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 A 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. 7 = DOKUMENTE Plant: + DKB Location: Sublocation: + Rev. Ind Page 1 Next 2 Total 42 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 : : : : : : : : : : : : : : 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 EPLAN 4 Lab/Office: Title page 5 6 = DOKUMENTE Plant: + DKB Location: Sublocation: + Rev. Ind Page 2 Next 3 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 2 Location Prepared by, date: Latest revision: DOKUMENTEDKB DOKUMENTEDKB DOKUMENTEINV DOKUMENTEINV CM ORT CM ORT CM ORT CM ORT CM ORT CM ORT CM ORT CM ORT CM ORT CM ORT CM ORT CM ORT CM ORT CM ORT CM ORT CM ORT CM ORT CM ORT CM ORT CM ORT CM ORT CM ORT CM ORT CM ORT CM ORT CM ORT Plant Page 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 Approved by, date: Table of contents 1 4 EPLAN Lab/Office: 5 6 Page supplementary field Approved Approved Approved Approved Approved Approved Approved Approved Approved Approved Approved Approved Approved Approved Approved Approved Approved Approved Approved Approved Approved Approved Approved Approved Approved Approved Approved Approved Approved Approved Table of contents: (1 - 30) Page description Title page Title page Table of contents: (1 - 30) Table of contents: (31 - 42) BLOCK DIAGRAM VIEW OF CONTROL MODULE MAINS CONNECTION POWER SUPPLY OPTION: POWER SUPPLY EMERGENCY STOP RUN CHAIN OPERATING MODE SELECTOR, 3 MOD EMERGENCY STOP RUN CHAIN RUN CHAIN OPERATING MODE SELECTOR, 2 MOD RUN CHAIN EXT OPERATING MODE SELECTOR, 2 RUN CHAIN EXT OPERATING MODE SELECTOR, 3 FPU, FLEXPENDANT OPTION: EXTERNAL CONNECTIONSYSTEM SIGNAL VIEW OF COMPUTER UNIT CABLING IN COMPUTER UNIT CABLING IN COMPUTER UNIT COMPUTER UNITCOOLING MAIN COMPUTER ROBOT COMMUNICATION CARD ROBOT COMMUNICATION CARD PROFIBUS DP M/S INTERBUS M/S DEVICENET ADAPTER DEVICENET ADAPTER DUAL RS232 CARD 3 DIN_INV_30_1 jsundin1 jsundin1 jsundin1 jsundin1 jsundin1 jsundin1 jsundin1 jsundin1 jsundin1 jsundin1 jsundin1 jsundin1 jsundin1 jsundin1 jsundin1 jsundin1 jsundin1 jsundin1 jsundin1 jsundin1 jsundin1 jsundin1 jsundin1 jsundin1 jsundin1 jsundin1 jsundin1 jsundin1 jsundin1 jsundin1 Editor = DOKUMENTE Plant: + INV Location: Sublocation: + Rev. Ind Page 3 Next 4 Total 42 2004-09-24 2004-09-24 2004-09-24 2004-09-24 2004-09-24 2004-09-24 2004-09-24 2004-09-24 2004-09-24 2004-09-24 2004-09-24 2004-09-24 2004-09-24 2004-09-24 2004-09-24 2004-09-24 2004-09-24 2004-09-24 2004-09-24 2004-09-24 2004-09-24 2004-09-24 2004-09-24 2004-09-24 2004-09-24 2004-09-24 2004-09-24 2004-09-24 2004-09-24 2004-09-24 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 jsundin1 jsundin1 jsundin1 jsundin1 jsundin1 jsundin1 jsundin1 jsundin1 jsundin1 jsundin1 jsundin1 jsundin1 Editor = DOKUMENTE Plant: + INV Location: Sublocation: + Rev. Ind Page 4 Next 5 Total 42 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 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: 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 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 -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 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 +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 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: -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 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 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 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 -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 + 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 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 