2.CP/CS
-R3.CP/CS
1
D1
d1
4
D1
d1
4
C4
a2
2
D6
d6
5
D6
d6
5
C5
A3
a3
3
D3
d3
6
D3
d3
6
C6
24V
A4
a4
4
D4
d4
7
D4
d4
7
C7
0V
A1
a1
A2
GN/YE
GN/YE
24V
0V
GN/YE
PE
B1
b1
WH
B1
b1
WH/BK
B1
b1
WH/BK
B18
B2
b2
BU
B2
b2
BK
B2
b2
BK
B19
WH/GN
B3
b3
WH/GN
B3
b3
WH/BN
B3
b3
WH/BN
B20
GN
B4
GN
B4
b4
BN
B4
b4
BN
B21
WH/BN
B5
WH/BN
B5
b5
WH/RD
B5
b5
WH/RD
B22
BN
B6 b5
BN
B6
b6
RD
B6
b6
RD
B23
WH/BU
B7
WH/BU
B7
b7
WH/OG
B7
b7
WH/OG
B24
BU
B8 b7
BU
B8
b8
OG
B8
b8
OG
B25
WH/OG
B9
WH/OG
B9
b9
WH/YE
B9
b9
WH/YE
B16
B10
b10
YE
B10
b10
YE
B17
105/4
b4
BN
b6
9 WH/BU
BU
10
10
11
11 WH/OG
12
12
OG
OG
b8
OG
B10 b9
b10
KSR
KSR
Note 1.3 on Page 700
105/5
105/8
9
105/7
-XP5.1
105/6
FOR IRB66X0ID
CONNECTION BETWEEN
R2.CP/CS AND R3.CP/CS
SEE PAGE IRB66X00ID
LOWER ARM HARNESS
3HAC034334-001
5
-XS13
105/3
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
-ROBOTCABINET
TYPE S
CUSTOMER SIGNALS
*
*
ETHERNET
DUAL SINGLE
-XP6
COMMUNICATION
BK
1 1 670
VALID FOR
BN
2 2
HARNESS IN CABINET
671
RD
3HAC022852-001 (Dual)
OG
3HAC024371-001 (Single)
YE
3HAC022867-001
3 3 672
GN
FLOOR HARNESS
4 4
3HAC023024-001,002,003,
673
BU
006
VT
GN/YE GN/YE
ORANGE LINE
LOWER ARM HARNESS
3HAC034334-001
-XP5.1
UPPER ARM HARNESS
BK
1 1 677
3HAC023170-001,002
BN
2 2 678
4
-XS9
Latest revision:
-R1.ETHERNET
1 1
1
YE
2
2
WH
2
2
WH
2
3
3
OG
3
3
OG
4
4
BU
4
4
BU
Lab/Office:
DMRO SE
PRMP
ECO 70147, WI 7698
Page 224-231: Adjusted, "Type Se" was "Type S"
Page 316-321: Adjusted, "Type H" was "Type S"
YE
EM 2015-02-17
Approved by, date:
JEN 2015-03-04
TYPE S
-R3.ETHERNET
YE
1
2
WH
2
3
3
OG
3
4
4
BU
4
IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5
CUSTOMER SIGNALS, ETHERNET
Prepared by, date:
-R2.ETHERNET
1 1
1
= DP
Plant:
Location: + S
APPROVED
Sublocation:+ AX3
Document no.
Rev. Ind Page104
Next 105
3HAC026209-001
Total 98
Status:
2015-03-04
12
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
* Circuit diagram shows
marking on wires for both
dual and single cabinet
b11
WH
4
4
680
OG
B12
b12
OG
-MANIPULATOR BASE
-R1.CP/CS
B11
b11
WH/GN
B12
b12
B13
-R2.CP/CS
-AXIS 6
-R3.CP/CS
B11
b11
WH/GN
GN
B12
b12
GN
B2
b13
WH/BU
B13
b13
WH/BU
B3
B1
5
5
681
YE
B13
b13
6
6
682
GN
B14
b14
GN
B14
b14
BU
B14
b14
BU
B4
-XP5.3
1
1
693
GY
B15
b15
WH
B15
b15
WH/VT
B15
b15
WH/VT
B5
2
2
694
WH
B16
b16
BN
B16
b16
VT
B16
b16
VT
B6
b18
WH
b18
WH/GY
B18
b18
WH/GY
B7
B19
b19
GY
B19
b19
GY
B8
B9
695
3
WH/BK
B18
B18
4
4
696
WH/BN
B19
b19
GY
5
5
697
WH/RD
B20
b20
RD
B20
b20
WH/BK
B20
b20
WH/BK
6
6
698
WH/OG
B21
b21
BU
B21
b21
BK
B21
b21
BK
B10
5
5
685
GY
C16
c16
RD
C16
c16
WH/OG
C16
c16
WH/OG
B11
6
6
686
WH
C17
c17
OG
C17
c17
OG
C17
c17
OG
B12
7
7
687
WH/BK
C18
c18
RD
C18
c18
WH/BN
C18
c18
WH/BN
B13
683
BU
C19
c19
GN
C19
c19
BN
C19
c19
BN
B14
688
WH/BN
C20
c20
RD
C20
c20
WH/RD
C20
c20
WH/RD
B15
684
VT
C21
c21
BN
C21
c21
RD
C21
c21
RD
C8
WH/RD
WH/OG
B22
b22
RD
B22
b22
WH/YE
B22
b22
WH/YE
A1
B23
b23
GY
B23
b23
YE
B23
b23
YE
A2
-XP5.1
7
7
-XP5.2
8
8
-XP5.1
8
9
9
10
10
689
690
11
11
691
WH/YE
B24
b24
BK
B24
b24
WH/GN
B24
b24
WH/GN
A3
12
12
692
WH/GN
B25
b25
BU
B25
b25
GN
B25
b25
GN
A4
-XP5.3
9
9
666
WH/BU
C12
10
10
667
WH/VT
C13
11
11
668
WH/GY
C14
12
12
669
BN/BK
C15
7
7
699
WH/YE
C10
8
8
700
WH/GN
C11
Lab/Office:
DMRO SE
PRMP
ECO 70147, WI 7698
Page 224-231: Adjusted, "Type Se" was "Type S"
Page 316-321: Adjusted, "Type H" was "Type S"
IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5
CUSTOMER SIGNALS, ETHERNET
EM 2015-02-17
-AXIS 3
8
WH
-XP5.2
Prepared by, date:
7
104/8
B11
6
104/7
RD
5
104/6
679
8
Latest revision:
-XS13
3
-XP5.2
FOR IRB66X0ID
CONNECTION BETWEEN
R2.CP/CS AND R3.CP/CS
SEE PAGE IRB66X00ID
LOWER ARM HARNESS
3HAC034334-001
*
3
3
ORANGE LINE
LOWER ARM HARNESS
3HAC034334-001
UPPER ARM HARNESS
3HAC023170-001,002
*
DUAL SINGLE
4
104/5
-XP5.1
3
104/4
TYPE S
CUSTOMER SIGNALS
ETHERNET
COMMUNICATION
VALID FOR
HARNESS IN CABINET
3HAC022852-001 (Dual)
3HAC024371-001 (Single)
3HAC022867-001
FLOOR HARNESS
3HAC023024-001,002,003,
006
2
-ROBOTCABINET
104/3
1
Approved by, date:
JEN 2015-03-04
TYPE S
= DP
Plant:
Location: + S
APPROVED
Sublocation:+ AX3
Document no.
Rev. Ind Page105
Next 106
3HAC026209-001
Total 98
Status:
2015-03-04
12
1
2
Latest revision:
2
2
3
3
4
4
*
SINGLE
BK
BN
-AXIS 3
671
-
RD
OG
672
-
YE
GN
Note 1.1 on Page 700
-R1.CP/CS
-R2.CP/CS
-R3.CP/CS
A1
a1
1
D1
d1
1
D1
d1
4
C4
24V
A2
a2
2
D6
D6
2
D6
d6
5
C5
0V
A3
a3
3
D3
D3
3
D3
d3
6
C6
24V
A4
a4
4
D4
D4
4
D4
d4
7
C7
0V
BU
VT
GN/YE GN/YE
-XP5.1
GN/YE
GN/YE
GN/YE
PE
1
1
677
BK
B1
b1
WH
B1
B1
WH/BK
B1
b1
2
2
678
BN
B2
b2
BU
B2
B2
BK
B2
b2
BK
B19
WH/GN
B3
b2
WH/GN
B3
B3
WH/BN
B3
b3
WH/BN
B20
GN
B4
b4
GN
B4
B4
BN
B4
b4
BN
B21
WH/BN
B5
b5
WH/BN
B5
B5
WH/RD
B5
b5
WH/RD
B22
BN
B6
b6
BN
B6
B6
RD
B6
b6
RD
B23
WH/BU
B7
b7
WH/BU
B7
B7
WH/OG
B7
b7
WH/OG
B24
KSR
BU
B8
b8
BU
B8
B8
OG
B8
b8
OG
B25
KSR
WH/OG
B9
b9
WH/OG
B9
B9
WH/YE
B9
b9
WH/YE
B16
B10
b10
OG
B10
B10
YE
B10
b10
YE
B17
1
1 WH/GN
2
2
3
3 WH/BN
4
4
GN
BN
-XP5.1
9
9 WH/BU
BU
10
10
11
11 WH/OG
12
12
OG
OG
Approved by, date:
Lab/Office:
DMRO SE
PRMP
JEN 2015-03-04
WH/BK
B18
Note 1.3 on Page 700
IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5
TYPE S
908/8
-XP5.2
CUSTOMER SIGNALS, PROFIBUS
EM 2015-02-17
-AXIS 6
673
-
ECO 70147, WI 7698
Page 224-231: Adjusted, "Type Se" was "Type S"
Page 316-321: Adjusted, "Type H" was "Type S"
Prepared by, date:
8
-XS13
107/7
* Circuitdiagram shows marking
on wires for both dual and
single cabinet
*
DUAL
-XP6
1 1 670
-
-MANIPULATOR BASE
7
107/6
FOR IRB66x0ID
CONNECTION BETWEEN
R2.CP/CS AND R3.CP/CS
SEE PAGE IRB66x0ID
LOWER ARM HARNESS
3HAC022480-001
UPPER ARM HARNESS
3HAC025532-001
-ROBOTCABINET
6
107/5
SILVER LINE
LOWER ARM HARNESS
3HAC022470-001
3HAC022471-001
UPPER ARM HARNESS
3HAC022476-001
3HAC022476-002
3HAC022476-003
5
107/4
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
ORANGE LINE
LOWER ARM HARNESS
3HAC022480-001
UPPER ARM HARNESS
3HAC023172-001,002
4
107/3
TYPE S
CUSTOMER SIGNALS
PROFIBUS
COMMUNICATION
VALID FOR
HARNESS IN CABINET
3HAC022852-001 (Dual)
3HAC024371-001 (Single)
3HAC022868-001
FLOOR HARNESS
3HAC022988-001,002,003,006
3
= DP
Plant:
Location: + S
APPROVED
Sublocation:+ AX3
Document no.
Rev. Ind Page106
Next 107
3HAC026209-001
Total 98
Status:
2015-03-04
12
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
ORANGE LINE
LOWER ARM HARNESS
3HAC022480-001
UPPER ARM HARNESS
3HAC023172-001,002
SILVER LINE
LOWER ARM HARNESS
3HAC022470-001
3HAC022471-001
UPPER ARM HARNESS
3HAC022476-001
3HAC022476-002
3HAC022476-003
* Circuitdiagram shows marking
on wires for both dual and
single cabinet
5
6
-MANIPULATOR BASE
-AXIS 6
-R2.CP/CS
106/8
-R1.CP/CS
-R3.CP/CS
3
3
679 RD
B11
B11
WH
B11
c11
WH/GN
B11
b11
WH/GN
B1
4
4
680 OG
B12
B12
OG
B12
b12
GN
B12
b12
GN
B2
5
5
681 YE
B13
B13
WH
B13
b13
WH/BU
B13
b13
WH/BU
B3
6
6
682 GN
B14
B14
GN
B14
b14
BU
B14
b14
BU
B4
-XP5.3
1
1
693 GY
B15
B15
WH
B15
b15
WH/VT
B15
b15
WH/VT
B5
2
2
694 WH
B16
B16
BN
B16
b16
VT
B16
b16
VT
B6
3
3
695 WH/BK
B18
B18
WH
B18
b18
WH/GY
B18
b18
WH/GY
B7
4
4
696 WH/BN
B19
B19
GY
B19
b19
GY
B19
b19
GY
B8
5
5
697 WH/RD
B20
B20
RD
B20
b20
WH/BK
B20
b20
WH/BK
B9
6
6
698 WH/OG
B21
B21
BU
B21
b21
BK
B21
b21
BK
B10
-XP5.2
5
5
685 GY
C16
C16
RD
C16
c16
WH/OG
C16
c16
WH/OG
B11
6
6
686 WH
C17
C17
OG
C17
c17
OG
C17
c17
OG
B12
7
7
687 WH/BK
C18
C18
RD
C18
c18
WH/BN
C18
c18
WH/BN
B13
683 BU
C19
C19
GN
C19
c19
BN
C19
c19
BN
B14
688 WH/BN
C20
C20
RD
C20
c20
WH/RD
C20
c20
WH/RD
B15
684 VT
C21
C21
BN
C21
c21
RD
C21
c21
RD
C8
-XP5.1
7
-XP5.2
8
8
-XP5.1
8
8
-XP5.2
9
9
689 WH/RD
B22
b22
RD
B22
b22
WH/BK
B22
b22
WH/BK
A1
10
10
690 WH/OG
B23
b23
GY
B23
b23
BK
B23
b23
BK
A2
11
11
691 WH/YE
B24
b24
BK
B24
b24
WH/BN
B24
b24
WH/BN
A3
12
12
692 WH/GN
B25
b25
BU
B25
b25
BN
B25
b25
BN
A4
7
7
699 WH/YE
C10
c10
BK
A3
a3
5
YE
A3
a3
5
YE
A7
8
8
700 WH/GN
C11
c11
OG
A4
a4
6
YE
A4
a4
6
YE
A8
1B
1B
RD RD
F5
f5
RD
A5
a5
7
VT
A5
a5
7
VT
A9
1A
1A
GN GN
F6
f6
GN
A6
a6
8
VT
A6
a6
8
VT
A10
-XP5.3
9
9
666 WH/BU
C12
c12
BK
A9
a9
1
GN
A9
a9
1
GN
A5
10
10
667 WH/VT
C13
c13
GN
A10
a10
2
GN
A10
a10
2
GN
A6
11
11
668 WH/GY
C14
c14
BK
A11
a11
3
GN
A11
a11
3
GN
A11
12
12
669 BN/BK
C15
c15
BN
A12
a12
4
GN
A12
a12
4
GN
A12
Lab/Office:
DMRO SE
PRMP
ECO 70147, WI 7698
Page 224-231: Adjusted, "Type Se" was "Type S"
Page 316-321: Adjusted, "Type H" was "Type S"
IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5
CUSTOMER SIGNALS, PROFIBUS
EM 2015-02-17
8
106/7
*
106/6
-XP5.1
-DP-M
Prepared by, date:
7
-AXIS 3
106/5
*
DUAL SINGLE
-XP5.3
Latest revision:
4
-XS13
7
FOR IRB66x0ID
CONNECTION BETWEEN
R2.CP/CS AND R3.CP/CS
SEE PAGE IRB66x0ID
LOWER ARM HARNESS
3HAC022480-001
UPPER ARM HARNESS
3HAC025532-001
3
106/4
TYPE S
CUSTOMER SIGNALS
PROFIBUS
COMMUNICATION
VALID FOR
HARNESS IN CABINET
3HAC022852-001 (Dual)
3HAC024371-001 (Single)
3HAC022868-001
FLOOR HARNESS
3HAC022988-001,002,003,006
2
-ROBOTCABINET
106/3
1
Approved by, date:
JEN 2015-03-04
TYPE S
RXD/TXD-P
RXD/TXD-N
= DP
Plant:
Location: + S
APPROVED
Sublocation:+ AX3
Document no.
Rev. Ind Page107
Next +.(-)/108
3HAC026209-001
Total 98
Status:
2015-03-04
12
1
2
-ROBOTCABINET
TYPE S
CUSTOMER SIGNALS
PARALLEL
COMMUNICATION
VALID FOR
HARNESS IN CABINET
3HAC022852-001 (Dual)
3HAC024371-001 (Single)
FLOOR HARNESS
3HAC022957-001,002,003,006
*
DUAL
-XP6
1 1 670
2
2
3
3
4
4
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
*
RD
OG
672
-
YE
GN
-XP5.1
5
-MANIPULATOR BASE
6
7
8
-AXIS 6
-XS13
SINGLE
BK
BN
671
-
4
Note 1.2 on Page 700
-R1.CP/CS
-R3.CP/CS
1
D1
d1
4
C4
a2
2
D6
d6
5
C5
A3
a3
3
D3
d3
6
C6
A4
a4
4
D4
d4
7
C7
A1
a1
A2
673
BU
VT
GN/YE GN/YE
ORANGE LINE
LOWER/UPPER ARM
HARNESS
3HAC22486-001,002
* Circuitdiagram shows
marking on wires for both
dual and single cabinet
3
GN/YE
GN/YE
1
677
BK
B1
b1
WH
B1
b1
WH/BK
B18
2
2
678
BN
B2
b2
BU
B2
b2
BK
B19
WH/GN
B3
b3
WH/GN
B3
b3
WH/BN
B20
GN
B4
b4
GN
B4
b4
BN
B21
WH/BN
B5
b5
WH/BN
B5
b5
WH/RD
B22
BN
B6
b6
BN
B6
b6
RD
B23
WH/BU
B7
b7
WH/BU
B7
b7
WH/OG
B24
BU
B8
b8
BU
B8
b8
OG
B25
WH/OG
B9
b9
WH/OG
B9
b9
WH/YE
B16
B10
b10
OG
B10
b10
YE
B17
1
1 WH/GN
2
2
3
3 WH/BN
4
4
GN
BN
-XP5.1
9
9 WH/BU
BU
10
10
11
11 WH/OG
12
12
OG
OG
0V
24V
0V
PE
1
-XP5.2
24V
KSR
KSR
Note 1.4 on Page 700
3
3
679
RD
B11
b11
WH
B11
b11
WH/GN
B1
4
4
680
OG
B12
b12
OG
B12
b12
GN
B2
5
5
681
YE
B13
b13
WH
B13
b13
WH/BU
B3
6
6
682
GN
B14
b14
GN
B14
b14
BU
B4
-XP5.3
1
1
693
GY
B15
b15
WH
B15
b15
WH/VT
B5
2
2
694
WH
B16
b16
BN
B16
b16
VT
B6
3
3
695
WH/BK
B18
b18
WH
B18
b18
WH/GY
B7
4
4
696
WH/BN
B19
b19
GY
B19
b19
GY
B8
5
5
697
WH/RD
B20
b20
RD
B20
b20
WH/BK
B9
6
6
698
WH/OG
B21
b21
BU
B21
b21
BK
B10
-XP5.2
C16
c16
RD
C16
c16
WH/OG
B11
6
6
686
WH
C17
c17
OG
C17
c17
OG
B12
Latest revision:
Lab/Office:
DMRO SE
PRMP
ECO 70147, WI 7698
Page 224-231: Adjusted, "Type Se" was "Type S"
Page 316-321: Adjusted, "Type H" was "Type S"
Prepared by, date:
EM 2015-02-17
Approved by, date:
JEN 2015-03-04
Note 1.7 on Page 701
IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5
CUSTOMER SIGNALS, PARALLEL
TYPE S
109/8
GY
109/5
685
109/4
5
109/3
5
= DP
Plant:
Location: + S
APPROVED
Sublocation:+ (-)
Document no.
Rev. Ind Page108
Next 109
3HAC026209-001
Total 98
Status:
2015-03-04
12
ORANGE LINE
LOWER/UPPER ARM HARNESS
3HAC22486-001,002
* Circuitdiagram shows marking
on wires for both dual and
single cabinet
-XP5.1
7
7
-XP5.2
8
8
-XP5.1
8
8
-XP5.2
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
-XS13
5
-MANIPULATOR BASE
-R1.CP/CS
8
-AXIS 6
-R3CP/CS
c18
RD
C18
c18
WH/BN
B13
683 BU
C19
c19
GN
C19
c19
BN
B14
688 WH/BN
C20
c20
RD
C20
c20
WH/RD
B15
684 VT
C21
c21
BN
C21
c21
RD
C8
9
9
689 WH/RD
B22
b22
RD
B22
b22
WH/YE
A1
10
10
690 WH/OG
B23
b23
GY
B23
b23
YE
A2
11
11
691 WH/YE
B24
b24
BK
B24
b24
WH
A3
12
12
692 WH/GN
B25
b5
BU
B25
b25
GN
A4
7
7
699 WH/YE
C10
8
8
700 WH/GN
C11
9
9
666 WH/BU
C12
10
10
667 WH/VT
C13
11
11
668 WH/GY
C14
12
12
669 BN/BK
C15
Note 1.8 on Page 701
Lab/Office:
DMRO SE
PRMP
IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5
CUSTOMER SIGNALS, PARALLEL
EM 2015-02-17
7
C18
ECO 70147, WI 7698
Page 224-231: Adjusted, "Type Se" was "Type S"
Page 316-321: Adjusted, "Type H" was "Type S"
Prepared by, date:
6
108/8
DUAL SINGLE
-XP5.2
7 7 687 WH/BK
-XP5.3
Latest revision:
*
4
108/5
*
3
108/4
TYPE S
CUSTOMER SIGNALS
PARALLEL
COMMUNICATION
VALID FOR
HARNESS IN CABINET
3HAC022852-001 (Dual)
3HAC024371-001 (Single)
FLOOR HARNESS
3HAC022957-001,002,003,006
2
-ROBOTCABINET
108/3
1
Approved by, date:
JEN 2015-03-04
TYPE S
= DP
Plant:
Location: + S
APPROVED
Sublocation:+ (-)
Document no.
Rev. Ind Page109
Next 110
3HAC026209-001
Total 98
Status:
2015-03-04
12
-XP6
1
1
2
2
3
3
4
4
*
DUAL SINGLE
670
BK
BN
671
672
-
RD
OG
YE
GN
4
A1
a1
1
A2
a2
A3
A4
Note 1.2 on Page 700
4
-R1.CP/CS
2
D6
d6
5
a3
3
D3
d3
6
C6
a4
4
D4
d4
7
C7
C5
B1
b1
WH
B1
b1
WH/BK
B18
2
2
678
BN
B2
b2
BU
B2
b2
BK
B19
WH/GN
B3
b3
WH/GN
B3
b3
WH/BN
B20
GN
B4
b4
GN
B4
b4
BN
B21
WH/BN
B5
b5
WH/BN
B5
b5
WH/RD
B22
BN
B6
b6
BN
B6
b6
RD
B23
WH/BU
B7
b7
WH/BU
B7
b7
WH/OG
B24
BU
B8
b8
BU
B8
b8
OG
B25
WH/OG
B9
b9
WH/OG
B9
b9
WH/YE
B16
B10
b10
OG
B10
b10
YE
B17
2
2
3
3 WH/BN
4
4
GN
BN
9 WH/BU
BU
10
10
11
11 WH/OG
12
12
OG
OG
Lab/Office:
DMRO SE
PRMP
ECO 70147, WI 7698
Page 224-231: Adjusted, "Type Se" was "Type S"
Page 316-321: Adjusted, "Type H" was "Type S"
JEN 2015-03-04
Note 1.4 on Page 700
IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5
CUSTOMER SIGNALS, CANBUS
Approved by, date:
0V
TYPE S
KSR
KSR
111/8
1 WH/GN
24V
PE
BK
1
0V
GN/YE
GN/YE
677
9
EM 2015-02-17
-R3.CP/CS
C4
24V
d1
1
-XP5.1
Prepared by, date:
8
-AXIS 6
1
-XP5.2
Latest revision:
7
D1
BU
VT
GN/YE GN/YE
* Circuitdiagram shows
marking on wires for both
dual and single cabinet
6
-XS13
673
-
-XP5.1
5
-MANIPULATOR BASE
111/5
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
ORANGE LINE
LOWER/UPPER ARM
HARNESS
3HAC022488-001,002
*
3
111/4
TYPE S
CUSTOMER SIGNALS
CANBUS
COMMUNICATION
VALID FOR
HARNESS IN CABINET
3HAC022852-001 (Dual)
3HAC024371-001 (Single)
3HAC022866-001
FLOOR HARNESS
3HAC022978-001,002,003,
006
2
-ROBOTCABINET
111/3
1
= DP
Plant:
Location: + S
APPROVED
Sublocation:+ (-)
Document no.
Rev. Ind Page110
Next 111
3HAC026209-001
Total 98
Status:
2015-03-04
12
3
679
4
4
680
OG
B12
b12
5
5
681
YE
B13
6
6
682
GN
-XP5.3
b11
WH
-R1.CP/CS
6
7
8
-AXIS 6
110/8
3
5
-MANIPULATOR BASE
110/5
4
-XS13
*
SINGLE
RD
B11
-XP5.1
*DUAL
3
110/4
TYPE S
CUSTOMER SIGNALS
CANBUS
COMMUNICATION
VALID FOR
HARNESS IN CABINET
3HAC022852-001 (Dual)
3HAC024371-001 (Single)
3HAC022866-001
FLOOR HARNESS
3HAC022978-001,002,003,006
2
-ROBOTCABINET
110/3
1
-R3.CP/CS
B11
b11
WH/GN
OG
B12
b12
GN
B2
b13
WH
B13
b13
WH/BU
B3
B14
b14
GN
B14
b14
BU
B4
B1
1
693
GY
B15
b15
WH
B15
b15
WH/VT
B5
2
2
694
WH
B16
b16
BN
B16
b16
VT
B6
ORANGE LINE
LOWER/UPPER ARM HARNESS
3HAC022488-001,002
3
3
695
WH/BK
B18
b18
WH
B18
b18
WH/GY
B7
4
4
696
WH/BN
B19
b19
GY
B19
b19
GY
B8
5
5
697
WH/RD
B20
b20
RD
B20
b20
WH/BK
B9
* Circuitdiagram shows marking
on wires for both dual and
single cabinet
6
6
698
WH/OG
B21
b21
BU
B21
b21
BK
B10
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
1
-XP5.2
5
5
685
GY
C16
c16
RD
C16
c16
WH/OG
B11
6
6
686
WH
C17
c17
C17
c17
OG
B12
7
7
687
WH/BK
C18
c18
OG
RD
C18
c18
WH/BN
B13
683
BU
C19
c19
GN
C19
c19
BN
B14
688
WH/BN
C20
c20
RD
C20
c20
WH/RD
B15
684
VT
C21
c21
BN
C21
c21
RD
-XP5.1
7
7
-XP5.2
8
8
-XP5.1
8
8
-A35.X2
5
5
RD
RD
F1
f1
RD
B22
b22
WH/BK
A1
1
1
BK
BK
F2
f2
BK
B23
b23
BK
A2
-XP5.2
11
11
691
WH/YE
B24
b24
BK
B24
b24
WH/BN
A3
12
12
692
WH/GN
B25
b25
BU
B25
b25
BN
A4
9
9
689
WH/RD
B22
10
10
690
WH/OG
B23
-A35.X2
4
4
WH
WH
F3
f3
WH
A3
a3
5
YE
A7
2
2
BU
BU
F4
f4
BU
A4
a4
6
YE
A8
3
3
-XP5.3
7
7
699
WH/YE
C10
c10
BK
A5
a5
8
8
700
WH/GN
C11
c11
OG
A6
9
9
666
WH/BU
C12
c12
BK
A9
a6
7
8
VT
VT
A10
a9
1
GN
A5
GN
A6
10
10
667
WH/VT
C13
c13
GN
A10
a10
11
11
668
WH/GY
C14
c14
BK
A11
a11
3
GN
A11
a12
4
GN
A12
12
669
BN/BK
C15
c15
BN
A12
Lab/Office:
DMRO SE
PRMP
ECO 70147, WI 7698
Page 224-231: Adjusted, "Type Se" was "Type S"
Page 316-321: Adjusted, "Type H" was "Type S"
IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5
CUSTOMER SIGNALS, CANBUS
Prepared by, date:
EM 2015-02-17
Approved by, date:
JEN 2015-03-04
TYPE S
+24V CAN
0V CAN
CAN_H
CAN_L
A9
2
12
Latest revision:
C8
= DP
Plant:
Location: + S
APPROVED
Sublocation:+ (-)
Document no.
Rev. Ind Page111
Next 114
3HAC026209-001
Total 98
Status:
2015-03-04
12
1
2
*
1
1
2
2
3
3
4
4
*
SINGLE
670
-
BK
BN
-XP5.1
671
-
RD
OG
672
-
YE
GN
673
-
BU
VT
GN/YE
GN/YE
-AXIS 6
Note 1.2 on Page 700
-R1.CP/CS
a1
1
D1
d1
4
C4
A2
a2
2
D6
d6
5
C5
A3
a3
3
D3
d3
6
C6
A4
a4
4
D4
d4
7
C7
GN/YE
GN/YE
24V
0V
24V
0V
PE
677
BK
B1
b1
WH
B1
b1
WH/BK
B18
2
2
678
BN
B2
b2
BU
B2
b2
BK
B19
WH/GN
B3
b3
WH/GN
B3
b3
WH/BN
B20
GN
B4
b4
GN
B4
b4
BN
B21
WH/BN
B5
b5
WH/BN
B5
b5
WH/RD
B22
BN
B6
b6
BN
B6
b6
RD
B23
WH/BU
B7
b7
WH/BU
B7
b7
WH/OG
B24
KSR
BU
B8
b8
BU
B8
b8
OG
B25
KSR
WH/OG
B9
b9
WH/OG
B9
b9
WH/YE
B16
B10
b10
OG
B10
b10
YE
B17
1 WH/GN
2
2
3
3 WH/BN
4
4
GN
BN
9 WH/BU
BU
10
10
11
11 WH/OG
12
12
OG
115/5
OG
Lab/Office:
DMRO SE
PRMP
ECO 70147, WI 7698
Page 224-231: Adjusted, "Type Se" was "Type S"
Page 316-321: Adjusted, "Type H" was "Type S"
IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5
CUSTOMER SIGNALS, PROFIBUS
Approved by, date:
JEN 2015-03-04
Note 1.4 on Page 700
TYPE S
115/8
1
9
EM 2015-02-17
-R3.CP/CS
A1
1
-XP5.1
Prepared by, date:
8
1
-XP5.2
Latest revision:
7
-MANIPULATOR BASE
DUAL
-XP6
6
-XS13
115/3
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
5
-ROBOTCABINET
ORANGE LINE
LOWER/UPPER ARM HARNESS
3HAC022488-001,002
* Circuitdiagram shows marking
on wires for both dual and
single cabinet
4
115/4
TYPE S
CUSTOMER SIGNALS
PROFIBUS
COMMUNICATION
VALID FOR
HARNESS IN CABINET
3HAC022852-001 (Dual)
3HAC024371-001 (Single)
3HAC022868-001
FLOOR HARNESS
3HAC022988-001,002,003,006
3
= DP
Plant:
Location: + S
APPROVED
Sublocation:+ (-)
Document no.
Rev. Ind Page114
Next 115
3HAC026209-001
Total 98
Status:
2015-03-04
12
2
-ROBOTCABINET
ORANGE LINE
LOWER/UPPER ARM HARNESS
3HAC022488-001,002
* Circuitdiagram shows marking
on wires for both dual and
single cabinet
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
5
-MANIPULATOR BASE
8
-AXIS 6
*
R1.CP/CS
114/8
-XP5.1
-R3.CP/CS
B11
b11
WH
B11
b11
WH/GN
B1
680 OG
B12
b12
OG
B12
b12
GN
B2
5
681 YE
B13
b13
WH
B13
b13
WH/BU
B3
6
682 GN
B14
b14
GN
B14
b14
BU
B4
3
3
4
4
5
6
-XP5.3
1
1
693 GY
B15
b15
WH
B15
b15
WH/VT
B5
2
2
694 WH
B16
b16
BN
B16
b16
VT
B6
3
3
695 WH/BK
B18
b18
WH
B18
b18
WH/GY
B7
4
4
696 WH/BN
B19
b19
GY
B19
b19
GY
B8
5
5
697 WH/RD
B20
b20
RD
B20
b20
WH/BK
B9
6
6
698 WH/OG
B21
b21
BU
B21
b21
BK
B10
5
5
685 GY
C16
c16
RD
C16
c16
WH/OG
B11
6
6
686 WH
C17
c17
OG
C17
c17
OG
B12
7
7
687 WH/BK
C18
c18
RD
C18
c18
WH/BN
B13
683 BU
C19
c19
GN
C19
c19
BN
B14
688 WH/BN
C20
c20
RD
C20
c20
WH/RD
B15
684 VT
C21
c21
BN
C21
c21
RD
C8
7
7
-XP5.2
8
8
-XP5.1
8
8
-XP5.2
9
9
689 WH/RD
B22
b22
RD
B22
b22
WH/BK
A1
10
10
690 WH/OG
B23
b23
GY
B23
b23
BK
A2
11
11
691 WH/YE
B24
b24
BK
B24
b24
WH/BN
A3
12
12
692 WH/GN
B25
b25
BU
B25
b25
BN
A4
-XP5.3
7
7
699 WH/YE
C10
c10
BK
A3
a3
5
YE
A7
8
8
700 WH/GN
C11
c11
OG
A4
a4
6
YE
A8
-DP-M
1B
1B
RD RD
F5
f5
RD
A5
a5
7
VT
A9
1A
1A
GN GN
F6
f6
GN
A6
a6
8
VT
A10
-XP5.3
9
9
666 WH/BU
C12
c12
BK
A9
a9
1
GN
A5
10
10
667 WH/VT
C13
c13
GN
A10
a10
2
GN
A6
11
11
668 WH/GY
C14
c14
BK
A11
a11
3
GN
A11
12
12
669 BN/BK
C15
c15
BN
A12
a12
4
GN
A12
Lab/Office:
DMRO SE
PRMP
ECO 70147, WI 7698
Page 224-231: Adjusted, "Type Se" was "Type S"
Page 316-321: Adjusted, "Type H" was "Type S"
IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5
CUSTOMER SIGNALS, PARALLEL
EM 2015-02-17
7
114/5
*
DUAL SINGLE
679 RD
-XP5.1
Prepared by, date:
6
-XS13
-XP5.2
Latest revision:
4
114/4
TYPE S
CUSTOMER SIGNALS
PROFIBUS
COMMUNICATION
VALID FOR
HARNESS IN CABINET
3HAC022852-001 (Dual)
3HAC024371-001 (Single)
3HAC022868-001
FLOOR HARNESS
3HAC022988-001,002,003,006
3
114/3
1
Approved by, date:
JEN 2015-03-04
TYPE S
RXD/TXD-P
RXD/TXD-N
= DP
Plant:
Location: + S
APPROVED
Sublocation:+ (-)
Document no.
