3HAC024480-011 CD IRC5-en - R17 - 23D Revq

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ABB
SE-721 68 Västerås
Sweden
Latest revision: Lab/Office: Status: Plant: =

IRC5 DESIGN Rel: 23:D
RA/RDP APPROVED Location: +
Title page Sublocation:+
Document no. Rev. Ind Page1
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Prepared by, date:A Hägglund Approved by, date:S Hällgren 2023-10-31 3HAC024480-011 17 Total 164
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TABLE OF CONTENTS
PAGE PAGE DESCRIPTION Date Edited by
1 TITLE PAGE 2020-01-08 SETHSTA
2 TABLE OF CONTENTS 2022-09-29 SEALCHR1


7 SYMBOL INFORMATION 2019-06-20 SETHSTA
8 VIEW OF CONTACTS 2019-06-20 SETHSTA

8.1 and 8.2 REVISION INFORMATION 2023-10-30 SEANHAG7
9 DEVICE LIST 2019-06-20 SETHSTA

10 DEVICE LIST 2019-06-20 SETHSTA

13 BLOCK DIAGRAM CONTROL MODULE 2019-06-20 SETHSTA
14 BLOCK DIAGRAM SINGLE DRIVE MODULE 2019-06-20 SETHSTA
15 BLOCK DIAGRAM DRIVE MODULE 2019-06-20 SETHSTA
16 FRONT VIEW OF SINGLE CABINET MDU HV 2020-02-05 SETHSTA
16.1 XT31, CONNECTED OPTIONS 2019-06-20 SETHSTA
17 FRONT VIEW OF SINGLE CABINET MDU LV and HV 2019-06-20 SETHSTA
18 SIDE VIEWS OF SINGLE CABINET 2020-02-05 SETHSTA
19 VIEW OF DRIVE MODULE CABINET 2019-06-20 SETHSTA
20 VIEW OF PANEL BOARD CONVEYOR TRACKING 2019-06-20 SETHSTA
21 VIEW OF CONTACTOR & AXIS COMPUTER UNIT 2019-06-20 SETHSTA
22 VIEW OF VOLTAGE MEARSUREMENT BOX 2019-06-20 SETHSTA
23 CONTACT AT THE CABINET WALL 2022-05-11 SEALCHR1
24 OPT:POWER SUPPLY DSQC609 XT31, G4, G5, G6 2020-02-05 SETHSTA
25 RUN CHAIN block diagram in PANEL BOARD A21 and CONTROL PANEL S21 2019-06-20 SETHSTA
26 RUN CHAIN and PANEL BOARD A21 Sh. 1 of 4 2021-04-20 SETHSTA
28.1 PANEL BOARD A21 Sh. 4 of 4 Opt:EXT.CUSTOMER. CONNECT. SYSTEM SIGNALS 2021-04-30 SETHSTA
28.2 Opt. LED on front; Software based Mode Selector Internal safety harness 2019-06-20 SETHSTA
29 RUN CHAIN, EM.STOP, Standard 2 MODE SELECTOR option 3 MODE SELECTOR 2021-03-05 SETHSTA
29.1 RUN CHAIN S21, 2 & 3 EXTEND MODE SELECTOR, and HARDW. MODE SWITCH with SAFETY BOARD 2022-09-23 SEALCHR1
30 FPU, FLEXPENDANT and option HOT PLUG 2021-03-02 SETHSTA

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TABLE OF CONTENTS
30.1 FPU, FLEXPENDANT and Opt. HOLD TO RUN DEVICE T10 JOGGING DEVICE -PAST DESIGN- 2019-06-20 SETHSTA
30.2 FPU, Extended FLEXPENDANT cable 15 - 30 m 2019-06-20 SETHSTA
31 RUN CHAIN A21 EXTERNAL CONTROLL PANEL/BOX , 2 & 3 MODE SELECTOR, EM.STOP 2021-03-05 SETHSTA
31.1 EXTERNAL CONTROLL PANEL/BOX RUN CHAIN EXT.S21, 2 & 3 MODE SELECTOR 2022-09-23 SEALCHR1
32 RUN CHAIN EXT A21 OPERATING WITH OPT: HOT PLUG rel 11.1 2021-03-02 SETHSTA
34 MAIN COMPUTER/ANYBUS_CC/RS232 EXP. /INTERFACE BOARD/ 2021-03-22 SETHSTA

35 MAIN COMPUTER A31 DSQC1000/1018 2020-02-05 SETHSTA
36 MAIN COMPUTER A31 DSQC1000/1018 ; A32 DSQC1003 2020-02-14 SETHSTA

37 FIELDBUS ADAPTER A32: ETHERNET/IP, PROFIBUS and PROFINET IO 2019-06-20 SETHSTA
38 PROFIBUS DP M/S A31.3 2020-08-31 SETHSTA

38.3 SAFETY BOARD A31.4 HARDWARE SWITCH 2023-10-30 SEANHAG7

38.4 SAFETY BOARD A31.4 SOFTWARE SWITCH 2019-06-20 SETHSTA
38.5 SAFETY BOARD A31.4 DSQC1015 Hardware and Software based Mode Switch 2019-06-20 SETHSTA
39 DEVICENET A31.2 m/s DSQC1006 2019-06-20 SETHSTA
40 DEVICENET ADAPTER 2020-02-05 SETHSTA
40.1 ETHERNET SWITCH A34, option MULTI MOVE 604-1/2 2023-10-30 SEANHAG7
41 ETHERNET SWITCH A62 2020-02-05 SETHSTA
42 VISION, INTEGRATED CAMERAS and CONVEYOR TRACKING Opt.1550-1 2019-06-20 SETHSTA
43 ETHERNET SWITCH A64/CAMERA 2020-02-05 SETHSTA
44 ETHERNET SWITCH A65 2019-06-20 SETHSTA
45 DISPENCE PAC SUPPORT A57 2019-06-20 SETHSTA
46 DIGITAL PART OF COMBI I/O AND DIGITAL I/O UNIT DSQC651&652 2019-06-20 SETHSTA
47 DIGITAL I/O UNIT DSQC652 2019-06-20 SETHSTA
48 COMBI I/O UNIT DSQC651 2019-06-20 SETHSTA
49 RELAY I/O UNIT DSQC653 2019-06-20 SETHSTA
50 RELAY I/O UNIT DSQC653 2019-06-20 SETHSTA
51 ANALOGUE I/O UNIT DSQC355B 2019-06-20 SETHSTA
51.2 Local I/O Digital Base 16in/16out 2020-02-05 SETHSTA

51.4 Local I/O Digital add on 16in/16out 2019-06-20 SETHSTA
51.6 Local I/O Analog add on 4in/4out 2019-06-20 SETHSTA
51.8 Local I/O Relay add on 8RO/8DI 2020-02-05 SETHSTA

52 REMOTE I/O UNIT DSQC350A 2019-06-20 SETHSTA
53 ENCODER UNIT DSQC377 2019-06-20 SETHSTA

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TABLE OF CONTENTS
53.5 CONVEYOR TRACKING MODULE, DSQC 2000 2019-06-20 SETHSTA
54 REMOTE SERVICE BOX DSQC680 to Rel. 16.1 -PAST DESIGN- 2020-02-05 SETHSTA
54.1 REMOTE SERVICE BOX DSQC1016/DSQC1023 from Rel. 16.2 2023-10-30 SEANHAG7
55 MAINS CONNECTION XP0, Q1, F6, Z1, Z3 2022-04-05 SEALCHR1

55.5 TRANSFORMER AND REACTOR LOCATION REAR SIDE OF THE ENCLOSURE 2020-02-05 SETHSTA
56 TRANSFORMER UNIT 480V T1.1, T1.3, Z2, X10 2022-04-06 SEALCHR1

57 TRANSFORMER UNIT 262V T1.2, X10 2020-02-14 SETHSTA
58 OPTION : SERVICE OUTLET F4, F5, X22 2020-02-05 SETHSTA

59 POWER SUPPLY DSQC 626 AND 627 FOR DRIVE MODULE F2, G1, G9, K41.X1 2021-03-02 SETHSTA
60 POWER SUPPLY DSQC 661 AND 662 G1, G2, G3, F2, XT16 2023-10-30 SEANHAG7
61 FAN UNIT E1, E2, E3, E5, A21, A43 2022-03-03 SEALCHR1
61.1 FAN UNIT E1, E2, E3, E5, A21, A43 Release 21A-C 2022-09-29 SEALCHR1
62 CONTACTOR BOARD A43 2023-10-30 SEANHAG7
63 CONTACTOR UNIT A43, K42, K43, K44 2022-09-29 SEALCHR1
64 CONTACTOR UNIT XS40, XP40 Only for release 13.2 and earlier 2023-10-30 SEANHAG7
65 CONTACTOR BOARD A43.X5, XS5, XP5 Connection for release 13.2 and earlier 2023-10-30 SEANHAG7
66 AXIS COMPUTER UNIT A42, A41.1 2022-09-29 SEALCHR1
67 AXIS COMPUTER UNIT A42, A44 2022-09-29 SEALCHR1
68 FORCE MEASUREMENT BOX 2022-09-29 SEALCHR1
69 EPS A44, DSQC646 2022-09-29 SEALCHR1
70 SAFE MOVE A44, DSQC647 2022-09-29 SEALCHR1
71 SAFE MOVE A44, DSQC647 2022-09-29 SEALCHR1
72 MAIN DRIVE UNIT and ADDITIONAL AXIS 1-3 for LV A41.1 ,2 ,3 ,4 ,5 2022-09-29 SEALCHR1
73 MAIN DRIVE UNIT and ADDITIONAL AXIS 1-3 for HV A41.1, 3, 4, 5 2022-09-29 SEALCHR1
74 EXTERNAL AXIS A43, XS/XP7 Only for release 13.2 and earlier 2022-09-29 SEALCHR1
75 EXTERNAL AXIS no 7, 8, 9 A41.3 .4 .5 , XS/XP7 2022-09-29 SEALCHR1
75.1 EXTERNAL AXES ADAPTER HARNESS XS/XP40, A43:XP5, A7:XP7 :XP8 :XP9 Only for rel.14.1 and later. 2023-10-30 SEANHAG7
76 SERVO DRIVE SYSTEM IRB 120 2022-09-29 SEALCHR1
77 CONTROL CABLE IRB 120 2022-09-29 SEALCHR1

78 CUSTOMER SIGNALS IRB 120 2022-09-29 SEALCHR1

81 CUSTOMER SIGNAL SINGLE CABINET IRB 140 2022-09-29 SEALCHR1

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TABLE OF CONTENTS
82 SERVO DRIVE UNIT IRB 260 2022-09-29 SEALCHR1
84 CUSTOMER POWER/SIGNAL SINGLE CABINET IRB 260 2022-09-29 SEALCHR1
85 SERVO DRIVE UNITS IRB 360 2022-09-29 SEALCHR1

87 CUSTOMER SIGNAL SINGLE CABINET IRB 360 2022-09-29 SEALCHR1

87.1 CUSTOMER POWER/SIGNAL SINGLE CABINET IRB 360 2022-09-29 SEALCHR1
87.4 SERVO DRIVE SYSTEM IRB 390 2022-09-29 SEALCHR1

87.5 CONTROL CABLE IRB 390 2022-09-29 SEALCHR1

89 CONTROL CABLE IRB 460 2023-10-30 SEANHAG7

90 CUSTOMER POWER/SIGNAL IRB460, 660, 760 2022-09-29 SEALCHR1
91 C-BUS/P-BUS/ CP/CS//Profi-Net IRB460, 660, 760 2022-09-29 SEALCHR1
92 SERVO DRIVE SYSTEM IRB 660, 760 2022-09-29 SEALCHR1
93 CONTROL CABLE IRB 660, 760 2022-09-29 SEALCHR1
93.6 CONTROL CABLE IRB 1200 2022-09-29 SEALCHR1
93.7 CUSTOMER SIGNAL SINGLE CABINET IRB 1200 2022-09-29 SEALCHR1
96 CUSTOMER SIGNALS SINGLE CABINET IRB 1410 2022-09-29 SEALCHR1
99 CUSTOMER SIGNALS IRB 1520 2022-09-29 SEALCHR1
100 SERVO DRIVE UNIT IRB 1600/1660 2022-09-29 SEALCHR1
101 CONTROL CABLE IRB 1600/1660 2022-09-29 SEALCHR1
102 CUSTOMER POWER/SIGNAL SINGLE CABINET IRB 1600/1660 2022-09-29 SEALCHR1
103 SERVO DRIVE UNIT IRB 2400 2022-09-29 SEALCHR1


108 CUSTOMER POWER/SIGNAL PROFINET IRB2600 2022-09-29 SEALCHR1

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TABLE OF CONTENTS
109 CUSTOMER POWER/SIGNAL DEVICE NET IRB2600 2022-09-29 SEALCHR1
110 CUSTOMER POWER/SIGNAL PROFI BUS IRB 2600 2022-09-29 SEALCHR1
111 DevNet/PofiNet/Ethernet/Profibus addition to CP/CS IRB2600 2022-09-29 SEALCHR1



117 CUSTOMER POWER/SIGNAL IRB4600 2022-09-29 SEALCHR1
118 CUSTOMER POWER/SIGNAL DEVICE NET & PROFINET/ETHERNET/IP IRB4600 2022-09-29 SEALCHR1
119 CUSTOMER POWER/SIGNAL PROFI BUS IRB 4600 2022-09-29 SEALCHR1

120 DevNet/ProfiNet/Ethernet/Profibus addition to CP/CS IRB4600 2022-09-29 SEALCHR1
120.1 SERVO DRIVE SYSTEM IRB 6400R 2022-09-29 SEALCHR1
120.2 CONTROL CABLE IRB 6400R 2022-09-29 SEALCHR1
120.3 CUSTOMER POWER/SIGNAL/BUS IRB 6400R 2022-09-29 SEALCHR1
120.5 CONTROL CABLE IRB 6700/6790 2023-10-30 SEANHAG7
120.6 CUSTOMER POWER/SIGNAL PARABUSCOM SINGLE CABINET PROFI/DEVICE NET BUS IRB 6700 2022-09-29 SEALCHR1
120.7 DevNet//EtherNet//ProfiNet//PBUS ADDITION TO CP/CS IRB 6700 2022-09-29 SEALCHR1
121 SERVO DRIVE SYSTEM IRB 66xx - 76xx 2022-09-29 SEALCHR1
122 CONTROL CABLE IRB 66xx - 76xx 2022-09-29 SEALCHR1
123 COOLING AXES 1/2 SINGLE CABINET IRB 6600 - 7600 2022-09-29 SEALCHR1
124 CUSTOMER POWER/SIGNAL SINGLE CABINET IRB 6600 - 7600 2022-09-29 SEALCHR1
125 DevNet//EtherNet//ProfiNet//PBUS ADDITION TO CP/CS IRB 66xx - 7600 2022-09-29 SEALCHR1
126 CUSTOMER POWER/SIGNAL SINGLE CABINET PROFI BUS IRB 6600 - 7600 2022-09-29 SEALCHR1
128 CUSTOMER POWER/SIGNAL SINGLE CABINET DEVICE NET IRB 6600 - 7600 2022-09-29 SEALCHR1
128.5 SERVO DRIVE SYSTEM AXES 1-3 IRB 87xx 2022-09-29 SEALCHR1
128.6 SERVO DRIVE SYSTEM AXES 4-6 IRB 87xx 2022-09-29 SEALCHR1
128.7 CONTROL CABLE IRB 87xx 2022-09-29 SEALCHR1

128.8 CUSTOMER POWER/SIGNAL PARAMULTI SINGLE CABINET PROFI/DEVICE NET BUS IRB 8700 2022-09-29 SEALCHR1
128.9 EtherNet//ProfiNet//PBUS ADDITION TO CP/CS PARAMULTI IRB 8700 2022-09-29 SEALCHR1

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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.
Functional earthing. Styrning genom tryckning/ Varistor/

Actuator(operated by pushing). 709
Varistor
AWG24 BK
U
BN
Skyddsjord/ Nödstopp (svamptryckknapp)/ RD/OG
Actuator, emergency. PAST DESIGN Old component design.
Protective earthing. Old circuit design. BK/OG
Old phased out option.
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.
Ethernet signal: Run chain presentation starts at sheet 26.
1. Transmit TX+ or TX- and receive RX+ or RX- The Run chain marked as a wider wire.
2. Unit possible to transmit or recieve TX+/RX+ or TX-/RX-
Example: Run chain marked with a wider wire.
Fyrdubbelt tvinnade ledare/ Lampa/
Quadruple twisted conductors. Lamp. 3. Ethernet Gigabit signal, transmit pair one MX1+ , MX1-
and receive the MX2+ , MX2- Example: Not Run chain marked with a thin wire.
If Gigabit transmit pair MX3+ , MX3- and receive pair MX4+ , MX4-
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
SYMBOL INFORMATION Sublocation:+
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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.

VIEW OF CONTACTS Sublocation:+
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Revision 11 2018 10 Release 18.2 Revision 14 2020 09 Release 20.B

Sh.1 ABB AB changed to ABB Sh.2 Table of contest updated.
Sh.7 Symbol Varistor added. coordinate column 4 and 5. Sh.3 Table of contest updated.
Sh.16 New contact X63 Flow censor//XS11 add. coordinate column 2 and 3. Sh.4 Table of contest updated.
Sh.20 X3 added to A67 coordinate column 8
Sh.5 Table of contest updated.
Sh.23 New contact X63 Flow censor//Second Power cable XP11 added, coordinate column 3 and 7.
Sh.24 Updated interruption point 0V DC in XT31:5 and :6// updated :1
Sh.30 AWG20 BU removed column coordinate 5 Sh.8.1 new revision information.
Sh. 51.2 XT31:1 and XT31:5 was exchanged //1.TXRX column 3 moved to -I/O.X5 column 3// Sh.9 Device list table updated.
Wire 704 was exchanged to 776 in 18.2 and Wire 703 was exchanged to 775 in 18.2 Sh.10 Device list table updated.
Sh. 53.5 Terminal 1 was moved x1, x3, x11, x12, x13, x14
Sh. 94 Ref. to 3hac02803-3 was adjusted. Sh.87.4 Wire number and connections XP1/R1.MP updated.
Sh. 100 Ref. to 3hac021351-003 was adjusted. Sh.87.5 Wire number and connections XP1/R1.MP updated.
Sh.128.6 All terminal connection to R1.MP.B was updated.//A41.1. X15 and X16 updated coordinate column 3 and 4
Sh.91 Ethernet 460, 660, 760, Profinet, added.
Revision 12 2019 05 Release 19.A Sh.125 Ethernet/Profinet implemented. IRB6660
Information: New release indentification 19.A, 19.B, 19.C, 19.D

the releases is precented four times every year instead of two times as before.
Revision 15 2021 05 Release 21.C
Sh.8.1 Revision information 19.A Sh.1 Copyright updated 2021
Sh.9, 10 Device list Updated.
Sh.16 I/O connections implemented. Sh.2 Table of contest updated.

Sh.16.1 Added sheet. The information on this sheet is under shaping and will develop further in future releases.
Sh.17 X6 and X7 shifted location coordinate column 3 Sh.4 Table of contest updated.
Sh.24 XT31:1 and :5 ref to 51.2 Sh.6 Table of contest updated.
Sh.29 Changed presentation
Sh.29.1 added Sh.8.1 new revision information.
Sh.31 changed presentation. Sh.23 XS3/XP3 External customer Ref.28.1 was ref. to 33
Sh.31.1 added
Sh.38.3 new sheet
Sh.27 A21.X5 :3, :5, :9, :11 Jumper text add. Not connected. Ref to manual. Column 2.
Sh.38.4 new sheet
Sh.28.1 X5:3, :5, :9, :11 Jumper text add. ( Not 2) Not connected. Ref to manual. At Column 8
Sh.38.5 Wire 580 and 581 new target sheets
Sh.51.2 wire number 787 was 779, 785 was 777, 786 was 778 column 7//0V_INT1, +24V_INT1
0V_INT2, +24V_INT2 // wire 787, 785 new connection was at X63.// XT31-.1 and :5 added to cordinate column 8 Sh.34 PCI- cards 31.2, 31.3, 31.4 exchanged place
Sh.51.4 0V_INT, +24V_INT
Sh.51.6 0V_INT, +24V_INT Revision 16 2022 09 Release 22.C
Sh.51.8 0V_INT, +24V_INT
Sh.23 Added Functional earth.
Revision 13 2019 06 -- 2020 02 Release 19.B, C, D, 20.A Sh.29.1
Sh.31.1
Swapped 24V-/0V COMMON_CH1/-CH2 connection on -S21.1-XP1 (2Mode Selector)
Swapped 24V-/0V COMMON_CH1/-CH2 connection on -S21.1-XP1 (2Mode Selector)
Sh.8.1 new revision information. Sh.56 Changed wire 150 and 151 from AWG12 to AWG10
Sh.16 Devicetag add. A41.1, .3, .4, .5 column 2 and 3. Sh.61 Added new Fan connection (Fan Control)
Sh.23 new sheet ref. XS11/XP11 128.6// Sh.61.1 Contains the old Fan connection (without Fan Control)
Sh.28 deffenition line added at column 6 contact x11 AWG24. Sh.63 Added Auxiliary contact block connection (Fan Control)
Sh.34 Main computer Unit DSQC1024 add. to rel.19.B for IRB140, 1600, 2600, from Rel 20.A the remaining robots. Sh.75 Added reference to Option 1389-1
Sh.35 Main computer Unit DSQC1024 add. to rel.19.B for IRB140, 1600, 2600, from Rel 20.A the remaining robots. Sh.75.1 Added reference to Option 1389-1
Sh.36 Main computer Unit DSQC1024 add. to rel.19.B for IRB140, 1600, 2600, from Rel 20.A the remaining robots. Sh.90 Added Option 803-3 and 803-4
Sh.40 new sheet ref. to A35 column 4. Sh.90 Added interruption point for DeviceNet and ProfiBus to p. 91. Added Grounding see Sh.117 note
Sh.51.8 Internal serial bu was removed at column 3 Sh.91 Added "Option 803-3" and interruption point to DeviceNet
Sh.55 AWG10 column 4// GNYE AWG10 at column 4 Sh.108 Added "Option 803-2" and interruption point to ProfiNet/EthernetIP. Added Grounding see Sh.117 note
Sh.55.5 New sheet Transformer location Sh.109 Added grounding on harness CP/CS D7 and "Not connected"-note on manipulator side
Sh.57 IRB1200 implemented Sh.110 Added grounding on harness CP/CS D7 and "Not connected"-note on manipulator side
Sh.63 wire 142 BK, 143 BK, 144 BK added at coordinate column 8 Sh.111 Added interruption point for ProfiNet/EtherNetIP
Sh.76 C1--D2 shield connection removed column 7. Sh.117 Added grounding on harness CP/CS D7 and "Not connected"-note on manipulator side
Sh.91 Ref 40 A35 was A35.1" Column 1. Sh.118 Added Option 802-2 and ProfiNet/EthernetIP ref. to p. 120. Added Grounding see Sh.117 note
Sh.109 GNYE column 5 new position. Sh.119 Added grounding on harness CP/CS D7 and "Not connected"-note on manipulator side
Sh.111 "Customer Connection" text removed column 1//A35 ref.40 added.
Sh.120 Added interruptions points for ProfiNet/EthernetIP
Sh.120.7 Ref 40 A35 was A35.1" Column 1.
Sh.120.6 Added grounding on harness CP/CS D7 and "Not connected"-note on manipulator side
Sh.128.9 DevNet removed from sheet name.
Sh.128.9 Added DeviceNet and ProfiBus connection

Revision Information Sublocation:+
Document no. Rev. Ind Page8.1
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Revision 17 2023 10 Release 23.D

Complete update of circuit diagrams to get a more united look of text font, placement, and general esthetics.
All pages updated.
Specific changes as described below.
Sh. 8.2 New page
Sh. 38.3 Misspelling of contact -S21 was -XP37
Sh. 40.1 Misspelling of contact -XP1 was -XP39
Sh. 54 Past design, DSQC680 is replaced with DSQC1024
Sh. 54.1 Remote service 4G implemented.
Sh. 60 Misspelling of contact -XP1 was -XP39
Sh. 62/65/75.1 Redesign of PTC-circuits to accommodate several designs.
Sh. 89/107/116/120.5 Jumper added to PTC-circuit.

