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ABB-IRC5-IRC5 Product Reference Manual 3HAC021313-001 - Part2 - Reva - en
ABB-IRC5-IRC5 Product Reference Manual 3HAC021313-001 - Part2 - Reva - en
Robot Controller
IRC5 M2004
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The information in this manual is subject to change without notice and should not be construed as a commitment by ABB. ABB assumes no responsibility for any errors that may appear in this manual. Except as may be expressly stated anywhere in this manual, nothing herein shall be construed as any kind of guarantee or warranty by ABB for losses, damages to persons or property, fitness for a specific purpose or the like. In no event shall ABB be liable for incidental or consequential damages arising from use of this manual and products described herein. This manual and parts thereof must not be reproduced or copied without ABBs written permission, and contents thereof must not be imparted to a third party nor be used for any unauthorized purpose. Contravention will be prosecuted. Additional copies of this manual may be obtained from ABB at its then current charge.
Copyright 2004 ABB All right reserved. ABB Automation Technologies AB Robotics SE-721 68 Vsters Sweden
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Table of Contents
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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3HAC021313-001
Overview
Overview
About This Manual This manual contains reference information for all procedures described in the Product manual procedures. Usage This manual should be used during: operation, installation... installation maintenance work repair work.
Who Should Read This Manual? This manual is intended for: Prerequisites The reader should... be a trained maintenance/repair craftsman have the required knowledge of mechanical and electrical installation/maintenance/ repair work. installation personnel maintenance personnel repair personnel.
Contents
Useful information when performing installation, maintenance or repair work (lists of necessary tools, reference documents, safety standards). List of controller spare parts. Circuit Diagram of the controller.
Description
First edition
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3HAC021313-001
Product manual, reference information 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. Reference information (article numbers for documentation referred to in Product manual, procedures, lists of tools, safety standards) Part list Foldouts or exploded views Circuit diagrams
Application manuals Specific applications (e.g. software or hardware options) are described in Application manuals. An application manual can describe one or several applications. An application manual generally contains information about:
3HAC021313-001
The purpose of the application (what it does and when it is useful) What is included (e.g. cables, I/O boards, RAPID instructions, system parameters)
A 5
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Operators manuals
This group of manuals is aimed at those having first hand operational contact with the robot, i.e. production cell operators, programmers and trouble shooters. The group of manuals include: 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) Operators manual - IRC5 with FlexPendant Operators manual - RobotStudioOnline Trouble shooting Manual for the controller and robot
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3HAC021313-001
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3HAC021313-001
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3HAC021313-001
Quantity
Length Weight Pressure Force Moment Volume
Units
1m 1 kg 1 bar 1N 1 Nm 1L 3.28 ft 2.21 lb 100 kPa 0.738 lbf 0.738 lbf-tn 0.264 US gal 14.5 psi 39.37 in
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3HAC021313-001
The table below specify the recommended standard tightening torque for oil-lubricated screws with slotted or cross-recess head screws.
Dimension
M2.5 M3 M4 M5 M6
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10
3HAC021313-001
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11
Remark
Tx10 Tx25 Tx25 4 mm 8 mm 12 mm Phillips-1 8 mm
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3HAC021313-001
Document name
Product Specification - IRC5 with FlexPendant
Document ID
3HAC021785-001
Operators manual The operators manual contains instructions for daily operation of robot systems. The operators manual listed below is the English version.
Document name
Operators manual - IRC5 with FlexPendant
Document ID
3HAC 16590-1
Note
Document ID
3HAC 020738-001 3HAC 18236-1
Product manual, robot The product manuals include information about installation and service activities. The table below specifies the article numbers of the product mnauals for all robot models. The part number -001 is the English version.
Document name
Product manual, IRB 140 Product manual, IRB 1400 Product manual, IRB 2400 Product manual, IRB 4400 Product manual, IRB 6600/6650 type A Product manual, IRB 6600/6650 type B Product manual, IRB 6650S
Document ID
3HAC 021111-001 3HAC 022031-001 3HAC 022032-001 3HAC 020938-001 3HAC 023082-001 3HAC 020993-001
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3HAC021313-001
13
Document name
Product manual, IRB 7600 Product manual, IRB 940
Document ID
3HAC 022033-001 3HAC 022054-001
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3HAC021313-001
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15
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3HAC021313-001
2 Spare Parts
2.1. Introduction
2 Spare Parts
2.1. Introduction
Definitions This chapter specifies all spare parts and replacement articles of the IRC5 controller.