Rev. Ind Page115
Next +.AX3/1
3HAC026209-001
Total 98
Status:
2015-03-04
12
1
2
-ROBOTCABINET
TYPE S
CUSTOMER SIGNALS
PARALLEL
COMMUNICATION
VALID FOR
HARNESS IN CABINET
3HAC022852-001 (Dual)
3HAC024371-001 (Single)
FLOOR HARNESS
3HAC022957-001,002,003,006
*
DUAL
-XP6
1
1
2
2
3
3
4
4
*
SINGLE
670
-
BK
BN
671
RD
672
-
OG
YE
GN
673
BU
-
VT
GN/YE
4
5
-MANIPULATOR BASE
6
7
8
-AXIS 3
-AXIS 6
-XS13
Note 1.1 on Page 700
4
-R1.CP/CS
A1
a1
1
D1
d1
A2
a2
2
D6
d6
-R2CP/CS
5
-R3.CP/CS
E
E
4
E
E
F
F
5
F
F
24V
0V
A3
a3
3
D3
d3
6
V
V
6
V
V
A4
a4
4
D4
d4
7
W
W
7
W
W
24V
0V
GN/YE
GN/YE
GN/YE
G
GN/YE
G
G
G
PE
* Circuitdiagram shows
marking on wires for both
dual and single cabinet
-XP5.1
N.C.=Not Connected
-XP5.2
1
1
677
BK
B1
b1
WH
B1
B1
WH/BK
A
A
WH/BK
A
2
2
678
BN
B2
b2
BU
B2
b2
BK
B
B
BK
B
WH/GN
B3
b3
WH/GN
B3
b3
WH/BN
C
C
WH/BN
C
GN
B4
b4
GN
B4
b4
BN
D
D
BN
D
WH/BN
B5
b5
WH/BN
B5
b5
WH/RD
H
H
WH/RD
H
BN
B6
b6
BN
B6
b6
RD
J
J
RD
J
WH/BU
B7
b7
WH/BU
B7
b7
WH/OG
K
K
WH/OG
K
BU
B8
b8
BU
B8
b8
OG
L
L
OG
L
b9
WH/YE
M
M
WH/YE
M
b10
YE
N
N
YE
N
1
1 WH/GN
2
2
3
3 WH/BN
4
4
GN
BN
-XP5.1
9
10
9 WH/BU
10
BU
CS1
CS2
CS3
CS4
CS5
CS6
CS6/KSR
CS8/KSR
11
12
11 WH/OG
12
OG
WH/OG
B9
OG
B10
WH/OG
b9
B9
OG
b10
B10
CS9
CS10
Note 1.3 on Page 700
3
3
679
RD
B11
b11
WH
B11
b11
WH/GN
P
P
WH/GN
P
CS11
4
4
680
OG
B12
b12
OG
B12
b12
GN
R
R
GN
R
CS12
5
5
681
YE
B13
b13
WH
B13
b13
WH/BU
S
S
WH/BU
S
CS13
6
6
682
GN
B14
b14
GN
B14
b14
BU
T
T
BU
T
CS14
-XP5.3
GY
B15
b15
WH
B15
b15
WH/VT
U
U
WH/VT
U
2
2
694
WH
B16
b16
BN
B16
b16
VT
X
X
VT
X
3
3
695
WH/BK
B18
b18
WH
B18
b18
WH/GY
Y
Y
WH/GY
Y
4
4
696
WH/BN
B19
b19
GY
B19
b19
GY
Z
Z
GY
Z
5
5
697
WH/RD
B20
b20
RD
B20
b20
WH/BK
a
a
WH/BK
a
6
6
698
WH/OG
B21
b21
BU
B21
b21
BK
b
b
BK
b
683
BU
C19
c19
GN
C19
c19
WH/OG
c
c
WH/OG
686
WH/BK
C18
c18
RD
C18
N.C.
OG
N.C.
OG
7
-XP5.2
7
7
Latest revision:
Lab/Office:
DMRO SE
PRMP
ECO 70147, WI 7698
Page 224-231: Adjusted, "Type Se" was "Type S"
Page 316-321: Adjusted, "Type H" was "Type S"
Note 1.5 on Page 701
IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5
CUSTOMER SIGNALS, PARALLEL
Prepared by, date:
EM 2015-02-17
Approved by, date:
JEN 2015-03-04
N.C.
TYPE S
c
CS15
CS16
CS17
CS18
CS19
CS20
CS21
N.C.
101/8
7
101/6
-XP5.1
101/7
693
101/5
1
101/4
1
101/3
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
SW6
LOWER ARM HARNESS
3HAC042381-001
UPPER ARM HARNESS
3HAC042384-001
3
= DP
Plant:
Location: + S
APPROVED
Sublocation:+ AX3
Document no.
Rev. Ind Page116
Next 117
3HAC026209-001
Total 98
Status:
2015-03-04
12
SW6
LOWER ARM HARNESS
3HAC042381-001
UPPER ARM HARNESS
3HAC042384-001
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
* Circuitdiagram shows marking
on wires for both dual and
single cabinet
N.C.=Not Connected
Latest revision:
-R1.CP/CS
-AXIS 3
RD
c16
N.C.
WH/BN
N.C.
N.C.
WH/BN
BN
6
686
WH
C17
c17
OG
C17
N.C.
BN
N.C.
N.C.
8
8
688
WH/BN
C20
c20
RD
C20
N.C.
WH/RD
N.C.
N.C.
684
VT
C21
c21
BN
C21
N.C.
RD
N.C.
N.C.
8
8
-XP5.2
WH/RD
RD
N.C.
N.C.
N.C.
9
689
WH/RD
B22
b22
RD
B22
N.C.
WH/YE
N.C.
N.C.
10
10
690
WH/OG
B23
b23
GY
B23
N.C.
YE
N.C.
N.C.
YE
N.C.
11
11
691
WH/YE
B24
b24
BK
B24
N.C.
WH
N.C.
N.C.
WH/GN
N.C.
12
12
692
WH/GN
B25
b25
BU
B25
N.C.
GN
N.C.
N.C.
GN
N.C.
-XP5.3
N.C.
Note 1.6 on Page 701
7
7
699
WH/YE
C10
8
8
700
WH/GN
C11
9
9
666
WH/BU
C12
10
10
667
WH/VT
C13
11
11
668
WH/GY
C14
12
12
669
BN/BK
C15
Approved by, date:
WH/YE
-R3.CP/CS
N.C.
9
Lab/Office:
DMRO SE
PRMP
IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5
CUSTOMER SIGNALS, PARALLEL
EM 2015-02-17
-R2.CP/CS
c16
6
-XP5.1
8
-AXIS 6
C16
ECO 70147, WI 7698
Page 224-231: Adjusted, "Type Se" was "Type S"
Page 316-321: Adjusted, "Type H" was "Type S"
Prepared by, date:
7
100/8
GY
6
100/7
*
SINGLE
5
-MANIPULATOR BASE
100/6
-XS13
4
100/5
*
DUAL
-XP5.2
5 5 685
3
100/4
TYPE S
CUSTOMER SIGNALS
PARALLEL
COMMUNICATION
VALID FOR
HARNESS IN CABINET
3HAC022852-001 (Dual)
3HAC024371-001 (Single)
FLOOR HARNESS
3HAC022957-001,002,003,006
2
-ROBOTCABINET
100/3
1
JEN 2015-03-04
TYPE S
= DP
Plant:
Location: + S
APPROVED
Sublocation:+ AX3
Document no.
Rev. Ind Page117
Next 118
3HAC026209-001
Total 98
Status:
2015-03-04
12
1
2
-ROBOTCABINET
TYPE S
CUSTOMER SIGNALS
PARALLEL
COMMUNICATION
VALID FOR
HARNESS IN CABINET
3HAC022852-001 (Dual)
3HAC024371-001 (Single)
FLOOR HARNESS
3HAC022957-001,002,003,006
*
DUAL
-XP6
1
1
2
2
3
3
4
4
*
SINGLE
670
-
BK
BN
671
RD
672
-
OG
YE
GN
673
BU
-
VT
GN/YE
4
5
-MANIPULATOR BASE
6
7
8
-AXIS 3
-AXIS 6
-XS13
Note 1.1 on Page 700
4
-R1.CP/CS
A1
a1
1
D1
d1
A2
a2
2
D6
d6
-R2CP/CS
5
-R3.CP/CS
E
E
4
E
E
F
F
5
F
F
24V
0V
A3
a3
3
D3
d3
6
V
V
6
V
V
A4
a4
4
D4
d4
7
W
W
7
W
W
24V
0V
GN/YE
GN/YE
GN/YE
G
GN/YE
G
G
G
PE
* Circuitdiagram shows
marking on wires for both
dual and single cabinet
-XP5.1
N.C.=Not Connected
-XP5.2
1
1
677
BK
B1
b1
WH
B1
B1
WH/BK
A
A
WH/BK
A
2
2
678
BN
B2
b2
BU
B2
b2
BK
B
B
BK
B
WH/GN
B3
b3
WH/GN
B3
b3
WH/BN
C
C
WH/BN
C
GN
B4
b4
GN
B4
b4
BN
D
D
BN
D
WH/BN
B5
b5
WH/BN
B5
b5
WH/RD
H
H
WH/RD
H
BN
B6
b6
BN
B6
b6
RD
J
J
RD
J
WH/BU
B7
b7
WH/BU
B7
b7
WH/OG
K
K
WH/OG
K
BU
B8
b8
BU
B8
b8
OG
L
L
OG
L
b9
WH/YE
M
M
WH/YE
M
b10
YE
N
N
YE
N
1
1 WH/GN
2
2
3
3 WH/BN
4
4
GN
BN
-XP5.1
9
10
9 WH/BU
10
BU
CS1
CS2
CS3
CS4
CS5
CS6
CS6/KSR
CS8/KSR
11
12
11 WH/OG
12
OG
WH/OG
B9
OG
B10
WH/OG
b9
B9
OG
b10
B10
CS9
CS10
Note 1.3 on Page 700
3
3
679
RD
B11
b11
WH
B11
b11
WH/GN
P
P
WH/GN
P
CS11
4
4
680
OG
B12
b12
OG
B12
b12
GN
R
R
GN
R
CS12
5
5
681
YE
B13
b13
WH
B13
b13
WH/BU
S
S
WH/BU
S
CS13
6
6
682
GN
B14
b14
GN
B14
b14
BU
T
T
BU
T
CS14
-XP5.3
GY
B15
b15
WH
B15
b15
WH/VT
U
U
WH/VT
U
2
2
694
WH
B16
b16
BN
B16
b16
VT
X
X
VT
X
3
3
695
WH/BK
B18
b18
WH
B18
b18
WH/GY
Y
Y
WH/GY
Y
4
4
696
WH/BN
B19
b19
GY
B19
b19
GY
Z
Z
GY
Z
5
5
697
WH/RD
B20
b20
RD
B20
b20
WH/BK
a
a
WH/BK
a
6
6
698
WH/OG
B21
b21
BU
B21
b21
BK
b
b
BK
b
683
BU
C19
c19
GN
C19
c19
WH/OG
c
c
WH/OG
686
WH/BK
C18
c18
RD
C18
N.C.
OG
N.C.
OG
7
-XP5.2
7
7
Latest revision:
Lab/Office:
DMRO SE
PRMP
ECO 70147, WI 7698
Page 224-231: Adjusted, "Type Se" was "Type S"
Page 316-321: Adjusted, "Type H" was "Type S"
Note 1.5 on Page 701
IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5
CUSTOMER SIGNALS, CANBUS
Prepared by, date:
EM 2015-02-17
Approved by, date:
JEN 2015-03-04
N.C.
TYPE S
c
CS15
CS16
CS17
CS18
CS19
CS20
CS21
N.C.
101/8
7
101/6
-XP5.1
101/7
693
101/5
1
101/4
1
101/3
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
SW6
LOWER ARM HARNESS
3HAC042382-001
UPPER ARM HARNESS
3HAC042385-001
3
= DP
Plant:
Location: + S
APPROVED
Sublocation:+ AX3
Document no.
Rev. Ind Page118
Next 119
3HAC026209-001
Total 98
Status:
2015-03-04
12
SW6
LOWER ARM HARNESS
3HAC042382-001
UPPER ARM HARNESS
3HAC042385-001
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
* Circuitdiagram shows marking
on wires for both dual and
single cabinet
GY
-R1.CP/CS
7
-AXIS 3
-R2.CP/CS
C16
c16
RD
c16
N.C.
WH/BN
N.C.
N.C.
WH/BN
BN
6
6
686
WH
C17
c17
OG
C17
N.C.
BN
N.C.
N.C.
8
8
688
WH/BN
C20
c20
RD
C20
N.C.
WH/RD
N.C.
N.C.
684
VT
C21
c21
BN
C21
N.C.
RD
N.C.
N.C.
-XP5.1
8
8
-XP5.2
8
-AXIS 6
100/8
SINGLE
6
100/7
*
DUAL
-XP5.2
5 5 685
5
-MANIPULATOR BASE
100/6
*
-XS13
4
100/5
3
100/4
TYPE S
CUSTOMER SIGNALS
PARALLEL
COMMUNICATION
VALID FOR
HARNESS IN CABINET
3HAC022852-001 (Dual)
3HAC024371-001 (Single)
FLOOR HARNESS
3HAC022957-001,002,003,006
2
-ROBOTCABINET
100/3
1
-R3.CP/CS
N.C.
N.C.
WH/RD
N.C.
RD
N.C.
9
9
689
WH/RD
B22
b22
RD
B22
N.C.
WH/YE
N.C.
N.C.
10
10
690
WH/OG
B23
b23
GY
B23
N.C.
YE
N.C.
N.C.
YE
N.C.
11
11
691
WH/YE
B24
b24
BK
B24
N.C.
WH
N.C.
N.C.
WH/GN
N.C.
12
12
692
WH/GN
B25
b25
BU
B25
N.C.
GN
N.C.
N.C.
GN
N.C.
-XP5.3
7
699
WH/YE
C10
8
8
700
WH/GN
C11
9
9
666
WH/BU
C12
10
10
667
WH/VT
C13
11
11
668
WH/GY
C14
12
12
669
BN/BK
C15
-A35.X2
N.C.
Note 1.6 on Page 701
7
N.C.=Not Connected
WH/YE
5
5
RD
RD
F1
F1
RD
B22
b22
WH/BK
1
1
BK
BK
F2
F2
BK
B23
b23
BK
-R2.CBUS
-R3.CBUS
C
C
WH/BK
C
D
D
BK
D
+24V BUS
0V BUS
-XP5.2
11
11
691
WH/YE
B24
B24
BK
B24
b24
WH/BN
N.C.
N.C.
WH/BN
N.C.
12
12
692
WH/GN
B25
B25
BU
B25
b25
BN
N.C.
N.C.
BN
N.C.
9
9
689
WH/RD
B22
10
10
690
WH/OG
B23
WH
WH
F3
WH
A3
a3
5
YE
A
5
YE
A
F4
BU
A4
a4
6
YE
B
B
6
YE
B
E
E
J
J
7
8
N.C.
1
GN
N.C.
GN
N.C.
-A35.X2
4
4
2
2
3
3
-XP5.3
Latest revision:
BU
BU
F3
F4
7
7
699
WH/YE
C10
c10
BK
A5
a5
8
8
700
WH/GN
C11
c11
OG
A6
a6
7
8
9
9
666
WH/BU
C12
c12
BK
A9
N.C.
1
GN
A10
N.C.
2
GN
N.C.
N.C.
2
VT
VT
E
J
10
10
667
WH/VT
C13
c13
11
11
668
WH/GY
C14
c14
BK
A11
N.C.
3
GN
N.C.
N.C.
3
GN
N.C.
12
12
669
BN/BK
C15
c15
BN
A12
N.C.
4
GN
N.C.
N.C.
4
GN
N.C.
Lab/Office:
DMRO SE
PRMP
IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5
CUSTOMER SIGNALS, CANBUS
EM 2015-02-17
N.C.
VT
VT
GN
ECO 70147, WI 7698
Page 224-231: Adjusted, "Type Se" was "Type S"
Page 316-321: Adjusted, "Type H" was "Type S"
Prepared by, date:
A
Approved by, date:
JEN 2015-03-04
TYPE S
C-BUS
C-BUS
P-BUS
P-BUS
= DP
Plant:
Location: + S
APPROVED
Sublocation:+ AX3
Document no.
Rev. Ind Page119
Next 120
3HAC026209-001
Total 98
Status:
2015-03-04
12
1
2
-ROBOTCABINET
TYPE S
CUSTOMER SIGNALS
PARALLEL
COMMUNICATION
VALID FOR
HARNESS IN CABINET
3HAC022852-001 (Dual)
3HAC024371-001 (Single)
FLOOR HARNESS
3HAC022957-001,002,003,006
*
DUAL
-XP6
1
1
2
2
3
3
4
4
*
SINGLE
670
-
BK
BN
671
RD
672
-
OG
YE
GN
673
BU
-
VT
GN/YE
4
5
-MANIPULATOR BASE
6
7
8
-AXIS 3
-AXIS 6
-XS13
Note 1.1 on Page 700
4
-R1.CP/CS
A1
a1
1
D1
d1
A2
a2
2
D6
d6
-R2CP/CS
5
-R3.CP/CS
E
E
4
E
E
F
F
5
F
F
24V
0V
A3
a3
3
D3
d3
6
V
V
6
V
V
A4
a4
4
D4
d4
7
W
W
7
W
W
24V
0V
GN/YE
GN/YE
GN/YE
G
GN/YE
G
G
G
PE
* Circuitdiagram shows
marking on wires for both
dual and single cabinet
-XP5.1
N.C.=Not Connected
-XP5.2
1
1
677
BK
B1
b1
WH
B1
B1
WH/BK
A
A
WH/BK
A
2
2
678
BN
B2
b2
BU
B2
b2
BK
B
B
BK
B
WH/GN
B3
b3
WH/GN
B3
b3
WH/BN
C
C
WH/BN
C
GN
B4
b4
GN
B4
b4
BN
D
D
BN
D
WH/BN
B5
b5
WH/BN
B5
b5
WH/RD
H
H
WH/RD
H
BN
B6
b6
BN
B6
b6
RD
J
J
RD
J
WH/BU
B7
b7
WH/BU
B7
b7
WH/OG
K
K
WH/OG
K
BU
B8
b8
BU
B8
b8
OG
L
L
OG
L
b9
WH/YE
M
M
WH/YE
M
b10
YE
N
N
YE
N
1
1 WH/GN
2
2
3
3 WH/BN
4
4
GN
BN
-XP5.1
9
10
9 WH/BU
10
BU
CS1
CS2
CS3
CS4
CS5
CS6
CS6/KSR
CS8/KSR
11
12
11 WH/OG
12
OG
WH/OG
B9
OG
B10
WH/OG
b9
B9
OG
b10
B10
CS9
CS10
Note 1.3 on Page 700
3
3
679
RD
B11
b11
WH
B11
b11
WH/GN
P
P
WH/GN
P
CS11
4
4
680
OG
B12
b12
OG
B12
b12
GN
R
R
GN
R
CS12
5
5
681
YE
B13
b13
WH
B13
b13
WH/BU
S
S
WH/BU
S
CS13
6
6
682
GN
B14
b14
GN
B14
b14
BU
T
T
BU
T
CS14
-XP5.3
GY
B15
b15
WH
B15
b15
WH/VT
U
U
WH/VT
U
2
2
694
WH
B16
b16
BN
B16
b16
VT
X
X
VT
X
3
3
695
WH/BK
B18
b18
WH
B18
b18
WH/GY
Y
Y
WH/GY
Y
4
4
696
WH/BN
B19
b19
GY
B19
b19
GY
Z
Z
GY
Z
5
5
697
WH/RD
B20
b20
RD
B20
b20
WH/BK
a
a
WH/BK
a
6
6
698
WH/OG
B21
b21
BU
B21
b21
BK
b
b
BK
b
683
BU
C19
c19
GN
C19
c19
WH/OG
c
c
WH/OG
686
WH/BK
C18
c18
RD
C18
N.C.
OG
N.C.
OG
7
-XP5.2
7
7
Latest revision:
Lab/Office:
DMRO SE
PRMP
ECO 70147, WI 7698
Page 224-231: Adjusted, "Type Se" was "Type S"
Page 316-321: Adjusted, "Type H" was "Type S"
Note 1.5 on Page 701
IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5
CUSTOMER SIGNALS, ETHERNET
Prepared by, date:
EM 2015-02-17
Approved by, date:
JEN 2015-03-04
N.C.
TYPE S
c
CS15
CS16
CS17
CS18
CS19
CS20
CS21
N.C.
101/8
7
101/6
-XP5.1
101/7
693
101/5
1
101/4
1
101/3
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
SW6
LOWER ARM HARNESS
3HAC042383-001
UPPER ARM HARNESS
3HAC042386-001
3
= DP
Plant:
Location: + S
APPROVED
Sublocation:+ AX3
Document no.
Rev. Ind Page120
Next 121
3HAC026209-001
Total 98
Status:
2015-03-04
12
SW6
LOWER ARM HARNESS
3HAC042383-001
UPPER ARM HARNESS
3HAC042386-001
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
* Circuitdiagram shows marking
on wires for both dual and
single cabinet
N.C.=Not Connected
-R1.CP/CS
7
-AXIS 3
-R2.CP/CS
C16
c16
RD
c16
N.C.
WH/BN
N.C.
N.C.
WH/BN
BN
6
6
686
WH
C17
c17
OG
C17
N.C.
BN
N.C.
N.C.
8
8
688
WH/BN
C20
c20
RD
C20
N.C.
WH/RD
N.C.
N.C.
684
VT
C21
c21
BN
C21
N.C.
RD
N.C.
N.C.
-XP5.1
8
8
-XP5.2
8
-AXIS 6
WH/RD
RD
-R3.CP/CS
N.C.
N.C.
N.C.
N.C.
9
9
689
WH/RD
B22
b22
RD
B22
N.C.
WH/YE
N.C.
N.C.
10
10
690
WH/OG
B23
b23
GY
B23
N.C.
YE
N.C.
N.C.
YE
N.C.
11
11
691
WH/YE
B24
b24
BK
B24
N.C.
WH
N.C.
N.C.
WH/GN
N.C.
12
12
692
WH/GN
B25
b25
BU
B25
N.C.
GN
N.C.
N.C.
GN
N.C.
-XP5.3
WH/YE
100/8
GY
6
100/7
*
SINGLE
5
-MANIPULATOR BASE
100/6
-XS13
4
100/5
*
DUAL
-XP5.2
5 5 685
3
100/4
TYPE S
CUSTOMER SIGNALS
PARALLEL
COMMUNICATION
VALID FOR
HARNESS IN CABINET
3HAC022852-001 (Dual)
3HAC024371-001 (Single)
FLOOR HARNESS
3HAC022957-001,002,003,006
2
-ROBOTCABINET
100/3
1
N.C.
Note 1.6 on Page 701
7
7
699
WH/YE
C10
8
8
700
WH/GN
C11
9
9
666
WH/BU
C12
10
10
667
WH/VT
C13
11
11
668
WH/GY
C14
12
12
669
BN/BK
C15
-XS9
Latest revision:
-R1.ETHERNET
1 1
1
YE
2
2
WH
2
2
WH
2
3
3
OG
3
3
OG
4
4
BU
4
4
BU
Lab/Office:
DMRO SE
PRMP
ECO 70147, WI 7698
Page 224-231: Adjusted, "Type Se" was "Type S"
Page 316-321: Adjusted, "Type H" was "Type S"
YE
EM 2015-02-17
Approved by, date:
JEN 2015-03-04
TYPE S
-R3.ETHERNET
YE
1
2
WH
2
3
3
OG
3
4
4
BU
4
IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5
CUSTOMER SIGNALS, ETHERNET
Prepared by, date:
-R2.ETHERNET
1 1
1
= DP
Plant:
Location: + S
APPROVED
Sublocation:+ AX3
Document no.
Rev. Ind Page121
Next +Se.AX3
3HAC026209-001
Total 98
Status:
2015-03-04
12
3
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
SILVER LINE
LOWER ARM HARNESS
3HAC022137-001
3HAC022138-001
UPPER ARM HARNESS
3HAC022475-001
3HAC022475-002
3HAC022475-003
FOR IRB66x0ID
CONNECTION BETWEEN
R2.CP/CS AND R3.CP/CS
SEE PAGE IRB66x0ID
LOWER ARM HARNESS
3HAC022479-001
UPPER ARM HARNESS
3HAC025532-001
* Circuitdiagram shows marking
on wires for both dual and
single cabinet
6
-MANIPULATOR BASE
-AXIS 3
Note 1.1 on Page 700
-R1.CP/CS
-AXIS 6
-R2.CP/CS
-R3.CP/CS
a1
1
D1
d1
4
D1
d1
4
C4
24V
a2
2
D6
d6
5
D6
d6
5
C5
0V
a3
3
D3
d3
6
D3
d3
6
C6
24V
a4
4
D4
d4
7
D4
d4
7
C7
0V
GN/YE
GN/YE
PE
201/8
GN/YE
-R1.SP
-R2.CP/CS
-R3.CP/CS
4002
A3
a3
BL
E
E
1
D5
d5
1
C1
W/T
5
5
4004
4004
A5
a5
BU
C
C
2
D2
d2
2
C2
V/S
1
1
4000
4000
A1
a1
BR
A
A
3
D7
d7
3
C3
U/R
GN/YE
GN/YE
GN/YE
G
G
GN/YE
-A43.X24
GN/YE
PE
1
1
4013
4013
E1
e1
PK
J
J
4
C1
c1
4
B11
2
2
4014
4014
E2
e2
RD
K
K
5
C2
c2
5
B12
4010
4010
F7
f7
OG
L
L
6
C3
c3
6
B13
4012
4012
F9
f9
GN
M
M
7
C5
c5
7
B15
4011
4011
F8
f8
YE
R
-A43.X22
1 1 4006
4006
F1
f1
-XS40
5
6
3
3
4008
4008
F2
f2
4
4
4009
4009
F3
f3
2
2
4007
4007
F4
f4
Lab/Office:
DMRO SE
PRMP
ECO 70147, WI 7698
Page 224-231: Adjusted, "Type Se" was "Type S"
Page 316-321: Adjusted, "Type H" was "Type S"
IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5
CUSTOMER SIGNALS, PARALLEL
EM 2015-02-17
8
-A41.1.3.X21
4002
3 3
6
Prepared by, date:
7
-XS7
5
Latest revision:
5
201/7
TYPE SE
-ROBOTCABINET
CUSTOMER SIGNALS
-XS13
PARALLEL
*
*
COMMUNICATION
DUAL SINGLE
-XP6
VALID FOR
670
BK
1 1
A1
HARNESS IN CABINET
BN
2 2
A2
3HAC022852-001 (Dual)
671
RD
3HAC024371-001 (Single)
OG
3HAC021791-001
FLOOR HARNESS
672
YE
3 3
A3
3HAC022957-001,002,003,006
GN
4 4
A4
3HEA800736-001,002,003,004
673
BU
VT
ORANGE LINE
GN/YE GN/YE
LOWER ARM HARNESS
3HAC022479-001
UPPER ARM HARNESS
3HAC023171-001,002
4
201/6
2
201/5
1
Approved by, date:
JEN 2015-03-04
TYPE Se
PTC
0V PTC
24V BRAKE REL
0V BRAKE REL
= DP
Plant:
Location: + Se
APPROVED
Sublocation:+ AX3
Document no.
Rev. Ind Page200
Next 201
3HAC026209-001
Total 98
Status:
2015-03-04
12
1
2
3
4
5
TYPE SE
CUSTOMER SIGNALS
PARALLEL
COMMUNICATION
VALID FOR
HARNESS IN CABINET
3HAC022852-001 (Dual)
3HAC024371-001 (Single)
3HAC021791-001
FLOOR HARNESS
3HAC022957-001,002,003,006
3HEA800736-001,002,003,004
F
F
RD
-R1.SMB
9
WH/RD
E
E
WH/RD
2
BN
D
D
BN
WH/BN
C
C
WH/BN
BK
B
B
BK
WH/BK
A
A
WH/BK
4
12
5
4
4
BN
BN
B2
B3
B4
WH
b1
b4
WH/GN
GN
b1
B2
WH/BK
-R2.CP/CS
B1
WH/BK
b1
-R3.CP/CS
B18
X7/S1
SP1
BU
b2
b3
B1
200/8
-R1.CP/CS
B1
-AXIS 6
200/7
*
DUAL SINGLE
-XP5.1
BK
1 1 677
b2
BK
B2
b2
BK
B19
WH/BN
B3
b3
WH/BN
B20
BN
B4
b4
BN
B21
WH/RD
B5
b5
WH/RD
B22
0V X7/S3
SP2
B3
b3
SP3
B4
b4
Y7/S4
0V Y7/S2
SP4
B5
B6
b5
b6
WH/BN
BN
B5
b5
0V EXC2/R2
SP5
B6
b6
RD
B6
b6
RD
B23
EXC2/R1
SP6
-XP5.1
b7
WH/BU
B7
b7
WH/OG
B7
b7
WH/OG
B24
10
10BU
BU
B8
b8
BU
B8
b8
OG
B8
b8
OG
B25
11
11 WH/OG
WH/OG
B9
b9
WH/OG
B9
b9
WH/YE
B9
b9
WH/YE
B16
12
12OG
OG
B10
b10
OG
B10
b10
YE
B10
b10
YE
B17
202/5
Lab/Office:
DMRO SE
PRMP
Note 1.9 on Page 702
IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5
CUSTOMER SIGNALS, PARALLEL
EM 2015-02-17
Approved by, date:
JEN 2015-03-04
TYPE Se
KSR
KSR
202/8
B7
202/7
WH/BU
202/6
9 WH/BU
ECO 70147, WI 7698
Page 224-231: Adjusted, "Type Se" was "Type S"
Page 316-321: Adjusted, "Type H" was "Type S"
Prepared by, date:
11
-AXIS 3
200/6
*
-MANIPULATOR BASE
200/5
-XS13
9
Latest revision:
-SMB
-R2.FB7
-ROBOTCABINET
BN
2 2 678
FOR IRB66x0ID
CONNECTION BETWEEN
R2.CP/CS AND R3.CP/CS -XP5.2
1 1 WH/GN WH/GN
SEE PAGE IRB66x0ID
LOWER ARM HARNESS
GN
2 2 GN
3HAC022479-001
UPPER ARM HARNESS
3HAC025532-001
3 3 WH/BN WH/BN
* Circuitdiagram shows
marking on wires for both
dual and single cabinet
8
1
202/4
SILVER LINE
LOWER ARM HARNESS
3HAC022137-001
3HAC022138-001
UPPER ARM HARNESS
3HAC022475-001
3HAC022475-002
3HAC022475-003
7
RD
202/3
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
ORANGE LINE
LOWER ARM HARNESS
3HAC022479-001
UPPER ARM HARNESS
3HAC023171-001,002
6
= DP
Plant:
Location: + Se
APPROVED
Sublocation:+ AX3
Document no.
Rev. Ind Page201
Next 202
3HAC026209-001
Total 98
Status:
2015-03-04
12
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
ORANGE LINE
LOWER ARM HARNESS
3HAC022479-001
UPPER ARM HARNESS
3HAC023171-001,002
SILVER LINE
LOWER ARM HARNESS
3HAC022137-001
3HAC022138-001
UPPER ARM HARNESS
3HAC022475-001
3HAC022475-002
3HAC022475-003
FOR IRB66x0ID
CONNECTION BETWEEN
R2.CP/CS AND R3.CP/CS
SEE PAGE IRB66x0ID
LOWER ARM HARNESS
3HAC022479-001
UPPER ARM HARNESS
3HAC025532-001
* Circuitdiagram shows marking
on wires for both dual and
single cabinet
Latest revision:
5
-ROBOTCABINET
B11
b11
-R1.CP/CS
-R2.CP/CS
-R3.CP/CS
WH
B11
b11
WH/GN
B11
b11
WH/GN
B1
4
4
680 OG
B12
b12
OG
B12
b12
GN
B12
b12
GN
B2
5
5
681 YE
B13
b13
WH
B13
b13
WH/BU
B13
b13
WH/BU
B3
6
6
682 GN
B14
b14
GN
B14
b14
BU
B14
b14
BU
B4
-XP5.3
1
1
693 GY
B15
b15
WH
B15
b15
WH/VT
B15
b15
WH/VT
B5
2
2
694 WH
B16
b16
BN
B16
b16
VT
B16
b16
VT
B6
3
3
695 WH/BK
B18
b18
WH
B18
b18
WH/GY
B18
b18
WH/GY
B7
4
4
696 WH/BN
B19
b19
GY
B19
b19
GY
B19
b19
GY
B8
5
5
697 WH/RD
B20
b20
RD
B20
b20
WH/BK
B20
b20
WH/BK
B9
6
6
698 WH/OG
B21
b21
BU
B21
b21
BK
B21
b21
BK
-XP5.2
5
5
685 GY
C16
c16
RD
C16
c16
WH/OG
C16
6
6
686 WH
C17
c17
OG
C17
c17
OG
C17
7
7
687 WH/BK
C18
c18
RD
C18
c18
683 BU
C19
c19
GN
C19
c19
BN
C19
688 WH/BN
C20
c20
RD
C20
c20
WH/RD
C20
684 VT
C21
c21
BN
C21
c21
RD
-XP5.1
7
7
-XP5.2
8
8
-XP5.1
8
8
-XP5.2
B10
Note 1.10 on Page 702
WH/BN
C18
c19
BN
B14
C21
c21
RD
C8
9
9
689 WH/RD
B22
b22
RD
B22
b22
WH/YE
B22
b22
WH/YE
A1
10
10
690 WH/OG
B23
b23
GY
B23
b23
YE
B23
b23
YE
A2
11
11
691 WH/YE
B24
b24
BK
B24
b24
WH/GN
B24
b24
WH/GN
A3
12
12
692 WH/GN
B25
b25
BU
B25
b25
GN
B25
b25
GN
A4
-XP5.3
7
7
699 WH/YE
C10
8
8
700 WH/GN
C11
9
9
666 WH/BU
C12
10
10
667 WH/VT
C13
11
11
668 WH/GY
C14
12
12
669 BN/BK
C15
Lab/Office:
DMRO SE
PRMP
IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5
CUSTOMER SIGNALS, PARALLEL
EM 2015-02-17
-AXIS 6
-XS13
DUAL SINGLE
-XP5.1
3 3 679 RD
8
-AXIS 3
201/6
*
ECO 70147, WI 7698
Page 224-231: Adjusted, "Type Se" was "Type S"
Page 316-321: Adjusted, "Type H" was "Type S"
Prepared by, date:
7
-MANIPULATOR BASE
201/5
*
6
201/8
4
201/4
TYPE SE
CUSTOMER SIGNALS
PARALLEL
COMMUNICATION
VALID FOR
HARNESS IN CABINET
3HAC022852-001 (Dual)
3HAC024371-001 (Single)
3HAC021791-001
FLOOR HARNESS
3HAC022957-001,002,003,006
3HEA800736-001,002,003,004
3
201/7
2
201/3
1
Approved by, date:
JEN 2015-03-04
TYPE Se
= DP
Plant:
Location: + Se
APPROVED
Sublocation:+ AX3
Document no.
