Diagramaeletrico IRC5Controlador

1
We reserve all rights in this document and in the information contained therein.Reproduction, use or
disclosure to third parties without express authority is strictly forbidden. Copyright 2003 ABB
The information in this document is subject to change without notice and should not be construed as a
commitment by ABB. ABB assumes no responsibility for any errors that may appear in this document.
Except as may be expressly stated anywhere in this document, nothing herein shall be construed as any
kind of guarantee or warranty by ABB for losses, damages to persons or property, fitness for a
specific purpose or the like.
In no event shall ABB be liable for incidental or consequential damages arising from use of this document.
This document and parts thereof must not be reproduced or copied without ABB's written permission,
and contents therof must not be imparted to a third party nor be used for any unauthorized purpose.
Contravention will be prosecuted.
Additional copies of this document may be obtained from ABB at its then current charge.
Copyright 2004 ABB ALL right reserved.

ABB AB
SE-721 68 Vsters
Sweden
Latest revision:
Prepared by, date: Stalnacke PRH Approved by, date: Vasberg PRH
Lab/Office:
DMRO SE/
PRH
IRC5 SC/DC DESIGN 09 Rel 11.1

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PAGE DESCRIPTION
Date
Edited by
COPYRIGHT page
2011-03-24
SETHSTA
TABLE OF CONTENTS
2011-03-24
SETHSTA
TABLE OF CONTENTS
2011-03-24
SETHSTA
TABLE OF CONTENTS
2011-03-24
SETHSTA
TABLE OF CONTENTS
2011-03-24
SETHSTA
TABLE OF CONTENTS
2011-03-24
SETHSTA
SYMBOL INFORMATION
2011-03-24
SETHSTA
REVISION INFOMATION
2011-03-24
SETHSTA
10
Device list sorting by Function name
2011-03-24
SETHSTA
11
2011-03-24
SETHSTA
12
Device list sorting by Location name
2011-03-24
SETHSTA
13
2011-03-24
SETHSTA
14
BLOCK DIAGRAM SINGLE CONTROL MODULE
2011-03-24
SETHSTA
14.1
BLOCK DIAGRAM DUAL CONTROL MODULE
2011-03-24
SETHSTA
14.2
BLOCK DIAGRAM DUAL DRIVE MODULE
2011-03-24
SETHSTA
15
FRONT VIEW OF SINGLE CABINET MDU HV
2011-03-24
SETHSTA
15.1
FRONT VIEW OF SINGLE CABINET MDU LV and HV
2011-03-24
SETHSTA
16
SIDE VIEWS OF SINGLE CABINET
2011-03-24
SETHSTA
17
VIEW OF CONTROL MODULE DUAL CABINET
2011-03-24
SETHSTA
18
VIEW OF DRIVE MODULE DUAL CABINET
2011-03-24
SETHSTA
19
VIEW OF COMPUTER UNIT AND PANEL BOARD
2011-03-24
SETHSTA
20
VIEW OF CONTACTOR & AXIS COMPUTER UNIT
2011-03-24
SETHSTA
21
VIEW OF VOLTAGE MEARSUREMENT BOX
2011-03-24
SETHSTA
22
CONTACT AT THE CABINET WALL
2011-03-24
SETHSTA
23
MAINS CONNECTION DUAL CABINET
2011-03-24
SETHSTA
24
PROCESS POWER SUPPLY DUAL CABINET
2011-03-24
SETHSTA
26
OPT:POWER SUPPLY DSQC609 FOR DUAL CAB.
2011-03-24
SETHSTA
28
OPT:POWER SUPPLY DSQC609 FOR SINGLE CAB.
2011-03-24
SETHSTA
29
EMERGENCY STOP
2011-03-24
SETHSTA
30
RUN CHAIN OPERATING, 3 MODE SELECTOR
2011-03-24
SETHSTA
31
SAFETY STOP
2011-03-24
SETHSTA
32
RUN CHAIN
2011-03-24
SETHSTA
33
2011-03-24
SETHSTA
Latest revision:
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TABLE OF CONTENTS
PAGE
PAGE DESCRIPTION
Date
Edited by
34
BLOCK DIAGRAM RUN CHAIN EXT OPERATING SELECTOR
2011-03-24
SETHSTA
35
RUN CHAIN EXT OPERATING, PANEL BOARD
2011-03-24
SETHSTA
36
RUN CHAIN EXT OPERATING, 2 AND 3 MODE SELECTOR
2011-03-24
SETHSTA
37
RUN CHAIN EXT OPERATING WITH OPT: HOT PLUG rel. 10.2 and earlier
2011-03-24
SETHSTA
38
RUN CHAIN EXT OPERATING WITH OPT: HOT PLUG rel 11.1
2011-03-24
SETHSTA
39
FPU, FLEXPENDANT
2011-03-24
SETHSTA
40
FPU, FLEXPENDANT OPTION: HOT PLUG
2011-03-24
SETHSTA
41
OPTION: EXT.CUSTOMER CONNECT. SYSTEM SIGNALS
2011-03-24
SETHSTA
42
MAIN COMPUTER DSQC 639
2011-03-24
SETHSTA
43
2011-03-24
SETHSTA
44
FIELDBUS ADAPTER: ETHERNET/IP, PROFIBUS and PROFINET IO
2011-03-24
SETHSTA
49
PROFIBUS DP M/S
2011-03-24
SETHSTA
50
PROFINET
2011-03-24
SETHSTA
52
INTERBUS M/S
2011-03-24
SETHSTA
52.1
ETHERNET CARD/ETHERNET IP
2011-03-24
SETHSTA
53
DEVICENET SINGLE/DUAL ADAPTER
2011-03-24
SETHSTA
55
DEVICENET ADAPTER
2011-03-24
SETHSTA
56
CC-LINK
2011-03-24
SETHSTA
57
DISPENCE PAC SUPPORT
2011-03-24
SETHSTA
58
DIGITAL PART OF COMBI I/O AND DIGITAL I/O UNIT
2011-03-24
SETHSTA
59
DIGITAL I/O UNIT
2011-03-24
SETHSTA
60
COMBI I/O UNIT
2011-03-24
SETHSTA
61
RELAY I/O UNIT
2011-03-24
SETHSTA
62
RELAY I/O UNIT
2011-03-24
SETHSTA
63
ANALOGUE I/O UNIT
2011-03-24
SETHSTA
64
REMOTE I/O UNIT
2011-03-24
SETHSTA
65
INTERBUS SLAVE
2011-03-24
SETHSTA
66
PROFIBUS DP SLAVE
2011-03-24
SETHSTA
67
ENCODER UNIT
2011-03-24
SETHSTA
68
REMOTE SERVICE
2011-03-24
SETHSTA
69
PLC.CPU unit PM582
2011-03-24
SETHSTA
69.1
PLC.DIGITAL unit DC532
2011-03-24
SETHSTA
69.2
PLC.DIGITAL INPUTS and RELAY OUTPUTS DX522
2011-03-24
SETHSTA
Latest revision:
Lab/Office:
DMRO SE/
PRH

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PAGE DESCRIPTION
Date
Edited by
69.3
PLC. ANALOGUE I/O UNIT
2011-03-24
SETHSTA
69.4
PLC. ETHERNET switch CM577-ETH
2011-03-24
SETHSTA
72
MAINS CONNECTION
2011-03-24
SETHSTA
73
TRANSFORMER UNIT
2011-03-24
SETHSTA
73.1
TRANSFORMER UNIT
2011-03-24
SETHSTA
74
OPTION : SERVICE OUTLET
2011-03-24
SETHSTA
75
POWER SUPPLY DSQC 626 AND 627 FOR DUAL CABINET
2011-03-24
SETHSTA
76
POWER SUPPLY DSQC 661 AND 662 FOR SINGLE CABINET
2011-03-24
SETHSTA
76.5
FAN UNIT
2011-03-24
SETHSTA
77
CONTACTOR BOARD
2011-03-24
SETHSTA
78
CONTACTOR UNIT
2011-03-24
SETHSTA
78.1
CONTACTOR UNIT
2011-03-24
SETHSTA
78.2
CONTACTOR BOARD
2011-03-24
SETHSTA
79
AXIS COMPUTER UNIT
2011-03-24
SETHSTA
80
AXIS COMPUTER UNIT
2011-03-24
SETHSTA
80.1
FORCE MEASUREMENT BOX
2011-03-24
SETHSTA
81
EPS
2011-03-24
SETHSTA
82
SAFE MOVE
2011-03-24
SETHSTA
83
SAFE MOVE
2011-03-24
SETHSTA
85
MAIN DRIVE UNIT and ADDITIONAL AXIS 1-3 for LV
2011-03-24
SETHSTA
86
MAIN DRIVE UNIT and ADDITIONAL AXIS 1-3 for HV
2011-03-24
SETHSTA
87
EXTERNAL AXIS no 7
2011-03-24
SETHSTA
88
EXTERNAL AXIS no 8 - 9
2011-03-24
SETHSTA
89
SERVO DRIVE SYSTEM IRB 120
2011-03-24
SETHSTA
90
CONTROL CABLE IRB 120
2011-03-24
SETHSTA
90.5
CUSTOMER SIGNALS IRB 120
2011-03-24
SETHSTA
91
2011-03-24
SETHSTA
92
2011-03-24
SETHSTA
93
CUSTOMER SIGNAL DUAL CABINET IRB 140
2011-03-24
SETHSTA
94
CUSTOMER SIGNAL SINGLE CABINET IRB 140
2011-03-24
SETHSTA
94.5
SERVO DRIVE UNIT IRB 260
2011-03-24
SETHSTA
94.6
2011-03-24
SETHSTA
94.7
CUSTOMER POWER/SIGNAL SINGLE/DUAL CABINET IRB 260
2011-03-24
SETHSTA
Latest revision:
Lab/Office:
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PAGE
PAGE DESCRIPTION
Date
Edited by
95
SERVO DRIVE UNITS IRB 360
2011-03-24
SETHSTA
96
2011-03-24
SETHSTA
97
CUSTOMER SIGNAL DUAL CABINET IRB 360
2011-03-24
SETHSTA
98
CUSTOMER SIGNAL SINGLE CABINET IRB 360
2011-03-24
SETHSTA
98.1
2011-03-24
SETHSTA
98.2
2011-03-24
SETHSTA
98.3
CUSTOMER POWER/SIGNAL IRB460, 660, 760
2011-03-24
SETHSTA
98.4
C-BUS/P-BUS/ to CP/CS IRB460, 660, 760
2011-03-24
SETHSTA
98.5
SERVO DRIVE SYSTEM IRB 660, 760
2011-03-24
SETHSTA
98.6
CONTROL CABLE IRB 660, 760
2011-03-24
SETHSTA
99
2011-03-24
SETHSTA
100
2011-03-24
SETHSTA
101
CUSTOMER SIGNALS DUAL CABINET IRB 1410
2011-03-24
SETHSTA
102
CUSTOMER SIGNALS SINGLE CABINET IRB 1410
2011-03-24
SETHSTA
105
2011-03-24
SETHSTA
106
2011-03-24
SETHSTA
107
CUSTOMER POWER/SIGNAL DUAL CABINET IRB 1600
2011-03-24
SETHSTA
108
CUSTOMER POWER/SIGNAL SINGLE CABINET IRB 1600
2011-03-24
SETHSTA
111
2011-03-24
SETHSTA
112
2011-03-24
SETHSTA
113
2011-03-24
SETHSTA
114
2011-03-24
SETHSTA
115
2011-03-24
SETHSTA
115.1
2011-03-24
SETHSTA
115.2
CUSTOMER POWER/SIGNAL IRB2600
2011-03-24
SETHSTA
115.3
CUSTOMER POWER/SIGNAL DEVICE NET IRB2600
2011-03-24
SETHSTA
115.4
CUSTOMER POWER/SIGNAL PROFI BUS IRB 2600
2011-03-24
SETHSTA
115.5
DevNet//PofiNet/Ethernet addition to CP/CS IRB2600
2011-03-24
SETHSTA
117
2011-03-24
SETHSTA
118
2011-03-24
SETHSTA
119
2011-03-24
SETHSTA
120
2011-03-24
SETHSTA
123
2011-03-24
SETHSTA
Latest revision:
Lab/Office:
DMRO SE/
PRH

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PAGE DESCRIPTION
Date
Edited by
124
2011-03-24
SETHSTA
125
CUSTOMER POWER/SIGNAL IRB4600
2011-03-24
SETHSTA
126
CUSTOMER POWER/SIGNAL DEVICE NET IRB4600
2011-03-24
SETHSTA
127
CUSTOMER POWER/SIGNAL PROFI BUS IRB 4600
2011-03-24
SETHSTA
127.5
DevNet//PofiNet/Ethernet addition to CP/CS IRB4600
2011-03-24
SETHSTA
128
SERVO DRIVE SYSTEM IRB 66xx - 76xx
2011-03-24
SETHSTA
129
CONTROL CABLE IRB 66xx - 76xx
2011-03-24
SETHSTA
134
COOLING AXES 1/2 DUAL CABINET IRB 6600 - 7600
2011-03-24
SETHSTA
135
COOLING AXES 1/2 SINGLE CABINET IRB 6600 - 7600
2011-03-24
SETHSTA
136
CUSTOMER POWER/SIGNAL DUAL CABINET IRB 6600 - 7600
2011-03-24
SETHSTA
137
CUSTOMER POWER/SIGNAL SINGLE CABINET IRB 6600 - 7600
2011-03-24
SETHSTA
138
DevNet//IBUS//PBUS ADDITION TO CP/CS IRB 6600 - 7600
2011-03-24
SETHSTA
139
CUSTOMER POWER/SIGNAL DUAL CABINET PROFIBUS IRB 6600 - 7600
2011-03-24
SETHSTA
140
CUSTOMER POWER/SIGNAL DUAL CABINET INTERBUS IRB 6600 - 7600
2011-03-24
SETHSTA
141
CUSTOMER POWER/SIGNAL DUAL CABINET DEVICE NET IRB 6600 - 7600
2011-03-24
SETHSTA
142
CUSTOMER POWER/SIGNAL SINGLE CABINET PROFI BUS IRB 6600 - 7600
2011-03-24
SETHSTA
143
CUSTOMER POWER/SIGNAL SINGLE CABINET INTERBUS IRB 6600 - 7600
2011-03-24
SETHSTA
144
CUSTOMER POWER/SIGNAL SINGLE CABINET DEVICE NET IRB 6600 - 7600
2011-03-24
SETHSTA
145
SERVO DRIVE SYSTEM IRB 6400R
2011-03-24
SETHSTA
146
CONTROL CABLE IRB 6400R
2011-03-24
SETHSTA
147
CUSTOMER POWER/SIGNAL/BUS IRB 6400R
2011-03-24
SETHSTA
Latest revision:
Lab/Office:
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Stomme, ramverk/
Functional equipotential bonding
Stomme, ramverk/
Functional equipotential bonding
Filter/
Filter.
Slutkontakt/
Make contact, general.
Column coordinate number on the drawing
Handmanvrerad brytare, allmn/

Switch manually operated, general.
Wire/connector one colour code.

BK = Black, BN = Brown, RD = Red, OG = Orange
Lampa/
Lamp.
YE = Yellow, GN = Green, BU = Blue, VT = Violet

GY = Grey, WH = White, PK = Pink, TQ = Turquoise
Styrning med spak/

Actuator (operated by lever).
Wire/connector two colour code.
Kontakthylsa hona/
Socket outlet female.
Jord, allmn symbol/

Earth , general symbol.
Example 1 : WH/RD = White and Red.
Styrning genom vridning/

Actuator(operated by turning).
Strningsfri jord/
Functional earthing.
Skyddsjord/
Protective earthing.
Example 2 : GNYE = Green and Yellow.

Example: Cable with four colour coded wire,
square area AWG24 and cable number 709.
Kontaktstift hane/
Pin male.
Styrning genom tryckning/
Actuator(operated by pushing).
709
AWG24 BK
BN
RD/OG
BK/OG
Strmtransformator/
Current transformer.
Ndstopp (svamptryckknapp)/
Actuator, emergency.
Translation table square area from AWG to mm2.
Likstrm, DC /
Direct current, DC.
Tvinnade ledare/
Twisted conductors.
AWG28
AWG26
AWG24
AWG22
AWG20
Vxelstrm, AC /
Alternating current, AC.
Trippel tvinnade ledare/

Triple twisted conductors.
0,093
0,15
0,25
0,34
0,56
AWG18
AWG16
AWG14
AWG12
AWG10
0,93
1,25
2,44
3,02
4,65
Styrning, elektromagnetisk styrdon/

Actuator, by electromagnetic.
Fyrdubbelt tvinnade ledare/
Quadruple twisted conductors.
Example, showing how to read the information before and after a signal.
Skrm/
Shield.
Extra sheet number .1.

Signal name
Wire number
Wire data
AXIS COMP: BOARD

A42
(92) (92.1) +24V DRIVE;2
Target sheet 92
Target sheet 92.1
Latest revision:
Lab/Office:
DMRO SE/
PRH

SYMBOL INFORMATION
XP1 = Pin
-725 AWG20 BK
Signal counter
1
XS1 =Socket X1 = PIN or Socket
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Revison 2 2010 01
Revison 4 2010 12
Sheet 14 Dual block diagram removed to new sheet 14.1 and 14.2
Sheet 15 Text old comp. A3(A31 DSQC623 & DSQC602) removed
Sheet 15.1 added, Main Drive Unit Low voltage
Sheet 17 Text old comp. A3(A31 DSQC623 & DSQC602) removed
Sheet 21, 22 and 27 is removed.
Sheet 30 Interruption point FPU START removed//wire 213 removed at coordinate column 6.
Sheet 31 Sheet title exchanged from EMERGENCY STOP to SAFETY STOP
Sheet 39, 40 Interruption point FPU START removed//USB contact add. at coordinate column 8.
Sheet 45 - 48 is removed.
Sh. 115.4 The profibus connections added.// (Devicenet XS/XP13 and

Profinet/Ethernet IP XP9 removed to sheet 115.5
Sh. 115.5 was sheet 115.4// Profibus connection add.
Sheet 50 Profinet, ext. power supply add (+L , -L)

Sheet 56 Ethernet A36 is exchanged to sh. 52.1
Sheet 56 CC-link addded.
Sheet 69 information exchanged with PLC I/O.
Sheet 69.1 - 69.4 PLC option added..
Sheet 73.1 New sheet, Option LV transformers for IRB 120 - 4400.
Sheet 76.5 New sheet Fan unit removed from sheet 85.
Sheet 77, 78 Interruption point LOCK1A, LOCK2B, SELF1, SELF2 have been rotated 180 degree.
Sheet 78.1 New sh. included XS40/XP40.
Sheet 85 Fan unit removed to sheet 76.5
Sheet 87 XS40/XP40 moved to new sh. 78.1
Sheet 89, 91, 95 A41.1 Main servo drive unit exchanged with A41.1-1, 1-2, 1-3
Sheet 98.5 add. IRB660
Sheet 99 A41.1 Main servo drive unit exchanged with A41.1-4
Sheet 103 - 104, 109 - 110, 115 - 116, 121 - 122, 130 - 134 Position switch removed.
Sheet 115 - 115.4 added, IRB2600
Sheet 105 A41.1 X17, X18, X19 exchanged with A41.1 x11/x12, x14/x16, x13/x15.
Sheet 105 M1R, M1S, M1T exchanged with M1U, M1V, M1W Likewise every phase.
Sheet 105, 111, 117, 128, A41.1 Main servo drive unit exchanged with A41.1-5,6,7,8
Sheet 145-148 IRB6400R removed.
Revison 3 2010 10
General changes: The circuit title was before CONTROL SYS. IRC5 M2004 DESIGN 09
exchanged to IRC5 SC/DC DESIGN 09.
General changes: All power cables have been implemented with conductor area, and colour code.
General changes: All customer cables have been implemented with conductor area, and colour code.
General changes: All SMB cables have been implemented with conductor area, and colour code.
Sh. 19
Sh. 21
Sh. 24
Sh. 26
Sh. 28
A7 Service was A8 Service.