Revision Information Sublocation:+
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Location name Function name Page Location name Function name Page
R1.1 BLEEDER 72 E1-E43-R1 Thermistor 61
EXT-S22 Option HOT PLUG 32 E1-E44 Fan unit 61
EXT-S22-H1 SIGNAL LAMP 32 E1-E44-R1 Thermistor 61
A21 PANEL BOARD 26 E2 EXT. COMPUTER FAN opt.708-2 61
A23 OPTION:STATUS LED ON FRONT 28.2 E2-M1 EXTERNAL COMPUTER FAN 61
A31 MAIN COMPUTER 35 E3 INTERNAL FAN 61
A31-E22 CHASSIS BLOWER 35 E3-M1 INTERNAL FAN 61
A31.2 DeviceNet M/S DSQC1006 39 E5 MDU FAN 61
A31.3 PROFIBUS M 38 E5-M1 OPTION : INTERNAL FAN 61
A31.4 Safety Board DSQC1015 38.5 EXT-A21-S21.2-H1 MOTOR ON (LAMP) 31
A32 Expansion board serie DSQC1003 36 EXT-ETH_FPU FLEXPENDANT 30.1
A32.1 ETHERNET/IP Fieldbus adapter DSQC 669 Slave 37 EXT-ETH_FPU-USB FLEXPENDANT 30.1
A32.2 PROFIBUS Fieldbus adapter DSQC 667 Slave 37 EXT-S21.2 MOTOR ON PB 31
A32.3 PROFINET IO Fieldbus adapter DSQC 688 Slave 37 EXT-S21.3 EMERGENCY PB 31
A32.4 DEVICENET IO Fieldbus adapter DSQC 1004 Slave 37 EXT-T10 T10 JOGGING DEVICE 30.1
disclosure to third parties without express authority is strictly forbidden. © Copyright 2017 ABB
A34 ETHERNET SWITCH A34 opt. MULTI MOVE 604-1/2 40.1 EXT-T10.1 HOLD TO RUN DEVICE 30.1
A41 MAIN SERVO DRIVE UNIT 94 EXT-T10-ETH_FPU FLEXPENDANT 30.1
A41.1 MAIN SERVO DRIVE UNIT 66 F1 AUTOMATIC FUSE 63
A41.1-8 Main servo drive unit 4600 115 F2 AUTOMATIC FUSE 59
A41.1-6 MAIN SERVO DRIVE UNIT 103 F4 EARTH FAULT BREAKER 58
A41.2 ADDITIONAL RECTIFIER UNIT 72 F5 CIRCUIT BRAKER 58
A41.3 ADDITIONAL DRIVE UNIT 75 F6 Option: CIRCUIT BRAKER 55
A41.4 ADDITIONAL DRIVE UNIT 75 G1 POWER SUPPLY DSQC661 60
A41.5 ADDITIONAL DRIVE UNIT 75 G2 POWER DISTRIBUTION BOARD DSQC662 60
A42 AXIS COMPUTER BOARD 66 G3 ENERGY BANK 60
A43 CONTACTOR BOARD 62 G6 DEVICENET POWER SUPPLY 24
A44 EPS 67 G9 POWER SUPPLY Note 1) 59
A57 Process Interface Board (PIB) 45 H1 STATUS DIOD DRIVE MODULE 63
A62 Ethernet switch 41 K41 RELAY UNIT 59
A64 Ethernet switch 43 K42 MOTORS ON CONTACTOR 1 63
A65 Ethernet switch 44 K43 MOTORS ON CONTACTOR 2 63
A67-CTM DSQC2000 Conveyor Tracking 53.5 K44 BRAKE CONTACTOR 63
A41.3 ADDITIONAL DRIVE UNIT 72 M140-A41.1 MAIN SERVO DRIVE UNIT 79
C1 CAPACITOR 122 M460-A41.1 Main servo drive unit 460 88
E1-E41 FAN UNIT 61 O716-I/Ox DIG. PART OF COMBI I/O AND DIG. I/O UNIT 46
E1-E41-R1 THERMISTOR 61 O719-I/O.X ANALOGUE I/O UNIT 51
E1-E42 FAN UNIT 61 O721-I/O.X REMOTE I/O UNIT 52
E1-E42-R1 Thermistor 61 O726-I/O.X ENCODER UNIT 53
E1-E43 Fan unit 61 O738-EXT-FMB Option: 738-1 68
Latest revision: Lab/Office: Status: Plant:

2023-10-31 =
RA/RDP IRC5 DESIGN Rel: 23:D
APPROVED Location: +
Sublocation:+
3HAC024480-011 Next 10
Prepared by, date: A Hägglund Approved by, date:S Hällgren 17 Total 164
1 2 3 4 5 6 7 8
Location name Function name Page Location name Function name Page
O738-EXT-FMB-A1 DSQC686 VOLTAGE MEASURE BOARD 68
O818-RELAY I/O RELAY I/O UNIT 50
OP1-Q1 Main switch circuit breaker 55
OP1-Z2 REAKTOR UNIT 56
OP716_816-I/O.X DIGITAL I/O UNIT 47
OP717_817-I/O.X COMBI I/O UNIT 48
OP718_818-I/O.X DIG. PART OF RELAY I/O UNIT 49
P1 OPTION :DUTY TIME COUNTER 62
Q1 MAINS SWITCH 55
R1.1 BLEEDER 73
S21 CONTROL PANEL Sh.1 29
S21.2 MOTOR ON PB 29
S21.2-H1 MOTOR ON (LAMP) 29
S21.3 EMERGENCY PB 29
S22 Option with HOT PLUG 30

disclosure to third parties without express authority is strictly forbidden. © Copyright 2017 ABB
S22-H1 SIGNAL LAMP 30

T1.1 TRANSFORMER UNIT 56
Z1 OPTION: MAINS LINE FILTER 55
Z2 REAKTOR UNIT 56
A41.1 MAIN SERVO DRIVE UNIT 121
A61 Option: REMOTE SERVICE BOX DSQC1016/DSQC1023 54.1
A41.1 MAIN SERVO DRIVE UNIT 76
A41.1 MAIN SERVO DRIVE UNIT 128.6
Z3 OPTION: MAINS LINE FILTER IRB8700 55
S21.1 3-MODE SELECTOR 29
S21.1 2-MODE SELECTOR 29
EXT-S21.1 2-MODE SELECTOR 31
EXT-S21.1 3-MODE SELECTOR 31
I/Ox Digital I/O Base module 51.2
I/Ox Relay I/O Add on module 51.8
I/Ox Digital I/O Add on module 51.4
I/Ox Analog I/O Add on module 51.6
A32 Profi/Ethernet 111
A61 Option: REMOTE SERVICE BOX DSQC680 54
A41.1 MAIN SERVO DRIVE UNIT 120.1
Latest revision: Lab/Office: Status: Plant:

2023-10-31 =
RA/RDP IRC5 DESIGN Rel: 23:D
APPROVED Location: +
Sublocation:+
3HAC024480-011 Next 13
Prepared by, date: A Hägglund Approved by, date:S Hällgren 17 Total 164
1 2 3 4 5 6 7 8
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
Customer Customer
Control connection connection
panel FPU
Field bus
Drive
Drive
WAN
USB
LAN

BLOCK DIAGRAM CONTROL MODULE Sublocation:+
Next 14
1 2 3 4 5 6 7 8
-Q1 3 x 200-600VAC
-Z1
230V
-T1
-G1
AC
DC -Z2
-G2
DC
Option
Service outlet
-F1
-A42
-A43 AXC
-F5
-A31
-A21 CB -K42
-F4
Earth -K43
fault
prot.
-A41
-X22 DRIVE
Service
outlet
-X1 -X2 -X1

BLOCK DIAGRAM SINGLE DRIVE MODULE Sublocation:+
Next 15
1 2 3 4 5 6 7 8
-Q1 3 x 200-600VAC
-Z1
-T1
-F2
-G1
AC -Z2
DC
Option
Service outlet
-F1
-A42
-A43 AXC
-F5
-A31
-A21 CB -K42
-F4
Earth -K43
fault
prot.
-A41
-X22 DRIVE
Service
outlet
-X1 -X2 -X1

BLOCK DIAGRAM DRIVE MODULE Sublocation:+
Next 16
1 2 3 4 5 6 7 8
FRONT FRONT VIEW Opt. inside door with I/O and ETHERNET switch
PANEL G4 G5 A34 A31
Q1
E3
S21.3
XT5.3
XT5.3
XT5.3
XT6
XT6
XT6
S21.2 G3
XT5.1
XT5.2
XT5.1
XT5.1
XT5.2
XT5.2
S21.1
A62 or A64 or A65 A62 or A64 or A65
X1 X6
X24 G2
S22
X2
X23 A41.1
XS4
XT31
XT31
XT31
I/O1
I/O2
I/O3
I/O4
I/O1
I/O2
I/O3
I/O4
I/O5
X2
X3
P1 G1
E5
A62
1541-1/-2 Local I/O layout
X3
X5
X4
X22 X1 1542-1/-2
I/O 2.X5 I/O 1.X5 1543-1/-2
1544-1/-2
XT16
DSQC1030 Opt 1541-1/-2 DSQC1031 Opt 1542-1/-2 DSQC1032 Opt 1543-1/-2 DSQC1033 Opt 1544-1/-2
F2
A41.3 A41.4 A41.5
F1
PWR DO PWR DO PWR DO PWR DO
GND DO GND DO GND DO GND DO
X1:8
DO:1
DO:9
X1:18
X1:8
DO:1
DO:9
X1:18
XS9
XS5/XS13
XS3
DO:8
DO:16
DO:8
DO:16
X1:1
X1:11
X1:1
X1:11
XP0 PE XS1 XS7 or XS11 XS18 XS17 X63 XS2 XP28
Denomination Unit Pos. No Opt. No XS41 GND DI GND DI
GND DI GND DI
Digital 24 VDC I/O 1-4 716-1
X2:8
DI:1
DI:9
X2:17
X2:8
DI:1
DI:9
X2:17
AD Combi I/O I/O 1-4 717-1
Digital with relay I/O 1-4 718-1
Analog 4 in/4 out I/O 1-4 719-1
Profibus DP Slave I/O 1-4 720-1
Interbus-S Slave I/O 1-4 722-1
CC-link slave I/O 1-4 723-1
X2:1
DI:8
DI:16
X2:10
X2:1
DI:8
DI:16
X2:10
ENC unit I/O 1-4 726-1
Digital Base 16in/16out I/O 1 1541-1/-2
Digital Add on 16in/16out I/O 2-5 1542-1/-2
Analogue Add on 4in/4out I/O 2-5 1543-1/-2
Relay Add on 8RO/8DI I/O 2-5 1544-1/-2
Ethernet switch A34 604-1/-2
Ethernet switch A62 901-1
FRONT VIEW OF SINGLE CABINET MDU HV Sublocation:+
Next 16.1
1 2 3 4 5 6 7 8
Wire no. Designation Terminal Remark. Application Document. Wire no. Designation Terminal Remark. Application Document.
147 XT31 1 + G4 DSQC609 3HAC066749-002 1417 XT31 2 + Process interface ARISTOMIG safety interlock 3HEA803113-001
148 XT31 5 - 1422 6 -
147 XT31 1 + A62.X7 3HAC035136-002 1429 6 -
148 XT31 5 -
147 XT31 2 + G5 DSQC609
148 XT31 6 -
147 XT31 3 + G7 DSQC609
148 XT31 7 -
193 XT31 4 + Harn I/O/ Devicenet supply
194 XT31 8 -
193 XT31 9 + Harn I/O/ Devicenet supply 3HAC028588-002
194 XT31 10 -
247 XT31 1 + G2.x4 3HAC028581-001
248 XT31 5 -
295 XT31 2 + G4.x2 3HAC024979-027
296 XT31 6 -
295 XT31 3 + G5.x2 3HAC024979-027
296 XT31 7 -
297 XT31 9 + G6 3HAC024979-028

298 XT31 10 - 3HAC024527-001

787 XT31 5 - Sensor connection 3HAC066749-002
Bu XT31 5 -
785 XT31 1 +
Rd/Bn XT31 1 +
703 or 775 XT31 1 + Assembly set I/O IRC5 3HAC060971-002
704 or 776 XT31 5 -
745 XT31 1 + Remote Service SC 3HAC031252-002
746 XT31 5 -
747 XT31 1 + DC in 3HAC037747-002
748 XT31 5 - DC in
764 XT31 2 + Camera 1 and 3 3HAC046782-002
765 XT31 6 -
766 XT31 2 + Camera 2 3HAC046782-002 XT31: 1 (Rd/Bn, 147, 247, 703, 705, 745,747, 775, 785, 901,1032, 1041, 1043)
767 XT31 6 -
775 or 703 XT31 1 + Assembly set I/O IRC5 3HAC060971-002 XT31:2 (147, 295, 764, 766, 777, 779, 1032, 1042.
776 or 704 XT31 5 -
777 XT31 2 + 3HAC060971-002 XT31:3 (147, 295)
778 XT31 6 -
779 XT31 2 + 3HAC060971-002
780 XT31 6 - XT31:4 (193)
901 XT31 1 + Assembly set I/O IRC5, VW 3HAC066590-002
902 XT31 5 - XT31:5 (Bu, 148, 248, 704, 746, 748, 776, 787, 902, 1044, 1046, 1055 )
1032 XT31 1 alt 2 + Euromap 3HAC025481-003
-
XT31:6 (148, 296, 765, 767, 778, 780, 1046, 1055)
901 XT31 1 + Assembly set I/O IRC5, VW 3HAC066590-002
902 XT31 5 -
901 XT31 1 + Assembly set I/O IRC5, VW 3HAC066590-002 XT31:7 (148, 296)
902 XT31 5 -
1041 XT31 1 + (Process interface board PIB 3HAC035136-002 XT31:8 (194)
1042 XT31 2 - A57 Opt.901-1 902-1)
1043 XT31 1 + (Ethernet switch A62 Opt.901-1 3HAC046782-002 XT31:9 (193, 297)
1044 XT31 5 - or Ethernet switch A64 3HAC047120-002
or Ethernet switch A65 ) XT31:10 (194, 298)
1046 and 1055 XT31 5 alt. 6 - Euromap 3HAC025481-003
XT31, connected options Sublocation:+
Next 17
1 2 3 4 5 6 7 8
FRONT VIEW FRONT VIEW

MAIN DRIVE UNIT FOR IRB 120 - 1600 MAIN DRIVE UNIT FOR IRB 2400 - 87XX
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
X7
the upper side.
X6 X8 LEFT SIDE
X9 LEFT SIDE 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

FRONT VIEW OF SINGLE CABINET MDU LV and HV Sublocation:+
Next 18
1 2 3 4 5 6 7 8
LEFT VIEW WITH LEFT VIEW RIGHT VIEW

FLANGE DISCONNECT
Q1
Q1 A21
E2
G6
G6 F6
A42
Z1 E1
X31/X32
F4 XS10
K42
K43
R1
K44 F5
XS22
T1
A43
Z2 A44

SIDE VIEWS OF SINGLE CABINET Sublocation:+
Next 19
1 2 3 4 5 6 7 8
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 COMMUNICATION DRIVE MODULE

AND CONTROL MODULE

VIEW OF DRIVE MODULE CABINET Sublocation:+
Next 20
1 2 3 4 5 6 7 8
X11--X13 X1
PANEL
BOARD
A21
X3
RL1 RL2
X12
X7 WAN
X20 X5
X7 X8
X6 LAN
X6
X15
RL3
X11 X14 X17
X18 X5 LAN
X1 X22
X10
RL4
X9 X2
X21--X28 X20
A67 CMT
on the door

VIEW OF PANEL BOARD Sublocation:+
CONVEYOR TRACKING Document no. Rev. Ind Page20
Next 21
1 2 3 4 5 6 7 8
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

VIEW OF CONTACTOR & AXIS COMPUTER UNIT Sublocation:+
Next 22
1 2 3 4 5 6 7 8
-CONTROLLER -FMB Option: 738-1 -MANIPULATOR
Reference to
circuit diagram 1) FMB.XP2 Bridge connector if no other option.
-FMB
1) -FMB.XP2 -FMB.XS2
(-FMB.X2)
DSQC686
-X2 -X3
-A1.X2
-XP2 SMB -R1.SMB

-A1.X1
-XS41 -X1

VIEW OF VOLTAGE MEARSUREMENT BOX Sublocation:+
Next 23
1 2 3 4 5 6 7 8
CABINET WALL CABINET WALL
(( ))
FE -XS0
FE
-PE / PE
1 GN/YE AWG 7/(10mm2) (54) -XS18
/ 2 PE connection (54.1)
/ -XS18
L1
(55) / -XS0 L1 L2
-L:1
Mains power connection
(55) / -XS0 L2 L3
-L:2
(55) / -XS0 L3 -L:3
Option: Remote service 890-1

Power cable (76) (85) (89) (94) (101) (112) (120.2) (128.5)
Cross ref (79) (86) (92) (95) (103) (113) (120.4) (128.7) -XP23
-XS1/XP1 / (80) (87.4) (93) (97) (104) (115) (120.5)
SERVICE PORT
XS1/XP1 (82) (87.5) (93.5) (98) (106) (116) (121) (35) (41) (54) (54.1) / -XP23.1
(83) (88) (93.6) (100) (107) (120.1) (122) 1
(35) (41) (54) (54.1) / -XP23.2 SERVICE PORT
(77) (89) (101) (120.2) 2
(35) (41) (54) (54.1) / -XP23.3
SMB cable (80) (93) (104) (120.5)
(83) (93.6) (107) (122) / (35) (41) (54) (54.1) / -XP23.6 3
-XS2/XP2 Cross ref (86) (95) (113) (128.7) 6
XS2/XP2 (87.5) (98) (116) (43) / -7.TXRX+
(43) / -7.TXRX-
External Customer
(43) / -7.RXTX+
-XS3/XP3 sheet 28.1 (43) / -7.RXTX-
-XP28
Option: External WAN, Ethernet IP or ProfiNet
Internal customer (36) / -1.XP28.1 1
connection
(36) / -1.XP28.2
-XS5/XP5 2
sheet 78, 81,84,87,87.1,93.7,96,102,105,114
(36) / -1.XP28.3
3
(36) / -1.XP28.6
6
-XS7/XP7 External Axes -XS41

sheet 74, 75, 75.1 (67) (70) / -MRCO2
A
Second Power cable

(67) (70) / -MRCO2_N
-XS11/XP11 B
only IRB8700 sheet (67) (70) / -MRCI2
C
Option: Ethernet IP or ProfiNet -XS9
(67) (70) / -MRCI2_N
(35) (36) / -2.BI_DA+ 5.TXRX+ / (91) (111) (120) D / FMB (68)
1
(35) (36) / -2.BI_DB+ 5.RXTX+ / (91) (111) (120) (67) (70) / -MRC_0V4
(35) (36) / -2.BI_DA- 2 E
5.TXRX- / (91) (111) (120) Ext.SMB
(35) (36) / -2.BI_DB- 3
5.RXTX- / (91) (111) (120) (67) (70) / -24V_SMB2
4 F
(67) (70) / -MRC_0V5
G
Internal customer
connection
(67) (70) / -MRC_0V6
-XS13/XP13 J
sheet 90,91,108-111,117-120.
-XS17
Cooling axes 1 and 2
(39) / -XS17.3 Sheet 123
3 -XS58/XP58
Option: DeviceNet on front 730-1
(39) / -XS17.5
5
-X63 -X63
(39) / -XS17.1 -X63
1 (24) / -XT31:1
BN 1 1 Flow sensor cable 1
WH 2 2 2
(39) / -XS17.4 Flow censor
(51.2) / -OUT2
3 3 3
4 BU
(24) / -XT31:5
for IRB6790 BK 4 4 4
(39) / -XS17.2 (51.2) / -OUT1
2

CONTACT AT THE CABINET WALL Sublocation:+
Next 24
1
Latest revision:
Prepared by, date:A Hägglund

(23) (43) (51.2) / -XT31:1
-XT31
(41) (44) (51.2)
1
(23) (43) (51.2) / -XT31:5 -+24V I/O.1 / (60)
1
(41) (44) (51.2)
2
(43) / -1.XT31:2
3
-G2
(43) / -2.XT31:2
2
4
(53.5) / -3.XT31:2 -0V I/O.1 / (60)
5
5
Approved by, date:S Hällgren

(53.5) / -4.XT31:2
6
(43) / -1.XT31:6
7
-G4
(43) / -2.XT31:6
POWER
SUPPLY
2023-10-31
CUSTOMER
3
(53.5) / -3.XT31:6
-X1
-X2
-295 AWG16 BU -230V AC1.12 / (60)

AC
AC
24
(53.5) / -4.XT31:6 -230V AC2.12 / (60)

DC
AC
24
-296 AWG16 BU
0
AWG16 GNYE
24V
0
GND
4
Customer
Connection
8
0V
-G5
9
POWER
SUPPLY
CUSTOMER
10
RA/RDP
-X1
Lab/Office:
-X2
-_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

-G6
POWER
SUPPLY
6
DEVICENET
-X1
-X2
-297 AWG16 BU -230V AC1.11 / (60)

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

DC
N
24
OPT:POWER SUPPLY DSQC609 XT31, G4, G5, G6
-298 AWG16 BU
0
(52) / -+24Vdevicenet.5 AWG16 gnye

0
GND
Status:
7
Document no.
APPROVED
(54) (54.1) / -+24V Res

(54) (54.1) / -0V ReS
3HAC024480-011
Plant:
Sublocation:+
Location: +
=
8
Next 25
Rev. Ind Page24
17 Total 164
1 2 3 4 5 6 7 8
BLOCK DIAGRAM - RUN CHAIN IN A21 PANEL BOARD AND S21 CONTROL PANEL WITH OPTIONS
2Cross reference / (28) 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.XS1 -S21.XP1
-X9 Customer connection
3Cross reference to S.21 / (29)
-S21.2 MOTOR ON PB
-S21.3 EMERGENCY STOP PB 6Cross reference to XS.4 / (30)

FLEX PENDANT
-XS4
4Cross reference to DP.1 / (30)
-DP1-DP2 double press 5Cross reference hot plug S.22 / (30)
Option Hot plug

-X10
9Cross reference to A31.X3 / (35)
MAIN COMPUTER
A31.X3
BLOCK DIAGRAM - RUN CHAIN AND EXTERNAL CONTROL PANEL WITH OPTIONS
2Cross reference / (28) 1Cross reference to EXT S21 / (31)
CONTROL MODULE CABINET EXTERNAL CONTROL PANEL

OPTION
-EXT.S21.1 (2 OR 3-MODE SELECTOR) OPTION TERMINAL
-A21 PANEL BOARD -EXT.S21.X1 -EXT.S21.XP1
-X9 Customer connection
1Cross reference to EXT S21 / (31)
-EXT.S21.2 MOTOR ON PB
1Cross reference to EXT S21 / (31)
-EXT.S21.3 EMERGENCY STOP PB 6Cross reference to XS.4 / (30)

FLEX PENDANT
-XS4
7Cross reference to DP.3-4 / (32)
-DP3-DP4 double press
8Cross reference to Ext Hot Plug S.22 / (32)
-X10
9Cross reference to A31.X3 / (35)
MAIN COMPUTER
A31.X3
RUN CHAIN block diagram in PANEL BOARD A21 Sublocation:+
and CONTROL PANEL S21 Document no. Rev. Ind Page25
Next 26
1 2 3 4 5 6 7 8
-A21 PANEL BOARD Sh. 1 of 4
-X1
ES1 top -RCH1.2 / (28)
3
-X2 FPU
JUMPER
ES2 top -RCH2.2 / (28)
2. See pages(28.1)
JUMPER
EXTERNAL 0V 0V
Software based EMERGENCY 24V Panel 4
24V PANEL
Mode Selector STOP PB
4
internal safety
Run CH1 top

5
Run CH2 top
5
(38.5) / -A21X1.1 EMERGENCY ES1OUT:A

1
STOP OUTPUT 1 ES2 OUT:A
OPTION: EXTERNAL CONNECTIONS
(38.5) / -A21X2.1
EMERGENCY ES2 OUT:B

(38.5) / -A21X2.2 2
(38.5) / -A21X1.2 STOP OUTPUT 2 ES1OUT:B
2
EXTERNAL
Sep ES2:A / -RunCh_0V.1 (28) CONTROL
9
Sep ES1:A / -RunCh+.1 (28) PANEL
9
-ES1 -ES2 EM. PB
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

RUN CHAIN and PANEL BOARD A21 Sh. 1 of 4 Sublocation:+
Next 27
1 2 3 4 5 6 7 8
(28) / -SPEED
-X7
RUN CH1 -RUN_CH1 / (62)
/ (26)
1
AUTO STOP 0V RUN CH1Ret -RUN_CH1Ret / (62)
24V PANEL
A43.X1
Drive module1
2
/ (28)
/ (28)
/ (26)
/ (26)
-X5
/ (26)
-RunCh_0V
JUMPER 24V PANEL RUN CH2Ret -RUN_CH2Ret / (62)
/ (28)
/ (28)
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
ENABLE2_1 -ENABLE2.1 / (62)
7
Not connected. Ref to manual. AS1+ ENABLE2_1Ret -ENABLE2_1Ret / (62)
11 8
AS1 AC_ON1 AC_ON.1 / (59)
9
AS1 0V 0V.1 / (59)
& 10
1.See pages (28.1)
Not connected. Ref to manual. AS1-

AS2+ 9 AS2 SOFT AS
Not connected. Ref to manual.

5 -X8
RUN CH1
1
AS2 0V RUN CH1Ret
GENERAL STOP 2
RUN CH2Ret
4
Not connected. Ref to manual. AS2- 24V PANEL RUN CH2 BU
3 3
GS1+ GS1 SPEED
10 5
0V if not used Drive
6
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
CH2 3
SPEED
-X6 5
SUPERIOR STOP JUMPER 24V PANEL 0V if not used Drive
6
JUMPER 6 0V ENABLE2_3 module3
7
(38.5) / -A21X6.4
290 AWG BU SS1+ 1 SS1 ENABLE2_3Ret BU
A43.X1
8
4 AC_ON1 if not used
9
SS1 0V
10
-X17
(38.5) / -A21X6.2 291 AWG BU SS1- SOFT SS RUN CH1
1
(38.5) / -A21X6.5
292 AWG BU SS2+ 2 SS2 0V RUN CH1Ret
5 2
SS2 RUN CH2Ret

4
24V PANEL RUN CH2 BU
3
SPEED
5
-A21X6.3
(38.5) /
293 AWG BU SS2- 0V if not used Drive
6
ENABLE DEVICE
EN1_1A 3
-EN1_1A.1 / (28) ENABLE2_4 module4
Software based 7
EXTERNAL
EN1_1B 7 ENABLE2_4Ret BU
A43.X1
Mode Selector EN2_1B 8 8
AC_ON1 if not used
internal safety EN2_1A 9 9
0V
-EN2_1A.1 / (28)
10
10

Next 28
1 2 3 4 5 6 7 8
(25)
X9 and X10 2Cross reference /
(25) to board A21 blockdiagram.
(27) / -SPEED 1
-X9
24V PANEL
AUTO2 -A21X9:1 / (29) (31)
1
(27) / -EN2 -A21X9:2 / (29) (31) (38.5)
(27) / -MAN2
2 MAN2
MAN FS2 -A21X9:3 / (29) (31) (38.5)
3
0V -A21X9:4 / (29) (31) (38.5)
4
AUTO1 -A21X9:5 / (29) (31)
5
(27) / -EN1 -A21X9:6 / (29) (31) (38.5)
(27) / -MAN1
6 MAN1
MAN FS1 -A21X9:7 / (29) (31) (38.5)
7
24V PANEL -A21X9:8 / (29) (31) (38.5)
8
MOTON -A21X9:9 / (29) (29)
9
ES PANEL 2B -A21X9:10 / (29) (29)
10
ES PANEL 2B -A21X9:11 / (29) (29)
11
(26) / -RunCh_0V.1 ES FPU2A -A21X9:12 / (29) (29)
12
ES FPU2A -A21X9:13 / (29) (29)
13
ES PANEL 1B -A21X9:14 / (29) (29)
14
-A21X9:15 / (29) (29)
15 ES PANEL 1B
(26) / -RunCh+.1 ES FPU1A -A21X9:16 / (29) (29)
16
ES FPU1A -A21X9:17 / (29) (29)
17
/ -MAN1 MONLMP -A21X9:18 / (29) (29)
-X12 18
1
-A21X9:19 / (29) (29)
(28.2) / -+24VSYS.1 250 AWG18 BU 24V SYS 24V FPU POWER 19
(28.2) / -0VSYS.1 251 AWG18 BU 2 0V SYS -PE1 GN/YE EARTH GN/YE -PE1
(28.2) / -+24VCOOL8.2 252 AWG20 BU 3 24V PANEL EARTH
(28.2) / -0VCOOL8.2 253 AWG20 BU 4
-X10 24V FPU BK

1 0V BN -24VFPUPOWER / (30) (32)
2 EN1_1 RD -0VPANELB / (30) (32)
(27) / -EN1_1A.1 3 EN2_1 OG -EN1_1 / (30) (30) (32)
(27) / -EN2_1A.1 4 YE -EN2_1 / (30) (30) (32)
(26) -RCH1.2 / 5 GN -1.-ESFPU1:A / (30) (30) Connected If
6 Jumper removed
BU -1.-ESFPU1:B / (30) (30) Internal Control Panel.
(26) -RCH2.2 / when option -1.-ESFPU2:A / (30) (30)
7 Internal Control Panel VT If internal Hot plug.
8 -1.-ESFPU2:B / (30) (30)
AWG20 BU
9 EXT.PANEL
24V PANEL
-X11 AWG24
-X15 1
OP_COM
1 2
OP_MAN 24V PANEL WHGN -+24V_Sig.ref. / (35)
3 3 BU -RS485+ / (35) A31.X7
4 WHBU -RS485- / (35)
5
MAIN
OP_AUTO COMPUTER
2 6
OP_MAN_FS WHBN -0V_Sig.ref. / (35)
4 7
8
-X20
1 1
(28.2) / -X20:1
2 2 -X18
(28.2) / -X20:2
4 4 RS485+ 24V COOL
(28.2) / -RS485+.1 24VCOOL / (61)
5 5 2
(28.2) / -RS485-.1 RS485-
3 3 24V DC EXTERNAL TACHO
(28.2) / -24DC.1 TACHO / (61)
6 6 3
(28.2) / -X20:6 COMPUTER
7 7 0V
(28.2) / -0V.2 FAN
8 8 FAN 0V
(28.2) / -X20:8 FAN 0V / (61)
1

Next 28.1
1 2 3 4 5 6 7 8
PANEL BOARD Sh. 4 of 4

PANEL BOARD PANEL BOARD
2.See pages / (26) 1.See pages / (27)
-A21 -A21
-PE -XS/XP3
AWG16 GN/YE
-X5 -XS/XP3
-X1 -260 -272
ES1 bottom AWG16 OG AWG20 BU 24V PANEL AWG20 BU
7 A1 12 C1
-X2 -261 -273 2)
ES2 bottom AWG16 OG AWG20 BU AS1+ AWG20 BU
7 B1 11 C2
24V PANEL -262 AWG20 BU AS1- -274 AWG20 BU
8 B2 9 C3
0V -263 AWG20 BU 0V -275 AWG20 BU 2)
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 AWG16 OG 24V PANEL -278 AWG20 BU