Rev. Ind Page202
Next 203
3HAC026209-001
Total 98
Status:
2015-03-04
12
2
-ROBOTCABINET
1
1
2
2
3
3
4
4
670
-
-XS13
BK
BN
671
-
RD
OG
672
-
YE
GN
5
A1
a1
1
D1
d1
A2
a2
2
D6
d6
A3
a3
3
D3
A4
a4
4
D4
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
FOR IRB66x0ID
CONNECTION BETWEEN
R2.CP/CS AND R3.CP/CS
SEE PAGE IRB66x0ID
LOWER ARM HARNESS
3HAC022481-001
UPPER ARM HARNESS
3HAC025532-001
d1
4
C4
5
D6
d6
5
C5
d3
6
D3
d3
6
C6
24V
d4
7
D4
d4
7
C7
0V
GN/YE
GN/YE
GN/YE
-R1.SP
-R2.CP/CS
0V
-R3.CP/CS
A3
c3
BL
E
E
1
D5
d5
1
C1
W/T
5
5
4004 4004
A5
c5
BU
C
C
2
D2
d2
2
C2
1
1
4000 4000
A1
c1
BN
A
A
3
D7
d7
3
C3
GN/YE
G
G
GN/YE
GN/YE GN/YE
V/S
U/R
GN/YE
PE
-A43.X24
2
1
2
4013 4013
4014 4014
E1
E2
e1
e2
PK
RD
J
K
J
4
K
5
C1
C2
c1
4
B11
c2
5
B12
PTC
0V PTC
-XS40
6
5
6
4010 4010
F7
f7
OG
L
L
6
C3
c3
7
C5
c5
4012 4012
F9
f9
GN
M
M
4011 4011
F8
f8
YE
R
R
1
1
4006 4006
F1
f1
3
3
4008 4008
F2
f2
4
4
4009 4009
F3
f3
2
2
4007 4007
F4
f4
Lab/Office:
DMRO SE
PRMP
IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5
CUSTOMER SIGNALS, CANBUS
EM 2015-02-17
24V
PE
4002 4002
ECO 70147, WI 7698
Page 224-231: Adjusted, "Type Se" was "Type S"
Page 316-321: Adjusted, "Type H" was "Type S"
Prepared by, date:
-R3.CP/CS
D1
204/5
-A41.1.3.X21
3 3
-A43.X22
Latest revision:
-R2.CP/CS
-XS7
5
* Circuitdiagram shows
marking on wires for both
dual and single cabinet
Note 1.1 on Page 700
4
-AXIS 6
673
-
1
IRB6660
LOWER ARM HARNESS
3HAC027105-001
8
204/8
BU
VT
GN/YEGN/YE
7
-AXIS 3
-R1.CP/CS
ORANGE LINE
LOWER ARM HARNESS
3HAC022481-001
UPPER ARM HARNESS
3HAC023173-001,002
SILVER LINE
LOWER ARM HARNESS
3HAC022472-001
3HAC022473-001
UPPER ARM HARNESS
3HAC022477-001
3HAC022477-002
3HAC022477-003
6
-MANIPULATOR BASE
*
*
DUAL SINGLE
-XP6
4
204/7
TYPE SE
CUSTOMER SIGNALS
CANBUS
COMMUNICATION
VALID FOR
HARNESS IN CABINET
3HAC022852-001 (Dual)
3HAC024371-001 (Single)
3HAC021791-001
3HAC022866-001
FLOOR HARNESS
3HAC022978-001,002,003,006
3HEA800736-001,002,003,004
3
204/6
1
Approved by, date:
JEN 2015-03-04
TYPE Se
6
7
B13
B15
24V BRAKE REL
0V BRAKE REL
= DP
Plant:
Location: + Se
APPROVED
Sublocation:+ AX3
Document no.
Rev. Ind Page203
Next 204
3HAC026209-001
Total 98
Status:
2015-03-04
12
1
2
3
4
5
6
7
8
-SMB
TYPE SE
CUSTOMER SIGNALS
CANBUS
COMMUNICATION
VALID FOR
HARNESS IN CABINET
3HAC022852-001 (Dual)
3HAC024371-001 (Single)
3HAC021791-001
3HAC022866-001
FLOOR HARNESS
3HAC022978-001,002,003,006
3HEA800736-001,002,003,004
RD
-R2.FB7
F
F
RD
WH/RD
E
E
WH/RD
BN
D
D
BN
WH/BN
C
C
WH/BN
BK
B
B
BK
WH/BK
A
A
WH/BK
-R1.SMB1
ORANGE LINE
LOWER ARM HARNESS
3HAC022481-001
UPPER ARM HARNESS
3HAC023173-001,002
IRB6660
LOWER ARM HARNESS
3HAC027105-001
2
1
2
-XP5.2
1
2
1
2
* Circuitdiagram shows
marking on wires for both
dual and single cabinet
678
BN
WH/GN WH/GN
GN
GN
B1
B2
B3
B4
b4
B1
WH/GN
GN
b1
WH/BK
SP1
BU
b2
b3
-R1.CP/CS
WH
b1
B2
b2
-R2.CP/CS
203/8
BK
203/7
677
-XS13
203/6
1
*
DUAL SINGLE
9
2
2
11
11
4
4
12
12
5
5
1
1
-AXIS 6
-AXIS 3
203/5
-XP5.1
*
-MANIPULATOR BASE
-R3.CP/CS
B1
b1
WH/BK
B18
BK
B2
b2
BK
B19
WH/BN
B3
b3
WH/BN
B20
BN
B4
b4
BN
B21
WH/RD
B5
b5
WH/RD
B22
RD
B6
b6
RD
B23
X7/S1
0V X7/S3
SP2
205/4
FOR IRB66x0ID
CONNECTION BETWEEN
R2.CP/CS AND R3.CP/CS
SEE PAGE IRB66x0ID
LOWER ARM HARNESS
3HAC022481-001
UPPER ARM HARNESS
3HAC025532-001
-ROBOTCABINET
205/3
B3
b3
SP3
B4
b4
Y7/S4
0V Y7/S2
SP4
3
4
3
4
WH/BN WH/BN
BN
BN
B5
B6
b5
b6
WH/BN
BN
B5
b5
SP5
B6
b6
0V EXC2/R2
EXC2/R1
SP6
-XP5.1
WH/BU WH/BU
B7
b7
WH/BU
B7
b7
WH/OG
B7
b7
WH/OG
B24
10
10
BU
B8
b8
BU
B8
b8
OG
B8
b8
OG
B25
11
11
WH/OGWH/OG
B9
b9
WH/OG
B9
b9
WH/YE
B9
b9
WH/YE
B16
12
12
OG
B10
b10
OG
B10
b10
YE
B10
b10
YE
B17
BU
OG
Latest revision:
Lab/Office:
DMRO SE
PRMP
ECO 70147, WI 7698
Page 224-231: Adjusted, "Type Se" was "Type S"
Page 316-321: Adjusted, "Type H" was "Type S"
205/6
Note 1.9 on Page 702
IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5
CUSTOMER SIGNALS, CANBUS
Prepared by, date:
EM 2015-02-17
Approved by, date:
JEN 2015-03-04
TYPE Se
KSR
KSR
205/8
9
205/7
9
205/5
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
SILVER LINE
LOWER ARM HARNESS
3HAC022472-001
3HAC022473-001
UPPER ARM HARNESS
3HAC022477-001
3HAC022477-002
3HAC022477-003
9
= DP
Plant:
Location: + Se
APPROVED
Sublocation:+ AX3
Document no.
Rev. Ind Page204
Next 205
3HAC026209-001
Total 98
Status:
2015-03-04
12
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
ORANGE LINE
LOWER ARM HARNESS
3HAC022481-001
UPPER ARM HARNESS
3HAC023173-001,002
SILVER LINE
LOWER ARM HARNESS
3HAC022472-001
3HAC022473-001
UPPER ARM HARNESS
3HAC022477-001
3HAC022477-002
3HAC022477-003
FOR IRB66x0ID
CONNECTION BETWEEN
R2.CP/CS AND R3.CP/CS
SEE PAGE IRB66x0ID
LOWER ARM HARNESS
3HAC022481-001
UPPER ARM HARNESS
3HAC025532-001
IRB6660
LOWER ARM HARNESS
3HAC027105-001
* Circuitdiagram shows marking
on wires for both dual and
single cabinet
4
680
5
5
6
6
-XP5.3
-MANIPULATOR BASE
B11
b11
WH
OG
B12
b12
681
YE
B13
682
GN
-R1.CP/CS
-AXIS 3
B11
b11
WH/GN
OG
B12
b12
b13
WH
B13
B14
b14
GN
-R2.CP/CS
-AXIS 6
-R3.CP/CS
B11
b11
WH/GN
B1
GN
B12
b12
GN
B2
b13
WH/BU
B13
b13
WH/BU
B3
B14
b14
BU
B14
b14
BU
B4
1
693
GY
B15
b15
WH
B15
b15
WH/VT
B15
b15
WH/VT
B5
2
2
694
WH
B16
b16
BN
B16
b16
VT
B16
b16
VT
B6
3
3
695
WH/BK
B18
b18
WH
B18
b18
WH/GY
B18
b18
WH/GY
B7
4
4
696
WH/BN
B19
b19
GY
B19
b19
GY
B19
b19
GY
B8
5
5
697
WH/RD
B20
b20
RD
B20
b20
WH/BK
B20
b20
WH/BK
B9
6
6
698
WH/OG
B21
b21
BU
B21
b21
BK
B21
b21
BK
-XP5.2
B10
5
5
685
GY
C16
c16
RD
C16
c16
WH/OG
C16
c16
WH/OG
6
6
686
WH
C17
c17
C17
c17
OG
C17
c17
OG
7
7
687
WH/BK
C18
c18
OG
RD
C18
c18
WH/BN
C18
c18
WH/BN
683
BU
C19
c19
GN
C19
c19
BN
C19
c19
BN
688
WH/BN
C20
c20
RD
C20
c20
WH/RD
C20
c20
WH/RD
684
VT
C21
c21
BN
C21
c21
RD
C21
c21
RD
-XP5.1
7
7
-XP5.2
8
8
-XP5.1
8
8
-A35.X2
B14
C8
5
5
RD
RD
F1
f1
RD
B22
b22
WH/BK
B22
b22
WH/BK
A1
1
1
BK
BK
F2
f2
BK
B23
b23
BK
B23
b23
BK
A2
-XP5.2
11
11
691
WH/YE
B24
b24
BK
B24
b24
WH/BN
B24
b24
WH/BN
A3
12
12
692
WH/GN
B25
b25
BU
B25
b25
BN
B25
b25
BN
A4
9
9
689
WH/RD
B22
10
10
690
WH/OG
B23
WH
WH
f3
WH
A3
a3
5
YE
A3
a3
5
YE
A7
f4
BU
A4
a4
6
YE
A4
a4
6
YE
A8
-A35.X2
4
4
2
2
3
3
BU
BU
F3
F4
7
7
699
WH/YE
C10
c10
BK
A5
a5
7
VT
A5
a5
7
VT
A9
8
8
700
WH/GN
C11
c11
OG
A6
a6
8
VT
A6
a6
8
VT
A10
9
9
666
WH/BU
C12
c12
BK
A9
a9
1
GN
A9
a9
1
GN
A5
A10
a10
2
GN
A10
a10
2
GN
A6
10
10
667
WH/VT
C13
c13
GN
11
11
668
WH/GY
C14
c14
BK
A11
a11
3
GN
A11
a11
3
GN
A11
c15
BN
A12
a12
4
GN
A12
a12
4
GN
A12
12
669
BN/BK
C15
Lab/Office:
DMRO SE
PRMP
ECO 70147, WI 7698
Page 224-231: Adjusted, "Type Se" was "Type S"
Page 316-321: Adjusted, "Type H" was "Type S"
IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5
118
EM 2015-02-17
8
1
12
Prepared by, date:
7
204/8
4
6
204/7
3
-XS13
5
204/6
3
DUAL SINGLE
679
RD
-XP5.1
-XP5.3
Latest revision:
*
4
204/5
*
3
204/4
TYPE SE
CUSTOMER SIGNALS
CANBUS
COMMUNICATION
VALID FOR
HARNESS IN CABINET
3HAC022852-001 (Dual)
3HAC024371-001 (Single)
3HAC021791-001
3HAC022866-001
FLOOR HARNESS
3HAC022978-001,002,003,006
3HEA800736-001,002,003,004
2
-ROBOTCABINET
204/3
1
Approved by, date:
JEN 2015-03-04
TYPE Se
Status:
2015-03-04
APPROVED
Document no.
+24V CAN
0V CAN
CAN_H
CAN_L
= DP
Plant:
Location: + Se
Sublocation:+ AX3
Rev. Ind Page205
Next 206
Total 98
12
3
-ROBOTCABINET
TYPE S
CUSTOMER SIGNALS
-XS13
*
*
DUAL SINGLE
ETHERNET
-XP6
COMMUNICATION
670
BK
1 1
A1
BN
VALID FOR
2 2
A2
HARNESS IN CABINET
671
RD
3HAC022852-001 (Dual)
OG
3HAC024371-001 (Single)
672
YE
3 3
A3
3HAC021791-001
GN
3HAC022867-001
4 4
A4
FLOOR HARNESS
673
BU
3HAC023024-001,002,003,006
VT
3HEA800736-001,002,003,004
GN/YE GN/YE
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
FOR IRB66X0ID
CONNECTION BETWEEN
R2.CP/CS AND R3.CP/CS
SEE PAGE IRB66X00ID
LOWER ARM HARNESS
3HAC034335-001
5
6
-MANIPULATOR BASE
A1
1
A2
Note 1.1 on Page 700
4
-R1.CP/CS
7
8
-AXIS 3
-AXIS 6
-R3.CP/CS
-R3.CP/CS
24V
D1
d1
4
C4
5
D6
d6
5
C5
c3
6
D3
d3
6
C6
24V
c4
7
D4
d4
7
C7
0V
D1
c1
2
D6
c6
A3
3
D3
A4
4
D4
GN/YE
GN/YE
GN/YE
207/6
207/5
ORANGE LINE
LOWER ARM HARNESS
3HAC034335-001
UPPER ARM HARNESS
3HAC023171-001,002
4
0V
PE
207/8
2
207/7
1
-XS7
-A41.1.3.X21
3 3
4002 4002
A3
a3
BL
-R1.SP
E
E
1
-R2.CP/CS
-R3.CP/CS
D5
d5
1
C1
W/T
5
5
4004 4004
A5
a5
BU
C
C
2
D2
d2
2
C2
1
1
4000 4000
A1
a1
BR
A
A
3
D7
d7
3
C3
GN/YE
G
G
GN/YE
* Circuit diagram shows
marking on wires for both
dual and single cabinet
GN/YE
GN/YE
V/S
U/R
GN/YE
PE
-A43.X24
1
1
4013 4013
E1
e1
PK
J
J
4
C1
c1
4
B11
2
2
4014 4014
E2
e2
RD
K
K
5
C2
c2
5
B12
PTC
0V PTC
-XS40
5
5
4010 4010
F7
f7
OG
L
L
6
C3
c3
6
B13
4012 4012
F9
f9
GN
M
M
7
C5
c5
7
B15
4011
4011
F8
f8
YE
R
R
24V BRAKE REL
0V BRAKE REL
6
6
-A43.X22
1
1
4006 4006
F1
f1
3
3
4008 4008
F2
f2
4
4
4009 4009
F3
f3
2
2
4007 4007
F4
f4
-XS9
Latest revision:
-R1.ETHERNET
1 1
1
YE
2
2
WH
2
2
WH
2
3
3
OG
3
3
OG
4
4
BU
4
4
BU
Lab/Office:
DMRO SE
PRMP
ECO 70147, WI 7698
Page 224-231: Adjusted, "Type Se" was "Type S"
Page 316-321: Adjusted, "Type H" was "Type S"
YE
EM 2015-02-17
Approved by, date:
JEN 2015-03-04
TYPE Se
-R3.ETHERNET
YE
1
2
WH
2
3
3
OG
3
4
4
BU
4
IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5
119
Prepared by, date:
-R2.ETHERNET
1 1
1
Status:
2015-03-04
APPROVED
Document no.
= DP
Plant:
Location: + Se
Sublocation:+ AX3
Rev. Ind Page206
Next 207
Total 98
12
1
2
3
4
5
TYPE S
CUSTOMER SIGNALS
ETHERNET
COMMUNICATION
VALID FOR
HARNESS IN CABINET
3HAC022852-001 (Dual)
3HAC024371-001 (Single)
3HAC021791-001
3HAC022867-001
FLOOR HARNESS
3HAC023024-001,002,003,006
3HEA800736-001,002,003,004
6
7
8
-SMB
-R2.FB7
ORANGE LINE
LOWER ARM HARNESS
3HAC034335-001
UPPER ARM HARNESS
3HAC023171-001,002
-R1.SMB1
RD
F
F
RD
WH/RD
E
E
WH/RD
BN
D
D
BN
WH/BN
C
C
WH/BN
BK
B
B
BK
WH/BK
A
A
WH/BK
9
9
2
2
11
11
4
4
12
12
5
5
1
1
-ROBOTCABINET
2
2
678
BN
B2
WH
b1
-XP5.2
1
2
1 WH/GN
2
GN
WH/GN
GN
B3
B4
B1
SP1
BU
b2
b3
b4
b1
B2
b2
WH/GN
GN
-R2.CP/CS
206/8
-AXIS 6
206/7
-R1.CP/CS
B1
206/6
*
206/5
*
DUAL SINGLE
-XP5.1
BK
1 1 677
-AXIS 3
-MANIPULATOR BASE
-XS13
-R3.CP/CS
WH/BK
B1
b1
WH/BK
B18
BK
B2
b2
BK
B19
X7/S1
0V X7/S3
SP2
208/4
* Circuit diagram shows
marking on wires for both
dual and single cabinet
208/3
B3
b3
SP3
B4
b4
WH/BN
B3
b3
WH/BN
B20
BN
B4
b4
BN
B21
WH/RD
B5
b5
WH/RD
B22
RD
B6
b6
RD
B23
Y7/S4
0V Y7/S2
SP4
3
4
3 WH/BN
4
BN
WH/BN
BN
B5
B6
b5
b6
WH/BN
BN
B5
b5
SP5
B6
b6
0V EXC2/R2
EXC2/R1
SP6
-XP5.1
5
5 WH/BU
BU
10
10
11
11 WH/OG
12
12
OG
WH/BU
B7
b7
WH/BU
B7
b7
WH/OG
B7
b7
WH/OG
B24
BU
B8
b8
BU
B8
b8
OG
B8
b8
OG
B25
WH/OG
B9
b9
WH/OG
B9
b9
WH/YE
B9
b9
WH/YE
B16
B10
b10
OG
B10
b10
YE
B10
b10
YE
B17
OG
KSR
KSR
Latest revision:
Lab/Office:
DMRO SE
PRMP
ECO 70147, WI 7698
Page 224-231: Adjusted, "Type Se" was "Type S"
Page 316-321: Adjusted, "Type H" was "Type S"
CUSTOMER SIGNALS, ETHERNET
Prepared by, date:
EM 2015-02-17
Approved by, date:
JEN 2015-03-04
TYPE Se
208/8
208/6
IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5
208/7
Note 1.9 on Page 702
208/5
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
FOR IRB66X0ID
CONNECTION BETWEEN
R2.CP/CS AND R3.CP/CS
SEE PAGE IRB66X00ID
LOWER ARM HARNESS
3HAC034335-001
= DP
Plant:
Location: + Se
APPROVED
Sublocation:+ AX3
Document no.
Rev. Ind Page207
Next 208
3HAC026209-001
Total 98
Status:
2015-03-04
12
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
ORANGE LINE
LOWER ARM HARNESS
3HAC034335-001
UPPER ARM HARNESS
3HAC023171-001,002
FOR IRB66X0ID
CONNECTION BETWEEN
R2.CP/CS AND R3.CP/CS
SEE PAGE IRB66X00ID
LOWER ARM HARNESS
3HAC034335-001
* Circuit diagram shows
marking on wires for both
dual and single cabinet
5
-XS13
B11
b11
WH
OG
B12
b12
681
YE
B13
682
GN
3
3
4
4
680
5
5
6
6
-XP5.3
*
DUAL SINGLE
679
RD
-R1.CP/CS
-R2.CP/CS
-R3.CP/CS
B11
b11
WH/GN
GN
B12
b12
GN
B2
b13
WH/BU
B13
b13
WH/BU
B3
B14
b14
BU
B14
b14
BU
B4
B11
b11
OG
B12
b12
b13
WH
B13
B14
b14
GN
WH/GN
-AXIS 6
B1
1
693
GY
B15
b15
WH
B15
b15
WH/VT
B15
b15
WH/VT
B5
2
2
694
WH
B16
b16
BN
B16
b16
VT
B16
b16
VT
B6
3
3
695
WH/BK
B18
b18
WH
B18
b18
WH/GY
B18
b18
WH/GY
B7
4
4
696
WH/BN
B19
b19
GY
B19
b19
GY
B19
b19
GY
B8
5
5
697
WH/RD
B20
b20
RD
B20
b20
WH/BK
B20
b20
WH/BK
B9
6
6
698
WH/OG
B21
b21
BU
B21
b21
BK
B21
b21
BK
-XP5.2
B10
5
5
685
GY
C16
c16
RD
C16
c16
WH/OG
C16
c16
WH/OG
6
6
686
WH
C17
c17
OG
C17
c17
OG
C17
c17
OG
7
7
687
WH/BK
C18
c18
RD
C18
c18
WH/BN
C18
c18
WH/BN
683
BU
C19
c19
GN
C19
c19
BN
C19
c19
BN
688
WH/BN
C20
c20
RD
C20
c20
WH/RD
C20
c20
WH/RD
684
VT
C21
c21
BN
C21
c21
RD
C21
c21
RD
C8
WH/BK
A1
-XP5.1
7
7
-XP5.2
8
8
-XP5.1
8
B14
9
9
689
WH/RD
B22
b22
RD
B22
b22
WH/YE
B22
b22
10
10
690
WH/OG
B23
b23
GY
B23
b23
YE
B23
b23
BK
A2
11
11
691
WH/YE
B24
b24
BK
B24
b24
WH/GN
B24
b24
WH/GN
A3
12
12
692
WH/GN
B25
b25
BU
B25
b25
GN
B25
b25
GN
A4
-XP5.3
9
9
666
WH/BU
C12
10
10
667
WH/VT
C13
11
11
12
668
669
WH/GY
BN/BK
C14
12
7
7
699
WH/YE
C10
8
8
700
WH/GN
C11
C15
Lab/Office:
DMRO SE
PRMP
ECO 70147, WI 7698
Page 224-231: Adjusted, "Type Se" was "Type S"
Page 316-321: Adjusted, "Type H" was "Type S"
IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5
CUSTOMER SIGNALS, ETHERNET
EM 2015-02-17
8
1
-XP5.2
Prepared by, date:
7
-AXIS 3
207/6
-XP5.1
-MANIPULATOR BASE
207/4
*
6
207/8
-ROBOTCABINET
8
Latest revision:
4
207/3
TYPE S
CUSTOMER SIGNALS
ETHERNET
COMMUNICATION
VALID FOR
HARNESS IN CABINET
3HAC022852-001 (Dual)
3HAC024371-001 (Single)
3HAC021791-001
3HAC022867-001
FLOOR HARNESS
3HAC023024-001,002,003,006
3HEA800736-001,002,003,004
3
207/7
2
207/5
1
Approved by, date:
JEN 2015-03-04
TYPE Se
= DP
Plant:
Location: + Se
APPROVED
Sublocation:+ AX3
Document no.
Rev. Ind Page208
Next 209
3HAC026209-001
Total 98
Status:
2015-03-04
12
3
-ROBOTCABINET
TYPE SE
*
*
CUSTOMER SIGNALS
-XS13
DUAL SINGLE
PROFIBUS
-XP6
670
BK
1 1
A1
COMMUNICATION
BN
VALID FOR
2 2
A2
HARNESS IN CABINET
671
RD
3HAC022852-001 (Dual)
OG
3HAC024371-001 (Single)
672
YE
3 3
A3
3HAC021791-001
GN
4 4
A4
3HAC022868-001
673
BU
FLOOR HARNESS
VT
3HAC022988-001,002,003,006
GN/YE GN/YE
3HEA800736-001,002,003,004
4
5
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
FOR IRB66x0ID
CONNECTION BETWEEN
R2.CP/CS AND R3.CP/CS
SEE PAGE IRB66x0ID
LOWER ARM HARNESS
3HAC022481-001
UPPER ARM HARNESS
3HAC025532-001
IRB6660
LOWER ARM HARNESS
3HAC027105-001
* Circuitdiagram shows
marking on wires for both
dual and single cabinet
a1
1
a2
2
a3
a4
-AXIS 3
Note 1.1 on Page 700
-R1.CP/CS
-R2.CP/CS
-R3.CP/CS
D1
d1
4
D1
d1
4
C4
D6
d6
5
D6
d6
5
C5
3
D3
d3
6
D3
d3
6
C6
24V
4
D4
d4
7
D4
d4
7
C7
0V
GN/YE
GN/YE
210/6
210/5
GN/YE
24V
0V
PE
-R1.SP
-R2.CP/CS
-R3.CP/CS
A3
a3
BL
E
E
1
D5
d5
1
C1
5
5
4004 4004
A5
a5
BU
C
C
2
D2
d2
2
C2
1
1
4000 4000
A1
a1
BR
A
A
3
D7
d7
3
C3
GN/YE
G
G
GN/YE
PK
J
J
4
C1
c1
4
B11
RD
K
K
5
C2
c2
5
B12
GN/YE
-A43.X24
GN/YE
1
1
4013 4013
E1
e1
2
2
4014 4014
E2
e2
-XS40
5
6
5
6
GN/YE
W/T
V/S
U/R
PE
PTC
0V PTC
6
4010 4010
F7
f7
OG
L
L
6
C3
c3
4012 4012
F9
f9
GN
M
M
7
C5
c5
4011
4011
F8
f8
YE
R
R
1
1
4006 4006
F1
f1
3
3
4008 4008
F2
f2
4
4
4009 4009
F3
f3
2
2
4007 4007
F4
f4
Lab/Office:
DMRO SE
PRMP
IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5
CUSTOMER SIGNALS, PROFIBUS
EM 2015-02-17
-AXIS 6
-A41.1.3.X21
4002 4002
3 3
ECO 70147, WI 7698
Page 224-231: Adjusted, "Type Se" was "Type S"
Page 316-321: Adjusted, "Type H" was "Type S"
Prepared by, date:
8
-XS7
-A43.X22
Latest revision:
7
-MANIPULATOR BASE
ORANGE LINE
LOWER ARM HARNESS
3HAC022481-001
UPPER ARM HARNESS
3HAC023173-001,002
SILVER LINE
LOWER ARM HARNESS
3HAC022472-001
3HAC022473-001
UPPER ARM HARNESS
3HAC022477-001
3HAC022477-002
3HAC022477-003
6
210/8
2
210/7
1
Approved by, date:
JEN 2015-03-04
TYPE Se
B13
7
B15
24V BRAKE REL
0V BRAKE REL
= DP
Plant:
Location: + Se
APPROVED
Sublocation:+ AX3
Document no.
Rev. Ind Page209
Next 210
3HAC026209-001
Total 98
Status:
2015-03-04
12
1
2
3
4
5
TYPE SE
CUSTOMER SIGNALS
PROFIBUS
COMMUNICATION
VALID FOR
HARNESS IN CABINET
3HAC022852-001 (Dual)
3HAC024371-001 (Single)
3HAC021791-001
3HAC022868-001
FLOOR HARNESS
3HAC022988-001,002,003,006
3HEA800736-001,002,003,004
RD
WH/RD
* Circuitdiagram shows
marking on wires for both
dual and single cabinet
8
F
E
-R1.SMB1
F
RD
E
WH/RD
9
D
D
BN
WH/BN
C
C
WH/BN
BK
B
B
BK
A
WH/BK
A
2
11
4
12
5
1
-ROBOTCABINET
2
2
678
BN
-XP5.2
1
2
1 WH/GN
2
GN
WH/GN
GN
B3
B4
WH/GN
b3
GN
b4
b1
WH/BK
SP1
BU
b2
B2
B1
B2
BK
b2
209/8
-R2.CP/CS
209/7
-R1.CP/CS
WH
b1
B1
209/6
*
-AXIS 6
-AXIS 3
209/5
*
DUAL SINGLE
-XP5.1
BK
1 1 677
-MANIPULATOR BASE
-XS13
-R3.CP/CS
B1
b1
WH/BK
B18
B2
b2
BK
B19
X7/S1
0V X7/S3
SP2
211/4
IRB6660
LOWER ARM HARNESS
3HAC027105-001
-R2.FB7
BN
WH/BK
211/3
B3
b3
SP3
B4
b4
WH/BN
B3
b3
WH/BN
B20
Y7/S4
BN
B4
b4
BN
B21
0V Y7/S2
WH/RD
B5
b5
WH/RD
B22
RD
B6
b6
RD
B23
SP4
3
3 WH/BN
4
4
BN
WH/BN
B5
b5
WH/BN
B5
b5
BN
B6
b6
BN
B6
b6
SP5
0V EXC2/R2
EXC2/R1
SP6
-XP5.1
9
9 WH/BU
BU
10
10
11
11 WH/OG
12
12
OG
WH/BU
B7
b7
WH/BU
B7
b7
WH/OG
B7
b7
WH/OG
B24
BU
B8
b8
BU
B8
b8
OG
B8
b8
OG
B25
WH/OG
B9
b9
WH/OG
B9
b9
WH/YE
B9
b9
WH/YE
B16
B10
b10
OG
B10
b10
YE
B10
b10
YE
B17
OG
KSR
KSR
Latest revision:
Lab/Office:
DMRO SE
PRMP
ECO 70147, WI 7698
Page 224-231: Adjusted, "Type Se" was "Type S"
Page 316-321: Adjusted, "Type H" was "Type S"
IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5
CUSTOMER SIGNALS, PROFIBUS
Prepared by, date:
EM 2015-02-17
Approved by, date:
JEN 2015-03-04
TYPE Se
211/8
211/7
211/6
Note 1.9 on Page 702
211/5
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
FOR IRB66x0ID
CONNECTION BETWEEN
R2.CP/CS AND R3.CP/CS
SEE PAGE IRB66x0ID
LOWER ARM HARNESS
3HAC022481-001
UPPER ARM HARNESS
3HAC025532-001
7
-SMB
ORANGE LINE
LOWER ARM HARNESS
3HAC022481-001
UPPER ARM HARNESS
3HAC023173-001,002
SILVER LINE
LOWER ARM HARNESS
3HAC022472-001
3HAC022473-001
UPPER ARM HARNESS
3HAC022477-001
3HAC022477-002
3HAC022477-003
6
= DP
Plant:
Location: + Se
APPROVED
Sublocation:+ AX3
Document no.
