3hac024480-004 (Esquemas Irc5)

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© Copyright 2004 ABB ALL right reserved.
ABB Automation Technologies AB

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

CONTROL SYS. IRC5 M2004 DESIGN 06 2008-07-17
Location: + CONTROLLER
Approved Sublocation: +
COPYRIGHT page Document no. Rev. Ind Page 1
Next 2
Prepared by, date: Approved by, date: Title page/cover sheet 3HAC024480-004 03 Total 153
Customer :
Control cabinet : CONTROL SYS. IRC5 M2004 DESIGN 06
Drawing number : CONTROL MODULE
Drawing version :
Manufacture :
Type :
Type of installation :
Control cabinet :
Mains voltage :
Supply :
Control voltage :
Year of construction :
Project start :
Project manager :
Last revision :
Designed by : sejesun
Designed date : 2008-07-17
Number of pages :
:

Location: + CONTROLLER
TITLE PAGE Document no. Rev. Ind Page 2
Next 3
Prepared by, date: Approved by, date: Title page/cover sheet 3HAC024480-004 03 Total 153
1 2 3 4 5 6 7 8
Document no changed to 3HAC024480-004 Rev 00 used to be 3HAC020538-002 Rev 06

Added DESIGN 06 to page header
Changes made from old document 3HAC020538-002 Rev 06
Page 25 Deleted outlet flex, -X25 and -XP20. Changed cablenr -XT16 acc. to conn. tables Page <39 New pages with computer unit DSQC 639
Added interruptionspoints at -Q2 and -XT16. Moved outlet dual/single to 64.1 Page <39 New page with anybus main computer
Moved cable def 308, 309, 152, 153, 181, 182 to page 27
Page 39 Added objects from page 40.
Page 26 Deleted cablenr. 182 ( double insert ). Added :5, :6 to -G2-X2 Page 40 Moved -D31 and -D32 to page 39. Deleted page
Page 27 Deleted text 703, 704. Added cable def. 703, 704, 152, 153, 181, 182 Page 42 Changed second LED to IDE LED (YELLOW)
Page 27.1, 28.1 New pages with DSQC 609 Page 39-43 Added text DSQC623
Page 28 Changed output plug -G6-X1 to -G6-X2. Deleted cablenr 308 and 309 ( double insert ) Page 44 Moved -A9, -A7 to page 43. Deleted page
Added cable def. 703, 704 Page 45 Changed -X2, -X3 to -DP-S-X2 and -DP-M-X3
Page 29 Added black-box to show x-ref to page 38. Changed -E3 to int. fan, cable part -X11 Page 46 Changed -A38 to -A37
and text RCC to Main Computer Page 47 Added connection for dual devnet
Page 30 Added black-box to show x-ref to page 38 Page 51, 52, 53, 54 Changed components on I/O-cards. Added DSQC-number
Page 31 Added black-box to show x-ref to page 38 Page 55 Deleted text. Added DSQC-number
Page 32 Added interruptionspionts at -X7 Page 56 Deleted page ( old I/O-card )
Page 33 Changed -S21.1.X11 to -S21.1.X1 Page 59 Changed plugsymbol on -X21 (socket-pin) and -X20 (pin-socket)
Page 34 Added cablenr. and interruptionpoints. Added conn. 21-22 on -S21.3 EM.PB Renumbered page 25-61 to page 32-72
Changed adapter and changed -S21.1.X12 to -S21.1.X1 Renumbered page REV to page 3
Page 34.1, 35.1, 37 Deleted (flexcontrol ) Renumbered page 20 to page 31
Page 34.2 New page with hot-plug option Renumbered page 21 to page 30
Page 35 Added cablenr. and interruptionpoints. Shifted connection 1 and 5 on both -X9. Renumbered page 22-24 to page 20-22
Changed adapter and changed -S21.1.X13 to -S21.1.X1
Page 35.2 New page with hot-plug option

Page 36 Deleted cable nr 205-213 ( double insert ). Changed text and parts ETH_FPU
Page 36.1 Changed connections on button -S22. Added interruptionpoints + conn. ETH_FPU
Page 38 Show x-ref to page 29, 30, 31. Added symbolic line to -X1 and -X2
Latest revision: Lab/Office: Status: 2008-07-17 Plant: = CAB

CONTROL SYS. IRC5 M2004 DESIGN 06 Location: + REV
REVISION INFORMATION Approved
Sublocation: +
Document no. Rev. Ind Page 3
Next 3.1
Prepared by, date: Approved by, date: 3HAC024480-004 03 Total 153
1 2 3 4 5 6 7 8
Changes made from old document 3HAC020538-002 Rev 06
Page 63 Added Q1 Option : Flange Disconnect Page 82 Added symbolic line to -R1.MP1-3 and -R1.MP4-6
Page 64 Added Z2 to transformer T1.3 + interruption points for outgoing power Page 83 Added jumpers to -R1.MP1-3:10-12 16-18, interruptionpoints at -XS/XP1 and 2,
Page 64.1 New page for Option : sevice outlet symbolic line at MP1-3 and MP4-6. Changed -R1.SMB to -R2.SMB.
Page 65 Deleted -XS25. Added interruptionpoints. Changed symbol -G1-X2, -X3 Page 87 Added symbolic line to -R1.MP1-3 and -R1.MP4-6
Page 66 Changed cablenr out from -XT16 according to connection tables Page 88 Added jumpers to -R1.MP1-3:10-12 16-18, interruptionpoints at -XS/XP1 and 2,
Page 66.1 New page with DSQC 662 symbolic line at MP1-3 and MP4-6. Changed -R1.SMB to -R2.SMB with numbers.
Changed -R1.MP to -R1.H1, -R1-MP1-3, -R1-MP4-6 with numbers.
Page 67 Deleted cablenr 463 - 470 (double insert).
Added int. points at -X1, -X5, -X10, -X11, -X21. Added internal fan -E4 Page 93 Added interruptionpoints at -XS/XP1 and 2
Page 68 Changed connections -X9:2 and :3. Redrawed connection -K44:3 Page 97, 104, 111, 118 Changed plug DT-tag to -XP/XT8 and -XS/XP8
Page 69 Added interruptionpoints at -X2. Changed text to main computer. Page 100 Added jumpers to -R1.MP:C1-B3 C2-B4, interruptionpoints at -XS/XP1 and 2.
Added conn. to EPS Deleted -R1.SMB:G and H, added keypin M
Page 70 Added interruptionpoints at -X4, text at -X8, ref. to EPS Page 101 and 102 Deleted connection CPM on =MAN-R1.CP/CS : B3
Page 70.1 Added new page with EPS Page 107 Added interruptionpoints at -XS/XP1 and 2. Deleted -R1.SMB:G and H, added keypin M
Page 74 Changed text to drive unit no 8 Page 114 Added interruptionpoints at -XS/XP1 and 2. Deleted -R1.SMB:G and H, added keypin M
Page 76 Changed cable -6007 to -4007 Page 121 Changed terminal -Y1 to dual press -DP. Added interruptionpoints at -XS/XP1 and 2
Page 77 Added text IRB260 to 9 axis Page 126 Added interruptionpoints at -R1FAN.SW23
Renumbered page 62-77 to page 82-99 Page 126.1 New page with cooling axes single cab.
Renumbered page 78-80 to page 23-26 Page 127, 128, 133, 134, 135 Added earth between -XS/XP13 and =MAN-R1.CP/CS
Page 129 Changed DevNet shield -XS/XP13 to socket. Changed IBS to -A38-X5, PBUS to -A33
Page 136-140 Added R to robot model IRB6400
Page 138 Added interruptionpoints at -XS/XP1 and 2
Page 140 Changed -R1.CP/CS. Added text and cable def.
Renumbered page 81-85 to page 110-114

Sublocation: +
Document no. Rev. Ind Page 3.1
Next 3.2
1 2 3 4 5 6 7 8
Document 3HAC024480-004 Rev 01
Page 52 A38.1 Renamed ETHERNET/IP was before named ANYBUS.

Option with connecton to cabinet wall not exist.
Page 52 New A38.2 PROFIBUS
Page 181 Option Interbus connection A37, was A38.
Page 34-37 Added connection to XT31

Page 50 Added connections for option Remote service and Safe move.
Page 51 Added connection for remote service.
Page 73 New, option Remote service added.
Page 90 Added connection to Safe move.
Page 92.1 New, option Safe move added.

Page 92.2 New, option Safe move added.
Page 94 Taco signal removed from fan.
Page 98 Adapter cable A43.X5 added.
Page 120 IRB360 added.
Page 171 Alternative number making added for cable XP/XS1 - MAN R1.MP.
Page 172 Alternative number making added for cable XP/XS1 - MAN R1.MP.
Page 23 A33.1 PrpfiNet added.

Page 52 New Fieldbus adapter A38.3 ProfiNet IO.
Page 57.1 New sheet for ProfiNet.

Sublocation: +
Next 4
Table of contents ABB_table_of_contents
Plant Location Page Page description Page supplementary field Date Editor
CAB CONTROLLER 1 COPYRIGHT page Approved 2008-04-01 sejesun
CAB CONTROLLER 2 TITLE PAGE Approved 2008-04-01 sejesun
CAB REV 3 REVISION INFORMATION Approved 2008-04-01 sejesun
CAB REV 3.1 REVISION INFORMATION Approved 2008-04-01 sejesun
CAB REV 3.2 REVISION INFORMATION Approved 2008-07-17 sejesun
CAB CM 4 Table of contents: (1 - 33) Approved 2008-07-17 sejesun
CAB CM 10 Device: =CAB+CM-1 - =CAB.DC+CM-G5 Approved 2008-07-16 sejesun
CAB CM 11 Device: =CAB.DC+CM-G6 - =CAB+DM-Z2 Approved 2008-07-16 sejesun
CAB CM 13 Plugs : =CAB+CM-A36-A1 - =CAB+EXT-SLO.5-A21-S21.1.X1 Approved 2008-07-16 sejesun
CAB CM 14 Plugs : =MAN+R1-1400-SMB - =CAB.DC+CM-G4-X2 Approved 2008-07-16 sejesun
CAB CM 15 Plugs : =CAB.DC+CM-G4-X2 - =CAB+EXT-SLO.3-A21-X10 Approved 2008-07-16 sejesun

CAB CM 16 Plugs : =CAB+EXT-SLO.4-A21-X10 - =CAB.DC+CM-1600-XP/XT5.2 Approved 2008-07-16 sejesun
CAB CM 17 Plugs : =CAB.SC+CM-1600-XP/XT5.2 - =CAB+CM-XS/XP13 Approved 2008-07-16 sejesun
CAB CM 18 Plugs : =CAB+CM-XS/XP13 - =CAB.SC+CM-SLO.1-XT31 Approved 2008-07-16 sejesun
CAB.SC CM 20 FRONT VIEW OF SINGLE CABINET Approved 2008-04-01 sejesun
CAB.SC CM 21 SIDE VIEWS OF SINGLE CABINET Approved 2008-04-01 sejesun
CAB.DC CM 22 VIEW OF CONTROL MODULE DUAL CABINET Approved 2008-04-01 sejesun
CAB CM 23 VIEW OF COMPUTER UNIT AND PANEL BOARD Approved 2008-07-16 sejesun
CAB.DC DM 24 VIEW OF DRIVE MODULE DUAL CABINET Approved 2008-04-01 sejesun
CAB DM 25 VIEW OF CONTACTOR UNIT AND AXIS COMPUTER UNIT Approved 2008-04-01 sejesun
CAB DM 26 VIEW OF DRIVE UNIT VARIANTS Approved 2008-04-01 sejesun
CAB CM 30 CONTROL MODULE Approved 2008-04-01 sejesun
CAB CM 31 BLOCK DIAGRAM CM Approved 2008-04-01 sejesun
CAB.DC CM 32 MAINS CONNECTION DUAL CABINET Approved 2008-04-01 sejesun
CAB CM 33 PROCESS POWER SUPPLY Approved 2008-04-01 sejesun

Location: + CM
Table of contents: (1 - 33) Document no. Rev. Ind Page 4
Next 5
Prepared by, date: Approved by, date: Table of contents 3HAC024480-004 03 Total 153
CAB.DC CM 34 OPTION: POWER SUPPLY FOR DUAL CABINET Approved 2008-04-01 sejesun
CAB.DC CM 35 OPTION: POWER SUPPLY DSQC 609 FOR DUAL CABINET Approved 2008-04-01 sejesun
CAB.SC CM 36 OPTION: POWER SUPPLY FOR SINGLE CABINET Approved 2008-04-01 sejesun
CAB.SC CM 37 OPTION: POWER SUPPLY DSQC 609 FOR SINGLE CABINET Approved 2008-04-01 sejesun
CAB CM 38 EMERGENCY STOP Approved 2008-04-01 sejesun
CAB CM 39 RUN CHAIN OPERATING MODE SELECTOR, 3 MODES Approved 2008-04-01 sejesun
CAB CM 40 EMERGENCY STOP Approved 2008-04-01 sejesun
CAB CM 41 RUN CHAIN Approved 2008-04-01 sejesun
CAB CM 42 RUN CHAIN OPERATING MODE SELECTOR, 2 MODES Approved 2008-04-01 sejesun
CAB CM 43 RUN CHAIN EXT OPERATING MODE SELECTOR, 2 MODES Approved 2008-04-01 sejesun
CAB CM 44 RUN CHAIN EXT OPERATING MODE SELECTOR, 2 MODES OPTION : HOT PLUG Approved 2008-04-01 sejesun
CAB CM 45 RUN CHAIN EXT OPERATING MODE SELECTOR, 3 MODES Approved 2008-04-01 sejesun
CAB CM 46 RUN CHAIN EXT OPERATING MODE SELECTOR, 3 MODES OPTION : HOT PLUG Approved 2008-04-01 sejesun
CAB CM 47 FPU, FLEXPENDANT Approved 2008-04-01 sejesun
CAB CM 48 FPU, FLEXPENDANT OPTION: HOT PLUG Approved 2008-04-01 sejesun
CAB CM 49 OPTION: EXTERNAL CONNECTION SYSTEM SIGNALS Approved 2008-04-01 sejesun

CAB CM 50 MAIN COMPUTER DSQC 639 Approved 2008-04-01 sejesun
CAB CM 51 MAIN COMPUTER DSQC 639 Approved 2008-04-01 sejesun
CAB CM 52 FIELDBUS ADAPTER:ETHERNET/IP, PROFIBUS and PROFINET IO Approved 2008-07-17 sejesun
CAB CM 53 MAIN COMPUTER AC/BD Approved 2008-04-01 sejesun
CAB CM 56 MAIN COMPUTER AC/BD ROBOT COMM. CARD DSQC 602 Approved 2008-04-01 sejesun
CAB CM 57 PROFIBUS DP M/S Approved 2008-07-16 sejesun
CAB CM 57.1 PROFINET Approved 2008-07-17 sejesun
CAB CM 58 INTERBUS M/S Approved 2008-04-01 sejesun
CAB CM 59 DEVICENET SINGLE/DUAL ADAPTER Approved 2008-04-01 sejesun
CAB CM 60 DEVICENET ADAPTER Approved 2008-04-01 sejesun
CAB CM 61 DUAL RS232 CARD Approved 2008-04-01 sejesun
CAB CM 62 ETHERNET CARD Approved 2008-04-01 sejesun

Location: + CM
Next 6
CAB CM 63 DIGITAL PART OF COMBI I/O AND DIGITAL I/O UNIT Approved 2008-04-01 sejesun
CAB CM 64 DIGITAL I/O UNIT Approved 2008-04-01 sejesun
CAB CM 65 COMBI I/O UNIT Approved 2008-04-01 sejesun
CAB CM 66 RELAY I/O UNIT Approved 2008-04-01 sejesun
CAB CM 67 RELAY I/O UNIT Approved 2008-04-01 sejesun
CAB CM 68 ANALOGUE I/O UNIT Approved 2008-04-01 sejesun
CAB CM 69 REMOTE I/O UNIT Approved 2008-04-01 sejesun
CAB CM 70 INTERBUS SLAVE Approved 2008-04-01 sejesun
CAB CM 71 PROFIBUS DP SLAVE Approved 2008-04-01 sejesun
CAB CM 72 ENCODER UNIT Approved 2008-04-01 sejesun
CAB CM 73 REMOTE SERVICE Approved 2008-04-01 sejesun
CAB CM 80 DRIVE MODULE Approved 2008-04-01 sejesun
CAB DM 82 MAINS CONNECTION Approved 2008-04-01 sejesun
CAB DM 83 TRANSFORMER UNIT Approved 2008-04-01 sejesun
CAB DM 84 OPTION : SERVICE OUTLET Approved 2008-04-01 sejesun
CAB.DC DM 85 POWER SUPPLY DSQC 626 AND 627 FOR DUAL CABINET Approved 2008-04-01 sejesun
CAB.SC DM 86 POWER SUPPLY DSQC 626 AND 627 FOR SINGLE CABINET Approved 2008-04-01 sejesun
CAB.SC DM 87 POWER SUPPLY DSQC 661 AND 662 FOR SINGLE CABINET Approved 2008-04-01 sejesun
CAB DM 88 CONTACTOR BOARD Approved 2008-04-01 sejesun
CAB DM 89 POWER UNIT SERVO DISCONNECTOR Approved 2008-04-01 sejesun
CAB DM 90 AXIS COMPUTER UNIT Approved 2008-04-02 sejesun
CAB DM 91 AXIS COMPUTER UNIT Approved 2008-04-01 sejesun
CAB DM 92 EPS Approved 2008-04-01 sejesun
CAB DM 92.1 SAFE MOVE Approved 2008-04-01 sejesun
CAB DM 92.2 SAFE MOVE Approved 2008-04-01 sejesun
CAB DM 93 RECTIFIER AND BLEEDER Approved 2008-04-01 sejesun
CAB DM 94 FAN UNIT Approved 2008-04-01 sejesun
CAB DM 95 ADDITIONAL AXIS 1-3, DRIVE UNIT NO 7 Approved 2008-04-01 sejesun

Location: + CM
Next 7
CAB DM 98 EXTERNAL AXIS no 7 Approved 2008-04-01 sejesun
CAB DM 99 EXTERNAL AXIS no 8 - 9 Approved 2008-04-01 sejesun
CAB CM 110 IRB 140 CABINET MODULE Approved 2008-04-01 sejesun
CAB DM 111 SERVO DRIVE SYSTEM IRB 140 Approved 2008-04-01 sejesun
CAB DM 112 CONTROL CABLE IRB 140 Approved 2008-04-01 sejesun
CAB.DC CM 113 CUSTOMER SIGNAL DUAL CABINET IRB 140 Approved 2008-04-01 sejesun
CAB.SC CM 114 CUSTOMER SIGNAL SINGLE CABINET IRB 140 Approved 2008-04-01 sejesun
CAB CM 120 IRB 340 AND IRB360 CABINET MODULE Approved 2008-04-01 sejesun
CAB DM 121 SERVO DRIVE UNITS IRB 340 AND IRB360 Approved 2008-04-01 sejesun
CAB DM 122 CONTROL CABLE IRB 340 AND IRB360 Approved 2008-04-01 sejesun
CAB.DC CM 123 CUSTOMER SIGNAL DUAL CABINET IRB 340 AND IRB360 Approved 2008-04-01 sejesun
CAB.SC CM 124 CUSTOMER SIGNAL SINGLE CABINET IRB 340 AND IRB360 Approved 2008-04-01 sejesun
CAB.DC CM 133 CUSTOMER SIGNALS DUAL CABINET IRB 1400 Approved 2008-04-01 sejesun
CAB.SC CM 134 CUSTOMER SIGNALS SINGLE CABINET IRB 1400 Approved 2008-04-01 sejesun
CAB.DC CM 135 POSITION SWITCHES DUAL CABINET IRB 1400 Approved 2008-04-01 sejesun
CAB.SC CM 136 POSITION SWITCHES SINGLE CABINET IRB 1400 Approved 2008-04-01 sejesun
CAB DM 141 SERVO DRIVE UNIT IRB 1600 Approved 2008-04-01 sejesun
CAB.DC CM 143 CUSTOMER POWER/SIGNAL DUAL CABINET IRB 1600 Approved 2008-04-01 sejesun
CAB.SC CM 144 CUSTOMER POWER/SIGNAL SINGLE CABINET IRB 1600 Approved 2008-04-01 sejesun
CAB.DC CM 145 POSITION SWITCH DUAL CABINET IRB 1600 Approved 2008-04-01 sejesun
CAB.SC CM 146 POSITION SWITCH SINGLE CABINET IRB 1600 Approved 2008-04-01 sejesun
CAB CM 150 IRB 260 and IRB 2400 CABINET MODULE Approved 2008-04-01 sejesun
CAB DM 151 SERVO DRIVE UNIT IRB 2400 Approved 2008-04-01 sejesun

Location: + CM
Next 8
CAB CM 170 IRB 660 and IRB 66xx-76xx CABINET MODULE Approved 2008-04-01 sejesun
CAB DM 171 SERVO DRIVE SYSTEM IRB 6600 - 7600 Approved 2008-04-01 sejesun
CAB DM 172 CONTROL CABLE IRB 6600 - 7600 Approved 2008-04-01 sejesun
CAB.DC CM 173 POSITION SWITCH 1 DUAL CABINET IRB 6600 - 7600 Approved 2008-04-01 sejesun
CAB.SC CM 174 POSITION SWITCH 1 SINGLE CABINET IRB 6600 - 7600 Approved 2008-04-01 sejesun
CAB.DC CM 175 POSITION SWITCH 2/3 DUAL CABINET IRB 6600 - 7600 Approved 2008-04-01 sejesun
CAB.SC CM 176 POSITION SWITCH 2/3 SINGLE CABINET IRB 6600 - 7600 Approved 2008-04-01 sejesun
CAB.DC DM 177 POS.SWITCH 2/3 AND COOLING AXES 1/2 DUAL CABINET IRB 6600 - 7600 Approved 2008-04-01 sejesun
CAB.SC DM 178 COOLING AXES 1/2 SINGLE CABINET IRB 6600 - 7600 Approved 2008-04-01 sejesun
CAB.DC CM 179 CUSTOMER POWER/SIGNAL DUAL CABINET IRB 6600 - 7600 Approved 2008-04-01 sejesun
CAB.SC CM 180 CUSTOMER POWER/SIGNAL SINGLE CABINET IRB 6600 - 7600 Approved 2008-04-01 sejesun
CAB CM 181 DevNet//IBUS//PBUS ADDITION TO CP/CS IRB 6600 - 7600 Approved 2008-04-01 sejesun
CAB.DC CM 182 CUSTOMER POWER/SIGNAL DUAL CABINET PROFIBUS IRB 6600 - 7600 Approved 2008-04-01 sejesun
CAB.DC CM 183 CUSTOMER POWER/SIGNAL DUAL CABINET INTERBUS IRB 6600 - 7600 Approved 2008-04-01 sejesun
CAB.DC CM 184 CUSTOMER POWER/SIGNAL DUAL CABINET DEVICE NET IRB 6600 - 7600 Approved 2008-04-01 sejesun
CAB.SC CM 185 CUSTOMER POWER/SIGNAL SINGLE CABINET PROFI BUS IRB 6600 - 7600 Approved 2008-04-01 sejesun
CAB.SC CM 186 CUSTOMER POWER/SIGNAL SINGLE CABINET INTERBUS IRB 6600 - 7600 Approved 2008-04-01 sejesun
CAB.SC CM 187 CUSTOMER POWER/SIGNAL SINGLE CABINET DEVICE NET IRB 6600 - 7600 Approved 2008-04-01 sejesun
CAB CM 200 IRB 6400R CABINET MODULE Approved 2008-04-01 sejesun
CAB DM 201 SERVO DRIVE SYSTEM IRB 6400R Approved 2008-04-01 sejesun

Location: + CM
Next 9
CAB DM 202 CONTROL CABLE IRB 6400R Approved 2008-04-01 sejesun
CAB CM 203 POSITON SWITCH IRB 6400R Approved 2008-04-01 sejesun
CAB CM 204 CUSTOMER POWER/SIGNAL/BUS IRB 6400R Approved 2008-04-01 sejesun

Location: + CM
Next 10
Prepared by, date: Approved by, date: Table of contents 03 Total 153
Location name Location description Page Location name Location description Page
=CAB+CM- -1 52 =CAB+DM- -A41.1 MAIN SERVO DRIVE UNIT 141
=CAB+CM-A61 -1 73 =CAB+DM- -A41.1 MAIN SERVO DRIVE UNIT 151
=CAB+CM- -10086 73 =CAB+DM- -A41.1.3 SINGLE SERVO DRIVE UNIT 95
=CAB+CM- -A3 COMPUTER UNIT AC/BD 53 =CAB+DM- -A41.1.3 SINGLE SERVO DRIVE UNIT 98
=CAB+CM- -A21 PANEL BOARD 38 =CAB+DM- -A41.1.4 SINGLE SERVO DRIVE UNIT 96
=CAB+EXT- -A21 EXT.CONTROL PANEL 43 =CAB+DM- -A41.1.5 SINGLE SERVO DRIVE UNIT 99
=CAB+CM- -A21 PANEL BOARD 44 =CAB+DM- -A41.2 RECTIFIER 93
=CAB+EXT- -A21 EXT.CONTROL PANEL 44 =CAB+DM- -A41.3 CAPACITOR UNIT 93
=CAB+CM- -A21 PANEL BOARD 45 =CAB+DM- -A42 AXIS COMPUTER BOARD 90
=CAB+EXT- -A21 EXT.CONTROL PANEL 45 =CAB+DM- -A43 CONTACTOR UNIT 88
=CAB+CM- -A21 PANEL BOARD 46 =CAB+DM- -A44 OPTION : EPS 92
=CAB+EXT- -A21 EXT.CONTROL PANEL 46 =CAB+DM- -A44 OPTION: SAFE MOVE DSQC647 92.1
=CAB+CM- -A21 PANEL BOARD 49 =CAB+CM- -A61 OPTION: REMOTE SERVICE BOX 73
=CAB+EXT-A21 -A22 ADAPTER 43 =CAB+DM- -C1 CAPACITOR 172
=CAB+EXT-A21 -A22 ADAPTER 44 =CAB+CM-A3 -D32 SOLID STATE DRIVE 53
=CAB+EXT-A21 -A22 ADAPTER 45 =CAB+DM- -F1 AUTOMATIC FUSE 89

=CAB+EXT-A21 -A22 ADAPTER 46 =CAB.DC+DM- -F2 AUTOMATIC FUSE 85

=CAB+CM- -A23 OPTION:STATUSLED ON FRONT 39 =CAB.SC+DM- -F2 AUTOMATIC FUSE 86
=CAB+CM- -A31 MAIN COMPUTER DSQC639 50 =CAB.SC+DM- -F2 AUTOMATIC FUSE 87
=CAB+CM- -A32 ROBOT COMMUNICATION CARD 56 =CAB+DM- -F4 EARTH FAULT BREAKER 84
=CAB+CM- -A33 PROFIBUS DP M/S 57 =CAB+DM- -F5 CIRCUIT BREAKER 84
=CAB+CM- -A33.1 PROFINET DSQC678 57.1 =CAB+DM- -F6 OPTION:CIRCUIT BRAKER 82
=CAB+CM- -A34 DUAL RS232 CARD 61 =CAB+CM- -FPU1 FLEXPENDANT 47
=CAB+CM- -A35 DEVICE NET ADAPTER 59 =CAB+CM- -FPU1 FLEXPENDANT 48
=CAB+CM- -A36 ETHERNET CARD 62 =CAB.DC+DM- -G1 DRIVE POWER SUPPLY 85
=CAB+CM- -A37 INTERBUS M/S (OPTICAL FIBRE) 58 =CAB.SC+DM- -G1 DRIVE POWER SUPPLY 86
=CAB+CM- -A37 INTERBUS M/S (COPPER WIRE) 58 =CAB.SC+DM- -G1 POWER SUPPLY 87
=CAB+CM- -A38.1 ETHERNET/IP Fieldbus adapter DSQC 669 52 =CAB+CM- -G2 PROCESS POWER SUPPLY 33
=CAB+CM- -A38.2 PROFIBUS Fieldbus adapter DSQC 667 52 =CAB.SC+DM- -G2 POWER DISTRIBUTION BOARD 87
=CAB+CM- -A38.3 PROFINET Fieldbus adapter DSQC 688 52 =CAB+CM- -G3 ULTRA CAP 33
=CAB+CM- -A39 OPTION:232/422/485 SERIE CONVERTER 51 =CAB.SC+DM- -G3 ENERGY BANK 87
=CAB+CM-A3 -A39 OPTION:232/422/485 SERIE CONVERTER 55 =CAB.DC+CM- -G4 CUSTOMER POWER SUPPLY 34
=CAB+DM- -A41.1 MAIN SERVO DRIVE UNIT 90 =CAB.DC+CM- -G4 CUSTOMER POWER SUPPLY 35
=CAB+DM- -A41.1 MAIN SERVO DRIVE UNIT 111 =CAB.SC+CM- -G4 CUSTOMERPOWERSUPPLY 36