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3HAC021313-001
17
2 Spare Parts
2.2. Spare Parts IRC5, Control module
xx0400001234
Description
Panel Board Unit Control panel 2-pos mode Control panel 3-pos mode Junction board DSQC616 Harness,Panel board/ GTPU Harness-Panel board/Fan u Queue Tracker RS-232/422 converter Interbus slave with Cu InterBus-S adap. Profibus-DP adap Profibus DP Slave unit Interbus-S Unit Multipole con. X1-X4 10p Multipole con.set X7,X8 Multipole con. X1-X4 16p Multipole con. X3 5p Multipole con. X6 6p
Note
DSQC 615
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3HAC021313-001
2 Spare Parts
2.2. Spare Parts IRC5, Control module
Pos
Description
Multipole con. X8,X9 4p Multip. connector female Dig. 24 VDC I/O Customer I/O Power Supply A D Combi I/O Dig. Relay I/O Heat exchanger unit Customer contact plate DeviceNet M/S Ethernet board Analog I/O Unit Circuit board Circuit board RIO
Note
Transformer module Backup energy bank Control Power Supply Customer I/O Power supply
G3 G2 G4-G5
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19
2 Spare Parts
2.2. Spare Parts IRC5, Control module
Computer unit
xx0400001236
Description
Computer A, SSD Computer B, HDD Robot com. card Power supply Mass memory Mass memory Mass memory Main computer board Main computer board Fans
Note
Solid State drive Hard disk drive DSQC 602 DSQC 625 1xHDD 2xHDD 1xSSD DSQC 600 DSQC 623
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3HAC021313-001
2 Spare Parts
2.3. Spare Parts IRC5, Drive module
xx0400001235
Pos
A41.1 A41.1 A41.1 A41.1 A41.1 A41.1.3-5 A41.1.3-5 A41.1.3-5 A41.1.3-5 A41.2 A41.2
Description
Main servo drive unit Main servo drive unit Main servo drive unit Main servo drive unit Main servo drive unit Single servo drive unit Single servo drive unit Single servo drive unit Single servo drive unit Rectifier Rectifier
Info
DSQC 617_3B3A DSQC 617_2E2C2B DSQC 617_3E1C DSQC 617_3G3T DSQC 617_3G3W DSQC 619_C DSQC 619_T DSQC 619_U DSQC 619_W
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3HAC021313-001
21
2 Spare Parts
2.3. Spare Parts IRC5, Drive module
Pos
A41.2 A41.3 A41.3 A41.3
Description
Rectifier Capacitor unit Capacitor unit Capacitor unit DC-bus bar
Info
DC_L6 long busbar with six connector groups DC_S2short busbar with two connector groups DSQC 626 DSQC 627 DSQC 601 8,5kVA 13kVA 1,8kVA 24VDC
3HAC17281-3
DC-bus bar
G1 G1 A42 A43
3HAC020465-001 3HAC020466-001 3HAC020919-001 3HAC13389-2 3HAC020953-003 3HAC020953-004 3HAC020953-006 3HAC6647-1 3HAC020900-001 3HAC12924-3 3HAC020953-001 3HAC7097-1 FlexPendant 3HAC12929-1 3HAC11266-1 3HAC12929-4 3HAC11266-4
Drive system power supply Drive system power supply Axis computer Transformer module Transformer module Transformer module Duty time counter Brake resistor bleeder Fan Fan holder with fans Mains line filter FlexPendant with cable FlexPendant Cable FlexPendant with cable FlexPendant Cable
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3HAC021313-001
3 Circuit Diagram
3.1. Introduction
3 Circuit Diagram
3.1. Introduction
Definitions This chapter specifies the circuit diagram of the IRC5 controller.
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3HAC021313-001
23
3 Circuit Diagram
3.1. Introduction
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3HAC021313-001
EPLAN
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.
In no event shall ABB be liable for incidental or consequential damages arising from use of this document or of the software and hardware described in this document.
We reserve all rights in this document and in the information contained therein.Reproduction, use or disclosure to third parties without express authority is strictly forbidden.
Additional copies of this document may be obtained from ABB at its then current charge.
We reserve all rights in this document and in the information contained therein.Reproduction, use or disclosure to third parties without express authority is strictly forbidden. Copyright 2003 ABB
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ABB Automation Technologies AB Robotics SE-721 68 Vsters Sweden
Lab/Office:
Latest revision:
Status:
Approved
EPLAN
Title page
Document no.
3HAC020538-002 02
= DOKUMENTE Plant: + DKB Location: Sublocation: + Rev. Ind Page 1 Next 2 Total 42
EPLAN
Phone :
: : : 3HAC020538-002_Control :
: 2004-09-28 : : : : : : :
2004-05-05
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Manufacture Type Type of installation Control cabinet Mains voltage Supply Control voltage Year of construction
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: : : : : : : jsundin1 2004-09-28 42
Lab/Office:
Project start Project manager Last revision Designed by Designed date Number of pages
Latest revision:
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Document no.
3HAC020538-002 02
= DOKUMENTE Plant: + DKB Location: Sublocation: + Rev. Ind Page 2 Next 3 Total 42
Table of contents
Date 2004-09-24 2004-09-24 2004-09-24 2004-09-24 2004-09-24 2004-09-24 2004-09-24 2004-09-24 2004-09-24 2004-09-24 2004-09-24 2004-09-24 2004-09-24 2004-09-24 2004-09-24 2004-09-24 2004-09-24 2004-09-24 2004-09-24 2004-09-24 2004-09-24 2004-09-24 2004-09-24 2004-09-24 2004-09-24 2004-09-24 2004-09-24 2004-09-24 2004-09-24 2004-09-24
DIN_INV_30_1
Plant
Location
Editor
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Page 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30
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DOKUMENTEDKB DOKUMENTEDKB DOKUMENTEINV DOKUMENTEINV CM ORT CM ORT CM ORT CM ORT CM ORT CM ORT CM ORT CM ORT CM ORT CM ORT CM ORT CM ORT CM ORT CM ORT CM ORT CM ORT CM ORT CM ORT CM ORT CM ORT CM ORT CM ORT CM ORT CM ORT CM ORT CM ORT
