© Copyright 2004 ABB ALL right reserved.isa.uniovi.es/~jalvarez/abb/en/3HAC025744-001_rev05.pdf ·...
Transcript of © Copyright 2004 ABB ALL right reserved.isa.uniovi.es/~jalvarez/abb/en/3HAC025744-001_rev05.pdf ·...
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.
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© Copyright 2004 ABB ALL right reserved.
ABB AB
SE-721 68 VästeråsSweden
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COPYRIGHT page
Location:Plant: =
++Sublocation:
IRB66x0/7600Manipulator
Document no.Next
Rev. Ind
Lab/Office: Status:IRB 66x0 / 7600ECO 48113, WI 37057ID connection adjusted on page 90 and 120 due to an error.
3HAC025744-001
8
04
APPROVED
1 2 3 4 5 6 7
DMRO SEPRMP
Table of contentsCommentPage Page description
ABB Contents1
Prepared by, date:3
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umen
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Latest revision:
Approved by, date:
Table of contents: (1 - 150)
Location:Plant: =
++Sublocation:
IRB66x0/7600Manipulator
Document no.Next
Rev. Ind
Lab/Office: Status:IRB 66x0 / 7600ECO 48113, WI 37057ID connection adjusted on page 90 and 120 due to an error.
3HAC025744-001
8
04
APPROVED
1 2 3 4 5 6 7
DMRO SEPRMP
1 COPYRIGHT page
2 Table of contents: (1 - 150)
3 Valid For
4 Connection point location IRB 6600 / 6640 / 6650 / 7600
5 Connection point location IRB 6660
9 Legend IRB 66X0 / 7600
10 Brake Release Unit IRB 66X0 / 7600
20 Serial Measuring Board, incl. 7th axis connection (optional) IRB 66X0 / 7600
30 Axis 1 IRB 66X0 / 7600
40 Axis 2 IRB 66X0 / 7600
50 Axis 3, incl. external lamp (optional) IRB 66X0 / 7600
60 Axis 4 IRB 66X0 / 7600
70 Axis 5 IRB 7600
80 Axis 5 IRB 66X0
90 Axis 5 IRB 66X0 ID
100 Axis 6 IRB 7600
110 Axis 6 IRB 66X0
120 Axis 6 IRB 66X0 ID
130 Pos. switch Axis 1 (optional) IRB 66X0 / 7600
140 Pos. switch Axis 2 (optional), incl. fan Axis 1 and 2 (optional) IRB 66X0 / 7600
150 Pos. switch Axis 3 (optional), incl. fan Axis 3 (optional) IRB 66X0 / 7600
Prepared by, date:4
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ird p
artie
s w
ithou
t exp
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aut
horit
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idde
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Erik Mesaros Johan Moraeus
2011-10-19
Page 3
21Total
Latest revision:
Approved by, date:
Valid For
Location:Plant: =
++Sublocation:
IRB66x0/7600Manipulator
Document no.Next
Rev. Ind
Lab/Office: Status:IRB 66x0 / 7600ECO 48113, WI 37057ID connection adjusted on page 90 and 120 due to an error.
3HAC025744-001
8
04
APPROVED
1 2 3 4 5 6 7
DMRO SEPRMP
Valid For:This circuit diagram is valid for the following cable harness assemblies:3HAC 024385-001 Manipulator harness axis 1-6 (IRB 6600 / 6640)3HAC 024386-001 Manipulator harness axis 1-6 (IRB 6640 / 6650 / 6650S)3HAC14940-1 rev 3 and later. Manipulator harness axis 1-4 (IRB 6600 ID / 6640 ID / 7600)3HAC16331-1 rev 1 and later. Manipulator harness axis 1-4 (IRB 6640 ID / 6650 ID)3HAC14139-1 Manipulator harness axis 5 (IRB 6600 / 6640 / 6650 / 6650S)3HAC11440-1 Manipulator harness axis 5-6 (IRB 7600)3HAC023717-001 Manipulator harness axis 5-6 (IRB 6600 ID / 6640 ID / 6650 ID)3HAC15930-1 UL signal lamp (IRB 6600 / 6640 / 6650 / 6600 ID / 6640 ID / 6650 ID / 6650S / 7600)3HAC12498-1 Pos SW 3 functions (IRB 6600 / 6640 / 6650 / 6600 ID / 6640 ID / 6650 ID / 6650S / 7600)3HAC12587-1 Pos SW 2 functions (IRB 6600 / 6650 / 6600 ID / 6650 ID / 6650S / 7600)3HAC15374-1 Fan (IRB 6600 / 6640 / 6650 / 6600 ID / 6640 ID / 6650 ID / 6650S /6660 / 7600)3HAC15390-1 Pos Sw/ Fan cable harness (IRB 6600 / 6600 ID / 7600)3HAC16659-1 Pos Sw/ Fan cable harness (IRB 6650 / 6650 ID / 6650S)3HAC023599-001 Fan cable harness (IRB 6600 / 6640 / 6650 / 6600 ID / 6640 ID / 6650 ID / 6650S /6660 / 7600)3HAC026733-001 Manipulator harness axis 1-6 (IRB 6660)3HAC028206-001 UL signal lamp (IRB 6660)
See circuit diagram 3HAC13347-1 in the following cases:- If IRB6600, 6650 or 6650S with 3HAC14940-1, 3HAC16331-1- If cable harness 3HAC14940-1 rev 2 or earlier- If cable harness 3HAC16331-1 rev 0
Prepared by, date:=IRB6660/5
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AB
B
Erik Mesaros Johan Moraeus
2011-10-19
Page 4
21Total
Latest revision:
Approved by, date:
Connection point location of IRB 6600 / 6640 / 6650 / 7600
Location:Plant: =
++Sublocation:
IRB66x0/7600Manipulator
Document no.Next
Rev. Ind
Lab/Office: Status:IRB 66x0 / 7600ECO 48113, WI 37057ID connection adjusted on page 90 and 120 due to an error.