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 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 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 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 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 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 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 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 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 =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 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 +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 © 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 Plant: + DKB Location: Sublocation: + Rev. Ind Page 1 Next 2 Total 18 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 : : : : : : : : : : : : : : jsundin1 2004-09-28 18 2004-02-04 : 2004-09-28 : : : : 3HAC020538-002_Drive Phone : EPLAN Approved by, date: Customer Robot serial number(s) Drawing number Drawing version 1 EPLAN 4 Lab/Office: Title page 5 6 = DOKUMENTE Plant: + DKB Location: Sublocation: + Rev. Ind Page 2 Next 3 Total 18 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 Location Prepared by, date: Latest revision: DOKUMENTEDKB DOKUMENTEDKB DOKUMENTEINV DM ORT DM ORT DM ORT DM ORT DM ORT DM ORT DM ORT DM ORT DM ORT DM ORT DM ORT DM ORT DM ORT DM ORT DM ORT Plant Page 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 Approved by, date: Table of contents 1 4 EPLAN 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 Lab/Office: 6 Page supplementary field Approved Approved Approved Approved Approved Approved Approved Approved Approved Approved Approved Approved Approved Approved Approved Approved Approved Approved Table of contents: (1 - 18) 5 DIN_INV_30_1 jsundin1 jsundin1 jsundin1 jsundin1 jsundin1 jsundin1 jsundin1 jsundin1 jsundin1 jsundin1 jsundin1 jsundin1 jsundin1 jsundin1 jsundin1 jsundin1 jsundin1 jsundin1 Editor = DOKUMENTE Plant: + INV Location: Sublocation: + Rev. Ind Page 3 Next 4 Total 18 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 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: 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. Approved Status: 7 02 = DM Plant: + ORT Location: Sublocation: + Rev. Ind Page 4 Next 5 Total 18 XS41 8 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: 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. Approved Status: X4 X5 X9 X8 7 X6 X2 02 = DM Plant: + ORT Location: Sublocation: + Rev. Ind Page 5 Next 6 Total 18 8 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 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 = DM Plant: + ORT Location: Sublocation: + Rev. Ind Page 6 Next 7 Total 18 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 =DM +T1 Prepared by, date: Latest revision: 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 Next 8 Total 18 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 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 =DM +G1 Prepared by, date: Latest revision: 1 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 Plant: + ORT Location: Sublocation: + Rev. Ind Page 8 Next 9 Total 18 0V AC_ON 230V AC2 230V AC1 8 3HAC020538-002 02 Document no. Approved Status: 2 1 -K41.X1 GND 2 1 -XS25 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: 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. Approved Status: AWG20 BU AWG20 BU 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 =DM +A43 Prepared by, date: 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 = DM Plant: + ORT Location: Sublocation: + Rev. Ind Page 10 Next 11 Total 18 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 disclosure