3 B4 6 D1
ES1 top -267 AWG16 OG AS2+ -279 AWG20 BU 2)
3 A4 5 D2
Sep ES1:A -268 AWG16 OG AWG20 BU AS2- -280 AWG20 BU
9 A5 3 D3
Sep ES2:A -269 AWG16 OG AWG20 BU 0V -281 AWG20 BU 2)
9 B5 1 D4
Sep ES2:B -270 AWG16 OG AWG20 BU
10 B6 D5
Sep ES1:B -271 AWG16 OG GS2+ -282 AWG20 BU
10 A6 4 D6
ES1 OUT A -284 AWG16 OG 1) GS2- -283 AWG20 BU AWG20 BU
1 A7 2 D7
ES1 OUT B -285 AWG16 OG 1)
2 A8 D8
-286 1) -X6
ES2 OUT A AWG16 OG
1 B7 -289 AWG20 BU AWG20 BU
ES2 OUT B -287 AWG16 OG 1) 1 A10

2 B8 0V -291 AWG20 BU 1)
2 B10
SS1- -293 AWG20 BU 1)
3 C10
SS2- -290 AWG20 BU 1)
4 B9
287 AWG20 BU
286 AWG20 BU
285 AWG20 BU
284 AWG20 BU
SS1+ -292 AWG20 BU 1)

5 C9
SS2+ -288 AWG20 BU AWG20 BU
6 A9
24V PANEL
7
-A21X2:2
-A21X2:1
-A21X1:2
-A21X1:1
-A21X6:5
-A21X6:4
-A21X6:3
-A21X6:2
8
9
(38.5) /
(38.5) /
(38.5) /
(38.5) /
(38.5) /
(38.5) /
(38.5) /
(38.5) /
10
1) No connection if Safety Board DSQC 1015 (A31.4)

Option: External Option: External
2) Not connected Ref. to manual
Software based Mode switch Software based Mode switch
PANEL BOARD A21 Sh. 4 of 4 Sublocation:+
Opt:EXT.CUSTOMER. CONNECT. SYSTEM SIGNALS Document no. Rev. Ind Page28.1
Next 28.2
1 2 3 4 5 6 7 8
-A21.X12 Connection alt. 1

(60) / +24VSYS 1
2 Standard +24VSYS.1 / (28)
(60) / -0VSYS 0VSYS.1 / (28)
(60) / +24VCOOL8 3
4
+24VCOOL8.2 / (28)
(60) / 0VCOOL8 0VCOOL8.2 / (28)
Connection alt. 2
Software based Opt. Safety module
Mode Selector DSQC1015 595 AWG20 BU
internal safety A31.4X1.1 / (38.5)
596 AWG20 BU
A31.4X1.2 / (38.5)
-A21.X21.1 -A21.X12
1 597 AWG16 BU 1 Y1 1
2 598 AWG16 BU 1 2
3 599 AWG16 BU Y2 3
4 600 AWG16 BU 4
+24VCOOL8.1 / (61)
Connection alt. 3 0VCOOL8.1 / (61)
-XP12 Opt. 52 degree
fan panel board. -A21.XS12
1 250 AWG18 BU 24V SYS 1
2 251 AWG18 BU 0V SYS 2

3 3
252 AWG20 BU
4 253 AWG20 BU 4
Connection alt. 4
Opt. Safety module DSQC1015
and Opt. 52 degree fan panel board. 595 AWG20 BU
Software based A31.4X1.1 / (38.5)
596 AWG20 BU
Mode Selector A31.4X1.2 / (38.5)
internal safety
+24VCOOL8.1 / (61)
-A21.X12 -XP12 0VCOOL8.1 / (61)
-A21.X21.1 -A21.X12
1 597 AWG16 BU 1 Y1 1 1 250 AWG18 BU 24V SYS 1
2 598 AWG16 BU 1 Y2 2 2 251 AWG18 BU 0V SYS 2
3 599 AWG16 BU 3 3 252 AWG20 BU 3
4 600 AWG16 BU 4 4 253 AWG20 BU 4
OPTION:STATUS
LED ON FRONT
-A23
-ES2
-ES1
-SUP_ST2
-X2 AWG26
WHBN
-SUP_ST1 1
X20:1 / (28)
BN
2 X20:2 / (28)
WHOG RS485+ RS485+.1 / (28)
-GS2 4 OG RS485- RS485-.1 / (28)
5 BU 24V DC 24DC.1 / (28)
-GS1 3 WHBU
6 X20:6 / (28)
WHGN 0V 0V.2 / (28)
-AS2 7 GN
8 X20:8 / (28)
-AS1
-ENABLE1

Opt. LED on front; Software based Mode Selector Sublocation:+
Internal safety harness Document no. Rev. Ind Page28.2
Next 29
1 2 3 4 5 6 7 8
(25)
(25) -S21 CONTROL PANEL Sh.1
2 Mode selector is Standard, for Run chain Operating.
2 and 3 Mode selector is not used with software switch, for Run chain Operating.
-222 AWG20
(28) / -A21X9:3
-221 AWG20
(28) / -A21X9:2
-226 AWG20
(28) / -A21X9:7
-225 AWG20
(28) / -A21X9:6
AUTO
AUTO
MAN
MAN
2-MODE SELECTOR
-S21.1 1 3 5 7 Ref_Extended_2Mode /
(29.1)
Option: Extended 2 Mode Selector on a specific sheet. (29.1)
2 6
-224 AWG20
(28) / -A21X9:5
-220 AWG20
(28) / -A21X9:1
3 Mode selector is optional for

Run chain Operating.

-227 AWG20
(28) / -A21X9:8
-223 AWG20
MAN 100%
MAN 100%
(28) / -A21X9:4
AUTO
AUTO
MAN
MAN
3-MODE SELECTOR (29.1)
-S21.1 Ref_Extended_3Mode /
(29.1)
-XS/XP37 6 12 10 2 4 8 Option: Extended 3 Mode Selector on a specific sheet.
-588 AWG20 BU 1 24V Panel
(28) / -A21X9:9
-589 AWG20 BU 2 MOTON 5 1
(28) / -A21X9:10
-590 AWG20 BU 11 MONLMP
(28) / -A21X9:19
-586 AWG20 OG 9 -237 AWG20 OG ES panel 1:A
(28) / -A21X9:17
(28) / -A21X9:18
(28) / -A21X9:13
(28) / -A21X9:14
-580 AWG20 OG 3 -231 AWG20 OG ES panel 2:B
(28) / -A21X9:11
-581 AWG20 OG 4 -232 AWG20 OG ES panel 2:B
(28) / -A21X9:12
-584 AWG20 OG 7 -235 AWG20 OG ES panel 1:B Software based -XP37
(28) / -A21X9:15 Connected jumper when no
-585 AWG20 OG 8 -236 AWG20 OG ES panel 1:B Mode Selector EMERGENCY PB
(28) / -A21X9:16 Emergency Stop on Panel.
internal safety -S21.3 1
2
-237 AWG20 ES panel 1:A 21 22 11 ES panel 2:A-B
(28) / -A21X9:17 AWG20 9
-238 ES panel 1:A ES panel 2:A-B
(28) / -A21X9:18 AWG20 11 12 10
-233 ES panel 2:A ES panel 1:B-A
(28) / -A21X9:13 AWG20 5
-234 ES panel 2:A ES panel 1:B-A
(28) / -A21X9:14 AWG20 6
-231 ES panel 2:B -591 AWG20 OG
(28) / -A21X9:11 AWG20 3
(28) / -A21X9:12 AWG20 4
(28) / -A21X9:15 AWG20 7
(28) / -A21X9:16 8
MOTOR ON PB
S21.2
-229 AWG20 14 13
(28) / -A21X9:10
-230 AWG20 X2 X1
(28) / -A21X9:19
(28) / -A21X9:9
-228 AWG20 -PE1
-PE1 GN/YE GN/YE

RUN CHAIN, EM.STOP, Standard 2 MODE SELECTOR Sublocation:+
option 3 MODE SELECTOR Document no. Rev. Ind Page29
Next 29.1
1 2 3 4 5 6 7 8
-S21 CONTROL PANEL Sh.2
Option: Extended 2 Mode Selector -S21.1-XS1 -S21.1-XP1

Run chain Operating -241 EXT.AUTO1
-240 EXT.MAN1 7 7
-245 EXT.AUTO2 6 6
-244 EXT.MAN2 3 3
9 11 13 15
2 2 Customer connection
(29) / Ref_Extended_2Mode OPTION
10 14
-246 EXT.COMMON2
-242 EXT.COMMON1 4 4
8 8

-244 EXT.MAN2 3 3
-243 EXT MAN FS2 2 2
-241 EXT.AUTO1 1 1
-240 EXT.MAN1 7 7
-239 EXT MAN FS1 6 6 Customer connection
18 22 24 14 16 20 5 5
OPTION
(29) / Ref_Extended_3Mode
17 13
-242 EXT.COMMON1
4 4
Option:With Safety board -S21.1-XS1 -S21.1-XP1

Run chain Operating, -241 EXT.AUTO1 572
Extended 2 Mode Selector EXT.AUTO1 / (38.5)
-240 EXT.MAN1 7 7 573
EXT.MAN1 / (38.5)
-245 EXT.AUTO2 6 6 575
3 EXT.AUTO2 / (38.5)
-244 EXT.MAN2 3 576
EXT.MAN2 / (38.5)
2 2
9 11 13 15 Hardware based Mode switch
10 14
-246 EXT.COMMON2 581
0V COMMON_CH2 / (38.5)
-242 EXT.COMMON1 4 4 580
8 8 24V COMMON_CH1 / (38.5)

Extended 3 Mode Selector 3 EXT.AUTO2 / (38.5)
-244 EXT.MAN2 3 576
EXT.MAN2 / (38.5)
-243 EXT MAN FS2 2 2 577
EXT.MAN FS2 / (38.5)
-241 EXT.AUTO1 1 1 572
EXT.AUTO1 / (38.5)
-240 EXT.MAN1 7 7 573
EXT.MAN1 / (38.5)
-239 EXT MAN FS1 6 6 574
EXT.MAN FS1 / (38.5) Hardware based Mode switch
18 22 24 14 16 20 5 5

17 13
24V COMMON_CH1 / (38.5)
-246 EXT.COMMON2 8 8 581
4 4

RUN CHAIN S21, 2 & 3 EXTEND MODE SELECTOR, Sublocation:+
and HARDW. MODE SWITCH with SAFETY BOARD Document no. Rev. Ind Page29.1
Next 30
1 2 3 4 5 6 7 8
4Cross reference to DP.1 / (25) Option with HOT PLUG

-S22 CONTROLLER
5Cross reference hot plug S.22 / (25)
6Cross reference to XS.4 / (25) (25)
-H1
BU1 SIGNAL LAMP
64 63 X1 X2
14 13
53 54
YE -209 BU
(28) / 1.-ESFPU1:A
BU -211 BU
(28) / 1.-ESFPU2:A
VT -212 BU
(28) / 1.-ESFPU2:B
GN -210 BU
(28) / 1.-ESFPU1:B
(28) / -EN1_1 RD 21 22 -207 BU
(28) / -EN2_1 OG 41 42 -208 BU

1) Connect to XS4 when option

External Control Panel.
Or cold plug(included in the delivery)
-XS4
Without hot plug. -XP4
YE 3 1)
(28) / 1.-ESFPU1:A 2) 2.ESFPU1.A / (30.1)
3
RunCh0V
BU
RunCh1
5 1) 2)
(28) / 1.-ESFPU2:A 2.ESFPU2.A / (30.1)
5
VT 6 1) 2)
(28) / 1.-ESFPU2:B 2.ESFPU2.B / (30.1)
6
GN 4 1) 2)
(28) / 1.-ESFPU1:B 2.ESFPU1.B / (30.1)
4
(28) / -EN1_1 RD 7 2) 2.EN1.1 / (30.1)
(28) / -EN2_1 OG 17 2) 2.EN2.1 / (30.1)
205 1 2)
BK -Y.1 2.24VFPUPOWER / (30.1)
-24VFPUPOWER 2
A21-X10
(28) /
BOARD
2) If option With Standard flexpendant cable

PANEL
205 12
206 2 2)
BN -Y.2 2.0VPANELB / (30.1)
(28) / -0VPANELB 2
206 8
(35) / -TD+ AWG24 4x2 SFTP OG 13 2) 2.TD+ / (30.1)

COMPUTER
(35) / -TD- WHOG 14 2) 2.TD- / (30.1)

A31.X3
(35) / -RD+ GN 15 2) 2.RD+

MAIN
/ (30.1)
(35) / -RD- WHGN 16 2) 2.RD- / (30.1)

FPU, FLEXPENDANT and option HOT PLUG Sublocation:+
Next 30.1
1 2 3 4 5 6 7 8
PAST DESIGN HOLD TO RUN DEVICE

-EXT.T10.1
EMERGENCY-STOP
A -K1
D
Option: 983-1 Hold to run device
E
EN-DEVICE
FLEXPENDANT -K2
G
-ETH_FPU
-EXT.XP4 I
EMERGENCY-STOP
A B C D E F G H I J
-K1
(30) 3
(32)
/ 2.ESFPU1.A
(30) 5
/ 2.ESFPU2.A
(32)
6
(30)
(32)
/ 2.ESFPU2.B
(30) 4
(32)
/ 2.ESFPU1.B
(30) 7 T10 JOGGING DEVICE
(32)
/ 2.EN1.1 -EXT.T10
(30) 17
(32)
/ 2.EN2.1 EMERGENCY-STOP
(30) 1 EN-DEVICE
(32)
/ 2.24VFPUPOWER -K1
A
12 -K2 B
(30) 2 C
(32)
/ 2.0VPANELB
D
8
(30) 13 -USB Option: 976-1 T10 Jogging device

(32)
/ 2.TD+
E
(30) 14 F
(32)
/ 2.TD-
(30) 15 G
/ 2.RD+ EN-DEVICE
(32)
(30) 16 H -K2
(32)
/ 2.RD-
I
-ETH_FPU

FPU, FLEXPENDANT and Opt. HOLD TO RUN DEVICE Sublocation:+
T10 JOGGING DEVICE Document no. Rev. Ind Page30.1
Next 30.2
1 2 3 4 5 6 7 8
Harness: 3HAC055665-002,-003,-004
CONTROLLER
Opt 784 Extended flexpendant cable

15m, 22m, 30m FLEXPENDANT
-ETH_FPU
-XS4 -XP4
EMERGENCY-STOP
-K1
3 3 WH/RD-RD (2x) AWG23 3 Standard Flexpendant cable
5 5 WH/OG-OG (2x) AWG23 5
6 6 WH/BN-BN (2x) AWG23 6
4 4 WH/BK-BK (2x) AWG23 4
7 7 BU6 AWG26 7
17 17 WH5 AWG26 17
1 1 OG8 0,5mm² 1 EN-DEVICE
12 12 OG9 0,5mm² 12 -K2
2 2 OG 0,5mm² 2
8 8 OG7 0,5mm² 8
13 13 YE4 AWG26 13 -ETH_FPU-USB
14 14 OG3 AWG26 14
15 15 WH1 AWG26 15
16 16 BU2 AWG26 16

FPU, Extended FLEXPENDANT cable 15 - 30 m Sublocation:+
Next 31
1 2 3 4 5 6 7 8
1Cross reference to EXT S21 / (25) (25) (25)
-EXT-S21 EXT.CONTROLL PANEL/BOX Sh.1 of 2

2 Mode selector, Option for Run chain Ext.Operating.
2 and 3 Mode selector is not used with software switch.
RD -222 AWG20
(28) / A21X9:3 BN
(28) / A21X9:2 -221 AWG20
BU -226 AWG20
(28) / A21X9:7 GN
(28) / A21X9:6 -225 AWG20
AUTO
AUTO
MAN
MAN
2-MODE SELECTOR
-EXT-S21.1 1 3 5 7
(31.1)
Option: Extended 2 Mode Selector see sheet. Ext_Extended_2_Mode /
(31.1)
2 6
YE -224 AWG20
(28) / A21X9:5 BK
(28) / A21X9:1 -220 AWG20
3 Mode selector is optional for

Run chain Operating.

VT -227AWG20
(28) / A21X9:8
OG -223AWG20
MAN 100%
MAN 100%
(28) / A21X9:4
AUTO
AUTO
MAN
MAN
3-MODE SELECTOR
-EXT-S21.1 6 12 10 2 4 8
(31.1)
Option: Extended 3 Mode Selector see sheet. Ext_Extended_3_Mode /
(31.1)
5 1
MOTOR ON PB
-EXT-S21.2
WH -229 AWG20 14 13
(28) / A21X9:10
(28) / A21X9:19
WH/BK -230 AWG20 X2 X1 EMERGENCY PB
(28) / A21X9:9
GY -228 AWG20 -EXT-S21.3
-DP6 -237 AWG20 ES panel 1:A 21 22
DP6 / (32) 1 -238 AWG20 ES panel 1:A
-DP5 -233 AWG20 ES panel 2:A 11 12
DP5 / (32) 1 -234 AWG20 ES panel 2:A

WH/BN -231 AWG20 ES panel 2:B
(28) / A21X9:11 WH/RD
(28) / A21X9:12 -232 AWG20 ES panel 2:B
WH/GN -235 AWG20 ES panel 1:B
(28) / A21X9:15 WH/BU
(28) / A21X9:16 -236 AWG20 ES panel 1:B
-PE1 GN/YE GN/BN GN/YE -PE1

GN/WH

RUN CHAIN A21 EXTERNAL CONTROLL PANEL/BOX , Sublocation:+
2 & 3 MODE SELECTOR, EM.STOP Document no. Rev. Ind Page31
Next 31.1
1 2 3 4 5 6 7 8
-EXT-S21 EXTERNAL CONTROL PANEL/BOX Sh.2

-240 EXT.MAN1 7 7
-245 EXT.AUTO2 6 6
-244 EXT.MAN2 3 3
9 11 13 15
2 2 Customer connection
(31) / Ext_Extended_2_Mode OPTION
10 14
-246 EXT.COMMON2
8 8

-244 EXT.MAN2 3 3
-243 EXT MAN FS2 2 2
-241 EXT.AUTO1 1 1
-240 EXT.MAN1 7 7
-239 EXT MAN FS1 6 6 Customer connection
(31) / Ext_Extended_3_Mode
18 22 24 14 16 20 5 5
OPTION
17 13
-242 EXT.COMMON1
4 4

Extended 2 Mode Selector EXT.AUTO1 / (38.5)
-240 EXT.MAN1 7 7 573
EXT.MAN1 / (38.5)
-245 EXT.AUTO2 6 6 575
3 EXT.AUTO2 / (38.5)
-244 EXT.MAN2 3 576
EXT.MAN2 / (38.5)
2 2
9 11 13 15
OPTION Hardware based Mode switch
(31) / Ext_Extended_2_Mode
10 14
-242 EXT.COMMON1 4 4 580
8 8 24V COMMON_CH1 / (38.5)

Extended 3 Mode Selector 3 EXT.AUTO2 / (38.5)
-244 EXT.MAN2 3 576
EXT.MAN2 / (38.5)
-243 EXT MAN FS2 2 2 577
-241 EXT.AUTO1 1 1 572
EXT.AUTO1 / (38.5)
-240 EXT.MAN1 7 7 573
EXT.MAN1 / (38.5)
-239 EXT MAN FS1 6 6 574 Hardware based Mode switch
5 5
(31) / Ext_Extended_3_Mode 18 22 24 14 16 20
OPTION
17 13
24V COMMON_CH1 / (38.5)
-246 EXT.COMMON2 8 8 581
4 4

EXTERNAL CONTROLL PANEL/BOX RUN CHAIN Sublocation:+
EXT.S21, 2 & 3 MODE SELECTOR Document no. Rev. Ind Page31.1
Next 32
1 2 3 4 5 6 7 8
8Cross reference to Ext Hot Plug S.22 / (25)
Option:Hot plug from Rel.11.1

7Cross reference to DP.3-4 / (25)
-EXT-S21 EXT.CONTROL PANEL Sh.2 of 2
Option HOT PLUG

-EXT-S22
SIGNAL LAMP
-H1
W529
64 63 x1 x2 213
W525/BU 14 13 W526
W527/BU 53 54 W528
W521 22 21 W522
W523 42 41 W524
521 AWG20 BU Without hot plug

523 AWG20 BU
-XP100 5 7 1 3 4 2 8 6 -XP100 1 3 4 2
-XS100 5 7 1 3
-495 AWG20 BU 4 2 8 6
-500 AWG20 BU
-497 AWG20 BU
-496 AWG20 BU
AWG20 AWG20
-XS4
BN/BK -DP1 24V FPU_POWER 205 BU
(28) / 24VFPUPOWER 2.24VFPUPOWER / (30.1)
1
24V FPU_POWER 205 BU
12
BN/RD -DP2 0VPANELB 206 BU
(28) / 0VPANELB 2.0VPANELB / (30.1)
2
0VPANELB 206 BU
8
A21 PANEL BOARD
BN/OG EN 1_1 -214

(28) / EN1_1 2.EN1.1 / (30.1)
(28) / EN2_1
BN/YE EN 2_1 -215 7
WH/VT 2.EN2.1 / (30.1)
(28) / A21X9:17 -DP4 17
WH/GY 1 ES FPU 1:A -216
(28) / A21X9:18 2.ESFPU1.A / (30.1)
ES FPU 1:B -217 BU 3
2.ESFPU1.B / (30.1)
WH/OG DP3 4
(28) / A21X9:13 WH/YE
(31) / DP6 ES FPU 2:A
(28) / A21X9:14
1 -218 2.ESFPU2.A / (30.1)
ES FPU 2:B -219 BU 5
2.ESFPU2.B / (30.1)
6
(31) / DP5
MAIN COMPUTER
A31.X3
AWG24 4x2 SFTP

(35) / TD+ BN TD+ 2.TD+ / (30.1)
(35) / TD- WHOG TD- 13
2.TD- / (30.1)
(35) / RD+
GN RD+ 14
2.RD+ / (30.1)
(35) / RD-
BNWH RD- 15
2.RD- / (30.1)
16

RUN CHAIN EXT A21 OPERATING WITH Sublocation:+
OPT: HOT PLUG rel 11.1 Document no. Rev. Ind Page32
Next 34
1 2 3 4 5 6 7 8
A31 Main Computer Unit DSQC1000 Rel. 15.2 and earlier

Main Computer Unit DSQC1018 Rel. 16.1
Main Computer Unit DSQC1024 Rel. 20.A
A31.2 DeviceNet M/S PCI Option 709-1

AnybusCC/RS232 Expansion Board DSQC1006 DeviceNet M/S
DSQC1003 POWER A31.3 PROFIBUS M PCI Option969-1
Pin no 2 = 24V DSQC1005
Profibus/S A32.4 Pin no 1 = 0V PROFIBUS M
ProfiNet/S A32.3
Console Ethernet /IP/S A32.1
DeviceNet/S DSQC1004 A32.2 A31.1 SERVICE 10/100
Battery BT1 in Old:
X1 X2 Slot 2. X20 DSQC1001 Interface Board
Com1 New: DSQC1001
LAN 1 Interface Board Battery BT1 in 3HAC042827-001
DSQC1017
BT1
Back side 80,78... ....6, 4, 2 10/100 X3 DSQC1017
3HAC050354-001
Front side 79,77... ....5, 3, 1
LAN 2 X4 POWER COM Express module
A32 10/100 DISC-Act
New DSQC1022/1026
X2 STATUS SD card 2GB
3HAC046408-001 NS Old DSQC1002 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
Slot 1. X12
X10 X11
USB 2/1 USB 4/3
PROFIBUS M
FIELDBUS ADAPTER
A31.3 PROFIBUS M PCI Option 969-1 A31.4-X1
DSQC1005
A31.4 Safety board Option 996-1
A31.4-X6
DSQC1015
A31.4-X7

MAIN COMPUTER/ANYBUS_CC/RS232 EXP. Sublocation:+
/INTERFACE BOARD/ Document no. Rev. Ind Page34
Next 35
1 2 3 4 5 6 7 8
M.Comp. DSQC1000 Rel. 15.2 and earlier

(25) M.Comp. DSQC1018 Rel. 16.1
9Cross reference to A31.X3 /
(25) M.Comp. DSQC1024 Rel. 20.A
-A31 MAIN COMPUTER
-X2 AWG24
TX+ WHOG
XP23.1 / (23)
1
TX- OG
XP23.2 / (23)
-X1 YELLOW LABEL RX+ 2 WHGN SERVICE
3 XP23.3 / (23)
PROCESS (60) / +24V PC.1 PORT
POWER 2 ETH_SERVICE
SUPPLY (60) / -0V PC.1 RX- GN
XP23.6 / (23)
6
1
A61:X10
REMOTE SERVICE
POWER (GREEN)
1.TXRX+ / (41) (43) (54) (54.1)
1.TXRX- / (41) (43) (54) (54.1) or
A62.X1 opt. 901-1
1.RXTX+ / (41) (43) (54) (54.1) or
1.RXTX- / (41) (43) (54) (54.1) A64.X1
-X3
DISC-ACT (YELLOW)
GREEN LABEL 1 RD+ / (30) (32)
2 RD- / (30) (32)
TD+ / (30) (32)
3
TPU FLEXPENDANT
4
5
STATUS (GREEN-RED) 6 TD- / (30) (32)
7
8
LAN -X4
NS (GREEN-RED)
TX+ 2.BI_DA+ / (23)
1
TX- 2.BI_DA- / (23)
RX+ 2 2.BI_DB+ / (23)
3
RX- 2.BI_DB- / (23)
6
MS (GREEN/RED)
5.TXRX+ / (51.2)
5.TXRX- / (51.2)
5.RXTX+ / (51.2) Dig I/O Base
-X7 5.RXTX- / (51.2)
1 xAWG24
2 WHGN +24V_Sig.ref. / (28)
BLUE LABEL 3 BU -RS485+ / (28)
4
PANEL UNIT WHBU -RS485- / (28) PANEL BOARD
5
CHASSIS BLOWER RS 485
GN -0V_Sig.ref. / (28)
-E22 7
M -X9
-2.TXRX+ / (66) (69) (70)
-X19 AWG24 TX+ 1
-2.TXRX- / (66) (69) (70) DRIVE
+
RED LABEL TX- 2

GND BK
RX+ -2.RXTX+ / (66) (69) (70) MODULE
1 3
+24V RD AXC1 AXIS
2 4
FAN_TACH YE ETH_DRIVE COMPUTER
3 5
RX- 6 -2.RXTX- / (66) (69) (70)
7
8
8.TXRX+ / (40.1)
8.TXRX- / (40.1) A34.X5
8.RXTX+ / (40.1) AXC SWITCH
8.RXTX- / (40.1)
MAIN COMPUTER A31 DSQC1000/1018 Sublocation:+
Next 36
1 2 3 4 5 6 7 8
M.Computer DSQC1000 Rel. 15.2 and earlier

