© Copyright 2016 ABB ALL right reserved. of guarantee or warranty by ABB for losses, damages to...
Transcript of © Copyright 2016 ABB ALL right reserved. of guarantee or warranty by ABB for losses, damages to...
Prepared by, date:2
We
rese
rve
all r
ight
s in
thi
s do
cum
ent
and
in t
he in
form
atio
n co
ntai
ned
ther
ein.
Repr
oduc
tion,
use
or
disc
losu
re t
o th
ird p
artie
s w
ithou
t ex
pres
s au
thor
ity is
str
ictly
for
bidd
en. ©
Cop
yrig
ht 2
003
ABB
Page 1
61Total
Latest revision:
Approved by, date:
COPYRIGHTLocation:Plant: =
++Sublocation:
Document no.Next
Rev. Ind
Lab/Office: Status:
Beginner 06
7 8
3HAC049406-003
Approved
41 2 3 5 6
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.
Except as may be expressly stated anywhere in this document, nothing herein shall be construed as anykind of guarantee or warranty by ABB for losses, damages to persons or property, fitness for aspecific purpose or the like.
In no event shall ABB be liable for incidental or consequential damages arising from use of this document.
This document and parts thereof must not be reproduced or copied without ABB's written permission,and contents therof must not be imparted to a third party nor be used for any unauthorized purpose.Contravention will be prosecuted.
Additional copies of this document may be obtained from ABB at its then current charge.
© Copyright 2016 ABB ALL right reserved.
ABB Engineering (Shanghai)No.4528, Kangxin Highway, Kangqiao Town
Nanhui District, Shanghai, 201319P.R.China
Prepared by, date:3
We
rese
rve
all r
ight
s in
thi
s do
cum
ent
and
in t
he in
form
atio
n co
ntai
ned
ther
ein.
Repr
oduc
tion,
use
or
disc
losu
re t
o th
ird p
artie
s w
ithou
t ex
pres
s au
thor
ity is
str
ictly
for
bidd
en. ©
Cop
yrig
ht 2
003
ABB
Page 2
61Total
Latest revision:
Approved by, date:
TITLE PAGELocation:Plant: =
++Sublocation:
Document no.Next
Rev. Ind
Lab/Office: Status:
Beginner 06
7 8
3HAC049406-003
Approved
41 2 3 5 6
ManufactureType
Control cabinetMains voltageSupplyControl voltageYear of construction
:::
::::
Type of installation
Customer
Drawing numberDrawing version
::::
:
Project startProject managerLast revisionDesigned byDesigned dateNumber of pages
:::::::
Prepared by, date:4
We
rese
rve
all r
ight
s in
thi
s do
cum
ent
and
in t
he in
form
atio
n co
ntai
ned
ther
ein.
Repr
oduc
tion,
use
or
disc
losu
re t
o th
ird p
artie
s w
ithou
t ex
pres
s au
thor
ity is
str
ictly
for
bidd
en. ©
Cop
yrig
ht 2
003
ABB
Page 3
61Total
Latest revision:
Approved by, date:
Table of contents:Location:Plant: =
++Sublocation:
Document no.Next
Rev. Ind
Lab/Office: Status:
Beginner 06
7 8
3HAC049406-003
Approved
41 2 3 5 6
Table of contentsPlant Location Page supplementary fieldPage Page description Date Editor
ABB_table_of_contents
1 CNWILIU523 Table of contents: 3/23/2017 CNSHLIN84 Table of contents:5 REVISION INFORMATION6 Front View7 Top View8 Side View 9 BLOCK DIAGRAM
10 MAIN POWER INPUT11 POWER SUPPLY DSQC 661 AND 662 12 SAFETY INPUT & OUTPUT
13.b14 PROTECTIVE STOP
15.a POWER UNIT 15.b POWER UNIT SERVO DISCONNECTOR, Option-Safemove
16 CONTROL PANEL17 FPU, FLEXPENDANT18 Main Computer/AnybusCC/RS232 Exp./Interface Board/19 MAIN COMPUTER A31 DSQC1018 / DSQC102420 MAIN COMPUTER A31 DSQC1018 / DSQC1024; A32 DSQC1003 21 FIELDBUS ADAPTER A32:22 DEVICENET A31.2 DSQC1006 / PROFIBUS A31.3 DSQC1005
23.a DIGITAL I/O UNIT INPUT23.b DIGITAL I/O UNIT OUTPUT
25 DIGITAL PART OF COMBI I/O AND 26 DIGITAL I/O UNIT DSQC652
27 COMBI I/O UNIT DSQC65128 RELAY I/O UNIT DSQC653
COPYRIGHTTITLE PAGE
4/1/201610/8/2014 CNYAWU2
3/23/2017 CNSHLIN83/21/2017 CNSHLIN83/31/2016 CNWILIU53/31/2016 CNWILIU53/31/2016 CNWILIU53/30/2016 CNYIHU23/23/2017 CNSHLIN83/23/2017 CNSHLIN83/23/2017 CNSHLIN8
13.a RUN CHAIN OPERATING HW MODE SELECTOR, 2 MODES 9/8/2016 CNSHLIN8RUN CHAIN OPERATING SW MODE SELECTOR, 2 MODES 9/9/2016 CNSHLIN8
3/28/2016 CNYIHU23/23/2017 CNSHLIN83/23/2017 CNSHLIN83/21/2017 CNSHLIN83/21/2017 CNSHLIN81/18/2017 CNSHLIN81/18/2017 CNSHLIN81/18/2017 CNSHLIN810/8/2014 CNYAWU29/8/2016 CNSHLIN89/8/2016 CNSHLIN812/26/2016 CNSHLIN8
10/8/2014 CNYAWU212/26/2016 CNSHLIN8
10/8/2014 CNYAWU210/8/2014 CNYAWU2
COMBI I/O UNIT INPUTCOMBI I/O UNIT OUTPUT24.b
24.a 10/17/201710/17/2017
CNCLCHE3CNCLCHE3
Prepared by, date:
Approved
5
We
rese
rve
all r
ight
s in
thi
s do
cum
ent
and
in t
he in
form
atio
n co
ntai
ned
ther
ein.
Repr
oduc
tion,
use
or
disc
losu
re t
o th
ird p
artie
s w
ithou
t ex
pres
s au
thor
ity is
str
ictly
for
bidd
en. ?
Copy
right
200
3 AB
B
Page 4
61Total3HAC049406-003
Latest revision:
Approved by, date:
Table of contents: Location:Plant: =
++Sublocation:
Document no.Next
Rev. Ind
Lab/Office: Status:
7 821 3 54 6
Table of contentsPlant Location Page supplementary fieldPage Page description Date Editor
ABB_table_of_contents
RELAY I/O UNIT DSQC6533031 ANALOGUE I/O UNIT DSQC355B32 ENCODER UNIT DSQC37733 CC-LINK343536373839404142
42.a
29 10/8/2014 CNYAWU2REMOTE I/O UNIT DSQC350A 10/8/2014 CNYAWU2
10/8/2014 CNYAWU23/30/2016 CNYIHU210/8/2014 CNYAWU2
VISION, INTEGRATED CAMERAS 10/8/2014 CNYAWU2ETHERNET SWITCH A64/CAMERA 3/21/2017 CNSHLIN8AXIS COMPUTER UNIT 3/21/2017 CNSHLIN8AXIS COMPUTER UNIT 3/23/2017 CNSHLIN8RECTIFIER AND BLEEDER 9/8/2016 CNSHLIN8FAN UNIT 10/8/2014 CNYAWU2REMOTE SERVICE BOX DSQC680 3/21/2017 CNSHLIN8SERVO DRIVE SYSTEM IRB 120 9/8/2016 CNSHLIN8CONTROL CABLE IRB 120 3/23/2017 CNSHLIN8CUSTOMER POWER/SIGNAL IRB 120 3/23/2017 CNSHLIN8
43 SERVO DRIVE SYSTEM IRB 140 10/8/2014 CNYAWU244 CONTROL CABLE IRB 140 3/23/2017 CNSHLIN845 SERVO DRIVE SYSTEM IRB 360 10/8/2014 CNYAWU246 CONTROL CABLE IRB 360 3/23/2017 CNSHLIN847 SERVO DRIVE SYSTEM IRB 1200 3/28/2016 CNYIHU248 CONTROL CABLE IRB 1200 3/23/2017 CNSHLIN8
48.a CUSTOMER POWER/SIGNAL IRB 1200 3/23/2017 CNSHLIN849 SERVO DRIVE SYSTEM IRB 1410, 1600, 260 9/8/2016 CNSHLIN850 CONTROL CABLE IRB 1410, 1600, 260 3/23/2017 CNSHLIN851 CUSTOMER POWER/SIGNAL IRB 1410 3/23/2017 CNSHLIN852 CUSTOMER POWER/SIGNAL IRB 1600 3/22/2017 CNSHLIN853 SERVO DRIVE SYSTEM IRB 910 3/23/2017 CNSHLIN854 CONTROL CABLE IRB 910 3/23/2017 CNSHLIN855 CUSTOMER POWER/SIGNAL IRB 910 3/23/2017 CNSHLIN8
Prepared by, date:6
We
rese
rve
all r
ight
s in
thi
s do
cum
ent
and
in t
he in
form
atio
n co
ntai
ned
ther
ein.
Repr
oduc
tion,
use
or
disc
losu
re t
o th
ird p
artie
s w
ithou
t ex
pres
s au
thor
ity is
str
ictly
for
bidd
en. ©
Cop
yrig
ht 2
003
ABB
Page 5
61Total
Latest revision:
Approved by, date:
REVISION INFORMATIONLocation:Plant: =
++Sublocation:
Document no.Next
Rev. Ind
Lab/Office: Status:
Beginner 06
7 8
3HAC049406-003
Approved
41 2 3 5 6
Rev 00 2014 10- Initial RevisionRev 01 2016 02- Update for NGAC SafeMove Rev 02 2016 09- XS16 updated to 4pin- S21.1 pin number updated Rev 03 2017 01- Update CP/CS for IRB120 IRB1200 IRB1600- Remove output terminals of DSQC652 and mark two wires : input 24VDC and 0V- Update Main computer from DSQC1018 to DSQC1024Rev 04 2017 03- Add CP/CS for IRB910 IRB1410- Add floor cable for IRB910Rev 05 2017 10-Add page 24.a COMBI I/O UNIT INPUT (DSQC651)-Add page 24.b COMBI I/O UNIT OUTPUT (DSQC651) Rev 06 2018 06 12- Add wire number 371 - K42.4NC , 372 - K42.3NC , 373 - K43.4NC , and 374 - K43.3NC (page 15.b)
Prepared by, date:7
We
rese
rve
all r
ight
s in
thi
s do
cum
ent
and
in t
he in
form
atio
n co
ntai
ned
ther
ein.
Repr
oduc
tion,
use
or
disc
losu
re t
o th
ird p
artie
s w
ithou
t ex
pres
s au
thor
ity is
str
ictly
for
bidd
en. ©
Cop
yrig
ht 2
003
ABB
Page 6
61Total
Latest revision:
Approved by, date:
Front ViewLocation:Plant: =
++Sublocation:
Document no.Next
Rev. Ind
Lab/Office: Status:
Beginner 06
7 8
3HAC049406-003
Approved
41 2 3 5 6
Remote service
Brake releaseOnly for IRB120
EtherNet Switch
Power switch
Power input
XS0A64
A61
S21.4
Q1
Emergency stop
Motor on
Flex Pendant Safety Stop
S21.2
S21.3
SECTION A-ASCALE 1 : 2.5
A
A
S21.1
Mode switch
XS16
XS18
XS12
XS13
XS14
XS15
XS17
XS8XS7Power cableSignal cable for force control
Signal cablePower supply
Profibus
XS41Digtial output (DSQC651)Digital input 1 (DSQC652)
Digtal input (DSQC651)Digital input 2(DSQC652)
Analog output (DSQC651)Digital output 1(DSQC652)
Digital output 2(DSQC652)
DeviceNet
XS2
XS1
ES1 ES2
XS9XS4
Prepared by, date:8
We
rese
rve
all r
ight
s in
thi
s do
cum
ent
and
in t
he in
form
atio
n co
ntai
ned
ther
ein.
Repr
oduc
tion,
use
or
disc
losu
re t
o th
ird p
artie
s w
ithou
t ex
pres
s au
thor
ity is
str
ictly
for
bidd
en. ©
Cop
yrig
ht 2
003
ABB
Page 7
61Total
Latest revision:
Approved by, date:
Top ViewLocation:Plant: =
++Sublocation:
Document no.Next
Rev. Ind
Lab/Office: Status:
Beginner 06
7 8
3HAC049406-003
Approved
41 2 3 5 6
System power supply
Digital I/O
Safety board
DSQC400E for NGAC
DSQC400 for Normal
Contactor Unit
Fan cover
A21
K42, K43, K44
G1
A35
R1.1
Drive unit
E41, E42
A41
Fan
Bleeder
Prepared by, date:9
We
rese
rve
all r
ight
s in
thi
s do
cum
ent
and
in t
he in
form
atio
n co
ntai
ned
ther
ein.
Repr
oduc
tion,
use
or
disc
losu
re t
o th
ird p
artie
s w
ithou
t ex
pres
s au
thor
ity is
str
ictly
for
bidd
en. ©
Cop
yrig
ht 2
003
ABB
Page 8
61Total
Latest revision:
Approved by, date:
Side View Location:Plant: =
++Sublocation:
Document no.Next
Rev. Ind
Lab/Office: Status:
Beginner 06
7 8
3HAC049406-003
Approved
41 2 3 5 6
Main computerZ1
Filter
A31
Leftside View Rightside View
Axis computer Ultra cap bank Power distribution
A42 G3 G2
Prepared by, date:10
We
rese
rve
all r
ight
s in
thi
s do
cum
ent
and
in t
he in
form
atio
n co
ntai
ned
ther
ein.