New graphic sheet, Measurement box.
G3 Ultra cap G3:5 was +//:10 was - ULTRA CAP exchanged with ENERGI BANK // All 0V connected to PE.
In all the customer power supply, 0V connected to PE.
In all the customer power supply, 0V connected to PE.
Sh. 53 New DSQC697

Sh. 68 x12,x13 and x14 add.
Sh. 73 Info text for T1.1, T1.2, T1.3 was change.// 230VAC1 sc.2 and 230VAC2 sc.2 is removed.
Sh. 73.1 Info text for T1 was changed.// 230VAC1 sc.2 and 230VAC2 sc.2 is removed.
Sh. 75 Process Power supply 0V, connected to PE
Sh. 127 The profibus connections added.// (Devicenet XS/XP13 and

Profinet/Ethernet IP XP9 removed to sheet 127.5.
Sh. 127.5 was sheet 127// Profibus connection add.
Revison 5 2011 03 R11.1

Sh. 1 The adress ABB Automation Technologies AB Robotics was exchanged.
Sh. 8 Symbol for Triple twisted, and quadruple twisted added, Coulmn 1.
Sh. 14.2 Option power supply G9 for 3 external axes add.
Sh. 15 PLC option: "Ethernet switch" was before "Ethernet switch CM577-ETH"
Sh. 22 Contact XP1 and XP2 added.
Sh. 34 Run chain ext operating selector exchanged with block diagram for ext. operating selector
Sh. 35 Run chain ext operating selector exchanged with Panel board X9 and X10.
Sh. 36 Run chain ext operating selector without Panel board X9 and X10.
Sh. 37 Run chain ext operating selector exchanged with hot plug options rel10.2.
Sh. 38 Run chain ext operating selector exchanged with hot plug options rel 11.1.
Sh. 40 Wire number 214-219 was exchanged with 207-212
Sh. 49 DSQC687 new option, DSQC 510, 637 old option.
Sh. 55 Shield added to the drawing.
Sh. 56 DSQC 378B exchanged the wrong type DSQC678B.
Sh. 73 New transformers
Sh. 73.1 New transformers
Sh. 75 Option Power supply G9 for 3 external axes.
Sh. 77 New signals A43X5:1-:4 for external axes.
Sh. 78 Auxiliary contacts added, with conductor w758-W761 for 3 external axes.
Sh. 78.1 New contact added XP40.2 for 3 external axes.
Sh. 87 A43.x5 exchanged with the signal at column 4, xs5.1:3 xref: 78.2
Sh. 90 CP/CS exchanged with control signals
Sh. 90.5 New sheet for the CP/CS
Sh. 94.6 New sheet for control signals IRB260
Sh. 90.7 New sheet CP/CS for IRB260
Sh. 96 Lim1A Lim2A Lim1B, Lim2B removed, at column 7
Sh. 98.1 New sheet IRB460
Sh. 98.4 New sheet IRB460, IRB660, IRB760
Sh. 98.5 New sheet IRB660 and IRB760
Sh. 98.6 New sheet IRB660 and IRB760
Sh. 76.5 Additional fan connection

Sh. 78 wire 445 changed connection point.
Sh. 80.1 New circuit diagram sheet, Force measurement box.
Sh. 85 W136-138 was exchanged with W552,W554,w556.// W550,w551,w553,w555,w557 add.
Sh. 138 XP13:f1 Double conductor add. missing in the circuit diagram.
Sh. 145-147 IRB6400R add.
Latest revision:
Lab/Office:
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REVISION INFOMATION
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Location name
Page Location name
Profibus DSQC667
44
2-MODE SELECTOR
33
2-MODE SELECTOR
35
3-MODE SELECTOR
30
3-MODE SELECTOR
36
3-MODE SELECTOR
37
ADAPTER
34
ADAPTER
35
ADAPTER
38
ADDITIONAL DRIVE UNIT
87
88
88
85
85
85
ADDITIONAL RECTIFIRE UNIT
85
ANALOGUE I/O UNIT
63
AUTOMATIC FUSE
78
AUTOMATIC FUSE
75
AXIS COMPUTER BOARD
79
BLEEDER
85
BRAKE CONTACTOR
78
CAPACITOR
129
CIRCUIT BRAKER
74
COMBI I/O UNIT
60
CONTACTOR UNIT
87
CONTACTOR UNIT
77
CONTACTOR UNIT
78
CUSTOMER POWER SUPPLY
26
26
26
26
Device Net Adapter dual channel DSQC659
53
Device Net Adapter single channel DSQC697/DSQC658 old 53
DEVICENET POWER SUPPLY
26
28
DeviceNet TM Lean
53
CC-LINK
56
DIG. PART OF RELAY I/O UNIT
61
DIGITAL I/O UNIT
59
DSQC686 VOLTAGE MEASURE BOARD
80.1
A38.2-Z1
S21.1
S21.1
S21.1
A21-S21.1
A21-S21.1
A21-A22
A21-A22
A21-A22
A41.3
A41.4
A41.5
A41.3
A41.4
Function name
A41.5
A41.2
I/O.X
F1
F2
A42
R1.1
K44
C1
F5
I/O.X
A43
A43
A43
G7
G8
G4
G5
A35
A35.2
G6
G6
A351
I/Ox
I/O.X
I/O.X
FMB-A1
F4
A21-S21
A21-S21
A21-S21.3
A21-S21.3
A21-S21.3
S21.3
A21-S21.3
A21-S21.3
I/O.X
G3
G3
A36
A62
A38.1
E2
A21
A21
A21
A21
A21
E2-M1
E1-E44
E1-E43
E1
E1-E41
E1-E42
FPU1
FPU1
A21-S22
A37
A37-10080
A37
A37-A37.2
I/O.X
E3
E3-M1
A31
A31
A41.1
A41
Lab/Office:
Latest revision:
PRH
Stalnacke PRH
Approved by, date:Vasberg PRH
Function name
Page
EARTH FAULT BREAKER

2-MODE SELECTOR
EMERGENCY PB
EMERGENCY PB
EMERGENCY PB
EMERGENCY PB
EMERGENCY PB
EMERGENCY STOP PB
EMERGENCY STOP PB
ENCODER UNIT
ENERGY BANK
ENERGY BANK
ETHERNET CARD/Option: ETHERNET IP
Ethernet switch
ETHERNET/IP Fieldbus adapter DSQC 669
EXT.COMPUTER FAN
EXT.CONTROL PANEL
EXT.CONTROL PANEL
EXT.CONTROL PANEL
EXT.CONTROL PANEL
EXT.CONTROL PANEL
EXTERNAL COMPUTER FAN
Fan unit
Fan unit
FAN UNIT
FAN UNIT
FAN UNIT
FLEXPENDANT
FLEXPENDANT
Hot plug
INTERBUS M/S (COPPER WIRE)
INTERBUS M/S (OPTICAL FIBRE)
INTERBUS MASTERPART
INTERBUS SLAVE
INTERNAL FAN
INTERNAL FAN
MAIN COMPUTER DSQC639
MAIN COMPUTER DQC 639
MAIN DRIVE UNIT LV unit
MAIN SERVO DRIVE UNIT

Prepared by, date:
74
34
35
36
37
38
29
34
35
67
76
24
52.1
57
44
30
34
35
36
37
38
30
76.5
76.5
76.5
76.5
76.5
39
40
38
52
52
52
52
65
29
29
42
43
85
99
=
Plant:
Location: +
Sublocation:+
Document no.
Rev. Ind Page10
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3HAC024480-005
05 Total 154
Status:
Approved
2011-01-28
Location name
A41.1
A41.1-6
A41.1
A41.1
A41.1
A41.1
A41.1
A41.1
A41.1
A41.1
A41.1-8
Q2
Q1
E5
A21-S21.2
A21-S21.2
A21-S21.2
A21-S21.2
A21-S21.2
S21.2
S21.2
K42
K43
BOX1
A21-S22
A21-S22
S22
E5-M1
P1
FMB
F6
A44
A61
A39
Z1
A23
A21
A21
A21
A21
A21
Function name
Page Location name

Main servo drive unit 2600
MAIN SWITCH
MAINS SWITCH
MDU FAN
MOTOR ON PB
MOTOR ON PB
MOTOR ON PB
MOTOR ON PB
MOTOR ON PB
MOTOR ON PB
MOTOR ON PB
MOTORS ON CONTACTOR 1
OPTION : CONNECTIONBOX COOLING AXES
OPTION : HOT PLUG
OPTION : HOT PLUG
OPTION : HOT PLUG
OPTION : INTERNAL FAN
OPTION :DUTY TIME COUNTER
Option: 738-1
Option: CIRCUIT BRAKER
EPS
Option: REMOTE SERVICE BOX DSQC680
OPTION: 232/422/485 SERIE CONVERTER
OPTION: MAINS LINE FILTER
OPTION:STATUS LED ON FRONT
PANEL BOARD
PANEL BOARD
PANEL BOARD
PANEL BOARD
PANEL BOARD
145
111
79
89
91
95
94.5
117
128
115
123
23
72
76.5
34
35
36
37
38
30
33
78
78
134
35
37
40
76.5
77
80.1
72
80
68
43
72
30
33
34
29
36
37
A21
A21
A21
A21
A21
A63.4
A63.2
A63.1
A63.5
A63.1.XS1
A63.3
G2
G1
A57
G2
A33
I/O.X
A38.2
A33.1
A38.3
Z2
RELAY I/O
K41
I/O.X
H1
S1
T1
T1.x
T1.3
Lab/Office:
Latest revision:
PRH
Stalnacke PRH
Function name
Page
PANEL BOARD
PANEL BOARD
PANEL BOARD run chain, 3-mode selector
PANEL BOARD with RUN CHAIN
PANEL BOARD with SAFETY STOP
PLC Analogue I/O
PLC Digital I/O unit
PLC. CPU unit
PLC. Ethernet switch
PLC.Devicenet adapter
PLC.DIGITAL INPUTS and RELAY OUTPUTS
POWER DISTRIBUTION BOARD DSQC662
POWER SUPPLY DSQC661
Process Interface Board (PIB)
PROCESS POWER SUPPLY
PROFIBUS DP M/S
PROFIBUS DP SLAVE
PROFIBUS Fieldbus adapter DSQC 667
PROFINET DSQC678
PROFINET IO Fieldbus adapter DSQC 688
REAKTOR UNIT
RELAY I/O UNIT
RELAY UNIT
REMOTE I/O UNIT
STATUS DIOD DUAL CABINET
SWITCH
TRANSFORMER UNIT
TRANSFORMER UNIT
TRANSFORMER UNIT

Prepared by, date:
38
41
30
32
31
69.3
69.1
69
69.4
69
69.2
76
76
57
24
49
66
44
50
44
73
62
75
64
78
76.5
73.1
73
73
=
Plant:
Location: +
Sublocation:+
Document no.
Rev. Ind Page11
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05 Total 154
Status:
Approved
2011-01-28
Location name
Page Location name
Profibus DSQC667
44
87
88
88
85
AXIS COMPUTER BOARD
79
CONTACTOR UNIT
87
CONTACTOR UNIT
77
53
Device Net Adapter single channel DSQC697/DSQC658 old 53
DeviceNet TM Lean
53
52.1
Ethernet switch
57
44
52
52
INTERBUS MASTERPART
52
MAIN COMPUTER DSQC639
42
43
85
99
145
111
79
89
91
95
94.5
117
128
115
123
EPS
80
68
OPTION: 232/422/485 SERIE CONVERTER
43
OPTION:STATUS LED ON FRONT
30
PANEL BOARD
33
PANEL BOARD
34
PANEL BOARD
29
PANEL BOARD
36
PANEL BOARD
37
A38.2-Z1
A41.3
A41.4
A41.5
A41.2
A42
A43
A43
A35
A35.2
A351
A36
A62
A38.1
Function name
A37
A37
A37-A37.2
A31
A31
A41.1
A41
A41.1
A41.1-6
A41.1
A41.1
A41.1
A41.1
A41.1
A41.1
A41.1
A41.1
A41.1-8
A44
A61
A39
A23
A21
A21
A21
A21
A21
A21
A21
A21
A21
A21
A63.4
A63.2
A63.1
A63.5
A63.1.XS1
A63.3
A57
A33
A38.2
A33.1
A38.3
A41.3
A41.4
A41.5
A43
BOX1
C1
E2
E2-M1
E1-E44
E1-E43
E1
E1-E41
E1-E42
E3
E3-M1
E5
E5-M1
F1
F2
F5
F4
F6
FMB-A1
FMB
FPU1
Lab/Office:
Latest revision:
PRH
Stalnacke PRH
Function name
Page
PANEL BOARD
PANEL BOARD
PLC Analogue I/O
PLC. CPU unit
PROFIBUS DP M/S
PROFINET DSQC678
CONTACTOR UNIT
OPTION : CONNECTIONBOX COOLING AXES
CAPACITOR
EXT.COMPUTER FAN
EXTERNAL COMPUTER FAN
Fan unit
Fan unit
FAN UNIT
FAN UNIT
FAN UNIT
INTERNAL FAN
INTERNAL FAN
MDU FAN
OPTION : INTERNAL FAN
AUTOMATIC FUSE
AUTOMATIC FUSE
CIRCUIT BRAKER
EARTH FAULT BREAKER
Option: 738-1
FLEXPENDANT

Prepared by, date:
38
41
30
32
31
69.3
69.1
69
69.4
69
69.2
57
49
44
50
44
85
85
85
78
134
129
30
30
76.5
76.5
76.5
76.5
76.5
29
29
76.5
76.5
78
75
74
74
72
80.1
80.1
39
=
Plant:
Location: +
Sublocation:+
Document no.
Rev. Ind Page12
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3HAC024480-005
05 Total 154
Status:
Approved
2011-01-28
Location name
FPU1
G7
G8
G4
G5
G6
G6
G3
G3
G2
G1
G2
H1
I/O.X
I/O.X
I/O.X
I/O.X
I/O.X
I/O.X
I/O.X
I/O.X
I/Ox
K44
K42
K43
K41
P1
Q2
Q1
R1.1
RELAY I/O
S21.1
S21.1
S21.3
S21.2
S21.2
S22
S1
T1
T1.x
T1.3
Function name
Page Location name
FLEXPENDANT
ENERGY BANK
ENERGY BANK
STATUS DIOD DUAL CABINET
ANALOGUE I/O UNIT
COMBI I/O UNIT
DIGITAL I/O UNIT
ENCODER UNIT
INTERBUS SLAVE
PROFIBUS DP SLAVE
REMOTE I/O UNIT
CC-LINK
BRAKE CONTACTOR
RELAY UNIT
OPTION :DUTY TIME COUNTER
MAIN SWITCH
MAINS SWITCH
BLEEDER
RELAY I/O UNIT
2-MODE SELECTOR
3-MODE SELECTOR
EMERGENCY PB
MOTOR ON PB
MOTOR ON PB
OPTION : HOT PLUG
SWITCH
TRANSFORMER UNIT
TRANSFORMER UNIT
TRANSFORMER UNIT
40
26
26
26
26
26
28
76
24
76
76
24
78
63
60
61
59
67
65
66
64
56
78
78
78
75
77
23
72
85
62
33
30
29
30
33
40
76.5
73.1
73
73
Z1
Z2
A37-10080
A21-S21.1
A21-S21.1
A21-A22
A21-A22
A21-A22
A21-S21
A21-S21
A21-S21.3
A21-S21.3
A21-S21.3
A21-S21.3
A21-S21.3
A21
A21
A21
A21
A21
A21-S22
A21-S21.2
A21-S21.2
A21-S21.2
A21-S21.2
A21-S21.2
A21-S22
A21-S22
S21.1
Lab/Office:
Latest revision:
PRH
Stalnacke PRH
Function name
Page
OPTION: MAINS LINE FILTER

REAKTOR UNIT
3-MODE SELECTOR
3-MODE SELECTOR
ADAPTER
ADAPTER
ADAPTER
2-MODE SELECTOR
EMERGENCY PB
EMERGENCY PB
EMERGENCY PB
EMERGENCY PB
EMERGENCY STOP PB
EMERGENCY STOP PB
EXT.CONTROL PANEL
EXT.CONTROL PANEL
EXT.CONTROL PANEL
EXT.CONTROL PANEL
EXT.CONTROL PANEL
Hot plug
MOTOR ON PB
MOTOR ON PB
MOTOR ON PB
MOTOR ON PB
MOTOR ON PB
OPTION : HOT PLUG
OPTION : HOT PLUG
2-MODE SELECTOR

Prepared by, date:
72
73
52
36
37
34
35
38
34
35
36
37
38
34
35
34
35
36
37
38
38
34
35
36
37
38
35
37
35
=
Plant:
Location: +
Sublocation:+
Document no.
Rev. Ind Page13
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3HAC024480-005
05 Total 154
Status:
Approved
2011-01-28
230V
230V
Q2
XT16
G1
Option
Service outlet
DC
Option
Devicenet PS
G3
G2
Option
Customer PS
G6
AC
F5
Option
Customer PS
G4
AC
G5
AC
AC
Ultra cap
DC
DC
DC
DC
Customer
connection
Customer
connection
F4
Earth
fault
prot.
A21
A31
Panel
board
Computer
module
I/Ox
I/O
X22
unit
Latest revision:
Lab/Office:
DMRO SE/
PRH
LAN
USB
FPU
Drive
Control
panel
Field bus
S21
Ethernet service
Service
outlet
Drive
AC

BLOCK DIAGRAM SINGLE CONTROL MODULE
=
Plant:
Location: +
Sublocation:+
Document no.
Rev. Ind Page14
Next 14.1
3HAC024480-005
05 Total
Status:
Approved
2011-01-28
230V
230V
Q2
XT16
G3
G2
Option
Devicenet PS
Option
Service outlet
Option
Customer PS
Option
Customer PS
Ultra cap
G6
G4
G5
DC
AC
AC
DC
AC
DC
DC
Customer
connection
Customer
connection
F5
A21
A31
Panel
board
Computer
module
F4
Earth
fault
prot.
S21
I/Ox
Control
panel
I/O
Latest revision:
Drive
Field bus
Service
outlet
Lab/Office:
DMRO SE/
PRH
LAN
unit
USB
FPU
Ethernet service
X22
Drive
AC

BLOCK DIAGRAM DUAL CONTROL MODULE
=
Plant:
Location: +
Sublocation:+
Document no.
Rev. Ind Page14.1
Next 14.2
3HAC024480-005
05 Total
Status:
Approved
2011-01-28
230V
230V
Q2
XT16
G1
Option
Devicenet PS
Option
Service outlet
Option
Customer PS
G6
Option
Customer PS
G4
Option
EXT. AXES
G5
G9
DC
AC
AC
DC
AC
AC
DC
DC
Customer
connection
Customer
connection
DC
F5
A21
A31
Panel
board
Computer
module
F4
Earth
fault
prot.
S21
I/Ox
Control
panel
I/O
Latest revision:
Drive
Field bus
Service
outlet
Lab/Office:
DMRO SE/
PRH
LAN
unit
USB
FPU
Ethernet service
X22
Drive
AC

BLOCK DIAGRAM DUAL DRIVE MODULE
External
axes
=
Plant:
Location: +
Sublocation:+
Document no.
Rev. Ind Page14.2
Next 15
3HAC024480-005
05 Total
Status:
Approved
2011-01-28
FRONT
PANEL
FRONT VIEW
G4
Opt. INSIDE DOOR WITH I/O
Opt. INSIDE DOOR WITH PLC I/O
COMPUTER
A31 DSQC639
G5
Q1
XT5.3
XT6
XT5.2
XT5.1
XT5.3
XT5.2
S21.1
XT6
G3
G2
X1
S22
I/O 2.X5
PLC 5
PLC 4
PLC 3
X3
X5
PLC 2
I/O4
E5
X1
X22
X1 XS1
PLC 1
G1
X2 DC IN
A62
P1
I/O3
X3
XT31
X2
I/O2
XS4
I/O1
A41 layout sh.15.1

X23
XT31
X24
I/O 1.X5
XT16
F2
A41
A41
A41
F1
Denomination
XS2
XP28
XP0
PE
XS1
XS7
Pos. No
Opt. No
I/O 1
I/O 1-4
I/O 1-4
I/O 1-4
I/O 1-4
I/O 1-4
I/O 1-4
I/O 1-4
I/O 1-4
721-1
716-1
717-1
718-1
719-1
720-1
722-1
723-1
726-1
PLC 1
PLC 2
PLC 3-5
PLC 3-5
PLC 3-5
923-1
923-1
924-1
925-1
926-1
XS17
Ethernet switch
AC500 Com. Module PLC
CPU unit PM582 PLC
Digital I/O unit DC532 PLC
Relay I/O unit DX522 PLC
Analog I/O unit AX521 PLC
Latest revision:
Unit
Allen Bradley Remote I/O (RIO)

Digital 24 VDC
AD Combi I/O
Digital with relay
Analog 4 in/4 out
Profibus DP Slave
Interbus-S Slave
CC-link slave
ENC unit
XS41
XS3
XS9
XS5/XS13
S21.2
XT5.1
E3
S21.3
Lab/Office:
DMRO SE/
PRH

FRONT VIEW OF SINGLE CABINET MDU HV
A62
A63.5
A63.1
A63.2
A63.3
A63.4
=
Plant:
Location: +
Sublocation:+
Document no.
Rev. Ind Page15
Next 15.1
3HAC024480-005
05 Total
Status:
Approved
2011-01-28
FRONT VIEW
MAIN DRIVE UNIT FOR IRB 2400 - 76XX
FRONT VIEW
MAIN DRIVE UNIT FOR IRB 120 - 1600
LV Low voltage
HV High voltage
E3
E3
G3
G3
X1
UPPER SIDE X9
G1
X2
X6
X7
X16
X6 X7 X14
X15
X2
X16
X1
X23
X13
X8 and X9 on
the upper side.
X7
A41.1
G1
A41.1
X23
X21
G2
X2
X9 UPPER SIDE
X1
F1
X14
X8 UPPER SIDE
X13
X2
F2
X15
X6
A41.2
X22
UPPER SIDE X8
X1
G2
X6
A41.3 X7
X8
X9
X11
X12
X2
X1
X6
A41.4 X7
X8
X9
X21
X2
X11
X22
X2
X1
X1
F2
X6
A41.5 X7
X8
X9
F1
X6
A41.3 X7
X8
X9
X12
X2
X1
X2
X1
X6
A41.4 X7
X8
X9
X6
A41.5 X7
X8
X9
X4
X9
G2
STATUS
LED
X7
LABEL
X6
X5
X8 X2
Latest revision:
X1
Lab/Office:
DMRO SE/
PRH
X3

FRONT VIEW OF SINGLE CABINET MDU LV and HV
=
Plant:
Location: +
Sublocation:+
Document no.
Rev. Ind Page15.1
Next 16
3HAC024480-005
05 Total
Status:
Approved
2011-01-28
LEFT VIEW WITH

FLANGE DISCONNECT
RIGHT VIEW
LEFT VIEW
Q1
A21
Q1
E2
G6
F6
G6
K44
F5
R1
F4
K43
K42
A42
E1
Z1
T1
A43
E4
A44
Z2
Latest revision:
Lab/Office:
DMRO SE/
PRH

SIDE VIEWS OF SINGLE CABINET
=
Plant:
Location: +
Sublocation:+
Document no.
Rev. Ind Page16
Next 17
3HAC024480-005
05 Total
Status:
Approved
2011-01-28
LEFT
VIEW
FRONT
PANEL
FRONT
VIEW
RIGHT
VIEW
NEW COMPUTER
A31 DSQC639
Q2
Q2
XT16
E2
A21
G2
S21.2
G6
S21.3
G8
G3
S21.1
G4
X23
I/O6
G5
G7
X24
I/O5
I/O4
I/O2
I/O1
I/O3
XT31
(FLOOR MOUNTED)
XS3
XS5/XS13
XP28
S22
XS4
XS17
Latest revision:
Lab/Office:
DMRO SE/
PRH

VIEW OF CONTROL MODULE
DUAL CABINET
=
Plant:
Location: +
Sublocation:+
Document no.
Rev. Ind Page17
Next 18
3HAC024480-005
05 Total
Status:
Approved
2011-01-28
LEFT
VIEW
FRONT
PANEL
FRONT
VIEW
RIGHT
VIEW
F6
ROOF-MOUNTED
Q1
A42
Z1
P1
F5
G1
A41.1
X22
R1
K44
G9
H1
F4
K43
K42
E1
Q1
T1
K41
A43
A41.3
A41.4
A41.5
F2
A44
F1
XS41
XS2
XP0 XS1
Latest revision:
Lab/Office:
DMRO SE/
PRH
XS7

VIEW OF DRIVE MODULE DUAL CABINET
=
Plant:
Location: +
Sublocation:+
Document no.
Rev. Ind Page18
Next 19
3HAC024480-005
05 Total
Status:
Approved
2011-01-28
J21
PANEL
UNIT
X8
LABEL
TPU AXC1
A8
A9
CONSOLE
STATUS
DIOD
MAIN
COMPUTER
A31
DSQC639
WRIST
BAND
ESD
FAN
E22
MEMORY
CARD
COM1
USB2
SERVICE LAN
A7
USB1
FIELD
BUS
ADAPTER
A38
A33 Profibus DP M/S

A33.1 ProfiNet
A34 Dual RS232
A35 Devicenet
A36 Ethernet
A37 Interbus M/S
PCI-SLOTS
RL2
RL1
X3
X4
X12
PANEL
BOARD
A21
X20
X7
X5
X8
X6
X15
X14
X11
RL3
X17
X18
X10
X1
RL4
X9
Latest revision:
X2
Lab/Office:
DMRO SE/
PRH

VIEW OF COMPUTER UNIT AND PANEL BOARD
=
Plant:
Location: +
Sublocation:+
Document no.
Rev. Ind Page19
Next 20
3HAC024480-005
05 Total
Status:
Approved
2011-01-28
A42 Axis computer unit
A43 Contactor unit
X1
X7
X5
X9
X11
A44 Safe move
X6
X4
DSQC 647
24V Drive
X22
X4
X3
X8
X21
Measurement link 2
X5
X24
Out
X12
X11
In
X10
X9
X23
X1
X10
X12
Relay output pair 1/2
X13
A44 EPS unit

