Product manual (part 2 of 2), reference information

Articulated robot
IRB 1400
M2000, M2004


Product manual (part 2 of 2)
Reference information
3HAC 021111-001
Revision -

Articulated robot
IRB 1400
M2000
M2004
The information in this manual is subject to change without notice and should not be construed
as a commitment by ABB. ABB assumes no responsibility for any errors that may appear in
this manual.
Except as may be expressly stated anywhere in this manual, nothing herein shall be construed
as any kind of guarantee or warranty by ABB for losses, damages to persons or property, fit-
ness for a specific purpose or the like.
In no event shall ABB be liable for incidental or consequential damages arising from use of
this manual and products described herein.
This manual and parts thereof must not be reproduced or copied without ABB’s written per-
mission, and contents thereof must not be imparted to a third party nor be used for any unau-
thorized purpose. Contravention will be prosecuted.
Additional copies of this manual may be obtained from ABB at its then current charge.

©Copyright 2004 ABB All right reserved.

ABB Automation Technologies AB
Robotics
SE-721 68 Västerås
Sweden
 Table of Contents

1: Reference information, IRB 1400 5

1.0.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5
1.0.2 Applicable Safety Standards . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6
1.0.3 Unit conversion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7
1.0.4 Screw joints . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8
1.0.5 Weight specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .11
1.0.6 Document references . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .12
1.0.7 Standard toolkit, IRB 1400 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .13
1.0.8 Performing a leak-down test . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .14
1.0.9 Lifting equipment and lifting instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .15

2: Spare part list 17

2.0.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .17
2.0.2 Manipulator complete . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .18
2.0.3 Arm housing, complete . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .22
2.0.4 Drive unit, axes 5-6 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .23
2.0.5 Serial measurement unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .24

3: Foldouts 25
3.0.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .25

4: Circuit diagram 47
4.0.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .47

3HAC 021111-001 3
Table of Contents

4 3HAC 021111-001
 1 Reference information, IRB 1400
1.0.1 Introduction

1: Reference information, IRB 1400

1.0.1 Introduction

General This chapter includes general information, complementing the more specific information in
the following chapters.

5
1 Reference information, IRB 1400
1.0.2 Applicable Safety Standards

1.0.2 Applicable Safety Standards

Standards, The robot is designed in accordance with the requirements of:

general • ISO10218, Jan. 1992, Industrial Robot Safety
• ANSI/RIA 15.06-1999
• ISO/DIS 11161, Industrial automation systems - safety of integrated manufacturing
systems - Basic requirements
• DIN 19258 - Interbus-S, International Standard

Standards, safety The following standards are applicable to the safety fence surrounding the robot cell:
fence • ISO/DIS 11161, Industrial automation systems -safety of integrated manufacturing
systems - Basic requirements
• prEN 999:1995

Standards, robot The following standards are applicable when the robot is part of a robot cell:
cell • IEN 294, Safety of machinery - Safety distance to prevent danger zones being reached
by the upper limbs.
• EN 349, Safety of machinery - Minimum gaps to avoid crushing of parts of the human
body.
• EN 811 Safety of machinery - Safety distance to prevent danger zones being reached
by the lower limbs.
• Pr EN 999 Safety of machinery - The positioning of protective equipment in respect
of approach speeds of the human body.
• EN 1088 Safety of machinery - Interlocking device associated with guards principles
for design and selection.

6
 1 Reference information, IRB 1400
1.0.3 Unit conversion

1.0.3 Unit conversion

Converter table Use the table below to convert units used in this manual.

Quantity Units
Length 1m 3.28 ft 39.37 in
Weight 1 kg 2.21 lb
Pressure 1 bar 100 kPa 14.5 psi
Force 1N 0.738 lbf
Moment 1 Nm 0.738 lbf-tn
Volume 1L 0.264 US gal

7
1 Reference information, IRB 1400
1.0.4 Screw joints

1.0.4 Screw joints

General This section details how to tighten the various types of screw joints on the robot and the
controller.
The instructions and torque values are valid for screw joints comprised of metallic materials
and do not apply to soft or brittle materials.