Rev. Ind Page210
Next 211
3HAC026209-001
Total 98
Status:
2015-03-04
12
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
ORANGE LINE
LOWER ARM HARNESS
3HAC022481-001
UPPER ARM HARNESS
3HAC023173-001,002
SILVER LINE
LOWER ARM HARNESS
3HAC022472-001
3HAC022473-001
UPPER ARM HARNESS
3HAC022477-001
3HAC022477-002
3HAC022477-003
IRB6660
LOWER ARM HARNESS
3HAC027105-001
* Circuitdiagram shows
marking on wires for both
dual and single cabinet
B11
b11
WH
B11
b11
WH/GN
B11
b11
WH/GN
B1
4
4
680 OG
B12
b12
OG
B12
b12
GN
B12
b12
GN
B2
5
5
681 YE
B13
b13
WH
B13
b13
WH/BU
B13
b13
WH/BU
B3
6
6
682 GN
B14
b14
GN
B14
b14
BU
B14
b14
BU
B4
-XP5.3
WH/VT
1
1
693 GY
B15
b15
WH
B15
b15
WH/VT
B15
b15
2
2
694 WH
B16
b16
BN
B16
b16
VT
B16
b16
VT
B6
3
3
695 WH/BK
B18
b18
WH
B18
b18
WH/GY
B18
b18
WH/GY
B7
4
4
696 WH/BN
B19
b19
GY
B19
b19
GY
B19
b19
GY
B8
5
5
697 WH/RD
B20
b20
RD
B20
b20
WH/BK
B20
b20
WH/BK
B9
6
6
698 WH/OG
B21
b21
BU
B21
b21
BK
B21
b21
BK
-XP5.2
5
685 GY
C16
c16
RD
C16
c16
WH/OG
C16
c16
WH/OG
6
6
686 WH
C17
c17
OG
C17
c17
OG
C17
c17
OG
7
7
687 WH/BK
C18
c18
RD
C18
c18
WH/BN
C18
c18
WH/BN
683 BU
C19
c19
GN
C19
c19
BN
C19
c19
BN
688 WH/BN
C20
c20
RD
C20
c20
WH/RD
C20
c20
WH/RD
684 VT
C21
c21
BN
C21
c21
RD
C21
c21
RD
-XP5.1
7
7
-XP5.2
8
8
-XP5.1
8
-XP5.2
B5
B10
5
B14
C8
9
9
689 WH/RD
B22
b22
RD
B22
b22
WH/BK
B22
b22
WH/BK
A1
10
10
690 WH/OG
B23
b23
GY
B23
b23
BK
B23
b23
BK
A2
11
11
691 WH/YE
B24
b24
BK
B24
b24
WH/BN
B24
b24
WH/BN
A3
12
12
692 WH/GN
B25
b25
BU
B25
b25
BN
B25
b25
BN
A4
-XP5.3
7
7
699 WH/YE
C10
c10
BK
A3
a3
5
YE
A3
a3
5
YE
A7
8
8
700 WH/GN
C11
c11
OG
A4
a4
6
YE
A4
a4
6
YE
A8
-DP-M
1B
1B
RD RD
F5
f5
RD
A5
a5
7
VT
A5
a5
7
VT
A9
1A
1A
GN GN
F6
f6
GN
A6
a6
8
VT
A6
a6
8
VT
A10
9
9
666 WH/BU
C12
c12
BK
A9
a9
1
GN
A9
a9
1
GN
A5
10
10
667 WH/VT
C13
c13
GN
A10
a10
2
GN
A10
a10
2
GN
A6
11
11
668 WH/GY
C14
c14
BK
A11
a11
3
GN
A11
a11
3
GN
A11
12
12
669 BN/BK
C15
c15
BN
A12
a12
4
GN
A12
a12
4
GN
A12
Lab/Office:
DMRO SE
PRMP
IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5
CUSTOMER SIGNALS, PROFIBUS
EM 2015-02-17
-R3.CP/CS
679 RD
ECO 70147, WI 7698
Page 224-231: Adjusted, "Type Se" was "Type S"
Page 316-321: Adjusted, "Type H" was "Type S"
Prepared by, date:
-R2.CP/CS
210/8
210/6
-R1.CP/CS
8
-AXIS 6
-AXIS 3
210/5
-XS13
7
3
-XP5.3
Latest revision:
6
3
8
FOR IRB66x0ID
CONNECTION BETWEEN
R2.CP/CS AND R3.CP/CS
SEE PAGE IRB66x0ID
LOWER ARM HARNESS
3HAC022481-001
UPPER ARM HARNESS
3HAC025532-001
5
-MANIPULATOR BASE
*DUAL SINGLE
*
-XP5.1
4
201/4
TYPE SE
CUSTOMER SIGNALS
PROFIBUS
COMMUNICATION
VALID FOR
HARNESS IN CABINET
3HAC022852-001 (Dual)
3HAC024371-001 (Single)
3HAC021791-001
3HAC022868-001
FLOOR HARNESS
3HAC022988-001,002,003,006
3HEA800736-001,002,003,004
3
201/7
2
-ROBOTCABINET
210/3
1
Approved by, date:
JEN 2015-03-04
TYPE Se
RXD/TXD-P
RXD/TXD-N
= DP
Plant:
Location: + Se
APPROVED
Sublocation:+ AX3
Document no.
Rev. Ind Page211
Next +.(-)/212
3HAC026209-001
Total 98
Status:
2015-03-04
12
2
TYPE SE
CUSTOMER SIGNALS
PARALLEL
COMMUNICATION
VALID FOR
HARNESS IN CABINET
3HAC022852-001 (Dual)
3HAC024371-001 (Single)
3HAC021791-001
FLOOR HARNESS
3HAC022957-001,002,003,006
3HEA800736-001,002,003,004
3
4
-ROBOTCABINET
1
1
2
2
3
3
4
4
8
-AXIS 6
RD
OG
672
-
YE
GN
673
-
BU
VT
GN/YE
GN/YE
-R3.CP/CS
A1
a1
1
D1
d1
4
C4
A2
a2
2
D6
d6
5
C5
A3
a3
3
D3
d3
6
C6
24V
A4
a4
4
D4
d4
7
C7
0V
GN/YE
24V
0V
PE
GN/YE
213/5
671
-
Note 1.2 on Page 700
-R1.CP/CS
* Circuitdiagram shows
marking on wires for both
dual and single cabinet
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
7
-XS13
*
DUAL SINGLE
670
BK
BN
ORANGE LINE
LOWER/UPPER ARM HARNESS
3HAC022487-001,002
6
-MANIPULATOR BASE
*
-XP6
5
213/8
1
-XS7
-R3.CP/CS
A3
a3
BL
E
E
BU
C
C
BR
A
A
GN/YE
G
G
GN/YE
5
5
4004 4004
A5
a5
1
1
4000 4000
A1
a1
GN/YE
-A43.X24
GN/YE
2
C2
3
C3
E1
e1
PK
J
J
4
B11
2
2
4014 4014
E2
e2
RD
K
K
5
B12
4010 4010
F7
f7
OG
L
L
6
B13
4012 4012
F9
f9
GN
M
M
7
B15
4011
F8
f8
YE
R
R
5
6
-A43.X22
4011
1
1
4006 4006
F1
f1
3
3
4008 4008
F2
f2
4
4
4009 4009
F3
f3
2
2
4007 4007
F4
f4
Lab/Office:
DMRO SE
PRMP
ECO 70147, WI 7698
Page 224-231: Adjusted, "Type Se" was "Type S"
Page 316-321: Adjusted, "Type H" was "Type S"
IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5
CUSTOMER SIGNALS, PARALLEL
Approved by, date:
JEN 2015-03-04
TYPE Se
W/T
V/S
U/R
PE
4013 4013
6
EM 2015-02-17
C1
1
5
Prepared by, date:
1
1
-XS40
Latest revision:
R1.SP
-A41.1.3.X21
4002 4002
3 3
PTC
0V PTC
24V BRAKE REL
0V BRAKE REL
= DP
Plant:
Location: + Se
APPROVED
Sublocation:+ (-)
Document no.
Rev. Ind Page212
Next 213
3HAC026209-001
Total 98
Status:
2015-03-04
12
1
2
3
4
5
6
TYPE SE
CUSTOMER SIGNALS
PARALLEL
COMMUNICATION
VALID FOR
HARNESS IN CABINET
3HAC022852-001 (Dual)
3HAC024371-001 (Single)
3HAC021791-001
FLOOR HARNESS
3HAC022957-001,002,003,006
3HEA800736-001,002,003,004
7
8
-SMB
-R2.FB7
RD
F
F
RD
WH/RD
E
E
WH/RD
BN
D
D
BN
WH/BN
C
C
WH/BN
BK
B
B
BK
WH/BK
A
A
WH/BK
-R1.SMB1
9
2
11
4
12
5
1
ORANGE LINE
LOWER/UPPER ARM HARNESS
3HAC022487-001,002
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
* Circuitdiagram shows
marking on wires for both-ROBOTCABINET
dual and single cabinet
-AXIS 6
-MANIPULATOR BASE
2
-XP5.2
1
2
1
2
678
WH/GN
GN
BN
WH/GN
GN
B2
B3
B4
WH
b1
b4
WH/GN
GN
b1
WH/BK
SP1
BU
b2
b3
B1
B2
214/4
2
-R1.CP/CS
B1
212/8
*
214/3
*
DUAL SINGLE
-XP5.1
BK
1 1 677
212/5
-XS13
b2
-R3.CP/CS
B18
X7/S1
BK
B19
0V X7/S3
WH/BN
B20
Y7/S4
BN
B21
0V Y7/S2
WH/RD
B22
RD
B23
SP2
B3
b3
SP3
B4
b4
SP4
3
4
3
4
WH/BN
BN
WH/BN
BN
B5
B6
b5
b6
WH/BN
BN
B5
b5
SP5
B6
b6
0V EXC2/R2
EXC2/R1
SP6
9
9 WH/BU
BU
10
10
11
11 WH/OG
12
12
B7
b7
WH/BU
B7
b7
WH/OG
B24
BU
B8
b8
BU
B8
b8
OG
B25
WH/OG
B9
b9
WH/OG
B9
b9
WH/YE
B16
B10
b10
OG
B10
b10
YE
B17
OG
214/5
OG
WH/BU
Latest revision:
Lab/Office:
DMRO SE
PRMP
ECO 70147, WI 7698
Page 224-231: Adjusted, "Type Se" was "Type S"
Page 316-321: Adjusted, "Type H" was "Type S"
Note 1.11 on Page 702
IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5
CUSTOMER SIGNALS, PARALLEL
Prepared by, date:
EM 2015-02-17
Approved by, date:
JEN 2015-03-04
TYPE Se
KSR
KSR
214/8
-XP5.1
= DP
Plant:
Location: + Se
APPROVED
Sublocation:+ (-)
Document no.
Rev. Ind Page213
Next 214
3HAC026209-001
Total 98
Status:
2015-03-04
12
2
ORANGE LINE
LOWER/UPPER ARM HARNESS
3HAC022487-001,002
* Circuitdiagram shows
marking on wires for both
dual and single cabinet
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
5
-ROBOTCABINET
6
-AXIS 6
-XS13
-R1.CP/CS
R3.CP/CS
B11
b11
WH
B11
b11
WH/GN
B1
4
4
680 OG
B12
b12
OG
B12
b12
GN
B2
5
5
681 YE
B13
b13
WH
B13
b13
WH/BU
B3
6
6
682 GN
B14
b14
GN
B14
b14
BU
B4
-XP5.3
1
1
693 GY
B15
b15
WH
B15
b15
WH/VT
B5
2
2
694 WH
B16
b16
BN
B16
b16
VT
B6
3
3
695 WH/BK
B18
b18
WH
B18
b18
WH/GY
B7
4
4
696 WH/BN
B19
b19
GY
B19
b19
GY
B8
5
5
697 WH/RD
B20
b20
RD
B20
b20
WH/BK
B9
6
6
698 WH/OG
B21
b21
BU
B21
b21
BK
5
5
685 GY
C16
c16
RD
C16
6
6
686 WH
C17
c17
OG
C17
7
7
687 WH/BK
C18
c18
RD
C18
683 BU
C19
c19
GN
C19
688 WH/BN
C20
c20
RD
C20
684 VT
C21
c21
BN
7
7
-XP5.2
8
8
-XP5.1
8
8
-XP5.2
B10
BN
B14
C21
RD
C8
c19
9
9
689 WH/RD
B22
b22
RD
B22
WH/YE
A1
10
10
690 WH/OG
B23
b23
GY
B23
YE
A2
11
11
691 WH/YE
B24
b24
BK
B24
WH
A3
12
12
692 WH/GN
B25
b25
BU
B25
GN
A4
-XP5.3
Note 1.12 on Page 702
7
7
699 WH/YE
C10
8
8
700 WH/GN
C11
9
9
666 WH/BU
C12
10
10
667 WH/VT
C13
11
11
668 WH/GY
C14
12
12
669 BN/BK
C15
Lab/Office:
DMRO SE
PRMP
ECO 70147, WI 7698
Page 224-231: Adjusted, "Type Se" was "Type S"
Page 316-321: Adjusted, "Type H" was "Type S"
IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5
CUSTOMER SIGNALS, PARALLEL
EM 2015-02-17
8
213/8
*
DUAL SINGLE
-XP5.1
679 RD
3 3
-XP5.15
Prepared by, date:
7
-MANIPULATOR BASE
213/4
*
-XP5.2
Latest revision:
4
213/4
TYPE SE
CUSTOMER SIGNALS
PARALLEL
COMMUNICATION
VALID FOR
HARNESS IN CABINET
3HAC022852-001 (Dual)
3HAC024371-001 (Single)
3HAC021791-001
FLOOR HARNESS
3HAC022957-001,002,003,006
3HEA800736-001,002,003,004
3
213/3
1
Approved by, date:
JEN 2015-03-04
TYPE Se
= DP
Plant:
Location: + Se
APPROVED
Sublocation:+ (-)
Document no.
Rev. Ind Page214
Next 215
3HAC026209-001
Total 98
Status:
2015-03-04
12
1
2
TYPE SE
CUSTOMER SIGNALS
CANBUS
COMMUNICATION
VALID FOR
HARNESS IN CABINET
3HAC022852-001 (Dual)
3HAC024371-001 (Single)
3HAC021791-001
3HAC022866-001
FLOOR HARNESS
3HAC022978-001,002,003,006
3HEA800736-001,002,003,004
3
4
-ROBOTCABINET
ORANGE LINE
LOWER/UPPER ARM HARNESS
3HAC022491-001,002
5
6
7
-MANIPULATOR BASE
-AXIS 6
Note 1.2 on Page 700
*
-XP6
1
1
2
2
3
3
4
4
*
DUAL SINGLE -XS13
670
BK
A1
BN
671
-
RD
OG
672
-
YE
GN
673
-
BU
VT
GN/YE
GN/YE
-R1.CP/CS
-R3.CP/CS
a1
1
D1
d1
4
C4
A2
a2
2
D6
d6
5
C5
A3
a3
3
D3
d3
6
C6
24V
A4
a4
4
D4
d4
7
C7
0V
GN/YE
24V
0V
GN/YE
PE
216/8
216/7
* Circuitdiagram shows
marking on wires for both
dual and single cabinet
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
8
-XS7
-R3.CP/CS
A3
a3
BL
E
E
1
C1
5
5
4004 4004
A5
a5
BU
C
C
2
C2
1
1
4000 4000
A1
a1
BR
A
A
3
C3
GN/YE
G
G
GN/YE
PK
J
J
4
B11
K
5
B12
GN/YE
-A43.X24
GN/YE
1
4013 4013
E1
e1
2
2
4014 4014
E2
e2
RD
K
4010 4010
F7
f7
OG
L
L
6
B13
4012 4012
F9
f9
GN
M
M
7
B15
4011
4011
F8
f8
YE
R
5
6
5
6
-A43.X22
1
1
4006 4006
F1
f1
3
3
4008 4008
F2
f2
4
4
4009 4009
F3
f3
2
2
4007 4007
F4
f4
Lab/Office:
DMRO SE
PRMP
ECO 70147, WI 7698
Page 224-231: Adjusted, "Type Se" was "Type S"
Page 316-321: Adjusted, "Type H" was "Type S"
IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5
CUSTOMER SIGNALS, CANBUS
Prepared by, date:
EM 2015-02-17
Approved by, date:
JEN 2015-03-04
TYPE Se
W/T
V/S
U/R
PE
1
-XS40
Latest revision:
-R1.SP
-A41.1.3.X21
4002 4002
3 3
PTC
0V PTC
24V BRAKE REL
0V BRAKE REL
= DP
Plant:
Location: + Se
APPROVED
Sublocation:+ (-)
Document no.
Rev. Ind Page215
Next 216
3HAC026209-001
Total 98
Status:
2015-03-04
12
1
2
3
4
5
2
F
F
RD
WH/RD
E
E
WH/RD
BN
D
D
BN
WH/BN
C
C
WH/BN
BK
B
B
BK
WH/BK
A
A
WH/BK
-R1.SMB1
9
2
11
4
12
5
2
1
2
678
B1
BN
B2
WH
b1
WH/GN
GN
WH/GN
B3
GN
B4
b4
b1
WH/GN
GN
WH/BK
SP1
BU
b2
b3
B1
B2
215/8
BK
215/5
-R1.CP/CS
677
-AXIS 6
-MANIPULATOR BASE
b2
-R3.CP/CS
B18
X7/S1
BK
B19
0V X7/S3
WH/BN
B20
Y7/S4
BN
B21
0V Y7/S2
WH/RD
B22
RD
B23
SP2
217/4
1
-XP5.2
1
RD
1
-XP5.1
2
8
-R2.FB7
ORANGE LINE
LOWER/UPPER ARM HARNESS
3HAC022491-001,002
-ROBOTCABINET
* Circuitdiagram shows
marking on wires for both
*
*
dual and single cabinet
DUAL SINGLE -XS13
1
7
-SMB
217/3
B3
b3
SP3
B4
b4
SP4
3
4
3
4
WH/BN
BN
WH/BN
B5
BN
B6
b5
b6
WH/BN
BN
B5
b5
SP5
B6
b6
0V EXC2/R2
EXC2/R1
SP6
-XP5.1
9
9
WH/BU
WH/BU
B7
b7
WH/BU
B7
b7
WH/OG
B24
10
10
BU
BU
B8
b8
BU
B8
b8
OG
B25
11
11 WH/OG
WH/OG
B9
b9
WH/OG
B9
b9
WH/YE
B16
12
12
B10
b10
OG
B10
b10
YE
B17
OG
OG
Latest revision:
Lab/Office:
DMRO SE
PRMP
ECO 70147, WI 7698
Page 224-231: Adjusted, "Type Se" was "Type S"
Page 316-321: Adjusted, "Type H" was "Type S"
IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5
CUSTOMER SIGNALS, CANBUS
Prepared by, date:
EM 2015-02-17
Approved by, date:
JEN 2015-03-04
TYPE Se
KSR
KSR
217/8
Note 1.11 on Page 702
217/5
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
TYPE SE
CUSTOMER SIGNALS
CANBUS
COMMUNICATION
VALID FOR
HARNESS IN CABINET
3HAC022852-001 (Dual)
3HAC024371-001 (Single)
3HAC021791-001
3HAC022866-001
FLOOR HARNESS
3HAC022978-001,002,003,006
3HEA800736-001,002,003,004
6
= DP
Plant:
Location: + Se
APPROVED
Sublocation:+ (-)
Document no.
Rev. Ind Page216
Next 217
3HAC026209-001
Total 98
Status:
2015-03-04
12
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
ORANGE LINE
LOWER/UPPER ARM HARNESS
3HAC022491-001,002
* Circuitdiagram shows
marking on wires for both
dual and single cabinet
3
4
4
680
5
5
6
6
8
-XS13
B11
b11
WH
OG
B12
b12
681
YE
B13
682
GN
-R1.CP/CS
-AXIS 6
-R3.CP/CS
B11
b11
WH/GN
OG
B12
b12
GN
B2
b13
WH
B13
b13
WH/BU
B3
B14
b14
GN
B14
b14
BU
B4
B1
GY
B15
b15
WH
B15
b15
WH/VT
B5
2
694
WH
B16
b16
BN
B16
b16
VT
B6
3
3
695
WH/BK
B18
b18
WH
B18
b18
WH/GY
B7
4
4
696
WH/BN
B19
b19
GY
B19
b19
GY
B8
5
5
697
WH/RD
B20
b20
RD
B20
b20
WH/BK
B9
6
6
698
WH/OG
B21
b21
BU
B21
b21
BK
B10
BN
B14
C8
1
2
-XP5.2
5
5
685
GY
C16
c16
RD
C16
c16
6
6
686
WH
C17
c17
OG
C17
c17
7
7
687
WH/BK
C18
c18
RD
C18
c18
683
BU
C19
c19
GN
C19
c19
688
WH/BN
C20
c20
RD
C20
c20
684
VT
C21
c21
BN
C21
c21
RD
7
-XP5.2
8
8
-XP5.1
8
8
-A35.X2
5
5
RD
RD
F1
f1
RD
B22
b22
WH/BK
A1
1
1
BK
BK
F2
f2
BK
B23
b23
BK
A2
-XP5.2
11
11
691 WH/YE
B24
b24
BK
B24
b24
WH/BN
A3
12
12
692 WH/GN
B25
b25
BU
B25
b25
BN
A4
9
9
689 WH/RD
B22
10
10
690 WH/OG
B23
-A35.X2
4
4
WH
WH
F3
f3
WH
A3
a3
5
YE
A7
2
2
BU
BU
F4
f4
BU
A4
a4
6
YE
A8
3
3
VT
VT
A9
A10
-XP5.3
7
7
699 WH/YE
C10
c10
BK
A5
a5
8
8
700 WH/GN
C11
c11
OG
A6
a6
7
8
9
9
666 WH/BU
C12
c12
BK
A9
a9
1
GN
A5
10
10
667 WH/VT
C13
c13
GN
A10
a10
2
GN
A6
11
11
668 WH/GY
C14
c14
BK
A11
a11
3
GN
A11
12
12
669 BN/BK
C15
c15
BN
A12
a12
4
GN
A12
Lab/Office:
DMRO SE
PRMP
ECO 70147, WI 7698
Page 224-231: Adjusted, "Type Se" was "Type S"
Page 316-321: Adjusted, "Type H" was "Type S"
IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5
CUSTOMER SIGNALS, CANBUS
EM 2015-02-17
7
693
1
7
Prepared by, date:
6
216/8
*
DUAL SINGLE
3 679
RD
-XP5.1
Latest revision:
5
-MANIPULATOR BASE
-XP5.1
-XP5.3
4
216/4
*
3
216/4
TYPE SE
CUSTOMER SIGNALS
CANBUS
COMMUNICATION
VALID FOR
HARNESS IN CABINET
3HAC022852-001(Dual)
3HAC024371-001 (Single)
3HAC021791-001
3HAC022866-001
FLOOR HARNESS
3HAC022978-001,002,003,006
3HEA800736-001,002,003,004
2
-ROBOTCABINET
216/3
1
Approved by, date:
JEN 2015-03-04
TYPE Se
+24V CAN
0V CAN
CAN_H
CAN_L
= DP
Plant:
Location: + Se
APPROVED
Sublocation:+ (-)
Document no.
Rev. Ind Page217
Next 221
3HAC026209-001
Total 98
Status:
2015-03-04
12
1
2
TYPE SE
CUSTOMER SIGNALS
PROFIBUS
COMMUNICATION
VALID FOR
HARNESS IN CABINET
3HAC022852-001 (Dual)
3HAC024371-001 (Single)
3HAC021791-001
3HAC022868-001
FLOOR HARNESS
3HAC022988-001,002,003,006
3HEA800736-001,002,003,004
3
4
-ROBOTCABINET
*
1
1
2
2
3
3
4
4
*
671
-
RD
OG
672
-
YE
GN
673
-
ORANGE LINE
LOWER/UPPER ARM HARNESS
3HAC022491-001,002
6
7
-XS13
-AXIS 6
Note 1.2 on Page 700
-R1.CP/CS
-R3.CP/CS
A1
a1
1
D1
d1
4
C4
A2
a2
2
D6
d6
5
C5
A3
a3
3
D3
d3
6
C6
24V
A4
a4
4
D4
d4
7
C7
0V
BU
VT
GN/YE
GN/YE GN/YE
GN/YE
24V
0V
PE
222/8
222/5
* Circuitdiagram shows
marking on wires for both
dual and single cabinet
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
8
-MANIPULATOR BASE
DUAL SINGLE
670 BK
BN
-XP6
5
-XS7
-R1.SP
A3
a3
BL
E
E
1
C1
5
5
4004 4004
A5
a5
BU
C
C
2
C2
1
1
4000 4000
A1
a1
BR
A
A
3
C3
GN/YE
G
G
GN/YE
GN/YE GN/YE
-A43.X24
1
4013 4013
E1
e1
PK
J
J
4
B11
2
2
4014 4014
E2
e2
RD
K
K
5
B12
4010 4010
F7
f7
OG
L
L
6
B13
4012 4012
F9
f9
GN
M
M
7
B15
4011 4011
F8
f8
YE
R
5
6
5
6
-A43.X22
1
1
4006 4006
F1
f1
3
3
4008 4008
F2
f2
4
4
4009 4009
F3
f3
2
2
4007 4007
F4
f4
Lab/Office:
DMRO SE
PRMP
ECO 70147, WI 7698
Page 224-231: Adjusted, "Type Se" was "Type S"
Page 316-321: Adjusted, "Type H" was "Type S"
IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5
CUSTOMER SIGNALS, PROFIBUS
Prepared by, date:
EM 2015-02-17
Approved by, date:
JEN 2015-03-04
TYPE Se
W/T
V/S
U/R
PE
1
-XS40
Latest revision:
-R3.CP/CS
-A41.1.3.X21
4002 4002
3 3
PTC
0V PTC
24V BRAKE REL
0V BRAKE REL
= DP
Plant:
Location: + Se
APPROVED
Sublocation:+ (-)
Document no.
Rev. Ind Page221
Next 222
3HAC026209-001
Total 98
Status:
2015-03-04
12
1
2
3
4
5
6
TYPE SE
CUSTOMER SIGNALS
PROFIBUS
COMMUNICATION
VALID FOR
HARNESS IN CABINET
3HAC022852-001 (Dual)
3HAC024371-001 (Single)
3HAC021791-001
3HAC022868-001
FLOOR HARNESS
3HAC022988-001,002,003,006
3HEA800736-001,002,003,004
7
8
-SMB
-R2.FB7
ORANGE LINE
LOWER/UPPER ARM HARNESS
3HAC022491-001,002
-R1.SMB1
RD
F
F
RD
9
9
WH/RD
E
E
WH/RD
2
2
BN
D
D
BN
11
11
WH/BN
C
C
WH/BN
4
4
BK
B
B
BK
12
12
WH/BK
A
A
WH/BK
5
5
1
1
* Circuitdiagram shows
marking on wires for both
dual and single cabinet
DUAL SINGLE
-XP5.1
BK
1 1 677
2
678
BN
B2
WH
b1
-XP5.2
1
2
1 WH/GN
2
GN
WH/GN
GN
B3
B4
b3
b4
B1
b1
WH/GN
GN
WH/BK
SP1
BU
b2
223/3
2
-R1.CP/CS
B1
-AXIS 6
-MANIPULATOR BASE
-XS13
B2
221/8
*
221/5
*
-R3.CP/CS
B18
BK
b2
B19
X7/S1
0V X7/S3
SP2
223/4
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
-ROBOTCABINET
B3
b3
SP3
B4
b4
WH/BN
B20
Y7/S4
BN
B21
0V Y7/S2
WH/RD
B22
RD
B23
SP4
3
4
3 WH/BN
4
BN
WH/BN
BN
B5
B6
b5
b6
WH/BN
BN
B5
b5
SP5
B6
b6
0V EXC2/R2
EXC2/R1
SP6
-XP5.1
9
9 WH/BU
BU
10
10
11
11 WH/OG
12
12
OG
WH/BU
B7
b7
WH/BU
B7
b7
WH/OG
B24
BU
B8
b8
BU
B8
b8
OG
B25
WH/OG
B9
b9
WH/OG
B9
b9
WH/YE
B16
B10
b10
OG
B10
b10
YE
B17
OG
KSR
KSR
Latest revision:
Lab/Office:
DMRO SE
PRMP
ECO 70147, WI 7698
Page 224-231: Adjusted, "Type Se" was "Type S"
Page 316-321: Adjusted, "Type H" was "Type S"
IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5
CUSTOMER SIGNALS, PROFIBUS
Prepared by, date:
EM 2015-02-17
Approved by, date:
JEN 2015-03-04
TYPE Se
223/8
223/5
Note 1.11 on Page 702
= DP
Plant:
Location: + Se
APPROVED
Sublocation:+ (-)
Document no.
Rev. Ind Page222
Next 223
3HAC026209-001
Total 98
Status:
2015-03-04
12
6
7
8
-AXIS 6
3
4
4
5
6
-XS13
B11
b11
WH
680 OG
B12
b12
5
681 YE
B13
6
682 GN
-R1.CP/CS
222/8
*
3
-XP5.3
5
-MANIPULATOR BASE
DUAL SINGLE
679 RD
-XP5.1
4
222/4
*
3
222/4
TYPE SE
CUSTOMER SIGNALS
PROFIBUS
COMMUNICATION
VALID FOR
HARNESS IN CABINET
3HAC022852-001 (Dual)
3HAC024371-001 (Single)
3HAC021791-001
3HAC022868-001
FLOOR HARNESS
3HAC022988-001,002,003,006
3HEA800736-001,002,003,004
2
-ROBOTCABINET
222/2
1
-R3.CP/CS
B11
b11
WH/GN
B1
OG
B12
b12
GN
B2
b13
WH
B13
b13
WH/BU
B3
B14
b14
GN
B14
b14
BU
B4
1
1
693 GY
B15
b15
WH
B15
b15
WH/VT
B5
ORANGE LINE
LOWER/UPPER ARM HARNESS
3HAC022491-001,002
2
2
694 WH
B16
b16
BN
B16
b16
VT
B6
3
3
695 WH/BK
B18
b18
WH
B18
b18
WH/GY
B7
* Circuitdiagram shows
marking on wires for both
dual and single cabinet
4
4
B19
b19
GY
B19
b19
GY
B8
5
5
696 WH/BN
697 WH/RD
B20
b20
RD
B20
b20
WH/BK
B9
6
6
698 WH/OG
B21
b21
BU
B21
b21
BK
b19
BN
B14
RD
C8
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
-XP5.2
5
5
685 GY
C16
c16
RD
C16
6
6
686 WH
C17
c17
OG
C17
7
7
687 WH/BK
C18
c18
RD
C18
683 BU
C19
c19
GN
C19
688 WH/BN
C20
c20
RD
C20
684 VT
C21
c21
BN
C21
b21
-XP5.1
7
7
-XP5.2
8
8
-XP5.1
8
8
-XP5.2
9
9
689 WH/RD
B22
b22
RD
B22
b22
WH/BK
A1
10
10
690 WH/OG
B23
b23
GY
B23
b23
BK
A2
11
11
691 WH/YE
B24
b24
BK
B24
b24
WH/BN
A3
12
12
692 WH/GN
B25
b25
BU
B25
b25
BN
A4
-XP5.3
7
7
699 WH/YE
C10
c10
BK
A3
a3
5
YE
A7
8
8
700 WH/GN
C11
c11
OG
A4
a4
6
YE
A8
-DP-M
1B
1B
RD
RD
F5
f5
RD
A5
a5
7
VT
A9
1A
1A
GN
GN
F6
f6
GN
A6
a6
8
VT
A10
-XP5.3
Latest revision:
9
9
666 WH/BU
C12
c12
BK
A9
a7
1
GN
A5
10
10
667 WH/VT
C13
c13
GN
A10
a10
2
GN
A6
11
11
668 WH/GY
C14
c14
BK
A11
a11
3
GN
A11
12
12
669 BN/BK
C15
c15
BN
A12
a12
4
GN
A12
Lab/Office:
DMRO SE
PRMP
ECO 70147, WI 7698
Page 224-231: Adjusted, "Type Se" was "Type S"
Page 316-321: Adjusted, "Type H" was "Type S"
IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5
CUSTOMER SIGNALS, PROFIBUS
Prepared by, date:
EM 2015-02-17
B10
Approved by, date:
JEN 2015-03-04
TYPE Se
RXD/TXD-P
RXD/TXD-N
= DP
Plant:
Location: + Se
APPROVED
Sublocation:+ (-)
Document no.
Rev. Ind Page223
Next +.AX3/2
3HAC026209-001
Total 98
Status:
2015-03-04
12
1
2
-ROBOTCABINET
TYPE Se
CUSTOMER SIGNALS
PARALLEL
COMMUNICATION
VALID FOR
HARNESS IN CABINET
3HAC022852-001 (Dual)
3HAC024371-001 (Single)
FLOOR HARNESS
3HAC022957-001,002,003,006
*
DUAL
-XP6
1
1
2
2
3
3
4
4
*
SINGLE
670
-
BK
BN
671
RD
672
-
OG
YE
GN
673
BU
-
VT
GN/YE
4
5
-MANIPULATOR BASE
6
7
8
-AXIS 3
-AXIS 6
-XS13
Note 1.1 on Page 700
4
-R1.CP/CS
A1
a1
1
D1
d1
A2
a2
2
D6
d6
-R2CP/CS
5
-R3.CP/CS
E
E
4
E
E
F
F
5
F
F
24V
0V
A3
a3
3
D3
d3
6
V
V
6
V
V
A4
a4
4
D4
d4
7
W
W
7
W
W
24V
0V
GN/YE
GN/YE
GN/YE
G
GN/YE
G
G
G
PE
* Circuitdiagram shows
marking on wires for both
dual and single cabinet
-XP5.1
N.C.=Not Connected
-XP5.2
1
1
677
BK
B1
b1
WH
B1
B1
WH/BK
A
A
WH/BK
A
2
2
678
BN
B2
b2
BU
B2
b2
BK
B
B
BK
B
WH/GN
B3
b3
WH/GN
B3
b3
WH/BN
C
C
WH/BN
C
GN
B4
b4
GN
B4
b4
BN
D
D
BN
D
WH/BN
B5
b5
WH/BN
B5
b5
WH/RD
H
H
WH/RD
H
BN
B6
b6
BN
B6
b6
RD
J
J
RD
J
WH/BU
B7
b7
WH/BU
B7
b7
WH/OG
K
K
WH/OG
K
BU
B8
b8
BU
B8
b8
OG
L
L
OG
L
b9
WH/YE
M
M
WH/YE
M
b10
YE
N
N
YE
N
1
1 WH/GN
2
2
3
3 WH/BN
4
4
GN
BN
-XP5.1
9
10
9 WH/BU
10
BU
CS1
CS2
CS3
CS4
CS5
CS6
CS6/KSR
CS8/KSR
11
12
11 WH/OG
12
OG
WH/OG
B9
OG
B10
WH/OG
b9
B9
OG
b10
B10
CS9
CS10
Note 1.3 on Page 700
3
3
679
RD
B11
b11
WH
B11
b11
WH/GN
P
P
WH/GN
P
CS11
4
4
680
OG
B12
b12
OG
B12
b12
GN
R
R
GN
R
CS12
5
5
681
YE
B13
b13
WH
B13
b13
WH/BU
S
S
WH/BU
S
CS13
6
6
682
GN
B14
b14
GN
B14
b14
BU
T
T
BU
T
CS14
-XP5.3
GY
B15
b15
WH
B15
b15
WH/VT
U
U
WH/VT
U
2
2
694
WH
B16
b16
BN
B16
b16
VT
X
X
VT
X
3
3
695
WH/BK
B18
b18
WH
B18
b18
WH/GY
Y
Y
WH/GY
Y
4
4
696
WH/BN
B19
b19
GY
B19
b19
GY
Z
Z
GY
Z
5
5
697
WH/RD
B20
b20
RD
B20
b20
WH/BK
a
a
WH/BK
a
6
6
698
WH/OG
B21
b21
BU
B21
b21
BK
b
b
BK
b
683
BU
C19
c19
GN
C19
c19
WH/OG
c
c
WH/OG
686
WH/BK
C18
c18
RD
C18
N.C.
OG
N.C.
