Product manual (part 2 of 2), reference information
Robot Controller
IRC5
M2004
Product manual (part 2 of 2), reference information
IRC5
M2004
Document ID: 3HAC021313-001
Revision: A
The information in this manual is subject to change without notice and
should not be construed as a commitment by ABB. ABB assumes no
responsibility for any errors that may appear in this manual.
Except as may be expressly stated anywhere in this manual, nothing
herein shall be construed as any kind of guarantee or warranty by ABB
for losses, damages to persons or property, fitness for a specific purpose
or the like.
In no event shall ABB be liable for incidental or consequential damages
arising from use of this manual and products described herein.
This manual and parts thereof must not be reproduced or copied without
ABB’s written permission, and contents thereof must not be imparted to
a third party nor be used for any unauthorized purpose. Contravention
will be prosecuted.
Additional copies of this manual may be obtained from ABB at its then
current charge.
© Copyright 2004 ABB All right reserved.
ABB Automation Technologies AB
Robotics
SE-721 68 Västerås
Sweden
Table of Contents
Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
Product documentation, M2004 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
1 Reference information, IRC5
7
1.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
1.2 Applicable Safety Standards. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
1.3 Unit conversion. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
1.4 Screw joints . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
1.5 Weight specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
1.6 Standard toolkit, IRC5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
1.7 Document references . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
1.8 Lifting equipment and lifting instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
2 Spare Parts
17
2.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
2.2 Spare Parts IRC5, Control module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
2.3 Spare Parts IRC5, Drive module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
3 Circuit Diagram
23
3.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
3HAC021313-001
3
Overview
Overview
About This Manual
This manual contains reference information for all procedures described in the Product
manual procedures.
Usage
This manual should be used during: operation, installation...
•
installation
•
maintenance work
•
repair work.
Who Should Read This Manual?
This manual is intended for:
•
installation personnel
•
maintenance personnel
•
repair personnel.
Prerequisites
The reader should...
•
be a trained maintenance/repair craftsman
•
have the required knowledge of mechanical and electrical installation/maintenance/
repair work.
Organization of Chapters
The manual is organized in the following chapters:
Chapter
Contents
Reference information
Useful information when performing
installation, maintenance or repair work (lists
of necessary tools, reference documents,
safety standards).
Spare part list
List of controller spare parts.
Circuit diagram
Circuit Diagram of the controller.
References
See section document references.
Revisions
4
Revision
Description
-
First edition
A
3HAC021313-001
Product documentation, M2004
Product documentation, M2004
General
The robot documentation may be divided into a number of categories. This listing is based on
the type of information contained within the documents, regardless of whether the products
are standard or optional. This means that any given delivery of robot products will not contain
all documents listed, only the ones pertaining to the equipment delivered.
However, all documents listed may be ordered from ABB. The documents listed are valid for
M2004 robot systems.
Hardware manuals
All hardware, robots and controller cabinets, will be delivered with a Product manual which
is divided into two parts:
Product manual, procedures
•
Safety information
•
Installation and commissioning (descriptions of mechanical installation, electrical
connections and loading system software)
•
Maintenance (descriptions of all required preventive maintenance procedures
including intervals)
•
Repair (descriptions of all recommended repair procedures including spare parts)
•
Additional procedures, if any (calibration, decommissioning)
Product manual, reference information
•
Reference information (article numbers for documentation referred to in Product
manual, procedures, lists of tools, safety standards)
•
Part list
•
Foldouts or exploded views
•
Circuit diagrams
RobotWare manuals
The following manuals describe the robot software in general and contain relevant reference
information:
•
RAPID Overview: An overview of the RAPID programming language.
•
RAPID reference manual part 1: Description of all RAPID instructions.
•
RAPID reference manual part 2: Description of all RAPID functions and data types.
•
Technical reference manual - System parameters: Description of system
parameters and configuration workflows.
Application manuals
Specific applications (e.g. software or hardware options) are described in Application
manuals. An application manual can describe one or several applications.
An application manual generally contains information about:
3HAC021313-001
•
The purpose of the application (what it does and when it is useful)
•
What is included (e.g. cables, I/O boards, RAPID instructions, system parameters)
A
5
Product documentation, M2004
•
How to use the application
•
Examples of how to use the application
Operator’s manuals
This group of manuals is aimed at those having first hand operational contact with the robot,
i.e. production cell operators, programmers and trouble shooters. The group of manuals
include:
•
Operator’s manual - IRC5 with FlexPendant
•
Operator’s manual - RobotStudioOnline
•
Trouble shooting Manual for the controller and robot
Miscellaneous
A number of manuals provide generic descriptions of the robot and robot system. These
include:
•
6
Robot fundamentals (describing the fundamental aspects, functions, concept and
similar, of a robot system to provide a basic understanding of the robot system)
A
3HAC021313-001
1 Reference information, IRC5
1.1. Introduction
1 Reference information, IRC5
1.1. Introduction
General
This chapter includes general information, complementing the more specific information in
the following chapters.
3HAC021313-001
A
7
1 Reference information, IRC5
1.2. Applicable Safety Standards
1.2. Applicable Safety Standards
Standards, general
The robot is designed in accordance with the requirements of:
•
ISO10218, Jan. 1992, Industrial Robot Safety
•
ANSI/RIA 15.06-1999
•
ISO/DIS 11161, Industrial automation systems - safety of integrated manufacturing
systems - Basic requirements
•
DIN 19258 - Interbus-S, International Standard
Standards, safety fence
The following standards are applicable to the safety fence surrounding the robot cell:
•
ISO/DIS 11161, Industrial automation systems -safety of integrated manufacturing
systems - Basic requirements
•
prEN 999:1995
Standards, robot cell
The following standards are applicable when the robot is part of a robot cell:
8
•
IEN 294, Safety of machinery - Safety distance to prevent danger zones being reached
by the upper limbs.
•
EN 349, Safety of machinery - Minimum gaps to avoid crushing of parts of the human
body.
•
EN 811 Safety of machinery - Safety distance to prevent danger zones being reached
by the lower limbs.
•
Pr EN 999 Safety of machinery - The positioning of protective equipment in respect
of approach speeds of the human body.
•
EN 1088 Safety of machinery - Interlocking device associated with guards principles
for design and selection.
A
3HAC021313-001
1 Reference information, IRC5
1.3. Unit conversion
1.3. Unit conversion
Converter table
Use the table below to convert units used in this manual.
3HAC021313-001
Quantity
Units
Length
1m
3.28 ft
Weight
1 kg
2.21 lb
Pressure
1 bar
100 kPa
Force
1N
0.738 lbf
Moment
1 Nm
0.738 lbf-tn
Volume
1L
0.264 US gal
A
39.37 in
14.5 psi
9
1 Reference information, IRC5
1.4. Screw joints
1.4. Screw joints
General
This section details how to tighten the various types of screw joints on the controller.
The instructions and torque values are valid for screw joints comprised of metallic materials
and do not apply to soft or brittle materials.
Tightening torque
Before tightening any screw, note the following:
•
Determine whether a standard tightening torque or special torque is to be applied. The
standard torques are specified in the tables below. Any special torques are specified in
the Repair, Maintenance or Installation procedure description. Any special torque
specified overrides the standard value.
•
Use the correct tightening torque for each type of screw joint.
•
Only use correctly calibrated torque keys.
•
Always tighten the joint by hand, and never use pneumatical tools
•
Use the correct tightening technique, i.e. do not jerk. Tighten the screw in a slow,
flowing motion.
•
Maximum allowed total deviation from the specified value is 10%!
The table below specify the recommended standard tightening torque for oil-lubricated
screws with slotted or cross-recess head screws.
10
Dimension
Tightening torque (Nm)
Class 4.8, oil-lubricated
M2.5
0.25
M3
0.5
M4
1.2
M5
2.5
M6
5.0
A
3HAC021313-001
1 Reference information, IRC5
1.5. Weight specifications
1.5. Weight specifications
Definition
In all repair and maintenance instructions, weights of the components handled are sometimes
specified. All components exceeding 22 kg (50 lbs) are high-lighted in this way.
To avoid injury, ABB recommends the use of lifting equipment when handling components
with a weight exceeding 22 kg.
Example
Below is an example of how a weight specification is presented:
CAUTION!
Caution!
The transformer weighs 55 kg! All lifting equipment used must be sized accordingly!
3HAC021313-001
A
11
1 Reference information, IRC5
1.6. Standard toolkit, IRC5
1.6. Standard toolkit, IRC5
General
All service (repair, maintenance and installation) instructions contain lists of tools required
to perform the specified activity. All special tools, i.e. all tools that are not considered
standard as defined below, are listed in their instructions respectively.
This way, the tools required are the sum of the Standard Toolkit and any tools listed in the
instruction.
Contents
12
Tool
Remark
Screw driver, Torx
Tx10
Screw driver, Torx
Tx25
Ball tipped screw driver, Torx
Tx25
Screw driver, flat blade
4 mm
Screw driver, flat blade
8 mm
Screw driver, flat blade
12 mm
Screw driver
Phillips-1
Box spanner
8 mm
A
3HAC021313-001
1 Reference information, IRC5
1.7. Document references
1.7. Document references
General
The contents of this manual may include references to additional documentation necessary to
perform certain procedures. This section specifies the article numbers for the referenced
documentaion.
Product specification, controller
The product specification includes generic technical data. The specification listed below is
the English version.
Document name
Document ID
Product Specification - IRC5 with FlexPendant
3HAC021785-001
Operators manual
The operators manual contains instructions for daily operation of robot systems. The
operator’s manual listed below is the English version.
Document name
Document ID
Operator’s manual - IRC5
with FlexPendant
3HAC 16590-1
Note
Application documentation
Document name
Document ID
Trouble shooting manual - IRC5§
3HAC 020738-001
Getting started - IRC5 and RobotStudio Online 3HAC 021564-001
Operator’s manual - RobotStudio Online
3HAC 18236-1
Product manual, robot
The product manuals include information about installation and service activities. The table
below specifies the article numbers of the product mnauals for all robot models. The part
number -001 is the English version.
3HAC021313-001
Document name
Document ID
Product manual, IRB 140
-
Product manual, IRB 1400
3HAC 021111-001
Product manual, IRB 2400
3HAC 022031-001
Product manual, IRB 4400
3HAC 022032-001
Product manual, IRB 6600/6650 type A
3HAC 020938-001
Product manual, IRB 6600/6650 type B
3HAC 023082-001
Product manual, IRB 6650S
3HAC 020993-001
A
13
1 Reference information, IRC5
1.7. Document references
14
Document name
Document ID
Product manual, IRB 7600
3HAC 022033-001
Product manual, IRB 940
3HAC 022054-001
A
3HAC021313-001
1 Reference information, IRC5
1.8. Lifting equipment and lifting instructions
1.8. Lifting equipment and lifting instructions
General
Many repair and maintenance activities require different pieces of lifting equipment, which
are specified in each procedure.
The use of each piece of lifting equipment is not detailed in the activity procedure, but in
the instruction delivered with each piece of lifting equipment.
This implies that the instructions delivered with the lifting equipment should be stored for
later reference.
3HAC021313-001
A
15
1 Reference information, IRC5
1.8. Lifting equipment and lifting instructions
16
A
3HAC021313-001
2 Spare Parts
2.1. Introduction
2 Spare Parts
2.1. Introduction
Definitions
This chapter specifies all spare parts and replacement articles of the IRC5 controller.
3HAC021313-001
A
17
2 Spare Parts
2.2. Spare Parts IRC5, Control module
2.2. Spare Parts IRC5, Control module
Control cabinet
xx0400001234
Spare parts
18
Pos
Spare part number
Description
A21
3HAC020665-001
Panel Board Unit
3HAC020901-001
Control panel 2-pos mode
3HAC020901-002
Control panel 3-pos mode
3HAC14605-1
Junction board DSQC616
3HAC020586-001
Harness,Panel board/ GTPU
3HAC021009-001
Harness-Panel board/Fan u
3HNE01586-1
Queue Tracker
3HAC14944-1
RS-232/422 converter
3HAC11819-1
Interbus slave with Cu
3HAC5579-1
InterBus-S adap.
3HAC5577-1
Profibus-DP adap
3HNE00009-1
Profibus DP Slave unit
3HNE00006-1
Interbus-S Unit
3HAB9715-1
Multipole con. X1-X4 10p
3HAB7342-1
Multipole con.set X7,X8
3HAB9743-1
Multipole con. X1-X4 16p
3HAC1836-1
Multipole con. X3 5p
3HAB9664-1 3
Multipole con. X6 6p
A
Note
DSQC 615
3HAC021313-001
2 Spare Parts
2.2. Spare Parts IRC5, Control module
Pos
Spare part number
Description
Note
3HAC0053-1
Multipole con. X8,X9 4p
3HAB9764-1
Multip. connector female
3HAC17970-1
Dig. 24 VDC I/O
DSQC 328A
3HAC12934-1
Customer I/O Power Supply
DSQC 608
3HAC17971-1
A D Combi I/O
DSQC 327A
3HAC17973-1
Dig. Relay I/O
DSQC 332A
3HAC020892-001
Heat exchanger unit
3HAC020890-029
Customer contact plate
3HAC12817-1
DeviceNet M/S
DSQC 603
3HAC15639-1
Ethernet board
DSQC 612
3HNE00554-1
Analog I/O Unit
APIP-02
3HNE00065-1
Circuit board
ENC-01
3HNE00025-1
Circuit board RIO
Mains connection and
power supply
3HAC021313-001
3HAC020953-002
Transformer module
1,8kVA
G3
3HAC020150-001
Backup energy bank
DSQC624
G2
3HAC12928-1
Control Power Supply
DSQC 604
G4-G5
3HAC12934-1
Customer I/O Power supply
DSQC 608
A
19
2 Spare Parts
2.2. Spare Parts IRC5, Control module
Computer unit
xx0400001236
Spare parts
20
Pos
Spare part number
Description
Note
A3
3HAC020929-001
Computer A, SSD
Solid State drive
A3
3HAC020929-002
Computer B, HDD
Hard disk drive
3HAC12816-1
Robot com. card
DSQC 602
3HAC020464-001
Power supply
DSQC 625
3HAC020988-001
Mass memory
1xHDD
3HAC020988-002
Mass memory
2xHDD
3HAC020988-003
Mass memory
1xSSD
3HAC 12814-1
Main computer board
DSQC 600
3HAC020079-001
Main computer board
DSQC 623
3HAC020988-006
Fans
A
3HAC021313-001
2 Spare Parts
2.3. Spare Parts IRC5, Drive module
2.3. Spare Parts IRC5, Drive module
Drive cabinet
xx0400001235
Spare parts
3HAC021313-001
Pos
Spare part
number
Description
Info
A41.1
3HAC14546-1
Main servo drive unit
DSQC 617_3B3A
A41.1
3HAC14546-2
Main servo drive unit
DSQC 617_2E2C2B
A41.1
3HAC14546-3
Main servo drive unit
DSQC 617_3E1C
A41.1
3HAC14546-4
Main servo drive unit
DSQC 617_3G3T
A41.1
3HAC14546-6
Main servo drive unit
DSQC 617_3G3W
A41.1.3-5
3HAC14550-1
Single servo drive unit
DSQC 619_C
A41.1.3-5
3HAC14550-2
Single servo drive unit
DSQC 619_T
A41.1.3-5
3HAC14550-3
Single servo drive unit
DSQC 619_U
A41.1.3-5
3HAC14550-4
Single servo drive unit
DSQC 619_W
A41.2
3HAC14549-1
Rectifier
A41.2
3HAC14549-2
Rectifier
A
21
2 Spare Parts
2.3. Spare Parts IRC5, Drive module
Pos
Spare part
number
Description
A41.2
3HAC14549-3
Rectifier
A41.3
3HAC14551-1
Capacitor unit
A41.3
3HAC14551-2
Capacitor unit
A41.3
3HAC14551-3
Capacitor unit
3HAC17281-1
DC-bus bar
DC_L6 long busbar
with six connector
groups
3HAC17281-3
DC-bus bar
DC_S2short busbar
with two connector
groups
G1
3HAC020465-001
Drive system power
supply
DSQC 626
G1
3HAC020466-001
Drive system power
supply
DSQC 627
A42
3HAC020919-001
Axis computer
DSQC 601
A43
3HAC13389-2
Contactor Interface board DSQC 611
3HAC020953-003
Transformer module
8,5kVA
3HAC020953-004
Transformer module
13kVA
3HAC020953-006
Transformer module
1,8kVA
3HAC6647-1
Duty time counter
24VDC
3HAC020900-001
Brake resistor bleeder
3HAC12924-3
Fan
3HAC020953-001
Fan holder with fans
3HAC7097-1
Mains line filter
Info
FlexPendant
22
3HAC12929-1
FlexPendant with cable
10m
3HAC11266-1
FlexPendant Cable
10m
3HAC12929-4
FlexPendant with cable
30m
3HAC11266-4
FlexPendant Cable
30m
A
3HAC021313-001
3 Circuit Diagram
3.1. Introduction
3 Circuit Diagram
3.1. Introduction
Definitions
This chapter specifies the circuit diagram of the IRC5 controller.
3HAC021313-001
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23
3 Circuit Diagram
3.1. Introduction
24
A
3HAC021313-001
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
Prepared by, date:
Latest revision:
1
3
4
5
6
EPLAN
Lab/Office:
Title page
ABB Automation Technologies AB
Robotics
SE-721 68 Västerås
Sweden
© Copyright 2004 ABB All right reserved.
Additional copies of this document may be obtained from ABB at its then current charge.
We reserve all rights in this document and in the information contained therein.Reproduction, use or
disclosure to third parties without express authority is strictly forbidden.
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3HAC020538-002 02
Document no.
Approved
Status:
In no event shall ABB be liable for incidental or consequential damages arising from use of this document
or of the software and hardware described in this document.
The information in this document is subject to change without notice and should not be construed as a
commitment by ABB. ABB assumes no responsibility for any errors that may appear in this document.
EPLAN
Approved by, date:
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
2
Prepared by, date:
Latest revision:
Project start
Project manager
Last revision
Designed by
Designed date
Number of pages
Manufacture
Type
Type of installation
Control cabinet
Mains voltage
Supply
Control voltage
Year of construction
3
:
:
:
:
:
:
:
:
:
:
:
:
:
:
jsundin1
2004-09-28
42
2004-05-05
: 2004-09-28
:
:
:
: 3HAC020538-002_Control
Phone :
EPLAN
Approved by, date:
Customer
Robot serial number(s)
Drawing number
Drawing version
1
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Title page
5
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3HAC020538-002 02
Document no.
