Professional Documents
Culture Documents
S4-M96 - 2400 Electrical Diagrams PDF
S4-M96 - 2400 Electrical Diagrams PDF
CONTENTS
Page
List of contents
Circuit Diagram 3HAB 2821-5
1
--
Circuit Diagram 3HAB 28214
1
I I
I I
I I
5 I I
I I
I I
IF---
1’1 r7 71
)l---A
6SXCLV I I I
Product Manual
Dl Floppy disc unit XPO Moins Plug
A Power unit
A7: A _- ESAB--Connection
ABE E2 Eorth fault breoker XP5 Customer sign01 connection
A7:0 ABB ESAB Connection EL llluminotion XP6 Customer power connection
APl:A ABB ESAB Conneclion EVl FAN, Drive system IRE 240/1400H/2400/3400/6400/6400C XPl7 Mode switch customer extension
API Drive unit oxis l/1.3.5 EV2 FAN, Drive srlem IRB 1400/6400/64OOC xPla PTC. Broke extension
AP2 Drive unit oxis 2/2.4.6 EV3 FAN, Drive srlem IRB 1400-6400/64OOC XPl9 External control panel connection
APJ Drive unit owis 3 EV4 Cooling device XP22 Externol axes. control signals extension
AP4 Drive unit oxis 4/4-6 EV5 Moin transformer Ion, IRB 6400 XSl Outlet control cable power
AP5 Drive unit oxis 5 EV6 Bock fan. Small cabinet 9ize xs2 Oullet control cable signal
AP6 Drive unit oxis 6 EV7 FAN, Drive system IRB 6400C xs3 Customer connection
AP7 Drive unit axis 7 FSl Automatic Fuse, drive system xs4 External axes signal connection, Axes board
AP9 DC-link Drive system FS2 Aulomotic Fuse, Moins voltage xs5 Customer signal connection
API0 Drive unit bock plone FS3 Automatic Fuse, Service outlet XS6 Customer power connection
API1 Anologus I/O, Cbmbi l/O. Dig l/O no 1 GBl Battery xs7 External oxis power connection
AP12 Remote I/O. Digital I/O no 2 Cl32 Battery xsa Position indicator
APl3 Remote l/O. Digital I/O no 3 CSl Power supply XSlO Anologus I/O. Combi I/O Analog port
API4 Remote I/O. Digital I/O no 4 KM1 Motor on contoctor 1 XSl I Digit01 l/O no 1
APl5 Remote I/O. Diqitol I/O no 5 KM2 Motor on contoctor 2 xs12 Digital l/O no 2
AP16 Remote l)O. Digit01 l/O no 6 KM3 Supervision contoctor xs13 Digit01 l/O no 3
AP21 Relay output no 1 KM4 Broke contoctor xs14 Digital I/O no 4
Relay output no 2 KTl Time delay. contoctor xs15 Digital I/O no 5
AP22
PT Duty time counter XS16 Digital l/O no 6
AP23 Reloy output no 3
OS1 Moins switch xs17 Mode switch customer extension
AP24 Relay output no 4
Rl. R2 Resistors. DC-link xsla PTC. Broke extension
AP25 Reloy output no 5 R3 Broke resistor IRE 6400 External control ponel connection
xs19
AP26 Reloy output no 6 RVl Voristor. Motor on contoctor 1 xs20 Progromming unit outlet
APSl Robot computer RV2 Vorirtor, Motor on contoctor 2 xs21 Service 230V outlet
AP41 System boord RV4 Voristor. Broke contactor xs22 External axes, control signal extension
AP51 External axes boord SA Control ponel XS23 External oxes signal connection, SMB