to third parties without express authority is strictly forbidden. © Copyright 2003 ABB Prepared by, date: Latest revision: 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 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 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 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 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: + ORT Location: Sublocation: + 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 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: +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 +A41.2 5 13 8 3 11 6 1 -X32 2 EPLAN Lab/Office: DC-BUSBAR 10 14 9 4 12 7 2 -X30 1 3 CONTACTOR UNIT RECTIFIER 4 -L12 / /10.7 AWG10 BK -128 -L22 / /10.7 AWG10 BK -129 -L32 / /10.7 AWG10 BK -130 1 4 5 4 3 2 1 -X31 2 1 -X33 6 -72 -71 -70 -69 -133 -132 RECTIFIER AND BLEEDER AWG10 GNYE AWG20 BU AWG20 BU AWG20 BU AWG20 BU AWG12 AWG12 BK 2 1 4 3 2 1 -X34 3HAC020538-002 02 Document no. 8 = DM Plant: + ORT Location: Sublocation: + Rev. Ind Page 14 Next 15 Total 18 CAPACITOR UNIT Approved Status: =DM +A41.3 -R1.1 BLEEDER 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: DRIVE POWER SUPPLY DRIVE POWER SUPPLY 1 AWG16 BU -462 /8.4 / -0V COOL Approved by, date: AWG16 BU -461 /8.4 / -+24V COOL /8.2 / -24V DRIVE /8.2 / -0V DRIVE 2 2 1 2 1 -X3 1 2 4 EPLAN MAIN SERVO DRIVE UNIT -X4 =DM +A41.1 -X4 RD OG 3 3 2 8 6 5 7 4 1 1 FAN UNIT 6 3 5 2 7 4 8 -X5 -X5 Lab/Office: T4 T3 T2 0V 0V T1 +24V +24V 5 OPTION: 52 deg. YE RD GN BU BN OG BK VT =DM +E1 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 1 -E42 3 M 1 -E43 2 - 1 -E44 3 M 8 = DM Plant: + ORT Location: Sublocation: + Rev. Ind Page 15 Next 16 Total 18 2 + 3HAC020538-002 02 Document no. Approved Status: - M 1 -E41 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 MAIN SERVO DRIVE UNIT Approved by, date: =DM +A41.1 2 3 26 24 23 22 20 17 14 12 25 18 15 21 19 16 13 11 9 7 5 3 EPLAN Lab/Office: 25 18 15 21 19 16 13 11 9 7 5 3 ADDITIONAL AXIS 1-3, DRIVE UNIT NO 7 26 24 23 22 20 17 14 12 10 8 6 4 2 1 7 = DM Plant: + ORT Location: Sublocation: + Rev. Ind Page 16 Next 17 Total 18 8 3HAC020538-002 02 Document no. Approved Status: SINGLE SERVO DRIVE UNIT -X20 =DM +A41.1.3 6 1 DC-BUSBAR ADDITIONAL AXIS 1-3, DRIVE UNIT NO 7 5 -X7 10 8 6 4 2 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 Prepared by, date: Latest revision: 1 3 MAIN SERVO DRIVE UNIT Approved by, date: =DM +A41.1 2 26 24 23 22 20 17 14 12 25 18 15 21 19 16 13 11 9 7 5 EPLAN Lab/Office: 25 18 15 21 19 16 13 11 9 7 5 3 ADDITIONAL AXIS 1-3, DRIVE UNIT NO 8 26 24 23 22 20 17 14 12 10 8 6 4 2 1 3 7 = DM Plant: + ORT Location: Sublocation: + Rev. Ind Page 17 Next 18 Total 18 8 3HAC020538-002 02 Document no. Approved Status: SIGNLE SERVO DRIVE UNIT -X20 =DM +A41.1.4 6 1 DC-BUSBAR ADDITIONAL AXIS 1-3, DRIVE UNIT NO 8 5 -X8 10 8 6 4 2 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 Prepared by, date: Latest revision: 1 MAIN SERVO DRIVE UNIT Approved by, date: =DM +A41.1 2 3 26 24 23 22 20 17 14 12 25 18 15 21 19 16 13 11 9 7 5 EPLAN Lab/Office: 25 18 15 21 19 16 13 11 9 7 5 3 ADDITIONAL AXIS 1-3, DRIVE UNIT NO 9 26 24 23 22 20 17 14 12 10 8 6 4 2 1 3 7 = DM Plant: + ORT Location: Sublocation: + Rev. Ind Page 18 Next Total 18 8 3HAC020538-002 02 Document no. Approved Status: SINGLE SERVO DRIVE UNIT -X20 =DM +A41.1.5 6 1 DC-BUSBAR ADDITIONAL AXIS 1-3, DRIVE UNIT NO 9 5 -X9 10 8 6 4 2 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 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 Plant: + DKB Location: Sublocation: + Rev. Ind Page 1 Next 2 Total 15 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 15 2004-02-16 : 2004-09-23 : EPLAN Lab/Office: : : : 3HAC020538-002_Cables for 6600-7600 Phone : EPLAN Approved by, date: Customer Robot serial number(s) Drawing number Drawing version 1 Title page 5 6 = DOKUMENTE Plant: + DKB Location: Sublocation: + Rev. Ind Page 2 Next 3 Total 15 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 Location Prepared by, date: Latest revision: DOKUMENTEDKB DOKUMENTEDKB DOKUMENTEINV DM ORT DM ORT CM ORT CM ORT DM ORT DM ORT CM ORT CM ORT CM ORT CM ORT DM ORT DM ORT Plant Page 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 Approved by, date: Table of contents 1 4 EPLAN Lab/Office: Page description Title page Title page Table of contents: (1 - 15) SERVO DRIVE SYSTEMIRB 6600-7600 CONTROL CABLEIRB 6600-7600 POSITION SWITCH 1IRB 6600-7600 POSITON SWITCH 2/3IRB 6600-7600 POSITION SWITCH 2/3 AND COOLING AXIS 1,2 COOLINNG AXIS 1,2 CUSTOMER POWER/SIGNALSIRB 6600-7600 CUSTOMER POWER/SIGNALS/DeviceNetIRB 6600 CUSTOMER POWER/SIGNALS/IBSIRB 6600-7600 CUSTOMER POWER/SIGNALS/PROFIBUSIRB 6600EXTERNAL AXIS no 7 EXTERNAL AXIS no 8 3 6 Page supplementary field Approved Approved Approved Approved Approved Approved Approved Approved Approved Approved Approved Approved Approved Approved Approved Table of contents: (1 - 15) 5 DIN_INV_30_1 jsundin1 jsundin1 jsundin1 jsundin1 jsundin1 jsundin1 jsundin1 jsundin1 jsundin1 jsundin1 jsundin1 jsundin1 jsundin1 jsundin1 jsundin1 Editor = DOKUMENTE Plant: + INV Location: Sublocation: + Rev. Ind Page 3 Next 4 Total 15 2004-09-23 2004-09-23 2004-09-23 2004-09-23 2004-09-23 2004-09-23 2004-09-23 2004-09-23 2004-09-23 2004-09-23 2004-09-23 2004-09-23 2004-09-23 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: -R1.MP -XS/XP1 AWG12 -412 AWG12 -426 AWG12 -425 AWG12 -424 AWG12 -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 BK 19 19 3 BK 26 26 4 BK 18 18 5 BK 25 25 6 BK -X12 Approved by, date: AWG12 -413 17 17 AWG12 -414 1 AWG12 -415 -X11 AWG12 -416 MAIN SERVO DRIVE UNIT AWG12 -417 1 1 1 2 BK DC-BUSBAR AWG12 -428 2 AWG12 -430 1 AWG12 -432 =DM +A41.1 34 GNRD OGGN BN OGBU GNWH OGBK BKBU BKRD 10 10 3 BK 4 BKGN 2 2 5 6 -X13 BK 3 GYWH 23 23 1 BNWH BK 32 32 2 GY BK 21 21 3 BNGN BK 30 30 4 GYRD BK 22 22 5 BNRD BK EPLAN 31 31 6 -X14 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 -X15 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 BK 6 6 6 BK -X16 BUWH 9 9 1 BK 2 BUGN = DM Plant: + ORT Location: Sublocation: + Rev. Ind Page 4 Next 5 Total 15 MANIPULATOR DRIVE MODULE 8 3HAC020538-002 02 6 Document no. 8 8 5 GNYE AWG10 7 Approved BK 4 Status: 16 16 3 BURD GNYE AWG10 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 1 4 -X5 3 2 4 1 -X40 Approved by, date: CONTACTOR UNIT DRIVE MODULE XP40 34 0,00 0V BRAKE PTC 0V PTC 0V BRAKE 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 G 3 -433 F 7 -Y1 H E 6 -C1 G D 5 Lab/Office: 15 27 12 13 11 -XS/XP1 CONTROL CABLE IRB 6600-7600 PKWH PKBK OGWH OG 0V PTC 0V BRAKE 0V BRAKE PTC 3HAC020538-002 02 Document no. SERIAL MEASUREMENT BOARD 8 = DM Plant: + ORT Location: Sublocation: + Rev. Ind Page 5 Next 6 Total 15 BRAKE RELEASE BRAKE RELEASE BRAKE PB EXT.LAMP BATSUP 0V BAT BR BAT BR 24V 0V SDO-N SDO SDI-N SDI Approved Status: 15 27 12 13 11 -R1.MP L K K L J J F E D C B A C -R1.SMB 4 8 7 MANIPULATOR B 6 2 DRIVE MODULE 5 A EXT.LAMP 4 -XS/XP2 EXT LAMP 3 1 2 -X4 AXIS COMPUTER UNIT =DM +A43 =DM +A42 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 Prepared by, date: Latest revision: Customer Connection 1 24 23 22 21 20 19 18 17 16 15 14 13 -XP/XT8.2 12 11 10 9 8 7 6 5 4 3 2 A 1 -XP/XT8.1 -624 -623 -622 -621 -620 -619 -618 -617 -616 -615 -614 -613 -612 -611 -610 -609 -608 -607 -606 -605 -604 -603 -602 -601 Approved by, date: 2 OG OG OG OG OG OG OG OG OG OG OG OG