Approved
Status:
7
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disclosure to third parties without express authority is strictly forbidden. © Copyright 2003 ABB
2
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Latest revision:
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Table of contents: (1 - 30)
Table of contents: (31 - 42)
BLOCK DIAGRAM
VIEW OF CONTROL MODULE
MAINS CONNECTION
POWER SUPPLY
OPTION: POWER SUPPLY
EMERGENCY STOP
RUN CHAIN OPERATING MODE SELECTOR, 3 MOD
EMERGENCY STOP
RUN CHAIN
RUN CHAIN OPERATING MODE SELECTOR, 2 MOD
RUN CHAIN EXT OPERATING MODE SELECTOR, 2
RUN CHAIN EXT OPERATING MODE SELECTOR, 3
FPU, FLEXPENDANT
OPTION: EXTERNAL CONNECTIONSYSTEM SIGNAL
VIEW OF COMPUTER UNIT
CABLING IN COMPUTER UNIT
CABLING IN COMPUTER UNIT
COMPUTER UNITCOOLING
MAIN COMPUTER
ROBOT COMMUNICATION CARD
ROBOT COMMUNICATION CARD
PROFIBUS DP M/S
INTERBUS M/S
DEVICENET ADAPTER
DEVICENET ADAPTER
DUAL RS232 CARD
3
DIN_INV_30_1
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2004-09-24
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2004-09-24
2004-09-24
2004-09-24
2004-09-24
2004-09-24
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2004-09-24
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2004-09-24
2004-09-24
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2004-09-24
2004-09-24
2004-09-24
2004-09-24
Date
8
3HAC020538-002 02
Document no.
Approved
Status:
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
2
ORT
ORT
ORT
ORT
ORT
ORT
ORT
ORT
ORT
ORT
ORT
ORT
CM
CM
CM
CM
CM
CM
CM
CM
CM
CM
CM
CM
Prepared by, date:
Latest revision:
Location
Plant
Page
31
32
33
34
35
36
37
38
39
40
41
42
Approved by, date:
Table of contents
1
4
EPLAN
Lab/Office:
Page description
ETHERNET CARD
DIGITAL PART OF COMBI I/O ANDDIGITAL I/O
DIGITAL I/O UNIT
COMBI I/O UNIT
RELAY I/O UNIT
RELAY I/O UNIT
RELAY I/O UNIT
ANALOGUE I/O UNIT
REMOTE I/O UNIT
INTERBUS SLAVE
PROFIBUS DP SLAVE
ENCODER UNIT
3
6
Page supplementary field
Approved
Approved
Approved
Approved
Approved
Approved
Approved
Approved
Approved
Approved
Approved
Approved
Table of contents: (31 - 42)
5
DIN_INV_30_1
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2004-09-24
2004-09-24
2004-09-24
2004-09-24
2004-09-24
2004-09-24
2004-09-24
2004-09-24
2004-09-24
2004-09-24
2004-09-24
2004-09-24
Date
8
3HAC020538-002 02
Document no.
Approved
Status:
7
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Prepared by, date:
Latest revision:
X22
F4
T3
Earth
fault
prot.
Service
outlet
F5
Approved by, date:
S21
Control
panel
G3
A21
G2
AC
XT16
Q2
X20
EPLAN
FPU
Panel
board
Ultra cap
Drive
A3
DC
230V
5
Computer
module
Lab/Office:
Field bus
4
Drive
3
I/Ox
unit
I/O
DC
7
DC
Customer
connection
AC
= CM
Plant:
+ ORT
Location:
Sublocation: +
Rev. Ind Page 5
Next 6
Total 42
G5
Option
Customer PS
8
3HAC020538-002 02
Document no.
Approved
Status:
Customer
connection
AC
G4
G6
AC
Option
Customer PS
DC
6
Option
Devicenet PS
BLOCK DIAGRAM
Ethernet service
Option
Service outlet
2
USB
1
LAN
Q2
2004-09-24
Date
02
Modification
=CM+ORT/5
Name
X20
X22
(opt service outlet)
S21.1
(mode selector)
S21.2
(motor on pb)
S21.3
(emergency pb)
0
jsundin1
Edit.
Standard
Check.
2004-09-28
Date
G5
Origin
CM
XS8
XS58
G6 if not G5
if G5 G6 in I/O unit.
1
G4
2
Crea. for
XS13
XS5
G2
3
G3
Crea. by
EPLAN
XS17
4
XS3
A3
X11
X20
X18
A21 (Panel Board)
6
VIEW OF CONTROL MODULE
5
Approved
XT8
XT58
X28
XT6
I/O4
A22.X1
X12
X15
7
X9
X17
X14
X10
X2
X1
X6
X5
3HAC020538-002_Control
XT5
I/O2
X7 X18
X4
8
Page
ORT
+ CM
I/O1
X3
I/O3
Page 6
42 Pg.
=CM+ORT/7
Epwr
EN1
AS1
AS2
GS1
GS2
SS1
SS2
ES1
ES2
9
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1
-X16
AWG16 BK
AWG16 BK
2
-Q2
-171
BK
AWG16
BK
T1
L1
1
AWG16
-173
-172
BK
-X20
AWG16
-174
AWG16
L3
T3
GND
2
T2
GND
2
L2
230V AC2
BK
AWG16 BK
230V AC1
1
-182
/8.3 / -230V AC2
-X25
Approved by, date:
CONTROL MODULE
-181
/8.3 / -230V AC1
181
/9.5 / -230V AC1
DRIVE MODULE
-308
/9.2 / -230V AC1
181
/9.7 / -230V AC1
-309
/9.2 / -230V AC2
AWG16 BK
182
/9.5 / -230V AC2
3
182
/9.7 / -230V AC2
EPLAN
4
Lab/Office:
AWG16 BK
-187
5
MAINS CONNECTION
AWG16 BK
-186
-F5
=CM
+X22
-T3
EARTH FAULT
BREAKER
CIRCUIT BREAKER
OPTION:
SERVICE OUTLET
6
230V
115V
AWG16 BK
2
1
0V
AWG16 BK
4
3
4
2
8
= CM
Plant:
+ ORT
Location:
Sublocation: +
Rev. Ind Page 7
Next 8
Total 42
3HAC020538-002 02
Document no.
Approved
4
2
-183
3
1
3
Status:
-F4
1
AWG16 BK
7
-184
-185
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1
=CM
+G2
-251
-250
/10.2 / -24V SYS
BU
BU
2
BU
3
BU
4
Approved by, date:
-252
/10.2 / -0V SYS
24V SYS
24V COOL
PANEL BOARD
-253
/10.2 / -0V COOL
/10.2 / -24V COOL
1
-301
/20.2 / -24V PC
-X2
-302
/20.2 / -24V PC
PROCESS POWER SUPPLY
-303
/20.2 / -0V PC
-X1
-230V AC1 / /7.1
-230V AC2 / /7.3
5
AC -INPUT
AWG16 BK
-181
1
AWG16 BK
-182
-X3
3
1
BU
2
BU
24V PC
3
COMPUTER
UNIT
3
BU
2
-304
/20.2 / -0V PC
BU
4
EPLAN
-X4
=CM -X1
+G3
4
+
1
1
Lab/Office:
+
2
2
NC
3
3
+
5
6
6
POWER SUPPLY
4
5
ULTRA CAP
NC
4
7
7
8
8
+Sense
ULTRA CAP
5
9
NC
9
10
10
6
RD
8
= CM
Plant:
+ ORT
Location:
Sublocation: +
Rev. Ind Page 8
Next 9
Total 42
3HAC020538-002 02
4
Approved
3
BK
7
Document no.
2
Status:
AWG24
/23.6 / -USB +5V
WH
GN
USB
MAIN
COMPUTER
AWG28
/23.6 / -USB-BP2
1
AWG28
/23.6 / -USB-BP2
-X5
AWG24
/23.6 / -USB_GND
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disclosure to third parties without express authority is strictly forbidden. © Copyright 2003 ABB
Prepared by, date:
Latest revision:
-X2
DEVICENET
POWER SUPPLY
=CM
-X1
+G6
AWG16
BK
-230V AC1 / /7.2
+
L
AC
-308
1
/29.1 / -+24V devicenet
BK
-230V AC2 / /7.3
+
2
Approved by, date:
AWG16
N
DC
-309
/29.1 / -0V devicenet
GND
/32.1 / -+24V devicenet
/32.1 / -0V devicenet
/35.1 / -+24V devicenet
/35.1 / -0V devicenet
3
/38.1 / -+24V devicenet
/38.1 / -0V devicenet
/39.1 / -+24V devicenet
/39.1 / -0V devicenet
/40.2 / -+24V devicenet
/40.2 / -0V devicenet
EPLAN
4
/41.1 / -+24V devicenet
/41.1 / -0V devicenet
1
AC
181
-230V AC1 / /7.2
1
OPTION: POWER SUPPLY
-X2
5
CUSTOMER
POWER
SUPPLY
=CM
-X1
+G4
Lab/Office:
/42.1 / -+24V devicenet
/42.1 / -0V devicenet
24V I/O
182
-230V AC2 / /7.3
3
5
DC
0V I/O
Customer
Connection
3
24V I/O
2
0V I/O
4
6
-230V AC2 / /7.3
3
5
2
4
= CM
Plant:
+ ORT
Location:
Sublocation: +
Rev. Ind Page 9
Next 10
Total 42
3
Customer
Connection
182
8
3HAC020538-002 02
1
DC
Document no.
-230V AC1 / /7.2
1
AC
181
7
Approved
Status:
-X2
CUSTOMER
POWER
SUPPLY
=CM
-X1
+G5
24V I/O
0V I/O
24V I/O
0V I/O
Prepared by, date:
Latest revision:
PROCESS
POWER
SUPPLY
1
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disclosure to third parties without express authority is strictly forbidden. © Copyright 2003 ABB
BU
BU
-252
-253
/8.2 / -24V COOL
/8.2 / -0V COOL
Approved by, date:
EMERGENCY STOP
RELAY SIGNALS
EXTERNAL
SUPPLY
ES2:int
ES1:int
ES2 bottom
ES1 bottom
0V
24V Panel
Sep ES2:B
Sep ES1:B
6
8
7
10
9
2
ES2 OUT:B
ES1OUT:B
EMERGENCY
STOP OUTPUT 2
Sep ES2:A
Sep ES1:A
1
ES1OUT:A
ES2 OUT:A
EMERGENCY
STOP OUTPUT 1
4
3
6
8
7
10
0V
A2
A1
24V PANEL
U
24V PANEL
-ES1
9
2
1
5
4
3
-X1 -X2
4
3
2
1
-X12
PANEL BOARD
5
0V
24V Panel
=CM
+A21
3
Run CH1 top
Run CH2 top
EXTERNAL
EMERGENCY
STOP PB
BU
-251
/8.2 / -0V SYS
ES1 top
ES2 top
BU
-250
/8.2 / -24V SYS
2
0V
U
ES1
EPLAN
-ES2
RunCh+
RunCh_0V
4
A1
Lab/Office:
ES2
A2
+ORT/12.6 / -RunCh+
+ORT/12.5 / -RunCh_0V
+ORT/12.6 / -RCH2
+ORT/12.7 / -RCH1
EMERGENCY STOP
SOFT_ESI
SOFT_ESO
5
RunCh_0V
RunCh+
6
8
15
11
13
8
6
4
2
7
5
3
1
-X11
16
12
14
17
-X9
18
6
7
5
-X10
-237
-238
-233
-234
-231
-232
-235
-236
-209
-211
-212
-210
WHBN
WHBU
BU
OG
11
21
12
22
= CM
Plant:
+ ORT
Location:
Sublocation: +
Rev. Ind Page 10
Next 11
Total 42
-0V_Sig.ref. / /24.5
JUNCTION
BOARD
ROBOT COMM.
CARD
EMERGENCY PB
-24V_Sig.ref. / /24.5
-RS485+ / /24.5
-RS485- / /24.5
-S21.3
-ES FPU 1:A / /17.2
-ES FPU 2:A / /17.2
-ES FPU 2:B / /17.2
-ES FPU 1:B / /17.2
8
3HAC020538-002 02
Document no.
Approved
Status:
AWG24
ES panel 1:B
ES panel 1:B
ES panel 2:B
ES panel 2:B
ES panel 2:A
ES panel 2:A
ES panel 1:A
ES panel 1:A
AWG20
AWG20
AWG20
AWG20
7
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disclosure to third parties without express authority is strictly forbidden. © Copyright 2003 ABB
-ENABLE1
-AS1
-AS2
-GS1
-GS2
-SUP_ST1
-SUP_ST2
-ES1
-ES2
Prepared by, date:
Latest revision:
=CM
+A23
OPTION: STATUS
LED ON FRONT
8
6
5
2
7
3
4
1
-X2
8
6
4
2
7
3
4
1
2
OP_AUTO
OP_MAN_FS
4
3
-X15
8
6
5
2
-X20
9
7
5
3
1
8
6
4
10
-X4
9
7
5
3
2
0V
RS485+
RS48524V DC
0V
General out8
General out7
General out6
General out5
General out4
General out3
General out2
General out1
+24V
0V
General in8
General in7
General in6
General in5
General in4
General in3
General in2
General in1
EPLAN
+ORT/13.3 / -SPEED
+ORT/12.5 / -EN1
+ORT/12.5 / -EN2
+ORT/12.5 / -MAN1
+ORT/12.4 / -MAN2
24V PANEL
Lab/Office:
>1
1
3
2
-363
=CM
+E3
AWG20 BU;BU
-
2
M
1~
-361
-360
-362
1
+
AWG20
AWG20 BU
AWG20
MONLMP
24V PANEL
MOTON
-S21.2
0V
24V panel
BK
BN
RD
X1
13
=CM
+E2
1
2 4 8
-S21.1.X1
3
2
1
4
7
OPTION
JUNCTION
BOARD
6
8
5
13
141620
M
-
8
= CM
Plant:
+ ORT
Location:
Sublocation: +
Rev. Ind Page 11
Next 12
Total 42
3
2
1
-X1
EXT COMPUTER FAN
17
182224
3HAC020538-002 02
Document no.
Approved
Status:
1
3
2
-X18
X2
14
MOTOR ON PB
5
MODE
SELECTOR
-S21.1
6 1210
AUTO2
MAN2
MAN FS2
AUTO1
MAN1
MAN FS1
OPTION:
DOOR FAN 52
-230
-229
-228
-220
-224
-227
-226
-225
-223
-222
-221
-X1
-24V FPU_POWER / /17.2
-0V / /17.2
-EN1_1 / /17.2
-EN1_2 / /17.2
-FPU START / /17.2
EXTERNAL
ENABLE DEVICE
AWG20
AWG20
AWG20
AWG20
AWG20
AWG20 BU;BU
AWG20
AWG20
AWG20
AWG20
AWG20
AWG20
AWG20
AWG20
AWG20
AWG20
AWG20
EN2_1A
EN2_1B
EN2_2A
EN2_2B
-X18 -364
19
10
1
3
6
8
-X9
9
7
-205
-206
-207
-208
-213
RUN CHAIN OPERATING
MODE SELECTOR, 3 MODES
FAN 0V
TACHO
24V COOL
9
5
2
4
7
9
3
-X6
10
8
4
2
1
-X10
EXT.MAN2
7
EXT.AUTO2
6
EXT MAN FS2
1
5
EXT.MAN1
-X3
4
EXT.AUTO1
3
EXT.COMMON2
PANEL BOARD
1
BN
WHBN
GN
WHGN
WHBU
BU
OG
WHOG
=CM
+A21
OP_COM
OP_MAN
AWG26
Approved by, date:
2
EXT.COMMON1
1
-245
-244
-243
-246
-241
-240
-239
-242
EXT MAN FS1
+
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Prepared by, date:
Latest revision:
1
SUPERIOR
STOP
GENERAL
STOP
AUTO
STOP
3
2
4
6
5
1
4
5
1
10
-X6
2
8
3
9
11
6
Approved by, date:
SS2-
SS1SS2+
SS1+
GS2-
GS1GS2+
AS2GS1+
AS1AS2+
AS1+
7
12
-X5
SS2
SS1
24V PANEL
0V
24V PANEL
24V PANEL
0V
0V
PANEL BOARD
=CM
+A21
2
GS2
GS1
AS2
AS1
3
SS2
SS1
SOFT SS
GS2
GS1
AS2
AS1
SOFT AS
EPLAN
SOFT GS
4
-MAN2 / +ORT/11.4
Lab/Office:
-MAN1 / +ORT/11.4
EMERGENCY STOP
5
-EN2 / +ORT/11.4
-EN1 / +ORT/11.4
-RunCh_0V / +ORT/10.5
&
+ORT/13.3 / -ENABLE2_1
+ORT/13.3 / -ENABLE2_2
+ORT/13.3 / -ENABLE2_3
+ORT/13.3 / -ENABLE2_4
-RunCh+ / +ORT/10.5
&
6
CH2
+ORT/13.4 / -RCH2
-RCH2 / +ORT/10.6
8
= CM
Plant:
+ ORT
Location:
Sublocation: +
Rev. Ind Page 12
Next 13
Total 42
3HAC020538-002 02
Document no.
-RCH1 / +ORT/10.6
7
Approved
Status:
CH1
+ORT/13.4 / -RCH1
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disclosure to third parties without express authority is strictly forbidden. © Copyright 2003 ABB
Prepared by, date:
Latest revision:
1
PANEL BOARD
Approved by, date:
=CM
+A21
2
EPLAN
Lab/Office:
RUN CHAIN
24V PANEL
0V
24V PANEL
0V
24V PANEL
0V
9
7
5
4
1
9
7
5
4
10
8
6
3
2
9
7
5
4
1
-X17
10
8
6
3
2
1
-X14
10
8
6
3
2
9
7
5
4
1
-X8
10
+ORT/12.5 / -ENABLE2_3
+ORT/12.5 / -ENABLE2_4
8
+ORT/12.5 / -ENABLE2_2
2
-X7
6
24V PANEL
0V
+ORT/12.5 / -ENABLE2_1
5
3
+ORT/12.6 / -RCH2
+ORT/12.7 / -RCH1
4
+ORT/11.4 / -SPEED
3
RUN CH1
RUN CH1Ret
RUN CH2Ret
RUN CH2
SPEED
0V
ENABLE2_4
ENABLE2_4Ret
AC_ON1
0V
RUN CH1
RUN CH1Ret
RUN CH2Ret
RUN CH2
SPEED
0V
ENABLE2_3
ENABLE2_3Ret
AC_ON1
0V
RUN CH1
RUN CH1Ret
RUN CH2Ret
RUN CH2
SPEED
0V
ENABLE2_2
ENABLE2_2Ret
AC_ON1
0V
RUN CH1
RUN CH1Ret
RUN CH2Ret
RUN CH2
SPEED
0V
ENABLE2_1
ENABLE2_1Ret
AC_ON1
0V
6
Drive
module4
A43.X1
Drive
module3
A43.X1
Drive
module2
A43.X1
Drive
module1
A43.X1
= CM
Plant:
+ ORT
Location:
Sublocation: +
Rev. Ind Page 13
Next 14
Total 42
8
3HAC020538-002 02
Document no.