Repr
oduc
tion,
use
or
disc
losu
re t
o th
ird p
artie
s w
ithou
t ex
pres
s au
thor
ity is
str
ictly
for
bidd
en. ©
Cop
yrig
ht 2
003
ABB
Page 9
61Total
Latest revision:
Approved by, date:
BLOCK DIAGRAMLocation:Plant: =
++Sublocation:
Document no.Next
Rev. Ind
Lab/Office: Status:
Beginner 06
7 8
3HAC049406-003
Approved
41 2 3 5 6
A41
Drive unit
Manipulator
A42
Axiscomputer
S21
Control panel
K43
G3
K42
Ultra cap
A21
A35A31.4
Safety board
NGAC Safety board
G1&G2
TPU
AC
DC
Fiel
d bu
s
A31MainComputer
Digital I/O
Ethe
rnet
ser
vice
USB
Q1
LAN
Z1
I/Ox
I/O
unit
220V~230V
Customerconnection
Prepared by, date:11
We
rese
rve
all r
ight
s in
thi
s do
cum
ent
and
in t
he in
form
atio
n co
ntai
ned
ther
ein.
Repr
oduc
tion,
use
or
disc
losu
re t
o th
ird p
artie
s w
ithou
t ex
pres
s au
thor
ity is
str
ictly
for
bidd
en. ©
Cop
yrig
ht 2
003
ABB
Page 10
61Total
Latest revision:
Approved by, date:
MAIN POWER INPUTLocation:Plant: =
++Sublocation:
Document no.Next
Rev. Ind
Lab/Office: Status:
Beginner 06
7 8
3HAC049406-003
Approved
41 2 3 5 6
Wire No. Single phase
PN
1516
PN
2122
PN
1112
-11
AWG
14
-12
AWG
14
AWG
14
-15
AWG
14
-16
AWG
14
-21A
WG
14BK
-22
AWG
14BK
1-XS0 2
L1
L1'
L2
L2'
L3
L3'
-Z1 3
BK BK
BK BK
GN
YE
1
2
3
4
5
6
-Q1
-L1
/
15.a
;815
.b;8
-L2
/
15.a
;815
.b;8
-LP1
/
11;7
-LP2
/
11;7
Prepared by, date:12
We
rese
rve
all r
ight
s in
thi
s do
cum
ent
and
in t
he in
form
atio
n co
ntai
ned
ther
ein.
Repr
oduc
tion,
use
or
disc
losu
re t
o th
ird p
artie
s w
ithou
t ex
pres
s au
thor
ity is
str
ictly
for
bidd
en. ©
Cop
yrig
ht 2
003
ABB
Page 11
61Total
Latest revision:
Approved by, date:
POWER SUPPLY DSQC 661 AND 662 Location:Plant: =
++Sublocation:
Document no.Next
Rev. Ind
Lab/Office: Status:
Beginner 06
7 8
3HAC049406-003
Approved
41 2 3 5 6
AXIS COMPUTER / DRIVE 24V Devicenet/ I/O BRAKE PC/SAFETY BOARDMAIN
COMPUTERMAIN FAN
UNIT
-152 AWG16 BK
-153 AWG16 BK
-254
AWG
20
-255
AWG
20
-250
AWG
16BU
-251
AWG
16
-302
AWG
20
-304
AWG
20
-465
AWG
20
-466
AWG
20
-467
AWG
20
-468
AWG
20
AWG
14
AWG
20
-G1 DSQC661
-G2DSQC662
-G3
-PE1
AWG12 BU AWG20 BU
3-X1 1 5
1-X2 2 34 3-X3 4
1-X1 2 3 4 3-X2 4
1
-X3
4 2 5 3 6 1
-X4
2 3 4 1
-X5
2 3 4 5 6 7 8 1
-X6
2 3 4 5 6 7 8 9 10 11 12 1
-X7
23
45
67
89
10 1
-X8
23
41
-X9
23
4
1
24V
CHAR
GE
-X1 2
24V
CHAR
GE
3
N.C
.
4
N.C
.
5
N.C
.
67
8
+SE
NSE
9
N.C
.
10
N.C
.
GN
YE
2/RD
1/W
H1/
GN
2/BK
BK RD BN OGBU BU BU BU BUBU BU BU BUBU
-253
AWG
16
-252
AWG
16BU
-241
AWG
20BU
-242
AWG
20BU
-243
AWG
20BU
-244
AWG
20BU
248
AWG
18BK
247
AWG
18RD
-0V
BRAK
E;1
/
42;2
44;
2 46
;2 4
8;2
50;2
54;
2
-0V
COO
L /
12
;3
-0V
COO
L;2
/
39;3
-0V
COO
L;3
/
39;3
-0V
DRI
VE /
36
;2
-0V
Driv
e sy
s /
38
;2
-0V
PC;1
/
19;2
-0V
SYS
/
12;3
-0Vd
evic
enet
/
23.a
;1 2
4.a;
1
-24V
CO
OL
/
12;3-2
4V D
rive
sys
/
38;2
-24V
PC;
1 /
19
;2
-24V
SYS
/
12;3
-+24
V BR
AKE;
1 /
15
.a;6
15.
b;6
-+24
V CO
OL;
2 /
39
;3-+
24V
COO
L;3
/
39;3
-+24
V D
RIVE
/
36;2 -+
24Vd
evic
enet
/
23.a
;1 2
4.a;
1
-USB
2 +
5V /
20
;7
-USB
2 D
+ /
20
;7-U
SB2
D-
/
20;7
-USB
2_G
ND
/
20;7
-LP1
/ 1
0;3
-LP2
/ 1
0;4
-BRA
KEPB
/
42;2
44;
2 46
;2 4
8;2
50;2
54;
2 -0V
BRAK
E;2
/
42;2
44;
2 46
;2 4
8;2
50;2
54;
2
-0V_
OU
T /
35
;2 4
0;2
-24V
_OU
T /
40
;2 3
5;2
Prepared by, date:13.a
We
rese
rve
all r
ight
s in
thi
s do
cum
ent
and
in t
he in
form
atio
n co
ntai
ned
ther
ein.
Repr
oduc
tion,
use
or
disc
losu
re t
o th
ird p
artie
s w
ithou
t ex
pres
s au
thor
ity is
str
ictly
for
bidd
en. ©
Cop
yrig
ht 2
003
ABB
Page 12
61Total
Latest revision:
Approved by, date:
SAFETY INPUT & OUTPUTLocation:Plant: =
++Sublocation:
Document no.Next
Rev. Ind
Lab/Office: Status:
Beginner 06
7 8
3HAC049406-003
Approved
41 2 3 5 6
EXTERNALEMERGENCY
STOP PB
EXTERNALSUPPLY
ES1 top
ES2 top
24V Panel
Run CH1 topRun CH2 top
Sep ES2:ASep ES1:A
Sep ES1:B
Sep ES2:B
ES1OUT:AES2 OUT:A
ES2 bottom
ES2 OUT:B
ES1 bottom
ES1OUT:B
0V24V Panel
ES1:int
ES2:int
0V 0V24V PANEL
24V PANEL
0V
ES1 ES2
-24V SYS / 11;4
-ES FPU 1:A / 16;2 17;2
-ES FPU 1:B / 16;2 17;2
-ES FPU 2:A / 16;2 17;2
-ES FPU 2:B / 16;2 17;2
-RCH
1 /
14
;7-R
CH2
/
14;7
-RS485+ / 19;7-RS485- / 19;7
-Run
Ch+
/
14;6
-Run
Ch_0
V /
14
;6
-LIM_1A / 42;2 44;3 46;3 48;3 50;3 54;3
-LIM_1B / 42;2 44;3 46;3 48;3 50;3 54;3
-LIM_2A / 42;2 44;3 46;3 48;3 50;3 54;3
-LIM_2B / 42;2 44;3 46;3 48;3 50;3 54;3
-24V_Sig.ref. / 19;7
-24V COOL / 11;4
RunCh0VRunCh+
RunC
h0V
RunC
h+
Not available on CDU
1269
AWG20 BU
AWG20 BU
1270
AWG24 BUAWG24 BU
AWG24 BUAWG24 BU
12651268
12671266
5
-209 AWG20 BU
-210 AWG20 BU
-211 AWG20 BU
-212 AWG20 BU
-231 AWG20-232 AWG20
-233 AWG20-234 AWG20
-235 AWG20-236 AWG20
-237 AWG20-238 AWG20
AWG24
-A21
21 22
-S21.3
1211
U U
1
-XS7/X1
2
3
4
6
7
8
1
-XS8/X2
2
3
4
5
6
7
8
511
3
-X9
9
612410
5
-X10
6
7
8
1
-X11
23
45
67
8
1
-X12
2
3
4
1
-X13
3
4
BUWHBU
WHBN
JUM
PER
JUM
PER
JUM
PER
JUM
PER
2
-A31.4Option: DSQC1015 safety board
-X73
4
5
6
21
-A31.4Option: DSQC1015 safety Board
2
-X11
-Y11
-Y21
3
42
-A31.4Option: DSQC1015 safety Board
59
-X610
14 1
-X14
9
-0V COOL / 11;5
-0V SYS / 11;5
-0V_Sig.ref. / 19;7
MAINCOMPUTER
FPU
24V SYS24V PANEL
0V SYS
24V FPU POWER
24V
PAN
ELPower distribution board
Prepared by, date:13.b
We
rese
rve
all r
ight
s in
thi
s do
cum
ent
and
in t
he in
form
atio
n co
ntai
ned
ther
ein.
Repr
oduc
tion,
use
or
disc
losu
re t
o th
ird p
artie
s w
ithou
t ex
pres
s au
thor
ity is
str
ictly
for
bidd
en. ©
Cop
yrig
ht 2
003
ABB
Page 13.a
61Total
Latest revision:
Approved by, date:
RUN CHAIN OPERATING HW MODE SELECTOR, 2 MODESLocation:Plant: =
++Sublocation:
Document no.Next
Rev. Ind
Lab/Office: Status:
Beginner 06
7 8
3HAC049406-003
Approved
41 2 3 5 6
>1
24V SYS
0V SYS
-EN
2 /
13
.b;2
-MAN
1 /
13
.b;2
-MAN
2 /
13
.b;2
AWG24 BU
-SPE
ED /
13
.b;2
AUTO
MAN
AUTO
MAN
12471248
1255124612501254
1
AWG24 BUAWG24 BUAWG24 BU
AWG24 BUAWG24 BU
Option:Run chain Ext Operating, 2 Mode Selector
-205 AWG24 x 2 BU
-206 AWG24 x 2 BU
-207 AWG24 x 2 BU
-208 AWG24 x 2 BU
-228 AWG20 BU-229 AWG20 BU
-230 AWG20 BU
-260 AWG20-261 AWG20
-262 AWG20-263 AWG20
-264 AWG20-265 AWG20
-299 AWG20 BU
-300 AWG20 BU
-A21
-S21.2/13.b;5
1314
-S21.4
/13.b;5/16;4
23
45
6
-X6
7
8
9
1011
13
14
1
-X10
2
3
4
9
1314
X1X2
BUBU
BUBU
BUBU
13
14
159
10
11
-1240 EXT.MAN1-1241 EXT.AUTO1
-1244 EXT.MAN2-1245 EXT.AUTO2
-1242 EXT.COMMON1-1246 EXT.COMMON2
5
-S21.1.XS1
12
6
34
1
EXT S21.1.XP1
2
65
43
1
2
3 5
6
7
-A31.4DSQC1015 safety board
-X623
2117
15
2018
-S21.1
2-MODE SELECTOR
-A31.4Option: DSQC1015 safety Board
43
-X66
8
-0V PANELB / 13.b;5 16;2 17;2
-24V FPU POWER / 13.b;5 16;2 17;2
-EN
1 /
13
.b;2
-EN1_1 / 13.b;5 16;2 17;2
-EN1_2 / 13.b;5 16;2 17;2
24V PANEL24V FPU POWER
Option: Brake release buttonOnly for IRB120
FPU
Option: Motor-on switch
Prepared by, date:14
We
rese
rve
all r
ight
s in
thi
s do
cum
ent
and
in t
he in
form
atio
n co
ntai
ned
ther
ein.
Repr
oduc
tion,
use
or
disc
losu
re t
o th
ird p
artie
s w
ithou
t ex
pres
s au
thor
ity is
str
ictly
for
bidd
en. ©
Cop
yrig
ht 2
003
ABB
Page 13.b
61Total
Latest revision:
Approved by, date:
RUN CHAIN OPERATING SW MODE SELECTOR, 2 MODESLocation:Plant: =
++Sublocation:
Document no.Next
Rev. Ind
Lab/Office: Status:
Beginner 06
7 8
3HAC049406-003
Approved
41 2 3 5 6
>1
24V SYS
0V SYS
-EN
2 /
13
.a;2
-MAN
1 /
13
.a;2
-MAN
2 /
13
.a;2
-SPE
ED /
13
.a;2
AWG24 BUAWG24 BUAWG24 BUAWG24 BU
-205 AWG24 x 2 BU
-206 AWG24 x 2 BU
-207 AWG24 x 2 BU
-208 AWG24 x 2 BU
-228 AWG20 BU-229 AWG20 BU
-230 AWG20 BU
-260 AWG20-261 AWG20
-262 AWG20-263 AWG20
-299 AWG20 BU
-300 AWG20 BU
-A21
-S21.2/13.a;5
1314
-S21.4
/13.a;5/16;4
12
34
56
-X6
7
8
9
1011
13
14
1
-X10
2
3
4
9
1314
X1X2
BUBU
BUBU
-A31.4Option: DSQC1015 safety board
-X623
2117
15
2018
-A31.4Option: DSQC1015 safety Board
43
-X66
8
-0V PANELB / 13.a;5
-24V FPU POWER / 13.a;5
-EN
1 /
13
.a;2
-EN1_1 / 13.a;5
-EN1_2 / 13.a;5
24V PANEL24V FPU POWER
FPU
Option: Brake release buttonOnly for IRB120
Prepared by, date:15.a
We
rese
rve
all r
ight
s in
thi
s do
cum
ent
and
in t
he in
form
atio
n co
ntai
ned
ther
ein.
