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Product manual (part 2 of 2), reference information
Robot Controller
IRC5
M2004
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Product manual (part 2 of 2), reference information
IRC5
M2004
Document ID: 3HAC021313-001
Revision: A
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The information in this manual is subject to change without notice andshould not be construed as a commitment by ABB. ABB assumes noresponsibility 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 ABBfor losses, damages to persons or property, fitness for a specific purposeor the like.
In no event shall ABB be liable for incidental or consequential damagesarising from use of this manual and products described herein.
This manual and parts thereof must not be reproduced or copied without
ABBs written permission, and contents thereof must not be imparted toa third party nor be used for any unauthorized purpose. Contraventionwill be prosecuted.
Additional copies of this manual may be obtained from ABB at its thencurrent charge.
Copyright 2004 ABB All right reserved.
ABB Automation Technologies AB
RoboticsSE-721 68 Vsters
Sweden
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Table of Contents
33HAC021313-001
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
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Overview
A 3HAC021313-0014
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:
References
See section document references.
Revisions
Chapter Contents
Reference information Useful information when performing
installation, maintenance or repair work (listsof necessary tools, reference documents,safety standards).
Spare part list List of controller spare parts.
Circuit diagram Circuit Diagram of the controller.
Revision Description
- First edition
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Product documentation, M2004
A 53HAC021313-001
Product documentation, M2004
General
The robot documentation may be divided into a number of categories. This listing is based on
the type of information contained within the documents, regardless of whether the products
are standard or optional. This means that any given delivery of robot products will not contain
alldocuments 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 manualwhich
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 Productmanual, 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:
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)
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Product documentation, M2004
A 3HAC021313-0016
How to use the application
Examples of how to use the application
Operators manualsThis 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:
Operators manual - IRC5 with FlexPendant
Operators manual - RobotStudioOnline
Trouble shooting Manualfor the controller and robot
Miscellaneous
A number of manuals provide generic descriptions of the robot and robot system. These
include:
Robot fundamentals(describing the fundamental aspects, functions, concept and
similar, of a robot system to provide a basic understanding of the robot system)
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1 Reference information, IRC5
1.1. Introduction
A 73HAC021313-001
1 Reference information, IRC5
1.1. Introduction
General
This chapter includes general information, complementing the more specific information in
the following chapters.
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1 Reference information, IRC5
1.2. Applicable Safety Standards
A 3HAC021313-0018
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 manufacturingsystems - Basic requirements
prEN 999:1995
Standards, robot cell
The following standards are applicable when the robot is part of a robot cell:
IEN 294, Safety of machinery - Safety distance to prevent danger zones being reached
by the upper limbs.
EN 349, Safety of machinery - Minimum gaps to avoid crushing of parts of the human
body.
EN 811 Safety of machinery - Safety distance to prevent danger zones being reachedby 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.
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1 Reference information, IRC5
1.3. Unit conversion
A 93HAC021313-001
1.3. Unit conversion
Converter table
Use the table below to convert units used in this manual.
Quantity Units
Length 1 m 3.28 ft 39.37 in
Weight 1 kg 2.21 lb
Pressure 1 bar 100 kPa 14.5 psi
Force 1 N 0.738 lbf
Moment 1 Nm 0.738 lbf-tn
Volume 1 L 0.264 US gal
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1 Reference information, IRC5
1.4. Screw joints
A 3HAC021313-00110
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 torquefor each type of screw joint.
Only use correctly calibratedtorque keys.
Always tighten the joint by hand,and never use pneumatical tools
Use the correct tightening technique, i.e. do notjerk. 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
screwswith slotted or cross-recess head screws.
DimensionTightening torque (Nm)Class 4.8, oil-lubricated
M2.5 0.25
M3 0.5
M4 1.2
M5 2.5
M6 5.0
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1 Reference information, IRC5
1.5. Weight specifications
A 113HAC021313-001
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!
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1 Reference information, IRC5
1.6. Standard toolkit, IRC5
A 3HAC021313-00112
1.6. Standard toolkit, IRC5
General
All service (repair, maintenance and installation) instructions contain lists of tools required
to perform the specified activity. All special tools, i.e. all tools that are not considered
standard as defined below, are listed in their instructions respectively.
This way, the tools required are the sum of the Standard Toolkit and any tools listed in the
instruction.
Contents
Tool 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
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1 Reference information, IRC5
1.7. Document references
A 133HAC021313-001
1.7. Document references
General
The contents of this manual may include references to additional documentation necessary to
perform certain procedures. This section specifies the article numbers for the referenced
documentaion.
Product specification, controller
The product specification includes generic technical data. The specification listed below is
the English version.
Operators manual
The operators manual contains instructions for daily operation of robot systems. The
operators manual listed below is the English version.
Application documentation
Product manual, robot
The product manuals include information about installation and service activities. The table
below specifies the article numbers of the product mnauals for all robot models. The part
number -001 is the English version.
Document name Document ID
Product Specification - IRC5 with FlexPendant 3HAC021785-001
Document name Document ID Note
Operators manual - IRC5with FlexPendant
3HAC 16590-1
Document name Document ID
Trouble shooting manual - IRC5 3HAC 020738-001
Getting started - IRC5 and RobotStudio Online 3HAC 021564-001
Operators manual - RobotStudio Online 3HAC 18236-1
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
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1 Reference information, IRC5
1.7. Document references
A 3HAC021313-00114
Product manual, IRB 7600 3HAC 022033-001
Product manual, IRB 940 3HAC 022054-001
Document name Document ID
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1 Reference information, IRC5
1.8. Lifting equipment and lifting instructions
A 153HAC021313-001
1.8. Lifting equipment and lifting instructions
General
Many repair and maintenance activities require different pieces of lifting equipment, which
are specified in each procedure.
The use of each piece of lifting equipment is notdetailed 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.
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1 Reference information, IRC5
1.8. Lifting equipment and lifting instructions
A 3HAC021313-00116
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2 Spare Parts
2.1. Introduction
A 173HAC021313-001
2 Spare Parts
2.1. Introduction
Definitions
This chapter specifies all spare parts and replacement articles of the IRC5 controller.