AP60 Vorislor ond diode unit SA.l Mode switch XT3 Customer connection
AP61 Serial meosurement boord SA.2 Motor on. PB XT5 Customer sign01 connection
AP6l.W SMB boltery SA.3 Motor off PB XT6 Customer power connection
APB0 Bock plone SA.4 Emergency stop PB XTB Position indicolor
APaO.Fl-4 PTC Resistor Fuse SBl Door switch drive @em fon XT10 Anologus I/O, Combi I/O onoloq port
AP8D.X2 Floppy disc sign01 SB2 Door switch, Heot exchanger. Air XT11 Digit01 I/O no 1
AP80.X22 Floppy disc power SE3 Door switch illumination XT12 Digit01 l/O no 2
APBO.X5 Data ports, SIO l-4 TM1 Transformer, Moins XT13 Digit01 l/O no 3
APBO.XJl Measurement system TMl.FUl-3 Fuse XT14 Digital I/O no 4
AP80.X32 Progromming unit TMl.ST Temperature sensor, Ironsformer XT15 Digitol I/O no 5
AP80.X34 Control ponel TM2 Transformer. Service outlet XT16 Digital l/O no 6
AP80.X35 Syslem boord, customer Vl Diode duly time counter XT17 Remote I/O boord
v3 Diode supervision contoctor XTla I/O supply
XBl Computer link XT19 INTERBUS-S
XI32 Print out Service outlet connection
XT21
XT26 Direct supply connection
Moins Filter
:: Filter Lim. Switch robot
Designation
SH. 7,8 SH. 6
MAINS SWTCH
TEACH POWER
PENDANT SUPPLY
II--
SH. 15-17
SH. 7.8 I--------
1 (EXT. AXES
I EXTERNAL 1 /
CONTROL
1 AXES
PANEL , BOARD ; !SH. 9
l-------l
cl--
SH. 6.7.8,13 \ POWER
SH. 14 UNIT
SYSTEM
/CUSTOMER I
BOARD
\ L CONNECTIONS
SH. 6,7,8.10,13,14
2
m
:, 12.13.3
BACK
PLANE
DATA RS 232/485
PORTS > \4
SH. 19-23
I/O
BOARDS ( CUSTOMER I/O
JA le.-‘21! ’ I
I MANIPU- I
r 1 1 LATOR 1
l SERIAL I
I MEASUREMENT1 I-------J
’ BOARD I
I EXTERNAL ;
I-A_xEs----A
iVME I ’ MEMORY
I ;
; BACK PLANE1 ; EXPANSION I
I I 1 BOARD 1
L------J L-----J
Block diagram
..
I TM2 SERVICE OUTLET
i TRANSFORMER (OPT.433)
I
I
I
I
I
I
tJl
51
61
WI
>I
2
I MAINS SWTCH
‘\JI
1 I I
r. ov i i t +
I 1 I L----------------------------.------+,
I 1
L--------~----------------.---------------- --- . I I
L--------------- ___,____
II
z RJ 24 / IRE 4400. 6400 / IRE 6400C
6 SERVICE OUTLET
POWER SUPPLY COOLING OEWE
Mains connection
Circuit Diagram 3HAB 2821-5
.-
I’ ‘:
P
3lWN3 APZ
L)“1 3)IVM8/31d A0
A$.?+ t12
lo8
-1
A0 A0
s
A0 -
AOtZ -
1dX
Product Manual
r
EXT. AXES
AP41 SYSTEM BOARD
1
13.3
)( -XPl:A22 PTC M7 ,
-Al2 lxx?4 +
24VSYS -X2:
A31
ENDEV-N
ENOEVB
MSTOPl MSTOPl < -XPl:Al4$S;;;
MSTOPZ
03 0”
I-- ‘A3 24VSYS
AUTO ASTOPl
t -‘
A4 ASTOPl
STOP , - >B4
L- ASTOP
BACK PLANE 1
:--
I-
EM3TOPI I
1 I
1 I
I”L- I? I CSTOP2B I
-L!ef1 : CSTOPlB I
EXTERNAJ ! L-rIiAio
EMZJOP! - ESTOPl
CONTROL
CABLE
XS/XPlEl
EXT BRAKE A
___--- ------ --.---
’ UNIT
CUSTOMER -1% -___
Jjel3
CONNEC’llON
-1:P4 I
1 EXT MON 28 I POWER UNIT .yy.
SERIAL --I
MEASUREMENT
BOARD
-!
