1 2 3 4 5 6 7 8

SHEET CONTENT
BLAD INNEHÅLL
LEGEND
SYMBOLER List of contents
101
Innehållsförteckning
3
M
Motor
Motor Location of connection points
102
Översikt över delningspunkter
Brake
B Breake release unit,
Broms
103 Serial measuring board
PTC Temp. sensor (PTC-resistor) Bromslossningsenhet, seriemätkort
Temp. givare (PTC-motstånd)
Motor axis 1-3
104
Resolver Motor axel 1-3
We reserve all rights in this document and in the information contained therein.Reproduction, use or

R
disclosure to third parties without express authority is strictly forbidden. © Copyright 2003 ABB

Resolver
Feed-back axis 1-3
105
Återföringsdon axel 1-3
Protective earth
Skyddsjord Motor axis 4-6, 1,5-10/16
106 Motor axel 4-6, 1,5-10/16
Twisted cables Feed-back axis 4-6, 1,5-10/16
Tvinnade kablar 107 Återföringsdon axel 4-6, 1,5-10/16
Screened cables Motor axis 4-6, 1,8-5
Skärmade kablar 108
Motor axel 4-6, 1,8-5
Feed-back axis 4-6, 1,8-5
Location pin to avoid mismatch 109 Återföringsdon axel 4-6, 1,8-5
KEY PIN/STIFT of connector
Nyckelstift för att förhindra felanslutning Customer connection
110 Kundanslutning

Integrated wirefeed cabling; OPTION

111
Integrerat kablage F. trådmatarverk; OPTION

Position indicator axis 1; OPTION

112
Lägesindikering axel 1; OPTION
External connections; OPTION
113 Yttre anslutningar; OPTION

Latest revision: ECO 69647, WI 75550 Lab/Office: Status: 2015-02-11 Plant: =

DMRO SE/ Manipulator IRB 2400 circuit diagram
Sh.113: Loop "PTC" was "PTC M" and "0V PTC". Location: +
PRIM
Legend/Table of contents
APPROVED Sublocation:+
Document no. Rev. Ind 101

Prepared by, date: Erik Mesaros Approved by, date: Jan-Erik Nåhls 3HAC6670-3 03 Next 102
Total 13
 1 2 3 4 5 6 7 8

R3.H1
R2.CP R3.H2
R2.CS R3.MP4
Option: integrated R3.FB4
wirefeed cabling
R3.MP5
R3.MP6 1,8-5
R3.FB5
R3.FB6 AIR
R2.CP R3.MP1 R3.MP2
R3.MP4 R3.FB1 R3.FB2
R3.MP5 R2.CS
R3.MP6
R3.FB4 1,5-10/16
We reserve all rights in this document and in the information contained therein.Reproduction, use or

R3.FB5
disclosure to third parties without express authority is strictly forbidden. © Copyright 2003 ABB

R1.LS
R3.FB6
R3.H1
R3.H2
AIR
R1.MP
AIR R1.SMB
R2.CP R1.CP/CS
A A
R2.CS

R3.MP3
R1.MP1-3
R3.FB3
R1.MP4-6
A-A R3.LS1
R1.CP
R3.LS2
R1.CS

R1.H1
R2.SMB R1.LS2
R2.G R1.LS1 (OPPOSITE SIDE)
R2.BU
R2.BU1-3
R2.BU4-6
R2.FB1-3
R2.FB4-6

Latest revision: ECO 69647, WI 75550 Lab/Office: Status: 2015-02-11 Plant: =

DMRO SE/ Manipulator IRB 2400 circuit diagram
Sh.113: Loop "PTC" was "PTC M" and "0V PTC". Location: +
PRIM
Location of connection points
APPROVED Sublocation:+
Document no. Rev. Ind 102

Prepared by, date: Erik Mesaros Approved by, date: Jan-Erik Nåhls 3HAC6670-3 03 Next 103
Total 13
 1 2 3 4 5 6 7 8