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2 Spare Parts
2.2. Spare Parts IRC5, Control module
A 3HAC021313-00118
2.2. Spare Parts IRC5, Control module
Control cabinet
xx0400001234
Spare parts
Pos Spare part number Description Note
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 DSQC 615
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 5p3HAB9664-1 3 Multipole con. X6 6p
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2 Spare Parts
2.2. Spare Parts IRC5, Control module
A 193HAC021313-001
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
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
Pos Spare part number Description Note
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2 Spare Parts
2.2. Spare Parts IRC5, Control module
A 3HAC021313-00120
Computer unit
xx0400001236
Spare parts
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
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2 Spare Parts
2.3. Spare Parts IRC5, Drive module
A 213HAC021313-001
2.3. Spare Parts IRC5, Drive module
Drive cabinet
xx0400001235
Spare parts
PosSpare partnumber
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
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2 Spare Parts
2.3. Spare Parts IRC5, Drive module
A 3HAC021313-00122
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 busbarwith six connectorgroups
3HAC17281-3 DC-bus bar DC_S2short busbarwith two connector
groups
G1 3HAC020465-001 Drive system power
supply
DSQC 626
G1 3HAC020466-001 Drive system powersupply
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 fans3HAC7097-1 Mains line filter
FlexPendant
3HAC12929-1 FlexPendant with cable 10m
3HAC11266-1 FlexPendant Cable 10m
3HAC12929-4 FlexPendant with cable 30m
3HAC11266-4 FlexPendant Cable 30m
PosSpare partnumber
Description Info
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3 Circuit Diagram
3.1. Introduction
A 233HAC021313-001
3 Circuit Diagram
3.1. Introduction
Definitions
This chapter specifies the circuit diagram of the IRC5 controller.
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3 Circuit Diagram
3.1. Introduction
A 3HAC021313-00124
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reparedby,date:
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disclosuretothirdpartieswithoutexpressauthorityisstrictlyforbidden.Copyright2003ABB
EPLAN
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atestrevision:
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EPLAN
Theinformationinthisdocumentissubjecttochangewithoutnoticeandshouldnotbeconstruedasa
commitmentbyABB.ABBassume
snoresponsibilityforanyerrorsthatma
yappearinthisdocument.
InnoeventshallABBbeliablefor
incidentalorconsequentialdamagesarisingfromuseofthisdocument
orofthesoftwareandhardwarede
scribedinthisdocument.
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entandintheinformationcontainedthe
rein.Reproduction,useor
disclosuretothirdpartieswithoute
xpressauthorityisstrictlyforbidden.
Additionalcopiesofthisdocument
maybeobtainedfromABBatitsthencurrentcharge.
Copyright2004ABBAllrightreserved.
ABB
AutomationTechnologiesAB
Robotics
SE-72168Vsters
Sweden
1
2
3
4
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7
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DKB
Documentno.
Next
Rev.Ind
02
Lab/Office:
Status:
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Manufacture
Type
Controlcabinet
Mainsvoltage
Supply
Controlvoltage
Yearofconstruction
2004-09-28
: : : : : : :
Typeofinstallation
Customer
Robotserialnumber(s)
Drawingnumber
Drawingversion
3HAC020538-002_
Contro
l
: : : : :EPLAN
Phone:
Projectstart
Projectmanager
Lastrevision
Designedby
Designeddate
Numberofpages
: : : : : : :
2004-05-05
jsundin1
2004-09-28
42
1
2
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4
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7
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Tableofcontents
Plant
Location
Pagesupp
lementaryfield
Page
Pagedescription
Date
Editor
DIN_
INV_
30_
1
DOKUMENTEDKB
1
Titlepage
Approved
2004-09-24
jsundin1
DOKUMENTEDKB
2
Titlepage
Approved
2004-09-24
jsundin1
DOKUMENTEINV
3
Tableofcontents:(1-30)
Approved
2004-09-24
jsundin1
DOKUMENTEINV
4
Tableofcontents:(31-42)
Approved
2004-09-24
jsundin1
CM
ORT
5
BLOCKDIAGRAM
Approved
2004-09-24
jsundin1
CM
ORT
6
VIEWO
FCONTROLMODULE
Approved
2004-09-24
jsundin1
CM
ORT
7
MAINSCONNECTION
Approved
2004-09-24
jsundin1
CM
ORT
8
POWERSUPPLY
Approved
2004-09-24
jsundin1
CM
ORT
9
OPTION:POWERSUPPLY
Approved
2004-09-24
jsundin1
CM
ORT
10
EMERGENCYSTOP
Approved
2004-09-24
jsundin1
CM
ORT
11
RUNCHAINOPERATINGMOD
ESELECTOR,3MOD
Approved
2004-09-24
jsundin1
CM
ORT
12
EMERGENCYSTOP
Approved
2004-09-24
jsundin1
CM
ORT
13
RUNCHAIN
Approved
2004-09-24
jsundin1
CM
ORT
14
RUNCHAINOPERATINGMOD
ESELECTOR,2MOD
Approved
2004-09-24
jsundin1
CM
ORT
15
RUNCHAINEXTOPERATING
MODESELECTOR,2
Approved
2004-09-24
jsundin1
CM
ORT
16
RUNCHAINEXTOPERATING
MODESELECTOR,3
Approved
2004-09-24
jsundin1
CM
ORT
17
FPU,FLEXPENDANT
Approved
2004-09-24
jsundin1
CM
ORT
18
OPTION:EXTERNALCONNEC
TIONSYSTEMSIGNAL
Approved
2004-09-24
jsundin1
CM
ORT
19
VIEWO
FCOMPUTERUNIT
Approved
2004-09-24
jsundin1
CM
ORT
20
CABLINGINCOMPUTERUNIT
Approved
2004-09-24
jsundin1
CM
ORT
21
CABLINGINCOMPUTERUNIT
Approved
2004-09-24
jsundin1
CM
ORT
22
COMPUTERUNITCOOLING
Approved
2004-09-24
jsundin1
CM
ORT
23
MAINCOMPUTER
Approved
2004-09-24
jsundin1
CM
ORT
24
ROBOTCOMMUNICATIONCA
RD
Approved
2004-09-24
jsundin1
CM
ORT
25
ROBOTCOMMUNICATIONCA
RD
Approved
2004-09-24
jsundin1
CM
ORT
26
PROFIBUSDPM/S
Approved
2004-09-24
jsundin1
CM
ORT
27
INTERBUSM/S
Approved
2004-09-24
jsundin1
CM
ORT
28
DEVICENETADAPTER
Approved
2004-09-24
jsundin1
CM
ORT
29
DEVICENETADAPTER
Approved
2004-09-24
jsundin1
CM
ORT
30
DUALRS232CARD
Approved
2004-09-24
jsundin1
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2
3
4
5
6
7
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Tableofcontents
Plant
Location
Pagesupp
lementaryfield
Page
Pagedescription
Date
Editor
DIN_
INV_
30_
1
CM
ORT
31
ETHERNETCARD
Approved
2004-09-24
jsundin1
CM
ORT
32
DIGITALPARTOFCOMBII/OANDDIGITALI/O
Approved
2004-09-24
jsundin1
CM
ORT
33
DIGITALI/OUNIT
Approved
2004-09-24
jsundin1
CM
ORT
34
COMBII/OUNIT
Approved
2004-09-24
jsundin1
CM
ORT
35
RELAYI/OUNIT
Approved
2004-09-24
jsundin1
CM
ORT
36
RELAYI/OUNIT
Approved
2004-09-24
jsundin1
CM
ORT
37
RELAYI/OUNIT
Approved
2004-09-24
jsundin1
CM
ORT
38
ANALOGUEI/OUNIT
Approved
2004-09-24
jsundin1
CM
ORT
39
REMOTEI/OUNIT
Approved
2004-09-24
jsundin1
CM
ORT
40
INTERBUSSLAVE
Approved
2004-09-24
jsundin1
CM
ORT
41
PROFIBUSDPSLAVE
Approved
2004-09-24
jsundin1
CM
ORT
42
ENCODERUNIT
Approved
2004-09-24
jsundin1
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2
3
4
5
6
7
8
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T3
F4
X22
Service
outlet
F5
Earth
fault
prot.