I”’
SYSTEM
MOTOR TEMP.
SUPERVlSlON
BOAR\
XPl
“3 -
PTC M
ia-
xs XPlB
1
1) Only IRB2400 M94-M94A
/3400
LJ
3) Only IRB 2400
LIMIT 1 MANIPgLATOR
LIMIT 2 MANIPULATOR ij grm 311 LIMIT SWTCH MANIPULATOR
MOTOR ON CHAIN LIM 2 M7
B
PART 2
LIM 1 M7 (
Control cable
(OPT.197) (OPT.197.C2)
APE0 BACK PLANE AP61 xs23
AXES
AP61 .GB
WY5
1T+r
CONTROL MANIPULATOR
xs2 CABLE CONNECTION
1
I --
A I
- t BC
CC
h O(
I, SERIAL
, E MEASUREM.
I,
BOAR0
F MANIP.
I,
G(
1, , H(
,,
“4
A. “<
1) Only IRE 2400 I
&L---J ‘<
L.-l
a Not IRB 2400 M94494A/3400 1
I I
1
I I
1
A7: B XT3 APl: A
XT3
a z 63 ov
_ 04 A STOP 2 1
A5 G STOP 1A
010 SENSOR 1
L :
05 G STOP 2A
I _ “.- , --..--.. -
nl3 1 CFNSIX? 1
013 1 OV SENSOR
L : 86 G STOP 28
APl:A I
A7 G STOP 18 L z Al5 +24V l/O I
I - Cl4 ov I/O
1
--PE.-+24\11/~---
,gs - .C16 +24V I/O
20.5
x2 _ 016 OV I/O 19,4 D’G I/O
ESlA -._O??. -ovl42----
- : A9 _ Cl5 ov I/O
- - Al0 E STOP 1
+24V I/O
L : Al6
L - 69 ES2A
_ 810 E STOP 2
HOLD 1
_-------
HOLD 11
_-------
HOLD 12
_-------
HOLD 2
--------
HOLD 21
_-------
HOLD 22
--------
2) (oPT.~~x)
2)
CUSTOMER SIGNAL CONNECTION CABLE MANIPULATOR CONNECTION
-E%----iL-----
-_cse_----9 ____ -_
-Et----lL-----
-_cs_o_----1) ______
-E-----1) ______
-ix-----!I ____ -_
-_CS.-----1)______
-szz-----i______
---- ____ ______
-E-----I) ____ -_
-G&---I;:____ -_
---------
CSN
______
Ic---------------
CSP 1) IRB 1400 is only equipped with
)---------------
CSR 12 sign01 connections
c---------------
css
------- _______ 2) M94A
- -------
CST ____ -__
- -------_-_---_
csu
- csv
----------.-----
csw
---------------
csx ___________
---
- CSY
--------- ______
csz ___________
----
1) (0PT.65X)
&
5
XT8 XS/XP6
POSITION INDICATOR CONNECTION CABLE MANIPULATOR CONNECTION IRB 1400/ 24001./to/16 AND 4400
I
RIG: A - - - - - - - - - - - - - - - - - - ---
-
- T T Ed - - - - - - - - - - - - - - - - - - ---
6 r. - - - - - - - - - - - - - - - - - - ---
)---------------------
--------------m.------
--------------s------_
------------------ ---
I)------------------ --_
------------------ e-m
)------------------ - - -
14 MGY T 2q - 7 CTSS
‘2 BN RS232 3% - t DSf?J RDGN T 1 32
1p GYPK T q I T
DTRS eu m I 3:
17 EN-” m 1% - T
RlC3 BNYE ” ’ 32
m DCDS BKWH ” ,--
14 CN 2%
3% z ” ov ROM I’ 30
18 GN
19 RDBU
I
RS485
RS232 SIO 4
GBl BATTERY
AP51 xs4
EXC
------
OV EXC
--_---
X FINE 7
------
Y FINE 7
------
OV F7
------
X COARSE 7
_-----
Y COARSE 7
)---- - _-----
ov c7
I)------ -------
--- SYNC 7
- ------