OG OG OG OG OG OG OG OG OG OG OG OG AWG 24 OG 3 CONTROL MODULE a Z Y X W V U T S R P N M L K J H G F E D C B A -XS/XP8 EPLAN 4 Lab/Office: POSITION SWITCH 1 IRB 6600-7600 5 6 a Z Y X W V U T S R P N M L K J H G F E D C B A = CM Plant: + ORT Location: Sublocation: + Rev. Ind Page 6 Next 7 Total 15 -R1.SW1 MANIPULATOR IRB 6600, 7600 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: Customer Connection 1 24 23 22 21 20 19 18 17 16 15 14 13 Approved by, date: -XP/XT58.2 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 AWG 24 OG 3 e d c b a Z Y X W V U T M L K J H G F E D C B A -XS/XP58 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 M L K J H G F E D C B A = CM Plant: + ORT Location: Sublocation: + Rev. Ind Page 7 Next 8 Total 15 -R1.SW23 MANIPULATOR IRB 6600, 7600 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 =DM +A43 EPLAN Status: e c a Y W U M K H F D B 4 3 2 1 -X11 4 3 T2 0V FAN 2 24V FAN 2 T1 0V FAN 1 Lab/Office: h g f R P N POSITION SWITCH 2/3 AND COOLING AXIS 1,2 -R1FAN.SW23 = DM Plant: + ORT Location: Sublocation: + Rev. Ind Page 8 Next 9 Total 15 8 3HAC020538-002 02 Document no. Approved h g f R P N d b Z X V T L J G E C A -R1.SW23 MANIPULATOR i d b Z X V T L J G E C R1.XS.SW23 7 i e c a Y W U M K H F D B A -R1.XP.SW23 6 2 =DM +BOX 5 S 24V FAN 1 4 S DRIVE MODULE 3 1 -X10 Approved by, date: CONTACTOR 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 CONTACTOR UNIT Prepared by, date: Latest revision: =DM +A43 1 EPLAN COOLINNG AXIS 1,2 6 Approved by, date: 4 3 2 1 -X11 4 3 T2 0V FAN 2 24V FAN 2 T1 0V FAN 1 7 e c a Y W U M K H F D B = DM Plant: + ORT Location: Sublocation: + Rev. Ind Page 9 Next 10 Total 15 8 3HAC020538-002 02 Document no. Approved Status: h g f R P N d b Z X V T L J G E C A -R1.SW23 MANIPULATOR i Lab/Office: 5 2 24V FAN 1 4 S DRIVE MODULE 3 1 -X10 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 11 9 7 5 3 1 12 10 8 6 4 2 -XP/XT5.1 7 6 5 4 3 2 1 -XP/XT6 Prepared by, date: Latest revision: 21 17 15 13 23 19 22 18 16 14 24 20 -XP/XT5.2 Customer Connection 1 689 690 691 692 693 694 697 698 695 696 699 700 677 678 679 680 681 682 683 684 685 686 687 688 676 675 674 673 672 671 670 Approved by, date: 2 AWG 24 OG AWG 14 OG AWG 18 OG B13 B21 B6 B4 B10 B8 C4 B5 B3 B9 B7 C3 C1 B20 B19 B18 B16 B15 B14 C2 B1 B11 B12 B2 A7 A6 A5 A4 A3 A2 A1 -XS/XP13 CONTROL MODULE 3 EPLAN 4 Lab/Office: 6 CUSTOMER POWER/SIGNALS IRB 6600-7600 5 B6 B4 B10 B8 C4 C2 = CM Plant: + ORT Location: Sublocation: + Rev. Ind Page 10 Next 11 Total 15 CS CS CS CS CS CS CS CS CS CS CS CS CS CS CS CS CS CS CS CS CS CS CS CS CP3 CP2 CP1 CP7 CP6 CP5 CP4 8 3HAC020538-002 02 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 Plant: + DKB Location: Sublocation: + 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 Plant: + DKB Location: Sublocation: + Rev. Ind Page 2 Next 3 Total 9 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 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: + INV Location: Sublocation: + 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: + Rev. Ind Page 7 Next 8 Total 9 =CAB-R1.SW MANIPULATOR IRB 4400 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: =CAB +A43 =CAB +A41.1.3 1 DRIVE MODULE X40 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 LIM2 ch2 LIM2 ch1 ret AWG16 BU AWG16 BU EXTERNAL AXIS no 7 -4011 -4010 -4009 -4008 -4007 AWG16 BU AWG16 BU AWG16 BU E6 6 LIM2 ch1 E5 F7 F6 F5 F3 F2 F4 F1 F8 7 = DM Plant: + ORT Location: Sublocation: + Rev. Ind Page 8 Next 9 Total 9 8 3HAC020538-002 02 Document no. Approved Status: 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 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 =CAB +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: 