Computer module link
X2
DSQC 646
X1
Drive link
Drive power supply
X11
X5
X6
X6
Control signal
Drive power
supply
Contactor bord link
X4
Console port
X3
X9
Latest revision:
Process I/O
X9
X1
Lab/Office:
DMRO SE/
PRH

VIEW OF CONTACTOR & AXIS COMPUTER UNIT
X7
X8
SMB 1
SMB 1
SMB 2
SMB 2
X5
X6
X4
X3
=
Plant:
Location: +
Sublocation:+
Document no.
Rev. Ind Page20
Next 21
3HAC024480-005
05 Total
Status:
Approved
2011-01-28
-FMB
Reference to
circuit diagram 80.1
-MANIPULATOR
Option: 738-1
-CONTROLLER
1) FMB.XP2 Bridge connector if no other option.
FMB
1) FMB.XP2
(FMB.X2)
FMB.XS2
(FMB.X2)
DSQC686
FMB.X3
FMB.A1.X2
XP2 SMB
R1.SMB
FMB.X1
FMB.A1.X1
XS41
Latest revision:
Lab/Office:
DMRO SE/
PRH

VIEW OF VOLTAGE MEARSUREMENT BOX
=
Plant:
Location: +
Sublocation:+
Document no.
Rev. Ind Page21
Next 22
3HAC024480-005
05 Total
Status:
Approved
2011-01-28
CONTROL
MODULE
-PE
1
GN/YE AWG 7/(10mm2)
CONTROL
MODULE
PE
-XP23
PE connection
XS1/XP1
Power cable sheet 89, 91, 94.5,

95, 98.2, 99, 105, 111, 115
117, 123, 128, 145
(42) (57) (68) (69.4)

(42) (57) (68) (69.4)
(42) (57) (68) (69.4)
(42) (57) (68) (69.4)
/
/
/
/
-XP23.1
-XP23.2
-XP23.3
-XP23.6
SERVICE PORT
1
SERVICE PORT
2
3
6
-XP24
XS2/XP2
Signal cable sheet 90, 92

94.6, 96, 98.3, 100, 106,
112, 115.1, 118, 124, 129, 146
(43)
(43)
(43)
(43)
/
/
/
/
-1.XP24.1
-1.XP24.2
-1.XP24.3
-1.XP24.4
Option: USB CONTROL MODULE

1
2
3
4
-XP9
(50) (52.1) / -1.XP9.1
(50) (52.1) / -1.XP9.2
(50) (52.1) / -1.XP9.3
(50) (52.1) / -1.XP9.6
-XP28
Option: If Profinet or Ethernet

1
2
3
6
XP9.1
XP9.2
XP9.3 /
XP9.6 /
/ (115.5) (127.5)
/ (115.5) (127.5)
(115.5) (127.5)
(115.5) (127.5)
(43)
(43)
(43)
(43)
/
/
/
/
-1.XP28.1
-1.XP28.2
-1.XP28.3
-1.XP28.6
Option: If only Externa LAN

1
2
3
6
-XS17
(53) /
XS17.3
(50)
(50)
(50)
(50)
3
(53) /
XS17.5
(53) /
XS17.1
/
/
/
/
-2.XP28.1
-2.XP28.2
-2.XP28.3
-2.XP28.6
Option: If Externa LAN and Profinet
OPTION
1
(53) /
XS17.4
4
(53) /
XS17.2
2
((
))
(80) (82) /
-XS41
MRCO2
A
(68) /
XS18
-XS18
MRCO2_N
(80) (82) /
B
(80) (82) /
MRCI2
C
(80) (82) /
MRCI2_N
D
(80) (82) /
FMB
(80.1)
MRC_0V4
E
(80) (82) /
24V_SMB2
F
(80) (82) /
(80) (82) /
MRC_0V5
MRC_0V6
G
J
Latest revision:
Lab/Office:
DMRO SE/
PRH

CONTACT AT THE CABINET WALL
=
Plant:
Location: +
Sublocation:+
Document no.
Rev. Ind Page22
Next 23
3HAC024480-005
05 Total
Status:
Approved
2011-01-28
Latest revision:
L2
-230V AC2.6
L2
(26) /
BK
L1
-230V AC2.5
-153 AWG16
L1
(26) /
-230V AC2.1
(24) /
L1
BK
BK
-173 AWG16
-174 AWG16
T3
-230V AC2.4
-230V AC1.6
(26) /
L1
T2
(26) /
-230V AC1.5
(26) /
L1
T1
-230V AC2.3
-230V AC1.4
(26) /
L1
L3
(26) /
-230V AC1.3
(26) /
BK
L1
L2
-230V AC2.2
-230V AC1.2
(26) /
-152 AWG16
L1
L1
(26) /
-230V AC1.1
(24) /
-GND_DM
-Q2
(75)
L1
-230V AC2_DM
-XT16
-230V AC1_DM
MAIN SWITCH
(75)
(75)
1
3
4
JUMPER
L2
L2
L2
L2
L2
L2
Lab/Office:
DMRO SE/
PRH

MAINS CONNECTION DUAL CABINET
Status:
Approved
Control module sh.23 - 68
JUMPER
L2
If Option:
3 phase connection
=
Plant:
Location: +
Sublocation:+
Document no.
Rev. Ind Page23
Next 24
3HAC024480-005
05 Total
2011-01-28
FOR DUAL CABINET
(23)
(23)
-230V AC1.1
-230V AC2.1
AWG16
gnye
G2
-X1
AC -INPUT
AWG24
AWG28
-USB2 +5V
-USB2 D-
+ NC NC NC
10
1/WH
(43) /
+24V PC.2
(42) /
-X5
-0V PC.2
+24V PC.1
(42) /
-0V COOL
(29) /
+24V COOL
(29) /
-0V SYS
(29) /
+24V SYS
(29) /
10
(42) /
ENERGY BANK
G3
Latest revision:
2/RD
-X1
PANEL BOARD
1/GN
2/BK
AWG24
-USB2_GND
NC NC
COMPUTER
UNIT
(43) /
AWG28
-USB2 D+
-X4
(43) /
-304 AWG18
-303 AWG18
USB
-0V PC.1
-X3
ENERGY BANK
(42) /
-302 AWG18
-301 AWG18
-253 AWG18
-252 AWG18
-250 AWG18
-251 AWG18
-X2
24V PC
(43) /
24V SYS
24V COOL
+Sense
MAIN
COMPUTER
Lab/Office:
DMRO SE/
PRH

DUAL CABINET
=
Plant:
Location: +
Sublocation:+
Document no.
Rev. Ind Page24
Next 26
3HAC024480-005
05 Total
Status:
Approved
2011-01-28
Latest revision:
-XT31
1
24V
2
5
0V
6
3
24V
4
7
8
24
24
9
0
0
10
0V
Customer
Connection
Lab/Office:
DMRO SE/
PRH
-X2
-193
AWG16
24
24
-194 AWG16
-704 AWG20
BU
-703 AWG20
BU
AWG16
GND
G6

OPT:POWER SUPPLY DSQC609 FOR DUAL CAB.
-X1
AC
-X2
BU
BU
Status:
Approved
DC
24
AWG16
-146
-145
GNYE
AWG16
AWG16
GNYE
AWG16
+-146
AWG16
AWG16
+-145
GNYE
AWG16
+-_158
AWG16
AWG16
BK
BK
+-_157
GNYE
AWG16
-158
AWG16
AWG16
-157
GNYE
AWG16
+-158
BK
BK
BK
BK
BK
BK
BK
BK
-230V AC2.2
-230V AC1.2
-230V AC2.6
-230V AC1.6
-230V AC2.5
-230V AC1.5
-230V AC2.4
-230V AC1.4
-230V AC2.3
-230V AC1.3
/ (23)
/ (23)
/ (23)
/ (23)
/ (23)
/ (23)
/ (23)
/ (23)
/ (23)
/ (23)
24
0
=
Plant:
Location: +
Sublocation:+
Document no.
Rev. Ind Page26
Next 28
3HAC024480-005
05 Total
2011-01-28
(68) / +24V Res

(68) / -0V ReS
-X2
DEVICENET
POWER
SUPPLY
(67) / -+24Vdevicenet.8
(67) / -0Vdevicenet.8
DC
AC
BU
AC
AC
AWG16
-X1
+.SLO.2-194
-G8
24
GND
BU
DC
AC
AWG16
AC
AC
+.SLO.2-193
24
-X1
-X2
-G7
0
GND
DC
AC
AC
AC
-X1
CUSTOMER
POWER
SUPPLY
-0Vdevicenet.1
24
G5
BU
24
GND
+.SLO.3-148 AWG16
BU
-X2
AC
CUSTOMER
POWER
SUPPLY
(55) /
BU
+.SLO.2-148 AWG16
AC
CUSTOMER
POWER
SUPPLY
-+24Vdevicenet.1
BU
+.SLO.2-147 AWG16
-X1
(55) /
BU
AWG16
-148
AWG16
+-157
+.SLO.3-147 AWG16
BU
G4
AWG16
CUSTOMER
POWER
SUPPLY
-147
1
8
GND
AC
DC
Ethernet switch
Latest revision:
Customer
Connection
-703 AWG20
BU
Lab/Office:
DMRO SE/
PRH
AC
0
0

OPT:POWER SUPPLY DSQC609 FOR SINGLE CAB.
Status:
Approved
=
Plant:
Location: +
Sublocation:+
Document no.
Rev. Ind Page28
Next 29
3HAC024480-005
05 Total
2011-01-28
BU
24
G6
-298 AWG16
24
GND
BU
CUSTOMER
POWER
SUPPLY
-297 AWG16
-X2
GNYE
-X1
-X2
DC
24
AWG16
gnye
-230V AC2.11 / (76)
-230V AC1.11 / (76)
AWG16
-230V AC2.13 / (76)
-230V AC1.13 / (76)
GNYE
(68) / +24V Res

(68) / -0V ReS
(69) / +24Vdevicenet.9
(69) / 0Vdevicenet.9
DC
AC
BU
AC
AC
-704 AWG20
-X1
BU
G5
-_296 AWG16
24
BU
GND
AWG16
8
24
-_295 AWG16
-X2
AC
7
AC
CUSTOMER
POWER
SUPPLY
-0Vdevicenet.1
24V
6
-X1
-230V AC2.12 / (76)
-230V AC1.12 / (76)
(55) /
-+24Vdevicenet.1
G4
BU
BU
1) Additional terminal
:1 and :5 when Option,
PLC AC500.
-296 AWG16
-295 AWG16
-0V I/O.1 / (76)
+24V I/O.1 / (76)
(55) /
(57)
XT31:5.1
(57)
1)
XT31:1.1
(57)
XT31:5.2
(57)
-XT31
XT31:1.2
0V I/O.2
+24V I/O.2
(69) /
(69)
(69) /
(69)
1
7
8
DEVICENET
POWER
SUPPLY
N
GND
AC
DC
24
0
0
1)
10
0V
Process interface board
PANEL BOARD
(24) (76) /
A21
-X12
+24V SYS
24V FPU POWER

24V PANEL
24V SYS
1
(24) (76) /
-0V SYS
0V SYS
(24) (76) /
24V PANEL
+24V COOL
3
(24) (76) /
-0V COOL
4
ES1 top
JUMPER
ES2 top
EXTERNAL
EMERGENCY
STOP PB
-X10
5
-X2
3
7
8
0V
24V Panel
0V
24V PANEL
5
5
EMERGENCY
STOP OUTPUT 1
ES1OUT:A
ES2 OUT:A
-X9
17
18
13
ES2 OUT:B
ES1OUT:B
14
11
JUMPER
2. See pages / (41)
Sep ES2:A
Sep ES1:A
RunCh0V
RunCh+
-ES2
9
9
JUMPER
OPTION:
EXTERNAL
CONNECTIONS
/ (39) (40)
-211
AWG20 BU -ES FPU 2.A
/ (39) (40)
-212
AWG20 BU -ES FPU 2.B
/ (39) (40)
-210
AWG20 BU -ES FPU 1.B
/ (39) (40)
-S21.3
1
1
EMERGENCY
STOP OUTPUT 2
AWG20 BU -ES FPU 1.A
-ES1
FPU
Run CH1 top

Run CH2 top
-209
RunCh0V
RunCh+
12
15
-237
-238
-233
-234
-231
-232
-235
-236
EMERGENCY PB
AWG20
AWG20
AWG20
AWG20
AWG20
AWG20
AWG20
AWG20
21
22
11
12
16
U
Sep ES1:B
10
Sep ES2:B
EXTERNAL
SUPPLY
JUMPER
10
JUMPER
ES2 bottom
ES1 bottom
0V
24V Panel
-X11
7
8
SOFT_ESO
SOFT_ESI
24V PANEL
4
6
-0V_Sig.ref.
(42)
MAIN
COMPUTER
/ (42)
7
6
ES2:int
6
WHBN
BU
ES1:int
Latest revision:
WHBU
+24V_Sig.ref. /
-RS485+ / (42)
-RS485- / (42)
WHGN
0V
EMERGENCY STOP
RELAY SIGNALS
AWG24
1
8
ES1
ES2
Lab/Office:
DMRO SE/
PRH
(31) / -RunCh+
(31) / -RunCh_0V
(31) / -RCH2
(31) / -RCH1
-X1
JUMPER
-363 AWG20 BU
-E3
-364 AWG20 BU
INTERNAL
FAN

EMERGENCY STOP
=
Plant:
Location: +
Sublocation:+
Document no.
Rev. Ind Page29
Next 30
3HAC024480-005
05 Total
Status:
Approved
2011-01-28
-X3
1
2
3
4
5
6
7
8
9
General in1
General in2
General in3
General in4
General in5
General in6
General in7
General in8
0V
+24V
24V FPU POWER

24V PANEL
-X10
-X4
1
2
3
0V SYS
-A23
6
7
8
-SUP_ST1
-GS2
-GS1
-AS2
AWG20 BU
+24V FPU POWER
-206
AWG20 BU
-0V PANELB
-207
AWG20 BU
-EN1.1
/ (39) (40)
-208
AWG20 BU
-EN1.2
/ (39) (40)
/ (39) (40)
/ (39) (40)
FPU
3
4
9
-X6
7
General out1
General out2
General out3
General out4
General out5
General out6
General out7
General out8
0V
8
9
EN1_1A
EN1_1B
EN2_1B
EN2_1A
JUMPER
JUMPER
JUMPER
EXTERNAL
ENABLE DEVICE
JUMPER
-X9
8
7
6
4
3
-227
-226
-225
-223
-222
-221
Option:
External
Connections
OPTION
2
3
AWG20 BU
AWG20 BU
AWG20 BU
AWG20 BU
AWG20 BU
AWG20 BU
-X2
1
2
3-MODE
SELECTOR
AWG26
5
6
4
5
6
RS485+
RS48524V DC
-220
-224
8
5
2 4 8
18 22 24
14 16 20
17
13
6
7
AWG20 BU
AWG20 BU
0V
7
BN
6 12 10
>1
GN
WHBN
WHBU
WHGN
S21.1
OG
BU
-X20
WHOG
4
1
1.See pages / (41)
10
-ES1
-SUP_ST2
-205
MOTOR ON PB
S21.2
(31) / -EN1
(31) / -EN2
(31) / -MAN1
(31) / -MAN2
(32) / -SPEED
-AS1
-ENABLE1
10
-229
-228
AWG20 BU
AWG20 BU
14
13
-230
AWG20 BU
X2
X1
9
19
EXT.COMPUTER FAN
24V PANEL
OP_COM
OP_MAN
-E2
-X15
24V COOL
OP_AUTO
OP_MAN_FS
-E2
-X18
TACHO
2
-361
AWG20 BU
-362
AWG20 BU
-X1
-X18
RD
4
5
-ES2
10
OPTION:STATUS
LED ON FRONT

24V SYS
X3 and X4
only in DSQC 630
-245
-244
-243
-246
-241
-240
-239
-242
A21
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
2
BN
-360
FAN 0V
Latest revision:
Lab/Office:
DMRO SE/
PRH
AWG20 BU

BK
=
Plant:
Location: +
Sublocation:+
Document no.
Rev. Ind Page30
Next 31
3HAC024480-005
05 Total
Status:
Approved
2011-01-28

A21
-RCH1
/ (29)
/ (29)
-RCH2
-RunCh+
/ (30)
JUMPER
-MAN1
JUMPER
24V PANEL
24V PANEL
0V
0V
/ (30)
12
-MAN2
JUMPER
24V PANEL
-X5
JUMPER
/ (29)
0V SYS
/ (29)
24V FPU POWER

24V PANEL
-EN2 / (30)
-EN1 / (30)
-RunCh_0V
24V SYS
AS1+
AS1
11
AS1
&
AS1AS2+
AS2
SOFT AS
OPTION:
EXTERNAL
CONNECTIONS
1. See pages /
AS2
(41)
AS2GS1+
GS1
3
10
GS1
GENERAL
STOP
&
GS1GS2+
SOFT GS
GS2
CH2
CH1
GS2
GS22
JUMPER
JUMPER
-X6
6
24V PANEL
0V
SS1SS2+
SOFT SS
SS2
/
/
/
/
-RCH1
SS1
(32) /
-ENABLE2_1
-ENABLE2_2
-ENABLE2_3
-ENABLE2_4
SUPERIOR
STOP
(32) /
SS1
4
-RCH2
SS1+
SS2
(32)
(32)
(32)
(32)
AUTO
STOP
SS23
Latest revision:
Lab/Office:
DMRO SE/
PRH

SAFETY STOP
=
Plant:
Location: +
Sublocation:+
Document no.
Rev. Ind Page31
Next 32
3HAC024480-005
05 Total
Status:
Approved
2011-01-28
CONTROL
MODULE

A21
(31) /
-RCH1
(31) /
-RCH2
-X7
RUN CH1
RUN CH1Ret
0V
-RUN_CH1 / (77)
-RUN_CH 1Ret /
(77)
2
4
24V PANEL
-SPEED
-ENABLE2_1
-ENABLE2_2
(31) /
-ENABLE2_3
10
(31) /
-ENABLE2_4
(30) /
5
(31) /
7
(31) /
-X8
1
0V
RUN CH2Ret
RUN CH2
SPEED
0V
ENABLE2_1
ENABLE2_1Ret
AC_ON1
0V
-RUN_CH 2Ret / (77)

-RUN_CH2 / (77)
-SPEED / (77)
-0V / (77)
-ENABLE2.1 / (77)
-ENABLE2_1Ret / (77)
-AC_ON.1 / (75)
-0V.1 / (75)
Drive
module1
A43.X1
AND
K41.X1
RUN CH1
RUN CH1Ret
2
4
24V PANEL
3
5
6
7
8
9
RUN CH2Ret
RUN CH2
SPEED
0V
ENABLE2_2
ENABLE2_2Ret
AC_ON1
0V
BU
if not used
Drive
module2
A43.X1
BU
if not used
10
-X14
1
0V
RUN CH1
RUN CH1Ret
2
4
24V PANEL
3
5
6
7
8
9
RUN CH2Ret
RUN CH2
SPEED
0V
ENABLE2_3
ENABLE2_3Ret
AC_ON1
0V
BU
Drive
module3
A43.X1
if not used
BU
if not used
10
-X17
1
0V
RUN CH1
RUN CH1Ret
2
4
24V PANEL
3
5
6
7
8
9
RUN CH2Ret
RUN CH2
SPEED
0V
ENABLE2_4
ENABLE2_4Ret
AC_ON1
0V
BU
Drive
module4
A43.X1
if not used
BU
if not used
10
Latest revision:
Lab/Office:
DMRO SE/
PRH

RUN CHAIN
=
Plant:
Location: +
Sublocation:+
Document no.
Rev. Ind Page32
Next 33
3HAC024480-005
05 Total
Status:
Approved
2011-01-28
A21
PANEL BOARD
OPTION
S21.1-X1
-X9
3
2
7
-222
AWG20
BU
MAN2
-241
OG
EXT.AUTO1
-221
AWG20
BU
AUTO2
-240
OG
EXT.MAN1
-226
AWG20
BU
MAN1
-245
OG
EXT.AUTO2
-225
AWG20
BU
AUTO1
-244
OG
EXT.MAN2
7
6
3
S21.1
2-MODE
SELECTOR
1 3
5 7
9 11
13 15
10
14
5
-224
AWG20
BU
0V
-246
OG
EXT.COMMON2
-220
AWG20
BU
24V panel
-242
OG
EXT.COMMON1
4
8
S21.2
10
9
-229
AWG20
BU
MOTON
-228
AWG20
BU
24V PANEL
-230
AWG20
BU
MONLMP
MOTOR ON PB
14
13
X2
X1
19
Latest revision:
Lab/Office:
DMRO SE/
PRH

=
Plant:
Location: +
Sublocation:+
Document no.
Rev. Ind Page33
Next 34
3HAC024480-005
05 Total
Status:
Approved
2011-01-28
1) In Option EXT.CONTROL PANEL,

the terminal X9 and X10 included
only in Rel.10.2 and earlier.
Acc. to sheet 35
CONTROL MODULE CABINET
A21 PANEL BOARD
BLOCK DIAGRAM FOR THE RUN CHAIN AND EXTERNAL CONTROL PANEL WITH OPTIONS.
Acc. to sheet 36
EXTERNAL CONTROL PANEL
Acc. to sheet 36
OPTION
EXT-S21.1 (2 OR 3-MODE SELECTOR)
1) EXT A21.X9
Acc. to sheet 36
OPTION TERMINAL
EXT.S21.1-X1
X9
Acc. to sheet 36
S21.2 MOTOR OM PB
Acc. to sheet 36
EXT.S21.3 EMERGENCY STOP PB
Acc. to sheet 37
1) TERMINAL
EXT-A21.X10
Acc. to sheet 36 and 37

DP1-DP4 duoble press
Acc. to sheet 37 rel.10.2 and earlier

Acc. to sheet 38 rel.11.1
FLEX PENDANT
XS4
Option Hot plug S22

with SINGLE cabinet
X10
Option Hot plug S22
with DUAL cabinet
Acc. to sheet 37
EXT-A22-X2 ADAPTER A32.A8
SHEET 37 and 38
MAIN COMPUTER
A31-A8
Acc. to sheet 38
Latest revision:
Lab/Office:
DMRO SE/
PRH