--- ov SYNC
- ------
--- VREF 7
- ------
--- OV VREF 7
- ------
--- (TACH~ 7)
- ------
--- - _ -(!J’L rAC”o 7)
)--- EXC
- ------
)--- OV EXC
- ------
c3 >sYNc 8
Cl= >VREF 8
_ _ _ -A,‘
- -- - - -_ SHIELD IS COMMON
FOR ALL AXES
xs7 LIM SW 7
LIM 1 M7
LIM 2 M7
LIMIT 2 -----
LIMIT 1
Sheer
IS
(‘ml
I6
External axes 7 - 8
xs4
AP51 -AXES
-
XPl : INE 9 - X- FINE
- - -9
- Y t-INE 9 A - - - - -9
Y FINE
1 (OPT.193) OV F9
_----
=!;O” F9
X COARSE 9
-1 )X COARSE 9 A -----
>Y COARSE 9 A - Y- COARSE
- - - 9
ov c9
SYNC 9 SYNC 9
---mm
+EF 9 - VREF
- - -9-
>OV VREF 9 - - - VREF
OV - - 9
T
t-1
__------e-v--
I 1 04 5 OV
.----- VREF 10
I I
SHIELD IS COMMON
FOR ALL AXES
I
External axes 9 10
r
(OPT.193) I- - - ----LLLZ-
External axes 11 - 12
OPTIONAL I/O BOARDS IN CONTROL SYSTEM S4
INTERNAL
CUSTOMER CONNECTIONS I/O-SUPPLY
l/O-BOARD l/O-BOARD
POSITION DESIGNATION l/O TYPE OPT.339
EXTERNAL SCREW TERMINALS RELAY UNIT 120V AC I/C ABE ESAB
24V I/O ov
OPT.SlXJBX OPT.34X OPT.37X OPT.35X OPT.32X
2 AP12 OIGITAL xs12 XT1 2 AP22 AP22 A7: A. API: A XTlB.14 XT18.6
--
6
+24V 7) 8)
+24V 1: )2), 9)
\I
+24V
ov
+24V
SCREW TERMINALS
-
i L
20.1 19.1 20.v19.1 20.2 20.2 20.4
1) INT SUPPLY WlTH OPT 339 2) INT SUPPLY WlTH OPT 339 3) EXT SUPPLY WITH/HIITHOUT OPT 339 4) EXT SUPPLY WITH/WITHOUT OPT 339
FROM XTS/CSl TO OPT 34X/36X FROM XTJ/GSl TO OPT 37X FROM XPll-16 TO OPT 37X
J
7) INT SUPPLY WTHOUT OPT 339
5) INT SUPPLY WlTHOUT OPT 339 6) INT SUPPLY WlTHOUT OPT 339 6) INT SUPPLY WITHOUT OPT 339
FROM GSl TO OPT 34X/36X
FROM XT3 TO OPT 34X/36X FROM XT3 TO OPT 37X FROM XPll-16 TO OPT 34X/36X FROM GSl TO OPT 37X
r- -l n
I I
r-
I 1
01 INPUT CH. 1 _
1;
(-q-<-----
(-q- .-(----II! Iii1
06 INPUT CH. 9,
I--q--(-
I 12
I
10, (---q--(--- 13
11, (-Jq--(--- 14
12, (---q-4+-----15
13, (----q--(9----- 163;
14, (-~<-+-+---17
15, c=-Jq--(--18
16, (--(---(--
’ 19
(-S.--q- -(4
$
J L-l
20.2
(OPT.37X) (OPT.38X)
r-i
DIGITAL PART OF COMBI l/O APXX RELAY UNIT 2 xs XPXX 1)
APXX AND DIGITAL l/O-BOARD
I - 1 I I
r-l
I I XSl I XPl: XTl: 1 I I I
I
-12 INPUT CH. 9209,
-
-
-
-+=l=1z -
=I
L I
L
Relay unit input
APXX 12OV AC I/O (OPT.35X)
I CUSTOMER
1rJ I
l- -\ r CONNECTION
I 2 INPUT MODULE 1 1 33
DIGITAL PART OF COMB I/O
APXX OR DIGITAL I/O-BOARD z:‘
$
I- 1 I
fq-,;JLf
2’
3
4
-I
- +
- )OJ
-02
4,
5A :
5
6 INPUT MODULE 3
- )C4 6, 7
I- 04 7, ( 6
INPUT MODULE 4 I;2 ! 4Om 1
- $5 8, ( 9
05 Ul-
C 10
1 INPUT MODULE 5
I* - nc
L-l-)
4 I q
I I
YY4
Circuit Diagram 3HAB 2821-S
1
-5
4..
