1 2 3 4 5 6 7 8

The information in this document is subject to change without notice and should not be construed as a
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Latest revision: Lab/Office:

PickMasterTwin Status: Plant: =0
DMRO SE/
COPYRIGHT Location: +
Approved
Sublocation:+
Document no. Rev. Ind Page 1
Prepared by, date: Jensen Xu 4/5/2020 Approved by, date: Henrik Knobel 4/7/2020 3HAC024480-020 00 Next 2
Total 3
 1 2 3 4 5 6 7 8

TABLE OF CONTENTS
PAGE PAGE DESCRIPTION Date Edited by
=0/1 COPYRIGHT 4/5/2020 Jensen Xu
=0/2 Table of contents : =0/1 - =4/8 4/5/2020 Jensen Xu
=0/2.a Table of contents : =4/8.a - =4/10.a 4/5/2020 Jensen Xu
=1/1 #1 block diagram robot x 1 + conveyor + camera IRC5 4/5/2020 Jensen Xu
=1/2 #1 block diagram robot x 1 + conveyor + camera IRC5C 4/5/2020 Jensen Xu
=1/3 #1 wiring diagram robot x 1 + conveyor + camera PNP & push/pull encoder Power-I/O cable 2000022909 basler scout camera 4/5/2020 Jensen Xu
=1/4 #1 wiring diagram robot x 1 + conveyor + camera NPN encoder Power-I/O cable 2000022909 basler scout camera 4/5/2020 Jensen Xu
=1/5 #1 wiring diagram robot x 1 + conveyor + camera PNP & push/pull encoder Power-I/O cable 2000034085 basler scout camera 4/5/2020 Jensen Xu
=1/6 #1 wiring diagram robot x 1 + conveyor + camera NPN encoder Power-I/O cable 2000034085 basler scout camera 4/5/2020 Jensen Xu
=1/7 #1 wiring diagram robot x 1 + conveyor + camera PNP & push/pull encoder Power-I/O cable 2000026632 basler scout camera 4/5/2020 Jensen Xu
We reserve all rights in this document and in the information contained therein.Reproduction, use or
disclosure to third parties without express authority is strictly forbidden. © Copyright 2017 ABB

=1/8 #1 wiring diagram robot x 1 + conveyor + camera NPN encoder Power-I/O cable 2000026632 basler scout camera 4/5/2020 Jensen Xu
=1/9 #1 wiring diagram robot x 1 + conveyor + camera PNP & push/pull encoder Power-I/O cable 2000034084 basler ace camera 4/5/2020 Jensen Xu
=1/10 #2 wiring diagram robot x 1 + conveyor + camera NPN encoder Power-I/O cable 2000034084 basler ace camera 4/5/2020 Jensen Xu
=2/1 #2 block diagram robot x 1 + conveyor + sensor IRC5 4/5/2020 Jensen Xu
=2/2 #2 block diagram robot x 1 + conveyor + sensor IRC5C 4/5/2020 Jensen Xu
=2/3 #2 wiring diagram robot x 1 + conveyor + sensor PNP & push/pull encoder 4/5/2020 Jensen Xu
=2/4 #2 wiring diagram robot x 1 + conveyor + sensor NPN encoder 4/5/2020 Jensen Xu
=3/1 #3 block diagram robot x 1 + sensor IRC5 4/5/2020 Jensen Xu
=3/2 #3 block diagram robot x 1 + sensor IRC5C 4/5/2020 Jensen Xu
=3/3 #3 wiring diagram robot x 1 + sensor 4/5/2020 Jensen Xu
=4/1 #4 block diagram robot x 2 + conveyor + camera IRC5 4/5/2020 Jensen Xu
=4/2 #4 block diagram robot x 2 + conveyor + camera IRC5C 4/5/2020 Jensen Xu
=4/3 #4 wiring diagram robot x 2 + conveyor + camera PNP & push/pull encoder Power-I/O cable 2000022909 basler scout camera 4/5/2020 Jensen Xu
=4/3.a #4 wiring diagram robot x 2 + conveyor + camera PNP & push/pull encoder Power-I/O cable 2000022909 basler scout camera 4/5/2020 Jensen Xu
=4/4 #4 wiring diagram robot x 2 + conveyor + camera NPN encoder Power-I/O cable 2000022909 basler scout camera 4/5/2020 Jensen Xu
=4/4.a #4 wiring diagram robot x 2 + conveyor + camera NPN encoder Power-I/O cable 2000022909 basler scout camera 4/5/2020 Jensen Xu
=4/5 #4 wiring diagram robot x 2 + conveyor + camera PNP & push/pull encoder Power-I/O cable 2000034085 basler scout camera 4/5/2020 Jensen Xu
=4/5.a #4 wiring diagram robot x 2 + conveyor + camera PNP & push/pull encoder Power-I/O cable 2000034085 basler scout camera 4/5/2020 Jensen Xu
=4/6 #4 wiring diagram robot x 2 + conveyor + camera NPN encoder Power-I/O cable 2000034085 basler scout camera 4/5/2020 Jensen Xu
=4/6.a #4 wiring diagram robot x 2 + conveyor + camera NPN encoder Power-I/O cable 2000034085 basler scout camera 4/5/2020 Jensen Xu
=4/7 #4 wiring diagram robot x 2 + conveyor + camera PNP & push/pull encoder Power-I/O cable 2000026632 basler scout camera 4/5/2020 Jensen Xu
=4/7.a #4 wiring diagram robot x 2 + conveyor + camera PNP & push/pull encoder Power-I/O cable 2000026632 basler scout camera 4/5/2020 Jensen Xu
=4/8 #4 wiring diagram robot x 2 + conveyor + camera NPN encoder Power-I/O cable 2000026632 basler scout camera 4/5/2020 Jensen Xu

Latest revision: Lab/Office:

PickMasterTwin Status: Plant: =0
DMRO SE/
Table of contents : =0/1 - =4/8 Location: +
Approved
Sublocation:+
Document no. Rev. Ind Page 2
Prepared by, date: Jensen Xu 4/5/2020 Approved by, date: Henrik Knobel 4/7/2020 3HAC024480-020 00 Next 2.a
Total 3
 1 2 3 4 5 6 7 8

TABLE OF CONTENTS
PAGE PAGE DESCRIPTION Date Edited by
=4/8.a #4 wiring diagram robot x 2 + conveyor + camera NPN encoder Power-I/O cable 2000026632 basler scout camera 4/5/2020 Jensen Xu
=4/9 #4 wiring diagram robot x 2 + conveyor + camera PNP & push/pull encoder Power-I/O cable 2000034084 basler ace camera 4/5/2020 Jensen Xu
=4/9.a #4 wiring diagram robot x 2 + conveyor + camera PNP & push/pull encoder Power-I/O cable 2000034084 basler ace camera 4/5/2020 Jensen Xu
=4/10 #4 wiring diagram robot x 2 + conveyor + camera NPN encoder Power-I/O cable 2000034084 basler ace camera 4/5/2020 Jensen Xu
=4/10.a #4 wiring diagram robot x 2 + conveyor + camera NPN encoder Power-I/O cable 2000034084 basler ace camera 4/5/2020 Jensen Xu
We reserve all rights in this document and in the information contained therein.Reproduction, use or
disclosure to third parties without express authority is strictly forbidden. © Copyright 2017 ABB

Latest revision: Lab/Office:

PickMasterTwin Status: Plant: =0
DMRO SE/
Table of contents : =4/8.a - =4/10.a Location: +
Approved
Sublocation:+
Document no. Rev. Ind Page 2.a
Prepared by, date: Jensen Xu 4/5/2020 Approved by, date: Henrik Knobel 4/7/2020 3HAC024480-020 00 Next =1/1
Total 3
 1 2 3 4 5 6 7 8

External Internal

Ethernet
PC cabinet

ethernet

ethernet
Power Supply
DC24V
Robot

Encoder
We reserve all rights in this document and in the information contained therein.Reproduction, use or
disclosure to third parties without express authority is strictly forbidden. © Copyright 2017 ABB

Camera

WAN

Conveyor
Conveyor Drive Unit
A31

Conveyor start/stop signal

DSCQ1030
ethernet
LAN2

alternative
Power/trig/strobe
Encoder signals CTM board alternative
LAN3

IRC5 Cabinet
For detailed wiring diagram, please refer to "#1 wiring diagram".

