Product specification

Robot User Documentation

IRC5
M2004


Product specification

Robot User Documentation

3HAC024534-001
Rev.1
IRC5
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 Introduction 7

1.1 Easy to use Information Products . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7

General . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
Key benefits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
1.2 Ordering User documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7
CD-ROM. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
Paper format . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
ABB Library . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
Languages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
Ordering User Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
Basic robot documentation package . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
1.3 Robotics manuals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9
CD documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
Operating manuals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
Technical reference manuals. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
Application manuals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
Product manuals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
1.4 IRC5 versus S4Cplus. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .10
General . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
User’s Guide . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
Product Manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
RobotWare options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
Getting Started . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
Trouble Shooting Manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
RobotStudio Online . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
SW format . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
New document structures . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10

2 English 11
CD documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
Operating manuals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
Technical reference manuals. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
Application manuals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
Product manuals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
Product specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13

3 Swedish 15
CD documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
Operating manuals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
Technical reference manuals. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
Application manuals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
Product manuals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17

4 German 19
CD documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
Operating manuals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
Technical reference manuals. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
Application manuals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
Product manuals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
Product specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21

5 French 23
CD documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
Operating manuals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
Technical reference manuals. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
Application manuals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24

3HAC024534-001 Rev.1 3
Table of Contents

Product manuals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
Product specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25

6 Spanish 27
CD documentation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
Operating manuals. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
Technical reference manuals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
Application manuals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
Product manuals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
Product specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29

7 Portuguese 31
CD documentation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
Operating manuals. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
Technical reference manuals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
Application manuals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
Product manuals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33

8 Italian 35
CD documentation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
Operating manuals. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
Technical reference manuals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
Application manuals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
Product manuals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
Product specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37

9 Danish 39
CD documentation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
Operating manuals. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
Technical reference manuals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
Application manuals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
Product manuals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41

10 Dutch 43
CD documentation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
Operating manuals. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
Technical reference manuals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
Application manuals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
Product manuals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45

11 Chinese (simplified) 47
CD documentation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
Operating manuals. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
Technical reference manuals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
Application manuals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48
Product manuals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49

12 Korean 51
CD documentation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51
Operating manuals. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51
Technical reference manuals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51
Application manuals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52
Product manuals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53

13 Japanese 55
CD documentation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55

4 Rev.1 3HAC024534-001
 Table of Contents

Operating manuals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
Technical reference manuals. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
Application manuals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56
Product manuals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57

14 Czech 59
CD documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59
Operating manuals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59
Technical reference manuals. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59
Application manuals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60
Product manuals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61

15 Finnish 63
CD documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63
Operating manuals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63
Technical reference manuals. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63
Application manuals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64
Product manuals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65

3HAC024534-001 Rev.1 5
Table of Contents

6 Rev.1 3HAC024534-001
 1 Introduction

1 Introduction

1.1 Easy to use Information Products

General The Robot User Documentation is aimed at all robot users, providing easy to use
information and guidelines as well as in-depth descriptions and detailed reference
literature.
There is a robot user document for each stage of use, from installation and commis-
sioning, through programming, operation and maintenance to troubleshooting and
decommissioning of your robot system.
ABB’s group of skilled editors provide professional user documentation, ensuring
efficient communication of robot expertise, from our engineers to your personnel.

Key benefits • Easy-to-use user documentation

• In-depth reference information
• Detailed product information
• Maintenance and service procedures

1.2 Ordering User documentation

CD-ROM All robot user documentation can be ordered on a CD-ROM. The documentation
browser appears automatically on your PC screen at startup of the CD. The CD for-
mat provides advantages, such as easy search, copy and paste, printing pages, etc.
There is one CD per robot family in all languages, as specified on page 11 to page 63.
Updates of the CD are released at every major product change (Robot, Controller and
RobotWare).

Figure 1 CD-ROM interface.

Paper format User documentation can be delivered in traditional paper format as specified on the
robot specification form. User documentation for programmers is delivered in bound

3HAC024534-001 Rev.1 7
1 Introduction

format and user documentation for operators/service engineers is delivered as the

more robust wiro binding.

ABB Library Updated versions of all user documentation can be found in English pdf format at
Inside.ABB.com/library. ABB Library is a fast and easy way to find updated robot
information and can be accessed by all ABB employees.

Languages Robot documentation is translated into 14 languages, including a number of Asian

languages, according to the EU machine directive.
Documents which are not translated will be delivered in English, when ordered, see
the specification tables.

Ordering User User documentation is ordered using the standard Robot Specification form. A single
Documentation tick on the specification form will provide you with the basic robot package of doc-
umentation. Product manuals are delivered with the robots and controllers, respec-
tively. Application manuals are included, when buying RobotWare options.
For more detailed information, please refer to the specification tables.

Basic robot
documentation
package Art. no Basic robot package of documentation
3HAC18236-1 Operator’s manual - IRC5 RobotStudio Online
3HAC021564-001 Operator’s manual - IRC5 Getting started
3HAC16590-1 Operator’s manual - IRC5 with FlexPendant
3HAC020738-001 Trouble shooting manual - IRC5
3HAC16580-1 TRM - RAPID Overview
3HAC 16581-1 RAPID reference Part 1 and Part 2
3HAC 17076-1 Sys Para Manual
See page 13 for Product manual manipulator:
article number. IRB 140, 1400, 1600, 2400, 4400, 66X0 (Type A and Type B - Proc/
Ref.inf), 6650S, 7600, 340, 940, IRC5

8 Rev.1 3HAC024534-001
 1 Introduction

1.3 Robotics manuals

CD There is one documentation CD per robot family. Every CD includes all robot user
documentation documentation in all languages, as specified on page 11 to page 63. A document
browser makes it easy to find the document of your choice.

Operating These manuals are directed to persons with first hand contact with the robot system,
manuals i.e. production operators, programmers and service personnel.

Technical The Technical Reference Manual includes reference information on RobotWare, the
reference controller software. The manuals include syntax and detailed information on all
manuals
instructions, functions, datatypes in the RAPID language and system parameters.
For reference information on mechanics and electronics, please refer to the Product
Manual, part: Reference Information.

Application The Application Manual describes RobotWare options, directed to specific applica-
manuals tions, such as RobotWare-Arc, -Spot, -Dispense.
The content includes:
• Purpose of the option: For what is the option intended?
• What is included in the option, e.g. RAPID instructions, system parameters
• Which hardware is required, e.g. cables and I/O boards
• Setup, programming and configuration examples

Product manuals There is a Product Manual for each robot and controller. The Product Manual is
divided in two parts, as described below:
Product Manual, Procedures:
• Safety information
• Installation and commissioning
• Maintenance (Service schedules and preventive maintenance routines)
• Repair (Lists of spare parts and repair procedures)
• Calibration procedures
• Decommissioning procedures
Product Manual, Reference Information:
• Reference Information
• Part list
• Foldouts or exploded views
• Circuit diagrams

3HAC024534-001 Rev.1 9
1 Introduction

1.4 IRC5 versus S4Cplus

General This section describes the major improvements in the IRC5 documentation structure,
as compared to the S4Cplus documentation.

User’s Guide The S4Cplus User’s Guide has been split into three manuals, depending on their
target profession group:
• Operating Manuals:
Information for operators
• System Parameters:
Information for programmers
• Trouble Shooting Manual:
Event Messages for IRC5 are included in the new manual,
Troubleshooting. This information is directed to service personnel.

Product Manual The Product Manual has been split in seperate manuals for robot and controller. This
information is mainly intended for service personnel.

RobotWare Manuals for RobotWare options have been compiled into groups, in accordance with
options the IRC5 RobotWare option structure.

Getting Started This is a new manual, with basic information on how to configure and start up a robot
system. The manual is delivered with every controller.

Trouble Shooting Includes information on how to detect faults in the IRC5 controller. Describes all
Manual event messages from the resident diagnostic system.

RobotStudio A new operating manual for the IRC5 startup and configuration product: RobotStu-
Online dio Online.

SW format The format for all software manuals has been reduced to a standard software format.

New document More structured information, including professional tables, icons and description
structures structures.

10 Rev.1 3HAC024534-001
 2 English

2 English

CD
documentation
Art. no. Manual Option no.
3HAC021747-001 CD Documentation IRB 140, M2004 (All languages) 69-1
or 808-11
3HAC021747-008 CD Documentation IRB 340, M2004 (All languages) 69-1
or 808-11
3HAC021747-003 CD Documentation IRB 940, M2004 (All languages) 69-1
or 808-11
3HAC021747-002 CD Documentation IRB 1400, M2004 (All languages) 69-1
or 808-11
3HAC021747-010 CD Documentation IRB 1600, M2004 (English) 69-1
or 808-11
3HAC021747-004 CD Documentation IRB 2400, M2004 (All languages) 69-1
or 808-11
3HAC021747-005 CD Documentation IRB 4400, M2004 (All languages) 69-1
or 808-11
3HAC021747-006 CD Documentation IRB 66X0, M2004 (All languages) 69-1
or 808-11
3HAC021747-009 CD Documentation IRB 6650S, M2004 (All languages) 69-1
or 808-11
3HAC021747-007 CD Documentation IRB 7600, M2004 (All languages) 69-1
or 808-11
1.From 14 July 2005

Operating
manuals
Art. no. Manual Option no.
3HAC18236-1 Operator’s manual - IRC5 RobotStudioOnline (English) 428-11
3HAC021564-001 Operator’s manual - IRC5 Getting started (English) 428-1
3HAC16590-1 Operator’s manual - IRC5 with FlexPendant (English) 428-1
3HAC023775-001 User’s Guide PM3.0 PickMaster (English) 260-1
3HAC020738-001 Trouble shooting manual - IRC5 (English) 428-1
1.Only available on the CD for documentation (3HAC021747-0xx).

Technical
reference
manuals Art.no. Manual Option no.
3HAC16585-1 TRM - RAPID kernel (English) 428-1 and
626-1
3HAC16580-1 TRM - RAPID overview (English) 428-1
3HAC16581-1 TRM - RAPID reference manual (English) 428-1
3HAC17076-1 TRM - System parameters manual (English) 428-1

3HAC024534-001 Rev.1 11
2 English

Application
manuals
Art.no. Manual Option no.
3HAC021395-001 Application manual - Addi- 428-1 and (766-1 or 753-1 or 753-2 or
tional axes (English) 753-3 or 754-1 or 754-2 or 754-3 or
755-1 or 755-2 or 755-3 or 770-1 or
770-2 or 770-3 or 770-4 or 771-1 or
771-2 or 771-3 or 771-4)1
3HAC020676-001 Application manual - 428-1 and (709-1 or 709-2)
DeviceNet (English)
3HAC023008-001 Application manual - ProfiBus 428-1 and 711-1
(English)
3HAC023009-001 Application manual - Inter- 428-1 and (712-1 or 712-2)
Bus(English)
3HAC18152-1 Application manual - Motion 428-1 and (608-1 or 609-1 or 610-1 or
functions and events (English) 611-1 or 612-1)
3HAC18153-1 Application manual - Motion 428-1 and (602-1 or 603-1)
performance (English)
3HAC18154-1 Application manual - Motion 428-1 and (607-1 or 613-1)
coordination and supervision
(English)
3HAC16587-1 Application manual - Conveyor 428-1 and 606-1
tracking (English)
3HAC020436-001 Application manual - Servo 428-1 and 629-1 or 630-1 or 631-1)
motor control (English)
3HAC020435-001 Application manual - Robot 428-1 and (614-1 or 615-1 or 616-1 or
communication and 618-1 or 620-1 or 621-1 or 622-1)
I/O control (English)
3HAC020434-001 Application manual - Engineer- 428-1 and (15-1 or 623-1 or 627-1 or
ing tools (English) 628-1)
3HAC021272-001 Application manual - Multi- 428-1 and (604-1 or 604-2)
Move (English)
3HAC16591-1 Application manual - Robot- 428-1 and (633-1 or 633-2)
Ware-Arc and Arc Sensor
(English)
3HAC16593-1 Application manual - Robot- 428-1 and 641-1
Ware-Dispense (English)
3HAC16582-1 Application manual - Robot- 428-1 and 635-1
Ware-Spot (English)
3HAC16583-1 Application manual - Robot- 428-1 and 635-3
Ware-Spot Servo (English)
3HAC16584-1 Application manual - Continu- 428-1 and 624-1
ous application platform
(English)
3HAC16586-1 Application manual - Discrete 428-1 and 625-1
application platform (English)
3HAC16090-1 Absolute Accuracy
CalibWare 2.0 (English)
1.Only available on the CD for documentation (3HAC 021747-0xx).