BLOCK DIAGRAM RUN CHAIN
EXT OPERATING SELECTOR
=
Plant:
Location: +
Sublocation:+
Document no.
Rev. Ind Page34
Next 35
3HAC024480-005
05 Total
Status:
Approved
2011-01-28
CONTROL MODULE
PANEL BOARD
A21
36xAWG20
-X9
24V PANEL
AUTO2
MAN2
MAN FS2
0V
AUTO1
MAN1
MAN FS1
24V PANEL
MOTON
ES PANEL 2B
ES PANEL 2B
ES FPU2A
ES FPU2A
ES PANEL 1B
ES PANEL 1B
ES FPU1A
ES FPU1A
MONLMP
BK
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
BN
RD
OG
YE
GN
BU
VT
GY
WH
WH/BN
WH/RD
WH/OG
WH/YE
WH/GN
WH/BU
WH/VT
WH/GY
WH/BK
-PE1
GN/YE
EARTH
EARTH
GN/BN
GN/WH
X10
BN/YE
24V FPU
0V
EN1_1
EN1_2
BN/GN
FPU_START
BN/BK
1
2
3
4
5
6
7
8
9
Latest revision:
A21X9:1 /
A21X9:2 /
A21X9:3 /
A21X9:4 /
A21X9:5 /
A21X9:6 /
A21X9:7 /
A21X9:8 /
A21X9:9 /
A21X9:10
A21X9:11
A21X9:12
A21X9:13
A21X9:14
A21X9:15
A21X9:16
A21X9:17
A21X9:18
A21X9:19
BN/RD
BN/OG
Lab/Office:
DMRO SE/
PRH

RUN CHAIN EXT OPERATING, PANEL BOARD
(36)
(36)
(36)
(36)
(36)
(36)
(36)
(36)
(36)
/ (36)
/ (36)
/ (36)
/ (37) (38)
/ (37) (38)
/ (36)
/ (36)
/ (37) (38)
/ (37) (38)
/ (36)
-PE1
GN/YE
A21X10:1
A21X10:2
A21X10:3
A21X10:4
/
/
/
/
A21X10:9
/ (37) (38)
(37) (38)
(37) (38)
(37) (38)
(37) (38)
=
Plant:
Location: +
Sublocation:+
Document no.
Rev. Ind Page35
Next 36
3HAC024480-005
05 Total
Status:
Approved
2011-01-28
EXT.CONTROL PANEL
+EXT A21
1) Terminal X9 used only in Rel.10.2 and earlier

1) -X9
(35)
(35)
(35)
(35)
/
/
/
/
A21X9:3
A21X9:2
A21X9:7
A21X9:6
Option:Run chain Ext Operating, 2 Mode Selector

-S21.1.X1
-222 AWG20
-221 AWG20
-226 AWG20
-225 AWG20
3
2
7
6
-241
-240
-245
-244
EXT.AUTO1
EXT.MAN1
EXT.AUTO2
EXT.MAN2
7
6
3
2
2-MODE SELECTOR
S21
(35) /
(35) /
A21X9:5
A21X9:1
1 3
5 7
9 11
13 15
10
14
-246
-242
-224 AWG20
-220 AWG20
5
1
OPTION
EXT.COMMON2
EXT.COMMON1
4
8
Option:Run chain Ext Operating, 3 Mode Selector

(35) /
A21X9:8
(35) /
A21X9:4
S21.1-X1
-X9
-227AWG20
-245
-244
-243
-241
-240
-239
-223AWG20
4
EXT.AUTO2
EXT.MAN2
EXT MAN FS2
EXT.AUTO1
EXT.MAN1
EXT MAN FS1
3-MODE SELECTOR
-S21.1
6 12 10
2 4 8
18 22 24
14 16 20
17
13
3
2
1
7
6
5
OPTION
5
-242
-246
EXT.COMMON1
EXT.COMMON2
8
4
MOTOR ON PB
-X9
(35) /
A21X9:10
-S21.2
-229 AWG20
14
13
-230 AWG20
-228 AWG20
X2
X1
10
(35) / A21X9:19
(35) / A21X9:9
19
9
EMERGENCY PB
-S21.3
-DP4
DP4
(37) (38) / DP3

(35) / A21X9:11
(35) / A21X9:12
(35) / A21X9:15
(35) / A21X9:16
(37) (38) /
-DP3
-PE1
501
502
498
499
GN/YE
Latest revision:
-237
-238
-233
-234
-231
-232
-235
-236
17
18
13
14
11
12
15
16
GN/YE
ES panel 1:A
ES panel 1:A
ES panel 2:A
ES panel 2:A
ES panel 2:B
ES panel 2:B
ES panel 1:B
ES panel 1:B
21
22
11
12
-PE1
Lab/Office:
DMRO SE/
PRH
2011-01-28 Plant:
=
Status:
+
Location:
Approved
RUN CHAIN EXT OPERATING, 2 AND 3 MODE SELECTOR
Sublocation:+
Document no.
Rev. Ind Page36
Next 37
3HAC024480-005
05 Total
1) Terminal X10 used only

in Rel.10.2 and earlier
EXT.CONTROL PANEL
+EXT A21
Option:Run chain EXT operating mode selector,

2 and 3 modes, SINGLE/DUAL
Colour code with
SINGLE cabinet
BK
Number code with

-205 DUAL cabinet
-206
-207
-208
-209
-210
-211
-212
-213
BN
RD
OG
YE
GN
BU
VT
GY
10xAWG20
Option:HOT PLUG with SINGLE CABINET
-S22
64
14
54
Hot plug
63 X1
13
53
X2
AWG20 BU 205
AWG20 BU -206
AWG20 BU -207
AWG20 BU -208
AWG20 BU -209
AWG20 BU -210
AWG20 BU -211
AWG20 BU -212
BK
BN
RD
OG
21
41
22
42
64
14
53
22
42
63 X1
13
54
21
41
YE
GN
BU
VT
GY
Option:HOT PLUG with DUAL CABINET
(35)
(35)
(35)
(35)
(35)
(35)
/
/
/
/
/
/
(35) /
(35) /
MAIN COMPUTER
A31-A8
1) XP10
1
-DP2
-DP1
-496
-500
-495
-497
2
3
4
5
6
7
8
9
OG
(42) / RD+
(42) / RD-
GN
WHOG
WHGN
Latest revision:
-XS4
-205
-206
-207
-208
-209
-210
-211
-212
-213
-214
-215
-216
-217
-218
-219
24V FPU_POWER
0V
EN 1_1
EN 1_2
ES FPU 1:A
ES FPU 1:B
ES FPU 2:A
ES FPU 2:B
FPU_START
0V
EN2
1
2
7
17
3
4
5
6
11
8
12
AWG24 4x2 SFTP

(42) / TD+
(42) / TD-
X2
-A22
X2
TD+
TDRD+
RD-
ADAPTER
-A32.A8
TD+
TDRD+
RD-
1
2
3
6
Lab/Office:
DMRO SE/
PRH

RUN CHAIN EXT OPERATING WITH
OPT: HOT PLUG rel. 10.2 and earlier
(39) (40)
(35) /
A21X10:1
A21X10:2
A21X10:3
A21X10:4
A21X9:17
A21X9:18
(36) / DP4
A21X9:13
A21X9:14
(36) / DP3
A21X10:9
-S22
connected to page)
10xAWG20
FPU
13
14
15
16
=
Plant:
Location: +
Sublocation:+
Document no.
Rev. Ind Page37
Next 38
3HAC024480-005
05 Total
Status:
Approved
2011-01-28
Option:Hot plug for Rel.11.1
EXT.CONTROL PANEL
Option:Hot plug for Rel.11.1

-S22
(35)
(35)
(35)
(35)
(35)
(35)
/
/
/
/
/
/
(35) /
(35) /
MAIN COMPUTER
A31-A8
(35) /
A21X10:1
A21X10:2
A21X10:3
A21X10:4
A21X9:17
A21X9:18
(36) / DP4
A21X9:13
A21X9:14
(36) / DP3
A21X10:9
W526
63 X1
13
54
21
41
X2
W526
W528
W522
W524
-XP100
7 5 1 3
4 2 6 8
-XS100
7 5 1 3
4 2 6 8
XP 100
1 3
4 2
-XS4
-214
-215
-216
-217
-218
-219
-DP2
-DP1
-496
-500
-495
-497
24V FPU_POWER
0V
EN 1_1
EN 1_2
ES FPU 1:A
ES FPU 1:B
ES FPU 2:A
ES FPU 2:B
FPU_START
0V
EN2
1
2
7
17
3
4
5
6
11
8
12
AWG24 4x2 SFTP

(42) / TD+
(42) / TD-
OG
(42) / RD+
(42) / RD-
GN
TD+
TDRD+
RD-
WHOG
WHGN
Latest revision:
(39) (40)
A21 PANEL BOARD
64
W525/BU 14
53
W527/BU
W521 22
W523 42
connected to page)
+EXT A21
FPU
13
14
15
16
Lab/Office:
DMRO SE/
PRH

RUN CHAIN EXT OPERATING WITH
OPT: HOT PLUG rel 11.1
=
Plant:
Location: +
Sublocation:+
Document no.
Rev. Ind Page38
Next 39
3HAC024480-005
05 Total
Status:
Approved
2011-01-28
1) When external control panel (
connected to page)
XP4
/ (37) (38)
RunCh1
3
RunCh0V
5
6
4
XS4
1)
(29) /
-ES FPU 1.A
(29) /
-ES FPU 2.A
(29) /
-ES FPU 2.B
(29) /
-ES FPU 1.B
FLEXPENDANT
FPU1
EMERGENCY-STOP
K1
3
5
6
4
PANEL
BOARD
A21-X10
(30) /
-DP1
+24V FPU POWER
EN-DEVICE
K2
12
(30) /
-DP2
-0V PANELB
2
8
(30) /
-EN1.1
(30) /
-EN1.2
7
17
-ETH_FPU
(42) /
TD+
AWG24
-USB
OG
13
MAIN
COMPUTER
A31-A8
(42) /
TD-
WHOG
(42) /
RD+
GN
14
15
(42) /
RD-
WHGN
16
Latest revision:
Lab/Office:
DMRO SE/
PRH

FPU, FLEXPENDANT
=
Plant:
Location: +
Sublocation:+
Document no.
Rev. Ind Page39
Next 40
3HAC024480-005
05 Total
Status:
Approved
2011-01-28
1) When external control Panel
((connected to page))
/ (37) (38)
S22
64
63
X1
H1
X2
XP4
RunCh1
3
RunCh0V
14
13
53
54
6
4
1)
XS4
(29) /
-ES FPU 1.A
-216
BU
(29) /
-ES FPU 2.A
-218
BU
(29) /
-ES FPU 2.B
-219
BU
(29) /
-ES FPU 1.B
-217
BU
FLEXPENDANT
FPU1
EMERGENCY-STOP
-K1
3
5
6
4
PANEL
BOARD
A21-X10
(30) /
-DP1
+24V FPU POWER
EN-DEVICE
-K2
1
12
(30) /
-DP2
-0V PANELB
2
8
(30) /
-EN1.1
22
21
-214
BU
(30) /
-EN1.2
42
41
-215
BU
7
17
ETH_FPU
(42) /
MAIN
COMPUTER
A31-A8
TD+
AWG24
-USB
OG
13
(42) /
TD-
WHOG
14
(42) /
RD+
GN
15
(42) /
RD-
WHGN
16
Latest revision:
Lab/Office:
DMRO SE/
PRH

FPU, FLEXPENDANT
OPTION: HOT PLUG
=
Plant:
Location: +
Sublocation:+
Document no.
Rev. Ind Page40
Next 41
3HAC024480-005
05 Total
Status:
Approved
2011-01-28
PANEL BOARD
2.See pages
PANEL BOARD
/ (29)
-PE
A21
1.See pages
/ (30)
(31)
A21
-XP3
-X5
-X1
ES1 bottom
ES2 bottom
-X2
-260
OG
-261
OG
AWG20
BU
24V PANEL
AWG20
BU
AS1+
A1
12
B1
-262
24V PANEL
AWG20
11
AS1-
BU
B2
0V
-263
AWG20
BU
-264
AWG20
BU
24V PANEL
0V
A2
AWG20
-273
AWG20
BU
-274
AWG20
BU
10
GS15
-265
AWG20
AWG20
BU
-267
OG
-268
OG
Sep ES1:A
-275
AWG20
AS2+
AWG20
AWG20
OG
AS2-
BU
0V
BU
B5
Sep ES2:B
-270
OG
-271
OG
-284
OG
10
-276
AWG20
BU
-277
AWG20
BU
10
ES1 OUT A
ES1 OUT B
AWG20
BU
OG
-286
OG
-287
OG
-279
AWG20
BU
-280
AWG20
BU
GS2-
AWG20
BU
AWG20
BU
AWG20
BU
AWG20
BU
AWG20
BU
D3
-281
AWG20
BU
D4
-282
AWG20
BU
-283
AWG20
BU
D6
D7
D8
B7
BU
D2
A8
AWG20
D1
D5
GS2+
A7
-285
BU
C7
A6
AWG20
C6
B6
Sep ES1:B
BU
C8
A5
-269
Sep ES2:A
AWG20
BU
C4
-278
24V PANEL
A4
BU
C3
B4
ES1 top
AWG20
C2
BU
OG
BU
C1
B3
-266
ES2 top
AWG20
C5
Run CH2 top
BU
A3
GS1+
ES2 OUT B
AWG20
ES2 OUT A
-272
BU
Run CH1 top
0V
-XS/XP3
-X6
-289
0V
B8
SS12
SS23
SS1+
4
SS2+
5
24V PANEL
AWG20
BU
A10
-291
AWG20
BU
-293
AWG20
BU
-290
AWG20
BU
-292
AWG20
BU
-288
AWG20
BU
B10
C10
B9
C9
A9
6
7
8
9
10
Latest revision:
Lab/Office:
DMRO SE/
PRH

OPTION: EXT.CUSTOMER CONNECT.
SYSTEM SIGNALS
=
Plant:
Location: +
Sublocation:+
Document no.
Rev. Ind Page41
Next 42
3HAC024480-005
05 Total
Status:
Approved
2011-01-28
MAIN COMPUTER
A31
DSQC639
-A9
-TX+.1 / (79) (81) (82)

-TX-.1 / (79) (81) (82)
-RX+.1 / (79) (81) (82)
1
2
-X1
(24) (76) /
AXC1
ETH_DRIVE
+24V PC.1
PROCESS
POWER
SUPPLY
(76) (24) /
-0V PC.2
DRIVE
MODULE
AXIS
COMPUTER
/ (79) (81) (82)
-0V PC.1
-RX-.1
+24V PC.2
(24) (76) /
3
4
5
1
(76) (24) /
-A7
1
2
3
PWR LED (GREEN)
WHOG
OG
WHGN
XP23.1
XP23.2
XP23.3
/
/
/
(22)
(22)
(22)
XP23.6
(22)
SERVICE
PORT
ETH_SERVICE
RX-
6
AWG24
TX+
TXRX+
GN
IDE LED (YELLOW)

/
A63.5.X1.1 (69.4)
(69.4)
A63.5.X1.2 /
/
A63.5.X1.3 (69.4)
/
A63.5.X1.6 (69.4)
OPTION:
REMOTE
SERVICE
STATUS LED (RED-GREEN)

_TX+ / (57) (68)
_TX- / (57) (68)
_RX+ / (57) (68)
_RX- / (57) (68)
-X8
AWG24
1
2
WHGN
PANEL UNIT
RS 485
BU
WHBU
+24V_Sig.ref. /
-RS485+ / (29)
-RS485- / (29)
-0V_Sig.ref.
(29)
PANEL BOARD
/ (29)
CHASSIS BLOWER
-E22
-A8
M
1
2
3
AWG24
GND
+24V
FAN_TACH
BK
-J21
ETH_FPU
TD+
TD-
RD+
RD
YE
RD-
/ (37) (38) (39) (40)
/ (37) (38) (39) (40)
FLEXPENDANT
/ (37) (38) (39) (40)

/ (37) (38) (39) (40)
7
8
Latest revision:
Lab/Office:
DMRO SE/
PRH

=
Plant:
Location: +
Sublocation:+
Document no.
Rev. Ind Page42
Next 43
3HAC024480-005
05 Total
Status:
Approved
2011-01-28
-LAN1
OPTION:
232/422/485 SERIE CONVERTER
1
2
-A39
3
6
-X1
-X2
-J2
A1
0V
2
3
4
5
4
5
OPT. EXTERNAL PWR

RX+
A4
A5
6
7
8
9
A2
A3
A6
A7
8
9
A8
3
2
4
1
OPTION: REMOTE SERVICE
-J2
B1
B2
B3
B4
B5
B6
B7
B8
CONSOLE_DCD
CONSOLE_RXD
CONSOLE_TXD
CONSOLE_DTR
GND
CONSOLE_DSR
CONSOLE_RTS-N
CONSOLE_CTS-N
CONSOLE_RI
B9
Latest revision:
(22)
(22)
(22)
(22)
1.LAN1.1
1.LAN1.2
1.LAN1.3
1.LAN1.6
/
/
/
/
(50)
(50)
(50)
(50)
1.XP24.3
1.XP24.2
1.XP24.4
1.XP24.1
/
/
/
/
(22)
(22)
(22)
(22)
A9
-USB1
(68) / CON_DCD
(68) / CON_RXD
(68) / CON_TXD
(68) / CON_DTR
(68) / CON_GND
(68) / CON_DSR
(68) / CON_RTS-N
(68) / CON_CTS-N
(68) / CON_RI
/
/
/
/
Lab/Office:
DMRO SE/
PRH
-USB2
3
2
4
1
AWG28
AWG28
AWG24
AWG24
AWG28
AWG28
AWG24
AWG24

GN
WH
BK
RD
USB1 D+
USB1 DUSB1_GND
USB1 +5V
GN
WH
BK
RD
-USB2 D+ / (24) (76)

-USB2 D- / (24) (76)
-USB2_GND / (24) (76)
-USB2 +5V / (24) (76)
USB
CONTROLE MODULE
2
3
COM1_DCD
COM1_RXD
COM1_TXD
COM1_DTR
0V
COM1_DSR
COM1_RTS-N
COM1_CTS-N
COM1_RI
1.XP28.1
1.XP28.2
1.XP28.3
1.XP28.6
PROCESS
POWER SUPPLY
RXTX+
TX-
TX+
TXRX+
RX-
OPTION:
EXTERNAL LAN
A31
=
Plant:
Location: +
Sublocation:+
Document no.
Rev. Ind Page43
Next 44
3HAC024480-005
05 Total
Status:
Approved
2011-01-28

-A38.1
-Z1
-X1
TX+
TXRX+
1
2
3
CompactCom
OPTION & HARNESS TO CUSTOMER I/O
4
5
RX6

-A38.2
-Z1
-X1
SLAVE
CompactCom
SHIELD
RXD/TXD-p
CONTROL-P
GND
+5VDC
RXD/TXD-N
1
3
4
5
6
8

-A38.3
-Z1
-X1
TX+
TXRX+
1
2
3
CompactCom
RX6
Latest revision:
Lab/Office:
DMRO SE/
PRH

FIELDBUS ADAPTER:
ETHERNET/IP, PROFIBUS and
PROFINET IO
=
Plant:
Location: +
Sublocation:+
Document no.
Rev. Ind Page44
Next 49
3HAC024480-005
05 Total
Status:
Approved
2011-01-28
PROFIBUS DP M/S
DSQC687/ Old DSQC510 and 637
-A33
Customer
Connection
SLAVE
PCI BUS
SHIELD
RXD/TXD-P
CONTROL-P
GND
+5VDC
RXD/TXD-N
1B
3
4
>-Z1
5
6
1A
1B
MASTER
SHIELD
RXD/TXD-P
CONTROL-P
GND
+5VDC
RXD/TXD-N
3
4
5
6
1A
Latest revision:
Lab/Office:
DMRO SE/
PRH

PROFIBUS DP M/S
=
Plant:
Location: +
Sublocation:+
Document no.
Rev. Ind Page49
Next 50
3HAC024480-005
05 Total
Status:
Approved
2011-01-28
Customer
Connection
PROFINET DSQC678
-A33.1
+L
-L
Ext. power supply 6-9V DC
X1
TX+
TXRX+
RX-
X2
TX+
TXRX+
1
2
3
1.XP9.1
1.XP9.2
1.XP9.3
/ (22)
/ (22)
(22)
1.XP9.6
(22)
-Z1
1
2
3
4
PCI BUS
5
6
RX-
7
8
X3
1
2
3
TX+
TXRX+
2.XP28.1 /
2.XP28.2 /
2.XP28.3 /
RX-
2.XP28.6
TX+
TXRX+
1.LAN1.1 / (43)
1.LAN1.2 / (43)
1.LAN1.3 (43)
RX-
1.LAN1.6 (43)
(22)
(22)
(22)
4
5
6
(22)
7
8
LAN1
1
2
3
4
5
6
Latest revision:
Lab/Office:
DMRO SE/
PRH

PROFINET
=
Plant:
Location: +
Sublocation:+
Document no.
Rev. Ind Page50
Next 52
3HAC024480-005
05 Total
Status:
Approved
2011-01-28
A37
A37
-A37.1
-A37.1
INTERBUS SLAVEPART
INTERBUS SLAVEPART
24V
24V+
0V
-X2
1)
0V
24V
-Z1
-Z1
24V+
-X5
0V
0V
6
2
-FO1
PCI BUS
1)
-X4
LW/BK
PCI BUS
DO
DON
DI
DIN
GNDISI
LW/OG
LW/BK
LW/OG
GY (OUT)
-A37.2
-FO3
INTERBUS MASTERPART
LW/BK
BK (IN)
LW/OG
GY (OUT)
-X1
1
6
2
7
3
5
9
-A37.2
-X2
1
INTERBUS MASTERPART
6
-X1
1
2
4
5
DO
DON
DI
DIN
GRND
VCCISO
RBST
7
3
TXD
RXD
GND
RTS
CTS
4
5
DO
DON
DI
DIN
GNDIM
GRND
VCCIM
VCC
-FO2
GY (OUT)
-X3
1
2
4
5
TXD
RXD
GND
RTS
CTS
1) IT IS IMPORTANT THAT 24 DC EXT SUPPLY ALWAYS IS AVAILABLE

OTHERWISE THE INTERBUS CAN NOT WORK
IF THE CONTROLLER IS TURNED OFF.
Latest revision:
Lab/Office:
DMRO SE/
PRH

INTERBUS M/S
=
Plant:
Location: +
Sublocation:+
Document no.
Rev. Ind Page52
Next 52.1
3HAC024480-005
05 Total
Status:
Approved
2011-01-28
Option ETHERNET IP
1.XP9.1
1.XP9.2
1.XP9.3
1.XP9.6

A36
-A1
1
Option ETHERNET card/ ETHERNET IP
2
3
TX+
TXRX+
RX-
DRIVE MODULE 2 (OPTION)
TX+
TXRX+
RX-
TX+
TXRX+
RX-
/
/
/
/
(22)
(22)
(22)
(22)
X1
-A2
1
Option ETHERNET card

2
PCI BUS
3
6
-A3
1
Option ETHERNET card

2
3
6
Latest revision:
Lab/Office:
DMRO SE/
PRH

ETHERNET CARD/ETHERNET IP
=
Plant:
Location: +
Sublocation:+
Document no.
Rev. Ind Page52.1
Next 53
3HAC024480-005
05 Total
Status:
Approved
2011-01-28
Device Net Adapter single channel DSQC697/DSQC658 old