OG
7
-XP5.2
7
7
Latest revision:
Lab/Office:
DMRO SE
PRMP
ECO 70147, WI 7698
Page 224-231: Adjusted, "Type Se" was "Type S"
Page 316-321: Adjusted, "Type H" was "Type S"
Note 1.5 on Page 701
IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5
CUSTOMER SIGNALS, PARALLEL
Prepared by, date:
EM 2015-02-17
Approved by, date:
JEN 2015-03-04
N.C.
TYPE Se
c
CS15
CS16
CS17
CS18
CS19
CS20
CS21
N.C.
101/8
7
101/6
-XP5.1
101/7
693
101/5
1
101/4
1
101/3
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
SW6
LOWER ARM HARNESS
3HAC042381-002
UPPER ARM HARNESS
3HAC042384-002
3
= DP
Plant:
Location: + Se
APPROVED
Sublocation:+ AX3
Document no.
Rev. Ind Page224
Next 225
3HAC026209-001
Total 98
Status:
2015-03-04
12
SW6
LOWER ARM HARNESS
3HAC042381-002
UPPER ARM HARNESS
3HAC042384-002
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
* Circuitdiagram shows marking
on wires for both dual and
single cabinet
N.C.=Not Connected
5
6
7
-R1.CP/CS
-R2.CP/CS
C16
c16
RD
c16
N.C.
WH/BN
N.C.
N.C.
WH/BN
BN
6
6
686
WH
C17
c17
OG
C17
N.C.
BN
N.C.
N.C.
8
8
688
WH/BN
C20
c20
RD
C20
N.C.
WH/RD
N.C.
N.C.
684
VT
C21
c21
BN
C21
N.C.
RD
N.C.
N.C.
-XP5.1
8
8
-XP5.2
WH/RD
RD
N.C.
N.C.
689
WH/RD
B22
b22
RD
B22
N.C.
WH/YE
N.C.
N.C.
10
10
690
WH/OG
B23
b23
GY
B23
N.C.
YE
N.C.
N.C.
YE
N.C.
11
11
691
WH/YE
B24
b24
BK
B24
N.C.
WH
N.C.
N.C.
WH/GN
N.C.
12
12
692
WH/GN
B25
b25
BU
B25
N.C.
GN
N.C.
N.C.
GN
N.C.
-XP5.3
7
699
WH/YE
C10
8
8
700
WH/GN
C11
9
9
666
WH/BU
C12
F
F
RD
-R1.SMB
9
10
10
667
WH/VT
C13
E
E
WH/RD
2
11
11
668
WH/GY
C14
D
D
BN
12
12
669
BN/BK
C15
C
C
WH/BN
B
B
BK
A
A
WH/BK
1
1
4006
3
3
4008
4008
4
4
4009
4009
4007
2
2
4007
N.C.
-SMB
-R2.FB7
11
4
12
5
RD
4006
WH/YE
Note 1.6 on Page 701
7
-A43.X22
F1
WH/RD
f1
BN
F2
f2
F3
f3
WH/BN
BK
WH/BK
F4
-R3.FB
7
8
2
4
3
1
-R4.FB
7
8
2
4
3
1
7
8
2
4
3
1
RD
WH/RD
BN
WH/BN
BK
WH/BK
7
8
2
4
3
1
EXC 2
0V EXC 2
0V Y7
Y7
0V X7
X7
f4
-R1.SP
-R2.SP
-R3.SP
-A41.1.3.X21
4002
3 3
4002
A3
a3
BL
E
E
3
4
4
3
4
W/T
5
5
4004
4004
A5
a5
BU
C
C
2
1
1
2
1
V/S
1
1
4000
4000
A1
a1
BR
A
A
1
3
3
1
3
U/R
GN/YE
GN/YE
GN/YE
G
G
GN/YE
PE
GN/YE
PE
-A43.X24
PE
1
1
4013
4013
E1
e1
PK
J
J
4
C
C
4
C
2
2
4014
4014
E2
e2
RD
K
K
5
D
D
5
D
4010
4010
F7
f7
OG
L
L
6
A
A
6
A
4012
4012
F9
f9
GN
M
M
7
B
B
7
B
4011
4011
F8
f8
YE
R
-XS40
5
6
5
6
Lab/Office:
DMRO SE
PRMP
ECO 70147, WI 7698
Page 224-231: Adjusted, "Type Se" was "Type S"
Page 316-321: Adjusted, "Type H" was "Type S"
IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5
CUSTOMER SIGNALS, PARALLEL
EM 2015-02-17
N.C.
9
1
Prepared by, date:
-R3.CP/CS
N.C.
9
-XS7
Latest revision:
100/8
GY
100/7
SINGLE
8
-AXIS 6
-AXIS 3
100/6
-MANIPULATOR BASE
-XS13
*
DUAL
-XP5.2
5 5 685
4
100/5
*
3
100/4
TYPE Se
CUSTOMER SIGNALS
PARALLEL
COMMUNICATION
VALID FOR
HARNESS IN CABINET
3HAC022852-001 (Dual)
3HAC024371-001 (Single)
FLOOR HARNESS
3HAC022957-001,002,003,006
2
-ROBOTCABINET
100/3
1
Approved by, date:
JEN 2015-03-04
TYPE Se
PE
PTC
0V PTC
24V BRAKE REL
0V BRAKE REL
= DP
Plant:
Location: + Se
APPROVED
Sublocation:+ AX3
Document no.
Rev. Ind Page225
Next 226
3HAC026209-001
Total 98
Status:
2015-03-04
12
1
2
-ROBOTCABINET
TYPE Se
CUSTOMER SIGNALS
PARALLEL
COMMUNICATION
VALID FOR
HARNESS IN CABINET
3HAC022852-001 (Dual)
3HAC024371-001 (Single)
FLOOR HARNESS
3HAC022957-001,002,003,006
*
DUAL
-XP6
1
1
2
2
3
3
4
4
*
SINGLE
670
-
BK
BN
671
RD
672
-
OG
YE
GN
673
BU
-
VT
GN/YE
4
5
-MANIPULATOR BASE
6
7
8
-AXIS 3
-AXIS 6
-XS13
Note 1.1 on Page 700
4
-R1.CP/CS
A1
a1
1
D1
d1
A2
a2
2
D6
d6
-R2CP/CS
5
-R3.CP/CS
E
E
4
E
E
F
F
5
F
F
24V
0V
A3
a3
3
D3
d3
6
V
V
6
V
V
A4
a4
4
D4
d4
7
W
W
7
W
W
24V
0V
GN/YE
GN/YE
GN/YE
G
GN/YE
G
G
G
PE
* Circuitdiagram shows
marking on wires for both
dual and single cabinet
-XP5.1
N.C.=Not Connected
-XP5.2
1
1
677
BK
B1
b1
WH
B1
B1
WH/BK
A
A
WH/BK
A
2
2
678
BN
B2
b2
BU
B2
b2
BK
B
B
BK
B
WH/GN
B3
b3
WH/GN
B3
b3
WH/BN
C
C
WH/BN
C
GN
B4
b4
GN
B4
b4
BN
D
D
BN
D
WH/BN
B5
b5
WH/BN
B5
b5
WH/RD
H
H
WH/RD
H
BN
B6
b6
BN
B6
b6
RD
J
J
RD
J
WH/BU
B7
b7
WH/BU
B7
b7
WH/OG
K
K
WH/OG
K
BU
B8
b8
BU
B8
b8
OG
L
L
OG
L
b9
WH/YE
M
M
WH/YE
M
b10
YE
N
N
YE
N
1
1 WH/GN
2
2
3
3 WH/BN
4
4
GN
BN
-XP5.1
9
10
9 WH/BU
10
BU
CS1
CS2
CS3
CS4
CS5
CS6
CS6/KSR
CS8/KSR
11
12
11 WH/OG
12
OG
WH/OG
B9
OG
B10
WH/OG
b9
B9
OG
b10
B10
CS9
CS10
Note 1.3 on Page 700
3
3
679
RD
B11
b11
WH
B11
b11
WH/GN
P
P
WH/GN
P
CS11
4
4
680
OG
B12
b12
OG
B12
b12
GN
R
R
GN
R
CS12
5
5
681
YE
B13
b13
WH
B13
b13
WH/BU
S
S
WH/BU
S
CS13
6
6
682
GN
B14
b14
GN
B14
b14
BU
T
T
BU
T
CS14
-XP5.3
GY
B15
b15
WH
B15
b15
WH/VT
U
U
WH/VT
U
2
2
694
WH
B16
b16
BN
B16
b16
VT
X
X
VT
X
3
3
695
WH/BK
B18
b18
WH
B18
b18
WH/GY
Y
Y
WH/GY
Y
4
4
696
WH/BN
B19
b19
GY
B19
b19
GY
Z
Z
GY
Z
5
5
697
WH/RD
B20
b20
RD
B20
b20
WH/BK
a
a
WH/BK
a
6
6
698
WH/OG
B21
b21
BU
B21
b21
BK
b
b
BK
b
683
BU
C19
c19
GN
C19
c19
WH/OG
c
c
WH/OG
686
WH/BK
C18
c18
RD
C18
N.C.
OG
N.C.
OG
7
-XP5.2
7
7
Latest revision:
Lab/Office:
DMRO SE
PRMP
ECO 70147, WI 7698
Page 224-231: Adjusted, "Type Se" was "Type S"
Page 316-321: Adjusted, "Type H" was "Type S"
Note 1.5 on Page 701
IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5
CUSTOMER SIGNALS, CANBUS
Prepared by, date:
EM 2015-02-17
Approved by, date:
JEN 2015-03-04
N.C.
TYPE Se
c
CS15
CS16
CS17
CS18
CS19
CS20
CS21
N.C.
101/8
7
101/6
-XP5.1
101/7
693
101/5
1
101/4
1
101/3
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
SW6
LOWER ARM HARNESS
3HAC042382-002
UPPER ARM HARNESS
3HAC042385-002
3
= DP
Plant:
Location: + Se
APPROVED
Sublocation:+ AX3
Document no.
Rev. Ind Page226
Next 227
3HAC026209-001
Total 98
Status:
2015-03-04
12
SW6
LOWER ARM HARNESS
3HAC042382-002
UPPER ARM HARNESS
3HAC042385-002
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
* Circuitdiagram shows marking
on wires for both dual and
single cabinet
GY
-R1.CP/CS
7
-AXIS 3
-R2.CP/CS
C16
c16
RD
c16
N.C.
WH/BN
N.C.
N.C.
WH/BN
BN
6
6
686
WH
C17
c17
OG
C17
N.C.
BN
N.C.
N.C.
8
8
688
WH/BN
C20
c20
RD
C20
N.C.
WH/RD
N.C.
N.C.
684
VT
C21
c21
BN
C21
N.C.
RD
N.C.
N.C.
-XP5.1
8
8
-XP5.2
8
-AXIS 6
100/8
SINGLE
6
100/7
*
DUAL
-XP5.2
5 5 685
5
-MANIPULATOR BASE
100/6
*
-XS13
4
100/5
3
100/4
TYPE Se
CUSTOMER SIGNALS
PARALLEL
COMMUNICATION
VALID FOR
HARNESS IN CABINET
3HAC022852-001 (Dual)
3HAC024371-001 (Single)
FLOOR HARNESS
3HAC022957-001,002,003,006
2
-ROBOTCABINET
100/3
1
-R3.CP/CS
N.C.
N.C.
WH/RD
N.C.
RD
N.C.
9
9
689
WH/RD
B22
b22
RD
B22
N.C.
WH/YE
N.C.
N.C.
10
10
690
WH/OG
B23
b23
GY
B23
N.C.
YE
N.C.
N.C.
YE
N.C.
11
11
691
WH/YE
B24
b24
BK
B24
N.C.
WH
N.C.
N.C.
WH/GN
N.C.
12
12
692
WH/GN
B25
b25
BU
B25
N.C.
GN
N.C.
N.C.
GN
N.C.
-XP5.3
7
699
WH/YE
C10
8
8
700
WH/GN
C11
9
9
666
WH/BU
C12
10
10
667
WH/VT
C13
11
11
668
WH/GY
C14
12
12
669
BN/BK
C15
-A35.X2
N.C.
Note 1.6 on Page 701
7
N.C.=Not Connected
WH/YE
5
5
RD
RD
F1
F1
RD
B22
b22
WH/BK
1
1
BK
BK
F2
F2
BK
B23
b23
BK
-R2.CBUS
-R3.CBUS
C
C
WH/BK
C
D
D
BK
D
+24V BUS
0V BUS
-XP5.2
11
11
691
WH/YE
B24
B24
BK
B24
b24
WH/BN
N.C.
N.C.
WH/BN
N.C.
12
12
692
WH/GN
B25
B25
BU
B25
b25
BN
N.C.
N.C.
BN
N.C.
9
9
689
WH/RD
B22
10
10
690
WH/OG
B23
WH
WH
F3
WH
A3
a3
5
YE
A
5
YE
A
F4
BU
A4
a4
6
YE
B
B
6
YE
B
E
E
J
J
7
8
N.C.
1
GN
N.C.
GN
N.C.
-A35.X2
4
4
2
2
3
3
-XP5.3
Latest revision:
BU
BU
F3
F4
7
7
699
WH/YE
C10
c10
BK
A5
a5
8
8
700
WH/GN
C11
c11
OG
A6
a6
7
8
9
9
666
WH/BU
C12
c12
BK
A9
N.C.
1
GN
A10
N.C.
2
GN
N.C.
N.C.
2
VT
VT
E
J
10
10
667
WH/VT
C13
c13
11
11
668
WH/GY
C14
c14
BK
A11
N.C.
3
GN
N.C.
N.C.
3
GN
N.C.
12
12
669
BN/BK
C15
c15
BN
A12
N.C.
4
GN
N.C.
N.C.
4
GN
N.C.
Lab/Office:
DMRO SE
PRMP
IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5
CUSTOMER SIGNALS, CANBUS
EM 2015-02-17
N.C.
VT
VT
GN
ECO 70147, WI 7698
Page 224-231: Adjusted, "Type Se" was "Type S"
Page 316-321: Adjusted, "Type H" was "Type S"
Prepared by, date:
A
Approved by, date:
JEN 2015-03-04
TYPE Se
C-BUS
C-BUS
P-BUS
P-BUS
= DP
Plant:
Location: + Se
APPROVED
Sublocation:+ AX3
Document no.
Rev. Ind Page227
Next 228
3HAC026209-001
Total 98
Status:
2015-03-04
12
1
TYPE Se
CUSTOMER SIGNALS
PARALLEL
COMMUNICATION
VALID FOR
HARNESS IN CABINET
3HAC022852-001 (Dual)
3HAC024371-001 (Single)
FLOOR HARNESS
3HAC022957-001,002,003,006
2
-ROBOTCABINET
3
4
5
6
7
-MANIPULATOR BASE
8
-AXIS 6
-AXIS 3
SW6
LOWER ARM HARNESS
3HAC042382-002
UPPER ARM HARNESS
3HAC042385-002
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
* Circuitdiagram shows marking
on wires for both dual and
single cabinet
-SMB
-R2.FB7
F
F
RD
-R1.SMB
9
E
E
WH/RD
2
D
D
BN
C
C
WH/BN
B
B
BK
A
A
WH/BK
11
4
12
5
1
-XS7
-A43.X22
1
1
RD
4006
3
3
4008
4008
4
4
4009
4009
4007
2
2
4007
F1
f1
BN
F2
f2
F3
f3
WH/BN
BK
WH/BK
F4
7
8
2
4
3
1
RD
WH/RD
BN
WH/BN
BK
WH/BK
7
8
2
4
3
1
EXC 2
0V EXC 2
0V Y7
Y7
0V X7
X7
f4
-R1.SP
-R2.SP
-R3.SP
A3
a3
BL
E
E
3
4
4
3
4
W/T
5
5
4004
4004
A5
a5
BU
C
C
2
1
1
2
1
V/S
1
1
4000
4000
A1
a1
BR
A
A
1
3
3
1
3
U/R
GN/YE
GN/YE
GN/YE
G
G
GN/YE
PE
GN/YE
PE
PE
1
1
4013
4013
E1
e1
PK
J
J
4
C
C
4
C
2
2
4014
4014
E2
e2
RD
K
K
5
D
D
5
D
4010
4010
F7
f7
OG
L
L
6
A
A
6
A
4012
4012
F9
f9
GN
M
M
7
B
B
7
B
4011
4011
F8
f8
YE
R
5
6
5
6
Lab/Office:
DMRO SE
PRMP
ECO 70147, WI 7698
Page 224-231: Adjusted, "Type Se" was "Type S"
Page 316-321: Adjusted, "Type H" was "Type S"
IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5
CUSTOMER SIGNALS, CANBUS
EM 2015-02-17
-R4.FB
7
8
2
4
3
1
4002
-XS40
Prepared by, date:
7
8
2
4
3
1
-A41.1.3.X21
4002
3 3
-A43.X24
Latest revision:
4006
WH/RD
-R3.FB
Approved by, date:
JEN 2015-03-04
TYPE Se
PE
PTC
0V PTC
24V BRAKE REL
0V BRAKE REL
= DP
Plant:
Location: + Se
APPROVED
Sublocation:+ AX3
Document no.
Rev. Ind Page228
Next 229
3HAC026209-001
Total 98
Status:
2015-03-04
12
1
2
-ROBOTCABINET
TYPE Se
CUSTOMER SIGNALS
PARALLEL
COMMUNICATION
VALID FOR
HARNESS IN CABINET
3HAC022852-001 (Dual)
3HAC024371-001 (Single)
FLOOR HARNESS
3HAC022957-001,002,003,006
*
DUAL
-XP6
1
1
2
2
3
3
4
4
*
SINGLE
670
-
BK
BN
671
RD
672
-
OG
YE
GN
673
BU
-
VT
GN/YE
4
5
-MANIPULATOR BASE
6
7
8
-AXIS 3
-AXIS 6
-XS13
Note 1.1 on Page 700
4
-R1.CP/CS
A1
a1
1
D1
d1
A2
a2
2
D6
d6
-R2CP/CS
5
-R3.CP/CS
E
E
4
E
E
F
F
5
F
F
24V
0V
A3
a3
3
D3
d3
6
V
V
6
V
V
A4
a4
4
D4
d4
7
W
W
7
W
W
24V
0V
GN/YE
GN/YE
GN/YE
G
GN/YE
G
G
G
PE
* Circuitdiagram shows
marking on wires for both
dual and single cabinet
-XP5.1
N.C.=Not Connected
-XP5.2
1
1
677
BK
B1
b1
WH
B1
B1
WH/BK
A
A
WH/BK
A
2
2
678
BN
B2
b2
BU
B2
b2
BK
B
B
BK
B
WH/GN
B3
b3
WH/GN
B3
b3
WH/BN
C
C
WH/BN
C
GN
B4
b4
GN
B4
b4
BN
D
D
BN
D
WH/BN
B5
b5
WH/BN
B5
b5
WH/RD
H
H
WH/RD
H
BN
B6
b6
BN
B6
b6
RD
J
J
RD
J
WH/BU
B7
b7
WH/BU
B7
b7
WH/OG
K
K
WH/OG
K
BU
B8
b8
BU
B8
b8
OG
L
L
OG
L
b9
WH/YE
M
M
WH/YE
M
b10
YE
N
N
YE
N
1
1 WH/GN
2
2
3
3 WH/BN
4
4
GN
BN
-XP5.1
9
10
9 WH/BU
10
BU
CS1
CS2
CS3
CS4
CS5
CS6
CS6/KSR
CS8/KSR
11
12
11 WH/OG
12
OG
WH/OG
B9
OG
B10
WH/OG
b9
B9
OG
b10
B10
CS9
CS10
Note 1.3 on Page 700
3
3
679
RD
B11
b11
WH
B11
b11
WH/GN
P
P
WH/GN
P
CS11
4
4
680
OG
B12
b12
OG
B12
b12
GN
R
R
GN
R
CS12
5
5
681
YE
B13
b13
WH
B13
b13
WH/BU
S
S
WH/BU
S
CS13
6
6
682
GN
B14
b14
GN
B14
b14
BU
T
T
BU
T
CS14
-XP5.3
GY
B15
b15
WH
B15
b15
WH/VT
U
U
WH/VT
U
2
2
694
WH
B16
b16
BN
B16
b16
VT
X
X
VT
X
3
3
695
WH/BK
B18
b18
WH
B18
b18
WH/GY
Y
Y
WH/GY
Y
4
4
696
WH/BN
B19
b19
GY
B19
b19
GY
Z
Z
GY
Z
5
5
697
WH/RD
B20
b20
RD
B20
b20
WH/BK
a
a
WH/BK
a
6
6
698
WH/OG
B21
b21
BU
B21
b21
BK
b
b
BK
b
683
BU
C19
c19
GN
C19
c19
WH/OG
c
c
WH/OG
686
WH/BK
C18
c18
RD
C18
N.C.
OG
N.C.
OG
7
-XP5.2
7
7
Latest revision:
Lab/Office:
DMRO SE
PRMP
ECO 70147, WI 7698
Page 224-231: Adjusted, "Type Se" was "Type S"
Page 316-321: Adjusted, "Type H" was "Type S"
Note 1.5 on Page 701
IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5
CUSTOMER SIGNALS, ETHERNET
Prepared by, date:
EM 2015-02-17
Approved by, date:
JEN 2015-03-04
N.C.
TYPE Se
c
CS15
CS16
CS17
CS18
CS19
CS20
CS21
N.C.
101/8
7
101/6
-XP5.1
101/7
693
101/5
1
101/4
1
101/3
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
SW6
LOWER ARM HARNESS
3HAC042383-002
UPPER ARM HARNESS
3HAC042386-002
3
= DP
Plant:
Location: + Se
APPROVED
Sublocation:+ AX3
Document no.
Rev. Ind Page229
Next 230
3HAC026209-001
Total 98
Status:
2015-03-04
12
SW6
LOWER ARM HARNESS
3HAC042383-002
UPPER ARM HARNESS
3HAC042386-002
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
* Circuitdiagram shows marking
on wires for both dual and
single cabinet
N.C.=Not Connected
5
6
7
-MANIPULATOR BASE
-R1.CP/CS
C16
c16
RD
c16
N.C.
WH/BN
-R2.CP/CS
BN
686
WH
C17
c17
OG
C17
N.C.
BN
N.C.
N.C.
8
8
688
WH/BN
C20
c20
RD
C20
N.C.
WH/RD
N.C.
N.C.
684
VT
C21
c21
BN
C21
N.C.
RD
N.C.
N.C.
-XP5.1
8
8
-XP5.2
WH/RD
RD
N.C.
N.C.
N.C.
9
689
WH/RD
B22
b22
RD
B22
N.C.
WH/YE
N.C.
N.C.
10
10
690
WH/OG
B23
b23
GY
B23
N.C.
YE
N.C.
N.C.
YE
N.C.
11
11
691
WH/YE
B24
b24
BK
B24
N.C.
WH
N.C.
N.C.
WH/GN
N.C.
12
12
692
WH/GN
B25
b25
BU
B25
N.C.
GN
N.C.
N.C.
GN
N.C.
-XP5.3
7
699
WH/YE
C10
8
8
700
WH/GN
C11
9
9
666
WH/BU
C12
F
F
RD
-R1.SMB
9
10
10
667
WH/VT
C13
E
E
WH/RD
2
11
11
668
WH/GY
C14
D
D
BN
12
12
669
BN/BK
C15
C
C
WH/BN
B
B
BK
A
A
WH/BK
1
-SMB
-R2.FB7
11
4
12
5
RD
4006
4006
F1
BN
3
4008
4008
F2
f2
4
4
4009
4009
F3
f3
4007
2
4007
WH/RD
f1
3
2
WH/BN
BK
WH/BK
F4
N.C.
Note 1.6 on Page 701
7
1
WH/YE
-R3.CP/CS
N.C.
9
-A43.X22
-R3.FB
7
8
2
4
3
1
-R4.FB
7
8
2
4
3
1
7
8
2
4
3
1
RD
WH/RD
BN
WH/BN
BK
WH/BK
7
8
2
4
3
1
EXC 2
0V EXC 2
0V Y7
Y7
0V X7
X7
f4
-R1.SP
-R2.SP
-R3.SP
-A41.1.3.X21
4002
3 3
4002
A3
a3
BL
E
E
3
4
4
3
4
W/T
5
5
4004
4004
A5
a5
BU
C
C
2
1
1
2
1
V/S
1
1
4000
4000
A1
a1
BR
A
A
1
3
3
1
3
U/R
GN/YE
GN/YE
GN/YE
G
G
GN/YE
PE
GN/YE
PE
-A43.X24
PE
1
1
4013
4013
E1
e1
PK
J
J
4
C
C
4
C
2
2
4014
4014
E2
e2
RD
K
K
5
D
D
5
D
4010
4010
F7
f7
OG
L
L
6
A
A
6
A
4012
4012
F9
f9
GN
M
M
7
B
B
7
B
4011
4011
F8
f8
YE
R
-XS40
5
6
5
6
Lab/Office:
DMRO SE
PRMP
ECO 70147, WI 7698
Page 224-231: Adjusted, "Type Se" was "Type S"
Page 316-321: Adjusted, "Type H" was "Type S"
IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5
CUSTOMER SIGNALS, ETHERNET
EM 2015-02-17
WH/BN
6
1
Prepared by, date:
N.C.
6
-XS7
Latest revision:
N.C.
100/8
GY
100/7
SINGLE
8
-AXIS 6
-AXIS 3
100/6
-XS13
*
DUAL
-XP5.2
5 5 685
4
100/5
*
3
100/4
TYPE Se
CUSTOMER SIGNALS
PARALLEL
COMMUNICATION
VALID FOR
HARNESS IN CABINET
3HAC022852-001 (Dual)
3HAC024371-001 (Single)
FLOOR HARNESS
3HAC022957-001,002,003,006
2
-ROBOTCABINET
100/3
1
Approved by, date:
JEN 2015-03-04
TYPE Se
PE
PTC
0V PTC
24V BRAKE REL
0V BRAKE REL
= DP
Plant:
Location: + Se
APPROVED
Sublocation:+ AX3
Document no.
Rev. Ind Page230
Next 231
3HAC026209-001
Total 98
Status:
2015-03-04
12
1
TYPE Se
CUSTOMER SIGNALS
PARALLEL
COMMUNICATION
VALID FOR
HARNESS IN CABINET
3HAC022852-001 (Dual)
3HAC024371-001 (Single)
FLOOR HARNESS
3HAC022957-001,002,003,006
2
-ROBOTCABINET
3
4
5
6
-MANIPULATOR BASE
7
8
-AXIS 6
-AXIS 3
SW6
LOWER ARM HARNESS
3HAC042383-002
UPPER ARM HARNESS
3HAC042386-002
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
* Circuitdiagram shows marking
on wires for both dual and
single cabinet
-XS9
Latest revision:
ECO 70147, WI 7698
Page 224-231: Adjusted, "Type Se" was "Type S"
Page 316-321: Adjusted, "Type H" was "Type S"
-R1.ETHERNET
1 1
1
YE
2
2
WH
2
2
WH
2
3
3
OG
3
3
OG
4
4
BU
4
4
BU
Lab/Office:
DMRO SE
PRMP
IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5
YE
CUSTOMER SIGNALS, ETHERNET
Prepared by, date:
EM 2015-02-17
Approved by, date:
JEN 2015-03-04
-R2.ETHERNET
1 1
1
TYPE Se
-R3.ETHERNET
YE
1
2
WH
2
3
3
OG
3
4
4
BU
4
= DP
Plant:
Location: + Se
APPROVED
Sublocation:+ AX3
Document no.
Rev. Ind Page231
Next +H/300
3HAC026209-001
Total 98
Status:
2015-03-04
12
1
TYPE H, HS AND HSe
CUSTOMER SIGNALS
PARALLEL
COMMUNICATION
VALID FOR
HARNESS IN CABINET
3HAC022852-001 (Dual)
3HAC024371-001 (Single)
FLOOR HARNESS
3HAC022957-001,002,003,006
2
-ROBOTCABINET
ORANGE LINE
LOWER ARM HARNESS
3HAC022996-001
3HAC022997-001
3HAC028811-001
UPPER ARM HARNESS
3HAC023252-001,002,003,004
FOR IRB66x0ID
CONNECTION BETWEEN
R2.CP/CS AND R3.CP/CS
SEE PAGE IRB66x0ID
LOWER ARM HARNESS
3HAC022996-001
3HAC022997-001
UPPER ARM HARNESS
3HAC025532-001
2
3
3
4
4
-XP5.1
671
-
RD
OG
672
-
YE
GN
673
-
BU
VT
GN/YE
GN/YE
6
7
8
-AXIS 3
-AXIS 6
Note 1.1 on Page 700
-R1.CP/CS
-R2.CP/CS
-R3.CP/CS
A1
d1
1
D1
d1
4
D1
d1
4
C4
A2
d2
2
D6
d6
5
D6
d6
5
C5
A3
d3
3
D3
d3
6
D3
d3
6
C6
A4
4
4
D4
d4
7
D4
d4
7
C7
GN/YE
GN/YE
GN/YE
1
677
BK
B1
b1
WH
B1
b1
WH/BK
B1
b1
WH/BK
B18
2
2
678
BN
B2
b2
BU
B2
b2
BK
B2
b2
BK
B19
1
1
WH/GN
WH/GN
B3
b3
WH/GN
B3
b3
WH/BN
B3
b3
WH/BN
B20
2
2
GN
GN
B4
b4
GN
B4
b4
BN
B4
b4
BN
B21
3
3
WH/BN
WH/BN
B5
b5
WH/BN
B5
b5
WH/RD
B5
b5
WH/RD
B22
4
4
BN
BN
B6
b6
BN
B6
b6
RD
B6
b6
RD
B23
-XP5.1
9
9
WH/BU
WH/BU
B7
b7
WH/BU
B7
b7
WH/OG
B7
b7
WH/OG
B24
10
10
BU
BU
B8
b8
BU
B8
b8
OG
B8
b8
OG
B25
11
11
WH/OG
WH/OG
B9
b9
WH/OG
B9
b9
WH/YE
B9
b9
WH/YE
B16
b10
YE
B10
b10
YE
B17
12
12
OG
OG
B10
OG
b10
B10
24V
0V
24V
0V
PE
1
-XP5.2
* Circuitdiagram shows
marking on wires for both
dual and single cabinet
5
-MANIPULATOR BASE
-XS13
*
DUAL SINGLE
-XP6
670
BK
1 1
BN
2
4
Note 1.3 on Page 700
3
3
679
RD
B11
b11
WH
B11
b11
WH/GN
B11
b11
WH/GN
B1
4
4
680
OG
B12
b12
OG
B12
b12
GN
B12
b12
GN
B2
5
5
681
YE
B13
b13
WH
B13
b13
WH/BU
B13
b13
WH/BU
B3
6
6
682
GN
B14
b14
GN
B14
b14
BU
B14
b14
BU
B4
-XP5.3
1
1
693
GY
B15
b15
WH
B15
b15
WH/VT
B15
b15
WH/VT
B5
2
2
694
WH
B16
b16
BN
B16
b16
VT
B16
b16
VT
B6
3
3
695
WH/BK
B18
b18
WH
B18
b18
WH/GY
B18
b18
WH/GY
B7
4
4
696
WH/BN
B19
b19
GY
B19
b19
GY
B19
b19
GY
B8
5
5
697
WH/RD
B20
b20
RD
B20
b20
WH/BK
B20
b20
WH/BK
B9
6
6
698
WH/OG
B21
b21
BU
B21
b21
BK
B21
b21
BK
-XP5.2
Latest revision:
C16
c16
RD
C16
c16
WH/OG
C16
c16
WH/OG
B11
6
6
686
WH
C17
c17
OG
C17
c17
OG
C17
c17
OG
B12
301/4
Note 1.5 on Page 701
Lab/Office:
DMRO SE
PRMP
IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5
CUSTOMER SIGNALS, PARALLEL
EM 2015-02-17
Approved by, date:
JEN 2015-03-04
TYPE H, HS AND HSe
301/8
GY
301/7
685
301/6
5
ECO 70147, WI 7698
Page 224-231: Adjusted, "Type Se" was "Type S"
Page 316-321: Adjusted, "Type H" was "Type S"
Prepared by, date:
B10
5
301/3
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
SILVER LINE
LOWER ARM HARNESS
3HAC022996-001
3HAC022997-001
UPPER ARM HARNESS
3HAC023057-001,002,003,004,005
*
3
= DP
Plant:
Location: + H
APPROVED
Sublocation:+
Document no.
Rev. Ind Page300
Next 301
3HAC026209-001
Total 98
Status:
2015-03-04
12
ORANGE LINE
LOWER ARM HARNESS
3HAC022996-001
3HAC022997-001
3HAC028811-001
UPPER ARM HARNESS
3HAC023252-001,002,003,004
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
SILVER LINE
LOWER ARM HARNESS
3HAC022996-001
3HAC022997-001
UPPER ARM HARNESS
3HAC023057-001,002,003,004,005
FOR IRB66x0ID
CONNECTION BETWEEN
R2.CP/CS AND R3.CP/CS
SEE PAGE IRB66x0ID
LOWER ARM HARNESS
3HAC022996-001
3HAC022997-001
UPPER ARM HARNESS
3HAC025532-001
-XP5.1
7
7
-XP5.2
8
8
-XP5.1
8
8
-XP5.2
5
-MANIPULATOR BASE
-R2.CP/CS
c18
RD
C18
c18
WH/BN
C18
c18
WH/BN
683 BU
C19
c19
GN
C19
c19
BN
C19
c19
BN
688 WH/BN
C20
c20
RD
C20
c20
WH/RD
C20
c20
684 VT
C21
c21
BN
C21
c21
RD
C21
c21
WH/RD
RD
-R3.CP/CS
B13
B14
B15
C8
9
9
689 WH/RD
B22
b22
RD
B22
b22
WH/YE
B22
b22
10
10
690 WH/OG
B23
b23
GY
B23
b23
YE
B23
b23
YE
A2
11
11
691 WH/YE
B24
b24
BK
B24
b24
WH/GN
B24
b24
WH/GN
A3
12
12
692 WH/GN
B25
b25
BU
B25
b25
GN
B25
b25
GN
A4
7
7
699 WH/YE
C10
8
8
700 WH/GN
C11
9
9
666 WH/BU
C12
10
10
667 WH/VT
C13
11
11
668 WH/GY
C14
12
12
669 BN/BK
C15
Lab/Office:
DMRO SE
PRMP
IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5
Approved by, date:
JEN 2015-03-04
TYPE H, HS AND HSe
WH/YE
300/8
Note 1.6 on Page 701
CUSTOMER SIGNALS, PARALLEL
EM 2015-02-17
8
-AXIS 6
C18
ECO 70147, WI 7698
Page 224-231: Adjusted, "Type Se" was "Type S"
Page 316-321: Adjusted, "Type H" was "Type S"
Prepared by, date:
7
-AXIS 3
300/7
-R1.CP/CS
6
300/6
-XS13
4
300/5
*
DUAL SINGLE
-XP5.2
7 7 687 WH/BK
-XP5.3
* Circuitdiagram shows
marking on wires for both
dual and single cabinet
Latest revision:
*
3
300/4
TYPE H, HS AND HSe
CUSTOMER SIGNALS
PARALLEL
COMMUNICATION
VALID FOR
HARNESS IN CABINET
3HAC022852-001 (Dual)
3HAC024371-001 (Single)
FLOOR HARNESS
3HAC022957-001,002,003,006
2
-ROBOTCABINET
300/3
1
A1
= DP
Plant:
Location: + H
APPROVED
Sublocation:+
Document no.