5 L
-
I
I
Product ManuaI
Circuit Diagram 3HAB 2821-5
‘7nl -z-I
ti2.E
k , c r?
- r
Li0
a
K
a L
N
F
X [I
3
Product Manual
(
18.1
19.1
(OPT. 20X/238) ;
DIGITAL PART OF COMBI I/O
APXX AND DIGITAL l/O-BOARD ,xsxx
,XTXX ‘) , ‘I
I
r- CONNECTION
c
OUTPUT CH. 9
(OPT.36X)
-23
A3
I-
- cl3 OUTPUT CH. 4 -25
A7
---------I--
- cl5 OUTPUT CH. 6
-,w,p!
I II II - P
kc
r
DIGITAL PART OF COMBI I/O APXX 7 2
APXX AND DIGITAL I/O-BOARD
I I t
’ XPl:
(I 31
-32
All
I-
Al3
I--
- cl9 OUTPUT CH. 14 < -37
INPUT OUT CH. 14 141 814
-I--
Al5
-F
- c20 OUTPUT CH. 16 ( -39
(L 816
--+- )020 u4- -E
1
APXX 12OV AC I/O
=x+--j-~,.::
, I
OUTPUT MODULE 3
OUTPUT MODULE 4
OUTPUT MODULE 5
OUTPUT MODULE 6
OUTPUT MODULE 7
OUTPUT MODULE 8
OUTPUT MODULE 9
-
OUTPUT MODULE 10
OUTPUT MODULE 11
-
OUTPUT MODULE 12
OUTPUT MODULE 13
-
?O u4- OUTPUT MODULE 14
-
OUTPUT MODULE 15
OUTPUT MODULE 16
I 18
I l I
I RET 025.~25 0”
II
(
I DAC b -I---
392 r== 024 OUTPUT CH. 1 , ( -A( -
- c32
- ’” 032
L -I,,
’ c30
’t 030
’T c31
’t 031
- -10 A26+$26
I I T t I I
OUTPUT CH. 1 A24c+24
rc - -8 II Ii
AZ+$25
I4 Ii
C24 (+A24
I, Ii
CONNECTION
XSl:ol INPUT CH. 1
INPUT CH. 2 sr
INPUT CH. 4 z
37
E-
c4 OUTPUT CH. 2
E-
3r
==f
z
I--
l-
I-
t-
I--
3-
1 3)
D
-_ ------
------
24VDC EXT SUPPLY
D
_-I _-----
_----- I
- ------
b
_--I------
_-----1
IB-S IN
-------
a29 D12 Is
-
_ 1----- 3
> I,
c29 Dl2-N 9
-
DO2 1Q IB-S OUT
REMOTE Ml FOR ) ; a30 I)Cl2-N
c30 11
ALLEN BRADLEY PLC 12
;31 RBST I I>
-mzi
23
(‘M&l
23. I
Remote I/O-board for Allen Bradley PLC
1
POWER SUPPLY
(OPT.251)
CUSTOMER
CONNECTION
------ 3)
-_---- 1 24MC EXT SUPPLY
------
------
------ 18-S IN
------ I
1
------ GND
-_----
------
------ ie-s OUT
------
III1 ‘1
-1
:g g
NC-l c
/-+
23OV/23OV SERVICE 2 Ll 1 ( O P T I O N 406)
OV/N SERVICE I N L1.l
IL
PAA
z rh(
L tm
h
cl (OPTION 439)
EV4
fi?