Page description Title page Title page Table of contents: (1 - 30) Table of contents: (31 - 42) BLOCK DIAGRAM VIEW OF CONTROL MODULE MAINS CONNECTION POWER SUPPLY OPTION: POWER SUPPLY EMERGENCY STOP RUN CHAIN OPERATING MODE SELECTOR, 3 MOD EMERGENCY STOP RUN CHAIN RUN CHAIN OPERATING MODE SELECTOR, 2 MOD RUN CHAIN EXT OPERATING MODE SELECTOR, 2 RUN CHAIN EXT OPERATING MODE SELECTOR, 3 FPU, FLEXPENDANT OPTION: EXTERNAL CONNECTIONSYSTEM SIGNAL VIEW OF COMPUTER UNIT CABLING IN COMPUTER UNIT CABLING IN COMPUTER UNIT COMPUTER UNITCOOLING MAIN COMPUTER ROBOT COMMUNICATION CARD ROBOT COMMUNICATION CARD PROFIBUS DP M/S INTERBUS M/S DEVICENET ADAPTER DEVICENET ADAPTER DUAL RS232 CARD
Page supplementary field Approved Approved Approved Approved Approved Approved Approved Approved Approved Approved Approved Approved Approved Approved Approved Approved Approved Approved Approved Approved Approved Approved Approved Approved Approved Approved Approved Approved Approved Approved
jsundin1 jsundin1 jsundin1 jsundin1 jsundin1 jsundin1 jsundin1 jsundin1 jsundin1 jsundin1 jsundin1 jsundin1 jsundin1 jsundin1 jsundin1 jsundin1 jsundin1 jsundin1 jsundin1 jsundin1 jsundin1 jsundin1 jsundin1 jsundin1 jsundin1 jsundin1 jsundin1 jsundin1 jsundin1 jsundin1
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= DOKUMENTE Plant: + INV Location: Sublocation: + Rev. Ind Page 3 Next 4 Total 42
Table of contents
Date 2004-09-24 2004-09-24 2004-09-24 2004-09-24 2004-09-24 2004-09-24 2004-09-24 2004-09-24 2004-09-24 2004-09-24 2004-09-24 2004-09-24
DIN_INV_30_1
Plant
Location
Editor
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Page 31 32 33 34 35 36 37 38 39 40 41 42
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CM CM CM CM CM CM CM CM CM CM CM CM
ORT ORT ORT ORT ORT ORT ORT ORT ORT ORT ORT ORT
Page description ETHERNET CARD DIGITAL PART OF COMBI I/O ANDDIGITAL I/O DIGITAL I/O UNIT COMBI I/O UNIT RELAY I/O UNIT RELAY I/O UNIT RELAY I/O UNIT ANALOGUE I/O UNIT REMOTE I/O UNIT INTERBUS SLAVE PROFIBUS DP SLAVE ENCODER UNIT
Page supplementary field Approved Approved Approved Approved Approved Approved Approved Approved Approved Approved Approved Approved
jsundin1 jsundin1 jsundin1 jsundin1 jsundin1 jsundin1 jsundin1 jsundin1 jsundin1 jsundin1 jsundin1 jsundin1
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= DOKUMENTE Plant: + INV Location: Sublocation: + Rev. Ind Page 4 Next 5 Total 42
230V
X20
Q2
XT16
T3
G3 G2
Ultra cap DC AC DC
A21 G6 G4
AC
Option Devicenet PS
Option Customer PS
Option Customer PS
G5
AC DC
AC DC
F5
A3
F4
Panel board
Computer module
I/Ox
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I/O
unit
Field bus Drive USB Ethernet service
Drive
LAN
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X22
Control panel
FPU
Service outlet
Customer connection
Customer connection
Latest revision:
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BLOCK DIAGRAM
Document no.
3HAC020538-002 02
G4 G5 G2 G3 A3
X4
X3
Q2
X5 X6 X1 X9 X2
Epwr EN1 AS1 AS2 GS1 GS2 SS1 SS2 ES1 ES2
X12 X15
X20
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XS3 XT58 XT8
VIEW OF CONTROL MODULE
Approved 3HAC020538-002_Control
=CM+ORT/5
+ CM Page ORT Crea. for Crea. by
02
2004-09-24
Date
2004-09-28
Edit.
jsundin1
Check.
Modification
Date
Name
Standard
Page 6 42 Pg.
/8.3 / -230V AC1 /9.2 / -230V AC1 /9.5 / -230V AC1 /9.7 / -230V AC1
/8.3 / -230V AC2 /9.2 / -230V AC2 /9.5 / -230V AC2 /9.7 / -230V AC2
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1
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Latest revision:
-X16
-181 -308
AWG16 BK AWG16 BK
DRIVE MODULE
CONTROL MODULE
181 181
-Q2
-X20
-X25
-173 -174
AWG16
BK L1 T1 BK L2 T2
-171 -172
L3 T3
AWG16 AWG16
BK BK
AWG16
2 GND
2 GND
-182 -309
AWG16 BK AWG16 BK
182 182
EPLAN
Lab/Office:
-187 -186
AWG16 BK AWG16 BK 5
MAINS CONNECTION
EARTH FAULT BREAKER
CIRCUIT BREAKER
-F5
-T3
=CM +X22
230V
-F4
AWG16 BK
Status:
-184 -185
AWG16 BK AWG16 BK
115V 7
-183
Document no.
Approved
2 4
1
0V
2
8
3HAC020538-002 02
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1
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Latest revision:
=CM +G2
-X2
BU BU
1 2
BU 3 BU 4
-X1
1 5
-181 -182
AWG16 BK AWG16 BK
AC -INPUT
-X3
BU BU
24V PC
BU 3 BU 4
EPLAN + +
NC Lab/Office: NC
-X4
1 2 3 4
+
5 5 5
6 6
ULTRA CAP
ULTRA CAP
7 8 +Sense 7 8
POWER SUPPLY
MAIN COMPUTER Status: Document no.
9 10
NC
10 6
-X5
AWG24
AWG28
RD
WH
USB
AWG28 AWG24
GN
3
BK
7 4
Approved
3HAC020538-002 02
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1
We reserve all rights in this document and in the information contained therein.Reproduction, use or disclosure to third parties without express authority is strictly forbidden. Copyright 2003 ABB
Latest revision:
-X2
AC
+
-308 -309
AWG16 AWG16
BK BK
DC
EPLAN
Lab/Office:
-X2
181 182
AC
DC
5 3
Customer Connection
24V I/O
2
0V I/O
6 4
-X2
181 182
AC
Approved
DC
5 3
Customer Connection
24V I/O
2
0V I/O
4 8
3HAC020538-002 02
PANEL BOARD
=CM +A21
BU 1 BU 2 BU 3 BU 4
-250
-X12
-251
-252
-253
-X1 -X2
3 3 8 0V 4 24V PANEL 4 RunCh_0V RunCh+ 7 6 5
-X10
-ES FPU 1:A / /17.2 -ES FPU 2:A / /17.2 -ES FPU 2:B / /17.2 -ES FPU 1:B / /17.2
JUNCTION BOARD
-S21.3
EMERGENCY PB -X9
17 18 13 14 11 ES panel 1:A ES panel 1:A ES panel 2:A ES panel 2:A ES panel 2:B ES panel 2:B 12 15 16 ES panel 1:B ES panel 1:B 11 12 21 22
-ES2
Sep ES1:B
A2 A1 A1 10 7 7 8 8 24V PANEL A2 10
Sep ES2:B
EXTERNAL SUPPLY
-X11
1 2 3 4 0V 6 5
AWG24
OG BU
WHBU WHBN
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ES1:int
6
Latest revision:
Lab/Office:
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6
Status:
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EMERGENCY STOP
Document no.