Latest revision: Lab/Office:

PickMasterTwin Status: Plant: =1
DMRO SE/
#1 block diagram Location: +
Approved
robot x 1 + conveyor + camera Sublocation:+
IRC5 Document no. Rev. Ind Page 1
Prepared by, date: Jensen Xu 4/5/2020 Approved by, date: Henrik Knobel 4/7/2020 3HAC024480-020 00 Next 2
Total 10
 1 2 3 4 5 6 7 8

External Internal

Ethernet
PC cabinet

ethernet

ethernet
Power Supply
DC24V
Robot

Encoder
We reserve all rights in this document and in the information contained therein.Reproduction, use or
disclosure to third parties without express authority is strictly forbidden. © Copyright 2017 ABB

Camera

WAN

Conveyor
Conveyor Drive Unit
A31

Conveyor start/stop signal

DSCQ1030
ethernet
LAN2

alternative
Power/trig/strobe
Encoder signals CTM board alternative
LAN3

electric box IRC5C Cabinet

For detailed wiring diagram, please refer to "#1 wiring diagram".

Latest revision: Lab/Office:

PickMasterTwin Status: Plant: =1
DMRO SE/
#1 block diagram Location: +
Approved
robot x 1 + conveyor + camera Sublocation:+
IRC5C Document no. Rev. Ind Page 2
Prepared by, date: Jensen Xu 4/5/2020 Approved by, date: Henrik Knobel 4/7/2020 3HAC024480-020 00 Next 3
Total 10
 1 2 3 4 5 6 7 8

start/stop trigger strobe

-PS1 -E1 -CVY1 -CM1 HRS.HR10A-10R-12P

DC24V PNP & push/pull conveyor scout
power supply 24V 0V Encoder drive unit camera 0V 0V I1 I2 I_Gnd Q1 Q2 Vcc Vcc Q_Vcc Q3 Q4
B A 0V 24V basler.scA1300-32gc
1 2 3 4 5 6 7 8 9 10 11 12

W1
Power-I/O Cable
10 m
2000022909 WH GN BU RD GY BK VT BN YE PK GYPK RDBU

External

Internal -IO1
DSQC 1030 DO
PWR DO PWR DO

GND DO GND DO
We reserve all rights in this document and in the information contained therein.Reproduction, use or

-X1
disclosure to third parties without express authority is strictly forbidden. © Copyright 2017 ABB

1 9

2 10

3 11

4 12

5 13
-XS11 6 5 4 3 2 1 -XS1 2 1
6 14
-CTM1 -X11 6 5 4 3 2 1 -X1 2 1
CTM-01 7 15
DSQC 2000 CH2- CH2+ CH1- CH1+ GND 24V 24V GND

8 16
X7

WAN SYNC&
CAM CAM SYNC SYNC TRIG Trig DI
PWR GND IN 24V GND Out
GND DI GND DI
-X21 1 2 3 4 5 6
-X2 1 9
W2
ethernet -XS21 1 2 3 4 5 6
2 10

3 11
Ctr3 Ctr1 X4
PC cabinet A31 4 12
main computer
LAN LAN2 5 13

X5 6 14
alternative alternative
7 15
LAN LAN3
W3 W4
8 16
ethernet X6 ethernet

LAN WAN LAN

Latest revision: Lab/Office:

PickMasterTwin Status: Plant: =1
DMRO SE/
#1 wiring diagram Location: +
Approved
robot x 1 + conveyor + camera Sublocation:+
PNP & push/pull encoder Document no. Rev. Ind Page 3
Power-I/O cable 2000022909
Prepared by, date: Jensen Xu 4/5/2020 Approved by, date: Henrik Knobel 4/7/2020 basler scout camera 3HAC024480-020 00 Next 4
Total 10
 1 2 3 4 5 6 7 8

start/stop trigger strobe

-PS1 -E1 -CVY1 -CM1 HRS.HR10A-10R-12P

DC24V NPN conveyor scout
power supply 24V 0V Encoder drive unit camera 0V 0V I1 I2 I_Gnd Q1 Q2 Vcc Vcc Q_Vcc Q3 Q4
B A 0V 24V basler.scA1300-32gc
1 2 3 4 5 6 7 8 9 10 11 12

W1
Power-I/O Cable
10 m
2000022909 WH GN BU RD GY BK VT BN YE PK GYPK RDBU

External

Internal -IO1
DSQC 1030 DO
PWR DO PWR DO

GND DO GND DO
We reserve all rights in this document and in the information contained therein.Reproduction, use or

-X1
disclosure to third parties without express authority is strictly forbidden. © Copyright 2017 ABB

1 9

2 10

3 11

4 12

5 13
-XS11 6 5 4 3 2 1 -XS1 2 1
6 14
-CTM1 -X11 6 5 4 3 2 1 -X1 2 1
CTM-01 7 15
DSQC 2000 CH2- CH2+ CH1- CH1+ GND 24V 24V GND

8 16
X7

WAN SYNC&
CAM CAM SYNC SYNC TRIG Trig DI
PWR GND IN 24V GND Out
GND DI GND DI
-X21 1 2 3 4 5 6
-X2 1 9
W2
ethernet -XS21 1 2 3 4 5 6
2 10

3 11
Ctr3 Ctr1 X4
PC cabinet A31 4 12
main computer
LAN LAN2 5 13

X5 6 14
alternative alternative
7 15
LAN LAN3
W3 W4
8 16
ethernet X6 ethernet

LAN WAN LAN

Latest revision: Lab/Office:

PickMasterTwin Status: Plant: =1
DMRO SE/
#1 wiring diagram Location: +
Approved
robot x 1 + conveyor + camera Sublocation:+
NPN encoder Document no. Rev. Ind Page 4
Power-I/O cable 2000022909
Prepared by, date: Jensen Xu 4/5/2020 Approved by, date: Henrik Knobel 4/7/2020 basler scout camera 3HAC024480-020 00 Next 5
Total 10
 1 2 3 4 5 6 7 8

start/stop trigger strobe

-PS1 -E1 -CVY1 -CM1 HRS.HR10A-10R-12P

DC24V PNP & push/pull conveyor scout
power supply 24V 0V Encoder drive unit camera 0V 0V I1 I_Gnd I2 I_Gnd Q1 Q_Vcc Q2 Q_Vcc Vcc Vcc Q_Vcc Q3 Q_Vcc Q4
B A 0V 24V basler.scA1300-32gc
1 2 3 5 4 5 6 10 7 10 8 9 10 11 10 12

W1
Power-I/O Cable
10 m

External 2000034085 WH GN PK GY RD BU VT BK RDBU GYPK BN YE WHGN BNGN WHYE YEBN

Internal -IO1
DSQC 1030 DO
PWR DO PWR DO

GND DO GND DO
We reserve all rights in this document and in the information contained therein.Reproduction, use or

-X1
disclosure to third parties without express authority is strictly forbidden. © Copyright 2017 ABB

1 9

2 10

3 11

4 12

5 13
-XS11 6 5 4 3 2 1 -XS1 2 1
6 14
-CTM1 -X11 6 5 4 3 2 1 -X1 2 1
CTM-01 7 15
DSQC 2000 CH2- CH2+ CH1- CH1+ GND 24V 24V GND

8 16
X7

WAN SYNC&
CAM CAM SYNC SYNC TRIG Trig DI
PWR GND IN 24V GND Out
GND DI GND DI
-X21 1 2 3 4 5 6
-X2 1 9
W2
ethernet -XS21 1 2 3 4 5 6
2 10

3 11
Ctr3 Ctr1 X4
PC cabinet A31 4 12
main computer
LAN LAN2 5 13

X5 6 14
alternative alternative
7 15
LAN LAN3
W3 W4
8 16
ethernet X6 ethernet

LAN WAN LAN

Latest revision: Lab/Office:

PickMasterTwin Status: Plant: =1
DMRO SE/
#1 wiring diagram Location: +
Approved
robot x 1 + conveyor + camera Sublocation:+
PNP & push/pull encoder Document no. Rev. Ind Page 5
Power-I/O cable 2000034085
Prepared by, date: Jensen Xu 4/5/2020 Approved by, date: Henrik Knobel 4/7/2020 basler scout camera 3HAC024480-020 00 Next 6
Total 10
 1 2 3 4 5 6 7 8

start/stop trigger strobe

-PS1 -E1 -CVY1 -CM1 HRS.HR10A-10R-12P

DC24V NPN conveyor scout
power supply 24V 0V Encoder drive unit camera 0V 0V I1 I_Gnd I2 I_Gnd Q1 Q_Vcc Q2 Q_Vcc Vcc Vcc Q_Vcc Q3 Q_Vcc Q4
B A 0V 24V basler.scA1300-32gc
1 2 3 5 4 5 6 10 7 10 8 9 10 11 10 12