4005 4004 4003 4002 4001 4000 FOR 8 AXIS AWG12 AWG12 AWG12 AWG12 AWG12 AWG12 EXTERNAL AXIS no 8 5 6 = DM Plant: + ORT Location: Sublocation: + Rev. Ind Page 9 Next Total 9 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 Plant: + DKB Location: Sublocation: + Rev. Ind Page 1 Next 2 Total 8 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 8 2004-02-16 : 2004-09-23 : EPLAN : : : 3HAC020538-002 Cables for 340 Phone : EPLAN Approved by, date: Customer Robot serial number(s) Drawing number Drawing version 1 Lab/Office: Title page 5 6 = DOKUMENTE Plant: + DKB Location: Sublocation: + Rev. Ind Page 2 Next 3 Total 8 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 Location Prepared by, date: Latest revision: DOKUMENTEDKB DOKUMENTEDKB DOKUMENTEINV DM ORT DM ORT CM ORT DM ORT DM ORT Plant Page 1 2 3 4 5 6 7 8 Approved by, date: Table of contents 1 Page description Title page Title page Table of contents: (1 - 8) SERVO DRIVE UNITSIRB 340 CONTROL CABLEIRB 340 CUSTOMER SIGNALIRB 340 EXTERNAL AXIS no 7 EXTERNAL AXIS no 8-9 3 EPLAN 4 Lab/Office: 6 Page supplementary field Approved Approved Approved Approved Approved Approved Approved Approved Table of contents: (1 - 8) 5 DIN_INV_30_1 jsundin1 jsundin1 jsundin1 jsundin1 jsundin1 jsundin1 jsundin1 jsundin1 Editor = DOKUMENTE Plant: + INV Location: Sublocation: + Rev. Ind Page 3 Next 4 Total 8 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: 1 Approved by, date: =DM +A41.1 32 0,00 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 AWG10 GNYE 6 8 = DM Plant: + ORT Location: Sublocation: + Rev. Ind Page 4 Next 5 Total 8 3HAC020538-002 02 Document no. Approved Status: MANIPULATOR DRIVE 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 DRIVE MODULE X40 AXIS COMPUTER UNIT CONTACTOR UNIT Prepared by, date: Latest revision: =DM +A43 =DM +A42 1 LIM 1A AWG16 BU EPLAN C 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 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 = DM Plant: + ORT Location: Sublocation: + Rev. Ind Page 5 Next 6 Total 8 SERIAL MEASUREMENT BOARD 8 3HAC020538-002 02 Document no. Approved Status: C1 C2 B4 B3 B7 B2 B9 C10 C8 C9 B8 C7 -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 Prepared by, date: Latest revision: 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 A -XS/XP5 CONTROL MODULE EPLAN 4 Lab/Office: CUSTOMER SIGNAL IRB 340 5 6 = CM Plant: + ORT Location: Sublocation: + Rev. Ind Page 6 Next 7 Total 8 CSM CSL CSK CSJ CSH CSG CSF CSE CSD CSC CSB CSA 8 3HAC020538-002 02 Document no. Approved Status: M L K J H G F E D C B A 1 -R1.CS MANIPULATOR IRB 340 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 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 = DM Plant: + ORT Location: Sublocation: + Rev. Ind Page 7 Next 8 Total 8 8 3HAC020538-002 02 Document no. Approved Status: F7 F6 F5 F3 F2 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: Latest revision: =DM +A43 =DM +A41.1.3 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 Prepared by, date: Latest revision: =DM +A41.1.5 =DM +A41.1.4 1 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: 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 -4000 5 6 = DM Plant: + ORT Location: Sublocation: + Rev. Ind Page 8 Next Total 8 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 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 Plant: + DKB Location: Sublocation: + 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 2400 Phone : EPLAN Approved by, date: Customer Robot serial number(s) Drawing number Drawing version 1 Title page 5 6 = DOKUMENTE Plant: + DKB Location: Sublocation: + Rev. Ind Page 2 Next 3 Total 9 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 