BU
R1.MP4-6 R2.BU
15 BRAKE PB BU 5
R2.BU1-3
5 BRAKE RELEASE BU 1 1
113 8 BRAKE RELEASE BU 2
13 0V BRAKE BU 3
14 0V BRAKE BU 4 2
6 3

104
4
G 5
0V
We reserve all rights in this document and in the information contained therein.Reproduction, use or

+7.2V
disclosure to third parties without express authority is strictly forbidden. © Copyright 2003 ABB

9
KEY PIN/STIFT
R2.BU4-6
KEY PIN/STIFT 1
SMB
4
R2.G
BK 1
BU 2 DC/DC 5
BATTERY 8
CHARGER
106, 108
R2.SMB A/D 9
SDI CONVERTER
10
SDI-N
SD0
SD0-N 11
113
0V
R2.BU1-3
+24V 7 104
+BATSUP 8
0VBATLD
R2.BU4-6
SERIAL 2
COMMUNICA- 106, 108
TION

Sh.105, 107, 109

Latest revision: ECO 69647, WI 75550 Lab/Office: Status: 2015-02-11 Plant: =

DMRO SE/ Manipulator IRB 2400 circuit diagram
Sh.113: Loop "PTC" was "PTC M" and "0V PTC". Location: +
PRIM
Brake release unit
APPROVED Sublocation:+
Document no. Rev. Ind 103

Prepared by, date: Erik Mesaros Approved by, date: Jan-Erik Nåhls 3HAC6670-3 03 Next 104
Total 13
 1 2 3 4 5 6 7 8

MU1
R1.MP1-3 R3.MP1
1 2 14/17 M1R 1 R (U)
5 2 13/16 M1S 2 S (V) M
113
3 2 12/15 M1T 3 T (W) 3

GNYE PE
R2.BU1-3
1 11 BRAKE REL.1 7
103 2 10 0V BRAKE 8 B
PTC
2 9 PTC 5
6 MU 2
R3.MP2
113 7 2 1/6 M2R 1 R (U)
11 2 3/7 M2S 2 S (V) M
9 2 5/8 M2T 3 T (W) 3
We reserve all rights in this document and in the information contained therein.Reproduction, use or

GNYE GNYE
disclosure to third parties without express authority is strictly forbidden. © Copyright 2003 ABB

PE
3 2 BRAKE REL.2 7
103
10 8 B
PTC
9 PTC 12 5
4 PTC 23 6

MU 3

R3.MP3
113 13 2 14/17 M3R 1 R (U)
17 2 13/16 M3S 2 S (V) M
15 2 12/15 M3T 3 T (W) 3

GNYE PE
5 11 BRAKE REL.3 7
6 10 0V BRAKE 8 B
103 PTC OPTION:
9 PTC 23 5 Limit switch axis 3
7 8 6 Gränslägesbrytare axel 3

18 1 LIM2 B R3.LS2 BN 22 21
16 3 LIM2 A R3.LS2 BU
113 10 4 LIM1 A R3.LS1 BK 12 11
12 2 LIM1 B R3.LS1 GY

Latest revision: ECO 69647, WI 75550 Lab/Office: Status: 2015-02-11 Plant: =

DMRO SE/ Manipulator IRB 2400 circuit diagram
Sh.113: Loop "PTC" was "PTC M" and "0V PTC". Location: +
PRIM
Motor axis 1-3
APPROVED Sublocation:+
Document no. Rev. Ind 104

Prepared by, date: Erik Mesaros Approved by, date: Jan-Erik Nåhls 3HAC6670-3 03 Next 105
Total 13
 1 2 3 4 5 6 7 8

SMB FB3

R2.FB1-3 R3.FB3
9 RD X3 6
21 WH 0V X3 1

10 OG Y3 7
22 WH 0V Y3 2 R
8 WH 0V EXC 8
20 BN EXC 3
We reserve all rights in this document and in the information contained therein.Reproduction, use or