M.Computer DSQC1018 Rel. 16.1
M.Computer DSQC1024 Rel. 20.A
-A31
LAN -X5
MX1+ 2.BI_DA+ / (23)
1
MX1- 2.BI_DA- / (23)
2
MX2+ 2.BI_DB+ / (23) Ethernet
3
MX2- 2.BI_DB- / (23)
-A32 Expansion board serie DSQC1003 6
4
5
-X3 1.MX1.RX+ / (44)
COM1 -X2 -X15 7
COM1_DCD 1.MX1.RX- / (44) IF OPT. 941-1
1 8
COM1_RXD 1 1
1.RXMX2.+ / (44) A65.X5
2
COM1_TXD 2 2
1.RXMX2.- / (44)
3
COM1_DTR 3 3
4
0V 4 4
5
COM1_DSR 5 5
-A31.X5.TX3+ / (53.5)
6
COM1_RTS-N IF OPT. 1550-1 AND
7 -A35.X5.TX3- / (53.5)
COM1_CTS-N NOT OPT. 941-1
-A35.X5.RX3+ / (53.5)
8 CTM.X7
COM1_RI -A35.X5.RX3- / (53.5)
9
-X3
CONSOLE CONSOLE_DCD 76 76 WAN -X6
1
CONSOLE_RXD 77 77 MX1+ 1.XP28.1 / (23)
2
CONSOLE_TXD 78 78 WHITE LABEL MX1- 1
OPTION:
3 2 1.XP28.2 / (23)
CONSOLE_DTR 79 79 MX2+ 1.XP28.3 / (23) EXTERNAL
4 3
GND 80 80 A31.X6 MX2- 1.XP28.6 / (23) WAN
5 6
CONSOLE_DSR
6
CONSOLE_RTS-N
7
CONSOLE_CTS-N
8
CONSOLE_RI
9
-X10.USB 1
3
2
4
1
-X10.USB 2 AWG28 GN -USB2 D+ / (60)
3
AWG28 WH -USB2 D- / (60) PROCESS
2
AWG24 BK -USB2_GND / (60) POWER
4
AWG24 RD -USB2 +5V / (60) SUPPLY
1
-X11.USB 3
3
2
4
1
-X11.USB4
3
2
4
1

MAIN COMPUTER A31 DSQC1000/1018 ; Sublocation:+
A32 DSQC1003 Document no. Rev. Ind Page36
Next 37
1 2 3 4 5 6 7 8
ETHERNET/IP Fieldbus adapter DSQC 669

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

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

1 SLAVE RXD/TXD-p
2 3
CONTROL-P
1 CompactCom 4
3 GND
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

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

FIELDBUS ADAPTER A32: Sublocation:+
ETHERNET/IP, PROFIBUS and Document no. Rev. Ind Page37
PROFINET IO Next 38
1 2 3 4 5 6 7 8
PROFIBUS M
-A31.3 DSQC1005
Customer
Connection
-X12
PCIe
(111)
(120)
SHIELD A31_3TXDRXD / (120.7)
RXD/TXD-P 1 1B (125)
MASTER CONTROL-P 3 (128.9)
GND 4 (111) OPTION & HARNESS TO CUSTOMER I/O
(120)
+5VDC 5
A31_3RXDTXD / (120.7)
RXD/TXD-N 6 1A (125)
8 (128.9)

PROFIBUS DP M/S A31.3 Sublocation:+
Next 38.3
1 2 3 4 5 6 7 8
Options: Options:
996-1 Safety Module. 996-1 Safety Module.
AND AND
735-1 Add. Contacts, 3 modes OR 735-1 Add. Contacts, 3 modes OR
735-2 Add. Contacts, 2 modes 735-2 Add. Contacts, 2 modes
AND AND
731-1 Safety internal connection. 731-2 Safety external connection.
Internal-Hardware Safety switch conn. External-Hardware Safety switch conn.
Safety Board Panel Board EM Stop Safety Board Panel Board

EM Stop
A31.4 A31.4
S21.3 S21.3 D X9
X1
D X9
X1
Motors On X6 Motors On X6
S21.2 S21.2 X12.1 X12

A21 A21
A2 A2
Key Switch Key Switch
S21.1.X1
S21.1.X1
G
X12 X12
S21.1.X1
G
S21.1
XS/XP39
XS/XP39
E X1 E X1
X2 X2
X5 X5
X6 X6
XS/XP38
XS/XP38
B B
K42 K43 K42 K43 Ext. safety connection

X31-X32 X31-X32 X31-X32 X31-X32 XS3
A = Re-designed Safety harness for Key-less 3HAC056648-001

A2 = Safety harness for hard Key switch 3HAC057150-001
B = Main Contactor supervision harness. 3HAC055642-001
C= Emergency Stop harness. 3HAC056527-001
D= +24V and 0V supply. 3HAC055633-001
E = Internal Safety Conn. harness. New design. 3HAC056638-001
F = External Safety Conn. New design. 3HAC056622-001
G = Extended Key switch harness. 3HAC023476-001

SAFETY BOARD A31.4 HARDWARE SWITCH Sublocation:+
Next 38.4
1 2 3 4 5 6 7 8
Options: Options:
With harness connection With harness connection
996-1 Safety Module 996-1 Safety Module
AND AND
735-7 Keyless Selector 3 modes OR 735-7 Keyless Selector 3 modes OR
735-8 Keyless Selector 2 modes 735-8 Keyless Selector 2 modes
AND AND
731-1 Safety internal connection. 731-2 Safety External connection.
Software Internal Safety connection Software External Safety connection

Key Switch Safety Board Panel Board Key Switch Safety Board Panel Board
S21.1 A31.4 S21.1.X1 A31.4
+24v/0v +24v/0v
X1 X1
A21 A21
Motors On X6 Motors On X6
S21.2
D S21.2 D
X12 X12 X12 X12
EM Stop X9 EM Stop X9
XP/XS37
XP/XS37
C
S21.3 S21.3
A
XS/XP39
XS/XP39
E X1 F X1
X2 X2
X5 X5
X6 X6
XS/XP38
XS/XP38
B B
K42 K43 K42 K43

X31-X32 X31-X32 X31-X32 X31-X32 XS3
A = Re-designed Safety harness for Key-less 3HAC056648-001

B = Main Contactor supervision harness. 3HAC055642-001
C = Emergency Stop harness. 3HAC056527-001
D= +24V and 0V supply harness. 3HAC055633-001
E = Internal Safety Conn. New design. 3HAC056638-001
F = External Safety Conn. New design. 3HAC056622-001

SAFETY BOARD A31.4 SOFTWARE SWITCH Sublocation:+
Next 38.5
1 2 3 4 5 6 7 8
-A31.4 SAFETY BOARD DSQC1015
-X20 -X1
1 -595 AWG20 BU
-A31.4X1.1 / (28.2) (28.2)
2 -596 AWG20 BU
-A31.4X1.2 / (28.2) (28.2)
PCIe EXT.AUTO1 / (29.1) (29.1) (31.1) (31.1)

Software based Hardware based
Mode Switch Mode Switch EXT.MAN1 / (29.1) (29.1) (31.1) (31.1)
-X6 EXT.MAN FS1 / (29.1) (31.1) Hardware based
-X6 24V COMMON_CH1 / (29.1) (29.1) (31.1) (31.1)
3. Mode Switch
3 -578 AWG24 BU 578 AWG24 BU
4 EXT.AUTO2 / (29.1) (29.1) (31.1) (31.1)
4 -579 AWG24 BU 579 AWG24 BU

8 EXT.MAN2 / (29.1) (29.1) (31.1) (31.1)
8 24V_CONFIG_LO_CH2
6 EXT.MAN FS2 / (29.1) (31.1)
6 24V_CONFIG_LO_CH2
0V COMMON_CH2 / (29.1) (29.1) (31.1) (31.1)
17 -575 AWG24 BU AUTO1
A21X9:6 / (28)
15 -576 AWG24 BU MAN1
A21X9:7 / (28)
13 -577 AWG24 BU MANFS1
A21X9:8 / (28)
Software based
18 -580 AWG24 BU
23 -572 AWG24 BU AUTO2 Mode Switch
A21X9:2 / (28)
21 -573 AWG24 BU MAN2
A21X9:3 / (28)
19 -574 AWG24 BU MANFS2
A21X9:4 / (28)
20 -581 AWG24 BU
-XS/XP38
12 -570 AWG24 BU 24VDC_B -773 AWG20 BU
-K42.31 / (63)
7 -568 AWG24 BU 3 24V_INPUT_HI_CH1_4 -771 AWG20 BU
-K42.32 / (63)
16 -571 AWG24 BU 1 IOGND -774 AWG20 BU
-K43.31 / (63)
11 -569 AWG24 BU 4 24V_INPUT_LO_CH2_4 -772 AWG20 BU
-K43.32 / (63)
2
-XS/XP39
10 -564 AWG24 BU ES1out_A -284 AWG20 BU
A21X1.1 / (26) A21X1:1 / (28.1)
5 -565 AWG24 BU 1 ES1out_B -285 AWG20 BU
A21X1.2 / (26) A21X1:2 / (28.1)
14 -566 AWG24 BU 2 ES2out_A -286 AWG20 BU
A21X2.1 / (26) A21X2:1 / (28.1)
9 -567 AWG24 BU 3 ES2out_B -287 AWG20 BU
A21X2.2 / (26) A21X2:2 / (28.1)
4
22 -560 AWG24 BU SS1- -291 AWG20 BU
A21X6.2 / (27) A21X6:2 / (28.1)
2 -561 AWG24 BU 5 SS2- -293 AWG20 BU
A21X6.3 / (27) A21X6:3 / (28.1)
24 -562 AWG24 BU 6 SS1+ -290 AWG20 BU
A21X6.4 / (27) A21X6:4 / (28.1)
1 -563 AWG24 BU 7 SS2+ -292 AWG20 BU
A21X6.5 / (27) A21X6:5 / (28.1)
8
Option: Internal Option: External

Safety connection Safety connection

SAFETY BOARD A31.4 DSQC1015 Sublocation:+
Hardware and Document no. Rev. Ind Page38.5
Software based Mode Switch 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
CAN_H WH 1) Termination resistor
-XS17.4 / (23)
when the optional
PCIe 4 4
V+ RD harness is not connected.
-XS17.2 / (23)
5 5
-V- / (40)
-CAN_L / (40)
-DRAIN / (40)
-CAN_H / (40)
-V+ / (40)

DEVICENET A31.2 m/s DSQC1006 Sublocation:+
Next 40
1 2 3 4 5 6 7 8
-I/O1-X5
(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
6 IF 1 or 2 I/O
7 BK -V-.2 / (49)
9 BU -CAN_L.2 / (49)
11 WH -CAN_H.2 / (49) Relay I/O unit
12 RD -V+.2 / (49)
SC -DRAIN.2 / (49)
-I/O2-X5
1 Not connected
2 if 3 or 4 I/O BK -V-.3 / (51)
4 BU -CAN_L.3 / (51)
5 WH -CAN_H.3 / (51) Analogue I/O unit
3 RD -V+.3 / (51)
6 SC -DRAIN.3 / (51)
9
11
-I/O2- 4 -I/O2-X5 12 BK -V-.4 / (52)

1 1 BU -CAN_L.4 / (52)
TO CUSTOMER I/O
OPTION: HARNESS
2 2 WH -CAN_H.4 / (52) Remote I/O unit
4 4 Connected only if 3 or 4 I/O RD -V+.4 / (52)
5 5 SC -DRAIN.4 / (52)
3 3
BK -V-.5 /
IF 3 or 4 I/O BU -CAN_L.5 /
WH -CAN_H.5 / Interbus slave
-I/O4-X5
RD -V+.5 /
1 SC -DRAIN.5 /
2
4
5 BK -V-.6 /
3 BU -CAN_L.6 /
WH -CAN_H.6 / Profibus DP slave
RD -V+.6 /
-I/O5-X5
SC -DRAIN.6 /
1
2
4 BK -V-.7 / (53)
5 BU -CAN_L.7 / (53)
3 WH -CAN_H.7 / (53) Encoder unit
RD -V+.7 / (53)
SC -DRAIN.7 / (53)
-I/O6-X5
1
2 BK -V-.8 /
4 BU -CAN_L.8 /
5 WH -CAN_H.8 / PLC. CPU -A63.1.XS1
3 PLC I/O1.X5--> RD -V+.8 /
connected SC -DRAIN.8 /
-A35-X2 only to
(24) / -0Vdevicenet.1 1
I/O1
2
-120 Ohm (91)
4
(111)
5 X1 X2
(24) / -+24Vdevicenet.1 / A35
(120)
3 (120.7)
(125)
(128.9)

DEVICENET ADAPTER Sublocation:+
Next 40.1
1 2 3 4 5 6 7 8
ETHERNET SWITCH
-A34 opt. MULTI MOVE 604-1/2
-A34.XP1
-X2
1 717 -X6 24V Pwr1+ 1

(60) / X49.1
2 718 0V Pwr1- 2 Drive module 2

(60) / X49.2
719 3
Pwr2+
Pwr2- -X3
1
2 Drive module 3
-X1
(66) / -9.TXRX+ 1 RX+ 3
(66) / -9.TXRX- 2 RX- 6

A42.X2 (66) / -9.RXTX+ 3 TX+
-X4
(66) / -9.RXTX- 6 TX- TX+ 1
TX- 2 Drive module 4

RX+ 3
RX- 6
-X5
TX+ 1 8.TXRX+ / (35)
TX- 8.TXRX- / (35)

2 A31.X9
RX+ 3 8.RXTX+ / (35)
RX- 6 8.RXTX- / (35)

ETHERNET SWITCH A34, option MULTI MOVE Sublocation:+
604-1/2 Document no. Rev. Ind Page40.1
Next 41
1 2 3 4 5 6 7 8
if opt. 901-1
1041 / (45)
1042 / (45)
-A62 ETHERNET SWITCH

-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)
Connected to Ethernet
-X1 service port X23.
(35) / -1.TXRX+ 1 RX+ 3 XP23.3 / (23)
(35) / -1.TXRX- 2 RX- 6 XP23.6 / (23)
A31.X2 (35) / -1.RXTX+ 3 TX+

-X4
(54)
(35) / -1.RXTX- 6 TX- TX+ 1 TXRX+.10 /
(54.1)
(54) Remote
TX- TXRX-.10 /
2 (54.1) service box A61
(54)
RX+ 3 RXTX+.10 /
(54.1)
(54)
RX- 6 RXTX-.10 /
(54.1)
-X5
TX+ 1 3.TXRX+ / (45)
TX- 3.TXRX- / (45)

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

ETHERNET SWITCH A62 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)
Yellow label
Ethernet Service 24V
X45.1 X45.2
Ethernet
Cam 1
24V and I/O External
I/O X45.3
Ethernet switch Ethernet Camera lighting
A64
Cam 2 X2 X1 X6
24V and I/O External
I/O Camera
Ethernet lighting
XT31
Cam 3
Ethernet External
I/O 24V and I/O Camera lighting X3 X5 X4

24V I/O
Power supply
Opt.1550-1
Robot controller with Conveyor Tracking.
Opt. INSIDE DOOR WITH CTM
Main computer Customer
power supply (96W)
Yellow label
Ethernet Service 24V Cam 1
24V and I/O
Ethernet Camera
Cam 2
24V and I/O
Camera
Cam ...
24V and I/O
Camera
XT31
A67 CTM
Cam 8
24V and I/O
Camera
Conveyor Tracking
Module (CTM)

VISION, INTEGRATED CAMERAS Sublocation:+
and CONVEYOR TRACKING Opt.1550-1 Document no. Rev. Ind Page42
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
7 7
-A64 ETHERNET SWITCH 8 8
9 9
-X2 Customer connection 10 10
1043 -X6 US 24V 1 11 11
(24) / XT31:1 12 12
1044 GND 0V 2 Camera 1
(24) / XT31:5
3
Camera 2
-XS45.2 -XP45.2
6 +24V 1 1
Power
0V 2 2
.+24V.REDwire /
.0V.GroundBLACKwire /
3 3
4 4
5 5
-X3 Customer connection 6 6
1 7 7
8 8
2 Camera 2 9 9
-X1 10 10
(35) / -1.TXRX+ RX+
1 3 11 11
RX- 12 12
A31.X2
(35) / -1.TXRX- 2 6
(35) / -1.RXTX+ TX+
Camera 3
3 -XS45.3 -XP45.3
-X4 Customer connection 768 +24V 1 1
TX-
Power
(35) / -1.RXTX- 6 1 769 0V 2 2
+24V.REDwire. /
3 3
0V.GroundBLACKwire. /
2 Camera 3 4 4
5 5
3 6 6
7 7
6 8 8
9 9
10 10
-X5 11 11
(54)
TX+ 1 TXRX+.4 /
(54.1) 12 12
(54)
TX- TXRX-.4 /
2 (54.1) A61.X10
(54) If option Remote service
RX+ 3 RXTX+.4 /
(54.1)
(54)
RX- 6 RXTX-.4 /
(54.1)
7.TXRX+ / (23)
7.TXRX- / (23) If not Remote service
7.RXTX+ / (23)
7.RXTX- / (23)

ETHERNET SWITCH A64/CAMERA Sublocation:+
Next 44
1 2 3 4 5 6 7 8
-A65 ETHERNET SWITCH
-X1
1
1043 -X6 US 24V RX+ -A65.X1.TX3+ / (53.5)
(24) / XT31:1 2
1044 GND 0V RX- -A65.X1.TX3- / (53.5)
IF OPTION 1550-1
(24) / XT31:5 3 CTM.X7
TX+ -A65.X1.RX3+ / (53.5)
6
TX- -A65.X1.RX3- / (53.5)
-X2
1
2
-X3
1
-X4
1
TX+
2
TX-
3
RX+
6
RX-
-X5
TX+/RX+ 1 1.MX1.RX+ / (36)
TX-/RX- 2 1.MX1.RX- / (36) IF OPTION 941-1

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

ETHERNET SWITCH A65 Sublocation:+
Next 45
1 2 3 4 5 6 7 8
Opt. 901-1
-A57 PROCESS INTERFACE BOARD (PIB) 902-1
-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

DISPENCE PAC SUPPORT A57 Sublocation:+
Next 46
1 2 3 4 5 6 7 8
3)
opt. 716/816
(24) / -+24Vdevicenet.2 opt. 717/817
-I/Ox DIG. PART OF COMBI I/O AND DIG. I/O UNIT DSQC 651& 652
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.

DIGITAL PART OF COMBI I/O AND Sublocation:+
DIGITAL I/O UNIT DSQC651&652 Document no. Rev. Ind Page46
Next 47
1 2 3 4 5 6 7 8
opt. 716/816
-I/O.X DIGITAL I/O UNIT DSQC 652
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

DIGITAL I/O UNIT DSQC652 Sublocation:+
Next 48
1 2 3 4 5 6 7 8
opt. 717/817
-I/O.X COMBI I/O UNIT DSQC 651
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

COMBI I/O UNIT DSQC651 Sublocation:+
Next 49
1 2 3 4 5 6 7 8
opt. 718/818
3) -I/O.X DIG. PART OF RELAY I/O UNIT DSQC 653
XTXX.X3
-X3
INPUT CH.1
1 2
2 3
-X5 3 4
-V-.2
(40) / 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.

RELAY I/O UNIT DSQC653 Sublocation:+
Next 50
1 2 3 4 5 6 7 8
opt. 718/818
-RELAY I/O DSQC 653
XTXX.X1
-X1
OUT CH.1A
1
OUT CH.1B
2
OUT CH.2A
3
OUT CH.2B
4
OUT CH.3A
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

RELAY I/O UNIT DSQC653 Sublocation:+
Next 51
1 2 3 4 5 6 7 8
opt. 719/819
-I/O.X ANALOGUE I/O UNIT DSQC 355B
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
-V-.3
(40) / 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.

ANALOGUE I/O UNIT DSQC355B Sublocation:+
Next 51.2
1 2 3 4 5 6 7 8
Wire 704 was exchanged to 776 in 18.2 Opt 1541-1

Wire 703 was exchanged to 775 in 18.2 opt 1541-2
-I/Ox DIGITAL I/O BASE MODULE DSQC1030
-X4
776 1 1 0V GND
(24) / XT31:5
775 2 2 +24V PWR
(24) / XT31:1
3
4 DC/DC XTXX.X1
-X1
ISO. test voltage 500VAC DO_8
+24V_INT1
1 7
0V_INT1
2 6
3 5
DO_ 1-16 4 4
5 3
6 2
<1 7 1 DO 0-24VDC
GND DO 8 GND DO 787
XT31:5 / (24)
PWR DO 9 PWR DO 785 Flow censor

-X3 10
XT31:1 / (24)
for IRB6790
DO_16
1 RX+ 11 15
12 14
2 RX- 13 13
14 12
3 TX+ 15 11
16 10
6 TX- 17 Flow censor
9
GND DO 18 GND DO 786 for IRB6790
PWR DO 19 PWR DO
20
-X5
(35) / 5.TXRX+ 1 RX+
XTXX.X2
0V_INT2 -X2
A31.X4 Main computer
(35) / 5.TXRX- 2 RX-
DC/DC DI_8 OUT1 / (23) Flow censor
+24V_INT2 1
(35) / 5.RXTX+ 7 OUT2 / (23) for IRB6790
3 TX+ 2
6
3
(35) / 5.RXTX- 5
6 TX- 4
4
5
3
6
2
7
DI_ 1-16 1 0-24VDC
8
GND DI GND DI
9 DI_16
10
15
11
14
12
13
Internal serial
13
12
14
11
15
10
16
bus
9
17
GND DI GND_DI 0V
18
Optical connection
/electrical insulated

Local I/O Digital Base 16in/16out Sublocation:+
Next 51.4
1 2 3 4 5 6 7 8
Opt 1542-1
Opt 1542-2
-I/Ox DIGITAL I/O ADD ON MODULE DSQC1031
DC/DC
XTXX.X1
-X1
DO_8
1 7
2 6
3 5
DO_ 1-16 4 4
5 3
6 2
<1 7 1 DO 0-24V
GND DO 8 GND DO
9
GND
PWR DO PWR DO PWR +24V
+24V_INT
10 DO_16
0V_INT
11 15
12 14
13 13
14 12
15 11
16 10
17 9
GND DO 18 GND DO
19
GND
PWR DO PWR DO PWR
20
ISO. test voltage 500VAC

XTXX.X2
-X2
DI_8
+24V_INT
1 7
0V_INT
2 6
3 5
4 4
5 3
DI_ 1-16 6 2
7 1 DI 0-24V
+24V_INT
GND DI 8 GND DI GND DI

0V_INT
9 DI_16
10 15
11 14
12 13
13 12
Internal serial
14 11
15 10
16 9
GND DI 17 GND_DI
bus
18
GND DI
Optical connection

Local I/O Digital add on 16in/16out Sublocation:+
Next 51.6
1 2 3 4 5 6 7 8
Opt 1543-1
Opt 1543-2
-I/Ox ANALOG I/O ADD ON MODULE DSQC1032
-X2
0V GND 1 GND
+24V PWR 2 PWR DC/DC +24V_INT
3 GND 0V_INT
4 PWR
+24V_INT
0V_INT
XTXX.X1
-X1
GND
1 AI_2
AI_1-4 2 GND
3
GND
AI_1 0-10V
4 GND
5 AI_4
10 GND
11 AI_3
12
+24V_INT
0V_INT
+24V_INT
0V_INT
AO_1-4 AO_2
6 GND
7
GND
AO_1 0-10V
8 GND
9 GND
Internal serial
13 AO_4
14 GND
15 AO_3
bus
16
Optical connection

Local I/O Analog add on 4in/4out Sublocation:+
Next 51.8
1 2 3 4 5 6 7 8
Opt 1544-1
Opt 1544-2
-I/Ox RELAY I/O ADD ON MODULE DSQC1033
-X3
0V GND 1 GND
DC/DC +24V_INT
+24V PWR 2 PWR 0V_INT
3 GND
4 PWR
XTXX.X1
+24V_INT
-X1
0V_INT
RLY_4
1 RLY_4
2 RLY_3
3 RLY_3
RLY_ 1-8 4 RLY_2
5 RLY_2
OUT CH.1A 6 RLY_1 RO
7 RLY_1
8
RO
RLY_8
OUT CH.1B 9 RLY_8

10 RLY_7
11 RLY_7
12 RLY_6
13 RLY_6
14 RLY_5
15 RLY_5
16
+24V_INT
+24V_INT
0V_INT
0V_INT
XTXX.X2
-X2
DI_4
1 3
Internal serial
DI_ 1-8 2 2
3 1 PWR DI 0-24V
4 GND_DI GND DI
bus
5 DI_8
6 7
7 6
8 5
Optical connection 9 GND_DI
/electrical insulated 10

Local I/O Relay add on 8RO/8DI Sublocation:+
Next 52
1 2 3 4 5 6 7 8
3)
(24) / -0Vdevicenet.5 REMOTE I/O UNIT opt. 721/821

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

(40) / -CAN_H.4 2 -X8
(40) / -V+.4 4 LINE 1 (BLUE)

REMOTE I/O IN
5
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)
9 REMOTE I/O OUT
NA3 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.

REMOTE I/O UNIT DSQC350A Sublocation:+
Next 53
1 2 3 4 5 6 7 8
opt. 726/826
-I/O.X ENCODER UNIT DSQC 377
3)
(24) / -+24Vdevicenet.8 Encoder

Connection
-X20
24 VDC
-X5 1
-V-.7
(40) / 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.