Repr
oduc
tion,
use
or
disc
losu
re t
o th
ird p
artie
s w
ithou
t ex
pres
s au
thor
ity is
str
ictly
for
bidd
en. ©
Cop
yrig
ht 2
003
ABB
Page 14
61Total
Latest revision:
Approved by, date:
PROTECTIVE STOPLocation:Plant: =
++Sublocation:
Document no.Next
Rev. Ind
Lab/Office: Status:
Beginner 06
7 8
3HAC049406-003
Approved
41 2 3 5 6
AUTOSTOP
GENERALSTOP
AS1+
AS1-AS2+
AS2-GS1+
&
GS1-GS2+
GS2-
0V0V
24V PANEL24V PANEL
SS1+
&
SS1-
CH2
SS1
SS2+
INTERLOCKING
SS2-
0V
SS2SOFT SS
CH1
AS1
AS2
GS1
GS2
24V PANEL
24V SYS
SS1
SS2
0V SYS
1
2
3
4
5
67
8
9
10
11
12
-XS9/X5
-RCH
2 /
12;
6
-A21
-A31.4Option: DSQC1015 safety board
-X624
221
2
6
-X15
4
2
3
1
5
-EN
1 /
-E
N2
/
-MAN
1 /
-MAN
2 /
-Run
Ch+
/ 1
2;5
-Run
Ch_0
V /
12;
6
-SEL
F215
.a;4
-SEL
F115
.a;4
-LO
CK2B
15.a
;5-L
OCK
1A15
.a;5
-CH
2 /
15
.a;3
-CH
1 /
15
.a;2
-RCH
1 /
12;
6
1263
12641262
1261
AWG24 BU
AWG24 BUAWG24 BU
AWG24 BU
24V PANEL24V FPU POWER
24V
PAN
EL
SOFT GS
SOFT AS
Prepared by, date:15.b
We
rese
rve
all r
ight
s in
thi
s do
cum
ent
and
in t
he in
form
atio
n co
ntai
ned
ther
ein.
Repr
oduc
tion,
use
or
disc
losu
re t
o th
ird p
artie
s w
ithou
t ex
pres
s au
thor
ity is
str
ictly
for
bidd
en. ©
Cop
yrig
ht 2
003
ABB
Page 15.a
61Total
Latest revision:
Approved by, date:
POWER UNIT SERVO DISCONNECTOR
Location:Plant: =
++Sublocation:
Document no.Next
Rev. Ind
Lab/Office: Status:
Beginner 06
7 8
3HAC049406-003
Approved
41 2 3 5 6
CONTROL CABLE
DRIVE UNIT
PTC1
PTC1 ret
BRK REL OUT
BRK REL RET
Wire No. Single phase24 P
N25PN
2728
PN
24
-24A
WG
14
-25A
WG
14
-27
AWG
14
-28
AWG
14
-447
AWG
20
-448
AWG20
-451
AWG
20
-452
AWG
20
-471
AWG
20
-472
AWG
20
-473
AWG
20
-474
AWG
20
-475
AWG
20
-476
AWG
20
-479
AWG
20BU
-480
AWG
20
-481
AWG
20
-482
AWG
20
-483AWG20
-484
AWG
20
-485AWG20
-486
AWG
20
-487AWG20
-489
AWG
16-4
90AW
G16
-A21
A2
A1-K42
13
14
1
2
3
4
2NC
1NC
A2
A1-K43 14
13
1
2
3
4
2NC
1NC
A1
A2
-K443
4
2
1
1-X3 2345 678
1
-X7
2
3
4
12-X8 3456
BU BU BU BU BU BU BU BU BU BU BU BU BU
BU
BUBU
BU
BKBK BK
BK
-444
AWG
16
-443
AWG
16BU BU
4NO
3NO
4NO
3NO
-0V
COO
L;6
/ 1
5.b;
2
-0V_
COO
L /
15.
b;2
-24V
_PAN
EL /
15.
b;3
-+24V BRAKE;1 / 11;3
-BRA
KE /
15.
b;2
-BRA
KERE
L1 /
15
.b;6
42;2
44;2
46;2
48;2
50;2
54;2
-L12
/
15.b
;8
-L22
/
15.b
;8
-CH
1 /
14;
6
-CH
2 /
14;
7
-L1
/ 1
0;3
-L2
/ 1
0;4
-BRA
KERE
L2 /
15
.b;6
42;2
44;2
46;2
48;2
50;2
54;2
-PTC / 15.b;6 42;1 44;2 46;2 48;2 50;2 54;2
-PTC_RET / 15.b;6 42;1 44;2 46;2 48;2 50;2 54;2
-EXT
.LAM
P /
15
.b;5
42;2
44;2
46;2
48;2
50;2
54;2
-SEL
F114
;7
-SEL
F214
;7
-LO
CK1A
14;7
-LO
CK2B
14;7
-BRA
KE_F
B15
.b;3
24V 24V0V
Prepared by, date:16
We
rese
rve
all r
ight
s in
thi
s do
cum
ent
and
in t
he in
form
atio
n co
ntai
ned
ther
ein.
Repr
oduc
tion,
use
or
disc
losu
re t
o th
ird p
artie
s w
ithou
t ex
pres
s au
thor
ity is
str
ictly
for
bidd
en. ©
Cop
yrig
ht 2
003
ABB
Page 15.b
61Total
Latest revision:
Approved by, date:
POWER UNIT SERVO DISCONNECTOR, Option-SafemoveLocation:Plant: =
++Sublocation:
Document no.Next
Rev. Ind
Lab/Office: Status:
Beginner 06
7 8
3HAC049406-003
Approved
41 2 3 5 6
DRIVE UNIT
PTC1
PTC1 ret
BRK REL OUT
BRK REL RET
Wire No. Single phase24 P
N25PN
2728
PN
24
-24A
WG
14
-25A
WG
14
-27
AWG
14
-28
AWG
14
-447
AWG
20
-448
AWG20
-451
AWG
20
-452
AWG
20
-471
AWG
20
-472
AWG
20
-473
AWG
20
-474
AWG
20
-475
AWG
20
-476
AWG
20
-479
AWG
20BU
-480
AWG
20
-481
AWG
20
-482
AWG
20
-483AWG20
-484
AWG
20
-485AWG20
-486
AWG
20
-487AWG20
-489
AWG
16-4
90AW
G16
-A21
A2
A1-K42
13
14
1
2
3
4
2NC
1NC
A2
A1-K43 14
13
1
2
3
4
2NC
1NC
A1
A2
-K443
4
2
1
1-X3 2345 678
1
-X7
2
3
4
12-X8 3456BU BU BU BU BU BU BU BU BU BU BU BU BU
BU
BUBU
BU
BKBK BK
BK
-444
AWG
16
-443
AWG
16BU BU
161112-X6 7
-A31.4Option: DSQC1015 safety board
4NC
3NC
4NC
3NC
5
6
5
6
-371
AWG
24
-372
AWG
24-3
73AW
G24
-374
AWG
24
BU BU BU BU
-0V
COO
L;6
/ 1
5.a;
2
-0V_
COO
L /
15.
a;2
-24V
_PAN
EL /
15.
a;3
-+24V BRAKE;1 / 11;3
-BRA
KE /
15.
a;3
-BRA
KERE
L1 /
15
.a;6
-L12
/
15.a
;8
-L22
/
15.a
;8
-CH
1 /
-CH
2 /
-L1
/ 1
0;3
-L2
/ 1
0;4
-BRA
KERE
L2 /
15
.a;6
-PTC / 15.a;6
-PTC_RET / 15.a;6
-EXT
.LAM
P /
15
.a;5
-SEL
F1
-SEL
F2
-LO
CK1A
-LO
CK2B
-BRA
KE_F
B15
.a;4
24V 24V0V
Prepared by, date:17
We
rese
rve
all r
ight
s in
thi
s do
cum
ent
and
in t
he in
form
atio
n co
ntai
ned
ther
ein.
Repr
oduc
tion,
use
or
disc
losu
re t
o th
ird p
artie
s w
ithou
t ex
pres
s au
thor
ity is
str
ictly
for
bidd
en. ©
Cop
yrig
ht 2
003
ABB
Page 16
61Total
Latest revision:
Approved by, date:
CONTROL PANELLocation:Plant: =
++Sublocation:
Document no.Next
Rev. Ind
Lab/Office: Status:
Beginner 06
7 8
3HAC049406-003
Approved
41 2 3 5 6
SAFETYBOARDA21-X10
MAINCOMPUTERA31-A8
Cabinet
24V TPU
0V
EN1EN2
TPU_START
24V FPU_POWER
ES FPU 1:AES FPU 1:BES FPU 2:AES FPU 2:B
EN 1_10V
FPU_START
0VEN2
EN 1_2
FPU
TD-TD+
RD-RD+
TD+TD-RD+RD-
4
1
11
13
5
-X6
2
10
7
14
4
1
11
13
9
11
12
10
5
-X6
2
10
7
14
3
-X9
5
6
4
-260 AWG20-261 AWG20-262 AWG20-263 AWG20
-264 AWG20-265 AWG20
-229 AWG20
-230 AWG20-228 AWG20
5
6
7
-237 ES panel 1:A-238 ES panel 1:A-233 ES panel 2:A-234 ES panel 2:A-231 ES panel 2:B-232 ES panel 2:B-235 ES panel 1:B-236 ES panel 1:B
X1X2
1314
-S21.2MOTOR ON PB
1211
-A21SAFETY BOARD
+EXT-A21EXT.CONTROL PANEL
AWG24
2221-S21.3
EMERGENCY PB
=CAB-S21.1
2-MODE SELECTOR
1
2
3
14
16
13
15
2
17
-XS4
1
7
4
6
3
5
8
11
12
-PE1-PE1
12
11
8
5
3
6
4
7
-XS4
1
17
2
16
1415
13
AWG24 OGWHOGGNWHGN
9
11
12
10
3
-X9
5
6
4
-299 AWG20 BU-300 AWG20 BU 1314
-S21.4
/13.a;5/13.b;5
8
9
-0V PANELB / 13.a;5
-24V FPU POWER / 13.a;5
-EN1_1 / 13.a;5-EN1_2 / 13.a;5
-ES FPU 1:A / 12;7-ES FPU 1:B / 12;7-ES FPU 2:A / 12;7-ES FPU 2:B / 12;7
-RD+ / 19;7-RD- / 19;7
-TD+ / 19;7-TD- / 19;7
Option: Brake release buttonOnly for IRB120
Prepared by, date:18
We
rese
rve
all r
ight
s in
thi
s do
cum
ent
and
in t
he in
form
atio
n co
ntai
ned
ther
ein.
Repr
oduc
tion,
use
or
disc
losu
re t
o th
ird p
artie
s w
ithou
t ex
pres
s au
thor
ity is
str
ictly
for
bidd
en. ©
Cop
yrig
ht 2
003
ABB
Page 17
61Total
Latest revision:
Approved by, date:
FPU, FLEXPENDANTLocation:Plant: =
++Sublocation:
Document no.Next
Rev. Ind
Lab/Office: Status:
Beginner 06
7 8
3HAC049406-003
Approved
41 2 3 5 6
SAFETYBOARDA21-X10
MAINCOMPUTERA31-A8
1)
USB
AWG24
5
6
4
1
12
2
8
7
17
13
14
15
16
3
-XS4
-FPU1
5
6
3-XP4
4
-K1
-K2
;7
EN-DEVICE
OG
WHOG
GN
WHGN
-ETH_FPU
-0V PANELB / 13.a;5
-24V FPU POWER / 13.a;5
-EN1_1 / 13.a;5
-EN1_2 / 13.a;5
-ES FPU 1:A / 12;7
-ES FPU 1:B / 12;7
-ES FPU 2:A / 12;7
-ES FPU 2:B / 12;7
-RD+ / 19;7
-RD- / 19;7
-TD+ / 19;7
-TD- / 19;7
RunCh0V
RunCh1
Prepared by, date:19
We
rese
rve
all r
ight
s in
thi
s do
cum
ent
and
in t
he in
form
atio
n co
ntai
ned
ther
ein.
Repr
oduc
tion,
use
or
disc
losu
re t
o th
ird p
artie
s w
ithou
t ex
pres
s au
thor
ity is
str
ictly
for
bidd
en. ©
Cop
yrig
ht 2
003
ABB
Page 18
61Total
Latest revision:
Approved by, date:
Main Computer/AnybusCC/RS232 Exp./Interface Board/Location:Plant: =
++Sublocation:
Document no.Next
Rev. Ind
Lab/Office: Status:
Beginner 06
7 8
3HAC049406-003
Approved
41 2 3 5 6
Front side 79,77... ....5, 3, 1
X2
X1
X3
AnybusCC/RS232 Expansion BoardDSQC1003
X1 X2
X3
X4
X5
X6
X7
X9
X10 X11
X16
X12
X13
Pin no 1 = 0VPin no 2 = 24V
New:Interface BoardDSQC1017
X15
...78
, 80
2, 4
, 6...
..
...77
, 79
1, 3
, 5...
..
Front side
....6, 4, 2Back side 80,78...
POWERDISC-ActSTATUSNS MS
3HAC046408-001
Profibus/S
ProfiNet/SEthernet /IP/S
DeviceNet/S DSQC1004
Old Main Computer Unit DSQC1018New main Computer Unit DSQC1024
COM Express moduleDSQC1002
SD card 2GBDSQC1008
Console
Com1LAN 1 10/100
LAN 210/100
LAN 310/100/1000
WAN10/100/1000
PANEL UNIT
AXC
USB 4/3USB 2/1
POWER
SERVICE 10/100
X19 Fan power
Pin 1 = 24VPin 2 = TachoPin 3 = 0V
Battery BT1 inDSQC1001
BT1
A32
A31
A32.2
A32.4
A32.3
A31.1A32.1
DeviceNet M/S PCIDSQC1006A31.2
Old:Interface BoardDSQC1001
3HAC050354-001
X20
Battery BT1 inDSQC1017
A31.4 Safety boardDSQC1015
3HAC042827-001
PROFIBUS M
A31.3PROFIBUS M PCIDSQC1005
A31.4-X1A31.4-X6A31.4-X7
Safety board
Safety boardDSQC1015
A31.4
DeviceNet M/S
PROFIBUS M
Prepared by, date:20
We
rese
rve
all r
ight
s in
thi
s do
cum
ent
and
in t
he in
form
atio
n co
ntai
ned
ther
ein.