3HAC020538-002 02
PANEL BOARD
=CM +A21
-X3
General in1 General in2 2 General in3 General in4 4 General in5 General in6 6 General in7 General in8 8 0V +24V 10 9 10 General out1 General out2 AWG20 AWG20 AWG20 6 AWG20 AWG20 3 AWG20 2 AUTO2 MAN2 4 MAN FS2 AUTO1 MAN1 2 General out3 General out4 4 General out5 General out6 6 General out7 General out8 8 0V 9 7 5 7 3 8 8 9 7 7 9 5 4 AWG20 3 AWG20 3 2 AWG20 1 AWG20 AWG20 1
-X10
-205 -206 -207 -208 -213 -24V FPU_POWER / /17.2 -0V / /17.2 -EN1_1 / /17.2 -EN1_2 / /17.2 -FPU START / /17.2
JUNCTION BOARD
-X6
EN2_1A EN2_1B EN2_2A EN2_2B
-X4
1
EXT.MAN2
EXT.AUTO2
EXT.AUTO1 EXT.COMMON2
EXT.MAN1
=CM +A23
-ES2
>1
2 4 8 1
24V panel 0V
182224 17
141620 13
-ES1
WHOG AWG20 1 5 AWG20 OG 1 2 4 5 3 6 7 8 9 AWG20 19 10 BU
WHBU
-SUP_ST2
-X2
AWG26
-X20
-SUP_ST1
WHGN GN
WHBN
-220 -224
-GS2 0V
RS485+ RS48524V DC
MOTOR ON PB
-S21.2
AWG20 AWG20 MOTON 24V PANEL MONLMP 14 13
-GS1
BN
-AS2
-AS1
X2
X1
-ENABLE1
+ORT/13.3 / -SPEED +ORT/12.5 / -EN1 +ORT/12.5 / -EN2 +ORT/12.5 / -MAN1 +ORT/12.4 / -MAN2
1~
+
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24V PANEL
-X15
1 3
OP_COM OP_MAN
=CM +E2
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2 2 1
TACHO
2 4 3
-362
AWG20 BU 3
BN
2
OP_AUTO OP_MAN_FS
FAN 0V
1
-363
AWG20 BU;BU
-360
AWG20 1
BK
3
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24V COOL
-X18 -364
AWG20 BU;BU
-361
AWG20
-X18
RD
-X1
M
-
EXT.COMMON1
-X9
EMERGENCY STOP
Status: Document no.
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Latest revision:
AUTO STOP
GENERAL STOP
SUPERIOR STOP
GS1GS2+ GS2-
SS1+
AS1+
AS2GS1+
SS1SS2+
AS1AS2+
SS23 5
11
12
-X6
-X5
4 1
2 4
8 10
3 5
7 1 6
24V PANEL 0V
SS2
SS2 SOFT SS
SS1
SS1
AS2
AS1
GS2
GS2 SOFT GS
GS1
GS1
AS2
AS1 4
EPLAN
Lab/Office: CH2
SOFT AS
&
-RunCh+ / +ORT/10.5
6
&
+ORT/13.4 / -RCH2
CH1
-RCH2 / +ORT/10.6
+ORT/13.4 / -RCH1
-RCH1 / +ORT/10.6
7
Approved
3HAC020538-002 02
PANEL BOARD
CONTROL MODULE
-X7
0V 2 4 3 5 6 7 8 9 10 1
24V PANEL
+ORT/11.4 / -SPEED +ORT/12.5 / -ENABLE2_1 +ORT/12.5 / -ENABLE2_2 +ORT/12.5 / -ENABLE2_3 +ORT/12.5 / -ENABLE2_4 -X8
0V 2 24V PANEL 3 5 6 7 8 9 10 4 1
if not used
-X14
0V 2 4 24V PANEL 3 5 6 7 8 9 10 1
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if not used
-X17
0V 2 4 24V PANEL 3 5 6 7 8 9 10 1
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RUN CH1 RUN CH1Ret
Drive module4 A43.X1 if not used RUN CH2Ret RUN CH2 SPEED 0V ENABLE2_4 ENABLE2_4Ret AC_ON1 0V if not used
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RUN CHAIN
Document no.