Location: + CM
Device: =CAB+CM-1 - =CAB.DC+CM-G5 Document no. Rev. Ind Page 10
Next 11
Prepared by, date: Approved by, date: Device list 3HAC024480-004 03 Total 153
Location name Location description Page Location name Location description Page
=CAB.DC+CM- -G6 DEVICENET POWER SUPPLY 35 =CAB+EXT- -S21.1 2-MODE SELECTOR 44
=CAB.SC+CM- -G6 DEVICENET POWERSUPPLY 36 =CAB+EXT-A21 -S21.1 3-MODE SELECTOR 45
=CAB.SC+CM- -G6 DEVICENET POWER SUPPLY 37 =CAB+EXT-A21 -S21.1 3-MODE SELECTOR 46
=CAB.DC+CM- -G7 CUSTOMER POWER SUPPLY 35 =CAB+CM- -S21.2 MOTOR ON PB 39
=CAB.DC+CM- -G8 CUSTOMER POWER SUPPLY 35 =CAB+CM- -S21.2 MOTOR ON PB 42
=CAB+CM- -G31 COMPUTER POWER SUPPLY 53 =CAB+EXT-A21 -S21.2 MOTOR ON PB 43
=CAB+CM-A3 -G31 COMPUTER POWER SUPPLY 54 =CAB+EXT-A21 -S21.2 MOTOR ON PB 44
=CAB+DM- -H1 STATUS DIOD DUAL CABINET 89 =CAB+EXT-A21 -S21.2 MOTOR ON PB 45
=CAB+CM- -I/Ox DIG. PART OF COMBI I/O AND DIG. I/O UNIT 63 =CAB+EXT-A21 -S21.2 MOTOR ON PB 46
=CAB+CM- -I/Ox DIGITAL I/O UNIT 64 =CAB+CM- -S21.3 EMERGENCY PB 38
=CAB+CM- -I/Ox COMBI I/O UNIT 65 =CAB+EXT-A21 -S21.3 EMERGENCY PB 43
=CAB+CM- -I/Ox DIG. PART OF RELAY I/O UNIT 66 =CAB+EXT-A21 -S21.3 EMERGENCY PB 44
=CAB+CM- -I/Ox ANALOGUE I/O UNIT 68 =CAB+EXT-A21 -S21.3 EMERGENCY PB 45
=CAB+CM- -I/Ox REMOTE I/O UNIT 69 =CAB+EXT-A21 -S21.3 EMERGENCY PB 46
=CAB+CM- -I/Ox INTERBUS SLAVE 70 =CAB+EXT-A21 -S22 OPTION : HOT PLUG 44
=CAB+CM- -I/Ox PROFIBUS DP SLAVE 71 =CAB+EXT-A21 -S22 OPTION : HOT PLUG 46
=CAB+CM- -I/Ox ENCODER UNIT 72 =CAB+CM- -S22 OPTION : HOT PLUG 48
=CAB+DM- -K42 MOTORS ON CONTACTOR 1 89 =CAB+DM- -T1 TRANSFORMER UNIT 83
=CAB+DM- -K43 MOTORS ON CONTACTOR 2 89 =CAB+DM- -T1 TRANSFORMER UNIT 83
=CAB+DM- -K44 BRAKE CONTACTOR 89 =CAB+CM-A38.2 -Z1 Profibus DSQC667 52
=CAB+CM-A33.1 -LAN1 PROFINET CONNECTIONS =CAB+CM-A33.1 -Z1 57

=CAB+CM-E3 -M1 INTERNAL FAN 38 =CAB+DM- -Z1 OPTION:MAINS LINE FILTER 82

=CAB+CM-E2 -M1 EXTERNAL COMPUTER FAN 39 =CAB+DM-Z2 -Z2 REAKTOR UNIT 83
=CAB+DM-E4 -M1 OPTION : INTERNAL FAN 88 =CAB+DM-Z2 -Z2 REAKTOR UNIT 83
=CAB+DM-E41 -M1 FAN UNIT 94
=CAB+DM-P1 -P1 OPTION :DUTY TIME COUNTER 88
=CAB+DM- -Q1 MAINS SWITCH 82
=CAB+DM- -Q1 OPTION :FLANGE DISCONNECT 82
=CAB.DC+CM- -Q2 MAIN SWITCH 32
=CAB+DM- -R1.1 BLEEDER 93
=CAB+CM- -R3 120 ohm 63
=CAB+CM- -R5 120 ohm 66
=CAB+CM- -R8 120 ohm 70
=CAB+CM- -R9 120 ohm 71
=CAB+CM- -R11 120 OHM 60
=CAB+CM- -S21.1 3-MODE SELECTOR 39
=CAB+CM- -S21.1 2-MODE SELECTOR 42
=CAB+EXT- -S21.1 2-MODE SELECTOR 43

Location: + CM
Device: =CAB.DC+CM-G6 - =CAB+DM-Z2 Document no. Rev. Ind Page 11
Next 13
Prepared by, date: Approved by, date: Device list 3HAC024480-004 03 Total 153
Plugs overview ABB Plug overview
Plug Plug
Location Unit Connection Function text Page Location Unit Connection Function text Page
+CM -A36 -A1 DRIVE MODULE 2 62 +EXT -A21 -DP3 DUAL PRESS 46
+CM -A36 -A2 DRIVE MUDULE 3 62 +EXT -A21 -DP4 DUAL PRESS 43
+CM -A36 -A3 DRIVE MODULE 4 62 +EXT -A21 -DP4 DUAL PRESS 44
+CM -A31 -A7 Yellow ETH_SERVICE 50 +EXT -A21 -DP4 DUAL PRESS 45
+CM -A32 -A7 Yellow ETH_SERVICE 56 +EXT -A21 -DP4 DUAL PRESS 46
+CM -A31 -A8 Green ETH_FPU 50 +DM -DP388 DUAL PRESS 88
+CM -A32 -A8 Green ETH_FPU 56 +DM -DP389 DUAL PRESS 88
+CM -A31 -A9 Red AXC1 ETH_DRIVE 50 +DM -DP734 DUAL PRESS 88
+CM -A32 -A9 Red ETH_DRIVE 56 +DM -DP735 DUAL PRESS 88
+DM -A42-X1 POWER SUPPLY EPS/ AXC 90 +CM -A33 -DP-M1 OPTION : PROFIBUS IRB 6600-7600 181
+DM -A43.XP5 PTC, 0V Brake 98 +DM -E1.XP2 FAN UNIT 94
+CM -A3 -C1 CHASSIS BLOWER 54 +DM -E1.XS2 FAN UNIT 94
+CM -A3 -C2 CHASSIS BLOWER 54 +CM -A37 -FO1 REMOTE IN 58
+CM -A35 -CHA-J1 DEVICENET ADAPTER 59 +CM -A37 -FO2 REMOTE OUT 58
+CM -A35 -CHB-J2 DUAL DEVICENET ADAPTER 59 +CM -A37 -FO3 REMOTE 58
+R1 -CP/CS CUSTOMER POWER/SIGNAL MANIPULATOR 143 +R1 -H1 EXT.LAMP MANIPULATOR 112
+R1 -CP/CS CUSTOMER POWER/SIGNAL MANIPULATOR 144 +R1 -H1 EXT.LAMP MANIPULATOR 122
+R1 -CP/CS CUSTOMER POWER/SIGNAL MANIPULATOR 153 +CM -I/O1 Green 60
+R1 -CP/CS CUSTOMER POWER/SIGNAL MANIPULATOR 179 +CM -A3 -IDEpwr1 IDE FLASH 53
+R1 -CP/CS CUSTOMER POWER/SIGNAL MANIPULATOR 180 +CM -A31 -J2 COM1 51
+R1 -CP/CS CUSTOMER PROFIBUS MANIPULATOR 181 +CM -A31 -J2 MC CONSOLE 51
+R1 -CP/CS CUSTOMER DEVICENET MANIPULATOR 181 +CM -A31 -J2 COM1 55
+R1 -CP/CS CUSTOMER INTERBUS MANIPULATOR 181 +CM -A3 -J4H1 COMPUTER UNIT 53
+R1 -CP/CS CUSTOMER POWER/SIGNAL/PROFIBUS MANIPULATOR 182 +CM -A31 -J6H1 MAIN COMPUTER 53
+R1 -CP/CS CUSTOMER POWER/SIGNAL/INTERBUS MANIPULATOR 183 +CM -A3 -J9H1 MAIN COMPUTER 54
+R1 -CP/CS CUSTOMER POWER/SIGNAL/DEVICENET MANIPULATOR 184 +CM -A3 -J9H2 MAIN COMPUTER 54
+R1 -CP/CS CUSTOMER POWER/SIGNAL/PROFIBUS MANIPULATOR 185 +CM -A31 -J9H3 MAIN COMPUTER 55
+R1 -CP/CS CUSTOMER POWER/SIGNAL/INTERBUS MANIPULATOR 186 +CM -A31 -J21 MAIN COMPUTER CHASSIS BLOWER 50
+R1 -CP/CS CUSTOMER POWER/SIGNAL/DEVICENET MANIPULATOR 187 +CM -A31 -LAN1 LAN MAIN COMPUTER 51
+R1 -CP/CS CUSTOMER POWER/SIGNAL MANIPULATOR 204 +CM -A31 -LAN1 LAN MAIN COMPUTER 55
+R1 -CS CUSTOMER SIGNAL MANIPULATOR 113 +CM -A33.1 -LAN1 PROFINET CONNECTIONS 57.1
+R1 -CS CUSTOMER SIGNAL MANIPULATOR 114 +R1 -MP MANIPULATOR POWER 132
+CM -DP1 DUAL PRESS 47 +R1 -MP MANIPULATOR POWER 201
+CM -DP1 DUAL PRESS 48 +R1 -MP 1-3 MANIPULATOR POWER 111
+DM -DP1 DUAL PRESS EXT.LAMP 172 +R1 -MP 1-3 MANIPULATOR POWER 121
+EXT -A21 -DP1 DUAL PRESS 43 +R1 -MP 4-6 MANIPULATOR POWER 111
+EXT -A21 -DP1 DUAL PRESS 44 +R1 -MP 4-6 MANIPULATOR POWER 121
+EXT -A21 -DP1 DUAL PRESS 45 +CM -G31 -P1 MOTHER BOARD POWER 53
+EXT -A21 -DP1 DUAL PRESS 46 +CM -G31 -PSU-X1 MOTHER BOARD POWER 53
+CM -DP2 DUAL PRESS 47 +CM -G31 -PSU-X2 MOTHER BOARD POWER 53
+CM -DP2 DUAL PRESS 48 +DM -BOX1 -R1.XP.SW23 POSITION SWITCH AND COOLING MANIPULATOR 177
+EXT -A21 -DP2 DUAL PRESS 43 +DM -BOX1 -R1FAN.SW23 MANIPULATOR COOLING FAN 177
+EXT -A21 -DP2 DUAL PRESS 44 +CM -S21.1.X1 3 MODE SELECTOR 39
+EXT -A21 -DP2 DUAL PRESS 45 +CM -S21.1.X1 2 MODE SELECTOR 42
+EXT -A21 -DP2 DUAL PRESS 46 +EXT -A21 -S21.1.X1 2 MODE SELECTOR EXT 43

Location: + CM
Plugs : =CAB+CM-A36-A1 Document no. Rev. Ind Page 13
Next 14
Prepared by, date: Approved by, date: Plugs overview
- =CAB+EXT-SLO.5-A21-S21.1.X1 3HAC024480-004 03 Total 153
Plug Plug
+R1 -SMB MEASUREMENT MANIPULATOR 132 +DM -E42 -X1 FAN UNIT 94
+R1 -SMB MEASUREMENT MANIPULATOR 162 +DM -G1 -X1 AC- input 85
+R1 -SMB MEASUREMENT MANIPULATOR 172 +DM -G1 -X1 AC-output 86
+R1 -SMB MEASUREMENT MANIPULATOR 202 +DM -G1 -X1 AC-input 87
+R2 -SMB MEASUREMENT MANIPULATOR 112 +CM -G2 -X1 AC-INPUT 33
+R2 -SMB MEASUREMENT MANIPULATOR 122 +DM -G2 -X1 DC INPUT 87
+R1 -SW POSITION SWITCHES MANIPULATOR 135 +CM -G3 -X1 ULTRA CAP 33
+R1 -SW POSITION SWITCHES MANIPULATOR 136 +DM -G3 -X1 ENERGY BANK 87
+R1 -SW POSITION SWITCHES MANIPULATOR 145 +CM -G4 -X1 CUSTOMER POWER SUPPLY 34
+R1 -SW POSITION SWITCHES MANIPULATOR 174 +CM -G6 -X1 DEVICENET POWER SUPPLY 34
+R1 -SW POSITION SWITCHES MANIPULATOR 203 +CM -G6 -X1 DEVICENET POWER SUPPLY 35
+R1 -SW23 POSITION SWITCHES 2/3 MANIPULATOR 175 +CM -G6 -X1 DEVICENET POWER SUPPLY 36
+R1 -SW23 POSITION SWITCHES 2/3 MANIPULATOR 176 +CM -G6 -X1 DEVICENET POWER SUPPLY 37
+R1 -SW23 POSITION SWITCHES 2/3, COOLING FAN MANIPULATOR 177 +CM -G7 -X1 CUSTOMER POWER SUPPLY 35
+R1 -SW23 POSITION SWITCHES 2/3, COOLING FAN MANIPULATOR 178 +CM -G8 -X1 CUSTOMER POWER SUPPLY 35
+CM -A31 -USB1 USB MAIN COMPUTER 51 +CM -G31 -X1 COMPUTER POWER SUPPLY 53
+CM -A31 -USB1 USB MAIN COMPUTER 55 +CM -I/Ox1 -X1 COMBI I/O UNIT OUTPUT CH 1-8 65
+CM -A31 -USB2 USB MAIN COMPUTER 51 +CM -I/Ox2 -X1 DIGITAL I/O UNIT OUTPUT CH 1-8 64
+CM -A31 -USB2 USB MAIN COMPUTER 55 +DM -K41.X1 -X1 K41 RELAY 85
+CM -A31 -USB3 USB3 55 +CM -RELAY I/O1 -X1 RELAY I/O UNIT OUTPUT CH 1-8 67
+CM -A31 -USB4 USB4 55 +CM -X2 PROFIBUS SLAVE 57
+CM -A3 -X1 COMPUTER UNIT 53 +CM -A21 -X2 RUN CHAIN 38
+CM -A21 -X1 RUN CHAIN 38 +CM -A21 -X2 PANEL BOARD EXT. CONN. 49
+CM -A21 -X1 PANEL BOARD EXT. CONN. 49 +EXT -A22 -X2 ADAPTER 43
+CM -A31 -X1 MAIN COMPUTER 50 +EXT -A22 -X2 ADAPTER 44
+CM -A33.1 -X1 PROFINET CONNECTIONS 57.1 +EXT -A22 -X2 ADAPTER 45
+CM -A34 -X1 COM2 RS232 61 +EXT -A22 -X2 ADAPTER 46
+CM -A35 -X1 DEVICENET ADAPTER 59 +CM -A23 -X2 STAUS LED ON DOOR 39
+CM -A37 -X1 INTERBUS M/S 58 +CM -A33.1 -X2 PROFINET CONNECTIONS 57.1
+CM -A37 -X1 REMOTE OUT 58 +CM -A34 -X2 COM3 RS232 61
+CM -A38.1 -X1 ETHERNET IP 52 +CM -A35 -X2 DEVICENET ADAPTER 60
+CM -A38.2 -X1 PROFIBUS SLAVE 52 +CM -A35 -X2 OPTION : DEVICE NET IRB 6600-7600 181
+CM -A38.3 -X1 ETHERNET IP 52 +CM -A37 -X2 INTERBUS SLAVE PART 58
+CM -A39 -X1 OPTION: SERIE CONVERTER 51 +CM -A37 -X2 REMOTE 58
+CM -A39 -X1 MAIN COMPUTER 55 +CM -A39 -X2 OPTION: SERIE CONVERTER 51
+DM -A41.1 -X1 Main servo drive unit 90 +CM -A39 -X2 OPTION: SERIE CONVERTER 55
+DM -A42 -X1 Axis computer power supply 90 +DM -A41.1 -X2 Main servo drive unit 93
+DM -A43 -X1 Panel board 88 +DM -A42 -X2 Axis computer board 90
+DM -A44 -X1 OPTION: Safe move Power supply 92.1 +CM -A61 -X2 OPTION: Remote service 73
+DM -A44 -X1 OPTION : EPS POWER SUPPLY 92 +CM -D31 -X2 SOLID STATE DRIVE 53
+CM -A61 -X1 Power supply Remote service 73 +CM -D32 -X2 SOLID STATE DRIVE 53
+CM -D31 -X1 SOLID STATE DRIVE 53 +DM -G1 -X2 DC- output 85
+CM -D32 -X1 SOLID STATE DRIVE 53 +DM -G1 -X2 DC- output 86
+CM -E2 -X1 EXT. COMPUTER FAN 39 +DM -G1 -X2 DC- output 87
+CM -E3 -X1 INTERNAL FAN 38 +CM -G2 -X2 24V SYS 24V COOL 33
+DM -E4 -X1 OPTION : INTERNAL FAN 88 +DM -G2 -X2 SIGNAL INPUT 87
+DM -E41 -X1 FAN UNIT 94 +CM -G4 -X2 POWER 24V DC CUSTOMER CONN. 34

Location: + CM
Plugs : =MAN+R1-1400-SMB Document no. Rev. Ind Page 14
Next 15
- =CAB.DC+CM-G4-X2 3HAC024480-004 03 Total 153
Plug Plug
+CM -G4 -X2 POWER 24V DC CUSTOMER CONN. 35 +CM -I/Ox1 -X5 DIGITAL I/O 66
+CM -G4 -X2 POWER 24V DC CUSTOMER CONN. 36 +CM -I/Ox1 -X5 ANALOGUE I/O 68
+CM -G4 -X2 POWER 24V DC CUSTOMER CONN. 37 +CM -I/Ox1 -X5 REMOTE I/O 69
+CM -G5 -X2 POWER 24V DC CUSTOMER CONN. 34 +CM -I/Ox1 -X5 INTERBUS SLAVE 70
+CM -G5 -X2 POWER 24V DC CUSTOMER CONN. 35 +CM -I/Ox1 -X5 PROFIBUS DP SLAVE 71
+CM -G5 -X2 POWER 24V DC CUSTOMER CONN. 37 +CM -I/Ox1 -X5 ENCODER UNIT 72
+CM -G6 -X2 POWER SUPPLY 24V DC DEVICENET 34 +CM -A21 -X6 SUPERIOR STOP 40
+CM -G6 -X2 POWER SUPPLY 24V DC DEVICENET 35 +CM -A21 -X6 PANEL BOARD EXT. CONN. 49
+CM -G6 -X2 POWER SUPPLY 24V DC DEVICENET 36 +DM -A42 -X6 Axis computer board 90
+CM -G6 -X2 POWER SUPPLY 24V DC DEVICENET 37 +DM -A43 -X6 Power for contactor unit 88
+CM -G7 -X2 POWER 24V DC CUSTOMER CONN. 35 +DM -A44 -X6 OPTION: Safe move 92.1
+CM -G8 -X2 POWER 24V DC CUSTOMER CONN. 35 +DM -A44 -X6 OPTION : EPS 92
+CM -I/Ox2 -X2 DIGITAL I/O UNIT OUTPUT CH 9-16 64 +DM -G2 -X6 24V SYS, COOL, PC 87
+DM -T1 -X2 TRANSFORMER UNIT 83 +CM -I/Ox1 -X6 COMBI I/O UNIT ANALOGUE PART 65
+DM -T1 -X2 TRANSFORMER UNIT 83 +CM -A21 -X7 RUN CHAIN 1 41
+CM -X3 PROFIBUS MASTER 57 +DM -A41.1 -X7 Main servo drive Signals to add axis 7 95
+CM -A21 -X3 GENERAL IN 39 +DM -A43 -X7 Drive power supply 88
+CM -A33.1 -X3 PROFINET CONNECTIONS 57.1 +DM -A44 -X7 OPTION: Safe move 92.1
+CM -A37 -X3 RS232 58 +DM -G2 -X7 ENERGY BANK 87
+DM -A41.1 -X3 Main servo drive unit 90 +CM -I/Ox1 -X7 ANALOGUE I/O OUTPUT CH 1-4 68
+DM -A43 -X3 Contactor connector 89 +CM -A21 -X8 RUN CHAIN 1 41
+DM -A44 -X3 OPTION: Safe move 92.1 +CM -A31 -X8 Blue PANELUNIT RS485 50
+DM -A44 -X3 OPTION : EPS 92 +CM -A32 -X8 Blue RS485 56
+DM -G1 -X3 DC- output 85 +DM -A41.1 -X8 Main servo drive Signals to add axis 8 96
+DM -G1 -X3 DC- output 86 +DM -A42 -X8 Axis computer board process I/O 91
+DM -G1 -X3 DC- output 87 +DM -A43 -X8 Contactor connector 89
+CM -G2 -X3 24V PC 33 +DM -A44 -X8 OPTION: Safe move 92.1
+DM -G2 -X3 24V SYS 87 +DM -G2 -X8 USB 87
+CM -I/Ox1 -X3 COMBI I/O AND DIG. I/O INPUT CH 1-9 63 +CM -I/Ox1 -X8 ANALOGUE I/O INPUT CH 1-4 68
+CM -I/Ox1 -X3 DIGITAL PART RELAY I/O UNIT INPUT CH 1-8 66 +CM -I/Ox1 -X8 REMOTE I/O IN 69
+CM -I/Ox1 -X3 INTERBUS SLAVE 70 +CM -A21 -X9 PANEL BOARD 39
+CM -I/Ox1 -X3 EXTERNAL SUPPLY 71 +CM -A21 -X9 PANEL BOARD 42
+CM -A21 -X4 GENERAL OUT 39 +CM -A21 -X9 PANEL BOARD 43
+CM -A37 -X4 24V DC 58 +CM -A21 -X9 PANEL BOARD 44
+DM -A42 -X4 Axis comp. Measurement 1 91 +CM -A21 -X9 PANEL BOARD 45
+DM -A43 -X4 Axis computer connector 88 +CM -A21 -X9 PANEL BOARD 46
+DM -A44 -X4 OPTION: Safe move 92.1 +EXT -A21 -X9 EXT.CONTROL PANEL 43
+DM -A44 -X4 OPTION : EPS 92 +EXT -A21 -X9 EXT.CONTROL PANEL 44
+DM -G1 -X4 Digital output 85 +EXT -A21 -X9 EXT.CONTROL PANEL 45
+DM -G1 -X4 Digital output 86 +EXT -A21 -X9 EXT.CONTROL PANEL 46
+CM -G2 -X4 ULTRA CAP 33 +DM -A41.1 -X9 Main sevo drive Signals to add axis 9 97
+DM -G2 -X4 24V I/O 87 +DM -A42 -X9 Axis computer board 90
+CM -I/Ox1 -X4 COMBI I/O AND DIG. I/O INPUT CH 9-16 63 +DM -A43 -X9 Contactor connector 89
+CM -A21 -X5 AUTO/GENERAL STOP 40 +DM -A44 -X9 OPTION: Safe move 92.2
+CM -A21 -X5 PANEL BOARD EXT. CONN. 49 +DM -A44 -X9 OPTION : EPS 92
+CM -A37 -X5 REMOTE IN 58 +DM -G2 -X9 DRIVE FAN 87
+CM -A37 -X5 OPTION : INTERBUS IRB 6600-6700 181 +CM -I/Ox1 -X9 REMOTE I/O OUT 69
+DM -A42 -X5 Axis comp. Measurement 2 91 +DM -X10 Connection of mains Q1/F6/Z1-T1 83
+DM -A43 -X5 PTC, 0V Brake 88 +CM -A21 -X10 PANEL BOARD 39
+DM -A43 -X5 PTC, 0V Brake 98 +CM -A21 -X10 PANEL BOARD 43
+DM -A44 -X5 OPTION: Safe move 92.1 +CM -A21 -X10 PANEL BOARD 44
+DM -A44 -X5 OPTION : EPS 92 +CM -A21 -X10 PANEL BOARD 45
+CM -G2 -X5 USB 33 +CM -A21 -X10 PANEL BOARD 46
+DM -G2 -X5 24V BRAKE / COOL 87 +EXT -A21 -X10 EXT. COTROL PANEL 43
+CM -I/Ox1 -X5 COMBI I/O AND DIG.I/O 63 +EXT -A21 -X10 EXT. COTROL PANEL 44

Location: + CM
Plugs : =CAB.DC+CM-G4-X2 Document no. Rev. Ind Page 15
Next 16
- =CAB+EXT-SLO.3-A21-X10 3HAC024480-004 03 Total 153
Plug Plug
+EXT -A21 -X10 EXT. CONTROL PANEL 45 +DM -A41.1 -X19 Main servo drive power connector 151
+EXT -A21 -X10 EXT. CONTROL PANEL 46 +CM -A21 -X20 RS485 39
+DM -A42 -X10 Axis computer power supply 90 +DM -A41.1.3 -X20 Single servo drive unit 7 95
+DM -A43 -X10 EXTERNAL FAN 88 +DM -A41.1.4 -X20 Single servo drive unit 8 96
+DM -A44 -X10 OPTION: Safe move 92.2 +DM -A41.1.5 -X20 Single servo drive 9 97
+CM -A61 -X10 Remote service, service 73 +CM -I/Ox1 -X20 INTERBUS SLAVE IN 70
+DM -A43 -X10.1 ADAPTER FAN 88 +CM -I/Ox1 -X20 PROFIBUS DP SLAVE 71
+DM -A43 -X10.2 ADAPTER FAN 88 +CM -I/Ox1 -X20 ENCODER UNIT 72
+CM -A21 -X11 ROBOT COMM.CARD 38 +DM -A41.1.3 -X21 Single servo Power to add axes 7 98
+DM -A41.1 -X11 Main servo drive power connector 161 +DM -A41.1.4 -X21 Single servo Power to add axes 8 99
+DM -A41.1 -X11 Main servo drive power connector 171 +DM -A41.1.5 -X21 Single servo Power to add axes 9 99
+DM -A41.1 -X11 Main servo drive power connector 201 +DM -A43 -X21 Limit switch robot 88
+DM -A42 -X11 Main servo drive axis comp. 90 +CM -I/Ox1 -X21 INTERBUS SLAVE OUT 70
+DM -A43 -X11 EXTERNAL FAN 88 +DM -X22 OPTION: SERVICE OUTLET 84
+DM -A44 -X11 OPTION: Safe move 92.2 +DM -A43 -X22 Limit switch external axes 88
+CM -A61 -X11 Remote service, service out 73 +DM -A43 -X22 Limit switch external axes 98
+CM -A21 -X12 PROCESS POWER SUPPLY 38 +CM -X23 SERVICE PORT ETHERNET 50
+DM -A41.1 -X12 Main servo drive power connector 161 +CM -X23 SERVICE PORT ETHERNET 73
+DM -A41.1 -X12 Main servo drive power connector 171 +DM -A43 -X23 Limit switch override 88
+DM -A41.1 -X12 Main servo drive power connector 201 +CM -X24 USB CONTROL MODULE 51
+DM -A43 -X12 Duty time connector 88 +CM -X24 USB CONTROL MODULE 55
+DM -A44 -X12 OPTION: Safe move 92.2 +DM -A43 -X24 PTC, Ext. customer connection 89
+DM -A41.1 -X13 Main servo drive power connector 161 +DM -A43 -X24 PTC, Ext. customer connector 98
+DM -A41.1 -X13 Main servo drive power connector 171 +DM -A41.2 -X30 Rectifier 93
+DM -A41.1 -X13 Main servo drive power connector 201 +DM -A41.2 -X31 Rectifier Capacitor connection 93
+DM -A44 -X13 OPTION: Safe move 92.1 +DM -A41.2 -X32 Rectifier Power supply 93
+CM -A21 -X14 RUN CHAIN 1 41 +DM -A41.2 -X33 Rectifier Bleeder connection 93
+DM -A41.1 -X14 Main servo drive power connector 161 +DM -A41.3 -X34 Capacitor unit 93
+DM -A41.1 -X14 Main servo drive power connector 171 +DM -XP0 Main connector 82
+DM -A41.1 -X14 Main servo drive power connector 201 +CM -XP4 OPTION : FPU-PLUG 47
+CM -A21 -X15 PANEL BOARD 39 +CM -XP4 OPTION: FPU-PLUG 48
+DM -A41.1 -X15 Main servo drive power connector 161 +CM -XP28 OPTION : EXTERN LAN 51
+DM -A41.1 -X15 Main servo drive power connector 171 +DM -XP40 Control cable and ext. axes 98
+DM -A41.1 -X15 Main servo drive power connector 201 +CM -XP/XT5 Customer signals terminal 113
+CM -A61 -X15 Remote service console 73 +CM -XP/XT5 Customer signals terminal 114
+CM -A21 -X17 RUN CHAIN 1 41 +CM -XP/XT5 Customer signals terminal 134
+DM -A41.1 -X17 Main servo drive unit power supply 111 +CM -XP/XT5.1 Customer signals terminal 143
+DM -A41.1 -X17 Main servo drive power connector 121 +CM -XP/XT5.1 Customer signals terminal 144
+CM -X18 OPTION: Remote service 73 +CM -XP/XT5.1 Customer signals terminal 164
+CM -A21 -X18 PANEL BOARD 39 +CM -XP/XT5.1 Customer signals terminal 179
+CM -E2 -X18 EXT. COMPUTER FAN 39 +CM -XP/XT5.1 Customer signals terminal 185

Location: + CM
Plugs : =CAB+EXT-SLO.4-A21-X10 Document no. Rev. Ind Page 16
Next 17
- =CAB.DC+CM-1600-XP/XT5.2 3HAC024480-004 03 Total 153
Plug Plug
+CM -XP/XT5.2 Customer signals terminal 144 +CM -XS4 FLEXPENDANT 47
+CM -XP/XT5.2 Customer signals terminal 153 +CM -XS4 FLEXPENDANT 48
+CM -XP/XT5.2 Customer signals terminal 154 +EXT -A21 -XS4 EXT.CONTROL PANEL 43
+CM -XP/XT5.2 Customer signals terminal 180 +CM -XS6 Customer signals terminal 204
+CM -XP/XT5.2 Customer signals terminal 182 +CM -XS8 Position switch connector 203
+CM -XP/XT5.2 Customer signals terminal 183 +CM -XS17 OPTION : DEVICE NET 59
+CM -XP/XT5.2 Customer signals terminal 184 +DM -XS40 Control cable and ext. axes 98
+CM -XP/XT5.2 Customer signals terminal 185 +DM -XS41 Ext. axis signal 91
+CM -XP/XT5.2 Customer signals terminal 186 +DM -XS/XP1 Robot power connector 111
+CM -XP/XT5.3 Customer signals terminal 186 +DM -XS/XP2 Robot signal connector 112
+CM -XP/XT5.3 Customer signals terminal 187 +DM -XS/XP2 Robot signal connector 122
+CM -XP/XT6 Customer power terminal 143 +DM -XS/XP2 Robot signal connector 132
+CM -XP/XT6 Customer power terminal 179 +CM -XS/XP3 PANEL BOARD 49
+CM -XP/XT6 Customer power terminal 180 +CM -XS/XP5 Customer power/signals connector 113
+CM -XP/XT6 Customer power terminal 183 +CM -XS/XP5 Customer signals connector 123
+CM -XP/XT6 Customer power terminal 184 +CM -XS/XP5 Customer signals connector 124
+CM -XP/XT6 Customer power terminal 185 +CM -XS/XP5 Costomer signals connections 133
+CM -XP/XT6 Customer power terminal 186 +CM -XS/XP5 Costomer signals connections 134
+CM -XP/XT8 Position switch terminal 135 +CM -XS/XP5 Customer power/signals connector 153
+CM -XP/XT8 Position switch terminal 136 +CM -XS/XP5 Customer power/signals connector 154
+CM -XP/XT8 Position switch terminal 145 +CM -XS/XP5 Customer power/signal connector 163
+CM -XP/XT8 Position switch terminal 146 +CM -XS/XP5 Customer power/signal connector 164
+CM -XP/XT8 Position switch terminal 155 +DM -XS/XP7 External axes connector 98
+CM -XP/XT8 Position switch terminal 156 +DM -XS/XP7 External axes connector 99
+CM -XP/XT8 Position switch terminal 165 +CM -XS/XP8 Position switch connector 135
+CM -XP/XT8 Position switch terminal 166 +CM -XS/XP8 Position switch connector 136
+CM -XP/XT8.1 Position switch terminal 173 +CM -XS/XP8 Position switch connector 145
+CM -XP/XT58.1 Position switch axes 2-3 terminal 175 +CM -XS/XP8 Position switch connector 173
+CM -XP/XT58.1 Position switch axes 2-3 terminal 176 +CM -XS/XP8 Position switch connector 174
+CM -XP/XT58.2 Position switch axes 2-3 terminal 175 +CM -XS/XP13 Customer power/signals 179
+CM -XP/XT58.2 Position switch axes 2-3 terminal 176 +CM -XS/XP13 Customer power/signals 180
+DM -E1 -XS1 Fan connector 94 +CM -XS/XP13 Customer power/signals Profibus 181