UNBRAKO UNBRAKO is a special type of screw recommended by ABB for certain screw joints. It
screws features special surface treatment (Gleitmo as described below), and is extremely resistant to
fatigue.
Whenever used, this is specified in the instructions and in such cases no other type of
replacement screw is allowed! Using other types of screws will void any warranty and may
potentially cause serious damage or injury!

Gleitmo treated Gleitmo is a special surface treatment to reduce the friction when tightening the screw joint.
screws Screws treated with Gleitmo may be reused 3-4 times before the coating disappears. After
this the screw must be discarded and replaced with a new one.
When handling screws treated with Gleitmo, protective gloves of nitrile rubber type should
be used.

Screws lubricated Screws lubricated with Molycote 1000 should only be used when specified in the repair,
in other ways maintenance or installation procedure descriptions.
In such cases, proceed as follows:
1. Apply lubricant to the screw thread.
2. Apply lubricant between the plain washer and screw head.
3. Tighten to the torque specified in section Tightening torque below. Screw dimensions
of M8 or larger must be tightened with a torque wrench. Screw dimensions of M6 or
smaller may be tightened without a torque wrench if this is done by trained and
qualified personnel.

Lubricant Art. no.

Molycote 1000 (molybdenum disulphide grease) 1171 2016-618

8
 1 Reference information, IRB 1400
1.0.4 Screw joints

Tightening torque Before tightening any screw, note the following:

• Determine whether a standard tightening torque or special torque is to be applied. The
standard torques are specified in the tables below. Any special torques are specified in
the Repair, Maintenance or Installation procedure description. Any special torque
specified overrides the standard value.
• Use the correct tightening torque for each type of screw joint.
• Only use correctly calibrated torque keys.
• Always tighten the joint by hand, and never use pneumatical tools
• Use the correct tightening technique, i.e. do not jerk. Tighten the screw in a slow,
flowing motion.
• Maximum allowed total deviation from the specified value is 10%!
The table below specify the recommended standard tightening torque for oil-lubricated
screws with slotted or cross-recess head screws.

Tightening torque (Nm)

Dimension
Class 4.8, oil-lubricated
M2.5 0.25
M3 0.5
M4 1.2
M5 2.5
M6 5.0

The table below specify the recommended standard tightening torque for oil-lubricated
screws with Allen head screws.

Tightening torque Tightening torque Tightening torque

(Nm) (Nm) (Nm)
Dimension
Class 8.8, oil- Class 10.9, oil- Class 12.9, oil-
lubricated lubricated lubricated
M5 6 - -
M6 10 - -
M8 24 34 40
M10 47 67 80
M12 82 115 140
M16 200 290 340

9
1 Reference information, IRB 1400
1.0.4 Screw joints

The table below specify the recommended standard tightening torque for Molycote-lubri-
cated screws with Allen head screws.

Tightening torque (Nm) Tightening torque (Nm)

Dimension
Class 10.9, Molycote-lubricated Class 12.9, Molycote-lubricated
M8 28 34
M10 55 66
M12 96 115
M16 235 280

The table below specify the recommended standard tightening torque for water and air con-
nectors when one or both connectors are made of brass.

Tightening torque Tightening torque Tightening torque

Dimension
Nm - Nominal Nm - Min. Nm - Max.
1/8 12 8 15
1/4 15 10 20
3/8 20 15 25
1/2 40 30 50
3/4 70 55 90

10
 1 Reference information, IRB 1400
1.0.5 Weight specifications

1.0.5 Weight specifications

Definition In all repair and maintenance procedures, weights of the components handled are sometimes
specified. All components exceeding 22 kg (50 lbs) are high-lighted in this way.
To avoid injury, ABB recommends the use of lifting equipment when handling components
with a weight exceeding 22 kg. A wide range of lifting tools and devices are available for
each manipulator model.

Example Below is an example of how a weight specification is presented:

CAUTION!
The motor weighs 32 kg! All lifting equipment used must be sized accordingly!

11
1 Reference information, IRB 1400
1.0.6 Document references

1.0.6 Document references

General The contents of this manual may include references to additional documentation necessary to
perform certain procedures. This section specifies the article numbers for the referenced doc-
umentation.