3HAC020538-002 02
-X9
-222
AWG20 BU AWG20 BU AWG20 BU AWG20 BU AUTO1 MAN1 AUTO2 MAN2 OG OG OG OG
EXT.AUTO1 EXT.MAN1
-S21.1.X1
7
-221
2
-226
7
EXT.AUTO2 3 EXT.MAN2 2
-225
6
OPTION
MODE SELECTOR
-S21.1
1 2 .5 6 14 .5 10 .5 3 5 9 7 11 13 15
-224
AWG20 BU AWG20 BU 24V panel 0V 5
-246 -242
OG OG
EXT.COMMON2 4 EXT.COMMON1 8
-220
1
MOTOR ON PB
-S21.2 -229
AWG20 BU AWG20 BU X2 AWG20 BU 24V PANEL MONLMP MOTON 14 13 10
-230
19
X1
-228
9
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CONTROL MODULE
-X9
-222 -221 -226 -225 -241 -240 -245 -244
-S21.1.X1
MODE SELECTOR
-S21.1
1 2 AWG20 AWG20 24V panel 0V .6 6 14 EXT.COMMON2 EXT.COMMON1 4 .6 10 .6 3 5 7 9 11 13 15
OPTION
5 1
-224 -220
-246 -242
MOTOR ON PB
-S21.2 -229
AWG20 AWG20 AWG20 24V PANEL MONLMP MOTON 14 10 19 13
10
19 9
-230 -228
X2
X1
-S21.3
ES panel 1:A ES panel 1:A ES panel 2:A ES panel 2:A ES panel 2:B ES panel 2:B ES panel 1:B ES panel 1:B 17 18 13 14 11 12 15 16
EMERGENCY PB
21 11 22 12
17
18
13
14
11
12
15
16
JUNCTION BOARD
=CM +A22
-X10
-X3
1 2 3 4 5 6 7
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BN/GN
TPU_START
8 9
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-X2
1
=CM +A32
-A8
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CONTROL MODULE
-X9
-227 -226 -225
-S21.1.X1
MODE SELECTOR
-S21.1 6 1210 5
AWG20 AWG20 24V panel 0V 5 .7
2 4 8 1
.7
182224 17
.7
141620 13
EXT.COMMON1 EXT.COMMON2 8 4
OPTION
5 1
-224 -220
-242 -246
MOTOR ON PB
-S21.2 -229
AWG20 AWG20 AWG20 24V PANEL MONLMP MOTON 10 X2 X1 19 14 13
10
19 9
-230 -228
-S21.3
ES panel 1:A ES panel 1:A ES panel 2:A ES panel 2:A ES panel 2:B ES panel 2:B ES panel 1:B ES panel 1:B 17 18 13 14 11 12 15 16
EMERGENCY PB
21 11 22 12
17
18
13
14
11
12
15
16
JUNCTION BOARD
=CM +A22
-X10
-X3
1 2 3 4 5 6 7
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BN/GN
TPU_START
8 9
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AWG24 WHOG OG WHGN GN 6 2 3
=CM +A32
-A8
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JUNCTION BOARD
6 4 =CM +A22
FLEXPENDANT
=CM +FPU -209
AWG20 BU 5 3 5 6 4 EN-DEVICE 1 AWG20 BU 7 AWG20 8 AWG20 BU 6
EMERGENCY-STOP
-X3
-X1
-K1
PANEL BOARD
-K2
-205 -206
PANEL BOARD
-207
AWG20 3 7 17 AWG20 4
/11.6 / -0V
/11.6 / -EN1_2
-213
11
/24.6 / -TD+
-X2
13 14
/24.6 / -TD-
/24.6 / -RD+
ETH_FPU
15 16
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/24.6 / -RD-
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FPU, FLEXPENDANT
Document no.
3HAC020538-002 02
ES1 bottom
AWG20 BU AWG20 BU
-XS/XP3
-272 -273 -274 -275
AWG20 BU
-X5
-XS/XP3
C1 C2
AWG20 BU
ES2 bottom
-262 -263 0V -264 GS1+
10
-X2
-261
24V PANEL
AWG20 BU C3 C4 AWG20 BU
0V
24V PANEL
-276 -277
8
0V -266
ES2 top
-267
AWG20 BU
ES1 top
-268 -269 -270 -271
OG A6 4 OG A7 OG A8
Sep ES1:A
AWG20 BU
Sep ES2:A
Sep ES2:B
GS2+ GS22
AWG20 BU D5
10
Sep ES1:B
-284 -285 -286
OG B7 OG B8
-282 -283
10
ES1 OUT A
ES1 OUT B
ES2 OUT A
-287
ES2 OUT B
0V
-X6
1
-289
AWG20 BU A10
AWG20 BU
SS12
-291
AWG20 BU B10
SS23
-293
AWG20 BU C10
SS1+
4
-290
AWG20 BU B9
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SS2+
5
-292
AWG20 BU C9
24V PANEL
6 7 8 9 10
-288
AWG20 BU A9
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A3 Computer unit
X1
PWR (green)
Slot 1 Slot 2
Slot 3
Slot 4
Slot 5
USB1,2
USB3,4
LAN
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SERIAL PORT A A33 Profibus DP M/S A37 Interbus M/S (optical fiber) A38 Interbus M/S (copper wire) A35 Devicenet
EPLAN CM
Origin
=CM+ORT/20
+ CM Page ORT Crea. for Crea. by
02
2004-09-24
Date
2004-09-24
Edit.
jsundin1
Check.
Modification
Date
Name
Standard
Page 19 42 Pg.
COMPUTER UNIT
=CM +A3 COMPUTER POWER SUPPLY =CM +G31 -301
BU P1 1 V+ BU 4 BU OR OR BK 3 RD BK RD BK MOTHER BOARD POWER V+3.3V GND +5V GND +5V GND 7 GY VT YE OR BU PWR_OK 8 +5VSB 9 +12V +3.3V -12V GND BK GN 3 BK BK BK RD RD GND GND GND 17 +5V +5V 19 20 18 15 16 PS_ON 13 14 11 12 10 5 6 3 4 +3.3V 2 BU
/8.3 / -24V PC
-302 -303 -304 -P1
-X1
/8.3 / -24V PC
/8.3 / -0V PC
-J4H1
1 2
/8.3 / -0V PC
-PSU-X1 -PSU-X2
-P1
1 1
-PSU-X2
2
-P1
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-IDEpwr
-IDEpwr_GND / +ORT/21.2 -IDEpwr_+5V / +ORT/21.2
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Document no.
3HAC020538-002 02
=CM +A3
-X2
-J6H1
ATA/IDE
40
-X1
1 2 3 4
GND +5V
-X2 -X1
1 1 2 3 4
40 -J6H1
ATA/IDE
GND +5V
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REMARK: P1 & J6H1 CONNECTS TO EITHER D32 OR D31 DEPENDING OF CHOSED OPTION.
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Document no.
3HAC020538-002 02
COMPUTER UNIT
=CM +A3
=CM +G31
P1
BK YE +12V
GND
MAIN COMPUTER
BK GND +12V
M
AWG 24
-C2
1 2
BK RD
YE
FAN2_TACH
M
+
BK YE GND +12V
-C1
1 2
BK RD
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WH
FAN1_TACH
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COMPUTER UNIT
CONTROL MODULE
=CM +A3
MAIN COMPUTER
=CM +A31
PWR LED (GREEN)
-J9H3
A K SERIAL PORT A
TX+
TX-
0V
RX+
-LAN1
TX+ TXRX+ 3 RX6 1 2
-USB1
2 3 1 4
=CM +X24
AWG28 AWG28 AWG24 AWG24 WH GN RD BK USB-BP1 USB-BP1 +5V GND 2 3 1 4
-USB2
2 3 1 4
WH GN RD BK
-USB3
1 2 3 4
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-USB4
1 2 3 4 Lab/Office:
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MAIN COMPUTER
Document no.
