3HAC024480-011 - Rev00 Robot 12

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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.
We reserve all rights in this document and in the information contained therein.Reproduction, use or
Except as may be expressly stated anywhere in this document, nothing herein shall be construed as any
disclosure to third parties without express authority is strictly forbidden. © Copyright 2003 ABB
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 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 2004 ABB ALL right reserved.
ABB AB
SE-721 68 Västerås
Sweden
Latest revision: Lab/Office: Status: Plant:

2013-09-27 =
DMRO SE/ IRC5 DESIGN 14 Rel13.2
PRH APPROVED Location: +
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Document no. Rev. Ind Page1
Next 2
Prepared by, date: Stalnacke Approved by, date: Törnros 3HAC024480-011 00 Total
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TABLE OF CONTENTS
PAGE PAGE DESCRIPTION Date Edited by
1 COPYRIGHT page 2013-09-26 Thomas
2 TABLE OF CONTENTS 2013-09-26 Thomas


6 SYMBOL INFORMATION 2013-09-26 SETHSTA
7 View of CONTACTS 2013-09-26 Thomas
8 REVISION INFOMATION 2013-09-26 SETHSTA
9 Device list sorted by Location name 2013-09-26 Thomas

10 Device list sorted by Location name 2013-09-26 Thomas
11 Device list sorted by Function name 2013-09-26 Thomas

12 Device list sorted by Function name 2013-09-26 Thomas
13 BLOCK DIAGRAM CONTROLL MODULE 2013-09-26 SETHSTA

14 BLOCK DIAGRAM SINGLE DRIVE MODULE 2013-09-26 SETHSTA
15 BLOCK DIAGRAM DRIVE MODULE 2013-09-26 SETHSTA
16 FRONT VIEW OF SINGLE CABINET MDU HV 2013-09-26 SETHSTA
17 FRONT VIEW OF SINGLE CABINET MDU LV and HV 2013-09-26 SETHSTA
18 SIDE VIEWS OF SINGLE CABINET 2013-09-26 SETHSTA
19 VIEW OF DRIVE MODULE CABINET 2013-09-26 SETHSTA

20 VIEW OF PANEL BOARD 2013-09-26 SETHSTA
21 VIEW OF CONTACTOR & AXIS COMPUTER UNIT 2013-09-26 SETHSTA
22 VIEW OF VOLTAGE MEARSUREMENT BOX 2013-09-26 SETHSTA
23 CONTACT AT THE CABINET WALL 2013-09-26 SETHSTA
24 OPT:POWER SUPPLY DSQC609 2013-09-26 SETHSTA
25 RUN CHAIN and PANEL BOARD block diagram A21 2013-09-26 Thomas
26 RUN CHAIN and PANEL BOARD A21 part one 2013-09-26 Thomas
27 RUN CHAIN and PANEL BOARD A21 part two 2013-09-26 Thomas
28 RUN CHAIN and PANEL BOARD A21 part three 2013-09-26 Thomas
29 RUN CHAIN, EMERGENCY STOP, 2 AND 3 MODE SELECTOR 2013-09-26 Thomas
30 FPU, FLEXPENDANT and option HOT PLUG 2013-09-26 Thomas
31 RUN CHAIN, EXTERNAL EMERGENCY STOP, 2 AND 3 MODE SELECTOR 2013-09-26 Thomas
32 RUN CHAIN EXT OPERATING WITH OPT: HOT PLUG rel 11.1 2013-09-26 Thomas
33 OPTION: EXT.CUSTOMER CONNECT. SYSTEM SIGNALS 2013-09-26 Thomas

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TABLE OF CONTENTS
34 Main Computer/AnybusCC/RS232 Exp./Interface Board/ 2013-09-26 Thomas
35 MAIN COMPUTER DSQC1000 2013-09-26 SETHSTA

36 MAIN COMPUTER DSQC1000 2013-09-26 SETHSTA
37 FIELDBUS ADAPTER: ETHERNET/IP, PROFIBUS and PROFINET IO 2013-09-26 SETHSTA

38 PROFIBUS DP M/S 2013-09-26 Thomas
39 DEVICENET SINGLE/DUAL ADAPTER 2013-09-26 Thomas
40 DEVICENET ADAPTER 2013-09-26 SETHSTA
41 ETHERNET SWITCH 2013-09-26 Thomas
42 DISPENCE PAC SUPPORT 2013-09-26 SETHSTA

43 VISION, INTEGRATED CAMERAS 2013-09-26 Thomas
44 ETHERNET SWITCH/CAMERA 2013-09-26 Thomas

45 DIGITAL PART OF COMBI I/O AND DIGITAL I/O UNIT 2013-09-26 SETHSTA
46 DIGITAL I/O UNIT 2013-09-26 SETHSTA

47 COMBI I/O UNIT 2013-09-26 SETHSTA
48 RELAY I/O UNIT 2013-09-26 SETHSTA
49 RELAY I/O UNIT 2013-09-26 SETHSTA
50 ANALOGUE I/O UNIT 2013-09-26 SETHSTA
51 REMOTE I/O UNIT 2013-09-26 SETHSTA
52 ENCODER UNIT 2013-09-26 SETHSTA

53 REMOTE SERVICE 2013-09-26 SETHSTA
54 MAINS CONNECTION 2013-09-26 SETHSTA
55 TRANSFORMER UNIT 480V 2013-09-26 SETHSTA
56 TRANSFORMER UNIT 262V 2013-09-26 SETHSTA
57 OPTION : SERVICE OUTLET 2013-09-26 SETHSTA
58 POWER SUPPLY DSQC 626 AND 627 FOR DRIVE MODULE 2013-09-26 Thomas
59 POWER SUPPLY DSQC 661 AND 662 2013-09-26 SETHSTA
60 FAN UNIT 2013-09-26 SETHSTA
61 CONTACTOR BOARD 2013-09-26 SETHSTA
62 CONTACTOR UNIT 2013-09-26 SETHSTA
63 CONTACTOR UNIT 2013-09-26 SETHSTA
64 CONTACTOR BOARD 2013-09-26 SETHSTA
65 AXIS COMPUTER UNIT 2013-09-26 SETHSTA
66 AXIS COMPUTER UNIT 2013-09-26 SETHSTA

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TABLE OF CONTENTS
67 FORCE MEASUREMENT BOX 2013-09-26 SETHSTA
68 EPS 2013-09-26 SETHSTA

69 SAFE MOVE 2013-09-26 SETHSTA
70 SAFE MOVE 2013-09-26 SETHSTA

71 MAIN DRIVE UNIT and ADDITIONAL AXIS 1-3 for LV 2013-09-26 SETHSTA
72 MAIN DRIVE UNIT and ADDITIONAL AXIS 1-3 for HV 2013-09-26 SETHSTA
73 EXTERNAL AXIS no 7 2013-09-26 SETHSTA
74 EXTERNAL AXIS no 8 - 9 2013-09-26 SETHSTA
75 SERVO DRIVE SYSTEM IRB 120 2013-09-26 Thomas

76 CONTROL CABLE IRB 120 2013-09-26 Thomas
77 CUSTOMER SIGNALS IRB 120 2013-09-26 Thomas


80 CUSTOMER SIGNAL SINGLE CABINET IRB 140 2013-09-26 Thomas
81 SERVO DRIVE UNIT IRB 260 2013-09-26 Thomas
83 CUSTOMER POWER/SIGNAL SINGLE CABINET IRB 260 2013-09-26 Thomas
84 SERVO DRIVE UNITS IRB 360 2013-09-26 Thomas

86 CUSTOMER SIGNAL SINGLE CABINET IRB 360 2013-09-26 Thomas
89 CUSTOMER POWER/SIGNAL IRB460, 660, 760 2013-09-26 Thomas
90 C-BUS/P-BUS/ to CP/CS IRB460, 660, 760 2013-09-26 Thomas
91 SERVO DRIVE SYSTEM IRB 660, 760 2013-09-26 Thomas
92 CONTROL CABLE IRB 660, 760 2013-09-26 Thomas
95 CUSTOMER SIGNALS SINGLE CABINET IRB 1410 2013-09-26 Thomas
98 CUSTOMER SIGNALS IRB 1520 2013-09-26 Thomas

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TABLE OF CONTENTS


107 CUSTOMER POWER/SIGNAL IRB2600 2013-09-26 Thomas
108 CUSTOMER POWER/SIGNAL DEVICE NET IRB2600 2013-09-26 Thomas

109 CUSTOMER POWER/SIGNAL PROFI BUS IRB 2600 2013-09-26 Thomas
110 DevNet/PofiNet/Ethernet/Profibus addition to CP/CS IRB2600 2013-09-26 Thomas


116 CUSTOMER POWER/SIGNAL IRB4600 2013-09-26 Thomas
117 CUSTOMER POWER/SIGNAL DEVICE NET IRB4600 2013-09-26 Thomas
118 CUSTOMER POWER/SIGNAL PROFI BUS IRB 4600 2013-09-26 Thomas

119 DevNet/ProfiNet/Ethernet/Profibus addition to CP/CS IRB4600 2013-09-26 Thomas
120 SERVO DRIVE SYSTEM IRB 66xx - 76xx 2013-09-26 Thomas
121 CONTROL CABLE IRB 66xx - 76xx 2013-09-26 Thomas
122 COOLING AXES 1/2 SINGLE CABINET IRB 6600 - 7600 2013-09-26 Thomas
123 CUSTOMER POWER/SIGNAL SINGLE CABINET IRB 6600 - 7600 2013-09-26 Thomas
124 DevNet//IBUS//PBUS ADDITION TO CP/CS IRB 6600 - 7600 2013-09-26 Thomas
125 CUSTOMER POWER/SIGNAL SINGLE CABINET PROFI BUS IRB 6600 - 7600 2013-09-26 Thomas
126 CUSTOMER POWER/SIGNAL SINGLE CABINET INTERBUS IRB 6600 - 7600 2013-09-26 Thomas
127 CUSTOMER POWER/SIGNAL SINGLE CABINET DEVICE NET IRB 6600 - 7600 2013-09-26 Thomas
128 SERVO DRIVE SYSTEM IRB 6400R 2013-09-26 Thomas
129 CONTROL CABLE IRB 6400R 2013-09-26 Thomas
130 CUSTOMER POWER/SIGNAL/BUS IRB 6400R 2013-09-26 Thomas

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Strömtransformator/
Current transformer.
Stomme, ramverk/
Functional equipotential bonding Slutkontakt/ Column coordinate number on the drawing
Make contact, general.
Likström, DC / Wire/connector one colour code.

Stomme, ramverk/ Handmanövrerad brytare, allmän/ Direct current, DC. BK = Black, BN = Brown, RD = Red, OG = Orange
Functional equipotential bonding Switch manually operated, general.
YE = Yellow, GN = Green, BU = Blue, VT = Violet
GY = Grey, WH = White, PK = Pink, TQ = Turquoise
Växelström, AC /
Styrning med spak/
Alternating current, AC.
Actuator (operated by lever). Wire/connector two colour code.
Jord, allmän symbol/
Earth , general symbol. Example 1 : WH/RD = White and Red.
Styrning genom vridning/ Styrning, elektromagnetisk styrdon/ Example 2 : GNYE = Green and Yellow.
Actuator(operated by turning). Actuator, by electromagnetic.
Example: Cable with four colour coded wire,
Störningsfri jord/ square area AWG24 and cable number 709.
Ethernet signal:
Functional earthing. Styrning genom tryckning/ 1. Transmit TX+ or TX- and receive RX+ or RX-
Actuator(operated by pushing). 709

2. Unit possible to transmit or recieve TX+/RX+ or TX-/RX- AWG24 BK
BN
3. Ethernet Gigabit signal, transmit pair one MX1+ , MX1-
Skyddsjord/ Nödstopp (svamptryckknapp)/ and receive the MX2+ , MX2- RD/OG
Protective earthing. Actuator, emergency. BK/OG
If Gigabit transmit pair MX3+ , MX3- and receive pair MX4+ , MX4-
Translation table square area from AWG to mm2.

Tvinnade ledare/ Skarvhylsa
Twisted conductors. Through joint AWG28 0,093 AWG18 0,93
AWG26 0,15 AWG16 1,25
AWG24 0,25 AWG14 2,44
AWG22 0,34 AWG12 3,02
Trippel tvinnade ledare/
Filter/ AWG20 0,56 AWG10 4,65
Triple twisted conductors.
Filter.
Fyrdubbelt tvinnade ledare/ Lampa/

Quadruple twisted conductors. Lamp.
Part A Example, showing how to read the information before and after a signal.
Tvinnade ledare part A med part B
Twisted conductors part A with part B
Kontakthylsa hona/
Socket outlet female. Extra sheet number .1.
Part B Signal name
Wire number Wire data AXIS COMP: BOARD
A42
XP1 = Pin
-W725 AWG20 BK
(92) (92.1) +24V DRIVE;2
1
Skärm/ Kontaktstift hane/
Pin male. Signal counter XS1 =Socket X1 = PIN or Socket
Shield.
Target sheet 92
Target sheet 92.1
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Top view 4 pole Phoenix Power connection 64 pole. XP1 Position for Micro/Mini Fit (principal)
Industrial connector Harting/Amphenol
Top view Front view Back view 6 pole. Side view
Side view
XS1
1 6 5 4
3 2 1
Earth conn.
XS4013
A43.X5

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Revison 00 2013 09 R13.2


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Location name Function name Page Location name Function name Page
G9 POWER SUPPLY not 1) 58 A21 EXT.CONTROL PANEL 31
A21-S21 2-MODE SELECTOR 31 A21 EXT.CONTROL PANEL 32
A21-S21 2-MODE SELECTOR 29 E2-M1 EXTERNAL COMPUTER FAN 60
A21-S21.1 3-MODE SELECTOR 31 E1-E44 Fan unit 60
A21-S21.1 3-MODE SELECTOR 29 E1-E43 Fan unit 60
A41.3 ADDITIONAL DRIVE UNIT 73 E1 FAN UNIT 60
A41.4 ADDITIONAL DRIVE UNIT 74 E1-E41 FAN UNIT 60
A41.5 ADDITIONAL DRIVE UNIT 74 E1-E42 FAN UNIT 60
A41.3 ADDITIONAL DRIVE UNIT 71 ETH_FPU FLEXPENDANT 30
A41.5 ADDITIONAL DRIVE UNIT 71 E3 INTERNAL FAN 60
A41.2 ADDITIONAL RECTIFIER UNIT 71 E3-M1 INTERNAL FAN 60
I/O.X ANALOGUE I/O UNIT 50 A31 MAIN COMPUTER 35
F1 AUTOMATIC FUSE 62 A31 MAIN COMPUTER DSQC 1000 36
F2 AUTOMATIC FUSE 58 A41.1 MAIN DRIVE UNIT LV unit 71
A42 AXIS COMPUTER BOARD 65 A41 MAIN SERVO DRIVE UNIT 93

R1.1 BLEEDER 71 A41.1 MAIN SERVO DRIVE UNIT 128

K44 BRAKE CONTACTOR 62 A41.1-6 MAIN SERVO DRIVE UNIT 102
C1 CAPACITOR 92 A41.1 MAIN SERVO DRIVE UNIT 81
C2 Capacitor 0,47uF 73 A41.1 MAIN SERVO DRIVE UNIT 111
F5 CIRCUIT BRAKER 57 A41.1 MAIN SERVO DRIVE UNIT 91
I/O.X COMBI I/O UNIT 47 A41.1 MAIN SERVO DRIVE UNIT 65
A43 CONTACTOR BOARD 73 A41.1 MAIN SERVO DRIVE UNIT 75
A21 CONTROL PANEL 29 A41.1 Main servo drive unit 2600 105
G6 DEVICENET POWER SUPPLY 24 A41.1 Main servo drive unit 460 87
A32.4 DEVICENET IO Fieldbus adapter DSQC 1004 Slave 37 A41.1-8 Main servo drive unit 4600 114
A31.2 DeviceNet M/S DSQC1006 39 Q1 MAINS SWITCH 54
I/Ox DIG. PART OF COMBI I/O AND DIG. I/O UNIT 45 E5 MDU FAN 60
I/O.X DIG. PART OF RELAY I/O UNIT 48 A21-S21.2 MOTOR ON PB 31
I/O.X DIGITAL I/O UNIT 46 A21-S21.2 MOTOR ON PB 29
FMB-A1 DSQC686 VOLTAGE MEASURE BOARD 67 K42 MOTORS ON CONTACTOR 1 62
F4 EARTH FAULT BREAKER 57 K43 MOTORS ON CONTACTOR 2 62
A21-S21.3 EMERGENCY PB 31 A21-S22 OPTION : HOT PLUG 32
A21-S21.3 EMERGENCY PB 29 E5-M1 OPTION : INTERNAL FAN 60
I/O.X ENCODER UNIT 52 P1 OPTION :DUTY TIME COUNTER 61
G3 ENERGY BANK 59 FMB Option: 738-1 67
A62 Ethernet switch 41 F6 Option: CIRCUIT BRAKER 54
A64 Ethernet switch 44 A61 Option: REMOTE SERVICE BOX DSQC680 53
A32.1 ETHERNET/IP Fieldbus adapter DSQC 669 Slave 37 A32 OPTION: 232/ Expansion board SERIE DSQC1003 36
E2 EXT.COMPUTER FAN 60 Z1 OPTION: MAINS LINE FILTER 54

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Prepared by, date: Stalnacke Approved by, date: Törnros 00 Total 131
1 2 3 4 5 6 7 8
A23 OPTION:STATUS LED ON FRONT 28
A21 PANEL BOARD 28
A21 PANEL BOARD 33
A21 PANEL BOARD Sh 1 of 3 26
G2 POWER DISTRIBUTION BOARD DSQC662 59
G1 POWER SUPPLY DSQC661 59
A57 Process Interface Board (PIB) 42
A32.2 PROFIBUS Fieldbus adapter DSQC 667 Slave 37
A31.3 PROFIBUS M 38
A32.3 PROFINET IO Fieldbus adapter DSQC 688 Slave 37
Z2 REAKTOR UNIT 55
RELAY I/O RELAY I/O UNIT 49
K41 RELAY UNIT 58
I/O.X REMOTE I/O UNIT 51
H1 STATUS DIOD DRIVE MODULE 62

S1 SWITCH 60
T1 TRANSFORMER UNIT 56
T1.1 TRANSFORMER UNIT 55

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230V
F2
XT16
G1
AC
DC
Option Option Option

Devicenet PS Customer PS Customer PS
G3 G2 G6 G4 G5
AC AC AC
Ultra cap DC
DC DC DC
A21 A31
Computer
Panel module
board
I/Ox
I/O
unit
S21
Ethernet service
Control Customer Customer

panel FPU
Field bus
connection connection
Drive
Drive
WAN
USB
LAN

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-Q1 3 x 200-600VAC
Z1
T1
G1
AC
DC
Z2
G2
DC
Option
Service outlet
F1
A42
AXC
F5 A43
A31
A21 CB K42
F4
Earth K43
fault
prot.
A41
DRIVE
X22
Service
outlet
X1 X2 X1

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-Q1 3 x 200-600VAC
Z1
T1
F2
G1
AC
Z2
DC
Option
Service outlet
F1
A42
AXC
F5 A43
A31
A21 CB K42
F4
Earth K43
fault
prot.
A41
DRIVE
X22
Service
outlet
X1 X2 X1

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FRONT FRONT VIEW Opt. inside door with I/O and ETHERNET switch
PANEL
G4 G5 A31
Q1
E3
S21.3
XT5.3
XT5.3
XT6
XT6
S21.2 G3
XT5.1
XT5.2
XT5.1
XT5.2
S21.1
A62 or A64 or A65
X1 X6
X24 G2
S22
X2
X23 A41
XS4
XT31
XT31
I/O1
I/O2
I/O3
I/O4
X2
X3
P1 G1
E5
A62
X3
X5
X4
X22 X1
I/O 2.X5 I/O 1.X5
XT16
F2
A41 A41 A41
F1 Denomination Unit Pos. No Opt. No
Digital 24 VDC I/O 1-4 716-1

XS41 AD Combi I/O I/O 1-4 717-1
XS9 Digital with relay I/O 1-4 718-1
XS5/XS13
XS2 Analog 4 in/4 out I/O 1-4 719-1

XS3
Profibus DP Slave I/O 1-4 720-1

XP28 Interbus-S Slave I/O 1-4 722-1
CC-link slave I/O 1-4 723-1
XP0 PE XS1 XS7 XS17 ENC unit I/O 1-4 726-1
Ethernet switch A62 901-1


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FRONT VIEW FRONT VIEW

MAIN DRIVE UNIT FOR IRB 120 - 1600 MAIN DRIVE UNIT FOR IRB 2400 - 76XX
LV Low voltage HV High voltage
E3 E3
G3 G3
X1
X6
X7
X1
X2
G2 X16 X15 X14 X2 G2 X6 X7 X14 X15 X2 X16 X1
UPPER SIDE X8
UPPER SIDE X9
X8 and X9 on
X6 the upper side.
X8 UPPER SIDE
X9 UPPER SIDE
X7 A41.1
G1 A41.2 G1
A41.1
X21
X22
X23
X13 X11 X12 X21 X11 X22 X12 X23 X13
X2 X2 X2 X2 X2 X2
X1 X1 X1 X1 X1 X1
F2 X6 X6 X6 F2 X6 X6 X6
A41.3 X7 A41.4 X7 A41.5 X7 A41.3 X7 A41.4 X7 A41.5 X7
F1 X8 X8 X8 F1 X8 X8 X8
X9 X9 X9 X9 X9 X9
X4
X9
STATUS X7
G2 LED LABEL
X6
X5
X1 X3
X8 X2

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LEFT VIEW WITH LEFT VIEW RIGHT VIEW

FLANGE DISCONNECT
Q1
Q1 A21
E2
G6
G6 F6
A42
Z1 E1
F4
K42
K43
R1
K44 F5
T1
A43
Z2 A44

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LEFT FRONT FRONT RIGHT

VIEW PANEL VIEW VIEW
F6
ROOF-MOUNTED
Q1
Q1
E1
A42
Z1 H1 G9
F4 P1 G1
K43
K42
K44 F5 A41.1
X22
R1
T1
K41
A41.3 A41.4 A41.5
A43 F2
F1 A44
XS41
XS2
XP0 XS1 PE XS7 XS9

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We reserve all rights in this document and in the information contained therein.Reproduction, use or 1 2 3 4 5 6 7 8
PANEL
BOARD
A21
RL1 RL2 X4 X3
X12
X20 X5
X7 X8
X6
X15
RL3
X11 X14 X17
X18
X1
X10
RL4
X9 X2

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A42 Axis computer unit A43 Contactor unit A44.2 Safe move
X1 X7 X5 X9 X11 X6 X4 DSQC 647

24V Drive
X22
X4 X3
X8
X21
Measurement link 2 X5 X12
X24 Out
X11
X23
X10
In X9
X1 X10 X12
Relay output pair 1/2 X13
A44.1 EPS unit

Computer module link X2 DSQC 646
X1 Drive power supply
Drive link X11

X5
Contactor bord link X6

X6 Control signal
Drive power
X5 X6
supply
X4 LINK 1 LINK 1
Console port
X3
Process I/O LINK 2 LINK 2
X9
X9 X1 X7 X8 X4 X3

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-CONTROLLER Option: 738-1 -MANIPULATOR

-FMB
Reference to
circuit diagram 68 1) FMB.XP2 Bridge connector if no other option.
FMB
1) FMB.XP2 FMB.XS2
(FMB.X2) (FMB.X2) DSQC686 FMB.X3
FMB.A1.X2
R1.SMB FMB.X1 FMB.A1.X1

XP2 SMB
XS41

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Canbinet Canbinet
wall wall
XS0 -XP23
-PE / PE
1 GN/YE AWG 7/(10mm2) SERVICE PORT
/ 2 PE connection (35) (41) (54) / -XP23.1
1
(35) (41) (54) / -XP23.2
L1 2 SERVICE PORT
(55) / XS0 L1 -L:1 (35) (41) (54) / -XP23.3
L2 Mains power connection 3
(55) / XS0 L2 L3
-L:2 (35) (41) (54) / -XP23.6
6
(55) / XS0 L3 -L:3
XS1/XP1 Power cable sheet 89, 91, 94.5,

95, 98.2, 99, 105, 111, 115
117, 123, 128, 145
XS2/XP2 Signal cable sheet 90, 92

94.6, 96, 98.3, 100, 106,
112, 115.1, 118, 124, 129, 146
-XP28
Option: External WAN, Ethernet IP or ProfiNet -XP9 Option: External WAN, Ethernet IP or ProfiNet
(36) / -1.XP28.1
(36) (36) / -2.BI_DA+ 1
5.TXRX+ / (111) (120) (36) / -1.XP28.2
(36) (36) / -2.BI_DA- 1 2
5.TXRX- / (111) (120) (36) / -1.XP28.3
(36) (36) / -2.BI_DB+ 2 3
5.RXTX+ / (111) (120) (36) / -1.XP28.6
(36) (36) / -2.BI_DB- 3 6
5.RXTX- / (111) (120)
4
-XS17
(39) / XS17.3
3 Option: DeviceNet on front 730-1
(39) / XS17.5
5
-XS41
(39) / XS17.1 (67) (70) / MRCO2
1 A
(39) / XS17.4 (67) (70) / MRCO2_N
4 B
(39) / XS17.2 (67) (70) / MRCI2
2 (( )) C
(67) (70) / MRCI2_N
D / FMB (68)
-XS18 (67) (70) / MRC_0V4
(54) / XS18 E
Ext.SMB
(67) (70) / 24V_SMB2
F
(67) (70) / MRC_0V5 G
(67) (70) / MRC_0V6
J
Option: Remote service 890-1