Product specifi- The product specification includes generic technical data. The specification listed below is
cation, robot the English version.

Document name Document ID

Product specification 3HAC 9376-1

Product manuals, The product manuals include information about installation and service activities. The table
controller below specifies the article numbers of the product manuals for all controller models. The part
number -001 is the English version.

Document name Document ID

Product manual, S4Cplus M2000 3HAC 021333-001
Product manual, S4Cplus M2000A 3HAC 021128-001
Product manual, IRC5 M2004 3HAC 021313-001

Operators manual The operators manual contains instructions for daily operation of robot systems. The table
below specifies the article numbers of the operators manuals for different robot systems.

Document name Document ID Note

User’s guide (S4Cplus) 3HAC 7793-1 Contains instructions for daily operation
of S4Cplus based robot systems.
Operator’s manual (IRC5) 3HAC 16590-1

Additional docu-
mentaion
Document name Document ID Note
Calibration Pendulum Instruction 3HAC 16578-1 Enclosed with the Calibration Pendu-
lum Toolkit.
External axes 3HAC 9299-1

12
 1 Reference information, IRB 1400
1.0.7 Standard toolkit, IRB 1400

1.0.7 Standard toolkit, IRB 1400

General All service (repair, maintenance and installation) instructions contain lists of tools required
to perform the specified activity. All special tools, i.e. all tools that are not considered stan-
dard as defined below, are listed in their instructions respectively.
This way, the tools required are the sum of the Standard Toolkit and any tools listed in the
instruction.

Contents

Tool Rem.

13
1 Reference information, IRB 1400
1.0.8 Performing a leak-down test

1.0.8 Performing a leak-down test

General After refitting any motor and any gearbox, the integrity of all seals enclosing the gearbox oil
must be tested. This is done in a leak-down test.

Required equip-
ment
Equipment, etc. Art. no. Note
Leakdown tester 3HAC 0207-1
Leak detection spray -

Procedure

Step Action Note/Illustration

1. Finish the refitting procedure of the motor or gear in
question.
2. Remove the topmost oil plug on the gear in question, Art. no. is specified above!
and replace it with the leakdown tester .
Adapters may be required, which are included in the
leakdown tester kit.
3. Apply compressed air, and raise the pressure with the Recommended value: 0.2 -
knob until the correct value is shown on the manom- 0.25 bar (20 - 25 kPa)
eter.
4. Disconnect the compressed air supply.
5. Wait for approx. 8-10 minutes. No pressure loss must If the compressed air is sig-
be detected. nificantly colder or warmer
than the gearbox to be
tested, a slight pressure
increase or decrease
respectively may occur. This
is quite normal.
6. Was any pressure drop evident?
Localize the leak as detailed below.
Remove the leakdown tester, and refit the oil plug.
The test is complete.
7. Spray suspected leak areas with leak detection Art. no. is specified above!
spray .
Bubbles indicate a leak.
8. When the leak has been localized: take the neces-
sary measures to correct the leak.

14
 1 Reference information, IRB 1400
1.0.9 Lifting equipment and lifting instructions

1.0.9 Lifting equipment and lifting instructions

General Many repair and maintenance activities require different pieces of lifting equipment, which
are specified in each procedure.
The use of each piece of lifting equipment is not detailed in the activity procedure, but in
the instruction delivered with each piece of lifting equipment.
This implies that the instructions delivered with the lifting equipment should be stored for
later reference.

15
1 Reference information, IRB 1400
1.0.9 Lifting equipment and lifting instructions

16
 2 Spare part list
2.0.1 Introduction

2: Spare part list

2.0.1 Introduction

Item number refers to item number on the foldouts. Article numbers marked with bold text
are specially designed as spare parts (painted etc.).