3HAC025744-001
8
04
APPROVED
1 2 3 4 5 6 7
DMRO SEPRMP
3
R1.G
3
R1.SMB1.7R3.FAN2
2
R3.MP5 (IRB 7600, 6600 ID, 6640 ID, 6650 ID)
R2.FB7
R3.FB5 (IRB 7600, 6600 ID, 6640 ID, 6650 ID)
R2.G
R3.MP6
R2.SMB
R3.FB6
R1.SMB1-3R1.SMB4-6R2.SW2
8
X8
8
X9
R2.M5/6 (IRB7600, 6600 ID, 6640 ID, 6650 ID)
2
X10
2
R2.MP2
1
R2.FB2
R2.MP4
R2.FB4
R3.FAN3R2.FB3
A
R2.MP3
7
R2.H1
R2.H2
1
7
1
B
R2.MP1
R2.FB1
C
4
9
R2.SW3
1
5
6
7
8
2
3
R3.MP5 (IRB 6600, 6640, 6650, 6650S)
R3.FB5 (IRB 6600, 6640, 6650, 6650S)R4.MP5 (IRB 6600, 6640, 6650, 6650S)R4.FB5 (IRB 6600, 6640, 6650, 6650S)
R1.MP
R1.MP
R1.SMBR1.SW1
11
R1.SW2/3
14
15
10
12
6
13
16
12
12
18
21
22
17
19
6
20
23
6
5
11
11
5
5
R2.M5/6(On IRB7600, 6600 ID,
6640 ID, 6650 ID)
24
25
4
2710
28
10 29
4
30
31
4
32
26
3
9
9
Prepared by, date:=IRB66X0/7600/9
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ight
s in
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doc
umen
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ird p
artie
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ithou
t exp
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aut
horit
y is
stri
ctly
forb
idde
n. ©
Cop
yrig
ht 2
003
AB
B
Erik Mesaros Johan Moraeus
2011-10-19
Page 5
21Total
Latest revision:
Approved by, date:
Connection point location of IRB 6660
Location:Plant: =
++Sublocation:
IRB6660Manipulator
Document no.Next
Rev. Ind
Lab/Office: Status:IRB 66x0 / 7600ECO 48113, WI 37057ID connection adjusted on page 90 and 120 due to an error.
3HAC025744-001
8
04
APPROVED
1 2 3 4 5 6 7
DMRO SEPRMP
R3.MP6R3.FB6
R3.MP5R3.FB5
R2.MP3R2.FB3R2.H1R2.H2
R2.MP1R2.FB1
R1.MPR1.SMBR1.CP/CS
R2.MP4R2.FB4
R2.MP2R2.FB2
R1.SMB1-3R1.SMB4-6
R2.SMBX8X9
X10
R2.CP/CSR2.CP/CS
Prepared by, date:+BU/10
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all r
ight
s in
this
doc
umen
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in th
e in
form
atio
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Rep
rodu
ctio
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sure
to th
ird p
artie
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ithou
t exp
ress
aut
horit
y is
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ctly
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idde
n. ©
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Erik Mesaros Johan Moraeus
2011-10-19
Page 9
21Total
Latest revision:
Approved by, date:
Legend
Location:Plant: =
++Sublocation:
IRB66X0/7600Manipulator
Document no.Next
Rev. Ind
Lab/Office: Status:IRB 66x0 / 7600ECO 48113, WI 37057ID connection adjusted on page 90 and 120 due to an error.
3HAC025744-001
8
04
APPROVED
1 2 3 4 5 6 7
DMRO SEPRMP
M
B
PTC
R
G
BU
FB
SMB
FAN
SW
Keypin
Motor
Brake
Temp sensor (PTC- resistor)
Resolver
Battery Pack
Brake Release Unit
Feedback unit
Serial Measurment Board
Fan
Position switch
Location pin to avoid mismatch
Protective Earth
Twisted wires
Screened wires
IRB6X0 Any number i.e. 66X0 can be 6600, 6640, 6660 or 6650
Prepared by, date:+SMB/20
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all r
ight
s in
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umen
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Rep
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ird p
artie
s w
ithou
t exp
ress
aut
horit
y is
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ctly
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idde
n. ©
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003
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Erik Mesaros Johan Moraeus
2011-10-19
Page 10
21Total
Latest revision:
Approved by, date:
Brake Release Unit
Location:Plant: =
++Sublocation:
IRB66X0/7600BU
Document no.Next
Rev. Ind
Lab/Office: Status:IRB 66x0 / 7600ECO 48113, WI 37057ID connection adjusted on page 90 and 120 due to an error.