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/ +24V CustomerConn
1
Latest revision:
/ 0V CustomerConn
-XT31
1
Prepared by, date: Stalnacke

(41) / XT31:1
(43) +24V I/O.1 / (60)
1
(44)
(41) /
2
XT31:5
(43)
(44)
G2
3
2
(43) /
4
1.XT31:2
0V I/O.1 / (60)
5
(43) / 2.XT31:2
5
6
(43) /
G4
1.XT31:6
Approved by, date: Törnros

7
(43) / 2.XT31:6
POWER
SUPPLY
CUSTOMER
3
-X1
-X2
-295 AWG16 BU -230V AC1.12 / (60)

AC
AC
24
-230V AC2.12 / (60)

DC
AC
24
-296 AWG16 BU
0
AWG16 GNYE
24V
0
GND
4
Customer
Connection
8
G5
0V
9
POWER
SUPPLY
PRH
CUSTOMER
10
-X1
Lab/Office:
-X2
DMRO SE/
-_295 AWG16 BU -230V AC1.13 / (60)
AC
AC
24
-230V AC2.13 / (60)

DC
AC
24
5
-_296 AWG16 BU
0
AWG16 GNYE
0
-703 AWG20
-704 AWG20
GND
BU
BU
(40) / -+24Vdevicenet.1
(40) / -0Vdevicenet.1
IRC5 DESIGN 14 Rel13.2
G6
OPT:POWER SUPPLY DSQC609
6
POWER
SUPPLY
DEVICENET
-X1
-X2
-297 AWG16 BU -230V AC1.11 / (60)

L
AC
24
(51) / -+24Vdevicenet.4 -230V AC2.11 / (60)

DC
N
24
-298 AWG16 BU
0
(52) / -+24Vdevicenet.5 AWG16 gnye

0
GND
Status:
7
APPROVED
Document no.
(54) / +24V Res

(54) / -0V ReS
2013-09-27
3HAC024480-011
Plant:
Sublocation:+
Location: +
=
8
00 Total
Next 25
Rev. Ind Page24
1 2 3 4 5 6 7 8
Block diagram for the Run chain and Control Panel with Options.
2Cross reference to unit A21 / (28) 2Cross reference to unit A21 / (28) 3Cross reference to S.21 / (29) 3Cross reference to S.21 / (29)
CONTROL MODULE CABINET CONTROL PANEL OPTION

-S21.1 (2 OR 3-MODE SELECTOR) OPTION TERMINAL
A21 PANEL BOARD S21.1-X1
X9
3Cross reference to S.21 / (29)
S21.2 MOTOR MO PB
3Cross reference to S.21 / (29)

6Cross reference to XS.4 / (30)
S21.3 EMERGENCY STOP PB
FLEX PENDANT
XS4
4Cross reference to DP.1 / (30)
5Cross reference hot plug S.22 / (30)
DP1-DP2 double press
Option Hot plug
X10
9Cross reference to A31.X3 / (35)
MAIN COMPUTER
A31.X3
2Cross reference to unit A21 / (28) 1Cross reference to EXT A21 / (31)
Block diagram for the Run chain and External Control Panel with Options.
CONTROL MODULE CABINET EXTERNAL CONTROL PANEL 1Cross reference to EXT A21 / (31) 1Cross reference to EXT A21 / (31)
OPTION
EXT-S21.1 (2 OR 3-MODE SELECTOR) OPTION TERMINAL
A21 PANEL BOARD EXT.S21.1-X1
X9
1Cross reference to EXT A21 / (31)
EXT.S21.2 MOTOR MO PB
1Cross reference to EXT A21 / (31)

6Cross reference to XS.4 / (30)
EXT.S21.3 EMERGENCY STOP PB
FLEX PENDANT
XS4
7Cross reference to DP.3-4 / (31)
DP3-DP4 double press
8Cross reference to Ext Hot Plug S.22 / (32)
X10
9Cross reference to A31.X3 / (35)
MAIN COMPUTER
A31.X3

2013-09-27 =
RUN CHAIN and PANEL BOARD block diagram A21 Sublocation:+
Next 26
1 2 3 4 5 6 7 8
PANEL BOARD Sh 1 of 3
-A21
-X1
ES1 top / RCH1.2 (28)
3
FPU
-X2
JUMPER
ES2 top / RCH2.2 (28)
(33)
JUMPER
2. See pages
EXTERNAL 0V 0V
4
EMERGENCY 24V Panel 24V PANEL
4
STOP PB
Run CH1 top

5
Run CH2 top
5
EMERGENCY ES1OUT:A
1
STOP OUTPUT 1 ES2 OUT:A
OPTION: EXTERNAL CONNECTIONS
1
EMERGENCY ES2 OUT:B

2
STOP OUTPUT 2 ES1OUT:B EXTERNAL
2
CONTROL
Sep ES2:A / RunCh_0V.1 (28) PANEL
9
Sep ES1:A / RunCh+.1 (28) EM. PB
9
-ES1 -ES2
JUMPER
JUMPER
U U
Sep ES1:B
10
Sep ES2:B
10
ES2 bottom
JUMPER
7
EXTERNAL ES1 bottom
JUMPER
7
SUPPLY 0V
8 RunCh+
24V Panel RunCh+
8
SOFT_ESO
24V PANEL
SOFT_ESI
0V
ES1:int
EMERGENCY STOP 6
(27) / -RunCh+
(27) / -RunCh_0V
(27) / -RCH2
(27) / -RCH1
RELAY SIGNALS ES2:int
6
ES1 ES2

2013-09-27 =
RUN CHAIN and PANEL BOARD A21 part one Sublocation:+
Next 27
1 2 3 4 5 6 7 8
-A21
(28) / -SPEED
-X7
RUN CH1 -RUN_CH1 / (62)
/ (26)
1
0V RUN CH1Ret -RUN_CH1Ret / (62)
24V PANEL
A43.X1
Drive module1
2
/ (28)
/ (28)
/ (26)
/ (26)
-X5
/ (26)
-RunCh_0V
RUN CH2Ret -RUN_CH2Ret / (62)
/ (28)
/ (28)
JUMPER 24V PANEL
12 4
JUMPER 24V PANEL 24V PANEL RUN CH2 -RUN_CH2 / (62)
-MAN2
-MAN1
-RCH2
-RCH1
-RunCh+
6 3
JUMPER 0V SPEED -SPEED.1 / (62)
-EN2
-EN1
7 5
JUMPER 0V 0V -0V / (62)
1 6
AUTO STOP
ENABLE2_1 -ENABLE2.1 / (62)

7
AS1+ ENABLE2_1Ret -ENABLE2_1Ret / (62)
11 8
AS1 AC_ON1 AC_ON.1 / (59)
9
AS1 0V 0V.1 / (59)
& 10
(33)
AS1-
AS2+ 9 AS2 SOFT AS

1.See pages
5 -X8
RUN CH1
1
AS2 0V RUN CH1Ret
2
RUN CH2Ret
4
AS2- 24V PANEL RUN CH2 BU
3 3
GS1+ GS1 SPEED
10 5
0V if not used Drive
6
GENERAL STOP
GS1 ENABLE2_2
Option: External Enable Device
7 module2
& ENABLE2_2Ret BU
A43.X1
8
AC_ON1 if not used
9
GS1- SOFT GS 0V
8 10
GS2+ GS2
4
-X14
GS2 RUN CH1
1
0V RUN CH1Ret
2
GS2- CH1 RUN CH2Ret

4
2 24V PANEL RUN CH2
3
CH2 SPEED Drive
-X6 5
JUMPER 24V PANEL 0V if not used module3
6
JUMPER 6 0V ENABLE2_3 A43.X1
7
SS1+ 1 SS1 ENABLE2_3Ret BU
8
4 AC_ON1 if not used
9
SS1 0V
SUPERIOR STOP
10
-X17
SS1- SOFT SS RUN CH1
1
SS2+ 2 SS2 0V RUN CH1Ret
5 2
SS2 RUN CH2Ret

4
24V PANEL RUN CH2 BU
3
SPEED Drive
5
SS2- 0V if not used module4
6
ENABLE DEVICE
EN1_1A 3
EN1_1A.1 / (28) ENABLE2_4 A43.X1
7
EXTERNAL
EN1_1B 7 ENABLE2_4Ret BU
8
EN2_1B 8 AC_ON1 if not used
9
EN2_1A 9
EN2_1A.1 / (28) 0V
10 10

2013-09-27
RUN CHAIN and PANEL BOARD A21 part two Sublocation:+
Next 28
1 2 3 4 5 6 7 8
(25)
2Cross reference to unit A21 / (25)
(25) CONTROL MODULE
A21
(27) / SPEED 1
-X9
24V PANEL
A21X9:1 / (29) (31)
(27) / -EN2
1 AUTO2
A21X9:2 / (29) (31)
(27) / -MAN2
2 MAN2
A21X9:3 / (29) (31)
3 MAN FS2
A21X9:4 / (29) (31)
4 0V
A21X9:5 / (29) (31)
(27) / -EN1
5 AUTO1
A21X9:6 / (29) (31)
(27) / -MAN1
6 MAN1
A21X9:7 / (29) (31)
7 MAN FS1
A21X9:8 / (29) (31)
8 24V PANEL
A21X9:9 / (29) (31)
9 MOTON
A21X9:10 / (29) (31)
10 ES PANEL 2B
A21X9:11 / (29) (31)
11 ES PANEL 2B
(26) / RunCh_0V.1 A21X9:12 / (29) (31)
12 ES FPU2A
A21X9:13 / (29) (32)
13 ES FPU2A
A21X9:14 / (29) (32)
14 ES PANEL 1B
A21X9:15 / (29) (31)
15 ES PANEL 1B
(26) / RunCh+.1 A21X9:16 / (29) (31)

16 ES FPU1A
A21X9:17 / (29) (32)
17 ES FPU1A
A21X9:18 / (29) (32)
18 MONLMP
-X12 A21X9:19 / (29) (31)
(60) / +24VSYS 24V SYS 24V FPU POWER 19
(60) / -0VSYS
1
0V SYS -PE1 GN/YE EARTH GN/YE -PE1
(60) (61) / +24VCOOL
2
24V PANEL EARTH
3
(60) (61) / 0VCOOL
4
-X10 24V FPU
24VFPUPOWER / (32)
1 0V
0VPANELB / (32)
(27) / EN1_1A.1
2 EN1_1
EN1_1 / (30) (30)
(27) / EN2_1A.1
3 EN2_1
EN2_1 / (30) (30)
(26) RCH1.2 /
4 209 AWG20 BU
1.-ESFPU1:A / (30) (30)
5 210 AWG20 BU Connected only If
Jumper removed 1.-ESFPU1:B / (30) (30)
OPTION:STATUS 6
when option 211 AWG20 BU Internal Control Panel.
LED ON FRONT (26) RCH2.2 / 1.-ESFPU2:A / (30) (30)
7 Internal Control Panel 212 AWG20 BU
1.-ESFPU2:B / (30) (30)
-A23 8 FPU_START
9
A21X10:9 / (32)
24V PANEL AWG24

-ES2 -X11
-X15 1
OP_COM
-ES1 1 2
OP_MAN 24V PANEL WHGN +24V_Sig.ref. / (35)
3 3 BU -RS485+ / (35)
-SUP_ST2 4 WHBU -RS485- / (35) MAIN A31.X7
OP_AUTO 5
-SUP_ST1 COMPUTER
2 6
OP_MAN_FS WHBN -0V_Sig.ref. / (35)
4 7
-GS2 8
-GS1 -X2 AWG26 -X20

WHBN -S21.1-X1
1 1 1
BN -X18 Only in 3 mode selector EXT.MAN FS2
-AS2 2 2 2 / (29) (31)
WHOG RS485+ 24V COOL 24VCOOL / (61)
4 2 / EXT.MAN2 (29) (29) (31) (31)
connection
4 OG RS485- 3
-AS1 / EXT.AUTO2 (29) (29) (31) (31)
Customer
5 5 4
BU 24V DC EXTERNAL TACHO TACHO / (61) EXT.COMMON2 (29) (29) (31) (31)
3 3 3 5 Only in 3 mode selector /
-ENABLE1
WHBU COMPUTER EXT.MAN FS1 (29) (31)
6 6 6 /
WHGN 0V FAN
7 7 7 / EXT.MAN1 (29) (29) (31) (31)
GN FAN 0V FAN 0V / (61)
8 8 1 8 / EXT.AUTO1 (29) (29) (31) (31)
EXT.COMMON1
/ (29) (29) (31) (31)

2013-09-27
RUN CHAIN and PANEL BOARD A21 part three Sublocation:+
Next 29
1 2 3 4 5 6 7 8
(25)
(25)
3Cross reference to S.21 /
(25) CONTROL PANEL
(25)
A21
Option:Run chain Operating, 2 Mode Selector
-S21.1.XS1 EXT S21.1.XP1
(28) / A21X9:3 -222 AWG20 -241 EXT.AUTO1
EXT.AUTO1 / (28)
(28) / A21X9:2 -221 AWG20 -240 EXT.MAN1 7 7
EXT.MAN1 / (28)
-226 AWG20 -245 EXT.AUTO2 6 6
(28) / A21X9:7 3 EXT.AUTO2 / (28)
(28) / A21X9:6 -225 AWG20 -244 EXT.MAN2 3
EXT.MAN2 / (28)
AUTO
AUTO
2 2
MAN
MAN
2-MODE SELECTOR
S21 1 3 5 7 9 11 13 15
OPTION
2 6 10 14
-246 EXT.COMMON2
EXT.COMMON2 / (28)
-224 AWG20 -242 EXT.COMMON1 4 4
(28) / A21X9:5 8 EXT.COMMON1 / (28)
(28) / A21X9:1 -220 AWG20 8
Option:Run chain Operating, 3 Mode Selector

-S21.1-XS1 S21.1-XP1
(28) / A21X9:8 -227AWG20 -245 EXT.AUTO2
EXT.AUTO2 / (28)
-244 EXT.MAN2 3 3
EXT.MAN2 / (28)
-243 EXT MAN FS2 2 2
EXT.MAN FS2 / (28)
-223AWG20 -241 EXT.AUTO1 1 1
MAN 100%
MAN 100%
(28) / A21X9:4 EXT.AUTO1 / (28)
-240 EXT.MAN1 7 7
EXT.MAN1 / (28)
AUTO
AUTO
MAN
MAN
3-MODE SELECTOR 5 5
EXT.MAN FS1 / (28)
-S21.1 6 12 10 2 4 8 18 22 24 14 16 20
OPTION
5 1 17 13
-242 EXT.COMMON1
EXT.COMMON1 / (28)
-246 EXT.COMMON2 8 8
EXT.COMMON2 / (28)
4 4
MOTOR ON PB
-S21.2
(28) / A21X9:10 -229 AWG20 14 13
(28) / A21X9:19
-230 AWG20 X2 X1
(28) / A21X9:9
-228 AWG20
EMERGENCY PB
-S21.3
(28) / A21X9:17 -237 AWG20 ES panel 1:A 21 22
(28) / A21X9:18 -238 AWG20 ES panel 1:A
(28) / A21X9:13 -233 AWG20 ES panel 2:A 11 12
(28) / A21X9:14 -234 AWG20 ES panel 2:A
(28) / A21X9:11 -231 AWG20 ES panel 2:B
(28) / A21X9:12 -232 AWG20 ES panel 2:B
(28) / A21X9:15 -235 AWG20 ES panel 1:B
(28) / A21X9:16 -236 AWG20 ES panel 1:B
-PE1 GN/YE GN/YE -PE1

2013-09-27
RUN CHAIN, EMERGENCY STOP, Sublocation:+
2 AND 3 MODE SELECTOR Document no. Rev. Ind Page29
Next 30
1 2 3 4 5 6 7 8
4Cross reference to DP.1 / (25)

Option with Hot plug CONTROLLER
5Cross reference hot plug S.22 / (25)
6Cross reference to XS.4 / (25) (25) -S22-
64 63 X1 X2
14 13
53 54
(28) / 1.-ESFPU1:A -216 BU

-218 BU
(28) / 1.-ESFPU1:B
-219 BU
(28) / 1.-ESFPU2:A
(28) / 1.-ESFPU2:B -217 BU

1) Connection point XS4 when option
(28) / -EN1_1 22 21 -214 BU RunCh1 External Control Panel.
-XP4 3 ((connected to page)) / (32)
(28) / -EN2_1 42 41 -215 BU RunCh0V

1) 6
-XS4 4 FLEXPENDANT
-ETH_FPU EMERGENCY-STOP
Without hot plug. -K1
(28) / 1.-ESFPU1:A
3
(28) / 1.-ESFPU1:B
5
(28) / 1.-ESFPU2:A
6
(28) / 1.-ESFPU2:B
4
(28) / -EN1_1 -207 AWG20 BU
7
(28) / -EN2_1 -208 AWG20 BU
17
-DP1 EN-DEVICE
/ -+24VFPUPOWER 2
1 -K2
PANEL
BOARD 12
A21-X10 -DP2
/ -0V PANELB 2
2
8
(35) / -TD+ AWG24 OG USB
13
MAIN (35) / -TD- WHOG
COMPUTER 14
A31.X3 (35) / -RD+ GN ETH_FPU
15
(35) / -RD- WHGN
16

2013-09-27 =
FPU, FLEXPENDANT and option HOT PLUG Sublocation:+
Next 31
1 2 3 4 5 6 7 8
1Cross reference to EXT A21 / (25) (25) (25) (25) (25)

7Cross reference to DP.3-4 / (25) EXT.CONTROL PANEL
+EXT A21
Option:Run chain Ext Operating, 2 Mode Selector
+EXT-S21.1.XS1 EXT S21.1.XP1
(28) / A21X9:3 -222 AWG20 -241 EXT.AUTO1
EXT.AUTO1 / (28)
(28) / A21X9:2 -221 AWG20 -240 EXT.MAN1 7 7
EXT.MAN1 / (28)
-226 AWG20 -245 EXT.AUTO2 6 6
(28) / A21X9:7 3 EXT.AUTO2 / (28)
(28) / A21X9:6 -225 AWG20 -244 EXT.MAN2 3
EXT.MAN2 / (28)
2 2
2-MODE SELECTOR
EXT S21 1 3 5 7 9 11 13 15
OPTION
2 6 10 14
-246 EXT.COMMON2
EXT.COMMON2 / (28)
-224 AWG20 -242 EXT.COMMON1 4 4
(28) / A21X9:5 8 EXT.COMMON1 / (28)
(28) / A21X9:1 -220 AWG20 8
Option:Run chain Ext Operating, 3 Mode Selector

+EXT -S21.1-XS1 EXT S21.1-XP1

(28) / A21X9:8 -227AWG20 -245 EXT.AUTO2
EXT.AUTO2 / (28)
-244 EXT.MAN2 3 3
EXT.MAN2 / (28)
EXT.MAN FS2 / (28)
(28) / A21X9:4 -223AWG20 -241 EXT.AUTO1 1 1
EXT.AUTO1 / (28)
-240 EXT.MAN1 7 7
EXT.MAN1 / (28)
EXT.MAN FS1 / (28)
3-MODE SELECTOR 5 5
+EXT-S21.1 6 12 10 2 4 8 18 22 24 14 16 20
OPTION
5 1 17 13
-242 EXT.COMMON1
EXT.COMMON1 / (28)
-246 EXT.COMMON2 8 8
EXT.COMMON2 / (28)
4 4
MOTOR ON PB
+EXT-S21.2
(28) / A21X9:10 -229 AWG20 14 13
(28) / A21X9:19
-230 AWG20 X2 X1
(28) / A21X9:9
-228 AWG20
EMERGENCY PB
EXT -S21.3
-DP4/6 -237 AWG20 ES panel 1:A 21 22
(32) / DP4/6
1 -238 AWG20 ES panel 1:A
-DP3/5 -233 AWG20 ES panel 2:A 11 12
(32) / DP3/5
1 -234 AWG20 ES panel 2:A
(28) / A21X9:11
-231 AWG20 ES panel 2:B
(28) / A21X9:12
(28) / A21X9:15
(28) / A21X9:16
-PE1 GN/YE GN/YE -PE1

2013-09-27 =
RUN CHAIN, EXTERNAL EMERGENCY STOP, Sublocation:+
2 AND 3 MODE SELECTOR Document no. Rev. Ind Page31
Next 32
1 2 3 4 5 6 7 8
8Cross reference to Ext Hot Plug S.22 / (25)

EXT.CONTROL PANEL
Option:Hot plug for Rel.11.1 +EXT A21
Option:Hot plug
-S22 W529
64 63 X1 X2
W525/BU 14 13 W526
W527/BU 53 54 W528
W521 22 21 W522
W523 42 41 W524
XP100 5 7 1 3 4 2 8 6 XP 100 1 3 4 2
XS100 5 7 1 3 4 2 8 6
BN/BK AWG20 AWG20
(28) / 24VFPUPOWER
(28) / 0VPANELB
BN/RD EXT-XS4
A21 PANEL BOARD
(28) / EN1_1
BN/OG 24V FPU_POWER 205 BU
(28) / EN2_1
BN/YE 0V 206 BU 1
(28) / A21X9:17 -DP4 -214 EN 1_1 2
(28) / A21X9:18
1 -215 EN 1_2 7
(31) / DP4/6
-496 BU -216 BU ES FPU 1:A 17
connected to page)
(28) / A21X9:13 DP3 -500 BU -217 BU ES FPU 1:B 3
(28) / A21X9:14
1 -495 BU -218 ES FPU 2:A 4
(31) / DP3/5
-497 BU -219 BU ES FPU 2:B 5
(28) / A21X10:9
BN/GN FPU_START 6 FPU
0V 206 BU 11
EN2 205 BU 8
MAIN COMPUTER
A31.X3
12
AWG24 4x2 SFTP
(35) / TD+ OG TD+
(30)
(35) / TD- WHOG TD- 13
(35) / RD+
GN RD+ 14
(35) / RD-
WHGN RD- 15
16

2013-09-27
RUN CHAIN EXT OPERATING WITH Sublocation:+
OPT: HOT PLUG rel 11.1 Document no. Rev. Ind Page32
Next 33
1 2 3 4 5 6 7 8
PANEL BOARD 2.See pages / (26) PANEL BOARD 1.See pages / (27)
A21 -PE -XP3 A21

-X5 -XS/XP3
-X1 -260 AWG20 -272 AWG20 AWG20
ES1 bottom OG BU 24V PANEL BU BU
7 A1 12 C1
-X2 -261 AWG20 -273 AWG20
ES2 bottom OG BU AS1+ BU
7 B1 11 C2
24V PANEL -262 AWG20 BU AS1- -274 AWG20 BU AWG20 BU
8 B2 9 C3
0V -263 AWG20 BU 0V -275 AWG20 BU
8 A2 7 C4
24V PANEL -264 AWG20 BU AWG20 BU AWG20 BU
4 A3 C5
Run CH1 top GS1+ -276 AWG20 BU
5 10 C6
Run CH2 top GS1- -277 AWG20 BU AWG20 BU
5 8 C7
0V -265 AWG20 BU AWG20 BU
4 B3 C8
ES2 top -266 OG 24V PANEL -278 AWG20 BU AWG20 BU

3 B4 6 D1
ES1 top -267 OG AS2+ -279 AWG20 BU
3 A4 5 D2
Sep ES1:A -268 OG AWG20 BU AS2- -280 AWG20 BU AWG20 BU
9 A5 3 D3
Sep ES2:A -269 OG AWG20 BU 0V -281 AWG20 BU
9 B5 1 D4
Sep ES2:B -270 OG AWG20 BU
10 B6 D5
Sep ES1:B -271 OG GS2+ -282 AWG20 BU
10 A6 4 D6
ES1 OUT A -284 OG GS2- -283 AWG20 BU AWG20 BU
1 A7 2 D7
ES1 OUT B -285 OG
2 A8 D8
ES2 OUT A -286 OG
1 B7
-287 -X6
ES2 OUT B OG
2 B8 0V -289 AWG20 BU AWG20 BU
1 A10
SS1- -291 AWG20 BU
2 B10
SS2- -293 AWG20 BU
3 C10
SS1+ -290 AWG20 BU
4 B9
SS2+ -292 AWG20 BU
5 C9
24V PANEL -288 AWG20 BU AWG20 BU
6 A9
10

2013-09-27 =
OPTION: EXT.CUSTOMER CONNECT. Sublocation:+
SYSTEM SIGNALS Document no. Rev. Ind Page33
Next 34
1 2 3 4 5 6 7 8
A31
Main Computer Unit
DSQC1000
AnybusCC/RS232 Expansion Board POWER

DSQC1003 Profibus/S A32.4 Pin no 2 = 24V
Pin no 1 = 0V
ProfiNet/S
A32.3
Console Ethernet /IP/S
DeviceNet/S DSQC1004 A32.2 A31.1 SERVICE 10/100
X1 X2 Battery
Interface Board
Com1 DSQC1001
3HAC042827-001
LAN 1
BT1
Back side 80,78... ....6, 4, 2 10/100 X3

Front side 79,77... ....5, 3, 1
LAN 2 X4 POWER COM Express module
A32 10/100 DISC-Act DSQC1002
X2 STATUS SD card 2GB
3HAC046408-001 NS X13 DSQC1008
LAN 3 MS
X5
Front side 10/100/1000 X15
1, 3, 5..... ...77, 79
2, 4, 6..... ...78, 80
X19 Fan power
WAN X6 X16
X1 10/100/1000 Pin 1 = 24V
Pin 2 = Tacho
X7 Pin 3 = 0V
PANEL UNIT
X9
X3 AXC
X10 X11 X12