3HAC 021111-001 Revision - 17

2 Spare part list
2.0.2 Manipulator complete

2.0.2 Manipulator complete

Manipulator See foldouts 1, 2, 3, 4 and 5 to locate the item numbers.

complete

Item Qty Name Art. no. Remark

1 1 Foot 3HAB 3443-1
2 1 Gears, axes 1-3 3HAB 3272-1
3 6 Plain washer 9ADA 312-9 13x24x2.5
4 6 Screw 3HAB 3402-67 Gleitmo 610 M12x40
8.8
5 1 Bottom plate 3HAB 9418-1
6 1 Gasket, bott. plate 3HAB 3347-1
7 4 Screw 2121 2172-228 M5x12
8 3 O-ring 2152 2012-428 79.5x3
1
9 3 Motor and pinion 3HAB 3309-1
1
2 Motor and pinion 3HAB 3309-1 Hanging
10 12 Screw 3HAB 3402-24 Gleitmo 610
M6x16 8.8
11 1 Lower arm 3HAB 3682-1 Standard
11 1 Lower arm 3HAB 3281-1 Hanging
12 2 Damper 3HAB 3257-1
13 16 Spring washer 2154 2033-10 10.5x23x2.5 FZM
14 6 Screw 3HAB 3409-51 Gleitmo 610
M10x30 12.9
15 1 Parallel arm 3HAB 3126-1 Standard
15 1 Parallel arm 3HAB 3282-1 Hanging
16 1 Ball bearing 2213 253-12 61821-2RS1
17 8 Screw 3HAB 3409-57 Gleitmo 610
M10x60 12.9
18 1 Motor unit axis 2 2 3HAB 3378-1
23 2 Lifting eye 2179 090-25
26 2 Sync.marker 3HAB 3296-1
27 1 Stop pin 3HAB 3258-1 Kit
28 2 Cushion axis 3 3HAB 3254-1
29 5400 ml Oil 1171 2016-604 Floor mounted
29 6100 ml Oil 1171 2016-604 Hanging
30 1g Grease 3HAB 3537-1
31 1 ml Grease 3HAB 1001-294 Optimol
32 1 ml Loctite 243 3HAB 7116-1
34 1 ml Loctite 601 1269 0014-407
35 6 Protective hood 2522 2101-9 D=12-13.9 Hanging
36 1 Sealing strip 1854 1909-4 L=1.3 m Hanging
38 1 Loctite 577 1269 1907-1

18 Revision - 3HAC 021111-001

 2 Spare part list
2.0.2 Manipulator complete

Item Qty Name Art. no. Remark

50 1 Sync. marker 3HAB 3747-1
51 1 Upper arm 3HAB 3379-1 See 1.2
52 1 Wrist 3HAB 3388-1
53 6 Screw 3HAB 3402-25 Gleitmo 610
MC6S, M6x20
54 6 Washer 9ADA 312-6 6.4x12x1.6
55 2 Cover 3HAA 2362-1
56 2 Protection plug 2522 2101-5
57 2 Spring 3HAB 3263-1
58 4 Rod end bearing 3HAA 2301-12 KM-10
59 2 Shaft 3HAB 3265-1
60 2 Ball bearing 2213 6950-206 6206-2RS1
61 3 Shims 2159 167-70 T=0.3
62 3 Shims 2159 167-71 T=0.1
63 3 Spacer 3HAB 3262-1
64 2 Lock nut 2126 2851-105 KM-5, M25x1.5
65 2 Screw 3HAB 3409-61 Gleitmo
610M10x90 12.9
Stand.
65 2 Screw 3HAB 3409-60 Gleitmo 610
M10x80 12.9
Hanging
66 1 Parallel bar 3HAB 3031-1 Standard
66 1 Parallel bar 3HAB 3283-1 Hanging
67 2 Spherical roller bear. 3HAA 2167-13 22205
68 3 Sealing washer 3HAB 3768-1 L=1200
69 1 Washer 3HAB 3260-1
70 1 Screw 2121 2852-449 SKRF, M8x16
71 1 Shaft 3HAB 3256-1
72 1 Spacer 3HAB 3264-1 M5x140
73 1 Washer 3HAA 2355-11
74 1 Screw 9ADA 183-36 MC6S, M8x20
75 1 Sealing washer 3HAB 3767-1
76 2 Nut 9ADA 267-8 M10
101 1 Bracket 3HAB 3225-1
102 1 Bracket 3HAB 9387-1
103 1 Spring 3HAB 3291-1
104 1 Cable guide 3HAB 3298-1
105 2 Holder for cable guide 3HAB 3299-1
106 1 Cable unit axes 1-3 3HAB 8440-1
107 1 Cable unit axes 4-6 3HAC 1855-1 Option 040
+ standard
107 1 Cable unit axes 4-6 3HAC 1856-1 Option 041
+ standard