-A35.2
-(CHA-J)1
P1
-A35-X1
1
2
3
PCI BUS
BK
-XS17.3
/ (22)
BU
-XS17.5
/ (22)
SC
-XS17.1
/ (22)
WH
-XS17.4
/ (22)
RD
-XS17.2
/ (22)
CAN_L
DRAIN
OPTION
CAN_H
V+
1) Termination resistor
should be used,
when the optional
harness is not connected.
-V- / (55)
-CAN_L / (55)
-DRAIN / (55)
-CAN_H / (55)
-V+ / (55)
CUSTOMER OPTION BUS

1 Channel 1 x A35.2
2 Channel 2 x A35.2
4 Channel 2 x A35
DeviceNet TM Lean
-A351
-A35
P1
DSQC572
-(CHA-J)1
V1
2
PCI BUS
3
4
MAIN COMPUTER
A31.J22
1) Termination
V-
CAN_L
DRAIN
CAN_H
V+
14
-J2
-X1
1
2
3
4
5
-(CHB-J)2
0VCAN
CAN2_L
SHIELD
CAN2_H
+24VCAN
1
2
CUSTOMER OPTION BUS

3
4
5
Latest revision:
Lab/Office:
DMRO SE/
PRH

DEVICENET SINGLE/DUAL ADAPTER
=
Plant:
Location: +
Sublocation:+
Document no.
Rev. Ind Page53
Next 55
3HAC024480-005
05 Total
Status:
Approved
2011-01-28
(53) (56) / -V(53) (56) / -CAN_L

(53) (56) / -CAN_H
(53) (56) / -V+
(53) (56) / -DRAIN
-I/O1
1
2
4
5
3
-I/O2
1
2
4
5
3
-I/O3
1
2
4
5
3
<--ONLY FOR DUAL CONTROL
-I/O4
1
2
4
5
3
BK
BU
WH
RD
SC
-V-.1 / (58)
-CAN_L.1 / (58)
-CAN_H.1 / (58)
-V+.1 / (58)
-DRAIN.1 / (58)
Digital I/O unit
BK
BU
WH
RD
SC
-V-.2 / (61)
-CAN_L.2 / (61)
-CAN_H.2 / (61)
-V+.2 / (61)
-DRAIN.2 / (61)
Relay I/O unit
BK
BU
WH
RD
SC
-V-.3 / (63)
-CAN_L.3 / (63)
-CAN_H.3 / (63)
-V+.3 / (63)
-DRAIN.3 / (63)
Analogue I/O unit
BK
BU
WH
RD
SC
-V-.4 / (64)
-CAN_L.4 / (64)
-CAN_H.4 / (64)
-V+.4 / (64)
-DRAIN.4 / (64)
Remote I/O unit
BK
BU
WH
RD
SC
-V-.5 / (65)
-CAN_L.5 / (65)
-CAN_H.5 / (65)
-V+.5 / (65)
-DRAIN.5 / (65)
Interbus slave
BK
BU
WH
RD
SC
-V-.6 / (66)
-CAN_L.6 / (66)
-CAN_H.6 / (66)
-V+.6 / (66)
-DRAIN.6 / (66)
Profibus DP slave
BK
BU
WH
RD
SC
-V-.7 / (67)
-CAN_L.7 / (67)
-CAN_H.7 / (67)
-V+.7 / (67)
-DRAIN.7 / (67)
Encoder unit
BK
BU
WH
RD
SC
-V-.8 / (69)
-CAN_L.8 / (69)
-CAN_H.8 / (69)
-V+.8 / (69)
-DRAIN.8 / (69)
PLC. CPU A63.1.XS1
OPTION: HARNESS
TO CUSTOMER I/O
<--ONLY FOR DUAL CONTROL
-I/O5
1
2
4
5
3
-I/O6
1
2
4
5
3
-A35-X2
(26) (28) /
-0Vdevicenet.1
1
2
120 OHM
PLC I/O1.X5-->
connected
only to
I/O1
4
(26) (28) /
-+24Vdevicenet.1
5
3
Latest revision:
Lab/Office:
DMRO SE/
PRH

DEVICENET ADAPTER
=
Plant:
Location: +
Sublocation:+
Document no.
Rev. Ind Page55
Next 56
3HAC024480-005
05 Total
Status:
Approved
2011-01-28
CC-LINK
-I/Ox
3)
(66) /
DSQC378B
-+24Vdevicenet.7
(66) /
Customer
Connection
-0Vdevicenet.7
-X5
-V(55) / -CAN_L
(55) / -CAN_H
(55) / -V+
(55) /
(55) /
-X8
1
2
2
3
4
5
6
-DRAIN
OR PREVIOUS
I/O UNIT
1)
0V
NA0
NA1
NA2
NA3
NA4
NA5
3
6
7
SLD-SHIELD
DA-Signal line A
DG-GND
DB-Signal line B
FG-Power GND
8
9
10
11
12
External supply
0V DC
GND
+24VDC
-X3
1
3
5
1) JUMPERS PLACED ACCORDING TO

THE ACTUAL NODE ADDRESS.
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.
Latest revision:
Lab/Office:
DMRO SE/
PRH

CC-LINK
=
Plant:
Location: +
Sublocation:+
Document no.
Rev. Ind Page56
Next 57
3HAC024480-005
05 Total
Status:
Approved
2011-01-28

-A57
-X1
(28) /
(28) /
XT31:1.1
-X2
24V
0V
XT31:5.1
-X57.1
V1
CAN_L
2
DRAIN
3
CAN_H
4
V+
5
Ethernet switch
-A62
-X2
-X1
(28) /
XT31:1.2
(28) /
XT31:5.2
-X11
24V
TX+
0V
120ohm
CAN_H
RX6
DRAIN
RX+
CAN_L
-X57.2
V-
-X6
TX-
V+
6
-X3
-X1
(42) /
(42) /
(42) /
(42) /
XP23.1
/ (22)
XP23.2
/ (22)
-_TX+
XP23.3
/ (22)
-_TX-
XP23.6
/ (22)
-_RX+
-_RX-
Ethernet service port X23
-X4
1
1.TX+
1.TX-
1.RX+
1.RX-
/ (68)
2.TX+
/ (69.4)
2.TX-
2.RX+
2.RX-
/ (68)
/ (68)
Remote service box A61
/ (68)
-X5
Latest revision:
/ (69.4)
/ (69.4)
/ (69.4)
Lab/Office:
DMRO SE/
PRH

DISPENCE PAC SUPPORT
=
Plant:
Location: +
Sublocation:+
Document no.
Rev. Ind Page57
Next 58
3HAC024480-005
05 Total
Status:
Approved
2011-01-28
3)
(26) (28) /
DIG. PART OF COMBI I/O AND DIG. I/O UNIT

-I/Ox
-+24Vdevicenet.2
(26) (28) /
DSQC 651& 652
-0Vdevicenet.2
XTXX.X3
-X3
INPUT CH.1
2
3
4
5
6
7
8
0V
(55) /
-X5
-V-.1
(55) / -CAN_L.1
(55) / -CAN_H.1
(55) / -V+.1
(55) /
5
2
7
9
-DRAIN.1
OR PREVIOUS
I/O UNIT
1)
0V
NA0
NA1
NA2
NA3
NA4
NA5
10
6
7
8
0V
4)
10
XTXX.X4
11
-X4
12
1
2
3
4
5
6
7

INPUT CH.9
10
11
12
13
14
15
16
0V

10

CAN-BUS CIRCUIT.
4) ONLY FOR DIGITAL I/O DSQC 652.
Latest revision:
Lab/Office:
DMRO SE/
PRH

DIGITAL PART OF COMBI I/O AND
DIGITAL I/O UNIT
=
Plant:
Location: +
Sublocation:+
Document no.
Rev. Ind Page58
Next 59
3HAC024480-005
05 Total
Status:
Approved
2011-01-28
DIGITAL I/O UNIT

DSQC652
I/O.X
OUTPUT CH 1-8
XTXX.X1
X1
<1
OUTPUT CH.1
2
3
4
5
6
7
8
0V
24V DC
1
2
3
4
5
6
7
8
0V
9
10
24V
OUTPUT CH 9-16
0V
XTXX.X2
-X2
<1
1
2
3
4
5
6
7
8
9
OUTPUT CH.9
10
11
12
13
14
15
16
0V
24V DC
10
Latest revision:
Lab/Office:
DMRO SE/
PRH

DIGITAL I/O UNIT
=
Plant:
Location: +
Sublocation:+
Document no.
Rev. Ind Page59
Next 60
3HAC024480-005
05 Total
Status:
Approved
2011-01-28
COMBI I/O UNIT

DSQC 651
I/O.X
OUTPUT CH 1-8
XTXX.X1
-X1
<1
OUTPUT CH.1
2
3
4
5
6
7
8
0V
24V DC
1
2
3
4
5
6
7
8
0V
10
INPUT CH.1
INPUT CH.2
CPU
-X6
1
2
0V
3
DAC
OUTPUT CH.1
5
REF
0VA
4
OUTPUT CH.2
6
DC
DC
Latest revision:
+15V
0VA
-15V
Lab/Office:
DMRO SE/
PRH

COMBI I/O UNIT
=
Plant:
Location: +
Sublocation:+
Document no.
Rev. Ind Page60
Next 61
3HAC024480-005
05 Total
Status:
Approved
2011-01-28

DSQC 653
3)
I/O.X
(26) (28) /
-+24Vdevicenet.3
XTXX.X3
(26) (28) /
-0Vdevicenet.3
X3
1
2
-X5
3
4
-V-.2
(55) / -CAN_L.2
(55) / -CAN_H.2
(55) / -V+.2
(55) /
(55) /
5
2
INPUT CH.1
2
3
4
5
6
7
8
0V
-DRAIN.2
OR PREVIOUS
I/O UNIT
1)
0V
NA0
NA1
NA2
NA3
NA4
NA5
3
6
7
0V
8
9
10
11
12

CAN-BUS CIRCUIT.
Latest revision:
Lab/Office:
DMRO SE/
PRH

RELAY I/O UNIT
=
Plant:
Location: +
Sublocation:+
Document no.
Rev. Ind Page61
Next 62
3HAC024480-005
05 Total
Status:
Approved
2011-01-28
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
OUT CH.3A
5
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
Latest revision:
Lab/Office:
DMRO SE/
PRH

RELAY I/O UNIT
=
Plant:
Location: +
Sublocation:+
Document no.
Rev. Ind Page62
Next 63
3HAC024480-005
05 Total
Status:
Approved
2011-01-28
ANALOGUE I/O UNIT
I/O.X
3)
(26) (28) /
-X7
1
-+24Vdevicenet.4
(26) (28) /
ADC
-0Vdevicenet.4
MUX
3
4
19
0V
21
-X5
-V-.3
(55) / -CAN_L.3
(55) / -CAN_H.3
(55) / -V+.3
(55) /
20
ANOUT_1
ANOUT_2
ANOUT_3
ANOUT_4
0V
0V
0V
0V
22
1
2
4
5
(55) /
-DRAIN.3
OR PREVIOUS
I/O UNIT
1)
0V
NA0
NA1
NA2
NA3
NA4
NA5
DAC
REF
-X8
7
8
2
10
11
ANIN_1
ANIN_2
ANIN_3
ANIN_4
4
12
24V
17
18
19
20
21
0V
22
23

24
25

26
27
0V
0V
0V
0V
28

CAN-BUS CIRCUIT.
Latest revision:
Lab/Office:
DMRO SE/
PRH

ANALOGUE I/O UNIT
=
Plant:
Location: +
Sublocation:+
Document no.
Rev. Ind Page63
Next 64
3HAC024480-005
05 Total
Status:
Approved
2011-01-28
3)
(26) (28) /
-+24Vdevicenet.5
(26) (28) /
-0Vdevicenet.5
REMOTE I/O UNIT
I/O.X
-X5
-V-.4
(55) / -CAN_L.4
(55) / -CAN_H.4
(55) / -V+.4
(55) /
NAC
-X8
2
4
LINE 1 (BLUE)
5
(55) /
REMOTE I/O IN
-DRAIN.4
OR PREVIOUS
I/O UNIT
1)
0V
NA0
NA1
NA2
NA3
NA4
NA5
3
6
LINE 2 (CLEAR)
1
-X9
(BLUE)
REMOTE I/O OUT
10
11
(CLEAR)
12
2
3
3


CAN-BUS CIRCUIT.
Latest revision:
Lab/Office:
DMRO SE/
PRH

REMOTE I/O UNIT
=
Plant:
Location: +
Sublocation:+
Document no.
Rev. Ind Page64
Next 65
3HAC024480-005
05 Total
Status:
Approved
2011-01-28
3)
(26) (28) /
INTERBUS SLAVE
-+24Vdevicenet.6
I/O.X
(26) (28) /
-0Vdevicenet.6
-X5
-V-.5
(55) / -CAN_L.5
(55) / -CAN_H.5
(55) / -V+.5
(55) /
-X21
1
2
2
5
(55) /
3
5
-DRAIN.5
OR PREVIOUS
I/O UNIT
1)
0V
NA0
NA1
NA2
NA3
NA4
NA5
6
6
TPDO2
TPDI2
GND
+5VDC
TPDO2-N
TPDI2-N
RBST
IB-S OUT
TPDO1
TPDI1
GND
TPDO1-N
TPDI1-N
IB-S IN
9
8
9
10
11
12
-X20
1
2
3
GND
4) 24V DC EXT. SUPPLY
+24VDC
-X3
1
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.
Latest revision:
Lab/Office:
DMRO SE/
PRH

INTERBUS SLAVE
=
Plant:
Location: +
Sublocation:+
Document no.
Rev. Ind Page65
Next 66
3HAC024480-005
05 Total
Status:
Approved
2011-01-28
PROFIBUS DP SLAVE
3)
(26) (28) /
(56)
-+24Vdevicenet.7
(26) (28) /
(56)
I/O.X
Customer
Connection
-0Vdevicenet.7
-X5
-V-.6
(55) / -CAN_L.6
(55) / -CAN_H.6
(55) / -V+.6
(55) /
-X20
1
2
4
5
(55) /
3
4
-DRAIN.6
OR PREVIOUS
I/O UNIT
1)
0V
NA0
NA1
NA2
NA3
NA4
NA5
SHIELD
5
6
RXD/TXD-P
CONTROL-P
GND
+5VDC
RXD/TXD-N
8
8
9
10
11
12
External supply
0V DC
GND
+24VDC
-X3
1
3
5

CAN-BUS CIRCUIT.
Latest revision:
Lab/Office:
DMRO SE/
PRH

PROFIBUS DP SLAVE
=
Plant:
Location: +
Sublocation:+
Document no.
Rev. Ind Page66
Next 67
3HAC024480-005
05 Total
Status:
Approved
2011-01-28
ENCODER UNIT
3)
(26) (28) /
I/O.X
-+24Vdevicenet.8
(26) (28) /
Encoder
Connection
-0Vdevicenet.8
-X20
-X5
-V-.7
(55) / -CAN_L.7
(55) / -CAN_H.7
(55) / -V+.7
(55) /
0V
ENC +24V
5
(55) /
ENC 0V
-DRAIN.7
OR PREVIOUS
I/O UNIT
1)
0V
NA0
NA1
NA2
NA3
NA4
NA5
24 VDC
ENC_B
ENC_A
5
Encoder
+24V
10
11
0V
2
12
Synch switch
DIGIN
1
2



CAN-BUS CIRCUIT.
Latest revision:
Lab/Office:
DMRO SE/
PRH

ENCODER UNIT
=
Plant:
Location: +
Sublocation:+
Document no.
Rev. Ind Page67
Next 68
3HAC024480-005
05 Total
Status:
Approved
2011-01-28

-A61
-0V ReS
(26) (28) /
-X1
746
-X2
1
(26) (28) /
+24V Res
XS18
745
/ (22)
AWG24
(42) /
-_TX+
WHOG
-X10
1
(42) /
-_TX-
OG
-X11
2
(42) /
-_RX+
WHGN
AWG24
WHOG
XP23.1
/ (22)
OG
XP23.2
/ (22)
WHGN
XP23.3
/ (22)
GN
XP23.6
/ (22)
1
3
2
(42) /
-_RX-
GN
3
4
5
6
PLC
(57) (69.4) / 1.TX+

(57) (69.4) / 1.TX(57) (69.4) / 1.RX+
(57) (69.4) / 1.RX-
7
8
-CON_RTS-N
BU
(43) /
-CON_TXD
RD
(43) /
-CON_RXD
BN
(43) /
-CON_DSR
GN
(43) /
-X15
X12
1
LAN3 only for diagnostic 8/
2
3
-X13
4
(43) /
-CON_GND
YE
(43) /
-CON_DTR
OG
(43) /
-CON_DCD
BK
LAN4 only for unit diagnostic 8/
X14
6
WAN Internet 8/
7
(43) /
-CON_CTS-N
8
(43) /
-CON_RI
VO
9
Latest revision:
Lab/Office:
DMRO SE/
PRH

REMOTE SERVICE
=
Plant:
Location: +
Sublocation:+
Document no.
Rev. Ind Page68
Next 69
3HAC024480-005
05 Total
Status:
Approved
2011-01-28
PLC. CPU unit

PM582
Battery
(28) /
1)
+24Vdevicenet.9
3)
(28) /
0Vdevicenet.9
(28) /
-+24V I/O.2
Memory card
-A63.1
2)
(28) /
-0V I/O.2
-V-.8
(55) / -CAN_L.8
(55) / -CAN_H.8
(55) / -V+.8
(55) /
(55) /
-Internal
DNP21-FBP
I/O1
-A63.1.XS1
I/O1.XP5
1
2
4
5
1
2
4
5
-DRAIN.8
BK
BU
WH
RD
I/O bus
Internal I/O bus
Device Net
/ (69.2)
-FBP
+24 V
1
Diagnosis pin
2
Serial data
4
Serial data
5
Drain
3
0V
OR PREVIOUS
I/O UNIT
-Power+24
UP L+ 24VDC
UP L+ 24VDC
ZP M 0V
ZP M 0V
FE Functional earth
1
2
3
4
+24V I/O.2 /(28)

0V I/O.2 /(28)
1) OPTION DEVICENET KLASS 2

2) DEVICENET STANDARD
CAN-BUS CIRCUIT.
Latest revision:
Lab/Office:
DMRO SE/
PRH

PLC.CPU unit PM582
=
Plant:
Location: +
Sublocation:+
Document no.
Rev. Ind Page69
Next 69.1
3HAC024480-005
05 Total
Status:
Approved
2011-01-28

DC532
-A63.2
Dig Input ch. 1 - 8

1.0
CH-ERR1
Red
1.1
Yellow
1.2
1.3
1.4
1.5
1.6
Green
1.7
+24V
0V
1.8
1.9
INPUT I0
I1
I2
I3
I4
I5
I6
I7
UP
ZP
Dig Input ch. 9 - 16

2.0
CH-ERR2
Red
2.1
Yellow
2.2
2.3
2.4
2.5
2.6
0V
Dig Output ch. 1 - 8
CH-ERR1
+24V
0V
2.7
2.8
2.9
INPUT I0
I1
I2
I3
I4
I5
I6
I7
UP
ZP
Configuration mode
selector

Red
14
Yellow
12
11
<1
3.0
3.1
3.2
3.3
3.4
3.5
14
12
3.6
11
+24V
0V
3.7
3.8
OUTPUT/INPUT CH.1
2
3
4
5
6
7
8
UP
ZP
0V
Dig Output ch. 9 - 16.
CH-ERR2
3.9
Configuration mode
selector

Red
14
Yellow
12
11
<1
4.0
4.1
4.2
4.3
4.4
4.5
14
12
4.6
11
+24V
0V
4.7
4.8
OUTPUT/INPUT CH.9
10
11
12
13
14
15
16
UP
ZP
4.9
Latest revision:
Lab/Office:
DMRO SE/
PRH

PLC.DIGITAL unit DC532
=
Plant:
Location: +
Sublocation:+
Document no.
Rev. Ind Page69.1
Next 69.2
3HAC024480-005
05 Total
Status:
Approved
2011-01-28

DX522
A63.3
INPUT I0
I1
I2
I3
I4
I5
I6
I7
UP
ZP
1.0
1.1
Yellow
1.2
1.3
1.4
1.5
1.6
Green
Red
1.7
+24V
24V
0V
CH-ERR1
1.8
1.9
ZP
2.9
ZP
3.9
ZP
4.9
UP
2.8
UP
3.8
-Internal I/O bus

(69)/
Internal I/O bus
UP
4.8
Red
CH-ERR2
OUT CH.1A
R0
2.0
OUT CH.1B
OUT CH.1B
NO0
NCO
3.0
4.0
R1
NO1
NC1
2.1
3.1
4.1
R2
NO2
NC2
2.2
3.2
4.2
R3
NO3
NC3
2.3
3.3
4.3
R4
NO4
NC4
2.4
3.4
4.4
R5
NO5
NC5
2.5
3.5
4.5
R6
NO6
NC6
2.6
3.6
4.6
R7
NO7
NC7
2.7
3.7
4.7
Latest revision:
Lab/Office:
DMRO SE/
PRH

PLC.DIGITAL INPUTS and RELAY OUTPUTS DX522
=
Plant:
Location: +
Sublocation:+
Document no.
Rev. Ind Page69.2
Next 69.3
3HAC024480-005
05 Total
Status:
Approved
2011-01-28
PLC Analogue I/O

AX521
-A63.4
Analog outputs
+
+
-
+
-
Output Ch.1
Output Ch.2
Output Ch.3
Output Ch.4
3.0
3.1
+
-
3.2
UP
ZP
3.3
3.8
+24V
0V
3.9
1.0
1.1
1.2
+24V
0V
1.3
1.8
1.9
Analog inputs
UP
ZP
++++-
Input Ch.1
Input Ch.2
Input Ch.3
Input Ch.4
2.0
4.0
2.1
4.1
2.2
+24V
0V
Latest revision:
4.2
2.3
2.8
2.9
UP
ZP
UP
ZP
4.3
4.8
+24V
0V
4.9
Lab/Office:
DMRO SE/
PRH

PLC. ANALOGUE I/O UNIT
=
Plant:
Location: +
Sublocation:+
Document no.
Rev. Ind Page69.3
Next 69.4
3HAC024480-005
05 Total
Status:
Approved
2011-01-28

CM577-ETH
-A63.5
-X1
ETH_SERVICE in
A63.5.X1.1
A63.5.X1.2
A63.5.X1.3 /
1
2
3
A63.5.X1.6
-X2
1
2
3
TX+ AWG24
TXRX+
WHOG
/ (42)
/ (42)
(42)
/ (42)
XP23.1 / (22)
XP23.2 / (22)
XP23.3 / (22)
OG
WHGN
ETH_SERVICE out
6
RX-
GN
XP23.6
(22)
1.TX+ / (68)
1.TX- / (68)
1.RX+ / (68)
1.RX- / (68)
2.TX+ / (57)
2.TX- / (57)
2.RX+ / (57)
2.RX- / (57)
Latest revision:
Lab/Office:
DMRO SE/
PRH