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=CM +A32
-X8
AWG24 Blue 1 2 3 BU
WHBU
OG
RS 485
4 5 6 7 8
WHBN
PANEL BOARD
-X1
-0V_Sig.ref. / /10.7
PCI BUS
AWG24
-A8
Green WHOG OG 3
FLEXPENDANT
ETH_FPU
6 4 5 1 2 7 8
WHGN GN
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-RD+ / /17.2 -RD- / /17.2
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CONTROL MODULE
ETH_DRIVE
6 4 5 7 8
-A7
Yellow 1 2
=CM +X23
1 2 3
TX+ TXRX+
BU WHBU OG
SERVICE PORT
6
ETH_SERVICE
3 4 5 6 7 8
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RXAWG26 WHOG
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PROFIBUS DP M/S
Customer Connection
=CM +A33
-X1 -X2
1 3 4 5 6 8
SLAVE
PCI BUS
-X3
1 3 4 5 6 8
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SHIELD RXD/TXD-P CONTROL-P GND +5VDC RXD/TXD-N
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PROFIBUS DP M/S
Document no.
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=CM +A37
A37.1
1)
-Z1
24V+
-X2
24V 0V
0V 1 4 REMOTE IN
1)
-Z1 -X5
PCI BUS
LW/BK
REMOTE IN BK (IN)
-FO1
PCI BUS
LW/OG
5 3
GY (OUT)
REMOTE OUT
-X1
1 6 2 7 3 5 9
A38.2
REMOTE
1 6 2 7 3 4 5 8
-X1
1 2 4 5 6
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RS232
-X3
1 2 4 5 6
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TXD RXD GND RTS CTS
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1) IT IS IMPORTANT THAT 24 DC EXT SUPPLY ALWAYS IS AVAILABLE OTHERWISE THE INTERBUS CAN NOT WORK IF THE CONTROLLER IS TURNED OFF. Status:
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INTERBUS M/S
Document no.
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=CM +A35
CONTROL MODULE
-XS17
-J1 BK
3 1 1
P1 BU
2 2 5
-A35.X1
SC
3 3 1
WH
4 4 4
OPTION
PCI BUS
5 5
RD
2
-V- / /29.2
-CAN_L / /29.2
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DEVICENET ADAPTER
Document no.
3HAC020538-002 02
-I/O1
1 2 3 4 5
/28.5 / -V/28.5 / -CAN_L /28.5 / -CAN_H /28.5 / -V+ /28.5 / -DRAIN Digital I/O unit
-I/O2
1 2 3 4 5
BK BU WH RD SC
-V- / /32.1 -CAN_L / /32.1 -CAN_H / /32.1 -V+ / /32.1 -DRAIN / /32.1
BK BU WH RD SC
-V- / /35.1 -CAN_L / /35.1 -CAN_H / /35.1 -V+ / /35.1 -DRAIN / /35.1 Relay I/O unit
-I/O3
1 2 3 4 5
BK BU WH RD SC
-V- / /38.1 -CAN_L / /38.1 -CAN_H / /38.1 -V+ / /38.1 -DRAIN / /38.1
-I/O4
1 2 3 4 5
BK BU WH RD SC
-V- / /39.1 -CAN_L / /39.1 -CAN_H / /39.1 -V+ / /39.1 -DRAIN / /39.1
BK BU WH RD SC
-V- / /40.2 -CAN_L / /40.2 -CAN_H / /40.2 -V+ / /40.2 -DRAIN / /40.2
Interbus slave
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-A35.X2
BK BU WH RD SC
-V- / /41.1 -CAN_L / /41.1 -CAN_H / /41.1 -V+ / /41.1 -DRAIN / /41.1
Profibus DP slave
Encoder unit
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BK BU WH RD SC
-V- / /42.1 -CAN_L / /42.1 -CAN_H / /42.1 -V+ / /42.1 -DRAIN / /42.1
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DEVICENET ADAPTER
Document no.
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-X1
1 2 3 4 5 6 7 8
MC CONSOLE RS232
X5
9
-X2
1
PCI BUS
2 3 4 5 6 7 8 9
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COM1 RS232
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ETHERNET CARD
=CM +A36
-A1
1 2 3 4 5
TX+ TXRX+
DRIVE MODULE 2 (OPTION)
RX-
X1
6 7 8
-A2
1
PCI BUS
2 3 4 5 6 7 8
TX+ TXRX+
DRIVE MODULE 3 (OPTION)
RX-
-A3
1 2 3 4 5 6 7 8
TX+ TXRX+
DRIVE MODULE 4 (OPTION)
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RXLab/Office:
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2)
120 ohm 2 1
3)
XTXX.X3 -X3
-X5
1
INPUT CH.1 2 3 4 5 6 7 8 0V
/29.5 / -DRAIN
0V
1)
XTXX.X4 -X4
1
INPUT CH.9 10 11 12 13 14 15 16 0V
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2) RESISTANS 120 OHM SHALL ALWAYS BE CONNECTED IN THE FIRST AND THE LAST CONNECTOR IN THE CAN-BUS CIRCUIT.
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<1
1 1 2 3 4 2 5 6 7 8 9 10 A
-X1
47nF K
0V
<1
1 1 2 3 4 2 5 6 7 8 9 10 A
-X2
47nF K 2 1
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OUTPUT CH.9 10 11 12 13 14 15 16 0V 24V DC
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<1
1 1 2 3 4 2 5 6 7 8 9 10 A
-X1
47nF K 2 1
0V
<1
1 1 2 3 4 2 5 6 7 8 9 10 A
-X2
47nF K 2 1
-X6
1 2
CPU
K A A K
0V
3
DAC
OUTPUT CH.1
5 REF 4
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+15V 0VA -15V Lab/Office:
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2)
120 ohm 2 1
3)
-X3
-X5
1
INPUT CH.1 2 3 4 5 6 7 8 0V
/29.5 / -DRAIN
0V
1)
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2) RESISTANS 120 OHM SHALL ALWAYS BE CONNECTED IN THE FIRST AND THE LAST CONNECTOR IN THE CAN-BUS CIRCUIT.