USB 2/1 USB 4/3
PROFIBUS M
PROFIBUS M PCI A31.3
DSQC1005
DeviceNet M/S PCI A31.2 DeviceNet M/S
DSQC1006

2013-09-27 =
Main Computer/AnybusCC/RS232 Exp./Interface Board/ Sublocation:+
Next 35
1 2 3 4 5 6 7 8
(25)
9Cross reference to A31.X3 /
(25)
MAIN COMPUTER DSQC 1000
A31
-X2 AWG24
TX+ WHOG
XP23.1 / (23)
1
TX- OG
XP23.2 / (23)
-X1 YELLOW LABEL RX+ 2 WHGN
3 XP23.3 / (23)
(60) / +24V PC.1 SERVICE
2 ETH_SERVICE PORT
(60) / -0V PC.1 RX- GN
XP23.6 / (23)
6
PROCESS 1
POWER
SUPPLY
POWER (GREEN) opt. 901-1
A62.X1
1.TXRX+ / (41) (43) (54)
1.TXRX- / (41) (43) (54) or
A61:X10
1.RXTX+ / (41) (43) (54) REMOTE SERVICE
DISC-ACT (YELLOW) 1.RXTX- / (41) (43) (54) or
A64.X1
STATUS (GREEN-RED)
GREEN LABEL -X3

3 TD+ / (30) (32)
6
TPU TD- / (30) (32) FLEXPENDANT
4
NS (GREEN-RED) 5
1 RD+ / (30) (32)
2 RD- / (30) (32)
7
8
MS (GREEN/RED)
-X7 AWG24
1
2 WHGN +24V_Sig.ref. / (28)
BLUE LABEL 3 BU -RS485+ / (28)
4
PANEL UNIT WHBU -RS485- / (28) PANEL BOARD
5
RS 485
-0V_Sig.ref. / (28)
7
CHASSIS BLOWER
-E22
M -X9
-2.TXRX+ / (66) (69) (70) DRIVE
-X19 AWG24 TX+ 1
-2.TXRX- / (66) (69) (70) MODULE
+
RED LABEL TX- 2

GND BK
RX+ -2.RXTX+ / (66) (69) (70) AXIS
1 3
+24V RD AXC1 COMPUTER
2 4
FAN_TACH YE ETH_DRIVE
3 5
RX- 6 -2.RXTX- / (66) (69) (70)
7
8

2013-09-27
MAIN COMPUTER DSQC1000 Sublocation:+
Next 36
1 2 3 4 5 6 7 8
MAIN COMPUTER DSQC 1000

A31 WAN -X6
WHITE LABEL MX1+ OPTION:
1 1.XP28.1 / (23)
MX1- 1.XP28.2 / (23) EXTERNAL
2
A31.X6 MX2+ 1.XP28.3 / (23) WAN
3
MX2- 1.XP28.6 / (23)
OPTION: 6
232/ Expansion board SERIE DSQC1003
-A32
(37.1)
-232 -X2 -X15

COM1_DCD LAN -X4
1
COM1_RXD 1 1 TX+ 2.BI_DA+ / (23)
2 1
COM1_TXD 2 2 TX- 2.BI_DA- / (23)
3 2
COM1_DTR 3 3 RX+ 2.BI_DB+ / (23)
4 3
0V 4 4 RX- 2.BI_DB- / (23)
5 6
COM1_DSR 5 5
6
COM1_RTS-N
7
COM1_CTS-N
8
COM1_RI
-232 LAN -X5

CONSOLE_DCD 76 76 MX1+ 2.BI_DA+ / (23)
1 1
Ethernet
CONSOLE_RXD 77 77 MX1- 2.BI_DA- / (23)
2 2
CONSOLE_TXD 78 78 MX2+ 2.BI_DB+ / (23)
3 3
CONSOLE_DTR 79 79 MX2- 2.BI_DB- / (23)
4 6
GND 80 80
5
CONSOLE_DSR
6 4
CONSOLE_RTS-N
7 5
CONSOLE_CTS-N 1.MX1.RX+ / (44)
8 7
CONSOLE_RI 1.MX1.RX- / (44) if opt 941-1
9 8
1.RXMX2.+ / (44) A65.X5
1.RXMX2.- / (44)
-X10.USB 1
3
2
4
1
PROCESS
-X10.USB 2
SUPPLY
POWER
AWG28 GN -USB2 D+ / (60)
3
AWG28 WH -USB2 D- / (60)
2
AWG24 BK -USB2_GND / (60)
4
AWG24 RD -USB2 +5V / (60)
1
-X11.USB 3
3
2
4
1
-X11.USB4
3
2
4
1

2013-09-27 =
MAIN COMPUTER DSQC1000 Sublocation:+
Next 37
1 2 3 4 5 6 7 8
ETHERNET/IP Fieldbus adapter DSQC 669

Slave
-A32.1
-Z1 -X1
TX+
TX- 1
2
RX+
SLAVE 3
4
CompactCom RX- 5
6
7
8
Expansion Board PROFIBUS Fieldbus adapter DSQC 667

DSQC 1003 Slave
-A32 -A32.2
(36.2) -Z1
-X1
X2 SHIELD
-X1 1
OPTION & HARNESS TO CUSTOMER I/O

1 SLAVE RXD/TXD-p
2 3
CONTROL-P
3 1 CompactCom GND 4
4 2 5
+5VDC
3 6
4
RXD/TXD-N 8
5
6
7
77 8
78 PROFINET IO Fieldbus adapter DSQC 688
79 Slave
80
-A32.3 -X1
-Z1
TX+
TX- 1
SLAVE 2
RX+
3
CompactCom
RX-
6
DEVICENET IO Fieldbus adapter DSQC 1004

Slave
-A32.4 -X1
-Z1
TX+
TX- 1
SLAVE 2
RX+
3
CompactCom
RX-
6

2013-09-27 =
FIELDBUS ADAPTER: Sublocation:+
ETHERNET/IP, PROFIBUS and Document no. Rev. Ind Page37
PROFINET IO Next 38
1 2 3 4 5 6 7 8
PROFIBUS M DSQC1005
-A31.3
Customer
Connection
X12
PCIe
SHIELD
RXD/TXD-P 1 1B
MASTER CONTROL-P 3
GND 4 OPTION & HARNESS TO CUSTOMER I/O
+5VDC 5
RXD/TXD-N 6 1A
8

2013-09-27 =
PROFIBUS DP M/S Sublocation:+
Next 39
1 2 3 4 5 6 7 8
DeviceNet M/S DSQC1006

-A31.2
X12 -CHA -A35-X1 1) Termination
V- BK -XS17.3 / (23)
1
CAN_L BU -XS17.5 / (23)
2 2
DRAIN SC OPTION
-XS17.1 / (23)
3 3
PCIe CAN_H WH 1) Termination resistor
-XS17.4 / (23)
should be used,
4 4
V+ RD when the optional
-XS17.2 / (23)
5 5
harness is not connected.
-V- / (40)
-CAN_L / (40)
-DRAIN / (40)
-CAN_H / (40)
-V+ / (40)

2013-09-27 =
DEVICENET SINGLE/DUAL ADAPTER Sublocation:+
Next 40
1 2 3 4 5 6 7 8
-I/O1
(39) / -V- BK -V-.1 / (46)
(39) / -CAN_L 1 BU -CAN_L.1 / (46)
(39) / -CAN_H 2 WH -CAN_H.1 / (46) Digital I/O unit
(39) / -V+ 4 RD -V+.1 / (46)
(39) / -DRAIN 5 SC -DRAIN.1 / (46)
3
BK -V-.2 / (49)
-I/O2
BU -CAN_L.2 / (49)
1 WH -CAN_H.2 / (49) Relay I/O unit
2 RD -V+.2 / (49)
4 SC -DRAIN.2 / (49)
5
3
BK -V-.3 / (51)
BU -CAN_L.3 / (51)
-I/O3
WH -CAN_H.3 / (51) Analogue I/O unit
1 RD -V+.3 / (51)
2 SC -DRAIN.3 / (51)
4
5
3 BK -V-.4 / (52)
BU -CAN_L.4 / (52)
WH -CAN_H.4 / (52) Remote I/O unit
-I/O4
RD -V+.4 / (52) OPTION: HARNESS
1 SC -DRAIN.4 / (52) TO CUSTOMER I/O
2
4
5 BK -V-.5 /
3 BU -CAN_L.5 /
WH -CAN_H.5 / Interbus slave
RD -V+.5 /
-I/O5
SC -DRAIN.5 /
1
2
4 BK -V-.6 /
5 BU -CAN_L.6 /
3 WH -CAN_H.6 / Profibus DP slave
RD -V+.6 /
SC -DRAIN.6 /
-I/O6
1
2 BK -V-.7 / (53)
4 BU -CAN_L.7 / (53)
5 WH -CAN_H.7 / (53) Encoder unit
3 RD -V+.7 / (53)
SC -DRAIN.7 / (53)
BK -V-.8 /
-A35-X2 BU -CAN_L.8 /
(24) / -0Vdevicenet.1 PLC I/O1.X5--> WH -CAN_H.8 / PLC. CPU A63.1.XS1
1 connected RD -V+.8 /
only to SC -DRAIN.8 /
120 OHM
2 I/O1
4
5

2013-09-27 =
DEVICENET ADAPTER Sublocation:+
Next 41
1 2 3 4 5 6 7 8
if opt. 901-1
1041 / (45)
1042 / (45)
Ethernet switch
-A62 -X2
1043 -X6 US 24V 1

(24) / XT31:1
1044 GND 0V 2
(24) / XT31:5
3
-X3
1 XP23.1 / (23)
2 XP23.2 / (23)
-X1 Connected to Ethernet
(35) / -1.TXRX+ 1 RX+ 3 XP23.3 / (23)
service port X23.
(35) / -1.TXRX- 2 RX- 6 XP23.6 / (23)
A31.X2 (35) / -1.RXTX+ TX+

3
-X4
(35) / -1.RXTX- 6 TX- TX+ 1 4.TXRX+ / (54)
TX- 2 4.TXRX- / (54)

Remote service box A61
RX+ 3 4.RXTX+ / (54)
RX- 6 4.RXTX- / (54)
-X5
TX+ 1 3.TXRX+ / (45)
TX- 2 3.TXRX- / (45)

A57.X6
RX+ 3 3.RXTX+ / (45)
RX- 6 3.RXTX- / (45)

2013-09-27 =
ETHERNET SWITCH Sublocation:+
Next 42
1 2 3 4 5 6 7 8
Robot controller Opt. INSIDE DOOR WITH ETHERNET for CAMERAS
Main computer Customer

power supply (96W)
24V
Ethernet X45.1 X45.2

Cam 1
24V and I/O External
I/O
Ethernet switch Ethernet Camera lighting
X45.3
Cam 2
24V and I/O External A64
I/O Camera X2 X1 X6
Ethernet lighting
XT31
Cam 3
Ethernet External
I/O 24V and I/O Camera lighting
24V I/O X3 X5 X4
Power supply

2013-09-27 =
VISION, INTEGRATED CAMERAS Sublocation:+
Next 43
1 2 3 4 5 6 7 8
Camera 1
-XS45.1 -XP45.1
764 +24V 1 1
Power
(24) / 1.XT31:2 +24V.REDwire /
(24) / 1.XT31:6
765 0V 2 2
3 3
0V.GroundBLACKwire /
(24) / 2.XT31:2
766 4 4
(24) / 2.XT31:6
767 5 5
6 6
Ethernet switch 7 7
-A64 8 8
-X2 Customer connection 9 9
1043 -X6 US 24V 1 10 10
(24) / XT31:1 11 11
1044 GND 0V 2 12 12
(24) / XT31:5
Camera 1
3
Camera 2
6 -XS45.2 -XP45.2
+24V 1 1
Power
.+24V.REDwire /
0V 2 2
.0V.GroundBLACKwire /
3 3
4 4
-X3 Customer connection 5 5
1 6 6
7 7
2 Camera 2 8 8
-X1 9 9
(35) / -1.TXRX+ RX+
1 3 10 10
RX- 11 11
(35) / -1.TXRX- 2 6 12 12
A31.X2 TX+
(35) / -1.RXTX+ 3
-X4 Customer connection
Camera 3
TX- -XS45.3 -XP45.3
(35) / -1.RXTX- 6 1 768 +24V 1 1
Power
+24V.REDwire. /
769 0V 2 2
2 0V.GroundBLACKwire. /
Camera 3 3 3
4 4
3 5 5
6 6
6 7 7
8 8
9 9
-X5 10 10
TX+ 1 4.TXRX+ / (54)
11 11
12 12
TX- 2 4.TXRX- / (54)
A61.X10
RX+ 3 4.RXTX+ / (54)
RX- 6 4.RXTX- / (54)

2013-09-27 =
ETHERNET SWITCH/CAMERA Sublocation:+
Next 44
1 2 3 4 5 6 7 8
Opt. if 941-1
Ethernet switch
-A65 -X2
1043 -X6 US 24V 1

(24) / XT31:1
1044 GND 0V 2
(24) / XT31:5
3
-X3
1
2
-X1
1 RX+ 3
2 RX- 6
3 TX+
-X4
6 TX- TX+ 1
TX- 2
RX+ 3
RX- 6
-X5
TX+/RX+ 1 1.MX1.RX+ / (36)
TX-/RX- 2 1.MX1.RX- / (36)

A31.X5
RX+/TX+ 3 1.RXMX2.+ / (36)
RX-/RX+ 6 1.RXMX2.- / (36)

2013-09-27 =
ETHERNET SWITCH Sublocation:+
Next 45
1 2 3 4 5 6 7 8
Process Interface Board (PIB)

-A57
-X57.1
-X1 24V 1
-X2 V-
(41) / 1041 1
1 1
0V 2 CAN_L
(41) / 1042 2
2 2
3 DRAIN
3 3
4 CAN_H
V- 4 4
5 V+
CAN_L 5 5
CAN_H
V+
-X57.2
1
-X11 V-
1 1
-X6 2 CAN_L
(41) / 3.TXRX+ 1 RX+ 2 2
3 DRAIN
(41) / 3.TXRX- 2 RX- 3
120ohm
3
4 CAN_H
(41) / 3.RXTX+ 3 TX+ 4 4
5 V+
(41) / 3.RXTX- 6 TX- 5 5

2013-09-27 =
DISPENCE PAC SUPPORT Sublocation:+
Next 46
1 2 3 4 5 6 7 8
3) opt. 716/816
opt. 717/817
(24) / -+24Vdevicenet.2 DIG. PART OF COMBI I/O AND DIG. I/O UNIT DSQC 651& 652
-I/Ox
XTXX.X3
-X3
INPUT CH.1
1 2
2 3
3 4
-X5 4
-V-.1
(40) / 5
(40) / -CAN_L.1 1 5 6
(40) / -CAN_H.1 2 6 7
(40) / -V+.1 4 7 8
5 8 0V
(40) / -DRAIN.1 9
0V 3 10
OR PREVIOUS NA0 6
I/O UNIT NA1 7
1) NA2 8 0V
NA3 9 4)
NA4 10 XTXX.X4
NA5 11
-X4
12 INPUT CH.9
1 10
2 11
3 12
4 13
5 14
6 15
1) JUMPERS PLACED ACCORDING TO 7 16
THE ACTUAL NODE ADDRESS. 8 0V
9
10
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.

2013-09-27 =
DIGITAL PART OF COMBI I/O AND Sublocation:+
DIGITAL I/O UNIT Document no. Rev. Ind Page46
Next 47
1 2 3 4 5 6 7 8
opt. 716/816
DIGITAL I/O UNIT DSQC 652
I/O.X
OUTPUT CH 1-8
XTXX.X1
<1 X1
OUTPUT CH.1
1 2
2 3
3 4
4 5
5 6
6 7
7 8
8 0V
0V 9 24V DC
10
24V
OUTPUT CH 9-16
XTXX.X2
<1 -X2
OUTPUT CH.9
0V
1 10
2 11
3 12
4 13
5 14
6 15
7 16
8 0V
9 24V DC
10

2013-09-27 =
DIGITAL I/O UNIT Sublocation:+
Next 48
1 2 3 4 5 6 7 8
opt. 717/817
COMBI I/O UNIT DSQC 651
I/O.X
OUTPUT CH 1-8
XTXX.X1
-X1
<1 OUTPUT CH.1
1 2
2 3
3 4
4 5
5 6
6 7
7 8
8 0V
0V 9 24V DC
10
-X6
INPUT CH.1
CPU INPUT CH.2 1
2
0V
3
DAC
OUTPUT CH.1
5
REF 0VA
4
OUTPUT CH.2
6
+15V
DC
0VA
DC
-15V

2013-09-27 =
COMBI I/O UNIT Sublocation:+
Next 49
1 2 3 4 5 6 7 8
opt. 718/818
3) DIG. PART OF RELAY I/O UNIT DSQC 653
I/O.X
XTXX.X3
X3
INPUT CH.1
1 2
2 3
-X5 3 4
(40) / -V-.2 4 5
(40) / -CAN_L.2 1 5 6
(40) / -CAN_H.2 2 6 7
(40) / -V+.2 4 7 8
5 8 0V
(40) / -DRAIN.2 9
0V 3
OR PREVIOUS NA0 6
I/O UNIT NA1 7 0V
1) NA2 8
NA3 9
NA4 10
NA5 11
12
1) JUMPERS PLACED ACCORDING TO

THE ACTUAL NODE ADDRESS.


CAN-BUS CIRCUIT.

2013-09-27 =
RELAY I/O UNIT Sublocation:+
Next 50
1 2 3 4 5 6 7 8
opt. 718/818
RELAY I/O UNIT DSQC 653
RELAY I/O
XTXX.X1
-X1
OUT CH.1A
1
OUT CH.1B
2
OUT CH.2A
3
OUT CH.2B
4
OUT CH.3A
5
OUT CH.3B
6
OUT CH.4A
7
OUT CH.4B
8
OUT CH.5A
9
OUT CH.5B
10
OUT CH.6A
11
OUT CH.6B
12
OUT CH.7A
13
OUT CH.7B
14
OUT CH.8A
15
OUT CH.8B
16

2013-09-27 =
RELAY I/O UNIT Sublocation:+
Next 51
1 2 3 4 5 6 7 8
opt. 719/819
ANALOGUE I/O UNIT DSQC 355B
I/O.X
3)
-X7
ANOUT_1
(24) / -+24Vdevicenet.4 1 ANOUT_2
2 ANOUT_3
ADC MUX 3
(24) / -0Vdevicenet.4 ANOUT_4
4 0V
19 0V
0V 20 0V
21 0V
-X5
(40) /-V-.3 22
(40) / -CAN_L.3 1
(40) / -CAN_H.3 2
(40) / -V+.3 4
5
(40) / -DRAIN.3
0V 3 REF
6 DAC
OR PREVIOUS NA0
7 -X8
I/O UNIT NA1 ANIN_1
1) NA2 8 1 ANIN_2
NA3 9 2 ANIN_3
NA4 10 3 ANIN_4
NA5 11 4
12 24V
17
18
19
20
21
0V 22
1) JUMPERS PLACED ACCORDING TO 23
THE ACTUAL NODE ADDRESS. 24 0V
25 0V
26 0V
27 0V
28

CAN-BUS CIRCUIT.

2013-09-27 =
ANALOGUE I/O UNIT Sublocation:+
Next 52
1 2 3 4 5 6 7 8
3)
(24) / -0Vdevicenet.5 opt. 721/821

REMOTE I/O UNIT DSQC 350A
I/O.X
-X5
(40) /-V-.4
(40) / -CAN_L.4 1 NAC

(40) / -CAN_H.4 2 -X8

(40) / -V+.4 4 LINE 1 (BLUE)
5 REMOTE I/O IN
1
(40) / -DRAIN.4
0V 3 LINE 2 (CLEAR)
OR PREVIOUS NA0 6 1 2
I/O UNIT NA1 7 -X9
1) NA2 8 (BLUE)
NA3 9 REMOTE I/O OUT
1
NA4 10
NA5 11 (CLEAR)
12
2


LAST CONNECTOR IN THE CAN-BUS CIRCUIT. 4
3) CONNECTED IN THE LAST CONNECTOR IN THE 4

CAN-BUS CIRCUIT.

2013-09-27 =
REMOTE I/O UNIT Sublocation:+
Next 53
1 2 3 4 5 6 7 8
opt. 726/826
ENCODER UNIT DSQC 377
3) I/O.X
(24) / -+24Vdevicenet.8 Encoder

Connection
-X20
24 VDC
-X5 1
(40) /-V-.7 0V
(40) / -CAN_L.7 1
2
(40) / -CAN_H.7 2 ENC +24V
(40) / -V+.7 4
3
5 ENC 0V
(40) / -DRAIN.7 4 Encoder
0V 3 2 1 ENC_A
OR PREVIOUS NA0 6
5
7 A
I/O UNIT NA1 ENC_B
1) NA2 8
6
9 1
NA3 +24V
NA4 10
7
NA5 11 0V Synch switch
12 2 1
8
DIGIN
A
9
2 1
A
1

CAN-BUS CIRCUIT.

2013-09-27 =
ENCODER UNIT Sublocation:+
Next 54
1 2 3 4 5 6 7 8
opt. 890-1
Option: REMOTE SERVICE BOX DSQC680 opt. 890-2
-A61
opt. 890-1 only

-X1
(24) / -0V ReS 746
-X2
1 XS18 / (23)
(24) / +24V Res 745
2
AWG24
WHOG
-X10
(35) / -1.TXRX+ RX+
1
(35) / -1.TXRX- OG AWG24
RX- -X11 WHOG
2 XP23.1 / (23)
WHGN
(35) / -1.RXTX+ TX+ 1
OG
3 XP23.2 / (23)
A31.X2 2
GN WHGN
or (35) / -1.RXTX- TX- XP23.3 / (23)
6 3
A64.X5
4
if opt. 1341-1
(41)
/ 4.TXRX+ 5
or (43) GN
XP23.6 / (23)
A62.X4 (41)
/ 4.TXRX- 6
(43)
(41)
(43)
/ 4.RXTX+ 7
(41)
(43)
/ 4.RXTX- 8
-X15
1 X12
LAN3 only for diagnostic 8/
2
3
-X13
4
LAN4 only for unit diagnostic 8/
6 X14
WAN Internet 8/
7

2013-09-27 =
REMOTE SERVICE Sublocation:+
Next 55
1 2 3 4 5 6 7 8
XS0 L2
XS0 L1
(23)
XS0 L3
(23)
(23)
-XP0 1 2 3
BK
BK
BK
-101AWG10
-102 AWG10
-103AWG10
1 3 5
-Q1
2 4 6
-109 AWG10 BK
-108 AWG10 BK
-107 AWG10 BK
101
102
103
-F6
1 3 5 Option: Not for
Option: CIRCUIT BRAKER 1 phase connection
1 3 5
+Q1
I> I> I>
T1 T2 T3
2 4 6
-106 AWG10 BK
110
111
112
-105 AWG10 BK
-104 AWG10 BK OPTION:

MAINS LINE FILTER
-Z1 1 3 5
3
2 4 6
BK
BK
BK
-110 AWG10
-111 AWG10
-112 AWG10
-L1
-L2
-L3
(56)/
(56)/
(56)/
If Option: 3 Phase
TRANSFORMER UNIT
2013-09-27
MAINS CONNECTION Sublocation:+
Next 56
1 2 3 4 5 6 7 8
MAINS CONNECTION
/ (55)
/ (55)
/ (55)
Transformer
-L1
-L2
-L3
T1.3 USED FOR DIRECT POWER SUPPLY:
IRB660, 760, 4600, 66x0 .400-480V
IRB7600 ...................................480V
3HAC 037015-001 (1,2 kVA New)
3HAC 024174-005 (2,5 kVA old)
-X10 1 2 3
Transformer
113
114
115
Option T1.2 L1-L2-L3 = 262VAC
-113 AWG10 BK
-114 AWG10 BK
-115 AWG10 BK
if IRB140-2600
L1.1
L2.1
L3.1
Transformer 150
T1.1 3HAC 024138-001 (13kVA) 151
IRB660, 760, 4600, 66x0, 7600
(57)
(57)
(57)
TRANSFORMER UNIT
TRANSFORMER UNIT T1.3 -X1 -Z2
L1IN L2IN L3IN
T1.1 -X1 -X1
IN
REAKTOR UNIT
F1 F3 F5
-L1
480V
200V
220V
400V
440V
500V
600V
200V
220V
400V
440V
500V
600V
200V
220V
400V
440V
480V
500V
600V
230V
400V
440V
480V
480V
F2 F4 F6
1 2 3 -X2
GNYE
1 2 3 L1UT L2UT L3UT
480VAC
480VAC
480VAC
230VAC
115VAC
230V
230V
OUT
-X2
AWG10
AWG10
N
230VAC
230VAC
230VAC
115VAC
-X2
N
-Z2 116 117 118
INL1 INL2 INL3
-X1
REAKTOR UNIT
F1 F3 F5
1 2
119
120
121
-L1
1 2
-230VAC1 SC.1
-230VAC2 SC.1
230V AC1.DC
230V AC2.DC
F2 F4 F6
-X2
-230VAC1 SC.1
-230VAC2 SC.1
(58) / -T1_230V
(58) / -T1_115V
(58) / -T1_N
OUTL1
OUTL2
OUTL3
-T1_230V
-T1_115V
-T1_N
-T1_L1
-T1_L2
-T1_L3
119 120 121
(58) /
(63) /
(63) /
(63) /
/ -T1_L1 / -T1_L2 / -T1_L3
(59) /
(59) /
(58) /
(58) /
(60) /
(60) /
(63)
(63)
(63)
(60) /
(60) /
230VAC
POWER SUPPLY CONTACTOR SERVICE 230VAC POWER SUPPLY
UNITS OUTLET POWER SUPPLY SINGLE DRIVE SERVICE CONTACTOR
DRIVE MODULE MODULE OUTLET UNITS
Latest revision: Lab/Office: Status: Plant: = 2013-09-27