Repr
oduc
tion,
use
or
disc
losu
re t
o th
ird p
artie
s w
ithou
t ex
pres
s au
thor
ity is
str
ictly
for
bidd
en. ©
Cop
yrig
ht 2
003
ABB
Page 19
61Total
Latest revision:
Approved by, date:
MAIN COMPUTER A31 DSQC1018 / DSQC1024Location:Plant: =
++Sublocation:
Document no.Next
Rev. Ind
Lab/Office: Status:
Beginner 06
7 8
3HAC049406-003
Approved
41 2 3 5 6
PROCESS POWERSUPPLY
GND+24V
FAN_TACH
TX+
TX+ TX-
TX-
RX+
RX+
RX-
RX-
DRIVEMODULEAXIS COMPUTER
SERVICEPORT
AXC1ETH_DRIVE
ETH_SERVICE
PANEL UNITRS 485
TPU
SAFETY BOARD
FLEXPENDANT
RED LABEL
YELLOW LABEL
BLUE LABEL
GREEN LABEL
Old Main Computer Unit DSQC1018New main Computer Unit DSQC1024
A61:X10REMOTE SERVICEorA64.X1
AWG24
AWG24
AWG24
MAIN COMPUTER A31
2
6
1
-X2
3
6
5
2
8
3
-X3
4
1
7
2
65
8
1
-X9
34
7
DISC-ACT (YELLOW)
MS (GREEN/RED)
STATUS (GREEN-RED)
21
-X19
3
2
-X1
1
2
4
1
-X7
3
5
7
BK
RD
YE
OG
GN
WHOG
WHGN
BU
WHGN
WHBU
POWER (GREEN)
NS (GREEN-RED)
WHBN
1.TXRX+ / 35;2 40;21.TXRX- / 35;2 40;2
1.RXTX+ / 35;2 40;2
1.RXTX- / 35;2 40;2
-24V PC;1 / 11;5
-0V PC;1 / 11;6
-RD+ / 16;2 17;2-RD- / 16;2 17;2
-TD+ / 16;2 17;2
-TD- / 16;2 17;2
-0V_Sig.ref. / 12;7
-RS485+ / 12;7-RS485- / 12;7
-24V_Sig.ref. / 12;7
_TX+ / _TX- / _RX+ /
_RX- /
-TX+ / 36;2-TX- / 36;2-RX+ / 36;2
-RX- / 36;2
Prepared by, date:21
We
rese
rve
all r
ight
s in
thi
s do
cum
ent
and
in t
he in
form
atio
n co
ntai
ned
ther
ein.
Repr
oduc
tion,
use
or
disc
losu
re t
o th
ird p
artie
s w
ithou
t ex
pres
s au
thor
ity is
str
ictly
for
bidd
en. ©
Cop
yrig
ht 2
003
ABB
Page 20
61Total
Latest revision:
Approved by, date:
MAIN COMPUTER A31 DSQC1018 / DSQC1024; A32 DSQC1003 Location:Plant: =
++Sublocation:
Document no.Next
Rev. Ind
Lab/Office: Status:
Beginner 06
7 8
3HAC049406-003
Approved
41 2 3 5 6
MX1+
MX2-MX2+
MX2-
MX1-
MX1-MX2+
TX+
MX1+
A31.X6
TX-RX+RX-
AWG28 WHAWG28 GN
AWG24 RDAWG24 BK
PRO
CESS
PO
WER
SU
PPLY
OPTION:EXTERNAL
WAN
Ethe
rnetCONSOLE_RXD
CONSOLE_TXDCONSOLE_DTRGNDCONSOLE_DSRCONSOLE_RTS-NCONSOLE_CTS-N
COM1_RXDCOM1_TXDCOM1_DTR0VCOM1_DSRCOM1_RTS-NCOM1_CTS-N
CONSOLE_DCD
CONSOLE_RI
COM1_DCD
COM1_RI
WHITE LABELA31
Old Main Computer Unit DSQC1018New main Computer Unit DSQC1024
-A32
OPTION:232/ Expansion board SERIE DSQC1003
/21;1
1
-X15
23
45
7677
7879
80
1
-X6WAN
236
4
3
-X10.USB 1
2
1
4
3-X10.USB 2
2
1
1
-X2
23
1
-X4LAN
23
4
3
-X11.USB 3
2
1
4
3-X11.USB4
2
1
6
1
-X5LAN
23
7
45
6
8
45
7677
7879
80
1
-232
23
7
456
89
1
-232
23
7
456
89
-USB2 +5V / 11;8
-USB2 D+ / 11;8-USB2 D- / 11;8-USB2_GND / 11;8
2.BI_DA+ / 20;7
2.BI_DA- / 20;7
2.BI_DB+ / 20;7
2.BI_DB- / 20;7
2.BI_DA+ / 20;7
2.BI_DA- / 20;7
2.BI_DB+ / 20;7
2.BI_DB- / 20;7
Prepared by, date:22
We
rese
rve
all r
ight
s in
thi
s do
cum
ent
and
in t
he in
form
atio
n co
ntai
ned
ther
ein.
Repr
oduc
tion,
use
or
disc
losu
re t
o th
ird p
artie
s w
ithou
t ex
pres
s au
thor
ity is
str
ictly
for
bidd
en. ©
Cop
yrig
ht 2
003
ABB
Page 21
61Total
Latest revision:
Approved by, date:
FIELDBUS ADAPTER A32:ETHERNET/IP, PROFIBUS and PROFINET IO
Location:Plant: =
++Sublocation:
Document no.Next
Rev. Ind
Lab/Office: Status:
Beginner 06
7 8
3HAC049406-003
Approved
41 2 3 5 6
CompactCom
CompactCom
CompactCom
CompactCom
RX-
SLAVE
SLAVE
SLAVE
SLAVE
SHIELDRXD/TXD-pCONTROL-PGND+5VDCRXD/TXD-N
TX+TX-RX+
OPT
ION
& H
ARN
ESS
TO C
UST
OM
ER I
/O
TX+TX-RX+
TX+TX-RX+
RX-
RX-
-A32.1
ETHERNET/IP Fieldbus adapter DSQC 669Slave
-A32.2
PROFIBUS Fieldbus adapter DSQC 667Slave
-A32.3
PROFINET IO Fieldbus adapter DSQC 688Slave
-X1
12
34
56
78
-Z1
1
-X1
34
56
8
1
-X1
23
6
-Z1
-Z1
-A32.4
DEVICENET IO Fieldbus adapter DSQC 1004Slave
1
-X1
23
6
-Z1
-A32
Expansion BoardDSQC 1003
/20;2
1
-X1
23
45
67
8
1-X2
79
77
3
80
2
4
78
Prepared by, date:23.a
We
rese
rve
all r
ight
s in
thi
s do
cum
ent
and
in t
he in
form
atio
n co
ntai
ned
ther
ein.
Repr
oduc
tion,
use
or
disc
losu
re t
o th
ird p
artie
s w
ithou
t ex
pres
s au
thor
ity is
str
ictly
for
bidd
en. ©
Cop
yrig
ht 2
003
ABB
Page 22
61Total
Latest revision:
Approved by, date:
DEVICENET A31.2 DSQC1006 / PROFIBUS A31.3 DSQC1005Location:Plant: =
++Sublocation:
Document no.Next
Rev. Ind
Lab/Office: Status:
Beginner 06
7 8
3HAC049406-003
Approved
41 2 3 5 6
X12
X12
PCIe
PCIe
OPTION: TO CUSTOMER I/O
OPTION: TO CUSTOMER I/O
DSQC652 or DSQC651
V+
V-
CAN_H
DRAIN
CAN_L
GND
CNTR-P
B-Line
VP
A-Line
2
3
4
5
DeviceNet M/S DSQC1006-A31.2
-CHA
-R11
1
-XS17
2
3
4
5
2
3
4
5
PROFIBUS M PCIDSQC1005
-A31.3
16
7
8
9
1
-XS18
3
5
7
9
2
4
6
8
-V- / 23.a;1 24.a;1 33;1
-V+ / 23.a;1 24.a;1 33;1
-DRAIN / 23.a;1 24.a;1 33;1-CAN_L / 23.a;1 24.a;1 33;1
-CAN_H / 23.a;1 24.a;1 33;1
-XS17_V- / 25;1 28;2 31;1 30;1 32;1
-XS17_CAN_L / 25;1 28;2 31;1 30;1 32;1
-XS17_CAN_H / 25;1 28;2 31;1 30;1 32;1
-XS17_V+ / 25;1 28;2 31;1 30;1 32;1
-XS17_DRAIN / 25;1 28;2 31;1 30;1 32;1
-XS18 / 22;6
-XS18 / 22;6
-XS18_CNTR-P /
-XS18_GND /
-XS18_B_LINE /
-XS18_VP /
-XS18_A_LINE /
-XS18 / 22;6
-XS18 / 22;6 22;6 22;6
Prepared by, date:23.b
We
rese
rve
all r
ight
s in
thi
s do
cum
ent
and
in t
he in
form
atio
n co
ntai
ned
ther
ein.
Repr
oduc
tion,
use
or
disc
losu
re t
o th
ird p
artie
s w
ithou
t ex
pres
s au
thor
ity is
str
ictly
for
bidd
en. ©
Cop
yrig
ht 2
003
ABB
Page 23.a
61Total
Latest revision:
Approved by, date:
DIGITAL I/O UNIT INPUTLocation:Plant: =
++Sublocation:
Document no.Next
Rev. Ind
Lab/Office: Status:
Beginner 06
7 8
3HAC049406-003
Approved
41 2 3 5 6
CUSTOMER DI
CUSTOMER DI
1) THE DEFAULT NODE ADDRESS IS 10.
1)
0VNA0NA1NA2NA3NA4NA5
-V- / 22;7
-0Vdevicenet / 11;2
-+24Vdevicenet / 11;2
0V
1
-X3
23
45
67
89
10
1
-X4
23
45
67
89
10
1
-X5
2
3
45
67
89
1011
12
DIGITAL I/O UNITDSQC652
I/O4
10
1-XS12
23456789
10
1-XS13
23456789
-CAN_H / 22;7-CAN_L / 22;7
-DRAIN / 22;7
-V+ / 22;7
XTXX.X3
XTXX.X4
INPUT CH.12345678
0V
INPUT CH.9101112131415160V
4)
Prepared by, date:24.a
We
rese
rve
all r
ight
s in
thi
s do
cum
ent
and
in t
he in
form
atio
n co
ntai
ned
ther
ein.
Repr
oduc
tion,
use
or
disc
losu
re t
o th
ird p
artie
s w
ithou
t ex
pres
s au
thor
ity is
str
ictly
for
bidd
en. ©
Cop
yrig
ht 2
003
ABB
Page 23.b
61Total
Latest revision:
Approved by, date:
DIGITAL I/O UNIT OUTPUTLocation:Plant: =
++Sublocation:
Document no.Next
Rev. Ind
Lab/Office: Status:
Beginner 06
7 8
3HAC049406-003
Approved
41 2 3 5 6
CUSTOMER DO
CUSTOMER DO
OUTPUT CH 1-8
OUTPUT CH 9-16
<1
<1
XTXX.X1
XTXX.X2
OUTPUT CH.1234
678910
2345678910
1-XS15
5
INPU
T 24
V D
C
0V
DIGITAL I/O UNITDSQC652
I/O3
1
-X1
23
45
67
89
10
1
-X2
23
45
67
89
10
1-XS14
2345
678
0V24V DC
OUTPUT CH.9101112131415160V
24V DC
Prepared by, date:24.b
We
rese
rve
all r
ight
s in
thi
s do
cum
ent
and
in t
he in
form
atio
n co
ntai
ned
ther
ein.
Repr
oduc
tion,
use
or
disc
losu
re t
o th
ird p
artie
s w
ithou
t ex
pres
s au
thor
ity is
str
ictly
for
bidd
en. ©
Cop
yrig
ht 2
003
ABB
Page 24.a
61Total
Latest revision:
Approved by, date:
COMBI I/O UNIT INPUTLocation:Plant: =
++Sublocation:
Document no.Next
Rev. Ind
Lab/Office: Status:
Beginner 06
7 8
3HAC049406-003
Approved
41 2 3 5 6
CUSTOMER DI
1) THE DEFAULT NODE ADDRESS IS 10.
1)
0VNA0NA1NA2NA3NA4NA5
1
-X3
23
45
67
89
10
1
-X4
23
45
67
89
10
1
-X5
2
3
45
67
89
1011
12
COMBI I/O UNITDSQC651
I/O4
10
1-XS13
23456798
-V- / 22;7
-0Vdevicenet / 11;2
-+24Vdevicenet / 11;2
-CAN_H / 22;7-CAN_L / 22;7
-DRAIN / 22;7
-V+ / 22;7
0V
XTXX.X3
INPUT CH.12345678
0VNC
Prepared by, date:25
We
rese
rve
all r
ight
s in
thi
s do
cum
ent
and
in t
he in
form
atio
n co
ntai
ned
ther
ein.
Repr
oduc
tion,
use
or
disc
losu
re t
o th
ird p
artie
s w
ithou
t ex
pres
s au
thor
ity is
str
ictly
for
bidd
en. ©
Cop
yrig
ht 2
003
ABB
Page 24.b
61Total
Latest revision:
Approved by, date:
COMBI I/O UNIT OUTPUTLocation:Plant: =
++Sublocation:
Document no.Next
Rev. Ind
Lab/Office: Status:
Beginner 06
7 8
3HAC049406-003
Approved
41 2 3 5 6
CUSTOMER DO
CUSTOMER AO
CPU
DCDC
DAC
OUTPUT CH 1-8
3
4
5
6
1
-X1
DSQC651COMBI I/O UNITI/O3
23
45
67
89
10
1
-X6
2
678910
1-XS12
2345
2
3
4
5
6
1-XS14
0V
<1
REF
0VA-15V
+15V
0V
INPUT CH.1INPUT CH.2
XTXX.X1
AO.NCAO.NC
AO.NC
AO.A1
AO.0V
AO.A2
OUTPUT CH.12345678
0V24V DC
Prepared by, date:26
We
rese
rve
all r
ight
s in
thi
s do
cum
ent
and
in t
he in
form
atio
n co
ntai
ned
ther
ein.