Rev. Ind Page301
Next 302
3HAC026209-001
Total 98
Status:
2015-03-04
12
TYPE H, HS AND HSe
CUSTOMER SIGNALS
CANBUS
COMMUNICATION
VALID FOR
HARNESS IN CABINET
3HAC022852-001 (Dual)
3HAC024371-001 (Single)
3HAC022866-001
FLOOR HARNESS
3HAC022978-001,002,003,006
2
-ROBOTCABINET
*
-XP6
ORANGE LINE
LOWER ARM HARNESS
3HAC022998-001
3HAC022999-001
3HAC028811-001
UPPER ARM HARNESS
3HAC023253-001,002,003,004
FOR IRB66x0ID
CONNECTION BETWEEN
R2.CP/CS AND R3.CP/CS
SEE PAGE IRB66x0ID
LOWER ARM HARNESS
3HAC022998-001
3HAC022999-001
UPPER ARM HARNESS
3HAC025532-001
* Circuitdiagram shows
marking on wires for both
dual and single cabinet
1
2
2
3
3
4
4
*
673
-
-XP5.1
1
2
1
2
RD
OG
YE
GN
6
7
8
-AXIS 6
-AXIS 3
GN/YE
677
BK
BN
-XP5.2
1 1 WH/GN WH/GN
GN
Note 1.1 on Page 700
-R1.CP/CS
-R2.CP/CS
-R3.CP/CS
1
D1
d1
4
D1
d1
4
C4
a2
2
D6
d6
5
D6
d6
5
C5
A3
a3
3
D3
d3
6
D3
d3
6
C6
A4
a4
4
D4
d4
7
D4
d4
7
C7
A1
a1
A2
BU
VT
GN/YE
678
5
-MANIPULATOR BASE
-XS13
DUAL SINGLE
670
BK
BN
671
672
-
4
GN/YE
GN/YE
GN/YE
WH
B1
b1
WH/BK
B1
b1
WH/BK
B18
B2
b2
BU
B2
b2
BK
B2
b2
BK
B19
B3
b3
WH/GN
B3
b3
WH/BN
B3
b3
WH/BN
B20
B4
b4
GN
B4
b4
BN
B4
b4
BN
B21
2
2
GN
3
3
WH/BN WH/BN
B5
b5
WH/BN
B5
b5
WH/RD
B5
b5
WH/RD
B22
4
4
BN
B6
b6
BN
B6
b6
RD
B6
b6
RD
B23
B7
b7
WH/BU
B7
b7
WH/OG
B7
b7
WH/OG
B24
B8
b8
BU
B8
b8
OG
B8
b8
OG
B25
B9
b9
WH/OG
B9
b9
WH/YE
B9
9
WH/YE
B16
B10
b10
OG
B10
b10
YE
b10
YE
B17
BN
-XP5.1
9 9 WH/BU WH/BU
10
10BU
BU
11
11 WH/OGWH/OG
12
12OG
OG
24V
0V
24V
0V
PE
b1
B1
303/3
B10
Latest revision:
Lab/Office:
DMRO SE
PRMP
ECO 70147, WI 7698
Page 224-231: Adjusted, "Type Se" was "Type S"
Page 316-321: Adjusted, "Type H" was "Type S"
IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5
CUSTOMER SIGNALS, PARALLEL
Prepared by, date:
EM 2015-02-17
Approved by, date:
JEN 2015-03-04
TYPE H, HS AND HSe
303/8
303/7
303/6
Note 1.3 on Page 700
303/5
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
SILVER LINE
LOWER ARM HARNESS
3HAC022998-001
3HAC022999-001
UPPER ARM HARNESS
3HAC023058-001,002,003,004,005
1
3
303/4
1
= DP
Plant:
Location: + H
APPROVED
Sublocation:+
Document no.
Rev. Ind Page302
Next 303
3HAC026209-001
Total 98
Status:
2015-03-04
12
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
B11
b11
4
4
680
OG
B12
b12
WH
OG
B13
a13
GN
WH/BU
a11
B12
a12
302/8
b11
B12
b12
WH/GN
GN
B13
b13
WH/BU
B3
B1
B2
5
681
YE
B13
b13
6
6
682
GN
B14
b14
GN
B14
b14
BU
B14
b14
BU
B4
693
GY
B15
b15
WH
B15
b15
WH/VT
B15
b15
WH/VT
B5
b16
BN
b16
VT
B6
B18
b18
WH/GY
B18
b18
WH/GY
B7
2
1
2
694
WH
B16
B16
b16
VT
B16
3
3
695
WH/BK
B18
b18
WH
4
4
696
WH/BN
B19
b19
GY
B19
b19
GY
B19
b19
GY
B8
5
5
697
WH/RD
B20
b20
RD
B20
b20
WH/BK
B20
b20
WH/BK
B9
B21
b21
BK
B21
b21
BK
B10
C16
c16
WH/OG
C16
c16
WH/OG
B11
C17
c17
OG
C17
c17
OG
B12
C18
c18
WH/BN
C18
b18
WH/BN
B13
6
6
-XP5.2
698
WH/OG
B21
b21
BU
RD
5
5
685
GY
C16
c16
6
6
686
WH
C17
c17
7
7
687
WH/BK
C18
c18
OG
RD
683
BU
C19
c19
GN
C19
c19
BN
C19
b19
BN
B14
688
WH/BN
C20
c20
RD
C20
c20
WH/RD
C20
b20
WH/RD
B15
684
VT
C21
c21
BN
C21
c21
RD
C21
b21
RD
RD
RD
F1
f1
RD
B22
b22
WH/BK
f2
BK
B23
b23
BK
-XP5.1
7
7
-XP5.2
8
8
8
-A35.X2
5
1
5
1
-XP5.2
BK
BK
F2
C8
b22
WH/BK
A1
B23
b23
BK
A2
B22
11
11
691
WH/YE
B24
b24
BK
B24
b24
WH/BN
B24
b24
WH/BN
A3
12
12
692
WH/GN
B25
b25
BU
B25
b25
BN
B25
b25
BN
A4
9
9
689
WH/RD
B22
10
10
690
WH/OG
B23
-A35.X2
4
4
WH
WH
F3
f3
WH
A3
a3
5
YE
A3
a3
5
YE
A7
2
2
BU
BU
F4
f4
BU
A4
a4
6
YE
A4
a4
6
YE
A8
3
3
699
WH/YE
c10
BK
A5
a5
A5
a5
A6
A6
A9
A9
7
8
8
9
9
C10
VT
VT
a9
1
GN
GN
700
WH/GN
C11
c11
666
WH/BU
C12
c12
BK
A10
a10
2
A11
a11
3
GN
a12
4
GN
10
10
667
WH/VT
C13
c13
11
11
668
WH/GY
C14
c14
BK
c15
BN
12
a6
7
8
OG
GN
12
669
BN/BK
C15
A12
Lab/Office:
DMRO SE
PRMP
ECO 70147, WI 7698
Page 224-231: Adjusted, "Type Se" was "Type S"
Page 316-321: Adjusted, "Type H" was "Type S"
Approved by, date:
JEN 2015-03-04
a6
7
8
VT
VT
A10
a9
1
GN
A5
A10
a10
2
GN
A6
A11
a11
3
GN
A11
a12
4
GN
A12
A12
IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5
CUSTOMER SIGNALS, CANBUS
EM 2015-02-17
-R3.CP/CS
B11
5
7
Prepared by, date:
-R2.CP/CS
8
-AXIS 6
WH
-XP5.3
Latest revision:
B11
302/7
RD
8
* Circuitdiagram shows
marking on wires for both
dual and single cabinet
WH/GN
679
-XP5.1
FOR IRB66x0ID
CONNECTION BETWEEN
R2.CP/CS AND R3.CP/CS
SEE PAGE IRB66x0ID
LOWER ARM HARNESS
3HAC022998-001
3HAC022999-001
UPPER ARM HARNESS
3HAC025532-001
-R1.CP/CS
7
-AXIS 3
3
1
SILVER LINE
LOWER ARM HARNESS
3HAC022998-001
3HAC022999-001
UPPER ARM HARNESS
3HAC023058-001,002,003,004,005
-XS13
6
3
-XP5.3
ORANGE LINE
LOWER ARM HARNESS
3HAC022998-001
3HAC022999-001
3HAC028811-001
UPPER ARM HARNESS
3HAC023253-001,002,003,004
*
SINGLE
5
-MANIPULATOR BASE
302/6
-XP5.1
*
DUAL
4
302/5
TYPE H, HS AND HSe
CUSTOMER SIGNALS
CANBUS
COMMUNICATION
VALID FOR
HARNESS IN CABINET
3HAC022852-001 (Dual)
3HAC024371-001 (Single)
3HAC022866-001
FLOOR HARNESS
3HAC022978-001,002,003,006
3
302/4
2
-ROBOTCABINET
302/3
1
TYPE H, HS AND HSe
+24V CAN
0V CAN
CAN_H
CAN_L
A9
= DP
Plant:
Location: + H
APPROVED
Sublocation:+
Document no.
Rev. Ind Page303
Next 304
3HAC026209-001
Total 98
Status:
2015-03-04
12
1
TYPE H, HS AND HSe
CUSTOMER SIGNALS
ETHERNET
COMMUNICATION
VALID FOR
HARNESS IN CABINET
3HAC022852-001 (Dual)
3HAC024371-001 (Single)
3HAC022867-001
FLOOR HARNESS
3HAC023024-001,002,003,006
2
-ROBOTCABINET
*
-XP6
ORANGE LINE
LOWER ARM HARNESS
3HAC034141-001
UPPER ARM HARNESS
3HAC023252-001,002,004
1
2
2
3
3
4
4
-XP5.1
FOR IRB66X0ID
CONNECTION BETWEEN
R2.CP/CS AND R3.CP/CS
SEE PAGE IRB66X0ID
LOWER ARM HARNESS
3HAC034138-001
3HAC034139-001
*
BK
BN
671
-
RD
OG
672
-
YE
GN
673
-
BU
VT
GN/YE
GN/YE
-XS13
6
7
8
-AXIS 3
Note 1.1 on Page 700
-R1.CP/CS
-AXIS 6
-R2.CP/CS
-R3.CP/CS
1
D1
d1
4
D1
d1
4
C4
24V
a2
2
D6
d6
5
D6
d6
5
C5
0V
A3
a3
3
D3
d3
6
D3
d3
6
C6
24V
A4
a4
4
D4
d4
7
D4
d4
7
C7
0V
A1
a1
A2
GN/YE
GN/YE
GN/YE
PE
1
1
677
BK
B1
b1
WH
B1
b1
WH/BK
B1
b1
WH/BK
B18
2
2
678
BN
B2
b2
BU
B2
b2
BK
B2
b2
BK
B19
-XP5.2
* Circuitdiagram shows
marking on wires for both
dual and single cabinet
5
-MANIPULATOR BASE
DUAL SINGLE
670
-
4
305/4
305/3
1
1
WH/GN
WH/GN
B3
b3
WH/GN
B3
b3
WH/BN
B3
b3
WH/BN
B20
2
2
GN
GN
B4
b4
GN
B4
b4
BN
B4
b4
BN
B21
3
3
WH/BN
WH/BN
B5
b5
WH/BN
B5
b5
WH/RD
B5
b5
WH/RD
B22
4
4
BN
BN
B6
b6
BN
B6
b6
RD
B6
b6
RD
B23
-XP5.1
9
9
WH/BU
WH/BU
B7
b7
WH/BU
B7
b7
WH/OG
B7
b7
WH/OG
B24
10
10
BU
BU
B8
b8
BU
B8
b8
OG
B8
b8
OG
B25
11
11
WH/OG
WH/OG
B9
b9
WH/OG
B9
b9
WH/YE
B9
b9
WH/YE
B16
12
12
OG
OG
B10
b10
OG
B10
b10
YE
B10
b10
YE
B17
305/8
305/7
305/6
Note 1.3 on Page 700
305/5
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
SILVER LINE
LOWER ARM HARNESS
3HAC034138-001
3HAC034139-001
UPPER ARM HARNESS
3HAC034204-002
3HAC026813-002
1
3
-XS9
-R1.ETHERNET
Latest revision:
-R2.ETHERNET
1
YE
1
1
YE
1
1
YE
1
2
2
WH
2
2
WH
2
2
WH
2
3
3
OG
3
3
OG
3
3
OG
3
4
4
BU
4
4
BU
4
4
BU
4
Lab/Office:
DMRO SE
PRMP
ECO 70147, WI 7698
Page 224-231: Adjusted, "Type Se" was "Type S"
Page 316-321: Adjusted, "Type H" was "Type S"
IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5
CUSTOMER SIGNALS, ETHERNET
Prepared by, date:
EM 2015-02-17
Approved by, date:
-R3.ETHERNET
1
JEN 2015-03-04
TYPE H, HS AND HSe
= DP
Plant:
Location: + H
APPROVED
Sublocation:+
Document no.
Rev. Ind Page304
Next 305
3HAC026209-001
Total 98
Status:
2015-03-04
12
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
ORANGE LINE
LOWER ARM HARNESS
3HAC034141-001
UPPER ARM HARNESS
3HAC023252-001,002,004
3
3
4
4
680
b11
WH
B12
b12
OG
-R1.CP/CS
B11
b11
WH/GN
B12
b12
B13
-R3.CP/CS
B11
b11
WH/GN
GN
B12
b12
GN
B2
b13
WH/BU
B13
b13
WH/BU
B3
B1
681
YE
B13
b13
6
6
682
GN
B14
b14
GN
B14
b14
BU
B14
b14
BU
B4
-XP5.3
1
1
693
GY
B15
b15
WH
B15
b15
WH/VT
B15
b15
WH/VT
B5
2
2
694
WH
B16
b16
BN
B16
b16
VT
B16
b16
VT
B6
b18
WH
b18
WH/GY
B18
b18
WH/GY
B7
B19
b19
GY
B19
b19
GY
B8
B9
695
3
3
WH/BK
B18
B18
4
4
696
WH/BN
B19
b19
GY
5
5
697
WH/RD
B20
b20
RD
B20
b20
WH/BK
B20
b20
WH/BK
6
6
698
WH/OG
B21
b21
BU
B21
b21
BK
B21
b21
BK
B10
-XP5.2
5
5
685
GY
C16
c16
RD
C16
c16
WH/OG
C16
c16
WH/OG
B11
6
6
686
WH
C17
c17
OG
C17
c17
OG
C17
c17
OG
B12
7
7
687
WH/BK
C18
c18
RD
C18
c18
WH/BN
C18
c18
WH/BN
B13
683
BU
C19
c19
GN
C19
c19
BN
C19
c19
BN
B14
688
WH/BN
C20
c20
RD
C20
c20
WH/RD
C20
c20
WH/RD
B15
684
VT
C21
c21
BN
C21
c21
RD
C21
c21
RD
-XP5.1
7
7
8
8
-XP5.1
8
8
-XP5.2
C8
9
9
WH/RD
WH/OG
B22
b22
b22
B23
b23
B23
b23
WH/YE
YE
A1
b23
WH/YE
YE
B22
B23
RD
GY
B22
10
689
690
B22
10
11
11
691
WH/YE
B24
b24
BK
B24
b24
WH/GN
B24
b24
WH/GN
A3
12
12
692
WH/GN
B25
b25
BU
B25
b25
GN
B25
b25
GN
A4
-XP5.3
9
9
666
WH/BU
C12
10
10
667
WH/VT
C13
11
11
668
WH/GY
C14
12
12
669
BN/BK
C15
7
7
699
WH/YE
C10
8
8
700
WH/GN
C11
Lab/Office:
DMRO SE
PRMP
ECO 70147, WI 7698
Page 224-231: Adjusted, "Type Se" was "Type S"
Page 316-321: Adjusted, "Type H" was "Type S"
IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5
CUSTOMER SIGNALS, ETHERNET
EM 2015-02-17
-AXIS 6
5
FOR IRB66X0ID
CONNECTION BETWEEN
R2.CP/CS AND R3.CP/CS
SEE PAGE IRB66X0ID
LOWER ARM HARNESS
3HAC034138-001
3HAC034139-001
Prepared by, date:
-R2.CP/CS
8
304/8
B11
-AXIS 3
304/7
-MANIPULATOR BASE
7
304/6
6
5
-XP5.2
Latest revision:
OG
-XS13
5
WH
SILVER LINE
LOWER ARM HARNESS
3HAC034138-001
3HAC034139-001
UPPER ARM HARNESS
3HAC034204-002
3HAC026813-002
* Circuitdiagram shows
marking on wires for both
dual and single cabinet
* SINGLE
*
DUAL
679
RD
4
304/5
-XP5.1
3
304/4
TYPE H, HS AND HSe
CUSTOMER SIGNALS
ETHERNET
COMMUNICATION
VALID FOR
HARNESS IN CABINET
3HAC022852-001 (Dual)
3HAC024371-001 (Single)
3HAC022867-001
FLOOR HARNESS
3HAC023024-001,002,003,006
2
-ROBOTCABINET
304/3
1
Approved by, date:
JEN 2015-03-04
TYPE H, HS AND HSe
A2
= DP
Plant:
Location: + H
APPROVED
Sublocation:+
Document no.
Rev. Ind Page305
Next 306
3HAC026209-001
Total 98
Status:
2015-03-04
12
1
2
-MANIPULATOR BASE
1
1
2
2
3
3
4
4
670
-
*
BK
BN
671
-
RD
OG
672
-
YE
GN
-R3.CP/CS
1
D1
d1
4
D1
d1
4
C4
A2
a2
2
D6
d6
5
D6
d6
5
C5
A3
a3
3
D3
d3
6
D3
d3
6
C6
A4
a4
4
D4
d4
7
D4
d4
7
C7
GN/YE
GN/YE
1
677
BK
B1
b1
WH
B1
b1
WH/BK
B1
b1
2
2
678
BN
B2
b2
BU
B2
b2
BK
B2
b2
BK
B19
-XP5.2
WH/BK
1
WH/GNWH/GN
B3
b3
WH/GN
B3
b3
WH/BN
B3
b3
WH/BN
B20
2
2
GN
B4
b4
GN
B4
b4
BN
B4
b4
BN
B21
3
3
WH/BN WH/BN
B5
b5
WH/BN
B5
b5
WH/RD
B5
b5
WH/RD
B22
4
4
BN
B6
b6
BN
B6
b6
RD
B6
b6
RD
B23
-XP5.1
BN
WH/BU WH/BU
B7
b7
WH/BU
B7
b7
WH/OG
B7
b7
WH/OG
B24
10
10
BU
B8
b8
BU
B8
b8
OG
B8
b8
OG
B25
11
11
WH/OGWH/OG
B9
b9
WH/OG
B9
b9
WH/YE
B9
b9
WH/YE
B16
12
12
OG
B10
b10
OG
B10
b10
YE
B10
b10
YE
B17
OG
307/5
Approved by, date:
Lab/Office:
DMRO SE
PRMP
JEN 2015-03-04
24V
0V
Note 1.3 on Page 700
IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5
TYPE H, HS AND HSe
307/8
9
307/7
9
BU
0V
B18
1
GN
24V
PE
1
CUSTOMER SIGNALS, PROFIBUS
EM 2015-02-17
-R2.CP/CS
a1
GN/YE
ECO 70147, WI 7698
Page 224-231: Adjusted, "Type Se" was "Type S"
Page 316-321: Adjusted, "Type H" was "Type S"
Prepared by, date:
-AXIS 6
A1
* Circuitdiagram shows
marking on wires for both
dual and single cabinet
Latest revision:
-AXIS 3
Note 1.1 on Page 700
-R1.CP/CS
673
BU
VT
GN/YE GN/YE
-XP5.1
8
-XS13
DUAL SINGLE
-XP6
7
307/6
SILVER LINE
LOWER ARM HARNESS
3HAC022998-001
3HAC022999-001
UPPER ARM HARNESS
3HAC023058-001,002,003,004,005
*
6
307/4
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
5
-ROBOTCABINET
ORANGE LINE
LOWER ARM HARNESS
3HAC022998-001
3HAC022999-001
3HAC028811-001
UPPER ARM HARNESS
3HAC023253-001,002,003,004
FOR IRB66x0ID
CONNECTION BETWEEN
R2.CP/CS AND R3.CP/CS
SEE PAGE IRB66x0ID
LOWER ARM HARNESS
3HAC022998-001
3HAC022999-001
UPPER ARM HARNESS
3HAC025532-001
4
307/3
TYPE H, HS AND HSe
CUSTOMER SIGNALS
PROFIBUS
COMMUNICATION
VALID FOR
HARNESS IN CABINET
3HAC022852-001 (Dual)
3HAC024371-001 (Single)
3HAC022868-001
FLOOR HARNESS
3HAC022988-001,002,003,006
3
= DP
Plant:
Location: + H
APPROVED
Sublocation:+
Document no.
Rev. Ind Page306
Next 307
3HAC026209-001
Total 98
Status:
2015-03-04
12
1
2
-ROBOTCABINET
TYPE H, HS AND HSe
CUSTOMER SIGNALS
PROFIBUS
COMMUNICATION
VALID FOR
HARNESS IN CABINET
3HAC022852-001 (Dual)
3HAC024371-001 (Single)
3HAC022868-001
FLOOR HARNESS
3HAC022988-001,002,003,006
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
5
-MANIPULATOR BASE
6
-AXIS 6
306/8
-R2.CP/CS
306/7
306/6
-R1.CP/CS
-R3.CP/CS
3
679 RD
B11
b11
WH
B11
b11
WH/GN
B11
b11
WH/GN
B1
4
4
680 OG
B12
b23
OG
B12
b12
GN
B12
b12
GN
B2
5
5
681 YE
B13
b13
WH
B13
b13
WH/BU
B13
b13
WH/BU
B3
6
6
682 GN
B14
b14
GN
B14
b14
BU
B14
b14
BU
B4
-XP5.3
1
1
693 GY
B15
b15
WH
B15
b15
WH/VT
B15
b15
WH/VT
B5
2
2
694 WH
B16
b16
BN
B16
b16
VT
B16
b16
VT
B6
3
3
695 WH/BK
B18
b18
WH
B18
b18
WH/GY
B18
b18
WH/GY
B7
4
4
696 WH/BN
B19
b19
GY
B19
b19
GY
B19
b19
GY
B8
5
5
697 WH/RD
B20
b20
RD
B20
b20
WH/BK
B20
b20
WH/BK
B9
6
6
698 WH/OG
B21
b21
BU
B21
b21
BK
B21
b21
BK
B10
-XP5.2
5
5
685 GY
C16
c16
RD
C16
c16
WH/OG
C16
c16
WH/OG
B11
6
6
686 WH
C17
c17
OG
C17
c17
OG
C17
c17
OG
B12
7
7
687 WH/BK
C18
c18
RD
C18
c18
WH/BN
C18
c18
WH/BN
B13
683 BU
C19
c19
GN
C19
c19
BN
C19
c19
BN
B14
688 WH/BN
C20
c20
RD
C20
c20
WH/RD
C20
c20
WH/RD
B15
684 VT
C21
c21
BN
C21
c21
RD
C21
c21
RD
C8
-XP5.1
7
-XP5.2
8
8
-XP5.1
8
8
-XP5.2
9
9
689 WH/RD
B22
b22
RD
B22
b22
WH/BK
B22
b22
WH/BK
A1
10
10
690 WH/OG
B23
b23
GY
B23
b23
BK
B23
b23
BK
A2
11
11
691 WH/YE
B24
b24
BK
B24
b24
WH/BN
B24
b24
WH/BN
A3
12
12
692 WH/GN
B25
b25
BU
B25
b25
BN
B25
b25
BN
A4
-XP5.3
7
7
699 WH/YE
C10
c10
BK
A3
a3
5
YE
A3
a3
5
YE
A7
8
8
700 WH/GN
C11
c11
OG
A4
a4
6
YE
A4
a4
6
YE
A8
1B
1B
RD
RD
F5
f5
RD
A5
a5
7
VT
A5
a5
7
VT
A9
1A
1A
GN
GN
F6
f6
GN
A6
a6
8
VT
A6
a6
8
VT
A10
-XP5.3
9
9
666 WH/BU
C12
c12
BK
A9
a9
1
GN
A9
a9
1
GN
A5
10
10
667 WH/VT
C13
c13
GN
A10
a10
2
GN
A10
a10
2
GN
A6
11
11
668 WH/GY
C14
c14
BK
A11
a11
3
GN
A11
a11
3
GN
A11
12
12
669 BN/BK
C15
c15
BN
A12
a12
4
GN
A12
a12
4
GN
A12
Lab/Office:
DMRO SE
PRMP
ECO 70147, WI 7698
Page 224-231: Adjusted, "Type Se" was "Type S"
Page 316-321: Adjusted, "Type H" was "Type S"
IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5
CUSTOMER SIGNALS, PROFIBUS
EM 2015-02-17
8
3
-DP-M
Prepared by, date:
7
-AXIS 3
306/5
*
306/4
-XP5.1
7
Latest revision:
306/3
*
DUAL SINGLE
SILVER LINE
LOWER ARM HARNESS
3HAC022998-001
3HAC022999-001
UPPER ARM HARNESS
3HAC023058-001,002,003,004,005
* Circuitdiagram shows
marking on wires for both
dual and single cabinet
4
-XS13
ORANGE LINE
LOWER ARM HARNESS
3HAC022998-001
3HAC022999-001
3HAC028811-001
UPPER ARM HARNESS
3HAC023253-001,002,003,004
FOR IRB66x0ID
CONNECTION BETWEEN
R2.CP/CS AND R3.CP/CS
SEE PAGE IRB66x0ID
LOWER ARM HARNESS
3HAC022998-001
3HAC022999-001
UPPER ARM HARNESS
3HAC025532-001
3
Approved by, date:
JEN 2015-03-04
TYPE H, HS AND HSe
RXD/TXD-P
RXD/TXD-N
= DP
Plant:
Location: + H
APPROVED
Sublocation:+
Document no.
Rev. Ind Page307
Next +.1/308
3HAC026209-001
Total 98
Status:
2015-03-04
12
1
2
+.-ROBOTCABINET
TYPE H, HS AND HSe
CUSTOMER SIGNALS
PARALLEL
COMMUNICATION
VALID FOR
HARNESS IN CABINET
3HAC022852-001 (Dual)
3HAC024371-001 (Single)
FLOOR HARNESS
3HAC022957-001,002,003,006
* Circuitdiagram shows
marking on wires for both
dual and single cabinet
-XP6
1
1
2
2
3
3
4
4
*
DUAL SINGLE
4
5
-MANIPULATOR BASE
-XS13
670
671
-
BK
BN
RD
OG
A1
A2
a2
672
673
-
YE
GN
BU
VT
A3
a3
A4
a4
GN/YE
GN/YE
1
a1
D1
2
3
4
6
d6
D3
d3
D4
d4
8
-AXIS 3
5
6
7
GN/YE
-AXIS6
-R2.CP/CS
4
d1
D6
7
Note 1.1 on Page 700
-R1.CP/CS
D1
d1
D6
d6
D3
d3
D4
d4
-R3.CP/CS
WH/BK
BK
WH/OG
OG
f
24V
g
0V
WH/BN
BN
WH/RD
RD
h
24V
j
0V
GN/YE
V
PE
GN/YE
GN/YE
-XP5.1
1
1
677
BK
B1
b1
WH
B1
b1
WH/BK
B1
b1
WH/BK
A
2
2
678
BN
B2
b2
BU
B2
b2
BK
B2
b2
BK
B
WH/GN
B3
b3
WH/GN
B3
b3
WH/BN
B3
b3
WH/BN
C
GN
B4
b4
GN
B4
b4
BN
B4
b4
BN
D
WH/BN
B5
b5
WH/BN
B5
b5
WH/RD
B5
b5
WH/RD
E
BN
B6
b6
BN
B6
b6
RD
B6
b6
RD
F
WH/BU
B7
b7
WH/BU
B7
b7
WH/OG
B7
b7
WH/OG
G
BU
B8
b8
BU
B8
b8
OG
B8
b8
OG
H
WH/OG
B9
b9
WH/OG
B9
b9
WH/YE
B9
b9
WH/YE
J
b10
YE
B10
b10
YE
K
-XP5.2
1
1 WH/GN
2
2
3
3 WH/BN
4
4
GN
BN
-XP5.1
9
9 WH/BU
BU
10
10
11
11 WH/OG
12
12
OG
OG
B10
OG
b10
B10
Note 1.3 on Page 700
3
3
679
RD
B11
b11
WH
B11
b11
WH/GN
B11
b11
WH/GN
L
4
4
680
OG
B12
b12
OG
B12
b12
GN
B12
b12
GN
M
5
5
681
YE
B13
b13
WH
B13
b13
WH/BU
B13
b13
WH/BU
N
6
6
682
GN
B14
b14
GN
B14
b14
BU
B14
b14
BU
P
-XP5.3
693
GY
B15
b15
WH
B15
b15
WH/VT
B15
b15
WH/VT
R
2
2
694
WH
B16
b16
BN
B16
b16
VT
B16
b16
VT
S
3
3
695
WH/BK
B18
b18
WH
B18
b18
WH/GY
B18
b18
WH/GY
T
4
4
696
WH/BN
B19
b19
GY
B19
b19
GY
B19
b19
GY
U
5
5
697
WH/RD
B20
b20
RD
B20
b20
WH/BK
B20
6
6
698
WH/OG
B21
b21
BU
B21
b21
BK
B21
-XP5.2
GY
C16
c16
RD
C16
c16
WH/OG
C16
6
6
686
WH
C17
c17
OG
C17
c17
OG
C17
Latest revision:
Lab/Office:
DMRO SE
PRMP
ECO 70147, WI 7698
Page 224-231: Adjusted, "Type Se" was "Type S"
Page 316-321: Adjusted, "Type H" was "Type S"
Note 1.5 on Page 701
IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5
CUSTOMER SIGNALS, PARALLEL
Prepared by, date:
EM 2015-02-17
Approved by, date:
JEN 2015-03-04
301/6
685
301/5
5
301/4
5
TYPE H, HS AND HSe
301/8
1
301/7
1
301/3
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
IRBDP MH3
LOWER ARM HARNESS
3HAC022996-001
3HAC022997-001
UPPER ARM HARNESS
3HAC026813-001
*
3
= DP
Plant:
Location: + H
APPROVED
Sublocation:+ 1
Document no.
Rev. Ind Page308
Next 309
3HAC026209-001
Total 98
Status:
2015-03-04
12
IRBDP MH3
LOWER ARM HARNESS
3HAC022996-001
3HAC022997-001
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
* Circuitdiagram shows
marking on wires for both
dual and single cabinet
Latest revision:
-XP5.2
7
7
-XP5.1
7
7
-XP5.2
8
8
-XP5.1
8
8
-XP5.2
5
-MANIPULATOR BASE
-R1.CP/CS
6
Note 1.6 on Page 701
C18
c18
RD
C18
c18
WH/BN
C18
683 BU
C19
c19
GN
C19
c19
BN
C19
688 WH/BN
C20
c20
RD
C20
c20
WH/RD
C20
684 VT
C21
c21
BN
C21
c21
RD
C21
9
9
689 WH/RD
B22
b22
RD
B22
b22
WH/YE
B22
10
10
690 WH/OG
B23
b23
GY
B23
b23
YE
B23
11
11
691 WH/YE
B24
b24
BK
B24
b24
WH
B24
12
12
692 WH/GN
B25
b25
BU
B25
b25
GN
B25
-XP5.3
7
7
699 WH/YE
C10
8
8
700 WH/GN
C11
9
9
666 WH/BU
C12
10
10
667 WH/VT
C13
11
11
668 WH/GY
C14
12
12
669 WH/BK
C15
Lab/Office:
DMRO SE
PRMP
IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5
CUSTOMER SIGNALS, PARALLEL
EM 2015-02-17
Approved by, date:
JEN 2015-03-04
TYPE H, HS AND HSe
8
-AXIS 6
-R2.CP/CS
687 WH/BK
ECO 70147, WI 7698
Page 224-231: Adjusted, "Type Se" was "Type S"
Page 316-321: Adjusted, "Type H" was "Type S"
Prepared by, date:
7
-AXIS 3
300/6
-XS13
*
*
DUAL SINGLE
4
300/5
3
300/4
TYPE H, HS AND HSE
CUSTOMER SIGNALS
PARALLEL
COMMUNICATION
VALID FOR
HARNESS IN CABINET
3HAC022852-001 (Dual)
3HAC024371-001 (Single)
FLOOR HARNESS
3HAC022957-001,002,003,006
2
-ROBOTCABINET
300/3
1
= DP
Plant:
Location: + H
APPROVED
Sublocation:+ 1
Document no.