3HAC025744-001
8
04
APPROVED
1 2 3 4 5 6 7
DMRO SEPRMP
Key Pin
Key Pin
-BU Brake Release (Simplified)
Brake Release
Brake PB
2
1R1.MP
R1.MP
R1.MP
R1.MP
R1.MP
R1.MP
5
6
7
8
9
10
0V 4
KA
KA
KA
KA
KA
KA
2
4
6
5
9
11
Brake Bleed Circuit
Brake Bleed Circuit
Brake Bleed Circuit
Brake Bleed Circuit
Brake Bleed Circuit
Brake Bleed Circuit
9
1
-R1.MP13
4
3
5
2
-X81
-X81
5
3
11
12
-X101
3
5
-X94
8
10
-X101
3
5
-X94
8
10
-BUM1
-BUM2
-BUM3
-BUM4
-BUM5
-BUM6
-BU0VM1
-BU0VM2
-BU0VM3
-BU0VM4
-BU0VM5
-BU0VM6
Prepared by, date:+Axis1/30
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ight
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umen
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atio
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ird p
artie
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ithou
t exp
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aut
horit
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idde
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B
Erik Mesaros Johan Moraeus
2011-10-19
Page 20
21Total
Latest revision:
Approved by, date:
Serial Measuring Board, incl. optional 7th axis connection
Location:Plant: =
++Sublocation:
IRB66X0/7600SMB
Document no.Next
Rev. Ind
Lab/Office: Status:IRB 66x0 / 7600ECO 48113, WI 37057ID connection adjusted on page 90 and 120 due to an error.
3HAC025744-001
8
04
APPROVED
1 2 3 4 5 6 7
DMRO SEPRMP
-R1.SMB -R2.SMB
7th axis connection (optional)
SDI
SDI-N
SDO
SDO-N
24V EXT.LAMP
0V
0V EXT.LAMP
24V
BK
WH/BK X7
WHBK
BK 0V X7
Y7WH/BN
BN
0V Y7
WHBN
BN
RD
WH/RD 0V EXC2
WHRD
RD EXC2
OG
-R2.SMB
SCREEN
-R1.G(X3)-G0V
+
WHOG
-SMB
9
5
8
4
3
7
2
1
A
B
C
D
E
F
L
KEYPIN
M
9
5
8
4
3
7
2
1
+ -+ -+ -
-R1.SMB1.75
12
4
11
2
9
1
-R2.FB7A
B
C
D
E
F
-SMB1.75
12
4
11
2
9
1
-R2.G2
1
-R1.G(X3)2
1
-24VEXT.LAMP
-0VEXT.LAMP
Prepared by, date:+Axis2/40
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ight
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umen
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Rep
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ird p
artie
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ithou
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aut
horit
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ctly
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idde
n. ©
Cop
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B
Erik Mesaros Johan Moraeus
2011-10-19
Page 30
21Total
Latest revision:
Approved by, date:
Axis 1
Location:Plant: =
++Sublocation:
IRB66X0/7600Axis1
Document no.Next
Rev. Ind
Lab/Office: Status:IRB 66x0 / 7600ECO 48113, WI 37057ID connection adjusted on page 90 and 120 due to an error.
3HAC025744-001
8
04
APPROVED
1 2 3 4 5 6 7
DMRO SEPRMP
Brake
-MU1
RD
WH
BK
GNYE
BU +
BU -
M1R
M1S
M1T
BU M1
BU 0V M1
1
3
5
GNYE
9
10
Resolver
-FB1
RD
BK
BU
YE
WHBK (WHYE)
WHRD
BK
WHBK
BN
WHBN
RD
WHRD
X1
0V X1
Y1
0V Y1
0V EXC1
EXC1
-BUM1
-BU0VM1
-PTCM2
S (V)
T (W)
R (U) PE
3~M
-R2.MP11
6
7
9
2
5
-R2.MP11
6
7
9
12
2
-R1.MP17
18
19
-R2.FB16
1
7
2
8
3
-R2.FB16
1
7
2
8
3
-R1.SMB1-32
14
3
15
6
18
-R1.SMB1-32
14
3
15
6
18
4
3
10
12
1 2 -PTC1Θ
8
11
4
3
10
5
8
11
24
25
26
27
-SMB
PE
RD
WH
BK
GNYEPE GNYE
M1R 2
4
6
M1S
M1T
PTC M
PTC M2
7
8
Prepared by, date:+Axis3/50
We
rese
rve
all r
ight
s in
this
doc
umen
t and
in th
e in
form
atio
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ein.
Rep
rodu
ctio
n, u
se o
r di
sclo
sure
to th
ird p
artie
s w
ithou
t exp
ress
aut
horit
y is
stri
ctly
forb
idde
n. ©
Cop
yrig
ht 2
003
AB
B
Erik Mesaros Johan Moraeus
2011-10-19
Page 40
21Total
Latest revision:
Approved by, date:
Axis 2
Location:Plant: =
++Sublocation:
IRB66X0/7600Axis2
Document no.Next
Rev. Ind
Lab/Office: Status:IRB 66x0 / 7600ECO 48113, WI 37057ID connection adjusted on page 90 and 120 due to an error.