S21
G3
Control
panel
A21
Ultracap P
anel
board
Drive
G
2X20
Q2
XT16
F
PUA
CDC23
0V
A3
Drive
Ethernetservice
Computer
module
USB
LANG
6
I/O
x
AC I/
OunitD
C
G4
AC
DC
Customer
connection
G5
AC
DC
Customer
connection
Fieldbus
Option
Serviceoutlet
Option
CustomerPS
Option
CustomerPS
Op
tion
De
vicenetPS
1
2
3
4
5
6
7
8
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Page
+ PageORT
CM
=CM+ORT/7
6
Pg.
42
Approved
3HAC020538-0
02_
Control
Mo
dification
Date
Name
02
Standard
Check.
Edit.
Origin
Date
Crea.for
Crea.by
jsundin1
EPLAN
VIEWO
FCONTROLM
ODULE
CM
2004-09-28
2004-09-24
=C
M+ORT/5
X20
X22
(optserviceoutlet)
Q2
S21.3
(emergencypb)
S21.2
(motoronpb)
S21.1
(modeselector)
XS58 X
S8
XS13
XS5
XS3
XS17
X28A
22.X1
A3
G2
G3
G4
G5
I/O1
I/O2
I/O3
I/O4
XT58
XT8
XT5
XT6
A21(Pa
nelBoard)
X1
X2
X3
X
4
X5 X
6
X7
X18
X14
X17
X10
X9
X11
X20
X18
X12X
15
Epwr
EN1
AS1
AS2
GS1
GS2
SS1
SS2
ES1
ES2
G6ifnotG5
ifG5G6inI/Ounit.
0
1
2
3
4
5
6
7
8
9
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Location:
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181
181
182
182
-Q2
L1
T1
L2
T2
L3
T3
-X2
0
11
/8.3/-230VAC1
22
GND
GND
-F5
CIRCUITBREAKER
1 2
3 4
=CM
+X22
-F4
EARTHFAULT
BREAKER
1 2
3 4
OPTION:
SERVICEOUTLET
-X16
/9.2/-230VAC1
/9.5/-230VAC1
/9.7/-230VAC1
-174AWG16BK-172AWG16BK
-171AWG16BK -173AWG16BK
-308AWG16BK
-309AWG16BK
-X2
5
11
22
GND
GND
CONTROLMODULE
DRIVEMODULE
230VAC1
230VAC2
-183
AWG16BK
-184AWG16BK
-185AWG16BK
-186AWG16BK
-187AWG16BK
-182AWG16BK
-181AWG16BK
-T3
1
2
3
4
230V
115V
0V
/8.3/-230VAC2
/9.2/-230VAC2
/9.5/-230VAC2
/9.7/-230VAC2
1
2
3
4
5
6
7
8
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Y
Location:
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Documentno.
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02
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=CM+G2
PROCESSPOWERSUPPLY
-X1
11-230VAC1//7.1
-X2
11/10.2/-24VSYS
33
22/10.2/-0VSYS
33/10.2/-24VCOOL
55
44
/10.2/-0VCOOL
-X3
11/20.2/-24VPC
22/20.2/-24VPC
33/20.2/-0VPC
44/20.2/-0VPC
=CM+G3
-X4
11
-X1
11
22 22
33 33
44 44
55 55
66 66
77 77
88 88
99 99
1010
1010
-X5
11/23.6/-USB+5V
22/23.6/-USB-BP2
33/23.6/-USB-BP2
44/23.6/-USB_GND
-181AWG16BK
-182AWG16BK
-250BU
-251BU
-252BU
-253BU
-301BU
-302BU
-303BU
-304BU
AC-INPUT
USB
ULTRACAP
24VPC
24VSYS
24VCOOL
AWG24RD
AWG24BK
AWG28WH
AWG28GN
-230VAC2//7.3
ULTRACAP
PANELBOARD
COMPUTER
UNIT
MAIN
COMPUTER
+
+
+
-
-
-
NC
NC
NC
+Sense
1
2
3
4
5
6
7
8
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RSUPPLY
Location:
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Documentno.
Next
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02
Lab/Office:
Status:
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181
182
182
=CM+G6
DEVICENET
POWERSUPPLY -X1
LL
-X2
++-230VAC1//7.2 /29.1/-+24Vdevicenet
AC
NN --
DC
++
-- /29.1/-0Vdevicenet
GND
GND
/32.1/-+24Vdevicenet/32.1/-0Vdevicenet
/35.1/-+24Vdevicenet/35.1/-0Vdevicenet
/38.1/-+24Vdevicenet/38.1/-0Vdevicenet
/39.1/-+24Vdevicenet/39.1/-0Vdevicenet
/40.2/-+24Vdevicenet/40.2/-0Vdevicenet
/41.1/-+24Vdevicenet/41.1/-0Vdevicenet
=CM+G4
CUSTOMER
POWER
SUPPLY
-X1
11
-X2
11-230VAC1//7.2
AC
55 33
DC
33
Cus
tomer
Con
nection
22
44
=CM+G5
CUSTOMER
POWER
SUPPLY
-X1
11
-X2
11-230VAC1//7.2
AC
55 33
DC
33
Customer
Connection
22
44
24VI/O
24VI/O
24VI/O
24VI/O
0VI/O
0VI/O
0VI/O
0VI/O
-308AWG16BK
-309AWG16BK
/42.1/-0Vdevicenet
/42.1/-+24Vdevicenet
-230VAC2//7.3
-230VAC2//7.3
-230VAC2//7.3
1
2
3
4
5
6
7
8
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EMERGENCYS
TOP
Location:
Plant:
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Sublocation:
CMORT
Documentno.