TRANSFORMER UNIT 480V Sublocation:+
Next 57
1 2 3 4 5 6 7 8
MAINS CONNECTION Option: Transformer T1.2 L1-L2-L3 = 262V

if IRB120 - 460, 14x0 - 44x0, 6400R
T1.2 (4,2kVA) (4,2kVA) (4,2kVA) (6,0kVA)
/ (56)
/ (56)
/ (56)
Terminal 3HAC037016-001 3HAC037017-001 3HAC037018-001 3HAC024180--001
-L1.1
-L2.1
-L3.1
1) 200V 400V 440V 200V
2) 220V 480V 220V

-X10 1 2 3
3) 500V 400V
BK
BK
BK
4) 600V 440V
-113 AWG10
-114 AWG10
-115 AWG10
5) 480V
6) 500V
TRANSFORMER UNIT 7) 600V
T1
-X1
1) 2) 3) 4) 5) 6) 7) 1) 2) 3) 4) 5) 6) 7) 1) 2) 3) 4) 5) 6) 7)
1 2 3
GNYE
262VAC
262VAC
262VAC
230VAC
115VAC
230V
230V
-X2
AWG10
N
119
120
121
-230VAC1 SC.1
-230VAC2 SC.1
-T1_L1
-T1_L2
-T1_L3
-T1_230V
-T1_115V
-T1_N
230V AC1.DC
230V AC2.DC
(58) /
(63) /
(63) /
(63) /
(58) /
(58) /
(60) /
(60) /
(59) /
(59) /
POWER SUPPLY POWER SUPPLY CONTACTOR SERVICE

DRIVE MODULE SINGLE DRIVE UNITS OUTLET
MODULE
1), 2)
2013-09-27 =
TRANSFORMER UNIT 262V Sublocation:+
Next 58
1 2 3 4 5 6 7 8
/ (56) (56) (57)
/ (56) (56) (57)
/ (56) (56) (57)

-T1_230V
-T1_115V
-T1_N
-184 4 3
AWG16
OPTION:
SERVICE OUTLET
CIRCUIT BRAKER 1
-F5
2
AWG16BK
-183
-F4 1 3
EARTH FAULT
BREAKER
2 4
-186 -185 1 2
GNYE
AWG16 AWG18
-X22
GND 1 2

2013-09-27 =
OPTION : SERVICE OUTLET Sublocation:+
Next 59
1 2 3 4 5 6 7 8
230VAC
1) Option Power supply
/
for external axes.
-230V AC1.DC
-230V AC2.DC
(56) (57)
(56) (57)
AWG16
1 3
-F2
A21.X7 PANEL BOARD

2 4 RELAY UNIT -K41.X1
-140
-156
AWG20 BU -AC_ON.1 / (27)
BK
1
11 A1
BK
AWG16
A2 -141
14 24 AWG20 BU
-0V.1 / (27)
BK
2
-153
-152
AWG16 GNYE POWER SUPPLY 158 157
POWER SUPPLY not 1)
-G1 -X1 3 1 5 -G9
-X1 N L
-X2 AC
-XS3 -XS4 DC
1 4 2 5 3 6
1 2 3 5 6 7 4 8 1 2 3 4 -X2 + -
AWG16
AWG16
BU BU BU BU BU BU
BU
BU
AWG16 AWG16 AWG16 AWG16 AWG24 AWG24
-463 AWG16 BU
-464 AWG16 BU
BU BU BU BU
-510 AWG20
-511 AWG20
-513 AWG20
AWG16
-512 AWG20
AWG16 AWG16 AWG16
514
515
516
517
518
519
-465
-466
-469
-467
-468
-470
-G2.XP9 1 3 2 4
-G2.XS9 1 3 2 4
DRIVE.1
DRIVE.1
-+24V BRAKE.1
-+24V BRAKE.2
-+24V COOL.1
-0V BRAKE.1
-0V BRAKE.2
-0V COOL.1
-+24V COOL.3
-+24V COOL.2
-0V COOL.3
-0V COOL.2
-+5V_OUT
-ACOK
W758
W763
DRIVE
DRIVE
Drive sys
Drive sys
(63)
(65)
(66) /
(66) -+24V
(66) -0V
(62) -+24V
(62) -0V
(66) +24V
(66) -0V
(66) /
(62) /
(61) /
(61) /
(62) /
(62) /
(62) /
(61) /
(61) /
(62) /
(62) /
AXIS COMP. MAIN SERVO CONTACTOR CONTACTOR MAIN FAN AXIS COMP. EXTERNAL
UNIT DRIVE UNIT UNIT UNIT UNIT UNIT AXES
2013-09-27
POWER SUPPLY DSQC 626 AND 627 Sublocation:+
FOR DRIVE MODULE Document no. Rev. Ind Page59
Next 60
302
AXC SWITCH
A34.X31 304
1
-G2
Latest revision:
-Y1
(66) -+24V DRIVE 516 AWG16 BU
-Y2
(66) -0V DRIVE 517 AWG16 BU
4
518 AWG16 BU

(66) / +24V Drive sys
2
-X3
(66) / -0V Drive sys 519 AWG16 BU
5
(62) -+24V DRIVE.1 -463 AWG16 BU
3
2
POWER DISTRIBUTION BOARD DSQC662

(62) -0V DRIVE.1 -464 AWG16 BU
AXIS / DRIVE / CONTACTOR BOARDS

-G1
(24) / +24V I/O.1 -247 AWG16 BU
1
-X1
-X2
2
AWG12 BU
-X4
+24V
I/O
(24) / -0V I/O.1 -248 AWG16 BU

3
1
1
+24V
CUSTOMER
4
2
2
POWER SUPPLY DSQC661
0V
3
(62) / -+24V BRAKE.1 -466 AWG16 BU

3
1
-X1
0V
4
(62) / -+24V BRAKE.2 -465 AWG16 BU
2
AWG16 GNYE
3
(62) / -+24V COOL.1 -469 AWG16 BU
3
AC
1
4
-X5
DC
5
-467 AWG16 BU
UNIT
(62) / -0V BRAKE.1
5
-X3
AWG20 BU
-X2
CONTACTOR
(62) / -0V BRAKE.2 -468 AWG16 BU
6
ACOK_N
3
3
(62) / -0V COOL.1 -470 AWG16 BU

7
TEMP OK_N
4
4
4
8
-153 AWG16
-152 AWG16
BK
BK
(28) / +24VSYS -250 AWG16 BU

1
(28) / +24VCOOL -252 AWG16 BU
PRH
2
Lab/Office:
DMRO SE/
3
4
-XT16
(35) / +24V PC.1 -301 AWG16 BU

5
5
L2
-X6
6
PC
L2
(28) / -0VSYS -251 AWG16 BU

7
-309 BK -230V AC2.11 (24)

AWG16
L2
PANELBOARD, (28) / -0VCOOL -253 AWG16 BU

8
-158 BK -230V AC2.12 (24)

AWG16
L2
JUMPER
IRC5 DESIGN 14 Rel13.2 -_158 BK -230V AC2.13 (24)

AWG16
L2
10
L2
(35) / -0V PC.1 -303 AWG16 BU

11
6
L1
POWER SUPPLY DSQC 661 AND 662

12
L1
-G3
-308 BK -230V AC1.11 (24)

AWG16
L1
-X1
-157 BK -230V AC1.12 (24)

1
1
AWG16
L1
JUMPER
2
2
-_157 BK -230V AC1.13 (24)

3
3
AWG16
L1
4
4
5
5
-X7
L1
6
6
Status:
7
7
ENERGY BANK
7
8
8
9
9
APPROVED
Document no.
10
10
-F2
2013-09-27
3HAC024480-011
(36) / -USB2 +5V 2/RD

Plant:
1
(36) / -USB2 D- 1/WH

2
(36) / -USB2 D+ 1/GN

-X8
MAIN
3
(36) / -USB2_GND 2/BK (56) (56) (57)

4
Sublocation:+
Location: +
=
COMPUTER
-230VAC1 SC.1 /
1
2
1/BK
(56) (56) (57)

8
-230VAC2 SC.1 /
230VAC
connection
BK
4
AWG20
2/BK
(61) / -+24V COOL.3

1
(61) / -+24V COOL.2 RD

2
00 Total
(61) / -0V COOL.3 BN

If Option: 3 phase
-X9
UNIT
3
OG
Next 61
Rev. Ind Page60
(61) / -0V COOL.2

MAIN FAN
4
AWG16
1 2 3 4 5 6 7 8
POWER SUPPLY
(59) (60) (59) (60) PANEL BOARD X18
-0V COOL.2 -+24V COOL.3
(28)
(28)
FAN1ret.4
FAN2ret.5
(59) (60) (59) (60)
(62)
(62)
(62)
(62)
+24VCOOL
-0V COOL.3 -+24V COOL.2
0VCOOL
OG BN BK RD AWG24
+24VCOOL.4
+24VCOOL.5
(28) (28) (28)
0VCOOL.4
0VCOOL.5
24VCOOL
TACHO
FAN0V
(62)
(62)
386 AWG20 BU
387 AWG20 BU
FAN UNIT
if LV
-E1
if HV
-XS1 4 2 1 3
AWG24 BU
+A43-XS11 1 2 3
AWG24 BU
AWG24 BU AWG24 BU
1 1
-E41 FAN UNIT
-W753
-W751
-W754
-W750
-X1 - + -X1
M
AWG24
-W752
BU
AWG24
AWG24
3
AWG24
BU
1
BU
BU
14
AWG24
-E42 +A43-XP11.1 1 2 3 -S1
BU
FAN UNIT
SWITCH 13
-X1 -X1
-363 AWG20 BU
-364 AWG20 BU
- +
M
360 AWG20 BU
362 AWG20 BU
361 AWG20 BU
3 1
-W756
BU
AWG24
-E43 Fan unit

-A21
380 AWG20 BU
381 AWG20 BU
382 AWG20 BU
384 AWG20 BU
383 AWG20 BU
385 AWG20 BU
-X18 1 3 2
-X1 -X1
- +
M
3 1
BK BN RD
INTERNAL
FAN
-E44 Fan unit
-FAN 1 ret.4
MDU FAN
-+24V COOL.4(123)
-+24V COOL.5(123)
EXT.COMPUTER FAN
-0V COOL.4
-0V COOL.5
-E3 -XS1
-FAN 2 ret.5
1 2
-X1 -E2 -X1 3 2 1 -E5
- + -X1 3 1
M
3 1
1 2
(123)
- + M M
M
(123)
(123)
(123)
FAN UNIT Sublocation:+
Next 62
1 2 3 4 5 6 7 8
CONTACTOR BOARD
DRIVE POWER
A43 -X5
PTC1 A43X5:1 / (65)
-XS6
(59) (60) -0V DRIVE.1
SUPPLY
1
1 PTC1 ret A43X5:2 / (65)
(59) (60) -+24V DRIVE.1 2
24VDrive
2 0V BRAKE A43X5:3 / (65)
1 2 3
24V
0V BRAKE A43X5:4 / (65)
-X1
(27) / -RUN_CH1 4
CONTROL (27) / -RUN_CH1Ret 1
MODULE (27) / -RUN_CH2 2
(27) / -RUN_CH2Ret 3
A21.X7
4
-X10
LIM2 ch1 -X22
24VDrive FAN1ret.4 / (61)
LIMIT LIM2 ch2 1
3
RunCh2 3
SWITCH 2
EXTERNAL LIM2 ch2 ret 2
AXIS LIM2 ch1 ret 4

2
24VDrive 1
+24VCOOL.4
-X23
0VCOOL.4
4
LIMIT 1
OVERRIDE 3
1) Jumpers if not used
24V COOL
BRAKE CTRL
4
2
(61)
(61)
(70) (83) (98) / -A43-X21.1
(101) (104) (113) LIM1 ch1 -X21
LIMIT
SWITCH 1 (70) (83) (98) / -A43-X21.3 LIM1 ch2 1 -X11
(101) (104) (113) 3
CONTROL 1) 1) RunCh1 FAN2ret.5 / (61)
CABLE (70) (83) (98) / -A43-X21.4 LIM1 ch2 ret LIM2 3
0V COOL
(101) (104) (113) LIM1 ch1 ret 4 LIM1
(70) (83) (98) / -A43-X21.2 2
2
(101) (104) (113)
-X1
CONTROL (27) / -ENABLE2.1 1
MODULE (27) / -ENABLE2_1Ret 5
6 INTERLOCKING
-0V COOL;6
-BRAKE
A21.X7 (27) / -SPEED.1
+24VCOOL.5
4
0VCOOL.5
(27) / -0V 7
AXC
8
-X4
PAN_CH1
24V COOL
(66) / -RS485+
0V COOL
BU
(63) /
AXIS (66) / -RS485- WHBU 4 K2
COMPUTER (66) / -0V ENABLE2 OG 5 K1
RunCh1
(63) /
(66) / -ENABLE2 7
A42.X6 WHOG
(61)
(61)
8
PAN_CH2
RunCh2
24V COOL
-XS7
(59) (60) / -+24V BRAKE.2
-X12 -491 AWG20 BU +24V
1
-LOCK1A
-LOCK2B
-0V COOL;6
-RCH1
-0V COOL.1
-0V COOL;6
(59) (60) / 1
-SELF1
-SELF2
2 -492 AWG20 BU 0V
(59) (60) / -+24V COOL.1 2
(63) /
3
(59) (60) / -+24V BRAKE.1 OPTION :DUTY
(63)
(63)
(63)
(63)
-RCH2
4 TIME COUNTER
(63) /
(63) /
(59) (60) / -0V BRAKE.1 -P1
5
-
(63) /
(59) (60) / -0V BRAKE.2 +
6 CONTINUATION NEXT PAGE -
h +

2013-09-27 =
CONTACTOR BOARD Sublocation:+
Next 63
A43
1
Latest revision:
CONTACTOR
-X8
-K42
UNIT K42,K43,K44
-471 AWG20 BU -0V COOL;6 / (62)
2
-472 AWG20 BU -RCH1 / (62)
A2
A1
1

CONTACTOR BOARD
-K44
-473 AWG20 BU -0V COOL;6 / (62)
6
-474 AWG20 BU -BRAKE / (62)
A2
A1
5
2
-K43
-475 AWG20 BU -0V COOL;6 / (62)
4
-476 AWG20 BU -RCH2 / (62)

3
A2
A1
-X3
-451 AWG20 BU
24V

-452 AWG20 BU BRAKE_FB
1
2
6
-479 AWG20 BU 0V
5
-493 AWG20 BU -480 AWG20 BU

3
-SELF1 (62)
44
43
4
-481 AWG20 BU
-H1
24V
10
-494 AWG20 BU -482 AWG20 BU
STATUS DIOD
-SELF2 (62)
DRIVE MODULE
44
43
9
-483 AWG20 BU LOCK1B

22
21
3
-484 AWG20 BU
-LOCK1A (62)
2
-485 AWG20 BU LOCK2A

22
21
7
-486 AWG20 BU
-LOCK2B (62)
8
4
EXT MON 1A
EXTCONT
EXT MON 1B &
-X24
34
33
EXT MON 2A
3
CUSTOMER
EXT MON 2B 0V
CONNECTION
PRH
34
33
4
Lab/Office:
DMRO SE/
5
W761
24V
761 760 759 758

6
(64)
34
33
54
53
54
53
PTC2
5
W758
(59) PTC2 0V
2
W762
(64)
CONTACTOR UNIT
-490
-X9
IRC5 DESIGN 14 Rel13.2 BRAKEREL1 -447 AWG16 BU -489 BU -487 AWG16 BU 24V BRAKE
(64) / -XP40.2
4
3
14
13
13
14
1
BRAKEREL2 -448 AWG16 BU -477 AWG16 BU

(64) / -XP40.3
2
6
EXT.LAMP -445 AWG16 BU

(64) / -XP40. 1
EXTBRAKEREL -449 AWG16 BU

(64) / -XP40.5
6
5
BRAKEPB -446 AWG16 -488 AWG16 BU BRAKE PB

(64) / -XP40.4
22
21
3
EXTBRAKEPB -450 AWG16 BU

(CONTROL CABLE AND OPTION: EXTERNAL AXIS)
(64) / -XP40.6
Status:
7
APPROVED
Document no.
2013-09-27
3HAC024480-011
Plant:
-F1
Sublocation:+
Location: +
=
-XP43
-XS43
-128 AWG10 BK -122 BK -119 AWG10 BK

8
(72) (73) /
I>
-L21
2
1
2
1
2
1
1
1
-T1_L1 / (56) (56) (57)

-129 AWG10 BK -123 BK -120 AWG10 BK
(72) (73) /
I>
-L22
4
3
4
3
4
3
2
2
-T1_L2 / (56) (56) (57)

00 Total
-130 AWG10 BK -124 BK -121 AWG10 BK

(72) (73) /
I>
-L23
6
5
6
5
6
5
3
3
Next 64
Rev. Ind Page63
-T1_L3 / (56) (56) (57)

MAIN DRIVE UNIT
1 2 3 4 5 6 7 8
XP40.1
XP40.2
XP40.3
XP40.4
XP40.5
XP40.6
W761
W762
(63)
(63)
(63)
(63)
(63)
(63)
(63)
(63)
761
762
-XP40.2
-XP40 1 2 3 4 5 6 5 6
-XS40.1
1 2 3 4 5 6
EXT.LAMP
BRAKE REL
BRAKE REL
BRAKE PB
EXTBRAKEPB / (74)
BU BU BU BU
If Standard connection or Option: If one or two external axes EXTBRAKEREL / (74)
Option: If three external axes
-445
-447
-448
-446
with Option: Three external axes. (XP40 connected to SX40.1) (XS40.1 connected to XP40.2)
(XP40 connected to XS40) (XS40 connected to XP40.1) (XP40.1 not connected)
AWG16 AWG16 AWG16 AWG16
-XP40.1
1 2 3 4
-XS40
1 2 3 4 5 6
-EXT. LAMP -BRAKEREL1 -BRAKEREL2 -BRAKEPB

(80) (80) (80) (80)
(83) (83) (83) (83)
(89) (89) (89) (89)
(93) (93) (93) (93)
(95) (95) (95) (95)
(98) (98) (98) (98)
(101) (101) (101) (101)
(104) (104) (104) (104)
(107) (107) (107) (107)
(113) (113) (113) (113)
(116) (116) (116) (116)
(122) (122) (122) (122)
(130) (130) (130) (130)
CONTROL CABLE
2013-09-27 =
CONTACTOR UNIT Sublocation:+
Next 65
1 2 3 4 5 6 7 8
CONNECTED IN STANDARD AND IF THREE EXTERNAL AXES

A43X5:1 / -XP5/XS5
(62) -PTC1 / (80) (93) (98) (104) (122)
1 (83) (95) (101) (113) (130)
A43X5:2 /
-PTC 1 ret / (80) (93) (98) (104) (122)
(62)
2 (83) (95) (101) (113) (130)
A43X5:3 /
-0V BRAKE3 / (80) (89) (95) (101) (107) (116) (130)
(62)
3 (83) (93) (98) (104) (113) (122)
A43X5:4 /
-0V BRAKE4 / (80) (89) (95) (101) (107) (116) (130)
(62)
4 (83) (93) (98) (104) (113) (122)
OPTION: IF THREE EXTERNAL AXES OPTION: IF ONE OR TWO EXTERNAL AXES
-XP5.2 -XS5.1 4018 -XP5.1

1 1 1
4019
2 2 2
/ W763 0V BRAKE 4016 4015
(59)
3 3 3
4017
4 4 4
0V BRAKE 4012
XS5.1:3 / (74)
Contactor unit A43.X5

Block diagram for: XS5
Connected in standard Connected
Contactor unit A43.X5

XS5.1 XP5.1 XS5
Connected
Block diagram for:
Option one or two external axes in Drive module ,
or Single drive unit 1-3 axes. 0V BRAKE 4012 Connected
Block diagram for:

Option if three external axes and Contactor unit A43.X5
Drive module with 2600-76xx XS5
Connected
XP5.2
Power supply G9 XS5.1 XP5.1
Not connected
Connected

2013-09-27 =
CONTACTOR BOARD Sublocation:+
Next 66
1 2 3 4 5 6 7 8
DRIVE (69) (70) / -+24V DRIVE;2 -726 AWG20 BK
POWER
SUPPLY (69) (70) / 0V DRIVE;2 -725 AWG20
AXIS COMPUTER BOARD MAIN SERVO DRIVE UNIT
EPS/SAFE MOVE A42 A41.1
-(A42-X)1
A44-X1
1
2
-XS1
DRIVE (59) (60) -+24V DRIVE
POWER 1
SUPPLY (59) (60) -0V DRIVE
2
-XP11 AWG26 4x2 SFTP
(59) ACOK
-XP8
Connected only to 3 BN
DRIVE MODULE (59) +5V_OUT 1 1

4 BNWH
Jumper with Single Drive Module 2 2
No jumper if Drive Module. OG
3 3
OGWH
6 6
1)
AWG24 -XP2
(35) / -2.TXRX+
RX+
A31.X9 1
MAIN (35) / -2.TXRX-
RX-
COMPUTER 2
(35) / -2.RXTX+ TX+
3
(35) / -2.RXTX- TX-
6
OPTION : (69) (70) / 6.TXRX+

EPS OR (69) (70) / 6.TXRX-
SAFE MOVE (69) (70) / 6.RXTX+
A44-X4 (69) (70) / 6.RXTX-
-XP6
(62) / -RS485+
4
CONTACTOR (62) / -RS485-
BOARD 5
-XS6
-0V ENABLE2 +24V Drive sys 519 AWG16 BU
A43.X4 (62) / (59) (60) /
7 1
(62) / -ENABLE2
8 (59) (60) / -0V Drive sys 518 AWG16 BU
2
XS9
RXD
2
1) No connection to main computer if EPS or SAFE MOVE is connected TXD
3
0V
5

2013-09-27 =
AXIS COMPUTER UNIT Sublocation:+
Next 67
1 2 3 4 5 6 7 8
A44
EPS Option: EPS
connect to
A44-X5
3.See pages / (69)
A44
AXIS COMPUTER BOARD SAFE MOVE Option: Safe Move connect
A42 to A44-x5 and x7
(70)
4.See pages / (70)
-XP4
MRCO1 -MRCO1 / (77) (80) (83) (89) (93)
1 (95) (98) (101) (104) (107)
(113) (116) (122) (130)
MRCO1_N -MRCO 1_N / (77) (80) (83) (89) (93)

2 (95) (98) (101) (104) (107)
(113) (116) (122) (130)
(77) (80) (83) (89) (93)
MRCI1 -MRCI1 / (95) (98) (101) (104) (107)
4 (113) (116) (122) (130)
(77) (80) (83) (89) (93)

MRCI1_N CONTROL
-MRCI 1_N / (95) (98) (101) (104) (107)

5 (113) (116) (122) (130) SIGNAL XS2
0V -MRC_0V1 / (77) (80) (83) (89) (93)

6 (95) (98) (101) (104) (107)
(113) (116) (122)
24V_SMB1 +24V_SMB1 / (77) (80) (83) (89) (93)

7 (95) (98) (101) (104) (107)
(113) (116) (122) (130)
0V -MRC_0V2 / (77) (80) (83) (93) (95)

3 (98) (101) (104) (107) (113)
(116) (122)
0V -MRC_0V3 / (77) (80) (83) (93) (95)

9 (98) (101) (104) (107) (113)
(116) (122)
-XP5
MRCO2 MRCO2 / (23)
1
MRCO2_N MRCO2_N / (23)
2
MRCI2 MRCI2 / (23)
4
MRCI2_N MRCI2_N / (23) EXT. AXIS
5 SIGNAL XS41
0V MRC_0V4 / (23)
6
24V_SMB2 24V_SMB2 / (23)
7
0V MRC_0V5 / (23)
3
0V MRC_0V6 / (23)
9

2013-09-27
AXIS COMPUTER UNIT Sublocation:+
Next 68
1 2 3 4 5 6 7 8
Option: 738-1
-FMB
Graphic view at sheet 12 x AWG24 BU UL1569
-X1
SDI_AXC 1005
SDI_AXC_N A 1006
SDO_AXC B 1007 DSQC686 VOLTAGE MEASURE BOARD
(23) / XS41 SMB 19 x 0,14mm^2 BU
SDO_AXC_N C 1008 -A1
0V D 1011
24V E 1012 -XS1 -X1 -X2 -XP2 -X3
F AIN1_P
2 1 1 AIN1_N
3 2 2 AIN2_P
4 3 3 AIN2_N
5 4 4 AIN3_P
7 5 5 AIN3_N
8 6 6 AIN4_P
9 7 7 AIN4_N
10 8 8 AIN5_P Customer connection
11 9 9 AIN5_N
12 10 10 AIN6_P
Bridge connector FMB.X2 13 11 11 AIN6_N
14 12 12 AIN7_P
-X2 14 14 AIN7_N
SDO_SMB 1001 15 15 SEN_DET_P
SDO_SMB_N A 1002 16 16 SEN_DET_N
SDI_SMB B 1003 17 17 0V_AI_ANALOG
Customer connection SDI_SMB_N C 1004 23 18 -15V_AI
0V D 1009 24 19 +15V_AI
24V E 1010 25 20
F