FB1
disclosure to third parties without express authority is strictly forbidden. © Copyright 2003 ABB

R3.FB1
2 GY X1 6
14 WH 0V X1 1

3 VT Y1 7
15 WH 0V Y1 2 R
6 WH 0V EXC 8
18 BU EXC 3

FB2

R3.FB2
4 GN X2 6
16 WH 0V X2 1
5 YE Y2 7
17 WH 0V Y2 2 R
WH 8
BN 3
SH.103

Latest revision: ECO 69647, WI 75550 Lab/Office: Status: 2015-02-11 Plant: =

DMRO SE/ Manipulator IRB 2400 circuit diagram
Sh.113: Loop "PTC" was "PTC M" and "0V PTC". Location: +
PRIM
Feed back axis 1-3
APPROVED Sublocation:+
Document no. Rev. Ind 105

Prepared by, date: Erik Mesaros Approved by, date: Jan-Erik Nåhls 3HAC6670-3 03 Next 106
Total 13
 1 2 3 4 5 6 7 8

MU 4
R1.MP4-6 R3.MP4
1 1 M4R 1 R (U)
113 2 3 M4S 2 S (V) M
3 5 M4T 3 (
T W ) 3

R2.BU4-6
4 2 BRAKE REL.4 7
103 5 4 0V BRAKE 8 B
PTC
5
OPTION;
6 LED-LAMP

BU
R1.H1 R3.H2:1
1 10 EXT. LAMP R
113 R3.H1:1
We reserve all rights in this document and in the information contained therein.Reproduction, use or

MU 5
disclosure to third parties without express authority is strictly forbidden. © Copyright 2003 ABB

BU
R1.MP4-6 R3.MP5
4 6 M5R 1 R (U)
113 7 7 M5S 2 S (V) M
3
10 8 M5T 3 T (W)
R2.BU4-6
8 9 BRAKE REL.5 7
8 B
103
PTC
2 11 PTC 35 5
6

MU 6

R1.MP4-6 R3.MP6
6 13 M6R 1 R (U)
9 14 M6S 2 S (V) M
12 15 M6T 3 T (W) 3
R2.BU4-6
113 10 16 BRAKE REL.6 7
103 11 17 0V BRAKE 8 B
PTC
5
11 12 PTC 6

GNYE PE

Latest revision: ECO 69647, WI 75550 Lab/Office: Status: 2015-02-11 Plant: =

DMRO SE/ Manipulator IRB 2400 circuit diagram
Sh.113: Loop "PTC" was "PTC M" and "0V PTC". Location: +
PRIM
Motor axis 4-6, 1,5-10/16
APPROVED Sublocation:+
Document no. Rev. Ind 106

Prepared by, date: Erik Mesaros Approved by, date: Jan-Erik Nåhls 3HAC6670-3 03 Next 107
Total 13
 1 2 3 4 5 6 7 8

SMB FB4

R2.FB4-6 R3.FB4
2 OG X4 6
14 WH 0V X4 1

3 RD Y4 7
15 WH 0V Y4 2 R
6 WH 0V EXC 8
18 BN EXC 3

BU
We reserve all rights in this document and in the information contained therein.Reproduction, use or
disclosure to third parties without express authority is strictly forbidden. © Copyright 2003 ABB

FB5

R3.FB5
4 GN X5 6
16 WH 0V X5 1

5 YE Y5 7
17 WH 0V Y5 2 R
8
3

FB6

R3.FB6
9 BU X6 6
21 WH 0V X6 1

10 VT Y6 7
22 WH 0V Y6 2 R
8 WH 0V EXC 8
20 GY EXC 3

SH.103

Latest revision: ECO 69647, WI 75550 Lab/Office: Status: 2015-02-11 Plant: =

DMRO SE/ Manipulator IRB 2400 circuit diagram
Sh.113: Loop "PTC" was "PTC M" and "0V PTC". Location: +
PRIM
Feed back axis 4-6, 1,5-10/16
APPROVED Sublocation:+
Document no. Rev. Ind 107