Location: + CM
Plugs : =CAB.SC+CM-1600-XP/XT5.2 Document no. Rev. Ind Page 17
Next 18
- =CAB+CM-XS/XP13 3HAC024480-004 03 Total 153
Plug Plug
+CM -XS/XP13 Customer power/signals Devicenet 181
+CM -XS/XP13 Customer power/signals Interbus 181
+CM -XS/XP13 Customer power/signals Profibus 182
+CM -XS/XP13 Customer power/signals Devicenet 184
+CM -XS/XP13 Customer power/signals Profibus 185
+CM -XS/XP13 Customer power/signals DeviceNet 187
+DM -XS/XP40 Control cable and ext. axes 89
+CM -XS/XP58 Position switch axes 2-3 175
+CM -XS/XP58 Position switch axes 2-3 176
+DM -XS/XP58 Position switch axes 2-3 178
+CM -XT16 CROSS CONNECTION 230V 32
+DM -XT16 CROSS CONNECTION 230V 86
+DM -XT16 CROSS CONNECTION 230V 87
+CM -XT31 TERMINAL FOR 24V I/O 35

Location: + CM
Plugs : =CAB+CM-XS/XP13 Document no. Rev. Ind Page 18
Next 20
- =CAB.SC+CM-SLO.1-XT31 03 Total 153
1 2 3 4 5 6 7 8
FRONT FRONT VIEW INSIDE DOOR

PANEL
NEW COMPUTER OLD COMPUTER AC/BD

A31 DSQC639 A3 (A31 DSQC623, G31, A32 DSQC602)
G4 G5
Q1
E3
S21.3
XT5.3
XT8.1
XT8.2
XT6
S21.2
G3
XT58.1
XT58.2
XT5.1
XT5.2
S21.1
X24
G2
S22
X23
XS4
X2
I/O1
XT31
I/O2
I/O3
I/O4
X3
P1 G1
A41
X22 X1
XT16
F2
F1
XS41
XS9 X8
XS5/XS13
X4
X9 XS2
XS3
STATUS X7
G2 LED
LABEL
X6 X58 XP28
X5 XS17
XP0 XS1 XS7
X3
X1
X8 X2
Latest revision: Lab/Office: Status: 2008-07-17 Plant: = CAB.SC

CONTROL SYS. IRC5 M2004 DESIGN 06 Location: + CM
FRONT VIEW OF SINGLE CABINET Approved
Sublocation: +
Next 21
1 2 3 4 5 6 7 8
LEFT VIEW WITH LEFT VIEW RIGHT VIEW

FLANGE DISCONNECT
Q1
Q1 A21
E2
G6
G6 F6
E1
Z1 A42
F4
K42
K43
R1
K44 F5
T1
A43
Z2 E4 A44

SIDE VIEWS OF SINGLE CABINET Approved
Sublocation: +
Next 22
1 2 3 4 5 6 7 8
LEFT FRONT FRONT RIGHT

VIEW PANEL VIEW VIEW
NEW COMPUTER OLD COMPUTER AC/BD

A31 DSQC639 A3 (A31 DSQC623, G31, A32 DSQC602)
Q2 Q2
XT16
A21
E2
S21.3
S21.2 G2
G6 G8
S21.1 G3
G4 G5 G7
X23 X24
I/O6 I/O5 I/O4 I/O2 I/O1 I/O3
XT31
(FLOOR MOUNTED)
XP28
X8
XS5/XS13
S22
XS3
X58
XS4
XS17
Latest revision: Lab/Office: Status: 2008-07-17 Plant: = CAB.DC

VIEW OF CONTROL MODULE Approved
Sublocation: +
DUAL CABINET
Next 23
1 2 3 4 5 6 7 8
J21
PANEL MAIN
UNIT
X8 COMPUTER
TPU AXC1 WRIST
LABEL CONSOLE A8 A9 STATUS BAND A31

DIOD ESD
DSQC639 FAN
E22
LAN USB2 FIELD

MEMORY COM1 SERVICE
CARD USB1
BUS A33 Profibus DP M/S
A8
ADAPTER
A38
A33.1 ProfiNet
A34 Dual RS232
A35 Devicenet
A36 Ethernet
A37 Interbus M/S PCI-SLOTS
RL1 RL2 X4 X3
X12
PANEL
BOARD X20 X5
X7 X8
A21
X6
X15 RL3
X11 X14 X17
X18
X1
X10
RL4
X9 X2
VIEW OF COMPUTER UNIT Approved
Sublocation: +
AND PANEL BOARD
Next 24
1 2 3 4 5 6 7 8
LEFT FRONT FRONT RIGHT

VIEW PANEL VIEW VIEW
F6
ROOF-MOUNTED
Q1
Q1
E1
A42
Z1 H1
F4 P1 G1
K43
K42
K44 F5
X22
A41
R1
T1
K41
A43 F2
F1 A44
XS41
XS2
XP0 XS1 XS7

CONTROL SYS. IRC5 M2004 DESIGN 06 Location: + DM
VIEW OF DRIVE MODULE Approved
Sublocation: +
DUAL CABINET
Next 25
1 2 3 4 5 6 7 8
A42 Axis computer unit
A43 Contactor unit
X7 X5 X9 X11 X6 X4
X8
X9
X22
X2
X21 X3
X8
X23
X24 X11
X5
X1 X10 X12
X4
X10 X6
X1

VIEW OF CONTACTOR UNIT AND Approved
Sublocation: +
AXIS COMPUTER UNIT
Next 26
1 2 3 4 5 6 7 8
3 UNITS FOR IRB140, IRB1400, IRB1600, IRB2400, IRB340 6 UNITS FOR IRB4400, IRB940, IRB6600, IRB7600
A41.1.4
SINGLE SERVO DRIVE UNIT
OPTION: EXT AXIS 8
A41.1.3
DC-BUSBAR SINGLE SERVO DRIVE UNIT
OPTION: EXT AXIS 7
A41.3 A41.3
CAPACITOR CAPACITOR
UNIT UNIT
A41.2
A41.2
RECTIFIER
RECTIFIER
A41.1
MAIN SERVO
DRIVE UNIT
A41.1.3 DC-BUSBAR
OPTION: EXT AXIS 7
A41.1
A41.1.4 MIAN SERVO DRIVE UNIT
OPTION: EXT AXIS 8
DC-BUSBAR
A41.1.5
OPTION: EXT AXIS 9

VIEW OF DRIVE UNIT VARIANTS Approved
Sublocation: +
Next 30
1 2 3 4 5 6 7 8
Control module = CM
CAB = Common cabinet
Plant = CAB.DC = Dual cabinet
CAB.SC = Single cabinet
Location + CM
Sublocation = SLO.1 or SLO.2 etc. shows that the sheet is a variant of the CM.

CONTROL MODULE Approved
Sublocation: +
Next 31
1 2 3 4 5 6 7 8
230V
230V
Q2
XT16
G3 G2
Option Option Option
AC Devicenet PS Customer PS Customer PS
Option Ultra cap
Service outlet G6 G4 G5
DC
AC AC AC
DC DC DC
F5
A21 A31
Panel Computer
module
F4 board
Earth
fault
prot.
S21 I/Ox
Control I/O
FPU
Ethernet service
X22 panel unit
Service
Field bus
outlet
Drive
Drive
USB
LAN
Customer Customer
connection connection

BLOCK DIAGRAM CM Approved
Sublocation: +
Next 32
Latest revision:
1
Prepared by, date:

-XT16
L1
L1
/33.4 / 230V AC1;1 -152 AWG16 BK
L1
/35.7 /34.2 / 230V AC1;2
L1
2
/35.1 /34.5 / 230V AC1;3
L1
/35.3 /34.7 / 230V AC1;4
CROSS CONNECTION 230V
L1
Approved by, date:

/35.4 / 230V AC1;5
L1
MAIN SWITCH
JUMPER
/35.6 / 230V AC1;6 -Q2
L1
-173 AWG16 BK 230V AC1_DM / /85.7
L1
L1
T1
-174 AWG16 BK 230V AC2_DM / /85.7
L2
L2
T2
/33.4 / 230V AC2;1 -153 AWG16 BK

3
L2
L3
T3
/35.7 /34.2 / 230V AC2;2
L2
/35.1 /34.5 / 230V AC2;3 GND_DM / /85.7
L2
JUMPER
/35.3 /34.7 / 230V AC2;4
L2
/35.4 / 230V AC2;5
L2
/35.6 / 230V AC2;6

L2
L2
4
L2
Lab/Office:
5
6
MAINS CONNECTION DUAL CABINET

CONTROL SYS. IRC5 M2004 DESIGN 06
Status:
7
Document no.
Approved
Plant: 2008-07-17
Location:
3HAC024480-004
Sublocation: +
+ CM
8
03
= CAB.DC
Next 33
Rev. Ind Page 32
Total 153
Latest revision:
1
-G2
Prepared by, date:

-X2
/38.2 / 24V SYS -250 AWG18
1
PROCESS POWER SUPPLY
/38.2 / 0V SYS -251 AWG18
2
2
/38.2 / 24V COOL -252 AWG18
PANEL BOARD
24V COOL
24V SYS
/38.2 / 0V COOL -253 AWG18
Approved by, date:

FOR SINGLE CABINET
5
230V AC1;3 / /86.7
6
230V AC2;3 / /86.8
-X3
/50.2 / 24V PC;1 -301 AWG18
3
1
/50.2 / 24V PC;2 -302 AWG18
UNIT
AWG18
24V PC
/50.2 / 0V PC;1 -303
COMPUTER
3
/50.2 / 0V PC;2 -304 AWG18
4
-X1
230V AC1;1 / /32.2

1
230V AC2;1 / /32.3

5
AC -INPUT
FOR DUAL CABINET
4
-G3
-X1
-X4
+
AWG16 gnye
1
1
+
2
2
NC
Lab/Office:
3
3
NC
4
4
+
5
5
5
ULTRA CAP
6
6
-
7
7
ULTRA CAP
8
8
+Sense
9
9
NC
-
10
10

6
-X5
/51.6 / USB2 +5V AWG24

1
2/RD
/51.6 / USB2 D- AWG28

2
MAIN
USB
/51.6 / USB2 D+ AWG28

3
COMPUTER
Status:
1/WH 1/GN
/51.6 / USB2_GND AWG24

7
2/BK
Document no.
Approved
Plant: 2008-07-17
Location:
3HAC024480-004
Sublocation: +
+ CM
8
03
= CAB
Rev. Ind
Next 34
Page 33
Total 153
-G6
Latest revision:
1
Prepared by, date:

POWER
SUPPLY
DEVICENET
-X2
-X1
/60.2 / +24Vdevicenet;1 -704 AWG20 BU -308 AWG16 BK 230V AC1;2 / /32.2
AC
L
+
-309 AWG16 BK 230V AC2;2 / /32.3
DC
-
N
2
+
/60.2 / 0Vdevicenet;1 -703 AWG20 BU
Approved by, date:

/63.2 / +24Vdevicenet;2 AWG16 GNYE
/63.2 / 0Vdevicenet;2
GND
/66.2 / +24Vdevicenet;3
3
4
-G4
Lab/Office:
/73.2 / 24V Res
POWER
/73.2 / 0V ReS
SUPPLY
CUSTOMER
-X1
5
-X2
24V I/O -_152 AWG16 BK 230V AC1;3 / /32.2

AC
1
0V I/O -_153 AWG16 BK 230V AC2;3 / /32.3

DC
-
5
AWG16 GNYE
3
FOR DUAL CABINET

Customer
Connection
24V I/O
+
OPTION: POWER SUPPLY

0V I/O
-
6
-G5

POWER
SUPPLY
CUSTOMER
-X2
-X1
Status:
24V I/O -181 AWG16 BK 230V AC1;4 / /32.2

7
AC
1
Document no.
Approved
0V I/O -182 AWG16 BK 230V AC2;4 / /32.3

DC
-
5
2008-07-17
AWG16 GNYE
3
Customer
Connection
Plant:
24V I/O
Location:
+
3HAC024480-004
0V I/O
-
Sublocation: +
+ CM
8
03
= CAB.DC
Next 35
Rev. Ind Page 34
Total 153
-G4
Latest revision:
1
Prepared by, date:

POWER
SUPPLY
-X2
-X1
CUSTOMER
-147 AWG16 BU -157 AWG16 BK 230V AC1;3 / /32.2
AC
24
AC
-158 AWG16 BK 230V AC2;3 / /32.3
DC
24
AC
-148 AWG16 BU
0
AWG16 GNYE
0
GND
2
-G5
Approved by, date:

POWER
SUPPLY
CUSTOMER
-X2
-X1
-147 AWG16 BU -157 AWG16 BK 230V AC1;4 / /32.2

AC
24
AC
-158 AWG16 BK 230V AC2;4 / /32.3
-XT31
TERMINAL FOR 24V I/O
DC
24
AC
-148 AWG16 BU
3
1
0
AWG16 GNYE
2
0
GND
5
6
-G7
Customer
Connection
4
POWER
SUPPLY
7
CUSTOMER
4
8
-X2
-X1
-147 AWG16 BU -_157 AWG16 BK 230V AC1;5 / /32.2

AC
24
AC
9
-_158 AWG16 BK 230V AC2;5 / /32.4
DC
24
AC
10
-148 AWG16 BU
0
AWG16 GNYE
Lab/Office:
0
GND
5
-G8
-703
-704
POWER
SUPPLY
CUSTOMER
-X2
-X1
-193 AWG16 BU -145 AWG16 BK 230V AC1;6 / /32.3

AC
24
AC
AWG20 BU
AWG20 BU
FOR DUAL CABINET

/60.2 / +24Vdevicenet;1 -146 AWG16 BK 230V AC2;6 / /32.4
DC
24
AC

0
6
AWG16 GNYE
0
GND
OPTION: POWER SUPPLY DSQC 609
-G6
POWER
SUPPLY
Status:
DEVICENET
7
-X2
-X1
Document no.
Approved
/69.2 / 0Vdevicenet;5 -193 AWG16 BU -145 AWG16 BK 230V AC1;2 / /32.2

L
+
AC
AWG16 BK
2008-07-17
-146 230V AC2;2 / /32.3

+
DC
N
-
AWG16 GNYE
-
Plant:
GND
Location:
3HAC024480-004
+ CM
8
03
Sublocation: + SLO.1
= CAB.DC
/73.2 / 24V Res

Next 36
Rev. Ind Page 35
/73.2 / 0V ReS
Total 153
-G6
Latest revision:
1
Prepared by, date:

POWER
SUPPLY
DEVICENET
-X2
-X1
230V AC1;2 / /86.6
AC
L
+
230V AC2;2 / /86.8
DC
-
N
2
+
-
Approved by, date:

AWG16
gnye
GND
3
-G4
POWER
SUPPLY
CUSTOMER
-X1
-X2
230V AC1;1 / /86.6

AC
1
+
4
230V AC2;1 / /86.7

DC
-
5
+
3
Lab/Office:
5
/60.2 / +24Vdevicenet;1 -704 AWG20 BU
FOR SINGLE CABINET

OPTION: POWER SUPPLY /63.2 / 0Vdevicenet;2
6
-XT31
2A
2
1
/68.2 / +24Vdevicenet;4 704

2A
4
3
Status:
703
6
5
7
8
7
Document no.
Approved
704 -297 AWG16 BU
9
2008-07-17
/71.2 / +24Vdevicenet;7 703 -298 AWG16 BU

10
Plant:
Location:
3HAC024480-004
Sublocation: +
/73.2 / 24V Res

+ CM
8
03
/73.2 / 0V ReS
= CAB.SC
Next 37
Rev. Ind Page 36
Total 153
-XT31
Latest revision:
1
24V I/O;1 / /87.2
Prepared by, date:

1
2
3
4
0V I/O;1 / /87.2
Customer
Connection
6
-G4
7
2
8
POWER
SUPPLY
Approved by, date:

9
CUSTOMER
-X2
-X1
-295 AWG16 BU 230V AC1;12 / /87.6

AC
10
24
AC
230V AC2;12 / /87.5

DC
24
AC
-296 AWG16 BU
-703
-704
0
AWG16 GNYE
GND
0
3
AWG20 BU
AWG20 BU
TERMINAL FOR 24V I/O

-G5
POWER
SUPPLY
CUSTOMER
-X2
-X1
-_295 AWG16 BU
4
230V AC1;13 / /87.6

AC
24
AC
/66.2 / 0Vdevicenet;3 230V AC2;13 / /87.5
DC
24
AC
-_296 AWG16 BU
0
/68.2 / +24Vdevicenet;4 AWG16 GNYE

GND
Lab/Office:
5
FOR SINGLE CABINET /73.2 / 24V Res

6
/73.2 / 0V ReS
OPTION: POWER SUPPLY DSQC 609
Status:
7
Document no.
Approved
-G6
2008-07-17
POWER
SUPPLY
DEVICENET
Plant:
-X2
-X1
-297 AWG16 BU 230V AC1;11 / /87.6

L
Location:
AC
3HAC024480-004
230V AC2;11 / /87.5

+
DC
N
-298 AWG16 BU
+ CM
-
8
03
AWG16 gnye
= CAB.SC
-
GND
Next 38
Rev. Ind Page 37
Total 153
1 2 3 4 5 6 7 8
PANEL BOARD
-A21
-X12 24V FPU POWER
/33.2 /87.4 / 24V SYS 24V SYS
1 24V PANEL
/33.2 /87.5 / 0V SYS 0V SYS
2
24V PANEL
/33.2 /87.4 / 24V COOL
3
/33.2 /87.5 / 0V COOL
4
INTERNAL -X1 -X10 -209

ES1 top AWG20 BU ES FPU 1:A / /47.2 /48.2
FAN
JUMPER
3 5
-X2 -211
ES2 top AWG20 BU ES FPU 2:A / /47.2 /48.2 FPU
-E3
JUMPER
3 7
AWG20 BU
AWG20 BU
M -212 AWG20 BU ES FPU 2:B / /47.2 /48.2

8
2 1 EXTERNAL 0V 0V -210 AWG20 BU ES FPU 1:B / /47.2 /48.2
-364
-363
EMERGENCY 24V Panel 4 24V PANEL 6

4
2 1 STOP PB
RunCh0V
RunCh+
Run CH1 top

Run CH2 top 5 EMERGENCY PB

-S21.3
5
-X9 -237
EMERGENCY ES1OUT:A AWG20 21 22
STOP OUTPUT 1 ES2 OUT:A 1 17 -238 AWG20

1 18 -233 AWG20 11 12
EMERGENCY ES2 OUT:B 13 -234 AWG20
STOP OUTPUT 2 ES1OUT:B 2 14 -231 AWG20
2 11 -232 AWG20
OPTION: Sep ES2:A RunCh0V 12 -235 AWG20
EXTERNAL Sep ES1:A 9 RunCh+ 15 -236 AWG20
CONNECTIONS 9 -ES2 16
-ES1
JUMPER
JUMPER
SEE PAGE 49
U U
Sep ES1:B
10
Sep ES2:B
10
ES2 bottom
EXTERNAL ES1 bottom AWG24
JUMPER
JUMPER
7
-X11
SUPPLY 0V 7
24V Panel 8 1
8 2 WHGN 24V_Sig.ref. / /50.7
SOFT_ESO
24V PANEL 3 BU RS485+ / /50.7
SOFT_ESI 4 WHBU RS485- / /50.7 MAIN
0V 5 COMPUTER
6 WHBN 0V_Sig.ref. / /50.7
ES1:int 7
EMERGENCY STOP
/40.6 / RunCh+
/40.5 / RunCh_0V
/40.6 / RCH2
/40.7 / RCH1
6 8
RELAY SIGNALS ES2:int
6 ES1 ES2

EMERGENCY STOP Approved
Sublocation: +
Next 39
1 2 3 4 5 6 7 8
PANEL BOARD
-A21
X3 and X4 -X10
only in DSQC 630 24V SYS 24V FPU POWER -205 AWG20 BU 24V FPU POWER / /47.2 /48.2
24V PANEL 1
-X3 -206
General in1 0V SYS AWG20 BU 0V PANELB / /47.2 /48.2
1 General in2 2
2 General in3 -207 AWG20 BU EN1_1 / /47.2 /48.2 FPU
3 General in4 3
4 General in5 -208 AWG20 BU EN1_2 / /47.2 /48.2
5 General in6 4
6 General in7 -213 AWG20 BU FPU START / /47.2 /48.2
7 General in8 9
8 0V
9 +24V
10 OPTION:
-X6 OPTION
EN1_1A EXTERNAL
-X4
General out1 7 EN1_1B EXTERNAL CONNECTIONS 2 4 6 8
1 General out2 8 EN2_1B ENABLE DEVICE SEE PAGE 49 -S21.1.X1 3 1 7 5
2 General out3 9 EN2_1A
3 General out4 10
OPTION:STATUS 4 General out5 -X9
-245
-244
-243
-246
-241
-240
-239
-242
LED ON FRONT 5 General out6 -227 AWG20 BU
-A23 6 8 -226 AWG20 BU
General out7
7 General out8 7 -225 AWG20 BU
-223
AWG20 BU
EXT.AUTO 2
EXT.MAN 2
EXT MAN FS 2
EXT.COMMON 2
EXT.AUTO 1
EXT.MAN 1
EXT MAN FS 1
EXT.COMMON 1
8 0V 6
9 4 -222 AWG20 BU
-ES2 -221 AWG20 BU
3
2
-ES1 3-MODE
-X2 AWG26 SELECTOR
-SUP_ST2 WHOG
-X20 -S21.1
6 12 10 2 4 8 18 22 24 14 16 20
1 OG 1 >1
-SUP_ST1
2 BU 2 RS485+ 5 1 17 13
4 WHBU 4 RS485-
-GS2 -220
5 WHGN 5 24V DC AWG20 BU
3 GN 3 1 -224 AWG20 BU
-GS1
6 WHBN 6 0V 5
7 BN 7
-AS2
8 8
MOTOR ON PB
/40.5 / EN1
/40.5 / EN2
/40.5 / MAN1
/40.4 / MAN2
/41.3 / SPEED
-AS1 -S21.2
-229 AWG20 BU 14 13
-ENABLE1 -228 AWG20 BU
10
9
-230 AWG20 BU X2 X1
19
EXT.COMPUTER FAN
24V PANEL
-X15 -E2
OP_COM
-X18 -E2 -X18 -X1
OP_MAN 1
3 24V COOL -361 AWG20 BU RD
+
2 2 1
OP_AUTO TACHO -362 AWG20 BU BN
M
OP_MAN_FS 2 3 3 2
4 -
FAN 0V -360 AWG20 BU BK
1 1 3

RUN CHAIN OPERATING Approved
Sublocation: +
MODE SELECTOR, 3 MODES
Next 40
1 2 3 4 5 6 7 8
PANEL BOARD
-A21
24V SYS 24V FPU POWER
24V PANEL
0V SYS
RunCh_0V / /38.5
RunCh+ / /38.5
24V PANEL
-X5
MAN2 / /39.4
MAN1 / /39.4
RCH2 / /38.6
RCH1 / /38.6
JUMPER 24V PANEL
EN2 / /39.4
EN1 / /39.4
JUMPER 12 24V PANEL
JUMPER 6 0V
JUMPER 7 0V
1
-X5
AS1+
11 AS1
AUTO AS1
STOP &
AS1-
AS2+ 9 AS2 SOFT AS
OPTION: 5
EXTERNAL AS2
CONNECTIONS
SEE PAGE 49
AS2-
GS1+ 3 GS1
10
GS1
GENERAL &
STOP
GS1- SOFT GS
GS2+ 8 GS2 CH2 CH1
4
GS2
GS2-
2
-X6
JUMPER 24V PANEL
JUMPER 6 0V
1
/41.4 / RCH2
/41.4 / RCH1
SS1+ SS1
4
/41.3 / ENABLE2_1
/41.3 / ENABLE2_2
/41.3 / ENABLE2_3
/41.3 / ENABLE2_4
SUPERIOR SS1
STOP
SS1- SOFT SS
SS2+ 2 SS2
5
SS2
SS2-
3

EMERGENCY STOP Approved
Sublocation: +
Next 41
1 2 3 4 5 6 7 8
CONTROL
PANEL BOARD
MODULE
-A21
/40.7 / RCH1
/40.6 / RCH2
-X7
RUN CH1 RUN_CH1 / /88.2
0V 1 RUN CH1Ret RUN_CH1Ret / /88.2
2
RUN CH2Ret RUN_CH2Ret / /88.2 Drive
24V PANEL 4 RUN CH2 RUN_CH2 / /88.2 module1
/39.4 / SPEED 3 SPEED SPEED / /88.2 A43.X1
5 0V 0V / /88.2
AND
/40.5 / ENABLE2_1 6 ENABLE2_1 ENABLE2_1 / /88.2
7 ENABLE2_1Ret ENABLE2_1Ret / /88.2 K41.X1
/40.5 / ENABLE2_2 8 AC_ON1 AC_ON1 / /85.7
9 0V 0V;1 / /85.7
/40.5 / ENABLE2_3 10
/40.5 / ENABLE2_4
-X8
RUN CH1
0V 1 RUN CH1Ret
2
RUN CH2Ret
24V PANEL 4 RUN CH2 BU
3 SPEED
5 0V if not used Drive
6 ENABLE2_2 module2
7 ENABLE2_2Ret BU
A43.X1
8 AC_ON1 if not used
9 0V
10
-X14
RUN CH1
0V 1 RUN CH1Ret
2
RUN CH2Ret
3 SPEED Drive
5 0V if not used module3
6 ENABLE2_3
A43.X1
7 ENABLE2_3Ret BU
9 0V
10
-X17
RUN CH1
0V 1 RUN CH1Ret
2
RUN CH2Ret
3 SPEED Drive
5 0V if not used module4
6 ENABLE2_4
A43.X1
7 ENABLE2_4Ret BU
9 0V
10

RUN CHAIN Approved
Sublocation: +
Next 42
1 2 3 4 5 6 7 8
PANEL BOARD
-A21
-X9 -S21.1.X1
-222 AWG20 BU MAN2 -241 OG EXT.AUTO1
3 7
-221 AWG20 BU AUTO2 -240 OG EXT.MAN1
2 6
-226 AWG20 BU MAN1 -245 OG EXT.AUTO2
7 3
-225 AWG20 BU AUTO1 -244 OG EXT.MAN2 OPTION
6 2
2-MODE
SELECTOR
1
-S21.1
1 3 5 7 9 11 13 15
2 6 10 14
5
-224 AWG20 BU 0V -246 OG EXT.COMMON2
5 4
-220 AWG20 BU 24V panel -242 OG EXT.COMMON1
1 8
MOTOR ON PB
-S21.2
-229 AWG20 BU MOTON 14 13

10
-228 AWG20 BU 24V PANEL
9
-230 AWG20 BU MONLMP X2 X1
19

RUN CHAIN OPERATING Approved
Next 43
1 2 3 4 5 6 7 8
CONTROL
MODULE
PANEL BOARD EXT.CONTROL PANEL
-A21 +EXT-A21
-X9 -X9 -S21.1.X1
-222 AWG20 -241 EXT.AUTO1
3 3 -221 AWG20 -240 EXT.MAN1 7
2 2 -226 AWG20 -245 EXT.AUTO2 6
7 7 -225 AWG20 -244 EXT.MAN2 3
6 6 2
2-MODE SELECTOR
-S21.1 1 3 5 7 9 11 13 15 OPTION
2 6 10 14
-224 AWG20 -246 EXT.COMMON2

5 5 -220 AWG20 -242 EXT.COMMON1 4
1 1 8
MOTOR ON PB
-S21.2
-229 AWG20 14 13
10 10
-230 AWG20 X2 X1
19 19 -228 AWG20
9 9
EMERGENCY PB
-S21.3
-501 -237 ES panel 1:A 21 22
17 -502 17 -238 ES panel 1:A
18 -498 18 -233 ES panel 2:A 11 12
13 -499 13 -234 ES panel 2:A
14 14 -231 ES panel 2:B
11 11 -232 ES panel 2:B
12 12 -235 ES panel 1:B
15 15 -236 ES panel 1:B
16 16
1 1
2 2
2 2
-X10 1 1 -X10 -XS4