3HAC 021111-001 Revision - 19

2 Spare part list
2.0.2 Manipulator complete

Item Qty Name Art. no. Remark

107 1 Cable unit axes 4-6 3HAC 1857-1 Option 040
+ hanging
107 1 Cable unit axes 4-6 3HAC 1858-1 Option 041
+ hanging
107 1 Cable unit axes 4-6 3HAC 2072-1 Option 042
+ standard
109 2 Bracket, axes 5-6 3HAB 3230-1
110 1 Clamp 2166 2018-2 D=11
111 1 Clamp 2166 2018-8 D=6
117 3 Cover, axes 1-3 3HAC 4337-1
119 3 Gasket 3HAC 4419-1
122 1 Cover, axis 4 3HAC 4350-1 Not option 691
122 1 Lamp unit 3HAC 2743-1 Option 691
124 3 Gasket 3HAC 4429-1
127 1 Cover, axes 5-6 3HAC 4405-1
130 1 Battery unit 4944 026-4
135 1 SMB with bracket 3HAB3700-1
136 1 Signal cable SMB 3HAB 3774-1
137 1 Gasket 3HAB 3348-1
138 1 Bracket 3HAC 2037-1
139 1 Earth symbol 3HAB 5617-1
140 2 Clamp 2166 2018-7 D=5
144 12 Straps (outdoor) 2166 2055-3 L=186 mm
145 4 Straps (outdoor) 2166 2055-6 L=386 mm
147 6 Tapping screw 9ADA 624-47 M5x25
148 4 Screw 9ADA 183-22 M6x10
149 8 Screw 9ADA 183-11 M5x8
150 4 Tapping screw 2121 2477-291 M4x12
151 1 Bracket SK 616 013-F
152 1 Actuator 1SFA616100R1006 Black
154 1 Protective cover 1SFA616920R8010
156 1 Sealing 3HAB 3293-1
159 11 Straps (outdoor) 2166 2055-1 L=92 mm
160 46 Tapping screw 9ADA 624-44 M5x12
161 1 Dust cap 5217 649-9 12p. FCI
162 1 Gasket 2152 0363-3 12p. FCI
163 1 Cable guide 3HAB 3328-1
164 1 Profile 1866 1903-1 L=100
165 1 Tape 1169 9198-301 L=200
167 7 Screw 9ADA 129-45 M5x16
170 2 Protective hood 2522 2101-8 D=11.1 - 13
Option 041
171 12 Nut 9ADA 290-1 M5

20 Revision - 3HAC 021111-001

 2 Spare part list
2.0.2 Manipulator complete

Item Qty Name Art. no. Remark

172 1 Cable pos. indicator axis HAB 3310-1 Option 075
1
173 2 Bushing 2166 2421-2 Option 075
174 2 Limit switch 3HAA 2496-1 Option 075
175 1 Protective hood 3HAB 9344-1 Option 042
176 2 Dust cap 5217 649-9 Option 041 or 042
177 1 Dust cap 5217 649-9 Option 075
179 1 Sealing liquid 1269 0014-412 Loctite 542, option 041
180 1 Coupling 3HAB 3333-20 Option 041
181 2 Cable gland 2672 063-3 Pr 18.6, option 075
182 2 Rubber washer 2452 398-2 Pr 18.6, option 075
184 1 Protective hood 2522 726-3 D=7.6-9.3, option 059
186 1 Protective hood 2522 2101-9 D=12-13.9
187 2 Protective hood 2522 2101-9 D=12-13.9
188 1 Cover 3HAB 9343-1
189 3 Adaptor power cabling 3HAC 2809-1
190 16 Screw 9ADA 629-22 M3x6
192 4 Screw 9ADA 629-22 M3x6
193 4 Nut 9ADA 267-6 M6
194 1 Gasket 3HAB 7195-1
196 1 Cover plate 3HAC 2056-1 Option 041
197 1 Dust cap 3HAA 1001-630 Option 042

1.Axes 1 - 3 for IRB 1400 and axes 1 and 3 for IRB 1400H
2.Only for IRB 1400H.