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Rev.Ind
02
Lab/Office:
Status:
Approved
/8.2/-24VSYS
/8.2/-0VSYS
/8.2/-24VCOOL
/8.2/-0VCOOL E
MERGENCY
STOPOUTPUT2
EXTERNAL
SUPPLY
EXTERNAL
EMERGENCY
STOPPB
EMERGENCY
STOPOUTPUT1
ES1top
ES2top
24VPanel
RunCH1top
RunCH2top
ES1OUT:A
ES2OUT:A
ES2OUT:B
ES1OUT:B
SepES2:A
SepES1:A
SepES1:B
SepES2:B
ES2bottom
ES1bottom
0V24VPanel
ES1:int
ES2:int
0V
=CM
+A21
PANELBOARD
-X12
11 33-X1
33 44 55 11 22 99 1010 77 88 6622 44
-X2
33 44 55 11 22 99 1010 77 88 66
0V
24VPANEL
-ES1
U
A1
A2
24VPANEL
-ES2
0V
U
ES1
A1
A2
ES2
SOFT_
ESI
SOFT_
ESO
+ORT/12.5/-RunCh_0V+ORT/12.6/-RunCh+
+ORT/12.6/-RCH2+ORT/12.7/-RCH1
1818
1414
1212
1616 -X
11
11
22
33
44
55
66
77
88-X9
1717
1313
1111
1515
-ESFPU1:A//17.2
-ESFPU2:A//17.2
-RS485+//24.5
-RS485-//24.5
-0V_
Sig.ref.//24.5
-S21.3
EMERGENCYPB
21
22
11
12
-X10
55
77
88
66
AWG24
WHBN
BU
WHBU
OG
-209
AWG20
-211
AWG20
-212
AWG20
-210
AWG20
-250
BU
-251
BU
-252
BU
-253
BU
-231
ESpanel2
:B
-232
ESpanel2
:B
-233
ESpanel2
:A
-234
ESpanel2
:A
-235
ESpanel1
:B
-236
ESpanel1
:B
-237
ESpanel1
:A
-238
ESpanel1
:A
JUNCTION
BOARD
EMERGENCYSTOP
RELAYSIGNALS
PROCESS
POWER
SUPPLY
ROBOTCOMM.
CARD
-24V_
Sig.ref.//24.5
-ESFPU2:B//17.2
-ESFPU1:B//17.2
RunCh_0V
RunCh+
RunCh_
0V
RunCh+
1
2
3
4
5
6
7
8
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RUNCHAINOPERATING
MODESELECT
OR,3MODES
Location:
Plant:
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Sublocation:
CMORT
Documentno.
Next
Rev.Ind
02
Lab/Office:
Status:
Approved
OP_C
OM
OP_M
AN
OP_A
UTO
OP_M
AN_
FS
=CM
+A21
PANELBOARD
-X3
11 33 55 77 99-X4
11 33 55 77 99-X15
11 22
22 44 66 88 1010 22 44 66 88 33 44
Generalin1
Generalin2
Generalin3
Generalin4
Generalin5
Generalin6
Generalin7
Generalin8
0V
+24V
Generalout1
Generalout2
Generalout3
Generalout4
Generalout5
Generalout6
Generalout7
Generalout8
0V
+ORT/13.3/-SPEED
+ORT/12.5/-EN2+ORT/12.5/-EN1
+ORT/12.5/-MAN1+ORT/12.4/-MAN2
>1
24VPANEL
22 44 88 1010-X
10
11 33 99-X6
77 99
-X18
22 33 11
EN
2_
1A
EN
2_
1B
EN
2_
2A
EN
2_
2B =
CM+E3
OPTION:
DOORFAN52
-X1
22M1~+
-
11
-24VFPU_
POWER//17.2
-0V//17.2
-EN1_
1//17.2
-EN1_
2//17.2
X1
X2
-S21.1
MODE
SELECTOR
561210
-S21.2
MOTORONPB
13
14
=CM+E2
EXTCOMPUTERFAN
-X1
11 22 33
1248
M+ -
-S21.1.X1
3317
182224
22
11
44
7713
141620
66
OPTION
55
88
11
22
33
44 55
66
77-X9
88
99
1010
1919
-220
A
WG20
24Vpanel
-221
A
WG20
AUTO2
-222
A
WG20
MAN2
-223
A
WG20
MANFS2
-224
A
WG20
0V
-225
A
WG20
AUTO1
-226
A
WG20
MAN1
-227
A
WG20
MANFS1
-228
A
WG20
24VPANEL
-229
A
WG20
MOTON
-230
A
WG20
MONLMP
22
44
66 88-X20
11 33
55
77
=CM
+A23
OPTION:STATUS
LEDONFRONT
22
44
66 88-X2
11 33
55
77
-SUP_
ST2
-SUP_
ST1
-GS2
-GS1
-AS2
-AS1
-ENABLE1
-ES2
-ES1
AWG
26
BN
GN
WHBU
OG
WHBN
WHGN
BU
WHOG
RS485+
RS485-
24VDC
0V
-2
05
AWG20
-2
06
AWG20
-2
07
AWG20
-2
08
AWG20
-2
13
AWG20
-245 EXT.AUTO2-244 EXT.MAN2
-243 EXTMANFS2
-241 EXT.AUTO1
-240 EXT.MAN1
-246 EXT.COMMON2
-239 EXTMANFS1-242 EXT.COMMON1
11
-X18
22 33
-360
AWG20
-361
AWG20
-362
AWG20BU
-363
AWG20BU;BU
-364
AWG20BU;BU
FAN0V
TACHO
24VCOOL
RD
BN
BK
EXTERNAL
ENABLEDEVICE
JUNCTION
BOARD
-FPUSTART//17.2
1
2
3
4
5
6
7
8
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AUTO
STOP
GENERAL
STOP
SUPERIOR
STOP
=CM
+A21
PANELBOARD
-X
51
2
1
2
66
77
11
1
1
1
1 99
55
33
1010
88
44
22
0V0V
0V
24VPANEL
24VPANEL
24VPANEL
SS1
SS2
AS1
AS2 G
S1
GS2
SS1
SS2
SOFTSS
AS1
AS2
GS1
GS2
SOFTGSS
OFTAS
-MAN2/+ORT/11.4
-MAN1/+ORT/11.4
-EN2/+ORT/11.4
-EN1/+ORT/11.4
-RunCh_0V/+ORT/10.5
&
-RunCh+/+ORT/10.5
&
CH2
CH1
11
22 3344
55
-X
666
-RCH2/+ORT/10.6
-RCH1/+ORT/10.6
+ORT/13.4/-RCH2
+ORT/13.4/-RCH1
AS1+
AS1-
AS2+
AS2-
GS1+
GS1-
GS2+
GS2-
SS1+
SS1-
SS2+
SS2-
+ORT/13.3/-ENABLE2_1
+ORT/13.3/-ENABLE2_2+ORT/13.3/-ENABLE2_3
+ORT/13.3/-ENABLE2_4
1
2
3
4
5
6
7
8
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atestrevision:
Approvedby,date:
RUNCHAIN
Location:
Plant:
= + +
Sublocation:
CMORT
Documentno.