W1
Power-I/O Cable
10 m

External 2000034085 WH GN PK GY RD BU VT BK RDBU GYPK BN YE WHGN BNGN WHYE YEBN

Internal -IO1
DSQC 1030 DO
PWR DO PWR DO

GND DO GND DO
We reserve all rights in this document and in the information contained therein.Reproduction, use or

-X1
disclosure to third parties without express authority is strictly forbidden. © Copyright 2017 ABB

1 9

2 10

3 11

4 12

5 13
-XS11 6 5 4 3 2 1 -XS1 2 1
6 14
-CTM1 -X11 6 5 4 3 2 1 -X1 2 1
CTM-01 7 15
DSQC 2000 CH2- CH2+ CH1- CH1+ GND 24V 24V GND

8 16
X7

WAN SYNC&
CAM CAM SYNC SYNC TRIG Trig DI
PWR GND IN 24V GND Out
GND DI GND DI
-X21 1 2 3 4 5 6
-X2 1 9
W2
ethernet -XS21 1 2 3 4 5 6
2 10

3 11
Ctr3 Ctr1 X4
PC cabinet A31 4 12
main computer
LAN LAN2 5 13

X5 6 14
alternative alternative
7 15
LAN LAN3
W3 W4
8 16
ethernet X6 ethernet

LAN WAN LAN

Latest revision: Lab/Office:

PickMasterTwin Status: Plant: =1
DMRO SE/
#1 wiring diagram Location: +
Approved
robot x 1 + conveyor + camera Sublocation:+
NPN encoder Document no. Rev. Ind Page 6
Power-I/O cable 2000034085
Prepared by, date: Jensen Xu 4/5/2020 Approved by, date: Henrik Knobel 4/7/2020 basler scout camera 3HAC024480-020 00 Next 7
Total 10
 1 2 3 4 5 6 7 8

start/stop trigger strobe

-PS1 -E1 -CVY1 -CM1 HRS.HR10A-10R-12P

DC24V PNP & push/pull conveyor scout
power supply 24V 0V Encoder drive unit camera shield 0V Vcc 0V Vcc I_Gnd Q_Vcc I1 Q1
B A 0V 24V basler.scA1300-32gc
B C D E F G H J K L M N P

W1
Power-I/O Cable
10 m
2000026632 WH BN GN YE GY PK BU RD BK VT GYPK RDBU

External

Internal -IO1
DSQC 1030 DO
PWR DO PWR DO

GND DO GND DO
We reserve all rights in this document and in the information contained therein.Reproduction, use or

-X1
disclosure to third parties without express authority is strictly forbidden. © Copyright 2017 ABB

1 9

2 10

3 11

4 12

5 13
-XS11 6 5 4 3 2 1 -XS1 2 1
6 14
-CTM1 -X11 6 5 4 3 2 1 -X1 2 1
CTM-01 7 15
DSQC 2000 CH2- CH2+ CH1- CH1+ GND 24V 24V GND

8 16
X7

WAN SYNC&
CAM CAM SYNC SYNC TRIG Trig DI
PWR GND IN 24V GND Out
GND DI GND DI
-X21 1 2 3 4 5 6
-X2 1 9
W2
ethernet -XS21 1 2 3 4 5 6
2 10

3 11
Ctr3 Ctr1 X4
PC cabinet A31 4 12
main computer
LAN LAN2 5 13

X5 6 14
alternative alternative
7 15
LAN LAN3
W3 W4
8 16
ethernet X6 ethernet

LAN WAN LAN

Latest revision: Lab/Office:

PickMasterTwin Status: Plant: =1
DMRO SE/
#1 wiring diagram Location: +
Approved
robot x 1 + conveyor + camera Sublocation:+
PNP & push/pull encoder Document no. Rev. Ind Page 7
Power-I/O cable 2000026632
Prepared by, date: Jensen Xu 4/5/2020 Approved by, date: Henrik Knobel 4/7/2020 basler scout camera 3HAC024480-020 00 Next 8
Total 10
 1 2 3 4 5 6 7 8

start/stop trigger strobe

-PS1 -E1 -CVY1 -CM1 HRS.HR10A-10R-12P

DC24V NPN conveyor scout
power supply 24V 0V Encoder drive unit camera shield 0V Vcc 0V Vcc I_Gnd Q_Vcc I1 Q1
B A 0V 24V basler.scA1300-32gc
B C D E F G H J K L M N P

W1
Power-I/O Cable
10 m
2000026632 WH BN GN YE GY PK BU RD BK VT GYPK RDBU

External

Internal -IO1
DSQC 1030 DO
PWR DO PWR DO

GND DO GND DO
We reserve all rights in this document and in the information contained therein.Reproduction, use or

-X1
disclosure to third parties without express authority is strictly forbidden. © Copyright 2017 ABB

1 9

2 10

3 11

4 12

5 13
-XS11 6 5 4 3 2 1 -XS1 2 1
6 14
-CTM1 -X11 6 5 4 3 2 1 -X1 2 1
CTM-01 7 15
DSQC 2000 CH2- CH2+ CH1- CH1+ GND 24V 24V GND

8 16
X7

WAN SYNC&
CAM CAM SYNC SYNC TRIG Trig DI
PWR GND IN 24V GND Out
GND DI GND DI
-X21 1 2 3 4 5 6
-X2 1 9
W2
ethernet -XS21 1 2 3 4 5 6
2 10

3 11
Ctr3 Ctr1 X4
PC cabinet A31 4 12
main computer
LAN LAN2 5 13

X5 6 14
alternative alternative
7 15
LAN LAN3
W3 W4
8 16
ethernet X6 ethernet

LAN WAN LAN

Latest revision: Lab/Office:

PickMasterTwin Status: Plant: =1
DMRO SE/
#1 wiring diagram Location: +
Approved
robot x 1 + conveyor + camera Sublocation:+
NPN encoder Document no. Rev. Ind Page 8
Power-I/O cable 2000026632
Prepared by, date: Jensen Xu 4/5/2020 Approved by, date: Henrik Knobel 4/7/2020 basler scout camera 3HAC024480-020 00 Next 9
Total 10
 1 2 3 4 5 6 7 8

start/stop trigger strobe

-PS1 -E1 -CVY1 -CM1 HRS.HR10A-7R-6PB

DC24V PNP & push/pull conveyor ace
power supply 24V 0V Encoder drive unit camera 24V I I_GND Q Q_Gnd 0V
B A 0V 24V basler.acA1440-73gc
1 2 5 4 5 6

W1
Power-I/O Cable
10 m
2000034084 BN PK GY YE GN WH

External

Internal -IO1
DSQC 1030 DO
PWR DO PWR DO

GND DO GND DO
We reserve all rights in this document and in the information contained therein.Reproduction, use or

-X1
disclosure to third parties without express authority is strictly forbidden. © Copyright 2017 ABB

1 9

2 10

3 11

4 12

5 13
-XS11 6 5 4 3 2 1 -XS1 2 1
6 14
-CTM1 -X11 6 5 4 3 2 1 -X1 2 1
CTM-01 7 15
DSQC 2000 CH2- CH2+ CH1- CH1+ GND 24V 24V GND

8 16
X7

WAN SYNC&
CAM CAM SYNC SYNC TRIG Trig DI
PWR GND IN 24V GND Out
GND DI GND DI
-X21 1 2 3 4 5 6
-X2 1 9
W2
ethernet -XS21 1 2 3 4 5 6
2 10

3 11
Ctr3 Ctr1 X4
PC cabinet A31 4 12
main computer
LAN LAN2 5 13

X5 6 14
alternative alternative
7 15
LAN LAN3
W3 W4
8 16
ethernet X6 ethernet

LAN WAN LAN

Latest revision: Lab/Office:

PickMasterTwin Status: Plant: =1
DMRO SE/
#1 wiring diagram Location: +
Approved
robot x 1 + conveyor + camera Sublocation:+
PNP & push/pull encoder Document no. Rev. Ind Page 9
Power-I/O cable 2000034084
Prepared by, date: Jensen Xu 4/5/2020 Approved by, date: Henrik Knobel 4/7/2020 basler ace camera 3HAC024480-020 00 Next 10
Total 10
 1 2 3 4 5 6 7 8

start/stop trigger strobe

-PS1 -E1 -CVY1 -CM1 HRS.HR10A-7R-6PB

DC24V NPN conveyor ace
power supply 24V 0V Encoder drive unit camera 24V I I_GND Q Q_Gnd 0V
B A 0V 24V basler.acA1440-73gc
1 2 5 4 5 6

W1
Power-I/O Cable
10 m
2000034084 BN PK GY YE GN WH

External

Internal -IO1
DSQC 1030 DO
PWR DO PWR DO

GND DO GND DO
We reserve all rights in this document and in the information contained therein.Reproduction, use or

-X1
disclosure to third parties without express authority is strictly forbidden. © Copyright 2017 ABB

1 9

2 10

3 11

4 12

5 13
-XS11 6 5 4 3 2 1 -XS1 2 1
6 14
-CTM1 -X11 6 5 4 3 2 1 -X1 2 1
CTM-01 7 15
DSQC 2000 CH2- CH2+ CH1- CH1+ GND 24V 24V GND

8 16
X7

WAN SYNC&
CAM CAM SYNC SYNC TRIG Trig DI
PWR GND IN 24V GND Out
GND DI GND DI
-X21 1 2 3 4 5 6
-X2 1 9
W2
ethernet -XS21 1 2 3 4 5 6
2 10

3 11
Ctr3 Ctr1 X4
PC cabinet A31 4 12
main computer
LAN LAN2 5 13

X5 6 14
alternative alternative
7 15
LAN LAN3
W3 W4
8 16
ethernet X6 ethernet

LAN WAN LAN

Latest revision: Lab/Office:

PickMasterTwin Status: Plant: =1
DMRO SE/
#1 wiring diagram Location: +
Approved
robot x 1 + conveyor + camera Sublocation:+
NPN encoder Document no. Rev. Ind Page 10
Power-I/O cable 2000034084
Prepared by, date: Jensen Xu 4/5/2020 Approved by, date: Henrik Knobel 4/7/2020 basler ace camera 3HAC024480-020 00 Next =2/1
Total 10
 1 2 3 4 5 6 7 8

External Internal

PC cabinet

ethernet

ethernet
Power Supply
DC24V
Robot

Encoder
We reserve all rights in this document and in the information contained therein.Reproduction, use or
disclosure to third parties without express authority is strictly forbidden. © Copyright 2017 ABB

Sensor
WAN

Conveyor
Conveyor Drive Unit
A31

sensor signal

DSCQ1030
Conveyor start/stop signal ethernet
LAN2

alternative
Encoder signals CTM board alternative
LAN3

IRC5 Cabinet
For detailed wiring diagram, please refer to "#2 wiring diagram".

Latest revision: Lab/Office:

PickMasterTwin Status: Plant: =2
DMRO SE/
#2 block diagram Location: +
Approved
robot x 1 + conveyor + sensor Sublocation:+
IRC5 Document no. Rev. Ind Page 1
Prepared by, date: Jensen Xu 4/5/2020 Approved by, date: Henrik Knobel 4/7/2020 3HAC024480-020 00 Next 2
Total 4
 1 2 3 4 5 6 7 8

External Internal

PC cabinet

ethernet

ethernet
Power Supply
DC24V
Robot

Encoder
We reserve all rights in this document and in the information contained therein.Reproduction, use or
disclosure to third parties without express authority is strictly forbidden. © Copyright 2017 ABB

Sensor
WAN

Conveyor
Conveyor Drive Unit
A31

sensor signal

DSCQ1030
Conveyor start/stop signal ethernet
LAN2

alternative
Encoder signals CTM board alternative
LAN3

electric box IRC5C Cabinet

For detailed wiring diagram, please refer to "#2 wiring diagram".

Latest revision: Lab/Office:

PickMasterTwin Status: Plant: =2
DMRO SE/
#2 block diagram Location: +
Approved
robot x 1 + conveyor + sensor Sublocation:+
IRC5C Document no. Rev. Ind Page 2
Prepared by, date: Jensen Xu 4/5/2020 Approved by, date: Henrik Knobel 4/7/2020 3HAC024480-020 00 Next 3
Total 4
 1 2 3 4 5 6 7 8

start/stop signal

-PS1 -E1 -CVY1 -S1

DC24V PNP & push/pull conveyor e.g, photo cell
power supply 24V 0V Encoder drive unit sensor
B A 0V 24V

External

Internal -IO1
DSQC 1030 DO
PWR DO PWR DO

GND DO GND DO
We reserve all rights in this document and in the information contained therein.Reproduction, use or

-X1
disclosure to third parties without express authority is strictly forbidden. © Copyright 2017 ABB

1 9

2 10

3 11

4 12

5 13
-XS11 6 5 4 3 2 1 -XS1 2 1
6 14
-CTM1 -X11 6 5 4 3 2 1 -X1 2 1
CTM-01 7 15
DSQC 2000 CH2- CH2+ CH1- CH1+ GND 24V 24V GND

8 16
X7

WAN SYNC&
CAM CAM SYNC SYNC TRIG Trig DI
PWR GND IN 24V GND Out
GND DI GND DI
-X21 1 2 3 4 5 6
-X2 1 9
W2
ethernet -XS21 1 2 3 4 5 6
2 10

3 11
Ctr3 Ctr1 X4
PC cabinet A31 4 12
main computer
LAN LAN2 5 13

X5 6 14
alternative alternative
7 15
LAN LAN3
W3 W4
8 16
ethernet X6 ethernet

LAN WAN LAN

Latest revision: Lab/Office:

PickMasterTwin Status: Plant: =2
DMRO SE/
#2 wiring diagram Location: +
Approved
robot x 1 + conveyor + sensor Sublocation:+
PNP & push/pull encoder Document no. Rev. Ind Page 3
Prepared by, date: Jensen Xu 4/5/2020 Approved by, date: Henrik Knobel 4/7/2020 3HAC024480-020 00 Next 4
Total 4
 1 2 3 4 5 6 7 8

start/stop signal

-PS1 -E1 -CVY1 -S1

DC24V NPN conveyor e.g, photo cell
power supply 24V 0V Encoder drive unit sensor
B A 0V 24V

External

Internal -IO1
DSQC 1030 DO
PWR DO PWR DO

GND DO GND DO
We reserve all rights in this document and in the information contained therein.Reproduction, use or

-X1
disclosure to third parties without express authority is strictly forbidden. © Copyright 2017 ABB

1 9

2 10

3 11

4 12

5 13
-XS11 6 5 4 3 2 1 -XS1 2 1
6 14
-CTM1 -X11 6 5 4 3 2 1 -X1 2 1
CTM-01 7 15
DSQC 2000 CH2- CH2+ CH1- CH1+ GND 24V 24V GND

8 16
X7

WAN SYNC&
CAM CAM SYNC SYNC TRIG Trig DI
PWR GND IN 24V GND Out
GND DI GND DI
-X21 1 2 3 4 5 6
-X2 1 9
W2
ethernet -XS21 1 2 3 4 5 6
2 10

3 11
Ctr3 Ctr1 X4
PC cabinet A31 4 12
main computer
LAN LAN2 5 13

X5 6 14
alternative alternative
7 15
LAN LAN3
W3 W4
8 16
ethernet X6 ethernet

LAN WAN LAN

Latest revision: Lab/Office:

PickMasterTwin Status: Plant: =2
DMRO SE/
#2 wiring diagram Location: +
Approved
robot x 1 + conveyor + sensor Sublocation:+
NPN encoder Document no. Rev. Ind Page 4
Prepared by, date: Jensen Xu 4/5/2020 Approved by, date: Henrik Knobel 4/7/2020 3HAC024480-020 00 Next =3/1
Total 4
 1 2 3 4 5 6 7 8

External Internal

PC cabinet

ethernet
Power Supply
DC24V
Robot
We reserve all rights in this document and in the information contained therein.Reproduction, use or
disclosure to third parties without express authority is strictly forbidden. © Copyright 2017 ABB

Sensor
WAN

A31

sensor signal
Indexed work area.
DSCQ1030
ethernet
LAN2

LAN3

IRC5 Cabinet
For detailed wiring diagram, please refer to "#3 wiring diagram".