3HAC 021111-001 Revision - 21

2 Spare part list
2.0.3 Arm housing, complete

2.0.3 Arm housing, complete

Arm housing, See foldout 6 to locate the item numbers.

complete
Item Qty Name Art. no. Remark
1 1 Tubular shaft 3HAB 3270-1
2 1 Back-up ring 3HAB 6354-1
3 2 Ball bearing 2213 253-12 61821-2RS1
4 1 Housing axis 4 3HAB 3201-1
5 1 Intermediate gear 3HAB 3380-1
12 2 Screw 3HAB 3402-38 MC6S, M8x30
13 2 Washer 9ADA 312-7 8.4x16x1.6
14 2 Spacer 2159 167-61 T=0.05
15 4 Spacer 2159 167-62 T=0.1
16 1 Spacer 2159 167-63 T=0.5
17 1 Gear wheel 3HAB 3210-1
18 6 Screw 3HAB 3402-24 Gleitmo 610
MC6S, M6x16
19 2 Screw 9ADA 183-22 MC6S, M6x10
20 7 Plain washer 9ADA 312-6 6.4x12x1.6
21 1 O-ring 2152 2011-414 D=44,2x3
22 1 Motor complete axis 4 3HAC 11864-1 With pinion
23 4 Screw 9ADA 183-14 MC6S, M5x16
24 1 Nut 9ADA 267-6 M6
25 1 Cover 3HAB 3266-1
26 7 Screw 9ADA 183-13 MC6S, M5x12
28 1 Drive unit axes 5-6 3HAC 6082-2 See foldout 9
29 4 Screw 3HAB 3402-30 Gleitmo 610
MC6S, M6x45
32 2 Plug 2216 264-14
33 1 Grease 3HAB 3532-1 1g
35 1 Loctite 243 1269 0014-410 1 ml
36 1 Oil 1171 2016-604 1 ml
37 1 Loctite 638 1269 0014-413 1 ml

22 Revision - 3HAC 021111-001

 2 Spare part list
2.0.4 Drive unit, axes 5-6

2.0.4 Drive unit, axes 5-6

Drive unit, axes 5- See foldouts 7, 8 and 9 to locate the item numbers.
6
Item Qty Name Art. no. Remark
1 1 Driving shaft, 5-6 3HAC 11305-1
2 2 Motor unit, axes 5 - 6 3HAC 11865-1
3 1 Motor end barrier 3HAA 2504-1
4 8 Nut 9ADA 267-5 M5
5 10 Screw 3HAB 3402-14 Gleitmo 610
MC6S, M5x16
6 10 Plain washer 9ADA 312-5 5.3x10x1
7 2 Timing belt 3HAA 2393-1

3HAC 021111-001 Revision - 23

2 Spare part list
2.0.5 Serial measurement unit

2.0.5 Serial measurement unit

Serial mea- See foldout 10 to locate the item numbers.

surement unit
Item Qty Name Art. no. Remark
3 1 Battery 4944 026-4
4 4 Straps, outdoor 2166 2055-6 L=368 mm
5 1 Serial measurement board 3HAB 3700-1 DSQC 313
7 1 Signal cable 3HAB 3774-1
8 2 Straps, outdoor 2166 2055-3 L=186 mm
9 1 Label 2940 1413-1 38x19

24 Revision - 3HAC 021111-001

 3 Foldouts
3.0.1 Introduction

3: Foldouts
3.0.1 Introduction

Overview This chapter includes foldouts with illustrations of the robot. The item numbers are specified
in chapter Spare part list on page 17.