1 (OpTiON 444)
L I
Cooling device, service outlet, illumination (options)
nx
sl24lcct
25
I i
(OPTION 5x)
POWER
UNIT POWER
9 SUPPLY TERMINAL XT21
6 24
CT1 -.-
I -
.7
OPTION
FAN AXIS 1 E
:
C B
FC.2 17 FC.1 I
I
13 CONTROL
- ~~ -~~~ 230V F A N /
L
13.1 CABLE
I
.I
Slleel
25
(‘on1
2ti
Optiona.l fan, axis 1 manipulator, time delay, concator
TEACH PENDANT
+AP80.X32
*T/
I ON
7 CHAIN
PART1
MOTOR
CDHNAIN
PART2
Teach pendant
I i
I I
+APBO.X34 MOTOR
P2 --,6 ,ON
ASTOPZ :12 CHAIN
MSTOPl PART1
ASTOPl
MAN FS <20
1 MAN ,519
AUTO ;1El AUTO -\18
24V -<24
CSTOPl A <7
GSTOPZA :a
:9
ESTOPl - <IS
MOTOR OFF PB. /
ESTOPZ -\16
LIMIT2 <14
MONPB -:13 MOTOR
ON
ESlB -:23 CHAIN
MOTOR ON PB. ESZB :22 PART2
ESZC <3
3 ESlC :4
/
x20 Xl
1
MOTOR OFF LAMP
WJ MOFFLAMP MOFFLAMP MOTOR
MONLAMP
MOTOR ON LAMP 7 ON
ov CHAIN
I
PART1
I
___..- ---
1
WEE1 CONTENT
BILAD INNCI-I/!-l
LEGEND
SYMBOLER
List of contents
101
Motor Inneh6llsfbrtccknirlg
Motor
Connection point locations
Broke 102
tjversikt Over delninqspunkter
Broms
Breake release unit,
PTC Temp. sensor (PTC-resistor)
103 Serial measuring board
Temp. givore (PTC-motst6nd)
9 Bromslossningsenhet, seriemdtkort
R - Resolver
42 Motor axis l-3
Resolver 101
Motor axe1 1-3
Customer connection
110 Kundanslutning
/ Rl LS
-i_
3 AIR
Rl .MP
Rl .SMB
Rl .CP/CS
Rl.MPl-3
Rl .MP4-6
Rl.CP
Rl.CS /
_----
R2.SMB fi 1 .I~ s 2
R2.G Rl .LmSl (0f’
m;l 1-1: 3lIf )
R2.BU
R2.BUl-3
R2.BU+ 6
R2.FBl-3
R2.FB4-6
R2.SMB
I s_P’
-SJ-N
so.
diO-
112
I ov-
I R3fllJl 3
34V 1
-imRATSUP - -7c
-- q‘ ) 101
R?l1114 6
------I-
L.
L -I’
C U S T O M E R CONNCCTION
POWER
KUNDANSILU-FNING
I<RAfFl
.I
1 1
J
I 7 17
T
Customer connection
R2.LSl R2.LS2
Rl.LS
&~~_~OSITION INDICATOR
1 Iwo
switchrs
stotiowy
TV6
hrytore
lost0 klqen
-. I
l?7.1mS1 - 1
GNYE
@b RllS
BK
BN __-- Olle
switch
BU
IC
BK
I - D- - - -
RZ.LSl -2
GNYE --~.
GNYE
I
-i- BU
I M- - - BK
- - . -
104
108
108
J 1
1t.j KIY PINNE/
IJYCKI INGSPINNF
Customer connection