12 Rev.1 3HAC024534-001
 2 English

Product manuals

Art. no. Manual Option no.

3HAC023297-001 Product manual 140 (English) 428-1
3HAC021111-001 Product manual 1400 (English) 428-1
3HAC023637-001 Product manual 1600 Proc/Ref info (English) 428-1
3HAC022031-001 Product manual 2400 (English) 428-1
3HAC022032-001 Product manual 4400 (English) 428-1
3HAC020938-001 Product manual 66X0 Type A Proc/Ref.inf (English) 428-1
3HAC023082-001 Product manual 66X0 Type B Proc/Ref.inf (English) 428-1
3HAC020993-001 Product manual 6650S (English) 428-1
3HAC022033-001 Product manual 7600 (English) 428-1
3HAC022546-001 Product manual 340 (English) 428-1
3HAC022034-001 Product manual 940 (English) 428-1
3HAC021313-001 Product manual IRC5 (English) 428-1
3HAC16578-1 Calibration Pendulum instruction (English)
3HAC022907-001 Instruction for Levelmeter calibration (English)

Product
specifications
Art. no. Manual Option no.
3HAC022349-001 Product Specification, Controller Software IRC5, Robot- en1
Ware 5.0
3HAC021785-001 Product specification - IRC5 with FlexPendant en1
3HAC9041-1 Product specification - IRB 140 en1
3HAC023604-001 Product specification - IRB 1600 en1
3HAC9376-1 Product specification - IRB 1400 en1
3HAC9112-1 Product specification - IRB 2400 en1
3HAC9117-1 Product specification - IRB 4400 en1
3HAC023933-001 Product specification - IRB 6600 en1
3HAC023934-001 Product specification - IRB 7600 en1
1.Available in Delivery Situation in Lotus Notes and ABB Library.

3HAC024534-001 Rev.1 13
2 English

14 Rev.1 3HAC024534-001
 3 Swedish

3 Swedish

CD
documentation
Art. no. Manual Option no.
3HAC021747-001 CD Documentation IRB 140, M2004 (All languages) 69-1
or 808-11
3HAC021747-008 CD Documentation IRB 340, M2004 (All languages) 69-1
or 808-11
3HAC021747-003 CD Documentation IRB 940, M2004 (All languages) 69-1
or 808-11
3HAC021747-002 CD Documentation IRB 1400, M2004 (All languages) 69-1
or 808-11
3HAC021747-010 CD Documentation IRB 1600, M2004 (English) 69-1
or 808-11
3HAC021747-004 CD Documentation IRB 2400, M2004 (All languages) 69-1
or 808-11
3HAC021747-005 CD Documentation IRB 4400, M2004 (All languages) 69-1
or 808-11
3HAC021747-006 CD Documentation IRB 66X0, M2004 (All languages) 69-1
or 808-11
3HAC021747-009 CD Documentation IRB 6650S, M2004 (All languages) 69-1
or 808-11
3HAC021747-007 CD Documentation IRB 7600, M2004 (All languages) 69-1
or 808-11
1.From 14 July 2005

Operating
manuals
Art. no. Manual Option no.
3HAC18236-1 Operator’s manual - IRC5 RobotStudioOnline (English) 358-11
3HAC021564-002 Operator’s manual - IRC5 Getting started (Swedish) 358-1
3HAC16590-2 Operator’s manual - IRC5 with FlexPendant (Swedish)) 358-1
3HAC020738-001 Trouble shooting manual - IRC5 (English) 358-1
1.Only available on the CD for documentation (3HAC021747-0xx).

Technical
reference
manuals Art.no. Manual Option no.
3HAC16585-1 TRM - RAPID kernel (English) 358-1 and
626-1
3HAC16580-1 TRM - RAPID overview (English) 358-1
3HAC16581-1 TRM - RAPID reference manual (English) 358-1
3HAC17076-1 TRM - System parameters manual (English) 358-1

3HAC024534-001 Rev.1 15
3 Swedish

Application
manuals
Art.no. Manual Option no.
3HAC021395-001 Application manual - Addi- 358-1 and (766-1 or 753-1 or 753-2 or
tional axes (English) 753-3 or 754-1 or 754-2 or 754-3 or
755-1 or 755-2 or 755-3 or 770-1 or
770-2 or 770-3 or 770-4 or 771-1 or
771-2 or 771-3 or 771-4)1
3HAC020676-001 Application manual - 358-1 and (709-1 or 709-2)
DeviceNet (English)
3HAC023008-001 Application manual - ProfiBus 358-1 and 711-1
(English)
3HAC023009-001 Application manual - InterBus 358-1 and (712-1 or 712-2)
(English)
3HAC18152-1 Application manual - Motion 358-1 and (608-1 or 609-1 or 610-1 or
functions and events (English) 611-1 or 612-1)
3HAC18153-1 Application manual - Motion 358-1 and (602-1 or 603-1)
performance (English)
3HAC18154-1 Application manual - Motion 358-1 and (607-1 or 613-1)
coordination and supervision
(English)
3HAC16587-1 Application manual - Conveyor 358-1 and 606-1
tracking (English)
3HAC020436-001 Application manual - Servo 358-1 and (629-1 or 630-1 or 631-1)
motor control (English)
3HAC020435-001 Application manual - Robot 358-1 and (614-1 or 615-1 or 616-1 or
communication and 618-1 or 620-1 or 621-1 or 622-1)
I/O control (English)
3HAC020434-001 Application manual - Engineer- 358-1 and (15-1 or 623-1 or 627-1 or
ing tools (English) 628-1)
3HAC021272-001 Application manual - Multi- 388-1 and (604-1 or 604-2)
Move (English)
3HAC16591-1 Application manual - Robot- 358-1 and (633-1 or 633-2)
Ware-Arc and Arc Sensor
(English)
3HAC16593-1 Application manual - Robot- 358-1 and 641-1
Ware-Dispense (English)
3HAC16582-1 Application manual - Robot- 358-1 and 635-1
Ware-Spot (English)
3HAC16583-1 Application manual - Robot- 358-1 and 635-3
Ware-Spot Servo (English)
3HAC16584-1 Application manual - Continu- 358-1 and 624-1
ous application platform
(English)
3HAC16586-1 Application manual - Discrete 358-1 and 625-1
application platform (English)
3HAC16090-1 Absolute Accuracy
CalibWare 2.0 (English)
1.Only available on the CD for documentation (3HAC 021747-0xx).

16 Rev.1 3HAC024534-001
 3 Swedish

Product manuals

Art. no. Manual Option no.

3HAC023297-001 Product manual 140 (English) 358-1
3HAC023637-001 Product manual 1600 Proc/Ref info (English) 358-1
3HAC022031-001 Product manual 2400 (English) 358-1
3HAC022032-001 Product manual 4400 (English) 358-1
3HAC020938-001 Product manual 66X0 Type A Proc/Ref.inf (English) 358-1
3HAC023082-001 Product manual 66X0 Type B Proc/Ref.inf (English) 358-1
3HAC020993-001 Product manual 6650S (English) 358-1
3HAC022033-001 Product manual 7600 (English) 358-1
3HAC022546-002 Product manual 340 (Swedish) 358-1
3HAC021313-001 Product manual IRC5 (English) 358-1
3HAC16578-1 Calibration Pendulum instruction (English)
3HAC022907-001 Instruction for Levelmeter calibration (English)

3HAC024534-001 Rev.1 17
3 Swedish

18 Rev.1 3HAC024534-001
 4 German

4 German

CD
documentation
Art. no. Manual Option no.
3HAC021747-001 CD Documentation IRB 140, M2004 (All languages) 69-1
or 808-11
3HAC021747-008 CD Documentation IRB 340, M2004 (All languages) 69-1
or 808-11
3HAC021747-003 CD Documentation IRB 940, M2004 (All languages) 69-1
or 808-11
3HAC021747-002 CD Documentation IRB 1400, M2004 (All languages) 69-1
or 808-11
3HAC021747-010 CD Documentation IRB 1600, M2004 (English) 69-1
or 808-11
3HAC021747-004 CD Documentation IRB 2400, M2004 (All languages) 69-1
or 808-11
3HAC021747-005 CD Documentation IRB 4400, M2004 (All languages) 69-1
or 808-11
3HAC021747-006 CD Documentation IRB 66X0, M2004 (All languages) 69-1
or 808-11
3HAC021747-009 CD Documentation IRB 6650S, M2004 (All languages) 69-1
or 808-11
3HAC021747-007 CD Documentation IRB 7600, M2004 (All languages) 69-1
or 808-11
1.From 14 July 2005

Operating
manuals
Art. no. Manual Option no.
3HAC18236-3 Operator’s manual - IRC5 RobotStudioOnline (German) 165-11
3HAC021564-003 Operator’s manual - IRC5 Getting started (German) 165-1
3HAC16590-3 Operator’s manual - IRC5 with FlexPendant (German) 165-1
3HAC020738-003 Trouble shooting manual - IRC5 (German) 165-1
1.Only available on the CD for documentation (3HAC021747-0xx).