ENCODER UNIT DSQC377 Sublocation:+
Next 53.5
1 2 3 4 5 6 7 8
(24)
(24)
(24)
(24)
3.XT31:2
3.XT31:6
4.XT31:2
4.XT31:6
1) The PCB contact X1 and X20
(44) / -A65.X1.TX3+ have shifted pins compared
(44) / -A65.X1.TX3- to the harness contact.
777
778
779
780
(44) / -A65.X1.RX3+
CONSOLE PORT
(44) / -A65.X1.RX3- ENCODER 4 ENCODER 3 ENCODER 2 ENCODER 1 FOR DEBUGGING 1 2
-X1
-A67-CTM DSQC2000 CONVEYOR TRACKING
6 5 4 3 2 1 6 5 4 3 2 1 6 5 4 3 2 1 6 5 4 3 2 1 9 8 7 6 5 4 3 2 1 2 1
(36) / -A31.X5.TX3+
AWG26 WH/OG
TX3+ -X14 -X13 -X12 -X11 -X3 -X1
OG 1
(36) / -A35.X5.TX3- TX3-
WH/GN 2
(36) / -A35.X5.RX3+ RX3+
Enc4_Pwr
Enc3_Pwr
Enc2_Pwr
Enc1_Pwr
Not connected
Not connected
Not connected
Not connected
Not connected
Not connected
24V_INP
Enc4_B+
Enc4_A+
Enc3_B+
Enc3_A+
Enc2_B+
Enc2_A+
Enc1_B+
Enc1_A+
3
Enc4_B-
Enc4_A-
Enc3_B-
Enc3_A-
Enc2_B-
Enc2_A-
Enc1_B-
Enc1_A-
4 CTM-X7
GND
WAN
GND
GND
GND
GND
GN 5
RX3-
SCI_RX
-A35.X5.RX3-
SCI_TX
(36) /
6
GND
7
8
SH
TX2+
1
TX2-
2
RX2+
3
4 CTM-X6
LAN
5 PORT 2
RX2-
6
7
8
+24V DC
0V DC
TX1+
1
TX1-
2
RX1+
3
CAM_GND1
CAM_GND2
CAM_GND3
CAM_GND4
CAM_GND5
CAM_GND6
CAM_GND7
CAM_GND8
CAM_PWR
Sync_Pwr1
Sync_Pwr2
Sync_Pwr3
Sync_Pwr4
Sync_Pwr5
Sync_Pwr6
Sync_Pwr7
Sync_Pwr8
CAM_Pwr1
CAM_Pwr2
CAM_Pwr3
CAM_Pwr4
CAM_Pwr5
CAM_Pwr6
CAM_Pwr7
CAM_Pwr8
CAM_GND
4 CTM-X5
LAN
5 PORT 1
RX1-
Sync1
Sync2
Sync3
Sync4
Sync5
Sync6
Sync7
Sync8
6
Trig1
Trig2
Trig3
Trig4
Trig5
Trig6
Trig7
Trig8
GND
GND
GND
GND
GND
GND
GND
GND
7
8
-X21 -X22 -X23 -X24 -X25 -X26 -X27 -X28 -X20

1 2 3 4 5 6 1 2 3 4 5 6 1 2 3 4 5 6 1 2 3 4 5 6 1 2 3 4 5 6 1 2 3 4 5 6 1 2 3 4 5 6 1 2 3 4 5 6 1 2
2
1
1)
CAMERA 1 CAMERA 2 CAMERA 3 CAMERA 4 CAMERA 5 CAMERA 6 CAMERA 7 CAMERA 8 -X1
OPTION 1550-1
CONVEYOR TRACKING MODULE, DSQC 2000 Sublocation:+
Next 54
1 2 3 4 5 6 7 8
1) Only connected if Opt. REMOTE SERVICE BOX

PAST DESIGN
REMOTE SERVICE BOX DSQC680

-A61 opt. 890-1 / 890-2
opt.( 890-1, 890-3) only
-X2 -A61-X2
-A61-X1 -X1 1) 1
1 1) 1 -XS18 / (23)
(24) / -0V ReS 746
(24) / +24V Res 745 2 1) 2
AWG24 -A61-X10 -X10

1 1) 1
WHOG
(35) / -1.TXRX+ RX+ -X11 -A61-X11 AWG24
2 1) 2 1 1) 1
OG WHOG
(35) / -1.TXRX- RX- XP23.1 / (23)
WHGN
3 1) 3 2 1) 2 OG
(35) / -1.RXTX+ TX+ XP23.2 / (23)
3 1) 3 WHGN
6 1) 6
XP23.3 / (23)
GN
(35) / -1.RXTX- TX- 6 1) 6 GN
7
XP23.6 / (23)
A31.X2 8
or (43) / TXRX+.4
A62.X4 (43) / TXRX-.4

or
(43) / RXTX+.4
A64.X5
if opt. 1341-1
(43) / RXTX-.4
(41) / TXRX+.10 -X15

1
(41) / TXRX-.10 LAN3 only for -X12
2
diagnostic 8/
3
(41) / RXTX+.10 4 Console LAN4 only for -X13
5
(41) / RXTX-.10 unit diagnostic 8/
6
7
-X14
8 WAN Internet 8/
9
Coupler connection if Opt.890-3

-X12.1 -X12.2
1 1
2 2
3 3
6 6

REMOTE SERVICE BOX DSQC680 to Rel. 16.1 Sublocation:+
Next 54.1
1 2 3 4 5 6 7 8
1) Only connected if Opt. REMOTE SERVICE BOX

REMOTE SERVICE BOX
DSQC1016/DSQC1023 opt. 890-4
-A61 opt. 890-5
-X2 -A61-X2
-A61-X1 -X1 1) 1
7 1) 7 -XS18 / (23)
(24) / +24V Res 745
(24) / -0V ReS 746 8 1) 8
9 1) 9
-P2 -A61-P2 AWG24

1 1) 1 WHOG
XP23.1 / (23)
2 1) 2 OG
XP23.2 / (23)
-A61-P1
AWG24 -P1 3 1) 3 WHGN

1 1) 1 XP23.3 / (23)
WHOG
(35) / -1.TXRX+ RX+ 6 1) 6 GN
2 1) 2
XP23.6 / (23)
OG
(35) / -1.TXRX- RX-
WHGN
3 1) 3
(35) / -1.RXTX+ TX+
A31.X2
or 6 1) 6
GN
(35) / -1.RXTX- TX-
A64.X5 -A61.1 4G GATEWAY DSQC1093
if opt. 1341-1 -V
+ +
or
(43) / TXRX+.4
A62.X4 - -
if opt.901-1 TXRX-.4
(43) /
-P3 -ANT
LAN3 8/ -ETH1
(43) / RXTX+.4
-P4
(43) / RXTX-.4 LAN4/WAN 8/ -ETH2
(41) / TXRX+.10
(41) / TXRX-.10
(41) / RXTX+.10
(41) / RXTX-.10

REMOTE SERVICE BOX DSQC1016/DSQC1023 Sublocation:+
from Rel. 16.2 Document no. Rev. Ind Page54.1
Next 55
1 2 3 4 5 6 7 8
XS0 L1
XS0 L2
XS0 L3
(23)
(23)
(23)
-XP0 1
2 3
BK
BK
BK
xAWG10 GNYE
-101 AWG10
-102 AWG10
-103 AWG10
-Q1 1 3 5
2 4 6
-109 AWG10
-108 AWG10 BK
-107 AWG10 BK
-F6
Option: 1 3 5
Option: Not for
101
102
103
CIRCUIT BRAKER 1 phase connection
1 3 5
2 4 6 -Q1
I> I> I>
Main switch circuit breaker T1 T2 T3
-106 AWG10 BK
-105 AWG10 BK
-104 AWG10 BK
110
111
112
1 3 5
-Z1
OPTION: 3
MAINS LINE FILTER 2 4 6
BK
BK
BK
-110 AWG10
-111 AWG10
-X10 1 2 -112 AWG10 3

-113 AWG10 BK
-114 AWG10 BK
-115 AWG10 BK 1 3 5
X1 X1 X1
-Z3
OPTION: 3
MAINS LINE FILTER IRB8700 2 4 6
AWG10 BK
AWG10 BK
AWG10 BK
-
-
(56)/-L1
(56)/-L2
(56)/-L3
If Option: 3 Phase
TRANSFORMER UNIT
MAINS CONNECTION XP0, Q1, F6, Z1, Z3 Sublocation:+
Next 55.5
1 2 3 4 5 6 7 8
1,2/2,5kVA 4,2/6kVA 13kVA

Transformer Transformer Transformer
T1.3 T1.2 T1.1

Z2 Z2

Transformer and Reactor location Sublocation:+
Rear side of the Enclosure Document no. Rev. Ind Page55.5
Next 56
1 2 3 4 5 6 7 8
MAINS CONNECTION
Transformer
/ (55)
/ (55)
/ (55)
T1.3 USED FOR DIRECT POWER SUPPLY:
IRB460, 660, 760, 4600, 66x0, 6700 .400-480V
-L1
-L2
-L3
IRB7600, 8700 ...................................480V
3HAC 037015-001 1,2 kVA
113 AWG 10 BN
114 AWG 10 BN
115 AWG 10 BN
Transformer
Option T1.2 L1-L2-L3
262V AC if IRB140-2600
113
114
115
AWG10 BK
Transformer AWG10 BK
L1.1
L2.1
L3.1
T1.1 3HAC 024138-001 (13kVA) 150
IRB460, 660, 760, 4600, 66x0, 6700, 7600, 8700 151
(57)
(57)
(57)
-T1.3 TRANSFORMER UNIT -Z2
-T1.1 TRANSFORMER UNIT
REAKTOR UNIT
-X1
L1IN L2IN L3IN
-X1 -X1
IN
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
1 2 3 L1UT L2UT L3UT
480VAC
480VAC
480VAC
230VAC
115VAC
230V
230V
OUT
GNYE
GNYE
-X2
N
230VAC
230VAC
230VAC
115VAC
-X2
AWG10
N
AWG10
-Z2 116 117 118

REAKTOR UNIT
INL1 INL2 INL3

-X1
F1 F3 F5
1 2
119
120
121
1 2 -L1
-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 230VAC SERVICE CONTACTOR

POWER SUPPLY CONTACTOR SERVICE POWER SUPPLY POWER SUPPLY OUTLET UNITS
UNITS OUTLET DRIVE MODULE SINGLE DRIVE
MODULE

TRANSFORMER UNIT 480V T1.1, T1.3, Z2, X10 Sublocation:+
Next 57
1 2 3 4 5 6 7 8
Option: Transformer T1.2 L1-L2-L3 = 262V

MAINS CONNECTION
if IRB120 - 360, 1200, 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
-T1.2 TRANSFORMER UNIT 7) 600V
-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)

TRANSFORMER UNIT 262V T1.2, X10 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 BK
-F5 1
CIRCUIT BRAKER
US = 4A
EU = 2A
2
BU
AWG16BK
-183
-F4 1 3
EARTH FAULT
BREAKER
2 4
AWG18 GNYE
AWG16 BK 185
AWG16 BU 187
-XP22.1 1 2
-XS22.1 1 2
AWG18 BK
-X22 AWG18 WH AWG16 GNYE
GND 1 2

OPTION : SERVICE OUTLET F4, F5, X22 Sublocation:+
Next 59
1 2 3 4 5 6 7 8
230VAC
1) Option Power supply
/
for three external axes in Drive Module
-230V AC1.DC
-230V AC2.DC
(56) (57)
(56) (57)
AWG16
-F2 1 3
AUTOMATIC FUSE
A21.X7 PANEL BOARD

2 4 -K41.X1
RELAY UNIT
-156
-K41 AWG20 BU -AC_ON.1 / (27)
BK
1
11 A1
BK
AWG16
A2
14 24 AWG20 BU
-0V.1 / (27)
BK
2
POWER SUPPLY
-153
-152
AWG16 GNYE
Note 1) 158 157
-G1 POWER SUPPLY -G9
-X1 3 1 5
-X1 N L
AC
-X2 -XS3 -XS4 DC
1 4 2 5 3 6
1 2 3 5 6 7 4 8 1 2 3 4 -X2 + -
BU BU BU BU BU BU
AWG16 AWG16 AWG16 AWG16 AWG24 AWG24
-463 AWG16 BU
-464 AWG16 BU
BU BU BU BU
AWG16
-510 AWG20
-511 AWG20
-513 AWG20
AWG16
-512 AWG20
AWG16 AWG16 AWG16
514
515
AWG16
BU
516
517
518
519
BU
-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) /
(61.1) /
(62) /
(62) /
AXIS COMP. MAIN SERVO CONTACTOR CONTACTOR MAIN FAN AXIS COMP. EXTERNAL
UNIT DRIVE UNIT UNIT UNIT UNIT UNIT AXES

POWER SUPPLY DSQC 626 AND 627 Sublocation:+
FOR DRIVE MODULE F2, G1, G9, K41.X1 Document no. Rev. Ind Page59
Next 60
Harness:
-A34.XS1
(40.1) X49.1 302
1
1
Latest revision:
(40.1) X49.2 304
A34.X6
2
AXC SWITCH

3HAC047294-001 (xs49)
-Y1
(66) -+24V DRIVE 516 AWG16 BU
-Y2
(66) -0V DRIVE 517 AWG16 BU
4
(66) / +24V Drive sys 518 AWG16 BU
2
-X3
(66) / -0V Drive sys 519 AWG16 BU
5
2
AXIS / DRIVE /
(62) -+24V DRIVE.1 -463 AWG16 BU
CONTACTOR BOARD
(62) -0V DRIVE.1 -464 AWG16 BU
-G2 POWER DISTRIBUTION BOARD DSQC662

-X1
-X2
AWG12 BU
(24) / +24V I/O.1 -247 AWG16 BU
1
+24V
1
2
+24V
-X4
I/O
2
BU
2
(24) / -0V I/O.1 -248 AWG16
2023-10-31
0V
CUSTOMER
3
3
3
4
-X1
0V
-G1 POWER SUPPLY DSQC661
4
4
(62) / -+24V BRAKE.1 -466 AWG16 BU AWG16 GNYE
1
3
(62) / -+24V BRAKE.2 -465 AWG16 BU

AC
2
1
(62) / -+24V COOL.1 -469 AWG16 BU

DC
3
5
-X3
4
AWG20 BU
-X2
-X5
BOARD
ACOK_N
(62) / -0V BRAKE.1 -467 AWG16 BU
5
3
3
CONTACTOR
TEMP OK_N
BU
4
(62) / -0V BRAKE.2 -468 AWG16

6
4
4
(62) / -0V COOL.1 -470 AWG16 BU

7
-153 AWG16
-152 AWG16
BK
BK
(28.2) / +24VSYS -250 AWG16 BU

1
RA/RDP
Lab/Office:
(28.2) / +24VCOOL8 -252 AWG16 BU
2
-XT16
3
5
4
L2
(35) / +24V PC.1 -301 AWG16 BU

5
L2
-X6
-309 BK -230V AC2.11 (24)

6
AWG16
L2
PC
(28.2) / -0VSYS -251 AWG16 BU -158 BK -230V AC2.12 (24)
G1, G2, G3, F2, XT16

7
AWG16
L2
JUMPER

(62) (63)/ 0VCOOL8 -253 AWG16 BU -_158 BK -230V AC2.13 (24)
PANEL BOARD,
8
(62) (28.2) AWG16

L2
(62)
(63)
9
L2
(63)
6
L1
10
POWER SUPPLY DSQC 661 AND 662
(35) / -0V PC.1 -303 AWG16 BU

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

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

AWG16
L1
JUMPER
-G3
-X1
-_157 BK -230V AC1.13 (24)

1
1
AWG16
L1
2
2
3
3
L1
4
4
Status:
5
5
-X7
7
6
6
7
7
Document no.
ENERGY BANK
8
8
APPROVED
9
9
10
10
-F2
2/RD
3HAC024480-011
(36) / -USB2 +5V

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
AUTOMATIC FUSE 1/BK
(56) (56) (57)

8
-230VAC2 SC.1 /
230VAC
connection
BK
4
AWG20
2/BK
(63) / +24V COOL.3

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

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

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

AWG16
17 Total 164
MAIN FAN
1 2 3 4 5 6 7 8
(61.1) (59)
(60) (60)
-0V COOL.2 -+24V COOL.2
(28.2)
(28.2)
(61.1)+24VCOOL8.1
(28.2)
(28.2)
(61.1)
(61.1) (59) POWER SUPPLY
FAN1ret.4
FAN2ret.5
(60) (63) PANEL BOARD X18
0VCOOL8.1
(62)
(62)
(62)
(62)
-0V COOL.3 +24VCOOL.3.1
AWG24 OG BN BK BU (28) (28) (28)
+24VCOOL.4
+24VCOOL.5
0VCOOL.4
0VCOOL.5
24VCOOL
TACHO
FAN0V
(62)
(62)
This configuration is part of release 22A
252
253
Option 1170-1:
386 AWG20 BU
387 AWG20 BU
-E1 Thermistor R1 at E41, E42, E43, E44.
FAN UNIT
-XS1 4 2 1 3 if HV if LV
AWG24 BU
AWG24 BU
AWG24 BU
AWG24 BU
+A43-XS11 1 2 3
-E41 FAN UNIT

-W751
-W753
-W754
-X1 -X1 1 1
- +
M
AWG24
AWG24
AWG24
BU
BU
BU
3 1
-X2 -X2
1 -R1 2
W750
W752
1 2
(61.1.2)
AWG24
BU
AWG24
BU
-E42 FAN UNIT
2 3
+A43-XP11.1 1 14
SWITCH
-X1 -S1
- + -X1 13
3
M 1
=IRC5-W756
-363 AWG20 BU
-364 AWG20 BU
-X2 -X2
360 AWG20 BU
362 AWG20 BU
361 AWG20 BU
1 -R1 2
1 2
(61.1.2)
BU
AWG24
-E43 FAN UNIT
-X1 -X1 -A21

- +
3
M 1 -X18
380 AWG20 BU
381 AWG20 BU
382 AWG20 BU
384 AWG20 BU
383 AWG20 BU
385 AWG20 BU
-X2 -X2 1 3 2
1 -R1 2
1 2
(61.1.2)
BK BN RD
-E44 FAN UNIT
-FAN 1 ret.4
-X1
-+24V COOL.4 (61.1)
-+24V COOL.5(61.1)
- + -X1 -E2 -E3
-0V COOL.4 (61.1)
-0V COOL.5 (61.1)

-E5
-FAN 2 ret.5
M
MDU FAN
opt.708-2
EXT. COMPUTER FAN
INTERNAL FAN
3 1 -X1 3 2 1
-XS1 1 2
-X2 -X2 3 1
1 -R1 2
1 2
1 2
(61.1)
- + M M
M
(61.1)
(61.1.2)
(61.1.5)

FAN UNIT E1, E2, E3, E5, A21, A43 Sublocation:+
Next 61.1
1 2 3 4 5 6 7 8
(61)
-0V COOL.2 -+24V COOL.3.1
(61)
(61)
FAN1ret.4
FAN2ret.5
(61) (59) POWER SUPPLY
+24VCOOL8.1
0VCOOL8.1
(62)
(62)
(62)
(62)
-0V COOL.3 -+24V COOL.2 PANEL BOARD X18
AWG24 OG BN BK RD
+24VCOOL.4
+24VCOOL.5
0VCOOL.4
0VCOOL.5
24VCOOL
TACHO
FAN0V
(62)
(62)
This configuration is part of release 21A-C.
252
253
Option 1170-1:
386 AWG20 BU
387 AWG20 BU
-E1 Thermistor R1 at E41, E42, E43, E44.
FAN UNIT
-XS1 4 2 1 3
if HV if LV
AWG24 BU
AWG24 BU
AWG24 BU
AWG24 BU
+A43-XS11 1 2 3
-E41 FAN UNIT

-W751
-W753
-W754
-X1 -X1 1 1
- +
M
AWG24
AWG24
AWG24
BU
BU
BU
3 1
-X2 -X2
1 -R1 2
1 2
W750
W752
(61.2)
AWG24
BU
AWG24
-E42
BU
FAN UNIT 2 3
+A43-XP11.1 1
14
SWITCH
-X1 -X1 -S1
- + 13
3
M 1
-363 AWG20 BU
-364 AWG20 BU
=IRC5-W756
-X2 -X2
360 AWG20 BU
362 AWG20 BU
361 AWG20 BU
1 -R1 2
1 2
(61.2)
BU
AWG24
-E43 FAN UNIT
-X1 -X1 -A21

- +
3
M 1
-X18
380 AWG20 BU
381 AWG20 BU
382 AWG20 BU
384 AWG20 BU
383 AWG20 BU
385 AWG20 BU
-X2 -X2 1 3 2
1 -R1 2
1 2
(61.2)
BK BN RD
-E44 FAN UNIT
-FAN 1 ret.4
-X1
-+24V COOL.4(61)
-+24V COOL.5(61)
- + -X1 -E2 -E3 -E5
-0V COOL.4
-0V COOL.5
-FAN 2 ret.5
M
INTERNAL FAN
opt.708-2
EXT. COMPUTER FAN
MDU FAN
3 1 -X1 3 2 1
-XS1 1 2
-X2 -X2 3 1
1 -R1 2
1 2
1 2
(61)
- + M M
M
(61)
(61)
(61)
(61.2)
(61.5)

FAN UNIT E1, E2, E3, E5, A21, A43 Release 21A-C Sublocation:+
Next 62
1 2 3 4 5 6 7 8
PAST DESIGN If external axes - Connection if Rel.13.2 and earlier.

-A43 CONTACTOR BOARD A43X5:1.3 / (65) / -A43X5:1.4
A43X5:2.3 / (65) / -A43X5:2.4
A43X5:3.3 / (65) / -A43X5:3.4
A43X5:4.3 / (65) / -A43X5:4.4
(59) (60) -0V DRIVE.1 -XS6 -X5 If external axes - Connection from Rel.14.1
DRIVE POWER 1 1 A43X5:1.1 / (75.1) / -A43X5:1.2
SUPPLY (59) (60) -+24V DRIVE.1 2 A43X5:2.1 / (75.1) / -A43X5:2.2
24VDrive A43X5:3.1 / (75.1) / -A43X5:3.2
2 3
1 2
4 A43X5:4.1 / (75.1) / -A43X5:4.2
24V
-X1 If no external axes
(27) / -RUN_CH1
CONTROL 1 /
(27) / -RUN_CH1Ret
MODULE (27) / -RUN_CH2 2 /
A21.X7 (27) / -RUN_CH2Ret 3 /
4 /
LIM2 ch1 -X22 -X10
-0V BRAKE3
-0V BRAKE4
(61)
24VDrive FAN1ret.4 /
(61.1)
LIM2 ch2 1
-PTC 1 ret
LIMIT RunCh2 3
SWITCH 2 3
-PTC1
EXTERNAL LIM2 ch2 ret 2
AXIS LIM2 ch1 ret 4

2
24VDrive 1
/
/
/
/ (80) (86) (89) (93.6) (98) (104) (113) (120.2) (122)
+24VCOOL.4 (61)
-X23
0VCOOL.4
4
(83) (87.5) (93) (95) (101) (107) (116) (120.5)

1
LIMIT 3
OVERRIDE
24V COOL
BRAKE CTRL
4
2
(61.1)
(61.1)
1) Jumpers if not used
(61)
/ -A43-X21.1 LIM1 ch1 -X21
LIMIT LIM1 ch2 1
(70) (83) (98) / -A43-X21.3 -X11
SWITCH 1 (101) (104) (113) 3 (61)
1) RunCh1 FAN2ret.5 /
CONTROL / -A43-X21.4 LIM1 ch2 ret LIM2 (61.1)
3
0V COOL
CABLE / -A43-X21.2 LIM1 ch1 ret 4 LIM1
2
2
-X1
(27) / -ENABLE2.1 1
CONTROL (27) / -ENABLE2_1Ret 5
MODULE 6 INTERLOCKING
0VCOOL8
-BRAKE
(27) / -SPEED.1
+24VCOOL.5
4
A21.X7
0VCOOL.5
(27) / -0V 7
AXC
8
-X4
PAN_CH1
24V COOL
(66) / -RS485+
0V COOL
BU
AXIS
(63) /
(66) / -RS485- WHBU 4 K2
(60) /
COMPUTER (66) / -0V ENABLE2 OG 5 K1
RunCh1
A42.X6 (66) / -ENABLE2 7
(61.1)
(61.1)
WHOG
(61)
(61)
8
PAN_CH2
RunCh2
24V COOL
-XS7
(59) (60) / -+24V BRAKE.2
-X12 -491 AWG20 BU +24V
1
-LOCK1A
-LOCK2B
0VCOOL8
-RCH1
-0V COOL.1
0VCOOL8
(59) (60) / 1
-SELF1
-SELF2
2 -492 AWG20 BU 0V
(59) (60) / -+24V COOL.1 2
(63) /
3 OPTION :DUTY
(59) (60) / -+24V BRAKE.1 TIME COUNTER
(63)
(63)
(63)
(63)
(60) /
-RCH2
-P1
(60) /
4
(59) (60) / -0V BRAKE.1
5
-
(63) /
(59) (60) / -0V BRAKE.2 +

6 -
h +
CONTINUATION NEXT PAGE
CONTACTOR BOARD A43 Sublocation:+
Next 63
CONTACTOR UNIT K42,K43,K44

1
Latest revision:
-X8
-K42
-471 AWG20 BU 0VCOOL8 / (60)

2
-472 AWG20 BU -RCH1 / (62)
A2
A1
1
-K44
-473 AWG20 BU 0VCOOL8 / (60)
6
-A43 CONTACTOR BOARD
-474 AWG20 BU -BRAKE / (62)
A2
A1
5
2
-K43
-475 AWG20 BU 0VCOOL8 / (60)
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
2023-10-31
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

(62)
STATUS DIOD
-SELF2
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
EXTCONT
&
-X24
(38.5) / -K42.31 773 AWG20 BU

3
(38.5) / -K42.32 771 AWG20 BU 0V

AWG20 BU
4
774
32X
31X
(38.5) / -K43.31
RA/RDP
Lab/Office:
772 AWG20 BU
5
internal safety
Mode Selector
(38.5) / -K43.32
Software based
32X
31X
24V
(61) / +24VCOOL.3.1
PTC2
5
(60) / -+24V COOL.3

54
53
PTC2 0V
2
EXT MON 1A
EXT MON 1B
34
33
EXT MON 2A

CUSTOMER
EXT MON 2B
CONNECTION
34
33
W761
(64) 761 760 759 758
34
33
54
53
54
53
6
W758
(59)
CONTACTOR UNIT A43, K42, K43, K44
W762
(64)
-X9
BRAKEREL1 -447 AWG16 -490 BU -489 BU -487 AWG16 BU 24V BRAKE

(64) / -XP40.2
4
3
14
13
13
14
1
(CONTROL CABLE AND OPTION: EXTERNAL AXIS)
BRAKEREL2 -448 AWG16 BU -477 AWG16 BU

(64) / -XP40.3
2
Status:
7
EXT.LAMP -445 AWG16 BU

(64) / -XP40. 1
Document no.
142
APPROVED
EXTBRAKEREL -449 AWG16 BU

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

(64) / -XP40.4
22
21
3HAC024480-011
3
Plant:
EXTBRAKEPB -450 AWG16 BU

(64) / -XP40.6
-F1
Sublocation:+
Location: +
=
-XP43
-XS43
-128 AWG10 BK 142 BK -122 AWG10 BK -119 AWG10 BK

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

(72) (73) /
I>
-L22
4
3
4
3
4
3
2
2
-T1_L2 / (56) (56) (57)

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

17 Total 164
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 XS40.1) (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)
(86) (86) (86) (86)
(87.5) (87.5) (87.5) (87.5)
(89) (89) (89) (89)
(93) (93) (93) (93)
(93.6) (93.6) (93.6) (93.6)
(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)
(120.2) (120.2) (120.2) (120.2)
(120.5) (120.5) (120.5) (120.5)
(122) (122) (122) (122)
(128.7) (128.7) (128.7) (128.7)
CONTROL CABLE
CONTACTOR UNIT XS40, XP40 Sublocation:+
Only for release 13.2 and earlier Document no. Rev. Ind Page64
Next 65
1 2 3 4 5 6 7 8
PAST DESIGN CONNECTED IN STANDARD AND IF THREE EXTERNAL AXES

-XP5/XS5
A43X5:1.3 / (62) A43X5:1.4 / (62)
1
A43X5:2.3 / (62) A43X5:2.4 / (62)
2
A43X5:3.3 / (62) A43X5:3.4 / (62)

3
A43X5:4.3 / (62) A43X5:4.4 / (62)

4
OPTION: IF THREE EXTERNAL AXES OPTION: IF ONE OR TWO EXTERNAL AXES
-XP5.2 -XS5.1 -XP5.1

4018
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)
Block diagram for:

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

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

Option if three external axes and Contactor unit -A43.X5
Drive module with 2600-87xx -XS5
Connected
Power supply -G9 -XP5.2 -XS5.1 -XP5.1

Not connected
Connected

CONTACTOR BOARD A43.X5, XS5, XP5 Sublocation:+
Connection for release 13.2 and earlier Document no. Rev. Ind Page65
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
-A42 AXIS COMPUTER BOARD -A41.1 MAIN SERVO DRIVE UNIT
EPS/SAFE MOVE
-(A42-X)1
A44-X1
1
2
-XS1
(59) (60) -+24V DRIVE
DRIVE
1
POWER (59) (60) -0V DRIVE
SUPPLY 2
(59) ACOK AWG26 4x2 SFTP
-XP11 -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
1) -XP2
OGWH
(35) / -2.TXRX+ AWG24 6

RX+ 6
1
A31.X9 (35) / -2.TXRX-

RX-
MAIN 2
COMPUTER (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-
(40.1) / -9.TXRX+
OPTION : (40.1) / -9.TXRX-
AXC SWITCH (40.1) / -9.RXTX+
A34 (40.1) / -9.RXTX-
-XP6
(62) / -RS485+
4
CONTACTOR (62) / -RS485-
BOARD 5 -XS6
-0V ENABLE2 -0V Drive sys 519 AWG16 BU
A43.X4 (62) / (59) (60) /
7 1
(62) / -ENABLE2
8 (59) (60) / +24V 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