BN/BK 24V TPU -205 24V FPU_POWER
1 BN/RD 0V 1 -206 0V 1
2 BN/OG EN1 2 -207 EN 1_1 2
3 BN/YE EN2 3 -208 EN 1_2 7
4 -496 4 -209 ES FPU 1:A 17
5 -500 5 -210 ES FPU 1:B 3
6 -495 6 -211 ES FPU 2:A 4 FPU
7 -497 7 -212 ES FPU 2:B 5
8 BN/GN TPU_START 8 -213 FPU_START 6
9 9 0V 11
EN2 8
12
-A22 ADAPTER -A32.A8
MAIN /50.6 / TD+ AWG24 TD+ -X2 TD+
COMPUTER /50.6 / TD- TD- 1 TD- 13
A31-A8 /50.6 / RD+ RD+ 2 RD+ 14

/50.6 / RD- RD- 3 RD- 15
6 16

RUN CHAIN EXT OPERATING Approved
Next 44
1 2 3 4 5 6 7 8
CONTROL
MODULE
-A21 +EXT-A21
-X9 -X9 -S21.1.X1
3 3 -221 AWG20 -240 EXT.MAN1 7
2 2 -226 AWG20 -245 EXT.AUTO2 6
7 7 -225 AWG20 -244 EXT.MAN2 3
6 6 2
2-MODE SELECTOR
-S21.1 1 3 5 7 9 11 13 15 OPTION
2 6 10 14

5 5 -220 AWG20 -242 EXT.COMMON1 4
1 1 8
MOTOR ON PB
-S21.2
-229 AWG20 14 13
10 10
-230 AWG20 X2 X1
19 19 -228 AWG20
9 9
EMERGENCY PB
-S21.3
-501 -237 ES panel 1:A 21 22
17 -502 17 -238 ES panel 1:A
18 -498 18 -233 ES panel 2:A 11 12
13 -499 13 -234 ES panel 2:A
14 14 -231 ES panel 2:B
11 11 -232 ES panel 2:B
12 12 -235 ES panel 1:B
15 15 -236 ES panel 1:B
16 16
1 1
-S22
2 2 64 63 X1 X2
2 2
14 13
-X10 1 1 -X10 53 54
-XS4
BN/BK 24V TPU -205 24V FPU_POWER
1 BN/RD 0V 1 -206 0V 1
2 BN/OG EN1 2 -207 22 21 -214 EN 1_1 2
3 BN/YE EN2 3 -208 42 41 -215 EN 1_2 7
4 -496 4 -209 -216 ES FPU 1:A 17
5 -500 5 -210 -217 ES FPU 1:B 3
6 -495 6 -211 -218 ES FPU 2:A 4 FPU
7 -497 7 -212 -219 ES FPU 2:B 5
8 BN/GN TPU_START 8 -213 FPU_START 6
9 9 0V 11
EN2 8
12
MAIN /50.6 / TD+ AWG24 TD+ -X2 TD+
COMPUTER /50.6 / TD- TD- 1 TD- 13
A31-A8 /50.6 / RD+ RD+ 2 RD+ 14

/50.6 / RD- RD- 3 RD- 15
6 16

Next 45
Prepared by, date: Approved by, date: OPTION : HOT PLUG 3HAC024480-004 03 Total 153
1 2 3 4 5 6 7 8
CONTROL
MODULE
-A21 +EXT-A21
-X9 -X9 -S21.1.X1
8 8 -226 AWG20 -244 EXT.MAN2 3
7 7 -225 AWG20 -243 EXT MAN FS2 2
6 6 -223 AWG20 -241 EXT.AUTO1 1
4 4 -222 AWG20 -240 EXT.MAN1 7
3 3 -221 AWG20 -239 EXT MAN FS1 6
2 2 5
3-MODE SELECTOR
-S21.1
6 12 10 2 4 8 18 22 24 14 16 20 OPTION
5 1 17 13

1 1 -224 AWG20 -246 EXT.COMMON2 8
5 5 4
MOTOR ON PB
-S21.2
-229 AWG20 14 13
10 10
-230
AWG20 X2 X1
19 19 -228 AWG20
9 9
EMERGENCY PB
-S21.3
-501 -237 ES panel 1:A 21 22
17 -502 17 -238 ES panel 1:A
18 -498 18 -233 ES panel 2:A 11 12
13 -499 13 -234 ES panel 2:A
14 14 -231 ES panel 2:B
11 11 -232 ES panel 2:B
12 12 -235 ES panel 1:B
15 15 -236 ES panel 1:B
16 16
1 1
2 2
2 2
-X10 1 1 -X10 -XS4

BN/BK 24V TPU -205 24V TPU_POWER
1 BN/RD 0V 1 -206 0V 1
2 BN/OG EN1_1 2 -207 EN 1_1 2
3 BN/YE EN1_2 3 -208 EN 1_2 7
4 -496 4 -209 ES TP 1:A 17
5 -500 5 -210 ES TP 1:B 3
6 -495 6 -211 ES TP 2:A 4
7 -497 7 -212 ES TP 2:B 5
8 BN/GN TPU_START 8 -213 TPU_START 6 FPU
9 9 0V 11
EN2 8
12
TD+
MAIN /50.6 / TD+ AWG24 TD+ -X2 TD- 13
COMPUTER /50.6 / TD- TD- 1 RD+ 14
A31-A8 /50.6 / RD+ RD+ 2 RD- 15

/50.6 / RD- RD- 3 16
6

Next 46
1 2 3 4 5 6 7 8
CONTROL
MODULE
-A21 +EXT-A21
-X9 -X9 -S21.1.X1
8 8 -226 AWG20 -244 EXT.MAN2 3
7 7 -225 AWG20 -243 EXT MAN FS2 2
6 6 -223 AWG20 -241 EXT.AUTO1 1
4 4 -222 AWG20 -240 EXT.MAN1 7
3 3 -221 AWG20 -239 EXT MAN FS1 6
2 2 5
3-MODE SELECTOR
-S21.1
6 12 10 2 4 8 18 22 24 14 16 20 OPTION
5 1 17 13

1 1 -224 AWG20 -246 EXT.COMMON2 8
5 5 4
MOTOR ON PB
-S21.2
-229 AWG20 14 13
10 10
-230
AWG20 X2 X1
19 19 -228 AWG20
9 9
EMERGENCY PB
-S21.3
-501 -237 ES panel 1:A 21 22
17 -502 17 -238 ES panel 1:A
18 -498 18 -233 ES panel 2:A 11 12
13 -499 13 -234 ES panel 2:A
14 14 -231 ES panel 2:B
11 11 -232 ES panel 2:B
12 12 -235 ES panel 1:B
15 15 -236 ES panel 1:B
16 16
1 1
-S22
2 2 64 63 X1 X2
2 2
14 13
-X10 1 1 -X10 53 54
-XS4
BN/BK 24V TPU -205 24V TPU_POWER
1 BN/RD 0V 1 -206 0V 1
2 BN/OG EN1_1 2 -207 22 21 -214 EN 1_1 2
3 BN/YE EN1_2 3 -208 42 41 -215 EN 1_2 7
4 -496 4 -209 -216 ES TP 1:A 17
5 -500 5 -210 -217 ES TP 1:B 3
6 -495 6 -211 -218 ES TP 2:A 4
7 -497 7 -212 -219 ES TP 2:B 5
8 BN/GN TPU_START 8 -213 TPU_START 6 FPU
9 9 0V 11
EN2 8
12
TD+
MAIN /50.6 / TD+ AWG24 TD+ -X2 TD- 13
COMPUTER /50.6 / TD- TD- 1 RD+ 14
A31-A8 /50.6 / RD+ RD+ 2 RD- 15

/50.6 / RD- RD- 3 16
6

Next 47
Prepared by, date: Approved by, date: OPTION : HOT PLUG 3HAC024480-004 03 Total 153
1 2 3 4 5 6 7 8
OPTION : FPU-PLUG
1) When external control panel connected to page 43 and 45
RunCh1
-XP4
3
RunCh0V
5
4
FLEXPENDANT
FLEXPENDANT -FPU1
1)
EMERGENCY-STOP
-XS4
-K1
/38.7 / ES FPU 1:A
3
/38.7 / ES FPU 2:A
5
/38.7 / ES FPU 2:B
6
/38.7 / ES FPU 1:B
4
PANEL -DP1 EN-DEVICE
/39.7 / 24V FPU POWER 2 1 1
BOARD -K2
A21-X10
12
-DP2
/39.7 / 0V PANELB 2 1 2
8
/39.7 / EN1_1
7
/39.7 / EN1_2
17
/39.7 / FPU START

11
/50.6 / TD+ AWG24

13
-ETH_FPU
MAIN /50.6 / TD-
COMPUTER 14
A31-A8 /50.6 / RD+

15
/50.6 / RD-
16

FPU, FLEXPENDANT Approved
Next 48
1 2 3 4 5 6 7 8
-S22
64 63 X1 X2
OPTION: FPU-PLUG
RunCh1
-XP4
3
RunCh0V
14 13 5
53 54 6
FLEXPENDANT
4
-FPU1
FLEXPENDANT
EMERGENCY-STOP
-XS4
-K1
/38.7 / ES FPU 1:A -216 BU
3
/38.7 / ES FPU 2:A -218 BU
5
/38.7 / ES FPU 2:B -219 BU
6
/38.7 / ES FPU 1:B -217 BU
4
PANEL -DP1 EN-DEVICE
/39.7 / 24V FPU POWER 2 1 1
BOARD -K2
A21-X10
12
-DP2
/39.7 / 0V PANELB 2 1 2
8
/39.7 / EN1_1 22 21 -214 BU
7
/39.7 / EN1_2 42 41 -215 BU
17
/39.7 / FPU START

11
/50.6 / TD+ AWG24

MAIN 13
-ETH_FPU
COMPUTER /50.6 / TD-
14
A31-A8
/50.6 / RD+
15
/50.6 / RD-
16

FPU, FLEXPENDANT Approved
OPTION: HOT PLUG
Next 49
1 2 3 4 5 6 7 8
PANEL BOARD SEE PAGE 38 PANEL BOARD SEE PAGE 40;39

-A21 -A21
-X1 -XS/XP3 -X5 -XS/XP3

ES1 bottom -260 OG AWG20 BU 24V PANEL -272 AWG20 BU AWG20 BU
-X2 7 A1 12 C1
ES2 bottom -261 OG AWG20 BU AS1+ -273 AWG20 BU
7 B1 11 C2
24V PANEL -262 AWG20 BU AS1- -274 AWG20 BU AWG20 BU
8 B2 9 C3
0V -263 AWG20 BU 0V -275 AWG20 BU
8 A2 7 C4
24V PANEL -264 AWG20 BU AWG20 BU AWG20 BU
4 A3 C5
Run CH1 top GS1+ -276 AWG20 BU
5 10 C6
Run CH2 top GS1- -277 AWG20 BU AWG20 BU
5 8 C7
0V -265 AWG20 BU AWG20 BU
4 B3 C8
ES2 top -266 OG 24V PANEL -278 AWG20 BU AWG20 BU
3 B4 6 D1
ES1 top -267 AS2+ -279

OG AWG20 BU
3 A4 5 D2
Sep ES1:A -268 OG AWG20 BU AS2- -280 AWG20 BU AWG20 BU
9 A5 3 D3
Sep ES2:A -269 OG AWG20 BU 0V -281 AWG20 BU
9 B5 1 D4
Sep ES2:B -270 OG AWG20 BU
10 B6 D5
Sep ES1:B -271 OG GS2+ -282 AWG20 BU
10 A6 4 D6
ES1 OUT A -284 OG GS2- -283 AWG20 BU AWG20 BU
1 A7 2 D7
ES1 OUT B -285 OG
2 A8 D8
ES2 OUT A -286 OG
1 B7
-287 -X6
ES2 OUT B OG
2 B8 0V -289 AWG20 BU AWG20 BU
1 A10
SS1- -291 AWG20 BU
2 B10
SS2- -293 AWG20 BU
3 C10
SS1+ -290 AWG20 BU
4 B9
SS2+ -292 AWG20 BU
5 C9
24V PANEL -288 AWG20 BU AWG20 BU
6 A9
10

OPTION: EXTERNAL CONNECTION Approved
SYSTEM SIGNALS
Next 50
1 2 3 4 5 6 7 8
CONTROL
MODULE
MAIN COMPUTER DSQC639
-A31
-A9
TX+ / /90.2 /92.2 /92.1.2 DRIVE
1 TX- / /90.2 /92.2 /92.1.2 MODULE
2 RX+ / /90.2 /92.2 /92.1.2 AXIS
AXC1 3
-X1 COMPUTER
ETH_DRIVE 4
/33.3 /87.5 / 24V PC;1 5 RX- / /90.2 /92.2 /92.1.2
1 6
PROCESS /33.3 /87.5 / 24V PC;2 7
POWER SUPPLY 4 8
/33.3 /87.5 / 0V PC;1
2
/33.3 /87.6 / 0V PC;2
3
-X23
-A7
PWR LED (GREEN)
TX+ AWG24 WHOG
1 TX- OG 1 SERVICE
2 RX+ WHGN 2 PORT
3 3
ETH_SERVICE 4
5 RX- GN
IDE LED (YELLOW)

6 6
7
8
STATUS LED (RED-GREEN)

_TX+ / /73.2 OPTION:
_TX- / /73.2 REMOTE
_RX+ / /73.2 SERVICE
_RX- / /73.2
-X8
AWG24
1
2 WHGN 24V_Sig.ref. / /38.7
3 BU RS485+ / /38.7
PANEL UNIT 4 WHBU RS485- / /38.7 PANEL BOARD
RS 485 5
6 WHBN 0V_Sig.ref. / /38.7
7
CHASSIS BLOWER 8
-E22
- -A8
M TD+ / /47.2 /48.2 /43.2 /44.2 /45.2 /46.2

3
-J21 TD- / /47.2 /48.2 /43.2 /44.2 /45.2 /46.2
+
GND AWG24 BK ETH_FPU 6 FLEXPENDANT

1 +24V RD 4
2 FAN_TACH YE 5 RD+ / /47.2 /48.2 /43.2 /44.2 /45.2 /46.2
3 1
RD- / /47.2 /48.2 /43.2 /44.2 /45.2 /46.2
2
7
8

MAIN COMPUTER DSQC 639 Approved
Sublocation: +
Next 51
1 2 3 4 5 6 7 8
-A31 MAIN COMPUTER DSQC639

CONTROL
MODULE
-LAN1 -XP28
OPTION: TX+
232/422/485 SERIE CONVERTER 1 TX- 1
-A39 2 2
OPTION : EXTERN LAN
RX+
3 RX- 3
-X1 -X2 COM1
-J2 6 6
RX- A1 COM1_DCD
TX+ 1 1 A2 COM1_RXD
TX- 2 2 A3 COM1_TXD
3 3 A4 COM1_DTR
0V 4 4 A5 0V
5 5 A6 COM1_DSR
6 6 A7 COM1_RTS-N
OPT. EXTERNAL PWR 7 7 A8 COM1_CTS-N
RX+ 8 8 A9 COM1_RI
9 9
-X24
-USB1
AWG28 GN USB1 D+
3 AWG28 WH USB1 D- 3
2 AWG24 BK USB1_GND 2
USB
4 AWG24 RD USB1 +5V 4 CONTROL MODULE
1 1
MC CONSOLE
-J2
/73.2 / CON_DCD CONSOLE_DCD
OPTION: REMOTE SERVICE /73.2 / CON_RXD B1 CONSOLE_RXD
/73.2 / CON_TXD B2 CONSOLE_TXD
/73.2 / CON_DTR B3 CONSOLE_DTR
/73.2 / CON_GND B4 GND
-USB2
/73.2 / CON_DSR B5 CONSOLE_DSR AWG28 GN USB2 D+ / /33.7 /87.8 PROCESS
/73.2 / CON_RTS-N B6 CONSOLE_RTS-N 3 AWG28 WH USB2 D- / /33.7 /87.8 POWER SUPPLY
/73.2 / CON_CTS-N B7 CONSOLE_CTS-N 2 AWG24 BK USB2_GND / /33.7 /87.8
/73.2 / CON_RI B8 CONSOLE_RI 4 AWG24 RD USB2 +5V / /33.6 /87.8
B9 1

MAIN COMPUTER DSQC 639 Approved
Sublocation: +
Next 52
1 2 3 4 5 6 7 8
ETHERNET/IP Fieldbus adapter DSQC 669

-A38.1
-Z1
-X1
TX+ OPTION & HARNESS TO CUSTOMER I/O
TX- 1
2
RX+
3
CompactCom 4
RX- 5
6
7
8
PROFIBUS Fieldbus adapter DSQC 667

-A38.2
-Z1
-X1
SLAVE SHIELD OPTION & HARNESS TO CUSTOMER I/O
RXD/TXD-p 1
3
CONTROL-P
4
CompactCom GND
5
+5VDC 6
RXD/TXD-N 8
PROFINET IO Fieldbus adapter DSQC 688

-A38.3
-Z1
-X1
TX+ OPTION & HARNESS TO CUSTOMER I/O
TX- 1
2
RX+
3
CompactCom 4
RX- 5
6
7
8

FIELDBUS ADAPTER: Approved
Sublocation: +
ETHERNET/IP, PROFIBUS and
Next 53
Prepared by, date: Approved by, date: PROFINET IO 3HAC024480-004 03 Total 153
1 2 3 4 5 6 7 8
COMPUTER UNIT AC/BD

-A3
COMPUTER UNIT DSQC623
COMPUTER POWER SUPPLY -A31
-G31
-P1 -J4H1
-X1 -X1 OR +3.3V
24V OR +3.3V 1
1 V+ BK GND 2
PROCESS 24V RD +5V 3
POWER SUPPLY 4 BK GND 4
-G2.X3 0V RD +5V 5
2 BK GND 6
0V -PSU-X1 7
3 V- GY PWR_OK
-PSU-X2 1 8
VT +5VSB
-P1 1 9
YE +12V
OR +3.3V 10
BU -12V 11
-PSU-X2 12
MOTHER BK GND
BOARD
2 GN PS_ON 13
POWER -P1 3 14
BK GND
BK GND 15
BK GND 16
17
RD +5V 18
RD +5V 19
20
SOLID STATE DRIVE

-D32 -J6H1
40
-X1 -X2
ATA/IDE
-IDEpwr1 1
GND 2
+5V 3
4
SOLID STATE DRIVE

REMARK:
-D31
P1 & J6H1 CONNECTS
-X2 40
TO EITHER D32 OR D31
-X1
DEPENDING OF CHOSED OPTION.
1
1
GND 2
+5V 3
4

MAIN COMPUTER AC/BD Approved
Next 54
1 2 3 4 5 6 7 8
COMPUTER UNIT AC/BD

-A3
COMPUTER POWER SUPPLY

-G31
P1
BK GND
YE +12V
CHASSIS BLOWER
-E22
M
AWG 24
COMPUTER UNIT DSQC623 -C2
+
-A31 BK GND BK
-J9H1 YE +12V 1 RD
2
1
2 WH FAN2_TACH
3
CHASSIS BLOWER
-E23
-J9H2
1 -
2
3
M
AWG 24
-C1
+
BK GND BK
YE +12V 1 RD
2
WH FAN1_TACH

Next 55
1 2 3 4 5 6 7 8
COMPUTER UNIT AC/BD

CONTROL
-A3
MODULE
OPTION:
-A31 COMPUTER UNIT DSQC623
232/422/485 SERIE CONVERTER
-A39 PWR LED (GREEN)
-J9H3
A K
-X1 -X2 -J2 COM1 2
RX- COM1_DCD
TX+ 1 1 A1 COM1_RXD 4
IDE LED (YELLOW)
TX- 2 2 A2 COM1_TXD
3 3 A3 COM1_DTR A K
0V 4 4 A4 0V 1
5 5 A5 COM1_DSR
6 6 A6 COM1_RTS-N 3
OPT. EXTERNAL PWR 7 7 A7 COM1_CTS-N
RX+ 8 8 A8 COM1_RI
9 9 A9 -LAN1
TX+
1 TX-
2 RX+
3 RX-
6
-X24
-USB1
-J2 MC CONSOLE AWG28 GN USB1 D+
B1 CONSOLE_DCD 3 AWG28 WH USB1 D- 3
B2 USB
2 AWG24 BK USB1_GND 2
CONSOLE_RXD CONTROL MODULE
B3 4 AWG24 RD USB1 +5V 4
CONSOLE_TXD
B4 1 1
CONSOLE_DTR
B5
GND
B6
CONSOLE_DSR
B7
CONSOLE_RTS-N -USB2
B8 AWG28 GN USB2 D+
CONSOLE_CTS-N
B9 CONSOLE_RI 3 AWG28 WH USB2 D- PROCESS
2 AWG24 BK USB2_GND POWER SUPPLY
4 AWG24 RD USB2 +5V
-G2.X5
1
-USB3
3
2
4
1
-USB4
3
2
4
1

Next 56
1 2 3 4 5 6 7 8
ROBOT COMMUNICATION CARD DSQC602

-A32
-X8
1
2 WHGN 24V_Sign.ref
3 BU RS485+
RS 485 4 WHBU RS485- PANEL BOARD
5 -A21.X11
6 WHBN 0V_Sign.ref
7
8
-A8
OG TD+
3
WHOG TD- FLEXPENDANT
ETH_FPU 6 -XS4
4
5 GN RD+
1
-X1
WHGN RD-
2
7
8
CONTROL
MODULE
-A9
PCI BUS TX+
1 TX-
2 RX+
3 RX- DRIVE MODULE
ETH_DRIVE 6 AXIS COMPUTER
4
5
7
8
-A7 -X23
TX+ 1
1 TX- 2 SERVICE
2 RX+ 3 PORT
ETH_SERVICE 3
4
5 RX- 6
6
7
8

ROBOT COMM. CARD DSQC 602
Next 57
1 2 3 4 5 6 7 8
PROFIBUS DP M/S
-A33
Customer
Connection
-A33.1-Z1
-A33-X2
SHIELD
RXD/TXD-P 1 1B
SLAVE CONTROL-P 3
PCI BUS GND 4
OPTION & HARNESS TO CUSTOMER I/O

+5VDC
5
RXD/TXD-N 6 1A
8
-A33-X3
SHIELD
RXD/TXD-P 1 1B
MASTER CONTROL-P 3
GND 4
+5VDC 5
RXD/TXD-N 6 1A
8

PROFIBUS DP M/S Approved
Sublocation: +
Next 57.1
1 2 3 4 5 6 7 8
Customer
Connection
PROFINET DSQC678
-A33.1
-X1
TX+
1 TX-
2 RX+
3
4
5 RX-
6
7
8
-X2
TX+
1 TX-

-Z1 2 RX+
3
4
RX-
5
6
7
PCI BUS 8
-X3
TX+
1 TX-
2 RX+
3
4
5 RX-
6
7
8
-LAN1
TX+
1 TX-
2 RX+
3
4
5 RX-
6
7
8

PROFINET Approved
Sublocation: +
Next 58
1 2 3 4 5 6 7 8
INTERBUS M/S (OPTICAL FIBRE) INTERBUS M/S (COPPER WIRE)

-A37 -A37
-A37.1
-A37.1 1)
-X4
24V
INTERBUS SLAVEPART 24V+
INTERBUS SLAVEPART
0V
-X2 1) 0V
-Z1 24V -Z1

24V+
REMOTE IN -X5
0V DO
0V 1 DON
6 DI
2 DIN
-FO1
PCI BUS LW/BK PCI BUS 7 GNDISI
BK1(IN) 3
LW/OG
GY (OUT)

-FO2 -X1

REMOTE OUT
LW/BK DO
BK1(IN) 1 DON
LW/OG DI
6
GY (OUT) 2 DIN
7 GRND
3 VCCISO
5 RBST
9
-A37.2
-FO3
LW/BK
INTERBUS MASTERPART REMOTE
BK (IN)
LW/OG
GY (OUT)
-A37.2
REMOTE -X2
DO
INTERBUS MASTERPART 1 DON
6 DI
2 DIN
-X1 7 GNDIM
TXD 3 GRND
1 RXD 4 VCCIM
2 GND 5 VCC
4 RTS 8
5 CTS
6
RS232 -X3
TXD
1 RXD
2 GND
4 RTS
5 CTS
6
1) IT IS IMPORTANT THAT 24 DC EXT SUPPLY ALWAYS IS AVAILABLE

OTHERWISE THE INTERBUS CAN NOT WORK
IF THE CONTROLLER IS TURNED OFF.

INTERBUS M/S Approved
Sublocation: +
Next 59
1 2 3 4 5 6 7 8
CONTROL
DEVICE NET ADAPTER
MODULE
-A35
-CHA-J1 -A35-X1 -XS17

BK
P1 1 1 3
BU
2 2 5
SC OPTION
3 3 1
WH
4 4 4
PCI BUS RD
5 5 2
V- / /60.2
CAN_L / /60.2
DRAIN / /60.2
CAN_H / /60.2
V+ / /60.2
ONLY FOR DUAL DEVNETCARD DSQC 659

-CHB-J2
2
CUSTOMER OPTION BUS
3

DEVICENET SINGLE/DUAL ADAPTER Approved
Sublocation: +
Next 60
1 2 3 4 5 6 7 8
-I/O1
/59.5 / V-
/59.5 / CAN_L 1
/59.5 / CAN_H 2
/59.5 / V+ 4
/59.5 / DRAIN 5 BK V- / /63.1
3 BU CAN_L / /63.1
WH CAN_H / /63.1 Digital I/O unit
RD V+ / /63.1
-I/O2
SC DRAIN / /63.1
1
2 BK V- / /66.2
4 BU CAN_L / /66.2
5 WH CAN_H / /66.2 Relay I/O unit
3 RD V+ / /66.2
SC DRAIN / /66.2
-I/O3 ONLY FOR DUAL CONTROL

BK V- / /68.1
1 BU CAN_L / /68.1
2 WH CAN_H / /68.1 Analogue I/O unit
4 RD V+ / /68.1
5 SC DRAIN / /68.1
3
BK V- / /69.1 OPTION: HARNESS
BU CAN_L / /69.1 TO CUSTOMER I/O
-I/O4 ONLY FOR DUAL CONTROL
WH CAN_H / /69.1 Remote I/O unit
1 RD V+ / /69.1
2 SC DRAIN / /69.1
4
5 BK V- / /70.2
3 BU CAN_L / /70.2
WH CAN_H / /70.2 Interbus slave
RD V+ / /70.2
SC DRAIN / /70.2
BK V- / /71.1
-A35-X2 BU CAN_L / /71.1
/35.6 /37.4 /34.2 /36.5 / 0Vdevicenet;1 WH CAN_H / /71.1 Profibus DP slave
1 RD V+ / /71.1
SC DRAIN / /71.1
2 120 OHM
BK V- / /72.1
4 BU CAN_L / /72.1
/35.6 /37.3 /34.2 /36.5 / +24Vdevicenet;1 WH CAN_H / /72.1 Encoder unit
5 RD V+ / /72.1
SC DRAIN / /72.1
3

DEVICENET ADAPTER Approved
Sublocation: +
Next 61
1 2 3 4 5 6 7 8
DUAL RS232 CARD

-A34
-X1
1 COM2_RXD
2 COM2_TXD
COM2_DTR
3
COM2 4 0V
RS232 5 COM2_DSR
6 COM2_RTS-N
7 COM2_CTS-N
8
X5 9
-X2
1 COM3_RXD
PCI BUS 2 COM3_TXD
3 COM3_DTR
COM3 4 0V
RS232 5 COM3_DSR
6 COM3_RTS-N
7 COM3_CTS-N
8
9

DUAL RS232 CARD Approved
Sublocation: +
Next 62
1 2 3 4 5 6 7 8
ETHERNET CARD
-A36
-A1
TX+
1 TX-
2 RX+
3 DRIVE MODULE 2 (OPTION)
4
5 RX-
X1 6
7
8
-A2
TX+
1 TX-
PCI BUS 2 RX+
4
5 RX-
6
7
8
-A3
TX+
1 TX-
2 RX+
4
5 RX-
6
7
8

ETHERNET CARD Approved
Sublocation: +
Next 63
1 2 3 4 5 6 7 8
TO NEXT
I/O UNIT
2)
120 ohm
3) 2 1
/35.6 /37.4 /34.3 /36.6 / +24Vdevicenet;2 DIG. PART OF COMBI I/O AND DIG. I/O UNIT DSQC 651& 652
-I/Ox
/35.6 /37.4 /34.3 /36.6 / 0Vdevicenet;2
XTXX.X3
-X3
INPUT CH.1
1 2
2 3
3 4
-X5
/60.5 / V- 4 5
/60.5 / CAN_L 1 5 6
/60.5 / CAN_H 2 6 7
/60.5 / V+ 8
4 7
5 8 0V
/60.5 / DRAIN 9
0V 3 10
OR PREVIOUS NA0 6
I/O UNIT NA1 7

1) NA2 8 0V
NA3 9 4)
NA4 10 XTXX.X4
NA5 11
-X4
12 INPUT CH.9
1 10
2 11
3 12
4 13
5 14
6 15
1) JUMPERS PLACED ACCORDING TO 7 16
THE ACTUAL NODE ADDRESS. 8 0V
9
10
2) RESISTANS 120 OHM SHALL ALWAYS
BE CONNECTED IN THE FIRST AND THE
LAST CONNECTOR IN THE CAN-BUS CIRCUIT.
3) CONNECTED IN THE LAST CONNECTOR IN THE

CAN-BUS CIRCUIT.
4) ONLY FOR DIGITAL I/O DSQC 652.