Next
Rev.Ind
02
Lab/Office:
Status:
Approved
=CM
+A21
PANE
LBOARD
-X7
11
22
44
33
55
66
77
88-X8
11
22
44
33
55
66
77
88 -X14
11
22
44
33
55
66
77
88 -X17
11
22
44
33
55
66
77
88
+ORT/12.6/-RCH2
+ORT/12.7/-RCH1
+ORT/11.4/-SPEED
SPEED0V
ENABLE2_
1Ret
ENABLE2_
1
ifnotused
Drive
module1
A43.X1
Drive
module2
A43.X1
Drive
module3
A43.X1
Drive
module4
A43.X1
ifnotused
ifnotused
RUNCH1
RUNCH1Ret
RUNCH2Ret
RUNCH2
AC_
ON10V
99
1
0
1
0
ifnotused
99
1
0
1
0
ifnotused
99
1
0
1
0
ifnotused
99
1
0
1
0
CONTROL
MODULE
+ORT/12.5/-ENABLE2_
1
+ORT/12.5/-ENABLE2_
2
+ORT/12.5/-ENABLE2_
3
+ORT/12.5/-ENABLE2_
4
RUNCH1
RUNCH1Ret
RUNCH2Ret
RUNCH2
SPEED0V
ENABLE2_
2
ENABLE2_
2Ret
AC_
ON10V
RUNCH1
RUNCH1Ret
RUNCH2Ret
RUNCH2
SPEED0V
ENABLE2_
3
ENABLE2_
3Ret
AC_
ON10V
RUNCH1
RUNCH1Ret
RUNCH2Ret
RUNCH2
SPEED0V
ENABLE2_
4
ENABLE2_
4Ret
AC_
ON10V
0V
24VPANEL
0V
24VPANEL
0V
24VPANEL
0V
24VPANEL
1
2
3
4
5
6
7
8
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atestrevision:
Approvedby,date:
RUNCHAINOPERATING
MODESELECT
OR,2MODES
Location:
Plant:
= + +
Sublocation:
CMORT
Documentno.
Next
Rev.Ind
02
Lab/Office:
Status:
Approved
=CM
+A21
PANELBOARD
-X9
33 22 77 66 55 11 1010
1919 99
X
1
X2
-S21.2
MOTORONPB 1
3
14
-S21.1
MODESELECTOR
1
23
.5
5
67
.5
9
10
11
.5
13
14
15
-S21.1.X1
77 66 33 22 11 55 44 88
OPTION
-220
AWG20
24Vpanel
BU
-221
AWG20
AUTO2
BU
-222
AWG20
MAN2
BU
-224
AWG20
0V
BU
-225
AWG20
AUTO1
BU
-226
AWG20
MAN1
BU
-2
29
AWG20
MOTON
BU
-2
30
AWG20
MONLMP
BU
-2
28
AWG20
24VPANEL
BU
-240
EXT.MAN1
OG
-241
EXT.AUTO1
OG
-242
E
XT.COMMON1
OG
-244
EXT.MAN2
OG
-245
EXT.AUTO2
OG
-246
E
XT.COMMON2
OG
1
2
3
4
5
6
7
8
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atestrevision:
Approvedby,date:
RUNCHAINEXTOPERATING
MODESELECT
OR,2MODES
Location:
Plant:
= + +
Sublocation:
CMORT
Documentno.
Next
Rev.Ind
02
Lab/Office:
Status:
Approved
=CM
+A21
PANELBOARD
-X9
33
22
77
66
55
11
1010
1919
99
1717
1818
1313
1414
1111
1212
1515
1616
X1
X2
-S21.2
MOTORONPB 1
3
14
-S21.3
21
22
EMER
GENCYPB
11
12
-S21.1
MODE
SELECTOR
1
23
.6
5
67
.6
9
10
11
.6
13
14
15
-S21.1.X1
77
66
33
22
44
88
OPTION
1122
-Ext.A21.X9
33 55
66
77
99
1010
1111
1212
1313
1414
1515
1616
1717
1818
1919
=CM
+A22
JUNCT
IONBOARD
-X3 11
22
33
44
55
66
77
88
-X10
11
22
33
44
55
66
77
88
99
99
CONTROL
MODULE
EXT.CONTROLPANEL
=CM
+A32
ROBOTCOMMUNICATIONCARD
-X2 11
22
33
44
-A8 33
66
11
22
AWG24
GN
OG
WHGN
WHOG
TD+TD-
RD+RD-
-221
AWG
20
AUTO2
-222
AWG
20
MAN2
-224
AWG
20
0V
-220
AWG
20
24Vpanel
-225
AWG
20
AUTO1
-226
AWG
20
MAN1
-241
EXT.AUTO1
-240
EXT.MAN1
-245
EXT.AUTO2
-244
EXT.MAN2
-246
EXT.COMMON2
-242
EXT.COMMON1
-229
A
WG20
MOTON
-230
A
WG20
MONLMP
-228
A
WG20
24VPANEL
-237
ESpanel1:A
-236
ESpanel1:B
-235
ESpanel1:B
-232
ESpanel2:B
-231
ESpanel2:B
-234
ESpanel2:A
-233
ESpanel2:A
-238
ESpanel1:A
BN/BK
BN/RD
BN/OG
BN/YE
BN/GN
24VTPU
0VEN1_
1
EN1_
2
TPU_
START
1
2
3
4
5
6
7
8
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Page16
42
Total
3HAC0
20538-002
L
atestrevision:
Approvedby,date:
RUNCHAINEXTOPERATING
MODESELECT
OR,3MODES
Location:
Plant:
= + +
Sublocation:
CMORT
Documentno.