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 UNITIRB 2400 CONTROL CABLEIRB 2400 CUSTOMER POWER/SIGNALIRB 2400 POSITION SWITCHIRB 2400 EXTERNAL AXIS no 7 EXTERNAL AXIS no 8-9 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: + INV Location: Sublocation: + 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 32 0,00 -R1.MP 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 +A41.1 Prepared by, date: Latest revision: 1 BNGN M5R GNYE AWG10 8 = DM Plant: + ORT Location: Sublocation: + Rev. Ind Page 4 Next 5 Total 9 3HAC020538-002 02 Document no. Approved Status: MANIPULATOR DRIVE 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 Prepared by, date: Latest revision: 1) 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: + ORT Location: Sublocation: + Rev. Ind Page 5 Next 6 Total 9 SERIAL MEASUREMENT BOARD 8 3HAC020538-002 02 Document no. Approved Status: C1 C2 B4 B3 B7 B2 B9 C10 C8 C9 B8 C7 -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 Prepared by, date: Latest revision: Customer Connection 1 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: 2 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 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 CPA 8 3HAC020538-002 02 Document no. C9 A9 C8 A8 C7 A7 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 MANIPULATOR IRB 2400 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: Customer Connection 1 12 11 10 9 8 7 6 5 4 3 2 1 -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 SWITCH IRB 2400 5 6 H G M L K J F E D C B A 1 = CM Plant: + ORT Location: Sublocation: + Rev. Ind Page 7 Next 8 Total 9 -R1.SW MANIPULATOR IRB 2400 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: DRIVE MODULE X40 6 4 3 2 1 5 3 1 -446 -448 -447 AWG16 BU AWG16 BU AWG16 BU AWG16 BU BRAKE PB BRAKE REL. BRAKE REL. Approved by, date: 4 3 2 1 EPLAN -4006 AWG16 BU BRAKE REL. +24V BRAKE PB LIM2 ch2 ret LIM2 ch2 LIM2 ch1 ret Lab/Office: -4011 -4010 BU AWG16 BU AWG16 BU AWG16 BU 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 7 = DM Plant: + ORT Location: Sublocation: + Rev. Ind Page 8 Next 9 Total 9 8 3HAC020538-002 02 Document no. Approved Status: 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: =DM +A43 =DM +A41.1.3 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 Prepared by, date: Latest revision: =DM +A41.1.5 =DM +A41.1.4 1 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 = DM Plant: + ORT Location: Sublocation: + Rev. Ind Page 9 Next Total 9 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 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 Plant: + DKB Location: Sublocation: + 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 : : : 3HAC020538-002 Cables for 1400 Phone : EPLAN Approved by, date: Customer Robot serial number(s) Drawing number Drawing version 1 Lab/Office: Title page 5 6 = DOKUMENTE Plant: + DKB Location: Sublocation: + Rev. Ind Page 2 Next 3 Total 9 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 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 1400 CONTROL CABLEIRB 1400 CUSTOMER SIGNALSIRB 1400 POSITION SWITCHES EXTERNAL AXIS no 7 EXTERNAL AXIS no 8-9 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: + INV Location: Sublocation: + 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 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 =DM +A41.1 Prepared by, date: Latest revision: 1 BNGN M5R AWG10 GNYE 6 AWG10 GNYE 8 = DM Plant: + ORT Location: Sublocation: + Rev. Ind Page 4 Next 5 Total 9 3HAC020538-002 02 Document no. Approved Status: MANIPULATOR DRIVE 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 Prepared by, date: Latest revision: 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 