Technical
reference
manuals Art.no. Manual Option no.
3HAC16585-1 TRM - RAPID kernel (English) 165-1 and
626-1
3HAC16580-3 TRM - RAPID overview (German) 165-2
3HAC16581-3 TRM - RAPID reference manual (German) 165-1
3HAC17076-3 TRM - System parameters manual (German) 165-1

3HAC024534-001 Rev.1 19
4 German

Application
manuals
Art.no. Manual Option no.
3HAC021395-001 Application manual - Addi- 165-1 and (766-1 or 753-1 or 753-2 or
tional axes (English) 753-3 or 754-1 or 754-2 or 754-3 or
755-1 or 755-2 or 755-3 or 770-1 or
770-2 or 770-3 or 770-4 or 771-1 or
771-2 or 771-3 or 771-4)1
3HAC020676-001 Application manual - 165-1 and (709-1 or 709-2)
DeviceNet (English)
3HAC023008-001 Application manual - ProfiBus 165-1 and 711-1
(English)
3HAC023009-001 Application manual - InterBus 165-1 and (712-1 or 712-2)
(English)
3HAC18152-1 Application manual - Motion 165-1 and (608-1 or 609-1 or 610-1 or
functions and events (English) 611-1 or 612-1)
3HAC18153-1 Application manual - Motion 165-1 and (602-1 or 603-1)
performance (English)
3HAC18154-1 Application manual - Motion 165-1 and (607-1 or 613-1)
coordination and supervision
(English)
3HAC16587-1 Application manual - Conveyor 165-1 and 606-1
tracking (English)
3HAC020436-001 Application manual - Servo 165-1 and (629-1 or 630-1 or 631-1)
motor control (English)
3HAC020435-001 Application manual - Robot 165-1 and (614-1 or 615-1 or 616-1 or
communication and 618-1 or 620-1 or 621-1 or 622-1)
I/O control (English)
3HAC020434-001 Application manual - Engineer- 165-1 and (15-1 or 623-1 or 627-1 or
ing tools (English) 628-1)
3HAC021272-003 Application manual - Multi- 165-1 and (604-1 or 604-2)
Move (German)
3HAC16591-1 Application manual - Robot- 165-1 and (633-1 or 633-2)
Ware-Arc and Arc Sensor
(English)
3HAC16593-1 Application manual - Robot- 165-1 and 641-1
Ware-Dispense (English)
3HAC16582-1 Application manual - Robot- 165-1 and 635-1
Ware-Spot (English)
3HAC16583-1 Application manual - Robot- 165-1 and 635-3
Ware-Spot Servo (English)
3HAC16584-1 Application manual - Continu- 165-1 and 624-1
ous application platform
(English)
3HAC16586-1 Application manual - Discrete 165-1 and 625-1
application platform (English)
3HAC16090-1 Absolute Accuracy
CalibWare 2.0 (English)
1.Only available on the CD for documentation (3HAC 021747-0xx).

20 Rev.1 3HAC024534-001
 4 German

Product manuals

Art. no. Manual Option no.

3HAC023297-003 Product manual 140 (German) 165-1
3HAC023637-003 Product manual 1600 Proc/Ref info (German) 165-1
3HAC022031-003 Product manual 2400 (German) 165-1
3HAC022032-003 Product manual 4400 (German) 165-1
3HAC020938-003 Product manual 66X0 Type A Proc/Ref.inf (German 165-1
3HAC023082-003 Product manual 66X0 Type B Proc/Ref.inf (German) 165-1
3HAC020993-003 Product manual 6650S (German) 165-1
3HAC022033-003 Product manual 7600 (German) 165-1
3HAC022546-003 Product manual 340 (German) 165-1
3HAC021313-003 Product manual IRC5 (German) 165-1
3HAC16578-1 Calibration Pendulum instruction (English)
3HAC022907-003 Instruction for Levelmeter calibration (German)

Product
specifications
Art. no. Manual Option no.
3HAC022871-001 Produktspezifikation, Steuerungsssoftware IRC5, ge1
RobotWare 5.0
3HAC022903-001 Produktspezifikation, Steuerung, IRC5 mit FlexPendant ge1
3HAC9885-1 Produktspezifikation - IRB 140 ge1
3HAC10392-1 Produktspezifikation - IRB 1400 ge1
3HAC023604-003 Produktspezifikation - IRB 1600 ge1
3HAC10393-1 Produktspezifikation - IRB 2400 ge1
3HAC10395-1 Produktspezifikation - IRB 4400 ge1
3HAC023934-003 Produktspezifikation - IRB 7600 ge1
1.Available in ABB Library

3HAC024534-001 Rev.1 21
4 German

22 Rev.1 3HAC024534-001
 5 French

5 French

CD
documentation
Art. no. Manual Option no.
3HAC021747-001 CD Documentation IRB 140, M2004 (All languages) 69-1
or 808-11
3HAC021747-008 CD Documentation IRB 340, M2004 (All languages) 69-1
or 808-11
3HAC021747-003 CD Documentation IRB 940, M2004 (All languages) 69-1
or 808-11
3HAC021747-002 CD Documentation IRB 1400, M2004 (All languages) 69-1
or 808-11
3HAC021747-010 CD Documentation IRB 1600, M2004 (English) 69-1
or 808-11
3HAC021747-004 CD Documentation IRB 2400, M2004 (All languages) 69-1
or 808-11
3HAC021747-005 CD Documentation IRB 4400, M2004 (All languages) 69-1
or 808-11
3HAC021747-006 CD Documentation IRB 66X0, M2004 (All languages) 69-1
or 808-11
3HAC021747-009 CD Documentation IRB 6650S, M2004 (All languages) 69-1
or 808-11
3HAC021747-007 CD Documentation IRB 7600, M2004 (All languages) 69-1
or 808-11
1.From 14 July 2005

Operating
manuals
Art. no. Manual Option no.
3HAC18236-4 Operator’s manual - IRC5 RobotStudioOnline (French) 162-11
3HAC021564-004 Operator’s manual - IRC5 Getting started (French) 162-1
3HAC16590-4 Operator’s manual - IRC5 with FlexPendant (French) 162-1
3HAC020738-004 Trouble shooting manual - IRC5 (French) 162-1
1.Only available on the CD for documentation (3HAC021747-0xx).

Technical
reference
manuals Art.no. Manual Option no.
3HAC16585-1 TRM - RAPID kernel (English) 162-1 and
626-1
3HAC16580-4 TRM - RAPID overview (French) 162-2
3HAC16581-4 TRM - RAPID reference manual (French) 162-1
3HAC17076-4 TRM - System parameters manual (French) 162-1

3HAC024534-001 Rev.1 23
5 French

Application
manuals
Art.no. Manual Option no.
3HAC021395-001 Application manual - Additional 162-1 and (766-1 or 753-1 or 753-2 or
axes (English) 753-3 or 754-1 or 754-2 or 754-3 or
755-1 or 755-2 or 755-3 or 770-1 or
770-2 or 770-3 or 770-4 or 771-1 or
771-2 or 771-3 or 771-4)1
3HAC020676-001 Application manual - DeviceNet 162-1and (709-1 or 709-2)
(English)
3HAC023008-001 Application manual - ProfiBus 162-1 and 711-1
(English)
3HAC023009-001 Application manual - InterBus 162-1 and (712-1 or 712-2)
(English)
3HAC18152-1 Application manual - Motion 162-1 and (608-1 or 609-1 or 610-1 or
functions and events (English) 611-1 or 612-1)
3HAC18153-1 Application manual - Motion 162-1 and (602-1 or 603-1)
performance (English)
3HAC18154-1 Application manual - Motion 162-1 and (607-1 or 613-1)
coordination and supervision
(English)
3HAC16587-1 Application manual - Conveyor 162-1 and 606-1
tracking (English)
3HAC020436-001 Application manual - Servo 162-1 and (629-1 or 630-1 or 631-1)
motor control (English)
3HAC020435-001 Application manual - Robot 162-1 and (614-1 or 615-1 or 616-1 or
communication and 618-1 or 620-1 or 621-1 or 622-1)
I/O control (English)
3HAC020434-001 Application manual - Engineer- 162-1 and (15-1 or 623-1 or 627-1 or
ing tools (English) 628-1)
3HAC021272-004 Application manual - MultiMove 162-1 and (604-1 or 604-2)
(French)
3HAC16591-1 Application manual - Robot- 162-1 and (633-1 or 633-2)
Ware-Arc and Arc Sensor
(English)
3HAC16593-1 Application manual - Robot- 162-1 and 641-1
Ware-Dispense (English)
3HAC16582-1 Application manual - Robot- 162-1 and 635-1
Ware-Spot (English)
3HAC16583-1 Application manual - Robot- 162-1 and 635-3
Ware-Spot Servo (English)
3HAC16584-1 Application manual - Continu- 162-1 and 624-1
ous application platform
(English)
3HAC16586-1 Application manual - Discrete 162-1 and 625-1
application platform (English)
3HAC16090-1 Absolute Accuracy
CalibWare 2.0 (English)
1.Only available on the CD for documentation (3HAC 021747-0xx).

24 Rev.1 3HAC024534-001
 5 French

Product manuals

Art. no. Manual Option no.

3HAC023297-004 Product manual 140 (French) 162-1
3HAC021111-004 Product manual 1400 (French) 162-1
3HAC023637-004 Product manual 1600 Proc/Ref info (French) 162-1
3HAC022031-004 Product manual 2400 (French) 162-1
3HAC022032-004 Product manual 4400 (French) 162-1
3HAC020938-004 Product manual 66X0 Type A Proc/Ref.inf (French) 162-1
3HAC023082-004 Product manual 66X0 Type B Proc/Ref.inf (French) 162-1
3HAC020993-004 Product manual 6650S (French) 162-1
3HAC022033-004 Product manual 7600 (French) 162-1
3HAC022546-004 Product manual 340 (French) 162-1
3HAC021313-004 Product manual IRC5 (French) 162-1
3HAC16578-1 Calibration Pendulum instruction (English)
3HAC022907-004 Instruction for Levelmeter calibration (French)

Product
specifications
Art. no. Manual Option no.
3HAC023049-001 Caractéristiques du produit, Logiciel du système de fr1
commande IRC5, RobotWare 5.0
3HAC022906-001 Caractéristiques du produit, Système de commande, fr1
IRC5 avec FlexPendant
3HAC10320-1 Caractéristiques du produit - IRB 140 fr1
3HAC10765-1 Caractéristiques du produit - IRB 1400 fr1
3HAC023604-004 Caractéristiques du produit - IRB 1600 fr1
3HAC10766-1 Caractéristiques du produit - IRB 2400 fr1
3HAC10768-1 Caractéristiques du produit - IRB 4400 fr1
3HAC023934-004 Caractéristiques du produit - IRB 7600 fr1
1.Available in ABB Library

3HAC024534-001 Rev.1 25
5 French

26 Rev.1 3HAC024534-001
 6 Spanish

6 Spanish

CD
documentation
Art. no. Manual Option no.
3HAC021747-001 CD Documentation IRB 140, M2004 (All languages) 69-1
or 808-11
3HAC021747-008 CD Documentation IRB 340, M2004 (All languages) 69-1
or 808-11
3HAC021747-003 CD Documentation IRB 940, M2004 (All languages) 69-1
or 808-11
3HAC021747-002 CD Documentation IRB 1400, M2004 (All languages) 69-1
or 808-11
3HAC021747-010 CD Documentation IRB 1600, M2004 (English) 69-1
or 808-11
3HAC021747-004 CD Documentation IRB 2400, M2004 (All languages) 69-1
or 808-11
3HAC021747-005 CD Documentation IRB 4400, M2004 (All languages) 69-1
or 808-11
3HAC021747-006 CD Documentation IRB 66X0, M2004 (All languages) 69-1
or 808-11
3HAC021747-009 CD Documentation IRB 6650S, M2004 (All languages) 69-1
or 808-11
3HAC021747-007 CD Documentation IRB 7600, M2004 (All languages) 69-1
or 808-11
1.From 14 July 2005

Operating
manuals
Art. no. Manual Option no.
3HAC18236-5 Operator’s manual - IRC5 RobotStudioOnline (Spanish) 336-11
3HAC021564-005 Operator’s manual - IRC5 Getting started (Spanish) 336-1
3HAC16590-5 Operator’s manual - IRC5 with FlexPendant (Spanish) 336-1
3HAC020738-005 Trouble shooting manual - IRC5 (Spanish) 336-1
1.Only available on the CD for documentation (3HAC021747-0xx).