Next
Rev.Ind
02
Lab/Office:
Status:
Approved
=CM
+A21
PANELBOARD
=CM
+A22
JU
NCTIONBOARD
22 44 66 8822
66
11 99 1818
1414
1212
1616 -X
10
11 33 55 77 9933
77
55 1010
1919
1717
1313
1111
1515
22 44 66 88-X3
11 33 55 77 99
CONTROL
MODULE
22
66
11 99 1818
1414
1212
1616
33
77
55 1010
1919
1717
1313
1111
1515
EXT.CONTROLPANEL
X1
X2
-S21.2
MOTORONPB
13
14
-S21.3
21
22
E
MERGENCYPB
11
12
77
-S21.1.X1
33
44
66
22
88
OPTION
13
141620
.7
17
182224
.7
1248
-S21.1
.7
MODESELECTOR
561210
44
-Ext.A21..X9
88
11
55
-239
EXTMANFS1
-240
EXT.MAN1
-241
EXT.AUTO1
-242
EXT.COMMON1
-243
EXTMANFS2
-244
EXT.MAN2
-245
EXT.AUTO2
-246
EXT.COMMON2
-220
AWG20
24Vpanel
-221
AWG20
AUTO2
-222
AWG20
MAN2
-223
AWG20
MANFS2
-224
AWG20
0V
-225
AWG20
AUTO1
-226
AWG20
MAN1
-227
AWG20
MANFS1
-228
AWG20
24VPANEL
-229
AWG20
MOTON
-230
AWG20
MONLMP
-231
ESpanel2:B
-232
ESpanel2:B
-233
ESpanel2:A
-234
ESpanel2:A
-235
ESpanel1:B
-236
ESpanel1:B
-237
ESpanel1:A
-238
ESpanel1:A
-X2
11
22
33
66
=CM
+A32
ROBOTCOMMUNICATIONCARD -
A8 3366
11
22
A
WG24
GN
OG
WHGN
WHOG
TD+TD-
RD+RD-
BN/BK
BN/RD
BN/OG
BN/YE
BN/GN
24VTPU
0VEN1_
1
EN1_
2
TPU_
START
-X9
88
44
1
2
3
4
5
6
7
8
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Total
3HAC0
20538-002
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atestrevision:
Approvedby,date:
FPU,FLEXPENDANT
Location:
Plant:
= + +
Sublocation:
CMORT
Documentno.
Next
Rev.Ind
02
Lab/Office:
Status:
Approved
/10.7/-ESFPU1:A
/10.7/-ESFPU2:A
/10.7/-ESFPU2:B
/10.7/-ESFPU1:B
/11.6/-24VFPU_
POWER
/11.6/-0V
/11.6/-EN1_
1
/11.6/-EN1_
2
/24.6/-TD+
/24.6/-TD-
/24.6/-RD+
/24.6/-RD-
=CM
+A22
JUNC
TIONBOARD
-X
355 77 88 66 11 22 33 44 99
-X
211 22 33 66
-X1
33 55 66 44 11 1212 22 88 77 1
717
1111
1313
1414
1515
1616
=CM
+FPU
FLEXPENDA
NT -
K1
EM
ERGENCY-STOP
-K2
EN-DEVICE
AWG24
WHOG
OG
WHGN
GN
-205
AWG20BU
-206
AWG20BU
-207
AWG20
-208
AWG20
-209
AWG20BU
-210
AWG20BU
-211
AWG20BU
-212
AWG20
-213
AWG20BU
X22.XP1
OPTION:
FPU-PLUG
3 5 6 4
ETH_
FPU
PANEL
BOARD
PANEL
BOARD
ROBOTCOMM.
CARD
/11.6/-FPUSTART
1
2
3
4
5
6
7
8
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3HAC0
20538-002
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atestrevision:
Approvedby,date:
OPTION:EXTERNALCONNECTION
SYSTEMSIGNA
LS
Location:
Plant:
= + +
Sublocation:
CMORT
Documentno.
Next
Rev.Ind
02
Lab/Office:
Status:
Approved
=CM
+A21P
ANELBOARD
ES1bottom
ES2bottom
24VPANEL
0V
24VPANEL
0V
ES2top
ES1top
SepES1:A
SepES2:A
SepES2:B
SepES1:B
ES1OUTA
ES1OUTB
ES2OUTA
ES2OUTB
-X2
77 88 44 33 99 1010 11 22
-X1
77 88 44 33 99 1010 11 22
-XS/XP
3
A1A1
B1B1
B2B2
A2A2
A3A3
B3B3
B4B4
A4A4
A5A5
B5B5
B6B6
A6A6
A7A7
A8A8
B7B7
B8B8
=CM
+A21P
ANELBOARD
24VPANEL
AS1+
AS1-
0V
GS1+
GS1-
24VPANEL
AS2+
AS2-
0V
GS2+
GS2-
0V
SS1-
SS2-
SS1+
SS2+
24VPANEL
-X
51
2
1
2
1
1
1
1 99 771
0
1
0 88 66 55 33 11 44 22
-X
611 22 33 44 55 66
-XS/XP3
C1C1
C2C2
C3C3
C4C4
C5C5
C6C6
C7C7
C8C8
D1D1
D2D2
D3D3
D4D4
D5D5
D6D6
D7D7
D8D8
A10
A10
B10
B10
C10
C10
B9B9
C9C9
A9A9
-260
OG
-261
OG
-262
AWG20BU
-263
AWG20BU
-264
AWG20BU
-265
AWG20BU
-266
OG
-267
OG
-268
OG
-269
OG
-270
OG
-271
OG
-272
AWG20BU
-273
AWG20BU
-274
AWG20BU
-275
AWG20BU
-276
AWG20BU
-277
AWG20BU
-278
AWG20BU
-279
AWG20BU
-280
AWG20BU
-281
AWG20BU
-282
AWG20BU
-283
AWG20BU
-284
OG
-285
OG
-286
OG
-287
OG
-288
AWG20BU
-289
AWG20BU
-290
AWG20BU
-291
AWG20BU
-292
AWG20BU
-293
AWG20BU
AWG20BU
AWG20BU
AWG20BU
AWG20BU
AWG20BU
AWG20BU
AWG20BU
AWG20BU
AWG20BU
AWG20BU
AWG20BU
AWG20BU
AWG20BU
AWG20BU
AWG20BU
AWG20BU
77 88 991
0
1
0
55
55
RunCH1top
RunCH2top
1
2
3
4
5
6
7
8
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Page
+ PageORT
CM
=CM+ORT/20
19Pg.
42
Approved
3HAC020538-0
02_
Control
Mo
dification
Date
Name
02
Standard
Check.
Edit.
Origin
Date
Crea.for
Crea.by
jsundin1
EPLAN
VIEWO
FCOMPUTER
UNIT
CM
2004-09-24
2004-09-24
=C
M+ORT/18
Slot2
Slot3
Slot4
Slot5
Slot1
A32(RCC)
A33ProfibusDPM/S
A37InterbusM/S(opticalfiber)
A38InterbusM/S(copperwire)
A35Devicenet
PW
R
(green)
HDD
(yellow)
X1
SERIALPORTA
USB3,4
USB1,2
LAN
A3Computerunit
0
1
2
3
4
5
6
7
8
9
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3HAC0
20538-002
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atestrevision:
Approvedby,date:
CABLINGINCO
MPUTERUNIT
Location:
Plant:
= + +
Sublocation:
CMORT
Documentno.