Approved
Status:
if not used
if not used
if not used
if not used
if not used
if not used
CONTROL
MODULE
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
PANEL BOARD
=CM
+A21
Prepared by, date:
Latest revision:
1
Approved by, date:
2
3
9
19
10
1
5
6
7
2
3
-X9
-228
-230
-229
AWG20 BU
AWG20 BU
AWG20 BU
EPLAN
-220
-224
-225
-226
-221
-222
4
Lab/Office:
24V PANEL
MONLMP
MOTON
AWG20 BU
AWG20 BU
AWG20 BU
AWG20 BU
AWG20 BU
AWG20 BU
X2
14
2
3
X1
13
MOTOR ON PB
1
.5
5
6
7
.5
9
10 .5
11
6
RUN CHAIN OPERATING
MODE SELECTOR, 2 MODES
-S21.2
24V panel
0V
-S21.1
MODE SELECTOR
AUTO1
MAN1
AUTO2
MAN2
5
14
13 15
-242
-246
-244
-245
-240
-241
EXT.MAN2
EXT.AUTO2
EXT.MAN1
EXT.AUTO1
EXT.COMMON1
EXT.COMMON2
OPTION
= CM
Plant:
+ ORT
Location:
Sublocation: +
Rev. Ind Page 14
Next 15
Total 42
8
4
5
1
2
3
6
7
-S21.1.X1
8
3HAC020538-002 02
Document no.
Approved
Status:
OG
OG
OG
OG
OG
OG
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
Prepared by, date:
Latest revision:
=CM
+A32
15
11
13
17
19
10
5
7
8
6
4
2
9
7
5
3
1
-X10
16
12
14
18
9
1
6
2
3
-X9
2
1
Approved by, date:
2
6
3
-A8
ROBOT COMMUNICATION CARD
PANEL BOARD
=CM
+A21
1
BN/GN
BN/BK
BN/RD
BN/OG
BN/YE
CONTROL
MODULE
3
TPU_START
24V TPU
0V
EN1_1
EN1_2
EPLAN
4
Lab/Office:
MAN2
AUTO2
MAN1
AUTO1
AWG20
AWG20
AWG20
AWG20
-230
-228
-229
MONLMP
MOTON
2
3
AWG24
GN
WHGN
OG
.6
5
6
7
.6
9
10 .6
11
X1
13
ES panel 1:B
ES panel 1:B
ES panel 2:B
ES panel 2:B
ES panel 2:A
ES panel 2:A
ES panel 1:A
ES panel 1:A
X2
14
MOTOR ON PB
WHOG
24V PANEL
-237
-238
-233
-234
-231
-232
-235
-236
AWG20
AWG20
AWG20
AWG20
1
-S21.2
0V
24V panel
AWG20
-S21.1
MODE SELECTOR
-224
-220
TD+
TDRD+
RD-
15
11
13
17
19
10
5
7
-222
-221
-226
-225
6
RUN CHAIN EXT OPERATING
MODE SELECTOR, 2 MODES
16
12
14
18
9
1
6
2
3
-Ext.A21.X9
EXT. CONTROL PANEL
5
-246
-242
EXT.COMMON1
EXT.COMMON2
EXT.MAN2
EXT.AUTO2
EXT.MAN1
EXT.AUTO1
12
22
4
2
8
6
4
2
3
1
-X2
9
7
5
3
1
-X3
8
2
6
3HAC020538-002 02
Document no.
4
3
7
-S21.1.X1
8
OPTION
= CM
Plant:
+ ORT
Location:
Sublocation: +
Rev. Ind Page 15
Next 16
Total 42
JUNCTION BOARD
11
21
EMERGENCY PB
Approved
Status:
=CM
+A22
-S21.3
14
13 15
-241
-240
-245
-244
7
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disclosure to third parties without express authority is strictly forbidden. © Copyright 2003 ABB
Prepared by, date:
Latest revision:
=CM
+A32
8
6
4
2
EPLAN
Lab/Office:
5
3
6
15
11
13
17
9
7
5
3
1
1
Approved by, date:
2
6
3
-A8
BN/GN
TPU_START
15
11
13
17
AWG20
AWG20
MAN2
0V
ES panel 1:B
ES panel 1:B
ES panel 2:B
ES panel 2:B
ES panel 2:A
ES panel 2:A
ES panel 1:A
GN
WHGN
OG
MONLMP
MOTON
ES panel 1:A
WHOG
AWG20
AWG20
AWG20
AWG24
-237
-238
-233
-234
-231
-232
-235
-236
-230
-228
-229
1
.7
17
182224
.7
X2
14
X1
13
MOTOR ON PB
2 4 8
-S21.2
.7
24V PANEL
5
6 1210
AWG20 24V panel
AWG20
-S21.1
-224
-220
MAN1
MAN FS1
AUTO2
MODE SELECTOR
-223
-222
-221
AWG20
AWG20
AUTO1
AWG20
AWG20 MAN FS2
-227
-226
-225
6
RUN CHAIN EXT OPERATING
MODE SELECTOR, 3 MODES
TD+
TDRD+
RD-
16
12
14
18
19
9
1
2
4
7
8
-Ext.A21..X9
EXT. CONTROL PANEL
5
19
24V TPU
0V
EN1_1
EN1_2
4
10
BN/BK
BN/RD
BN/OG
BN/YE
CONTROL
MODULE
3
10
5
3
6
-X10
16
12
14
18
9
1
2
4
7
8
-X9
2
ROBOT COMMUNICATION CARD
PANEL BOARD
=CM
+A21
1
11
21
12
22
6
2
8
6
4
2
4
5
7
2
OPTION
= CM
Plant:
+ ORT
Location:
Sublocation: +
Rev. Ind Page 16
Next 17
Total 42
8
6
1
3
-S21.1.X1
8
3HAC020538-002 02
Document no.
3
1
-X2
9
7
5
3
1
-X3
JUNCTION BOARD
Approved
Status:
=CM
+A22
EXT.COMMON2
EXT.COMMON1
EXT MAN FS1
EXT.MAN1
EXT.AUTO1
EXT MAN FS2
EXT.MAN2
EXT.AUTO2
EMERGENCY PB
-242
-246
-S21.3
13
141620
-245
-244
-243
-241
-240
-239
7
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disclosure to third parties without express authority is strictly forbidden. © Copyright 2003 ABB
AWG20 BU
AWG20 BU
AWG20
AWG20
AWG20 BU
-205
-206
-207
-208
-213
/11.6 / -24V FPU_POWER
/11.6 / -0V
/11.6 / -EN1_1
/11.6 / -EN1_2
/11.6 / -FPU START
Prepared by, date:
Latest revision:
WHGN
GN
/24.6 / -RD+
/24.6 / -RD-
Approved by, date:
OG
/24.6 / -TD-
WHOG
AWG20 BU
-210
/10.7 / -ES FPU 1:B
/24.6 / -TD+
AWG20
-212
/10.7 / -ES FPU 2:B
AWG24
AWG20 BU
-211
/10.7 / -ES FPU 2:A
3
AWG20 BU
/10.7 / -ES FPU 1:A
2
-209
ROBOT COMM.
CARD
PANEL
BOARD
PANEL
BOARD
1
=CM
+A22
6
3
2
1
-X2
9
4
3
2
1
6
8
Lab/Office:
4
6
5
3
X22.XP1
OPTION:
FPU-PLUG
FPU, FLEXPENDANT
16
15
14
13
11
17
7
8
2
12
1
4
6
5
3
5
7
-X1
5
-X3
EPLAN
JUNCTION BOARD
4
6
= CM
Plant:
+ ORT
Location:
Sublocation: +
Rev. Ind Page 17
Next 18
Total 42
ETH_FPU
8
3HAC020538-002 02
Document no.
Approved
-K2
EN-DEVICE
-K1
EMERGENCY-STOP
FLEXPENDANT
Status:
=CM
+FPU
7
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disclosure to third parties without express authority is strictly forbidden. © Copyright 2003 ABB
ES2 OUT B
ES2 OUT A
ES1 OUT B
ES1 OUT A
Sep ES1:B
Sep ES2:B
Sep ES2:A
Sep ES1:A
ES1 top
ES2 top
0V
Run CH2 top
Run CH1 top
24V PANEL
0V
24V PANEL
ES2 bottom
ES1 bottom
Prepared by, date:
Latest revision:
=CM
+A21
PANEL BOARD
1
2
1
10
9
3
4
5
8
7
-X2
Approved by, date:
2
1
10
9
3
5
4
8
7
-X1
2
-287
-286
-285
-284
-271
-270
-269
-268
-267
-266
-265
-264
-263
-262
-261
-260
3
OG
OG
OG
OG
OG
OG
OG
OG
OG
OG
AWG20 BU
AWG20 BU
AWG20 BU
AWG20 BU
OG
OG
B8
B7
A8
A7
A6
B6
B5
A5
A4
B4
B3
A3
A2
B2
B1
A1
-XS/XP3
AWG20 BU
AWG20 BU
AWG20 BU
AWG20 BU
AWG20 BU
AWG20 BU
EPLAN
4
Lab/Office:
=CM
+A21
10
9
8
7
6
5
4
3
2
1
-X6
2
4
1
3
5
6
8
10
7
9
11
12
-X5
6
OPTION: EXTERNAL CONNECTION
SYSTEM SIGNALS
24V PANEL
SS2+
SS1+
SS2-
SS1-
0V
GS2-
GS2+
0V
AS2-
AS2+
24V PANEL
GS1-
GS1+
0V
AS1-
AS1+
24V PANEL
PANEL BOARD
5
-288
-292
-290
-293
-291
-289
-283
-282
-281
-280
-279
-278
-277
-276
-275
-274
-273
-272
AWG20 BU
AWG20 BU
AWG20 BU
AWG20 BU
AWG20 BU
AWG20 BU
AWG20 BU
AWG20 BU
AWG20 BU
AWG20 BU
= CM
Plant:
+ ORT
Location:
Sublocation: +
Rev. Ind Page 18
Next 19
Total 42
A9
C9
B9
C10
B10
A10
D8
D7
D6
D5
D4
D3
D2
D1
C8
C7
C6
C5
C4
C3
C2
C1
-XS/XP3
8
3HAC020538-002 02
Document no.
Approved
Status:
AWG20 BU
AWG20 BU
AWG20 BU
AWG20 BU
AWG20 BU
AWG20 BU
AWG20 BU
AWG20 BU
AWG20 BU
AWG20 BU
AWG20 BU
AWG20 BU
AWG20 BU
AWG20 BU
AWG20 BU
AWG20 BU
AWG20 BU
AWG20 BU
7
2004-09-24
Date
02
Modification
=CM+ORT/18
0
Name
jsundin1
Edit.
Standard
Check.
2004-09-24
Date
1
CM
Origin
2
Crea. for
USB1,2
X1
3
Crea. by
EPLAN
PWR
(green)
USB3,4
Slot 1
HDD
(yellow)
LAN
Slot 2
Slot 4
Slot 5
6
7
Approved
8
3HAC020538-002_Control
A33 Profibus DP M/S
A37 Interbus M/S (optical fiber)
A38 Interbus M/S (copper wire)
A35 Devicenet
VIEW OF COMPUTER UNIT
Slot 3
A32 (RCC)
5
SERIAL PORT A
A3 Computer unit
4
Page
ORT
+ CM
Page 19
42 Pg.
=CM+ORT/20
9
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
Prepared by, date:
Latest revision:
PROCESS
POWER SUPPLY
1
BU
BU
BU
BU
-302
-303
-304
/8.3 / -24V PC
/8.3 / -0V PC
/8.3 / -0V PC
Approved by, date:
/8.3 / -24V PC
-301
2
=CM
+A3
3
3
2
EPLAN
Lab/Office:
MOTHER
BOARD
POWER
1
-P1
2
3
-PSU-X2
-P1
-PSU-X2
1
-PSU-X1
-P1
P1
-IDEpwr
GND
BK
GND
GND
+5V
+5V
BK
BK
RD
RD
=CM
+A31
19
17
15
13
11
9
7
5
3
1
20
18
16
14
12
10
8
6
4
2
-J4H1
MAIN COMPUTER
= CM
Plant:
+ ORT
Location:
Sublocation: +
Rev. Ind Page 20
Next 21
Total 42
8
3HAC020538-002 02
Document no.
Approved
Status:
-IDEpwr_GND / +ORT/21.2
-IDEpwr_+5V / +ORT/21.2
GND
BK
PS_ON
GN
-12V
BU
GND
+3.3V
OR
BK
+12V
+5VSB
YE
VT
PWR_OK
+5V
RD
GY
+5V
GND
BK
GND
+3.3V
+3.3V
7
RD
BK
OR
OR
6
CABLING IN COMPUTER UNIT
V+
V-
-X1
4
5
COMPUTER POWER SUPPLY
1
=CM
+G31
-X1
COMPUTER UNIT
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
=CM
+A3
Prepared by, date:
Latest revision:
1
Approved by, date:
+ORT/20.7 / -IDEpwr_GND
+ORT/20.7 / -IDEpwr_+5V
COMPUTER UNIT
2
3
=CM
+D31
-X2
4
3
2
1
-X1
1
-X2
OPTION:
HARD DISK DRIVE
4
3
2
1
-X1
SOLID STATE DRIVE
EPLAN
Lab/Office:
5
40
40
=CM
+A31
ATA/IDE
-J6H1
ATA/IDE
-J6H1
MAIN COMPUTER
6
CABLING IN COMPUTER UNIT
REMARK: P1 & J6H1 CONNECTS TO EITHER D32 OR D31
DEPENDING OF CHOSED OPTION.
GND
+5V
GND
+5V
=CM
+D32
4
= CM
Plant:
+ ORT
Location:
Sublocation: +
Rev. Ind Page 21
Next 22
Total 42
8
3HAC020538-002 02
Document no.
Approved
Status:
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
=CM
+A31
=CM
+G31
3
1
2
3
1
-J9H2
2
-J9H1
Approved by, date:
MAIN COMPUTER
P1
COMPUTER POWER SUPPLY
COMPUTER UNIT
2
GND
+12V
BK
YE
3
EPLAN
4
Lab/Office:
FAN1_TACH
YE
WH
COMPUTER UNIT
COOLING
GND
+12V
BK
FAN2_TACH
YE
WH
GND
+12V
BK
5
2
1
2
1
-C1
-C2
6
BK
RD
BK
RD
-E23
-E22
M
-
CHASSIS BLOWER
M
-
CHASSIS BLOWER
= CM
Plant:
+ ORT
Location:
Sublocation: +
Rev. Ind Page 22
Next 23
Total 42
8
3HAC020538-002 02
Document no.
Approved
Status:
AWG 24
AWG 24
7
+
Prepared by, date:
Latest revision:
=CM
+A3
1
+
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
0V
TX-
TX+
RX-
Prepared by, date:
RX+
2
8
6
4
2
8
6
4
2
Approved by, date:
9
7
5
3
1
9
7
5
3
1
OPTION:
232/485 SERIE CONVERTER
=CM
+A39
-X1
-X2
COMPUTER UNIT
OPT. EXTERNAL PWR
Latest revision:
=CM
+A3
1
RTS
0V
DTR
RECEIVE IN
TRANSMIT OUT
3
=CM
+A31
9
7
5
3
1
-A1
EPLAN
8
6
4
2
SERIAL PORT A
MAIN COMPUTER
4
Lab/Office:
3
1
1
2
3
1
3
1
MAIN COMPUTER
4
2
-USB4
4
2
-USB3
4
3
-USB2
4
3
2
-USB1
6
2
1
-LAN1
3
1
4
2
-J9H3
5
K
RX-
RX+
TX-
TX+
A
AWG24
AWG24
AWG28
AWG28
AWG24
AWG24
AWG28
AWG28
K
BK
RD
GN
WH
BK
RD
GN
WH
HDD LED (YELLOW)
A
PWR LED (GREEN)
6
=CM
+X24
4
1
3
2
CONTROL
MODULE
3HAC020538-002 02
Document no.
8
= CM
Plant:
+ ORT
Location:
Sublocation: +
Rev. Ind Page 23
Next 24
Total 42
PROCESS
POWER SUPPLY
Approved
Status:
-USB-BP2 / /8.7
-USB-BP2 / /8.7
-USB +5V / /8.6
-USB_GND / /8.7
GND
+5V
USB-BP1
USB-BP1
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
Prepared by, date:
Latest revision:
1
3
-X1
PCI BUS
ROBOT COMMUNICATION CARD
Approved by, date:
=CM
+A32
2
EPLAN
ETH_FPU
RS 485
4
-A8
7
5
3
1
8
2
5
6
Lab/Office:
7
1
4
3
Green
8
6
4
2
Blue
-X8
GN
WHGN
OG
WHOG
WHBN
WHBU
BU
OG
-RD+ / /17.2
-RD- / /17.2
-TD+ / /17.2
-TD- / /17.2
-0V_Sig.ref. / /10.7
-24V_Sig.ref. / /10.7
-RS485+ / /10.7
-RS485- / /10.7
6
ROBOT COMMUNICATION CARD
AWG24
AWG24
5
= CM
Plant:
+ ORT
Location:
Sublocation: +
Rev. Ind Page 24
Next 25
Total 42
8
3HAC020538-002 02
Document no.