Technical
reference
manuals Art.no. Manual Option no.
3HAC16585-1 TRM - RAPID kernel (English) 336-1 and
626-1
3HAC16580-5 TRM - RAPID overview (Spanish) 336-2
3HAC16581-5 TRM - RAPID reference manual (Spanish) 336-1
3HAC17076-5 TRM - System parameters manual (Spanish) 336-1

3HAC024534-001 Rev.1 27
6 Spanish

Application
manuals
Art.no. Manual Option no.
3HAC021395-001 Application manual - Addi- 336-1 and (766-1 or 753-1 or 753-2 or
tional axes (English) 753-3 or 754-1 or 754-2 or 754-3 or
755-1 or 755-2 or 755-3 or 770-1 or
770-2 or 770-3 or 770-4 or 771-1 or
771-2 or 771-3 or 771-4)1
3HAC020676-001 Application manual - 336-1and 709-1 or 709-2)
DeviceNet (English)
3HAC023008-001 Application manual - ProfiBus 336-1 and 711-1
(English)
3HAC023009-001 Application manual - InterBus 336-1 and (712-1 or 712-2)
(English)
3HAC18152-1 Application manual - Motion 336-1 and (608-1 or 609-1 or 610-1 or
functions and events (English) 611-1 or 612-1)
3HAC18153-1 Application manual - Motion 336-1 and (602-1 or 603-1)
performance (English)
3HAC18154-1 Application manual - Motion 336-1 and (607-1 or 613-1)
coordination and supervision
(English)
3HAC16587-1 Application manual - Conveyor 336-1 and 606-1
tracking (English)
3HAC020436-001 Application manual - Servo 336-1 and (629-1 or 630-1 or 631-1)
motor control (English)
3HAC020435-001 Application manual - Robot 336-1 and (614-1 or 615-1 or 616-1 or
communication and 618-1 or 620-1 or 621-1 or 622-1)
I/O control (English)
3HAC020434-001 Application manual - Engineer- 336-1 and (15-1 or 623-1 or 627-1 or
ing tools (English) 628-1)
3HAC021272-005 Application manual - Multi- 336-1 and (604-1 or 604-2)
Move (Spanish)
3HAC16591-1 Application manual - Robot- 336-1 and (633-1 or 633-2)
Ware-Arc and Arc Sensor
(English)
3HAC16593-1 Application manual - Robot- 336-1 and 641-1
Ware-Dispense (English)
3HAC16582-1 Application manual - Robot- 336-1 and 635-1
Ware-Spot (English)
3HAC16583-1 Application manual - Robot- 336-1 and 635-3
Ware-Spot Servo (English)
3HAC16584-1 Application manual - Continu- 336-1 and 624-1
ous application platform
(English)
3HAC16586-1 Application manual - Discrete 336-1 and 625-1
application platform (English)
3HAC16090-1 Absolute Accuracy
CalibWare 2.0 (English)
1.Only available on the CD for documentation (3HAC 021747-0xx).

28 Rev.1 3HAC024534-001
 6 Spanish

Product manuals

Art. no. Manual Option no.

3HAC023297-005 Product manual 140 (Spanish) 336-1
3HAC023637-005 Product manual 1600 Proc/Ref info (Spanish) 336-1
3HAC022031-005 Product manual 2400 (Spanish) 336-1
3HAC022032-005 Product manual 4400 (Spanish) 336-1
3HAC020938-005 Product manual 66X0 Type A Proc/Ref.inf (Spanish) 336-1
3HAC023082-005 Product manual 66X0 Type B Proc/Ref.inf (Spanish) 336-1
3HAC020993-005 Product manual 6650S (Spanish) 336-1
3HAC022033-005 Product manual 7600 (Spanish) 336-1
3HAC022546-005 Product manual 340 (Spanish) 336-1
3HAC021313-005 Product manual IRC5 (Spanish) 336-1
3HAC16578-1 Calibration Pendulum instruction (English)
3HAC022907-005 Instruction for Levelmeter calibration (Spanish)

Product
specifications
Art. no. Manual Option no.
3HAC022845-001 Especificaciones del producto, Software de controlador es1
para IRC5, RobotWare 5.0
3HAC022904-001 Especificaciones del producto, Controlador, IRC5 con es1
FlexPendant
3HAC10319-1 Especificaniones del producto - IRB 140 es1
3HAC10758-1 Especificaniones del producto - IRB 1400 es1
3HAC023604-005 Especificaniones del producto - IRB 1600 es1
3HAC10759-1 Especificaniones del producto - IRB 2400 es1
3HAC10761-1 Especificaniones del producto - IRB 4400 es1
3HAC023934-005 Especificaniones del producto - IRB 7600 es1
1.Available in ABB Library

3HAC024534-001 Rev.1 29
6 Spanish

30 Rev.1 3HAC024534-001
 7 Portuguese

7 Portuguese

CD
documentation
Art. no. Manual Option no.
3HAC021747-001 CD Documentation IRB 140, M2004 (All languages) 69-1
or 808-11
3HAC021747-008 CD Documentation IRB 340, M2004 (All languages) 69-1
or 808-11
3HAC021747-003 CD Documentation IRB 940, M2004 (All languages) 69-1
or 808-11
3HAC021747-002 CD Documentation IRB 1400, M2004 (All languages) 69-1
or 808-11
3HAC021747-010 CD Documentation IRB 1600, M2004 (English) 69-1
or 808-11
3HAC021747-004 CD Documentation IRB 2400, M2004 (All languages) 69-1
or 808-11
3HAC021747-005 CD Documentation IRB 4400, M2004 (All languages) 69-1
or 808-11
3HAC021747-006 CD Documentation IRB 66X0, M2004 (All languages) 69-1
or 808-11
3HAC021747-009 CD Documentation IRB 6650S, M2004 (All languages) 69-1
or 808-11
3HAC021747-007 CD Documentation IRB 7600, M2004 (All languages) 69-1
or 808-11
1.From 14 July 2005

Operating
manuals
Art. no. Manual Option no.
3HAC18236-5 Operator's manual - IRC5 RobotStudioOnline (English) 270-11
3HAC021564-006 Operator´s manual - IRC5 Getting started (Portuguese) 270-1
3HAC16590-6 Operator’s manual - IRC5 with FlexPendant (Portu- 270-1
guese)
3HAC020738-001 Trouble shooting manual - IRC5 (English) 270-1
1.Only available on the CD for documentation (3HAC021747-0xx).

Technical
reference
manuals Art.no. Manual Option no.
3HAC16585-1 TRM - RAPID kernel (English) 270-1 and
626-1
3HAC16580-1 TRM - RAPID overview (English) 270-1
3HAC16581-1 TRM - RAPID reference manual (English) 270-1
3HAC17076-1 TRM - System parameters manual (English) 270-1

3HAC024534-001 Rev.1 31
7 Portuguese

Application
manuals
Art.no. Manual Option no.
3HAC021395-001 Application manual - Addi- 270-1 and (766-1 or 753-1 or 753-2 or
tional axes (English) 753-3 or 754-1 or 754-2 or 754-3 or
755-1 or 755-2 or 755-3 or 770-1 or
770-2 or 770-3 or 770-4 or 771-1 or
771-2 or 771-3 or 771-4)1
3HAC020676-001 Application manual - 270-1 and (709-1 or 709-2)
DeviceNet (English)
3HAC023008-001 Application manual - ProfiBus 270-1 and 711-1
(English)
3HAC023009-001 Application manual - InterBus 270-1 and (712-1 or 712-2)
(English)
3HAC18152-1 Application manual - Motion 270-1 and (608-1 or 609-1 or 610-1 or
functions and events (English) 611-1 or 612-1)
3HAC18153-1 Application manual - Motion 270-1 and (602-1 or 603-1)
performance (English)
3HAC18154-1 Application manual - Motion 270-1 and (607-1 or 613-1)
coordination and supervision
(English)
3HAC16587-1 Application manual - Conveyor 270-1 and 606-1
tracking (English)
3HAC020436-001 Application manual - Servo 270-1 and (629-1 or 630-1 or 631-1)
motor control (English)
3HAC020435-001 Application manual - Robot 270-1 and (614-1 or 615-1 or 616-1 or
communication and 618-1 or 620-1 or 621-1 or 622-1)
I/O control (English)
3HAC020434-001 Application manual - Engineer- 270-1 and (15-1 or 623-1 or 627-1 or
ing tools (English) 628-1)
3HAC021272-001 Application manual - Multi- 270-1 and (604-1 or 604-2)
Move (English)
3HAC16591-1 Application manual - Robot- 270-1 and (633-1 or 633-2)
Ware-Arc and Arc Sensor
(English)
3HAC16593-1 Application manual - Robot- 270-1 and 641-1
Ware-Dispense (English)
3HAC16582-1 Application manual - Robot- 270-1 and 635-1
Ware-Spot (English)
3HAC16583-1 Application manual - Robot- 270-1 and 635-3
Ware-Spot Servo (English)
3HAC16584-1 Application manual - Continu- 270-1 and 624-1
ous application platform
(English)
3HAC16586-1 Application manual - Discrete 270-1 and 625-1
application platform (English)
3HAC16090-1 Absolute Accuracy
CalibWare 2.0 (English)
1.Only available on the CD for documentation (3HAC 021747-0xx).

32 Rev.1 3HAC024534-001
 7 Portuguese

Product manuals

Art. no. Manual Option no.

3HAC023297-001 Product manual 140 (English) 270-1
3HAC023637-001 Product manual 1600 Proc/Ref info (English) 270-1
3HAC022031-001 Product manual 2400 (English) 270-1
3HAC022032-001 Product manual 4400 (English) 270-1
3HAC020938-001 Product manual 66X0 Type A Proc/Ref.inf (English) 270-1
3HAC023082-001 Product manual 66X0 Type B Proc/Ref.inf (English) 270-1
3HAC020993-001 Product manual 6650S (English) 270-1
3HAC022033-001 Product manual 7600 (English) 270-1
3HAC022546-006 Product manual 340 (Portuguese) 270-1
3HAC021313-001 Product manual IRC5 (English) 270-1
3HAC16578-1 Calibration Pendulum instruction (English)
3HAC022907-001 Instruction for Levelmeter calibration (English)

3HAC024534-001 Rev.1 33
7 Portuguese

34 Rev.1 3HAC024534-001
 8 Italian

8 Italian

CD
documentation
Art. no. Manual Option no.
3HAC021747-001 CD Documentation IRB 140, M2004 (All languages) 69-1
or 808-11
3HAC021747-008 CD Documentation IRB 340, M2004 (All languages) 69-1
or 808-11
3HAC021747-003 CD Documentation IRB 940, M2004 (All languages) 69-1
or 808-11
3HAC021747-002 CD Documentation IRB 1400, M2004 (All languages) 69-1
or 808-11
3HAC021747-010 CD Documentation IRB 1600, M2004 (English) 69-1
or 808-11
3HAC021747-004 CD Documentation IRB 2400, M2004 (All languages) 69-1
or 808-11
3HAC021747-005 CD Documentation IRB 4400, M2004 (All languages) 69-1
or 808-11
3HAC021747-006 CD Documentation IRB 66X0, M2004 (All languages) 69-1
or 808-11
3HAC021747-009 CD Documentation IRB 6650S, M2004 (All languages) 69-1
or 808-11
3HAC021747-007 CD Documentation IRB 7600, M2004 (All languages) 69-1
or 808-11
1.From 14 July 2005

Operating
manuals
Art. no. Manual Option no.
3HAC18236-7 Operator’s manual - IRC5 RobotStudioOnline (Italian) 195-11
3HAC021564-007 Operator’s manual - IRC5 Getting started (Italian) 195-1
3HAC16590-7 Operator’s manual - IRC5 with FlexPendant (Italian) 195-1
3HAC020738-007 Trouble shooting manual - IRC5 (Italian) 195-1
1.Only available on the CD for documentation (3HAC021747-0xx).