AXIS COMPUTER UNIT A42, A41.1 Sublocation:+
Next 67
1 2 3 4 5 6 7 8
-A44 EPS
(.3) Option: EPS

(69.4) connect to
(70.3) A44-X5
(71.3)
3.See pages / (69)
-A44 SAFE MOVE

-A42 AXIS COMPUTER BOARD Option: Safe Move connect
to A44-x5 and x7
(70)
4.See pages / (70)
-XP4
MRCO1 -MRCO1 /
1
MRCO1_N -MRCO 1_N /

2
MRCI1 -MRCI1 /
4
(77) (80) (83) (86) (87.5) (89)
MRCI1_N -MRCI 1_N /

(93) (93.6) (95) (98) (101) (104)
(107) (113) (116) (120.2) (120.5) (122)
5 (128.7) CONTROL
SIGNAL XS2
0V -MRC_0V1 /
6
24V_SMB1 +24V_SMB1 /
7
0V -MRC_0V2 /
3
0V -MRC_0V3 /
9
-XP5
MRCO2 -MRCO2 / (23)
1
MRCO2_N -MRCO2_N / (23)
2
MRCI2 -MRCI2 / (23)
4
MRCI2_N -MRCI2_N / (23)
5 EXT. AXIS
0V -MRC_0V4 / (23) SIGNAL XS41
6
24V_SMB2 -24V_SMB2 / (23)
7
0V -MRC_0V5 / (23)
3
0V -MRC_0V6 / (23)
9

AXIS COMPUTER UNIT A42, A44 Sublocation:+
Next 68
1 2 3 4 5 6 7 8
-EXT-FMB Option: 738-1
12 x AWG24 BU UL1569
SDI_AXC -X1 1005

SDI_AXC_N A 1006
SDO_AXC B 1007 DSQC686 VOLTAGE MEASURE BOARD
(23) / XS41 SMB SDO_AXC_N 19 x 0,14mm^2 BU
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
11 9 9 AIN5_N Customer connection
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

FORCE MEASUREMENT BOX Sublocation:+
Next 69
1 2 3 4 5 6 7 8
Option: EPS
-A44 DSQC 646 Option: 810-1
-X4 AWG24
BU
TX+ 6.TXRX+ / (66)
-X1 1
(66) / 0V DRIVE;2 WHBU
6.TXRX- / (66) AXIS
DRIVE POWER TX-
1 2 COMPUTER
SUPPLY (66) / -+24V DRIVE;2 OG
BOARD
RX+ 6.RXTX+ / (66)
2 3 A42-X2
WHOG
RX- 6.RXTX- / (66)
6
-X6
MRCO1
AWG24 -X3 1
(35) / -2.TXRX+ WHOG RX+ MRCO1-N
1 2
(35) / -2.TXRX- OG RX- MRCI1
A31.X9
2 4
MAIN WHGN TX+ MRCI1-N CONTROL
COMPUTER (35) / -2.RXTX+
3 5 SIGNAL
(35) / -2.RXTX- GN TX- 0V XS2

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
MRCI1-N OUT1B
to AXIS COMPUTER
5 4
BOARD A42-X4 0V OUT2A
6 5
3.See pages / (67) 24V-SMB1 OUT2B
7 6
0V OUT3A
3 7
0V OUT3B PROCESS I/O
9 8
OUT4A
9
OUT4B
10
OUT5A
11
OUT5B
12
CSC INA
13
CSC INB
14

EPS A44, DSQC646 Sublocation:+
Next 70
1 2 3 4 5 6 7 8
Option: SAFE MOVE

-A44 DSQC 647 Option: 810-2
-X13
-XS1 Relay output RelOut 1A -A43-X21.1 / (62)
(66) / -0V DRIVE;2 pair 1 1
DRIVE POWER 1 RelOut 1B -A43-X21.2 / (62)
SUPPLY (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
-X3 -X4 AWG24

(35) / -2.TXRX+ AWG24 WHOG TX+ WHOG -6.TXRX+ / (66)
RX+
(35) / -2.TXRX- OG
1 1 OG -6.TXRX- / (66) AXIS
2 RX- TX- 2
MAIN (35) / -2.RXTX+ WHGN WHGN
-6.RXTX+ / (66) COMPUTER
3 TX+ RX+ 3
COMPUTER BOARD
4 4
A31.X9 A42.X2
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
MRCI1 MRCI1
Connect to 4 4
AXIS COMPUTER MRCI1-N MRCI1-N CONTROL
BOARD 5 5 SIGNAL
A42-X4 0V 0V XS2
4.See pages / (67) 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)
2 2
MRCI2 MRCI2 -MRCI2 / (23)
Connect to 4 4
AXIS COMPUTER MRCI2-N MRCI2-N -MRCI2_N / (23) EXT. AXIS
BOARD 5 5
0V 0V SIGNAL
A42-X5 -MRC_0V4 / (23)
XS41
6 6
4.See pages / (67) 24V-SMB2 24V-SMB2 -24V_SMB2 / (23)
7 7
0V 0V -MRC_0V5 / (23)
3 3
0V 0V -MRC_0V6 / (23)
9 9

SAFE MOVE A44, DSQC647 Sublocation:+
Next 71
1 2 3 4 5 6 7 8
-A44 DSQC647 Option: SAFE MOVE
-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

SAFE MOVE A44, DSQC647 Sublocation:+
Next 72
1 2 3 4 5 6 7 8
ADDITIONAL AXIS 1, DRIVE UNIT NO 7

MAIN DRIVE UNIT LV UNIT ADDITIONAL RECTIFIER UNIT
-A41.1 -A41.2 -A41.3 ADDITIONAL DRIVE UNIT
-X9 -X9 (73.5)
-X8 -X8 -X9
POWER UNIT 1 TX+ 1 1 1 1 TX+
2 TX- 2 2 2 2 TX-
3 RX+ 3 3 3 3 RX+
6 RX- 6 6 6 6 RX-
/ (63)
/ (63)
/ (63)
-L21
-L22
-L23
-XS1 -XP1
1 1
-XS21 -XP21
1 DC+ 2
2 DC- 3
AWG10 BK
-XS6 -XS7 -XS6 -XS7
-W550
-XS7
0V DRIVE 1 1 1 1 0V DRIVE
-X1 1
GNYE
2 24V DRIVE 2 2 2 2 24V DRIVE
-W556
AWG12
1
BK
-W554
-W552
AWG12
4 GNYE -X1
-W551 -A41.4
AWG12 ADDITIONAL DRIVE UNIT

BK
AWG12
BK
1 ADDITIONAL AXIS 2, DRIVE UNIT NO 8 -XS6
3 1
BK
-W557 AWG12
AWG12 2
BK
4
2
-W555 AWG12
BK
3
-W553 AWG12
-X8
2 1 TX+
2 TX-
3 RX+
6 RX-
XS1 -XP1
1 1
-XS22 -XP22
1 DC+ 2
2 DC- 3 -X9
AWG10 BK 1 TX+
-XS7 2 TX-
1 3 RX+
2 6 RX-
-R1.1 -R1.1
-X2 -X2
BLEEDER
BLEEDER
AWG12 AWG12
0V DRIVE
24V DRIVE
-1 BK -1 BK
Bleeder +
Bleeder +
1 1
1 1 -A41.5 ADDITIONAL DRIVE UNIT
-XS6 -XS7
1 0V DRIVE 1
2 2 2 24V DRIVE 2
-2 AWG12 BK -2 AWG12 BK
Bleeder -
Bleeder -
2 2 -X8
ADDITIONAL AXIS 3, DRIVE UNIT NO 9 1 TX+
GNYE GNYE 2 TX-
AWG12 AWG12 3 RX+
6 RX-
-XS1 -XP1
1 1
-XS23 -XP23 -X9
1 DC+ 2 1
2 DC- 3 2
AWG10 BK 3
6

MAIN DRIVE UNIT and ADDITIONAL AXIS 1-3 for LV Sublocation:+
A41.1 ,2 ,3 ,4 ,5 Document no. Rev. Ind Page72
Next 73
1 2 3 4 5 6 7 8
(72.6)
-A41.1 MAIN DRIVE UNIT
POWER UNIT ADDITIONAL AXIS 1, DRIVE UNIT NO 7 -A41.3 ADDITIONAL DRIVE UNIT
/ (63)
/ (63)
/ (63)
-X9 -X8 -X9
1 TX+ 1 1 TX+
-L21
-L22
-L23
2 TX- 2 2 TX-
3 RX+ 3 3 RX+
AWG10 6 RX- 6 6 RX-
AWG10
AWG10
-XS1 -XP1
GNYE 1 1
-XS21 -XP21
1 DC+ 2
AWG10
-W138
2 DC- 3
-W137
AWG10 BK
-XS7 -XS6 -XS7
-X1 1 0V DRIVE 1 1 0V DRIVE
2 24V DRIVE 2 2 24V DRIVE
-W136
4 (72.6)
-A41.4 ADDITIONAL DRIVE UNIT

ADDITIONAL AXIS 2, DRIVE UNIT NO 8 -XS6
3
1
2
2
-X8
1 TX+
2 TX-
3 RX+
6 RX-
-XS1 -XP1
1 1
-XS22 -XP22
1 DC+ 2
2 DC- 3 -X9
AWG10 BK 1 TX+
-XS7 2 TX-
-R1.1 1 3 RX+
-X2 RX-
BLEEDER
2 6
-1 AWG12 BK
Bleeder +
24V DRIVE
0V DRIVE
1
2 -XS6 -XS7
1 0V DRIVE 1
-2 AWG12 BK
2 24V DRIVE 2
Bleeder -
GNYE ADDITIONAL AXIS 3, DRIVE UNIT NO 9

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

MAIN DRIVE UNIT and ADDITIONAL AXIS 1-3 Sublocation:+
for HV A41.1, 3, 4, 5 Document no. Rev. Ind Page73
Next 74
1 2 3 4 5 6 7 8
-A43 CONTACTOR BOARD

-X24 -XS/XP7
PTC2 -4013 AWG16 BU
1 -4014 AWG16 E1
PTC2 0V BU
2
E2
3
4
5
E3
6
-C2
Capacitor 0,47uF 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

EXTERNAL AXIS A43, XS/XP7 Sublocation:+
Only for release 13.2 and earlier Document no. Rev. Ind Page74
Next 75
1 2 3 4 5 6 7 8

AWG12
External axis no. 7 -XS/XP7
-X2
U -4000 BK
1 A1
U -4001 BK
4 A2
W -4002 BK
3 A3
W -4003 BK
6 A4
V -4004 BK
2 A5
V -4005 BK
5 A6

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

External axis no.9
-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
Op. 1389-1 (Power Circuit):
See Circuit diagram of MU/GU 3HAC039887-001 p.14
EXTERNAL AXIS no 7, 8, 9 A41.3 .4 .5 , XS/XP7 Sublocation:+
Next 75.1
1 2 3 4 5 6 7 8
-A43 CONTACTOR UNIT -A43.XS5
24V DRIVE
1
A43X5:1.2 / (62)
EXT BRAKE
EXT BRAKE
PTC2 0V
2
A43X5:2.2 / (62)
RELEASE
PTC2
PUSH B.
3
A43X5:3.2 / (62)
0V
-XS40/ -XP40/ -X24 4
-XP40.1 -XS40.1 A43X5:4.2 / (62)
1 2 3 4 5 6
1 2 3 4 5 6 1 2 3 4 5 6
JUMPER
AWG20 BU
445
447
448
446
4028
4024
4018
4019
4015
4017
2-POL
4032
4035
-XP7
2 2 a1 a3 a5 e1 e2 f7 f8 f9 f1 f2 f3 f4
Y2 Y3
1 1
4029
4028/
5
-Y6
C2
2
4031 1
4030/
2
4025
4024/
-Y5
4020
4015/
2 -Y1
4016
1
4027
4026/
4021
4020/
-Y4
2
1
4023
4022/
EXT BRAKE REL 4029
PTC2 0V
EXT BRAKE
EXT BRAKE 4031

BRAKE PB 4025
BRAKE PB 4026
BRAKE PB 4027
0V BRAKE 4021
0V BRAKE 4022
0V BRAKE 4023
RELEASE 4030
RELEASE
PTC2
(62) / -A43X5:1.1
-A43X5:2.1
PTC2 4032
PTC2 4033
PTC2 4033
PTC2 4034
(62) /
(62) / -A43X5:3.1
4034
4035
(62) / -A43X5:4.1
-A7.XP9 -A7.XP8 -A7.XP7
1 2 3 4 5 1 2 3 4 5 4 5 -R1-SP
1 2 3
*) *) *) *) PTC2 JUMPER WHEN NOT CONNECTED. A E C J K L R M G
-A7.XS7
1 2 3 4 5
Acc. to circuit diagram for the products: Acc. to circuit diagram for the products: Acc. to circuit diagram for the products:
IRBT, DRESSPACK, SERVOGUN, MTM, MU, GU, IRBP IRBT, DRESSPACK, MTM
MTM, Op. 1389-1 (Brake Signals): AWG18
See Circuit diagram of MU/GU p.13.b
4010
4011
4012
4013
4014
BU
Acc. to circuit diagram. -XS7
DRESSPACK/SERVOGUN: 3HAC026209-001 -F -E
IRBP: 3HAC035753-001 5 6 7 8 9 10 11 1 2 3 4 5 6
IRBT: 3HAC043574-001
MU/GU: 3HAC039887-001
MTM: 3HAC051586-001 CONNECTED WITH AWG16 BU,
RTT: 3HEA802298-001 only for IRC5 DESIGN 06 and earlier. IF NO OTHER NOTATION

EXTERNAL AXES ADAPTER HARNESS Sublocation:+
XS/XP40, A43:XP5, A7:XP7 :XP8 :XP9 Document no. Rev. Ind Page75.1
Only for rel.14.1 and later. Next 76
1 2 3 4 5 6 7 8
This is not any available option. Connection to the break release button,
This is only examples how to connect with power from the cabinet.
the break release button for the IRB120
-XS.35 -XS.40
internal or external the cabinet.
4
4 3
Connection to the break release button,

24V BREAK REL.
-A41.1 MAIN SERVO DRIVE UNIT
0V BREAKE
24V BRAKE PB
with power outside the cabinet.

-X100 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
12 14
BK
BK
BK
BK
BK
BK
BK
BK
BK
BK
BK
BK
BK
BK
BK
BK
BK
BK
-K100
AWG16
AWG16
AWG16
AWG16
AWG16
AWG16
AWG16
AWG16
AWG16
AWG16
AWG16
AWG16
AWG16
AWG16
AWG16
AWG16
AWG16
AWG16
11
-X100 2
-_400
-_402
-_404
-_406
-_408
-_410
-_412
-_414
-_416
-_418
-_420
-_422
-_424
-_425
-_426
-_428
-_430
-_432
-PE100
AWG16 GNYE
Cross ref / (23) D1 D3 D2 D4 C1 C2
XS1/XP1 A13 A15 B1 B3 B4 B5 B6 B7 B8 B9 B10 B11 DRIVE MODULE
-XS/XP1 A1 A3 A5 B14 B12 A7 A9 A11
AWG20 BK
AWG20 BK
FLOOR CABLE
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

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

Cross ref XS2/XP2 / (23)
0,23 mm2
-R1.SMB -SMB/EIB
-XS/XP2
-MRCO1 WH SDI
(67) /
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

CONTROL CABLE Sublocation:+
Next 78
1 2 3 4 5 6 7 8
CONTROLLER CONTROL MODULE FLOOR CABLE supplied by the customer MANIPULATOR
Customer
Connection
-708 -XS/XP5

-XT/XT5 -R1.CS
AWG24 BK
1 B5 A
AWG24 BN
2 C5 B
RD
AWG24
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

CUSTOMER SIGNALS Sublocation:+
Next 79
1 2 3 4 5 6 7 8
1 3 2 1 3 2 1 3 2 1 3 2 1 3 2 1 3 2
-X11 -X12 -X13 -X14 -X15 -X16
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
GNYE
GNYE
AWG10
AWG10
Cross ref XS1/XP1 / (23) CONTROLLER
-XS1 A3 A5 A7 A9 A11 A13 A15 B1 B3 B4 B5 B6 B7 B8 B9 B10 B11 PE1 PE2
A1 DRIVE MODULE
GNWH
BUWH
BNWH
BKWH
GNRD
BUGN
BNGN
BURD
BKGN
BNRD
BKRD
BNBU
BKBU
BUBK
BNBK
BN
BU
BK
FLOOR CABLE
M3R
M1R
M2R
M6R
M5R
M4R
M3S
M1S
M2S
M6S
M5S
M4S
M3T
M1T
M2T
M6T
M5T
M4T
AWG16
PE1 PE2 MANIPULATOR
-R1.(MP 4-)6 6 9 12 4 7 10 1 2 3
-R1.(MP 1-)3 13 17 15 1 5 3 7 11 9

Next 80
1 2 3 4 5 6 7 8
0,23 mm2
-R2.SMB
-XS2
(67) / -MRCO1 WH SDI
(67) / -MRCO 1_N A BU 9 SDI-N
(67) / -MRCI1 B WH 5 SDO
(67) / -MRCI 1_N C OG 8 SDO-N
(67) / -MRC_0V1 D WH 4 0V
AXIS COMPUTER BOARD
E WH 3 SERIAL
A42-X4
(67) / +24V_SMB1 GN 24V MEASUREMENT
F BN 7 BOARD
(67) / -MRC_0V2
G
(67) / -MRC_0V3 H
J GY BATSUP
K RD 6 BATLD
L 2


AWG16
-XS1
-_433 AWG16 C7 -R1-H1
(64) / -EXT. LAMP OG
1 -R1-.(MP 4-)6
(64) / -BRAKEPB -_434 AWG16 BU B16 OGWH
DRIVE MODULE 15
X40 (64) / -BRAKEREL1 -_435 AWG16 BU B12 GYBK
8
(64) / -BRAKEREL2 -_436 AWG16 BU B13 GYBU
(62) / -0V BRAKE4 -_438 AWG16 BU B14 GYGN
13
(62) / -PTC1 -_439 AWG16 BU C2 OGBU
CONTACTOR UNIT 11
-_440 AWG16 C1 -R1.140-(MP 1-)3
A43-X5 (62) / -PTC 1 ret BU OGBK
2
(62) / -0V BRAKE3 -_437 AWG16 BU B15 OGRD
14
D2 GYWH
10
D1 GYRD
16
D3 GY
18
D4 OGGN
12

Next 81
1 2 3 4 5 6 7 8
-708 -XS/XP5 0,23mm2

-XP/XT5 AWG24
WH +R1-CS
BK CSA

1 B5 1
BN BU CSB
2 C5 9
RD WH CSC
3 D5 2
OG CSD
OG
4 A6 10
YE WH CSE
5 B6 3
GN GN CSF
Customer 6 C6 11
BU WH CSG
Connection
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

CUSTOMER SIGNAL Sublocation:+
SINGLE CABINET Document no. Rev. Ind Page81
IRB 140 Next 82
1 2 3 4 5 6 7 8
-X11 1 3 2 -X12 1 3 2 -X13 1 3 2 -X16 1 3 2

BK
BK
BK
BK
BK
BK
BK
BK
BK
BK
BK
BK
-_400 AWG16
-_402 AWG16
-_404 AWG16
-_406 AWG16
-_408 AWG16
-_410 AWG16
-_412 AWG16
-_414 AWG16
-_416 AWG16
-_428 AWG16
-_430 AWG16
-_432 AWG16
GNYE
GNYE
CONTROLLER
Cross ref XS1/XP1 / (23) A1 A3 A5 A7 A9 A11 A13 A15 B1 B9 B10 B11
-XS/XP1 PE1 PE2 DRIVE MODULE
GNWH
BUWH
BKWH
GNRD
BUGN
BKGN
BURD
BKRD
BKBU
BUBK
BN
BK
GNYE
GNYE
AWG16
FLOOR CABLE
M1W
M2W
M3W
M6W
M1U
M2U
M3U
M6U
M1V
M2V
M3V
M6V
-R1-MP A1 A2 A3 A4 D1 D2 D3 D4 B1 D8 D7 B10 MANIPULATOR
PE1 PE2
IRB 260

SERVO DRIVE UNIT Sublocation:+
Next 83
1 2 3 4 5 6 7 8

0,23 mm²
+R1 -SMB
-XS/XP2
A A
B B
(67) / -MRCI1 WH SDO
C C
AXIS COMPUTER BOARD (67) / -MRCI 1_N OG SDO-N
A42-X4 D D
(67) / -MRC_0V1 WH 0V
E WH E
(67) / +24V_SMB1 GN 24V
F BN F
(67) / -MRC_0V2 SERIAL
G MEASUREMENT
-MRC_0V3 WH 0V
(67) / BOARD

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
C7 C7
DRIVE MODULE (64) / -BRAKEPB -434 AWG16 BU OGWH
X40 B16 B8
(64) / -BRAKEREL1 -435 AWG16 BU GYBK
B12 C9
(64) / -BRAKEREL2 -436 AWG16 BU GYBU
B13 C8
(62) / -0V BRAKE4 -438 AWG16 BU GYGN
B14 C10
(62) / -PTC1 -439 AWG16 BU OGBU
CONTACTOR UNIT C2 B9
A43-X5 (62) / -PTC 1 ret -440 AWG16 BU OGBK
C1 B2
(62) / -0V BRAKE3 -437 AWG16 BU OGRD
B15 B7
(62) / -A43-X21.2 LIM 1A -441 AWG16 BU GYWH
D2 B3
(62) / -A43-X21.4 LIM 2A -442 AWG16 BU GYRD
CONTACTOR UNIT D1 B4
A43-X21 (62) / -A43-X21.3 LIM 2B -443 AWG16 BU GY
D3 C2
(62) / -A43-X21.1 LIM 1B -444 AWG16 BU OGGN
D4 C1

Next 84
1 2 3 4 5 6 7 8

Customer
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
C3 GY C3

11 WH/BN
D3 D3
12
-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

CUSTOMER POWER/SIGNAL Sublocation:+
SINGLE CABINET IRB 260 Document no. Rev. Ind Page84
Next 85
1 2 3 4 5 6 7 8
-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
A11 A9 A7 A5 B3 B4 B10 B9 B8 A13 A15 B1
-XS1 DRIVE MODULE
FLOOR CABLE
MANIPULATOR

SERVO DRIVE UNITS Sublocation:+
Next 86
1 2 3 4 5 6 7 8

-XS2
A
(67) / -MRCO1
(67) / -MRCO 1_N B
(67) / -MRCI1 C
(67) / -MRCI 1_N D
AXIS COMPUTER BOARD (67) / -MRC_0V1 E
A42-X4
(67) / +24V_SMB1 F
(67) / -MRC_0V2 G
H
(67) / -MRC_0V3 J
K
L

-XS1
(64) / -EXT. LAMP -_433 AWG16 BU C7
(64) / -BRAKEPB -_434 AWG16 BU B16
DRIVE MODULE
X40 (64) / -BRAKEREL1 -_435 AWG16 BU B12
(64) / -BRAKEREL2 -_436 AWG16 BU B13
(62) / -0V BRAKE4 -_438 AWG16 BU B14
CONTACTOR UNIT (62) / -PTC1 -_439 AWG16 BU C2
A43-X5
(62) / -PTC 1 ret -_440 AWG16 BU C1
(62) / -0V BRAKE3 -_437 AWG16 BU B15
D2
D1
D3
D4

Next 87
1 2 3 4 5 6 7 8
Customer

Connection -XS/XP5
-708 0,23mm2
-XP/XT5 AWG24 -R1-CS
BK WH CSA
1 B5 A
BN BU CSB
2 C5 B
RD WH CSC
3 D5 C
OG CSD
OG
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

IRB 360 Next 87.1
1 2 3 4 5 6 7 8
Customer
Connection
0,23mm2
-XP/XT5.1 AWG24 OG -XS/XP5
625 WH 1
1 626 B5 BU 2
2 627 C5 WH 3
3 628 D5 OG 4
4 629 A6 WH 5
5 630 B6 GN 6
6 631 C6 WH 7 +R1 -CS
7 632 D6 BN 8 A 1
8 633 A7 WH 9 B 2
9 634 B7 GY 10 C 3
10 635 C7 RD 11 D 4
11 636 D7 BU 12 E 5
12 A8 F 6
G 7
-XP/XT5.2 H 8
637 RD 13 J 9
13 638 B8 OG 14 K 10
14 639 C8 RD L
15 11
15 640 D8 GN 16 M 12
16 641 A9 RD 17 N 13
17 642 B9 BN 18 P 14
18 643 C9 RD 19 R 15
19 644 D9 GY 20 S 16
20 645 A10 BK 21 T 17
21 646 B10 BU 22 U 18
22 647 C10 BK 23 V 19
23 D10 W 20
X 21
Y 22
Z 23
-XP6 AWG18 OG AWG18
648 RD 1
1 649 A1 BU 2
2 650 B1 GN 3
3 651 C1 YE 4
4 652 D1 WH 5
5 563 A2 BK 6
6 654 B2 BN 8
7 655 C2 VT 9
8 656 D2 OG 10
9 657 A3 PK 11
10 658 B3 +R1 -CP
11 659 C3 GNYE 12 A 1
12 D3 B 2
C 3
D 4
E 5
F 6
AWG16 GNYE H 8
J 9
K 10
L 11
M 12

SINGLE CABINET Document no. Rev. Ind Page87.1
IRB 360 Next 87.4
1 2 3 4 5 6 7 8
1 2 3 1 2 3 1 2 3 1 2 3 1 2 3
-X11 -X12 -X13 -X14 -X15
GY AWG16
GY AWG16
GY AWG16
GY AWG16
GY AWG16
BN AWG16
BN AWG16
BN AWG16
BN AWG16
BN AWG16
BK AWG16
BK AWG16
BK AWG16
BK AWG16
BK AWG16
400
402
401
403
405
404
406
408
407
409
411
410
412
414
413
AWG10 GNYE
AWG10 GNYE
Cross ref / (23)
Not used in IRB390
XS1/XP1
A1 A3 A5 A7 A9 A11 A13 A15 B1 CONTROLLER
-XS/XP1 B3 B4 B5 B6 B7 B8 B9 B10 B11 PE1 PE2 DRIVE MODULE
GNWH
BNWH
BKWH
GNRD
BUGN
BNGN
BKGN
BURD
GYBU
BNRD
BKRD
BNBU
BKBU
BUBK
BNBK
BU
BN
BK
FLOOR CABLE
AWG16
AWG16 GNYE
AWG16 GNYE
M1W
M2W
M3W
M4W
M5W
M6W
M1U
M2U
M3U
M4U
M5U
M6U
M1V
M2V
M3V
M4V
M5V
M6V
1 2 5 3 4 8 6 9 10 15 16 19 17 21 22 20 23 24 MANIPULATOR
+R1-MP
Not used in IRB390

LUG1
Acc. to Manipulator circuit diagram 3HAC060545-009

IRB 390 Document no. Rev. Ind Page87.4
Next 87.5
1 2 3 4 5 6 7 8

0,23 mm2
+R1 -SMB
-XS/XP2
(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
SERIAL
(67) / -MRC_0V2
G MEASUREMENT
G
(67) / -MRC_0V3 H WH H 0V BOARD
J GY J BATSUP
RD K BATLD
K
L L
KEYPIN
According to Manipulator diagram 3HAC060545-009