3HAC025744-001
8
04
APPROVED
1 2 3 4 5 6 7
DMRO SEPRMP
-SMB
BK
WHBK
BN
WHBN
RD
WHRD
M2R
M2S
M2T
BU M2
BU 0V M2
1
2
4
GNYE
9
10
X2
0V X2
Y2
0V Y2
0V EXC1
EXC1
-FB2
-MU2
RD
BK
BU
YE
WHBK (WHYE)
WHRD
RD
WH
BK
GNYE
BU +
BU -Brake
-BUM2
-BU0VM2
PTCM2
-PTCM3
-R1.SMB1-34
16
5
17
7
19
32
31
30
-R1.SMB1-34
16
5
17
7
19
-R2.MP21
6
7
9
2
5
-R2.FB26
1
7
2
8
3
-R2.MP21
6
7
9
2
5
-R2.FB26
1
7
2
8
3
S (V)
T (W)
R (U) PE
3~M
4
3
10
12
4
3
10
12
-R1.MP23
22
21
1 2 -PTC2Θ
8
11
8
11
Resolver
RD
WH
BK
GNYE
M2S
M2R
M2T
3
5
6
GNYEPE
PE
PTC M2
PTC M3
7
8
BU
BK
Prepared by, date:+Axis4/60
We
rese
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all r
ight
s in
this
doc
umen
t and
in th
e in
form
atio
n co
ntai
ned
ther
ein.
Rep
rodu
ctio
n, u
se o
r di
sclo
sure
to th
ird p
artie
s w
ithou
t exp
ress
aut
horit
y is
stri
ctly
forb
idde
n. ©
Cop
yrig
ht 2
003
AB
B
Erik Mesaros Johan Moraeus
2011-10-19
Page 50
21Total
Latest revision:
Approved by, date:
Axis 3, incl. optional signal lamp
Location:Plant: =
++Sublocation:
IRB66X0/7600Axis3
Document no.Next
Rev. Ind
Lab/Office: Status:IRB 66x0 / 7600ECO 48113, WI 37057ID connection adjusted on page 90 and 120 due to an error.
3HAC025744-001
8
04
APPROVED
1 2 3 4 5 6 7
DMRO SEPRMP
-SMB
BK
WHBK
BN
WHBN
RD
WHRD
M3R
M3S
M3T
PE
PE
BU M3
1
2
3
GNYE
GNYE
9
X3
0V X3
Y3
0V Y3
0V EXC1
EXC1
-FB3
-MU3
RD
BK
BU
YE
WHBK (WHYE)
WHRD
RD
WH
BK
GNYE
BU +
BU -
-BUM3
-BU0VM3
-PTCM3
-PTCM4
-24VEXT.LAMP
-0VEXT.LAMP
-R1.SMB1-39
21
10
22
8
20
-R1.MP3
5
7
-R1.SMB1-39
21
10
22
8
20
-R2.MP31
6
7
9
12
2
-R2.FB36
1
7
2
8
3
-R2.MP31
6
7
9
2
5
-R2.FB36
1
7
2
8
3
S (V)
T (W)
R (U) PE
3~M
KEYPIN
B
KEYPIN
A
A K
1
-R3.H
2
R2.H1
R2.H2
R2.H1
R2.H2
4
3
10
12
1 2 -PTC3Θ
8
11
5
8
11
10
3
44
6
14
Brake
Resolver
OG
WHOG
-SIGNAL LAMP (OPTIONAL)
RD
WH
BK
GNYE
BU
BK
M3R
M3S
M3T
BU 0V M3
PTC M3
PTC M4
4
5
6
10
7
8
Prepared by, date:=IRB7600+Axis 5/70
We
rese
rve
all r
ight
s in
this
doc
umen
t and
in th
e in
form
atio
n co
ntai
ned
ther
ein.
Rep
rodu
ctio
n, u
se o
r di
sclo
sure
to th
ird p
artie
s w
ithou
t exp
ress
aut
horit
y is
stri
ctly
forb
idde
n. ©
Cop
yrig
ht 2
003
AB
B
Erik Mesaros Johan Moraeus
2011-10-19
Page 60
21Total
Latest revision:
Approved by, date:
Axis 4
Location:Plant: =
++Sublocation:
IRB66X0/7600Axis4
Document no.Next
Rev. Ind
Lab/Office: Status:IRB 66x0 / 7600ECO 48113, WI 37057ID connection adjusted on page 90 and 120 due to an error.
3HAC025744-001
8
04
APPROVED
1 2 3 4 5 6 7
DMRO SEPRMP
-SMB
BK
WHBK
BN
WHBN
RD
WHRD
M4R
M4S
M4T
PE
BU M4
BU 0V M4
1
2
3
GNYE
6
7
X4
0V X4
Y4
0V Y4
0V EXC2
EXC2
-FB4
-MU4
RD
BK
BU
YE
WHBK (WHYE)
WHRD
RD
WH
BK
GNYE
BU +
BU -
-BUM4
-BU0VM4
-PTCM4
-PTCM5
-R1.SMB4-62
14
3
15
6
18
-R1.MP1
2
10
-R1.SMB4-62
14
3
15
6
18
-R2.MP41
3
7
9
2
5
-R2.FB46
1
7
2
8
3
1-R2.MP3
3
7
9
2
5
-R2.FB46
1
7
2
8
3
S (V)
T (W)
R (U) PE
3~M
12 -PTC4Θ8
11
8
11
A KeypinKeypin B
Brake
Resolver
BU
BK
PTC M4
PTC M5
4
5
Prepared by, date:=IRB66X0/80
We
rese
rve
all r
ight
s in
this
doc
umen
t and
in th
e in
form
atio
n co
ntai
ned
ther
ein.