Rev. Ind Page309
Next 310
3HAC026209-001
Total 98
Status:
2015-03-04
12
TYPE H, HS AND HSe
CUSTOMER SIGNALS
CANBUS
COMMUNICATION
VALID FOR
HARNESS IN CABINET
3HAC022852-001(Dual)
3HAC024371-001 (Single)
3HAC022866-001
FLOOR HARNESS
3HAC022978-001,002,003,006
2
-ROBOTCABINET
*
-XP6
IRBDP MH3
LOWER ARM HARNESS
3HAC022998-001
3HAC022999-001
UPPER ARM HARNESS
3HAC026813-002
* Circuitdiagram shows
marking on wires for both
dual and single cabine
1
1
2
2
3
3
4
4
3
*
DUAL
670
671
-
SINGLE
BK
BN
RD
OG
672
673
-
YE
GN
BU
VT
4
1
2
677
BK
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
-XP5.2
7
8
-AXIS 6
-AXIS 3
Note 1.1 on Page 700
4
-R1.CP/CS
A1
a1
1
D1
d1
A2
a2
2
D6
d6
A3
a3
3
D3
A4
a4
4
D4
B1
-R2.CP/CS
D1
d1
5
D6
d6
d3
6
D3
d3
d4
7
D4
d4
GN/YE
-R3.CP/CS
WH/BK
BK
WH/OG
OG
f
g
WH/BN
BN
WH/RD
RD
GN/YE
h
GN/YE
V
PE
B1
b1
WH/BK
B1
b1
WH/BK
A
B2
b2
BK
B2
b2
BK
B
B2
b2
1
1
WH/GN
WH/GN
B3
b3
WH/GN
B3
b3
WH/BN
B3
b3
WH/BN
C
2
2
GN
GN
B4
b4
GN
B4
b4
BN
B4
b4
BN
D
3
3
WH/BN
WH/BN
B5
b5
WH/BN
B5
b5
WH/RD
B5
b5
WH/RD
E
4
4
BN
BN
B6
b6
BN
B6
b6
RD
B6
b6
RD
F
-XP5.1
9
9
WH/BU
WH/BU
B7
b7
WH/BU
B7
b7
WH/OG
B7
b7
WH/OG
G
10
10
BU
BU
B8
b8
BU
B8
b8
OG
B8
b8
OG
H
11
11 WH/OG
WH/OG
B9
b9
WH/OG
B9
b9
WH/YE
B9
b9
WH/YE
J
12
12
B10
b10
OG
B10
b10
YE
B10
b10
YE
K
OG
OG
24V
GN/YE
BU
BN
0V
0V
WH
678
24V
j
b1
303/3
2
1
6
-XS13
GN/YE GN/YE
-XP5.1
5
-MANIPULATOR BASE
303/4
1
Latest revision:
Lab/Office:
DMRO SE
PRMP
ECO 70147, WI 7698
Page 224-231: Adjusted, "Type Se" was "Type S"
Page 316-321: Adjusted, "Type H" was "Type S"
IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5
CUSTOMER SIGNALS, CANBUS
Prepared by, date:
EM 2015-02-17
Approved by, date:
JEN 2015-03-04
TYPE H, HS AND HSe
303/8
303/7
303/6
303/5
Note 1.3 on Page 700
= DP
Plant:
Location: + H
APPROVED
Sublocation:+ 1
Document no.
Rev. Ind Page310
Next 311
3HAC026209-001
Total 98
Status:
2015-03-04
12
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
IRBDP MH3
LOWER ARM HARNESS
3HAC022998-001
3HAC022999-001
UPPER ARM HARNESS
3HAC026813-002
* Circuitdiagram shows
marking on wires for both
dual and single cabine
WH/GN
679
RD
B11
b11
4
4
680
OG
B12
b12
WH
OG
B13
b13
GN
WH/BU
b11
B12
b12
-R3.CP/CS
b12
WH/GN
GN
M
B13
b13
WH/BU
N
B11
b11
B12
L
5
5
681
YE
B13
b13
6
6
682
GN
B14
b14
GN
B14
b14
BU
B14
b14
BU
P
693
GY
B15
b15
WH
B15
b15
WH/VT
B15
b15
WH/VT
R
b16
BN
b16
VT
S
B18
b18
WH/GY
B18
b18
WH/GY
T
b19
GY
U
-XP5.3
1
2
1
2
694
WH
B16
B16
b16
VT
B16
3
3
695
WH/BK
B18
b18
WH
4
4
696
WH/BN
B19
b19
GY
B19
b19
GY
B19
5
5
697
WH/RD
B20
b20
RD
B20
b20
WH/BK
B20
B21
b21
BK
B21
C16
c16
WH/OG
C16
C17
c17
OG
C17
C18
c18
WH/BN
C18
6
6
-XP5.2
698
WH/OG
B21
b21
BU
RD
5
5
685
GY
C16
c16
6
6
686
WH
C17
c17
7
7
687
WH/BK
C18
c18
OG
RD
683
BU
C19
c19
GN
C19
c19
BN
C19
688
WH/BN
C20
c20
RD
C20
c20
WH/RD
C20
684
VT
C21
c21
BN
C21
c21
RD
C21
7
-XP5.2
8
8
-XP5.1
8
8
-A35.X2
-R3.CBUS
5
5
RD
RD
F1
f1
RD
B22
b22
WH/BK
B22
b22
WH/BK
A
1
1
BK
BK
F2
f2
BK
B23
b23
BK
B23
b23
BK
B
-XP5.2
11
11
691
WH/YE
B24
b24
BK
B24
b24
WH/BN
B24
b24
WH/BN
C
12
12
692
WH/GN
B25
b25
BU
B25
b25
BN
B25
b25
BN
D
9
9
689
WH/RD
B22
10
10
690
WH/OG
B23
-A35.X2
4
4
WH
WH
F3
f3
WH
A3
a3
5
YE
A3
a3
5
YE
E
2
2
BU
BU
F4
f4
BU
A4
a4
6
YE
A4
a4
6
YE
F
3
3
699
WH/YE
c10
BK
A5
a5
A5
a5
A6
A6
A9
A9
-XP5.3
7
7
C10
a6
7
8
VT
VT
a9
1
GN
GN
8
8
700
WH/GN
C11
c11
OG
9
9
666
WH/BU
C12
c12
BK
A10
a10
2
A11
a11
3
GN
a12
4
GN
10
10
667
WH/VT
C13
c13
GN
11
11
668
WH/GY
C14
c14
BK
c15
BN
12
12
669
BN/BK
C15
A12
Lab/Office:
DMRO SE
PRMP
ECO 70147, WI 7698
Page 224-231: Adjusted, "Type Se" was "Type S"
Page 316-321: Adjusted, "Type H" was "Type S"
Approved by, date:
JEN 2015-03-04
a6
7
8
VT
VT
a9
1
GN
J
A10
a10
2
GN
K
A11
a11
3
GN
L
a12
4
GN
M
A12
IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5
CUSTOMER SIGNALS, CANBUS
EM 2015-02-17
8
-AXIS 6
WH
7
Prepared by, date:
-R2.CP/CS
302/8
-AXIS 3
3
B11
7
302/7
-R1.CP/CS
6
302/6
-XS13
5
-MANIPULATOR BASE
3
-XP5.1
Latest revision:
*
SINGLE
4
302/5
-XP5.1
*
DUAL
3
302/4
TYPE H, HS AND HSe
CUSTOMER SIGNALS
CANBUS
COMMUNICATION
VALID FOR
HARNESS IN CABINET
3HAC022852-001 (Dual)
3HAC024371-001 (Single)
3HAC022866-001
FLOOR HARNESS
3HAC022978-001,002,003,006
2
-ROBOTCABINET
302/3
1
TYPE H, HS AND HSe
+24V CAN
0V CAN
CAN_H
CAN_L
G
H
= DP
Plant:
Location: + H
APPROVED
Sublocation:+ 1
Document no.
Rev. Ind Page311
Next 312
3HAC026209-001
Total 98
Status:
2015-03-04
12
1
TYPE H, HS AND HSe
CUSTOMER SIGNALS
ETHERNET
COMMUNICATION
VALID FOR
HARNESS IN CABINET
3HAC022858-001 (Dual)
3HAC024371-001 (Single)
3HAC022867-001
FLOOR HARNESS
3HAC023024-001,002,003,006
2
-ROBOTCABINET
-XP6
IRBDP MH3
LOWER ARM HARNESS
3HAC034138-001
3HAC034139-001
UPPER ARM HARNESS
3HAC026813-001
3HAC034204-001
1
2
2
3
3
4
4
-XP5.1
6
*
670
671
-
BK
BN
RD
OG
A1
a1
A2
672
673
-
YE
GN
BU
VT
GN/YE
GN/YE
7
8
-AXIS 3
-AXIS 6
-XS13
Note 1.1 on Page 700
4
-R1.CP/CS
-R2.CP/CS
1
D1
d1
a2
2
D6
d6
5
A3
a3
3
D3
d3
6
D3
d3
A4
a4
4
D4
d4
7
D4
d4
GN/YE
D1
D6
-R3.CP/CS
WH/BK
BK
WH/OG
OG
d1
d6
f
g
0V
h
24V
j
0V
GN/YE
GN/YE
V
PE
WH/BN
BN
WH/RD
RD
GN/YE
1
1
677
BK
B1
b1
WH
B1
b1
WH/BK
B1
b1
WH/BK
A
2
2
678
BN
B2
b2
BU
B2
b2
BK
B2
b2
BK
B
WH/GN
B3
b3
WH/GN
B3
b3
WH/BN
B3
b3
WH/BN
C
GN
B4
b4
GN
B4
b4
BN
B4
b4
BN
D
WH/BN
B5
b5
WH/BN
B5
b5
WH/RD
B5
b5
WH/RD
E
BN
B6
b6
BN
B6
b6
RD
B6
b6
RD
F
WH/BU
B7
b7
WH/BU
B7
b7
WH/OG
B7
b7
WH/OG
G
BU
B8
b8
BU
B8
b8
OG
B8
b8
OG
H
WH/OG
B9
b9
WH/OG
B9
b9
WH/YE
B9
b9
WH/YE
J
B10
b10
OG
B10
b10
YE
B10
b10
YE
K
-XP5.2
1
1 WH/GN
2
2
3
3 WH/BN
4
4
GN
BN
-XP5.1
9
9 WH/BU
BU
10
10
11
11 WH/OG
12
12
OG
OG
24V
305/4
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
5
-MANIPULATOR BASE
*
DUAL SINGLE
4
305/3
* Circuitdiagram shows
marking on wires for both
dual and single cabine
1
3
305/8
305/7
305/5
305/6
Note 1.3 on Page 700
-XS9
Latest revision:
-R1.ETHERNET
1 1
YE
2
2
WH
2
2
WH
2
2
WH
2
2
3
3
OG
3
3
OG
3
3
OG
3
3
4
4
BU
4
4
BU
4
4
BU
4
4
Lab/Office:
DMRO SE
PRMP
IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5
CUSTOMER SIGNALS, ETHERNET
Prepared by, date:
EM 2015-02-17
Approved by, date:
JEN 2015-03-04
TYPE H, HS AND HSe
YE
-R3.ETHERNET
1 1
1
ECO 70147, WI 7698
Page 224-231: Adjusted, "Type Se" was "Type S"
Page 316-321: Adjusted, "Type H" was "Type S"
YE
-R2.ETHERNET
1 1
1
= DP
Plant:
Location: + H
APPROVED
Sublocation:+ 1
Document no.
Rev. Ind Page312
Next 313
3HAC026209-001
Total 98
Status:
2015-03-04
12
RD
B11
b11
WH
4
4
680
OG
B12
b12
OG
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
B11
b11
WH/GN
B12
b12
B13
b11
WH/GN
GN
B12
b12
GN
M
b13
WH/BU
B13
b13
WH/BU
N
L
5
681
YE
B13
b13
6
6
682
GN
B14
b14
GN
B14
b14
BU
B14
b14
BU
P
1
1
693
GY
B15
b15
WH
B15
b15
WH/VT
B15
b15
WH/VT
R
2
2
694
WH
B16
b16
BN
B16
b16
VT
B16
b16
VT
S
b18
WH
b18
WH/GY
B18
b18
WH/GY
T
B19
b19
GY
B19
b19
GY
U
695
3
WH/BK
B18
B18
4
4
696
WH/BN
B19
b19
GY
5
5
697
WH/RD
B20
b20
RD
B20
b20
WH/BK
B20
6
6
698
WH/OG
B21
b21
BU
B21
b21
BK
B21
5
5
685
GY
C16
c16
RD
C16
c16
WH/OG
C16
6
6
686
WH
C17
c17
OG
C17
c17
OG
C17
7
7
687
WH/BK
C18
c18
RD
C18
c18
WH/BN
C18
683
BU
C19
c19
GN
C19
c19
BN
C19
688
WH/BN
C20
c20
RD
C20
c20
WH/RD
C20
684
VT
C21
c21
BN
C21
c21
RD
C21
WH/RD
WH/OG
B22
b22
B23
7
7
-XP5.2
8
8
-XP5.1
8
8
-XP5.2
B22
b22
WH/YE
B22
b23
RD
GY
B23
b23
YE
B23
B24
b24
BK
B24
b24
WH/GN
B24
WH/GN
B25
b25
BU
B25
b25
GN
B25
9
9
10
10
689
690
11
11
691
WH/YE
12
12
692
-XP5.3
9
9
666
WH/BU
C12
10
10
667
WH/VT
C13
11
11
668
WH/GY
C14
12
12
669
BN/BK
C15
7
7
699
WH/YE
C10
8
8
700
WH/GN
C11
Lab/Office:
DMRO SE
PRMP
ECO 70147, WI 7698
Page 224-231: Adjusted, "Type Se" was "Type S"
Page 316-321: Adjusted, "Type H" was "Type S"
IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5
CUSTOMER SIGNALS, ETHERNET
EM 2015-02-17
-R3.CP/CS
B11
5
-XP5.1
Prepared by, date:
-R2.CP/CS
-AXIS 6
WH
-XP5.2
Latest revision:
-R1.CP/CS
-AXIS 3
8
304/8
679
7
304/7
3
3
* Circuitdiagram shows
marking on wires for both
dual and single cabine
6
-MANIPULATOR BASE
3
-XP5.3
IRBDP MH3
LOWER ARM HARNESS
3HAC034138-001
3HAC034139-001
UPPER ARM HARNESS
3HAC026813-001
3HAC034204-001
-XS13
5
304/6
*
*
DUAL SINGLE
4
304/5
-XP5.1
3
304/4
TYPE H, HS AND HSe
CUSTOMER SIGNALS
ETHERNET
COMMUNICATION
VALID FOR
HARNESS IN CABINET
3HAC022858-001 (Dual)
3HAC024371-001 (Single)
3HAC022867-001
FLOOR HARNESS
3HAC023024-001,002,003,006
2
-ROBOTCABINET
304/3
1
Approved by, date:
JEN 2015-03-04
TYPE H, HS AND HSe
= DP
Plant:
Location: + H
APPROVED
Sublocation:+ 1
Document no.
Rev. Ind Page313
Next 314
3HAC026209-001
Total 98
Status:
2015-03-04
12
1
2
-ROBOTCABINET
6
-MANIPULATOR BASE
*
-XP6
1
1
2
2
3
3
4
4
*
DUAL SINGLE
670
BK
BN
671
RD
OG
-XP5.1
-AXIS 3
672
673
-
YE
GN
BU
VT
GN/YE
GN/YE
Note 1.1 on Page 700
-R1.CP/CS
-R2.CP/CS
A1
a1
1
D1
d1
4
D1
d1
A2
a2
2
D6
d6
5
D6
d6
A3
a3
3
D3
d3
6
D3
d3
A4
a4
4
D4
d4
7
D4
d4
GN/YE
-R3.CP/CS
WH/BK
BK
WH/OG
OG
WH/BN
BN
WH/RD
RD
GN/YE
f
24V
g
0V
h
24V
j
0V
GN/YE
GN/YE
V
PE
WH/BK
A
1
677
BK
B1
b1
WH
B1
b1
WH/BK
B1
b1
2
2
678
BN
B2
b2
BU
B2
b2
BK
B2
b2
BK
B
1
1
WH/GN
WH/GN
B3
b3
WH/GN
B3
b3
WH/BN
B3
b3
WH/BN
C
2
2
GN
GN
B4
b4
GN
B4
b4
BN
B4
b4
BN
D
3
3
WH/BN
WH/BN
B5
b5
WH/BN
B5
b5
WH/RD
B5
b5
WH/RD
E
4
4
BN
BN
B6
b6
BN
B6
b6
RD
B6
b6
RD
F
WH/BU
WH/BU
B7
b7
WH/BU
B7
b7
WH/OG
B7
b7
WH/OG
G
10
10
BU
BU
B8
b8
BU
B8
b8
OG
B8
b8
OG
H
11
11 WH/OG
WH/OG
B9
b9
WH/OG
B9
b9
WH/YE
B9
b9
WH/YE
J
12
12
B10
b10
OG
B10
b10
YE
B10
b10
YE
K
OG
307/5
OG
Lab/Office:
DMRO SE
PRMP
Note 1.3 on Page 700
IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5
CUSTOMER SIGNALS, PROFIBUS
Approved by, date:
JEN 2015-03-04
TYPE H, HS AND HSe
307/8
9
307/7
9
ECO 70147, WI 7698
Page 224-231: Adjusted, "Type Se" was "Type S"
Page 316-321: Adjusted, "Type H" was "Type S"
EM 2015-02-17
-AXIS 6
1
-XP5.1
Prepared by, date:
8
-XS13
-XP5.2
Latest revision:
7
307/6
* Circuitdiagram shows
marking on wires for both
dual and single cabine
5
307/4
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
IRBDP MH3
LOWER ARM HARNESS
3HAC022998-001
3HAC022999-001
UPPER ARM HARNESS
3HAC026813-002
4
307/3
TYPE H, HS AND HSe
CUSTOMER SIGNALS
PROFIBUS
COMMUNICATION
VALID FOR
HARNESS IN CABINET
3HAC022852-001 (Dual)
3HAC024371-001 (Single)
3HAC022868-001
FLOOR HARNESS
3HAC022988-001,002,003,006
3
= DP
Plant:
Location: + H
APPROVED
Sublocation:+ 1
Document no.
Rev. Ind Page314
Next 315
3HAC026209-001
Total 98
Status:
2015-03-04
12
2
-ROBOTCABINET
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
IRBDP MH3
LOWER ARM HARNESS
3HAC022998-001
3HAC022999-001
UPPER ARM HARNESS
3HAC026813-002
* Circuitdiagram shows
marking on wires for both
dual and single cabine
5
-MANIPULATOR BASE
6
-AXIS 6
-R2.CP/CS
306/8
-R1.CP/CS
306/7
*
306/6
-XP5.1
-R3.CP/CS
3
3
679 RD
B11
b11
WH
B11
b11
WH/GN
B11
b11
WH/GN
L
4
4
680 OG
B12
b12
OG
B12
b12
GN
B12
b12
GN
M
5
5
681 YE
B13
b13
WH
B13
b13
WH/BU
B13
b13
WH/BU
N
6
6
682 GN
B14
b14
GN
B14
b14
BU
B14
b14
BU
P
-XP5.3
1
1
693 GY
B15
b15
WH
B15
b15
WH/VT
B15
b15
WH/VT
R
2
2
694 WH
B16
b16
BN
B16
b16
VT
B16
b16
VT
S
3
3
695 WH/BK
B18
b18
WH
B18
b18
WH/GY
B18
b18
WH/GY
T
4
4
696 WH/BN
B19
b19
GY
B19
b19
GY
B19
b19
GY
U
5
5
697 WH/RD
B20
b20
RD
B20
b20
WH/BK
B20
6
6
698 WH/OG
B21
b21
BU
B21
b21
BK
B21
-XP5.2
5
5
685 GY
C16
c16
RD
C16
c16
WH/OG
C16
6
6
686 WH
C17
c17
OG
C17
c17
OG
C17
7
7
687 WH/BK
C18
c18
RD
C18
c18
WH/BN
C18
683 BU
C19
c19
GN
C19
c19
BN
C19
688 WH/BN
C20
c20
RD
C20
c20
WH/RD
C20
684 VT
C21
c21
BN
C21
c21
RD
C21
7
-XP5.2
8
8
-XP5.1
8
8
-XP5.2
-R3.CBUS
9
9
689 WH/RD
B22
b22
RD
B22
b22
WH/BK
B22
b22
WH/BK
A
10
10
690 WH/OG
B23
b23
GY
B23
b23
BK
B23
b23
BK
B
11
11
691 WH/YE
B24
b24
BK
B24
b24
WH/BN
B24
b24
WH/BN
C
12
12
692 WH/GN
B25
b25
BU
B25
b25
BN
B25
b25
BN
D
-XP5.3
7
7
699 WH/YE
C10
c10
BK
A3
a3
5
YE
A3
a3
5
YE
E
8
8
700 WH/GN
C11
c11
OG
A4
a4
6
YE
A4
a4
6
YE
F
-DP-M
1B
1B
RD
RD
F5
f5
RD
A5
a5
7
VT
A5
a5
7
VT
G
1A
1A
GN
GN
F6
f6
GN
A6
a6
8
VT
A6
a6
8
VT
H
-XP5.3
9
9
666 WH/BU
C12
c12
BK
A9
a9
1
GN
A9
a9
1
GN
J
10
10
667 WH/VT
C13
c13
GN
A10
a10
2
GN
A10
a10
2
GN
K
11
11
668 WH/GY
C14
c14
BK
A11
a11
3
GN
A11
a11
3
GN
L
12
12
669 BN/BK
C15
c15
BN
A12
a12
4
GN
A12
a12
4
GN
M
Lab/Office:
DMRO SE
PRMP
ECO 70147, WI 7698
Page 224-231: Adjusted, "Type Se" was "Type S"
Page 316-321: Adjusted, "Type H" was "Type S"
IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5
CUSTOMER SIGNALS, PROFIBUS
EM 2015-02-17
8
-AXIS 3
306/5
*
DUAL SINGLE
7
Prepared by, date:
7
-XS13
-XP5.1
Latest revision:
4
306/4
TYPE H, HS AND HSe
CUSTOMER SIGNALS
PROFIBUS
COMMUNICATION
VALID FOR
HARNESS IN CABINET
3HAC022852-001 (Dual)
3HAC024371-001 (Single)
3HAC022868-001
FLOOR HARNESS
3HAC022988-001,002,003,006
3
306/3
1
Approved by, date:
JEN 2015-03-04
TYPE H, HS AND HSe
RXD/TXD-P
RXD/TXD-N
= DP
Plant:
Location: + H
APPROVED
Sublocation:+ 1
Document no.
Rev. Ind Page315
Next +./316
3HAC026209-001
Total 98
Status:
2015-03-04
12
1
2
-ROBOTCABINET
TYPE H
CUSTOMER SIGNALS
PARALLEL
COMMUNICATION
VALID FOR
HARNESS IN CABINET
3HAC022852-001 (Dual)
3HAC024371-001 (Single)
FLOOR HARNESS
3HAC022957-001,002,003,006
*
DUAL
-XP6
1
1
2
2
3
3
4
4
*
SINGLE
670
-
BK
BN
671
RD
672
-
OG
YE
GN
673
BU
-
VT
GN/YE
4
5
-MANIPULATOR BASE
6
7
8
-AXIS 3
-AXIS 6
-XS13
Note 1.1 on Page 700
4
-R1.CP/CS
A1
a1
1
D1
d1
A2
a2
2
D6
d6
-R2CP/CS
5
-R3.CP/CS
E
E
4
E
E
F
F
5
F
F
24V
0V
A3
a3
3
D3
d3
6
V
V
6
V
V
A4
a4
4
D4
d4
7
W
W
7
W
W
24V
0V
GN/YE
GN/YE
GN/YE
G
GN/YE
G
G
G
PE
* Circuitdiagram shows
marking on wires for both
dual and single cabinet
-XP5.1
N.C.=Not Connected
-XP5.2
1
1
677
BK
B1
b1
WH
B1
B1
WH/BK
A
A
WH/BK
A
2
2
678
BN
B2
b2
BU
B2
b2
BK
B
B
BK
B
WH/GN
B3
b3
WH/GN
B3
b3
WH/BN
C
C
WH/BN
C
GN
B4
b4
GN
B4
b4
BN
D
D
BN
D
WH/BN
B5
b5
WH/BN
B5
b5
WH/RD
H
H
WH/RD
H
BN
B6
b6
BN
B6
b6
RD
J
J
RD
J
WH/BU
B7
b7
WH/BU
B7
b7
WH/OG
K
K
WH/OG
K
BU
B8
b8
BU
B8
b8
OG
L
L
OG
L
b9
WH/YE
M
M
WH/YE
M
b10
YE
N
N
YE
N
1
1 WH/GN
2
2
3
3 WH/BN
4
4
GN
BN
-XP5.1
9
10
9 WH/BU
10
BU
CS1
CS2
CS3
CS4
CS5
CS6
CS6/KSR
CS8/KSR
11
12
11 WH/OG
12
OG
WH/OG
B9
OG
B10
WH/OG
b9
B9
OG
b10
B10
CS9
CS10
Note 1.3 on Page 700
3
3
679
RD
B11
b11
WH
B11
b11
WH/GN
P
P
WH/GN
P
CS11
4
4
680
OG
B12
b12
OG
B12
b12
GN
R
R
GN
R
CS12
5
5
681
YE
B13
b13
WH
B13
b13
WH/BU
S
S
WH/BU
S
CS13
6
6
682
GN
B14
b14
GN
B14
b14
BU
T
T
BU
T
CS14
-XP5.3
GY
B15
b15
WH
B15
b15
WH/VT
U
U
WH/VT
U
2
2
694
WH
B16
b16
BN
B16
b16
VT
X
X
VT
X
3
3
695
WH/BK
B18
b18
WH
B18
b18
WH/GY
Y
Y
WH/GY
Y
4
4
696
WH/BN
B19
b19
GY
B19
b19
GY
Z
Z
GY
Z
5
5
697
WH/RD
B20
b20
RD
B20
b20
WH/BK
a
a
WH/BK
a
6
6
698
WH/OG
B21
b21
BU
B21
b21
BK
b
b
BK
b
683
BU
C19
c19
GN
C19
c19
WH/OG
c
c
WH/OG
686
WH/BK
C18
c18
RD
C18
N.C.
OG
N.C.
OG
7
-XP5.2
7
7
Latest revision:
Lab/Office:
DMRO SE
PRMP
ECO 70147, WI 7698
Page 224-231: Adjusted, "Type Se" was "Type S"
Page 316-321: Adjusted, "Type H" was "Type S"
Note 1.5 on Page 701
IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5
CUSTOMER SIGNALS, PARALLEL
Prepared by, date:
EM 2015-02-17
Approved by, date:
JEN 2015-03-04
N.C.
TYPE H
c
CS15
CS16
CS17
CS18
CS19
CS20
CS21
N.C.
101/8
7
101/6
-XP5.1
101/7
693
101/5
1
101/4
1
101/3
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
MH6
LOWER ARM HARNESS
3HAC043042-001
UPPER ARM HARNESS
3HAC043045-001
3
= DP
Plant:
Location: + H
APPROVED
Sublocation:+
Document no.
Rev. Ind Page316
Next 317
3HAC026209-001
Total 98
Status:
2015-03-04
12
MH6
LOWER ARM HARNESS
3HAC043042-001
UPPER ARM HARNESS
3HAC043045-001
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
* Circuitdiagram shows marking
on wires for both dual and
single cabinet
N.C.=Not Connected
Latest revision:
-R1.CP/CS
-AXIS 3
RD
c16
N.C.
WH/BN
N.C.
N.C.
WH/BN
BN
6
686
WH
C17
c17
OG
C17
N.C.
BN
N.C.
N.C.
8
8
688
WH/BN
C20
c20
RD
C20
N.C.
WH/RD
N.C.
N.C.
684
VT
C21
c21
BN
C21
N.C.
RD
N.C.
N.C.
8
8
-XP5.2
WH/RD
RD
N.C.
N.C.
N.C.
9
689
WH/RD
B22
b22
RD
B22
N.C.
WH/YE
N.C.
N.C.
10
10
690
WH/OG
B23
b23
GY
B23
N.C.
YE
N.C.
N.C.
YE
N.C.
11
11
691
WH/YE
B24
b24
BK
B24
N.C.
WH
N.C.
N.C.
WH/GN
N.C.
12
12
692
WH/GN
B25
b25
BU
B25
N.C.
GN
N.C.
N.C.
GN
N.C.
-XP5.3
N.C.
Note 1.6 on Page 701
7
7
699
WH/YE
C10
8
8
700
WH/GN
C11
9
9
666
WH/BU
C12
10
10
667
WH/VT
C13
11
11
668
WH/GY
C14
12
12
669
BN/BK
C15
Approved by, date:
WH/YE
-R3.CP/CS
N.C.
9
Lab/Office:
DMRO SE
PRMP
IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5
CUSTOMER SIGNALS, PARALLEL
EM 2015-02-17
-R2.CP/CS
c16
6
-XP5.1
8
-AXIS 6
C16
ECO 70147, WI 7698
Page 224-231: Adjusted, "Type Se" was "Type S"
Page 316-321: Adjusted, "Type H" was "Type S"
Prepared by, date:
7
100/8
GY
6
100/7
*
SINGLE
5
-MANIPULATOR BASE
100/6
-XS13
4
100/5
*
DUAL
-XP5.2
5 5 685
3
100/4
TYPE H
CUSTOMER SIGNALS
PARALLEL
COMMUNICATION
VALID FOR
HARNESS IN CABINET
3HAC022852-001 (Dual)
3HAC024371-001 (Single)
FLOOR HARNESS
3HAC022957-001,002,003,006
2
-ROBOTCABINET
100/3
1
JEN 2015-03-04
TYPE H
= DP
Plant:
Location: + H
APPROVED
Sublocation:+
Document no.
Rev. Ind Page317
Next 318
3HAC026209-001
Total 98
Status:
2015-03-04
12
1
2
-ROBOTCABINET
TYPE H
CUSTOMER SIGNALS
PARALLEL
COMMUNICATION
VALID FOR
HARNESS IN CABINET
3HAC022852-001 (Dual)
3HAC024371-001 (Single)
FLOOR HARNESS
3HAC022957-001,002,003,006
*
DUAL
-XP6
1
1
2
2
3
3
4
4
*
SINGLE
670
-
BK
BN
671
RD
672
-
OG
YE
GN
673
BU
-
VT
GN/YE
4
5
-MANIPULATOR BASE
6
7
8
-AXIS 3
-AXIS 6
-XS13
Note 1.1 on Page 700
4
-R1.CP/CS
A1
a1
1
D1
d1
A2
a2
2
D6
d6
-R2CP/CS
5
-R3.CP/CS
E
E
4
E
E
F
F
5
F
F
24V
0V
A3
a3
3
D3
d3
6
V
V
6
V
V
A4
a4
4
D4
d4
7
W
W
7
W
W
24V
0V
GN/YE
GN/YE
GN/YE
G
GN/YE
G
G
G
PE
* Circuitdiagram shows
marking on wires for both
dual and single cabinet
-XP5.1
N.C.=Not Connected
-XP5.2
1
1
677
BK
B1
b1
WH
B1
B1
WH/BK
A
A
WH/BK
A
2
2
678
BN
B2
b2
BU
B2
b2
BK
B
B
BK
B
WH/GN
B3
b3
WH/GN
B3
b3
WH/BN
C
C
WH/BN
C
GN
B4
b4
GN
B4
b4
BN
D
D
BN
D
WH/BN
B5
b5
WH/BN
B5
b5
WH/RD
H
H
WH/RD
H
BN
B6
b6
BN
B6
b6
RD
J
J
RD
J
WH/BU
B7
b7
WH/BU
B7
b7
WH/OG
K
K
WH/OG
K
BU
B8
b8
BU
B8
b8
OG
L
L
OG
L
b9
WH/YE
M
M
WH/YE
M
b10
YE
N
N
YE
N
1
1 WH/GN
2
2
3
3 WH/BN
4
4
GN
BN
-XP5.1
9
10
9 WH/BU
10
BU
CS1
CS2
CS3
CS4
CS5
CS6
CS6/KSR
CS8/KSR
11
12
11 WH/OG
12
OG
WH/OG
B9
OG
B10
WH/OG
b9
B9
OG
b10
B10
CS9
CS10
Note 1.3 on Page 700
3
3
679
RD
B11
b11
WH
B11
b11
WH/GN
P
P
WH/GN
P
CS11
4
4
680
OG
B12
b12
OG
B12
b12
GN
R
R
GN
R
CS12
5
5
681
YE
B13
b13
WH
B13
b13
WH/BU
S
S
WH/BU
S
CS13
6
6
682
GN
B14
b14
GN
B14
b14
BU
T
T
BU
T
CS14
-XP5.3
GY
B15
b15
WH
B15
b15
WH/VT
U
U
WH/VT
U
2
2
694
WH
B16
b16
BN
B16
b16
VT
X
X
VT
X
3
3
695
WH/BK
B18
b18
WH
B18
b18
WH/GY
Y
Y
WH/GY
Y
4
4
696
WH/BN
B19
b19
GY
B19
b19
GY
Z
Z
GY
Z
5
5
697
WH/RD
B20
b20
RD
B20
b20
WH/BK
a
a
WH/BK
a
6
6
698
WH/OG
B21
b21
BU
B21
b21
BK
b
b
BK
b
683
BU
C19
c19
GN
C19
c19
WH/OG
c
c
WH/OG
686
WH/BK
C18
c18
RD
C18
N.C.
OG
N.C.
OG
7
-XP5.2
7
7
Latest revision:
Lab/Office:
DMRO SE
PRMP
ECO 70147, WI 7698
Page 224-231: Adjusted, "Type Se" was "Type S"
Page 316-321: Adjusted, "Type H" was "Type S"
Note 1.5 on Page 701
IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5
CUSTOMER SIGNALS, CANBUS
Prepared by, date:
EM 2015-02-17
Approved by, date:
JEN 2015-03-04
N.C.
TYPE H
c
CS15
CS16
CS17
CS18
CS19
CS20
CS21
N.C.
101/8
7
101/6
-XP5.1
101/7
693
101/5
1
101/4
1
101/3
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
MH6
LOWER ARM HARNESS
3HAC043043-001
UPPER ARM HARNESS
3HAC043046-001
3
= DP
Plant:
Location: + H
APPROVED
Sublocation:+
Document no.
Rev. Ind Page318
Next 319
3HAC026209-001
Total 98
Status:
2015-03-04
12
MH6
LOWER ARM HARNESS
3HAC043043-001
UPPER ARM HARNESS
3HAC043046-001
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
* Circuitdiagram shows marking
on wires for both dual and
single cabinet
GY
-R1.CP/CS
7
-AXIS 3
-R2.CP/CS
C16
c16
RD
c16
N.C.
WH/BN
N.C.
N.C.
WH/BN
BN
6
6
686
WH
C17
c17
OG
C17
N.C.