Latest revision: Lab/Office:

PickMasterTwin Status: Plant: =3
DMRO SE/
#3 block diagram Location: +
Approved
robot x 1 + sensor Sublocation:+
IRC5 Document no. Rev. Ind Page 1
Prepared by, date: Jensen Xu 4/5/2020 Approved by, date: Henrik Knobel 4/7/2020 3HAC024480-020 00 Next 2
Total 3
 1 2 3 4 5 6 7 8

External Internal

PC cabinet

ethernet
Power Supply
DC24V
Robot
We reserve all rights in this document and in the information contained therein.Reproduction, use or
disclosure to third parties without express authority is strictly forbidden. © Copyright 2017 ABB

Sensor
WAN

A31

sensor signal
Indexed work area.
DSCQ1030
ethernet
LAN2

LAN3

electric box IRC5C Cabinet

For detailed wiring diagram, please refer to "#3 wiring diagram".

Latest revision: Lab/Office:

PickMasterTwin Status: Plant: =3
DMRO SE/
#3 block diagram Location: +
Approved
robot x 1 + sensor Sublocation:+
IRC5C Document no. Rev. Ind Page 2
Prepared by, date: Jensen Xu 4/5/2020 Approved by, date: Henrik Knobel 4/7/2020 3HAC024480-020 00 Next 3
Total 3
 1 2 3 4 5 6 7 8

signal

-PS1 -S1
DC24V e.g, photo cell
power supply 24V 0V sensor

External

Internal -IO1
DSQC 1030 DO
PWR DO PWR DO

GND DO GND DO
We reserve all rights in this document and in the information contained therein.Reproduction, use or

-X1
disclosure to third parties without express authority is strictly forbidden. © Copyright 2017 ABB

1 9

2 10

3 11

4 12

5 13

6 14

7 15

8 16

DI
GND DI GND DI

-X2 1 9

2 10

3 11
Ctr3 Ctr1 X4
PC cabinet A31 4 12
main computer
LAN LAN2 5 13

X5 6 14

7 15
LAN LAN3
W3 W4
8 16
ethernet X6 ethernet

LAN WAN LAN

Latest revision: Lab/Office:

PickMasterTwin Status: Plant: =3
DMRO SE/
#3 wiring diagram Location: +
Approved
robot x 1 + sensor Sublocation:+
Document no. Rev. Ind Page 3
Prepared by, date: Jensen Xu 4/5/2020 Approved by, date: Henrik Knobel 4/7/2020 3HAC024480-020 00 Next =4/1
Total 3
 1 2 3 4 5 6 7 8

External Internal

Ethernet
PC cabinet

ethernet

ethernet

ethernet
Power Supply
DC24V
Robot 2 Robot 1

Encoder
WAN
We reserve all rights in this document and in the information contained therein.Reproduction, use or
disclosure to third parties without express authority is strictly forbidden. © Copyright 2017 ABB

Camera
DSCQ1030
ethernet
LAN2
Conveyor
Conveyor Drive Unit
LAN3

A31
IRC5 Cabinet 2

Conveyor start/stop signal WAN

DSCQ1030
ethernet
LAN2

Power/trig/strobe
Encoder signals CTM board LAN3

A31
IRC5 Cabinet 1
For detailed wiring diagram, please refer to "#4 wiring diagram".

Latest revision: Lab/Office:

PickMasterTwin Status: Plant: =4
DMRO SE/
#4 block diagram Location: +
Approved
robot x 2 + conveyor + camera Sublocation:+
IRC5 Document no. Rev. Ind Page 1
Prepared by, date: Jensen Xu 4/5/2020 Approved by, date: Henrik Knobel 4/7/2020 3HAC024480-020 00 Next 2
Total 18
 1 2 3 4 5 6 7 8

External Internal

Ethernet
PC cabinet

ethernet

ethernet

ethernet
Power Supply
DC24V
Robot 2 Robot 1

Encoder
WAN
We reserve all rights in this document and in the information contained therein.Reproduction, use or
disclosure to third parties without express authority is strictly forbidden. © Copyright 2017 ABB

Camera
DSCQ1030
ethernet
LAN2
Conveyor
Conveyor Drive Unit
LAN3

A31
electric box 2 IRC5C Cabinet 2

Conveyor start/stop signal WAN

DSCQ1030
ethernet
LAN2

Power/trig/strobe
Encoder signals CTM board LAN3

A31
electric box 1 IRC5C Cabinet 1
For detailed wiring diagram, please refer to "#4 wiring diagram".

Latest revision: Lab/Office:

PickMasterTwin Status: Plant: =4
DMRO SE/
#4 block diagram Location: +
Approved
robot x 2 + conveyor + camera Sublocation:+
IRC5C Document no. Rev. Ind Page 2
Prepared by, date: Jensen Xu 4/5/2020 Approved by, date: Henrik Knobel 4/7/2020 3HAC024480-020 00 Next 3
Total 18
 1 2 3 4 5 6 7 8

start/stop trigger strobe

-PS1 -E1 -CVY1 -CM1 HRS.HR10A-10R-12P

DC24V PNP & push/pull conveyor scout
power supply 24V 0V Encoder drive unit camera 0V 0V I1 I2 I_Gnd Q1 Q2 Vcc Vcc Q_Vcc Q3 Q4
B A 0V 24V basler.scA1300-32gc
1 2 3 4 5 6 7 8 9 10 11 12

W1
Power-I/O Cable
10 m
2000022909 WH GN BU RD GY BK VT BN YE PK GYPK RDBU

External

Internal -IO1
DSQC 1030 DO
3.a.1 / 24V PWR DO PWR DO

3.a.1 / 0V GND DO GND DO

We reserve all rights in this document and in the information contained therein.Reproduction, use or

-X1
disclosure to third parties without express authority is strictly forbidden. © Copyright 2017 ABB

1 9

3.a.5 / CM1 2 10

3 11

4 12

5 13
-XS11 6 5 4 3 2 1 -XS1 2 1
6 14
-CTM1 -X11 6 5 4 3 2 1 -X1 2 1
CTM-01 7 15
DSQC 2000 CH2- CH2+ CH1- CH1+ GND 24V 24V GND

3.a.4 / CVY1 8 16
X7

WAN SYNC&
CAM CAM SYNC SYNC TRIG Trig DI
PWR GND IN 24V GND Out
GND DI GND DI
-X21 1 2 3 4 5 6
-X2 1 9
W2
ethernet -XS21 1 2 3 4 5 6
2 10

3 11
Ctr3 Ctr1 X4
PC cabinet A31 4 12
main computer
LAN LAN2 5 13

X5 6 14

7 15
LAN LAN3
W3 W4
8 16
ethernet X6 ethernet

LAN WAN LAN

Latest revision: Lab/Office:

PickMasterTwin Status: Plant: =4
DMRO SE/
#4 wiring diagram Location: +
Approved
robot x 2 + conveyor + camera Sublocation:+
PNP & push/pull encoder Document no. Rev. Ind Page 3
Power-I/O cable 2000022909
Prepared by, date: Jensen Xu 4/5/2020 Approved by, date: Henrik Knobel 4/7/2020 basler scout camera 3HAC024480-020 00 Next 3.a
Total 18
 1 2 3 4 5 6 7 8

External

Internal -IO2
DSQC 1030 DO
3.1 / 24V PWR DO PWR DO

3.1 / 0V GND DO GND DO

We reserve all rights in this document and in the information contained therein.Reproduction, use or

-X1
disclosure to third parties without express authority is strictly forbidden. © Copyright 2017 ABB

1 9

3.5 / CM1 2 10

3 11

4 12

5 13

6 14

7 15

3.4 / CVY1 8 16

DI
GND DI GND DI

-X2 1 9

2 10

3 11
Ctr3 Ctr2 X4
PC cabinet A31 4 12
main computer
LAN LAN2 5 13

X5 6 14

7 15
LAN LAN3
W5 W6
8 16
ethernet X6 ethernet

LAN WAN LAN

Latest revision: Lab/Office:

PickMasterTwin Status: Plant: =4
DMRO SE/
#4 wiring diagram Location: +
Approved
robot x 2 + conveyor + camera Sublocation:+
PNP & push/pull encoder Document no. Rev. Ind Page 3.a
Power-I/O cable 2000022909
Prepared by, date: Jensen Xu 4/5/2020 Approved by, date: Henrik Knobel 4/7/2020 basler scout camera 3HAC024480-020 00 Next 4
Total 18
 1 2 3 4 5 6 7 8

start/stop trigger strobe

-PS1 -E1 -CVY1 -CM1 HRS.HR10A-10R-12P

DC24V NPN conveyor scout
power supply 24V 0V Encoder drive unit camera 0V 0V I1 I2 I_Gnd Q1 Q2 Vcc Vcc Q_Vcc Q3 Q4
B A 0V 24V basler.scA1300-32gc
1 2 3 4 5 6 7 8 9 10 11 12

W1
Power-I/O Cable
10 m
2000022909 WH GN BU RD GY BK VT BN YE PK GYPK RDBU

External

Internal -IO1
DSQC 1030 DO
4.a.1 / 24V PWR DO PWR DO

4.a.1 / 0V GND DO GND DO

We reserve all rights in this document and in the information contained therein.Reproduction, use or

-X1
disclosure to third parties without express authority is strictly forbidden. © Copyright 2017 ABB

1 9

4.a.5 / CM1 2 10

3 11

4 12

5 13
-XS11 6 5 4 3 2 1 -XS1 2 1
6 14
-CTM1 -X11 6 5 4 3 2 1 -X1 2 1
CTM-01 7 15
DSQC 2000 CH2- CH2+ CH1- CH1+ GND 24V 24V GND

4.a.4 / CVY1 8 16
X7

WAN SYNC&
CAM CAM SYNC SYNC TRIG Trig DI
PWR GND IN 24V GND Out
GND DI GND DI
-X21 1 2 3 4 5 6
-X2 1 9
W2
ethernet -XS21 1 2 3 4 5 6
2 10

3 11
Ctr3 Ctr1 X4
PC cabinet A31 4 12
main computer
LAN LAN2 5 13

X5 6 14

7 15
LAN LAN3
W3 W4
8 16
ethernet X6 ethernet

LAN WAN LAN

Latest revision: Lab/Office:

PickMasterTwin Status: Plant: =4
DMRO SE/
#4 wiring diagram Location: +
Approved
robot x 2 + conveyor + camera Sublocation:+
NPN encoder Document no. Rev. Ind Page 4
Power-I/O cable 2000022909
Prepared by, date: Jensen Xu 4/5/2020 Approved by, date: Henrik Knobel 4/7/2020 basler scout camera 3HAC024480-020 00 Next 4.a
Total 18
 1 2 3 4 5 6 7 8

External

Internal -IO2
DSQC 1030 DO
4.1 / 24V PWR DO PWR DO

4.1 / 0V GND DO GND DO

We reserve all rights in this document and in the information contained therein.Reproduction, use or

-X1
disclosure to third parties without express authority is strictly forbidden. © Copyright 2017 ABB

1 9

4.5 / CM1 2 10

3 11

4 12

5 13

6 14

7 15

4.4 / CVY1 8 16

DI
GND DI GND DI

-X2 1 9

2 10

3 11
Ctr3 Ctr2 X4
PC cabinet A31 4 12
main computer
LAN LAN2 5 13

X5 6 14

7 15
LAN LAN3
W5 W6
8 16
ethernet X6 ethernet

LAN WAN LAN

Latest revision: Lab/Office:

PickMasterTwin Status: Plant: =4
DMRO SE/
#4 wiring diagram Location: +
Approved
robot x 2 + conveyor + camera Sublocation:+
NPN encoder Document no. Rev. Ind Page 4.a
Power-I/O cable 2000022909
Prepared by, date: Jensen Xu 4/5/2020 Approved by, date: Henrik Knobel 4/7/2020 basler scout camera 3HAC024480-020 00 Next 5
Total 18
 1 2 3 4 5 6 7 8

start/stop trigger strobe

-PS1 -E1 -CVY1 -CM1 HRS.HR10A-10R-12P

DC24V PNP & push/pull conveyor scout
power supply 24V 0V Encoder drive unit camera 0V 0V I1 I_Gnd I2 I_Gnd Q1 Q_Vcc Q2 Q_Vcc Vcc Vcc Q_Vcc Q3 Q_Vcc Q4
B A 0V 24V basler.scA1300-32gc
1 2 3 5 4 5 6 10 7 10 8 9 10 11 10 12

W1
Power-I/O Cable
10 m

External 2000034085 WH GN PK GY RD BU VT BK RDBU GYPK BN YE WHGN BNGN WHYE YEBN

Internal -IO1
DSQC 1030 DO
5.a.1 / 24V PWR DO PWR DO

5.a.1 / 0V GND DO GND DO

We reserve all rights in this document and in the information contained therein.Reproduction, use or

-X1
disclosure to third parties without express authority is strictly forbidden. © Copyright 2017 ABB

1 9

5.a.5 / CM1 2 10

3 11

4 12

5 13
-XS11 6 5 4 3 2 1 -XS1 2 1
6 14
-CTM1 -X11 6 5 4 3 2 1 -X1 2 1
CTM-01 7 15
DSQC 2000 CH2- CH2+ CH1- CH1+ GND 24V 24V GND

5.a.4 / CVY1 8 16
X7

WAN SYNC&
CAM CAM SYNC SYNC TRIG Trig DI
PWR GND IN 24V GND Out
GND DI GND DI
-X21 1 2 3 4 5 6
-X2 1 9
W2
ethernet -XS21 1 2 3 4 5 6
2 10

3 11
Ctr3 Ctr1 X4
PC cabinet A31 4 12
main computer
LAN LAN2 5 13

X5 6 14

7 15
LAN LAN3
W3 W4
8 16
ethernet X6 ethernet

LAN WAN LAN

Latest revision: Lab/Office:

PickMasterTwin Status: Plant: =4
DMRO SE/
#4 wiring diagram Location: +
Approved
robot x 2 + conveyor + camera Sublocation:+
PNP & push/pull encoder Document no. Rev. Ind Page 5
Power-I/O cable 2000034085
Prepared by, date: Jensen Xu 4/5/2020 Approved by, date: Henrik Knobel 4/7/2020 basler scout camera 3HAC024480-020 00 Next 5.a
Total 18
 1 2 3 4 5 6 7 8

External

Internal -IO2
DSQC 1030 DO
5.1 / 24V PWR DO PWR DO

5.1 / 0V GND DO GND DO

We reserve all rights in this document and in the information contained therein.Reproduction, use or

-X1
disclosure to third parties without express authority is strictly forbidden. © Copyright 2017 ABB

1 9

5.5 / CM1 2 10

3 11

4 12

5 13

6 14

7 15

5.4 / CVY1 8 16

DI
GND DI GND DI

-X2 1 9

2 10

3 11
Ctr3 Ctr2 X4
PC cabinet A31 4 12
main computer
LAN LAN2 5 13

X5 6 14

7 15
LAN LAN3
W5 W6
8 16
ethernet X6 ethernet

LAN WAN LAN

Latest revision: Lab/Office:

PickMasterTwin Status: Plant: =4
DMRO SE/
#4 wiring diagram Location: +
Approved
robot x 2 + conveyor + camera Sublocation:+
PNP & push/pull encoder Document no. Rev. Ind Page 5.a
Power-I/O cable 2000034085
Prepared by, date: Jensen Xu 4/5/2020 Approved by, date: Henrik Knobel 4/7/2020 basler scout camera 3HAC024480-020 00 Next 6
Total 18
 1 2 3 4 5 6 7 8

start/stop trigger strobe

-PS1 -E1 -CVY1 -CM1 HRS.HR10A-10R-12P

DC24V NPN conveyor scout
power supply 24V 0V Encoder drive unit camera 0V 0V I1 I_Gnd I2 I_Gnd Q1 Q_Vcc Q2 Q_Vcc Vcc Vcc Q_Vcc Q3 Q_Vcc Q4
B A 0V 24V basler.scA1300-32gc
1 2 3 5 4 5 6 10 7 10 8 9 10 11 10 12

W1
Power-I/O Cable
10 m

External 2000034085 WH GN PK GY RD BU VT BK RDBU GYPK BN YE WHGN BNGN WHYE YEBN

Internal -IO1
DSQC 1030 DO
6.a.1 / 24V PWR DO PWR DO

6.a.1 / 0V GND DO GND DO

We reserve all rights in this document and in the information contained therein.Reproduction, use or