Prepared by, date: Erik Mesaros Approved by, date: Jan-Erik Nåhls 3HAC6670-3 03 Next 108
Total 13
 1 2 3 4 5 6 7 8

MU4
R1.MP4-6 R3.MP4
1 15 M4R 1 R (U)
2 14 M4S 2 S (V ) M
113 3
3 13 M4T 3 T (W)

PE GNYE
R2.BU4-6
4 17 BRAKE REL. 4 7
5 16 0V BRAKE 8 B
103
PTC
2 12 PTC 34 5
6

MU6
BU
R1.MP4-6
We reserve all rights in this document and in the information contained therein.Reproduction, use or

R4.MP6
disclosure to third parties without express authority is strictly forbidden. © Copyright 2003 ABB

6 8 M6R 1 R ( U)
9 7 M6S 2 S (V ) M
113
12 6 M6T 3 T (W) 3
R2.BU4-6
10 10 BRAKE REL. 6 7
103 11 9 0V BRAKE 8 B
PTC
PTC 46 11 5
6
R3.H2:1
R1.H1 OPTION;
1 11 EXT. LAMP R LED-LAMP BU
113 R3.H1:1
PTC 65
MU5
R1.MP4-6 R4.MP5
4 5 M5R 1 R (U)
7 4 M5S 2 S (V ) M
113
10 3 M5T 3 T (W) 3

R2.BU4-6
8 1 BRAKE REL. 5 7
103
8 B

PTC
R1.MP4-6 5
11 2 PTC 6
113

PE GNYE

Latest revision: ECO 69647, WI 75550 Lab/Office: Status: 2015-02-11 Plant: =

DMRO SE/ Manipulator IRB 2400 circuit diagram
Sh.113: Loop "PTC" was "PTC M" and "0V PTC". Location: +
PRIM
Motor axis 4-6, 1,8-5
APPROVED Sublocation:+
Document no. Rev. Ind 108

Prepared by, date: Erik Mesaros Approved by, date: Jan-Erik Nåhls 3HAC6670-3 03 Next 109
Total 13
 1 2 3 4 5 6 7 8

FB4
SMB
R2.FB4-6 R3.FB4
2 X4 OG 6
14 0V X4 WH 1

3 Y4 RD 7
15 0V Y4 WH 2 R
6 0V EXC WH 8
18 EXC BN 3

FB6
We reserve all rights in this document and in the information contained therein.Reproduction, use or
disclosure to third parties without express authority is strictly forbidden. © Copyright 2003 ABB

R4.FB6
9 X6 BU 6
21 0V X6 WH 1
10 Y6 VT 7
22 0V Y6 WH 2 R
8 0V EXC WH 8
20 EXC GY 3

BU

FB5

R4.FB5
4 X5 GN 6
16 0V X5 WH 1

5 Y5 YE 7
17 0V Y5 WH 2 R
8
3

SH.103

Latest revision: ECO 69647, WI 75550 Lab/Office: Status: 2015-02-11 Plant: =

DMRO SE/ Manipulator IRB 2400 circuit diagram
Sh.113: Loop "PTC" was "PTC M" and "0V PTC". Location: +
PRIM
Feed back axis 4-6, 1,8-5
APPROVED Sublocation:+
Document no. Rev. Ind 109

Prepared by, date: Erik Mesaros Approved by, date: Jan-Erik Nåhls 3HAC6670-3 03 Next 110
Total 13
 1 2 3 4 5 6 7 8