Next
Rev.Ind
02
Lab/Office:
Status:
Approved
/8.3/-24VPC
/8.3/-0VPC
/8.3/-0VPC
/8.3/-24VPC
=CM+A3
COMPUTERUNIT
-X1
11 332244
=CM
+G31
COMPUTERPOWERSUP
PLY
-X1
V+V+
V-V-
MOTHER
BOARD
POWER
P1
OR
OR
BK
RD
BK
RD
BK
GY
VT
YE
OR
BU
BK
GN
BK
BK
BK
RD
RD
+3.3V
+3.3V
GND
+5V
GND
+5V
GND
PWR_
OK
+5VSB
+12V
+3.3V
-12V
GND
PS_
ON
GND
GND
GND
+5V
+5V
=CM
+
A31
MAINCOMPUTER
-J4H1
11 33 55 77 99 1111
1313
1515
1717
1919
22 44 66 88 1010
1212
1414
1616
1818
2020
-P1
-P1
-P1
-PSU-X
1
11-PSU
-X2
11
-PSU-X
2
22
33
-IDEpwr
-IDEpwr_GND/+ORT/21.2
-IDEpwr_+5V/+ORT/21.2
-301
BU
-302
BU
-303
BU
-304
BU
PROCESS
POWERSUPPLY
1
2
3
4
5
6
7
8
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Total
3HAC0
20538-002
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atestrevision:
Approvedby,date:
CABLINGINCO
MPUTERUNIT
Location:
Plant:
= + +
Sublocation:
CMORT
Documentno.
Next
Rev.Ind
02
Lab/Office:
Status:
Approved
REMARK:P1&J6H1C
ONNECTSTOEITHERD32ORD31
DEPENDIN
GOFCHOSEDOPTION.
GND+5V
GND+5V
=CM
+D32
SOLIDSTATEDRIVE
=CM
+D31
OP
TION:
HARDDISKDRIVE
-X1 11 22 33 44
-X1 11 22 33 44
-X2
-X2
11
40
40
=CM
+A31
MAINCOMPUTER
-J6H1
-J6H1AT
A/IDE
ATA/IDE
+ORT/20.7/-IDEpwr_GND
=CM+A3
COMPUTERUNIT
+ORT/20.7/-IDEpwr_+5V
1
2
3
4
5
6
7
8
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Total
3HAC0
20538-002
L
atestrevision:
Approvedby,date:
COMPUTERUN
IT
COOLING
Location:
Plant:
= + +
Sublocation:
CMORT
Documentno.
Next
Rev.Ind
02
Lab/Office:
Status:
Approved
=CM
+G31
COMPUTERPOWERSUPPLY
=CM
+A31
MAINCOMPUTER
P1
-J9H1
11
22
33
BK
YE
GND
+12V
-C1
11 22
BK
YE
WH
GND
+12V
FAN2_
TACH
-C2
11 22
BK
RD
AWG24
-E22
CHASSISBLOWER
M +-
-J9H2
11
22
33
-E23
CHASSISBLOWER
M +-
FAN1_
TACH
BK
YE
WH
BK
RD
AWG24
GND
+12V
=CM+A3
COMPUTERUNIT
1
2
3
4
5
6
7
8
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Total
3HAC0
20538-002
L
atestrevision:
Approvedby,date:
MAINCOMPUTER
Location:
Plant:
= + +
Sublocation:
CMORT
Documentno.
Next
Rev.Ind
02
Lab/Office:
Status:
Approved
OPT.EXTERNALPWR
RX-
TX+
TX-
0V
RX+
=CM
+A39
OPTION:
232/485SERIECONVERTER
-X1
11 33 55 77 99
22 44 66 88
22 44 66 88-X2
11 33 55 77 99
TRANSMITOUT
RECEIVEIN
DTR
0V
RTS
=CM
+A31
M
AINCOMPUTER
S
ERIALPORTA
-A
111 33 55 77 99
22 44 66 88
22 66 22 44
-USB1 22
44
-USB2 22
44 22 44-J9H3
22 44 11 33
-LAN1
11 33
-USB4 11 33
11
33
11
33
-USB3 11 33
TX+
TX-
RX+
RX-
+5V
USB-BP1
USB-BP1
GND
-USB+5V//8.6
-USB-BP2//8.7
-USB-BP2//8.7
-USB_
GND//8.7
PWRLED(GREEN)
A
K
HDDLED(YELLOW)
A
K
=CM
+X24
12 3 4
AWG24
RD
AWG28
WH
AWG28
GN
AWG24
BK
AWG28
WH
AWG28
GN
AWG24
RD
AWG24
BK
CONTROL
MODULE
=CM+A3
COMPUTERUNIT
PROCESS
P
OWERSUPPLY
1
2
3
4
5
6
7
8
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Location:
Plant:
= + +
Sublocation:
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Documentno.
Next
Rev.Ind
02
Lab/Office:
Status:
Approved
=CM
+A32
R
OBOTCOMMUNICATIONCARD
-X
1
PCIBUS
RS485
ETH_
FPU
22
55
66 88 66 55 22 88Blue
-X8
11
44
33 77Green
-A8
33 44 11 77
AWG24
WHOG
OG
WHGN
GN
-RS485+//10.7
-RS485-//10.7
-0V_
Sig.ref.//10.7
-TD+//17.2
-TD-//17.2
-RD+//17.2
-RD-//17.2
PANELBOARD
FLEXPENDANT
AWG24
WHBN
BU
WHBU
OG
-24V_
Sig.ref.//10.7
1
2
3
4
5
6
7
8
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Location:
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02
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=CM
+A32
ROBOTCOMMUNICATIONCARD
ETH_
DRIVE
ETH_
SERVICE
22 66 55 88 22 44 66 88Red
-A9
11 33 44 77
Yellow
-A7
11 33 55 77
TX+
TX-
RX+
RX-
=CM
+X23
1 2 3 6
DRIVEMODULE
AXISCOMPUTER
TX+
AW
G26
BU
TX-
AW
G26
WHBU
RX+
AW
G26
OG
RX-
AW
G26
WHOG
SERVICE
PORT
CONTROL
MODULE
1
2
3
4
5
6
7
8
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PROFIBUSDPM/S
Location:
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02
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=CM
+A33
PROFIBUSDPM/S
-X1 P
CIBUS
SLAVE
MASTER
SHIELD
RXD/TX
D-P
CONTR
OL-P
GND
+5VDC
RXD/TX
D-N
SHIELD
RXD/TX
D-P
CONTR
OL-P
GND
+5VDC
RXD/TX
D-N
33 55 88 33 55 88-X2
11 44 66-X3
11 44 66
Customer
Connection
OPTION&HARNESSTOCUSTOMERI/O
1
2
3
4
5
6
7
8
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Location:
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02
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=CM
+A37
INTERBUSM/S(OPTICALFIBRE)
-Z1
A37.1
A37.2P
CIBUS
1)
ITISIMPORTANTTHAT24DCEXTSUPPLYALWAYSISAVAILABLE
OTHERWISETHEINTERBUSCANNOTWORK
IFTHECONTROLLERISTURNEDOFF.