Approved
Status:
FLEXPENDANT
PANEL BOARD
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
Prepared by, date:
Latest revision:
1
=CM
+A32
Approved by, date:
2
ROBOT COMMUNICATION CARD
3
EPLAN
ETH_SERVICE
ETH_DRIVE
4
-A7
7
4
3
7
5
3
Lab/Office:
8
6
4
2
1
Yellow
8
5
6
2
1
Red
-A9
RX-
TX+
TXRX+
TX+
TXRX+
RX-
AWG26
AWG26
AWG26
AWG26
WHOG
BU
WHBU
OG
6
ROBOT COMMUNICATION CARD
5
6
3
2
1
= CM
Plant:
+ ORT
Location:
Sublocation: +
Rev. Ind Page 25
Next 26
Total 42
SERVICE
PORT
DRIVE MODULE
AXIS COMPUTER
8
3HAC020538-002 02
Document no.
Approved
Status:
=CM
+X23
CONTROL
MODULE
7
Prepared by, date:
Latest revision:
1
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
PCI BUS
-X1
PROFIBUS DP M/S
Approved by, date:
=CM
+A33
2
3
MASTER
SLAVE
8
5
3
8
5
3
6
4
1
-X3
6
4
1
-X2
EPLAN
SHIELD
RXD/TXD-P
CONTROL-P
GND
+5VDC
RXD/TXD-N
SHIELD
RXD/TXD-P
CONTROL-P
GND
+5VDC
RXD/TXD-N
4
Lab/Office:
Customer
Connection
PROFIBUS DP M/S
5
OPTION & HARNESS TO CUSTOMER I/O
6
= CM
Plant:
+ ORT
Location:
Sublocation: +
Rev. Ind Page 26
Next 27
Total 42
8
3HAC020538-002 02
Document no.
Approved
Status:
7
Prepared by, date:
Latest revision:
1
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
=CM
+A37
A37.2
REMOTE
REMOTE OUT
REMOTE IN
5
2
6
4
1
-X1
GY (OUT)
BK (IN)
-FO3
GY (OUT)
BK (IN)
-FO2
GY (OUT)
BK (IN)
-FO1
0V
24V+
-X2
3
TXD
RXD
GND
RTS
CTS
LW/OG
LW/BK
LW/OG
LW/BK
LW/OG
LW/BK
0V
24V
1)
4
OPTION & HARNESS TO CUSTOMER I/O
EPLAN
1) IT IS IMPORTANT THAT 24 DC EXT SUPPLY ALWAYS IS AVAILABLE
OTHERWISE THE INTERBUS CAN NOT WORK
IF THE CONTROLLER IS TURNED OFF.
Approved by, date:
PCI BUS
-Z1
A37.1
INTERBUS M/S (OPTICAL FIBRE)
2
Lab/Office:
=CM
+A38
INTERBUS M/S
5
A38.2
PCI BUS
-Z1
A38.1
5
2
8
4
7
6
5
7
6
5
4
7
1)
= CM
Plant:
+ ORT
Location:
Sublocation: +
Rev. Ind Page 27
Next 28
Total 42
TXD
RXD
GND
RTS
CTS
DO
DON
DI
DIN
GNDIM
GRND
VCCIM
VCC
DO
DON
DI
DIN
GRND
VCCISO
RBST
DO
DON
DI
DIN
GNDISI
0V
24V
8
3HAC020538-002 02
Document no.
Approved
6
4
1
-X3
5
3
2
1
-X2
9
3
2
1
-X1
3
2
1
-X5
0V
24V+
-X4
Status:
RS232
REMOTE
REMOTE OUT
REMOTE IN
INTERBUS M/S (COPPER WIRE)
6
OPTION & HARNESS TO CUSTOMER I/O
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
Prepared by, date:
Latest revision:
1
=CM
+A35
P1
Approved by, date:
PCI BUS
DEVICE NET ADAPTER
2
2
3
4
2
3
4
Lab/Office:
5
1
1
5
-A35.X1
EPLAN
4
-J1
3
-V+ / /29.2
-CAN_H / /29.2
-DRAIN / /29.2
-CAN_L / /29.2
-V- / /29.2
RD
WH
SC
BU
BK
DEVICENET ADAPTER
5
6
= CM
Plant:
+ ORT
Location:
Sublocation: +
Rev. Ind Page 28
Next 29
Total 42
OPTION
8
3HAC020538-002 02
Document no.
Approved
Status:
2
4
1
5
3
-XS17
CONTROL
MODULE
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
/28.5 / -V/28.5 / -CAN_L
/28.5 / -CAN_H
/28.5 / -V+
/28.5 / -DRAIN
Prepared by, date:
Latest revision:
/9.2 / -+24V devicenet
/9.2 / -0V devicenet
1
Approved by, date:
2
3
5
4
3
2
1
-A35.X2
5
4
3
2
1
-I/O4
5
4
3
2
1
-I/O3
5
4
3
2
1
-I/O2
5
4
3
2
1
-I/O1
EPLAN
120 OHM
4
Lab/Office:
DEVICENET ADAPTER
-V- / /42.1
-CAN_L / /42.1
-CAN_H / /42.1
-V+ / /42.1
-DRAIN / /42.1
Encoder unit
Profibus DP slave
-V- / /41.1
-CAN_L / /41.1
-CAN_H / /41.1
-V+ / /41.1
-DRAIN / /41.1
BK
BU
WH
RD
SC
BK
BU
WH
RD
SC
Interbus slave
Remote I/O unit
Analogue I/O unit
Relay I/O unit
Digital I/O unit
-V- / /40.2
-CAN_L / /40.2
-CAN_H / /40.2
-V+ / /40.2
-DRAIN / /40.2
-V- / /39.1
-CAN_L / /39.1
-CAN_H / /39.1
-V+ / /39.1
-DRAIN / /39.1
-V- / /38.1
-CAN_L / /38.1
-CAN_H / /38.1
-V+ / /38.1
-DRAIN / /38.1
-V- / /35.1
-CAN_L / /35.1
-CAN_H / /35.1
-V+ / /35.1
-DRAIN / /35.1
-V- / /32.1
-CAN_L / /32.1
-CAN_H / /32.1
-V+ / /32.1
-DRAIN / /32.1
6
BK
BU
WH
RD
SC
BK
BU
WH
RD
SC
BK
BU
WH
RD
SC
BK
BU
WH
RD
SC
BK
BU
WH
RD
SC
5
= CM
Plant:
+ ORT
Location:
Sublocation: +
Rev. Ind Page 29
Next 30
Total 42
8
3HAC020538-002 02
Document no.
Approved
Status:
OPTION: HARNESS
TO CUSTOMER I/O
7
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disclosure to third parties without express authority is strictly forbidden. © Copyright 2003 ABB
Prepared by, date:
Latest revision:
1
Approved by, date:
2
=CM
+A34
X5
PCI BUS
DUAL RS232 CARD
3
EPLAN
4
Lab/Office:
COM1
RS232
MC CONSOLE
RS232
9
7
5
3
1
-X2
9
7
5
3
1
DUAL RS232 CARD
8
6
4
2
8
6
4
2
-X1
5
COM1_RXD
COM1_TXD
COM1_DTR
0V
COM1_DSR
COM1_RTS-N
COM1_CTS-N
CONSOLE_RXD
CONSOLE_TXD
CONSOLE_DTR
0V
CONSOLE_DSR
CONSOLE_RTS-N
CONSOLE_CTS-N
6
= CM
Plant:
+ ORT
Location:
Sublocation: +
Rev. Ind Page 30
Next 31
Total 42
8
3HAC020538-002 02
Document no.
Approved
Status:
7
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disclosure to third parties without express authority is strictly forbidden. © Copyright 2003 ABB
Prepared by, date:
Latest revision:
1
=CM
+A36
Approved by, date:
2
X1
PCI BUS
ETHERNET CARD
3
EPLAN
4
8
6
4
2
-A3
8
6
4
2
-A2
8
6
4
2
-A1
7
5
3
1
7
5
3
1
7
5
3
1
Lab/Office:
RX-
TX+
TXRX+
RX-
TX+
TXRX+
RX-
TX+
TXRX+
ETHERNET CARD
5
7
= CM
Plant:
+ ORT
Location:
Sublocation: +
Rev. Ind Page 31
Next 32
Total 42
8
3HAC020538-002 02
Document no.
Approved
Status:
DRIVE MODULE 4 (OPTION)
DRIVE MODULE 3 (OPTION)
DRIVE MODULE 2 (OPTION)
6
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
Prepared by, date:
Latest revision:
OR PREVIOUS
I/O UNIT
3)
2
2)
120 ohm
2
1
3) CONNECTED IN THE LAST CONNECTOR IN THE
CAN-BUS CIRCUIT.
Approved by, date:
3
TO NEXT
I/O UNIT
2) RESISTANS 120 OHM SHALL ALWAYS
BE CONNECTED IN THE FIRST AND THE
LAST CONNECTOR IN THE CAN-BUS CIRCUIT.
1) JUMPERS PLACED ACCORDING TO
THE ACTUAL NODE ADDRESS.
/29.5 / -DRAIN
/29.5 / -V/29.5 / -CAN_L
/29.5 / -CAN_H
/29.5 / -V+
/9.3 / -+24V devicenet
/9.3 / -0V devicenet
1
1)
0V
NA0
NA1
NA2
NA3
NA4
NA5
I/Ox
5
11
9
7
3
4
1
12
10
8
6
5
2
-X5
EPLAN
2
1
2
47nF
1
47nF
Lab/Office:
0V
K
A
A
10
8
6
4
2
9
7
5
3
9
7
5
3
1
-X4
10
8
6
4
2
1
-X3
XTXX.X4
XTXX.X3
6
INPUT CH.9
10
11
12
13
14
15
16
0V
INPUT CH.1
2
3
4
5
6
7
8
0V
DIGITAL PART OF COMBI I/O AND
DIGITAL I/O UNIT
K
A
K
A
K
DIGITAL PART OF COMBI I/O AND DIGITAL I/O UNIT
4
= CM
Plant:
+ ORT
Location:
Sublocation: +
Rev. Ind Page 32
Next 33
Total 42
8
3HAC020538-002 02
Document no.
Approved
Status:
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
Prepared by, date:
Latest revision:
1
I/Ox
0V
DIGITAL I/O UNIT
Approved by, date:
2
1
2
1
47nF
2
47nF
K
A
K
A
3
OUTPUT CH 9-16
OUTPUT CH 1-8
<1
<1
K
A
2
1
K
A
2
1
EPLAN
4
10
8
6
4
2
9
7
5
3
1
9
7
5
3
1
XTXX.X2
XTXX.X1
Lab/Office:
-X2
10
8
6
4
2
-X1
DIGITAL I/O UNIT
OUTPUT CH.9
10
11
12
13
14
15
16
0V
24V DC
OUTPUT CH.1
2
3
4
5
6
7
8
0V
24V DC
5
6
= CM
Plant:
+ ORT
Location:
Sublocation: +
Rev. Ind Page 33
Next 34
Total 42
8
3HAC020538-002 02
Document no.
Approved
Status:
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
Prepared by, date:
Latest revision:
1
I/Ox
Approved by, date:
0V
COMBI I/O UNIT
2
1
2
1
47nF
2
47nF
DC
DC
DAC
K
A
2
1
K
A
2
1
REF
-15V
0VA
+15V
A
A
0V
INPUT CH.1
INPUT CH.2
K
<1
<1
K
OUTPUT CH 9-16
CPU
K
A
K
A
OUTPUT CH 1-8
3
8
6
4
2
9
7
5
3
1
6
4
5
3
2
1
-X6
10
8
6
4
2
-X2
9
7
5
3
1
-X1
10
EPLAN
4
Lab/Office:
XTXX.X2
XTXX.X1
COMBI I/O UNIT
OUTPUT CH.2
0VA
OUTPUT CH.1
OUTPUT CH.9
10
11
12
13
14
15
16
0V
24V DC
OUTPUT CH.1
2
3
4
5
6
7
8
0V
24V DC
5
6
= CM
Plant:
+ ORT
Location:
Sublocation: +
Rev. Ind Page 34
Next 35
Total 42
8
3HAC020538-002 02
Document no.
Approved
Status:
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
Prepared by, date:
Latest revision:
OR PREVIOUS
I/O UNIT
3)
2
120 ohm
2
1
2)
TO NEXT
I/O UNIT
Approved by, date:
3) CONNECTED IN THE LAST CONNECTOR IN THE
CAN-BUS CIRCUIT.
2) RESISTANS 120 OHM SHALL ALWAYS
BE CONNECTED IN THE FIRST AND THE
LAST CONNECTOR IN THE CAN-BUS CIRCUIT.
1) JUMPERS PLACED ACCORDING TO
THE ACTUAL NODE ADDRESS.
/29.5 / -DRAIN
/29.5 / -V/29.5 / -CAN_L
/29.5 / -CAN_H
/29.5 / -V+
/9.3 / -+24V devicenet
/9.3 / -0V devicenet
1
1)
3
0V
NA0
NA1
NA2
NA3
NA4
NA5
I/Ox
11
9
7
3
4
1
8
6
5
2
12
10
-X5
RELAY I/O UNIT
2
1
2
47nF
1
47nF
EPLAN
4
Lab/Office:
0V
K
A
K
A
A
A
8
6
4
2
8
6
4
2
9
7
5
3
1
-X4
9
7
5
3
1
-X3
XTXX.X4
XTXX.X3
RELAY I/O UNIT
K
K
5
INPUT CH.9
10
11
12
13
14
15
16
0V
INPUT CH.1
2
3
4
5
6
7
8
0V
6
= CM
Plant:
+ ORT
Location:
Sublocation: +
Rev. Ind Page 35
Next 36
Total 42
8
3HAC020538-002 02
Document no.
Approved
Status:
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
Prepared by, date:
Latest revision:
1
Approved by, date:
RELAY I/O UNIT
2
3
OUT CH.8B
OUT CH.8A
OUT CH.7B
OUT CH.7A
OUT CH.6B
OUT CH.6A
OUT CH.5B
OUT CH.5A
OUT CH.4B
OUT CH.4A
OUT CH.3B
OUT CH.3A
OUT CH.2B
OUT CH.2A
OUT CH.1B
OUT CH.1A
XTXX.X1
EPLAN
16
15
14
13
12
11
10
9
8
7
6
5
4
3
2
1
-X1
4
Lab/Office:
RELAY I/O UNIT
5
6
= CM
Plant:
+ ORT
Location:
Sublocation: +
Rev. Ind Page 36
Next 37
Total 42
8
3HAC020538-002 02
Document no.
Approved
Status:
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
Prepared by, date:
Latest revision:
1
Approved by, date:
2
RELAY I/O UNIT
3
OUT CH.16B
OUT CH.16A
OUT CH.15B
OUT CH.15A
OUT CH.14B
OUT CH.14A
OUT CH.13B
OUT CH.13A
OUT CH.12B
OUT CH.12A
OUT CH.11B
OUT CH.11A
OUT CH.10B
OUT CH.10A
OUT CH.9B
OUT CH.9A
EPLAN
4
Lab/Office:
16
15
14
13
12
11
10
9
8
7
6
5
4
3
2
1
-X2
XTXX.X2
RELAY I/O UNIT
5
6
= CM
Plant:
+ ORT
Location:
Sublocation: +
Rev. Ind Page 37
Next 38
Total 42
8
3HAC020538-002 02
Document no.
Approved
Status:
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
Prepared by, date:
Latest revision:
3)
2
120 ohm
2
1
2)
TO NEXT
I/O UNIT
Approved by, date:
3) CONNECTED IN THE LAST CONNECTOR IN THE
CAN-BUS CIRCUIT.
2) RESISTANS 120 OHM SHALL ALWAYS
BE CONNECTED IN THE FIRST AND THE
LAST CONNECTOR IN THE CAN-BUS CIRCUIT.
1) JUMPERS PLACED ACCORDING TO
THE ACTUAL NODE ADDRESS.
OR PREVIOUS
I/O UNIT
/29.5 / -DRAIN
/29.5 / -V/29.5 / -CAN_L
/29.5 / -CAN_H
/29.5 / -V+
/9.3 / -+24V devicenet
/9.3 / -0V devicenet
1
1)
3
0V
NA0
NA1
NA2
NA3
NA4
NA5
I/Ox
11
9
7
3
4
1
12
10
8
6
5
2
-X5
EPLAN
ANALOGUE I/O UNIT
4
DAC
ADC
Lab/Office:
0V
REF
MUX
15
13
10
8
6
4
2
3
1
14
12
11
9
7
5
3
1
21
19
-X8
22
20
4
2
-X7
ANALOGUE I/O UNIT
0V
5
0V
0V
0V
0V
24V
ANIN_1
ANIN_2
ANIN_3
ANIN_4
ANOUT_1
ANOUT_2
ANOUT_3
ANOUT_4
0V
0V
0V
0V
6
= CM
Plant:
+ ORT
Location:
Sublocation: +
Rev. Ind Page 38
Next 39
Total 42
8
3HAC020538-002 02
Document no.
Approved
Status:
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
Prepared by, date:
Latest revision:
OR PREVIOUS
I/O UNIT
3)
2
2)
120 ohm
2
1
Approved by, date:
3) CONNECTED IN THE LAST CONNECTOR IN THE
CAN-BUS CIRCUIT.
1)
3
TO NEXT
I/O UNIT
2) RESISTANS 120 OHM SHALL ALWAYS
BE CONNECTED IN THE FIRST AND THE
LAST CONNECTOR IN THE CAN-BUS CIRCUIT.
1) JUMPERS PLACED ACCORDING TO
THE ACTUAL NODE ADDRESS.
/29.5 / -DRAIN
/29.5 / -V/29.5 / -CAN_L
/29.5 / -CAN_H
/29.5 / -V+
/9.3 / -+24V devicenet
/9.4 / -0V devicenet
1
0V
NA0
NA1
NA2
NA3
NA4
NA5
I/Ox
12
10
8
6
5
2
-X5
11
9
7
3
4
1
EPLAN
REMOTE I/O UNIT
4
NAC
Lab/Office:
1
2
1
2
1
4
4
-X9
3
-X8
3
2
1
-X9
2
1
-X8
REMOTE I/O UNIT
5
6
= CM
Plant:
+ ORT
Location:
Sublocation: +
Rev. Ind Page 39
Next 40
Total 42
REMOTE I/O OUT
REMOTE I/O IN
8
3HAC020538-002 02
Document no.
Approved
Status:
(CLEAR)
(BLUE)
LINE 2 (CLEAR)
LINE 1 (BLUE)
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
3)
2
Prepared by, date:
Approved by, date:
4) IT IS IMPORTANT THAT 24V DC EXT SUPPLY
ALWAYS IS AVAILABLE. OTHERWISE THE
INTERBUS CAN NOT WORK IF THE CONTROLLER
IS TURNED OFF.