BN
N.C.
N.C.
8
8
688
WH/BN
C20
c20
RD
C20
N.C.
WH/RD
N.C.
N.C.
684
VT
C21
c21
BN
C21
N.C.
RD
N.C.
N.C.
-XP5.1
8
8
-XP5.2
8
-AXIS 6
100/8
SINGLE
6
100/7
*
DUAL
-XP5.2
5 5 685
5
-MANIPULATOR BASE
100/6
*
-XS13
4
100/5
3
100/4
TYPE H
CUSTOMER SIGNALS
PARALLEL
COMMUNICATION
VALID FOR
HARNESS IN CABINET
3HAC022852-001 (Dual)
3HAC024371-001 (Single)
FLOOR HARNESS
3HAC022957-001,002,003,006
2
-ROBOTCABINET
100/3
1
-R3.CP/CS
N.C.
N.C.
WH/RD
N.C.
RD
N.C.
9
9
689
WH/RD
B22
b22
RD
B22
N.C.
WH/YE
N.C.
N.C.
10
10
690
WH/OG
B23
b23
GY
B23
N.C.
YE
N.C.
N.C.
YE
N.C.
11
11
691
WH/YE
B24
b24
BK
B24
N.C.
WH
N.C.
N.C.
WH/GN
N.C.
12
12
692
WH/GN
B25
b25
BU
B25
N.C.
GN
N.C.
N.C.
GN
N.C.
-XP5.3
7
699
WH/YE
C10
8
8
700
WH/GN
C11
9
9
666
WH/BU
C12
10
10
667
WH/VT
C13
11
11
668
WH/GY
C14
12
12
669
BN/BK
C15
-A35.X2
N.C.
Note 1.6 on Page 701
7
N.C.=Not Connected
WH/YE
5
5
RD
RD
F1
F1
RD
B22
b22
WH/BK
1
1
BK
BK
F2
F2
BK
B23
b23
BK
-R2.CBUS
-R3.CBUS
C
C
WH/BK
C
D
D
BK
D
+24V BUS
0V BUS
-XP5.2
11
11
691
WH/YE
B24
B24
BK
B24
b24
WH/BN
N.C.
N.C.
WH/BN
N.C.
12
12
692
WH/GN
B25
B25
BU
B25
b25
BN
N.C.
N.C.
BN
N.C.
9
9
689
WH/RD
B22
10
10
690
WH/OG
B23
WH
WH
F3
WH
A3
a3
5
YE
A
5
YE
A
F4
BU
A4
a4
6
YE
B
B
6
YE
B
E
E
J
J
7
8
N.C.
1
GN
N.C.
GN
N.C.
-A35.X2
4
4
2
2
3
3
-XP5.3
Latest revision:
BU
BU
F3
F4
7
7
699
WH/YE
C10
c10
BK
A5
a5
8
8
700
WH/GN
C11
c11
OG
A6
a6
7
8
9
9
666
WH/BU
C12
c12
BK
A9
N.C.
1
GN
A10
N.C.
2
GN
N.C.
N.C.
2
VT
VT
E
J
10
10
667
WH/VT
C13
c13
11
11
668
WH/GY
C14
c14
BK
A11
N.C.
3
GN
N.C.
N.C.
3
GN
N.C.
12
12
669
BN/BK
C15
c15
BN
A12
N.C.
4
GN
N.C.
N.C.
4
GN
N.C.
Lab/Office:
DMRO SE
PRMP
IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5
CUSTOMER SIGNALS, CANBUS
EM 2015-02-17
N.C.
VT
VT
GN
ECO 70147, WI 7698
Page 224-231: Adjusted, "Type Se" was "Type S"
Page 316-321: Adjusted, "Type H" was "Type S"
Prepared by, date:
A
Approved by, date:
JEN 2015-03-04
TYPE H
C-BUS
C-BUS
P-BUS
P-BUS
= DP
Plant:
Location: + H
APPROVED
Sublocation:+
Document no.
Rev. Ind Page319
Next 320
3HAC026209-001
Total 98
Status:
2015-03-04
12
1
2
-ROBOTCABINET
TYPE H
CUSTOMER SIGNALS
PARALLEL
COMMUNICATION
VALID FOR
HARNESS IN CABINET
3HAC022852-001 (Dual)
3HAC024371-001 (Single)
FLOOR HARNESS
3HAC022957-001,002,003,006
*
DUAL
-XP6
1
1
2
2
3
3
4
4
*
SINGLE
670
-
BK
BN
671
RD
672
-
OG
YE
GN
673
BU
-
VT
GN/YE
4
5
-MANIPULATOR BASE
6
7
8
-AXIS 3
-AXIS 6
-XS13
Note 1.1 on Page 700
4
-R1.CP/CS
A1
a1
1
D1
d1
A2
a2
2
D6
d6
-R2CP/CS
5
-R3.CP/CS
E
E
4
E
E
F
F
5
F
F
24V
0V
A3
a3
3
D3
d3
6
V
V
6
V
V
A4
a4
4
D4
d4
7
W
W
7
W
W
24V
0V
GN/YE
GN/YE
GN/YE
G
GN/YE
G
G
G
PE
* Circuitdiagram shows
marking on wires for both
dual and single cabinet
-XP5.1
N.C.=Not Connected
-XP5.2
1
1
677
BK
B1
b1
WH
B1
B1
WH/BK
A
A
WH/BK
A
2
2
678
BN
B2
b2
BU
B2
b2
BK
B
B
BK
B
WH/GN
B3
b3
WH/GN
B3
b3
WH/BN
C
C
WH/BN
C
GN
B4
b4
GN
B4
b4
BN
D
D
BN
D
WH/BN
B5
b5
WH/BN
B5
b5
WH/RD
H
H
WH/RD
H
BN
B6
b6
BN
B6
b6
RD
J
J
RD
J
WH/BU
B7
b7
WH/BU
B7
b7
WH/OG
K
K
WH/OG
K
BU
B8
b8
BU
B8
b8
OG
L
L
OG
L
b9
WH/YE
M
M
WH/YE
M
b10
YE
N
N
YE
N
1
1 WH/GN
2
2
3
3 WH/BN
4
4
GN
BN
-XP5.1
9
10
9 WH/BU
10
BU
CS1
CS2
CS3
CS4
CS5
CS6
CS6/KSR
CS8/KSR
11
12
11 WH/OG
12
OG
WH/OG
B9
OG
B10
WH/OG
b9
B9
OG
b10
B10
CS9
CS10
Note 1.3 on Page 700
3
3
679
RD
B11
b11
WH
B11
b11
WH/GN
P
P
WH/GN
P
CS11
4
4
680
OG
B12
b12
OG
B12
b12
GN
R
R
GN
R
CS12
5
5
681
YE
B13
b13
WH
B13
b13
WH/BU
S
S
WH/BU
S
CS13
6
6
682
GN
B14
b14
GN
B14
b14
BU
T
T
BU
T
CS14
-XP5.3
GY
B15
b15
WH
B15
b15
WH/VT
U
U
WH/VT
U
2
2
694
WH
B16
b16
BN
B16
b16
VT
X
X
VT
X
3
3
695
WH/BK
B18
b18
WH
B18
b18
WH/GY
Y
Y
WH/GY
Y
4
4
696
WH/BN
B19
b19
GY
B19
b19
GY
Z
Z
GY
Z
5
5
697
WH/RD
B20
b20
RD
B20
b20
WH/BK
a
a
WH/BK
a
6
6
698
WH/OG
B21
b21
BU
B21
b21
BK
b
b
BK
b
683
BU
C19
c19
GN
C19
c19
WH/OG
c
c
WH/OG
686
WH/BK
C18
c18
RD
C18
N.C.
OG
N.C.
OG
7
-XP5.2
7
7
Latest revision:
Lab/Office:
DMRO SE
PRMP
ECO 70147, WI 7698
Page 224-231: Adjusted, "Type Se" was "Type S"
Page 316-321: Adjusted, "Type H" was "Type S"
Note 1.5 on Page 701
IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5
CUSTOMER SIGNALS, ETHERNET
Prepared by, date:
EM 2015-02-17
Approved by, date:
JEN 2015-03-04
N.C.
TYPE H
c
CS15
CS16
CS17
CS18
CS19
CS20
CS21
N.C.
101/8
7
101/6
-XP5.1
101/7
693
101/5
1
101/4
1
101/3
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
MH6
LOWER ARM HARNESS
3HAC043044-001
UPPER ARM HARNESS
3HAC043047-001
3
= DP
Plant:
Location: + H
APPROVED
Sublocation:+
Document no.
Rev. Ind Page320
Next 321
3HAC026209-001
Total 98
Status:
2015-03-04
12
MH6
LOWER ARM HARNESS
3HAC043044-001
UPPER ARM HARNESS
3HAC043047-001
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
* Circuitdiagram shows marking
on wires for both dual and
single cabinet
N.C.=Not Connected
-R1.CP/CS
7
-AXIS 3
-R2.CP/CS
C16
c16
RD
c16
N.C.
WH/BN
N.C.
N.C.
WH/BN
BN
6
6
686
WH
C17
c17
OG
C17
N.C.
BN
N.C.
N.C.
8
8
688
WH/BN
C20
c20
RD
C20
N.C.
WH/RD
N.C.
N.C.
684
VT
C21
c21
BN
C21
N.C.
RD
N.C.
N.C.
-XP5.1
8
8
-XP5.2
8
-AXIS 6
WH/RD
RD
-R3.CP/CS
N.C.
N.C.
N.C.
N.C.
9
9
689
WH/RD
B22
b22
RD
B22
N.C.
WH/YE
N.C.
N.C.
10
10
690
WH/OG
B23
b23
GY
B23
N.C.
YE
N.C.
N.C.
YE
N.C.
11
11
691
WH/YE
B24
b24
BK
B24
N.C.
WH
N.C.
N.C.
WH/GN
N.C.
12
12
692
WH/GN
B25
b25
BU
B25
N.C.
GN
N.C.
N.C.
GN
N.C.
-XP5.3
WH/YE
100/8
GY
6
100/7
*
SINGLE
5
-MANIPULATOR BASE
100/6
-XS13
4
100/5
*
DUAL
-XP5.2
5 5 685
3
100/4
TYPE H
CUSTOMER SIGNALS
PARALLEL
COMMUNICATION
VALID FOR
HARNESS IN CABINET
3HAC022852-001 (Dual)
3HAC024371-001 (Single)
FLOOR HARNESS
3HAC022957-001,002,003,006
2
-ROBOTCABINET
100/3
1
N.C.
Note 1.6 on Page 701
7
7
699
WH/YE
C10
8
8
700
WH/GN
C11
9
9
666
WH/BU
C12
10
10
667
WH/VT
C13
11
11
668
WH/GY
C14
12
12
669
BN/BK
C15
-XS9
Latest revision:
-R1.ETHERNET
1 1
1
YE
2
2
WH
2
2
WH
2
3
3
OG
3
3
OG
4
4
BU
4
4
BU
Lab/Office:
DMRO SE
PRMP
ECO 70147, WI 7698
Page 224-231: Adjusted, "Type Se" was "Type S"
Page 316-321: Adjusted, "Type H" was "Type S"
YE
EM 2015-02-17
Approved by, date:
JEN 2015-03-04
TYPE H
-R3.ETHERNET
YE
1
2
WH
2
3
3
OG
3
4
4
BU
4
IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5
CUSTOMER SIGNALS, ETHERNET
Prepared by, date:
-R2.ETHERNET
1 1
1
= DP
Plant:
Location: + H
APPROVED
Sublocation:+
Document no.
Rev. Ind Page321
Next +ID.AX3
3HAC026209-001
Total 98
Status:
2015-03-04
12
1
2
3
4
5
6
7
-AXIS 3
TYPE S, Se, H, HS AND HSe
CUSTOMER SIGNALS
-AXIS 6
-R2.CP/CS
UPPER ARM HARNESS
3HAC025532-001
D5
D2
D7
C1
C2
C3
C5
8
d5
d2
d7
c1
c2
c3
c5
-R3.CP/CS
POWER
C1
C2
C3
B11
B12
B13
B15
1
2
3
4
5
6
7
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
GNYE
D1
d1
1
C4
D6
d6
2
C5
D3
d3
4
C6
5
D4
d4
C7
6
7
GNYE
Latest revision:
Lab/Office:
DMRO SE
PRMP
ECO 70147, WI 7698
Page 224-231: Adjusted, "Type Se" was "Type S"
Page 316-321: Adjusted, "Type H" was "Type S"
EM 2015-02-17
Approved by, date:
JEN 2015-03-04
b22
b23
B24
B25
b24
b25
A3
A4
a3
a4
A5
A6
a5
a6
A9
A10
a9
a10
A11
A12
a11
a12
IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5
IRB66xID
Prepared by, date:
B22
B23
TYPE S, Se, H, HS, HSe
A1
A2
WHBK
BK
A3
A4
WHBN
BN
A7
A8
WH5
WH6
A9
A10
WH7
WH8
A5
A6
WH1
WH2
A11
A12
WH3
WH4
= DP
Plant:
Location: + ID
APPROVED
Sublocation:+ AX3
Document no.
Rev. Ind Page400
Next 401
3HAC026209-001
Total 98
Status:
2015-03-04
12
1
2
3
4
5
6
7
-AXIS 3
TYPE S, Se, H, HS AND HSe
CUSTOMER SIGNALS
-AXIS 6
-R2.CP/CS
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
UPPER ARM HARNESS
3HAC025532-001
8
SIGNAL
-R2.CP/CS
B1
B2
b1
b2
B3
B4
b3
b4
B5
B6
b5
b6
B7
B8
b7
b8
B9
B10
b9
b10
B11
B12
b11
b12
B13
B14
b13
b14
B15
B16
b15
b16
B18
B19
b18
b19
B20
B21
b20
b21
C16
b16
WHOG
C17
c17
OG
C18
c18
WHBN
C19
c19
BN
C20
c20
WHRD
C21
c21
RD
B18
B19
WHBK
BK
B20
B21
WHBN
BN
B22
B23
WHRD
RD
B24
B25
WHOG
OG
B16
B17
WHYE
YE
B1
B2
WHGN
GN
B3
B4
WHBU
BU
B5
B6
WHVT
VT
B7
B8
WHGY
GY
B9
B10
WHBK
BK
B14
C8
WHYE
YE
WH
GN
Latest revision:
Lab/Office:
DMRO SE
PRMP
ECO 70147, WI 7698
Page 224-231: Adjusted, "Type Se" was "Type S"
Page 316-321: Adjusted, "Type H" was "Type S"
IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5
IRB66xID
Prepared by, date:
EM 2015-02-17
Approved by, date:
JEN 2015-03-04
TYPE S, Se, H, HS, HSe
= DP
Plant:
Location: + ID
APPROVED
Sublocation:+ AX3
Document no.
Rev. Ind Page401
Next 402
3HAC026209-001
Total 98
Status:
2015-03-04
12
1
2
3
4
5
6
7
-AXIS 3
TYPE S, Se, H, HS AND HSe
CUSTOMER SIGNALS
-AXIS 6
-R2.CP/CS
UPPER ARM HARNESS
3HAC041028-001
D5
D2
D7
C1
C2
C3
C5
8
d5
d2
d7
c1
c2
c3
c5
-R3.CP/CS
POWER
C1
C2
C3
B11
B12
B13
B15
1
2
3
4
5
6
7
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
GNYE
D1
d1
1
C4
D6
d6
2
C5
D3
d3
4
C6
5
D4
d4
C7
6
7
GNYE
-R2.ETHERNET
1 1
Latest revision:
Lab/Office:
DMRO SE
PRMP
ECO 70147, WI 7698
Page 224-231: Adjusted, "Type Se" was "Type S"
Page 316-321: Adjusted, "Type H" was "Type S"
Prepared by, date:
EM 2015-02-17
Approved by, date:
JEN 2015-03-04
2
2
WH
2
2
3
3
OG
3
3
4
4
BU
4
4
IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5
IRB66xID, ETHTERNET
TYPE S, Se, H, HS, HSe
-R3.ETHERNET
1 1
YE
= DP
Plant:
Location: + ID
APPROVED
Sublocation:+ AX3
Document no.
Rev. Ind Page402
Next 403
3HAC026209-001
Total 98
Status:
2015-03-04
12
1
2
3
4
5
6
7
-AXIS 3
TYPE S, Se, H, HS AND HSe
CUSTOMER SIGNALS
-AXIS 6
-R2.CP/CS
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
UPPER ARM HARNESS
3HAC041028-001
8
SIGNAL
-R2.CP/CS
B1
B2
b1
b2
B3
B4
b3
b4
B5
B6
b5
b6
B7
B8
b7
b8
B9
B10
b9
b10
B11
B12
b11
b12
B13
B14
b13
b14
B15
B16
b15
b16
B18
B19
b18
b19
B20
B21
b20
b21
C16
b16
WHOG
C17
c17
OG
C18
c18
WHBN
C19
c19
BN
C20
c20
WHRD
C21
c21
RD
B18
B19
WHBK
BK
B20
B21
WHBN
BN
B22
B23
WHRD
RD
B24
B25
WHOG
OG
B16
B17
WHYE
YE
B1
B2
WHGN
GN
B3
B4
WHBU
BU
B5
B6
WHVT
VT
B7
B8
WHGY
GY
B9
B10
WHBK
BK
B14
C8
WHYE
YE
WH
GN
Latest revision:
Lab/Office:
DMRO SE
PRMP
ECO 70147, WI 7698
Page 224-231: Adjusted, "Type Se" was "Type S"
Page 316-321: Adjusted, "Type H" was "Type S"
IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5
IRB66xID, ETHERNET
Prepared by, date:
EM 2015-02-17
Approved by, date:
JEN 2015-03-04
TYPE S, Se, H, HS, HSe
= DP
Plant:
Location: + ID
APPROVED
Sublocation:+ AX3
Document no.
Rev. Ind Page403
Next +PG/500
3HAC026209-001
Total 98
Status:
2015-03-04
12
1
2
TYPE HSe
RESOLVER SIGNALS
VALID FOR
FLOOR HARNESS
3HXD1250-70
LOWER ARM HARNESS
3HAC023278-001
3
4
-ROBOTCABINET
5
-SERVO PEDESTAL GUN
6
7
8
-SMB
-MANIPULATOR BASE
(AXIS 7)
F
F
PK
E
E
D
-R3.FB7
F
-R2.FB7
F
F
RD
GY
E
E
WH/RD
E
D
YE
D
D
BN
C
C
GR
C
C
B
B
BN
B
A
A
G
G
WH
BU
H
H
RD
-R1.SMB1.7
RD
9
9
E
WH/RD
2
2
D
D
BN
11
11
WH/BN
C
C
WH/BN
4
4
B
BK
B
B
BK
12
12
A
A
WH/BK
A
A
WH/BK
5
5
G
G
1
1
H
H
F
-XS7
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
-A41.1.3.X21
SERVO POWER
VALID FOR
HARNESS IN CABINET
3HAC021791-001
FLOOR HARNESS
3HEA800736-001,002,003,004
3
3
4002
A3
a3
BK
5
5
4004
A5
a5
1
1
4000
A1
a1
GN/YE
-A43.X24
-R1.SP
E
E
BU
C
C
BN
A
A
GN/YE
G
G
1
1
4013
E1
e1
PK
J
J
2
2
4014
E2
e2
RD
K
K
4010
F7
f7
OG
L
L
4012
F9
f9
GN
M
M
4011
F8
f8
YE
R
R
-XS40
5
6
5
6
-A43.X22
1
1
4006
F1
f1
3
3
4008
F2
f2
4
4
4009
F3
f3
2
2
4007
F4
f4
TYPE HS, HSe
SIGNALS TO PEDESTAL GUN
SEE PAGE PEDESTAL GUN (PG)
IN CIRCUIT DIAGRAM 3HAC026208-001
Latest revision:
Lab/Office:
DMRO SE
PRMP
ECO 70147, WI 7698
Page 224-231: Adjusted, "Type Se" was "Type S"
Page 316-321: Adjusted, "Type H" was "Type S"
IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5
PEDESTAL GUN
Prepared by, date:
EM 2015-02-17
Approved by, date:
JEN 2015-03-04
TYPE HS, HSe
= DP
Plant:
Location: + PG
APPROVED
Sublocation:+
Document no.
Rev. Ind Page500
Next +CS.B/6
3HAC026209-001
Total 98
Status:
2015-03-04
12
1
2
TYPE
CUSTOMER SIGNALS
3
SWC
-XT/XP5.2
5
6
7
8
9
10
11
12
VALID FOR
FLOOR HARNESS
3HAC029393-001, -005
LOWER ARM HARNESS
3HAC029390-001, 005
-3HAC2360-3
5
6
7
8
9
10
11
12
4
5
6
CONNECTION BOX
-XS/XP8.3
10:RD/GY
10:GY
11:BK/BU
11:BU
12:BK/OG
12:OG
13:BK/GN
13:GN
UPPER ARM HARNESS
3HAC029391-001, -005
7
8
9
10
11
12
13
14
7
8
9
10
11
12
13
14
1
4
1
4
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
-3HAC15620-1
8
MANIPULATOR
-3HAC022454-001
-XT/XP5.3
7
-XS/XP8.1
-R2.CP/CS
-3HAC022454-001
-R3.CP/CS
f
4,WH
0,75
f
f
24 VDC
5,WH
0,75
g
g
0 VDC
7,WH
0,75
h
h
EARTH
1:WHBK
A
A
SPARE (KSR)
B
SPARE (KSR)
4,WH
0,75
f
5,WH
0,75
g
g
7,WH
0,75
h
h
1:WHBK
A
A
B
1:BK
B
1
1
1BK
1
1
2
2
2BK
2
2
3
3
3BK
7
7
4
4
4BK
8
8
1:BK
B
9
9
2:WHBN
C
C
2:WHBN
C
C
SPARE
10
10
2:BN
D
D
2:BN
D
D
SPARE
1:WHBU
11
11
3:WHRD
E
E
3:WHRD
E
E
SPARE
12
3:RD
F
F
3:RD
F
F
SPARE
-XT/XP5.1
-3HAC2360-3
GNYE
GNYE
1
1
2
2
1:BU
12
3
3
2:WH/OG
13
13
4:WHOG
G
G
4:WHOG
G
G
gun_open
4
4
2:OG
14
14
4:OG
H
H
4:OG
H
H
hlift_open
5
5
3:WH/GN
1
1
5:WHYE
J
J
5:WHYE
J
J
temp_ok
6
6
3:GN
2
2
5:YE
K
K
5:YE
K
K
SPARE
7
7
4:WH/BN
3
3
6:WHGN
L
L
6:WHGN
L
L
equalize
8
8
4:BN
4
4
6:GN
M
M
6:GN
M
M
close_gun
9
9
5:WH/GY
5
5
6:WHBU
N
N
6:WHBU
N
N
open_hlift
10
10
5:GY
6
6
6:BU
P
P
6:BU
P
P
close_hlift
11
11
6:RD/BU
7
7
7:WHVT
R
R
7:WHVT
R
R
SPARE
12
12
6:BU
8
8
7:VT
S
S
7:VT
S
S
SPARE
13
13
7:RD/OG
9
9
7:WHGY
T
T
7:WHGY
T
T
SPARE
14
14
7:OG
10
10
7:GY
U
U
7:GY
U
U
SPARE
11
12
13
14
11
12
13
14
-XS/XP8.2
-XT/XP5.2
1
2
3
4
Latest revision:
1
2
3
4
8:RD/GN
8:GN
9:RD/BN
9:BN
Region E
ECO 70147, WI 7698
Page 224-231: Adjusted, "Type Se" was "Type S"
Page 316-321: Adjusted, "Type H" was "Type S"
8:WHBK
8:BK
8:WHOG
8:OG
Lab/Office:
DMRO SE
PRMP
X
Y
Z
a
b
c
d
e
X
Y
Z
a
b
c
d
e
IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5
CUSTOMER SIGNAL - IRBDP SW5
Prepared by, date:
EM 2015-02-17
Approved by, date:
JEN 2015-03-04
BASE- AX 6
X
Y
Z
a
b
c
d
e
8:WHBK
8:BK
8:WHOG
8:OG
9:WHBN
9:BN
9:WHRD
9:RD
X
Y
Z
a
b
c
d
e
SPARE
SPARE
SPARE
SPARE
SPARE
SPARE
SPARE
SPARE
= DP
Plant:
Location: + CS
APPROVED
Sublocation:+ B
Document no.
Rev. Ind Page600
Next +RG/60
3HAC026209-001
Total 98
Status:
2015-03-04
12
1
2
TYPE
7TH AXIS POWER SIGNALS
VALID FOR
LOWER ARM HARNESS
3HAC029579-001, 005
UPPER ARM HARNESS
3HAC029580-001, -005
3
4
5
DRIVE MODULE CABINET
-XS/XP7
For further information
see circuit diagram,
3HAC024480-004
for single cabinet.
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
-R1.SP
EM 2015-02-17
Approved by, date:
R3.SP
R
A1
a1
S
A5
a5
2,5
BU
C
C
1,5
2/OG
C
C
2/OG
T
A3
a3
2,5
BK
E
E
1,5
3/OG
E
E
3/OG
2,5
GNYE
G
G
1,5
GNYE
G
G
GNYE
A
-3HAC3726-4
A
A
A
1/OG
PTC
E1
e1
PK
J
J
4/OG
B
B
4/OG
PTC 0V
E2
e2
RD
K
K
5/OG
D
D
5/OG
BRAKE REL
F7
f7
OG
L
L
6/OG
F
F
6/OG
BRAKE 0V
F9
f9
GN
M
M
7/OG
H
H
7/OG
LIM1
F1
f1
LIM2
F2
f2
LIM2
F4
f4
LIM1
F3
f3
BRAKE PB
F8
f8
REGION E
JEN 2015-03-04
-R2.SP
-3HAC3726-4
1/OG
1,5
FREE END
R
YE
R
23p
Lab/Office:
DMRO SE
PRMP
IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5
ROBOT GUN (RG) - IRBDP SW5
Prepared by, date:
8
-3HAC15653-1
BN
2,5
6 module
ECO 70147, WI 7698
Page 224-231: Adjusted, "Type Se" was "Type S"
Page 316-321: Adjusted, "Type H" was "Type S"
7
MECHANICAL UNIT
EARTH
Latest revision:
6
POWER
8p
= DP
Plant:
Location: + RG
APPROVED
Sublocation:+
Document no.
Rev. Ind Page601
Next 602
3HAC026209-001
Total 98
Status:
2015-03-04
12
1
2
3
TYPE Se AND HSe
7TH AXIS FEEDBACK SIGNALS
4
5
SINGLE CABINET
LOWER/UPPER ARM HARNESS
3HAC030638-001, 005
-A42.X4
MECHANICAL UNIT
-XS/XP2
-R1.SMB
6
7
8
-SMB
-R2.SMB
-R1.SMB 1.7
-R2.FB7
-3HAA2485-3
-3HAA2485-3
MRCO
1
1
A
A
WHBU
A
A
WHBU
9
9
5
5
1/WHBK
A
A
1/WHBK
MRCO_N
2
2
B
B
BU
B
B
BU
5
5
12
12
1/BK
B
B
1/BK
MRCI
4
4
C
C
WHOG
C
C
WHOG
8
8
4
4
2/WHBN
C
C
2/WHBN
MRCI_N
5
5
D
D
OG
D
D
OG
4
4
11
11
2/BN
D
D
2/BN
0V
6
6
E
E
WHGN
E
E
WHGN
3
3
2
2
3/WHRD
E
E
3/WHRD
9
9
3/RD
F
F
3/RD
1
1
WHBN
24V
7
7
F
F
GN
F
F
G
G
H
H
GN
7
7
FREE END
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
BN
BATT BR
BATT-
3
9
3
9
BATT+
BATT LOAD
Latest revision:
G
G
J
J
WHGY
J
J
K
K
GY
K
K
GY
6
6
L
L
RD
L
L
RD
2
2
M
M
REGION E
ECO 70147, WI 7698
Page 224-231: Adjusted, "Type Se" was "Type S"
Page 316-321: Adjusted, "Type H" was "Type S"
KEYPIN
Lab/Office:
DMRO SE
PRMP
IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5
ROBOT GUN (RG) - IRBDP SW5
Prepared by, date:
EM 2015-02-17
Approved by, date:
JEN 2015-03-04
SIGNAL
= DP
Plant:
Location: + RG
APPROVED
Sublocation:+
Document no.
Rev. Ind Page602
Next +REV/7
3HAC026209-001
Total 98
Status:
2015-03-04
12
1
2
3
4
5
6
Note 1.3
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
Note 1.1
Lower Arm Harness Type S
3HAC022478-001 Rev. 00, 01, 02
3HAC022480-001 Rev. 00, 01, 02
3HAC022135-001 Rev. 00
3HAC022136-001 Rev. 00
3HAC022470-001 Rev. 00
3HAC022471-001 Rev. 00
Lower Arm Harness Type Se
Lower Arm Harness Type H, HS and HSe
3HAC022479-001 Rev. 00, 01, 02, 03 3HAC022996-001 Rev. 00, 01
3HAC022481-001 Rev. 00, 01, 02, 03 3HAC022997-001 Rev. 00, 01, 02
3HAC022137-001 Rev. 00
3HAC022998-001 Rev. 00, 01
3HAC022138-001 Rev. 00
3HAC022999-001 Rev. 00, 01, 02
3HAC022472-001 Rev. 00
3HAC022473-001 Rev. 00
Lower arm harness IRB6660
3HAC027105-001 Rev. 00, 01
Lower Arm Harness Type S
3HAC022486-001 Rev. 00, 01
3HAC022486-002 Rev. 00, 01
3HAC022488-001 Rev. 00, 01
3HAC022488-002 Rev. 00, 01
Latest revision:
Lab/Office:
DMRO SE
PRMP
Lower Arm Harness Type S
3HAC022486-001 Rev. 00, 01
3HAC022486-002 Rev. 00, 01
3HAC022488-001 Rev. 00, 01
3HAC022488-002 Rev. 00, 01
IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5
Revision Notes
EM 2015-02-17
Lower Arm Harness Type S
3HAC022478-001 Rev. 00, 01, 02
3HAC022480-001 Rev. 00, 01, 02
3HAC022135-001 Rev. 00
3HAC022136-001 Rev. 00
3HAC022470-001 Rev. 00
3HAC022471-001 Rev. 00
Lower Arm Harness Type Se
3HAC022487-001 Rev. 00, 01, 02
3HAC022487-002 Rev. 00, 01, 02
3HAC022491-001 Rev. 00, 01, 02
3HAC022491-002 Rev. 00, 01, 02
ECO 70147, WI 7698
Page 224-231: Adjusted, "Type Se" was "Type S"
Page 316-321: Adjusted, "Type H" was "Type S"
Prepared by, date:
8
Lower Arm Harness Type H, HS and HSe
3HAC022996-001 Rev. 00, 01
3HAC022997-001 Rev. 00, 01, 02
3HAC022998-001 Rev. 00, 01
3HAC022999-001 Rev. 00, 01, 02
Note 1.4
Note 1.2
7
Approved by, date:
JEN 2015-03-04
= DP
Plant:
Location: + REV
APPROVED
Sublocation:+
Document no.
Rev. Ind Page700
Next 701
3HAC026209-001
Total 98
Status:
2015-03-04
12
1
2
Note 1.5
3
4
5
Lower Arm Harness Type S
3HAC022478-001 Rev. 00, 01, 02
3HAC022135-001 Rev. 00
3HAC022136-001 Rev. 00
Note 1.7
6
7
8
Lower Arm Harness Type S
3HAC022486-001 Rev. 00, 01
3HAC022486-002 Rev. 00, 01
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
Lower Arm Harness Type H, HS and HSe
3HAC022996-001 Rev. 00, 01
3HAC022997-001 Rev. 00, 01, 02
Note 1.6
Lower Arm Harness Type S
3HAC022478-001 Rev.00, 01, 02
3HAC022135-001 Rev. 00
3HAC022136-001 Rev. 00
Note 1.8
Lower Arm Harness Type S
3HAC022486-001 Rev. 00, 01
3HAC022486-002 Rev. 00, 01
Lower Arm Harness Type H, HS and HSe
3HAC022996-001 Rev. 00, 01
3HAC022997-001 Rev. 00, 01, 02
Latest revision:
Lab/Office:
DMRO SE
PRMP
ECO 70147, WI 7698
Page 224-231: Adjusted, "Type Se" was "Type S"
Page 316-321: Adjusted, "Type H" was "Type S"
IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5
Revision Notes
Prepared by, date:
EM 2015-02-17
Approved by, date:
JEN 2015-03-04
= DP
Plant:
Location: + REV
APPROVED
Sublocation:+
Document no.
Rev. Ind Page701
Next 702
3HAC026209-001
Total 98
Status:
2015-03-04
12
1
2
3
Lower Arm Harness Type Se
Lower Arm Harness IRB6660
3HAC022479-001 Rev. 00, 01, 02, 03 3HAC027105-001 Rev. 00,01
3HAC022481-001 Rev. 00, 01, 02, 03
3HAC022137-001 Rev. 00
3HAC022138-001 Rev. 00
3HAC022472-001 Rev. 00
3HAC022473-001 Rev. 00
Note 1.10
Lower Arm Harness Type Se
3HAC022479-001 Rev. 00, 01, 02, 03
3HAC022137-001 Rev. 00
3HAC022138-001 Rev. 00
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
Note 1.9
Latest revision:
4
5
Lab/Office:
DMRO SE
PRMP
ECO 70147, WI 7698
Page 224-231: Adjusted, "Type Se" was "Type S"
Page 316-321: Adjusted, "Type H" was "Type S"
6
Note 1.11
Lower Arm Harness Type Se
3HAC022487-001 Rev. 00, 01, 02
3HAC022487-002 Rev. 00, 01, 02
3HAC022491-001 Rev. 00, 01, 02
3HAC022491-002 Rev. 00, 01, 02
Note 1.12
Lower Arm Harness Type Se
3HAC022487-001 Rev. 00, 01, 02
3HAC022487-002 Rev. 00, 01, 02
IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5
Revision Notes
Prepared by, date:
EM 2015-02-17
Approved by, date:
JEN 2015-03-04
7
8
= DP
Plant:
Location: + REV
APPROVED
Sublocation:+
Document no.
Rev. Ind Page702
Next
3HAC026209-001
Total 98
Status:
2015-03-04
12