2013-09-27 =
FORCE MEASUREMENT BOX Sublocation:+
Next 69
1 2 3 4 5 6 7 8
opt. 810-1
Option: EPS DSQC 646
-A44
-X4
AWG24
TX+ BU 6.TXRX+ / (66)
-X1 1
DRIVE POWER (66) / 0V DRIVE;2 TX- WHBU 6.TXRX- / (66) AXIS
SUPPLY 1 2 COMPUTER
(66) / -+24V DRIVE;2 RX+ OG
6.RXTX+ / (66) BOARD
2 3 A42-X2
WHOG
RX- 6.RXTX- / (66)
6
-X6
MRCO1
AWG24 -X3 1
(35) / -2.TXRX+ WHOG RX+ MRCO1-N
A31.X9 1 2
MAIN (35) / -2.TXRX- OG RX- MRCI1
COMPUTER 2 4
(35) / -2.RXTX+ WHGN TX+ MRCI1-N CONTROL
3 5 SIGNAL
GN TX- 0V XS2
(35) / -2.RXTX-
6 6
24V-SMB1
7
0V
3
0V
9
-X5 -X9
MRCO1 +24V
1 1
MRCO1-N 0V
2 2
MRCI1 OUT1A
Option: EPS Connect 4 3
to AXIS COMPUTER MRCI1-N OUT1B
BOARD A42-X4 5 4
0V OUT2A
3.See pages / (67) 6 5
24V-SMB1 OUT2B PROCESS I/O
7 6
0V OUT3A
3 7
0V OUT3B
9 8
OUT4A
9
OUT4B
10
OUT5A
11
OUT5B
12
CSC INA
13
CSC INB
14

2013-09-27 =
EPS Sublocation:+
Next 70
1 2 3 4 5 6 7 8
opt. 810-2
Option: SAFE MOVE DSQC 647
-A44
X13
Relay output RelOut 1A -A43-X21.1 / (62)
XS1
DRIVE POWER (66) / -0V DRIVE;2 pair 1 1
SUPPLY 1 RelOut 1B -A43-X21.2 / (62)
(66) / -+24V DRIVE;2 2 CONTACTOR UNIT
2 Relay output RelOut 2A -A43-X21.3 / (62) X21
pair 2 3
RelOut 2B -A43-X21.4 / (62)
4
AWG24
MAIN (35) / -2.TXRX+ AWG24 WHOG X3 TX+ X4 WHOG -6.TXRX+ / (66) AXIS
1 RX+ 1
COMPUTER (35) / -2.TXRX- OG OG -6.TXRX- / (66) COMPUTER
2 RX- TX- 2
A31.X9 (35) / -2.RXTX+ WHGN
TX+ RX+
WHGN
-6.RXTX+ / (66) BOARD
3 3
A42.X2
4 4
GN 5 5 GN
(35) / -2.RXTX- TX- RX- -6.RXTX- / (66)
6 6
7 7
8 8
-X5 -X6
MRCO1 MRCO1
1 1
MRCO1-N MRCO1-N
2 2
Connect to MRCI1 MRCI1
AXIS COMPUTER 4 4 CONTROL
BOARD MRCI1-N MRCI1-N SIGNAL
A42-X4 5 5 XS2
4.See pages / (67) 0V 0V
6 6
24V-SMB1 24V-SMB1
7 7
0V 0V
3 3
0V 0V
9 9
-X7 -X8
MRCO2 MRCO2 MRCO2 / (23)
1 1
MRCO2-N MRCO2-N MRCO2_N / (23)
Connect to 2 2
AXIS COMPUTER MRCI2 MRCI2 MRCI2 / (23) EXT. AXIS
BOARD 4 4 SIGNAL
A42-X5 MRCI2-N MRCI2-N MRCI2_N / (23) XS41
4.See pages / (67) 5 5
0V 0V MRC_0V4 / (23)
6 6
24V-SMB2 24V-SMB2 24V_SMB2 / (23)
7 7
0V 0V MRC_0V5 / (23)
3 3
0V 0V MRC_0V6 / (23)
9 9

2013-09-27
SAFE MOVE Sublocation:+
Next 71
1 2 3 4 5 6 7 8
Option: SAFE MOVE DSQC647

-A44
-X11
I/O POWER +24V I/O
-X9
IN1A SUPPLY 1
1 GND
IN1B Equivalent 2
2 configurable
IN2A activation OUT1A
3 Inputs 3
IN2B OUT1B
4 4
IN3A Configurable OUT2A
5 Monitor 5
IN3B Outpurs OUT2B
6 6
IN4A OUT3A
7 7
IN4B OUT3B
8 8
IN5A OUT4A
9 Antivalent 9
IN5B configurable OUT4B
10 activation 10
IN6A Inputs
11
PROCESS I/O IN6B PROCESS I/O
12
-X10 -X12
IN7A
1 Antivalent 1
IN7B configurable
2 activation 2
IN8A Inputs OUT5A
3 3
IN8B OUT5B
4 4
CSC INA Antivalent Configurable OUT6A
5 Inputs Monitor 5
CSC INB Outpurs OUT6B
6 6
OUT7A
7 7
OUT7B
8 8
OVR A Antivalent OUT8A
9 Inputs 9
OVR B OUT8B
10 10
11
12

2013-09-27 =
SAFE MOVE Sublocation:+
Next 72
1 2 3 4 5 6 7 8
ADDITIONAL AXIS 1, DRIVE UNIT NO 7

ADDITIONAL RECTIFIER UNIT
MAIN DRIVE UNIT LV unit -A41.2 ADDITIONAL DRIVE UNIT
A41.1 -X9 -X9 -A41.3 -X9
-X8 -X8
POWER UNIT 1 TX+ 1 1 1 1 TX+
2 TX- 2 2 2 2 TX-
3 RX+ 3 3 3 3 RX+
/ (63)
6 RX- 6 6 6 6 RX-
/ (63)
/ (63)
-L21
-L22
-L23
XS1 -XP1
-XS21 -XP21 1 1
1 DC+ 2
2 DC- 3
AWG10 BK
XS7
-W550
-XS7 XS6 -XS7 XS6

1 0V DRIVE 1 1 1 1 0V DRIVE
X1
-W556
GNYE
AWG12 2 24V DRIVE 2 2 2 2 24V DRIVE
1
-W554
BK
AWG12 -W551
4 GNYE X1 -A41.4 ADDITIONAL DRIVE UNIT

AWG12
-W552
BK
AWG12 -W557 1 ADDITIONAL AXIS 2, DRIVE UNIT NO 8 XS6
3 BK
AWG12 (73.5) 1
BK
AWG12 -W555 4
2
2 BK
AWG12
-W553 3
BK
AWG12
-X8
2 1 TX+
2 TX-
3 RX+
6 RX-
XS1 -XP1
-XS22 -XP22 1 1
1 DC+ 2
2 DC- 3 -X9
AWG10 BK 1 TX+
XS7 2 TX-
1 3 RX+
RX-
24V DRIVE
BLEEDER 2 6
-X2
BLEEDER -X2 -1 AWG12 BK
Bleeder +
-1 AWG12 BK Bleeder + 1
0V DRIVE
1 1
(73.5) -A41.5 ADDITIONAL DRIVE UNIT
1
XS6 XS7
2 1 0V DRIVE 1
2 24V DRIVE
-2 AWG12 BK 2 2
Bleeder -
-2 AWG12 BK Bleeder - 2
2 -X8
GNYE ADDITIONAL AXIS 3, DRIVE UNIT NO 9 1 TX+
GNYE AWG12 2 TX-
AWG12 3 RX+
6 RX-
XS1 -XP1
-XS23 -XP23 1 1 -X9
1 DC+ 2 1
2 DC- 3 2
AWG10 BK 3
6

2013-09-27
MAIN DRIVE UNIT and ADDITIONAL AXIS 1-3 for LV Sublocation:+
Next 73
1 2 3 4 5 6 7 8
MAIN DRIVE UNIT -A41.3 ADDITIONAL DRIVE UNIT

POWER UNIT ADDITIONAL AXIS 1, DRIVE UNIT NO 7
A41.1
/ (63)
/ (63)
/ (63)
-X9 (72.6)
-X8 -X9
1 TX+ 1 1 TX+
-L21
-L22
-L23
2 TX- 2 2 TX-
3 RX+ 3 3 RX+
6 RX- 6 6 RX-
AWG10
AWG10
AWG10 XS1 -XP1
GNYE
-XS21 -XP21 1 1
DC+
-W138
1 2
AWG10
2 DC- 3
-W137
AWG10 BK
-XS7 XS6 XS7
-X1 1 0V DRIVE 1 1 0V DRIVE
-W136
1
2 24V DRIVE 2 2 24V DRIVE
4
-A41.4
ADDITIONAL DRIVE UNIT

3 ADDITIONAL AXIS 2, DRIVE UNIT NO 8 XS6

(72.6) 1
2
2
-X8
1 TX+
2 TX-
3 RX+
6 RX-
XS1 -XP1
-XS22 -XP22 1 1
1 DC+ 2
2 DC- 3 -X9
AWG10 BK 1 TX+
XS7 2 TX-
BLEEDER -X2 1 3 RX+
-132 AWG12 BK Bleeder + 2 6 RX-
0V DRIVE
24V DRIVE
1
1
-A41.5 ADDITIONAL DRIVE UNIT
2 XS7
XS6
-133 AWG12 BK Bleeder - 1 0V DRIVE 1
2
2 24V DRIVE 2
GNYE ADDITIONAL AXIS 3, DRIVE UNIT NO 9

AWG12 -X8
1 TX+
2 TX-
3 RX+
XS1 -XP1 6 RX-
-XS23 -XP23 1 1
1 DC+ 2
2 DC- 3 -X9
AWG10 BK 1
2
3
6

2013-09-27 =
MAIN DRIVE UNIT and ADDITIONAL AXIS 1-3 for HV Sublocation:+
Next 74
1 2 3 4 5 6 7 8

A41.3 External axis no. 7 -XS/XP7
-X2
1 U -4000 AWG12 BK
A1
4 U -4001 AWG12 BK
A2
3 W -4002 AWG12 BK
A3
6 W -4003 AWG12 BK
A4
2 V -4004 AWG12 BK
A5
5 V -4005 AWG12 BK
A6
CONTACTOR BOARD
A43
-X24 -4013 AWG16
PTC2 BU
1 -4014 AWG16 E1
PTC2 0V BU
2
E2
3
4
5
E3
6
Capacitor 0,47uF
-C2 E4
E5
E6
XS5.1:3 /
-4012 AWG16 BU
(65)
F9
F10
Remove the bridge before connection.
F11
-X22 -4006 AWG16
LIM2 ch1 BU
1 F1
LIM2 ch1 ret -4007 AWG16 BU
2 F4
LIM2 ch2 -4008 AWG16 BU
3 F2
LIM2 ch2 ret -4009 AWG16 BU
4 F3
F5
F6
(64) / EXTBRAKEREL BRAKE REL. +24V -4010 AWG16 BU
(64) / EXTBRAKEPB BRAKE PB -4011 AWG16 BU F7
F8
AWG10 GNYE
AWG18

2013-09-27 =
EXTERNAL AXIS no 7 Sublocation:+
Next 75
1 2 3 4 5 6 7 8

-A41.4 External axis no.8
AWG12 -XS/XP7
-X2 -4000
U BK
1 B1
U -4001 BK
4 B2
W -4002 BK
3 B3
W -4003 BK
6 B4
V -4004 BK
B5
2
V -4005 BK
5 B6

-A41.5 External axis no.9
-XS/XP7
-X2 4000
U BK
1 C1
U 4001 BK
4 C2
W 4002 BK
3 C3
W 4003 BK
6 C4
V 4004 BK
2 C5
V 4005 BK
5 C6

2013-09-27 =
EXTERNAL AXIS no 8 - 9 Sublocation:+
Next 76
1 2 3 4 5 6 7 8
MAIN SERVO DRIVE UNIT

A41.1
-X11 1 3 2 -X12 1 3 2 -X13 1 3 2 -X14 1 3 2 -X15 1 3 2 -X16 1 3 2
BK
BK
BK
BK
BK
BK
BK
BK
BK
BK
BK
BK
BK
BK
BK
BK
BK
BK
AWG16
AWG16
AWG16
AWG16
AWG16
AWG16
AWG16
AWG16
AWG16
AWG16
AWG16
AWG16
AWG16
AWG16
AWG16
AWG16
AWG16
AWG16
-_400
-_402
-_404
-_406
-_408
-_410
-_412
-_414
-_416
-_418
-_420
-_422
-_424
-_425
-_426
-_428
-_430
-_432
AWG16 GNYE
D1 D3 D2 D4 C1 C2
A1 A3 A5 B14 B12 A7 A9 A11 A13 A15 B1 B3 B4 B5 B6 B7 B8 B9 B10 B11 DRIVE MODULE
XS/XP1
AWG20 BK
FLOOR CABLE
AWG20 BK
24V Brake
0V Brake
MW3
MW1
MW2
MW6
MW5
MW4
MU3
MU1
MU2
MU6
MU5
MU4
MV3
MV1
MV2
MV6
MV5
MV4
MANIPULATOR
R1.MP 6 9 10 12 13 LUG1 1 2 5 3 4 8 20 23 24 17 21 22 15 16 19
According to Manipulator circuit diagram 3HAC031408-003

2013-09-27 =
SERVO DRIVE SYSTEM Sublocation:+
IRB 120 Document no. Rev. Ind Page76
Next 77
1 2 3 4 5 6 7 8
FLOOR CABLE
CONTROLLER MANIPULATOR
DRIVE MODULE IRB 120

0,23 mm2
R1 SMB SMB/EIB
-XS/XP2
(67) / -MRCO1 WH SDI
A A
(67) / -MRCO 1_N BU SDI-N
B B
(67) / -MRCI1 WH SDO SERIAL
C C MEASUREMENT
(67) / -MRCI 1_N OG SDO-N BOARD
D D
(67) / -MRC_0V1 WH 0V
E WH E
(67) / +24V_SMB1 GN 24V
F BN F
(67) / -MRC_0V2
G
(67) / -MRC_0V3 WH J
J
GY K
K
RD L
L
M

2013-09-27 =
CONTROL CABLE Sublocation:+
Next 78
1 2 3 4 5 6 7 8
FLOOR CABLE supplied by the customer
IRB 120
Customer
Connection

-708 XS/XP5
XT/XT5 R1.CS
AWG24 BK
1 B5 A
AWG24 BN
2 C5 B
AWG24 RD
3 D5 C
AWG24 OG
4 A6 D
AWG24 YE
5 B6 E
AWG24 GN
6 C6 F
AWG24 BU
7 D6 G
AWG24 VT
8 A7 H
AWG24 GY
9 B7 J
AWG24 WH
10 C7 K
AWG24 WH/BK
11 D7
AWG24 WH/BN
12 A8

2013-09-27 =
CUSTOMER SIGNALS Sublocation:+
Next 79
1 2 3 4 5 6 7 8
IRB 140 cabinet module

A41.1
1 3 2 2 3 1 1 3 2 2 3 1 1 3 2 2 3 1
-X11 -X12 -X14 -X16 -X13 -X15
BK
BK
BK
BK
BK
BK
BK
BK
BK
BK
BK
BK
BK
BK
BK
BK
BK
BK
AWG16
AWG16
AWG16
AWG16
AWG16
AWG16
AWG16
AWG16
AWG16
AWG16
AWG16
AWG16
AWG16
AWG16
AWG16
AWG16
AWG16
AWG16
-_400
-_402
-_404
-_410
-_408
-_406
-_418
-_420
-_422
-_432
-_430
-_428
-_412
-_414
-_416
-_426
-_425
-_424
GNYE
GNYE
AWG10
AWG10
DRIVE MODULE
-XS1 A1 A3 A5 A11 A9 A7 B3 B4 B5 B11 B10 B9 A13 A15 B1 B8 B7 B6
FLOOR CABLE
MANIPULATOR

2013-09-27 =
Next 80
1 2 3 4 5 6 7 8
FLOOR CABLE
CONTROLLER
MANIPULATOR
DRIVE MODULE IRB140
-XS2
(67) / -MRCO1
(67) / -MRCO 1_N A
(67) / -MRCI1 B
(67) / -MRCI 1_N C
AXIS COMPUTER BOARD (67) / -MRC_0V1 D
A42-X4 E
(67) / +24V_SMB1
F
(67) / -MRC_0V2
G
(67) / -MRC_0V3 H
J
K
L

-XS1
(64) / -EXT. LAMP -_433 AWG16 C7
DRIVE MODULE (64) / -BRAKEPB -_434 AWG16 BU B16

X40
(64) / -BRAKEREL1 -_435 AWG16 BU B12
(64) / -BRAKEREL2 -_436 AWG16 BU B13
(65) / -0V BRAKE4 -_438 AWG16 BU B14
CONTACTOR UNIT (65) / -PTC1 -_439 AWG16 BU C2

A43-X5
(65) / -PTC 1 ret -_440 AWG16 BU C1
(65) / -0V BRAKE3 -_437 AWG16 BU B15
D2
D1
D3
D4

2013-09-27 =
Next 81
1 2 3 4 5 6 7 8
FLOOR CABLE
CONTROLLER
MANIPULATOR
CONTROL MODULE IRB 140
Customer
Connection
-XS/XP5 0,23mm2
-708
-XP/XT5 AWG24 +R1-CS

BK WH CSA
1 B5 1
BN BU CSB
2 C5 9
RD WH CSC
3 D5 2
OG OG CSD
4 A6 10
YE WH CSE
5 B6 3
GN GN CSF
6 C6 11
BU WH CSG
7 D6 4
VT BN CSH
8 A7 12
GY WH CSJ
9 B7 5
WH GY CSK
10 C7 13
WH/BK RD CSL
11 D7 6
WH/BN BU CSM
12 A8 14

2013-09-27 =
CUSTOMER SIGNAL Sublocation:+
SINGLE CABINET Document no. Rev. Ind Page81
IRB 140 Next 82
1 2 3 4 5 6 7 8

A41.1
-X11 1 3 2 -X12 2 3 1 -X16 2 3 1 -X13 1 3 2

BK
BK
BK
BK
BK
BK
BK
BK
BK
BK
BK
BK
-_400 AWG16
-_402 AWG16
-_404 AWG16
-_410 AWG16
-_408 AWG16
-_406 AWG16
-_432 AWG16
-_430 AWG16
-_428 AWG16
-_412 AWG16
-_414 AWG16
-_416 AWG16
GNYE
GNYE
-XS/XP1 A1 A3 A5 A11 A9 A7 B11 B10 B9 A13 A15 B1 CONTROLLER
DRIVE MODULE
GNWH
BUWH
BKWH
GNRD
BUGN
BKGN
BURD
BKRD
BKBU
BUBK
BN
BK
AWG16
Floor cable
M1W
M2W
M6W
M3W
M1U
M2U
M6U
M3U
M1V
M2V
M6V
M3V
A1 A2 A3 D2 D1 A4 B10 D7 D8 D3 D4 B1 MANIPULATOR
R1-MP IRB 260

2013-09-27 =
SERVO DRIVE UNIT Sublocation:+
Next 83
1 2 3 4 5 6 7 8
FLOOR CABLE
0,23 mm2
R1 SMB
-XS/XP2
A A
B B
C C MEASUREMENT
AXIS COMPUTER BOARD (67) / -MRCI 1_N OG SDO-N BOARD
A42-X4 D D
(67) / -MRC_0V1 WH 0V
E WH E
(67) / +24V_SMB1 GN 24V
F BN F
(67) / -MRC_0V2
G
(67) / -MRC_0V3 WH 0V
J J
GY BATT+
K K
RD BATT LOAD
L L
Keypin
AWG16 M
R1 MP
-433 AWG16 -XS/XP1
(64) / -EXT. LAMP BU OG
DRIVE MODULE C7 C7
X40 (64) / -BRAKEPB -434 AWG16 BU OGWH
B16 B8
(64) / -BRAKEREL1 -435 AWG16 BU GYBK
B12 C9
(64) / -BRAKEREL2 -436 AWG16 BU GYBU
B13 C8
(65) / -0V BRAKE4 -438 AWG16 BU GYGN
B14 C10
CONTACTOR UNIT (65) / -PTC1 -439 AWG16 BU OGBU
A43-X5 C2 B9
(65) / -PTC 1 ret -440 AWG16 BU OGBK
C1 B2
(65) / -0V BRAKE3 -437 AWG16 BU OGRD
B15 B7
(62) / -A43-X21.2 LIM 1A -441 AWG16 BU GYWH
D2 B3
CONTACTOR UNIT (62) / -A43-X21.4 LIM 2A -442 AWG16 BU GYRD
A43-X21 D1 B4
(62) / -A43-X21.3 LIM 2B -443 AWG16 BU GY
D3 C2
(62) / -A43-X21.1 LIM 1B -444 AWG16 BU OGGN
D4 C1

2013-09-27
Next 84
1 2 3 4 5 6 7 8
Floor cable
Customer IRB 260
CONTROL MODULE
Connection
-XS/XP5
-709 AWG18
-XP/XT6 AWG24 R1-CP/CS
BK RD CPA
1 BN A1 BU A1 CPB
2 RD B1 GN B1 CPC
3 OG C1 YE C1 CPD
4 YE D1 WH D1 CPE
5 GN A2 BK A2 CPF
6 BU B2 BN B2 CPJ
7 VT C2 VT C2 CPK
8 GY D2 OG D2 CPL
9 WH A3 PK A3 CPM
10 WH/BK B3 TQ B3
11 WH/BN C3 GY C3

12 D3 D3
-XP/XT5.1
-710 0,23mm2
AWG24 BK WH CSA
1 BN B5 BU B5 CSB
2 RD C5 WH C5 CSC
3 OG D5 OG D5 CSD
4 YE A6 WH A6 CSE
5 GN B6 GN B6 CSF
6 BU C6 WH C6 CSG
7 VT D6 BN D6 CSH
8 GY A7 WH A7 CSJ
9 WH B7 GY B7 CSK
10 WH/BK C7 RD C7 CSL
11 WH/BN D7 BU D7 CSM
12 A8 A8
-XP/XT5.2
WH/RD RD CSN
13 WH/OG B8 OG B8 CSP
14 WH/YE or PK C8 RD C8 CSR
15 WH/GN D8 GN D8 CSS
16 WH/BU A9 RD A9 CST
17 WH/VT B9 BN B9 CSU
18 WH/GY or Light GN C9 RD C9 CSV
19 BN/BK or RD/BK D9 GY D9 CSW
20 BN/RD or GN/BK A10 BK A10 CSX
21 BN/OG or OG/BK B10 BU B10 CSY
22 BN/YE or YE/BK C10 WH C10 CSZ
23 D10 D10

2013-09-27 =
CUSTOMER POWER/SIGNAL Sublocation:+
SINGLE CABINET IRB 260 Document no. Rev. Ind Page84
Next 85
1 2 3 4 5 6 7 8

A41.1
-X11 1 3 2 -X12 2 3 1 -X13 1 3 2 -X15 2 3 1
BK
BK
BK
BK
BK
BK
BK
BK
BK
BK
BK
BK
AWG16
AWG16
AWG16
AWG16
AWG16
AWG16
AWG16
AWG16
AWG16
AWG16
AWG16
AWG16
-_400
-_402
-_404
-_410
-_408
-_406
-_418
-_420
-_422
-_416
-_414
-_412
M2U
M2V
M2W
M1W
M1V
M1U
M3U
M3V
M3W
M4W
M4V
M4U
GNYE
GNYE
AWG10
AWG10
DRIVE MODULE
-XS1 A11 A9 A7 A5 B3 B4 B10 B9 B8 A13 A15 B1
FLOOR CABLE
MANIPULATOR

2013-09-27 =
SERVO DRIVE UNITS Sublocation:+
Next 86
1 2 3 4 5 6 7 8

A41.1
-X11 1 3 2 -X12 2 3 1 -X13 1 3 2 -X15 2 3 1
BK
BK
BK
BK
BK
BK
BK
BK
BK
BK
BK
BK
AWG16
AWG16
AWG16
AWG16
AWG16
AWG16
AWG16
AWG16
AWG16
AWG16
AWG16
AWG16
-_400
-_402
-_404
-_410
-_408
-_406
-_418
-_420
-_422
-_416
-_414
-_412
M2U
M2V
M2W
M1W
M1V
M1U
M3U
M3V
M3W
M4W
M4V
M4U
GNYE
GNYE
AWG10
AWG10
DRIVE MODULE
-XS1 A11 A9 A7 A5 B3 B4 B10 B9 B8 A13 A15 B1
FLOOR CABLE
MANIPULATOR

2013-09-27 =
Next 87
1 2 3 4 5 6 7 8
FLOOR CABLE
CONTROLLER
MANIPULATOR
Customer
Connection

-XS/XP5 0,23mm2
-708
-XP/XT5 AWG24 R1-CS
BK WH CSA
1 B5 A
BN BU CSB
2 C5 B
RD WH CSC
3 D5 C
OG OG CSD
4 A6 D
YE WH CSE
5 B6 E
GN GN CSF
6 C6 F
BU WH CSG
7 D6 G
VT BN CSH
8 A7 H
GY WH CSJ
9 B7 J
WH GY CSK
10 C7 K
WH/BK RD CSL
11 D7 L
WH/BN BU CSM
12 A8 M