Rep
rodu
ctio
n, u
se o
r di
sclo
sure
to th
ird p
artie
s w
ithou
t exp
ress
aut
horit
y is
stri
ctly
forb
idde
n. ©
Cop
yrig
ht 2
003
AB
B
Erik Mesaros Johan Moraeus
2011-10-19
Page 70
21Total
Latest revision:
Approved by, date:
Axis 5, IRB 7600
Location:Plant: =
++Sublocation:
IRB7600Axis 5
Document no.Next
Rev. Ind
Lab/Office: Status:IRB 66x0 / 7600ECO 48113, WI 37057ID connection adjusted on page 90 and 120 due to an error.
3HAC025744-001
8
04
APPROVED
1 2 3 4 5 6 7
DMRO SEPRMP
-SMB
BK
WHBK
BN
WHBN
RD
WHRD
M5R
M5S
M5T
PE
BU M5
BU 0V M5
1
2
3
GNYE
6
7
X5
0V X5
Y5
0V Y5
0V EXC2
EXC2
-FB5
-MU5
RD
BK
BU
YE
WHBK (WHYE)
WHRD
RD
WH
BK
GNYE
BU +
BU -
5
-BUM5
-BU0VM5
-PTCM5
-PTC0V
-PTCM6
-R1.SMB4-64
16
5
17
7
19
-R1.MP20
28
29
-R1.SMB4-64
16
17
7
19
-R3.MP51
3
7
9
2
5
-R3.FB56
1
7
2
8
3
-R3.MP51
3
7
9
2
5
-R3.FB56
1
7
2
8
3
S (V)
T (W)
R (U) PE
3~M
-R2.M5/6C1
C2
C3
GND
B9
B1
B7
B8
8
11
C1
C2
C3
GND
B9
B1
B7 8
11
12 -PTC5Θ
15
A1
A7
A2
A8
A3
A9
-R2.M5/6A1
A7
A2
A8
A3
A9
Brake
Resolver
BU
BK
M5R
M5S
M5T
PE
BU M5
BU 0V M5
1
2
3
GNYE
6
7
PTC M5
PTC M6
4
5
PTC M5 4
PTC 0V 5
BK
WHBK
BN
WHBN
RD
WHRD
X5
0V X5
Y5
0V Y5
0V EXC2
EXC2
Prepared by, date:=IRB66X0ID/90
We
rese
rve
all r
ight
s in
this
doc
umen
t and
in th
e in
form
atio
n co
ntai
ned
ther
ein.
Rep
rodu
ctio
n, u
se o
r di
sclo
sure
to th
ird p
artie
s w
ithou
t exp
ress
aut
horit
y is
stri
ctly
forb
idde
n. ©
Cop
yrig
ht 2
003
AB
B
Erik Mesaros Johan Moraeus
2011-10-19
Page 80
21Total
Latest revision:
Approved by, date:
Axis 5
Location:Plant: =
++Sublocation:
IRB66X0Axis 5
Document no.Next
Rev. Ind
Lab/Office: Status:IRB 66x0 / 7600ECO 48113, WI 37057ID connection adjusted on page 90 and 120 due to an error.
3HAC025744-001
8
04
APPROVED
1 2 3 4 5 6 7
DMRO SEPRMP
-SMB
BK
WHBK
BN
WHBN
RD
WHRD
M5R
M5S
M5T
PE
BU M5
BU 0V M5
PTC M5
5
1
2
3
GNYE
6
7
4
X5
0V X5
Y5
0V Y5
0V EXC2
EXC2
BK
WHBK
BN
WHBN
RD
WHRD
M5R
M5S
M5T
PE
BU M5
BU 0V M5
PTC M5
PTC M6
-BUM5
-BU0VM5
-PTCM5
-PTCM6.1
-R1.SMB4-64
16
5
17
7
19
-R1.SMB4-64
16
5
17
7
19
-R1.MP20
28
29
A
B
C
D
E
F
-R3.FB5A
B
C
D
E
F
1
2
3
GND
C
D
A
B
-R3.MP51
2
3
GND
C
D
A
B
-R4.FB56
1
7
2
8
3
-R4.MP51
3
7
9
2
5
8
11
-R4.FB56
1
7
2
8
3
-R4.MP51
3
7
9
2
5
8
11
A Keypin
12 -PTC5Θ
S (V)
T (W)
R (U) PE
3~M
X5
0V X5
Y5
0V Y5
0V EXC2
EXC2
1
2
3
GNYE
6
7
4
5
-FB5
RD
BK
BU
YE
-MU5
BU
BK
RD
WH
BK
GNYE
BU +
BU -
WHBK (WHYE)
WHRD
Resolver
Brake
PTC M6
Prepared by, date:=IRB7600+Axis6/100
We
rese
rve
all r
ight
s in
this
doc
umen
t and
in th
e in
form
atio
n co
ntai
ned
ther
ein.