DIGITAL PART OF COMBI I/O AND Approved
Sublocation: +
DIGITAL I/O UNIT
Next 64
1 2 3 4 5 6 7 8
DIGITAL I/O UNIT DSQC 652

-I/Ox
OUTPUT CH 1-8
XTXX.X1
<1 -X1
OUTPUT CH.1
1 2
2 3
3 4
4 5
5 6
6 7
7 8
8 0V
0V 9 24V DC
10
OUTPUT CH 9-16
XTXX.X2
<1 -X2
OUTPUT CH.9
0V
1 10
2 11
3 12
4 13
5 14
6 15
7 16
8 0V
9 24V DC
10

DIGITAL I/O UNIT Approved
Sublocation: +
Next 65
1 2 3 4 5 6 7 8
-I/OxCOMBI I/O UNIT DSQC 651
OUTPUT CH 1-8
XTXX.X1
<1 -X1
OUTPUT CH.1
1 2
2 3
3 4
4 5
5 6
6 7
7 8
8 0V
0V 9 24V DC
10
-X6
INPUT CH.1
CPU INPUT CH.2 1
2
0V
3
DAC
OUTPUT CH.1
5
REF 0VA
4
OUTPUT CH.2
6
+15V
DC
0VA
DC
-15V

COMBI I/O UNIT Approved
Next 66
1 2 3 4 5 6 7 8
TO NEXT
I/O UNIT
2)
120 ohm
2 1
3) DIG. PART OF RELAY I/O UNIT DSQC 653

-I/Ox
/35.6 /37.4 /34.3 /36.6 / +24Vdevicenet;3
XTXX.X3
/35.6 /37.4 /34.3 /36.6 / 0Vdevicenet;3
-X3
INPUT CH.1
1 2
2 3
-X5 3 4
/60.5 / V- 4 5
/60.5 / CAN_L 1 5 6
/60.5 / CAN_H 2 6 7
/60.5 / V+ 4 7 8
0V
5 8
/60.5 / DRAIN 9
0V 3
OR PREVIOUS NA0 6
I/O UNIT NA1 7 0V

1) NA2 8
NA3 9
NA4 10
NA5 11
12
1) JUMPERS PLACED ACCORDING TO

THE ACTUAL NODE ADDRESS.


CAN-BUS CIRCUIT.

RELAY I/O UNIT Approved
Next 67
1 2 3 4 5 6 7 8
RELAY I/O UNIT DSQC 653

-RELAY I/O
XTXX.X1
-X1
OUT CH.1A
1
OUT CH.1B
2
OUT CH.2A
3
OUT CH.2B
4
OUT CH.3A
OUT CH.3B
6
OUT CH.4A
7
OUT CH.4B
8
OUT CH.5A
9
OUT CH.5B
10
OUT CH.6A
11
OUT CH.6B
12
OUT CH.7A
13
OUT CH.7B
14
OUT CH.8A
15
OUT CH.8B
16

RELAY I/O UNIT Approved
Next 68
1 2 3 4 5 6 7 8
TO NEXT
I/O UNIT
2) ANALOGUE I/O UNIT

-I/Ox
120 ohm
2 1
3)
-X7
ANOUT_1
/35.7 /37.4 /34.3 /36.6 / +24Vdevicenet;4 1 ANOUT_2
2 ANOUT_3
ADC MUX
/35.7 /37.4 /34.3 /36.6 / 0Vdevicenet;4 3 ANOUT_4
4 0V
19 0V
0V 20 0V
21 0V
-X5
/60.5 / V- 22
/60.5 / CAN_L 1
/60.5 / CAN_H
2
/60.5 / V+ 4
5
/60.5 / DRAIN
0V 3 REF
DAC
OR PREVIOUS NA0 6
-X8
I/O UNIT NA1 7 ANIN_1
1) NA2 8 1 ANIN_2
NA3 9 2 ANIN_3
NA4 10 3 ANIN_4
NA5 11 4
12 24V
17
18
19
20
21
0V 22
1) JUMPERS PLACED ACCORDING TO 23
THE ACTUAL NODE ADDRESS. 24 0V

25 0V
26 0V
27 0V
BE CONNECTED IN THE FIRST AND THE 28

CAN-BUS CIRCUIT.

ANALOGUE I/O UNIT Approved
Next 69
1 2 3 4 5 6 7 8
TO NEXT
I/O UNIT
2)
120 ohm
2 1
3)
/35.7 /37.5 /34.3 /36.7 / +24Vdevicenet;5
/35.7 /37.5 /34.4 /36.7 / 0Vdevicenet;5

REMOTE I/O UNIT
-I/Ox
-X5
/60.5 / V-
/60.5 / CAN_L 1 NAC
/60.5 / CAN_H 2 -X8
/60.5 / V+ LINE 1 (BLUE)

4
5 1 REMOTE I/O IN
/60.5 / DRAIN
0V 3 LINE 2 (CLEAR)
OR PREVIOUS NA0 6 1 2
I/O UNIT NA1 7 -X9

1) NA2 8 (BLUE)
NA3 9 1 REMOTE I/O OUT
NA4 10
NA5 11 (CLEAR)
12 2


BE CONNECTED IN THE FIRST AND THE 4
4
CAN-BUS CIRCUIT.

REMOTE I/O UNIT Approved
Next 70
1 2 3 4 5 6 7 8
TO NEXT
I/O UNIT
2)
120 ohm
2 1
3)
/35.7 /37.5 /34.4 /36.7 / +24Vdevicenet;6 INTERBUS SLAVE

-I/Ox
/35.7 /37.5 /34.4 /36.7 / 0Vdevicenet;6
-X5 -X21
/60.5 / V-
/60.5 / CAN_L 1 TPDO2
/60.5 / CAN_H 2 1 TPDI2
/60.5 / V+
4 2 GND
5 3 +5VDC IB-S OUT
/60.5 / DRAIN 5 TPDO2-N
0V 3 6 TPDI2-N
OR PREVIOUS NA0 6 7 RBST
I/O UNIT NA1 7 9
1) NA2 8
NA3 9
NA4 10
NA5 11
12
-X20
TPDO1
1 TPDI1
2 GND IB-S IN
3 TPDO1-N
6 TPDI1-N
-X3
GND 7
4) 24V DC EXT. SUPPLY 1
+24VDC 3
5


CAN-BUS CIRCUIT.
4) IT IS IMPORTANT THAT 24V DC EXT SUPPLY

ALWAYS IS AVAILABLE. OTHERWISE THE
INTERBUS CAN NOT WORK IF THE CONTROLLER
IS TURNED OFF.

INTERBUS SLAVE Approved
Next 71
1 2 3 4 5 6 7 8
TO NEXT
I/O UNIT
2)
120 ohm
2 1
PROFIBUS DP SLAVE
-I/Ox
3)
/35.8 /37.5 /34.4 /36.7 / +24Vdevicenet;7

Customer
/35.8 /37.5 /34.4 /36.7 / 0Vdevicenet;7 Connection
-X5
/60.5 / V-
-X20
/60.5 / CAN_L 1 SHIELD
/60.5 / CAN_H 2 1
/60.5 / V+
4 RXD/TXD-P
5 3 CONTROL-P
/60.5 / DRAIN 4 GND
0V 3 5 +5VDC
OR PREVIOUS NA0 6 6 RXD/TXD-N
I/O UNIT NA1 7 8
1) NA2 8
NA3 9
NA4 10
NA5 11
12
-X3
0V DC
External supply GND 1
+24VDC 3
5



CAN-BUS CIRCUIT.

PROFIBUS DP SLAVE Approved
Next 72
1 2 3 4 5 6 7 8
TO NEXT
I/O UNIT
2)
120 ohm
2 1
ENCODER UNIT
-I/Ox
3)
/35.8 /37.6 /34.4 /36.8 / +24Vdevicenet;8 Encoder

Connection
/35.8 /37.6 /34.4 /36.8 / 0Vdevicenet;8
-X20
24 VDC
1
-X5
/60.5 / V- 0V
/60.5 / CAN_L 1 2
/60.5 / CAN_H 2 ENC +24V
/60.5 / V+
4 3
5 ENC 0V
/60.5 / DRAIN 4 Encoder
0V 3 2 1 ENC_A
OR PREVIOUS NA0 6 5
NA1 7 A
I/O UNIT ENC_B
1) NA2 8
1
6
NA3 9 +24V
NA4 10 7
NA5 11 0V Synch switch
12 2 1 8
DIGIN
A 9
2 1
A
1

CAN-BUS CIRCUIT.

ENCODER UNIT Approved
Next 73
1 2 3 4 5 6 7 8
OPTION: REMOTE SERVICE BOX

-A61
(( ))
-X1
/35.8 /36.8 /37.6 /34.5 / 0V ReS 746
-X2 -X18
1
/35.8 /36.8 /37.6 /34.5 / 24V Res 745
2
AWG24 AWG24
-X23
-X10 -X11
/50.7 / _TX+ WHOG WHOG
1 1 1
/50.7 / _TX- OG OG
2 2 2
/50.7 / _RX+ WHGN WHGN
3 3 3
4 4
5 5
/50.7 / _RX- GN GN
6 6 6
7 7
8 8
-X15
/51.3 / CON_RTS-N BU
1
/51.3 / CON_TXD RD
2
/51.3 / CON_RXD BN
3
/51.3 / CON_DSR GN
4
/51.3 / CON_GND YE
5
/51.3 / CON_DTR OG
6
/51.3 / CON_DCD BK
7
/51.3 / CON_CTS-N
8
/51.3 / CON_RI VO
9

REMOTE SERVICE Approved
Next 80
1 2 3 4 5 6 7 8
Drive module + DM
CAB = Common cabinet

Plant =
CAB.DC = Dual cabinet

CAB.SC = Single cabinet
Location + DM
Sublocation = SLO.1 or SLO.2 etc. shows that the sheet is a variant of the DM

DRIVE MODULE Approved
Sublocation: +
Next 82
1 2 3 4 5 6 7 8
-XP0 1 2 3
AWG10 BK
AWG10 BK
AWG10 BK
AWG10 GNYE
-101
-102
-103
1 3 5
-Q1
2 4 6
-109 AWG10 BK
-108 AWG10 BK
-107 AWG10 BK OPTION:

CIRCUIT BRAKER
101
102
103
-F6 1 3 5 OPTION :
FLANGE DISCONNECT
-Q1 1 2 3
2 4 6
T1 T2 T3
110
111
112
-106 AWG10 BK
-105 AWG10 BK
-104 AWG10 BK OPTION:

1 3 5
MAINS LINE FILTER
-Z1
2 4 6
AWG10 BK
AWG10 BK
AWG10 BK
-110
-111
-112
/83.3 / L1
/83.3 / L2
/83.4 / L3
TRANSFORMER UNIT

MAINS CONNECTION Approved
Sublocation: +
Next 83
AWG10 GNYE
-T1
/87.8 / 230V AC1_SC;1
Latest revision:
1
/86.7 / 230V AC1_SC;2
Prepared by, date:

/87.8 / 230V AC2_SC;1
SINGLE
CABINET
1) T1.1 6kVA
2) T1.2 13kVA
/86.7 / 230V AC2_SC;2
POWER SUPPLY
200V
TRANSFORMER UNIT
220V
-X2
/85.4 / 230V AC1_DC 230V
400V
DUAL
CABINET
/85.4 / 230V AC2_DC 230V 440V
2
-X1
L1-L2-L3 = 480VAC if IRB660, 6600-7600
POWER SUPPLY
1) 480V
262/480VAC
Approved by, date:

/89.8 / T1_L1 500V
L1-L2-L3 = 262VAC if IRB140-340, 1400-4400, 6400R
262/480VAC 600V
/89.8 / T1_L2
1), 2)
UNITS
262/480VAC
/89.8 / T1_L3
CONTACTOR
REAKTOR UNIT
-Z2
200V
-X2
-X1
-L1
220V
F2
F1
3
L1IN
F4
F3
L2IN
400V
-X10
-113 AWG10 BK L1 / /82.4

1
F6
F5
440V
L3IN
L1UT L2UT L3UT
ONLY FOR
AWG10 BK
IRB 6600-7600
-114 L2 / /82.4
2
230VAC 1) 480V
/84.3 / T1_230V -115 AWG10 BK L3 / /82.4
1
3
115VAC 500V
MAINS CONNECTION
/84.3 / T1_115V
2
600V
OUTLET
N
SERVICE
/84.3 / T1_N
3
4
200V
220V
400V
440V
Lab/Office:
1) 480V
500V
600V
5
/87.8 / 230V AC1_SC;1

AWG10 GNYE
-T1
/86.7 / 230V AC1_SC;2
TRANSFORMER UNIT
/87.8 / 230V AC2_SC;1
SINGLE
CABINET
/86.7 / 230V AC2_SC;2

POWER SUPPLY
6
USED FOR:
T1.3 2,5kVA
IRB7600 480V
-X2
TRANSFORMER UNIT
-X1
/85.4 / 230V AC1_DC 230VAC IN

IRB660, 6600 400-480V
230V
DIRECT POWER SUPPLY
230VAC
DUAL
/85.4 / 230V AC2_DC

CABINET
230VAC 400V
1
POWER SUPPLY
440V
115VAC
2
480V
N
Status:
/84.3 / T1_230V
3
/84.3 / T1_115V
7
/84.3 / T1_N
Document no.
OUTLET
SERVICE
Approved
2008-07-17
-Z2
REAKTOR UNIT
-X2
-X1
-L1
/89.8 / T1_L1 113

Plant:
F2
F1
L1IN
Location:
3HAC024480-004
/89.8 / T1_L2 114

F4
F3
UNITS
L2IN
Sublocation: +
/89.8 / T1_L3 115

CONTACTOR
F6
F5
+ DM
8
L3IN
L1UT L2UT L3UT
03
= CAB
Rev. Ind
Next 84
Page 83
Total 153
1 2 3 4 5 6 7 8
T1_230V / /83.4 /83.7
T1_115V / /83.4 /83.7
T1_N / /83.4 /83.7

OPTION:
SERVICE OUTLET -184 4 3
SINGLE/DUAL CONTROL AWG16

CIRCUIT BREAKER
1 3
-F5
2 4
AWG16 BK
-183
-F4 1 3
EARTH FAULT
BREAKER
2 4
-185 1 2
-186 AWG16 GNYE AWG18
-X22
GND 1 2

OPTION : SERVICE OUTLET Approved
Sublocation: +
Next 85
Latest revision:
1
Prepared by, date:

-G1
-X2
UNIT
/90.2 / +24V DRIVE BK
1
/90.2 / 0V DRIVE BN
AXIS COMP.
4
DRIVE POWER SUPPLY
/90.6 / 24V Drive sys RD
2
2
/90.6 / 0V Drive sys OG
DRIVE UNIT
5
MAIN SERVO
Approved by, date:

/88.2 / +24V DRIVE;1 -463 AWG18 BU
UNIT
/88.2 / 0V DRIVE;1 -464 AWG18 BU
CONTACTOR
3
-X3
/88.2 / +24V BRAKE;1 -465 AWG16 BU
1
/88.2 / +24V BRAKE;2 -466 AWG16 BU
UNIT
/88.2 / +24V COOL;1 -469 AWG16 BU
3
-F2
-467 AWG16 BU
CONTACTOR
/88.2 / 0V BRAKE;1
5
/88.2 / 0V BRAKE;2 -468 AWG16 BU
-X1
6
AWG16 GNYE
-470 AWG16 BU
4
/88.2 / 0V COOL;1
7
-152 AWG16 BK 23
1
1
2
/94.3 / +24V COOL;3 -510 AWG20 BU 0V

1/BK
-153 BK -156 23
AC
5
14
11
1_
3
BK
4
/94.3 / +24V COOL;2 -511 AWG20 BU 0V D

AC C
2_ //
83
/94.3 / 0V COOL;3 -512 AWG20 BU D .2
C
DRIVE UNIT
8
2/BK AWG16
/8
MAIN SERVO
// 3.
-513 AWG20 BU
83 6
Lab/Office:
/94.3 / 0V COOL;2 .2
/8
3.
6
5
-X4
/90.2 / 5V_OUT BK
1
UNIT
/90.2 / ACOK BN
2
/90.2 / BRAKEOK RD
AXIS COMP.
3
FOR DUAL CABINET

/90.2 / TEMPOK OG
4
-155
-154
6
-K41
A2
A1
AWG16 BK
AWG16 BK
POWER SUPPLY DSQC 626 AND 627

AWG16 GNYE

-141
-140
AWG20 BU
AWG20 BU
2
1
Status:
-K41.X1
2
1
7
Document no.
Approved
2008-07-17
GND_DM / /32.3
0V;1 / /41.7
230V AC2_DM / /32.3
230V AC1_DM / /32.3
Plant:
AC_ON1 / /41.7
Location:
3HAC024480-004
Sublocation: +
+ DM
8
03
A21.X7
= CAB.DC
MODULE
MODULE
CONTROL
CONTROL
PANEL BOARD
Next 86
Rev. Ind Page 85
Total 153
Latest revision:
1
Prepared by, date:

-G1
-X2
UNIT
/90.2 / +24V DRIVE BK
1
/90.2 / 0V DRIVE BN
AXIS COMP.
4
2
DRIVE POWER SUPPLY
DRIVE UNIT
5
MAIN SERVO
2
/88.2 / +24V DRIVE;1 -_463 AWG16 BU
UNIT
Approved by, date:

/88.2 / 0V DRIVE;1 -_464 AWG16 BU
CONTACTOR
-X3
/88.2 / +24V BRAKE;1 -_465 AWG16 BU
1
3
/88.2 / +24V BRAKE;2 -_466 AWG16 BU
2
/88.2 / +24V COOL;1 -_469 AWG16 BU
3
/88.2 / 0V BRAKE;1 -_467 AWG16 BU
UNIT
/88.2 / 0V BRAKE;2 -_468 AWG16 BU
6
-_470 AWG16 BU
CONTACTOR
/88.2 / 0V COOL;1
7
-PE1
/94.3 / +24V COOL;3 -_510 AWG20 BU

-X1
4
AWG16 GNYE
-511 AWG20
BU
4
/94.3 / +24V COOL;2

1
/94.3 / 0V COOL;3 -_512 AWG20 BU

8
5
BU
/94.3 / 0V COOL;2 -513 AWG20
DRIVE UNIT
MAIN SERVO
Lab/Office:
-153
-152
-X4
/90.2 / 5V_OUT BK
1
AWG16 BK
AWG16 BK
5
/90.2 / ACOK BN
2
UNIT
/90.2 / BRAKEOK RD
3
AXIS COMP.
/90.2 / TEMPOK OG
4
FOR SINGLE CABINET

6
-XT16
L1
/36.4 / 230V AC1;1 -181 AWG16 BK

L1
-F2
/36.2 / 230V AC1;2 -308 AWG16 BK

L1
/33.3 / 230V AC1;3 -177 AWG16 BK

L1
JUMPER
L1
Status:
23
7
L1
2
0V
1/BK
Document no.
Approved
AC
23
L2
1_
3
0V SC
2008-07-17
AC ;2
L2
2_ //
SC 83
2/BK AWG16
-182 AWG16 BK ;2 .1
/36.4 / 230V AC2;1 /8
L2
// 3.
83
.1 6
/36.2 / 230V AC2;2 -309 AWG16 BK
Plant:
/8
L2
3.
6
JUMPER
Location:
3HAC024480-004
/33.3 / 230V AC2;3 -178 AWG16 BK

L2
Sublocation: +
L2
+ DM
8
03
= CAB.SC
Next 87
Rev. Ind Page 86
Total 153
-G2
/90.2 / +24V DRIVE AWG20 BK
Latest revision:
/90.2 / 0V DRIVE BN
1
Prepared by, date:

2
-X3
BOARDS
5
24V SYS
CONTACTOR
AXIS / DRIVE /
/88.2 / +24V DRIVE;1 -463 AWG18 BU
3
POWER DISTRIBUTION BOARD
/88.2 / 0V DRIVE;1 -464 AWG18 BU
6
-G1
/37.1 / 24V I/O;1 -247 AWG16 BU
1
2
DC INPUT
-X1
-X2
-X4
AWG12 BU
I/O
24V I/O
/37.2 / 0V I/O;1 -248 AWG16 BU
3
1
1
Approved by, date:

CUSTOMER
POWER SUPPLY
4
2
2
3
4
/88.2 / +24V BRAKE;1 -466 AWG16 BU
1
-X1
4
3
/88.2 / +24V BRAKE;2 -465 AWG16 BU
2
AWG16 GNYE
3
/88.2 / +24V COOL;1 -469 AWG16 BU
3
3
4
-X5
5
UNIT
/88.2 / 0V BRAKE;1 -467 AWG16 BU
5
-X3
CONTACTOR
SIGNAL
AWG20 BU
INPUT
-X2
/88.2 / 0V BRAKE;2 -468 AWG16 BU

24V BRAKE / COOL
6
3
3
/88.2 / 0V COOL;1 -470 AWG16 BU

-153
-152
7
4
4
8
AWG16 BK
AWG16 BK
/38.2 / 24V SYS -250 AWG18 BU

1
4
/38.2 / 24V COOL -252 AWG18 BU

2
3
4
/50.2 / 24V PC;1 -301 AWG18

-XT16
Lab/Office:
/50.2 / 24V PC;2 -302 AWG18
6
L2
PC
-X6
/38.2 / 0V SYS -251 AWG18 BU

7
L2
PANELBOARD,
5
/38.2 / 0V COOL -253 AWG18 BU -309 BK 230V AC2;11 / /37.8

AWG16
8
L2
24V SYS, COOL, PC
-158 BK 230V AC2;12 / /37.3

AWG16
9
L2
JUMPER
-_158 BK 230V AC2;13 / /37.4

AWG16
L2
10
/50.2 / 0V PC;1 -303 AWG18

L2
11
/50.2 / 0V PC;2 -304 AWG18

L1
12
FOR SINGLE CABINET

L1
-308 BK 230V AC1;11 / /37.8

6
AWG16
L1
-157 BK 230V AC1;12 / /37.2

AWG16
-G3
L1
JUMPER
-_157 BK 230V AC1;13 / /37.4

AWG16
-X1
L1
24V CHARGE
1
1
24V CHARGE
2
2
L1
N.C.
3
3
N.C.
4
4
N.C.
-X7
5
5
0V
6
6
0V
ENERGY BANK
7
7
Status:
+SENSE
8
8
N.C.
ENERGY BANK
7
9
9
-F2
N.C.
Document no.
Approved
10
10
2008-07-17
/51.6 / USB2 +5V 2/RD 23

1
1
2
/51.6 / USB2 D- 1/WH 0V

Plant:
1/BK
-X8
1/GN
AC
/51.6 / USB2 D+
USB
23
MAIN
Location:
3
1_
3
3HAC024480-004
4
/51.6 / USB2_GND 2/BK 0V

2/BK
SC
4
COMPUTER
AC ;1
2_ //
SC 83
;1 .1
+ DM
8
/8
03
AWG16
//
/94.3 / +24V COOL;3 AWG20 BK 3.
5
83
1
RD
.1
= CAB.SC
/94.3 / +24V COOL;2 /8

-X9
/94.3 / 0V COOL;3 BN 3.
6
FAN
UNIT
DRIVE
/94.3 / 0V COOL;2 OG
MAIN FAN
4
Next 88
Rev. Ind Page 87
Total 153
1 2 3 4 5 6 7 8
CONTACTOR UNIT
-A43 -X5
PTC1 PTC1 / /112.3 /132.3 /152.3 /172.2
1 /122.3 /142.3 /162.3 /202.2
-X6
DRIVE /85.3 /87.2 /86.2 / 0V DRIVE;1
POWER 1 PTC1 ret PTC1 ret / /112.3 /132.3 /152.3 /172.2
SUPPLY /85.3 /87.1 /86.2 / +24V DRIVE;1 2 /122.3 /142.3 /162.3 /202.2
2
24VDrive
1 2 0V BRAKE 0V BRAKE;3 / /112.3 /132.3 /152.3 /172.2
24V 3
-X1 /122.3 /142.3 /162.3 /202.2
/41.7 / RUN_CH1
CONTROL /41.7 / RUN_CH1Ret 1 0V BRAKE OV BRAKE;4 / /112.3 /132.3 /152.3 /172.2
MODULE /41.7 / RUN_CH2 2 4 /122.3 /142.3 /162.3 /202.2
A21.X7 /41.7 / RUN_CH2Ret 3
-X10 SINGLE CABINET
4 -386 -380
AWG20 BU 1 2 AWG20 BU +24V COOL;4 / /178.2
-X22
LIM2 ch1 2 -387 -381
24VDrive 1 2
LIMIT LIM2 ch2 1 AWG20 BU AWG20 BU 0V COOL;4 / /178.2
RunCh2
SWITCH 2 3 1 -382
EXTERNAL LIM2 ch2 ret AWG20 BU FAN1 ret / /178.2
AWG20 BU
AWG20 BU
LIM2 ch1 ret 4 3
AXIS OPTION :
-389
-388
2
-E4 INTERNAL FAN
24VDrive 4 -A43
-X23
-X10.2 -365 -X1
LIMIT 1 AWG20 BU
3 1 3
M
OVERRIDE -366
AWG20 BU
BRAKE CTRL
4 2 1
24V COOL
2
AWG24 BU
AWG24 BU
-X21 DUAL CABINET
-736
-737
LIMIT /142.3 /152.3 /162.3 /92.1.7 / A43-X21:1 LIM1 ch1
SWITCH 1 /142.3 /152.3 /162.3 /92.1.7 / A43-X21:3 LIM1 ch2 1
3 RunCh1 -A43
CONTROL 1)
/142.3 /152.3 /162.3 /92.1.7 / A43-X21:4 LIM1 ch2 ret LIM2 -731 -734 -X10.1
CABLE 1 2
/142.3 /152.3 /162.3 /92.1.7 / A43-X21:2 LIM1 ch1 ret 4 LIM1 AWG24 BU AWG24 BU +24V COOL;4 / /177.1
0V COOL
1) Jumper if not used 2 -732 -735 2
AWG24 BU 1 2 AWG24 BU 0V COOL;4 / /177.1
-X1
CONTROL /41.7 / ENABLE2_1 -733 1
MODULE /41.7 / ENABLE2_1Ret 5 INTERLOCKING AWG24 BU FAN1 ret / /177.1
/89.2 / 0V COOL;6
/89.2 / BRAKE
A21.X7 /41.7 / SPEED 6 3
/41.7 / 0V 7 +24V COOL;5 / /177.1
8 0V COOL;5 / /177.1
PAN_CH1
24V COOL
/90.2 / RS485+ -X4 FAN2 ret / /177.1
0V COOL
BU
AXIS /90.2 / RS485- WHBU 4 K2
COMPUTER /90.2 / 0V ENABLE2 OG 5 RunCh1 K1 -X11
/90.2 / ENABLE2 WHOG 7 -383 AWG20 BU +24V COOL;5 / /178.2
8 RunCh2 2
-384 AWG20 BU 0V COOL;5 / /178.2
-X7
24V COOL
/85.3 /87.3 /86.3 / +24V BRAKE;2
0V COOL
1
PAN_CH2
1 -385 AWG20 BU FAN2 ret / /178.2
/85.4 /87.4 /86.4 / 0V COOL;1 3
DRIVE 2 SINGLE CABINET
POWER /85.4 /87.3 /86.3 / +24V COOL;1 4
/89.4 / LOCK1A
/89.4 / LOCK2B
/89.3 / SELF1
/89.4 / SELF2
/89.1 / 0V COOL;6
/89.2 / RCH1
3
SUPPLY -P1
/85.3 /87.3 /86.3 / +24V BRAKE;1
-X12 OPTION :
/89.2 / 0V COOL;6
/89.3 / RCH2
4 -491 AWG20 BU +24V
+ +
/85.4 /87.3 /86.4 / 0V BRAKE;2 1 DUTY
-492 TIME
/85.4 /87.3 /86.3 / 0V BRAKE;1
5
2
AWG20 BU
h COUNTER
6 0V
- -
CONTINUATION NEXT PAGE

CONTACTOR BOARD Approved
Sublocation: +
Next 89
Latest revision:
1
Prepared by, date:

-A43
-X8
-K42
-471 AWG20 BU 0V COOL;6 / /88.4
2
-472 AWG20 BU RCH1 / /88.5
A2
A1
CONTACTOR UNIT
-K44
-473 AWG20 BU 0V COOL;6 / /88.6
2
-474 AWG20 BU BRAKE / /88.6

5
A2
A1
Approved by, date:

-K43
-475 AWG20 BU 0V COOL;6 / /88.5
4
-476 AWG20 BU RCH2 / /88.5

3
A2
A1
-X3
-451 AWG20 BU
24V
-452 AWG20 BU BRAKE_FB

3
1
2
6
-479 AWG20 BU 0V
5
-493 AWG20 BU -480 AWG20 BU SELF1 / /88.4

44
43
4
-481 AWG20 BU
-H1
24V
10
STATUS DIOD
-494 AWG20 BU -482 AWG20 BU
DUAL CABINET
SELF2 / /88.4
44
43
9
-483 AWG20 BU LOCK1B

3
22
21
-484 AWG20 BU LOCK1A / /88.4

2
4
-485 AWG20 BU LOCK2A

7
22
21
-486 AWG20 BU LOCK2B / /88.4

8
EXT MON 1A
EXTCONT
EXT MON 1B &
-X24
34
33
EXT MON 2A
Lab/Office:
3
CUSTOMER
CONNECTION
EXT MON 2B 0V
4
34
33
5
5
24V
PTC2
-XS/XP40
1
AWG16 BU
EXT. LAMP
/202.2
/172.2
/162.3
/152.3
/142.3
/132.3
/122.3
/112.3
-445
1
POWER UNIT
PTC2 0V
2
-490
SERVO DISCONNECTOR
-X9
AWG16 BU BU BU AWG16 BU
BRAKEREL1
/202.2
/172.2
/162.3
/152.3
/142.3
/132.3
/122.3
/112.3
-447 -489 -487 24V BRAKE

4
3
6
14
13
13
14
2
1
-477 AWG16 BU 24V BRAKE

2
-448 AWG16 BU
3
CONTROL CABLE AND

BRAKEREL2
/202.2
/172.2
/162.3
/152.3
/142.3
/132.3
/122.3
/112.3
OPTION: EXTERNAL AXIS
AWG16 BU AWG16 BU
Status:
-446 -488 BRAKE PB

4
3
22
21
BRAKEPB
/202.2
/172.2
/162.3
/152.3
/142.3
/132.3
/122.3
/112.3
7
Document no.
Approved
AWG16 BU
2008-07-17
/ EXTBRAKEREL -449
6
5
-450 AWG16 BU
/ EXTBRAKEPB
6
Plant:
-F1
Location:
3HAC024480-004
Sublocation: +
/93.4 / L12 -128 AWG10 BK -122 BK -119 AWG10 BK T1_L1 / /83.2 /83.8
+ DM
8
2
1
2
1
I>
2
1
03
= CAB
Rev. Ind
/93.5 / L22 -129 AWG10 BK -123 BK -120 AWG10 BK T1_L2 / /83.2 /83.8
4
3
4
3
I>
4
3
AWG10 BK BK AWG10 BK
RECTIFIER
/93.5 / L32 -130 -124 -121 T1_L3 / /83.3 /83.8