Repr
oduc
tion,
use
or
disc
losu
re t
o th
ird p
artie
s w
ithou
t ex
pres
s au
thor
ity is
str
ictly
for
bidd
en. ©
Cop
yrig
ht 2
003
ABB
Page 25
61Total
Latest revision:
Approved by, date:
DIGITAL PART OF COMBI I/O AND DIGITAL I/O UNIT DSQC651&652
Location:Plant: =
++Sublocation:
Document no.Next
Rev. Ind
Lab/Office: Status:
Beginner 06
7 8
3HAC049406-003
Approved
41 2 3 5 6
OR PREVIOUSI/O UNIT
1) JUMPERS PLACED ACCORDING TO THE ACTUAL NODE ADDRESS.
2) RESISTANS 120 OHM SHALL ALWAYS BE CONNECTED IN THE FIRST AND THE LAST CONNECTOR IN THE CAN-BUS CIRCUIT.
3) CONNECTED IN THE LAST CONNECTOR IN THE CAN-BUS CIRCUIT.
4) ONLY FOR DIGITAL I/O DSQC 652.
3)
1)
0VNA0NA1NA2NA3NA4NA5
-XS17_V- / 22;7
-XS17_V+ / 22;7
-XS17_DRAIN / 22;7
-XS17_CAN_L / 22;7-XS17_CAN_H / 22;7
0V
opt. 816opt. 817
-I/Ox4DIG. PART OF COMBI I/O AND DIG. I/O UNIT DSQC 651& 652
1
-X3
23
45
67
89
10
1
-X4
23
45
67
89
10
1
-X5
2
3
45
67
89
1011
12
XTXX.X3
XTXX.X4
INPUT CH.12345678
0V
INPUT CH.9101112131415160V
4)
Prepared by, date:27
We
rese
rve
all r
ight
s in
thi
s do
cum
ent
and
in t
he in
form
atio
n co
ntai
ned
ther
ein.
Repr
oduc
tion,
use
or
disc
losu
re t
o th
ird p
artie
s w
ithou
t ex
pres
s au
thor
ity is
str
ictly
for
bidd
en. ©
Cop
yrig
ht 2
003
ABB
Page 26
61Total
Latest revision:
Approved by, date:
DIGITAL I/O UNIT DSQC652Location:Plant: =
++Sublocation:
Document no.Next
Rev. Ind
Lab/Office: Status:
Beginner 06
7 8
3HAC049406-003
Approved
41 2 3 5 6
OUTPUT CH 1-8
OUTPUT CH 9-16
<1
<1
XTXX.X1
XTXX.X2
OUTPUT CH.12345
10
1
-X2
23
45
67
89
10
opt. 816DSQC 652
0V
INPU
T 24
V D
C
DIGITAL I/O UNIT
I/O1
1
-X1
23
45
67
89
678
0V24V DC
OUTPUT CH.9101112131415160V
24V DC
Prepared by, date:28
We
rese
rve
all r
ight
s in
thi
s do
cum
ent
and
in t
he in
form
atio
n co
ntai
ned
ther
ein.
Repr
oduc
tion,
use
or
disc
losu
re t
o th
ird p
artie
s w
ithou
t ex
pres
s au
thor
ity is
str
ictly
for
bidd
en. ©
Cop
yrig
ht 2
003
ABB
Page 27
61Total
Latest revision:
Approved by, date:
COMBI I/O UNIT DSQC651Location:Plant: =
++Sublocation:
Document no.Next
Rev. Ind
Lab/Office: Status:
Beginner 06
7 8
3HAC049406-003
Approved
41 2 3 5 6
CPU
DCDC
DAC
OUTPUT CH 1-8
3
4
5
6
1
-X1
DSQC 651opt. 817
COMBI I/O UNIT
I/O1
0V
23
45
67
89
10
1
-X6
2
<1
REF
0VA-15V
+15V
0V
INPUT CH.1INPUT CH.2
XTXX.X1
OUTPUT CH.1
0VA
OUTPUT CH.2
OUTPUT CH.12345678
0V24V DC
Prepared by, date:29
We
rese
rve
all r
ight
s in
thi
s do
cum
ent
and
in t
he in
form
atio
n co
ntai
ned
ther
ein.
Repr
oduc
tion,
use
or
disc
losu
re t
o th
ird p
artie
s w
ithou
t ex
pres
s au
thor
ity is
str
ictly
for
bidd
en. ©
Cop
yrig
ht 2
003
ABB
Page 28
61Total
Latest revision:
Approved by, date:
RELAY I/O UNIT DSQC653Location:Plant: =
++Sublocation:
Document no.Next
Rev. Ind
Lab/Office: Status:
Beginner 06
7 8
3HAC049406-003
Approved
41 2 3 5 6
OR PREVIOUSI/O UNIT
1) JUMPERS PLACED ACCORDING TO THE ACTUAL NODE ADDRESS.
2) RESISTANS 120 OHM SHALL ALWAYS BE CONNECTED IN THE FIRST AND THE LAST CONNECTOR IN THE CAN-BUS CIRCUIT.
3) CONNECTED IN THE LAST CONNECTOR IN THE CAN-BUS CIRCUIT.
3)
1)
0VNA0NA1NA2NA3NA4NA5
XTXX.X3
INPUT CH.12345678
0V
DSQC 653opt. 818
DIG. PART OF RELAY I/O UNITI/O1
1
-X3
23
45
67
89
1
-X5
2
3
45
67
89
1011
12
-XS17_V- / 22;7
-XS17_V+ / 22;7
-XS17_DRAIN / 22;7
-XS17_CAN_L / 22;7-XS17_CAN_H / 22;7
0V
Prepared by, date:30
We
rese
rve
all r
ight
s in
thi
s do
cum
ent
and
in t
he in
form
atio
n co
ntai
ned
ther
ein.
Repr
oduc
tion,
use
or
disc
losu
re t
o th
ird p
artie
s w
ithou
t ex
pres
s au
thor
ity is
str
ictly
for
bidd
en. ©
Cop
yrig
ht 2
003
ABB
Page 29
61Total
Latest revision:
Approved by, date:
RELAY I/O UNIT DSQC653Location:Plant: =
++Sublocation:
Document no.Next
Rev. Ind
Lab/Office: Status:
Beginner 06
7 8
3HAC049406-003
Approved
41 2 3 5 6
OUT CH.1A
OUT CH.1B
OUT CH.2A
OUT CH.2B
OUT CH.3A
OUT CH.3B
OUT CH.4A
OUT CH.4B
OUT CH.5A9
16
RELAY I/O UNITRELAY I/O1
DSQC 653opt. 818
1
-X1
15
14
13
12
11
10
8
7
6
5
4
3
2
OUT CH.5B
OUT CH.6A
OUT CH.6B
OUT CH.7A
OUT CH.7B
OUT CH.8A
OUT CH.8B
XTXX.X1
Prepared by, date:31
We
rese
rve
all r
ight
s in
thi
s do
cum
ent
and
in t
he in
form
atio
n co
ntai
ned
ther
ein.
Repr
oduc
tion,
use
or
disc
losu
re t
o th
ird p
artie
s w
ithou
t ex
pres
s au
thor
ity is
str
ictly
for
bidd
en. ©
Cop
yrig
ht 2
003
ABB
Page 30
61Total
Latest revision:
Approved by, date:
REMOTE I/O UNIT DSQC350ALocation:Plant: =
++Sublocation:
Document no.Next
Rev. Ind
Lab/Office: Status:
Beginner 06
7 8
3HAC049406-003
Approved
41 2 3 5 6
OR PREVIOUSI/O UNIT
1) JUMPERS PLACED ACCORDING TO THE ACTUAL NODE ADDRESS.
2) RESISTANS 120 OHM SHALL ALWAYS BE CONNECTED IN THE FIRST AND THE LAST CONNECTOR IN THE CAN-BUS CIRCUIT.
3) CONNECTED IN THE LAST CONNECTOR IN THE CAN-BUS CIRCUIT.
3)
1)
0VNA0NA1NA2NA3NA4NA5
NAC
1
LINE 1 (BLUE)
(BLUE)
LINE 2 (CLEAR)
(CLEAR)
REMOTE I/O IN
REMOTE I/O OUT
opt. 821DSQC 350AREMOTE I/O UNIT
I/O1
1
-X5
24
5
36
78
910
1112
1
-X8
2
3
4
1
-X9
2
3
4
-XS17_V- / 22;7
-XS17_V+ / 22;7
-XS17_DRAIN / 22;7
-XS17_CAN_L / 22;7-XS17_CAN_H / 22;7
Prepared by, date:32
We
rese
rve
all r
ight
s in
thi
s do
cum
ent
and
in t
he in
form
atio
n co
ntai
ned
ther
ein.
Repr
oduc
tion,
use
or
disc
losu
re t
o th
ird p
artie
s w
ithou
t ex
pres
s au
thor
ity is
str
ictly
for
bidd
en. ©
Cop
yrig
ht 2
003
ABB
Page 31
61Total
Latest revision:
Approved by, date:
ANALOGUE I/O UNIT DSQC355BLocation:Plant: =
++Sublocation:
Document no.Next
Rev. Ind
Lab/Office: Status:
Beginner 06
7 8
3HAC049406-003
Approved
41 2 3 5 6
OR PREVIOUSI/O UNIT
1) JUMPERS PLACED ACCORDING TO THE ACTUAL NODE ADDRESS.
2) RESISTANS 120 OHM SHALL ALWAYS BE CONNECTED IN THE FIRST AND THE LAST CONNECTOR IN THE CAN-BUS CIRCUIT.
3) CONNECTED IN THE LAST CONNECTOR IN THE CAN-BUS CIRCUIT.
3)
1)
0VNA0NA1NA2NA3NA4NA5
DAC
ADC
REF
0V
MUX
-XS17_V- / 22;7
-XS17_V+ / 22;7
-XS17_DRAIN / 22;7
-XS17_CAN_L / 22;7-XS17_CAN_H / 22;7
22
opt. 819DSQC 355BANALOGUE I/O UNIT
I/O1
1
-X5
24
5
36
78
910
1112
1
-X7
23
419
2021
22
1
-X8
23
4
1718
1920
21
23
2526
2728
24
0V
0V0V0V0V0V
24V
0V0V0V0V
ANIN_1ANIN_2ANIN_3ANIN_4
ANOUT_1ANOUT_2ANOUT_3ANOUT_4
Prepared by, date:33
We
rese
rve
all r
ight
s in
thi
s do
cum
ent
and
in t
he in
form
atio
n co
ntai
ned
ther
ein.
Repr
oduc
tion,
use
or
disc
losu
re t
o th
ird p
artie
s w
ithou
t ex
pres
s au
thor
ity is
str
ictly
for
bidd
en. ©
Cop
yrig
ht 2
003
ABB
Page 32
61Total
Latest revision:
Approved by, date:
ENCODER UNIT DSQC377Location:Plant: =
++Sublocation:
Document no.Next
Rev. Ind
Lab/Office: Status:
Beginner 06
7 8
3HAC049406-003
Approved
41 2 3 5 6
OR PREVIOUSI/O UNIT
1) JUMPERS PLACED ACCORDING TO THE ACTUAL NODE ADDRESS.
2) RESISTANS 120 OHM SHALL ALWAYS BE CONNECTED IN THE FIRST AND THE LAST CONNECTOR IN THE CAN-BUS CIRCUIT.
3) CONNECTED IN THE LAST CONNECTOR IN THE CAN-BUS CIRCUIT.
3)
1)
0VNA0NA1NA2NA3NA4NA5
opt. 826DSQC 377ENCODER UNIT
I/O1
12
12
12
A
1
A
1
A
1
1
-X5
24
5
36
78
910
1112
1
-X20
2
3
4
5
6
7
8
9
-XS17_V- / 22;7
-XS17_V+ / 22;7
-XS17_DRAIN / 22;7
-XS17_CAN_L / 22;7-XS17_CAN_H / 22;7
EncoderConnection
24 VDC
0V
ENC +24V
ENC 0V
ENC_A
ENC_B
+24V
0V
DIGIN
Encoder
Synch switch
Prepared by, date:34
We
rese
rve
all r
ight
s in
thi
s do
cum
ent
and
in t
he in
form
atio
n co
ntai
ned
ther
ein.
Repr
oduc
tion,
use
or
disc
losu
re t
o th
ird p
artie
s w
ithou
t ex
pres
s au
thor
ity is
str
ictly
for
bidd
en. ©
Cop
yrig
ht 2
003
ABB
Page 33
61Total
Latest revision:
Approved by, date:
CC-LINKLocation:Plant: =
++Sublocation:
Document no.Next
Rev. Ind
Lab/Office: Status:
Beginner 06
7 8
3HAC049406-003
Approved
41 2 3 5 6
1) JUMPERS PLACED ACCORDING TO THE ACTUAL NODE ADDRESS.
2) RESISTANS 120 OHM SHALL ALWAYS BE CONNECTED IN THE FIRST AND THE LAST CONNECTOR IN THE CAN-BUS CIRCUIT.
3) CONNECTED IN THE LAST CONNECTOR IN THE CAN-BUS CIRCUIT.
OR PREVIOUSI/O UNIT
3)
External supply0V DCGND+24VDC
1)
0VNA0NA1NA2NA3NA4NA5
CustomerConnection
SLD-SHIELD
DA-Signal line ADG-GND
FG-Power GND
DB-Signal line B
DSQC378B
432
1
-X8
1211
-I/Ox6CC-LINK
1
-X3
35
1
-X5
24
5
36
78
910
56
-V- / 22;7
-V+ / 22;7
-DRAIN / 22;7
-CAN_L / 22;7-CAN_H / 22;7
Prepared by, date:35
We
rese
rve
all r
ight
s in
thi
s do
cum
ent
and
in t
he in
form
atio
n co
ntai
ned
ther
ein.