M
AWG16
-XS/XP1 +R1-MP
(64) / -EXT. LAMP -_415 AWG16 OG
C7 14
DRIVE MODULE (64) / -BRAKEPB -_416 AWG16 BU OG/WH
X40 B16 11
(64) / -BRAKEREL1 -_417 AWG16 BU VT
B12 13
(64) / -BRAKEREL2 -_418 AWG16 BU GYBU
B13 18
(62) / -0V BRAKE4 -_420 AWG16 BU GYBK
B14 12
CONTACTOR UNIT (62) / -PTC1 -_421 AWG16 BU BK
A43-X5 C2
(62) / -PTC 1 ret -_422 AWG16 BU
C1
(62) / -0V BRAKE3 -_419 AWG16 BU OGRD
B15 7
D2 BK
D1
CONTACTOR UNIT BK
A43-X21
D3
D4

Next 88
Cross ref
XS1/XP1
1
Latest revision:
/ (23)

2,5mm²
+R1-MP
-XS/XP1
-X11
17 GNRD M1U -_400 AWG12 BK
17
17
27 OGGN M1U -_401 AWG12 BK
24
24
16 BN M1W -_402 AWG12 BK
3
19
19
26 OGBU M1W -_403 AWG12 BK
2
26
26
18 GNWH M1V -_404 AWG12 BK
2
18
18
25 OGBK M1V -_405 AWG12 BK
5
25
25

2023-10-31
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
CABINET MODULE
RA/RDP
Lab/Office:
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

Document no.
2
APPROVED
8 PE1
8 PE1
AWG10 GNYE
AWG10 GNYE
PE2
PE2
3HAC024480-011
Plant:
Sublocation:+
Location: +
=
8
DRIVE MODULE
CONTROLLER
MANIPULATOR
FLOOR CABLE
Next 89
Rev. Ind Page88
17 Total 164
1 2 3 4 5 6 7 8

0,23 mm2
+R1-SMB
-XS/XP2
A A
B B
AXIS COMPUTER BOARD
C C
A42-X4 (67) / -MRCI 1_N OG SDO-N
D D
(67) / -MRC_0V1 WH 0V
E WH E
According to Manipulator IRB 460 circuit diagram 3HAC036446-005

(67) / +24V_SMB1 GN 24V
BN
F F
Key pin
M
SERIAL
MEASUREMENT
BOARD
-_433 AWG16 -XS/XP1

(64) / -EXT. LAMP BU
+R1-MP
(64) / -BRAKEPB -_434 AWG16 BU 28 OG 0,75 mm2 BRAKE PB
DRIVE MODULE 11 11
XS40 (64) / -BRAKEREL1 -_435 AWG16 BU 30 OGRD 4mm2 BRAKE RELEASE
13 13 BRAKE RELEASE
(64) / -BRAKEREL2 -_436 AWG16
(62) / -0V BRAKE4 -_437 AWG16 BU 29 OGWH 4mm2 0V BRAKE

12 12 0V BRAKE
(62) / -PTC1 -_438 AWG16 BU 31 PKBK 0,75mm2 24V EXT.LAMP
27 27
CONTACTOR UNIT (62) / -PTC 1 ret -_439 AWG16 BU
A43-X5
-_440 AWG16 32 PKBU 0,75mm2 0V EXT.LAMP
15 15
(62) / -0V BRAKE3

Next 90
1 2 3 4 5 6 7 8

Customer
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
SH D7 Not connected
-XP/XT5.1 -711 W27 +R1-CS
AWG24 BK BKog 0,23mm2 CS

According to Manipulator IRB 660, 760 circuit diagram 3HAC025691-001
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

B14 B14 CS
6 BU GN AWG24
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 B22 Ref. ProfiBus &
10 WH/YE or PK B23 B23 DeviceNet see p.91
11 WH/GN or Light GN B24 B24
12 B25 B25
DeviceNet
-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 C15
AWG16 GNYE
DeviceNet_1 / (91) Opt. 803-3, 803-4

ProfiBus_1 / (91)
IRB460, 660, 760 Document no. Rev. Ind Page90
Next 91
1 2 3 4 5 6 7 8
-A35
OPTION : DEVICENET -X2 AWG22 AWG24 +R1-CP/CS
-707 -XS/XP13
Option 803-3 2/BK V- BK 0V
1 F2 B23
1/BU CAN_L BU CAN_L
(40) / A35 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
DeviceNet_1 / (90)
-A33 AWG22
OPTION : PROFIBUS -XS/XP13 +R1-CP/CS
-709
Option 803-4 -(DP-M)1 RD
1/RD RXD/TXD-P RXD/TXD-P
1B 2 F5 A5
1/GN RXD/TXD-N GN RXD/TXD-N
1A F6 A6
ProfiBus_1 / (90)
AWG22
-R1.ETHERNET
-XP9 1
1 YE 1
(23) / 5.TXRX+ RX+
According to PARAMULTI Option: 2 WH 2 2
(23) / 5.TXRX- RX-
(120.6) / ProfiNet/Ethernet IP sheet 3 OG 3 3 ProfiNet//Ethernet
PARAMULTI
(23) / 5.RXTX+ TX+
4 BU 4 4
(23) / 5.RXTX- TX-

C-BUS/P-BUS/ CP/CS//Profi-Net Sublocation:+
IRB460, 660, 760 Document no. Rev. Ind Page91
Next 92
1
Latest revision:
Cross ref
XS1/XP1

2,5mm²
/ (23)
+R1-MP
-XS/XP1
-X11
17
17
4
24
24
16 BN M1W -_402 AWG12 BK
3
19
19
2

6
26
26
2
18
18

5
25
25
A41.1 MAIN SERVO DRIVE UNIT
-X14
M4U -_418 AWG12 BK
1
1
2023-10-31
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
RA/RDP
Lab/Office:
-X15
M5U -_424 AWG12 BK

1
20
M5W -_425 AWG12 BK

5
29
M5V -_426 AWG12 BK

2
28
IRB 660, 760

-X13

M3U BK
SERVO DRIVE SYSTEM

10 BU -_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
16
16
Document no.

APPROVED
2
8 PE1
8 PE1
AWG10 GNYE
AWG10 GNYE
3HAC024480-011
PE2
PE2
Plant:
Sublocation:+
Location: +
=
8
FLOOR CABLE
DRIVE MODULE
CONTROLLER
Next 93
Rev. Ind Page92
MANIPULATOR
17 Total 164
1 2 3 4 5 6 7 8
0,23 mm2
+R1-SMB
-XS/XP2
A A
B B
C C
A42-X4 D D
(67) / -MRC_0V1 WH 0V
E WH E
+24V_SMB1 GN 24V
(67) /

F BN F
G MEASUREMENT
BOARD
H
(67) / -MRC_0V3
J
AWG16 EXT.LAMP
BU 1 BU RD EXT.LAMP
-DP1 AWG16 L L
1
M
-C1
2
BU
AWG16
(64) / -EXT. LAMP -_433 AWG16 BU Cross ref XS1/XP1 / (23)

+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
(62) / -0V BRAKE4 -_437 AWG16 BU 29 OGWH 4,0 mm2 0V BRAKE

12 12 0V BRAKE
CONTACTOR UNIT (62) / -PTC1 -_439 AWG16 BU 31 PKBK 0,75 mm2 PTC
A43-X5 27 27
(62) / -PTC 1 ret -_440 AWG16 BU 32 PKWH 0,75 mm2 0V PTC
15 15
(62) / -0V BRAKE3 -_438 AWG16 BU

IRB 660, 760 Document no. Rev. Ind Page93
Next 93.5
1 2 3 4 5 6 7 8
-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
Cross ref / (23)
XS1/XP1
A13 A15 B1 B3 B4 B5 B6 B7 B8 B9 B10 B11
-XS/XP1 A1 A3 A5 A7 A9 A11 PE1 PE2
CONTROLLER
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 -MP1 1 2 5 3 4 8 6 9 10 15 16 19 17 21 22 20 23 24 PE1 PE2

Next 93.6
1 2 3 4 5 6 7 8
0,23 mm2
-XS2 -XP2
A A
-R1-SMB
(67) / -MRCO 1_N B B BU A SDI-N
(67) / -MRCI1 C C WH B SDO
AXIS COMPUTER BOARD (67) / -MRCI 1_N D D OG C SDO-N
(67) / -MRC_0V1 E E WH D 0V
A42-X4
WH E
(67) / +24V_SMB1 F F GN 24V
BN F
G
H
J
ENCODER
INTERFACE
BOARD


AWG16
-XS1 -XP1 -R1-MP
C7
(64) / -EXT. LAMP -_433 AWG16 C7 OG
14 EXT LAMP
(64) / -BRAKEPB -_434 AWG16 BU B16 B16 OGWH
DRIVE MODULE BRAKE PB
11
X40 (64) / -BRAKEREL1 -_435 AWG16 BU B12 B12 GYBK
13 24V BRAKE REL

(64) / -BRAKEREL2 -_436 AWG16 BU B13 B13 GYBU
18 24V BRAKE REL
(62) / -0V BRAKE4 -_438 AWG16 BU B14 B14 GYGN
12 0V BRAKE
CONTACTOR UNIT (62) / -PTC1 -_439 AWG16 BU C2 C2
A43-X5
(62) / -PTC 1 ret -_440 AWG16 BU C1 C1
(62) / -0V BRAKE3 -_437 AWG16 BU B15 B15 OGRD
7 0V BRAKE
D2 D2
D1 D1
D3 D3
AWG16 BK
D4 D4

Next 93.7
1 2 3 4 5 6 7 8
Customer
Connection

-XP/XT5 -XS/XP5 0,23mm2
-708
AWG24
BK WH +R1-CS
1 B5 A
BN BU
2 C5 B
RD WH
3 D5 C
OG
OG
4 A6 D
YE WH
5 B6 E
GN GN
6 C6 F
BU WH
7 D6 G
VT BN
8 A7 H
GY WH
9 B7 J
WH GY
10 C7 K
WH/BK
11 D7
WH/BN
12 A8

SINGLE CABINET Document no. Rev. Ind Page93.7
IRB 1200 Next 94
1 2 3 4 5 6 7 8
-A41 MAIN SERVO DRIVE UNIT
-X11 1 3 2 -X12 2 3 1 -X14 1 3 2 -X16 2 3 1 -X13 1 3 2 -X15 2 3 1
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
AWG10
AWG10
CONTROLLER
-XS/XP1 A1 A3 A5 A11 A9 A7 B3 B4 B5 B11 B10 B9 A13 A15 B1 B8 B7 B6 PE1 PE2 DRIVE MODULE
GNWH
BUWH
BNWH
BKWH
GNRD
BUGN
BNGN
BKGN
BURD
BNRD
BKRD
BNBU
BKBU
BUBK
BNBK
BU
BN
BK
AWG16
FLOOR CABLE
M1R
M2R
M4R
M6R
M3R
M5R
M1S
M2S
M4S
M6S
M3S
M5S
M1T
M2T
M4T
M6T
M3T
M5T
A1 A2 A3 D2 D1 A4 A10 A9 A8 B10 D7 D8 D3 D4 B1 D9 D10 A7 PE1 PE2 MANIPULATOR
-R1-MP

Next 95
1 2 3 4 5 6 7 8

0,23 mm2
-XS/XP2 -R1-SMB
A42-X4 E WH E
(67) / +24V_SMB1 GN 24V
F BN F
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
B13 C8
(62) / -0V BRAKE4 -_438 AWG16 BU GYGN
B14 C10
CONTACTOR UNIT (62) / -PTC1 -_439 AWG16 BU OGBU
A43-X5 C2 B9
(62) / -PTC 1 ret -_440 AWG16 BU OGBK
C1 B2
B15 B7
GYWH
D2 B3
GYRD
D1 B4
GY
D3 C2
OGGN
D4 C1

Next 96
1 2 3 4 5 6 7 8
Customer
Connection
-XP/XT5 -XS/XP5 0,23mm2
-708 -R1-CS
AWG24 BK WH CSA

1 B5 A
BN BU CSB
2 C5 B
RD WH CSC
3 D5 C
OG CSD
OG
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

CUSTOMER SIGNALS Sublocation:+
IRB 1410 Next 97
1 2 3 4 5 6 7 8
-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
Cross ref / (23)
XS1/XP1
A1 A3 A5 A7 A9 A11 A13 A15 B1 B3 B4 B5 B6 B7 B8 B9 B10 B11
-XS/XP1 PE1 PE2 CONTROLLER
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 PE1 PE2

Next 98
1 2 3 4 5 6 7 8

0,23 mm2
Cross ref XS2/XP2 / (23) -R1-SMB
-XS/XP2
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
M

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
(62) / -0V BRAKE4 BU GYGN
B14 12
CONTACTOR UNIT (62) / -PTC1 BU
A43-X5 C2
(62) / -PTC 1 ret BU
C1
(62) / -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

Next 99
1
Latest revision:

2

2023-10-31
3
4
RA/RDP
Lab/Office:
5
IRB 1520
CUSTOMER SIGNALS
6
J
F
K
E
B
A
H
D
C
K
H
-R1.CS
MANIPULATOR
Status:
7
Document no.
APPROVED
3HAC024480-011
Plant:
Customer connection Signal

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

Rev. Ind Page99
Next 100
17 Total 164
1 2 3 4 5 6 7 8
-X11 1 3 2 -X12 2 3 1 -X14 1 3 2 -X16 2 3 1 -X13 1 3 2 -X15 2 3 1
BK
BK
BK
BK
BK
BK
BK
BK
BK
BK
BK
BK
BK
BK
BK
BK
BK
BK
-_400 AWG16
-_402 AWG16
-_404 AWG16
-_410 AWG16
-_408 AWG16
-_406 AWG16
-_418 AWG16
-_420 AWG16
-_422 AWG16
-_432 AWG16
-_430 AWG16
-_428 AWG16
-_412 AWG16
-_414 AWG16
-_416 AWG16
-_426 AWG16
-_425 AWG16
-_424 AWG16
GNYE
GNYE
AWG10
AWG10
CONTROLLER
GNWH
BUWH
BNWH
BKWH
GNRD
BUGN
BNGN
BKGN
BURD
BNRD
BKRD
BNBU
BKBU
BUBK
BNBK
BU
BN
BK
AWG16
FLOOR CABLE
M1W
M2W
M4W
M6W
M3W
M5W
M1U
M2U
M4U
M6U
M3U
M5U
M1V
M2V
M4V
M6V
M3V
M5V
-R1-MP
IRB 1600

IRB 1600/1660 Document no. Rev. Ind Page100
Next 101
1 2 3 4 5 6 7 8
0,23 mm2
-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
M

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
B13 C8
(62) / -0V BRAKE4 -_438 AWG16 BU GYGN
B14 C10
CONTACTOR UNIT (62) / -PTC1 -_439 AWG16 BU OGBU
A43-X5 C2 B9
(62) / -PTC 1 ret -_440 AWG16 BU OGBK
C1 B2
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

IRB 1600/1660 Document no. Rev. Ind Page101
Next 102
1 2 3 4 5 6 7 8
Customer
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

IRB 1600/1660 Next 103
1 2 3 4 5 6 7 8
-A41.1-6 MAIN SERVO DRIVE UNIT
-X11 1 2 3 -X12 3 2 1 -X14 1 2 3 X16 3 2 1 -X13 1 2 3 -X15 3 2 1
BK
BK
BK
BK
BK
BK
BK
BK
BK
BK
BK
BK
BK
BK
BK
BK
BK
BK
-400 AWG14
-402 AWG14
-404 AWG14
-410 AWG14
-408 AWG14
-406 AWG14
-418 AWG14
-420 AWG14
-422 AWG14
-432 AWG14
-430 AWG14
-428 AWG14
-412 AWG14
-414 AWG14
-416 AWG14
-426 AWG14
-425 AWG14
-424 AWG14
GNYE
GNYE
AWG10
AWG10
Cross ref XS1/XP1 / (23) CONTROLLER
GNWH
BUWH
BNWH
BKWH
GNRD
BUGN
BKGN
BURD
BNRD
BKRD
BNBU
BKBU
BUBK
BNBK
BU
BN
BK
AWG16
FLOOR CABLE
M1W
M2W
M4W
M6W
M3W
M5W
M1U
M2U
M4U
M6U
M3U
M5U
M1V
M2V
M4V
M6V
M3V
M5V
+R1-MP

Next 104
1 2 3 4 5 6 7 8
0,23 mm2
+R1-SMB
-XS/XP2
A42-X4 E WH E
(67) / +24V_SMB1 GN 24V
F BN F
G G MEASUREMENT
J GY J BATSUP
K RD K BATLD
L
L
KEYPIN
M
AWG16

+R1-MP
-433 AWG16 -XS/XP1
C7 C7
DRIVE MODULE -434 AWG16
(64) / -BRAKEPB BU OGWH
X40
B16 B8
(64) / -BRAKEREL1 -435 AWG16 BU GYBK
B12 C9
(64) / -BRAKEREL2 -436 AWG16 BU GYBU
B13 C8
(62) / -0V BRAKE4 -438 AWG16 BU GYGN
B14 C10
(62) / -PTC1 -439 AWG16 BU OGBU
CONTACTOR UNIT
C2 B9
A43-X5 (62) / -PTC 1 ret -440 AWG16 BU OGBK
C1 B2
(62) / -0V BRAKE3 -437 AWG16 BU OGRD
B15 B7
(62) / -A43-X21.2 LIM 1A -441 AWG16 BU GYWH
D2 B3
(62) / -A43-X21.4 LIM 2A -442 AWG16 BU GYRD
CONTACTOR UNIT
D1 B4
A43-X21 (62) / -A43-X21.3 LIM 2B -443 AWG16 BU GY
D3 C2
(62) / -A43-X21.1 LIM 1B -444 AWG16 BU OGGN
D4 C1

Next 105
1 2 3 4 5 6 7 8
Customer
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 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

IRB 2400 Next 106
1
Latest revision:

Cross ref XS1/XP1
2,5mm²
/ (23)
+R1-MP
-XS/XP1
-X11
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 BKBU M4U -_418 AWG12 BK

1
1
1
2023-10-31
3 BKRD M4W -_420 AWG12 BK
3
10
10
2 BKGN M4V -_422 AWG12 BK
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
RA/RDP
Lab/Office:
-X15
20 GYBU M5U -_424 AWG12 BK

1
20
20
5
21 GYGN M5W -_425 AWG12 BK

3
29
29
IRB 2600
19 GYBK M5V -_426 AWG12 BK
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

Document no.
3
16
16
APPROVED

2
8 PE1
8 PE1
AWG10 GNYE
GNYE
3HAC024480-011
AWG10
Plant:
PE2
PE2
Sublocation:+
Location: +
=
8
MANIPULATOR
DRIVE MODULE
CONTROLLER
Next 107
Rev. Ind Page106
17 Total 164
1 2 3 4 5 6 7 8

0,23 mm2
+R1-SMB
-XS/XP2
A A
B B
C C
A42-X4 D D
(67) / -MRC_0V1 WH 0V
E WH E
(67) / +24V_SMB1 GN 24V

BN
F F
G G MEASUREMENT
BOARD

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

12 12 0V BRAKE
(62) / -PTC1 -_438 AWG16 BU 31 PKBK 0,75mm2 EXT.LAMP
27 27
A43-X5
-_440 AWG16 32 PKBU 0,75mm2 0V BRAKE
15 15
(62) / -0V BRAKE3

Next 108
1 2 3 4 5 6 7 8

Customer
Connection
w26 1mm2
-XP/XT6 -713 -XS/XP13 +R1-CP/CS
AWG20 BK 1
D1
CPA_ /
1 BN A1
2 CPE_ /
RD
CPB_ /
2 OG A2 D6
3 CPF_ /
YE
CPC_ /
3 GN A3 D3
4 CPJ_ /
BU
GNYE CPD_ /
4 VT A4 D4 CPK_ /
SH D7 Not connected
-XP/XT5.1 -711 W27
3 OG B11 og 0,23mm2 B11 CS
5 GN B13 gn 0,23mm2 B13 CS

B14 B14
6 BU gn 0,23mm2

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 GNYE C15
Option 803-2
ProfiNet/EthernetIP_2 / (111)

PROFINET Document no. Rev. Ind Page108
IRB2600 Next 109
1 2 3 4 5 6 7 8

Customer
Connection
-XP/XT6 -713 -XS/XP13 x4 AWG18
AWG20
+R1-CP/CS
1 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 GNYE D4
SH D7 Not connected
-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

C19 C19
7 VT BN
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 +24V Bus
9 WH/OG B22 B22 0V Bus
10 WH/YE or PK B23 BK B23
11 WH/GN or Light GN B24 BU B24
12 B25 B25
DeviceNet_2 / (111)
-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 C15 A12
AWG16 GNYE

DEVICE NET Document no. Rev. Ind Page109
IRB2600 Next 110
1 2 3 4 5 6 7 8
Customer CONTROLLER CONTROL MODULE FLOOR CABLE MANIPULATOR

Connection
-XP/XT6
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 D7 Not connected

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 C21 C21 CS
1/WH WH
AWG24

9 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 C15 A12
AWG16 GNYE For more information aboute Option connected to XS13.
ProfiBus_2 / (111) SPOTPACK circuit diagram 3HAC026208-001
DRESSPACK circuit diagram 3HAC026209-001

PROFI BUS Document no. Rev. Ind Page110
IRB 2600 Next 111
1 2 3 4 5 6 7 8
OPTION : DEVICENET
Additional sheet
-A35
-707 AWG22 AWG24 -R1.CP/CS
1 -XS/XP13 BK
2/BK V- 0V
F2 B23
2 1/BU CAN_L BU CAN_L
F4 A4
3 Bare wire SHIELD
(40) / A35
4 1/WH CAN_H WH CAN_H
F3 A3
5 2/RD V+ RD +24V CAN
F1 B22
DeviceNet_2 / (109)

Profi/Ethernet AWG22
-A32 XP9
1 YE -R1.CBUS
ProfiNet//Ethernet
(23) / 5.TXRX+ 1 TX+
1
Option: 803-2 2 WH
(23) / 5.RXTX+ 2 2 RX+
3 OG
ProfiNet/EthernetIP_2 / (108) (23) / 5.TXRX- 3 3 TX-
4 BU
(23) / 5.RXTX- 4 4 RX-
OPTION : PROFIBUS -A31

Option: 803-4 -(DP-M)1 AWG22
Additional sheet -XS/XP13 -R1.CP/CS
-709
1/RD RXD/TXD-P RD RXD/TXD-P
(38) / A31_3TXDRXD 2
1B F5
(38) / A31_3RXDTXD
1A F6 A6
ProfiBus_2 / (110)

DevNet/PofiNet/Ethernet/Profibus addition to CP/CS Sublocation:+
IRB2600 Document no. Rev. Ind Page111
Next 112
FLOOR CABLE
Cross ref
XS1/XP1
1
Latest revision:
/ (23)
AWG16 BK

+R1-MP
-XS/XP1
-X11
M1U BKBU -_400 AWG16
AWG16
A1
A1
M1U BKGN -_401
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
2023-10-31
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
B7
B7
RA/RDP
Lab/Office:
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

Acc. to Manipulator circuit diagram 3HAC9821-1
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
PE1
PE1
AWG10
AWG10
PE2
PE2
Status:
7
Document no.
APPROVED
C3
C4
C5
3HAC024480-011
C6
Plant:
C7
C8
C9
Sublocation:+
Location: +
=
8
C11
AWG18 BK
C10 C12
MANIPULATOR
CONTROLLER
DRIVE MODULE
Next 113
Rev. Ind Page112
17 Total 164
1 2 3 4 5 6 7 8

0,23 mm2
+R1-SMB
-XS/XP2
A42-X4 E WH E
(67) / +24V_SMB1 GN 24V
F BN F
SERIAL
(67) / -MRC_0V2
G MEASUREMENT
G
J GY J BATSUP
RD K BATLD
K
L L
KEYPIN
M

Cross ref XS1/XP1 / (23) 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
(62) / -0V BRAKE4 -_438 AWG16 BU RDGN
B14 B14
CONTACTOR UNIT (62) / -PTC1 -_439 AWG16 BU VTGN
A43-X5 C2 C2
(62) / -PTC 1 ret -_440 AWG16 BU VTBU
C1 C1
(62) / -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

Next 114
1 2 3 4 5 6 7 8

Customer
Connection
-XS/XP5 AWG18
-XP/XT6
-W8 +R1-CP/CS
1 AWG24 thoma RD CPA
2 Peter 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
AWG24

1 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

IRB 4400 Next 115
FLOOR CABLE
1
Latest revision:

Cross ref XS1/XP1
2,5mm²
/ (23)
+R1 -MP
-XS/XP1
-X11
17
17
4
24
24
16 BN M1W -_402 AWG12 BK
2
19
19
6
26
26
2
18
18

5
25
25
-X14
-A41.1-8 MAIN SERVO DRIVE UNIT 4600

1
1
1
2023-10-31
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
RA/RDP
Lab/Office:
-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

Document no.
3
16
16
APPROVED

2
8 PE1
8 PE1
AWG10 GNYE
GNYE
3HAC024480-011
AWG10
Plant:
PE2
PE2
Sublocation:+
Location: +
=
8
Next 116
Rev. Ind Page115
17 Total 164
MANIPULATOR
CONTROLLER
DRIVE MODULE
1 2 3 4 5 6 7 8

0,23 mm2
+R1-SMB
-XS/XP2
A A
B B
C C
A42-X4 D D
(67) / -MRC_0V1 WH 0V
E WH E
+24V_SMB1 GN 24V
(67) /
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 SERIAL
M MEASUREMENT
BOARD
-_433 AWG16 -XS/XP1

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

12 12 0V BRAKE
(62) / -PTC1 -_438 AWG16 BU 31 PKBK 0,75 mm2 EXT.LAMP
27 27
A43-X5
-_440 AWG16 32 PKBU 0,75 mm2 0V BRAKE
15 15
(62) / -0V BRAKE3

Next 117
1 2 3 4 5 6 7 8

Customer
Connection AWG18
-XP/XT6 -713 -XS/XP13 +R1 -CP/CS
AWG20 BK 1
D1
CPA /
1 BN A1
2 CPE /
RD
CPB /
2 OG A2 D6
3 CPF /
YE
CPC /
3 GN A3 D3
4 CPJ /
BU
GNYE CPD /
4 VT A4 D4 CPK /
D7 Not connected
-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
B14
6 BU B14 GN
7 VT C19 BN C19
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
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 C15
AWG16 GNYE
Opt.803-1 3HAC022957

Next 118
1 2 3 4 5 6 7 8

Customer
Connection AWG18
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 GNYE D4
D7 Not connected
-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
-712 C21
8 1/WH C21 WH
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 +24V Bus
9 WH/OG B22 B22 0V Bus
10 WH/YE or PK B23 BK B23
12 B25 B25
DeviceNet_3 / (120)
-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
12 C15 A12
AWG16 GNYE
Opt. 803-2, 803-3

DEVICE NET & PROFINET/ETHERNET/IP Document no. Rev. Ind Page118
IRB4600 Next 119
1 2 3 4 5 6 7 8

Customer
Connection
-XP/XT66 -XS/XP13 AWG18 +R1-CP/CS
-713 1 CP4
1 AWG20 BK A1 D1
BN 2 CP5
2 RD A2 D6
OG 3
3 YE A3 D3
GN 4
4 BU A4 GNYE D4
VT
-XP/XT5.1 AWG24 AWG24 D7 Not connected
-711 WH CS
1 AWG24 BK B1 BU B1 CS
2 BN B2 WH B2
3 RD B11 OG B11
4 OG B12 WH B12
5 YE B13 GN B13
6 GN B14 GN B14
7 BU C19 BN C19
8 C21 C21
VT WH
9 -712 1/WH B7 BU B7
10 AWG24 1/BU B8 WH B8
11 2/WH B9 OG B9
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
5 -711 GY C16 OG C16
6 AWG24 WH C17 RD C17
7 WH/BK C18 RD C18
9 WH/RD B22 GY B22 CS
10 WH/OG or PK B23 BK B23
11 WH/YE or Light GN B24 BU B24
12 WH/GN B25 B25
ProfiBus_3 / (120)
-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 A3
8 WH/BU C11 BK A4
9 WH/VT C12 GN A9
12 C15 A12
SPOTPACK circuit diagram 3HAC026208-001
Opt.803-4 3HAC022988
PROFI BUS Document no. Rev. Ind Page119
IRB 4600 Next 120
1 2 3 4 5 6 7 8
Opt. 803-3
-A35
+R1-CP/CS
OPTION : DEVICENET -707 -XS/XP13 AWG22 AWG24
Additional sheet X2 2/BK V- BK 0V
1 F2 B23
1/BU CAN_L BU CAN_L
(40) / A35 2 F4 A4
Bare wire SHIELD
3
1/WH CAN_H WH CAN_H
4 F3 A3
V+ RD +24V CAN
2/RD
5 F1 B22
DeviceNet_3 / (118)

Option: ProfiNet / Ethernet IP
Opt. 803-2 AWG22
-R1.ETHERNET
-XP9 1
YE 1
(23) / 5.TXRX+ RX+
1 2
2 WH 2
(23) / 5.TXRX- RX- ProfiNet//Ethernet
3 OG 3 3
(23) / 5.RXTX+ TX+
4 BU 4 4
(23) / 5.RXTX- TX-
OPTION : PROFIBUS Option: 803-4

Additional sheet -A31.3 AWG22
+R1-CP/CS
-709 -XS/XP13
(DP-M)1 1/RD RXD/TXD-P RD RXD/TXD-P
(38) / A31_3TXDRXD 2
1B F5 A5
(38) / A31_3RXDTXD
1A F6 A6
ProfiBus_3 / (119)

DevNet/ProfiNet/Ethernet/Profibus addition to CP/CS Sublocation:+
Next 120.1
1 2 3 4 5 6 7 8
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
411
412
413
M3W 414
M3W 415
416
417
431
M6W 430
432
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
Cross ref / (23)
XS1/XP1 AWG10 GNYE
AWG14 BK
DRIVE MODULE
-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 PE1 PE2
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
+R1-MP 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 PE1 PE2

MANIPULATOR
Referring to the circuit diagram 3HAC8935-1.