-X1
disclosure to third parties without express authority is strictly forbidden. © Copyright 2017 ABB

1 9

6.a.5 / CM1 2 10

3 11

4 12

5 13
-XS11 6 5 4 3 2 1 -XS1 2 1
6 14
-CTM1 -X11 6 5 4 3 2 1 -X1 2 1
CTM-01 7 15
DSQC 2000 CH2- CH2+ CH1- CH1+ GND 24V 24V GND

6.a.4 / CVY1 8 16
X7

WAN SYNC&
CAM CAM SYNC SYNC TRIG Trig DI
PWR GND IN 24V GND Out
GND DI GND DI
-X21 1 2 3 4 5 6
-X2 1 9
W2
ethernet -XS21 1 2 3 4 5 6
2 10

3 11
Ctr3 Ctr1 X4
PC cabinet A31 4 12
main computer
LAN LAN2 5 13

X5 6 14

7 15
LAN LAN3
W3 W4
8 16
ethernet X6 ethernet

LAN WAN LAN

Latest revision: Lab/Office:

PickMasterTwin Status: Plant: =4
DMRO SE/
#4 wiring diagram Location: +
Approved
robot x 2 + conveyor + camera Sublocation:+
NPN encoder Document no. Rev. Ind Page 6
Power-I/O cable 2000034085
Prepared by, date: Jensen Xu 4/5/2020 Approved by, date: Henrik Knobel 4/7/2020 basler scout camera 3HAC024480-020 00 Next 6.a
Total 18
 1 2 3 4 5 6 7 8

External

Internal -IO2
DSQC 1030 DO
6.1 / 24V PWR DO PWR DO

6.1 / 0V GND DO GND DO

We reserve all rights in this document and in the information contained therein.Reproduction, use or

-X1
disclosure to third parties without express authority is strictly forbidden. © Copyright 2017 ABB

1 9

6.5 / CM1 2 10

3 11

4 12

5 13

6 14

7 15

6.4 / CVY1 8 16

DI
GND DI GND DI

-X2 1 9

2 10

3 11
Ctr3 Ctr2 X4
PC cabinet A31 4 12
main computer
LAN LAN2 5 13

X5 6 14

7 15
LAN LAN3
W5 W6
8 16
ethernet X6 ethernet

LAN WAN LAN

Latest revision: Lab/Office:

PickMasterTwin Status: Plant: =4
DMRO SE/
#4 wiring diagram Location: +
Approved
robot x 2 + conveyor + camera Sublocation:+
NPN encoder Document no. Rev. Ind Page 6.a
Power-I/O cable 2000034085
Prepared by, date: Jensen Xu 4/5/2020 Approved by, date: Henrik Knobel 4/7/2020 basler scout camera 3HAC024480-020 00 Next 7
Total 18
 1 2 3 4 5 6 7 8

start/stop trigger strobe

-PS1 -E1 -CVY1 -CM1 HRS.HR10A-10R-12P

DC24V PNP & push/pull conveyor scout
power supply 24V 0V Encoder drive unit camera shield 0V Vcc 0V Vcc I_Gnd Q_Vcc I1 Q1
B A 0V 24V basler.scA1300-32gc
B C D E F G H J K L M N P

W1
Power-I/O Cable
10 m
2000026632 WH BN GN YE GY PK BU RD BK VT GYPK RDBU

External

Internal -IO1
DSQC 1030 DO
7.a.1 / 24V PWR DO PWR DO

7.a.1 / 0V GND DO GND DO

We reserve all rights in this document and in the information contained therein.Reproduction, use or

-X1
disclosure to third parties without express authority is strictly forbidden. © Copyright 2017 ABB

1 9

7.a.6 / CM1 2 10

3 11

4 12

5 13
-XS11 6 5 4 3 2 1 -XS1 2 1
6 14
-CTM1 -X11 6 5 4 3 2 1 -X1 2 1
CTM-01 7 15
DSQC 2000 CH2- CH2+ CH1- CH1+ GND 24V 24V GND

7.a.4 / CVY1 8 16
X7

WAN SYNC&
CAM CAM SYNC SYNC TRIG Trig DI
PWR GND IN 24V GND Out
GND DI GND DI
-X21 1 2 3 4 5 6
-X2 1 9
W2
ethernet -XS21 1 2 3 4 5 6
2 10

3 11
Ctr3 Ctr1 X4
PC cabinet A31 4 12
main computer
LAN LAN2 5 13

X5 6 14

7 15
LAN LAN3
W3 W4
8 16
ethernet X6 ethernet

LAN WAN LAN

Latest revision: Lab/Office:

PickMasterTwin Status: Plant: =4
DMRO SE/
#4 wiring diagram Location: +
Approved
robot x 2 + conveyor + camera Sublocation:+
PNP & push/pull encoder Document no. Rev. Ind Page 7
Power-I/O cable 2000026632
Prepared by, date: Jensen Xu 4/5/2020 Approved by, date: Henrik Knobel 4/7/2020 basler scout camera 3HAC024480-020 00 Next 7.a
Total 18
 1 2 3 4 5 6 7 8

External

Internal -IO2
DSQC 1030 DO
7.1 / 24V PWR DO PWR DO

7.1 / 0V GND DO GND DO

We reserve all rights in this document and in the information contained therein.Reproduction, use or

-X1
disclosure to third parties without express authority is strictly forbidden. © Copyright 2017 ABB

1 9

7.6 / CM1 2 10

3 11

4 12

5 13

6 14

7 15

7.4 / CVY1 8 16

DI
GND DI GND DI

-X2 1 9

2 10

3 11
Ctr3 Ctr2 X4
PC cabinet A31 4 12
main computer
LAN LAN2 5 13

X5 6 14

7 15
LAN LAN3
W5 W6
8 16
ethernet X6 ethernet

LAN WAN LAN

Latest revision: Lab/Office:

PickMasterTwin Status: Plant: =4
DMRO SE/
#4 wiring diagram Location: +
Approved
robot x 2 + conveyor + camera Sublocation:+
PNP & push/pull encoder Document no. Rev. Ind Page 7.a
Power-I/O cable 2000026632
Prepared by, date: Jensen Xu 4/5/2020 Approved by, date: Henrik Knobel 4/7/2020 basler scout camera 3HAC024480-020 00 Next 8
Total 18
 1 2 3 4 5 6 7 8

start/stop trigger strobe

-PS1 -E1 -CVY1 -CM1 HRS.HR10A-10R-12P

DC24V NPN conveyor scout
power supply 24V 0V Encoder drive unit camera shield 0V Vcc 0V Vcc I_Gnd Q_Vcc I1 Q1
B A 0V 24V basler.scA1300-32gc
B C D E F G H J K L M N P

W1
Power-I/O Cable
10 m
2000026632 WH BN GN YE GY PK BU RD BK VT GYPK RDBU

External

Internal -IO1
DSQC 1030 DO
8.a.1 / 24V PWR DO PWR DO

8.a.1 / 0V GND DO GND DO

We reserve all rights in this document and in the information contained therein.Reproduction, use or

-X1
disclosure to third parties without express authority is strictly forbidden. © Copyright 2017 ABB

1 9

8.a.6 / CM1 2 10

3 11

4 12

5 13
-XS11 6 5 4 3 2 1 -XS1 2 1
6 14
-CTM1 -X11 6 5 4 3 2 1 -X1 2 1
CTM-01 7 15
DSQC 2000 CH2- CH2+ CH1- CH1+ GND 24V 24V GND

8.a.4 / CVY1 8 16
X7

WAN SYNC&
CAM CAM SYNC SYNC TRIG Trig DI
PWR GND IN 24V GND Out
GND DI GND DI
-X21 1 2 3 4 5 6
-X2 1 9
W2
ethernet -XS21 1 2 3 4 5 6
2 10

3 11
Ctr3 Ctr1 X4
PC cabinet A31 4 12
main computer
LAN LAN2 5 13

X5 6 14

7 15
LAN LAN3
W3 W4
8 16
ethernet X6 ethernet

LAN WAN LAN

Latest revision: Lab/Office:

PickMasterTwin Status: Plant: =4
DMRO SE/
#4 wiring diagram Location: +
Approved
robot x 2 + conveyor + camera Sublocation:+
NPN encoder Document no. Rev. Ind Page 8
Power-I/O cable 2000026632
Prepared by, date: Jensen Xu 4/5/2020 Approved by, date: Henrik Knobel 4/7/2020 basler scout camera 3HAC024480-020 00 Next 8.a
Total 18
 1 2 3 4 5 6 7 8

External

Internal -IO2
DSQC 1030 DO
8.1 / 24V PWR DO PWR DO

8.1 / 0V GND DO GND DO

We reserve all rights in this document and in the information contained therein.Reproduction, use or

-X1
disclosure to third parties without express authority is strictly forbidden. © Copyright 2017 ABB

1 9

8.6 / CM1 2 10

3 11

4 12

5 13

6 14

7 15

8.4 / CVY1 8 16

DI
GND DI GND DI

-X2 1 9

2 10

3 11
Ctr3 Ctr2 X4
PC cabinet A31 4 12
main computer
LAN LAN2 5 13

X5 6 14

7 15
LAN LAN3
W5 W6
8 16
ethernet X6 ethernet

LAN WAN LAN

Latest revision: Lab/Office:

PickMasterTwin Status: Plant: =4
DMRO SE/
#4 wiring diagram Location: +
Approved
robot x 2 + conveyor + camera Sublocation:+
NPN encoder Document no. Rev. Ind Page 8.a
Power-I/O cable 2000026632
Prepared by, date: Jensen Xu 4/5/2020 Approved by, date: Henrik Knobel 4/7/2020 basler scout camera 3HAC024480-020 00 Next 9
Total 18
 1 2 3 4 5 6 7 8

start/stop trigger strobe

-PS1 -E1 -CVY1 -CM1 HRS.HR10A-7R-6PB

DC24V PNP & push/pull conveyor ace
power supply 24V 0V Encoder drive unit camera 24V I I_GND Q Q_Gnd 0V
B A 0V 24V basler.acA1440-73gc
1 2 5 4 5 6

W1
Power-I/O Cable
10 m
2000034084 BN PK GY YE GN WH

External

Internal -IO1
DSQC 1030 DO
9.a.1 / 24V PWR DO PWR DO

9.a.1 / 0V GND DO GND DO

We reserve all rights in this document and in the information contained therein.Reproduction, use or

-X1
disclosure to third parties without express authority is strictly forbidden. © Copyright 2017 ABB

1 9

9.a.5 / CM1 2 10

3 11

4 12

5 13
-XS11 6 5 4 3 2 1 -XS1 2 1
6 14
-CTM1 -X11 6 5 4 3 2 1 -X1 2 1
CTM-01 7 15
DSQC 2000 CH2- CH2+ CH1- CH1+ GND 24V 24V GND

9.a.4 / CVY1 8 16
X7

WAN SYNC&
CAM CAM SYNC SYNC TRIG Trig DI
PWR GND IN 24V GND Out
GND DI GND DI
-X21 1 2 3 4 5 6
-X2 1 9
W2
ethernet -XS21 1 2 3 4 5 6
2 10

3 11
Ctr3 Ctr1 X4
PC cabinet A31 4 12
main computer
LAN LAN2 5 13

X5 6 14

7 15
LAN LAN3
W3 W4
8 16
ethernet X6 ethernet

LAN WAN LAN

Latest revision: Lab/Office:

PickMasterTwin Status: Plant: =4
DMRO SE/
#4 wiring diagram Location: +
Approved
robot x 2 + conveyor + camera Sublocation:+
PNP & push/pull encoder Document no. Rev. Ind Page 9
Power-I/O cable 2000034084
Prepared by, date: Jensen Xu 4/5/2020 Approved by, date: Henrik Knobel 4/7/2020 basler ace camera 3HAC024480-020 00 Next 9.a
Total 18
 1 2 3 4 5 6 7 8

External

Internal -IO2
DSQC 1030 DO
9.1 / 24V PWR DO PWR DO

9.1 / 0V GND DO GND DO

We reserve all rights in this document and in the information contained therein.Reproduction, use or

-X1
disclosure to third parties without express authority is strictly forbidden. © Copyright 2017 ABB

1 9

9.5 / CM1 2 10

3 11

4 12

5 13

6 14

7 15

9.4 / CVY1 8 16

DI
GND DI GND DI

-X2 1 9

2 10

3 11
Ctr3 Ctr2 X4
PC cabinet A31 4 12
main computer
LAN LAN2 5 13

X5 6 14

7 15
LAN LAN3
W5 W6
8 16
ethernet X6 ethernet

LAN WAN LAN

Latest revision: Lab/Office:

PickMasterTwin Status: Plant: =4
DMRO SE/
#4 wiring diagram Location: +
Approved
robot x 2 + conveyor + camera Sublocation:+
PNP & push/pull encoder Document no. Rev. Ind Page 9.a
Power-I/O cable 2000034084
Prepared by, date: Jensen Xu 4/5/2020 Approved by, date: Henrik Knobel 4/7/2020 basler ace camera 3HAC024480-020 00 Next 10
Total 18
 1 2 3 4 5 6 7 8

start/stop trigger strobe

-PS1 -E1 -CVY1 -CM1 HRS.HR10A-7R-6PB

DC24V NPN conveyor ace
power supply 24V 0V Encoder drive unit camera 24V I I_GND Q Q_Gnd 0V
B A 0V 24V basler.acA1440-73gc
1 2 5 4 5 6

W1
Power-I/O Cable
10 m
2000034084 BN PK GY YE GN WH

External

Internal -IO1
DSQC 1030 DO
10.a.1 / 24V PWR DO PWR DO

10.a.1 / 0V GND DO GND DO

We reserve all rights in this document and in the information contained therein.Reproduction, use or

-X1
disclosure to third parties without express authority is strictly forbidden. © Copyright 2017 ABB

1 9

10.a.5 / CM1 2 10

3 11

4 12

5 13
-XS11 6 5 4 3 2 1 -XS1 2 1
6 14
-CTM1 -X11 6 5 4 3 2 1 -X1 2 1
CTM-01 7 15
DSQC 2000 CH2- CH2+ CH1- CH1+ GND 24V 24V GND

10.a.4 / CVY1 8 16
X7

WAN SYNC&
CAM CAM SYNC SYNC TRIG Trig DI
PWR GND IN 24V GND Out
GND DI GND DI
-X21 1 2 3 4 5 6
-X2 1 9
W2
ethernet -XS21 1 2 3 4 5 6
2 10

3 11
Ctr3 Ctr1 X4
PC cabinet A31 4 12
main computer
LAN LAN2 5 13

X5 6 14

7 15
LAN LAN3
W3 W4
8 16
ethernet X6 ethernet

LAN WAN LAN

Latest revision: Lab/Office:

PickMasterTwin Status: Plant: =4
DMRO SE/
#4 wiring diagram Location: +
Approved
robot x 2 + conveyor + camera Sublocation:+
NPN encoder Document no. Rev. Ind Page 10
Power-I/O cable 2000034084
Prepared by, date: Jensen Xu 4/5/2020 Approved by, date: Henrik Knobel 4/7/2020 basler ace camera 3HAC024480-020 00 Next 10.a
Total 18
 1 2 3 4 5 6 7 8

External

Internal -IO2
DSQC 1030 DO
10.1 / 24V PWR DO PWR DO

10.1 / 0V GND DO GND DO

We reserve all rights in this document and in the information contained therein.Reproduction, use or

-X1
disclosure to third parties without express authority is strictly forbidden. © Copyright 2017 ABB

1 9

10.5 / CM1 2 10

3 11

4 12

5 13

6 14

7 15

10.4 / CVY1 8 16

DI
GND DI GND DI

-X2 1 9

2 10

3 11
Ctr3 Ctr2 X4
PC cabinet A31 4 12
main computer
LAN LAN2 5 13

X5 6 14

7 15
LAN LAN3
W5 W6
8 16
ethernet X6 ethernet

LAN WAN LAN

Latest revision: Lab/Office:

PickMasterTwin Status: Plant: =4
DMRO SE/
#4 wiring diagram Location: +
Approved
robot x 2 + conveyor + camera Sublocation:+
NPN encoder Document no. Rev. Ind Page 10.a
Power-I/O cable 2000034084
Prepared by, date: Jensen Xu 4/5/2020 Approved by, date: Henrik Knobel 4/7/2020 basler ace camera 3HAC024480-020 00 Next
Total 18