6
5
6
5
I>
6
5
Next 90
Page 89
Total 153
1 2 3 4 5 6 7 8
DRIVE POWER /92.2 /92.1.2 / 0V DRIVE;2 -725 AWG20 ;
SUPPLY
/92.2 /92.1.2 / +24V DRIVE;2 -726 AWG20 BK;
EPS AXIS COMPUTER BOARD MAIN SERVO DRIVE UNIT
A44-X1 POWER SUPPLY EPS/ AXC -A42 -A41.1
-A42-X1
1
2
-X1
DRIVE POWER /85.2 /87.1 /86.1 / 0V DRIVE
SUPPLY 1
/85.1 /87.1 /86.1 / +24V DRIVE
2
-X11
1/BK
-X1
+FRAME RECEIVER
1 1
1/BN -FRAME RECEIVER
-X10
/85.5 /86.5 / 5V_OUT BK 2 2
1 2/BK +CLK RECEIVER
DRIVE POWER /85.5 /86.5 / ACOK BN 6 6
SUPPLY 2 2/RD -CLK RECEIVER

/85.6 /86.5 / BRAKEOK RD 7 7
3 3/BK +DATA RECEIVER
/85.6 /86.5 / TEMPOK OG 11 11
4 3/OG -DATA RECEIVER
12 12
4/BK +FRAME TRANSMITTER
3 3
1) 4/YE -FRAME TRANSMITTER
AWG24 -X2
/50.7 / TX+ 4 4
CONTROL 1 5/BK +CLK TRANSMITTER
MODULE /50.7 / TX- 8 8
2 5/GN -CLK TRANSMITTER
A31.A9
/50.7 / RX+ 9 9
MAIN
3 6/BK +DATA TRANSMITTER
COMPUTER /50.7 / RX- 13 13
6 6/BU -DATA TRANSMITTER
14 14
/92.6 /92.1.6 / _TX+ 7/BK GND
OPTION : 5 5
EPS OR /92.6 /92.1.6 / _TX- 7/VT +5V TRANCIVER SUPPLY

10 10
SAFE MOVE
/92.6 /92.1.6 / _RX+ 8/BK GND
A44-X4
15 15
/92.6 /92.1.6 / _RX-
-X6
/88.2 / RS485+
4
CONTACTOR /88.2 / RS485-
UNIT 5 -X3
/88.2 / 0V ENABLE2 /85.2 /87.1 /86.2 / 0V Drive sys
7 1
/88.2 / ENABLE2 /85.2 /87.1 /86.2 / 24V Drive sys
8 2
-X9
RXD
2
1) No connection to main computer if EPS or SAFE MOVE is connected TXD
3
0V
5

AXIS COMPUTER UNIT Approved
Sublocation: +
Next 91
1 2 3 4 5 6 7 8
OPTION : EPS
-A44
See page 92
AXIS COMPUTER BOARD
-A42 OPTION: SAFE MOVE DSQC647
-A44
See page 92.1
-X4
MRCO1 MRCO1 / /202.2 /162.3 /142.3 /122.3
1 /172.2 /152.3 /132.3 /112.3
MRCO1_N MRCO1_N / /202.2 /162.3 /142.3 /122.3

2 /172.2 /152.3 /132.3 /112.3
1) MRCI1 MRCI1 / /202.2 /162.3 /142.3 /122.3

4 /172.2 /152.3 /132.3 /112.3
-X8
GND_O2
1 MRCI1_N MRCI1_N / /202.2 /162.3 /142.3 /122.3 CONTROL
24V_EXT2 5 /172.2 /152.3 /132.3 /112.3 SIGNAL
2
0V MRC_0V;1 / /202.2 /162.3 /142.3 /122.3
3 6 /172.2 /152.3 /132.3 /112.3
IN 2
4 24V_SMB1 24V_SMB1 / /202.2 /162.3 /142.3 /122.3
7 /172.2 /152.3 /132.3 /112.3
5
IN 1 0V MRC_0V;2 / /202.2 /162.3 /142.3 /122.3
6 3 /172.2 /152.3 /132.3 /112.3
GND_01
PROCESS I/O 7 0V MRC_0V;3 / /202.2 /162.3 /142.3 /122.3
24V_EXT1 9 /172.2 /152.3 /132.3 /112.3
8
OUT 2
9
10 DRIVE
GND_I2 MODULE
11
-X5 -XS41
12 MRCO2
GND_I1 1 A
13 MRCO2_N
2 B
14 MRCI2
OUT 1 4 C
15 MRCI2_N EXT. AXIS
5 D SIGNAL
0V
6 E
24V_SMB2
7 F
0V
3 G
0V
9 J
1) -X8 ONLY ON DSQC 635

AXIS COMPUTER UNIT Approved
Sublocation: +
Next 92
1 2 3 4 5 6 7 8
OPTION : EPS DSQC 646

-A44
-X4
AWG24
BU _TX+ / /90.2
-X1 1
DRIVE POWER /90.2 / 0V DRIVE;2 WHBU _TX- / /90.2 AXIS
SUPPLY 1 2 COMPUTER
/90.2 / +24V DRIVE;2 OG _RX+ / /90.2 BOARD
2 3
A43-X2
WHOG _RX- / /90.2
4
-X6
MRCO1
AWG24 -X3 1
/50.7 / TX+ WHOG MRCO1-N
CONTROL 1 2
MODULE /50.7 / TX- OG MRCI1

2 4
A31.A9
/50.7 / RX+ WHGN MRCI1-N CONTROL
MAIN
3 5 SIGNAL
COMPUTER /50.7 / RX- GN 0V XS2
6 6
24V-SMB1
7
0V
3
0V
9
-X5 -X9
MRCO1 +24V
1 1
MRCO1-N 0V
2 2
MRCI1 UT1A
AXIS 4 3
COMPUTER MRCI1-N UT1B

5 4
BOARD
0V UT2A
A42-X4
6 5
24V-SMB1 UT2B PROCESS I/O
7 6
0V UT3A
3 7
0V UT3B
9 8
UT4A
9
UT4B
10
UT5A
11
UT5B
12
IN1A
13
IN1B
14

EPS Approved
Sublocation: +
Next 92.1
1 2 3 4 5 6 7 8
OPTION: SAFE MOVE DSQC647

-A44
-X13
Relay output RelOut 1A A43-X21:1 / /88.2
-X1
DRIVE POWER /90.2 / 0V DRIVE;2 pair 1 1
SUPPLY 1 RelOut 1B A43-X21:2 / /88.2

/90.2 / +24V DRIVE;2 2 CONTACTOR UNIT
2 Relay output RelOut 2A A43-X21:3 / /88.2 X21
pair 2 3
RelOut 2B A43-X21:4 / /88.2
4
AWG24
-X3 -X4
MAIN /50.7 / TX+ AWG24 WHOG WHOG _TX+ / /90.2 AXIS
COMPUTER /50.7 / TX- OG 1 1 OG _TX- / /90.2 COMPUTER
A31.A9 /50.7 / RX+ WHGN 2 2 WHGN _RX+ / /90.2 BOARD
3 3
CONTROL A43.X2
4 4
MODULE /50.7 / RX- GN 5 5 GN _RX- / /90.2
6 6
7 7
8 8
-X5 -X6
MRCO1 MRCO1
1 1
MRCO1-N MRCO1-N
2 2
AXIS MRCI1 MRCI1
COMPUTER 4 4 CONTROL
BOARD MRCI1-N MRCI1-N SIGNAL
5 5
A42-X4 XS2
0V 0V
6 6
24V-SMB1 24V-SMB1
7 7
0V 0V
3 3
0V 0V
9 9
-X7 -X8
MRCO2 MRCO2
1 1
MRCO2-N MRCO2-N
AXIS 2 2
COMPUTER MRCI2 MRCI2 EXT. AXIS

4 4 SIGNAL
BOARD
MRCI2-N MRCI2-N XS41
A42-X5
5 5
0V 0V
6 6
24V-SMB2 24V-SMB2
7 7
0V 0V
3 3
0V 0V
9 9

SAFE MOVE Approved
Next 92.2
1 2 3 4 5 6 7 8
OPTION: SAFE MOVE DSQC647

-A44
-X9 -X11
IN1A I/O POWER +24V I/O
1 SUPPLY 1
IN1B Equivalent GND
2 configurable 2
IN2A activation OUT1A
3 3
Inputs
IN2B OUT1B
4 4
IN3A Configurable OUT2A
5 Monitor 5
IN3B Outpurs OUT2B
6 6
IN4A OUT3A
7 7
IN4B OUT3B
8 8
IN5A OUT4A
9 Antivalent 9
IN5B configurable OUT4B
10 10
activation
IN6A
Inputs
11
PROCESS I/O IN6B PROCESS I/O
12
-X10 -X12
IN7A
1 Antivalent 1
IN7B configurable
2 2
activation
IN8A OUT5A
Inputs
3 3
IN8B OUT5B
4 4
CSC INA Antivalent OUT6A
5 Inputs Configurable 5
CSC INB Monitor OUT6B
6 6
Outpurs
OUT7A
7 7
OUT7B
8 8
OVR A Antivalent OUT8A
9 Inputs 9
OVR B OUT8B
10 10
11
12

SAFE MOVE Approved
Next 93
1 2 3 4 5 6 7 8
CONTACTOR UNIT
L12 / /89.8
L22 / /89.8
L32 / /89.8
AWG10 GNYE
MAIN SERVO DRIVE UNIT RECTIFIER
-A41.1 -A41.2 BLEEDER
-X32 1 2 3 4
-X33 -132 AWG12 BK

-192
1 GNYE
1 AWG12
-X2 -X30
Spare 1/BK -R1.1
Spare 1 1/BN 1
2
+24V 2 2/BK 2
0V 6 2/RD 6 -133 AWG12 BK
DATA_TO_DRIVE 7 3/BK 7 2
DATA_TO_DRIVE_N 11 3/OG 11
ENABLE 12 4/BK 12
ENABLE_N 3 4/YE 3
CLK 4 6/BU 4
CLK_N 8 5/GN 8
DATA_TO_RECT 9 5/BK 9
CAPACITOR UNIT
13 6/BK 13
-A41.3
DATA_TO_RECT_N
0V 14 7/BK 14
7/VT
-X31 -69 AWG20 BU
-X34
+5V 5 5
10 10 1 1
-70 AWG20 BU
2 2
-71 AWG20 BU
3 3
-72 AWG20 BU
4 4
DC-BUSBAR

RECTIFIER AND BLEEDER Approved
Sublocation: +
Next 94
1 2 3 4 5 6 7 8
FAN UNIT
-E1
-E1.XP2 -E1.XS2
-XS1 -354
/85.4 /87.8 /86.4 / +24V COOL;2
RD AWG24 BU
3 3 AWG24 3
/85.4 /87.8 /86.4 / +24V COOL;3 BK -350 AWG24 BU
1 1 1
-E41 -X1 -E42 -X1 -E43 -X1 -E44 -X1
1 1 1 1
+
DRIVE POWER M M M M
SUPPLY
- - - -
-X1 3 -X1 3 -X1 3 -X1 3
/85.4 /87.8 /86.4 / 0V COOL;3 BN -351 AWG24 BU

2 2 2
/85.5 /87.8 /86.4 / 0V COOL;2 OG -355 AWG24 BU
4 4 4

FAN UNIT Approved
Sublocation: +
Next 95
1 2 3 4 5 6 7 8
ADDITIONAL AXIS 1-3, DRIVE UNIT NO 7

MAIN SERVO DRIVE UNIT SINGLE SERVO DRIVE UNIT
-A41.1 -A41.1.3
-X7 -X20
1 1
2 2
3 3
4 4
5 5
6 6
7 7
8 8
9 9
10 10
11 11
12 12
13 13
14 14
16 16
17 17
19 19
20 20
21 21
22 22
15 15
23 23
18 18
24 24
25 25
26 26
DC-BUSBAR

ADDITIONAL AXIS 1-3, DRIVE UNIT NO 7 Approved
Sublocation: +
Next 96
1 2 3 4 5 6 7 8

-A41.1 -A41.1.4
-X8 -X20
1 1
2 2
3 3
4 4
5 5
6 6
7 7
8 8
9 9
10 10
11 11
12 12
13 13
14 14
15 15
16 16
17 17
18 18
19 19
20 20
21 21
22 22
23 23
24 24
25 25
26 26
DC-BUSBAR

Sublocation: +
Next 97
1 2 3 4 5 6 7 8

-A41.1 -A41.1.5
-X9 -X20
1 1
2 2
3 3
4 4
5 5
6 6
7 7
8 8
9 9
10 10
11 11
12 12
13 13
14 14
16 16
17 17
19 19
20 20
21 21
22 22
15 15
23 23
18 18
24 24
25 25
26 26
DC-BUSBAR

Sublocation: +
Next 98
1 2 3 4 5 6 7 8

-A41.1.3 -XS/XP7
-X21 -4000
R AWG12 BK
1 A1
R -4001 AWG12 BK
2 A2
T -4002 AWG12 BK
3 A3
T -4003 AWG12 BK
4 A4
S -4004 AWG12 BK
5 A5
S -4005 AWG12 BK
6 A6
CONTACTOR UNIT
-A43
-X24 -4013
PTC AWG16 BU
1 PTC 0V -4014 AWG16 BU E1
2 E2
3
4
5 E3
6
E4
-X5 -A43.XP5
PTC1
1 1 E5
PTC1 ret
2 2 E6
3 3 F9
0V BRAKE
4 4 F10
0V BRAKE -4012 AWG16 BU
F11
-X22 -4006
LIM2 ch1 AWG16 BU
1 F1
LIM2 ch1 ret -4007 AWG16 BU
2 F4
LIM2 ch2 -4008 AWG16 BU
3 F2
LIM2 ch2 ret -4009 AWG16 BU
4 F3
-XS40 EXT.LAMP
-445
1 -447 BRAKE REL F5
2 -448 BRAKE REL
3 -446 BRAKE PB F6
4 BRAKE REL. +24V -4010 AWG16 BU
5 BRAKE PB -4011 AWG16 BU F7
6
DRIVE MODULE F8
X40 -XP40 AWG16 BU AWG10 GNYE

1
AWG16 BU
2
AWG16 BU
3
AWG16 BU
4

EXTERNAL AXIS no 7 Approved
Next 99
1 2 3 4 5 6 7 8

-A41.1.4
FOR 8 AXIS
-XS/XP7
-X21 -4000
R BK
1 B1
R -4001 BK
2 B2
T -4002 BK
3 B3
T -4003 BK
4 B4
S -4004 BK
5 B5
S -4005 BK
6 B6

-A41.1.5
FOR 9 AXIS
ONLY
IRB140, 260, 340, 360
IRB1400, 2400 -XS/XP7
-X21 -4000
R BK
1 C1
R -4001 BK
2 C2
T -4002 BK
3 C3
T -4003 BK
4 C4
S -4004 BK
5 C5
S -4005 BK
6 C6

EXTERNAL AXIS no 8 - 9 Approved
Next 110
1 2 3 4 5 6 7 8
IRB140 cabinet module

Sublocation +140

IRB 140 CABINET MODULE Approved
Sublocation: + 140
Next 111
Latest revision:
1
Prepared by, date:

-A41.1
=MAN+R1-MP 1-3
-XS/XP1
-X17
M3R BUGN -_400 AWG14 BK

1
13
A1
M3S BURD -_402 AWG14 BK
2
17
A3
M3T BUWH -_404 AWG14 BK
2
15
A5
MAIN SERVO DRIVE UNIT
M1T BKRD -_410 AWG14 BK

4
3
A11
Approved by, date:

M1S BKGN -_408 AWG14 BK
5
5
A9
M1R BKBU -_406 AWG14 BK
6
1
A7
DC-BUSBAR
3
=MAN+R1-MP 4-6
-X18
M6R BN -_418 AWG14 BK

1
6
B3
M6S GNRD -_420 AWG14 BK

2
9
B4
M6T GNWH -_422 AWG14 BK

3
12
B5
M4T BNBU -_432 AWG14 BK

4
3
B11
M4S BNBK -_430 AWG14 BK

5
2
4
B10
M4R BU -_428 AWG14 BK

6
1
B9
Lab/Office:
-X19
M2R BKWH -_412 AWG14 BK

1
7
A13
M2S BK -_414 AWG14 BK

2
11
A15
5
M2T BUBK -_416 AWG14 BK

3
9
B1
IRB 140
M5T BNWH -_426 AWG14 BK
4
10
B8
M5S BNRD -_425 AWG14 BK

5
7
B7
M5R BNGN -_424 AWG14 BK

6
4
B6
SERVO DRIVE SYSTEM

AWG10 GNYE
6
AWG10 GNYE
Status:
7
Document no.
Approved
Plant: 2008-07-17
Location:
3HAC024480-004
MANIPULATOR
DRIVE MODULE
+ DM
8
Sublocation: + 140
03
= CAB
Rev. Ind
Total 153
Next 112
Page 111
1 2 3 4 5 6 7 8
DRIVE MANIPULATOR
MODULE
=MAN+R2-SMB
-XS/XP2
/91.6 / MRCO1 WH SDI
/91.6 / MRCO1_N A BU 9 SDI-N
/91.6 / MRCI1 B WH 5 SDO
/91.6 / MRCI1_N C OG 8 SDO-N
AXIS COMPUTER BOARD /91.6 / MRC_0V;1 D WH 4 0V SERIAL
A42-X4 E WH 3 MEASUREMENT
/91.6 / 24V_SMB1 GN 24V BOARD
F BN 7
/91.6 / MRC_0V;2
G
/91.6 / MRC_0V;3 H
J GY BATSUP
K RD 6 BATLD
L 2
=MAN+R1-H1
-_433 -XS/XP1
/89.5 AWG16 OG
EXT. LAMP C7 1 =MAN+R1-MP 4-6

DRIVE MODULE /89.7 -_434 AWG16 BU OGWH
X40 BRAKEPB B16 15

/89.6 -_435 AWG16 BU GYBK
BRAKEREL1 B12 8
/89.6 -_436 AWG16 BU GYBU
BRAKEREL2 B13 5
/88.7 -_438 AWG16 BU GYGN
/ OV BRAKE;4 B14 13
CONTACTOR UNIT /88.7 -_439 AWG16 BU OGBU
A43-X5 / PTC1 C2 11
=MAN+R1-MP 1-3
/88.7 -_440 AWG16 BU OGBK
/ PTC1 ret C1 2
/88.7 -_437 AWG16 BU OGRD
/ 0V BRAKE;3 B15 14
GYWH
D2 10
GYRD
D1 16
GY
D3 18
OGGN
D4 12

CONTROL CABLE Approved
Sublocation: + 140
IRB 140
Next 113
1 2 3 4 5 6 7 8
CONTROL
MODULE MANIPULATOR
IRB 140
Customer
Connection
-XS/XP5
-XP/XT5 =MAN+R1-CS
-625 AWG24 OG CSA
1 B5 1
-626 AWG24 OG CSB
2 C5 9
-627 AWG24 OG CSC
3 D5 2
-628 AWG24 OG CSD
4 A6 10
-629 AWG24 OG CSE
5 B6 3
-630 AWG24 OG CSF
6 C6 11
-631 AWG24 OG CSG
7 D6 4
-632 AWG24 OG CSH
8 A7 12
-633 AWG24 OG CSJ
9 B7 5
-634 AWG24 OG CSK
10 C7 13
-635 AWG24 OG CSL
11 D7 6
-636 AWG24 OG CSM
12 A8 14

CUSTOMER SIGNAL Approved
Sublocation: + 140
DUAL CABINET
Next 114
Prepared by, date: Approved by, date: IRB 140 3HAC024480-004 03 Total 153
1 2 3 4 5 6 7 8
CONTROL
MODULE MANIPULATOR
IRB 140
Customer
Connection
-XS/XP5
-708
-XP/XT5 AWG24
=MAN+R1-CS
BK CSA
1 B5 1
BN CSB
2 C5 9
RD CSC
3 D5 2
OG CSD
4 A6 10
YE CSE
5 B6 3
GN CSF
6 C6 11
BU CSG
7 D6 4
VT CSH
8 A7 12
GY CSJ
9 B7 5
WH CSK
10 C7 13
WH/BK CSL
11 D7 6
WH/BN CSM
12 A8 14

Sublocation: + 140
SINGLE CABINET
Next 120
1 2 3 4 5 6 7 8
IRB340 and IRB360 cabinet module

Sublocation +340

IRB 340 AND IRB360 CABINET MODULE Approved
Sublocation: + 340
Next 121
Latest revision:
1
Prepared by, date:

2
-A41.1
Approved by, date:

=MAN+R1-MP 1-3
-XS/XP1
-X17
BKWH M2R -_400 AWG16 BK

1
9
A11
BK M2S -_402 AWG16 BK
11
A9
BUBK M2T -_404 AWG16 BK
3
7
A7
BKRD M1T -_410 AWG16 BK
4
=MAN+R1-MP 4-6
A5
BKGN M1S -_408 AWG16 BK
5
1
B3
BKBU M1R -_406 AWG16 BK
6
2
B4
4
-X19
DC-BUSBAR
BUGN M3R -_418 AWG16 BK

1
9
B10
BURD M3S -_420 AWG16 BK

2
6
B9
BUWH M3T -_422 AWG16 BK

3
10
B8
BNBU M4T -_416 AWG16 BK

4
Lab/Office:
13
A13
BNBK M4S -_414 AWG16 BK

5
17
A15
BU M4R -_412 AWG16 BK

6
15
B1
5
AWG10 GNYE
AWG10 GNYE
IRB 340 AND IRB360

SERVO DRIVE UNITS
6

Status:
7
Document no.
Approved
DRIVE MODULE
2008-07-17
MANIPULATOR
Plant:
Location:
3HAC024480-004
+ DM
8
Sublocation: + 340
03
= CAB
Rev. Ind
Total 153
Next 122
Page 121
1 2 3 4 5 6 7 8
DRIVE MODULE MANIPULATOR
=MAN+R2-SMB
-XS/XP2
/91.6 / MRCO1 SDI
/91.6 / MRCO1_N A 9 SDI-N
/91.6 / MRCI1 B 5 SDO
/91.6 / MRCI1_N C 8 SDO-N
AXIS COMPUTER BOARD /91.6 / MRC_0V;1 D 4 0V SERIAL
A42-X4 E 3 MEASUREMENT
/91.6 / 24V_SMB1 24V BOARD
F 7
/91.6 / MRC_0V;2
G
/91.6 / MRC_0V;3 H
J BATSUP
K 6 BATLD
L 2
=MAN+R1-H1
-_433 -XS/XP1
/89.5 AWG16 BU GY
EXT. LAMP C7 1
-_434 =MAN+R1-MP 4-6
/89.7 AWG16 BU GNWH
DRIVE MODULE BRAKEPB B16 15
X40 /89.6 -_435 AWG16 BU BNRD
BRAKEREL1 B12 8
/89.6 -_436 AWG16 BU BNGN
BRAKEREL2 B13 5
/88.7 -_438 AWG16 BU BNWH
/ OV BRAKE;4 B14 13
CONTACTOR UNIT /88.7 -_439 AWG16 BU BN
A43-X5 / PTC1 C2 11
-_440 =MAN+R1-MP 1-3
/88.7 AWG16 BU GYBK
/ PTC1 ret C1 2
/88.7 -_437 AWG16 BU GNRD
/ 0V BRAKE;3 B15 14
GYBU
D2 10
GYRD
D1 16
GYWH
D3 18
GYGN
D4 12

Sublocation: + 340
IRB 340 AND IRB360
Next 123
1 2 3 4 5 6 7 8
CONTROL MODULE
Customer MANIPULATOR
Connection IRB 340
-XS/XP5
-XP/XT5
-625 =MAN+R1-CS
AWG24 OG CSA
1 B5 A
-626 AWG24 OG CSB
2 C5 B
-627 AWG24 OG CSC
3 D5 C
-628 AWG24 OG CSD
4 A6 D
-629 AWG24 OG CSE
5 B6 E
-630 AWG24 OG CSF
6 C6 F
-631 AWG24 OG CSG
7 D6 G
-632 AWG24 OG CSH
8 A7 H
-633 AWG24 OG CSJ
9 B7 J
-634 AWG24 OG CSK
10 C7 K
-635 AWG24 OG CSL
11 D7 L
-636 AWG24 OG CSM
12 A8 M

Sublocation: + 340
DUAL CABINET
Next 124
Prepared by, date: Approved by, date: IRB 340 AND IRB360 3HAC024480-004 03 Total 153
1 2 3 4 5 6 7 8
CONTROL MODULE
Connection IRB 340
-XS/XP5
-708
-XP/XT5 AWG24
=MAN+R1-CS
BK CSA
1 B5 A
BN CSB
2 C5 B
RD CSC
3 D5 C
OG CSD
4 A6 D
YE CSE
5 B6 E
GN CSF
6 C6 F
BU CSG
7 D6 G
VT CSH
8 A7 H
GY CSJ
9 B7 J
WH CSK
10 C7 K
WH/BK CSL
11 D7 L
WH/BN CSM
12 A8 M

Sublocation: + 340
SINGLE CABINET
Next 130
Prepared by, date: Approved by, date: IRB 340 AND IRB360 3HAC024480-004 03 Total 153
1 2 3 4 5 6 7 8

Sublocation +1400

Sublocation: + 1400
Next 131
Latest revision:
1
Prepared by, date:

-A41.1
=MAN+R1-MP
-XS/XP1
-X17
A1
A1
2
A2
A3
2
A3
A5

4
D2
A11
Approved by, date:

5
A9
D1
6
A4
A7
3
-X18

1
B3
A10
DC-BUSBAR
A9
B4
M4T BNBU -_422 AWG14 BK
3
A8
B5

4
B10
B11

5
4
D7
B10

6
B9
D8
Lab/Office:
-X19

1
D3
A13

2
D4
A15
5

3
B1
B1
IRB 1400
4
B8
D9

5
B7
D10

6
A7
B6
SERVO DRIVE SYSTEM

AWG10 GNYE
6
AWG10 GNYE
Status:
7
Document no.
Approved
DRIVE MODULE
2008-07-17
MANIPULATOR
Plant:
Location:
3HAC024480-004
+ DM
8
03
= CAB
Sublocation: + 1400
Rev. Ind
Total 153
Next 132
Page 131
1 2 3 4 5 6 7 8
=MAN+R1-SMB
-XS/XP2
/91.6 / MRCO1 SDI
/91.6 / MRCO1_N A A SDI-N
/91.6 / MRCI1 B B SDO
/91.6 / MRCI1_N C C SDO-N
AXIS COMPUTER BOARD /91.6 / MRC_0V;1 D D 0V SERIAL
A42-X4 E E MEASUREMENT
/91.6 / 24V_SMB1 24V BOARD
F F
/91.6 / MRC_0V;2
G G
/91.6 / MRC_0V;3 H H 0V
J J BATSUP
K K BATLD
L L
=MAN+R1-MP
-_433 -XS/XP1
/89.5 AWG16 OG
EXT. LAMP C7 C7
/89.7 -_434 AWG16 BU OGWH
DRIVE MODULE BRAKEPB B16 B8
X40 /89.6 -_435 AWG16 BU GYBK
BRAKEREL1 B12 C9
/89.6 -_436 AWG16 BU GYBU
BRAKEREL2 B13 C8
/88.7 -_438 AWG16 BU GYGN
/ OV BRAKE;4 B14 C10

A43-X5 / PTC1 C2 B9
/88.7 -_440 AWG16 BU OGBK
/ PTC1 ret C1 B2
/88.7 -_437 AWG16 BU OGRD
/ 0V BRAKE;3 B15 B7
GYWH
D2 B3
GYRD
D1 B4
GY
D3 C2
OGGN
D4 C1

Sublocation: + 1400
IRB 1400
Next 133
1 2 3 4 5 6 7 8
CONTROL MODULE
Connection IRB 1400
-XS/XP5
-XP/XT5 =MAN+R1-CS
-625 AWG24 OG CSA
1 B5 A
-626 AWG24 OG CSB
2 C5 B
-627 AWG24 OG CSC
3 D5 C
-628 AWG24 OG CSD
4 A6 D
-629 AWG24 OG CSE
5 B6 E
-630 AWG24 OG CSF
6 C6 F
-631 AWG24 OG CSG
7 D6 G
-632 AWG24 OG CSH
8 A7 H
-633 AWG24 OG CSJ
9 B7 J
-634 AWG24 OG CSK
10 C7 K
-635 AWG24 OG CSL
11 D7 L
-636 AWG24 OG CSM
12 A8 M

CUSTOMER SIGNALS Approved
Sublocation: + 1400
DUAL CABINET
Next 134
1 2 3 4 5 6 7 8
CONTROL MODULE
Connection IRB 1400
-XS/XP5
-XP/XT5 =MAN+R1-CS
-708
AWG24 BK CSA
1 B5 A
BN CSB
2 C5 B
RD CSC
3 D5 C
OG CSD
4 A6 D
YE CSE
5 B6 E
GN CSF
6 C6 F
BU CSG
7 D6 G
VT CSH
8 A7 H
GY CSJ
9 B7 J
WH CSK
10 C7 K
WH/BK CSL
11 D7 L
WH/BN CSM
12 A8 M

CUSTOMER SIGNALS Approved
Sublocation: + 1400
SINGLE CABINET
Next 135
1 2 3 4 5 6 7 8
CONTROL MODULE
Connection IRB 1400
-XS/XP8
-XP/XT8 =MAN+R1-SW
-601 OG
1 A A
-602 OG
2 B B
-603 OG
3 C C
-604
OG
4 D D
-605 OG
5 E E
-606 OG
6 F F
-607 OG
7 J J
-608 OG
8 K K
-609 OG
9 L L
-610 OG
10 M M
-611 OG
11 G G
-612 OG
12 H H

POSITION SWITCHES Approved
Sublocation: + 1400
DUAL CABINET
Next 136
1 2 3 4 5 6 7 8
CONTROL MODULE
Connection IRB 1400
-XS/XP8
-XP/XT8 =MAN+R1-SW
-705
AWG24 BK
1 A A
BN
2 B B
RD
3 C C
OG
4 D D
YE
5 E E
GN
6 F F
BU
7 J J
VT
8 K K
GY
9 L L
WH
10 M M
WH/BK
11 G G
WH/BN
12 H H