IRB 6400R Document no. Rev. Ind Page120.1
Next 120.2
1 2 3 4 5 6 7 8
0,23 mm2
-XS/XP2
-SMB
A 1
B 2
C 3
(67) / -MRCI 1_N OG SDO-N
AXIS COMPUTER BOARD D 4
A42-X4 (67) / -MRC_0V1 WH 0V
E WH 5
(67) / +24V_SMB1 GN 24V
F BN 6
(67) / -MRC_0V2 BAT BR
G 7
BAT BR
H 8
(67) / -MRC_0V3 WH 0V
J 9
GY BATSUP
K 10 SERIAL

RD EXT LAMP MEASUREMENT
L 11 BOARD
AWG14
-XS/XP1
(64) / -EXT. LAMP -433 AWG16 BU VTBK -MP
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
(62) / -0V BRAKE4 -438 AWG16 BU OGBK

D9 24
(62) / -PTC1 -439 AWG16 BU RDGN
CONTACTOR UNIT C2 20
A43-X5 (62) / -PTC 1 ret -440 AWG16 BU RDBU
C1 30
(62) / -0V BRAKE3 -437 AWG16 BU GY
B13 12

Next 120.3
1 2 3 4 5 6 7 8
+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
1/BU CSB
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

CUSTOMER POWER/SIGNAL/BUS Sublocation:+
Next 120.4
1
Latest revision:
Cross ref
XS1/XP1

2,5mm²
/ (23)
+R1-MP
-XS/XP1
-X11
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
2023-10-31
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
RA/RDP
Lab/Office:
-X15

1
20
20

5
29
29
IRB 6700
2
28
28
According to manipulator circuit diagram 3HAC043446-005

-X13

BU M3U BK
SERVO DRIVE SYSTEM

10 -_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
16
16
Document no.

APPROVED
2
8 PE1
8 PE1
AWG10 GNYE
AWG10 GNYE
3HAC024480-011
PE2
PE2
Plant:
Sublocation:+
Location: +
=
8
FLOOR CABLE
DRIVE MODULE
CONTROLLER
MANIPULATOR
17 Total 164
Next 120.5
Rev. Ind Page120.4
1 2 3 4 5 6 7 8

0,23 mm2
+R1-SMB
-XS/XP2
A A
B B
C C
A42-X4 D D
(67) / -MRC_0V1 WH 0V
E WH E
(67) / +24V_SMB1 GN 24V
According to manipulator circuit diagram 3HAC043446-005 r00

BN
F F SERIAL
(67) / -MRC_0V2 MEASUREMENT
G G
BOARD
H H
(67) / -MRC_0V3 WH
J J
GY
K K
RD
L L
Key pin
M
Flow censor
for IRB6790 ref. to sh. 23 and 51.2.
-_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
(64) / -BRAKEREL2 -_436 AWG16

12 12
(62) / -PTC1 -_438 AWG16 BU 31 PKBK 0,75mm2 EXT.LAMP
27 27
A43-X5
-_440 AWG16 32 PKBU 0,75mm2 0V EXT.LAMP
15 15
(62) / -0V BRAKE3

IRB 6700/6790 Document no. Rev. Ind Page120.5
Next 120.6
1 2 3 4 5 6 7 8
Customer
Connection CONTROLLER CONTROL MODULE FLOOR CABLE MANIPULATOR
-XP/XT6 -713 -XS/XP13 AWG18 +R1 -CP/CS
AWG20 BK 1 4
1 BN A1 D1
RD 2 5
2 OG A2 D6
According to manipulator diagram 3HAC044246-002 PARABUSCOM or PARAMULTI

YE 3 6
3 GN A3 D3
BU 4 7
4 VT A4 GNYE D4
-XP/XT5.1 -711 AWG24 AWG24 D7 Not connected

AWG24 BK WH CS
1 BN B1 BU B1 CS
2 RD B2 WH B2 CS
According to Manipulator diagram 3HAC044246-002 PARACOM

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 N.C = Not connected

8 -712 C21 CS
1/WH WH C21
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 N.C
5 AWG24 WH C16 OG C16 N.C
6 WH/BK C17 RD C17 N.C
7 WH/BN C18 RD C18 N.C
8 WH/RD C20 RD C20 CS only in Parabuscom
9 WH/OG B22 GY B22 CS only in Parabuscom
10 WH/YE or PK B23 BK B23 CS only in Parabuscom
11 WH/GN or Light GN B24 BU B24 CS only in Parabuscom
12 B25 B25
-XP/XT5.3 -713
AWG20 GY WH CS
1 WH B15 BN B15 CS
6 WH/YE B21 BK B21 CS only in Parabuscom
7 WH/GN C10 OG A3 CS only in Parabuscom
8 WH/BU C11 BK A4 N.C
9 WH/VT C12 GN A9 N.C
10 WH/GY or Light GN C13 BK A10 N.C
11 BN/BK or RD/BK C14 BN A11 N.C
12 C15 A12
For more information aboute Option connected to XS13.
Option: ProfiNet/Ethernet IP sheet / (91) AWG16 GNYE
OPT.//PROFI BUS, or DEVICE NET acc. to sh. (120.7.2) DRESSPACK circuit diagram 3HAC026209-001
Only in Parabuscom and Paramulti

CUSTOMER POWER/SIGNAL PARABUSCOM Sublocation:+
SINGLE CABINET PROFI/DEVICE NET BUS Document no. Rev. Ind Page120.6
IRB 6700 Next 120.7
1 2 3 4 5 6 7 8
OPTION -A35.1
DEVICENET -X2 -707 -XS/XP13 AWG22 AWG24 +R1-CP/CS
Add.sh 1 BK
2/BK V- 0V
F2 B23
(40) / A35 F4 A4
3 Bare wire SHIELD
F3 A3
5 V+ RD +24V CAN
2/RD
F1 B22
PARABUSCOM
According to Manipulator diagram 3HAC044246-002 r00

OPTION
PROFIBUS -A31.3 AWG22
Add. sh. (125.2) (128.9.2) (120.6.1) (126.1) -XS/XP13 +R1 -CP/CS
-709
-(DP-M)1 RD
(38) / A31_3TXDRXD 1/RD RXD/TXD-P RXD/TXD-P
1B 2 F5 A5
(38) / A31_3RXDTXD
1A F6 A6
AWG22
-R1.ETHERNET
-XP9 1
1 YE 1
(23) / 5.TXRX+ RX+
According to PARAMULTI Option: 2 WH 2 2
PARAMULTI
(23) / 5.TXRX- RX-
(128.8) / ProfiNet/Ethernet IP sheet 3 OG 3 3 ProfiNet//Ethernet
(23) / 5.RXTX+ TX+
4 BU 4 4
(23) / 5.RXTX- TX-

RA/RDP
Location: +
APPROVED
DevNet//EtherNet//ProfiNet//PBUS ADDITION TO CP/CS Sublocation:+
Next 121
1
Latest revision:
Cross ref
XS1/XP1
2,5mm²

/ (23)
+R1-MP
-XS/XP1
-X11
17
17
4
24
24
16 BN M1W -_402 AWG12 BK
3
19
19
2
26
26
2
18
18
5
25
25

-X14
1
1
1
2023-10-31
3
10
10
3
2
2
2
-X12

1
23
23

4
32
32
24 GY M2W -_408 AWG12 BK

3
21
21

6
4
30
30

2
22
22

5
31
31
RA/RDP
-X15
Lab/Office:
1
20
20

3
29
29
5

2
28
28
IRB 66xx - 76xx

-X13
10 BU M3U -_412 AWG12 BK

3
3
SERVO DRIVE SYSTEM

1

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

7
7
3
6
5 BK M3W -_415 AWG12 BK

6
14
14

5
5
2

6
6
5
-X16

9
9
1
Status:

7
16
16

Document no.
2
APPROVED
8 PE1
8 PE1
AWG10 GNYE
AWG10 GNYE
PE2
PE2
3HAC024480-011
Plant:
Sublocation:+
Location: +
=
8
FLOOR CABLE
DRIVE MODULE
CONTROLLER
MANIPULATOR
Next 122
Rev. Ind Page121
17 Total 164
1 2 3 4 5 6 7 8
0,23 mm2
+R1-SMB
-XS/XP2
A A
B B
C C
A42-X4 D D
(67) / -MRC_0V1 WH 0V
According to Manipulator IRB66XX - 76XX circuit diagram 3HAC025744-001

E WH E
(67) / +24V_SMB1 GN 24V

BN
F F
(67) / -MRC_0V2 BAT BR
G G
BAT BR
H H SERIAL
(67) / -MRC_0V3 WH 0V MEASUREMENT
J J BOARD
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 Cross ref XS1/XP1 / (23) +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

12 12 0V BRAKE
CONTACTOR UNIT (62) / -PTC1 -_439 AWG16 BU 31 PKBK 0,75 mm2 PTC
A43-X5 27 27
(62) / -PTC 1 ret -_440 AWG16 BU 32 PKWH 0,75 mm2 0V PTC
15 15
(62) / -0V BRAKE3 -_438 AWG16 BU

IRB 66xx - 76xx Document no. Rev. Ind Page122
Next 123
1 2 3 4 5 6 7 8

DRIVE MODULE
0,23 mm2
-R1-SW23
/ -+24V COOL.4 24V COOL WH 24V FAN1
N
/ -0V COOL.4 0V COOL BU 0V FAN1
P
/ -FAN 1 ret.4 FAN1 ret WH T1
R
/ -+24V COOL.5 24V COOL WH 24V FAN2

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

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

Customer
Connection w26 1mm2
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 SH D7 Not connected

-711 W27
According to Manipulator diagram 3HAC025744-001 and 3HAC13347-1

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

6 B14 B14 CS
BU gn 0,23mm2
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 B21
7 WH/GN C10
8 WH/BU C11
9 WH/VT C12
12 C15
IRB 6600 - 7600 Next 125
1 2 3 4 5 6 7 8
OPTION : DEVICENET -A35

Add. sh. -X2 -707 -XS/XP13 AWG22 AWG24 +R1-CP/CS
(128.9.1) 1 BK
(128.1)
2/BK V- 0V
F2 B23
(40) / A35 F4 A4
3 Bare wire SHIELD
F3 A3
5 V+ RD +24V CAN
2/RD
F1 B22

OPTION : PROFIBUS
Add. sh. (120.7.2) (128.9.2) (120.6.1) (126.1) -A31.3 AWG22

+R1-CP/CS
-709
-(DP-M)1 -XS/XP13 RD
1B 2 F5 A5
(38) / A31_3RXDTXD
1A F6 A6
AWG22
-R1.Ethernet
-XP9 1
YE
(23) / 5.TXRX+ RX+
1 1 2
2 WH 2
(23) / 5.TXRX- RX-
Option: ProfiNet / Ethernet IP 3 OG 3 3 ProfiNet//Ethernet
6600, 6620,6640, 6650s,6660, 7600
(23) / 5.RXTX+ TX+
4 BU 4 4
(23) / 5.RXTX- TX-

RA/RDP
Location: +
APPROVED
DevNet//EtherNet//ProfiNet//PBUS ADDITION TO CP/CS Sublocation:+
IRB 66xx - 7600 Document no. Rev. Ind Page125
Next 126
1 2 3 4 5 6 7 8

Customer
Connection
-XP/XT66 -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
D7 Not connected
-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 CS
7 VT C19 BN C19 CS
8 -712 C21 C21 CS
1/WH WH
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
12 C15 A12
AWG16 GNYE
OPTION //PROFIBUS acc. to(120.7.2) DRESSPACK circuit diagram 3HAC026209-001

SINGLE CABINET PROFI BUS Document no. Rev. Ind Page126
IRB 6600 - 7600 Next 128
1 2 3 4 5 6 7 8
Customer CONTROLLER CONTROL MODULE FLOOR CABLE MANIPULATOR

Connection
AWG18
-XP/XT6
6 -XS/XP13
-713
AWG20 1 +R1-CP/CS
BK 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
D7 Not connected
-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 CS
7 VT C19 BN C19 CS
8 -712 C21 C21 CS
1/WH WH
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
12 C15 A12
AWG16 GNYE
OPTION //DEVICE net acc. to (125.1) SPOTPACK circuit diagram 3HAC026208-001

SINGLE CABINET DEVICE NET Document no. Rev. Ind Page128
IRB 6600 - 7600 Next 128.5
Cross ref
XS1/XP1
1
Latest revision:
/ (23)
2,5mm²

+R1-MP
-XS/XP1
-X11
17
17
4
24
24
16 BN M1W -_402 AWG12 BK
3
19
19
2
26
26
2
18
18
5
25
25

2023-10-31
3
-X12

1
23
23

4
32
32
24 GY M2W -_408 AWG12 BK

3
21
21

6
4
30
30

2
22
22

5
31
31
RA/RDP
Lab/Office:
5
IRB 87xx
-X13
According to Manipulator IRB 87XX circuit diagram 3HAC051028-002 10 BU M3U -_412 AWG12 BK

3
3
1

4
4
4

7
7
3
SERVO DRIVE SYSTEM AXES 1-3

6
5 BK M3W -_415 AWG12 BK

6
14
14

5
5
2

6
6
5
Status:
7
Document no.
APPROVED
PE1
PE1
AWG10 GNYE
AWG10 GNYE
PE2
PE2
3HAC024480-011
Plant:
Sublocation:+
Location: +
=
8
FLOOR CABLE
MANIPULATOR
DRIVE MODULE
CONTROLLER
17 Total 164
Next 128.6
Rev. Ind Page128.5
1 2 3 4 5 6 7 8
Harness XP11-A41.1 3HAC050605

Harness XP1 and XP11- R1.MP_A and_B 3HAC026787
ADDITIONAL DRIVE UNIT AXIS 4 ADDITIONAL DRIVE UNIT AXIS 5

-A41.1 MAIN SERVO DRIVE UNIT -A41.3 -A41.4
3 1 2 -X15 -X16 1 4 3 6 2 5 -X2 1 4 3 6 2 5

-X14 3 1 2 3 1 2 -X2
BK
BK
BK
BK
BK
BK
BK
BK
BK
BK
BK
BK
BK
BK
BK
-_430 AWG12
-_431 AWG12
-_432 AWG12
-_418 AWG12
-_419 AWG12
-_420 AWG12
-_421 AWG12
-_422 AWG12
-_423 AWG12
-_424 AWG12
-_425 AWG12
-_426 AWG12
-_427 AWG12
-_428 AWG12
-_429 AWG12
N/A N/A
GNYE
GNYE
AWG10
AWG10
M6W
M6U
M6V
M4U
M4U
M4W
M4W
M4V
M4V
M5U
M5U
M5W
M5W
M5V
M5V
16 9 8 1 4 6 10 2 5 19 20 23 29 22 28 PE1
CONTROLLER
PE2
-XS/XP11 DRIVE MODULE
BU/WH
BU/RD
GYWH
BNWH
GYGN
BUGN
GYRD
BKGN
GYBU
BKRD
GYBK
BKBU
BUBK
BNBK
FLOOR CABLE
BN
2,5mm²
11
16
20
23
21
22
19
7
2
4 10 5 19 23 22
N/A N/A N/A N/A N/A N/A

-R1.MP.B 16 9 8 1 6 2 20 29 28 PE1 PE2 MANIPULATOR
According to Manipulator IRB 87XX circuit diagram 3HAC051028-002

SERVO DRIVE SYSTEM AXES 4-6 Sublocation:+
IRB 87xx Document no. Rev. Ind Page128.6
Next 128.7
1 2 3 4 5 6 7 8

0,23 mm2
-XS2 /XP2 +R1 -SMB
A A
AXIS COMPUTER BOARD
B B
C C
(67) / -MRCI 1_N OG SDO-N
D D
(67) / -MRC_0V1 WH 0V
E WH E
(67) / +24V_SMB1 GN 24V
A42-X4
F BN F SERIAL
(67) / -MRC_0V2 MEASUREMENT
G G
BOARD
According to circuit diagram 3HAC051028-002

H
H
(67) / -MRC_0V3 WH
J J
GY
K K
RD
L L
Key pin
M
-XS1/XP1 +R1-MP-A
(64) / -BRAKEPB -_434 AWG16 DP1 30 OG 0,75mm² N/A
DRIVE MODULE
11 11
(62) / -0V BRAKE4 437 -Y4 -_437 AWG16 DP4 29 OG/WH 4mm² 0V BRAKE
2;1 12 12
(64) / -BRAKEREL1 435 -Y3 -_435 AWG16 DP2 28 OG/RD 4mm² N/A
2;1 13 13
XS40
440
436
(62) / -0V BRAKE3 440 -Y1 440/440.1

2;1
434.1
-XS11/XP11 +R1-MP-B
CONTACTOR UNIT
30 OG 0,75mm² BRAKE PB
11 11
437.1 440.1/437.1 29 OG/WH 4mm² 0V BRAKE
12
12
DP5 435.1 DP3 28 OG/RD 4mm² BRAKE RELEASE
A43-X5
436.1
13 13
(64) / -BRAKEREL2 -_436 AWG16 BU -Y2
437.1 2;1 32 PK/BU 0,75mm² 0V EXT.LAMP
BU 15
15
(64) / -EXT. LAMP -_433 AWG16 27 PK/BK 0,75mm² 24V EXT.LAMP
27
27

IRB 87xx Document no. Rev. Ind Page128.7
Next 128.8
1 2 3 4 5 6 7 8

Customer
Connection
-XP/XT66 -713 -XS/XP13 AWG18 +R1-CP/CS
AWG20 BK 1 4
1 BN A1 D1
RD 2 5
2 OG A2 D6
YE 3 6
3 GN A3 D3
BU 4 7
4 VT A4 GNYE D4
D7 Not connected
-XP/XT5.1 -711 AWG24 AWG24
AWG24 BK WH CS
1 BN B1 BU B1 CS
According to manipulator diagram 3HAC053524-002 PARAMULTI

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 N.C = Not connected

8 -712 C21 CS
1/WH WH C21
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 N.C
5 AWG24 WH C16 OG C16 N.C
6 WH/BK C17 RD C17 N.C
7 WH/BN C18 RD C18 N.C
8 WH/RD C20 RD C20 N.C
9 WH/OG B22 GY B22 N.C
10 WH/YE or PK B23 BK B23 N.C
11 WH/GN or Light GN B24 BU B24 N.C
12 B25 B25
-XP/XT5.3 -713
AWG20 GY WH CS
1 WH B15 BN B15 CS
6 WH/YE B21 BK B21 N.C
7 WH/GN C10 OG A3 N.C
8 WH/BU C11 BK A4 N.C
9 WH/VT C12 GN A9 N.C
10 WH/GY or Light GN C13 BK A10 N.C
11 BN/BK or RD/BK C14 BN A11 N.C
12 C15 A12
AWG16 GNYE
Option: ProfiNet/Ethernet IP sheet / (120.7) SPOTPACK/DRESSPACK circuit diagram 3HAC053524-002
OPT.//PROFInet, Ethernnet
Only in Paramulti

CUSTOMER POWER/SIGNAL PARAMULTI Sublocation:+
SINGLE CABINET PROFI/DEVICE NET BUS Document no. Rev. Ind Page128.8
IRB 8700 Next 128.9
1 2 3 4 5 6 7 8
Customer
Connection
OPTION : DEVICENET -A35

Add. sh. -X2 -707 -XS/XP13 AWG22 AWG24 +R1-CP/CS
(125.1) 1 BK
(128.1)
2/BK V- 0V CAN/BUS
F2 B23
(40) / A35 F4 A4
3 Bare wire SHIELD
F3 A3
5 2/RD V+ RD +24V CAN/BUS
F1 B22

OPTION : PROFIBUS
Add. sh. (120.7.2) (125.2) (120.6.1) (126.1) -A31.3 AWG22

+R1-CP/CS
-709
-(DP-M)1 -XS/XP13 RD
1B 2 F5 A5
(38) / A31_3RXDTXD
1A F6 A6
AWG22
-R1.ETHERNET
-XP9 1
1 YE 1
(23) / 5.TXRX+ RX+
2 WH 2 2
According to PARAMULTI Option: (23) / 5.TXRX- RX-
PARAMULTI
/ ProfiNet/Ethernet IP sheet 3 OG 3 3 ProfiNet//Ethernet
(23) / 5.RXTX+ TX+
4 BU 4 4
(23) / 5.RXTX- TX-

EtherNet//ProfiNet//PBUS ADDITION TO Sublocation:+
CP/CS PARAMULTI IRB 8700 Document no. Rev. Ind Page128.9
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© Copyright 2023 ABB ALL right reserved.

Latest revision: Lab/Office: Status: Plant: =

2 TABLE OF CONTENTS 2022-09-29 SEALCHR1

3 TABLE OF CONTENTS 2022-09-29 SEALCHR1

4 TABLE OF CONTENTS 2022-09-29 SEALCHR1

6 TABLE OF CONTENTS 2022-09-29 SEALCHR1

8 VIEW OF CONTACTS 2019-06-20 SETHSTA

9 DEVICE LIST 2019-06-20 SETHSTA

10 DEVICE LIST 2019-06-20 SETHSTA

13 BLOCK DIAGRAM CONTROL MODULE 2019-06-20 SETHSTA

14 BLOCK DIAGRAM SINGLE DRIVE MODULE 2019-06-20 SETHSTA

15 BLOCK DIAGRAM DRIVE MODULE 2019-06-20 SETHSTA

16 FRONT VIEW OF SINGLE CABINET MDU HV 2020-02-05 SETHSTA

16.1 XT31, CONNECTED OPTIONS 2019-06-20 SETHSTA

17 FRONT VIEW OF SINGLE CABINET MDU LV and HV 2019-06-20 SETHSTA

18 SIDE VIEWS OF SINGLE CABINET 2020-02-05 SETHSTA

19 VIEW OF DRIVE MODULE CABINET 2019-06-20 SETHSTA

20 VIEW OF PANEL BOARD CONVEYOR TRACKING 2019-06-20 SETHSTA

21 VIEW OF CONTACTOR & AXIS COMPUTER UNIT 2019-06-20 SETHSTA

22 VIEW OF VOLTAGE MEARSUREMENT BOX 2019-06-20 SETHSTA

23 CONTACT AT THE CABINET WALL 2022-05-11 SEALCHR1

24 OPT:POWER SUPPLY DSQC609 XT31, G4, G5, G6 2020-02-05 SETHSTA

26 RUN CHAIN and PANEL BOARD A21 Sh. 1 of 4 2021-04-20 SETHSTA

27 RUN CHAIN and PANEL BOARD A21 Sh. 2 of 4 2021-04-20 SETHSTA

28 RUN CHAIN and PANEL BOARD A21 Sh. 3 of 4 2021-04-30 SETHSTA

30 FPU, FLEXPENDANT and option HOT PLUG 2021-03-02 SETHSTA

Latest revision: Lab/Office: Status: Plant: =

30.2 FPU, Extended FLEXPENDANT cable 15 - 30 m 2019-06-20 SETHSTA

34 MAIN COMPUTER/ANYBUS_CC/RS232 EXP. /INTERFACE BOARD/ 2021-03-22 SETHSTA

36 MAIN COMPUTER A31 DSQC1000/1018 ; A32 DSQC1003 2020-02-14 SETHSTA

38 PROFIBUS DP M/S A31.3 2020-08-31 SETHSTA

38.3 SAFETY BOARD A31.4 HARDWARE SWITCH 2023-10-30 SEANHAG7

38.4 SAFETY BOARD A31.4 SOFTWARE SWITCH 2019-06-20 SETHSTA

39 DEVICENET A31.2 m/s DSQC1006 2019-06-20 SETHSTA

40 DEVICENET ADAPTER 2020-02-05 SETHSTA

41 ETHERNET SWITCH A62 2020-02-05 SETHSTA

42 VISION, INTEGRATED CAMERAS and CONVEYOR TRACKING Opt.1550-1 2019-06-20 SETHSTA

43 ETHERNET SWITCH A64/CAMERA 2020-02-05 SETHSTA

44 ETHERNET SWITCH A65 2019-06-20 SETHSTA

45 DISPENCE PAC SUPPORT A57 2019-06-20 SETHSTA

47 DIGITAL I/O UNIT DSQC652 2019-06-20 SETHSTA

48 COMBI I/O UNIT DSQC651 2019-06-20 SETHSTA

49 RELAY I/O UNIT DSQC653 2019-06-20 SETHSTA

50 RELAY I/O UNIT DSQC653 2019-06-20 SETHSTA

51 ANALOGUE I/O UNIT DSQC355B 2019-06-20 SETHSTA

51.2 Local I/O Digital Base 16in/16out 2020-02-05 SETHSTA

51.8 Local I/O Relay add on 8RO/8DI 2020-02-05 SETHSTA

53 ENCODER UNIT DSQC377 2019-06-20 SETHSTA

Latest revision: Lab/Office: Status: Plant: =

55 MAINS CONNECTION XP0, Q1, F6, Z1, Z3 2022-04-05 SEALCHR1

56 TRANSFORMER UNIT 480V T1.1, T1.3, Z2, X10 2022-04-06 SEALCHR1

58 OPTION : SERVICE OUTLET F4, F5, X22 2020-02-05 SETHSTA

62 CONTACTOR BOARD A43 2023-10-30 SEANHAG7

63 CONTACTOR UNIT A43, K42, K43, K44 2022-09-29 SEALCHR1

66 AXIS COMPUTER UNIT A42, A41.1 2022-09-29 SEALCHR1

67 AXIS COMPUTER UNIT A42, A44 2022-09-29 SEALCHR1

68 FORCE MEASUREMENT BOX 2022-09-29 SEALCHR1