3) CONNECTED IN THE LAST CONNECTOR IN THE
CAN-BUS CIRCUIT.
Latest revision:
120 ohm
2
1
2)
1)
+24VDC
GND
TO NEXT
I/O UNIT
3
4) 24V DC EXT. SUPPLY
2) RESISTANS 120 OHM SHALL ALWAYS
BE CONNECTED IN THE FIRST AND THE
LAST CONNECTOR IN THE CAN-BUS CIRCUIT.
1) JUMPERS PLACED ACCORDING TO
THE ACTUAL NODE ADDRESS.
OR PREVIOUS
I/O UNIT
/29.5 / -DRAIN
/29.5 / -V/29.5 / -CAN_L
/29.5 / -CAN_H
/29.5 / -V+
/9.4 / -+24V devicenet
/9.4 / -0V devicenet
1
0V
NA0
NA1
NA2
NA3
NA4
NA5
I/Ox
5
3
1
12
10
8
6
5
2
-X5
-X3
11
9
7
3
4
1
EPLAN
INTERBUS SLAVE
4
Lab/Office:
9
6
3
6
2
7
3
1
-X20
7
5
2
1
-X21
INTERBUS SLAVE
5
6
TPDI1-N
TPDO1-N
GND
TPDI1
TPDO1
RBST
TPDI2-N
TPDO2-N
+5VDC
GND
TPDI2
TPDO2
= CM
Plant:
+ ORT
Location:
Sublocation: +
Rev. Ind Page 40
Next 41
Total 42
8
3HAC020538-002 02
Document no.
Approved
Status:
IB-S IN
IB-S OUT
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
3)
2
External supply
Prepared by, date:
Latest revision:
Approved by, date:
3) CONNECTED IN THE LAST CONNECTOR IN THE
CAN-BUS CIRCUIT.
2) RESISTANS 120 OHM SHALL ALWAYS
BE CONNECTED IN THE FIRST AND THE
LAST CONNECTOR IN THE CAN-BUS CIRCUIT.
1) JUMPERS PLACED ACCORDING TO
THE ACTUAL NODE ADDRESS.
OR PREVIOUS
I/O UNIT
/29.5 / -DRAIN
/29.5 / -V/29.5 / -CAN_L
/29.5 / -CAN_H
/29.5 / -V+
/9.4 / -+24V devicenet
/9.4 / -0V devicenet
1
4
3
5
1
-X3
12
10
8
6
5
2
-X5
11
9
7
3
4
1
EPLAN
PROFIBUS DP SLAVE
+24VDC
1)
0V
NA0
NA1
NA2
NA3
NA4
NA5
I/Ox
GND
0V DC
120 ohm
2
1
2)
TO NEXT
I/O UNIT
3
Lab/Office:
8
5
3
6
4
1
-X20
6
RXD/TXD-N
+5VDC
GND
CONTROL-P
RXD/TXD-P
SHIELD
Customer
Connection
PROFIBUS DP SLAVE
5
= CM
Plant:
+ ORT
Location:
Sublocation: +
Rev. Ind Page 41
Next 42
Total 42
8
3HAC020538-002 02
Document no.
Approved
Status:
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
Prepared by, date:
Latest revision:
OR PREVIOUS
I/O UNIT
3)
2
120 ohm
2
1
2)
TO NEXT
I/O UNIT
Approved by, date:
3) CONNECTED IN THE LAST CONNECTOR IN THE
CAN-BUS CIRCUIT.
2) RESISTANS 120 OHM SHALL ALWAYS
BE CONNECTED IN THE FIRST AND THE
LAST CONNECTOR IN THE CAN-BUS CIRCUIT.
1) JUMPERS PLACED ACCORDING TO
THE ACTUAL NODE ADDRESS.
/29.5 / -DRAIN
/29.5 / -V/29.5 / -CAN_L
/29.5 / -CAN_H
/29.5 / -V+
/9.4 / -+24V devicenet
/9.4 / -0V devicenet
1
1)
3
0V
NA0
NA1
NA2
NA3
NA4
NA5
I/Ox
11
9
7
3
4
1
12
10
8
6
5
2
-X5
ENCODER UNIT
EPLAN
4
2
2
Lab/Office:
K
A
K
A
K
A
2
1
1
1
9
8
7
6
5
4
3
2
1
-X20
ENCODER UNIT
5
DIGIN
0V
+24V
ENC_B
ENC_A
ENC 0V
ENC +24V
0V
24 VDC
Encoder
Connection
6
= CM
Plant:
+ ORT
Location:
Sublocation: +
Rev. Ind Page 42
Next
Total 42
Synch switch
Encoder
8
3HAC020538-002 02
Document no.
Approved
Status:
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
Prepared by, date:
Latest revision:
1
3
4
5
6
EPLAN
Lab/Office:
Title page
ABB Automation Technologies AB
Robotics
SE-721 68 Västerås
Sweden
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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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Project start
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Last revision
Designed by
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Number of pages
Manufacture
Type
Type of installation
Control cabinet
Mains voltage
Supply
Control voltage
Year of construction
3
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:
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DOKUMENTEDKB
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DOKUMENTEINV
DM
ORT
DM
ORT
DM
ORT
DM
ORT
DM
ORT
DM
ORT
DM
ORT
DM
ORT
DM
ORT
DM
ORT
DM
ORT
DM
ORT
DM
ORT
DM
ORT
DM
ORT
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Page
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
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17
18
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Table of contents
1
4
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Page description
Title page
Title page
Table of contents: (1 - 18)
VIEW OF DRIVE MODULE
VIEW OF DRIVE MODULE
MAINS CONNECTION
TRANSFORMER UNIT
POWER SUPPLY
CONTACTOR BOARD
POWER UNITSERVO DISCONNECTOR
AXIS COMPUTER UNIT
AXIS COMPUTER UNIT
VIEW OF DRIVE MODULE
RECTIFIER AND BLEEDER
FAN UNIT
ADDITIONAL AXIS 1-3, DRIVE UNIT NO 7
ADDITIONAL AXIS 1-3, DRIVE UNIT NO 8
ADDITIONAL AXIS 1-3, DRIVE UNIT NO 9
3
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DIN_INV_30_1
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jsundin1
jsundin1
jsundin1
jsundin1
jsundin1
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2004-09-22
2004-09-22
2004-09-22
2004-09-22
2004-09-22
2004-09-22
2004-09-22
2004-09-22
2004-09-22
2004-09-22
2004-09-22
2004-09-23
2004-09-22
2004-09-22
2004-09-22
2004-09-23
2004-09-13
2004-09-13
Date
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A43
K42
K43
1
K44
Approved by, date:
Z1
2
F2
K41
F1
3
H1
EPLAN
XS25
XP0
P1
(opt duty time counter)
4
Lab/Office:
Q1
G1
A41.3
6
A41.1.3
A42
A41.1
VIEW OF DRIVE MODULE
XS7
XS1
A41.1.4
5
A41.2
XS2
Document no.
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02
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XS41
8
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X23
X21
X22
1
X7
X9
X10
X24
X3
X11
Approved by, date:
X1
X5
X8
X6
X12
A43 Contactor unit
2
3
X4
EPLAN
4
Lab/Office:
6
X1
X10
X11
A42 Axis computer unit
VIEW OF DRIVE MODULE
5
Document no.
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X4
X5
X9
X8
7
X6
X2
02
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2
3
AWG10 BK
2
1
-102
AWG10 BK
AWG10 BK
4
3
2
6
5
EPLAN
AWG10 BK
3
TRANSFORMER UNIT
-Q1
-101
AWG10 BK
1
-110
/7.3 / -L1
-XP0
-111
/7.3 / -L2
-103
AWG10 BK
4
-112
/7.4 / -L3
AWG10 GNYE
4
Lab/Office:
-F6
MAINS CONNECTION
-Z1
5
3
4
3
4
1
2
1
2
107
108
6
5
6
5
109
OPTION:
MAINS LINE FILTER
OPTION:
CIRCUIT BRAKER
6
8
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=DM
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1
TRANSFORMER UNIT
200V
220V
Approved by, date:
-X2
400V
230V
440V
-X1
1
/8.4 / -230V AC1
230V
2
2
/8.4 / -230V AC2
480V
500V
525V
600V
200V
-120
/10.7 / -L2
-119
/10.7 / -L1
AWG10 BK
220V
3
-121
/10.7 / -L3
-X10
AWG10 BK
-110
BK
-L1 / /6.4
A1
440V
-114
-111
AWG10 BK
BK
-L2 / /6.4
A2
-115
500V
-112
AWG10 BK
BK
-L3 / /6.4
EPLAN
4
AWG10 GNYE
=DM
+L1
B2
B1
525V
MAINS CONNECTION
AWG10 BK
400V
-113
AWG10 BK
480V
600V
200V
220V
2
F4
500V
4
TRANSFORMER UNIT
3
F6
F5
3
5
ONLY FOR IRB 6600-7600
1
F2
F3
F1
Lab/Office:
-X2
-L1
2
1
AWG10 GNYE
-X1
400V
440V
480V
525V
600V
=DM
+T2
= DM
Plant:
+ ORT
Location:
Sublocation: +
Rev. Ind Page 7
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3HAC020538-002 02
Document no.
400V
7
Approved
Status:
T2 USED FOR:
DIRECT POWER SUPPLY
IRB6600 400-480V
IRB7600 480V
-X2
-X1
TRANSFORMER UNIT
6
IN
230V
440V
480V
113
114
115
8
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2
5
MAIN SERVO
DRIVE UNIT
2
Approved by, date:
4
AXIS COMP.
UNIT
BK
1
BN
/11.2 / -0V DRIVE
/11.2 / -24V DRIVE
-X2
RD
DRIVE POWER SUPPLY
OG
/15.2 / -0V DRIVE
/15.2 / -24V DRIVE
-470
/9.2 / -0V COOL
-468
/9.2 / -0V BRAKE
-467
/9.2 / -0V BRAKE
-469
/9.2 / -+24V COOL
-466
/9.2 / -24V BRAKE
-465
/9.2 / -24V BRAKE
-464
/9.2 / -0V DRIVE
-463
/9.2 / -24V DRIVE
BU
BU
6
CONTACTOR
UNIT
-461
3
-462
/15.2 / -0V COOL
/15.2 / -+24V COOL
3
-X3
AWG16
1
2
3
-F2
CONTACTOR
UNIT
AWG16 BU
AWG16
AWG16
5
6
-X1
AWG16 BU
1
AWG16 BK
1
2
EPLAN
7
-152
4
-153
BK
-156
-230V AC1 / /7.2
1
2
BK
5
14
4
11
-230V AC2 / /7.2
3
8
2
3
4
POWER SUPPLY
BK
/11.2 / -+5V
5
AXIS COMP.
UNIT
BN
/11.2 / -ACOK
1
RD
-X4
Lab/Office:
MAIN SERVO
DRIVE UNIT
4
3
AWG16
AWG16 BU
AWG16 BU
OG
/11.2 / -TEMPOK
/11.2 / -BRAKEOK
-K41
A2
-141
-140
AWG20 BU
AWG20 BU
AWG16 BK
-155
A1
AWG16 BK
-154
6
GND
CONTROL
MODULE
A21.X7
PANEL BOARD
CONTROL
MODULE
X20
= DM
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Rev. Ind Page 8
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0V
AC_ON
230V AC2
230V AC1
8
3HAC020538-002 02
Document no.
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2
1
-K41.X1
GND
2
1
-XS25
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DRIVE
POWER
SUPPLY
/8.3 / -24V BRAKE
/8.4 / -0V COOL
/8.4 / -+24V COOL
/8.3 / -24V BRAKE
/8.4 / -0V BRAKE
/8.4 / -0V BRAKE
AXIS
/11.2 / -RS485+
/11.2 / -RS485COMPUTER
/11.2 / -0V ENABLE2
/11.2 / -ENABLE2
CONTROL
MODULE
A21.X7
LIMIT
SWITCH 1
CONTROL
CABLE
LIMIT
OVERRIDE
LIMIT
SWITCH 2
EXTERNAL
AXIS
CONTROL
MODULE
A21.X7
LIM2 ch1
LIM1 ch1 ret
LIM1 ch2 ret
LIM1 ch2
LIM1 ch1
LIM2 ch1 ret
LIM2 ch2 ret
LIM2 ch2
Approved by, date:
AWG16 BU
AWG16 BU
AWG16 BU
AWG16 BU
AWG16 BU
AWG16 BU
WHOG
OG
WHBU
BU
-466
-470
-469
-465
-467
-468
AWG24
0V
SPEED
ENABLE2_1Ret
ENABLE2_1
RUN CH2 RET
RUN CH2
RUN CH1 RET
RUN CH1
BU
-463
/8.3 / -24V DRIVE
4
2
-X1
2
3
2
3
5
3
1
7
4
7
5
4
1
6
4
2
-X7
8
5
-X4
8
6
-X1
2
3
-X21
4
1
-X23
4
1
-X22
3
1
2
1
LIM1
LIM2
EPLAN
K1
K2
0VDrive
24VDrive
INTERLOCKING
24VDrive
0VDrive
LOCK1A
-X6
LOCK2B
BU
SELF1
-464
SELF2
/8.3 / -0V DRIVE
24V COOL
24V COOL
Lab/Office:
CONTACTOR BOARD
CONTINUATION NEXT PAGE
0V COOL
DRIVE
POWER
SUPPLY
RUN_CH1
RUN_CH2
CONTACTOR UNIT
0V COOL
=DM
+A43
5
PAN_CH1
RUN_CH2
4
6
FAN2 ret
FAN2
4
3
2
4
3
2
1
2
1
-X12
4
3
2
1
-X11
+24V COOL
0V COOL
FAN1 ret
FAN1
+24V COOL
0V COOL
0V BRAKE
PTC1 ret
1
-X10
-X5
0V BRAKE
PTC1
BRAKE CTRL
3
PAN_CH2
2
0V COOL
1
24V COOL
BRAKE
RUN_CH1
-492
-491
0V
+24V
-P1
-
= DM
Plant:
+ ORT
Location:
Sublocation: +
Rev. Ind Page 9
Next 10
Total 18
h
+
OPTION:
DUTY TIME COUNTER
8
3HAC020538-002 02
Document no.
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AWG20 BU
AWG20 BU
7
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=DM
+A43
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Latest revision:
1
-K42
AWG20 BU
-451
AWG20 BU
-476
AWG20 BU
-475
AWG20 BU
-474
AWG20 BU
-473
AWG20 BU
-472
AWG20 BU
-471
0V COOL
2
AWG20 BU
-452
-X8
AWG20 BU
-479
CONTACTOR UNIT
AWG20 BU
-480
A2
1
A1
RUN CH1
Approved by, date:
-K44
0V COOL
6
2
2
1
-K43
A2
5
A1
BRAKE
0V COOL
4
A2
3
A1
RUN CH2
-X3
24V
1
BRAKE_FB
3
6
0V
5
-H1
AWG20 BU
-482
AWG20 BU
-481
SELF1
24V
10
STATUS DIOD
44
43
AWG20 BU
-493
4
AWG20 BU
-494
21
22
44
AWG20 BU
-484
AWG20 BU
-483
LOCK1B
LOCK1A
4
2
EPLAN
AWG20 BU
-485
3
43
SELF2
9
AWG20 BU
-486
22
7
21
LOCK2A
LOCK2B
8
Lab/Office:
34
33
-X24
&
EXTCONT
3
5
5
POWER UNIT
SERVO DISCONNECTOR
34
33
0V
4
CUSTOMER
CONNECTION
EXT MON 1A
EXT MON 1B
EXT MON 2A
EXT MON 2B
24V DRIVE
6
PTC2
1
2
-X40
PTC2 0V
AWG10 BK
-128
/14.4 / -L12
AWG16 BU
-450
EXT. BRAKE PB
AWG16 BU
-449
EXT. BRAKE REL.
AWG16 BU
-446
BRAKE PB
AWG16 BU
-448
BRAKE REL.
AWG16 BU
-447
BRAKE REL.
AWG16 BU
-445
EXT. LAMP
1
-129
/14.5 / -L22
-489
BU
-487
BU
AWG16 BU
2
4
3
14
13
13
14
24V BRAKE
1
3
-488
6
4
21
22
24V BRAKE
AWG16 BU
2
5
6
5
BRAKE PB
3
CONTROL CABLE
AND OPTION:
EXTERNAL AXIS
-490
-X9
-130
/14.5 / -L32
6
6
5
6
5
-L1 / /7.3
AWG10 BK
-L2 / /7.3
AWG10 BK
-L3 / /7.3
AWG10 BK
8
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3HAC020538-002 02
Document no.
4
3
4
3
RECTIFIER
2
1
2
6
1
I>
4
-121
5
I>
-120
3
2
-119
1
I>
BK
BK
BK
7
Approved
Status:
-F1
-122
-123
AWG10 BK
-124
AWG10 BK
We reserve all rights in this document and in the information contained therein.Reproduction, use or
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CONTACTOR
UNIT
CONTROL
MODULE
A32.A9
RCC
DRIVE POWER
SUPPLY
DRIVE POWER
SUPPLY
1
Approved by, date:
/9.2 / -ENABLE2
/9.2 / -0V ENABLE2
/9.2 / -RS485-
/9.2 / -RS485+
RX-
RX+
TX-
AWG24
WHOG
OG
WHBU
BU
OG
/8.5 / -TEMPOK
TX+
RD
/8.5 / -BRAKEOK
BK
/8.5 / -+5V
BN
BK
/8.2 / -24V DRIVE
/8.5 / -ACOK
BN
/8.2 / -0V DRIVE
2
3
=DM
+A42
5
3
2
-X9
8
7
5
4
-X6
6
3
2
1
-X2
4
3
2
1
-X10
2
1
-X1
0V
TXD
RXD
EPLAN
AXIS COMPUTER UNIT
4
Lab/Office:
5
14
13
9
8
4
3
12
11
7
6
2
1
-X11
AWG26
BK
BU
BK
GN
BK
YE
BK
OG
BK
RD
BK
BN
BK
AXIS COMPUTER UNIT
5
6
=DM
+A41.1
5
14
13
9
8
4
3
12
11
7
6
2
1
-X1
= DM
Plant:
+ ORT
Location:
Sublocation: +
Rev. Ind Page 11
Next 12
Total 18
8
3HAC020538-002 02
Document no.