PLC. ETHERNET switch CM577-ETH
Opt. If Remote service
Opt. Dispence pac
=
Plant:
Location: +
Sublocation:+
Document no.
Rev. Ind Page69.4
Next 72
3HAC024480-005
05 Total
Status:
Approved
2011-01-28
Drive module sh.72 - 144
-109 AWG10
BK
-108 AWG10
BK
-107 AWG10
BK
-F6
Option: Not for

1 phase connection
103
102
-102 AWG10
-101AWG10
-Q1
BK
BK
101
-XP0
BK
-103AWG10
I>
I>
I>
+Q1
-105 AWG10
BK
-104 AWG10
BK
-Z1
T3
112
BK
T2
111
-106 AWG10
110
T1
OPTION:
MAINS LINE FILTER
1
BK
-L3
(73) (73.1) /
-112 AWG10
BK
-L2
(73) (73.1) /
-111 AWG10
-L1
(73) (73.1) /
-110 AWG10
BK
If Option: 3 Phase
TRANSFORMER UNIT
Latest revision:
Lab/Office:
DMRO SE/
PRH

MAINS CONNECTION
=
Plant:
Location: +
Sublocation:+
Document no.
Rev. Ind Page72
Next 73
3HAC024480-005
05 Total
Status:
Approved
2011-01-28
/ (72)
/ (72)
/ (72)
T1.2 3HAC 024180-001 (6,0)
-L1
-L2
-L3
T1.3 3HAC 037015-001 (1,2 New)
1) T1.1 (T1_ L1-L2-L3) = 262VAC if IRB120-360, 14x0-44x0, 6400R
2) T1.2 (T1_L1-L2-L3) = 480VAC if IRB660, 4600 -7600
T1.3 USED FOR:DIRECT POWER SUPPLY IRB660, 4600, 66x0 400-480V

IRB7600 480V
BK
BK
-114 AWG10
-115 AWG10
BK
-113 AWG10
150
151
TRANSFORMER UNIT
TRANSFORMER UNIT
T1.x
REAKTOR UNIT
480V
400V
230V
440V
IN
600V
500V
480V
440V
L1IN L2IN L3IN
F1
F3
F5
F2
F4
F6
-L1
-X2
1
L1UT L2UT L3UT
230VAC
230VAC
230VAC
AWG10
-X2
115VAC
400V
220V
3
GNYE
115VAC
230VAC
262 / 480VAC
262 / 480VAC
262 / 480VAC
230V
230V
200V
600V
500V
480V
440V
400V
220V
200V
600V
500V
480V
440V
400V
220V
200V
-X1
OUT
AWG10
GNYE
116 117 118

-Z2
INL1 INL2 INL3
F4
F6
Latest revision:
SERVICE
OUTLET
Lab/Office:
DMRO SE/
PRH

TRANSFORMER UNIT
SERVICE
OUTLET
-T1_L1
-T1_L2
-T1_L3
(78) /
(78) /
(78) /
-230V AC2.DC
(75) /
POWER SUPPLY
DUAL
CABINET
(74) / -T1_230V
(74) / -T1_115V
(74) / -T1_N
-230V AC1.DC
-230VAC2 SC.1
(76) /
POWER SUPPLY
SINGLE
CABINET
(75) /
-230VAC1 SC.1
(76) /
-T1_N
-T1_115V
(74) /
(74) /
-T1_230V
-T1_L3
(78) /
CONTACTOR
UNITS
1), 2)
ONLY FOR
IRB 4600
IRB 6600-7600
(74) /
REAKTOR UNIT
-T1_L2
(78) /
-T1_L1
-230V AC2.DC
(75) /
POWER SUPPLY
DUAL
CABINET
-X2
OUTL1
OUTL2
OUTL3
(78) /
-230V AC1.DC
(75) /
-230VAC2 SC.1
(76) /
POWER SUPPLY
SINGLE
CABINET
F2
-L1
121
-230VAC1 SC.1
120
(76) /
F5
121
F3
120
1
F1
119
-X1
119
-Z2
-X1
T1.3
-X1
-X2
T1.3 3HAC 024174-001 (2,5 old)
113
-X10
T1.1 3HAC 024138-001 (13)
MAINS CONNECTION
T1.x
115
114
CONTACTOR
UNITS
=
Plant:
Location: +
Sublocation:+
Document no.
Rev. Ind Page73
Next 73.1
3HAC024480-005
05 Total
Status:
Approved
2011-01-28
MAINS CONNECTION
/ (72)
/ (72)
/ (72)
-L1
-L2
-L3
Option: Transformer T1 L1-L2-L3 = 262V

if IRB120 - 360, 14x0 - 44x0, 6400R
3HAC037016-001 Cu4,2kVA
1)
200V
2)
220V
3HAC037017-001 Al4,2kVA
3HAC037018-001 Al4,2kVA
400V
440V
480V
BK
BK
-114 AWG10
-113 AWG10
BK
Terminal
-115 AWG10
-X10
T1.4 3HAC037015-001 (4,0)
3)
500V
4)
600V
TRANSFORMER UNIT
T1
1) 2) 3) 4)
1) 2) 3) 4)
CONTACTOR
UNITS
1), 2)
-T1_115V
(74) /
115VAC
-T1_230V
230VAC
(74) /
262VAC
-T1_L3
(78) /
262VAC
-T1_L2
(78) /
262VAC
-T1_L1
230V
-230V AC2.DC
(75) /
Latest revision:
(78) /
230V
-230VAC2 SC.1
(76) /
-230V AC1.DC
-230VAC1 SC.1
(76) /
AWG10
(75) /
POWER SUPPLY
DUAL
CABINET
121
POWER SUPPLY
SINGLE
CABINET
120
-X2
119
GNYE
-T1_N
1) 2) 3) 4)
(74) /
-X1
SERVICE
OUTLET
Lab/Office:
DMRO SE/
PRH

TRANSFORMER UNIT
=
Plant:
Location: +
Sublocation:+
Document no.
Rev. Ind Page73.1
Next 74
3HAC024480-005
05 Total
Status:
Approved
2011-01-28
-184
OPTION:
AWG16
SERVICE OUTLET
SINGLE/DUAL CONTROL
/ (73) (73) (73.1)
CIRCUIT BRAKER
-T1_N
/ (73) (73) (73.1)
-T1_115V
/ (73) (73) (73.1)
-T1_230V
-F5
AWG16BK
-183
-F4
EARTH FAULT
BREAKER
-186
AWG16
-185
GNYE
AWG18
-X22
GND
Latest revision:
Lab/Office:
DMRO SE/
PRH

OPTION : SERVICE OUTLET
=
Plant:
Location: +
Sublocation:+
Document no.
Rev. Ind Page74
Next 75
3HAC024480-005
05 Total
Status:
Approved
2011-01-28
-230V AC1.DC
RELAY UNIT
-140
AWG20
AWG16
A2
-F2
-156
BK
AWG16
3
-154
-155
BK
AWG16
-153
BK
GNYE
158 157
1) POWER SUPPLY
-G9
-X1
-X2
MAIN FAN
UNIT
515
-ACOK
AXIS COMP.
UNIT
Lab/Office:
DMRO SE/
PRH
(78.2)
W763
(78)
W758
(79) /
514
-+5V_OUT
-0V COOL.2
(76.5) /
-G2.XS9
-0V COOL.3
(76.5) /
-+24V COOL.2
(76.5) /
-+24V COOL.3
-G2.XP9
(79) /
-513 AWG20
-512 AWG20
-511 AWG20
-510 AWG20
BU
BU
AWG24 AWG24
(76.5) /
-470
-0V COOL.1
-468
-0V BRAKE.2
(77) /
-467
-0V BRAKE.1
(77) /
-469
-+24V COOL.1
CONTACTOR
UNIT
7
BU
AWG16
(77) /
5
BU
AWG16
(77) /
-466
-+24V BRAKE.2
(77) /
-465
-+24V BRAKE.1
(77) /
-464 AWG16 BU
DRIVE.1
(77) -0V
-463 AWG16 BU
DRIVE.1
BU
BU
BU
BU
AWG16 AWG16 AWG16 AWG16
BK
-XS4
1
Latest revision:
AWG16
AWG16
24
14
-XS3
CONTACTOR
UNIT
/ (32)
(23)
(23)
(23)
AXIS COMP. MAIN SERVO

UNIT
DRIVE UNIT
(77) -+24V
519
Drive sys
(79) -0V
518
Drive sys
DRIVE
(79) -0V
BU
BU
AWG16 AWG16
(79) +24V
DRIVE
517
BU
AWG16
(79) -+24V
516
BU
AWG16
-0V.1
BU
BK
-X2
5
-141
AWG20
/ (32)
11
-152
GNYE
-X1
-230V AC1_DM
-230V AC2_DM
-GND_DM
AWG16
-G1
-AC_ON.1
BU
-K41.X1
A1
POWER SUPPLY
CONTROL MODULE
A21.X7 PANEL BOARD
(73) (73) (73.1)
1) Option Power supply

for external axes.
-230V AC2.DC
/
(73) (73) (73.1)

POWER SUPPLY DSQC 626 AND 627
FOR DUAL CABINET
EXTERNAL
AXES
CONTROL
MODULE
=
Plant:
Location: +
Sublocation:+
Document no.
Rev. Ind Page75
Next 76
3HAC024480-005
05 Total
Status:
Approved
2011-01-28
RD
OG
+24V Drive sys

-0V Drive sys
AXIS / DRIVE / CONTACTOR BOARDS

BU
BU
BU
BU
BU
BU
BU
BU
BU
BU
BU
-248 AWG16
-466 AWG16
-465 AWG16
-469 AWG16
-467 AWG16
-468 AWG16
-470 AWG16
-250 AWG18
-252 AWG18
-301 AWG18
-302 AWG18
-251 AWG18
-253 AWG18
-303 AWG18
-304 AWG18
-0V I/O.1
-+24V BRAKE.1
-+24V BRAKE.2
-+24V COOL.1
-0V BRAKE.1
-0V BRAKE.2
-0V COOL.1
+24V SYS
+24V COOL
+24V PC.1
+24V PC.2
-0V SYS
-0V COOL
-0V PC.1
-0V PC.2
(42) /
(42) /
(42) /
(42) /
(77) /
(77) /
(77) /
(77) /
CUSTOMER
I/O
Latest revision:
CONTACTOR
UNIT
3
4
5
6
Lab/Office:
DMRO SE/
PRH
7
8
9
10
11
L1

POWER SUPPLY DSQC 661 AND 662
FOR SINGLE CABINET
L1
12
-X1
L1
JUMPER
-X6
-X7
1
2
3
4
6
7
10
PANELBOARD,
PC
Status:
Approved
-G3
9
10
=
Plant:
Location: +
Sublocation:+
Document no.
Rev. Ind Page76
Next 76.5
3HAC024480-005
05 Total
2011-01-28
2
4
-X8
3
2
1
MAIN
COMPUTER
OG
JUMPER
L1
BN
2
L1
RD
1
L1
2/BK
BK
-F2
1/BK
COOL.3
COOL.2
COOL.3
COOL.2
8
L2
GNYE
-158 BK
AWG16
-_158 BK
AWG16
-308 BK
AWG16
-157 BK
AWG16
-_157 BK
AWG16
If Option:
3 phase
connection
-230VAC2 SC.1 / (73) (73) (73.1)
-230VAC1 SC.1 / (73) (73) (73.1)
-309 BK
AWG16
AWG16
(76.5) / -+24V
(76.5) / -+24V
(76.5) / -0V
(76.5) / -0V
7
L2
2/BK
6
L2
1/GN
L2
1/WH
(43) / -USB2 +5V

(43) / -USB2 D(43) / -USB2 D+
(43) / -USB2_GND
3
L2
(29) /
-X5
(29) /
2
4
(29) /
1
3
(29) /
-X2
(77) /
(77) /
(28) /
2
4
AWG20
BU
-247 AWG16
+24V I/O.1
-X4
2/RD
BU
-464 AWG18
DRIVE.1
(77) -0V
(28) /
BU
-463 AWG18
DRIVE.1
(77) -+24V
(79) /
(79) /
BN
DRIVE
(79) -0V
AWG20 BU
-230V AC1.13
AWG12 BU
3
(28)
-X3
L2
-230V AC1.12
3
3
-XT16
(28)
BK
DC
-230V AC1.11
AWG20
AC
(28)
5
2
3
-230V AC2.13
2
1
4
1
BK
(28)
-X1
-153 AWG16
-230V AC2.12
-X1
BK
(28)
DRIVE
-G1
-152 AWG16
-230V AC2.11
-X3
(28)
(79) -+24V
TEMP OK_N
-G2
2
0V

1
0V
ACOK_N
-X2
+24V
+24V
1
8
AWG16
-X9
2
3
4
ENERGY BANK
MAIN FAN
UNIT
733 AWG20 BU
732 AWG20 BU
731 AWG20 BU
if HV
1
1 1
FAN UNIT
-E41
SWITCH
-E42
-X1
-X1
14
-S1
13
BU
AWG24
-W752
BU
AWG24
FAN UNIT
BU
AWG24
BU
AWG24
+A43-XP11.1
-W750
-W754
BU
AWG24
-W753
-X1
-W751
-X1
+
-W756
SINGLE CABINET
DUAL CABINET
BU
AWG24
735 AWG20 BU
734 AWG20 BU
Fan unit
-E43
(134)

FAN UNIT
(134)
-FAN 1 ret.4
-FAN 2 ret.5
-E5
-0V COOL.4 (134)

-+24V COOL.4(134)
MDU FAN
-+24V COOL.5(134)
-0V COOL.5 (134)
Lab/Office:
DMRO SE/
PRH
2 1 3
(134)
(134)
(134)
(134)
Latest revision:
-X10.1
-FAN 2 ret.5
-+24V COOL.5(134)
-X1
-0V COOL.5
-FAN 1 ret.4
-X1
-0V COOL.4
-+24V COOL.4(134)
Fan unit
-E44
385 AWG20 BU
383 AWG20 BU
-X1
384 AWG20 BU
382 AWG20 BU
-X1
381 AWG20 BU
380 AWG20 BU
(77)
0VCOOL.4
+24VCOOL.4
FAN1ret.4
(77)
(77)
(77)
+24VCOOL.5
AWG24 BU AWG24 BU
AWG24 BU
if LV
+A43-XS11
AWG24 BU
FAN2ret.5
(77)
0VCOOL.5
(77)
(77)
FAN1ret.4
-XS1
387 AWG20 BU
FAN UNIT
-E1
0VCOOL.4
(75) (76)
-+24V COOL.2
BK
RD AWG24
(77)
(75) (76)
-0V COOL.3
OG
BN
386 AWG20 BU
(75) (76)
-+24V COOL.3
+24VCOOL.4
(75) (76)
-0V COOL.2
(77)
DRIVE POWER
SUPPLY
=
Plant:
Location: +
Sublocation:+
Document no.
Rev. Ind Page76.5
Next 77
3HAC024480-005
05 Total
Status:
Approved
2011-01-28
DRIVE POWER
SUPPLY
CONTACTOR UNIT
A43
(75) (76) -0V
DRIVE.1
(75) (76) -+24V
DRIVE.1
PTC1 ret
CONTROL
MODULE
A21.X7
24VDrive
2
2
0V BRAKE
3
24V
0V BRAKE
-X1
(32) / -RUN_CH1
(32) / -RUN_CH 1Ret
(32) / -RUN_CH2
(32) / -RUN_CH 2Ret
-X5
PTC1
-XS6
A43X5:1
/ (78.2)
A43X5:2
/ (78.2)
A43X5:3
/ (78.2)
A43X5:4
/ (78.2)
1
2
3
-X10
LIM2 ch1 -X22

1
LIM2 ch2
LIMIT
SWITCH 2
EXTERNAL
AXIS
24VDrive
RunCh2
LIM2 ch2 ret

LIM2 ch1 ret
3
4
2
-X1
5
4
(75) (76) /
-0V BRAKE.1
5
(75) (76) /
-RCH1
-0V BRAKE.2
6
Latest revision:
-0V COOL;6
-+24V BRAKE.1
(78) /
(75) (76) /
(78) /
-0V COOL;6
-+24V COOL.1
(78) /
(75) (76) /
-SELF1
-SELF2
(78)
(78)
-0V COOL.1
(78)
(78)
(75) (76) /
-LOCK1A
-LOCK2B
-BRAKE
(78) /
PAN_CH2
PAN_CH1
-XS7
24V COOL
RunCh2
-X12
-491 AWG20
BU
+24V
-492 AWG20
BU
0V
1
2
-RCH2
-+24V BRAKE.2
RunCh1
7
8
(75) (76) /
OPTION :DUTY
TIME COUNTER
-P1
(78) /
24V COOL
WHOG
K2
K1
OG
0V COOL
WHBU
-0V COOL;6
-X4
INTERLOCKING
7
BU
/ (76.5)
-X11
3
0V COOL
LIM2
LIM1
(78) /
LIM1 ch2 ret

LIM1 ch1 ret
RunCh1
24V COOL
(76.5)
(79) / -0V ENABLE2

(79) / -ENABLE2
1) 1)
-X21
0VCOOL.5
AXIS
COMPUTER
(79) / -RS485+
(79) / -RS485-
LIM1 ch1
LIM1 ch2
CONTINUATION NEXT PAGE

Lab/Office:
DMRO SE/
PRH
+24VCOOL.5 (76.5)
CONTROL
MODULE
A21.X7
(82) (94.6) / -A43-X21.1

(106) (112)
(118)
(82) (94.6) / -A43-X21.3
(106) (112)
(118)
(82) (94.6) / -A43-X21.4
(106) (112)
(118)
(82) (94.6) / -A43-X21.2
(106) (112)
(118)
(32) / -ENABLE2.1
(32) / -ENABLE2_1Ret
(32) / -SPEED
(32) / -0V
(76.5)
(76.5)
BRAKE CTRL
3
4
(76.5)
+24VCOOL.4 (76.5)
LIMIT
SWITCH 1
CONTROL
CABLE
FAN2ret.5
24VDrive
-X23
1) Jumpers if not used
/ (76.5)
(76.5)
LIMIT
OVERRIDE
FAN1ret.4
3
0VCOOL.4

CONTACTOR BOARD
+
+
=
Plant:
Location: +
Sublocation:+
Document no.
Rev. Ind Page77
Next 78
3HAC024480-005
05 Total
Status:
Approved
2011-01-28
-H1
STATUS DIOD
DUAL CABINET
CUSTOMER
CONNECTION

CONTACTOR UNIT
A1
2
33
3
5
21
A2
1
34
4
6
22
(CONTROL CABLE AND OPTION: EXTERNAL AXIS)

Status:
Approved
=
Plant:
Location: +
Sublocation:+
Document no.
Rev. Ind Page78
Next 78.1
3HAC024480-005
05 Total
2011-01-28
-XS43
1
2
3
-XP43
1
2
3
-L23
(85) (86) /
-130 AWG10
BK
-124
-123
BK
BK
-121
-120
AWG10
AWG10
AWG10
BK
BK
BK
-T1_L3
-T1_L2
-T1_L1
/ (73) (73) (73.1)
/ (73) (73) (73.1)
/ (73) (73) (73.1)
CONTACTOR UNIT
BK
-119
BRAKE PB
24V BRAKE
24V BRAKE
PTC2 0V
-129 AWG10
BK
-L22
-122
(85) (86) /
BK
-128 AWG10
-X9
-L21
BU
-488 AWG16
0V
EXTCONT
(77)
-LOCK2B
&
(77)
(77)
-LOCK1A
PTC2
LOCK2A
LOCK1B
-SELF2
(85) (86) /
AWG16
-450
EXTBRAKEPB
-XP40.6
(78.1) /
BU
-477 AWG16
-SELF1
0V
(77)
/ (77)
BRAKE_FB
-RCH2
/ (77)
/ (77)
-0V COOL;6
-BRAKE
/ (77)
BU
AWG16
-446
BRAKEPB
-XP40.4
(78.1) /
(78.1)
BU
W762
AWG16
-490
-449
A2
44
22
34
54
13
2
4
6
13
1
3
5
14
2
4
6
54
EXTBRAKEREL
34
-XP40.5
22
(78.1) /
44
BU
14
A2
AWG16
53
53
-445
33
33
EXT.LAMP
21
21
-XP40. 1
43
43
(78.1) /
A1
A1
BU
AWG16
(75)
Lab/Office:
DMRO SE/
PRH
-448
BRAKEREL2
BU
-487 AWG16
-XP40.3
BU
-486 AWG20
-X24
(78.1) /
BU
-485 AWG20
BU
BU
-484 AWG20
-489
BU
-483 AWG20
BU
BU
-482 AWG20
AWG16
BU
-481 AWG20
W758
(78.1)
10
W761
Latest revision:
4
-447
BU
-480 AWG20
758
BU
-479 AWG20
BRAKEREL1
759
BU
-452 AWG20
24V
-XP40.2
-K43
3 -X3
(78.1) /
760
BU
-451 AWG20
761
-K44
5
24V
EXT MON 2B
BU
-476 AWG20
/ (77)
-0V COOL;6
-RCH1
/ (77)
A43
EXT MON 1B
EXT MON 2A
BU
-475 AWG20
6
3
EXT MON 1A
-K42
1
BU
BU
-474 AWG20
-494 AWG20
BU
-473 AWG20
-X8
24V
BU
BU
-472 AWG20
-0V COOL;6
-493 AWG20
BU
-471 AWG20
1
8
-F1
1
3
5
I>
I>
I>
2
4
6
MAIN DRIVE UNIT
762
761
(78)
W762
(78)
W761
(78)
XP40.6
(78)
XP40.5
(78)
XP40.4
(78)
XP40.3
(78)
XP40.2
(78)
XP40.1
-XP40.2
-XP40
EXT.LAMP
BRAKE REL
BRAKE REL
BRAKE PB
BU
AWG16 AWG16
BU
EXTBRAKEPB
/ (87)
EXTBRAKEREL
-446
BU
-448
Option: If one or two external axes

(XP40 connected to SX40.1)
(XS40 connected to XP40.1)
-447
BU
If Standard connection or
with Option: Three external axes.
(XP40 connected to XS40)
-445
-XS40.1
/ (87)
Option: If three external axes

(XS40.1 connected to XP40.2)
(XP40.1 not connected)
AWG16 AWG16
-XP40.1
1
-XS40
1
-EXT. LAMP -BRAKEREL1 -BRAKEREL2 -BRAKEPB

(92)
(92)
(92)
(92)
(94.6)
(94.6)
(94.6)
(94.6)
(96)
(96)
(96)
(96)
(98.2)
(98.2)
(98.2)
(98.2)
(98.6)
(98.6)
(98.6)
(98.6)
(100)
(100)
(100)
(100)
(106)
(106)
(106)
(106)
(112)
(112)
(112)
(112)
(115.1)
(115.1)
(115.1)
(115.1)
(118)
(118)
(118)
(118)
(124)
(124)
(124)
(124)
(129)
(129)
(129)
(129)
(146)
(146)
(146)
(146)
CONTROL CABLE
Latest revision:
Lab/Office:
DMRO SE/
PRH