REMOTEIN
-FO1
BK(IN)
BK(IN)
GY(OUT)
GY(OUT)
REMOTEOUT
-FO2
BK(IN)
BK(IN)
GY(OUT)
GY(OUT)
REMOTE
-FO3
BK(IN)
BK(IN)
GY(OUT)
GY(OUT)
22 55-X2
24V+
24V+
0V0V
-X1
11 44 66
24V
0V
LW/BK
LW/OG
LW/BK
LW/OG
LW/BK
LW/OG
TXD
RXD
GND
RTS
CTS
1)
OPTION&HARNESSTOCUSTOMERI/O
=CM
+A38
INTERBUSM/S(COPPERWIRE)
-Z1
A38.1
A38.2P
CIBUS
66 77 55 66 77 44 88 22 55-X4
24V+
24V+
0V0V 44 55
REMOTEOUT
-X1
11 22 33 99
REMOTE
-X2
11 22 33 55
RS232
-X3
11 44 66
REMOTEIN
-X5
11 22 33
24V
0V
DODON
DIDINGNDISI
DODON
DIDINGRND
VCCISO
RBST
DODON
DIDINGNDIM
GRND
VCCIM
VCC
TXD
RXD
GND
RTS
CTS
1)
OPTION&HARNESSTOCUSTOMERI/O
1
2
3
4
5
6
7
8
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DEVICENETAD
APTER
Location:
Plant:
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Documentno.
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02
Lab/Office:
Status:
Approved
=CM
+A35
DEVICENETADAPTER
P1
PCIBUS
-J1 11 22 44 5533
BU
WH
SC
11 22
-XS17
33 4455
BK
RD
OPTION
CONT
ROL
MOD
ULE
-A35.X1
11 22 33 44 55
-V-//29.2
-CAN_L//29.2
-DRAIN
//29.2
-CAN_H//29.2
-V+//2
9.2
1
2
3
4
5
6
7
8
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APTER
Location:
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02
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BKBUWHRDSC
BKBUWHRDSC
BKBUWHRDSC
BKBUWHRDSC
BKBUWHRDSC
BKBUWHRDSC
BKBUWHRDSC
-V-/
/32.1
-CAN
_L//32.1
-CAN
_H//32.1
-V+//32.1
-DRA
IN//32.1
-V-/
/35.1
-CAN
_L//35.1
-CAN
_H//35.1
-V+//35.1
-DRA
IN//35.1
-V-/
/38.1
-CAN
_L//38.1
-CAN
_H//38.1
-V+//38.1
-DRA
IN//38.1
-V-/
/39.1
-CAN
_L//39.1
-CAN
_H//39.1
-V+//39.1
-DRA
IN//39.1
-V-/
/40.2
-CAN
_L//40.2
-CAN
_H//40.2
-V+//40.2
-DRA
IN//40.2
-V-/
/41.1
-CAN
_L//41.1
-CAN
_H//41.1
-V+//41.1
-DRA
IN//41.1
-V-/
/42.1
-CAN
_L//42.1
-CAN
_H//42.1
-V+//42.1
-DRA
IN//42.1
DigitalI/Ounit
RelayI/Ounit
AnalogueI/Ounit
RemoteI/Ounit
Interbusslave
ProfibusDPslave
Encoderunit
OPTION:HARNESS
TOCUSTOM
ERI/O
/28.5/-V-
/28.5/-CAN_
L
/28.5/-CAN_
H
/28.5/-V+
/28.5/-DRAIN
-I/O1
11 22 33 44 55
-I/O2
11 22 33 44 55
-I/O3
11 22 33 44 55
-I/O4
11 22 33 44 55
/9.2/-0Vdevicenet
/9.2/-+24Vdevicenet
-A35.X2
11 22 33 44 55
120OHM
1
2
3
4
5
6
7
8
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Location:
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02
Lab/Office:
Status:
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=CM
+A34
DUALRS232CARD
X5
PCIBUS
MCCONSOLE
RS232
COM1
RS232
22 44 66 88 22 44 66 88-X1
11 33 55 77 99-X2
11 33 55 77 99
CONSOLE_
RXD
CONSOLE_
TXD
CONSOLE_
DTR
0VCONSOLE_
DSR
CONSOLE_
RTS-N
CONSOLE_
CTS-N
COM1_
RXD
COM1_
TXD
COM1_
DTR
0VCOM1_
DSR
COM1_
RTS-N
COM1_
CTS-N
1
2
3
4
5
6
7
8
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Location:
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02
Lab/Office:
Status:
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=C
M
+A36
ETHERNETCARD
X1
PCIBUS
22 44 66 88 22 44 66 88 22 44 66 88-A1
11 33 55 77
-A2
11 33 55 77
-A3
11 33 55 77
TX+TX-
RX+
RX-
TX+TX-
RX+
RX-
TX+TX-
RX+
RX-
DRIVEMODULE2(OPTION)
DRIVEMODULE3(OPTION)
DRIVEMODULE4(OPTION)
1
2
3
4
5
6
7
8
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DIGITALI/OUN
IT
Location:
Plant:
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02
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ORPREVIOUS
I/OUNIT
1)JUMPERSPLACEDACCO
RDINGTO
THEACTUALNODEADD
RESS.
2)RESISTANS120OHMSH
ALLALWAYS
BECONNECTEDINTHE
FIRSTANDTHE
LASTCONNECTORINTH
ECAN-BUSCIRCUIT.
3)CONNECTEDINTHELAS
TCONNECTORINTHE
CAN-BUSCIRCUIT.
/9.3/-+24Vdevicenet
/9.3/-0Vdevicenet
/29.5/-V-
/29.5/-CAN_
L
/29.5/-CAN_
H
/29.5/-V+
/29.5/-DRAIN
120ohm1
22)
TONEXT
I/OUNIT
1)
DIGITALP
ARTOFCOMBII/OANDDIGITALI/OUNIT
-X5
11 44 33 77 99 1111
22 55 66 88 1010
1212
I/Ox
47nF
1
2
47nF
1
2
0V
KA KA
A
K
A
K
22 44 66 88 1010 22 44 66 88 1
010
-X3 11 33 55 77 99
-X4 11 33 55 77 99
XTXX.X3
XTXX.X4
INPUTCH.12 3 4 5 6 7 80
V
INPUTCH.9101112131415160V
0V
NA0
NA1
NA2
NA3
NA4
NA5
3)
1
2
3
4
5
6
7
8
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IT
Location:
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DIGITALI/OUNIT
0V
I/Ox
47nF
1
2 47nF
1
2
A K A K
OUTPUTCH1-8
OUTPUTCH9-16