R1.CP R2.CP
1 CPA BK A
2 CPB BN B
3 CPC RD C
4 CPD OG D CUSTOMER CONNECTION
5 CPE YE E POWER
6 CPF GN F
8 CPJ BU J
KUNDANSLUTNING
9 CPK VT K KRAFT
10 CPL GY L
11 CPM WH M
7 PE GNYE G
We reserve all rights in this document and in the information contained therein.Reproduction, use or
disclosure to third parties without express authority is strictly forbidden. © Copyright 2003 ABB

R1.CS R2.CS
1 CSA WHBN A
2 CSB WHRD B
113 3 CSC WHOG C
4 CSD WHYE D
5 CSE WHGN E
6 CSF WHBU F
7 CSG WHVT G
8 CSH WHGY H
9 CSJ GYBK J
10 CSK GYBN K
11 CSL GYRD L CUSTOMER CONNECTION
12 CSM GYOG M
SIGNAL
13 CSN GYYE N
14 CSP GYGN P
KUNDANSLUTNING
15 CSR GYBU R SIGNAL
16 CSS GYVT S
17 CST GYWH T
18 CSU GNBK U
19 CSV GNBN V
20 CSW GNRD W
21 CSX GNOD X
22 CSY GNBU Y
23 CSZ GNVT Z

Latest revision: ECO 69647, WI 75550 Lab/Office: Status: 2015-02-11 Plant: =

DMRO SE/ Manipulator IRB 2400 circuit diagram
Sh.113: Loop "PTC" was "PTC M" and "0V PTC". Location: +
PRIM
Customer connection
APPROVED Sublocation:+
Document no. Rev. Ind 110

Prepared by, date: Erik Mesaros Approved by, date: Jan-Erik Nåhls 3HAC6670-3 03 Next 111
Total 13
 1 2 3 4 5 6 7 8

R1.CS R2.CS
A CSA GY A
J CSJ WH J
B CSB VT B
C CSC WH C
D CSD BU D CUSTOMER CONNECTION
E CSE WH E SIGNAL
F CSF GN F KUNDANSLUTNING
G CSG WH G SIGNAL
H CSH YE H
P CSP WH P
K CSK OG K
L CSL WH L
M CSM RD M
We reserve all rights in this document and in the information contained therein.Reproduction, use or

N N
disclosure to third parties without express authority is strictly forbidden. © Copyright 2003 ABB

CSN WH
R CSR BN R
S CSS WH S

R1.CP R2.CP
M CPM 4 M
L CPL 5 L
J CPJ 6 J CUSTOMER CONNECTION
K CPK 7 K POWER
F CPF 8 F
G CPG 9 G
KUNDANSLUTNING
H CPH 10 H KRAFT
C CPC 11 C
E CPE 12 E
B CPB 13 B
CPD 14
CPA 15
D CPD 16 D
A CPA 17 A

Latest revision: ECO 69647, WI 75550 Lab/Office: Status: 2015-02-11 Plant: =

DMRO SE/ Manipulator IRB 2400 circuit diagram
Sh.113: Loop "PTC" was "PTC M" and "0V PTC". Location: +
PRIM
Integrated wirefeed cabling; OPTION
APPROVED Sublocation:+
Document no. Rev. Ind 111

Prepared by, date: Erik Mesaros Approved by, date: Jan-Erik Nåhls 3HAC6670-3 03 Next 112
Total 13
 1 2 3 4 5 6 7 8

R2.LS1 R2.LS2

R1.LS
A POSITION INDICATOR COMMON 13/23 14/24 BK 13/23 14/24 Two
BK
switches
21/11 22/12 stationary.
B BK 21/11 22/12 BK
Två
brytare
C BN MANIPULATOR AT STATION 1 BU fasta lägen.

D BU MANIPULATOR AT STATION 2 BN

KEY PIN/ STIFT

Z
R2.LS1-1

GNYE
PE
We reserve all rights in this document and in the information contained therein.Reproduction, use or
disclosure to third parties without express authority is strictly forbidden. © Copyright 2003 ABB

A BK
B BN One
switch

D BU En
BK brytare.
C

R2.LS1-2
GNYE Two
switches
PE

E BK
F BN Två
brytare.