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OUT CH.1A
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OUT CH.3A 5
OUT CH.3B 6
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OUT CH.4B 8
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OUT CH.11B 6
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OUT CH.12B 8
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2)
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3)
MUX
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/29.5 / -DRAIN
DAC
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0V 0V 0V 0V
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NAC
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2
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2) RESISTANS 120 OHM SHALL ALWAYS BE CONNECTED IN THE FIRST AND THE LAST CONNECTOR IN THE CAN-BUS CIRCUIT.
-X9
4
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IB-S OUT
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-X20
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External supply
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1
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2 A K
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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.
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: 2004-09-28 : : : : : : :
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Table of contents
Date 2004-09-13 2004-09-13 2004-09-23 2004-09-22 2004-09-22 2004-09-22 2004-09-23 2004-09-22 2004-09-22 2004-09-22 2004-09-22 2004-09-22 2004-09-22 2004-09-22 2004-09-22 2004-09-22 2004-09-22 2004-09-22
DIN_INV_30_1
Plant
Location
Editor
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DOKUMENTEDKB DOKUMENTEDKB DOKUMENTEINV DM ORT DM ORT DM ORT DM ORT DM ORT DM ORT DM ORT DM ORT DM ORT DM ORT DM ORT DM ORT DM ORT DM ORT DM ORT
Page description Title page Title page Table of contents: (1 - 18) VIEW OF DRIVE MODULE VIEW OF DRIVE MODULE MAINS CONNECTION TRANSFORMER UNIT POWER SUPPLY CONTACTOR BOARD POWER UNITSERVO DISCONNECTOR AXIS COMPUTER UNIT AXIS COMPUTER UNIT VIEW OF DRIVE MODULE RECTIFIER AND BLEEDER FAN UNIT ADDITIONAL AXIS 1-3, DRIVE UNIT NO 7 ADDITIONAL AXIS 1-3, DRIVE UNIT NO 8 ADDITIONAL AXIS 1-3, DRIVE UNIT NO 9
Page supplementary field Approved Approved Approved Approved Approved Approved Approved Approved Approved Approved Approved Approved Approved Approved Approved Approved Approved Approved
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A41.1.3
K43
K42
K44
Z1
A43 F1 K41 F2
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X7
X11
X5 X8 X9
X9
X6 X4
X22
X2 X3 X8
X11 X12
X21
X23 X10
X24
X5
X1
X4
X10
X6 X1
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-X1
200V
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-110 -111
BK BK BK
A1 A2
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MAINS CONNECTION
-112
=DM +L1
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CONTACTOR UNIT
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OG
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-463 -464
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AWG16 3 AWG16 5
-F2
-X1
-152
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AWG16 BK
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OG
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POWER SUPPLY
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-155
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6
-141
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-140
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230V AC2
230V AC1
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3HAC020538-002 02
CONTACTOR UNIT
=DM +A43
BU PTC1 1 0V BRAKE 2 PTC1 ret 3 0V BRAKE 4 2 3 4 0V COOL 1 +24V COOL 2 FAN1 3 FAN1 ret 4 2 4 2 1 BU
-464
-463
RUN CH1 1
-X1
RUN CH2
-X10
LIM2 ch1 1 3
-X22
24VDrive 0VDrive
LIM2 ch2
24VDrive
-X23
1 +24V COOL 3 FAN2 4 2 FAN2 ret 4 3 2 1
0V COOL
-X11
LIMIT OVERRIDE
-X21
0VDrive
LIM1 ch2
-X12
1
-491
AWG20 BU
+24V
h
-492
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ENABLE2_1 5 INTERLOCKING 6 7 8
-X1
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OG 5 7 8
AXIS /11.2 / -RS485+ /11.2 / -RS485COMPUTER /11.2 / -0V ENABLE2 /11.2 / -ENABLE2
K1 4
WHOG
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SELF1
LOCK1A
LOCK2B
0V COOL
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0V COOL
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/8.3 / -24V BRAKE /8.4 / -0V COOL /8.4 / -+24V COOL /8.3 / -24V BRAKE /8.4 / -0V BRAKE /8.4 / -0V BRAKE