Repr
oduc
tion,
use
or
disc
losu
re t
o th
ird p
artie
s w
ithou
t ex
pres
s au
thor
ity is
str
ictly
for
bidd
en. ©
Cop
yrig
ht 2
003
ABB
Page 34
61Total
Latest revision:
Approved by, date:
VISION, INTEGRATED CAMERASLocation:Plant: =
++Sublocation:
Document no.Next
Rev. Ind
Lab/Office: Status:
Beginner 06
7 8
3HAC049406-003
Approved
41 2 3 5 6
Robot controller
Main computer
Ethernet switch
Power Supply
CameraExternal lighting
External lighting
External lighting
24V
24V I/O
24V
24V
Ethernet
Ethernet
Ethernet
Ethernet
Camera
Camera
Cam 1
Cam 2
Cam 3
Yellow labelEthernet Service
Prepared by, date:36
We
rese
rve
all r
ight
s in
thi
s do
cum
ent
and
in t
he in
form
atio
n co
ntai
ned
ther
ein.
Repr
oduc
tion,
use
or
disc
losu
re t
o th
ird p
artie
s w
ithou
t ex
pres
s au
thor
ity is
str
ictly
for
bidd
en. ©
Cop
yrig
ht 2
003
ABB
Page 35
61Total
Latest revision:
Approved by, date:
ETHERNET SWITCH A64/CAMERALocation:Plant: =
++Sublocation:
Document no.Next
Rev. Ind
Lab/Office: Status:
Beginner 06
7 8
3HAC049406-003
Approved
41 2 3 5 6
TX+
TX-
RX+
RX-
24V
0VCamera 1
Camera 2
Camera 3
Customer connection
Customer connection
Customer connection
+24V0V
A31.X2
PowerCamera 1PowerCamera 2
A61.X10
TX+
TX-
RX+
RX-
If option Remote service
Customerconnection
6
3
2
1
-X1
GND
US-X6
6
3
2
1
-X5
6
3
2
1
-X4
6
3
2
1
-X3
6
3
2
Ethernet switch
-A64
-XS161234
1
-X2
-1.RXTX- / 19;7
-1.RXTX+ / 19;7
-1.TXRX- / 19;7
-1.TXRX+ / 19;7
-24V_OUT / 11;2
-0V_OUT / 11;2+24V.REDwire /
0V.GroundBLACKwire /
.+24V.REDwire /
.0V.GroundBLACKwire /
4.TXRX+ / 40;2
4.TXRX- / 40;2
4.RXTX+ / 40;2
4.RXTX- / 40;2
Prepared by, date:37
We
rese
rve
all r
ight
s in
thi
s do
cum
ent
and
in t
he in
form
atio
n co
ntai
ned
ther
ein.
Repr
oduc
tion,
use
or
disc
losu
re t
o th
ird p
artie
s w
ithou
t ex
pres
s au
thor
ity is
str
ictly
for
bidd
en. ©
Cop
yrig
ht 2
003
ABB
Page 36
61Total
Latest revision:
Approved by, date:
AXIS COMPUTER UNITLocation:Plant: =
++Sublocation:
Document no.Next
Rev. Ind
Lab/Office: Status:
Beginner 06
7 8
3HAC049406-003
Approved
41 2 3 5 6
POWER DISTRIBUTIONUNIT
A31.A9MAIN COMPUTER
AWG24
AWG24
-A42
DSQC668
-A41/38;2
1
-X3
2
3
6
1
-X1
2
3
4
1
-X2
2
3
6
1
-X11
2
3
6
WHOG
OG
WHGN
GN
WHOG
OG
WHBU
WHEN
1
-X4
2
3
6
-0V DRIVE / 11;1
-+24V DRIVE / 11;1
-RX+ / 19;7
-RX- / 19;7
-TX+ / 19;7
-TX- / 19;7
Prepared by, date:38
We
rese
rve
all r
ight
s in
thi
s do
cum
ent
and
in t
he in
form
atio
n co
ntai
ned
ther
ein.
Repr
oduc
tion,
use
or
disc
losu
re t
o th
ird p
artie
s w
ithou
t ex
pres
s au
thor
ity is
str
ictly
for
bidd
en. ©
Cop
yrig
ht 2
003
ABB
Page 37
61Total
Latest revision:
Approved by, date:
AXIS COMPUTER UNITLocation:Plant: =
++Sublocation:
Document no.Next
Rev. Ind
Lab/Office: Status:
Beginner 06
7 8
3HAC049406-003
Approved
41 2 3 5 6
MRCO1
MRCO1_N
MRCI1
MRCI1_N
0V
24V_SMB1
0V
0V
MRCO2
MRCO2_N
MRCI2
MRCI2_N
0V
24V_SMB2
0V
0V
CABINET WALL
CONTROLSIGNAL
EXT. AXISSIGNAL
-A42
1
-XS41
2
4
5
6
7
3
9
1
-X4
2
3
4
5
6
7
9
1
-X5
2
3
4
5
6
7
9
-24V_SMB1 / 42;3 44;2 46;2 48;2 50;254;2
-MRC_0V;1 / 42;3 44;2 46;2 48;2 50;254;2
-MRC_0V;2 / 44;2 46;2 50;2
-MRC_0V;3 / 44;2 46;2 50;2
-MRCI1 / 42;3 44;2 46;2 48;2 50;254;2
-MRCI1_N / 42;3 44;2 46;2 48;2 50;254;2
-MRCO1 / 42;3 44;2 46;2 48;2 50;254;2
-MRCO1_N / 42;3 44;2 46;2 48;2 50;254;2
Prepared by, date:39
We
rese
rve
all r
ight
s in
thi
s do
cum
ent
and
in t
he in
form
atio
n co
ntai
ned
ther
ein.
Repr
oduc
tion,
use
or
disc
losu
re t
o th
ird p
artie
s w
ithou
t ex
pres
s au
thor
ity is
str
ictly
for
bidd
en. ©
Cop
yrig
ht 2
003
ABB
Page 38
61Total
Latest revision:
Approved by, date:
RECTIFIER AND BLEEDERLocation:Plant: =
++Sublocation:
Document no.Next
Rev. Ind
Lab/Office: Status:
Beginner 06
7 8
3HAC049406-003
Approved
41 2 3 5 6
CONTACTOR UNIT
Wire No. Single phasePN
272829
-821 AWG12
-822 AWG12
-192AWG12
AWG
14
-A41
1
2
-R1.1
1
-CN4
2
1
-CN5
2
1-CN6 2 3 4
1
-CN7
2
GN
YE
BK
BK
GNYE
-27
AWG
14
-28
AWG
14
BK BK
Adapter
1
2
-132 AWG12
-133 AWG12
BK
BK
-0V Drive sys / 11;1
-24V Drive sys / 11;1-L
12 /
-L22
/
Prepared by, date:40
We
rese
rve
all r
ight
s in
thi
s do
cum
ent
and
in t
he in
form
atio
n co
ntai
ned
ther
ein.
Repr
oduc
tion,
use
or
disc
losu
re t
o th
ird p
artie
s w
ithou
t ex
pres
s au
thor
ity is
str
ictly
for
bidd
en. ©
Cop
yrig
ht 2
003
ABB
Page 39
61Total
Latest revision:
Approved by, date:
FAN UNITLocation:Plant: =
++Sublocation:
Document no.Next
Rev. Ind
Lab/Office: Status:
Beginner 06
7 8
3HAC049406-003
Approved
41 2 3 5 6
-350 AWG24 BU
-351 AWG24 BU
-354 AWG24 BU
-355 AWG24 BU
-E1FAN UNIT
=CAB-E41 =CAB-E42
M
+
-
1-X1
2
-X1
3-X1
M
+
-
1-X1
2
-X1
3-X1
-0V COOL;2 / 11;8
-0V COOL;3 / 11;8
-+24V COOL;2 / 11;8
-+24V COOL;3 / 11;8
Prepared by, date:41
We
rese
rve
all r
ight
s in
thi
s do
cum
ent
and
in t
he in
form
atio
n co
ntai
ned
ther
ein.
Repr
oduc
tion,
use
or
disc
losu
re t
o th
ird p
artie
s w
ithou
t ex
pres
s au
thor
ity is
str
ictly
for
bidd
en. ©
Cop
yrig
ht 2
003
ABB
Page 40
61Total
Latest revision:
Approved by, date:
REMOTE SERVICE BOX DSQC680Location:Plant: =
++Sublocation:
Document no.Next
Rev. Ind
Lab/Office: Status:
Beginner 06
7 8
3HAC049406-003
Approved
41 2 3 5 6
TX+
TX-
RX+
RX-
745
746
opt. 890-1
A31.X2or
A64.X5if opt. 1341-1
SERVICE PORTwhen opt. 890-1
ANTENNAwhen opt. 890-1
-A61Option: REMOTE SERVICE BOX DSQC680
AWG24
1
-X1
2
-X2
1
-X10
2
3
6
1
-X11
2
3
4
5
6
7
8
1
-X15
2
3
4
5
6
7
8
9
WHOG
OG
WHGN
GN
-X12LAN3 only for diagnostic 8/
-X13 LAN4 only for unit diagnostic 8/
-X14WAN Internet 8/
-1.TXRX+ / 19;7
-1.TXRX- / 19;7
-1.RXTX+ / 19;7
-1.RXTX- / 19;7
-0V_OUT / 11;2
-24V_OUT / 11;2
4.TXRX- / 35;5
4.TXRX+ / 35;5
4.RXTX+ / 35;5
4.RXTX- / 35;5
Prepared by, date:42
We
rese
rve
all r
ight
s in
thi
s do
cum
ent
and
in t
he in
form
atio
n co
ntai
ned
ther
ein.
Repr
oduc
tion,
use
or
disc
losu
re t
o th
ird p
artie
s w
ithou
t ex
pres
s au
thor
ity is
str
ictly
for
bidd
en. ©
Cop
yrig
ht 2
003
ABB
Page 41
61Total
Latest revision:
Approved by, date:
SERVO DRIVE SYSTEM IRB 120Location:Plant: =
++Sublocation:
Document no.Next
Rev. Ind
Lab/Office: Status:
Beginner 06
7 8
3HAC049406-003
Approved
41 2 3 5 6
M3R
M3S
M3T
M1T
M1S
M1R
M6R
M6S
M6T M4T
M4S
M4R
M2R
M2S
M2T
M5T
M5S
M5R
CABINET
MANIPULATOR 120
IRB 120 cabinet module
-400
AWG
14
-402
AWG
14
-404
AWG
14
-410
AWG
14
-408
AWG
14
-406
AWG
14
-424
AWG
14
-425
AWG
14
-426
AWG
14
-412
AWG
14
-414
AWG
14
-416
AWG
14
-432
AWG
14
-430
AWG
14
-428
AWG
14
-422
AWG
14
-420
AWG
14
-418
AWG
14
AWG
10
-A41/38;2
A7 A9 A13 A15A11A1-XS/XP1 B3B1A3 A5 B8 B11B6 B7 B9 B10B4 B5
3 21-CN100 3 21-CN200 3 21-CN300 3 21-CN400 3 21-CN500 3 21-CN600
1
=MAN+R1.120-(MP 1-)62 5 20 15 163 1917410 24 21 22239 86
BK BK BK BK BK BK BK BK BK BK BK BK BK
GN
YE
AWG
10G
NYE
BK BKBK BK BK
Prepared by, date:42.a
We
rese
rve
all r
ight
s in
thi
s do
cum
ent
and
in t
he in
form
atio
n co
ntai
ned
ther
ein.
Repr
oduc
tion,
use
or
disc
losu
re t
o th
ird p
artie
s w
ithou
t ex
pres
s au
thor
ity is
str
ictly
for
bidd
en. ©
Cop
yrig
ht 2
003
ABB
Page 42
61Total
Latest revision:
Approved by, date:
CONTROL CABLE IRB 120Location:Plant: =
++Sublocation:
Document no.Next
Rev. Ind
Lab/Office: Status:
Beginner 06
7 8
3HAC049406-003
Approved
41 2 3 5 6
DRIVE MODULE
SDISDI-NSDO
0V
24V
MANIPULATOR 120
SDO-NENCODERINTERFACEBOARD
WH
WH
WHWH
BNGN
BU
OG
SAFETY UNITA21-X5
AXIS COMPUTER BOARDA42-X4
CONTACTOR UNIT
-433 AWG16 BU
-436 AWG16 BU
-437 AWG16 BU
-438 AWG16 BU
-439 AWG16 BU
-440 AWG16 BU
-491 AWG20 BU
-492 AWG20 BU
-495 AWG20 BU
-496 AWG20 BU
-497 AWG20 BU
-498 AWG20 BU
7
8
1
-BR.XS/BR.XP1
3
5
2
C2
C1
B12
B14
B16
C7
D1
-XS/XP1
D3
D2
D4
A
-XS/XP2
BC
DE
F
GH
J
12
13
=MAN+R1.120-(MP 1-)6
A
=MAN+R2.120-SMB/EIB
BC
DE
F
GYBUB134
6 B15
-434 AWG16 BU
-435 AWG16 BU
-0V BRAKE;1 / 11;3
-24V_SMB1 / 37;6
-BRAKEPB / 11;3
-BRAKEREL1 / 15.a;6
-MRC_0V;1 / 37;6
-MRCI1 / 37;6-MRCI1_N / 37;6
-MRCO1 / 37;6-MRCO1_N / 37;6
-PTC / 15.a;6
-PTC_RET / 15.a;6
-EXT.LAMP / 15.a;5
-LIM_2B / 12;7
-LIM_2A / 12;7
-LIM_1B / 12;7
-LIM_1A / 12;7
-BRAKEREL2 / 15.a;6
-0V BRAKE;2 / 11;3
Prepared by, date:43
We
rese
rve
all r
ight
s in
thi
s do
cum
ent
and
in t
he in
form
atio
n co
ntai
ned
ther
ein.