POSITION SWITCHES Approved
Sublocation: + 1400
SINGLE CABINET
Next 140
1 2 3 4 5 6 7 8

Sublocation +1600

Sublocation: + 1600
Next 141
Latest revision:
1
Prepared by, date:

-A41.1
0,00
32
=MAN+R1-MP
-XS/XP1
-X17
1
A1
A1
2
A2
A3

2
A3
A5
4
D2
A11
Approved by, date:

5
A9
D1
6
A4
A7
3
-X18

1
B3
A10
2
A9
B4
BNBU AWG14 BK
DC-BUSBAR
M4T -_422
3
A8
B5

4
B10
B11

5
4
D7
B10

6
B9
D8
Lab/Office:
-X19

1
D3
A13

2
D4
A15
5

3
B1
B1
IRB 1600
4
B8
D9

5
B7
D10

6
A7
B6
SERVO DRIVE UNIT

AWG10 GNYE
6
AWG10 GNYE
Status:
7
Document no.
Approved
2008-07-17
MANIPULATOR
DRIVE MODULE
Plant:
Location:
3HAC024480-004
+ DM
8
03
= CAB
Sublocation: + 1600
Rev. Ind
Total 153
Next 142
Page 141
1 2 3 4 5 6 7 8
=MAN+R1-SMB
-XS/XP2
/91.6 / MRCO1 SDI
/91.6 / 24V_SMB1 24V BOARD
F F
/91.6 / MRC_0V;2
G
/91.6 / MRC_0V;3 H 0V
J J BATSUP
K K BATLD
L L
KEYPIN
M
=MAN+R1-MP
-_433 -XS/XP1
/89.5 AWG16 BU OG
EXT. LAMP C7 C7
/89.7 -_434 AWG16 BU OGWH
DRIVE MODULE BRAKEPB B16 B8
X40 /89.6 -_435 AWG16 BU GYBK
BRAKEREL1 B12 C9
/89.6 -_436 AWG16 BU GYBU
BRAKEREL2 B13 C8
/88.7 -_438 AWG16 BU GYGN

A43-X5 / PTC1 C2 B9
/88.7 -_440 AWG16 BU OGBK
/ PTC1 ret C1 B2
/88.7 -_437 AWG16 BU OGRD
/ 0V BRAKE;3 B15 B7
/88.2 / A43-X21:2 LIM 1A -_441 AWG16 BU GYWH

D2 B3
CONTACTOR UNIT /88.2 / A43-X21:4 LIM 2A -_442 AWG16 BU GYRD
A43-X21 D1 B4
/88.2 / A43-X21:3 LIM 2B -_443 AWG16 BU GY
D3 C2
/88.2 / A43-X21:1 LIM 1B -_444 AWG16 BU OGGN
D4 C1

Sublocation: + 1600
IRB 1600
Next 143
1 2 3 4 5 6 7 8
CONTROL MODULE
MANIPULATOR
Customer IRB 1600
-XS/XP5
Connection -XP/XT6
-648 AWG18 OG
=MAN+R1-CP/CS
CPA
1 -649 AWG18 OG A1 A1 CPB
2 -650 AWG18 OG B1 B1 CPC
3 -651 AWG18 OG C1 C1 CPD
4 -652 AWG18 OG D1 D1 CPE
5 -653 AWG18 OG A2 A2 CPF
6 -654 AWG18 OG B2 B2 CPJ
7 -655 AWG18 OG C2 C2 CPK
8 -656 AWG18 OG D2 D2 CPH
9 -657 AWG18 OG A3 A3
10 -658 AWG18 OG B3 B3
11 -659 AWG18 OG C3 C3
12 D3 D3
-XP/XT5.1
-625 AWG24 OG CSA

1 -626 AWG24 OG B5 B5 CSB
2 -627 AWG24 OG C5 C5 CSC
3 -628 AWG24 OG D5 D5 CSD
4 -629 AWG24 OG A6 A6 CSE
5 -630 AWG24 OG B6 B6 CSF
6 -631 AWG24 OG C6 C6 CSG
7 -632 AWG24 OG D6 D6 CSH
8 -633 AWG24 OG A7 A7 CSJ
9 -634 AWG24 OG B7 B7 CSK
10 -635 AWG24 OG C7 C7 CSL
11 -636 AWG24 OG D7 D7 CSM
12 A8 A8
-XP/XT5.2
-637 AWG24 OG CSN
13 -638 AWG24 OG B8 B8 CSP
14 -639 AWG24 OG C8 C8 CSR
15 -640 AWG24 OG D8 D8 CSS
16 -641 AWG24 OG A9 A9 CST
17 -642 AWG24 OG B9 B9 CSU
18 -643 AWG24 OG C9 C9 CSV
19 -644 AWG24 OG D9 D9 CSW
20 -645 AWG24 OG A10 A10 CSX
21 -646 AWG24 OG B10 B10 CSY
22 -647 AWG24 OG C10 C10 CSZ
23 D10
C10 D10

CUSTOMER POWER/SIGNAL Approved
Sublocation: + 1600
DUAL CABINET
Next 144
1 2 3 4 5 6 7 8
CONTROL MODULE MANIPULATOR

Customer IRB 1600
-XS/XP5
Connection -XP/XT6 -709
AWG24
BK
=MAN+R1-CP/CS
1 1 CPA
2 2 BN A1 A1 CPB
3 3 RD B1 B1 CPC
4 4 OG C1 C1 CPD
5 5 YE D1 D1 CPE
6 6 GN A2 A2 CPF
7 7 BU B2 B2 CPJ
8 8 VT C2 C2 CPK
9 9 GY D2 D2 CPH
10 10 WH A3 A3
11 11 WH/BK B3 B3
12 12 WH/BN C3 C3
D3 D3
-XP/XT5.1
-710
1 1 AWG24 BK CSA
2 2 BN B5 B5 CSB
3 3 RD C5 C5 CSC
4 4 OG D5 D5 CSD
5 5 YE A6 A6 CSE
6 6 GN B6 B6 CSF
7 7 BU C6 C6 CSG
8 8 VT D6 D6 CSH
9 9 GY A7 A7 CSJ
10 10 WH B7 B7 CSK
11 11 WH/BK C7 C7 CSL
12 12 WH/BN D7 D7 CSM
A8 A8
-XP/XT5.2
13 13 WH/RD CSN
14 14 WH/OG B8 B8 CSP
15 15 WH/YE C8 C8 CSR
16 16 WH/GN D8 D8 CSS
17 17 WH/BU A9 A9 CST
18 18 WH/VT B9 B9 CSU
19 19 WH/GY C9 C9 CSV
20 20 BN/BK D9 D9 CSW
21 21 BN/RD A10 A10 CSX
22 22 BN/OG B10 B10 CSY
23 23 BN/YE C10 C10 CSZ
D10
C10 D10

Sublocation: + 1600
SINGLE CABINET
Next 145
1 2 3 4 5 6 7 8
CONTROL MODULE
Connection IRB 1600
-XS/XP8
-XP/XT8
-_601 OG
=MAN+R1-SW
1 A A
-_602 OG
2 B B
-_603 OG
3 C C
-_604
OG
4 D D
-_605 OG
5 E E
-_606 OG
6 F F
-_607 OG
7 J J
-_608 OG
8 K K
-_609 OG
9 L L
-_610 OG
10 M M
-_611 OG
11 G G
-_612 OG
12 H H

POSITION SWITCH Approved
Sublocation: + 1600
DUAL CABINET
Next 146
1 2 3 4 5 6 7 8
CONTROL MODULE
Connection IRB 1600
-XS/XP8
-XP/XT8
-705
AWG24 BK
=MAN+R1-SW
1 A A
BN
2 B B
RD
3 C C
OG
4 D D
YE
5 E E
GN
6 F F
BU
7 J J
VT
8 K K
GY
9 L L
WH
10 M M
WH/BK
11 G G
WH/BN
12 H H

Sublocation: + 1600
SINGLE CABINET
Next 150
1 2 3 4 5 6 7 8
IRB260 and IRB2400 cabinet module

Sublocation +2400

IRB 260 and IRB 2400 CABINET MODULE Approved
Sublocation: + 2400
Next 151
Latest revision:
1
Prepared by, date:

-A41.1
32
=MAN+R1-MP
-XS/XP1
-X17
M1R BKBU -400 AWG14 BK
1
A1
A1
M1S BKGN -402 AWG14 BK
2
A2
A3
M1T BKRD -404 AWG14 BK

2
A3
A5
M2T BUBK -410 AWG14 BK
4
D2
A11
Approved by, date:

M2S BK -408 AWG14 BK
5
A9
D1
M2R BKWH -406 AWG14 BK
6
A4
A7
3
-X18
M4R BU -418 AWG14 BK

1
B3
A10
M4S BNBK -420 AWG14 BK
2
A9
B4
BNBU AWG14 BK
DC-BUSBAR
M4T -422
3
A8
B5
M6T GNRD -432 AWG14 BK

4
B10
B11
M6S GNWH -430 AWG14 BK

5
4
D7
B10
M6R BN -428 AWG14 BK

6
B9
D8
Lab/Office:
-X19
M3R BUGN -412 AWG14 BK

1
D3
A13
M3S BURD -414 AWG14 BK

2
D4
A15
5
M3T BUWH -416 AWG14 BK

3
B1
B1
M5T BNWH -426 AWG14 BK
IRB 2400
4
B8
D9
M5S BNRD -425 AWG14 BK

5
B7
D10
M5R BNGN -424 AWG14 BK

6
A7
B6
SERVO DRIVE UNIT

AWG10 GNYE
6
AWG10 GNYE
Status:
7
Document no.
Approved
2008-07-17
MANIPULATOR
DRIVE MODULE
Plant:
Location:
3HAC024480-004
+ DM
8
03
= CAB
Sublocation: + 2400
Rev. Ind
Total 153
Next 152
Page 151
1 2 3 4 5 6 7 8
=MAN+R1-SMB
-XS/XP2
/91.6 / MRCO1 SDI
/91.6 / 24V_SMB1 24V BOARD
F F
/91.6 / MRC_0V;2
G
/91.6 / MRC_0V;3 H 0V
J J BATSUP
K K BATLD
L L
KEYPIN
M
=MAN+R1-MP
-433 -XS/XP1
/89.5 AWG16 BU OG
DRIVE MODULE EXT. LAMP C7 C7
X40 /89.7 -434 AWG16 BU OGWH
BRAKEPB B16 B8
/89.6 -435 AWG16 BU GYBK
BRAKEREL1 B12 C9
/89.6 -436 AWG16 BU GYBU
BRAKEREL2 B13 C8
/88.7 -438 AWG16 BU GYGN

CONTACTOR UNIT /88.7 -439 AWG16 BU OGBU
A43-X5 / PTC1 C2 B9
/88.7 -440 AWG16 BU OGBK
/ PTC1 ret C1 B2
/88.7 -437 AWG16 BU OGRD
/ 0V BRAKE;3 B15 B7
/88.2 / A43-X21:2 LIM 1A -441 AWG16 BU GYWH

D2 B3
CONTACTOR UNIT /88.2 / A43-X21:4 LIM 2A -442 AWG16 BU GYRD
A43-X21 D1 B4
/88.2 / A43-X21:3 LIM 2B -443 AWG16 BU GY
D3 C2
/88.2 / A43-X21:1 LIM 1B -444 AWG16 BU OGGN
D4 C1

Sublocation: + 2400
IRB 2400
Next 153
1 2 3 4 5 6 7 8

Customer IRB 2400
-XS/XP5
Connection -XP/XT6
-648 AWG18 OG
=MAN+R1-CP/CS
CPA
1 -649 AWG18 OG A1 A1 CPB
2 -650 AWG18 OG B1 B1 CPC
3 -651 AWG18 OG C1 C1 CPD
4 -652 AWG18 OG D1 D1 CPE
5 -653 AWG18 OG A2 A2 CPF
6 -654 AWG18 OG B2 B2 CPJ
7 -655 AWG18 OG C2 C2 CPK
8 -656 AWG18 OG D2 D2 CPL
9 -657 AWG18 OG A3 A3 CPM
10 -658 AWG18 OG B3 B3
11 -659 AWG18 OG C3 C3
12 D3 D3
-XP/XT5.1
-625 AWG24 OG CSA

1 -626 AWG24 OG B5 B5 CSB
2 -627 AWG24 OG C5 C5 CSC
3 -628 AWG24 OG D5 D5 CSD
4 -629 AWG24 OG A6 A6 CSE
5 -630 AWG24 OG B6 B6 CSF
6 -631 AWG24 OG C6 C6 CSG
7 -632 AWG24 OG D6 D6 CSH
8 -633 AWG24 OG A7 A7 CSJ
9 -634 AWG24 OG B7 B7 CSK
10 -635 AWG24 OG C7 C7 CSL
11 -636 AWG24 OG D7 D7 CSM
12 A8 A8
-XP/XT5.2
-637 AWG24 OG CSN
13 -638 AWG24 OG B8 B8 CSP
14 -639 AWG24 OG C8 C8 CSR
15 -640 AWG24 OG D8 D8 CSS
16 -641 AWG24 OG A9 A9 CST
17 -642 AWG24 OG B9 B9 CSU
18 -643 AWG24 OG C9 C9 CSV
19 -644 AWG24 OG D9 D9 CSW
20 -645 AWG24 OG A10 A10 CSX
21 -646 AWG24 OG B10 B10 CSY
22 -647 AWG24 OG C10 C10 CSZ
23 D10
C10 D10

Sublocation: + 2400
DUAL CABINET
Next 154
1 2 3 4 5 6 7 8

Customer IRB 2400
-XS/XP5
Connection -XP/XT6 -709
AWG24
BK
=MAN+R1-CP/CS
1 1 CPA
2 2 BN A1 A1 CPB
3 3 RD B1 B1 CPC
4 4 OG C1 C1 CPD
5 5 YE D1 D1 CPE
6 6 GN A2 A2 CPF
7 7 BU B2 B2 CPJ
8 8 VT C2 C2 CPK
9 9 GY D2 D2 CPL
10 10 WH A3 A3 CPM
11 11 WH/BK B3 B3
12 12 WH/BN C3 C3
D3 D3
-XP/XT5.1
-710
1 1 AWG24 BK CSA
2 2 BN B5 B5 CSB
3 3 RD C5 C5 CSC
4 4 OG D5 D5 CSD
5 5 YE A6 A6 CSE
6 6 GN B6 B6 CSF
7 7 BU C6 C6 CSG
8 8 VT D6 D6 CSH
9 9 GY A7 A7 CSJ
10 10 WH B7 B7 CSK
A8 A8
-XP/XT5.2
13 13 WH/RD CSN
21 21 BN/RD A10 A10 CSX
22 22 BN/OG B10 B10 CSY
23 23 BN/YE C10 C10 CSZ
D10
C10 D10

Sublocation: + 2400
SINGLE CABINET
Next 155
1 2 3 4 5 6 7 8
CONTROL MODULE
Connection IRB 2400
-XS/XP8
-XP/XT8
-_601 OG
=MAN+R1-SW
1 A A
-_602 OG
2 B B
-_603 OG
3 C C
-_604
OG
4 D D
-_605 OG
5 E E
-_606 OG
6 F F
-_607 OG
7 J J
-_608 OG
8 K K
-_609 OG
9 L L
-_610 OG
10 M M
-_611 OG
11 G G
-_612 OG
12 H H

Sublocation: + 2400
DUAL CABINET
Next 156
1 2 3 4 5 6 7 8
CONTROL MODULE
Connection IRB 2400
-XS/XP8
-XP/XT8
-705
AWG24 BK
=MAN+R1-SW
1 A A
BN
2 B B
RD
3 C C
OG
4 D D
YE
5 E E
GN
6 F F
BU
7 J J
VT
8 K K
GY
9 L L
WH
10 M M
WH/BK
11 G G
WH/BN
12 H H

Sublocation: + 2400
SINGLE CABINET
Next 160
1 2 3 4 5 6 7 8

Sublocation +4400

Sublocation: + 4400
Next 161
Latest revision:
1
Prepared by, date:

-A41.1
=MAN+R1-MP
-XS/XP1
-X11
M1R BKBU -_400 AWG16
1
M1R BKGN -_401 AWG16
A1
A1
2
M1T BUGN -_402 AWG16
A2
A2
3
M1T BURD -_403 AWG16
A5
A5
4
M1S BKWH -_404 AWG16
A6
A6
5
M1S BK -_405 AWG16
A3
A3
6
M1R BKRD
A4
A4
M1S BUBK
D6
D6
2
M1T BUWH
D8
D8
D10
D10
Approved by, date:

-X12
M4R GYWH -_418 AWG16 BK

1
B3
B3
2
M4T OGGN -_420 AWG16 BK

3
B5
B5
4
M4S OGBK -_422 AWG16 BK

5
B4
B4
6
M4R GYRD
M4S GY
3
D11
D11
OGBU
DC-BUSBAR
M4T
D12
D12
D13
D13
-X13
M2R BU -_406 AWG16

1
M2R BNBK -_407 AWG16
A7
A7
2
M2T BNRD -_408 AWG16
A8
A8
3
M2T BNWH -_409 AWG16
A11
A11
4
M2S BNBU -_410 AWG16
A12
A12
5
M2S BNGN -_411 AWG16
A9
A9
6
A10
A10
4
-X14
M5R OGWH -_424 AWG16 BK

1
B6
B6
2
3
M5T PKGN -_425 AWG16 BK

4
B8
B8
M5S PKBK -_426 AWG16 BK

5
B7
B7
6
OGRD
Lab/Office:
M5R
M5S OG
D14
D14
M5T PKBU
D15
D15
D16
D16
5
-X15
M3R BN -_412 AWG16
IRB 4400
1
M3R GNRD -_413 AWG16

A13
A13
2
M3T GYBU -_414 AWG16

A14
A14
3
M3T GYGN -_415 AWG16

B1
B1
4
M3S GNWH -_416 AWG16

B2
B2
5
M3S GYBK -_417 AWG16

A15
A15
6
WHBU
A16
A16
WHGN
C13
C13
WHRD
SERVO DRIVE SYSTEM
C14
C14
C15
C15
-X16
6
M6R PKRD -_428 AWG16 BK

1
B9
B9
2
M6T PK -_430 AWG16 BK

3
B11
B11
4
M6S PKWH -_432 AWG16 BK

5
AWG10
B10
B10
6
AWG10
Status:
C3
7
C4
Document no.
Approved
C5
C6
2008-07-17
C7
C8
C9
C10
Plant:
C11
C12
Location:
3HAC024480-004
DRIVE MODULE
+ DM
8
03
= CAB
Sublocation: + 4400
Rev. Ind
MANIPULATOR
Total 153
Next 162
Page 161
1 2 3 4 5 6 7 8
=MAN+R1-SMB
-XS/XP2
/91.6 / MRCO1 SDI
/91.6 / 24V_SMB1 24V BOARD
F F
/91.6 / MRC_0V;2
G
/91.6 / MRC_0V;3 H 0V
J J BATSUP
K K BATLD
L L
KEYPIN
M
=MAN+R1-MP
-_433 -XS/XP1
/89.5 AWG16 WH
EXT. LAMP C16 C16

DRIVE MODULE /89.7 -_434 AWG16 BU VT
X40 BRAKEPB B16 B16

/89.6 -_435 AWG16 BU RDBK
BRAKEREL1 B12 B12

/89.6 -_436 AWG16 BU RDBU
BRAKEREL2 B13 B13
/88.7 -_438 AWG16 BU RDGN
/ OV BRAKE;4 B14 B14

CONTACTOR UNIT /88.7 -_439 AWG16 BU VTGN
A43-X5 / PTC1 C2 C2
/88.7 -_440 AWG16 BU VTBU
/ PTC1 ret C1 C1
/88.7 -_437 AWG16 BU VTWH
/ 0V BRAKE;3 B15 B15
/88.2 / A43-X21:2 LIM 1A -_441 AWG16 BU RD

D2 D2
CONTACTOR UNIT /88.2 / A43-X21:4 LIM 2A -_442 AWG16 BU RDWH
A43-X21 D1 D1
/88.2 / A43-X21:3 LIM 2B -_443 AWG16 BU VTBK
D3 D3
/88.2 / A43-X21:1 LIM 1B -_444 AWG16 BU VTRD
D4 D4

Sublocation: + 4400
IRB 4400
Next 163
1 2 3 4 5 6 7 8

Customer IRB 4400
-XS/XP5
Connection -XP/XT6
=MAN+R1-CP/CS
-W648 AWG18 OG CPA
1 -W649 AWG18 OG A1 A1 CPB
2 -W650 AWG18 OG B1 B1 CPC
3 -W651 AWG18 OG C1 C1 CPD
4 -W652 AWG18 OG D1 D1 CPE
5 -W653 AWG18 OG A2 A2 CPF
6 -W654 AWG18 OG B2 B2 CPJ
7 -W655 AWG18 OG C2 C2 CPK
8 -W656 AWG18 OG D2 D2 CPL
9 -W657 AWG18 OG A3 A3 CPM
10 -W658 AWG18 OG B3 B3
11 -W659 AWG18 OG C3 C3
12 D3 D3
-XP/XT5.1
-W625 AWG24 OG CSA

1 -W626 AWG24 OG B5 B5 CSB
2 -W627 AWG24 OG C5 C5 CSC
3 -W628 AWG24 OG D5 D5 CSD
4 -W629 AWG24 OG A6 A6 CSE
5 -W630 AWG24 OG B6 B6 CSF
6 -W631 AWG24 OG C6 C6 CSG
7 -W632 AWG24 OG D6 D6 CSH
8 -W633 AWG24 OG A7 A7 CSJ
9 -W634 AWG24 OG B7 B7 CSK
10 -W635 AWG24 OG C7 C7 CSL
11 -W636 AWG24 OG D7 D7 CSM
12 A8 A8
-XP/XT5.2
-W637 AWG24 OG CSN
13 -W638 AWG24 OG B8 B8 CSP
14 -W639 AWG24 OG C8 C8 CSR
15 -W640 AWG24 OG D8 D8 CSS
16 -W641 AWG24 OG A9 A9 CST
17 -W642 AWG24 OG B9 B9 CSU
18 -W643 AWG24 OG C9 C9 CSV
19 -W644 AWG24 OG D9 D9 CSW
20 -W645 AWG24 OG A10 A10 CSX
21 -W646 AWG24 OG B10 B10 CSY
22 -W647 AWG24 OG C10 C10 CSZ
23 D10
C10 D10

Sublocation: + 4400
DUAL CABINET
Next 164
1 2 3 4 5 6 7 8

Customer IRB 4400
-XS/XP5
Connection -XP/XT6
-709 =MAN+R1-CP/CS
1 1 AWG24 BK CPA
2 2 BN A1 A1 CPB
3 3 RD B1 B1 CPC
4 4 OG C1 C1 CPD
5 5 YE D1 D1 CPE
6 6 GN A2 A2 CPF
7 7 BU B2 B2 CPJ
8 8 VT C2 C2 CPK
9 9 GY D2 D2 CPL
10 10 WH A3 A3 CPM
11 11 WH/BK B3 B3
12 12 WH/BN C3 C3
D3 D3
-XP/XT5.1
-710
1 1 AWG24 BK CSA
2 2 BN B5 B5 CSB
3 3 RD C5 C5 CSC
4 4 OG D5 D5 CSD
5 5 YE A6 A6 CSE
6 6 GN B6 B6 CSF
7 7 BU C6 C6 CSG
8 8 VT D6 D6 CSH
9 9 GY A7 A7 CSJ
10 10 WH B7 B7 CSK
A8 A8
-XP/XT5.2
13 13 WH/RD CSN
21 21 BN/RD A10 A10 CSX
22 22 BN/OG B10 B10 CSY
23 23 BN/YE C10 C10 CSZ
D10
C10 D10

Sublocation: + 4400
SINGLE CABINET
Next 165
1 2 3 4 5 6 7 8
CONTROL MODULE
Connection IRB 4400
-XS/XP8
-XP/XT8 =MAN+R1-SW
-_601 AWG24 OG
1 A A
-_602 AWG24 OG
2 B B
-_603 AWG24 OG
3 C C
-_604
AWG24 OG
4 D D
-_605 AWG24 OG
5 E E
-_606 AWG24 OG
6 F F
-_607 AWG24 OG
7 J J
-_608 AWG24 OG
8 K K
-_609 AWG24 OG
9 L L
-_610 AWG24 OG
10 M M
-_611 AWG24 OG
11 G G
-_612 AWG24 OG
12 H H

Sublocation: + 4400
DUAL CABINET
Next 166
1 2 3 4 5 6 7 8
CONTROL MODULE
Connection IRB 4400
-XS/XP8
-XP/XT8 =MAN+R1-SW
-705
AWG24 BK
1 A A
BN
2 B B
RD
3 C C
OG
4 D D
YE
5 E E
GN
6 F F
BU
7 J J
VT
8 K K
GY
9 L L
WH
10 M M
WH/BK
11 G G
WH/BN
12 H H

Sublocation: + 4400
SINGLE CABINET
Next 170
1 2 3 4 5 6 7 8
IRB660 and IRB66xx-76xx cabinet module

Sublocation +6676

IRB 660 and IRB 66xx-76xx Approved
Sublocation: + 6676
CABINET MODULE
Next 171
-A41.1
Latest revision:
1
Prepared by, date:

=MAN+R1-MP
-XS/XP1
-X11
17 GNRD M1R -_400 AWG12 BK
17
17
27 OGGN M1R -_401 AWG12 BK
24
24
16 BN M1T -_402 AWG12 BK
19
19
26 OGBU M1T -_403 AWG12 BK
26
26
18 GNWH M1S -_404 AWG12 BK

5
18
18
25 OGBK M1S -_405 AWG12 BK
2
25
25
Approved by, date:

-X12
1 BKBU M4R -_418 AWG12 BK

1
1
1
DC-BUSBAR
3 BKRD M4T -_420 AWG12 BK

3
10
10
4
2 BKGN M4S -_422 AWG12 BK

5
2
2
6
3
-X13
23 GYWH M2R -_406 AWG12 BK

1
23
23
15 BNWH M2R -_407 AWG12 BK
2
32
32
24 GY M2T -_408 AWG12 BK
3
21
21
13 BNGN M2T -_409 AWG12 BK

4
30
30
22 GYRD M2S -_410 AWG12 BK

5
22
22
14 BNRD M2S -_411 AWG12 BK

6
4
31
31
-X14
20 GYBU M5R -_424 AWG12 BK

1
20
20
2
21 GYGN M5T -_425 AWG12 BK

3
Lab/Office:
29
29
4
19 GYBK M5S -_426 AWG12 BK

5
28
28
6
5
-X15
10 BU M3R -_412 AWG12 BK

1
3
3
4 BKWH M3R -_413 AWG12 BK

2
4
4
IRB 6600 - 7600

12 BNBU M3T -_414 AWG12 BK
3
7
7
5 BK M3T -_415 AWG12 BK

4
14
14
SERVO DRIVE SYSTEM 11 BNBK M3S -_416 AWG12 BK

5
5
5
6
6 BUBK M3S -_417 AWG12 BK

6
6
6
-X16
9 BUWH M6R -_428 AWG12 BK

1
9
9
2
7 BUGN M6T -_430 AWG12 BK

3
16
16
4
8 BURD M6S -_432 AWG12 BK

5
8
8
Status:
6
7
AWG10 GNYE
Document no.
Approved
AWG10 GNYE
Plant: 2008-07-17
Location:
3HAC024480-004
+ DM
8
03
= CAB
Sublocation: + 6676
Rev. Ind
MANIPULATOR
DRIVE MODULE
Total 153
Next 172
Page 171
1 2 3 4 5 6 7 8
DRIVE
MODULE MANIPULATOR
=MAN+R1-SMB
-XS/XP2
/91.6 / MRCO1 SDI
A A
/91.6 / MRCO1_N SDI-N
B B
/91.6 / MRCI1 SDO SERIAL
C C MEASUREMENT
AXIS COMPUTER BOARD /91.6 / MRCI1_N SDO-N BOARD
A42-X4 D D
/91.6 / MRC_0V;1 0V
E E
/91.6 / 24V_SMB1 24V
F F
/91.6 / MRC_0V;2 BAT BR
G G
BAT BR
H H
/91.6 / MRC_0V;3 0V
J J
BATSUP
K K
AWG16 BU 1 2 BU EXT.LAMP EXT.LAMP
AWG16 L L
-DP1
1
-C1
2
BU
AWG16
/89.5 -_433 AWG16 BU
EXT. LAMP =MAN+R1-MP

-_434 -XS/XP1
DRIVE MODULE /89.7 AWG16 BU 28 OGRD BRAKE PB
XP40 BRAKEPB 11 11
/89.6 -_435 AWG16 BU 30 OG BRAKE RELEASE
BRAKEREL1 13 13 BRAKE RELEASE
/89.6 -_436 AWG16 BU
BRAKEREL2
/88.7 -_437 AWG16 BU 29 OGWH 0V BRAKE

/ OV BRAKE;4 12 12 0V BRAKE
CONTACTOR UNIT /88.7 -_439 AWG16 BU 31 PKBK PTC
A43-X5 / PTC1 27 27
/88.7 -_440 AWG16 BU 32 PKWH 0V PTC
/ PTC1 ret 15 15
/88.7 -_438 AWG16 BU
/ 0V BRAKE;3

Sublocation: + 6676
IRB 6600 - 7600
Next 173
1 2 3 4 5 6 7 8
Customer CONTROL MANIPULATOR

Connection MODULE IRB 6600, 7600
-XS/XP8
-XP/XT8.1
-601 AWG24 OG
=MAN+R1-SW
1 A A
-602 AWG24 OG
2 B B
-603 AWG24 OG
3 C C
-604 AWG24 OG
4 D D
-605 AWG24 OG
5 E E
-606 AWG24 OG
6 F F
-607 AWG24 OG
7 G G
-608 AWG24 OG
8 H H
-609 AWG24 OG
9 J J
-610
AWG24 OG
10 K K
-611 AWG24 OG
11 L L
-612 AWG24 OG
12 M M
-XP/XT8.2
-613 AWG24 OG
13 N N
-614 AWG24 OG
14 P P
-615 AWG24 OG
15 R R
-616 AWG24 OG
16 S S
-617 AWG24 OG
17 T T
-618 AWG24 OG
18 U U
-619 AWG24 OG
19 V V
-620 AWG24 OG
20 W W
-621 AWG24 OG
21 X X
-622 AWG24 OG
22 Y Y
-623 AWG24 OG
23 Z Z
-624 AWG24 OG
24 a a