Technical
reference
manuals Art.no. Manual Option no.
3HAC16585-1 TRM - RAPID kernel (English) 195-1 and
626-1
3HAC16580-7 TRM - RAPID overview (Italian) 195-2
3HAC16581-7 TRM - RAPID reference manual (Italian) 195-1
3HAC17076-7 TRM - System parameters manual (Italian) 195-1

3HAC024534-001 Rev.1 35
8 Italian

Application
manuals
Art.no. Manual Option no.
3HAC021395-001 Application manual - Addi- 195-1 and (766-1 or 753-1 or 753-2 or
tional axes (English) 753-3 or 754-1 or 754-2 or 754-3 or
755-1 or 755-2 or 755-3 or 770-1 or
770-2 or 770-3 or 770-4 or 771-1 or
771-2 or 771-3 or 771-4)1
3HAC020676-001 Application manual - 195-1 and (709-1 or 709-2)
DeviceNet (English)
3HAC023008-001 Application manual - ProfiBus 195-1 and 711-1
(English)
3HAC023009-001 Application manual - InterBus 195-1 and (712-1 or 712-2)
(English)
3HAC18152-1 Application manual - Motion 195-1 and (608-1 or 609-1 or 610-1 or
functions and events (English) 611-1 or 612-1)
3HAC18153-1 Application manual - Motion 195-1 and (602-1 or 603-1)
performance (English)
3HAC18154-1 Application manual - Motion 195-1 and (607-1 or 613-1)
coordination and supervision
(English)
3HAC16587-1 Application manual - Conveyor 195-1 and 606-1
tracking (English)
3HAC020436-001 Application manual - Servo 195-1 and (629-1 or 630-1 or 631-1)
motor control (English)
3HAC020435-001 Application manual - Robot 195-1 and (614-1 or 615-1 or 616-1 or
communication and 618-1 or 620-1 or 621-1 or 622-1)
I/O control (English)
3HAC020434-001 Application manual - Engineer- 195-1 and (15-1 or 623-1 or 627-1 or
ing tools (English) 628-1)
3HAC021272-007 Application manual - Multi- 195-1 and (604-1 or 604-2)
Move (Italian)
3HAC16591-1 Application manual - Robot- 195-1 and (633-1 or 633-2)
Ware-Arc and Arc Sensor
(English)
3HAC16593-1 Application manual - Robot- 195-1 and 641-1
Ware-Dispense (English)
3HAC16582-1 Application manual - Robot- 195-1 and 635-1
Ware-Spot (English)
3HAC16583-1 Application manual - Robot- 195-1 and 635-3
Ware-Spot Servo (English)
3HAC16584-1 Application manual - Continu- 195-1 and 624-1
ous application platform
(English)
3HAC16586-1 Application manual - Discrete 195-1 and 625-1
application platform (English)
3HAC16090-1 Absolute Accuracy
CalibWare 2.0 (English)
1.Only available on the CD for documentation (3HAC 021747-0xx).

36 Rev.1 3HAC024534-001
 8 Italian

Product manuals

Art. no. Manual Option no.

3HAC023297-007 Product manual 140 (Italian) 195-1
3HAC023637-007 Product manual 1600 Proc/Ref info (Italian) 195-1
3HAC022031-007 Product manual 2400 (Italian) 195-1
3HAC022032-007 Product manual 4400 (Italian) 195-1
3HAC020938-007 Product manual 66X0 Type A Proc/Ref.inf (Italian) 195-1
3HAC023082-007 Product manual 66X0 Type B Proc/Ref.inf (Italian) 195-1
3HAC020993-007 Product manual 6650S (Italian) 195-1
3HAC022033-007 Product manual 7600 (Italian) 195-1
3HAC022546-007 Product manual 340 (Italian) 195-1
3HAC021313-007 Product manual IRC5 (Italian) 195-1
3HAC16578-1 Calibration Pendulum instruction (English)
3HAC022907-007 Instruction for Levelmeter calibration (Italian)

Product
specifications
Art. no. Manual Option no.
3HAC022844-001 Dati tecnici del prodotto, Software del controller IRC5, it1
RobotWare 5.0
3HAC022905-001 Dati tecnici del prodotto, Controller, IRC5 con FlexPen- it1
dant
3HAC10323-1 Dati tecnici del prodotto - IRB 140 it1
3HAC10779-1 Dati tecnici del prodotto - IRB 1400 it1
3HAC023604-007 Dati tecnici del prodotto - IRB 1600 it1
3HAC10780-1 Dati tecnici del prodotto - IRB 2400 it1
3HAC10762-1 Dati tecnici del prodotto - IRB 4400 it1
3HAC023934-007 Dati tecnici del prodotto - IRB 7600 it1
1.Available in ABB Library

3HAC024534-001 Rev.1 37
8 Italian

38 Rev.1 3HAC024534-001
 9 Danish

9 Danish

CD
documentation
Art. no. Manual Option no.
3HAC021747-001 CD Documentation IRB 140, M2004 (All languages) 69-1
or 808-11
3HAC021747-008 CD Documentation IRB 340, M2004 (All languages) 69-1
or 808-11
3HAC021747-003 CD Documentation IRB 940, M2004 (All languages) 69-1
or 808-11
3HAC021747-002 CD Documentation IRB 1400, M2004 (All languages) 69-1
or 808-11
3HAC021747-010 CD Documentation IRB 1600, M2004 (English) 69-1
or 808-11
3HAC021747-004 CD Documentation IRB 2400, M2004 (All languages) 69-1
or 808-11
3HAC021747-005 CD Documentation IRB 4400, M2004 (All languages) 69-1
or 808-11
3HAC021747-006 CD Documentation IRB 66X0, M2004 (All languages) 69-1
or 808-11
3HAC021747-009 CD Documentation IRB 6650S, M2004 (All languages) 69-1
or 808-11
3HAC021747-007 CD Documentation IRB 7600, M2004 (All languages) 69-1
or 808-11
1.From 14 July 2005

Operating
manuals
Art. no. Manual Option no.
3HAC18236-1 Operator’s manual - IRC5 RobotStudioOnline (English) 97-11
3HAC021564-008 Operator’s manual - IRC5 Getting started (Danish) 97-1
3HAC16590-8 Operator’s manual - IRC5 with FlexPendant (Danish) 97-1
3HAC020738-001 Trouble shooting manual - IRC5 (English) 97-1
1.Only available on the CD for documentation (3HAC021747-0xx).

Technical
reference
manuals Art.no. Manual Option no.
3HAC16585-1 TRM - RAPID kernel (English) 97-1 and
626-1
3HAC16580-1 TRM - RAPID overview (English) 97-1
3HAC16581-1 TRM - RAPID reference manual (English) 97-1
3HAC17076-1 TRM - System parameters manual (English) 97-1

3HAC024534-001 Rev.1 39
9 Danish

Application
manuals
Art.no. Manual Option no.
3HAC021395-001 Application manual - Addi- 97-1 and (766-1 or 753-1 or 753-2 or
tional axes (English) 753-3 or 754-1 or 754-2 or 754-3 or
755-1 or 755-2 or 755-3 or 770-1 or
770-2 or 770-3 or 770-4 or 771-1 or
771-2 or 771-3 or 771-4)1
3HAC020676-001 Application manual - 97-1and (709-1 or 709-2)
DeviceNet (English)
3HAC023008-001 Application manual - ProfiBus 97-1 and 711-1
(English)
3HAC023009-001 Application manual - InterBus 97-1 and (712-1 or 712-2)
(English)
3HAC18152-1 Application manual - Motion 97-1 and (608-1 or 609-1 or 610-1 or
functions and events (English) 611-1 or 612-1)
3HAC18153-1 Application manual - Motion 97-1 and (602-1 or 603-1)
performance (English)
3HAC18154-1 Application manual - Motion 97-1 and (607-1 or 613-1)
coordination and supervision
(English)
3HAC16587-1 Application manual - Conveyor 97-1 and 606-1
tracking (English)
3HAC020436-001 Application manual - Servo 97-1 and (629-1 or 630-1 or 631-1)
motor control (English)
3HAC020435-001 Application manual - Robot 97-1 and (614-1 or 615-1 or 616-1 or
communication and 618-1 or 620-1 or 621-1 or 622-1)
I/O control (English)
3HAC020434-001 Application manual - Engineer- 97-1 and (15-1 or 623-1 or 627-1 or
ing tools (English) 628-1)
3HAC021272-001 Application manual - Multi- 97-1 and (604-1 or 604-2)
Move (English)
3HAC16591-1 Application manual - Robot- 97-1 and (633-1 or 633-2)
Ware-Arc and Arc Sensor
(English)
3HAC16593-1 Application manual - Robot- 97-1 and 641-1
Ware-Dispense (English)
3HAC16582-1 Application manual - Robot- 97-1 and 635-1
Ware-Spot (English)
3HAC16583-1 Application manual - Robot- 97-1 and 635-3
Ware-Spot Servo (English)
3HAC16584-1 Application manual - Continu- 97-1 and 624-1
ous application platform
(English)
3HAC16586-1 Application manual - Discrete 97-1 and 625-1
application platform (English)
3HAC16090-1 Absolute Accuracy
CalibWare 2.0 (English)
1.Only available on the CD for documentation (3HAC 021747-0xx).

40 Rev.1 3HAC024534-001
 9 Danish

Product manuals

Art. no. Manual Option no.