Approved
Status:
GND
-DATA TRANSMITTER
+DATA TRANSMITTER
-CLK TRANSMITTER
+CLK TRANSMITTER
-FRAME TRANSMITTER
+FRAME TRANSMITTER
-DATA RECEIVER
+DATA RECEIVER
-CLK RECEIVER
+CLK RECEIVER
-FRAME RECEIVER
+FRAME RECEIVER
MAIN SERVO DRIVE UNIT
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1
OUT 1
GND_I1
GND_I2
OUT 2
24V_EXT1
GND_01
IN 1
IN 2
24V_EXT2
GND_O2
Approved by, date:
PROCESS I/O
2
3
=DM
+A42
-X8
15
14
13
12
11
10
9
8
7
6
5
4
3
2
1
EPLAN
AXIS COMPUTER UNIT
4
Lab/Office:
9
3
7
6
5
4
2
1
-X5
9
3
7
6
5
4
2
Status:
= DM
Plant:
+ ORT
Location:
Sublocation: +
Rev. Ind Page 12
Next 13
Total 18
EXT. AXIS
SIGNAL
CONTROL
SIGNAL
8
3HAC020538-002 02
Document no.
Approved
J
G
F
E
D
C
B
A
-XS41
J
G
F
E
D
C
B
A
DRIVE
MODULE
-XS2
7
1
6
-X4
AXIS COMPUTER UNIT
0V
0V
24V_SMB2
0V
MRCI2_N
MRCI2
MRCO2_N
MRCO2
0V
0V
24V_SMB1
0V
MRCI1_N
MRCI1
MRCO1_N
MRCO1
5
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Prepared by, date:
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3
Approved by, date:
4
A41.1.5
SINGLE SERVO DRIVE UNIT
OPTION: EXT AXIS 9
EPLAN
A41.1.4
SINGLE SERVO DRIVE UNIT
OPTION: EXT AXIS 8
Lab/Office:
A41.1.3
SINGLE SERVO DRIVE UNIT
OPTION: EXT AXIS 7
A41.2
RECTIFIER
DC-BUSBAR
A41.1
MAIN SERVO DRIVE UNIT
3 UNITS FOR IRB140, IRB1400, IRB2400, IRB340
2
6
7
Document no.
Approved
Status:
DC-BUSBAR
02
8
= DM
Plant:
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Location:
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Rev. Ind Page 13
Next 14
Total 18
A41.1
MIAN SERVO DRIVE UNIT
DC-BUSBAR
A41.2
RECTIFIER
A41.1.3
SINGLE SERVO DRIVE UNIT
OPTION: EXT AXIS 7
A41.1.4
SINGLE SERVO DRIVE UNIT
OPTION: EXT AXIS 8
6 UNITS FOR IRB4400, IRB940, IRB6600, IRB7600
VIEW OF DRIVE MODULE
5
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Prepared by, date:
+5V
0V
DATA_TO_RECT_N
DATA_TO_RECT
CLK_N
CLK
ENABLE_N
ENABLE
DATA_TO_DRIVE_N
DATA_TO_DRIVE
0V
+24V
Spare
Spare
10
14
9
4
12
7
2
-X2
6
1
AWG26
VT
BK
BU
BK
GN
BK
YE
BK
OG
BK
RD
BK
BN
BK
Approved by, date:
5
13
8
3
11
MAIN SERVO DRIVE UNIT
Latest revision:
=DM
+A41.1
2
3
=DM
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11
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-X33
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RECTIFIER AND BLEEDER
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RD
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VT
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6
6
4
2
3
8
-X1
5
7
1
FAN UNIT
-353
-356
-357
-351
-355
-352
-354
-350
2
+
3
2
+
-
3
M
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ABB Automation Technologies AB
Robotics
SE-721 68 Västerås
Sweden
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SERVO DRIVE SYSTEMIRB 6600-7600
CONTROL CABLEIRB 6600-7600
POSITION SWITCH 1IRB 6600-7600
POSITON SWITCH 2/3IRB 6600-7600
POSITION SWITCH 2/3 AND COOLING AXIS 1,2
COOLINNG AXIS 1,2
CUSTOMER POWER/SIGNALSIRB 6600-7600
CUSTOMER POWER/SIGNALS/DeviceNetIRB 6600
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CUSTOMER POWER/SIGNALS/PROFIBUSIRB 6600EXTERNAL AXIS no 7
EXTERNAL AXIS no 8
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2004-09-23
2004-09-23
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2004-09-23
2004-09-23
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AWG12
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-425
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-424
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-411
AWG12
-410
AWG12
-409
AWG12
-408
AWG12
-407
AWG12
-406
AWG12
-422
AWG12
-420
AWG12
-418
AWG12
-405
AWG12
-404
AWG12
-403
AWG12
-402
AWG12
-401
AWG12
-400
BK
BK
24
24
2
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19
19
3
BK
26
26
4
BK
18
18
5
BK
25
25
6
BK
-X12
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-413
17
17
AWG12
-414
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AWG12
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-X11
AWG12
-416
MAIN SERVO DRIVE UNIT
AWG12
-417
1
1
1
2
BK
DC-BUSBAR
AWG12
-428
2
AWG12
-430
1
AWG12
-432
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+A41.1
34
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OGGN
BN
OGBU
GNWH
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BKBU
BKRD
10
10
3
BK
4
BKGN
2
2
5
6
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BK
3
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23
23
1
BNWH
BK
32
32
2
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21
21
3
BNGN
BK
30
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22
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5
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31
31
6
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BK
4
GYBU
BK
2
29
29
3
Lab/Office:
20
20
1
GYGN
BK
4
GYBK
28
28
5
SERVO DRIVE SYSTEM
IRB 6600-7600
6
5
BK
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BU
3
3
1
BKWH
BK
4
4
2
BNBU
BK
7
7
3
BK
BK
14
14
4
BNBK
BK
5
5
5
6
BUBK
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6
6
6
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0,00
0V BRAKE
PTC 0V
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BRAKE REL.
BRAKE REL.
BRAKE PB
-438
-440
-439
-437
-436
-435
-434
OGRD
AWG16 BU
AWG16 BU
AWG16 BU
AWG16 BU
AWG16 BU
AWG16 BU
AWG16 BU
EPLAN
H
AWG16 BU
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3
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F
7
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H
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6
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D
5
Lab/Office:
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27
12
13
11
-XS/XP1
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IRB 6600-7600
PKWH
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BRAKE RELEASE
BRAKE RELEASE
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EXT.LAMP
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SDO-N
SDO
SDI-N
SDI
Approved
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12
13
11
-R1.MP
L
K
K
L
J
J
F
E
D
C
B
A
C
-R1.SMB
4
8
7
MANIPULATOR
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6
2
DRIVE
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A
EXT.LAMP
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EXT LAMP
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-X4
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-XP/XT8.2
12
11
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9
8
7
6
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4
3
2
A
1
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-623
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-620
-619
-618
-617
-616
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OG
OG
OG
OG
OG
OG
OG
OG
OG
OG
OG
OG
OG
OG
OG
OG
OG
OG
OG
OG
OG
OG
OG
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AWG 24 OG
3
CONTROL
MODULE
a
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L
K
J
H
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F
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Lab/Office:
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IRB 6600-7600
5
6
a
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W
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K
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F
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D
C
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12
11
10
9
8
7
6
5
4
3
2
1
-XP/XT58.1
2
624
623
622
621
620
619
618
617
616
615
614
613
612
611
610
609
608
607
606
605
604
603
602
601
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3
e
d
c
b
a
Z
Y
X
W
V
U
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L
K
J
H
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F
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D
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A
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CONTROL
MODULE
EPLAN
4
Lab/Office:
POSITON SWITCH 2/3
IRB 6600-7600
5
6
e
d
c
b
a
Z
Y
X
W
V
U
T
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D
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3
2
1
-X11
4
3
T2
0V FAN 2
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T1
0V FAN 1
Lab/Office:
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MANIPULATOR
i
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7
i
e
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7
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689
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691
692
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C4
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B9
B7
C3
C1
B20
B19
B18
B16
B15
B14
C2
B1
B11
B12
B2
A7
A6
A5
A4
A3
A2
A1
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CS
CS
CS
CS
CS
CS
CS
CS
CS
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CS
CS
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CS
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Document no.
B5
B3
B9
B7
C3
B21
B20
B19
B18
B16
B15
B14
B13
C1
B2
B12
B11
B1
D7
D2
D5
D4
D3
D6
D1
-R1.CP/CS
MANIPULATOR
IRB 6600-7600
Approved
Status:
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
12
10
8
6
4
2
19
17
15
13
20
18
16
14
-XP/XT5.2
11
9
7
5
3
1
-XP/XT5.1
4
3
2
1
-XP/XT6
Prepared by, date:
CONTROL
MODULE
G4.X2
3
4
2
-J1
2
1
2
689
690
691
692
693
694
695
696
677
678
679
680
681
682
683
684
685
686
687
688
+24V CAN
0V
702
CAN_H
CAN_L
AWG 24 OG
AWG 18 OG
B12
F12
F2
F1
F3
F4
F9
F7
F5
F11
F10
F8
F6
B9
B7
B5
B3
B11
B10
B8
B6
B4
B2
B1
A4
A3
A2
A1
-XS/XP13
CONTROL MODULE
3
701
673
672
671
670
Approved by, date:
120 Ohm
DEVICE NET ADAPTER
Latest revision:
=CM
+A35
Customer
Connection
1
EPLAN
4
Lab/Office:
6
CUSTOMER POWER/SIGNALS/DeviceNet
IRB 6600-7600
5
A3
B23
B22
A4
B25
B24
A12
= CM
Plant:
+ ORT
Location:
Sublocation: +
Rev. Ind Page 11
Next 12
Total 15
0V
+24V CAN
CAN_H
CAN_L
CS
CS
CS
CS
CS
CS
CS
CS
CS
CS
CS
CS
CS
CS
CS
CS
CS
CS
CS
CS
CP7
CP6
CP5
CP4
8
3HAC020538-002 02
Document no.
A10
A6
B10
A11
A9
A5
B9
B21
B20
B19
B18
B16
B15
B14
B13
B12
B11
D4
D3
D6
D1
-R1.CP/CS
MANIPULATOR
IRB 6600-7600
Approved
Status:
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
4
3
2
1
-XP/XT6
12
10
8
6
4
2
18
16
14
CONTROL
MODULE
A38.2.X2
19
17
15
13
-XP/XT5.2
11
9
7
5
3
1
-XP/XT5.1
Prepared by, date:
Latest revision:
Customer
Connection
1
689
690
691
692
693
694
695
677
678
679
680
681
682
683
684
685
686
687
688
673
672
671
670
Approved by, date:
2
GND
GND
DI_N
DI
DO_N
DO
AWG 24 OG
AWG 18 OG
3
B12
F1
F9
F7
F2
F3
F5
F10
F8
F12
F11
F4
F6
B9
B7
B5
B3
B1
B11
B10
B8
B6
B4
B2
A4
A3
A2
A1
-XS/XP13
CONTOL MODULE
EPLAN
4
Lab/Office:
6
CUSTOMER POWER/SIGNALS/IBS
IRB 6600-7600
5
A12
B22
= CM
Plant:
+ ORT
Location:
Sublocation: +
Rev. Ind Page 12
Next 13
Total 15
GND
DI_N
DI
DO_N
DO
CS4
CS3
CS11
CS10
CS9
CS8
CS7
CS20
CS19
CS18
CS17
CS16
CS15
CS14
CS13
CS12
CS11
CS2
CS1
CP7
CP6
CP5
CP4
8
3HAC020538-002 02
Document no.
A10
A11
A9
B25
B24
A4
A6
B10
B23
A3
A5
B9
B21
B20
B19
B18
B16
B15
B14
B13
B12
B11
D4
D3
D6
D1
-R1.CP/CS
MANIPULATOR
IRB 6600-7600
Approved
Status:
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
4
3
2
1
-XP/XT6
12
10
8
6
4
2
22
20
18
16
14
CONTROL
MODULE
A33.X3
21
19
17
15
13
-XP/XT5.2
11
9
7
5
3
1
-XP/XT5.1
Prepared by, date:
Latest revision:
Customer
Connection
1
Approved by, date:
RXD/TXD-P
RXD/TXD-N
AWG 24 OG
RD
689
690
691
692
693
694
695
696
697
698
677
678
679
680
681
682
683
684
685
686
687
688
673
672
671
670
AWG 18 OG
GN
2
B12
F12
F6
F5
F2
F9
F7
F3
F1
F11
F10
F8
F4
B9
B7
B5
B3
B1
B11
B10
B8
B6
B4
B2
A4
A3
A2
A1
-XS/XP13
CONTROL MODULE
3
EPLAN
4
Lab/Office:
6
CUSTOMER POWER/SIGNALS/PROFIBUS
IRB 6600-7600
5
A12
A6
A5
B23
B22
B25
B24
= CM
Plant:
+ ORT
Location:
Sublocation: +
Rev. Ind Page 13
Next 14
Total 15
RXD/TXD-N
RXD/TXD-P
CS
CS
CS
CS
CS
CS
CS
CS
CS
CS
CS
CS
CS
CS
CS
CS
CS
CS
CS
CS
CS
CS
CP7
CP6
CP5
CP4
8
3HAC020538-002 02
Document no.
A10
A4
B10
A11
A9
A3
B9
B21
B20
B19
B18
B16
B15
B14
B13
B12
B11
D4
D3
D6
D1
-R1.CP/CS
MANIPULATOR
IRB 6600-7600
Approved
Status:
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
Prepared by, date:
Latest revision:
=DM
+A43
=DM
+A41.1.3
1
DRIVE MODULE
X40
CONTACTOR UNIT
4
3
2
1
5
AWG16 BU
AWG16 BU
AWG16 BU
AWG16 BU
Approved by, date:
4
3
2
1
-XP40
6
3
1
LIM2 ch2 ret
LIM2 ch2
LIM2 ch1 ret
BRAKE REL. +24V
BRAKE PB
EPLAN
Lab/Office:
AWG16 BU
AWG16 BU
AWG16 BU
AWG16 BU
AWG16 BU
AWG10 GNYE
EXTERNAL AXIS no 7
-4010
-4011
-4009
-4008
-6007
AWG16 BU
E6
6
-4006
E5
F8
F7
F6
F5
F3
F2
F4
F1
7
= DM
Plant:
+ ORT
Location:
Sublocation: +
Rev. Ind Page 14
Next 15
Total 15
8
3HAC020538-002 02
Document no.
Approved
Status:
F11
F10
F9
E4
AWG16 BU
E1
5
-XS40
4
-445
-447
-448
-446
-4012
AWG16 BU
A6
A5
A4
A3
A2
A1
-XS/XP7
4
-X22
2
4014
AWG16 BU
AWG12 BK
AWG12 BK
AWG12 BK
AWG12 BK
AWG12 BK
AWG12 BK
6
E3
4013
4005
4004
4003
4002
4001
4000
5
E2
0V BRAKE
4
3
LIM2 ch1
PTC
V
V
W
W
U
U
PTC 0V
3
2
1
-X24
6
5
4
3
2
1
-X21
SINGLE SERVO DRIVE UNIT
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
Prepared by, date:
Latest revision:
1
=DM
+A41.1.4
Approved by, date:
SINGLE SERVO DRIVE UNIT
2
6
5
4
3
2
1
-X21
3
V
V
W
W
U
U
EPLAN
4
Lab/Office:
FOR 8 AXIS
-4005
-4004
-4003
-4002
-4001
-4000
AWG12
AWG12
AWG12
AWG12
AWG12
AWG12
EXTERNAL AXIS no 8
5
6
= DM
Plant:
+ ORT
Location:
Sublocation: +
Rev. Ind Page 15
Next
Total 15
8
3HAC020538-002 02
Document no.
Approved
Status:
B6
B5
B4
B3
B2
B1
-XS/XP7
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
Prepared by, date:
Latest revision:
1
3
4
5
6
EPLAN
Lab/Office:
Title page
ABB Automation Technologies AB
Robotics
SE-721 68 Västerås
Sweden
© Copyright 2004 ABB All right reserved.
Additional copies of this document may be obtained from ABB at its then current charge.
We reserve all rights in this document and in the information contained therein.Reproduction, use or
disclosure to third parties without express authority is strictly forbidden.
7
= DOKUMENTE
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Rev. Ind Page 1
Next 2
Total 9
8
3HAC020538-002 02
Document no.
Approved
Status:
In no event shall ABB be liable for incidental or consequential damages arising from use of this document
or of the software and hardware described in this document.
The information in this document is subject to change without notice and should not be construed as a
commitment by ABB. ABB assumes no responsibility for any errors that may appear in this document.
EPLAN
Approved by, date:
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
2
Prepared by, date:
Latest revision:
Project start
Project manager
Last revision
Designed by
Designed date
Number of pages
Manufacture
Type
Type of installation
Control cabinet
Mains voltage
Supply
Control voltage
Year of construction
3
4
:
:
:
:
:
:
:
:
:
:
:
:
:
:
jsundin1
2004-09-23
9
2004-02-16
: 2004-09-23
:
EPLAN
Lab/Office:
:
:
: 3HAC020538-002_Cables for 4400
Phone :
EPLAN
Approved by, date:
Customer
Robot serial number(s)
Drawing number
Drawing version
1
Title page
5
6
= DOKUMENTE
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Rev. Ind Page 2
Next 3
Total 9
8
3HAC020538-002 02
Document no.
Approved
Status:
7
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2
Location
Prepared by, date:
Latest revision:
DOKUMENTEDKB
DOKUMENTEDKB
DOKUMENTEINV
DM
ORT
DM
ORT
CM
ORT
CM
ORT
DM
ORT
DM
ORT
Plant
Page
1
2
3
4
5
6
7
8
9
Approved by, date:
Table of contents
1
4
EPLAN
Page description
Title page
Title page
Table of contents: (1 - 9)
SERVO DRIVE SYSTEMIRB 4400
CONTROL CABLEIRB 4400
CUSTOMER POWER/SIGNALIRB 4400
POSITION SWITCHIRB 4400
EXTERNAL AXIS no 7
EXTERNAL AXIS no 8
3
Lab/Office:
6
Page supplementary field
Approved
Approved
Approved
Approved
Approved
Approved
Approved
Approved
Approved
Table of contents: (1 - 9)
5
DIN_INV_30_1
jsundin1
jsundin1
jsundin1
jsundin1
jsundin1
jsundin1
jsundin1
jsundin1
jsundin1
Editor
= DOKUMENTE
Plant:
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Location:
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Rev. Ind Page 3
Next 4
Total 9
2004-09-23
2004-09-23
2004-09-23
2004-09-23
2004-09-23
2004-09-23
2004-09-23
2004-09-09
2004-09-09
Date
8
3HAC020538-002 02
Document no.