1 2 3 4 5
BRAKE
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AWG16 BU
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-X7
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-475 -476
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-H1
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-484 -485
22 21
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EXTCONT
34
33
3 4
34
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24V DRIVE
6
PTC2
1
PTC2 0V
2 EXT. LAMP BRAKE REL.
-X40
1 2
AWG16 BU
-X9
AWG16 BU 4 3 AWG16 BU
-490
BU 14 13
-489
BU 13 14
-487
AWG16 BU
24V BRAKE
AWG16 BU 22 21 AWG16 BU 6 5
-488
AWG16 BU 2
AWG16 BU
-F1
BK 2 BK 4 BK 6
-119
1
-L1 / /7.3
7
I>
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-120
3
RECTIFIER
I> I>
-121
5
3HAC020538-002 02
=DM +A41.1
-X1
1
/8.5 / -+5V
BK
1
-X10
2
/8.5 / -ACOK RD
6
/8.5 / -BRAKEOK
OG
BK 11 7
-CLK RECEIVER +DATA RECEIVER -DATA RECEIVER +FRAME TRANSMITTER 3 -FRAME TRANSMITTER 4 +CLK TRANSMITTER 8 -CLK TRANSMITTER 9 +DATA TRANSMITTER 13 -DATA TRANSMITTER 14 GND
/8.5 / -TEMPOK
TX+ 1 BK GN BK BU
-X2
TX-
RX+
RX-
/9.2 / -RS485+
-X6
CONTACTOR UNIT
/9.2 / -RS485-
/9.2 / -ENABLE2
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3 UNITS FOR IRB140, IRB1400, IRB2400, IRB340 6 UNITS FOR IRB4400, IRB940, IRB6600, IRB7600
A41.1.4 SINGLE SERVO DRIVE UNIT OPTION: EXT AXIS 8 A41.1.3 SINGLE SERVO DRIVE UNIT OPTION: EXT AXIS 7 A41.2 RECTIFIER
DC-BUSBAR
A41.2 RECTIFIER
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CONTACTOR UNIT
-L12 / /10.7 -L22 / /10.7
AWG10 BK
AWG10 BK
-128
-129
-130
-L32 / /10.7
=DM +A41.1
-X32
1 2 3 4
BLEEDER -X33
-132
1
AWG12 BK 1
Spare BN 1 2 6 7 11 12 3 4 8 9 13 14 5 10 2 BK RD BK OG BK YE BK GN BK BU BK VT
-X2
BK
AWG26
-X30
-R1.1
2
Spare
+24V
0V
-133
AWG12
DATA_TO_DRIVE
DATA_TO_DRIVE_N
11
ENABLE
12
ENABLE_N
CLK
CLK_N
DATA_TO_RECT
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14
+5V
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10
-71
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4
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RD
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-461
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+24V
-354 -350
-462
OG
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-352
M
3
M
3 BU BN
2
M
3 -351 -355
1 -E41
1 -E42
1 -E43
1 -E44
M
3
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7 4 5 6
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Page description Title page Title page Table of contents: (1 - 15) SERVO DRIVE SYSTEMIRB 6600-7600 CONTROL CABLEIRB 6600-7600 POSITION SWITCH 1IRB 6600-7600 POSITON SWITCH 2/3IRB 6600-7600 POSITION SWITCH 2/3 AND COOLING AXIS 1,2 COOLINNG AXIS 1,2 CUSTOMER POWER/SIGNALSIRB 6600-7600 CUSTOMER POWER/SIGNALS/DeviceNetIRB 6600 CUSTOMER POWER/SIGNALS/IBSIRB 6600-7600 CUSTOMER POWER/SIGNALS/PROFIBUSIRB 6600EXTERNAL AXIS no 7 EXTERNAL AXIS no 8
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10
11
677 678 679 680 681 682 683 684 685 686 687 688
12
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Page description Title page Title page Table of contents: (1 - 9) SERVO DRIVE SYSTEMIRB 4400 CONTROL CABLEIRB 4400 CUSTOMER POWER/SIGNALIRB 4400 POSITION SWITCHIRB 4400 EXTERNAL AXIS no 7 EXTERNAL AXIS no 8
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3HAC020538-002 02
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1
We reserve all rights in this document and in the information contained therein.Reproduction, use or disclosure to third parties without express authority is strictly forbidden. Copyright 2003 ABB
Latest revision:
=DM +A41.1
32 0,00
-XS/XP1
-X17
-R1.MP1-3
M1R
13
BUGN BURD
-400 -402
AWG14 BK AWG14 BK
A1
M1S
17 M1T 15 M2T 3 M2S 5 M2R 1
A3 AWG14 BK
DC-BUSBAR
A9
-R1MP4-6
M4R 6 M4S 9 M4T 12 M6T 3 M6S 2 M6R 1
-X18
AWG14 BK AWG14 BK
1 2
B10
EPLAN
Lab/Office: 7 11 9
B9 AWG14 BK AWG14 BK
-X19
BKWH A13 BK
1 2
A15
B1
-425
B7
BNGN B6
-424
Approved
DRIVE MODULE
MANIPULATOR
3HAC020538-002 02
=DM +A42
-X4
A B C D E 3 4 8 5 9
-XS/XP2
-R1.SMB
6 F G H J K L 2 6 7
BATSUP BATLD
32 0,00
-XS/XP40
Ext. Lamp C7 Brake PB B16 Brake Release B12 Brake Release B13
-433
AWG16 BU AWG16 BU AWG16 BU AWG16 BU OG GYBU GYBK
-XS/XP1
-R1.H1
1
-R1MP4-6
15 8
CONTACTOR UNIT
0V Brake B14 PTC C2 PTC 0V C1 0V Brake B15
-X5
-439 -440 -437
-R1.MP1-3
2
-X21
D2
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Latest revision:
Status:
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EPLAN Document no.
3HAC020538-002 02
CONTROL MODULE
Customer Connection
AWG 24 OG
-XS/XP5
625
B5
-XP/XT5
-R1.CS
1
CSA CSB
626
C5 9
627
D5 2
CSC CSD
A6 10
628 629
B6 3
CSE CSF
C6 11
630 631
D6 4
CSG
CSH
A7 12
632 633
B7 5
CSJ CSK
C7 13
634 635
D7 6
10
CSL
11
636
A8 14
CSM
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Latest revision:
Status:
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EPLAN Document no.
3HAC020538-002 02
-X21 U
W W
V V
CONTACTOR UNIT
PTC
AWG16 BU E1 AWG16 BU E2 E3 E4 E5 E6
-X24 PTC 0V
0V BRAKE
AWG16 BU
-4012
F9 F10 F11
-X22 LIM2 ch1 LIM2 ch1 ret LIM2 ch2 LIM2 ch2 ret
-4008 -4009 -4007 -4006
-XS40
EXT LAMP BRAKE REL. BRAKE REL. BRAKE PB
F5 F6 AWG16 BU AWG16 BU F7 F8
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-4010 -4011
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AWG16 BU AWG10 GNYE AWG16 BU AWG16 BU AWG16 BU Lab/Office:
-XP40 -445
-447
-448
-446
Latest revision:
Status:
Approved
EPLAN
EXTERNAL AXIS no 7
Document no.
3HAC020538-002 02
FOR 8 AXIS
U
2
W
3
W
4
V
5
V
6
=DM +A41.1.5
1
W
3
W
4
V
5
V
6
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EPLAN
Document no.
3HAC020538-002 02
ABB Automation Technology Products AB Robotics S-721 68 VSTERS SWEDEN Telephone: +46 (0) 21 344000 Telefax: +46 (0) 21 132592
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