3HAC 021111-001 Revision - 25

3 Foldouts
3.0.1 Introduction

26 Revision - 3HAC 021111-001

 4 Circuit diagram
4.0.1 Introduction

4: Circuit diagram
4.0.1 Introduction

Overview This chapter includes the complete circuit diagram for the robot.

3HAC 021111-001 Revision - 47

4 Circuit diagram
4.0.1 Introduction

48 Revision - 3HAC 021111-001

 Circuit diagram 3HAC 2803-3/Rev.01
8.0.1 Introduction

Sheet 101 List of contents

3HAC021111-001 Rev -
 Circuit diagram 3HAC 2803-3/Rev.01
8.0.1 Introduction

Sheet 102 Connection point location

3HAC021111-001 Rev -
 Circuit diagram 3HAC 2803-3/Rev.01
8.0.1 Introduction

Sheet 103 Serial measurement board

3HAC021111-001 Rev -
 Circuit diagram 3HAC 2803-3/Rev.01
8.0.1 Introduction

Sheet 104 Motor axes 1 - 3

3HAC021111-001 Rev -
 Circuit diagram 3HAC 2803-3/Rev.01
8.0.1 Introduction

Sheet 105 Feedback axes 1 - 3

3HAC021111-001 Rev -
 MU4
R1.MP4-6 R3.MP4
1 M4R 15 1 R (U)

3HAC021111-001
2 M4S 14 2 S (V ) M
3 3
3 M4T 13 T (W)

PE GNYE

BRAKE REL. 17 7
0V BRAKE 16 8 B
R1.BU PTC
3 PTC 34 12 5
2 BU 6
104
Sheet 106 Motor axes 4 - 6

1 BU
111 MU6
8 BU
5 BU R4.MP6
6 M6R 8 1 R ( U)
9 M6S 7 2 S (V ) M
12 M6T 6 3 T (W) 3

BRAKE REL. 2 7
0V BRAKE 1 8 B

Rev -
13 BU
14 BU PTC
PTC 46 10 5
15 BU S1 6
3 4 R
R R3.H2:1
BRPB
R1.H1 LED-LAMP; BU PTC 65
1 11 R3.H1:1 OPTION BU
112 MU5
R1.MP4-6 R4.MP5
4 M5R 5 1 R ( U)
7 M5S 4 2 S (V ) M
10 M5T 3 3 T (W) 3

7
111
8 B

PTC
5
11 PTC 9 6

PE GNYE
Circuit diagram 3HAC 2803-3/Rev.01
8.0.1 Introduction
 Circuit diagram 3HAC 2803-3/Rev.01
8.0.1 Introduction

Sheet 107 Feedback axes 4 - 6

3HAC021111-001 Rev -
 Circuit diagram 3HAC 2803-3/Rev.01
8.0.1 Introduction

Sheet 108 Customer connection (Option)

3HAC021111-001 Rev -
 R1.CS R2.CS
A CSA GY A

J CSJ WH J
B CSB VT B
C CSC WH C

3HAC021111-001
D CSD BU D
E CSE WH E
F CSF GN F
G CSG WH G
H CSH YE H
P CSP WH P
K CSK OG K
L CSL WH L
M CSM RD M
N CSN WH N
R CSR BN R
S CSS WH S

Rev -
R1.CP R2.CP
M CPM 4 M
Sheet 109 Integrated wirefeed cabling (Option)

L CPL 5 L
J CPJ 6 J
K CPK 7 K
F CPF 8 F
G CPG 9 G
H CPH 10 H
C CPC 11 C
E CPE 12 E
B CPB 13 B
CPD 14
CPA 15
D CPD 16 D
A CPA 17 A
Circuit diagram 3HAC 2803-3/Rev.01
8.0.1 Introduction
 Circuit diagram 3HAC 2803-3/Rev.01
8.0.1 Introduction

Sheet 110 Position indicator axis 1

3HAC021111-001 Rev -
 Circuit diagram 3HAC 2803-3/Rev.01
8.0.1 Introduction

Sheet 111 External connections (Option)

3HAC021111-001 Rev -
 Index

3HAC 021111-001 49
Index

50 3HAC 021111-001