2013-09-27 =
CUSTOMER SIGNAL Sublocation:+
IRB 360 Next 88
1
Latest revision:
R1 MP
A41.1
2,5mm2
-XS/XP1
-X11
M1U -_400 AWG12 BK

17 GNRD
1
17
17
27 OGGN M1U -_401 AWG12 BK 4
24
24
16 BN M1W -_402 AWG12 BK
3
19
19
26 OGBU M1W -_403 AWG12 BK
2
26
26
Main servo drive unit 460
18 GNWH M1V -_404 AWG12 BK

2
18
18
25 OGBK M1V -_405 AWG12 BK
5
25
25

3
-X12
23 GYWH M2U -_406 AWG12 BK

1
23
23
15 BNWH M2U -_407 AWG12 BK

4
32
32
24 GY M2W -_408 AWG12 BK

3
21
21
13 BNGN M2W -_409 AWG12 BK

6
4
30
30
22 GYRD M2V -_410 AWG12 BK

2
22
22
14 BNRD M2V -_411 AWG12 BK

5
31
31
PRH
Lab/Office:
DMRO SE/
5
IRB 460
-X13
10 BU M3U -_412 AWG12 BK

1
3
3
SERVO DRIVE SYSTEM

4 BKWH M3U -_413 AWG12 BK
4
4
4
12 BNBU M3W -_414 AWG12 BK

3
7
7
6
5 BK M3W -_415 AWG12 BK

6
14
14
11 BNBK M3V -_416 AWG12 BK

2
5
5
6 BUBK M3V -_417 AWG12 BK

5
6
6
-X16
9 BUWH M6U -_428 AWG12 BK

1
9
9
Status:
7 BUGN M6W -_430 AWG12 BK

7
16
16
8 BURD M6V -_432 AWG12 BK

APPROVED
Document no.
2
8
8
AWG10 GNYE
2013-09-27
AWG10 GNYE
3HAC024480-011
Plant:
Sublocation:+
Location: +
=
8
DRIVE MODULE
CONTROLLER
00 Total
MANIPULATOR
FLOOR CABLE
Next 89
Rev. Ind Page88
1 2 3 4 5 6 7 8
FLOOR CABLE
0,23 mm2
R1 SMB
-XS/XP2
A A
B B
C C MEASUREMENT
A42-X4 D D
(67) / -MRC_0V1 WH 0V
E WH E
(67) / +24V_SMB1 GN 24V

F BN F
Key pin
M
-_433 AWG16 -XS/XP1

(64) / -EXT. LAMP BU
R1 MP
DRIVE MODULE (64) / -BRAKEPB -_434 AWG16 BU 28 OG 0,75 mm2 BRAKE PB
XS40 11 11
(64) / -BRAKEREL1 -_435 AWG16 BU 30 OGRD 4mm2 BRAKE RELEASE
13 13 BRAKE RELEASE
(64) / -BRAKEREL2 -_436 AWG16
(65) / -0V BRAKE4 -_437 AWG16 BU 29 OGWH 4mm2 0V BRAKE

12 12 0V BRAKE
-_438 AWG16 BU 31 PKBK 0,75mm2 24V EXT.LAMP
27 27
CONTACTOR UNIT -_439 AWG16 BU
A43-X5
32 PKBU 0,75mm2 0V EXT.LAMP
15 15
(65) / -0V BRAKE3 -_440 AWG16 BU

2013-09-27
Next 90
1 2 3 4 5 6 7 8
FLOOR CABLE
Customer CONTROL MODULE IRB 460, 660, 760
Connection Single cabinet w26 1mm2
-XP/XT6 -713 R1 CP
-XS/XP13
AWG20 BK 1 24V
1 BN A1 D1
RD 2 0V
2 OG A2 D6
YE 3 24V
3 GN A3 D3
BU 4 0V
4 VT A4 GNYE D4
PE
SH
-XP/XT5.1 -711 W27 R1 CS
AWG24 BK BKog 0,23mm2 CS
1 BN B1 bu 0,23mm2 B1 CS
2 RD B2 WHog 0,23mm2 B2 CS
3 OG B11 og 0,23mm2 B11 CS
4 YE B12 WHgn 0,23mm2 B12 CS
5 GN B13 gn 0,23mm2 B13 CS

6 BU B14 GN AWG24 B14 CS

7 VT C19 BN AWG24 C19 CS
8 -712 1/WH C21 WH AWG24 C21 CS
9 AWG24 1/BU B7 BU AWG24 B7 CS
10 2/WH B8 WH AWG24 B8 CS
11 2/OG B9 OG AWG24 B9 CS
12 B10 W28 B10
-XP/XT5.2
3/WH WH AWG24 CS
1 3/GN B3 GN AWG24 B3 CS
3 4/BN B5 BN AWG24 B5 CS
4 -711 GY B6 RD AWG24 B6 CS
5 AWG24 WH C16 OG AWG24 C16 CS
6 WH/BK C17 RD AWG24 C17 CS
7 WH/BN C18 RD AWG24 C18 CS
8 WH/RD C20 C20
9 WH/OG B22
10 WH/YE or PK B23
11 WH/GN or Light GN B24
12 B25
-XP/XT5.3 -713 W27

AWG20 GY WHbn 0,23mm2 CS
1 WH B15 bn 0,23mm2 B15 CS
2 WH/BK B16 WHgy 0,23mm2 B16 CS
3 WH/BN B18 gy 0,23mm2 B18 CS
4 WH/RD B19 RDbu 0,23mm2 B19 CS
5 WH/OG B20 bu 0,23mm2 B20 CS
6 WH/YE B21 B21
7 WH/GN C10
8 WH/BU C11
9 WH/VT C12
10 WH/GY or Light GN C13
11 BN/BK or RD/BK C14
12 AWG16 C15

2013-09-27 =
IRB460, 660, 760 Document no. Rev. Ind Page90
Next 91
1 2 3 4 5 6 7 8
FLOOR CABLE
Customer CONTROL MODULE IRB 460, 660, 760
Connection
A35
OPTION : DEVICENET -X2 AWG22 AWG24 R1 CP/CS
-707 +DeviceNet-XS/XP13
(111.1) 2/BK V- BK 0V
1 F2 B23
1/BU CAN_L BU CAN_L
2 F4 A4
Bare wire SHIELD
3
1/WH CAN_H WH CAN_H
4 F3 A3
2/RD V+ RD +24V CAN
5 F1 B22
A33 AWG22
OPTION : PROFIBUS -XS/XP13 +R1 CP/CS
-709 AWG24
Option: 803-4 (111.1) -(DP-M)1 1/RD RXD/TXD-P RD RXD/TXD-P
1B 2 F5 A5
1/GN RXD/TXD-N GN RXD/TXD-N
1A F6 A6

2013-09-27 =
C-BUS/P-BUS/ to CP/CS Sublocation:+
IRB460, 660, 760 Document no. Rev. Ind Page91
Next 92
1
Latest revision:
A41.1
2,5mm2
+R1 MP

-XS/XP1
17 GNRD M1U -_400 AWG12 BK -X11
1
17
17
27 OGGN M1U -_401 AWG12 BK
4
24
24
16 BN M1W -_402 AWG12 BK
3
19
19
2

6
26
26
2
18
18

5
25
25

-X14
M4U -_418 AWG12 BK
1
1
M4U -_420 AWG12 BK

3
3
10
M4V -_422 AWG12 BK
2
2
-X12

1
23
23

4
32
32
24 GY M2W -_408 AWG12 BK

3
21
21
M2W -_409 AWG12 BK

4
13 BNGN
6
30
30

2
22
22

5
31
31
PRH
Lab/Office:
DMRO SE/
-X15
M5U -_424 AWG12 BK

1
20
M5W -_425 AWG12 BK

5
29
M5V -_426 AWG12 BK

2
IRB 660 and 760 cabinet module
28
IRB 660, 760

According to Manipulator IRB660 circuit diagram 3HAC025691-001
-X13
BK
SERVO DRIVE SYSTEM

IRC5 DESIGN 14 Rel13.2 10 BU M3U -_412 AWG12
3
3
1

4
4
4

6
7
7
3
5 BK M3W -_415 AWG12 BK

6
14
14

5
5
2

6
6
5
-X16

Status:
9
9
1
7

3
APPROVED
16
16
Document no.

8
8
2
2013-09-27
AWG10 GNYE
AWG10 GNYE
3HAC024480-011
Plant:
Sublocation:+
Location: +
=
8
FLOOR CABLE
00 Total
DRIVE MODULE
CONTROLLER
Next 93
Rev. Ind Page92
MANIPULATOR
1 2 3 4 5 6 7 8
FLOOR CABLE
DRIVE MODULE IRB660, 760
0,23 mm2
+R1 SMB
-XS/XP2
A A
B B
C C MEASUREMENT
A42-X4 D D
(67) / -MRC_0V1 WH 0V
E WH E
(67) / +24V_SMB1 GN 24V

F BN F
(67) / -MRC_0V2
G
H
(67) / -MRC_0V3
J
AWG16 BU 1 BU EXT.LAMP RD EXT.LAMP

-DP1 AWG16 L L
1
-C1 M
2
BU
AWG16
(64) / -EXT. LAMP -_433 AWG16 BU

+R1 MP
-_434 AWG16 -XS/XP1
DRIVE MODULE (64) / -BRAKEPB BU 30 OGRD 0,75 mm2 BRAKE PB
XP40 11 11
(64) / -BRAKEREL1 -_435 AWG16 BU 28 OG 4,0 mm2 BRAKE RELEASE
13 13 BRAKE RELEASE
(64) / -BRAKEREL2 -_436 AWG16 BU
(65) / -0V BRAKE4 -_437 AWG16 BU 29 OGWH 4,0 mm2 0V BRAKE

12 12 0V BRAKE
CONTACTOR UNIT (65) / -PTC1 -_439 AWG16 BU 31 PKBK 0,75 mm2 PTC
A43-X5 27 27
(65) / -PTC 1 ret -_440 AWG16 BU 32 PKWH 0,75 mm2 0V PTC
15 15
(65) / -0V BRAKE3 -_438 AWG16 BU

2013-09-27 =
IRB 660, 760 Document no. Rev. Ind Page93
Next 94
1
Latest revision:
FLOOR CABLE

-A41
AWG16
2
R1-MP
-XS/XP1
-X11
M1R BKBU -_400 AWG16 BK

1
A1
A1
M1S BKGN -_402 AWG16 BK
3
A2
A3
M1T BKRD -_404 AWG16 BK

2
A3
A5
-X12
M2T BUBK -_410 AWG16 BK

2
3
D2
A11
M2S BK -_408 AWG16 BK
3
A9
D1
M2R BKWH -_406 AWG16 BK
1
A4
A7
-X14
M4R BU -_418 AWG16 BK

1
B3
A10
M4S BNBK -_420 AWG16 BK
3
4
A9
B4
M4T BNBU -_422 AWG16 BK

2
A8
B5
-X16
M6T GNWH -_432 AWG16 BK

PRH
B11
B10
M6S GNRD -_430 AWG16 BK
3
D7
Lab/Office:
DMRO SE/
B10
M6R BN -_428 AWG16 BK

1
B9
D8
5
IRB 1410
-X13
M3R BUGN -_412 AWG16 BK

1
D3
A13
M3S BURD -_414 AWG16 BK

3
D4
A15
M3T BUWH -_416 AWG16 BK
SERVO DRIVE SYSTEM

2

B1
B1
-X15
M5T BNWH -_426 AWG16 BK

2
B8
D9
6
M5S BNRD -_425 AWG16 BK

3
B7
D10
M5R BNGN -_424 AWG16 BK

1
A7
B6
AWG10 GNYE
AWG10 GNYE
Status:
7
APPROVED
Document no.
2013-09-27
3HAC024480-011
Plant:
DRIVE MODULE
Sublocation:+
Location: +
=
MANIPULATOR
8
00 Total
Next 95
Rev. Ind Page94
1 2 3 4 5 6 7 8
FLOOR CABLE
CONTROLLER
MANIPULATOR
DRIVE MODULE 0,23 mm2 IRB1410
-XS/XP2 R1-SMB
(67) / -MRCO 1_N A BU A SDI-N
(67) / -MRCI1 B WH B SDO
(67) / -MRCI 1_N C OG C SDO-N
AXIS COMPUTER BOARD (67) / -MRC_0V1 D WH D 0V
A42-X4 E WH E
(67) / +24V_SMB1 GN 24V
F BN F
(67) / -MRC_0V2 SERIAL
G MEASUREMENT
(67) / -MRC_0V3 H 0V BOARD
J GY J BATSUP
K RD K BATLD
L L

AWG16
-XS/XP1 R1-MP
(64) / -EXT. LAMP -_433 AWG16 OG
C7 C7
(64) / -BRAKEPB -_434 AWG16 BU OGWH
DRIVE MODULE B16 B8

X40 (64) / -BRAKEREL1 -_435 AWG16 BU GYBK
B12 C9
(64) / -BRAKEREL2 -_436 AWG16 BU GYBU
B13 C8
(65) / -0V BRAKE4 -_438 AWG16 BU GYGN
B14 C10
CONTACTOR UNIT (65) / -PTC1 -_439 AWG16 BU OGBU
A43-X5 C2 B9
(65) / -PTC 1 ret -_440 AWG16 BU OGBK
C1 B2
(65) / -0V BRAKE3 -_437 AWG16 BU OGRD
B15 B7
GYWH
D2 B3
GYRD
D1 B4
GY
D3 C2
OGGN
D4 C1

2013-09-27
Next 96
1 2 3 4 5 6 7 8
FLOOR CABLE
CONTROLLER
MANIPULATOR
IRB 1410
CONTROL MODULE
Customer
Connection
-XS/XP5 0,23mm2
-XP/XT5 R1-CS
-708

AWG24 BK WH CSA
1 B5 A
BN BU CSB
2 C5 B
RD WH CSC
3 D5 C
OG OG CSD
4 A6 D
YE WH CSE
5 B6 E
GN GN CSF
6 C6 F
BU WH CSG
7 D6 G
VT BN CSH
8 A7 H
GY WH CSJ
9 B7 J
WH GY CSK
10 C7 K
WH/BK RD CSL
11 D7 L
WH/BN BU CSM
12 A8 M

2013-09-27 =
CUSTOMER SIGNALS Sublocation:+
IRB 1410 Next 97
1 2 3 4 5 6 7 8

A41.1
-X11 1 3 2 -X12 1 3 2 -X13 1 3 2 -X14 1 3 2 -X15 1 3 2 -X16 1 3 2

BK
BK
BK
BK
BK
BK
BK
BK
BK
BK
BK
BK
BK
BK
BK
BK
BK
BK
AWG16
AWG16
AWG16
AWG16
AWG16
AWG16
AWG16
AWG16
AWG16
AWG16
AWG16
AWG16
AWG16
AWG16
AWG16
AWG16
AWG16
AWG16
-_400
-_402
-_404
-_406
-_408
-_410
-_412
-_414
-_416
-_418
-_420
-_422
-_424
-_425
-_426
-_428
-_430
-_432
AWG16 GNYE
AWG16 GNYE
A1 A3 A5 A7 A9 A11 A13 A15 B1 B3 B4 B5 B6 B7 B8 B9 B10 B11
XS/XP1
DRIVE MODULE
FLOOR CABLE
AWG16
MW1
MW2
MW3
MW4
MW5
MW6
MU1
MU2
MU3
MU4
MU5
MU6
MV1
MV2
MV3
MV4
MV5
MV6
MANIPULATOR
R1.MP 1 2 5 3 4 8 6 9 10 15 16 19 17 21 22 20 23 24

2013-09-27 =
Next 98
1 2 3 4 5 6 7 8
FLOOR CABLE
CONTROLLER
MANIPULATOR
0,23 mm2 IRB1520
DRIVE MODULE
-XS/XP2 R1-SMB
A42-X4 E WH E
(67) / +24V_SMB1 GN 24V
F BN F
G MEASUREMENT
-MRC_0V3 H WH 0V
(67) / BOARD
J GY J BATSUP
K RD K BATLD
L L
KEYPIN

AWG16
-XS/XP1 R1-MP
C7 14
(64) / -BRAKEPB BU OGWH
DRIVE MODULE B16 11

X40 (64) / -BRAKEREL1 BU GYBK
B12 13
(64) / -BRAKEREL2 BU GYBU
B13 18
(65) / -0V BRAKE4 BU GYGN
B14 12
CONTACTOR UNIT (65) / -PTC1 BU
A43-X5 C2
(65) / -PTC 1 ret BU
C1
(65) / -0V BRAKE3 BU OGRD
B15 7
(62) / -A43-X21.2 BU
D2
CONTACTOR UNIT (62) / -A43-X21.4 BU
A43-X21 D1
(62) / -A43-X21.3 BU
D3
(62) / -A43-X21.1 BU
AWG16 BK
D4

2013-09-27 =
Next 99
1
Latest revision:

2

3
4
PRH
Lab/Office:
DMRO SE/
5
IRB 1520
CUSTOMER SIGNALS
6
J
F
K
E
B
A
H
D
C
K
H
R1.CS
IRB 1520
Status:
MANIPULATOR
7
APPROVED
Document no.
2013-09-27
3HAC024480-011
Plant:
Customer connection Signal

Included with option Power source RPS_400
Sublocation:+
Location: +
=
8
00 Total

Rev. Ind Page99
Next 100
1
Latest revision:

Floor cable
2
A41.1
AWG16
R1-MP
-XS/XP1
-X11
M1U BKBU -_400 AWG16 BK

1
A1
A1
M1V BKGN -_402 AWG16 BK
3
A2
A3
M1W BKRD -_404 AWG16 BK
2
3
A3
A5
-X12
M2W BUBK -_410 AWG16 BK

2
D2
A11
M2V BK -_408 AWG16 BK
3
A9
D1
M2U BKWH -_406 AWG16 BK
1
A4
A7
4
-X14
M4U BU -_418 AWG16 BK

1
B3
A10
M4V BNBK -_420 AWG16 BK
3
A9
B4
M4W BNBU -_422 AWG16 BK

2
A8
B5
PRH
Lab/Office:
DMRO SE/
-X16
M6W GNWH -_432 AWG16 BK

B11
B10
M6V GNRD -_430 AWG16 BK
3
D7
B10
5
M6U BN -_428 AWG16 BK

1
B9
IRB 1600
D8
SERVO DRIVE UNIT

-X13
M3U BUGN -_412 AWG16 BK

1

D3
A13
M3V BURD -_414 AWG16 BK

3
D4
A15
M3W BUWH -_416 AWG16 BK

2
B1
B1
6
-X15
M5W BNWH -_426 AWG16 BK

2
B8
D9
M5V BNRD -_425 AWG16 BK

3
B7
D10
M5U BNGN -_424 AWG16 BK

1
A7
B6
Status:
7
AWG10 GNYE
APPROVED
Document no.
AWG10 GNYE
2013-09-27
3HAC024480-011
Plant:
Sublocation:+
Location: +
=
8
00 Total
DRIVE MODULE
IRB 1600
MANIPULATOR
Next 101
Rev. Ind Page100
1 2 3 4 5 6 7 8
FLOOR CABLE
CONTROLLER
MANIPULATOR
0,23 mm2 IRB1600
DRIVE MODULE
-XS/XP2 R1-SMB
A42-X4 E WH E
(67) / +24V_SMB1 GN 24V
F BN F
G MEASUREMENT
-MRC_0V3 H WH 0V
(67) / BOARD
J GY J BATSUP
K RD K BATLD
L L
KEYPIN

AWG16
-XS/XP1 R1-MP
(64) / -EXT. LAMP -_433 AWG16 BU OG
C7 C7
(64) / -BRAKEPB -_434 AWG16 BU OGWH
DRIVE MODULE B16 B8

X40 (64) / -BRAKEREL1 -_435 AWG16 BU GYBK
B12 C9
(64) / -BRAKEREL2 -_436 AWG16 BU GYBU
B13 C8
(65) / -0V BRAKE4 -_438 AWG16 BU GYGN
B14 C10
CONTACTOR UNIT (65) / -PTC1 -_439 AWG16 BU OGBU
A43-X5 C2 B9
(65) / -PTC 1 ret -_440 AWG16 BU OGBK
C1 B2
(65) / -0V BRAKE3 -_437 AWG16 BU OGRD
B15 B7
(62) / -A43-X21.2 LIM 1A -_441 AWG16 BU GYWH
D2 B3
CONTACTOR UNIT (62) / -A43-X21.4 LIM 2A -_442 AWG16 BU GYRD
A43-X21 D1 B4
(62) / -A43-X21.3 LIM 2B -_443 AWG16 BU GY
D3 C2
(62) / -A43-X21.1 LIM 1B -_444 AWG16 BU OGGN
D4 C1

2013-09-27 =
Next 102
1 2 3 4 5 6 7 8
FLOOR CABLE
CONTROLLER
MANIPULATOR
Customer IRB 1600
CONTROL MODULE
Connection
-XS/XP5
-XP/XT6 -709 AWG18
AWG24 R1-CP/CS
1 BK RD CPA
2 BN A1 BU A1 CPB
3 RD B1 GN B1 CPC
4 OG C1 YE C1 CPD
5 YE D1 WH D1 CPE
6 GN A2 BK A2 CPF
7 BU B2 BN B2 CPJ
8 VT C2 VT C2 CPK
9 GY D2 OG D2 CPH
10 WH A3 PK A3
11 B3 TQ B3

WH/BK
12 WH/BN C3 GY C3
D3 D3
-XP/XT5.1
-710 0,23mm2
1 AWG24 BK WH CSA
2 BN B5 BU B5 CSB
3 RD C5 WH C5 CSC
4 OG D5 OG D5 CSD
5 YE A6 WH A6 CSE
6 GN B6 GN B6 CSF
7 BU C6 WH C6 CSG
8 VT D6 BN D6 CSH
9 GY A7 WH A7 CSJ
10 WH B7 GY B7 CSK
A8 A8
-XP/XT5.2
13 WH/RD RD CSN
D10 D10

2013-09-27 =
IRB 1600 Next 103
1
Latest revision:

FLOOR CABLE
-A41.1-6
AWG16
R1 MP
2
-XS/XP1
-X11
M1U BKBU -400 AWG14 BK

1
A1
A1
M1V BKGN -402 AWG14 BK
2
A2
A3
M1W BKRD -404 AWG14 BK
3
A3
A5

-X12
M2W BUBK -410 AWG14 BK

3
D2
A11
M2V BK -408 AWG14 BK
2
3
A9
D1
M2U BKWH -406 AWG14 BK
1
A4
A7
-X14
M4U BU -418 AWG14 BK

1
4
B3
A10
M4V BNBK -420 AWG14 BK
2
A9
B4
M4W BNBU -422 AWG14 BK

3
A8
B5
X16
PRH
M6W GNWH -432 AWG14 BK
Lab/Office:
DMRO SE/
B11
B10
M6V GNRD -430 AWG14 BK
2
D7
B10
M6U BN -428 AWG14 BK

1
B9
D8
5
IRB 2400
-X13
M3U BUGN -412 AWG14 BK

1
SERVO DRIVE UNIT

D3
A13
M3V BURD -414 AWG14 BK

2

D4
A15
M3W BUWH -416 AWG14 BK

3
B1
B1
X15
6
M5W BNWH -426 AWG14 BK

3
B8
D9
M5V BNRD -425 AWG14 BK

2
B7
D10
M5U -424 AWG14 BK

1
A7
B6
AWG10 GNYE
AWG10 GNYE
Status:
7
APPROVED
Document no.
2013-09-27
3HAC024480-011
Plant:
Sublocation:+
Location: +
=
8
MANIPULATOR
DRIVE MODULE
00 Total
Next 104
Rev. Ind Page103
1 2 3 4 5 6 7 8
FLOOR CABLE
DRIVE MODULE 0,23 mm2 IRB 2400
R1 SMB
-XS/XP2
AXIS COMPUTER BOARD (67) / -MRC_0V1 D WH D 0V SERIAL
A42-X4 E WH E MEASUREMENT
(67) / +24V_SMB1 GN 24V BOARD
F BN F
(67) / -MRC_0V2
G G
(67) / -MRC_0V3 H WH H 0V
J GY J BATSUP
K RD K BATLD
L L
KEYPIN
M
AWG16
R1 MP
-433 AWG16 -XS/XP1
DRIVE MODULE C7 C7
X40 (64) / -BRAKEPB -434 AWG16 BU OGWH
B16 B8
(64) / -BRAKEREL1 -435 AWG16 BU GYBK
B12 C9
(64) / -BRAKEREL2 -436 AWG16 BU GYBU
B13 C8
(65) / -0V BRAKE4 -438 AWG16 BU GYGN
B14 C10
CONTACTOR UNIT (65) / -PTC1 -439 AWG16 BU OGBU
A43-X5 C2 B9
(65) / -PTC 1 ret -440 AWG16 BU OGBK
C1 B2
(65) / -0V BRAKE3 -437 AWG16 BU OGRD
B15 B7
(62) / -A43-X21.2 LIM 1A -441 AWG16 BU GYWH
D2 B3
CONTACTOR UNIT (62) / -A43-X21.4 LIM 2A -442 AWG16 BU GYRD
A43-X21 D1 B4
(62) / -A43-X21.3 LIM 2B -443 AWG16 BU GY
D3 C2
(62) / -A43-X21.1 LIM 1B -444 AWG16 BU OGGN
D4 C1