Approved
Status:
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
Prepared by, date:
Latest revision:
54
0,00
-R1.MP
A1
A2
A5
A3
A4
D6
D8
GYWH
M4R
BUWH
M1T
BUBK
M1S
BKRD
M1R
BK
M1S
BKWH
M1S
BURD
M1T
BUGN
M1T
BKGN
M1R
BKBU
M1R
D10
OGGN
M4T
-400
-401
-402
-403
-404
-405
AWG16
AWG16
AWG16
AWG16
AWG16
AWG16
AWG16
BK
-X12
-418
B3
B3
1
AWG16
BK
2
-420
B5
B5
3
AWG16
BK
4
-422
B4
B4
5
6
D13
D12
D11
D13
D12
D11
-X13
AWG16
A7
A7
AWG16
1
A8
A8
AWG16
2
A9
A12
A11
A9
AWG16
5
A12
AWG16
4
A11
AWG16
3
-406
-407
-408
-409
-410
-411
A10
A10
6
EPLAN
AWG16
-X14
-424
BK
4
B6
B6
1
AWG16
2
-425
BK
B8
B8
3
BK
B7
B7
5
Lab/Office:
AWG16
4
-426
6
AWG16
B1
A14
A13
B1
AWG16
3
A14
AWG16
2
A13
AWG16
1
B2
B2
AWG16
4
C15
C14
C13
A16
A15
AWG16
BK
6
-428
-X16
C15
C14
C13
A16
6
A15
AWG16
5
SERVO DRIVE SYSTEM
IRB 4400
D16
D15
D14
D16
D15
D14
-X15
-412
-413
-414
-415
-416
-417
5
B9
B9
1
PKRD
M6R
3
WHBU
PK
M6T
DC-BUSBAR
Approved by, date:
A6
OGBK
M4S
D10
GYRD
M4R
D8
GY
M4S
D6
OGBU
M4T
A4
BU
M2R
A3
BNBK
M2R
A6
BNRD
M2T
A5
BNWH
M2T
A2
BNBU
M2S
A1
BNGN
M2S
-XS/XP1
OGWH
M5R
6
PKGN
M5T
5
PKBK
M5S
4
OGRD
M5R
3
OG
M5S
2
PKBU
M5T
1
BN
M3R
-X11
GNRD
M3R
MAIN SERVO DRIVE UNIT
GYBU
M3T
=CAB
+A41.1
GYGN
M3T
2
GNWH
M3S
1
GYBK
M3S
WHGN
WHRD
PKWH
M6S
AWG16
BK
2
-430
B11
AWG16
BK
4
B11
3
-432
B10
5
B10
6
AWG10
AWG10
C6
C7
C8
C9
MANIPULATOR
= DM
Plant:
+ ORT
Location:
Sublocation: +
Rev. Ind Page 4
Next 5
Total 9
C12
C11
C10
DRIVE MODULE
8
3HAC020538-002 02
C5
Document no.
C4
Approved
Status:
C3
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
Prepared by, date:
Latest revision:
1)
AWG16 BU
LIM 1B
LIM 2B
LIM 2A
LIM 1A
0V Brake
PTC 0V
PTC
0V Brake
Brake Release
Brake Release
1) Jumper if not used.
Approved by, date:
1
3
4
2
-X21
3
2
1
4
-X5
3
2
4
1
-444
-443
-442
-441
-437
-440
-439
-438
-436
-435
-434
EPLAN
AWG16 BU
AWG16 BU
AWG16 BU
AWG16 BU
AWG16 BU
AWG16 BU
AWG16 BU
AWG16 BU
AWG16 BU
AWG16 BU
AWG16 BU
J
9
Brake PB
G
3
B
K
H
D
Lab/Office:
D4
D3
D1
D2
B15
C1
C2
B14
B13
B12
B16
C16
-XS/XP1
L
F
7
C
E
5
6
4
-XS/XP40
CONTACTOR UNIT
DRIVE MODULE
X40
-433
DRIVE MODULE
A
Ext. Lamp
4
-XS/XP2
3
1
2
2
-X4
AXIS COMPUTER UNIT
=CAB
+A43
=CAB
+A42
1
CONTROL CABLE
IRB 4400
5
54
0,00
VTRD
VTBK
RDWH
RD
VTWH
VTBU
VTGN
RDGN
RDBU
RDBK
VT
WH
6
B
K
H
D
0V
BATSUP
BATLD
24V
SDI
SDI-N
SDO
SDO-N
0V
= DM
Plant:
+ ORT
Location:
Sublocation: +
Rev. Ind Page 5
Next 6
Total 9
SERIAL
MEASUREMENT
BOARD
8
3HAC020538-002 02
Document no.
Approved
Status:
D4
D3
D1
D2
B15
C1
C2
B14
B13
B12
B16
C16
-R1.MP
L
J
G
F
E
C
A
-R1.SMB
MANIPULATOR
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
12
10
8
6
4
2
12
10
8
6
4
2
23
21
19
17
15
13
22
20
18
16
14
=CAB-XP/XT5.2
11
9
7
5
3
1
=CAB-XP/XT5.1
11
9
7
5
3
1
=CAB-XP/XT6
Prepared by, date:
Latest revision:
Customer
Connection
1
637
638
639
640
641
642
643
644
645
646
647
625
626
627
628
629
630
631
632
633
634
635
636
648
649
650
651
652
653
654
655
656
657
658
659
Approved by, date:
2
AWG 24 OG
AWG 18 OG
A3
C2
A2
C1
A1
C10
D10
C10
B10
A10
D9
C9
B9
A9
D8
C8
B8
A8
D7
C7
B7
A7
D6
C6
B6
A6
D5
C5
B5
D3
C3
B3
D2
B2
D1
B1
=CAB-XS/XP5
CONTROL MODULE
3
EPLAN
4
Lab/Office:
6
CUSTOMER POWER/SIGNAL
IRB 4400
5
= CM
Plant:
+ ORT
Location:
Sublocation: +
Rev. Ind Page 6
Next 7
Total 9
CSZ
CSY
CSX
CSW
CSV
CSU
CST
CSS
CSR
CSP
CSN
CSM
CSL
CSK
CSJ
CSH
CSG
CSF
CSE
CSD
CSC
CSB
CSA
CPM
CPL
CPK
CPJ
CPF
CPE
CPD
CPC
CPB
8
3HAC020538-002 02
Document no.
Approved
Status:
D10
C10
B10
A10
D9
C9
B9
A9
D8
C8
B8
A8
D7
C7
B7
A7
D6
C6
B6
A6
D5
C5
B5
D3
C3
B3
A3
D2
C2
B2
A2
D1
C1
B1
A1
CPA
MANIPULATOR
IRB 4400
=CAB-R1.CP/CS
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
Prepared by, date:
Latest revision:
Customer
Connection
1
12
11
10
9
8
7
6
5
4
3
2
1
=CAB-XP/XT8
Approved by, date:
2
-612
OG
OG
OG
-610
-611
OG
OG
OG
OG
OG
OG
OG
OG
OG
-609
-608
-607
-606
-605
-604
-603
-602
-601
3
H
G
M
L
K
J
F
E
D
C
B
A
=CAB-XS/XP8
CONTROL MODULE
EPLAN
4
Lab/Office:
POSITION SWITCH
IRB 4400
5
6
H
G
M
L
K
J
F
E
D
C
B
A
1
= CM
Plant:
+ ORT
Location:
Sublocation: +
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DRIVE MODULE
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CONTACTOR UNIT
4
3
2
1
5
-446
-448
-447
Approved by, date:
4
3
2
1
-XP40 -445
6
3
1
-XS40
4
AW G16 BU
EPLAN
Lab/Office:
-4006
AWG16 BU
AW G16 BU
AW G16 BU
AW G16 BU
BRAKE REL. +24V
BRAKE PB
LIM2 ch2 ret
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AWG16
BU
AWG16 BU
EXTERNAL AXIS no 7
-4011
-4010
-4009
-4008
-4007
AWG16 BU
AWG16 BU
AWG16 BU
E6
6
LIM2 ch1
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F7
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F11
F10
F9
E4
5
AWG16 BU
E1
A6
A5
A4
A3
A2
A1
-XS/XP7
4
-4012
AWG16 BU
AWG16 BU
AWG12 BK
AWG12 BK
AWG12 BK
AWG12 BK
AWG12 BK
AWG12 BK
6
E3
-4014
-4013
-4005
-4004
-4003
-4002
-4001
-4000
5
E2
0V BRAKE
4
3
-X22
2
PTC
V
V
W
W
U
U
PTC 0V
3
2
1
-X24
6
5
4
3
2
1
-X21
SINGLE SERVO DRIVE UNIT
2
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3
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1
-X21
3
V
V
W
W
U
U
EPLAN
4
Lab/Office:
4005
4004
4003
4002
4001
4000
FOR 8 AXIS
AWG12
AWG12
AWG12
AWG12
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EXTERNAL AXIS no 8
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© Copyright 2004 ABB All right reserved.
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:
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:
:
:
:
:
:
:
:
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Page description
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Table of contents: (1 - 8)
SERVO DRIVE UNITSIRB 340
CONTROL CABLEIRB 340
CUSTOMER SIGNALIRB 340
EXTERNAL AXIS no 7
EXTERNAL AXIS no 8-9
3
EPLAN
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2004-09-23
2004-09-23
2004-09-23
2004-09-23
2004-09-23
2004-09-23
2004-09-09
2004-09-09
Date
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32
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MAIN SERVO DRIVE UNIT
-R1-MP 1-3
-XS/XP1
9
A11
AWG16 BK
-408
AWG16 BK
-410
AWG16 BK
-404
AWG16 BK
-402
AWG16 BK
-400
A9
13
A7
3
3
A5
4
1
B3
5
2
B4
6
-X19
9
B10
1
6
B9
2
10
B8
3
13
A13
4
17
A15
5
15
B1
6
SERVO DRIVE UNITS
IRB 340
AWG16 BK
-406
DC-BUSBAR
EPLAN
AWG16 BK
-418
4
Lab/Office:
AWG16 BK
-420
3
-R1.MP 4-6
AWG16 BK
-422
2
11
AWG16 BK
-416
1
AWG16 BK
-414
-X17
AWG16 BK
-412
2
BKWH
BK
BUBK
BKRD
BKGN
BKBU
BUGN
BURD
BUWH
BNBU
BNBK
BU
5
AWG10 GNYE
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3HAC020538-002 02
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DRIVE MODULE
X40
AXIS COMPUTER UNIT
CONTACTOR UNIT
Prepared by, date:
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LIM 1A
AWG16 BU
EPLAN
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LIM 1B
LIM 2B
LIM 2A
Approved by, date:
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3
4
2
-X21
3
2
1
4
-X5
3
2
4
1
0V Brake
PTC 0V
PTC
0V Brake
Brake Release
Brake Release
Brake PB
-437
-440
-439
-438
-436
-435
-434
AWG16 BU
AWG16 BU
AWG16 BU
AWG16 BU
AWG16 BU
AWG16 BU
AWG16 BU
9
-XS/XP40
J
3
B
K
H
D
Lab/Office:
D4
D3
D1
D2
B15
C1
C2
B14
B13
B12
B16
C7
-XS/XP1
L
F
G
7
E
5
6
4
A
-433
DRIVE MODULE
-XS/XP2
Ext. Lamp
4
1
3
-X4
2
2
32
0,00
GYGN
GYWH
GYRD
GYBU
GNRD
GYBK
BN
BNWH
BNGN
BNRD
GNWH
GY
CONTROL CABLE
IRB 340
5
6
B
K
H
D
0V
BATSUP
BATLD
24V
SDI
SDI-N
SDO
SDO-N
0V
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SERIAL
MEASUREMENT
BOARD
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3HAC020538-002 02
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B4
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B7
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C8
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B8
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-R1.MP
L
J
G
F
E
C
A
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MANIPULATOR
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Connection
1
12
11
10
9
8
7
6
5
4
3
2
1
-XP/XT5
Approved by, date:
2
636
635
634
633
632
631
630
629
628
627
626
625
AWG 24 OG
3
A8
D7
C7
B7
A7
D6
C6
B6
A6
D5
C5
B5
A
-XS/XP5
CONTROL MODULE
EPLAN
4
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CUSTOMER SIGNAL
IRB 340
5
6
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CSM
CSL
CSK
CSJ
CSH
CSG
CSF
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CSB
CSA
8
3HAC020538-002 02
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L
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A
1
-R1.CS
MANIPULATOR
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7
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DRIVE MODULE
X40
CONTACTOR UNIT
6
4
2
5
3
1
-XS40
4
3
2
1
-X22
-446
-448
-447
AW G16 BU
AW G16 BU
AW G16 BU
AW G16 BU
BRAKE PB
Approved by, date:
4
3
2
1
EXT. LAMP
BRAKE REL.
BRAKE REL.
LIM2 ch2 ret
LIM2 ch2
LIM2 ch1 ret
BRAKE REL. +24V
BRAKE PB
EPLAN
Lab/Office:
-4010
-4011
AWG16 BU
AWG16 BU
AWG16 BU
AWG16 BU
EXTERNAL AXIS no 7
AWG16 BU
AWG16 BU
-4009
-4008
-4007
-4006
AWG10 GNYE
E6
6
F8
7
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F7
F6
F5
F3
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F4
F1
F11
F10
F9
E5
AWG16 BU
E4
5
-4012
E1
A6
A5
A4
A3
A2
A1
-XS/XP7
4
0V BRAKE
AWG16 BU
AWG16 BU
AWG12 BK
AWG12 BK
AWG12 BK
AWG12 BK
AWG12 BK
AWG12 BK
6
E3
-4014
-4013
-4005
-4004
-4003
-4002
-4001
-4000
5
E2
PTC 0V
PTC
V
V
W
W
U
U
4
3
LIM2 ch1
3
2
1
-X24
6
5
4
3
2
1
-X21
2
-XP40 -445
SINGLE SERVO DRIVE UNIT
Prepared by, date:
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SINGLE SERVO DRIVE UNIT
SINGLE SERVO DRIVE UNIT
2
6
5
4
3
2
1
-X21
6
5
4
3
2
1
-X21
3
V
V
W
W
U
U
V
V
W
W
U
U
EPLAN
4
Lab/Office:
FOR 9 AXIS
FOR 8 AXIS
AWG12
AWG12
AWG12
AWG12
AWG12
AWG12
AWG12
AWG12
AWG12
AWG12
AWG12
AWG12
EXTERNAL AXIS no 8-9
-4005
-4004
-4003
-4002
-4001
-4000
-4005
-4004
-4003
-4002
-4001
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5
6
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8
3HAC020538-002 02
Document no.
Approved
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C6
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C4
C3
C2
C1
-XS/XP7
B6
B5
B4
B3
B2
B1
-XS/XP7
7
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3
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ABB Automation Technologies AB
Robotics
SE-721 68 Västerås
Sweden
© Copyright 2004 ABB All right reserved.
Additional copies of this document may be obtained from ABB at its then current charge.
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Manufacture
Type
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Control cabinet
Mains voltage
Supply
Control voltage
Year of construction
3
4
:
:
:
:
:
:
:
:
:
:
:
:
:
:
jsundin1
2004-09-23
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2004-02-16
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:
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SERVO DRIVE UNITIRB 2400
CONTROL CABLEIRB 2400
CUSTOMER POWER/SIGNALIRB 2400
POSITION SWITCHIRB 2400
EXTERNAL AXIS no 7
EXTERNAL AXIS no 8-9
3
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DIN_INV_30_1
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2004-09-23
2004-09-23
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2004-09-23
2004-09-23
2004-09-23
2004-09-09
2004-09-09
Date
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0,00
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BUBK
M2T
BKRD
M1T
BKGN
M1S
BKBU
M1R
-400
-402
AWG14
AWG14
BK
BK
A2
A3
2
-404
AWG14
BK
A3
A5
3
-410
AWG14
BK
D2
A11
4
Approved by, date:
A1
BK
M2S
A1
BKWH
M2R
-XS/XP1
BU
M4R
-408
AWG14
BK
D1
A9
5
-406
AWG14
BK
A4
A7
6
-418
AWG14
BK
A10
B3
1
-420
AWG14
BK
A9
B4
2
-422
AWG14
BK
A8
B5
3
-432
AWG14
BK
B10
B11
4
AWG14
BK
D7
B10
5
AWG14
BK
D8
B9
6
EPLAN
-430
-428
Lab/Office:
-412
AWG14
BK
-X19
BNBK
M4S
-X18
BNBU
M4T
1
GNWH
M6T
-X17
GNRD
M6S
MAIN SERVO DRIVE UNIT
BN
M6R
DC-BUSBAR
BUGN
M3R
D3
AWG14
BK
D4
A15
2
AWG14
BK
B1
B1
3
-426
AWG14
BK
D9
B8
4
-425
AWG14
BK
D10
B7
5
-424
AWG14
BK
A7
B6
6
SERVO DRIVE UNIT
IRB 2400
A13
1
-414
-416
5
BURD
M3S
4
BUWH
M3T
3
BNWH
M5T
2
BNRD
M5S
6
GNYE
AWG10
=DM
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Prepared by, date:
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GNYE
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Document no.
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Ext. Lamp
-433
AW G16 BU
DRIVE MODULE
LIM 1B
LIM 2B
LIM 2A
LIM 1A
0V Brake
PTC 0V
PTC
0V Brake
Brake Release
Brake Release
1) Jumper if note used.