Rep
rodu
ctio
n, u
se o
r di
sclo
sure
to th
ird p
artie
s w
ithou
t exp
ress
aut
horit
y is
stri
ctly
forb
idde
n. ©
Cop
yrig
ht 2
003
AB
B
Erik Mesaros Johan Moraeus
2011-10-19
Page 90
21Total
Latest revision:
Approved by, date:
Axis 5, IRB 66X0ID
Location:Plant: =
++Sublocation:
IRB66X0IDAxis 5
Document no.Next
Rev. Ind
Lab/Office: Status:IRB 66x0 / 7600ECO 48113, WI 37057ID connection adjusted on page 90 and 120 due to an error.
3HAC025744-001
8
04
APPROVED
1 2 3 4 5 6 7
DMRO SEPRMP
-SMB
PTC 0V 5
BK
WHBK
BN
WHBN
RD
WHRD
M5R
M5S
M5T
PE
BU M5
PTC M5
X5
0V X5
Y5
0V Y5
0V EXC2
EXC2
1
2
3
GNYE
6
4
BN
WHBN
RD
WHRD
OG
WHOG
M5R
M5S
M5T
PE
BU M5
BU 0V M5/6
PTC M5
PTC M5/615
-BUM5
-PTCM5
Sleeve 2 (PTC M5/6)
-PTC0V.1
Sleeve1 (BU 0V M5/6)
-R1.SMB4-64
16
5
17
7
19
-R1.MP20
28
29
A8
-R1.SMB4-64
16
5
17
7
19
C1
C2
C3
GND
B9
B7
A1
A7
A2
A8
A3
A9
-R2.M5/6C1
C2
C3
GND
B9
B7
-R2.M5/6A1
A7
A2
A3
A9
-R3.MP51
2
3
PE
C
D
A
B
-R3.FB5A
B
C
D
E
F
-R3.MP51
2
3
PE
C
D
A
B
-R3.FB5A
B
C
D
E
F
12 -PTC5Θ
S (V)
T (W)
R (U) PE
3~M
1
2
3
GNYE
9
7A
X5
0V X5
Y5
0V Y5
0V EXC2
EXC2
-FB5
-MU5
RD
BK
BU
YE
WHBK (WHYE)
WHRD
BU
BK
RD
WH
BK
GNYE
BU +
BU -Brake
Resolver
BU
BU
Prepared by, date:=IRB66X0/110
We
rese
rve
all r
ight
s in
this
doc
umen
t and
in th
e in
form
atio
n co
ntai
ned
ther
ein.
Rep
rodu
ctio
n, u
se o
r di
sclo
sure
to th
ird p
artie
s w
ithou
t exp
ress
aut
horit
y is
stri
ctly
forb
idde
n. ©
Cop
yrig
ht 2
003
AB
B
Erik Mesaros Johan Moraeus
2011-10-19
Page 100
21Total
Latest revision:
Approved by, date:
Axis 6, IRB 7600
Location:Plant: =
++Sublocation:
IRB7600Axis6
Document no.Next
Rev. Ind
Lab/Office: Status:IRB 66x0 / 7600ECO 48113, WI 37057ID connection adjusted on page 90 and 120 due to an error.
3HAC025744-001
8
04
APPROVED
1 2 3 4 5 6 7
DMRO SEPRMP
-SMB
BK
WHBK
BN
WHBN
RD
WHRD
M6R
M6S
M6T
PE
BU M6
BU 0V M6
1
2
3
GNYE
6
7
X6
0V X6
Y6
0V Y6
0V EXC2
EXC2
-FB6
-MU6
RD
BK
BU
YE
WHBK (WHYE)
WHRD
RD
WH
BK
GNYE
BU +
BU -
22
-BUM6
-BU0VM6
-PTC0V
-PTCM6
-R1.SMB4-69
21
10
22
8
20
-R1.MP9
8
16
-R1.SMB4-69
21
10
8
20
-R3.MP61
3
7
9
2
5
-R3.FB66
1
7
2
8
3
1-R3.MP6
3
7
9
2
5
-R3.FB66
1
7
2
8
3
S (V)
T (W)
R (U) PE
3~M
8
11
12 -PTC6Θ8
11
C4
C5
C6
GND
B11
B12
B10
-R2.M5/6C4
C5
C6
GND
B11
B12
B10
-R2.M5/6A4
A10
A5
A11
A6
A12
A10
A5
A11
A6
A12
A4
Brake
Resolver
BU
BK
M6R
M6S
M6T
1
2
3
PE GNYE
BU M6
BU 0V M6
6
7
PTC 0V
4
5
PTC M6
BK
WHBK
BN
WHBN
RD
WHRD
X6
0V X6
Y6
0V Y6
0V EXC2
EXC2
Prepared by, date:=IRB66X0ID/120
We
rese
rve
all r
ight
s in
this
doc
umen
t and
in th
e in
form
atio
n co
ntai
ned
ther
ein.
Rep
rodu
ctio
n, u
se o
r di
sclo
sure
to th
ird p
artie
s w
ithou
t exp
ress
aut
horit
y is
stri
ctly
forb
idde
n. ©
Cop
yrig
ht 2
003
AB
B
Erik Mesaros Johan Moraeus
2011-10-19
Page 110
21Total
Latest revision:
Approved by, date:
Axis 6, IRB 66x0
Location:Plant: =
++Sublocation:
IRB66X0Axis6
Document no.Next
Rev. Ind
Lab/Office: Status:IRB 66x0 / 7600ECO 48113, WI 37057ID connection adjusted on page 90 and 120 due to an error.