2013-09-27
Next 105
1 2 3 4 5 6 7 8
IRB 2400
CONTROL MODULE
Customer
-XS/XP5
Connection -XP/XT6 -709 AWG18
AWG24
1 BK RD R1
CP/CS CPA
2 BN A1 BU A1 CPB
3 RD B1 GN B1 CPC
4 OG C1 YE C1 CPD
5 YE D1 WH D1 CPE
6 GN A2 BK A2 CPF
7 BU B2 BN B2 CPJ
8 VT C2 VT C2 CPK
9 GY D2 OG D2 CPL
10 WH A3 PK A3 CPM
11 WH/BK B3 TQ B3
12 WH/BN C3 GY C3
D3 D3
-XP/XT5.1
-710 0,23mm2
1 AWG24 BK WH CSA
2 BN B5 BU B5 CSB
3 RD C5 WH C5 CSC
4 OG D5 OG D5 CSD
5 YE A6 WH A6 CSE
6 GN B6 GN B6 CSF
7 BU C6 WH C6 CSG
8 VT D6 BN D6 CSH
9 GY A7 WH A7 CSJ
10 WH B7 GY B7 CSK
A8 A8
-XP/XT5.2
13 WH/RD RD CSN
D10 D10

2013-09-27 =
IRB 2400 Next 106
R1 MP
1
Latest revision:
A41.1
2,5mm2
-XS/XP1
-X11
17 GNRD M1U -_400 AWG12 BK
17

17
4
24
24
16 BN M1W -_402 AWG12 BK
3
19
19
6
26
26
2

2
18
18
5
25
25
-X14
1 BKBU M4U -_418 AWG12 BK

1

1
1
3 BKRD M4W -_420 AWG12 BK
3
10
10
2 BKGN M4V -_422 AWG12 BK
2
2
2
3
-X12

1
23
23

4
32
32
24 GY M2W -_408 AWG12 BK

3
21
21

6
30
30
M2V -_410 AWG12 BK

4
22 GYRD
2
22
22

5
31
31
PRH
-X15
20 GYBU M5U -_424 AWG12 BK
Lab/Office:
DMRO SE/
1
20
20
21 GYGN M5W -_425 AWG12 BK

3
29
29
19 GYBK M5V -_426 AWG12 BK

2
5
28
28
IRB 2600
-X13
10 BU M3U -_412 AWG12 BK

1
3
3
BKWH BK
SERVO DRIVE SYSTEM

IRC5 DESIGN 14 Rel13.2 4 M3U -_413 AWG12
4
4

3
7
7
5 BK M3W -_415 AWG12 BK

6
6
14
14

2
5
5

6
5
6
-X16

1
9
9

Status:
3
16
16
7

2
8
8
APPROVED
Document no.
AWG10 GNYE
AWG10 GNYE
2013-09-27
3HAC024480-011
Plant:
Sublocation:+
Location: +
=
8
00 Total
MANIPULATOR
DRIVE MODULE
Next 107
Rev. Ind Page106
1 2 3 4 5 6 7 8
FLOOR CABLE
0,23 mm2
R1 SMB
-XS/XP2
A A
B B
C C MEASUREMENT
A42-X4 D D
(67) / -MRC_0V1 WH 0V
E WH E
(67) / +24V_SMB1 GN 24V

F BN F
(67) / -MRC_0V2
G G
H H
(67) / -MRC_0V3 WH BATT-
J J
GY BATT+
K K
RD BATT LOAD
L L
Key pin
M
-_433 AWG16 -XS/XP1

R1 MP
DRIVE MODULE (64) / -BRAKEPB -_434 AWG16 BU 30 OG 0,75mm2 BRAKE PB
XS40 11 11
(64) / -BRAKEREL1 -_435 AWG16 BU 28 OGRD 4mm2 BRAKE RELEASE
13 13 BRAKE RELEASE
(64) / -BRAKEREL2 -_436 AWG16
(65) / -0V BRAKE4 -_437 AWG16 BU 29 OGWH 4mm2 0V BRAKE

12 12 0V BRAKE
-_438 AWG16 BU 31 PKBK 0,75mm2 EXT.LAMP
27 27
CONTACTOR UNIT -_439 AWG16 BU
A43-X5
32 PKBU 0,75mm2 0V BRAKE
15 15
(65) / -0V BRAKE3 -_440 AWG16 BU

2013-09-27
Next 108
1 2 3 4 5 6 7 8
FLOOR CABLE
Customer CONTROL MODULE IRB 2600
Connection w26 1mm2
-XP/XT6 -713 -XS/XP13 R1 CP/CS
AWG20 BK 1
D1
CPA_ /
1 BN A1 CPE_ /
RD 2
CPB_ /
2 OG A2 D6 CPF_ /
YE 3
CPC_ /
3 GN A3 D3 CPJ_ /
BU 4
CPD_ /
4 VT A4 GNYE D4 CPK_ /
CPH
SH D7
-XP/XT5.1 -711 W27
3 OG B11 og 0,23mm2 B11 CS
5 GN B13 gn 0,23mm2 B13 CS

6 BU B14 gn 0,23mm2 B14

7 VT C19 bn 0,23mm2 C19
8 -712 1/WH C21 WH AWG24 C21 CS
12 B10 B10
W28
-XP/XT5.2
3/WH WH AWG24 CS
4 -711 GY B6 RDog 0,23mm2 B6
5 AWG24 WH C16 og 0,23mm2 C16
6 WH/BK C17 RDgn 0,23mm2 C17
7 WH/BN C18 RDbn 0,23mm2 C18
8 WH/RD C20 RDgy 0,23mm2 C20 CS
9 WH/OG B22 gy 0,23mm2 B22 CS
10 WH/YE or PK B23 BKbu 0,23mm2 B23 CS
11 WH/GN or Light GN B24 bu 0,23mm2 B24
12 B25 B25
W27
-XP/XT5.3 -713
1 WH B15 bn 0,23mm2 B15 CS
6 WH/YE B21 B21
7 WH/GN C10
8 WH/BU C11
9 WH/VT C12
12 AWG16 C15

2013-09-27=
IRB2600 Document no. Rev. Ind Page108
Next 109
1 2 3 4 5 6 7 8
FLOOR CABLE
Connection AWG18
-XP/XT6 -713 -XS/XP13
AWG20 1 R1.D CP/CS
1 BK A1 CP/CSE
BN D1
2 RD A2 2 CP/CSF
OG D6
3 YE A3 3 CP/CSV
GN D3
4 BU A4 4
VT GNYE D4
-XP/XT5.1 -711 AWG24 AWG24

AWG24 BK WH CS
1 BN B1 BU B1 CS
2 RD B2 WH B2
3 OG B11 OG B11
4 YE B12 WH B12
5 GN B13 GN B13
6 BU B14 GN B14
7 VT C19 BN C19
8 -712 1/WH C21 WH C21
9 AWG24 1/BU B7 BU B7
10 2/WH B8 WH B8
11 2/OG B9 OG B9
12 B10 B10
-XP/XT5.2
3/WH WH CS
1 3/GN B3 GN B3 CS
2 4/WH B4 WH B4 CS
3 4/BN B5 BN B5 CS
4 -711 GY B6 RD B6
5 AWG24 WH C16 OG C16
6 WH/BK C17 RD C17
7 WH/BN C18 RD C18
8 WH/RD C20 C20
9 WH/OG B22
10 WH/YE or PK B23 BK
11 WH/GN or Light GN B24 BU B24
12 B25 B25
-XP/XT5.3 -713
AWG20 GY WH
1 WH B15 BN B15
2 WH/BK B16 WH B16
3 WH/BN B18 GY B18
4 WH/RD B19 RD B19
5 WH/OG B20 BU B20
6 WH/YE B21 BK B21
7 WH/GN C10 OG A5
8 WH/BU C11 BK A6
9 WH/VT C12 GN A9
10 WH/GY or Light GN C13 BK A10
11 BN/BK or RD/BK C14 BN A11
12 BN/BK C15 A12
AWG16
OPTION //DEVICENET acc. to page 115.5

2013-09-27=
DEVICE NET Document no. Rev. Ind Page109
IRB2600 Next 110
1 2 3 4 5 6 7 8
FLOOR CABLE
Connection
XP/XT 6 -713 XS/XP13 AWG18 +R1 CP/CS
AWG20 BK 1 CP4
1 BN A1 D1
RD 2 CP5
2 OG A2 D6
YE 3 CP6
3 GN A3 D3
BU 4 CP7
4 VT A4 GNYE D4
XP/XT5.1 -711 AWG24 AWG24

AWG24 BK WH CS
1 BN B1 BU B1 CS
2 RD B2 WH B2 CS
3 OG B11 OG B11 CS
4 YE B12 WH B12 CS
According to Manipulator diagram 3HAC025744-001 and 3HAC13347-1

5 GN B13 GN B13 CS
6 BU B14 GN B14 CS
7 VT C19 BN C19 CS
8 -712 1/WH C21 WH C21 CS

9 AWG24 1/BU B7 BU B7 CS
10 2/WH B8 WH B8 CS
11 2/OG B9 OG B9 CS
12 B10 B10
XP/XT5.2
3/WH WH CS
1 3/GN B3 GN B3 CS
2 4/WH B4 WH B4 CS
3 4/BN B5 BN B5 CS
4 -711 GY B6 RD B6 CS
5 AWG24 WH C16 OG C16 CS
6 WH/BK C17 RD C17 CS
7 WH/BN C18 RD C18 CS
8 WH/RD C20 RD C20 CS
9 WH/OG B22 GY B22 CS
10 WH/YE or PK B23 BK B23 CS
11 WH/GN or Light GN B24 BU B24 CS
12 B25 B25
XP/XT5.3 -713
AWG20 GY WH CS
1 WH B15 BN B15 CS
2 WH/BK B16 WH B16 CS
3 WH/BN B18 GY B18 CS
4 WH/RD B19 RD B19 CS
5 WH/OG B20 BU B20 CS
6 WH/YE B21 BK B21 CS
7 WH/GN C10 OG A3 CS
8 WH/BU C11 BK A4 CS
9 WH/VT C12 GN A9 CS
10 WH/GY or Light GN C13 BK A10 CS
11 BN/BK or RD/BK C14 BN A11 CS
12 AWG16 BN/BK C15 A12
For more information aboute Option connected to XS13.
SPOTPACK circuit diagram 3HAC026208-001
OPTION //PROFIBUS acc. to DRESSPACK circuit diagram 3HAC026209-001

2013-09-27 =
PROFI BUS Document no. Rev. Ind Page110
IRB 2600 Next 111
1 2 3 4 5 6 7 8
FLOOR CABLE
Connection
A35
OPTION : DEVICENET AWG22 AWG24 R1 CP/CS
-X2 -707 +DeviceNet-XS/XP13
(91.1) 2/BK V- BK 0V
1 F2 B23
1/BU CAN_L BU CAN_L
2 F4 A4
Bare wire SHIELD
3
1/WH CAN_H WH CAN_H
4 F3 A3
2/RD V+ RD +24V CAN
5 F1 B22
AWG22
XP9 -R1.CBUS
1 YE
(23) / 5.TXRX+ 1 1 RX+
2 WH
(23) / 5.TXRX- 2 RX-
Option: ProfiNet / Ethernet IP 2 ProfiNet//Ethernet
3 OG
(23) / 5.RXTX+ 3 3 TX+
4 BU
(23) / 5.RXTX- 4 4 TX-
A33 AWG22
-709 AWG24
Option: 803-4 (91.1) -(DP-M)1 1/RD RXD/TXD-P RD RXD/TXD-P
1B 2 F5 A5
1A F6 A6

2013-09-27 =
DevNet/PofiNet/Ethernet/Profibus addition to CP/CS Sublocation:+
Next 112
FLOOR CABLE
1
Latest revision:
A41.1
AWG16 BK
R1 MP
-XS/XP1
M1U BKBU -_400 AWG16 -X11
AWG16
A1
A1
BKGN -_401

M1U
AWG16
A2
M1W BUGN -_402
A2
AWG16
A5
M1W BURD -_403
A5
AWG16
A6
M1V BKWH -_404
A6
AWG16
A3
M1V BK -_405
A3
1 4 3 6 2 5
A4
A4
2
-X14
M4U GYWH -_418 AWG16 BK

1
B3
B3
M4W OGGN -_420 AWG16 BK
3

B5
B5
M4V OGBK -_422 AWG16 BK
2
B4
B4
3
-X12
M2U BU -_406 AWG16

AWG16
A7
M2U BNBK -_407
A7
AWG16
A8
M2W BNRD -_408
A8
M2W BNWH -_409 AWG16
M2V BNBU -_410 AWG16
AWG16
A11 A9
M2V BNGN -_411
A11 A9
1 4 3 6 2 5
A12 A10
A12 A10
4
-X15
M5U OGWH -_424 AWG16 BK

1
B6
B6
M5W PKGN -_425 AWG16 BK

3
B8
B8
M5V PKBK -_426 AWG16 BK

2
PRH
B7
B7
Lab/Office:
DMRO SE/
5
IRB 4400
-X13
M3U BN -_412 AWG16

M3U GNRD -_413 AWG16
M3W GYBU -_414 AWG16
AWG16
A13 B1
M3W GYGN -_415

A13 B1
AWG16
A14 B2
M3V GNWH -_416

A14 B2
M3V GYBK -_417 AWG16

A15
1 4 3 6 2 5
A15
SERVO DRIVE SYSTEM

A16
A16
-X16
6
M6U PKRD -_428 AWG16 BK

1
B9
B9
M6W PK -_430 AWG16 BK

3
B11
B11
M6V PKWH -_432 AWG16 BK

2
B10
B10
AWG10
AWG10
Status:
7
APPROVED
Document no.
C3
2013-09-27
C4
C5
3HAC024480-011
C6
Plant:
C7
C8
C9
Sublocation:+
Location: +
=
8
C11
AWG18 BK
C10 C12
CONTROLLER
DRIVE MODULE
00 Total
MANIPULATOR
Next 113
Rev. Ind Page112
1 2 3 4 5 6 7 8
FLOOR CABLE
0,23 mm2
R1 SMB
-XS/XP2
AXIS COMPUTER BOARD (67) / -MRC_0V1 D WH D 0V SERIAL
A42-X4 E WH E MEASUREMENT
(67) / +24V_SMB1 GN 24V BOARD
F BN F
(67) / -MRC_0V2
G G
(67) / -MRC_0V3 H WH H 0V
J GY J BATSUP
K RD K BATLD
L L
KEYPIN
M
AWG16
-XS/XP1 R1 MP
(64) / -EXT. LAMP -_433 AWG16 WH
C16 C16
DRIVE MODULE (64) / -BRAKEPB -_434 AWG16 BU VT
X40 B16 B16

(64) / -BRAKEREL1 -_435 AWG16 BU RDBK
B12 B12
(64) / -BRAKEREL2 -_436 AWG16 BU RDBU
B13 B13
(65) / -0V BRAKE4 -_438 AWG16 BU RDGN
B14 B14
CONTACTOR UNIT (65) / -PTC1 -_439 AWG16 BU VTGN
A43-X5 C2 C2
(65) / -PTC 1 ret -_440 AWG16 BU VTBU
C1 C1
(65) / -0V BRAKE3 -_437 AWG16 BU VTWH
B15 B15
(62) / -A43-X21.2 LIM 1A -_441 AWG16 BU RD
D2 D2
CONTACTOR UNIT (62) / -A43-X21.4 LIM 2A -_442 AWG16 BU RDWH
A43-X21 D1 D1
(62) / -A43-X21.3 LIM 2B -_443 AWG16 BU VTBK
D3 D3
(62) / -A43-X21.1 LIM 1B -_444 AWG16 BU VTRD
D4 D4

2013-09-27
Next 114
1 2 3 4 5 6 7 8
FLOOR CABLE
Customer
-XS/XP5 AWG18
Connection -XP/XT6
-709 +R1.4400 CP/CS
1 AWG24 BK RD CPA
2 BN A1 BU A1 CPB
3 RD B1 GN B1 CPC
4 OG C1 YE C1 CPD
5 YE D1 WH D1 CPE
6 GN A2 BK A2 CPF
7 BU B2 BN B2 CPJ
8 VT C2 VT C2 CPK
9 GY D2 OG D2 CPL
10 WH A3 PK A3 CPM
11 WH/BK B3 TQ B3
12 WH/BN C3 GY C3
D3 D3
-XP/XT5.1
-710 0,23mm2
1 AWG24 BK WH CSA
2 BN B5 BU B5 CSB
3 RD C5 WH C5 CSC
4 OG D5 OG D5 CSD
5 YE A6 WH A6 CSE
6 GN B6 GN B6 CSF
7 BU C6 WH C6 CSG
8 VT D6 BN D6 CSH
9 GY A7 WH A7 CSJ
10 WH B7 GY B7 CSK
A8 A8
-XP/XT5.2
13 WH/RD RD CSN
D10 D10

2013-09-27 =
IRB 4400 Next 115
FLOOR CABLE
1
Latest revision:
2,5mm2
-A41.1-8

+R1 MP
-XS/XP1
-X11
17 GNRD M1U -_400 AWG12 BK 1
17
17
4
24
24
16 BN M1W -_402 AWG12 BK
2
19
19
6
26
26

2
18
18
5
25
25

-X14

1
1
1
3
10
10
2
2
2
-X12

1
23
23

4
32
32
24 GY M2W -_408 AWG12 BK

3
4
21
21

6
30
30

2
22
22

5
31
31
PRH
Lab/Office:
DMRO SE/
-X15

1
20
20
5

3
29
29
IRB 4600
2
28
28
SERVO DRIVE SYSTEM

-X13
10 BU M3U -_412 AWG12 BK

1
3
3

4
4
4
6

3
7
7
5 BK M3W -_415 AWG12 BK

6
14
14

2
5
5

6
5
Status:
-X16

7
9
9

APPROVED
Document no.
3
16
16

2
8
8
2013-09-27
AWG10 GNYE
3HAC024480-011
AWG10 GNYE
Plant:
Sublocation:+
Location: +
=
8
00 Total
CONTROLLER
Next 116
Rev. Ind Page115
MANIPULATOR
DRIVE MODULE
1 2 3 4 5 6 7 8
FLOOR CABLE
0,23 mm2
-XS/XP2 +R1 SMB
A A
B B
C C MEASUREMENT
A42-X4 D D
(67) / -MRC_0V1 WH 0V
E WH E
(67) / +24V_SMB1 GN 24V

F BN F
(67) / -MRC_0V2
G G
H H
(67) / -MRC_0V3 WH BATT-
J J
GY BATT+
K K
RD BATT LOAD
L L
Key pin
M
-_433 AWG16 -XS/XP1

+R1 MP
DRIVE MODULE (64) / -BRAKEPB -_434 AWG16 BU 30 OG 4,0 mm2 BRAKE PB
XS40 11 11
(64) / -BRAKEREL1 -_435 AWG16 BU 28 OGRD 0,75 mm2 BRAKE RELEASE
13 13 BRAKE RELEASE
(64) / -BRAKEREL2 -_436 AWG16
(65) / -0V BRAKE4 -_437 AWG16 BU 29 OGWH 0V BRAKE

12 12 0V BRAKE
-_438 AWG16 BU 31 PKBK 4,0 mm2 EXT.LAMP
27 27
CONTACTOR UNIT -_439 AWG16 BU 0,75 mm2
A43-X5
32 PKBU 0,75 mm2 0V BRAKE
15 15
(65) / -0V BRAKE3 -_440 AWG16 BU

2013-09-27
Next 117
1 2 3 4 5 6 7 8
CONTROLLER FLOOR CABLE MANIPULATOR

IRB 4600
Customer
Connection AWG18
-XP/XT6 -713 -XS/XP13 +R1 CP/CS
AWG20 BK 1
D1
CPA /
1 BN A1 CPE /
RD 2
CPB /
2 OG A2 D6 CPF /
YE 3
CPC /
3 GN A3 D3 CPJ /
BU 4
CPD /
4 VT A4 D4 CPK /
CPH
D7
-XP/XT5.1 -711 AWG24 AWG24
AWG24 BK WH CS
1 BN B1 BU B1 CS
2 RD B2 WH B2 CS
3 OG B11 OG B11 CS
4 YE B12 WH B12 CS
5 GN B13 GN B13 CS
6 BU B14 GN B14
7 VT C19 BN C19
8 -712 1/WH C21 WH C21 CS
10 2/WH B8 WH B8 CS
11 2/OG B9 OG B9 CS
12 B10 B10
-XP/XT5.2
3/WH WH CS
1 3/GN B3 GN B3 CS
2 4/WH B4 WH B4 CS
3 4/BN B5 BN B5 CS
4 -711 GY B6 RD B6
6 WH/BK C17 RD C17
7 WH/BN C18 RD C18
12 B25 B25
-XP/XT5.3 -713
AWG20 GY WH CS
1 WH B15 BN B15 CS
6 WH/YE B21 B21
7 WH/GN C10
8 WH/BU C11
9 WH/VT C12
12 AWG16 C15

2013-09-27 =
Next 118
1 2 3 4 5 6 7 8

Customer IRB 4600
Connection AWG18
-XP/XT6 -713 -XS/XP13 +R1.D CP/CS
1 AWG20 BK A1 1 CP/CSE
BN D1
2 RD A2 2 CP/CSF
OG D6
3 YE A3 3 CP/CSV
GN D3
4 BU A4 4
VT D4
GNYE
-XP/XT5.1 -711 AWG24 AWG24

AWG24 BK WH CS
1 BN B1 BU B1 CS
2 RD B2 WH B2
3 OG B11 OG B11
4 YE B12 WH B12
5 GN B13 GN B13
6 BU B14 GN B14
7 VT C19 BN C19
8 -712 1/WH C21 WH C21
9 AWG24 1/BU B7 BU B7
10 2/WH B8 WH B8
11 2/OG B9 OG B9
12 B10 B10
-XP/XT5.2
3/WH WH CS
1 3/GN B3 GN B3 CS
2 4/WH B4 WH B4 CS
3 4/BN B5 BN B5 CS
4 -711 GY B6 RD B6
6 WH/BK C17 RD C17
7 WH/BN C18 RD C18
8 WH/RD C20 C20
9 WH/OG B22
10 WH/YE or PK B23 BK
12 B25 B25
-XP/XT5.3 -713
AWG20 GY WH
1 WH B15 BN B15
2 WH/BK B16 WH B16
3 WH/BN B18 GY B18
4 WH/RD B19 RD B19
5 WH/OG B20 BU B20
6 WH/YE B21 BK B21
7 WH/GN C10 OG A5
8 WH/BU C11 BK A6
9 WH/VT C12 GN A9
10 WH/GY or Light GN C13 BK A10
11 BN/BK or RD/BK C14 BN A11
OPTION //DEVICENET acc. to page 127.5

2013-09-27=
DEVICE NET Document no. Rev. Ind Page118
IRB4600 Next 119
1 2 3 4 5 6 7 8

Customer IRB 4600
Connection
XP/XT 6 XS/XP13 AWG18 +R1 CP/CS
-713 1 CP4
1 AWG20 BK A1 D1
BN 2 CP5
2 RD A2 D6
OG 3 CP6
3 YE A3 D3
GN 4 CP7
4 BU A4 GNYE D4
VT
XP/XT5.1 AWG24 AWG24
-711 WH CS
1 AWG24 BK B1 BU B1 CS
2 BN B2 WH B2 CS
3 RD B11 OG B11 CS
4 OG B12 WH B12 CS

5 YE B13 GN B13 CS
6 GN B14 GN B14 CS
7 BU C19 BN C19 CS
8 VT C21 WH C21 CS
9 -712 1/WH B7 BU B7 CS
10 AWG24 1/BU B8 WH B8 CS
11 2/WH B9 OG B9 CS
12 2/OG B10 B10
XP/XT5.2
WH CS
1 3/WH B3 GN B3 CS
2 3/GN B4 WH B4 CS
3 4/WH B5 BN B5 CS
4 4/BN B6 RD B6 CS
5 -711 GY C16 OG C16 CS
6 AWG24 WH C17 RD C17 CS
9 WH/RD B22 GY B22 CS
10 WH/OG or PK B23 BK B23 CS
11 WH/YE or Light GN B24 BU B24 CS
12 WH/GN B25 B25
XP/XT5.3 -713
AWG20 GY WH CS
1 WH B15 BN B15 CS
OPTION //PROFIBUS acc. to 120 DRESSPACK circuit diagram 3HAC026209-001

2013-09-27 =
PROFI BUS Document no. Rev. Ind Page119
IRB 4600 Next 120
1 2 3 4 5 6 7 8

Customer
Connection
-A35 +R1 CP/CS
-707 XS/XP13 AWG22 AWG24
X2 2/BK V- BK 0V
OPTION : DEVICENET
1 F2 B23
1/BU CAN_L BU CAN_L
2 F4 A4
Bare wire SHIELD
3
1/WH CAN_H WH CAN_H
F3 A3
4
2/RD V+ RD +24V CAN
5 F1 B22
AWG22
XP9 R1.CBUS
YE 1 ProfiNet//Ethernet
(23) / 5.TXRX+ RX+
1 1
2 WH 2 2
(23) / 5.TXRX- RX-
Option: ProfiNet / Ethernet IP
3 OG 3 3
(23) / 5.RXTX+ TX+
4 BU 4 4
(23) / 5.RXTX- TX-
A33 AWG22
OPTION : PROFIBUS +R1 CP/CS
-709 AWG24 XS/XP13
Option: 803-4 =Sh127 (DP-M)1 1/RD RXD/TXD-P RD RXD/TXD-P
1B 2 F5 A5
1A F6 A6