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: C1 C2 B4 B3 B7 B2 B9 C10 C8 C9 B8 C7 -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 Prepared by, date: Latest revision: 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 1 -XS/XP5 CONTROL MODULE EPLAN 4 Lab/Office: CUSTOMER SIGNALS IRB 1400 5 6 = CM Plant: + ORT Location: Sublocation: + Rev. Ind Page 6 Next 7 Total 9 CSM CSL CSK CSJ CSH CSG CSF CSE CSD CSC CSB CSA 8 3HAC020538-002 02 Document no. Approved Status: M L K J H G F E D C B A 1 -R1.CS MANIPULATOR IRB 1400 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 -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 K J F E D C B A 1 = CM Plant: + ORT Location: Sublocation: + Rev. Ind Page 7 Next 8 Total 9 -R1.SW MANIPULATOR IRB 1400 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: 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 AWG16 BU 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 7 = DM Plant: + ORT Location: Sublocation: + Rev. Ind Page 8 Next 9 Total 9 8 3HAC020538-002 02 Document no. Approved Status: 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: =DM +A43 =DM +A41.1.3 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 Prepared by, date: Latest revision: =DM +A41.1.5 =DM +A41.1.4 1 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: 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 -4000 5 6 = DM Plant: + ORT Location: Sublocation: + Rev. Ind Page 9 Next Total 9 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 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 Plant: + DKB Location: Sublocation: + Rev. Ind Page 1 Next 2 Total 8 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 8 2004-04-15 : 2004-09-23 : EPLAN : : : 3HAC020538-002_Cables for 140 Phone : EPLAN Approved by, date: Customer Robot serial number(s) Drawing number Drawing version 1 Lab/Office: Title page 5 6 = DOKUMENTE Plant: + DKB Location: Sublocation: + Rev. Ind Page 2 Next 3 Total 8 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 Location Prepared by, date: Latest revision: DOKUMENTEDKB DOKUMENTEDKB DOKUMENTEINV DM ORT DM ORT CM ORT DM ORT DM ORT Plant Page 1 2 3 4 5 6 7 8 Approved by, date: Table of contents 1 Page description Title page Title page Table of contents: (1 - 8) SERVO DRIVE SYSTEMIRB 140 CONTROL CABLEIRB 140 CUSTOMER SIGNALIRB 140 EXTERNAL AXIS no 7 EXTERNAL AXIS no 8-9 3 EPLAN 4 Lab/Office: 6 Page supplementary field Approved Approved Approved Approved Approved Approved Approved Approved Table of contents: (1 - 8) 5 DIN_INV_30_1 jsundin1 jsundin1 jsundin1 jsundin1 jsundin1 jsundin1 jsundin1 jsundin1 Editor = DOKUMENTE Plant: + INV Location: Sublocation: + Rev. Ind Page 3 Next 4 Total 8 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 = DM Plant: + ORT Location: Sublocation: + Rev. Ind Page 4 Next 5 Total 8 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 = DM Plant: + ORT Location: Sublocation: + Rev. Ind Page 5 Next 6 Total 8 SERIAL MEASUREMENT BOARD 8 3HAC020538-002 02 Document no. 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 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 -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 = CM Plant: + ORT Location: Sublocation: + Rev. Ind Page 6 Next 7 Total 8 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 = DM Plant: + ORT Location: Sublocation: + Rev. Ind Page 7 Next 8 Total 8 8 3HAC020538-002 02 Document no. Approved Status: 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 = DM Plant: + ORT Location: Sublocation: + Rev. Ind Page 8 Next Total 8 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 S-721 68 VÄSTERÅS SWEDEN Telephone: +46 (0) 21 344000 Telefax: +46 (0) 21 132592