Repr
oduc
tion,
use
or
disc
losu
re t
o th
ird p
artie
s w
ithou
t ex
pres
s au
thor
ity is
str
ictly
for
bidd
en. ©
Cop
yrig
ht 2
003
ABB
Page 42.a
61Total
Latest revision:
Approved by, date:
CUSTOMER POWER/SIGNAL IRB 120Location:Plant: =
++Sublocation:
Document no.Next
Rev. Ind
Lab/Office: Status:
Beginner 06
7 8
3HAC049406-003
APPROVED
41 2 3 5 6
Customized connection
MANIPULATOR
R1-CP/CS
Acco
rdin
g to
Man
ipul
ator
circ
uit
diag
ram
3H
AC03
1408
-0030,23mm2
WH/BU
WH/OG
WH/GN
WH/BN
WH/GY
BU
OG
GN
BN
GY
A
IRB120
C
E
G
J
B
D
F
H
K
Prepared by, date:44
We
rese
rve
all r
ight
s in
thi
s do
cum
ent
and
in t
he in
form
atio
n co
ntai
ned
ther
ein.
Repr
oduc
tion,
use
or
disc
losu
re t
o th
ird p
artie
s w
ithou
t ex
pres
s au
thor
ity is
str
ictly
for
bidd
en. ©
Cop
yrig
ht 2
003
ABB
Page 43
61Total
Latest revision:
Approved by, date:
SERVO DRIVE SYSTEM IRB 140Location:Plant: =
++Sublocation:
Document no.Next
Rev. Ind
Lab/Office: Status:
Beginner 06
7 8
3HAC049406-003
Approved
41 2 3 5 6
M3R
M3S
M3T
M1T
M1S
M1R
M6R
M6S
M6T
M4T
M4S
M4RM2R
M2S
M2T
M5T
M5S
M5R
DRIVE MODULE
MANIPULATOR
IRB 140 cabinet module-A41
MAIN SERVO DRIVE UNIT
A1-XS/XP1
13=MAN+R1.140-(MP 1-)3
A3
17
A5
15
A7
3
A9
5
A11
1
B3
6=MAN+R1.140-(MP 4-)6
B4
9
B5
12
B11
3
B10
2
B9
1
A13
7
A15
11
B1
9
B6
10
B7
7
B8
4
AWG
10
AWG
10G
NYE
BUG
N
BURD
BUW
H
BKRD
BKG
N
BKBU
BN GN
RD
GN
WH
BNBU
BNBK
BUBKW
H
BK BUBK
BNW
H
BNRD
BNG
N
GN
YE
-400
AWG
14
-402
AWG
14
-404
AWG
14
-410
AWG
14
-408
AWG
14
-406
AWG
14
-426
AWG
14
-425
AWG
14
-424
AWG
14
-412
AWG
14
-414
AWG
14
-416
AWG
14
-432
AWG
14
-430
AWG
14
-428
AWG
14
-422
AWG
14
-420
AWG
14
-418
AWG
14
3 21-CN100 31-CN200 2 3 21-CN3003 21-CN400 31-CN500 2 3 2
BK BK BK BK BK BK BK BK BK BK BK BKBK BK BK BK
1-CN600
BK BK
Prepared by, date:45
We
rese
rve
all r
ight
s in
thi
s do
cum
ent
and
in t
he in
form
atio
n co
ntai
ned
ther
ein.
Repr
oduc
tion,
use
or
disc
losu
re t
o th
ird p
artie
s w
ithou
t ex
pres
s au
thor
ity is
str
ictly
for
bidd
en. ©
Cop
yrig
ht 2
003
ABB
Page 44
61Total
Latest revision:
Approved by, date:
CONTROL CABLE IRB 140Location:Plant: =
++Sublocation:
Document no.Next
Rev. Ind
Lab/Office: Status:
Beginner 06
7 8
3HAC049406-003
Approved
41 2 3 5 6
DRIVE MODULE
SDISDI-NSDO
0V
24V
BATSUPBATLD
MANIPULATOR
SDO-NSERIALMEASUREMENTBOARD
WH
WH
WHWH
BNGN
BU
OG
GYRD
SAFETY UNITA21-X5
CONTACTOR UNIT
AXIS COMPUTER BOARDA42-X4
-_433 AWG16 BU
-_434 AWG16
-_435 AWG16
-_436 AWG16
-_437 AWG16
-_439 AWG16
-_440 AWG16
-_438 AWG16
A
-XS/XP2
C
E
F
G
J
L
C7
-XS/XP1
B16
B12
B13
B14
C2
C1
B15
D2
D1
D3
D4
B
D
H
K
9
=MAN+R2.140-SMB
8
3
7
2
5
4
6
1
=MAN+R1.140-H1
2
=MAN+R1.140-(MP 1-)3
10
16
18
12
15
=MAN+R1.140-(MP 4-)6
8
5
13
11
14
BU
BU
BU
BU
BU
BU
BU
OG
OGWH
GYBK
GYBU
GYGN
OGBU
OGBK
OGRD
GYWH
GYRD
GY
OGGN
7
8
1
-BR.XS/BR.XP1
3
5
2
4
6
-497
-495
-496
-498
-EXT.LAMP / 15.a;5
-BRAKEREL1 / 15.a;6
-BRAKEPB / 11;3
-BRAKEREL2 / 15.a;6
-0V BRAKE;2 / 11;3
-0V BRAKE;1 / 11;3
-MRCO1 / 37;6-MRCO1_N / 37;6
-MRCI1 / 37;6-MRCI1_N / 37;6
-MRC_0V;1 / 37;6
-24V_SMB1 / 37;6
-MRC_0V;2 / 37;6
-MRC_0V;3 / 37;6
-PTC_RET / 15.a;6
-LIM_2B / 12;7
-LIM_2A / 12;7
-LIM_1B / 12;7
-PTC / 15.a;6
-LIM_1A / 12;7
Prepared by, date:46
We
rese
rve
all r
ight
s in
thi
s do
cum
ent
and
in t
he in
form
atio
n co
ntai
ned
ther
ein.
Repr
oduc
tion,
use
or
disc
losu
re t
o th
ird p
artie
s w
ithou
t ex
pres
s au
thor
ity is
str
ictly
for
bidd
en. ©
Cop
yrig
ht 2
003
ABB
Page 45
61Total
Latest revision:
Approved by, date:
SERVO DRIVE SYSTEM IRB 360Location:Plant: =
++Sublocation:
Document no.Next
Rev. Ind
Lab/Office: Status:
Beginner 06
7 8
3HAC049406-003
Approved
41 2 3 5 6
M3R
M3S
M3T
M1T
DRIVE MODULE
M1S
MANIPULATOR
M1R
M4T
M4S
M4R
M2R
M2S
M2T
IRB 360 cabinet module-A41
MAIN SERVO DRIVE UNIT
-_40
0AW
G14
M2R
1-CN100
A11-XS/XP1
9=MAN+R1.340-(MP 1-)3
-_40
2AW
G14
M2S
2
A9
11
-_40
4AW
G14
M2T
3
A7
7
-_41
0AW
G14
M1T
1-CN200
A5
3
-_40
8AW
G14
M1S
3
B3
1
-_40
6AW
G14
M1R
2
B4
2=MAN+R1.340-(MP 4-)6
-_41
8AW
G14
M3R
1-CN300
B10
9
-_42
0AW
G14
M3S
3
B9
6
-_42
2AW
G14
M3T
2
B8
10
-_41
6AW
G14
M4T
1-CN500
A13
13
-_41
4AW
G14
M4S
3
A15
17
-_41
2AW
G14
M4R
2
B1
15
AWG
10
AWG
10G
NYE
BKW
H
BK BUBK
BKRD
BKG
N
BKBU
BUG
N
BURD
BUW
H
BNBU
BNBK
BU
BK BK BK BK BK BK BK BKBKBK
GN
YE
BKBK
Prepared by, date:47
We
rese
rve
all r
ight
s in
thi
s do
cum
ent
and
in t
he in
form
atio
n co
ntai
ned
ther
ein.
Repr
oduc
tion,
use
or
disc
losu
re t
o th
ird p
artie
s w
ithou
t ex
pres
s au
thor
ity is
str
ictly
for
bidd
en. ©
Cop
yrig
ht 2
003
ABB
Page 46
61Total
Latest revision:
Approved by, date:
CONTROL CABLE IRB 360Location:Plant: =
++Sublocation:
Document no.Next
Rev. Ind
Lab/Office: Status:
Beginner 06
7 8
3HAC049406-003
Approved
41 2 3 5 6
DRIVE MODULE
SDISDI-NSDO
0V
24V
BATSUPBATLD
MANIPULATOR
SDO-NSERIALMEASUREMENTBOARD
WH
WH
WHWH
BNGN
BU
OG
GYRD
SAFETY UNITA21-X5
CONTACTOR UNIT
AXIS COMPUTER BOARDA42-X4
9
=MAN+R2.340-SMB
8
3
7
2
5
4
6
1
=MAN+R1.340-H1
15
=MAN+R1.340-(MP 4-)6
8
5
13
11
2
=MAN+R1.340-(MP 1-)3
14
10
16
18
12
6
4
2
5
3
1
-BR.XS/BR.XP1
8
7
-_433 AWG16 BU
-_434 AWG16
-_435 AWG16
-_436 AWG16
-_437 AWG16
-_439 AWG16
-_440 AWG16
-_438 AWG16
A
-XS/XP2
C
E
F
G
J
L
C7
-XS/XP1
B16
B12
B13
B14
C2
C1
B15
D2
D1
D3
D4
B
D
H
K
BU
BU
BU
BU
BU
BU
BU
OG
OGWH
GYBK
GYBU
GYGN
OGBU
OGBK
OGRD
GYWH
GYRD
GY
OGGN
-497
-495
-496
-498
-EXT.LAMP / 15.a;5
-BRAKEREL1 / 15.a;6
-BRAKEPB / 11;3
-BRAKEREL2 / 15.a;6
-0V BRAKE;2 / 11;3
-0V BRAKE;1 / 11;3
-MRCO1 / 37;6-MRCO1_N / 37;6
-MRCI1 / 37;6-MRCI1_N / 37;6
-MRC_0V;1 / 37;6
-24V_SMB1 / 37;6
-MRC_0V;2 / 37;6
-MRC_0V;3 / 37;6
-PTC / 15.a;6
-PTC_RET / 15.a;6
-LIM_2B / 12;7
-LIM_2A / 12;7
-LIM_1B / 12;7
-LIM_1A / 12;7
Prepared by, date:48
We
rese
rve
all r
ight
s in
thi
s do
cum
ent
and
in t
he in
form
atio
n co
ntai
ned
ther
ein.
Repr
oduc
tion,
use
or
disc
losu
re t
o th
ird p
artie
s w
ithou
t ex
pres
s au
thor
ity is
str
ictly
for
bidd
en. ©
Cop
yrig
ht 2
003
ABB
Page 47
61Total
Latest revision:
Approved by, date:
SERVO DRIVE SYSTEM IRB 1200Location:Plant: =
++Sublocation:
Document no.Next
Rev. Ind
Lab/Office: Status:
Beginner 06
7 8
3HAC049406-003
Approved
41 2 3 5 6
M1R
M1S
M1T
M2T
M2S
M2R
M4R
M4T
M4S M6R
M6T
M6S
M3R
M3S
M3T M5T
M5S
DRIVE MODULE
M5R
MANIPULATOR
IRB 1200 cabinet module-A41
MAIN SERVO DRIVE UNIT
A1-XS/XP1 A3 A5 A7 A9 A11 B3 B4 B5 B9 B10 B11A13 A15 B1 B6 B7 B8
AWG
10
AWG
10G
NYE
GN
YE
-400
AWG
14
-402
AWG
14
-404
AWG
14
-410
AWG
14
-408
AWG
14
-406
AWG
14
-426
AWG
14
-425
AWG
14
-424
AWG
14
-412
AWG
14
-414
AWG
14
-416
AWG
14
-428
AWG
14
-430
AWG
14
-432
AWG
14
-422
AWG
14
-420
AWG
14
-418
AWG
14
3 21-CN100 31-CN200 2 3 21-CN300 3 21-CN400 31-CN500 2 31-CN600 2
BK BK BK BK BK BK BK BK BK BK BK BK BKBKBK BKBKBK
1=MAN+R1.1400-MP
2 5 843 15 16 19 2423206 9 10 222117
BKBU
BKG
N
BKRD
BUBK
BKBKW
H
BU BNBK
BNBU
GN
WH
GN
RD
BNBUG
N
BURD
BUW
H
BNW
H
BNRD
BNG
N
Prepared by, date:48.a
We
rese
rve
all r
ight
s in
thi
s do
cum
ent
and
in t
he in
form
atio
n co
ntai
ned
ther
ein.
Repr
oduc
tion,
use
or
disc
losu
re t
o th
ird p
artie
s w
ithou
t ex
pres
s au
thor
ity is
str
ictly
for
bidd
en. ©
Cop
yrig
ht 2
003
ABB
Page 48
61Total
Latest revision:
Approved by, date:
CONTROL CABLE IRB 1200Location:Plant: =
++Sublocation:
Document no.Next
Rev. Ind
Lab/Office: Status:
Beginner 06
7 8
3HAC049406-003
Approved
41 2 3 5 6
DRIVE MODULE
SDISDI-NSDO
0V
24V
SDO-NENCODERINTERFACEBOARD
MANIPULATOR
WH
WH
WHWH
BNGN
BU
OG
SAFETY UNITA21-X5
CONTACTOR UNIT
AXIS COMPUTER BOARDA42-X4
14
=MAN+R1.1400-MP
11
13
18
12
76
4
2
5
3
1
-BR.XS/BR.XP1
8
7
-_433 AWG16 BU
-_434 AWG16
-_435 AWG16
-_436 AWG16
-_437 AWG16
-_439 AWG16
-_440 AWG16
-_438 AWG16
C7
-XS/XP1
B16
B12
B13
B14
C2
C1
B15
D2
D1
D3
D4
BU
BU
BU
BU
BU
BU
BU
OG
OGWH
GYBK
GYBU
GYGN
OGBU
OGBK
OGRD
GYWH
GYRD
GY
OGGN
-497
-495
-496
-498
A
-XS/XP2
BC
DE
F
GH
J
A
=MAN+R2.120-SMB/EIB
BC
DE
F
-EXT.LAMP / 15.a;5
-BRAKEREL1 / 15.a;6
-BRAKEPB / 11;3
-BRAKEREL2 / 15.a;6
-0V BRAKE;2 / 11;3
-0V BRAKE;1 / 11;3
-PTC / 15.a;6
-PTC_RET / 15.a;6
-LIM_2B / 12;7
-LIM_2A / 12;7
-LIM_1B / 12;7
-LIM_1A / 12;7
-24V_SMB1 / 37;6
-MRC_0V;1 / 37;6
-MRCI1 / 37;6-MRCI1_N / 37;6
-MRCO1 / 37;6-MRCO1_N / 37;6
Prepared by, date:49
We
rese
rve
all r
ight
s in
thi
s do
cum
ent
and
in t
he in
form
atio
n co
ntai
ned
ther
ein.