2013-09-27 =
DevNet/ProfiNet/Ethernet/Profibus addition to CP/CS Sublocation:+
Next 121
1
Latest revision:
A41.1
2,5mm2
+R1 MP

-XS/XP1
17 GNRD M1U -_400 AWG12 BK -X11
1
17
17
4
24
24
16 BN M1W -_402 AWG12 BK
3
19
19
2

6
26
26
2
18
18

5
25
25

-X14
1
1
1

3
3
10
10
2
2
2
-X12

1
23
23

4
32
32
24 GY M2W -_408 AWG12 BK

3
21
21
BNGN M2W -_409 AWG12 BK

4
13
6
30
30

2
22
22

5
31
31
IRB 66xx - 76xx cabinet module
PRH
Lab/Office:
DMRO SE/
-X15

1
20
20

5
29
29

2
28
28
IRB 66xx - 76xx

-X13
BU BK
SERVO DRIVE SYSTEM

IRC5 DESIGN 14 Rel13.2 10 M3U -_412 AWG12
3
3
1

According to Manipulator IRB66XX - 76XX circuit diagram 3HAC025744-001
4
4
4

6
7
7
3
5 BK M3W -_415 AWG12 BK

6
14
14

5
5
2

6
6
5
-X16

Status:
9
9
1
7

3
APPROVED
16
16
Document no.

8
8
2
2013-09-27
AWG10 GNYE
AWG10 GNYE
3HAC024480-011
Plant:
Sublocation:+
Location: +
=
8
00 Total
FLOOR CABLE
DRIVE MODULE
CONTROLLER
Next 122
Rev. Ind Page121
MANIPULATOR
1 2 3 4 5 6 7 8
FLOOR CABLE
DRIVE MODULE IRB66x0, 7600
0,23 mm2
+R1 SMB
-XS/XP2
A A
B B
C C MEASUREMENT
A42-X4 D D
(67) / -MRC_0V1 WH 0V
E WH E
(67) / +24V_SMB1 GN 24V

F BN F
(67) / -MRC_0V2 BAT BR
G G
BAT BR
H H
(67) / -MRC_0V3 WH 0V
J J
GY BATSUP
K K
AWG16 BU 1 BU EXT.LAMP RD EXT.LAMP
-DP1 AWG16 L L
1
-C1
2
BU
AWG16
(64) / -EXT. LAMP -_433 AWG16 BU

+R1 MP
-_434 AWG16 -XS/XP1
DRIVE MODULE (64) / -BRAKEPB BU 30 OGRD 0,75 mm2 BRAKE PB
XP40 11 11
(64) / -BRAKEREL1 -_435 AWG16 BU 28 OG 4,0 mm2 BRAKE RELEASE
13 13 BRAKE RELEASE
(64) / -BRAKEREL2 -_436 AWG16 BU
(65) / -0V BRAKE4 -_437 AWG16 BU 29 OGWH 4,0 mm2 0V BRAKE

12 12 0V BRAKE
CONTACTOR UNIT (65) / -PTC1 -_439 AWG16 BU 31 PKBK 0,75 mm2 PTC
A43-X5 27 27
(65) / -PTC 1 ret -_440 AWG16 BU 32 PKWH 0,75 mm2 0V PTC
15 15
(65) / -0V BRAKE3 -_438 AWG16 BU

2013-09-27 =
IRB 66xx - 76xx Document no. Rev. Ind Page122
Next 123
1 2 3 4 5 6 7 8
FLOOR CABLE
CONTROL MODULE IRB66x0, 7600
DRIVE
MODULE
0,23 mm2
-XS/XP58 +R1 SW
(61) / -+24V COOL.4 24V COOL WH 24V FAN1
N N
(61) / -0V COOL.4 0V COOL BU 0V FAN1
P P
(61) / -FAN 1 ret.4 FAN1 ret WH T1
R R
(61) / -+24V COOL.5 24V COOL WH 24V FAN2

f f
(61) / -0V COOL.5 0V COOL OG 0V FAN2
g g
(61) / -FAN 2 ret.5 FAN2 ret GN T2
h h
Not in use
i
Not in use
S

2013-09-27 =
COOLING AXES 1/2 Sublocation:+
IRB 6600 - 7600 Next 124
1 2 3 4 5 6 7 8

Customer CONTROL MODULE IRB 6600-7600
Connection w26 1mm2
XP/XT 6 -713 XS/XP13
+R1 CP/CS
AWG20 BK 1 CP4
1 BN A1 D1
RD 2 CP5
2 OG A2 D6
YE 3 CP6
3 GN A3 D3
BU 4 CP7
4 VT A4 GNYE D4
XP/XT5.1 -711 SH
W27

3 OG B11 og 0,23mm2 B11 CS
5 GN B13 gn 0,23mm2 B13 CS

6 BU B14 gn 0,23mm2 B14 CS

7 VT C19 bn 0,23mm2 C19 CS
8 -712 1/WH C21 WH AWG24 C21 CS
12 B10 B10
XP/XT5.2 W28
3/WH WH AWG24 CS
4 -711 GY B6 RDog 0,23mm2 B6 CS
5 AWG24 WH C16 og 0,23mm2 C16 CS
6 WH/BK C17 RDgn 0,23mm2 C17 CS
7 WH/BN C18 RDbn 0,23mm2 C18 CS
8 WH/RD C20 RDgy 0,23mm2 C20 CS
9 WH/OG B22 gy 0,23mm2 B22 CS
10 WH/YE or PK B23 BKbu 0,23mm2 B23 CS
11 WH/GN or Light GN B24 bu 0,23mm2 B24 CS
12 B25 B25
W27
XP/XT5.3 -713
1 WH B15 bn 0,23mm2 B15 CS
6 WH/YE B21 SH B21
7 WH/GN C10
8 WH/BU C11
9 WH/VT C12
12 AWG16 BN/BK C15
DRESSPACK circuit diagram 3HAC026209-001
2013-09-27
IRB 6600 - 7600 Next 125
1 2 3 4 5 6 7 8
FLOOR CABLE
Customer CONTROLLER MANIPULATOR
Connection CONTROL MODULE IRB 6600-7600
-A35
-X2 -707 XS/XP13 AWG22 AWG24 +R1 CP/CS
2/BK V- BK 0V
OPTION : DEVICENET 1 F2 B23
1/BU CAN_L BU CAN_L
2 F4 A4
Bare wire SHIELD
3
1/WH CAN_H WH CAN_H
4 F3 A3
2/RD V+ RD +24V CAN

5 F1 B22

-A37 -708
AWG24 XS/XP13 AWG24 +R1 CP/CS
-X5 YE
2/GY DO DO
1 3/BN DO_N F7 GN A9 DO_N
6 1/YE DI F8 GY A10 DI
OPTION : INTERBUS 2 2/PK DI_N F9 PK A11 DI_N
7 1/GN GND F10 BN A12 GND
3 3/WH GND F1 WH B22
A33 AWG22
-709 AWG24
(126.1) -(DP-M)1 RD
1/RD RXD/TXD-P RXD/TXD-P
(127.1) 2
1B F5 A5
(128.1)
1A F6 A6

2013-09-27 =
DevNet//IBUS//PBUS ADDITION TO CP/CS Sublocation:+
IRB 6600 - 7600 Document no. Rev. Ind Page125
Next 126
1 2 3 4 5 6 7 8

Customer IRB 6600-7600
Connection
XP/XT 6 -713 XS/XP13 AWG18 +R1 CP/CS
AWG20 BK 1 CP4
1 BN A1 D1
RD 2 CP5
2 OG A2 D6
YE 3 CP6
3 GN A3 D3
BU 4 CP7
4 VT A4 GNYE D4

AWG24 BK WH CS
1 BN B1 BU B1 CS
2 RD B2 WH B2 CS
3 OG B11 OG B11 CS
4 YE B12 WH B12 CS

5 GN B13 GN B13 CS
6 BU B14 GN B14 CS
7 VT C19 BN C19 CS
8 -712 1/WH C21 WH C21 CS

10 2/WH B8 WH B8 CS
11 2/OG B9 OG B9 CS
12 B10 B10
XP/XT5.2
3/WH WH CS
1 3/GN B3 GN B3 CS
2 4/WH B4 WH B4 CS
3 4/BN B5 BN B5 CS
4 -711 GY B6 RD B6 CS
12 B25 B25
XP/XT5.3 -713
AWG20 GY WH CS
1 WH B15 BN B15 CS
OPTION //PROFIBUS acc. to (125.1) DRESSPACK circuit diagram 3HAC026209-001

2013-09-27 =
SINGLE CABINET PROFI BUS Document no. Rev. Ind Page126
IRB 6600 - 7600 Next 127
1 2 3 4 5 6 7 8

Connection AWG18
+R1 CP/CS
AWG20 BK 1 CP4
1 BN A1 D1
RD 2 CP5
2 OG A2 D6
YE 3 CP6
3 GN A3 D3
BU 4 CP7
4 VT A4 GNYE D4

AWG24 BK WH CS
1 BN B1 BU B1 CS
2 RD B2 WH B2 CS
3 OG B11 OG B11 CS

4 YE B12 WH B12 CS
5 GN B13 GN B13 CS
6 BU B14 GN B14 CS
7 VT C19 BN C19 CS
8 -712 1/WH C21 WH C21 CS
10 2/WH B8 WH B8 CS
11 2/OG B9 OG B9 CS
12 B10 B10
XP/XT5.2
3/WH WH CS
1 3/GN B3 GN B3 CS
2 4/WH B4 WH B4 CS
3 4/BN B5 BN B5 CS
4 -711 GY B6 RD B6 CS
8 WH/RD C20 C20
9 WH/OG B22 BK CS
12 B25 B25
XP/XT5.3 -713
AWG20 GY WH CS
1 WH B15 BN B15 CS
10 WH/GY or Light GN C13 A4
12 AWG16 BN/BK C15 For more information aboute Option connected to XS13.
OPTION //INTERBUS-S acc. to (125.1) DRESSPACK circuit diagram 3HAC026209-001

2013-09-27 =
SINGLE CABINET INTERBUS Document no. Rev. Ind Page127
IRB 6600 - 7600 Next 128
1 2 3 4 5 6 7 8
FLOOR CABLE
Connection AWG18
AWG20 BK 1 +R1 CP/CS CP4
1 BN A1 D1
RD 2 CP5
2 OG A2 D6
YE 3 CP6
3 GN A3 D3
BU 4 CP7
4 VT A4 GNYE D4

AWG24 BK WH CS
1 BN B1 BU B1 CS
2 RD B2 WH B2 CS
3 OG B11 OG B11 CS

4 YE B12 WH B12 CS
5 GN B13 GN B13 CS
6 BU B14 GN B14 CS
7 VT C19 BN C19 CS
8 -712 1/WH C21 WH C21 CS
10 2/WH B8 WH B8 CS
11 2/OG B9 OG B9 CS
12 B10 B10
XP/XT5.2
3/WH WH CS
1 3/GN B3 GN B3 CS
2 4/WH B4 WH B4 CS
3 4/BN B5 BN B5 CS
4 -711 GY B6 RD B6 CS
8 WH/RD C20 C20
9 WH/OG B22
10 WH/YE or PK B23 BK CS
12 B25 B25
XP/XT5.3 -713
AWG20 GY WH CS
1 WH B15 BN B15 CS
OPTION //DEVICE net acc. to (125.1) SPOTPACK circuit diagram 3HAC026208-001
Sheet 144.1 and further
DRESSPACK circuit diagram 3HAC026209-001 pages is manufacturing
documents for ABB internal use.
2013-09-27 =
SINGLE CABINET DEVICE NET Document no. Rev. Ind Page128
IRB 6600 - 7600 Next 129
1 2 3 4 5 6 7 8

-A41.1
1 4 3 6 2 5 1 3 2 1 4 3 6 2 5 1 3 2 1 4 3 6 2 5 1 3 2
-X11 -X14 -X12 -X15 -X13 -X16
418.1
M4W 420.1
422.1
424.1
M5W 425.1
426.1
400
401
M1W 402
M1W 403
404
405
406
407
M2W 408
M2W 409
410
412
413
M3W 414
M3W 415
416
417
431
M6W 430
432
411
M1U
M1U
M4U
M2U
M2U
M5U
M3U
M3U
M6U
M1V
M1V
M4V
M2V
M2V
M5V
M3V
M3V
M6V
AWG14 BK
AWG12 BK
-Y1 1 -Y3 1 -Y2 1 -Y4 1 -Y6 1 -Y5 1

418
419
420
421
422
423
424
427
425
428
426
429
AWG10 GNYE
AWG14 BK
-XS/XP1 A1 A14 A2 B15 B1 A15 C13 C8 D13 D8 C14 D7 A4 A11 A5 B11 B4 A12 C3 C15 B3 D15 C4 D16 C11 A9 D12 B10 D11 B9 B6 B7 A7 DRIVE MODULE
FLOOR CABLE
BN//WH
OG/WH
GN/WH
OG/GN
BU/WH
BK/WH
OG/RD
PK/WH
OG/BU
GY/GN
GN/RD
BN/GN
BU/GN
BK/GN
PK/GN
GY/BU
BN/RD
BU/RD
GY/BK
BK/RD
BN/BU
PK/RD
BK/BU
BU/BK
BN/BK
PK/BU
PK/BK
PK/BK
OG
BU
BN
BK
PK
AWG14
AWG10 GNYE
AWG16
8 22 21 35 9 23 51 53 64 66 63 65 13 49 2 62 1 61 68 70 57 59 69 71 15 17 4 6 3 5 42 31 43 MANIPULATOR
+R1-MP
Referring to the IRB6400R circuit diagram.

IRB 6400R Document no. Rev. Ind Page129
Next 130
1 2 3 4 5 6 7 8
FLOOR CABLE
CONTROLLER
MANIPULATOR
CONTROL MODULE
0,23 mm2 +R1-SMB
-XS/XP2
A 1
B 2
(67) / -MRCI1 WH SDO
C 3
AXIS COMPUTER BOARD (67) / -MRCI 1_N OG SDO-N
A42-X4 D 4
/ -MRC_0V.1 WH 0V
E WH 5
(67) / +24V_SMB1 GN 24V
F BN 6
/ -MRC_0V.2 BAT BR
G 7
BAT BR

H 8
/ -MRC_0V.3 WH 0V
J 9
GY BATSUP
K 10 SERIAL
RD EXT LAMP MEASUREMENT
L 11 BOARD
AWG14
-XS/XP1 +R1.6400R-MP
(64) / -EXT. LAMP -433 AWG16 BU VTBK
DRIVE MODULE D1 52
XP40 (64) / -BRAKEPB -434 AWG16 BU RDWH
C12 11
(64) / -BRAKEREL1 -435 AWG16 BU GYRD
B12 36
(64) / -BRAKEREL2 -436 AWG16 BU GYWH
C9 48
(65) / -0V BRAKE4 -438 AWG16 BU OGBK

D9 24
(65) / -PTC1 -439 AWG16 BU RDGN
CONTACTOR UNIT C2 20
A43-X5 (65) / -PTC 1 ret -440 AWG16 BU RDBU
C1 30
(65) / -0V BRAKE3 -437 AWG16 BU GY
B13 12

2013-09-27 =
Next 131
1 2 3 4 5 6 7 8
CONTROL MODULE IRB 6400R
+R1-CP/CS
-XP/XT6
1, BK
1 A1
2, BK 3-POL
2 A2
GNYE
A3
-XP/XT5.1
AWG24 1/WH CSA

1 1
CSB

1/BU
2 2
2/WH CSC
3 3
2/OG CSD
4 4
3/WH CSE
5 5 25-POL
3/GN CSF
6 6
4/WH CSG
7 7
4/BN CSH
8 8
5/WH CSJ
9 9
5/GY CSK
10 10
-XS6
2/RD +24V
5 1
2/BK 0V
Connect to A35.X2 1 2 9-POL
1/WH CAN1_H
4 5
1/BU CAN1_L
2 9

2013-09-27 =
CUSTOMER POWER/SIGNAL/BUS Sublocation:+
Next 9
1 2 3 4 5 6 7 8
A21 PANEL BOARD Sh 1 of 3 26 A41.3 ADDITIONAL DRIVE UNIT 72
A21 PANEL BOARD 28 A41.4 ADDITIONAL DRIVE UNIT 75
A21 EXT.CONTROL PANEL 31 A41.5 ADDITIONAL DRIVE UNIT 75
A21 EXT.CONTROL PANEL 32 A41.5 ADDITIONAL DRIVE UNIT 72
A21 CONTROL PANEL 29 A42 AXIS COMPUTER BOARD 66
A21 PANEL BOARD 33 A43 CONTACTOR BOARD 74
A21-S21 2-MODE SELECTOR 31 A43 CONTACTOR BOARD 62
A21-S21 2-MODE SELECTOR 29 A43 CONTACTOR BOARD 63
A21-S21.1 3-MODE SELECTOR 31 A57 Process Interface Board (PIB) 45
A21-S21.1 3-MODE SELECTOR 29 A61 Option: REMOTE SERVICE BOX DSQC680 54
A21-S21.2 MOTOR ON PB 31 A62 Ethernet switch 41
A21-S21.2 MOTOR ON PB 29 A64 Ethernet switch 43
A21-S21.3 EMERGENCY PB 31 A65 Ethernet switch 44
A21-S21.3 EMERGENCY PB 29 C1 CAPACITOR 93
A21-S22 OPTION : HOT PLUG 32 C2 Capacitor 0,47uF 74

A23 OPTION:STATUS LED ON FRONT 28 E1 FAN UNIT 61

A31 MAIN COMPUTER 35 E1-E41 FAN UNIT 61
A31 MAIN COMPUTER DSQC 1000 36 E1-E42 FAN UNIT 61
A31.2 DeviceNet M/S DSQC1006 39 E1-E43 Fan unit 61
A31.3 PROFIBUS M 38 E1-E44 Fan unit 61
A32 OPTION: 232/ Expansion board SERIE DSQC1003 36 E2 EXT.COMPUTER FAN 61
A32.1 ETHERNET/IP Fieldbus adapter DSQC 669 Slave 37 E2-M1 EXTERNAL COMPUTER FAN 61
A32.2 PROFIBUS Fieldbus adapter DSQC 667 Slave 37 E3 INTERNAL FAN 61
A32.3 PROFINET IO Fieldbus adapter DSQC 688 Slave 37 E3-M1 INTERNAL FAN 61
A32.4 DEVICENET IO Fieldbus adapter DSQC 1004 Slave 37 E5 MDU FAN 61
A41 MAIN SERVO DRIVE UNIT 94 E5-M1 OPTION : INTERNAL FAN 61
A41.1 MAIN SERVO DRIVE UNIT 129 ETH_FPU FLEXPENDANT 30
A41.1 MAIN SERVO DRIVE UNIT 82 F1 AUTOMATIC FUSE 63
A41.1 Main servo drive unit 2600 106 F2 AUTOMATIC FUSE 59
A41.1 MAIN SERVO DRIVE UNIT 112 F4 EARTH FAULT BREAKER 58
A41.1 MAIN SERVO DRIVE UNIT 92 F5 CIRCUIT BRAKER 58
A41.1 MAIN SERVO DRIVE UNIT 66 F6 Option: CIRCUIT BRAKER 55
A41.1 MAIN DRIVE UNIT LV unit 72 FMB Option: 738-1 68
A41.1 MAIN SERVO DRIVE UNIT 76 FMB-A1 DSQC686 VOLTAGE MEASURE BOARD 68
A41.1 MAIN SERVO DRIVE UNIT 79 G1 POWER SUPPLY DSQC661 60
A41.1 MAIN SERVO DRIVE UNIT 85 G2 POWER DISTRIBUTION BOARD DSQC662 60
A41.1 Main servo drive unit 460 88 G3 ENERGY BANK 60
A41.1-6 MAIN SERVO DRIVE UNIT 103 G6 DEVICENET POWER SUPPLY 24
A41.1-8 Main servo drive unit 4600 115 G9 POWER SUPPLY not 1) 59
A41.2 ADDITIONAL RECTIFIER UNIT 72 H1 STATUS DIOD DRIVE MODULE 63
A41.3 ADDITIONAL DRIVE UNIT 74 I/O.X DIGITAL I/O UNIT 47

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1 2 3 4 5 6 7 8
I/O.X COMBI I/O UNIT 48
I/O.X DIG. PART OF RELAY I/O UNIT 49
I/O.X ANALOGUE I/O UNIT 51
I/O.X REMOTE I/O UNIT 52
I/O.X ENCODER UNIT 53
I/Ox DIG. PART OF COMBI I/O AND DIG. I/O UNIT 46
K41 RELAY UNIT 59
K42 MOTORS ON CONTACTOR 1 63
K43 MOTORS ON CONTACTOR 2 63
K44 BRAKE CONTACTOR 63
P1 OPTION :DUTY TIME COUNTER 62
Q1 MAINS SWITCH 55
R1.1 BLEEDER 72
RELAY I/O RELAY I/O UNIT 50
S1 SWITCH 61
T1 TRANSFORMER UNIT 57
Z1 OPTION: MAINS LINE FILTER 55
Z2 REAKTOR UNIT 56

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3HAC024480-011 Next

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© Copyright 2004 ABB ALL right reserved.

Latest revision: Lab/Office: Status: Plant:

2 TABLE OF CONTENTS 2013-09-26 Thomas

4 TABLE OF CONTENTS 2013-09-26 Thomas

6 SYMBOL INFORMATION 2013-09-26 SETHSTA

7 View of CONTACTS 2013-09-26 Thomas

8 REVISION INFOMATION 2013-09-26 SETHSTA

9 Device list sorted by Location name 2013-09-26 Thomas

11 Device list sorted by Function name 2013-09-26 Thomas

13 BLOCK DIAGRAM CONTROLL MODULE 2013-09-26 SETHSTA

17 FRONT VIEW OF SINGLE CABINET MDU LV and HV 2013-09-26 SETHSTA

18 SIDE VIEWS OF SINGLE CABINET 2013-09-26 SETHSTA

19 VIEW OF DRIVE MODULE CABINET 2013-09-26 SETHSTA

21 VIEW OF CONTACTOR & AXIS COMPUTER UNIT 2013-09-26 SETHSTA

22 VIEW OF VOLTAGE MEARSUREMENT BOX 2013-09-26 SETHSTA

23 CONTACT AT THE CABINET WALL 2013-09-26 SETHSTA

24 OPT:POWER SUPPLY DSQC609 2013-09-26 SETHSTA

29 RUN CHAIN, EMERGENCY STOP, 2 AND 3 MODE SELECTOR 2013-09-26 Thomas

30 FPU, FLEXPENDANT and option HOT PLUG 2013-09-26 Thomas

33 OPTION: EXT.CUSTOMER CONNECT. SYSTEM SIGNALS 2013-09-26 Thomas

Latest revision: Lab/Office: Status: Plant:

35 MAIN COMPUTER DSQC1000 2013-09-26 SETHSTA

37 FIELDBUS ADAPTER: ETHERNET/IP, PROFIBUS and PROFINET IO 2013-09-26 SETHSTA

39 DEVICENET SINGLE/DUAL ADAPTER 2013-09-26 Thomas

40 DEVICENET ADAPTER 2013-09-26 SETHSTA

41 ETHERNET SWITCH 2013-09-26 Thomas

42 DISPENCE PAC SUPPORT 2013-09-26 SETHSTA

44 ETHERNET SWITCH/CAMERA 2013-09-26 Thomas

46 DIGITAL I/O UNIT 2013-09-26 SETHSTA

50 ANALOGUE I/O UNIT 2013-09-26 SETHSTA

51 REMOTE I/O UNIT 2013-09-26 SETHSTA

52 ENCODER UNIT 2013-09-26 SETHSTA

54 MAINS CONNECTION 2013-09-26 SETHSTA

55 TRANSFORMER UNIT 480V 2013-09-26 SETHSTA

56 TRANSFORMER UNIT 262V 2013-09-26 SETHSTA

57 OPTION : SERVICE OUTLET 2013-09-26 SETHSTA

59 POWER SUPPLY DSQC 661 AND 662 2013-09-26 SETHSTA

60 FAN UNIT 2013-09-26 SETHSTA

61 CONTACTOR BOARD 2013-09-26 SETHSTA

62 CONTACTOR UNIT 2013-09-26 SETHSTA

63 CONTACTOR UNIT 2013-09-26 SETHSTA

64 CONTACTOR BOARD 2013-09-26 SETHSTA

65 AXIS COMPUTER UNIT 2013-09-26 SETHSTA

66 AXIS COMPUTER UNIT 2013-09-26 SETHSTA

Latest revision: Lab/Office: Status: Plant:

68 EPS 2013-09-26 SETHSTA

70 SAFE MOVE 2013-09-26 SETHSTA

73 EXTERNAL AXIS no 7 2013-09-26 SETHSTA

74 EXTERNAL AXIS no 8 - 9 2013-09-26 SETHSTA

75 SERVO DRIVE SYSTEM IRB 120 2013-09-26 Thomas

77 CUSTOMER SIGNALS IRB 120 2013-09-26 Thomas

79 CONTROL CABLE IRB 140 2013-09-26 Thomas

83 CUSTOMER POWER/SIGNAL SINGLE CABINET IRB 260 2013-09-26 Thomas

84 SERVO DRIVE UNITS IRB 360 2013-09-26 Thomas

85 CONTROL CABLE IRB 360 2013-09-26 Thomas

87 SERVO DRIVE SYSTEM IRB 460 2013-09-26 Thomas

88 CONTROL CABLE IRB 460 2013-09-26 Thomas