3HAC023297-001 Product manual 140 (English) 97-1
3HAC023637-001 Product manual 1600 Proc/Ref info (English) 97-1
3HAC022031-001 Product manual 2400 (English) 97-1
3HAC022032-001 Product manual 4400 (English) 97-1
3HAC020938-001 Product manual 66X0 Type A Proc/Ref.inf (English) 97-1
3HAC023082-001 Product manual 66X0 Type B Proc/Ref.inf (English) 97-1
3HAC020993-001 Product manual 6650S (English) 97-1
3HAC022033-001 Product manual 7600 (English) 97-1
3HAC022546-008 Product manual 340 (Danish) 97-1
3HAC021313-001 Product manual IRC5 (English) 97-1
3HAC16578-1 Calibration Pendulum instruction (English)
3HAC022907-001 Instruction for Levelmeter calibration (English)

3HAC024534-001 Rev.1 41
9 Danish

42 Rev.1 3HAC024534-001
 10 Dutch

10 Dutch

CD
documentation
Art. no. Manual Option no.
3HAC021747-001 CD Documentation IRB 140, M2004 (All languages) 69-1
or 808-11
3HAC021747-008 CD Documentation IRB 340, M2004 (All languages) 69-1
or 808-11
3HAC021747-003 CD Documentation IRB 940, M2004 (All languages) 69-1
or 808-11
3HAC021747-002 CD Documentation IRB 1400, M2004 (All languages) 69-1
or 808-11
3HAC021747-010 CD Documentation IRB 1600, M2004 (English) 69-1
or 808-11
3HAC021747-004 CD Documentation IRB 2400, M2004 (All languages) 69-1
or 808-11
3HAC021747-005 CD Documentation IRB 4400, M2004 (All languages) 69-1
or 808-11
3HAC021747-006 CD Documentation IRB 66X0, M2004 (All languages) 69-1
or 808-11
3HAC021747-009 CD Documentation IRB 6650S, M2004 (All languages) 69-1
or 808-11
3HAC021747-007 CD Documentation IRB 7600, M2004 (All languages) 69-1
or 808-11
1.From 14 July 2005

Operating
manuals
Art. no. Manual Option no.
3HAC18236-1 Operator’s manual - IRC5 RobotStudioOnline (English) 234-11
3HAC021564-009 Operator’s manual - IRC5 Getting started (Dutch) 234-1
3HAC16590-9 Operator’s manual - IRC5 with FlexPendant (Dutch) 234-1
3HAC020738-001 Trouble shooting manual - IRC5 (English) 234-1
1.Only available on the CD for documentation (3HAC021747-0xx).

Technical
reference
manuals Art.no. Manual Option no.
3HAC16585-1 TRM - RAPID kernel (English) 234-1 and
626-1
3HAC16580-1 TRM - RAPID overview (English) 234-1
3HAC16581-1 TRM - RAPID reference manual (English) 234-1
3HAC17076-1 TRM - System parameters manual (English) 234-1

3HAC024534-001 Rev.1 43
10 Dutch

Application
manuals
Art.no. Manual Option no.
3HAC021395-001 Application manual - Addi- 234-1 and (766-1 or 753-1 or 753-2 or
tional axes (English) 753-3 or 754-1 or 754-2 or 754-3 or
755-1 or 755-2 or 755-3 or 770-1 or
770-2 or 770-3 or 770-4 or 771-1 or
771-2 or 771-3 or 771-4)1
3HAC020676-001 Application manual - 234-1and 709-1 or 709-2)
DeviceNet (English)
3HAC023008-001 Application manual - ProfiBus 234-1 and 711-1
(English)
3HAC023009-001 Application manual - InterBus 234-1 and (712-1 or 712-2)
(English)
3HAC18152-1 Application manual - Motion 234-1 and (608-1 or 609-1 or 610-1 or
functions and events (English) 611-1 or 612-1)
3HAC18153-1 Application manual - Motion 234-1 and (602-1 or 603-1)
performance (English)
3HAC18154-1 Application manual - Motion 234-1 and (607-1 or 613-1)
coordination and supervision
(English)
3HAC16587-1 Application manual - Conveyor 234-1 and 606-1
tracking (English)
3HAC020436-001 Application manual - Servo 234-1 and (629-1 or 630-1 or 631-1)
motor control (English)
3HAC020435-001 Application manual - Robot 234-1 and (614-1 or 615-1 or 616-1 or
communication and 618-1 or 620-1 or 621-1 or 622-1)
I/O control (English)
3HAC020434-001 Application manual - Engineer- 234-1 and (15-1 or 623-1 or 627-1 or
ing tools (English) 628-1)
3HAC021272-001 Application manual - Multi- 234-1 and (604-1 or 604-2)
Move (English)
3HAC16591-1 Application manual - Robot- 234-1 and (633-1 or 633-2)
Ware-Arc and Arc Sensor
(English)
3HAC16593-1 Application manual - Robot- 234-1 and 641-1
Ware-Dispense (English)
3HAC16582-1 Application manual - Robot- 234-1 and 635-1
Ware-Spot (English)
3HAC16583-1 Application manual - Robot- 234-1 and 635-3
Ware-Spot Servo (English)
3HAC16584-1 Application manual - Continu- 234-1 and 624-1
ous application platform
(English)
3HAC16586-1 Application manual - Discrete 234-1 and 625-1
application platform (English)
3HAC16090-1 Absolute Accuracy
CalibWare 2.0 (English)
1.Only available on the CD for documentation (3HAC 021747-0xx).

44 Rev.1 3HAC024534-001
 10 Dutch

Product manuals

Art. no. Manual Option no.

3HAC023297-001 Product manual 140 (English) 234-1
3HAC023637-001 Product manual 1600 Proc/Ref info (English) 234-1
3HAC022031-001 Product manual 2400 (English) 234-1
3HAC022032-001 Product manual 4400 (English) 234-1
3HAC020938-001 Product manual 66X0 Type A Proc/Ref.inf (English) 234-1
3HAC023082-001 Product manual 66X0 Type B Proc/Ref.inf (English) 234-1
3HAC020993-001 Product manual 6650S (English) 234-1
3HAC022033-001 Product manual 7600 (English) 234-1
3HAC022546-009 Product manual 340 (Dutch) 234-1
3HAC021313-001 Product manual IRC5 (English) 234-1
3HAC16578-1 Calibration Pendulum instruction (English)
3HAC022907-001 Instruction for Levelmeter calibration (English)

3HAC024534-001 Rev.1 45
10 Dutch

46 Rev.1 3HAC024534-001
 11 Chinese (simplified)

11 Chinese (simplified)

CD
documentation
Art. no. Manual Option no.
3HAC021747-001 CD Documentation IRB 140, M2004 (All languages) 69-1
or 808-11
3HAC021747-008 CD Documentation IRB 340, M2004 (All languages) 69-1
or 808-11
3HAC021747-003 CD Documentation IRB 940, M2004 (All languages) 69-1
or 808-11
3HAC021747-002 CD Documentation IRB 1400, M2004 (All languages) 69-1
or 808-11
3HAC021747-010 CD Documentation IRB 1600, M2004 (English) 69-1
or 808-11
3HAC021747-004 CD Documentation IRB 2400, M2004 (All languages) 69-1
or 808-11
3HAC021747-005 CD Documentation IRB 4400, M2004 (All languages) 69-1
or 808-11
3HAC021747-006 CD Documentation IRB 66X0, M2004 (All languages) 69-1
or 808-11
3HAC021747-009 CD Documentation IRB 6650S, M2004 (All languages) 69-1
or 808-11
3HAC021747-007 CD Documentation IRB 7600, M2004 (All languages) 69-1
or 808-11
1.From 14 July 2005

Operating
manuals
Art. no. Manual Option no.
3HAC18236-1 Operator’s manual - IRC5 RobotStudioOnline (English) 666-11
3HAC021564-0010 Operator’s manual - IRC5 Getting started (Chinese) 666-1
3HAC16590-10 Operator’s manual - IRC5 with FlexPendant (Chinese) 666-1
3HAC020738-001 Trouble shooting manual - IRC5 (English) 666-1
1.Only available on the CD for documentation (3HAC021747-0xx).

Technical
reference
manuals Art.no. Manual Option no.
3HAC16585-1 TRM - RAPID kernel (English) 666-1 and
626-1
3HAC16580-1 TRM - RAPID overview (English) 666-1
3HAC16581-1 TRM - RAPID reference manual (English) 666-1
3HAC17076-1 TRM - System parameters manual (English) 666-1

3HAC024534-001 Rev.1 47
11 Chinese (simplified)

Application
manuals
Art.no. Manual Option no.
3HAC021395-001 Application manual - Addi- 666-1 and (766-1 or 753-1 or 753-2 or
tional axes (English) 753-3 or 754-1 or 754-2 or 754-3 or
755-1 or 755-2 or 755-3 or 770-1 or
770-2 or 770-3 or 770-4 or 771-1 or
771-2 or 771-3 or 771-4)1
3HAC020676-001 Application manual - 666-1and (709-1 or 709-2)
DeviceNet (English)
3HAC023008-001 Application manual - ProfiBus 666-1 and 711-1
(English)
3HAC023009-001 Application manual - InterBus 666-1 and (712-1 or 712-2)
(English)
3HAC18152-1 Application manual - Motion 666-1 and (608-1 or 609-1 or 610-1 or
functions and events (English) 611-1 or 612-1)
3HAC18153-1 Application manual - Motion 666-1 and (602-1 or 603-1)
performance (English)
3HAC18154-1 Application manual - Motion 666-1 and (607-1 or 613-1)
coordination and supervision
(English)
3HAC16587-1 Application manual - Conveyor 666-1 and 606-1
tracking (English)
3HAC020436-001 Application manual - Servo 666-1 and (629-1 or 630-1 or 631-1)
motor control (English)
3HAC020435-001 Application manual - Robot 666-1 and (614-1 or 615-1 or 616-1 or
communication and 618-1 or 620-1 or 621-1 or 622-1)
I/O control (English)
3HAC020434-001 Application manual - Engineer- 666-1 and (15-1 or 623-1 or 627-1 or
ing tools (English) 628-1)
3HAC021272-001 Application manual - Multi- 666-1 and (604-1 or 604-2)
Move (English)
3HAC16591-1 Application manual - Robot- 666-1 and (633-1 or 633-2)
Ware-Arc and Arc Sensor
(English)
3HAC16593-1 Application manual - Robot- 666-1 and 641-1
Ware-Dispense (English)
3HAC16582-1 Application manual - Robot- 666-1 and 635-1
Ware-Spot (English)
3HAC16583-1 Application manual - Robot- 666-1 and 635-3
Ware-Spot Servo (English)
3HAC16584-1 Application manual - Continu- 666-1 and 624-1
ous application platform
(English)
3HAC16586-1 Application manual - Discrete 666-1 and 625-1
application platform (English)
3HAC16090-1 Absolute Accuracy
CalibWare 2.0 (English)
1.Only available on the CD for documentation (3HAC 021747-0xx).

48 Rev.1 3HAC024534-001
 11 Chinese (simplified)

Product manuals

Art. no. Manual Option no.