Repr
oduc
tion,
use
or
disc
losu
re t
o th
ird p
artie
s w
ithou
t ex
pres
s au
thor
ity is
str
ictly
for
bidd
en. ©
Cop
yrig
ht 2
003
ABB
Page 48.a
61Total
Latest revision:
Approved by, date:
CUSTOMER POWER/SIGNAL IRB 1200Location:Plant: =
++Sublocation:
Document no.Next
Rev. Ind
Lab/Office: Status:
Beginner 06
7 8
3HAC049406-003
APPROVED
41 2 3 5 6
Customized connection
MANIPULATOR
R1-CP/CS
Acco
rdin
g to
Man
ipul
ator
circ
uit
diag
ram
3H
AC04
6307
-0030,23mm2
WH/BU
WH/OG
WH/GN
WH/BN
WH/GY
BU
OG
GN
BN
GY
A
IRB1200
C
E
G
J
B
D
F
H
K
Prepared by, date:50
We
rese
rve
all r
ight
s in
thi
s do
cum
ent
and
in t
he in
form
atio
n co
ntai
ned
ther
ein.
Repr
oduc
tion,
use
or
disc
losu
re t
o th
ird p
artie
s w
ithou
t ex
pres
s au
thor
ity is
str
ictly
for
bidd
en. ©
Cop
yrig
ht 2
003
ABB
Page 49
61Total
Latest revision:
Approved by, date:
SERVO DRIVE SYSTEM IRB 1410, 1600, 260Location:Plant: =
++Sublocation:
Document no.Next
Rev. Ind
Lab/Office: Status:
Beginner 06
7 8
3HAC049406-003
Approved
41 2 3 5 6
M1R
M1S
M1T
M2T
M2S
M2R
M4R
M4T
M4S M6R
M6T
M6S
M3R
M3S
M3T M5T
M5S
DRIVE MODULE
M5R
MANIPULATOR
IRB 1410, 1600, 260 cabinet module-A41
MAIN SERVO DRIVE UNIT
A1-XS/XP1 A3 A5 A7 A9 A11 B3 B4 B5 B9 B10 B11A13 A15 B1 B6 B7 B8
AWG
10
AWG
10G
NYE
GN
YE
-400
AWG
14
-402
AWG
14
-404
AWG
14
-410
AWG
14
-408
AWG
14
-406
AWG
14
-426
AWG
14
-425
AWG
14
-424
AWG
14
-412
AWG
14
-414
AWG
14
-416
AWG
14
-428
AWG
14
-430
AWG
14
-432
AWG
14
-422
AWG
14
-420
AWG
14
-418
AWG
14
3 21-CN100 31-CN200 2 3 21-CN300 3 21-CN400 31-CN500 2 31-CN600 2
BK BK BK BK BK BK BK BK BK BK BK BK BKBKBK BKBKBK
A1=MAN+R1.1400-MP
A2 A3 D2D1A4 A10 A9 A8 B10D7D8D3 D4 B1 D9D10A7
BKBU
BKG
N
BKRD
BUBK
BKBKW
H
BU BNBK
BNBU
GN
WH
GN
RD
BNBUG
N
BURD
BUW
H
BNW
H
BNRD
BNG
N
Prepared by, date:51
We
rese
rve
all r
ight
s in
thi
s do
cum
ent
and
in t
he in
form
atio
n co
ntai
ned
ther
ein.
Repr
oduc
tion,
use
or
disc
losu
re t
o th
ird p
artie
s w
ithou
t ex
pres
s au
thor
ity is
str
ictly
for
bidd
en. ©
Cop
yrig
ht 2
003
ABB
Page 50
61Total
Latest revision:
Approved by, date:
CONTROL CABLE IRB 1410, 1600, 260Location:Plant: =
++Sublocation:
Document no.Next
Rev. Ind
Lab/Office: Status:
Beginner 06
7 8
3HAC049406-003
Approved
41 2 3 5 6
DRIVE MODULE
SDISDI-NSDO
0V
24V
0VBATSUPBATLD
MANIPULATOR
SDO-NSERIALMEASUREMENTBOARD
WH
WH
WHWH
BNGN
BU
OG
GYRD
SAFETY UNITA21-X5
CONTACTOR UNIT
AXIS COMPUTER BOARDA42-X4
A
=MAN+R1.1400-SMB
C
E
F
G
J
L
B
D
H
K
6
4
2
5
3
1
-BR.XS/BR.XP1
8
7
-_433 AWG16 BU
-_434 AWG16
-_435 AWG16
-_436 AWG16
-_437 AWG16
-_439 AWG16
-_440 AWG16
-_438 AWG16
A
-XS/XP2
C
E
F
G
J
L
C7
-XS/XP1
B16
B12
B13
B14
C2
C1
B15
D2
D1
D3
D4
B
D
H
K
BU
BU
BU
BU
BU
BU
BU
OG
OGWH
GYBK
GYBU
GYGN
OGBU
OGBK
OGRD
GYWH
GYRD
GY
OGGN
-497
-495
-496
-498C1
C2
B4
B3
B7
B2
B9
C10
C8
C9
B8
C7
=MAN+R1.1400-MP-EXT.LAMP / 15.a;5
-BRAKEREL1 / 15.a;6
-BRAKEPB / 11;3
-BRAKEREL2 / 15.a;6
-0V BRAKE;2 / 11;3
-0V BRAKE;1 / 11;3
-MRCO1 / 37;6-MRCO1_N / 37;6
-MRCI1 / 37;6-MRCI1_N / 37;6
-MRC_0V;1 / 37;6
-24V_SMB1 / 37;6
-MRC_0V;2 / 37;6
-MRC_0V;3 / 37;6
-PTC / 15.a;6
-PTC_RET / 15.a;6
-LIM_2B / 12;7
-LIM_2A / 12;7
-LIM_1B / 12;7
-LIM_1A / 12;7
Prepared by, date:52
We
rese
rve
all r
ight
s in
thi
s do
cum
ent
and
in t
he in
form
atio
n co
ntai
ned
ther
ein.
Repr
oduc
tion,
use
or
disc
losu
re t
o th
ird p
artie
s w
ithou
t ex
pres
s au
thor
ity is
str
ictly
for
bidd
en. ©
Cop
yrig
ht 2
003
ABB
Page 51
61Total
Latest revision:
Approved by, date:
CUSTOMER POWER/SIGNAL IRB 1410Location:Plant: =
++Sublocation:
Document no.Next
Rev. Ind
Lab/Office: Status:
Beginner 06
7 8
3HAC049406-003
APPROVED
41 2 3 5 6
Customized connection
MANIPULATOR
R1-CP/CS
Acco
rdin
g to
Man
ipul
ator
circ
uit
diag
ram
3H
AC02
800-
3
0,23mm2
WH/BU
WH/OG
WH/GN
WH/BN
WH/GY
BU
OG
GN
BN
GY
RD
BU
A
IRB1410
C
E
G
J
B
D
F
H
K
L
M
Prepared by, date:53
We
rese
rve
all r
ight
s in
thi
s do
cum
ent
and
in t
he in
form
atio
n co
ntai
ned
ther
ein.
Repr
oduc
tion,
use
or
disc
losu
re t
o th
ird p
artie
s w
ithou
t ex
pres
s au
thor
ity is
str
ictly
for
bidd
en. ©
Cop
yrig
ht 2
003
ABB
Page 52
61Total
Latest revision:
Approved by, date:
CUSTOMER POWER/SIGNAL IRB 1600Location:Plant: =
++Sublocation:
Document no.Next
Rev. Ind
Lab/Office: Status:
Beginner 06
7 8
3HAC049406-003
Approved
41 2 3 5 6
Customized connection
Customized connection
CPA
CSK
CSA
CSN
CPB
CSB
CSL
CSP
CPC
CSC
CSR
CSM
CPE
CST
CSZ
CSE
CPJ
CSG
CSV
CPK
CSH
CSW
CPH
CSJ
CSX
CPF
CSF
CSU
MANIPULATOR
CPD
CSD
CSS
CSY
R1-CP/CS
Acco
rdin
g to
Man
ipul
ator
circ
uit
diag
ram
3H
AC02
1351
-003
A1
IRB1600
C1
A2B2
C2
A3
D3
B1
D1
D2
B3
0.23mm2 WHBUWHOGWHGNWHBNWHGYRDBU D7
C7B7
A7D6
C6B6
A6D5
C5B5
AWG18
BU
C3
RD
GNYEWHBKBNVTOGPKTQGY
A8
B8C8
D8A9
B9C9
D9A10
B10C10
D10
RDOGRDGNRDBNRDGYBKBUWH
Prepared by, date:54
We
rese
rve
all r
ight
s in
thi
s do
cum
ent
and
in t
he in
form
atio
n co
ntai
ned
ther
ein.
Repr
oduc
tion,
use
or
disc
losu
re t
o th
ird p
artie
s w
ithou
t ex
pres
s au
thor
ity is
str
ictly
for
bidd
en. ©
Cop
yrig
ht 2
003
ABB
Page 53
61Total
Latest revision:
Approved by, date:
SERVO DRIVE SYSTEM IRB 910Location:Plant: =
++Sublocation:
Document no.Next
Rev. Ind
Lab/Office: Status:
Beginner 06
7 8
3HAC049406-003
Approved
41 2 3 5 6
M3R
M3S
M3T
M1T
M1S
M1R
M4R
M4T
M4S
M2R
M2S
M2T
DRIVE MODULE
MANIPULATOR
IRB 910 cabinet module-A41
MAIN SERVO DRIVE UNIT
A1-XS/XP1 A3 A5 A7 A9 A11 B9 B10 B11A13 A15 B1
AWG
16
AWG
16G
NYE
GN
YE
400
AWG
14
402
AWG
14
404
AWG
14
410
AWG
14
408
AWG
14
406
AWG
14
412
AWG
14
414
AWG
14
416
AWG
14
432
AWG
14
430
AWG
14
428
AWG
14
3 21-CN100 31-CN200 2 3 21-CN300 3 21-CN600
BK BK BK BK BK BK BK BK BK BK BK BK
9=MAN+R1.910-MP
10 11 321 12 13 144 5 6
BK BK BK BKBKBK BK BK BKBK BK BK
Prepared by, date:55
We
rese
rve
all r
ight
s in
thi
s do
cum
ent
and
in t
he in
form
atio
n co
ntai
ned
ther
ein.
Repr
oduc
tion,
use
or
disc
losu
re t
o th
ird p
artie
s w
ithou
t ex
pres
s au
thor
ity is
str
ictly
for
bidd
en. ©
Cop
yrig
ht 2
003
ABB
Page 54
61Total
Latest revision:
Approved by, date:
CONTROL CABLE IRB 910Location:Plant: =
++Sublocation:
Document no.Next
Rev. Ind
Lab/Office: Status:
Beginner 06
7 8
3HAC049406-003
Approved
41 2 3 5 6
DRIVE MODULE
SDISDI-NSDO
0V
24V
SDO-NENCODERINTERFACEBOARD
MANIPULATOR
WH
WH
WHWH
BNGN
BU
OG
SAFETY UNITA21-X5
CONTACTOR UNIT
AXIS COMPUTER BOARDA42-X4
16
=MAN+R1.910-MP
15
7
8
6
4
2
5
3
1
-BR.XS/BR.XP1
8
7
433 AWG16 BU
434 AWG16
435 AWG16
436 AWG16
437 AWG16
439 AWG16
440 AWG16
438 AWG16
C7
-XS/XP1
B16
B12
B13
B14
C2
C1
B15
D2
D1
D3
D4
BU
BU
BU
BU
BU
BU
BU
BK
BK
BK
BK
BK
BK
BK
BK
BK
BK
497
495
496
498
A
-XS/XP2
BC
DE
F
1
=MAN+R2.910-SMB/EIB
52
6SP1A
SP2A
-EXT.LAMP / 15.a;5
-BRAKEREL1 / 15.a;6
-BRAKEPB / 11;3
-BRAKEREL2 / 15.a;6
-0V BRAKE;2 / 11;3
-0V BRAKE;1 / 11;3
-PTC / 15.a;6
-PTC_RET / 15.a;6
-LIM_2B / 12;7
-LIM_2A / 12;7
-LIM_1B / 12;7
-LIM_1A / 12;7
-24V_SMB1 / 37;6
-MRC_0V;1 / 37;6
-MRCI1 / 37;6-MRCI1_N / 37;6
-MRCO1 / 37;6-MRCO1_N / 37;6
Prepared by, date:
We
rese
rve
all r
ight
s in
thi
s do
cum
ent
and
in t
he in
form
atio
n co
ntai
ned
ther
ein.
Repr
oduc
tion,
use
or
disc
losu
re t
o th
ird p
artie
s w
ithou
t ex
pres
s au
thor
ity is
str
ictly
for
bidd
en. ©
Cop
yrig
ht 2
003
ABB
Page 55
61Total
Latest revision:
Approved by, date:
CUSTOMER POWER/SIGNAL IRB 910Location:Plant: =
++Sublocation:
Document no.Next
Rev. Ind
Lab/Office: Status:
Beginner 06
7 8
3HAC049406-003
APPROVED
41 2 3 5 6
Customized connection
MANIPULATOR
R1-CP/CS
Acco
rdin
g to
Man
ipul
ator
circ
uit
diag
ram
3H
AC05
6159
-0020,23mm2
WH/BU
WH/OG
WH/GN
WH/BN
WH/GY
BU
OG
GN
BN
GY
A
IRB910
C
E
G
J
B
D
F
H
K