CONTACTOR UNIT
=
Plant:
Location: +
Sublocation:+
Document no.
Rev. Ind Page78.1
Next 78.2
3HAC024480-005
05 Total
Status:
Approved
2011-01-28
(77)
(77)
(77)
(77)
A43X5:1
A43X5:2
A43X5:3
A43X5:4
CONNECTED IN STANDARD AND IF THREE EXTERNAL AXES
-XS5
-PTC1
/ (92) (96) (100) (112) (129)

(94.6) (98.6) (106) (118) (146)
-PTC 1 ret
2
/ (92) (96) (100) (112) (129)

(94.6) (98.6) (106) (118) (146)
-0V BRAKE3
/ (92) (96) (98.6) (106) (115.1) (124) (146)

(94.6) (98.2) (100) (112) (118) (129)
-0V BRAKE4
/ (92) (96) (98.6) (106) (115.1) (124) (146)

(94.6) (98.2) (100) (112) (118) (129)
OPTION: IF THREE EXTERNAL AXES
OPTION: IF ONE OR TWO EXTERNAL AXES
-XP5.2
(75)
W763
-XP5.1
-XS5.1
0V BRAKE
0V BRAKE
4012
XS5.1:3
/ (87)
Contactor unit A43.X5

XS5
Block diagram for: CONNECTED IN STANDARD
Connected
Contactor unit A43.X5

XS5.1
XP5.1
XS5
Connected
Block diagram for: Option if one or two external axes,

and if Single 1-3 axes.
Connected
Block diagram for: Option if three external axes and Contactor unit A43.X5
Dual with 2600-76xx
XS5
Connected
XP5.2
Power supply
G9
XS5.1
XP5.1
Not connected
Connected
Latest revision:
Lab/Office:
DMRO SE/
PRH

CONTACTOR BOARD
=
Plant:
Location: +
Sublocation:+
Document no.
Rev. Ind Page78.2
Next 79
3HAC024480-005
05 Total
Status:
Approved
2011-01-28
DRIVE
(81) (82) / -+24V DRIVE;2
POWER
SUPPLY
(81) (82) / 0V DRIVE;2
EPS/SAFE MOVE
A44-X1
-726 AWG20
BK
-725 AWG20
AXIS COMPUTER BOARD
A42
-(A42-X)1
A41.1
1
2
DRIVE
POWER
SUPPLY
(75) -+24V
(76)
DRIVE
(75) (76) -0V
DRIVE
-XS1
1
2
-XP11
(75) ACOK
AWG26 4x2 SFTP
-XP8
BN
3
(75) -+5V_OUT
1
BNWH
4
2
2
OG
3
OGWH
(42) /
CONTROL
MODULE
A31.A9
MAIN
COMPUTER
AWG24
-TX+.1
1)
-XP2
1
(42) /
-TX-.1
2
(42) /
-RX+.1
3
(42) /
-RX-.1
6
OPTION :
EPS OR
SAFE MOVE
A44-X4
(81) (82) / TX+.2

(81) (82) / TX-.2
(81) (82) / RX+.2
(81) (82) / RX-.2
(77) /
-RS485+
-XP6
4
CONTACTOR
UNIT
(77) /
-RS485-
-XS6
5
(77) /
-0V ENABLE2
(75) (76) /
+24V Drive sys
519 AWG16 BU
1
7
(77) /
-ENABLE2
(75) (76) /
-0V Drive sys
518 AWG16 BU
2
XS9
RXD
1) No connection to main computer if EPS or SAFE MOVE is connected
TXD
3
0V
5
Latest revision:
Lab/Office:
DMRO SE/
PRH

AXIS COMPUTER UNIT
=
Plant:
Location: +
Sublocation:+
Document no.
Rev. Ind Page79
Next 80
3HAC024480-005
05 Total
Status:
Approved
2011-01-28
A44
EPS
Option: EPS
connect to
A44-X5
3.See pages
/ (81)
A44
AXIS COMPUTER BOARD
EPS
A42
Option: Safe Move connect

to A44-x5 and x7
4.See pages / (82)
(82)
-XP4
MRCO1
-MRCO1
/ (92) (94.6) (96) (98.2) (98.6)

(100) (106) (112) (115.1) (118)
(124) (129) (146)
MRCO1_N
-MRCO 1_N
/ (92) (94.6) (96) (98.2) (98.6)

(100) (106) (112) (115.1) (118)
(124) (129) (146)
MRCI1
-MRCI1
MRCI1_N
(92) (94.6) (96) (98.2) (98.6)

/ (100) (106) (112) (115.1) (118)
(124) (129) (146)
-MRCI 1_N
5
0V
-MRC_0V1
6
24V_SMB1
(92) (94.6) (96) (98.2) (98.6)

/ (100) (106) (112) (115.1) (118)
(124) (129) (146)
/ (92) (96) (98.6) (100) (106)
(112) (118) (129)
+24V_SMB1
/ (92) (94.6) (96) (98.2) (98.6)

(100) (106) (112) (115.1) (118)
(124) (129) (146)
0V
-MRC_0V2
/ (92) (96) (98.6) (100) (106)

(112) (118) (129)
-MRC_0V3
/ (92) (96) (98.6) (100) (106)

(112) (118) (129)
0V
9
CONTROL
SIGNAL XS2
-XP5
MRCO2
MRCO2
/ (22)
MRCO2_N
MRCO2_N
/ (22)
MRCI2
MRCI2
/ (22)
MRCI2_N
MRCI2_N
EXT. AXIS
SIGNAL SX41
/ (22)
0V
MRC_0V4
/ (22)
24V_SMB2
24V_SMB2
/ (22)
0V
MRC_0V5
/ (22)
MRC_0V6
/ (22)
0V
9
Latest revision:
Lab/Office:
DMRO SE/
PRH

AXIS COMPUTER UNIT
=
Plant:
Location: +
Sublocation:+
Document no.
Rev. Ind Page80
Next 80.1
3HAC024480-005
05 Total
Status:
Approved
2011-01-28
Option: 738-1
-FMB
Graphic view at sheet
(22) /
XS41
SMB
(21.3)
SDI_AXC
SDI_AXC_N
SDO_AXC
SDO_AXC_N
0V
24V
12 x AWG24 BU UL1569
-X1
A
B
C
D
E
F
1005
1006
1007
1008
1011
1012
Customer connection
-XS1
-X1
-X2
-X2
A
B
C
D
E
F
1001
1002
1003
1004
1009
1010
Latest revision:
19 x 0,14mm^2 BU
-XP2
1
2
3
4
5
6
7
8
9
10
11
12
14
15
16
17
23
24
25
2
3
4
5
7
8
9
10
11
12
13
14
Bridge connector FMB.X2

SDO_SMB
SDO_SMB_N
SDI_SMB
SDI_SMB_N
0V
24V

-A1
Lab/Office:
DMRO SE/
PRH
-X3
1
2
3
4
5
6
7
8
9
10
11
12
14
15
16
17
18
19
20
AIN1_P
AIN1_N
AIN2_P
AIN2_N
AIN3_P
AIN3_N
AIN4_P
AIN4_N
AIN5_P
AIN5_N
AIN6_P
AIN6_N
AIN7_P
AIN7_N
SEN_DET_P
SEN_DET_N
0V_AI_ANALOG
-15V_AI
+15V_AI

FORCE MEASUREMENT BOX
Customer connection
=
Plant:
Location: +
Sublocation:+
Document no.
Rev. Ind Page80.1
Next 81
3HAC024480-005
05 Total
Status:
Approved
2011-01-28
Option: EPS
DSQC 646
-A44
-X4
-X1
DRIVE POWER
SUPPLY
(79) /
(79) /
AWG24
BU
TX+.2
WHBU
TX-.2
OG
RX+.2
WHOG
RX-.2
/ (79)
0V DRIVE;2
1
-+24V DRIVE;2
AXIS
COMPUTER
BOARD
A42-X2
/ (79)
/ (79)
/ (79)
-X6
AWG24
(42) /
CONTROL
MODULE
A31.A9
MAIN
COMPUTER
(42) /
(42) /
(42) /
-TX+.1
-TX-.1
-RX+.1
-RX-.1
MRCO1
-X3
MRCO1-N
WHOG
MRCI1
OG
MRCI1-N
WHGN
CONTROL
SIGNAL
XS2
0V
GN
24V-SMB1
7
0V
3
0V
9
-X5
-X9
MRCO1
+24V
1
MRCO1-N
0V
MRCI1
Option: EPS Connect
to AXIS COMPUTER
BOARD A42-X4
OUT1A
MRCI1-N
OUT1B
5
0V
3.See pages
(80)
OUT2A
24V-SMB1
OUT2B
0V
PROCESS I/O
OUT3A
3
0V
OUT3B
OUT4A
9
OUT4B
10
OUT5A
11
OUT5B
12
CSC INA
13
CSC INB
14
Latest revision:
Lab/Office:
DMRO SE/
PRH

EPS
=
Plant:
Location: +
Sublocation:+
Document no.
Rev. Ind Page81
Next 82
3HAC024480-005
05 Total
Status:
Approved
2011-01-28
Option: SAFE MOVE

-A44
DRIVE POWER
SUPPLY
(79) /
Relay output
pair 1
XS1
-0V DRIVE;2
-A43-X21.1
/ (77)
-A43-X21.2
/ (77)
-A43-X21.3
/ (77)
-A43-X21.4
/ (77)
RelOut 1B
1
(79) /
X13
RelOut 1A
-+24V DRIVE;2
CONTACTOR UNIT
X21
Relay output
pair 2
RelOut 2A
3
RelOut 2B
4
MAIN
COMPUTER
A31.A9
CONTROL
MODULE
(42) / -TX+.1
(42) / -TX-.1
(42) / -RX+.1
AWG24
WHOG
OG
X3
X4
1
2
WHGN
3
(42) /
-RX-.1
GN
MRCO1
MRCO1-N
MRCO1-N
MRCI1
MRCI1
MRCI1-N
MRCI1-N
0V
0V
24V-SMB1
24V-SMB1
0V
0V
0V
0V
5
6
MRCO2
MRCO2
-X8
MRCO2-N
4.See pages
/ (80)
MRCO2-N
MRCI2
MRCO2_N
MRCI2
/ (22)
MRCI2
/ (22)
MRCI2-N
MRCI2-N
MRCI2_N
/ (22)
EXT. AXIS
SIGNAL
XS41
0V
0V
MRC_0V4
/ (22)
24V-SMB2
24V-SMB2
24V_SMB2
/ (22)
0V
0V
MRC_0V5
/ (22)
MRC_0V6
/ (22)
0V
0V
9
/ (22)
Latest revision:
MRCO2
Connect to
AXIS COMPUTER
BOARD
A42-X5
CONTROL
SIGNAL
XS2
-X7
/ (79)
/ (80)
-RX-.2
AXIS
COMPUTER
BOARD
A42.X2
-X6
MRCO1
4.See pages
GN
OG
Connect to
AXIS COMPUTER
BOARD
A42-X4
WHGN
-TX+.2 / (79)
-TX-.2 / (79)
-RX+.2 / (79)
WHOG
-X5
AWG24
Lab/Office:
DMRO SE/
PRH

SAFE MOVE
=
Plant:
Location: +
Sublocation:+
Document no.
Rev. Ind Page82
Next 83
3HAC024480-005
05 Total
Status:
Approved
2011-01-28
Option: SAFE MOVE DSQC647

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

SAFE MOVE
=
Plant:
Location: +
Sublocation:+
Document no.
Rev. Ind Page83
Next 85
3HAC024480-005
05 Total
Status:
Approved
2011-01-28

-X9
A41.1
/ (78)
/ (78)
/ (78)
-L21
-L22
-L23
TX+
TXRX+
RX-
1
2
3
6
POWER UNIT
ADDITIONAL AXIS 1, DRIVE UNIT NO 7

-A41.2
-A41.3
-X9
-X8
-X8
1
2
3
6
1
2
3
6
-XS21
1
2
3
6
-XP21
DC+
DC-
1
2
XS1
-XP1
1
2
3
-X9
TX+
TXRX+
RX-
1
2
3
6
-W550
-W556
-W554
-W552
AWG10 BK
-XS7
GNYE
AWG12
X1
1
2
0V DRIVE
24V DRIVE
BK
AWG12
-W551
4
BK
AWG12
-W557
3
BK
AWG12
-W555
-W553
GNYE
AWG12
XS6
-XS7
XS6
1
2
1
2
1
2
X1
-A41.4
XS6
BK
AWG12
XS7
0V DRIVE
24V DRIVE
1
2
1
2
(86.5)
4
BK
AWG12
BK
AWG12
-X8
-XS22
-XP22
DC+
DC-
1
2
XS1
-XP1
1
2
3
-X9
AWG12
AWG12
-X2
BK
Bleeder +
BK
1
1
1
1
Bleeder +
-1
-1
-X2
24V DRIVE
0V DRIVE
XS7
BLEEDER
2
2
AWG12
AWG12
Bleeder -
BK
2
GNYE
GNYE
BK
Bleeder -
-2
-2
1
2
(86.5)
-A41.5
XS7
XS6
0V DRIVE
24V DRIVE
1
2
1
2
-X8
AWG12
-XP23
DC+
DC-
1
2
XS1
-XP1
1
2
3
AWG10 BK
Latest revision:
Lab/Office:
DMRO SE/
PRH
TX+
TXRX+
RX-
1
2
3
6
AWG12
-XS23
TX+
TXRX+
RX-
1
2
3
6
AWG10 BK
BLEEDER
TX+
TXRX+
RX-
1
2
3
6

MAIN DRIVE UNIT and ADDITIONAL AXIS 1-3 for LV
-X9
1
2
3
6
=
Plant:
Location: +
Sublocation:+
Document no.
Rev. Ind Page85
Next 86
3HAC024480-005
05 Total
Status:
Approved
2011-01-28
MAIN DRIVE UNIT

A41.1
/ (78)
-L23
GNYE
AWG10

-X9
-XS21
(85.6)
TX+
TXRX+
RX-
-A41.3
-XP21
DC+
DC-
-X9
-X8
TX+
TXRX+
RX-
1
2
3
6
XS1
-XP1
1
2
3
AWG10 BK
-XS7
-X1
1
2
XS7
0V DRIVE
24V DRIVE
XS6
0V DRIVE
24V DRIVE
1
2
1
2
-A41.4
XS6
1
2
(85.6)
2
-X8
TX+
TXRX+
RX-
1
2
3
6
-XS22
-XP22
DC+
DC-
1
2
XS1
-XP1
1
2
3
-X9
XS7
BLEEDER
Bleeder +
BK
24V DRIVE
0V DRIVE
AWG12
1
1
-133
AWG12
1
2
-X2
0V DRIVE
24V DRIVE
-X8
-XS23
-XP23
DC+
DC-
1
2
XS1
-XP1
1
2
3
1
2
3
6
TX+
TXRX+
RX-
-X9
1
2
3
6
AWG10 BK
1
2
GNYE
AWG12
Latest revision:
XS7
XS6
1
2
Bleeder -
BK
-A41.5
TX+
TXRX+
RX-
1
2
3
6
AWG10 BK
-132
1
2
3
6
1
2
AWG10
-W138
/ (78)
-L22
AWG10
1
2
3
6
-W136
-W137
AWG10
-L21
/ (78)
POWER UNIT
Lab/Office:
DMRO SE/
PRH

MAIN DRIVE UNIT and ADDITIONAL AXIS 1-3 for HV
=
Plant:
Location: +
Sublocation:+
Document no.
Rev. Ind Page86
Next 87
3HAC024480-005
05 Total
Status:
Approved
2011-01-28

A41.3
-XS/XP7
External axis no. 7
-X2
-4000
AWG12
BK
-4001
AWG12
BK
-4002
AWG12
BK
-4003
AWG12
BK
-4004
AWG12
BK
-4005
AWG12
BK
A1
A2
A3
A4
A5
A6
CONTACTOR UNIT
A43
-X24
-4013
-4014
PTC2
PTC2 0V
1
2
AWG16
AWG16
BU
E1
BU
E2
E3
E4
E5
E6
F9
-X22
XS5.1:3
F10
-4012
AWG16
BU
LIM2 ch1
-4006
AWG16
BU
LIM2 ch1 ret
-4007
AWG16
BU
LIM2 ch2
-4008
AWG16
BU
LIM2 ch2 ret
-4009
AWG16
BU
(78.2)
F11
F1
F4
F2
F3
F5
F6
(78.1) / EXTBRAKEREL
(78.1) / EXTBRAKEPB
-4010
-4011
BRAKE REL. +24V

BRAKE PB
AWG16
AWG16
BU
BU
F7
F8
AWG10
Latest revision:
Lab/Office:
DMRO SE/
PRH
GNYE

EXTERNAL AXIS no 7
=
Plant:
Location: +
Sublocation:+
Document no.
Rev. Ind Page87
Next 88
3HAC024480-005
05 Total
Status:
Approved
2011-01-28

-A41.4
External axis no.8
-XS/XP7
-X2
-4000
BK
-4001
BK
-4002
BK
-4003
BK
-4004
BK
-4005
BK
B1
B2
B3
B4
B5
B6

-A41.5
External axis no.9
-XS/XP7
-X2
4000
BK
4001
BK
4002
BK
4003
BK
4004
BK
4005
BK
1
4
3
6
2
C1
C2
C3
C4
C5
C6
Latest revision:
Lab/Office:
DMRO SE/
PRH

EXTERNAL AXIS no 8 - 9
=
Plant:
Location: +
Sublocation:+
Document no.
Rev. Ind Page88
Next 89
3HAC024480-005
05 Total
Status:
Approved
2011-01-28
IRB 120 cabinet module

A41.1
-X12
-X14
-X16
-X13
-X15
MW6
MV6
MU6
MW5
MV5
MU5
MW4
MV4
MU4
MW3
MV3
MU3
MV2
MU2
PE1-PE6
MV1
MW1
B1.2-B6.2
FLOOR CABLE
MW2
DRIVE MODULE
B1.1-B6.1
-XS/XP1
MU1
-X11
MANIPULATOR
R1.MP
13
12
LUG1
10
15
16
19
17
21
22
20
23
24
According to Manipulator circuit diagram 3HAC031408-003
Latest revision:
Lab/Office:
DMRO SE/
PRH

SERVO DRIVE SYSTEM
IRB 120
=
Plant:
Location: +
Sublocation:+
Document no.
Rev. Ind Page89
Next 90
3HAC024480-005
05 Total
Status:
Approved
2011-01-28
MANIPULATOR
IRB120
R1.SMB/EIB
A
B
C
SERIAL
MEASUREMENT
BOARD
D
E
F
Latest revision:
Lab/Office:
DMRO SE/
PRH

CONTROL CABLE
IRB 120
=
Plant:
Location: +
Sublocation:+
Document no.
Rev. Ind Page90
Next 90.5
3HAC024480-005
05 Total
Status:
Approved
2011-01-28
FLOOR CABLE
CONTROLLER
MANIPULATOR
IRB 120
CONTROL MODULE
0,23mm2
R1.CS
WH
BU
WH
OG
WH
GN
WH
BN
WH
GY
A
B
C
D
E
F
G
H
J
K
Latest revision:
Lab/Office:
DMRO SE/
PRH

CUSTOMER SIGNALS
IRB 120
Customer
Connection
=
Plant:
Location: +
Sublocation:+
Document no.
Rev. Ind Page90.5
Next 91
3HAC024480-005
05 Total
Status:
Approved
2011-01-28
AWG16
R1.(MP 1-)3
BUWH
BKRD
BKGN
BKBU
M3T
M1T
M1S
M1R
13
17
15
3
5
Latest revision:
R1.(MP 4-)6
6
9
12
3
Lab/Office:
DMRO SE/
PRH
1
BNWH
M5T
7
11
B1

SERVO DRIVE SYSTEM
IRB 140
B8
10
B7
GNYE
GNYE
AWG10
BK
AWG10
AWG14
BK
-_424
AWG14
BK
-X15
-_425
AWG14
BK
BNGN
A15
-_426
AWG14
M5R
A13
-_416
BK
BNRD
BUBK
M2T
B9
AWG14
-X13
-_414
M5S
BK
BK
M2S
B10
AWG14
BK
-_412
AWG14
BKWH
-_428
BK
M2R
B11
BU
B5
AWG14
BK
-X16
-_430
AWG14
BK
M4R
B4
-_432
AWG14
BNBK
B3
-_422
BK
M4S
A7
AWG14
BK
-X14
-_420
AWG14
BK
BNBU
A9
-_418
AWG14
M4T
A11
-_406
GNWH
A5
BK
-X12
AWG14
BK
-_408
AWG14
BK
M6T
A3
-_410
AWG14
BK
GNRD
A1
-_404
AWG14
M6S
-XS/XP1
-_402
BK
-X11
BN
BURD
M3S
AWG14
M6R
BUGN
FLOOR CABLE
M3R
-_400
1
6
7
B6
Status:
Approved
A41.1
DRIVE MODULE
MANIPULATOR
=
Plant:
Location: +
Sublocation:+
Document no.
Rev. Ind Page91
Next 92
3HAC024480-005
05 Total
2011-01-28
FLOOR CABLE
CONTROLLER
MANIPULATOR
IRB140
0,23 mm2
DRIVE MODULE
R2.SMB
AXIS COMPUTER BOARD

A42-X4
-XS/XP2
(80) / -MRCO1
(80) / -MRCO 1_N
(80) / -MRCI1
(80) / -MRCI 1_N
(80) / -MRC_0V1
A
B
C
D
WH
BU
WH
OG
WH
9
5
8
4
E
(80) /
GN
24V
F
(80) /
-MRC_0V2
(80) /
-MRC_0V3
SERIAL
MEASUREMENT
BOARD
WH
+24V_SMB1
SDI
SDI-N
SDO
SDO-N
0V
BN
H
J
K
GY
RD
BATSUP
BATLD
AWG16
-XS/XP1
-EXT. LAMP
-_433
AWG16
-BRAKEPB
-_434
AWG16
BU
(78.1) /
-BRAKEREL1
-_435
AWG16
BU
(78.1) /
-BRAKEREL2
-_436
AWG16
BU
(78.1) /
R1-H1
OG
C7
DRIVE MODULE
X40
(78.1) /
R1-.(MP 4-)6
1
OGWH
B16
15
GYBK
B12
8
GYBU
B13
(78.2) /
-0V BRAKE4
-_438
AWG16
BU
-PTC1
-_439
AWG16
BU
-PTC 1 ret
-_440
AWG16
BU
-0V BRAKE3
-_437
AWG16
BU
GYGN
B14
CONTACTOR UNIT
A43-X5
(78.2) /
13
OGBU
C2
(78.2) /
=MAN+R1.140-(MP 1-)3
C1
(78.2) /
11
OGBK
2
OGRD
B15
14
GYWH
D2
10
GYRD
D1
16
GY
D3
18
OGGN
D4
Latest revision:
Lab/Office:
DMRO SE/
PRH
12