POSITION SWITCH 1 Approved
Sublocation: + 6676
DUAL CABINET
Next 174
Prepared by, date: Approved by, date: IRB 6600 - 7600 3HAC024480-004 03 Total 153
1 2 3 4 5 6 7 8

-XS/XP8
-XP/XT8.1
-706
AWG24 BK
=MAN+R1-SW
1 A A
BN
2 B B
RD
3 C C
OG
4 D D
YE
5 E E
GN
6 F F
BU
7 G G
VT
8 H H
GY
9 J J
WH
10 K K
WH/BK
11 L L
WH/BN
12 M M
-XP/XT8.2
WH/RD
13 N N
WH/OG
14 P P
WH/YE
15 R R
WH/GN
16 S S
WH/BU
17 T T
WH/VT
18 U U
WH/GY
19 V V
BN/BK
20 W W
BN/RD
21 X X
BN/OG
22 Y Y
BN/YE
23 Z Z
BN/GN
24 a a

POSITION SWITCH 1 Approved
Sublocation: + 6676
SINGLE CABINET
Next 175
1 2 3 4 5 6 7 8

-XS/XP58
AWG 24 OG
-XP/XT58.1
601 =MAN+R1-SW23
1 A A
602
2 B B
603
3 C C
604
4 D D
605
5 E E
606
6 F F
607
7 G G
608
8 H H
609
9 J J
610
10 K K
611
11 L L
612
12 M M
-XP/XT58.2
613
13 T T
614
14 U U
615
15 V V
616
16 W W
617
17 X X
618
18 Y Y
619
19 Z Z
620
20 a a
621
21 b b
622
22 c c
623
23 d d
624
24 e e

POSITION SWITCH 2/3 Approved
Sublocation: + 6676
DUAL CABINET
Next 176
1 2 3 4 5 6 7 8

-XS/XP58
-XP/XT58.1
-707
AWG24 BK
=MAN+R1-SW23
1 A A
BN
2 B B
RD
3 C C
OG
4 D D
YE
5 E E
GN
6 F F
BU
7 G G
VT
8 H H
GY
9 J J
WH
10 K K
WH/BK
11 L L
WH/BN
12 M M
-XP/XT58.2
WH/RD
13 T T
WH/OG
14 U U
WH/YE
15 V V
WH/GN
16 W W
WH/BU
17 X X
WH/VT
18 Y Y
WH/GY
19 Z Z
BN/BK
20 a a
BN/RD
21 b b
BN/OG
22 c c
BN/YE
23 d d
BN/GN
24 e e

POSITION SWITCH 2/3 Approved
Sublocation: + 6676
SINGLE CABINET
Next 177
1 2 3 4 5 6 7 8
OPTION: COOLING AXIS 1,2.
1)IF POS SW 2/3 AND COOLING 1,2. MANIPULATOR

1)
-BOX1
1) R1.XS.SW23 =MAN+R1-SW23
2)IF ONLY COOLING 1,2. -R1.XP.SW23
A A
B B
C C
D D
E E
F F
G G
H H
J J
K K
L L
M M
T T
U U
V V
W W
X X
Y Y
Z Z
a a
b b
c c
DRIVE d d
MODULE e e
Not in use
S S
Not in use
2) i i
1) 1) 2) R1.FAN.SW23 2)
-R1FAN.SW23
/88.8 / +24V COOL;4 AWG24 1/WH 24V COOL 24V FAN1
N N
0,23 1/BU
/88.8 / 0V COOL;4 0V COOL 0V FAN1
P P
/88.8 / FAN1 ret 3/WH FAN1 ret T1
R R
/88.8 / +24V COOL;5 2/WH 24V COOL 24V FAN2

f f
/88.8 / 0V COOL;5 2/OG 0V COOL 0V FAN2
g g
/88.8 / FAN2 ret 3/GN FAN2 ret T2
h h

POS.SWITCH 2/3 AND COOLING AXES 1/2 Approved
Sublocation: + 6676
DUAL CABINET
Next 178
1 2 3 4 5 6 7 8
CONTROL
MODULE MANIPULATOR
DRIVE
MODULE
-XS/XP58 =MAN+R1-SW23
/88.8 / +24V COOL;4 24V COOL 24V FAN1
N N
P P
/88.8 / FAN1 ret FAN1 ret T1
R R
Not in use
S
/88.8 / +24V COOL;5 24V COOL 24V FAN2

f f
g g
/88.8 / FAN2 ret FAN2 ret T2
h h
Not in use
i

COOLING AXES 1/2 Approved
Sublocation: + 6676
SINGLE CABINET
Next 179
1 2 3 4 5 6 7 8
Customer CONTROL MODULE MANIPULATOR

Connection IRB 6600-7600
-XP/XT6 -XS/XP13
=MAN+R1-CP/CS
-670 AWG18 CP4
1 A1 D1
-671 AWG18 CP5
2 A2 D6
-672 AWG18 CP6
3 A3 D3
-673 AWG18 CP7
4 A4 D4
-XP/XT5.1
-677 AWG24 CS
1 -678 AWG24 B1 B1 CS
2 -679 AWG24 B2 B2 CS
3 -680 AWG24 B11 B11 CS
4 -681 AWG24 B12 B12 CS
5 -682 AWG24 B13 B13 CS
6 -683 AWG24 B14 B14 CS
7 -684 AWG24 C19 C19 CS
8 -705 1/WH C21 C21 CS
9 AWG24 1/BU B7 B7 CS
10 2/WH B8 B8 CS
11 2/OG B9 B9 CS
12 B10 B10
-XP/XT5.2
3/WH CS
1 3/GN B3 B3 CS
2 4/WH B4 B4 CS
3 4/BN B5 B5 CS
4 -685 AWG24 B6 B6 CS
5 -686 AWG24 C16 C16 CS
6 -687 AWG24 C17 C17 CS
7 -688 AWG24 C18 C18 CS
8 -689 AWG24 C20 C20 CS
9 -690 AWG24 B22 B22 CS
10 -691 AWG24 B23 B23 CS
11 -692 AWG24 B24 B24 CS
12 B25 B25
-XP/XT5.3
-693 AWG24 CS
1 -694 AWG24 B15 B15 CS
2 -695 AWG24 B16 B16 CS
3 -696 AWG24 B18 B18 CS
4 -697 AWG24 B19 B19 CS
5 -698 AWG24 B20 B20 CS
6 -699 AWG24 B21 B21
7 -700 AWG24 C10
8 -666 AWG24 C11
9 -667 AWG24 C12
10 -668 AWG24 C13
11 -669 AWG24 C14
12 AWG16 C15
For more information aboute Option connected to XS13.
SPOTPACK circuit diagram 3HAC026208-001
DRESSPACK circuit diagram 3HAC026209-001

Sublocation: + 6676
DUAL CABINET
Next 180
1 2 3 4 5 6 7 8

-XP/XT6 -713 -XS/XP13
AWG20 BK
=MAN+R1-CP/CS
1 1 A1 A1 CP4
BN A1 D1
1
2 2 RD A2 A2 CP5
OG A2 D6
2
3 3 YE A3 A3 CP6
GN A3 D3
3
4 4 BU A4 A4 CP7
VT A4 D4
4
-XP/XT5.1 -711
AWG24 BK CS
1 BN B1 B1 CS
2 RD B2 B2 CS
3 OG B11 B11 CS
4 YE B12 B12 CS
5 GN B13 B13 CS
6 BU B14 B14 CS
7 VT C19 C19 CS
8 -712 1/WH C21 C21 CS
10 2/WH B8 B8 CS
11 2/OG B9 B9 CS
12 B10 B10
-XP/XT5.2
3/WH CS
1 3/GN B3 B3 CS
2 4/WH B4 B4 CS
3 4/BN B5 B5 CS
4 -711 GY B6 B6 CS
5 AWG24 WH C16 C16 CS
6 WH/BK C17 C17 CS
7 WH/BN C18 C18 CS
8 WH/RD C20 C20 CS
9 WH/OG B22 B22 CS
10 WH/YE B23 B23 CS
11 WH/GN B24 B24 CS
12 B25 B25
-XP/XT5.3
-713
AWG20 GY CS
1 WH B15 B15 CS
2 WH/BK B16 B16 CS
3 WH/BN B18 B18 CS
4 WH/RD B19 B19 CS
5 WH/OG B20 B20 CS
6 WH/YE B21 B21
7 WH/GN C10
8 WH/BU C11
9 WH/VT C12
10 WH/GY C13
11 BN/BK C14
12 AWG16 C15


Sublocation: + 6676
SINGLE CABINET
Next 181
1 2 3 4 5 6 7 8

IRB 6600-7600
Customer
Connection
-A35
-X2 =MAN+R1-CP/CS
-707
-XS/XP13
2/BK V- 0V
OPTION : DEVICENET 1 F2 B23
1/BU CAN_L CAN_L
2 F4 A4
Bare wire SHIELD
3
1/WH CAN_H CAN_H
4 F3 A3
2/RD V+ +24V CAN
5 F1 B22
-A37
-708
AWG24 =MAN+R1-CP/CS
-X5 2/GY
-XS/XP13
DO DO
1 3/BN DO_N F7 A9 DO_N
6 1/YE DI F8 A10 DI
OPTION : INTERBUS 2 2/PK DI_N F9 A11 DI_N
7 1/GN GND F10 A12 GND
3 3/WH GND F1 B22
-A33
-XS/XP13 =MAN+R1-CP/CS
-709
-DP-M1 0,34 1/RD
RXD/TXD-P RXD/TXD-P
OPTION : PROFIBUS 1B F5 A5
1/GN RXD/TXD-N RXD/TXD-N
1A F6 A6

DevNet//IBUS//PBUS ADDITION TO CP/CS Approved
Sublocation: + 6676
IRB 6600 - 7600
Next 182
1 2 3 4 5 6 7 8

Connection -XS/XP13 IRB 6600-7600
-XP/XT6
=MAN+R1-CP/CS
-670 AWG18 CP4
1 A1 D1
-671 AWG18 CP5
2 A2 D6
-672 AWG18 CP6
3 A3 D3
-673 AWG18 CP7
4 A4 D4
-XP/XT5.1
-677 AWG24 CS
1 -678 AWG24 B1 B1 CS
2 -679 AWG24 B2 B2 CS
3 -680 AWG24 B11 B11 CS
4 -681 AWG24 B12 B12 CS
5 -682 AWG24 B13 B13 CS
6 -683 AWG24 B14 B14 CS
7 -684 AWG24 C19 C19 CS
8 -705 1/WH C21 C21 CS
10 2/WH B8 B8 CS
11 2/OG B9 B9 CS
12 B10 B10
-XP/XT5.2
3/WH CS
1 3/GN B3 B3 CS
2 4/WH B4 B4 CS
3 4/BN B5 B5 CS
4 -685 AWG24 B6 B6 CS
5 -686 AWG24 C16 C16 CS
6 -687 AWG24 C17 C17 CS
7 -688 AWG24 C18 C18 CS
8 -689 AWG24 C20 C20 CS
9 -690 AWG24 B22 B22 CS
10 -691 AWG24 B23 B23 CS
11 -692 AWG24 B24 B24 CS
12 B25 B25
-XP/XT5.3
-693 AWG24 CS
1 -694 AWG24 B15 B15 CS
2 -695 AWG24 B16 B16 CS
3 -696 AWG24 B18 B18 CS
4 -697 AWG24 B19 B19 CS
5 -698 AWG24 B20 B20 CS
6 -699 AWG24 B21 B21 CS
7 -700 AWG24 C10 A3 CS
8 -666 AWG24 C11 A4 CS
9 -667 AWG24 C12 A9 CS
10 -668 AWG24 C13 A10 CS
11 -669 AWG24 C14 A11 CS
12 AWG16 C15 A12
OPTION //PROFIBUS acc. to page 181

Sublocation: + 6676_P
DUAL CABINET PROFIBUS
Next 183
1 2 3 4 5 6 7 8

-XP/XT6
=MAN+R1-CP/CS
-670 AWG18 CP4
1 A1 D1
-671 AWG18 CP5
2 A2 D6
-672 AWG18 CP6
3 A3 D3
-673 AWG18 CP7
4 A4 D4
-XP/XT5.1
-677 AWG24 CS
1 -678 AWG24 B1 B1 CS
2 -679 AWG24 B2 B2 CS
3 -680 AWG24 B11 B11 CS
4 -681 AWG24 B12 B12 CS
5 -682 AWG24 B13 B13 CS
6 -683 AWG24 B14 B14 CS
7 -684 AWG24 C19 C19 CS
8 -705 1/WH C21 C21 CS
10 2/WH B8 B8 CS
11 2/OG B9 B9 CS
12 B10 B10
-XP/XT5.2
3/WH CS
1 3/GN B3 B3 CS
2 4/WH B4 B4 CS
3 4/BN B5 B5 CS
4 -685 AWG24 B6 B6 CS
5 -686 AWG24 C16 C16 CS
6 -687 AWG24 C17 C17 CS
7 -688 AWG24 C18 C18 CS
8 -689 AWG24 C20 C20
9 -690 AWG24 B22 CS
10 -691 AWG24 B23 B23 CS
11 -692 AWG24 B24 B24 CS
12 B25 B25
-XP/XT5.3
-693 AWG24 CS
1 -694 AWG24 B15 B15 CS
2 -695 AWG24 B16 B16 CS
3 -696 AWG24 B18 B18 CS
4 -697 AWG24 B19 B19 CS
5 -698 AWG24 B20 B20 CS
6 -699 AWG24 B21 B21 CS
7 -700 AWG24 C10 A5 CS
8 -666 AWG24 C11 A6 CS
9 -667 AWG24 C12 A3 CS
10 -668 AWG24 C13 A4
11 -669 AWG24 C14
12 AWG16 C15 For more information aboute Option connected to XS13.
OPTION //INTERBUS-S acc. to page 181 SPOTPACK circuit diagram 3HAC026208-001

Sublocation: + 6676_I
DUAL CABINET INTERBUS
Next 184
1 2 3 4 5 6 7 8

-XP/XT6
=MAN+R1-CP/CS
-670 AWG18 CP4
1 A1 D1
-671 AWG18 CP5
2 A2 D6
-672 AWG18 CP6
3 A3 D3
-673 AWG18 CP7
4 A4 D4
-XP/XT5.1
-677 AWG24 CS
1 -678 AWG24 B1 B1 CS
2 -679 AWG24 B2 B2 CS
3 -680 AWG24 B11 B11 CS
4 -681 AWG24 B12 B12 CS
5 -682 AWG24 B13 B13 CS
6 -683 AWG24 B14 B14 CS
7 -684 AWG24 C19 C19 CS
8 -705 1/WH C21 C21 CS
10 2/WH B8 B8 CS
11 2/OG B9 B9 CS
12 B10 B10
-XP/XT5.2
3/WH CS
1 3/GN B3 B3 CS
2 4/WH B4 B4 CS
3 4/BN B5 B5 CS
4 -685 AWG24 B6 B6 CS
5 -686 AWG24 C16 C16 CS
6 -687 AWG24 C17 C17 CS
7 -688 AWG24 C18 C18 CS
8 -689 AWG24 C20 C20
9 -690 AWG24 B22
10 -691 AWG24 B23 CS
11 -692 AWG24 B24 B24 CS
12 B25 B25
-XP/XT5.3
-693 AWG24 CS
1 -694 AWG24 B15 B15 CS
2 -695 AWG24 B16 B16 CS
3 -696 AWG24 B18 B18 CS
4 -697 AWG24 B19 B19 CS
5 -698 AWG24 B20 B20 CS
6 -699 AWG24 B21 B21 CS
7 -700 AWG24 C10 A5 CS
8 -666 AWG24 C11 A6 CS
9 -667 AWG24 C12 A9 CS
10 -668 AWG24 C13 A10 CS
11 -669 AWG24 C14 A11 CS
12 AWG16 C15 A12
OPTION //DEVICENET acc. to page 181 SPOTPACK circuit diagram 3HAC026208-001

Sublocation: + 6676_D
DUAL CABINET DEVICE NET
Next 185
1 2 3 4 5 6 7 8

Connection -XP/XT6 IRB 6600-7600
-713 -XS/XP13
AWG20 BK
=MAN+R1-CP/CS
1 1 A1 A1 CP4
BN A1 D1
1
2 2 RD A2 A2 CP5
OG A2 D6
2
3 3 YE A3 A3 CP6
GN A3 D3
3
4 4 BU A4 A4 CP7
VT A4 D4
4
-XP/XT5.1 -711
AWG24 BK CS
1 BN B1 B1 CS
2 RD B2 B2 CS
3 OG B11 B11 CS
4 YE B12 B12 CS
5 GN B13 B13 CS
6 BU B14 B14 CS
7 VT C19 C19 CS
8 -712 1/WH C21 C21 CS
10 2/WH B8 B8 CS
11 2/OG B9 B9 CS
12 B10 B10
-XP/XT5.2
3/WH CS
1 3/GN B3 B3 CS
2 4/WH B4 B4 CS
3 4/BN B5 B5 CS
4 -711 GY B6 B6 CS
6 WH/BK C17 C17 CS
7 WH/BN C18 C18 CS
8 WH/RD C20 C20 CS
9 WH/OG B22 B22 CS
10 WH/YE B23 B23 CS
11 WH/GN B24 B24 CS
12 B25 B25
-XP/XT5.3 -713
AWG20 GY CS
1 WH B15 B15 CS
2 WH/BK B16 B16 CS
3 WH/BN B18 B18 CS
4 WH/RD B19 B19 CS
5 WH/OG B20 B20 CS
6 WH/YE B21 B21 CS
7 WH/GN C10 A3 CS
8 WH/BU C11 A4 CS
9 WH/VT C12 A9 CS
10 WH/GY C13 A10 CS
11 BN/BK C14 A11 CS
12 AWG16 C15 A12
OPTION //PROFIBUS acc. to page 181 SPOTPACK circuit diagram 3HAC026208-001

Sublocation: + 6676_P
SINGLE CABINET PROFI BUS
Next 186
1 2 3 4 5 6 7 8

-XP/XT6 -713 -XS/XP13
AWG20 BK
=MAN+R1-CP/CS
1 1 A1 A1 CP4
BN A1 D1
1
2 2 RD A2 A2 CP5
OG A2 D6
2
3 3 YE A3 A3 CP6
GN A3 D3
3
4 4 BU A4 A4 CP7
VT A4 D4
4
-XP/XT5.1 -711
AWG24 BK CS
1 BN B1 B1 CS
2 RD B2 B2 CS
3 OG B11 B11 CS
4 YE B12 B12 CS
5 GN B13 B13 CS
6 BU B14 B14 CS
7 VT C19 C19 CS
8 -712 1/WH C21 C21 CS
10 2/WH B8 B8 CS
11 2/OG B9 B9 CS
12 B10 B10
-XP/XT5.2
3/WH CS
1 3/GN B3 B3 CS
2 4/WH B4 B4 CS
3 4/BN B5 B5 CS
4 -711 GY B6 B6 CS
6 WH/BK C17 C17 CS
7 WH/BN C18 C18 CS
8 WH/RD C20 C20
9 WH/OG B22 CS
10 WH/YE B23 B23 CS
11 WH/GN B24 B24 CS
12 B25 B25
-XP/XT5.3
-713
AWG20 GY CS
1 WH B15 B15 CS
2 WH/BK B16 B16 CS
3 WH/BN B18 B18 CS
4 WH/RD B19 B19 CS
5 WH/OG B20 B20 CS
6 WH/YE B21 B21 CS
7 WH/GN C10 A5 CS
8 WH/BU C11 A6 CS
9 WH/VT C12 A3 CS
10 WH/GY C13 A4
11 BN/BK C14
AWG16
12 C15
OPTION //INTERBUS-S acc. to page 181

Sublocation: + 6676_I
SINGLE CABINET INTERBUS
Next 187
1 2 3 4 5 6 7 8

-XP/XT6 -713 -XS/XP13
AWG20 BK
=MAN+R1-CP/CS
1 1 A1 A1 CP4
BN A1 D1
1
2 2 RD A2 A2 CP5
OG A2 D6
2
3 3 YE A3 A3 CP6
GN A3 D3
3
4 4 BU A4 A4 CP7
VT A4 D4
4
-XP/XT5.1 -711
AWG24 BK CS
1 BN B1 B1 CS
2 RD B2 B2 CS
3 OG B11 B11 CS
4 YE B12 B12 CS
5 GN B13 B13 CS
6 BU B14 B14 CS
7 VT C19 C19 CS
8 -712 1/WH C21 C21 CS
10 2/WH B8 B8 CS
11 2/OG B9 B9 CS
12 B10 B10
-XP/XT5.2
3/WH CS
1 3/GN B3 B3 CS
2 4/WH B4 B4 CS
3 4/BN B5 B5 CS
4 -711 GY B6 B6 CS
6 WH/BK C17 C17 CS
7 WH/BN C18 C18 CS
8 WH/RD C20 C20
9 WH/OG B22
10 WH/YE B23 CS
11 WH/GN B24 B24 CS
12 B25 B25
-XP/XT5.3 -713
AWG20 GY CS
1 WH B15 B15 CS
2 WH/BK B16 B16 CS
3 WH/BN B18 B18 CS
4 WH/RD B19 B19 CS
5 WH/OG B20 B20 CS
6 WH/YE B21 B21 CS
7 WH/GN C10 A5 CS
8 WH/BU C11 A6 CS
9 WH/VT C12 A9 CS
10 WH/GY C13 A10 CS
11 BN/BK C14 A11 CS
12 AWG16 C15 A12
OPTION //DEVICENET acc. to page 181 SPOTPACK circuit diagram 3HAC026208-001

Sublocation: + 6676_D
SINGLE CABINET DEVICE NET
Next 200
1 2 3 4 5 6 7 8
IRB6400R cabinet module

Sublocation +6400R

IRB 6400R CABINET MODULE Approved
Sublocation: + 6400R
Next 201
1 2 3 4 5 6 7 8
DC-BUSBAR

-A41.1
-X11 1 2 3 4 5 6 -X12 1 2 3 4 5 6 -X13 1 2 3 4 5 6 -X14 1 2 3 4 5 6 -X15 1 2 3 4 5 6 -X16 1 2 3 4 5 6

M1R
M1R
M4R
M4R
M2R
M2R
M5R
M5R
M3R
M3R
M6R
M1S
M1S
M4S
M4S
M2S
M2S
M5S
M5S
M3S
M3S
M6S
M1T
M1T
M4T
M4T
M2T
M2T
M5T
M5T
M3T
M3T
M6T
-XS/XP1 A1 A14 A2 B15 B1 A15 C13 C8 D13 D8 C14 D7 A4 A11 A5 B11 B4 A12 C3 C15 B3 D15 C4 D16 C11 A9 D12 B10 D11 B9 B6 B7 A7 DRIVE MODULE
BN//WH
OG/WH
GN/WH
OG/GN
BU/WH
BK/WH
OG/RD
PK/WH
OG/BU
GY/GN
GN/RD
BN/GN
BU/GN
BK/GN
BN/RD
PK/GN
GY/BU
BU/RD
BK/RD
BN/BU
PK/RD
GY/BK
BK/BU
BU/BK
BN/BK
PK/BU
PK/BK
PK/BK
OG
BU
BN
BK
PK
MANIPULATOR
=MAN+R1-MP 8 22 21 35 9 23 51 53 64 66 63 65 13 49 2 62 1 61 68 70 57 59 69 71 15 17 4 6 3 5 42 31 43

SERVO DRIVE SYSTEM Approved
IRB 6400R
Next 202
1 2 3 4 5 6 7 8
-XS/XP2 =MAN+R1-SMB
/91.6 / MRCO1 SDI
A 1
/91.6 / MRCO1_N SDI-N
B 2
/91.6 / MRCI1 SDO
C 3 SERIAL
AXIS COMPUTER BOARD /91.6 / MRCI1_N SDO-N MEASUREMENT
A42-X4 D 4
BOARD
/91.6 / MRC_0V;1 0V
E 5
/91.6 / 24V_SMB1 24V
F 6
/91.6 / MRC_0V;2 BAT BR
G 7
BAT BR
H 8
/91.6 / MRC_0V;3 0V
J 9
BATSUP
K 10
EXT LAMP
L 11
-XS/XP1 =MAN+R1-MP
/89.5 -433 AWG16 BU VTBK
DRIVE MODULE EXT. LAMP D1 52
XP40 /89.7 -434 AWG16 BU RDWH

BRAKEPB C12 11
/89.6 -435 AWG16 BU GYRD
BRAKEREL1 B12 36
/89.6 -436 AWG16 BU GYWH
BRAKEREL2 C9 48
/88.7 -438 AWG16 BU OGBK

/ OV BRAKE;4 D9 24
/88.7 -439 AWG16 BU RDGN
CONTACTOR UNIT / PTC1 C2 20
A43-X5 /88.7 -440 AWG16 BU RDBU

/ PTC1 ret C1 30
/88.7 -437 AWG16 BU GY
/ 0V BRAKE;3 B13 12

IRB 6400R
Next 203
1 2 3 4 5 6 7 8
CONTROL MODULE
MANIPULATOR
AWG24 AWG24
-XP/XT8.1 -XS8 =MAN+R1-SW
1/WH 1/WH
1 A A
1/BU 1/BU
2 B B
2/WH 2/WH
3 C C
2/OG 2/OG
4 D D
3/WH 3/WH
5 E E
3/GN 3/GN
6 F F
4/WH 4/WH
7 G G
4/BN 4/BN
8 H H
5/WH 5/WH
9 J J
5/GY 5/GY
10 K K
6/RD 6/RD
11 L L
6/BU 6/BU
12 M M
-XP/XT8.2
7/RD 7/RD
13 N N
7/OG 7/OG
14 P P
8/RD 8/RD
15 R R
8/GN 8/GN
16 S S
9/RD 9/RD
17 T T
9/BN 9/BN
18 U U
10/RD 10/RD
19 V V
10/GY 10/GY
20 W W
11/BK 11/BK
21 X X
22
23
24

POSITON SWITCH Approved
IRB 6400R
Next 204
1 2 3 4 5 6 7 8
=MAN+R1-CP/CS
-XP/XT6
1, BK
1 A1
2, BK 3-POL
2 A2
GNYE
A3
-XP/XT5.1
AWG24 1/WH CSA
1 1
1/BU CSB
2 2
2/WH CSC
3 3
2/OG CSD
4 4
3/WH CSE
5 5 25-POL
3/GN CSF
6 6
4/WH CSG
7 7
4/BN CSH
8 8
5/WH CSJ
9 9
5/GY CSK
10 10
-XS6
2/RD +24V
5 1
2/BK 0V
Connect to A35.X2 1 2 9-POL
1/WH CAN1_H
4 5
1/BU CAN1_L
2 9

CUSTOMER POWER/SIGNAL/BUS Approved
IRB 6400R
Next

3hac024480-004 (Esquemas Irc5)

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© Copyright 2004 ABB ALL right reserved.

ABB Automation Technologies AB

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

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

Document no changed to 3HAC024480-004 Rev 00 used to be 3HAC020538-002 Rev 06

Changes made from old document 3HAC020538-002 Rev 06

Page 35.2 New page with hot-plug option

Latest revision: Lab/Office: Status: 2008-07-17 Plant: = CAB

Changes made from old document 3HAC020538-002 Rev 06

Latest revision: Lab/Office: Status: 2008-07-17 Plant: = CAB

Document 3HAC024480-004 Rev 01

Page 52 A38.1 Renamed ETHERNET/IP was before named ANYBUS.

Document 3HAC024480-004 Rev 02

Page 34-37 Added connection to XT31

Page 92.1 New, option Safe move added.

Document 3HAC024480-004 Rev 03

Page 23 A33.1 PrpfiNet added.

Latest revision: Lab/Office: Status: 2008-07-17 Plant: = CAB

CAB CM 15 Plugs : =CAB.DC+CM-G4-X2 - =CAB+EXT-SLO.3-A21-X10 Approved 2008-07-16 sejesun

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

CAB CM 49 OPTION: EXTERNAL CONNECTION SYSTEM SIGNALS Approved 2008-04-01 sejesun

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

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

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

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

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

=CAB+EXT-A21 -A22 ADAPTER 45 =CAB+DM- -F1 AUTOMATIC FUSE 89

=CAB+EXT-A21 -A22 ADAPTER 46 =CAB.DC+DM- -F2 AUTOMATIC FUSE 85

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

=CAB+CM-A33.1 -LAN1 PROFINET CONNECTIONS =CAB+CM-A33.1 -Z1 57

=CAB+CM-E3 -M1 INTERNAL FAN 38 =CAB+DM- -Z1 OPTION:MAINS LINE FILTER 82

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

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

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

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

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

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

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

FRONT FRONT VIEW INSIDE DOOR

NEW COMPUTER OLD COMPUTER AC/BD

Latest revision: Lab/Office: Status: 2008-07-17 Plant: = CAB.SC

LEFT VIEW WITH LEFT VIEW RIGHT VIEW

Latest revision: Lab/Office: Status: 2008-07-17 Plant: = CAB.SC

LEFT FRONT FRONT RIGHT

NEW COMPUTER OLD COMPUTER AC/BD

I/O6 I/O5 I/O4 I/O2 I/O1 I/O3

Latest revision: Lab/Office: Status: 2008-07-17 Plant: = CAB.DC

LABEL CONSOLE A8 A9 STATUS BAND A31

LAN USB2 FIELD

LEFT FRONT FRONT RIGHT

XP0 XS1 XS7

Latest revision: Lab/Office: Status: 2008-07-17 Plant: = CAB.DC

A42 Axis computer unit

A43 Contactor unit

Latest revision: Lab/Office: Status: 2008-07-17 Plant: = CAB

Latest revision: Lab/Office: Status: 2008-07-17 Plant: = CAB

CAB.SC = Single cabinet

Latest revision: Lab/Office: Status: 2008-07-17 Plant: = CAB

Latest revision: Lab/Office: Status: 2008-07-17 Plant: = CAB

Prepared by, date:

/35.1 /34.5 / 230V AC1;3

CROSS CONNECTION 230V