3HAC025744-001
8
04
APPROVED
1 2 3 4 5 6 7
DMRO SEPRMP
-SMB
BK
WHBK
BN
WHBN
RD
WHRD
M6R
M6S
M6T
PE
BU M6
BU 0V M6
1
2
3
GNYE
6
7
X6
0V X6
Y6
0V Y6
0V EXC2
EXC2
-FB6
-MU6
RD
BK
BU
YE
WHBK (WHYE)
WHRD
RD
WH
BK
GNYE
BU +
BU -
-BUM6
-BU0VM6
-PTCM6.1
-R1.SMB4-69
21
10
22
8
20
-R1.MP9
8
16
-R1.SMB4-69
21
10
22
8
20
-R3.MP61
3
7
9
2
5
-R3.FB66
1
7
2
8
3
-R3.MP61
3
7
9
2
5
-R3.FB66
1
7
2
8
3
S (V)
T (W)
R (U) PE
3~M
15
8
11
8
11
12 -PTC6Θ
Brake
Resolver
PTC 0V 5
PTC M6 4 BU
BK
Prepared by, date:=IRB66X0/7600+Option/130
We
rese
rve
all r
ight
s in
this
doc
umen
t and
in th
e in
form
atio
n co
ntai
ned
ther
ein.
Rep
rodu
ctio
n, u
se o
r di
sclo
sure
to th
ird p
artie
s w
ithou
t exp
ress
aut
horit
y is
stri
ctly
forb
idde
n. ©
Cop
yrig
ht 2
003
AB
B
Erik Mesaros Johan Moraeus
2011-10-19
Page 120
21Total
Latest revision:
Approved by, date:
Axis 6, IRB 66X0ID
Location:Plant: =
++Sublocation:
IRB66X0IDAxis6
Document no.Next
Rev. Ind
Lab/Office: Status:IRB 66x0 / 7600ECO 48113, WI 37057ID connection adjusted on page 90 and 120 due to an error.
3HAC025744-001
8
04
APPROVED
1 2 3 4 5 6 7
DMRO SEPRMP
-SMB
BK
WHBK
BN
WHBN
RD
WHRD
M6R
M6S
M6T
PE
BU M6
X6
0V X6
Y6
0V Y6
0V EXC2
EXC2
1
2
BU 0V M5
3
GNYE
6
M6R
M6S
M6T
PE
7
BU M6
BU 0V M6
PTC 0V
BK
WHBK
BN
WHBN
RD
WHRD
4
5
6
GNYE
10
11A
BU
BU
11B
8
X6
PTC M5/6
0V X6
Y6
0V Y6
0V EXC2
EXC2
B1B1
-BUM6
-PTC0V.1
Sleeve 2 (PTC M5/6)
Sleeve1 (BU 0V M5/6)
-BU0VM5
-R1.SMB4-69
21
10
22
8
20
-R1.SMB4-69
21
10
22
8
20
-R1.MP9
8
16
C4
C5
C6
GND
B11
B10
A4
A10
A5
A11
A6
A12
-R2.M5/6C4
C5
C6
GND
B11
B10
-R2.M5/6A4
A10
A5
A11
A6
A12
-R3.FB66
1
7
2
8
3
-R3.MP61
2
3
PE
C
D
A
B
-R3.MP61
2
3
PE
C
D
A
B
-R3.FB66
1
7
2
8
3
12 -PTC6Θ
S (V)
T (W)
R (U) PE
3~M
7B1
1-Sleeve 22
-Sleeve 121
-FB6
-MU6
RD
BK
BU
YE
WHBK (WHYE)
WHRD
BU
BK
RD
WH
BK
GNYE
BU +
BU -Brake
Resolver
Prepared by, date:140
We
rese
rve
all r
ight
s in
this
doc
umen
t and
in th
e in
form
atio
n co
ntai
ned
ther
ein.
Rep
rodu
ctio
n, u
se o
r di
sclo
sure
to th
ird p
artie
s w
ithou
t exp
ress
aut
horit
y is
stri
ctly
forb
idde
n. ©
Cop
yrig
ht 2
003
AB
B
Erik Mesaros Johan Moraeus
2011-10-19
Page 130
21Total
Latest revision:
Approved by, date:
Pos. switch Axis 1, optional IRB 66X0/7600
Location:Plant: =
++Sublocation:
IRB66X0/7600Option
Document no.Next
Rev. Ind
Lab/Office: Status:IRB 66x0 / 7600ECO 48113, WI 37057ID connection adjusted on page 90 and 120 due to an error.