3HAC023297-001 Product manual 140 (English) 666-1
3HAC023637-001 Product manual 1600 Proc/Ref info (English) 666-1
3HAC022031-001 Product manual 2400 (English) 666-1
3HAC022032-001 Product manual 4400 (English) 666-1
3HAC020938-001 Product manual 66X0 Type A Proc/Ref.inf (English) 666-1
3HAC023082-001 Product manual 66X0 Type B Proc/Ref.inf (English) 666-1
3HAC020993-001 Product manual 6650S (English) 666-1
3HAC022033-001 Product manual 7600 (English) 666-1
3HAC022546-001 Product manual 340 (English) 666-1
3HAC021313-001 Product manual IRC5 (English) 666-1
3HAC16578-1 Calibration Pendulum instruction (English)
3HAC022907-001 Instruction for Levelmeter calibration (English)

3HAC024534-001 Rev.1 49
11 Chinese (simplified)

50 Rev.1 3HAC024534-001
 12 Korean

12 Korean

CD
documentation
Art. no. Manual Option no.
3HAC021747-001 CD Documentation IRB 140, M2004 (All languages) 69-1
or 808-11
3HAC021747-008 CD Documentation IRB 340, M2004 (All languages) 69-1
or 808-11
3HAC021747-003 CD Documentation IRB 940, M2004 (All languages) 69-1
or 808-11
3HAC021747-002 CD Documentation IRB 1400, M2004 (All languages) 69-1
or 808-11
3HAC021747-010 CD Documentation IRB 1600, M2004 (English) 69-1
or 808-11
3HAC021747-004 CD Documentation IRB 2400, M2004 (All languages) 69-1
or 808-11
3HAC021747-005 CD Documentation IRB 4400, M2004 (All languages) 69-1
or 808-11
3HAC021747-006 CD Documentation IRB 66X0, M2004 (All languages) 69-1
or 808-11
3HAC021747-009 CD Documentation IRB 6650S, M2004 (All languages) 69-1
or 808-11
3HAC021747-007 CD Documentation IRB 7600, M2004 (All languages) 69-1
or 808-11
1.From 14 July 2005

Operating
manuals
Art. no. Manual Option no.
3HAC18236-1 Operator’s manual - IRC5 RobotStudioOnline (English) 667-11
3HAC021564-0011 Operator’s manual - IRC5 Getting started (Korean) 667-1
3HAC16590-11 Operator’s manual - IRC5 with FlexPendant (Korean) 667-1
3HAC020738-001 Trouble shooting manual - IRC5 (English) 667-1
1.Only available on the CD for documentation (3HAC021747-0xx).

Technical
reference
manuals Art.no. Manual Option no.
3HAC16585-1 TRM - RAPID kernel (English) 667-1 and
626-1
3HAC16580-1 TRM - RAPID overview (English) 667-1
3HAC16581-1 TRM - RAPID reference manual (English) 667-1
3HAC17076-1 TRM - System parameters manual (English) 667-1

3HAC024534-001 Rev.1 51
12 Korean

Application
manuals
Art.no. Manual Option no.
3HAC021395-001 Application manual - Addi- 667-1 and (766-1 or 753-1 or 753-2 or
tional axes (English) 753-3 or 754-1 or 754-2 or 754-3 or
755-1 or 755-2 or 755-3 or 770-1 or
770-2 or 770-3 or 770-4 or 771-1 or
771-2 or 771-3 or 771-4)1
3HAC020676-001 Application manual - 667-1and 709-1 or 709-2)
DeviceNet (English)
3HAC023008-001 Application manual - ProfiBus 667-1 and 711-1
(English)
3HAC023009-001 Application manual - InterBus 667-1 and (712-1 or 712-2)
(English)
3HAC18152-1 Application manual - Motion 667-1 and (608-1 or 609-1 or 610-1 or
functions and events (English) 611-1 or 612-1)
3HAC18153-1 Application manual - Motion 667-1 and (602-1 or 603-1)
performance (English)
3HAC18154-1 Application manual - Motion 667-1 and (607-1 or 613-1)
coordination and supervision
(English)
3HAC16587-1 Application manual - Conveyor 667-1 and 606-1
tracking (English)
3HAC020436-001 Application manual - Servo 667-1 and (629-1 or 630-1 or 631-1)
motor control (English)
3HAC020435-001 Application manual - Robot 667-1 and (614-1 or 615-1 or 616-1 or
communication and 618-1 or 620-1 or 621-1 or 622-1)
I/O control (English)
3HAC020434-001 Application manual - Engineer- 667-1 and (15-1 or 623-1 or 627-1 or
ing tools (English) 628-1)
3HAC021272-001 Application manual - Multi- 667-1 and (604-1 or 604-2)
Move (English)
3HAC16591-1 Application manual - Robot- 667-1 and (633-1 or 633-2)
Ware-Arc and Arc Sensor
(English)
3HAC16593-1 Application manual - Robot- 667-1 and 641-1
Ware-Dispense (English)
3HAC16582-1 Application manual - Robot- 667-1 and 635-1
Ware-Spot (English)
3HAC16583-1 Application manual - Robot- 667-1 and 635-3
Ware-Spot Servo (English)
3HAC16584-1 Application manual - Continu- 667-1 and 624-1
ous application platform
(English)
3HAC16586-1 Application manual - Discrete 667-1 and 625-1
application platform (English)
3HAC16090-1 Absolute Accuracy
CalibWare 2.0 (English)
1.Only available on the CD for documentation (3HAC 021747-0xx).

52 Rev.1 3HAC024534-001
 12 Korean

Product manuals

Art. no. Manual Option no.

3HAC023297-001 Product manual 140 (English) 667-1
3HAC023637-001 Product manual 1600 Proc/Ref info (English) 667-1
3HAC022031-001 Product manual 2400 (English) 667-1
3HAC022032-001 Product manual 4400 (English) 667-1
3HAC020938-001 Product manual 66X0 Type A Proc/Ref.inf (English) 667-1
3HAC023082-001 Product manual 66X0 Type B Proc/Ref.inf (English) 667-1
3HAC020993-001 Product manual 6650S (English) 667-1
3HAC022033-001 Product manual 7600 (English) 667-1
3HAC022546-001 Product manual 340 (English) 667-1
3HAC021313-001 Product manual IRC5 (English) 667-1
3HAC16578-1 Calibration Pendulum instruction (English)
3HAC022907-001 Instruction for Levelmeter calibration (English)

3HAC024534-001 Rev.1 53
12 Korean

54 Rev.1 3HAC024534-001
 13 Japanese

13 Japanese

CD
documentation
Art. no. Manual Option no.
3HAC021747-001 CD Documentation IRB 140, M2004 (All languages) 69-1
or 808-11
3HAC021747-008 CD Documentation IRB 340, M2004 (All languages) 69-1
or 808-11
3HAC021747-003 CD Documentation IRB 940, M2004 (All languages) 69-1
or 808-11
3HAC021747-002 CD Documentation IRB 1400, M2004 (All languages) 69-1
or 808-11
3HAC021747-010 CD Documentation IRB 1600, M2004 (English) 69-1
or 808-11
3HAC021747-004 CD Documentation IRB 2400, M2004 (All languages) 69-1
or 808-11
3HAC021747-005 CD Documentation IRB 4400, M2004 (All languages) 69-1
or 808-11
3HAC021747-006 CD Documentation IRB 66X0, M2004 (All languages) 69-1
or 808-11
3HAC021747-009 CD Documentation IRB 6650S, M2004 (All languages) 69-1
or 808-11
3HAC021747-007 CD Documentation IRB 7600, M2004 (All languages) 69-1
or 808-11
1.From 14 July 2005

Operating
manuals
Art. no. Manual Option no.
3HAC18236-1 Operator’s manual - IRC5 RobotStudioOnline (English) 668-11
3HAC021564-0012 Operator’s manual - IRC5 Getting started (Japanese) 668-1
3HAC16590-12 Operator’s manual - IRC5 with FlexPendant (Japanese) 668-1
3HAC020738-001 Trouble shooting manual - IRC5 (English) 668-1
1.Only available on the CD for documentation (3HAC021747-0xx).

Technical
reference
manuals Art.no. Manual Option no.
3HAC16585-1 TRM - RAPID kernel (English) 668-1 and
626-1
3HAC16580-1 TRM - RAPID overview (English) 668-1
3HAC16581-1 TRM - RAPID reference manual (English) 668-1
3HAC17076-1 TRM - System parameters manual (English) 668-1

3HAC024534-001 Rev.1 55
13 Japanese

Application
manuals
Art.no. Manual Option no.
3HAC021395-001 Application manual - Addi- 668-1 and (766-1 or 753-1 or 753-2 or
tional axes (English) 753-3 or 754-1 or 754-2 or 754-3 or
755-1 or 755-2 or 755-3 or 770-1 or
770-2 or 770-3 or 770-4 or 771-1 or
771-2 or 771-3 or 771-4)
3HAC020676-001 Application manual - 668-1 and (709-1 or 709-2)1
DeviceNet (English)
3HAC023008-001 Application manual - ProfiBus 668-1 and 711-1
(English)
3HAC023009-001 Application manual - InterBus 668-1 and (712-1 or 712-2)
(English)
3HAC18152-1 Application manual - Motion 668-1 and (608-1 or 609-1 or 610-1 or
functions and events (English) 611-1 or 612-1)
3HAC18153-1 Application manual - Motion 668-1 and (602-1 or 603-1)
performance (English)
3HAC18154-1 Application manual - Motion 668-1 and (607-1 or 613-1)
coordination and supervision
(English)
3HAC16587-1 Application manual - Conveyor 668-1 and 606-1
tracking (English)
3HAC020436-001 Application manual - Servo 668-1 and (629-1 or 630-1 or 631-1)
motor control (English)
3HAC020435-001 Application manual - Robot 668-1 and (614-1 or 615-1 or 616-1 or
communication and 618-1 or 620-1 or 621-1 or 622-1)
I/O control (English)
3HAC020434-001 Application manual - Engineer- 668-1 and (15-1 or 623-1 or 627-1 or
ing tools (English) 628-1)
3HAC021272-001 Application manual - Multi- 668-1 and (604-1 or 604-2)
Move (English)
3HAC16591-1 Application manual - Robot- 668-1 and (633-1 or 633-2)
Ware-Arc and Arc Sensor
(English)
3HAC16593-1 Application manual - Robot- 668-1 and 641-1
Ware-Dispense (English)
3HAC16582-1 Application manual - Robot- 668-1 and 635-1
Ware-Spot (English)
3HAC16583-1 Application manual - Robot- 668-1 and 635-3
Ware-Spot Servo (English)
3HAC16584-1 Application manual - Continu- 668-1 and 624-1
ous application platform
(English)
3HAC16586-1 Application manual - Discrete 668-1 and 625-1
application platform (English)
3HAC16090-1 Absolute Accuracy
CalibWare 2.0 (English)
1.Only available on the CD for documentation (3HAC 021747-0xx).

56 Rev.1 3HAC024534-001
 13 Japanese

Product manuals

Art. no. Manual Option no.