Approved by, date:
1
3
4
2
-X21
3
2
1
4
-X5
3
2
4
1
-444
-443
-442
-441
-437
-440
-439
-438
-436
-435
EPLAN
AW G16 BU
AW G16 BU
AW G16 BU
AW G16 BU
AW G16 BU
AW G16 BU
AW G16 BU
AW G16 BU
AW G16 BU
AW G16 BU
AW G16 BU
J
9
-434
G
3
Brake PB
F
7
K
H
D
B
Lab/Office:
D4
D3
D2
D1
B15
C1
C2
B14
B13
B12
B16
C7
-XS/XP1
L
E
5
C
6
4
A
-XS/XP40
CONTACTOR UNIT
DRIVE MODULE
X40
4
-XS/XP2
3
1
2
2
-X4
AXIS COMPUTER UNIT
=DM
+A43
=DM
+A42
1
CONTROL CABLE
IRB 2400
5
32
OGGN
GY
GYWH
GYRD
OGRD
OGBK
OGBU
GYGN
GYBU
GYBK
OGWH
OG
6
K
H
D
B
0V
BATSUP
BATLD
24V
SDI
SDI-N
SDO
SDO-N
0V
= DM
Plant:
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Location:
Sublocation: +
Rev. Ind Page 5
Next 6
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SERIAL
MEASUREMENT
BOARD
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3HAC020538-002 02
Document no.
Approved
Status:
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C2
B4
B3
B7
B2
B9
C10
C8
C9
B8
C7
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L
J
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F
E
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A
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11
9
7
5
3
11
9
7
5
3
1
22
20
18
16
14
23
21
19
17
15
13
-XP/XT5.2
12
10
8
6
4
2
-XP/XT5.1
12
10
8
6
4
2
1
-XP/XT6
637
638
639
640
641
642
643
644
645
646
647
625
626
627
628
629
630
631
632
633
634
635
636
648
649
650
651
652
653
654
655
656
657
658
659
Approved by, date:
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AWG 24 OG
AWG 18 OG
D9
B9
D8
B8
D7
B7
D6
B6
D5
B5
C3
A3
C2
A2
C1
C10
D10
C10
B10
A10
C9
A9
C8
A8
C7
A7
C6
A6
C5
D3
B3
D2
B2
D1
B1
A1
-XS/XP5
CONTROL MODULE
3
EPLAN
4
Lab/Office:
6
CUSTOMER POWER/SIGNAL
IRB 2400
5
D10
C10
= CM
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Next 7
Total 9
CSZ
CSY
CSX
CSW
CSV
CSU
CST
CSS
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CSM
CSL
CSK
CSJ
CSH
CSG
CSF
CSE
CSD
CSC
CSB
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CPJ
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CPD
CPC
CPB
CPA
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3HAC020538-002 02
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A9
C8
A8
C7
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C6
A6
C5
D3
B3
D2
B2
D1
B1
A10
B10
D9
B9
D8
B8
D7
B7
D6
B6
D5
B5
C3
A3
C2
A2
C1
A1
-R1.CP/CS
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Approved by, date:
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-612
OG
OG
OG
-610
-611
OG
OG
OG
OG
OG
OG
OG
OG
OG
-609
-608
-607
-606
-605
-604
-603
-602
-601
3
H
G
M
L
K
J
F
E
D
C
B
A
-XS/XP8
CONTROL MODULE
EPLAN
4
Lab/Office:
POSITION SWITCH
IRB 2400
5
6
H
G
M
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DRIVE MODULE
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4
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1
5
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1
-446
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AWG16 BU
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BRAKE PB
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Approved by, date:
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1
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Lab/Office:
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BU
AWG16 BU
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AWG10 GNYE
EXTERNAL AXIS no 7
AWG16
AWG16 BU
-4009
-4008
-4007
E6
6
-XS40
4
EXT. LAMP
LIM2 ch1
E5
F7
F6
F5
F3
F2
F4
F1
F8
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3HAC020538-002 02
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F11
F10
F9
E4
5
AWG16 BU
E1
A6
A5
A4
A3
A2
A1
-XS/XP7
4
-4012
AWG16 BU
AWG16 BU
AWG12 BK
AWG12 BK
AWG12 BK
AWG12 BK
AWG12 BK
AWG12 BK
6
E3
-4014
-4013
-4005
-4004
-4003
-4002
-4001
-4000
5
E2
0V BRAKE
4
3
-X22
2
PTC
V
V
W
W
U
U
PTC 0V
3
2
1
-X24
6
5
4
3
2
1
-X21
2
-XP40 -445
SINGLE SERVO DRIVE UNIT
CONTACTOR UNIT
Latest revision:
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SINGLE SERVO DRIVE UNIT
2
6
5
4
3
2
1
-X21
6
5
4
3
2
1
-X21
3
V
V
W
W
U
U
V
V
W
W
U
U
EPLAN
4
Lab/Office:
4005
4004
4003
4002
4001
4000
FOR 9 AXIS
4005
4004
4003
4002
4001
4000
FOR 8 AXIS
AWG12
AWG12
AWG12
AWG12
AWG12
AWG12
AWG12
AWG12
AWG12
AWG12
AWG12
AWG12
EXTERNAL AXIS no 8-9
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3HAC020538-002 02
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C6
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C2
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-XS/XP7
B6
B5
B4
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SERVO DRIVE SYSTEMIRB 1400
CONTROL CABLEIRB 1400
CUSTOMER SIGNALSIRB 1400
POSITION SWITCHES
EXTERNAL AXIS no 7
EXTERNAL AXIS no 8-9
3
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2004-09-09
2004-09-09
Date
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32
0,00
-R1.MP
BUBK
M2T
BKRD
M1T
BKGN
M1S
BKBU
M1R
-400
-402
AWG14 BK
AWG14 BK
A2
A3
2
-404
AWG14 BK
A3
A5
3
-410
AWG14 BK
D2
A11
4
Approved by, date:
A1
BK
M2S
A1
BKWH
M2R
-XS/XP1
BU
M4R
-408
AWG14 BK
D1
A9
5
-406
AWG14 BK
A4
A7
6
-418
AWG14 BK
A10
B3
1
-420
AWG14 BK
A9
B4
2
-422
AWG14 BK
A8
B5
3
-432
AWG14 BK
B10
B11
4
AWG14 BK
D7
B10
5
AWG14 BK
D8
B9
6
EPLAN
-430
-428
Lab/Office:
-412
AWG14 BK
-X19
BNBK
M4S
-X18
BNBU
M4T
1
GNWH
M6T
-X17
GNRD
M6S
MAIN SERVO DRIVE UNIT
BN
M6R
DC-BUSBAR
BUGN
M3R
D3
AWG14 BK
D4
A15
2
AWG14 BK
B1
B1
3
-426
AWG14 BK
D9
B8
4
-425
AWG14 BK
D10
B7
5
-424
AWG14 BK
A7
B6
6
SERVO DRIVE SYSTEM
IRB 1400
A13
1
-414
-416
5
BURD
M3S
4
BUWH
M3T
3
BNWH
M5T
2
BNRD
M5S
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3HAC020538-002 02
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LIM 1A
AWG16 BU
LIM 1B
LIM 2B
LIM 2A
Approved by, date:
1
3
4
2
-X21
3
2
1
4
-X5
3
2
4
1
0V Brake
PTC 0V
PTC
0V Brake
Brake Release
Brake Release
-437
-440
-439
-438
-436
-435
AWG16 BU
AWG16 BU
AWG16 BU
AWG16 BU
AWG16 BU
AWG16 BU
AWG16 BU
EPLAN
J
9
-434
G
3
Brake PB
F
7
D4
D3
D2
D1
B15
C1
C2
B14
B13
B12
B16
C7
K
H
D
B
Lab/Office:
-XS/XP1
L
E
5
C
6
4
-XS/XP40
CONTACTOR UNIT
DRIVE MODULE
X40
-433
DRIVE MODULE
A
Ext. Lamp
4
-XS/XP2
3
1
2
2
-X4
AXIS COMPUTER UNIT
=DM
+A43
=DM
+A42
1
CONTROL CABLE
IRB 1400
5
OGGN
GY
GYWH
GYRD
OGRD
OGBK
OGBU
GYGN
GYBU
GYBK
OGWH
32
0,00 OG
6
K
H
D
B
0V
BATSUP
BATLD
24V
SDI
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SERIAL
MEASUREMENT
BOARD
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3HAC020538-002 02
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C2
B4
B3
B7
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B9
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C9
B8
C7
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G
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E
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8
7
6
5
4
3
2
1
-XP/XT5
Approved by, date:
2
636
635
634
633
632
631
630
629
628
627
626
625
AWG 24 OG
3
A8
D7
C7
B7
A7
D6
C6
B6
A6
D5
C5
B5
1
-XS/XP5
CONTROL MODULE
EPLAN
4
Lab/Office:
CUSTOMER SIGNALS
IRB 1400
5
6
= CM
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Location:
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Rev. Ind Page 6
Next 7
Total 9
CSM
CSL
CSK
CSJ
CSH
CSG
CSF
CSE
CSD
CSC
CSB
CSA
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-XP/XT8
Approved by, date:
2
-612
OG
OG
OG
-610
-611
OG
OG
OG
OG
OG
OG
OG
OG
OG
-609
-608
-607
-606
-605
-604
-603
-602
-601
3
H
G
M
L
K
J
F
E
D
C
B
A
-XS/XP8
CONTROL MODULE
EPLAN
4
Lab/Office:
POSITION SWITCHES
5
6
H
G
M
L
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A
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DRIVE MODULE
X40
6
4
5
3
1
-XS40
4
3
2
1
-446
-448
-447
-445
AWG16 BU
AWG16 BU
AWG16 BU
AWG16 BU
BRAKE PB
Approved by, date:
4
3
2
1
EXT. LAMP
BRAKE REL.
BRAKE REL.
BRAKE REL. +24V
BRAKE PB
LIM2 ch2 ret
LIM2 ch2
LIM2 ch1 ret
EPLAN
Lab/Office:
-4011
-4010
AWG16 BU
BU
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AWG16 BU
AWG16 BU
AWG10 GNYE
EXTERNAL AXIS no 7
AWG16
AWG16 BU
-4009
-4008
-4007
-4006
E6
6
LIM2 ch1
E5
F8
F7
F6
F5
F3
F2
F4
F1
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Next 9
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8
3HAC020538-002 02
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F11
F10
F9
E4
5
AWG16 BU
E1
A6
A5
A4
A3
A2
A1
-XS/XP7
4
-4012
AWG16 BU
AWG16 BU
AWG12 BK
AWG12 BK
AWG12 BK
AWG12 BK
AWG12 BK
AWG12 BK
6
E3
-4014
-4013
-4005
-4004
-4003
-4002
-4001
-4000
5
E2
0V BRAKE
4
3
-X22
2
PTC
V
V
W
W
U
U
PTC 0V
3
2
1
-X24
6
5
4
3
2
1
-X21
2
-XP40
SINGLE SERVO DRIVE UNIT
CONTACTOR UNIT
Latest revision:
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SINGLE SERVO DRIVE UNIT
SINGLE SERVO DRIVE UNIT
2
6
5
4
3
2
1
-X21
6
5
4
3
2
1
-X21
3
V
V
W
W
U
U
V
V
W
W
U
U
EPLAN
4
Lab/Office:
FOR 9 AXIS
FOR 8 AXIS
AWG12
AWG12
AWG12
AWG12
AWG12
AWG12
AWG12
AWG12
AWG12
AWG12
AWG12
AWG12
EXTERNAL AXIS no 8-9
-4005
-4004
-4003
-4002
-4001
-4000
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ABB Automation Technologies AB
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Sweden
© Copyright 2004 ABB All right reserved.
Additional copies of this document may be obtained from ABB at its then current charge.
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Year of construction
3
4
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:
:
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:
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Table of contents
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Table of contents: (1 - 8)
SERVO DRIVE SYSTEMIRB 140
CONTROL CABLEIRB 140
CUSTOMER SIGNALIRB 140
EXTERNAL AXIS no 7
EXTERNAL AXIS no 8-9
3
EPLAN
4
Lab/Office:
6
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2004-09-23
2004-09-23
2004-09-23
2004-09-23
2004-09-23
2004-09-23
2004-09-09
2004-09-09
Date
8
3HAC020538-002 02
Document no.
Approved
Status:
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
32
0,00
-R1.MP1-3
GNWH
M4T
GNRD
M4S
BN
M4R
BKBU
M2R
BKGN
M2S
BKRD
M2T
BUWH
M1T
BURD
M1S
BUGN
M1R
-400
-402
AWG14 BK
AWG14 BK
17
A3
2
-404
AWG14 BK
15
A5
3
-410
AWG14 BK
3
A11
4
Approved by, date:
13
BNBU
M6T
A1
BNBK
M6S
-XS/XP1
BU
M6R
1
BKWH
M3R
-X17
BK
M3S
MAIN SERVO DRIVE UNIT
BUBK
M3T
-408
AWG14 BK
A9
5
5
-406
AWG14 BK
A7
6
1
DC-BUSBAR
BNWH
M5T
2
BNRD
M5S
=DM
+A41.1
Prepared by, date:
Latest revision:
1
BNGN
M5R
-R1MP4-6
3
AWG14 BK
-X18
-418
6
B3
1
-420
AWG14 BK
9
B4
2
-422
AWG14 BK
12
B5
3
-432
AWG14 BK
3
B11
4
AWG14 BK
2
B10
5
4
AWG14 BK
1
B9
6
EPLAN
-430
-428
Lab/Office:
AWG14 BK
-X19
-412
7
AWG14 BK
11
A15
2
AWG14 BK
5
9
B1
3
AWG14 BK
10
B8
4
AWG14 BK
7
B7
5
AWG14 BK
4
B6
6
SERVO DRIVE SYSTEM
IRB 140
A13
1
-414
-416
-426
-425
-424
AWG10 GNYE
6
AWG10 GNYE
8
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MANIPULATOR
DRIVE MODULE
3HAC020538-002 02
Document no.
Approved
Status:
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
Prepared by, date:
Latest revision:
AWG16 BU
EPLAN
D3
D4
1
Lab/Office:
D1
B15
C1
C2
B14
B13
B12
3
AWG16 BU
AWG16 BU
AWG16 BU
AWG16 BU
AWG16 BU
AWG16 BU
4
-437
-440
-439
-438
-436
-435
B16
C7
D2
0V Brake
PTC 0V
PTC
0V Brake
Brake Release
Brake Release
AWG16 BU
K
H
D
B
-XS/XP1
2
-X21
3
2
1
4
-X5
3
2
4
1
-434
J
9
Brake PB
G
3
Approved by, date:
CONTACTOR UNIT
DRIVE MODULE
X40
-433
F
7
L
E
5
C
6
4
A
DRIVE
MODULE
-XS/XP2
Ext. Lamp
4
1
3
-X4
2
2
-XS/XP40
AXIS COMPUTER UNIT
=DM
+A43
=DM
+A42
1
32
0,00
GYGN
GYRD
GYWH
GY
OGBK
OGBU
OGGN
OGRD
OGWH
OG
GYBU
GYBK
CONTROL CABLE
IRB 140
5
6
6
4
5
14
11
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SERIAL
MEASUREMENT
BOARD
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3HAC020538-002 02
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Approved
Status:
12
18
16
10
2
13
5
8
15
-R1MP4-6
BATSUP
BATLD
24V
SDI
SDI-N
SDO
SDO-N
0V
-R1.MP1-3
1
-R1.H1
2
7
3
8
9
-R1.SMB
MANIPULATOR
7
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disclosure to third parties without express authority is strictly forbidden. © Copyright 2003 ABB
Prepared by, date:
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Customer
Connection
1
12
11
10
9
8
7
6
5
4
3
2
1
-XP/XT5
Approved by, date:
2
636
635
634
633
632
631
630
629
628
627
626
625
AWG 24 OG
3
A8
D7
C7
B7
A7
D6
C6
B6
A6
D5
C5
B5
-XS/XP5
CONTROL
MODULE
EPLAN
4
Lab/Office:
CUSTOMER SIGNAL
IRB 140
5
6
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CSM
CSL
CSK
CSJ
CSH
CSG
CSF
CSE
CSD
CSC
CSB
CSA
8
3HAC020538-002 02
Document no.
Approved
Status:
14
6
13
5
12
4
11
3
10
2
9
1
-R1.CS
MANIPULATOR
IRB 140
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
Prepared by, date:
Latest revision:
=DM
+A43
=DM
+A41.1.3
1
DRIVE MODULE
X40
CONTACTOR UNIT
6
4
5
3
1
-XS40
4
3
2
1
-446
-448
-447
AWG16 BU
AWG16 BU
AWG16 BU
AWG16 BU
BRAKE PB
Approved by, date:
4
3
2
1
EXT LAMP
BRAKE REL.
BRAKE REL.
BRAKE REL. +24V
BRAKE PB
LIM2 ch2 ret
LIM2 ch2
LIM2 ch1 ret
EPLAN
Lab/Office:
-4010
-4011
AWG16 BU
AWG10 GNYE
AWG16 BU
AWG16 BU
AWG16 BU
EXTERNAL AXIS no 7
AWG16 BU
AWG16 BU
-4009
-4008
-4007
-4006
E6
6
LIM2 ch1
E5
F7
F6
F5
F3
F2
F4
F1
F8
7
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F11
F10
F9
E4
5
AWG16 BU
E1
A6
A5
A4
A3
A2
A1
-XS/XP7
4
-4012
AWG16 BU
AWG16 BU
AWG12 BK
AWG12 BK
AWG12 BK
AWG12 BK
AWG12 BK
AWG12 BK
6
E3
-4014
-4013
-4005
-4004
-4003
-4002
-4001
-4000
5
E2
0V BRAKE
4
3
-X22
2
PTC
V
V
W
W
U
U
PTC 0V
3
2
1
-X24
6
5
4
3
2
1
-X21
-XP40 -445
SINGEL SERVO DRIVE
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
Prepared by, date:
Latest revision:
1
=DM
+A41.1.5
=DM
+A41.1.4
Approved by, date:
SINGLE SERVO DRIVE UNIT
SINGLE SERVO DRIVE UNIT
2
6
5
4
3
2
1
-X21
6
5
4
3
2
1
-X21
3
V
V
W
W
U
U
V
V
W
W
U
U
EPLAN
4
Lab/Office:
-4005
-4004
-4003
-4002
-4001
-4000
FOR 9 AXIS
-4005
-4004
-4003
-4002
-4001
-4000
FOR 8 AXIS
AWG12
AWG12
AWG12
AWG12
AWG12
AWG12
AWG12
AWG12
AWG12
AWG12
AWG12
AWG12
EXTERNAL AXIS no 8-9
5
6
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+ ORT
Location:
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8
3HAC020538-002 02
Document no.
Approved
Status:
C6
C5
C4
C3
C2
C1
-XS/XP7
B6
B5
B4
B3
B2
B1
-XS/XP7
7
3HAC021313-001 (part 2 of 2), rev A, en
ABB Automation Technology Products AB
Robotics
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