3HAC025744-001
8
04
APPROVED
1 2 3 4 5 6 7
DMRO SEPRMP
Position switchesAxis 1
Power 1.1.1
Power 1.1.2
Signal 1.1.1
Signal 1.1.2
Power 1.2.1
Power 1.2.2
Signal 1.2.2
Signal 1.2.1
Power 1.3.1
Power 1.3.2
Signal 1.3.2
Signal 1.3.1
Power 1.4.1
Power 1.4.2
Signal 1.4.2
Signal 1.4.1
Power 1.5.1
Power 1.5.2
Signal 1.5.2
Signal 1.5.1
Power 1.6.1
Power 1.6.2
Signal 1.6.2
Signal 1.6.1
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
SW1.6
SW1.5
2221
-SW1.1
1413
2221
-SW1.2
1413
2221
-SW1.3
1413
2221
-SW1.4
1413
2221
-SW1.5
1413
2221
-SW1.6
1413
-R1.SW1A
B
D
C
E
F
H
G
J
K
M
L
N
P
S
R
T
U
W
V
X
Y
a
Z
SW1.4
SW1.3
SW1.2
SW1.1
Location of position switches
Prepared by, date:150
We
rese
rve
all r
ight
s in
this
doc
umen
t and
in th
e in
form
atio
n co
ntai
ned
ther
ein.
Rep
rodu
ctio
n, u
se o
r di
sclo
sure
to th
ird p
artie
s w
ithou
t exp
ress
aut
horit
y is
stri
ctly
forb
idde
n. ©
Cop
yrig
ht 2
003
AB
B
Erik Mesaros Johan Moraeus
2011-10-19
Page 140
21Total
Latest revision:
Approved by, date:
Pos. switch Axis 2, fan Axis 1 and 2, optional IRB 66x0/7600
Location:Plant: =
++Sublocation:
IRB66X0/7600Option
Document no.Next
Rev. Ind
Lab/Office: Status:IRB 66x0 / 7600ECO 48113, WI 37057ID connection adjusted on page 90 and 120 due to an error.
3HAC025744-001
8
04
APPROVED
1 2 3 4 5 6 7
DMRO SEPRMP
Power 2.1.1
Power 2.1.2
Signal 2.1.2
Signal 2.1.1
Power 2.2.1
Power 2.2.2
Signal 2.2.2
Signal 2.2.1
Power 2.3.1
Power 2.3.2
Signal 2.3.2
Signal 2.3.1
1
2
4
3
5
6
8
7
9
10
12
11
Position switchesAxis 2
Power 2.1.1
Power 2.1.2
Signal 2.1.2
Signal 2.1.1
Power 2.2.1
Power 2.2.2
Signal 2.2.2
Signal 2.2.1
Power 2.3.1
Power 2.3.2
Signal 2.3.2
Signal 2.3.1
1
2
4
3
5
6
8
7
9
10
12
11
24V FAN
0V FAN
ALARM FAN
13
14
15Fan axis 1 or 2
C
D
B
-R1.SW2/3A 2221
-SW2.1
1413
2221
-SW2.2
1413
2221
-SW2.3
1413
-R2.SW2A
B
D
C
E
F
H
G
J
K
M
L
-FAN
M
+ +
--
-R3.FAN1/2A
C
B
A
C
B
-R1.SW2/3N
R
P
L
M
K
J
G
H
F
E
C
D
B
A
L
M
K
J
G
H
F
E
SW
2.4
SW
2.3
SW
2.2
SW
2.1
Location of position switches
Prepared by, date:
We
rese
rve
all r
ight
s in
this
doc
umen
t and
in th
e in
form
atio
n co
ntai
ned
ther
ein.
Rep
rodu
ctio
n, u
se o
r di
sclo
sure
to th
ird p
artie
s w
ithou
t exp
ress
aut
horit
y is
stri
ctly
forb
idde
n. ©
Cop
yrig
ht 2
003
AB
B
Erik Mesaros Johan Moraeus
2011-10-19
Page 150
21Total
Latest revision:
Approved by, date:
Pos. switch Axis 3, fan Axis 3, optional IRB 66x0/7600
Location:Plant: =
++Sublocation:
IRB66X0/7600Option
Document no.Next
Rev. Ind
Lab/Office: Status:IRB 66x0 / 7600ECO 48113, WI 37057ID connection adjusted on page 90 and 120 due to an error.
3HAC025744-001
8
04
APPROVED
1 2 3 4 5 6 7
DMRO SEPRMP
Power 3.1.1
Power 3.1.2
Signal 3.1.2
Signal 3.1.1
Power 3.2.1
Power 3.2.2
Signal 3.2.2
Signal 3.2.1
Power 3.3.1
Power 3.3.2
Signal 3.3.2
Signal 3.3.1
1
2
4
3
5
6
8
7
9
10
12
11
13
15
14
Power 3.1.1
Power 3.1.2
Signal 3.1.2
Signal 3.1.1
Power 3.2.1
Power 3.2.2
Signal 3.2.2
Signal 3.2.1
Power 3.3.1
Power 3.3.2
Signal 3.3.2
Signal 3.3.1
1
2
4
3
5
6
8
7
9
10
12
11
24V FAN
0V FAN
ALARM FAN
Position switchesAxis 3
Fan axis 3
SW
3.4
J
-R1.SW2/3T
U
W
V
X
Y
a
Z
b
c
e
d
-R1.SW2/3f
h
g
A
B
D
C
E
F
H
G
J
K
M
L
-R2.SW3A
B
D
C
E
F
H
G
K
M
L
A
C
B
-R3.FAN3A
C
B
2221
-SW3.1
1413
2221
-SW3.2
1413
2221
-SW3.3
1413
-FAN
M
+ +
--
SW
3.3
SW
3.2
SW
3.1
Location of Position switches