3HAC023297-001 Product manual 140 (English) 668-1
3HAC023637-001 Product manual 1600 Proc/Ref info (English) 668-1
3HAC022031-001 Product manual 2400 (English) 668-1
3HAC022032-001 Product manual 4400 (English) 668-1
3HAC020938-001 Product manual 66X0 Type A Proc/Ref.inf (English) 668-1
3HAC023082-001 Product manual 66X0 Type B Proc/Ref.inf (English) 668-1
3HAC020993-001 Product manual 6650S (English) 668-1
3HAC022033-001 Product manual 7600 (English) 668-1
3HAC022546-001 Product manual 340 (English) 668-1
3HAC021313-001 Product manual IRC5 (English) 668-1
3HAC16578-1 Calibration Pendulum instruction (English)
3HAC022907-001 Instruction for Levelmeter calibration (English)

3HAC024534-001 Rev.1 57
13 Japanese

58 Rev.1 3HAC024534-001
 14 Czech

14 Czech

CD
documentation
Art. no. Manual Option no.
3HAC021747-001 CD Documentation IRB 140, M2004 (All languages) 69-1
or 808-11
3HAC021747-008 CD Documentation IRB 340, M2004 (All languages) 69-1
or 808-11
3HAC021747-003 CD Documentation IRB 940, M2004 (All languages) 69-1
or 808-11
3HAC021747-002 CD Documentation IRB 1400, M2004 (All languages) 69-1
or 808-11
3HAC021747-010 CD Documentation IRB 1600, M2004 (English) 69-1
or 808-11
3HAC021747-004 CD Documentation IRB 2400, M2004 (All languages) 69-1
or 808-11
3HAC021747-005 CD Documentation IRB 4400, M2004 (All languages) 69-1
or 808-11
3HAC021747-006 CD Documentation IRB 66X0, M2004 (All languages) 69-1
or 808-11
3HAC021747-009 CD Documentation IRB 6650S, M2004 (All languages) 69-1
or 808-11
3HAC021747-007 CD Documentation IRB 7600, M2004 (All languages) 69-1
or 808-11
1.From 14 July 2005

Operating
manuals
Art. no. Manual Option no.
3HAC18236-1 Operator’s manual - IRC5 RobotStudioOnline (English) 669-11
3HAC021564-0014 Operator’s manual - IRC5 Getting started (Czech) 669-1
3HAC16590-14 Operator’s manual - IRC5 with FlexPendant (Czech) 669-1
3HAC020738-001 Trouble shooting manual - IRC5 (English) 669-1
1.Only available on the CD for documentation (3HAC021747-0xx).

Technical
reference
manuals Art.no. Manual Option no.
3HAC16585-1 TRM - RAPID kernel (English) 669-1 and
626-1
3HAC16580-1 TRM - RAPID overview (English) 669-1
3HAC16581-1 TRM - RAPID reference manual (English) 669-1
3HAC17076-1 TRM - System parameters manual (English) 669-1

3HAC024534-001 Rev.1 59
14 Czech

Application
manuals
Art.no. Manual Option no.
3HAC021395-001 Application manual - Addi- 669-1 and (766-1 or 753-1 or 753-2 or
tional axes (English) 753-3 or 754-1 or 754-2 or 754-3 or
755-1 or 755-2 or 755-3 or 770-1 or
770-2 or 770-3 or 770-4 or 771-1 or
771-2 or 771-3 or 771-4)1
3HAC020676-001 Application manual - 669-1 and (709-1 or 709-2)
DeviceNet (English)
3HAC023008-001 Application manual - ProfiBus 669-1 and 711-1
(English)
3HAC023009-001 Application manual - InterBus 669-1 and (712-1 or 712-2)
(English)
3HAC18152-1 Application manual - Motion 669-1 and (608-1 or 609-1 or 610-1 or
functions and events (English) 611-1 or 612-1)
3HAC18153-1 Application manual - Motion 669-1 and (602-1 or 603-1)
performance (English)
3HAC18154-1 Application manual - Motion 669-1 and (607-1 or 613-1)
coordination and supervision
(English)
3HAC16587-1 Application manual - Conveyor 669-1 and 606-1
tracking (English)
3HAC020436-001 Application manual - Servo 669-1 and (629-1 or 630-1 or 631-1)
motor control (English)
3HAC020435-001 Application manual - Robot 669-1 and (614-1 or 615-1 or 616-1 or
communication and 618-1 or 620-1 or 621-1 or 622-1)
I/O control (English)
3HAC020434-001 Application manual - Engineer- 669-1 and (15-1 or 623-1 or 627-1 or
ing tools (English) 628-1)
3HAC021272-001 Application manual - Multi- 669-1 and (604-1 or 604-2)
Move (English)
3HAC16591-1 Application manual - Robot- 669-1 and (633-1 or 633-2)
Ware-Arc and Arc Sensor
(English)
3HAC16593-1 Application manual - Robot- 669-1 and 641-1
Ware-Dispense (English)
3HAC16582-1 Application manual - Robot- 669-1 and 635-1
Ware-Spot (English)
3HAC16583-1 Application manual - Robot- 669-1 and 635-3
Ware-Spot Servo (English)
3HAC16584-1 Application manual - Continu- 669-1 and 624-1
ous application platform
(English)
3HAC16586-1 Application manual - Discrete 669-1 and 625-1
application platform (English)
3HAC16090-1 Absolute Accuracy
CalibWare 2.0 (English)
1.Only available on the CD for documentation (3HAC 021747-0xx).

60 Rev.1 3HAC024534-001
 14 Czech

Product manuals

Art. no. Manual Option no.

3HAC023297-001 Product manual 140 (English) 669-1
3HAC023637-001 Product manual 1600 Proc/Ref info (English) 669-1
3HAC022031-001 Product manual 2400 (English) 669-1
3HAC022032-001 Product manual 4400 (English) 669-1
3HAC020938-001 Product manual 66X0 Type A Proc/Ref.inf (English) 669-1
3HAC023082-001 Product manual 66X0 Type B Proc/Ref.inf (English) 669-1
3HAC020993-001 Product manual 6650S (English) 669-1
3HAC022033-001 Product manual 7600 (English) 669-1
3HAC022546-001 Product manual 340 (English) 669-1
3HAC021313-001 Product manual IRC5 (English) 669-1
3HAC16578-1 Calibration Pendulum instruction (English)
3HAC022907-001 Instruction for Levelmeter calibration (English)

3HAC024534-001 Rev.1 61
14 Czech

62 Rev.1 3HAC024534-001
 15 Finnish

15 Finnish

CD
documentation
Art. no. Manual Option no.
3HAC021747-001 CD Documentation IRB 140, M2004 (All languages) 69-1
or 808-11
3HAC021747-008 CD Documentation IRB 340, M2004 (All languages) 69-1
or 808-11
3HAC021747-003 CD Documentation IRB 940, M2004 (All languages) 69-1
or 808-11
3HAC021747-002 CD Documentation IRB 1400, M2004 (All languages) 69-1
or 808-11
3HAC021747-010 CD Documentation IRB 1600, M2004 (English) 69-1
or 808-11
3HAC021747-004 CD Documentation IRB 2400, M2004 (All languages) 69-1
or 808-11
3HAC021747-005 CD Documentation IRB 4400, M2004 (All languages) 69-1
or 808-11
3HAC021747-006 CD Documentation IRB 66X0, M2004 (All languages) 69-1
or 808-11
3HAC021747-009 CD Documentation IRB 6650S, M2004 (All languages) 69-1
or 808-11
3HAC021747-007 CD Documentation IRB 7600, M2004 (All languages) 69-1
or 808-11
1.From 14 July 2005

Operating
manuals
Art. no. Manual Option no.
3HAC18236-1 Operator’s manual - IRC5 RobotStudioOnline (English) 670-11
3HAC021564-0013 Operator’s manual - IRC5 Getting started (Finnish) 670-1
3HAC16590-13 Operator’s manual - IRC5 with FlexPendant (Finnish) 670-1
3HAC020738-001 Trouble shooting manual - IRC5 (English) 670-1
1.Only available on the CD for documentation (3HAC021747-0xx).

Technical
reference
manuals Art.no. Manual Option no.
3HAC16585-1 TRM - RAPID kernel (English) 670-1 and
626-1
3HAC16580-1 TRM - RAPID overview (English) 670-1
3HAC16581-1 TRM - RAPID reference manual (English) 670-1
3HAC17076-1 TRM - System parameters manual (English) 670-1

3HAC024534-001 Rev.1 63
15 Finnish

Application
manuals
Art.no. Manual Option no.
3HAC021395-001 Application manual - Addi- 670-1 and (766-1 or 753-1 or 753-2 or
tional axes (English) 753-3 or 754-1 or 754-2 or 754-3 or
755-1 or 755-2 or 755-3 or 770-1 or
770-2 or 770-3 or 770-4 or 771-1 or
771-2 or 771-3 or 771-4)1
3HAC020676-001 Application manual - 670-1 and (709-1 or 709-2)
DeviceNet (English)
3HAC023008-001 Application manual - ProfiBus 670-1 and 711-1
(English)
3HAC023009-001 Application manual - InterBus 670-1 and (712-1 or 712-2)
(English)
3HAC18152-1 Application manual - Motion 670-1 and (608-1 or 609-1 or 610-1 or
functions and events (English) 611-1 or 612-1)
3HAC18153-1 Application manual - Motion 670-1 and (602-1 or 603-1)
performance (English)
3HAC18154-1 Application manual - Motion 670-1 and (607-1 or 613-1)
coordination and supervision
(English)
3HAC16587-1 Application manual - Conveyor 670-1 and 606-1
tracking (English)
3HAC020436-001 Application manual - Servo 670-1 and (629-1 or 630-1 or 631-1)
motor control (English)
3HAC020435-001 Application manual - Robot 670-1 and (614-1 or 615-1 or 616-1 or
communication and 618-1 or 620-1 or 621-1 or 622-1)
I/O control (English)
3HAC020434-001 Application manual - Engineer- 670-1 and (15-1 or 623-1 or 627-1 or
ing tools (English) 628-1)
3HAC021272-001 Application manual - Multi- 670-1 and (604-1 or 604-2)
Move (English)
3HAC16591-1 Application manual - Robot- 670-1 and (633-1 or 633-2)
Ware-Arc and Arc Sensor
(English)
3HAC16593-1 Application manual - Robot- 670-1 and 641-1
Ware-Dispense (English)
3HAC16582-1 Application manual - Robot- 670-1 and 635-1
Ware-Spot (English)
3HAC16583-1 Application manual - Robot- 670-1 and 635-3
Ware-Spot Servo (English)
3HAC16584-1 Application manual - Continu- 670-1 and 624-1
ous application platform
(English)
3HAC16586-1 Application manual - Discrete 670-1 and 625-1
application platform (English)
3HAC16090-1 Absolute Accuracy
CalibWare 2.0 (English)
1.Only available on the CD for documentation (3HAC 021747-0xx).

64 Rev.1 3HAC024534-001
 15 Finnish

Product manuals

Art. no. Manual Option no.

3HAC023297-001 Product manual 140 (English) 670-1
3HAC023637-001 Product manual 1600 Proc/Ref info (English) 670-1
3HAC022031-001 Product manual 2400 (English) 670-1
3HAC022032-001 Product manual 4400 (English) 670-1
3HAC020938-001 Product manual 66X0 Type A Proc/Ref.inf (English) 670-1
3HAC023082-001 Product manual 66X0 Type B Proc/Ref.inf (English) 670-1
3HAC020993-001 Product manual 6650S (English) 670-1
3HAC022033-001 Product manual 7600 (English) 670-1
3HAC022546-001 Product manual 340 (English) 670-1
3HAC021313-001 Product manual IRC5 (English) 670-1
3HAC16578-1 Calibration Pendulum instruction (English)
3HAC022907-001 Instruction for Levelmeter calibration (English)

3HAC024534-001 Rev.1 65
15 Finnish

66 Rev.1 3HAC024534-001
 3HAC 024534-001 , Revision1, en


ABB Automation Technologies AB
Robotics
S-721 68 VÄSTERÅS
SWEDEN
Telephone: +46 (0) 21 344000
Telefax: +46 (0) 21 132592