H BU
Three
G BK switches

Tre
R2.LS1-3 brytare.
GNYE
PE

J BK
K BN

M BU
L BK

Z KEY PIN/ STIFT

Latest revision: ECO 69647, WI 75550 Lab/Office: Status: 2015-02-11 Plant: =

DMRO SE/ Manipulator IRB 2400 circuit diagram
Sh.113: Loop "PTC" was "PTC M" and "0V PTC". Location: +
PRIM
Position indicator axis 1; OPTION
APPROVED Sublocation:+
Document no. Rev. Ind 112

Prepared by, date: Erik Mesaros Approved by, date: Jan-Erik Nåhls 3HAC6670-3 03 Next 113
Total 13
 1 2 3 4 5 6 7 8

R1.MP R1.MP 1-3

A1 M1R BK 1
A2 M1S BK 5
A3 M1T BK 3
A4 M2R BK 7
D1 M2S BK 11
D2 M2T BK 9 R1.CP/CS R1.CP
D3 M3R BK 13 104 A1 CPA OG 1
D4 M3S BK 17 B1 CPB OG 2
B1 M3T BK 15 C1 CPC OG 3
B4 EXT LIM 2 BU 16 D1 CPD OG 4
B3 EXT LIM 1 BU 10 A2 CPE OG 5
C2 LIM 2 BU 18 B2 CPF OG 6
B2 PTC BU 2 C2 CPJ OG 8
C1 LIM 1 BU 12 D2 CPK OG 9
A3 CPL OG 10
R1.MP 4-6 B3 CPM OG 11
We reserve all rights in this document and in the information contained therein.Reproduction, use or

A10 M4R BK 1
disclosure to third parties without express authority is strictly forbidden. © Copyright 2003 ABB

A9 M4S BK 2 R1.CS
A8 M4T BK 3 B5 CSA OG 1
A7 M5R BK 4 C5 CSB OG 2
D10 M5S BK 7 106, 108 D5 CSC OG 3
D9 M5T BK 10 A6 CSD OG 4
D8 M6R BK 6 B6 CSE OG 5 110
D7 M6S BK 9 C6 CSF OG 6
B10 M6T BK 12 D6 CSG OG 7
C9 BRAKE RELEASE BU 8 A7 CSH OG 8
C8 BRAKE RELEASE BU 5 B7 CSJ OG 9
103
C10 0V BRAKE BU 13 C7 CSK OG 10
B9 PTC BU 11 D7 CSL OG 11
106, 108
B7 0V BRAKE BU 14 A8 CSM OG 12
B8 BRAKE PB BU 15 103 B8 CSN OG 13
R1.H1 C8 CSP OG 14
C7 EXT. LAMP BU 1 D8 CSR OG 15
110
PE

GNYE A9 CSS OG 16
B9 CST OG 17
PE

C9 CSU OG 18
D9 CSV OG 19
A10 CSW OG 20
R1.SMB R2.SMB
A SDI WH 9 B10 CSX OG 21
B SDI-N BU 5 C10 CSY OG 22
C SDO WH 8 D10 CSZ OG 23
D SDO-N OG 4

103
E 0V WH 3
F +24V GN 7
K +BATSUP GY 6
L 0VBATLD RD 2
J
M KEY PIN/

Latest revision: ECO 69647, WI 75550 Lab/Office: Status: 2015-02-11 Plant: =

DMRO SE/ Manipulator IRB 2400 circuit diagram
Sh.113: Loop "PTC" was "PTC M" and "0V PTC". Location: +
PRIM
External connections; OPTION
APPROVED Sublocation:+
Document no. Rev. Ind 113

Prepared by, date: Erik Mesaros Approved by, date: Jan-Erik Nåhls 3HAC6670-3 03 Next
Total 13