CONTROL CABLE
IRB 140
=
Plant:
Location: +
Sublocation:+
Document no.
Rev. Ind Page92
Next 93
3HAC024480-005
05 Total
Status:
Approved
2011-01-28
FLOOR CABLE
CONTROLLER
MANIPULATOR
IRB 140
CONTROL MODULE
-XS/XP5
0,23mm2
-XP/XT5
-625
1
2
3
4
5
6
7
8
9
10
11
-626
-627
-628
-629
-630
-631
-632
-633
-634
-635
-636
AWG24
OG
AWG24
B5
AWG24
C5
AWG24
D5
AWG24
A6
AWG24
B6
AWG24
C6
AWG24
D6
AWG24
A7
AWG24
B7
AWG24
C7
AWG24
D7
BU
OG
WH
OG
OG
OG
WH
OG
GN
OG
WH
OG
BN
OG
WH
OG
GY
OG
RD
OG
BU
OG
12
Latest revision:
+R1-CS
WH
A8
CSA
1
CSB
9
CSC
2
CSD
10
CSE
3
CSF
11
CSG
4
CSH
12
CSJ
5
CSK
13
CSL
Customer
Connection
CSM
14
Lab/Office:
DMRO SE/
PRH

CUSTOMER SIGNAL
DUAL CABINET
IRB 140
=
Plant:
Location: +
Sublocation:+
Document no.
Rev. Ind Page93
Next 94
3HAC024480-005
05 Total
Status:
Approved
2011-01-28
FLOOR CABLE
CONTROLLER
MANIPULATOR
IRB 140
CONTROL MODULE
-XP/XT5
-XS/XP5
-708
AWG24
0,23mm2
BK
B5
BU
BN
C5
WH
RD
D5
OG
OG
A6
WH
YE
B6
GN
GN
C6
WH
BU
D6
BN
VT
A7
WH
GY
B7
GY
WH
10
C7
RD
WH/BK
11
D7
BU
WH/BN
12
Latest revision:
+R1-CS
WH
A8
CSA
1
CSB
9
CSC
2
CSD
10
CSE
3
CSF
11
CSG
4
CSH
12
CSJ
5
CSK
13
CSL
6
Customer
Connection
CSM
14
Lab/Office:
DMRO SE/
PRH

CUSTOMER SIGNAL
SINGLE CABINET
IRB 140
=
Plant:
Location: +
Sublocation:+
Document no.
Rev. Ind Page94
Next 94.5
3HAC024480-005
05 Total
Status:
Approved
2011-01-28

A41.1
GNYE
GNYE
-_416 AWG14
A15
CONTROLLER
DRIVE MODULE
B1
BURD
BUWH
-_414 AWG14
A13
BK
BK
BK
BUGN
B9
BN
GNRD
B10
-X13
-_412 AWG14
-_428 AWG14
BK
BK
B11
GNWH
A7
-_430 AWG14
-_432 AWG14
-_406 AWG14
A9
BKWH
-_408 AWG14
BUBK
A11
-X16
BK
BK
BK
BK
-_410 AWG14
A5
BKRD
BKBU
-X12
BK
A3
BKGN
A1
-_404 AWG14
-_402 AWG14
-_400 AWG14
-XS/XP1
BK
BK
BK
-X11
AWG16
A1
A2
A3
D2
D1
A4
B10
D7
D8
D3
M3W
M3V
M3U
M6U
M6V
M6W
M2U
M2V
M2W
M1W
M1V
M1U
Floor cable
D4
MANIPULATOR
IRB 260
B1
R1-MP

Latest revision:
Lab/Office:
DMRO SE/
PRH

SERVO DRIVE UNIT
IRB 260
=
Plant:
Location: +
Sublocation:+
Document no.
Rev. Ind Page94.5
Next 94.6
3HAC024480-005
05 Total
Status:
Approved
2011-01-28
FLOOR CABLE
CONTROLLER
DRIVE MODULE
MANIPULATOR
IRB 260
0,23 mm2
(80) /
-XS/XP2
-MRCO1
R1 SMB
SDI
WH
-MRCO 1_N
(80) /
BU
SDI-N
B
(80) /
-MRCI1
WH
SDO
AXIS COMPUTER BOARD

A42-X4
(80) /
-MRCI 1_N
OG
SDO-N
D
(98.2) /
-MRC_0V.1
WH
0V
WH
E
(80) /
+24V_SMB1
-MRC_0V.2
(115.1) /
-MRC_0V.3
GN
24V
BN
F
(115.1) /
SERIAL
MEASUREMENT
BOARD
WH
0V
GY
BATT+
RD
BATT LOAD
Keypin
AWG16
-EXT. LAMP
-433
AWG16
BU
-BRAKEPB
-434
AWG16
BU
(78.1) /
-BRAKEREL1
-435
AWG16
BU
(78.1) /
-BRAKEREL2
-436
AWG16
BU
(78.1) /
DRIVE MODULE
X40
R1 MP
-XS/XP1
OG
C7
(78.1) /
C7
OGWH
B16
B8
GYBK
B12
C9
GYBU
B13
(78.2) /
-438
-0V BRAKE4
AWG16
C8
BU
GYGN
B14
CONTACTOR UNIT
A43-X5
-PTC1
-439
AWG16
BU
-PTC 1 ret
-440
AWG16
BU
-0V BRAKE3
-437
AWG16
BU
(78.2) /
C10
OGBU
C2
(78.2) /
B9
OGBK
C1
(78.2) /
B2
OGRD
B15
(77) /
-A43-X21.2
LIM 1A
-441
AWG16
BU
(77) /
-A43-X21.4
LIM 2A
-442
AWG16
BU
(77) /
-A43-X21.3
LIM 2B
-443
AWG16
BU
(77) /
-A43-X21.1
LIM 1B
-444
AWG16
BU
B7
GYWH
D2
CONTACTOR UNIT
A43-X21
B3
GYRD
D1
B4
GY
D3
C2
OGGN
D4
Latest revision:
C1
Lab/Office:
DMRO SE/
PRH

CONTROL CABLE
IRB 260
=
Plant:
Location: +
Sublocation:+
Document no.
Rev. Ind Page94.6
Next 94.7
3HAC024480-005
05 Total
Status:
Approved
2011-01-28
Floor cable
CONTROLLER
Customer
Connection
CONTROL MODULE
-XP/XT6
2
3
4
5
6
7
8
9
10
11
-648
-649
-650
-651
-652
-653
-654
-655
-656
-657
-658
-659
OG
OG
OG
OG
OG
OG
OG
OG
OG
OG
OG
OG
Single cabinet
-709
AWG24
AWG18
AWG18
AWG18
AWG18
AWG18
AWG18
AWG18
AWG18
AWG18
AWG18
AWG18
AWG18
-XS/XP5
AWG18
R1-CP/CS
RD
BU
GN
YE
WH
BK
BN
VT
OG
PK
TQ
GY
BK
A1
BN
B1
RD
C1
OG
D1
YE
A2
GN
B2
BU
C2
VT
D2
GY
A3
WH
B3
WH/BK
C3
WH/BN
A1
B1
C1
D1
A2
B2
C2
D2
A3
B3
C3
D3
12
-XP/XT5.1
1
2
3
4
5
6
7
8
9
10
11
-625
-626
-627
-628
-629
-630
-631
-632
-633
-634
-635
-636
OG
OG
OG
OG
OG
OG
OG
OG
OG
OG
OG
OG
AWG24
AWG24
AWG24
AWG24
AWG24
AWG24
AWG24
AWG24
AWG24
AWG24
AWG24
AWG24
-710
AWG24
CPA
CPB
CPC
CPD
CPE
CPF
CPJ
CPK
CPL
CPM
D3
0,23mm2
WH
BU
WH
OG
WH
GN
WH
BN
WH
GY
RD
BU
BK
B5
BN
C5
RD
D5
OG
A6
YE
B6
GN
C6
BU
D6
VT
A7
GY
B7
WH
C7
WH/BK
D7
WH/BN
B5
C5
D5
A6
B6
C6
D6
A7
B7
C7
D7
A8
12
CSA
CSB
CSC
CSD
CSE
CSF
CSG
CSH
CSJ
CSK
CSL
CSM
A8
-XP/XT5.2
13
14
15
16
17
18
19
20
21
22
-637
-638
-639
-640
-641
-642
-643
-644
-645
-646
-647
OG
OG
OG
OG
OG
OG
OG
OG
OG
OG
OG
AWG24
AWG24
AWG24
AWG24
AWG24
AWG24
AWG24
AWG24
AWG24
AWG24
AWG24
RD
OG
RD
GN
RD
BN
RD
GY
BK
BU
WH
WH/RD
B8
WH/OG
WH/YE
or PK
C8
D8
WH/GN
A9
WH/BU
B9
WH/VT
WH/GY
BN/BK
BN/RD
BN/OG
BN/YE
or Light GN
or RD/BK
or GN/BK
or OG/BK
or YE/BK
23
Latest revision:
C9
D9
A10
B10
C10
D10
Lab/Office:
DMRO SE/
PRH

CUSTOMER POWER/SIGNAL
SINGLE/DUAL CABINET
IRB 260
B8
C8
D8
A9
B9
C9
D9
A10
B10
C10
D10
CSN
CSP
CSR
CSS
CST
CSU
CSV
CSW
CSX
CSY
CSZ
Dual cabinet
MANIPULATOR
IRB 260
=
Plant:
Location: +
Sublocation:+
Document no.
Rev. Ind Page94.7
Next 95
3HAC024480-005
05 Total
Status:
Approved
2011-01-28
A41.1
BK
GNYE
GNYE
AWG10
B1
DRIVE MODULE
BU
BNBK
A15
AWG10
-_412
M4U
-_414
AWG16
BK
M4V
A13
BNBU
BURD
AWG16
BK
AWG16
B8
BUWH
B9
M4W
M3W
-_416
AWG16
-_422
-_420
M3V
B10
-X15
BK
BK
AWG16
BK
AWG16
-_418
M3U
B4
BKBU
BKGN
B3
-X13
BUGN
M1V
M1U
-_406
AWG16
BK
BK
-_408
AWG16
BK
AWG16
A5
BKRD
A7
BUBK
BK
M1W
M2W
M2V
A9
-X12
-_410
AWG16
BK
-_404
-_402
AWG16
BK
AWG16
-_400
M2U
AWG16
A11
BKWH
-XS/XP1
BK
-X11
FLOOR CABLE
MANIPULATOR
+R1
(MP 1-)3
11
+R1
(MP 4-)6
13
17
15
10

Latest revision:
Lab/Office:
DMRO SE/
PRH

SERVO DRIVE UNITS
IRB 360
=
Plant:
Location: +
Sublocation:+
Document no.
Rev. Ind Page95
Next 96
3HAC024480-005
05 Total
Status:
Approved
2011-01-28
FLOOR CABLE
CONTROLLER
DRIVE MODULE
AXIS COMPUTER BOARD

A42-X4
-XS/XP2
(80) / -MRCO1
(80) / -MRCO 1_N
(80) / -MRCI1
(80) / -MRCI 1_N
(80) / -MRC_0V1
A
B
C
D
MANIPULATOR
IRB360
0,23 mm2
R2-SMB
SDI
SDI-N
9
SDO
5
SDO-N
8
0V
4
WH
BU
WH
OG
WH
WH
E
(80) /
+24V_SMB1
GN
24V
BN
-MRC_0V2
(80) /
SERIAL
MEASUREMENT
BOARD
-MRC_0V3
(80) /
H
J
K
-_433 AWG16
BU
-BRAKEPB
-_434 AWG16
BU
(78.1) /
-BRAKEREL1
-_435 AWG16
BU
(78.1) /
-BRAKEREL2
-_436 AWG16
BU
-XS/XP1
R1-H1
GY
C7
(78.1) /
DRIVE MODULE
X40
R1-(MP 4-)6
GNWH
B16
15
BNRD
B12
8
BNGN
B13
(78.2) /
-0V BRAKE4
-_438 AWG16
BU
BNWH
B14
CONTACTOR UNIT
A43-X5
-PTC1
-_439 AWG16
BU
-PTC 1 ret
-_440 AWG16
BU
-0V BRAKE3
-_437 AWG16
BU
(78.2) /
13
BN
C2
(78.2) /
R1-(MP 1-)3
C1
(78.2) /
11
GYBK
2
GNRD
B15
14
-EXT. LAMP
(78.1) /
AWG16
GYBU
D2
10
GYRD
D1
16
GYWH
D3
18
GYGN
D4
Latest revision:
Lab/Office:
DMRO SE/
PRH
12

CONTROL CABLE
IRB 360
=
Plant:
Location: +
Sublocation:+
Document no.
Rev. Ind Page96
Next 97
3HAC024480-005
05 Total
Status:
Approved
2011-01-28
FLOOR CABLE
CONTROLLER
MANIPULATOR
IRB 360
CONTROL MODULE
-XS/XP5
0,23mm2
-XP/XT5
-625
1
2
3
4
5
6
7
8
9
10
11
-626
-627
-628
-629
-630
-631
-632
-633
-634
-635
-636
AWG24
WH
OG
AWG24
B5
AWG24
C5
AWG24
D5
AWG24
A6
AWG24
B6
AWG24
C6
AWG24
D6
AWG24
A7
AWG24
B7
AWG24
C7
AWG24
D7
BU
OG
WH
OG
OG
OG
WH
OG
GN
OG
WH
OG
BN
OG
WH
OG
GY
OG
RD
OG
BU
OG
12
Latest revision:
A8
R1-CS
CSA
CSB
B
CSC
C
CSD
D
CSE
E
CSF
F
CSG
G
CSH
H
CSJ
J
CSK
K
CSL
L
Customer
Connection
CSM
M
Lab/Office:
DMRO SE/
PRH

CUSTOMER SIGNAL
DUAL CABINET
IRB 360
=
Plant:
Location: +
Sublocation:+
Document no.
Rev. Ind Page97
Next 98
3HAC024480-005
05 Total
Status:
Approved
2011-01-28
FLOOR CABLE
CONTROLLER
MANIPULATOR
IRB 360
CONTROL MODULE
-XP/XT5
-XS/XP5
-708
AWG24
0,23mm2
WH
BK
B5
BU
BN
C5
WH
RD
D5
OG
OG
A6
WH
YE
B6
GN
GN
C6
WH
BU
D6
BN
VT
A7
WH
GY
B7
GY
WH
10
C7
RD
WH/BK
11
D7
BU
WH/BN
12
Latest revision:
A8
R1-CS
CSA
CSB
B
CSC
C
CSD
D
CSE
E
CSF
F
CSG
G
CSH
H
CSJ
J
CSK
K
CSL
L
Customer
Connection
CSM
M
Lab/Office:
DMRO SE/
PRH

CUSTOMER SIGNAL
SINGLE CABINET
IRB 360
=
Plant:
Location: +
Sublocation:+
Document no.
Rev. Ind Page98
Next 98.1
3HAC024480-005
05 Total
Status:
Approved
2011-01-28
2,5mm2
R1 MP
17
24
19
26
18
25
Latest revision:
23
32
21
30
22
31
Lab/Office:
DMRO SE/
PRH
3
4
7

SERVO DRIVE SYSTEM
IRB 460
14
5
6
16
16
Status:
Approved
8
GNYE
GNYE
-_432 AWG12
BK
AWG10
AWG10
M6V
BK
BURD
-_430 AWG12
BK
6
M6W
-_428 AWG12
BK
BUGN
M6U
-_417 AWG12
-X13
BUWH
M3V
14
BUBK
BK
BK
-_416 AWG12
-_415 AWG12
M3V
M3W
BK
11 BNBK
BK
-_414 AWG12
3
M3W
BK
12 BNBU
31
-_413 AWG12
M3U
BK
-X12
BKWH
-_412 AWG12
22
M3U
BK
10 BU
30
-_411 AWG12
BK
M2V
-_410 AWG12
BK
14 BNRD
21
M2V
-_409 AWG12
BK
22 GYRD
32
M2W
-_408 AWG12
13 BNGN
23
M2W
24 GY
25
BK
-_407 AWG12
BK
-X11
M2U
-_406 AWG12
BK
15 BNWH
18
M2U
-_405 AWG12
BK
23 GYWH
26
M1V
-_404 AWG12
BK
25 OGBK
19
M1V
-_403 AWG12
BK
BK
18 GNWH
24
M1W
-_402 AWG12
-_401 AWG12
BK
26 OGBU
17
M1W
M1U
-_400 AWG12
1
16 BN
-XS/XP1
27 OGGN
17 GNRD
M1U
1
7
8
A41.1
-X16
2
=
Plant:
Location: +
Sublocation:+
Document no.
Rev. Ind Page98.1
Next 98.2
3HAC024480-005
05 Total
2011-01-28
CONTROLLER
DRIVE MODULE
FLOOR CABLE
MANIPULATOR
FLOOR CABLE
CONTROLLER
DRIVE MODULE
MANIPULATOR
IRB 460
0,23 mm2
(80) /
-XS/XP2
-MRCO1
R1 SMB
SDI
WH
-MRCO 1_N
(80) /
BU
SDI-N
B
(80) /
-MRCI1
WH
SDO
AXIS COMPUTER BOARD

A42-X4
(80) /
-MRCI 1_N
OG
SDO-N
-MRC_0V.1
(94.6) /
C
D
WH
0V
WH
E
(80) /
+24V_SMB1
SERIAL
MEASUREMENT
BOARD
GN
24V
BN
F
Key pin
M
(78.1) /
DRIVE MODULE
XS40
-EXT. LAMP
-_433
AWG16
BU
-BRAKEPB
-_434
AWG16
BU
(78.1) /
-XS/XP1
R1 MP
28 OG
11
(78.1) /
-BRAKEREL1
-_435
AWG16
BU
0,75 mm2
30 OGRD 4mm2
13
(78.1) /
-BRAKEREL2
-_436
AWG16
-0V BRAKE4
-_437
AWG16
(78.2) /
12
AWG16
BU
-_439
AWG16
BU
13
29 OGWH 4mm2
BU
-_438
31 PKBK 0,75mm2
27
CONTACTOR UNIT
A43-X5
BRAKE PB
11
12
32 PKBU 0,75mm2
-0V BRAKE3
Latest revision:
-_440
AWG16
0V BRAKE
0V BRAKE
24V EXT.LAMP
27
15
(78.2) /
BRAKE RELEASE
BRAKE RELEASE
0V EXT.LAMP
15
BU
Lab/Office:
DMRO SE/
PRH

CONTROL CABLE
IRB 460
=
Plant:
Location: +
Sublocation:+
Document no.
Rev. Ind Page98.2
Next 98.3
3HAC024480-005
05 Total
Status:
Approved
2011-01-28
FLOOR CABLE
Customer
Connection
-XP/XT6
Dual cabinet
-670
AWG18
CONTROLLER
CONTROL MODULE
Single cabinet
-713
AWG20 BK
-671
AWG18
R1 CP
1
AWG18
A2
YE
GN
3
AWG18
A3
4
GNYE
BU
VT
24V
D1
A1
OG
-673
1mm2
RD
-672
w26
-XS/XP13
BN
MANIPULATOR
IRB 460, 660, 760
A4
0V
D6
24V
D3
0V
D4
PE
SH
-XP/XT5.1
1
2
3
4
5
6
7
8
-677 AWG24
-678 AWG24
-679 AWG24
-680 AWG24
-681 AWG24
-682 AWG24
-683 AWG24
-684 AWG24
-705 1/WH
AWG24
9
10
11
1/BU
-711
AWG24
W27
BK
B1
BN
B2
RD
YE
GN
BU
VT
-712
AWG24
1/WH
1/BU
2/WH
2/WH
2/OG
2/OG
12
0,23mm2
bu
0,23mm2
R1 CS
B1
B2
WHog 0,23mm2
B11
B12
B13
B14
C19
C21
B7
B8
B9
B10
OG
BKog
og
B11
0,23mm2
B12
WHgn 0,23mm2
gn
B13
0,23mm2
GN
AWG24
BN
AWG24
WH
AWG24
BU
AWG24
WH
AWG24
OG
AWG24
W28
B14
C19
C21
B7
B8
B9
B10
CS
CS
CS
CS
CS
CS
CS
CS
CS
CS
CS
CS
-XP/XT5.2
1
2
3/WH
3/WH
3/GN
3/GN
4/WH
4/WH
4/BN
3
4
5
6
7
8
9
10
11
-685
-686
-687
-688
-689
-690
-691
-692
AWG24
AWG24
AWG24
AWG24
AWG24
AWG24
AWG24
AWG24
-693
-694
-695
-696
-697
-698
-699
-700
-666
-667
-668
-669
AWG24
AWG24
AWG24
AWG24
AWG24
AWG24
AWG24
AWG24
AWG24
AWG24
AWG24
AWG24
B3
B4
B5
4/BN
-711
AWG24
B6
GY
WH
WH/BK
WH/BN
WH/RD
WH/OG
WH/YE
WH/GN
or PK
or Light GN
12
-XP/XT5.3
1
2
3
4
5
6
7
8
9
10
11
12
-713
AWG20
C16
C17
C18
C20
B22
B23
B24
B25
WH
AWG24
GN
AWG24
WH
AWG24
BN
AWG24
RD
AWG24
OG
AWG24
RD
AWG24
RD
AWG24
B3
B4
B5
B6
C16
C17
C18
CS
CS
CS
CS
CS
CS
CS
CS
C20
W27
GY
WHbn 0,23mm2
WH
WH/BK
WH/BN
WH/RD
WH/OG
WH/YE
WH/GN
WH/BU
WH/VT
WH/GY
BN/BK
or Light GN
or RD/BK
AWG16
Latest revision:
B15
B16
B18
B19
B20
B21
C10
C11
C12
C13
C14
C15
bn
0,23mm2
WHgy 0,23mm2
gy
0,23mm2
RDbu
0,23mm2
bu
0,23mm2
B15
B16
B18
B19
B20
CS
CS
CS
CS
CS
CS
B21
Lab/Office:
DMRO SE/
PRH

IRB460, 660, 760
=
Plant:
Location: +
Sublocation:+
Document no.
Rev. Ind Page98.3
Next 98.4
3HAC024480-005
05 Total
Status:
Approved
2011-01-28
FLOOR CABLE
CONTROLLER
CONTROL MODULE
Customer
Connection
OPTION : DEVICENET
MANIPULATOR
IRB 460, 660, 760
A35
-X2
-707
(115.5.1)
2/BK
V-
AWG22
+DeviceNet-XS/XP13
BK
F2
1
1/BU
A4
SHIELD
3
1/WH
WH
CAN_H
F3
4
2/RD
CAN_H
A3
RD
V+
1B
CAN_L
F4
Bare wire
(115.4.1)
0V
B23
BU
CAN_L
A33
OPTION : PROFIBUS
Option: 803-4 (115.5.1) -(DP-M)1
R1 CP/CS
AWG24
+24V CAN
F1
AWG22
-XS/XP13
-709 AWG24
1/RD
B22
RD
RXD/TXD-P
F5
1/GN
Latest revision:
RXD/TXD-P
A5
GN
RXD/TXD-N
1A
+R1 CP/CS
RXD/TXD-N
F6
A6
Lab/Office:
DMRO SE/
PRH

C-BUS/P-BUS/ to CP/CS
IRB460, 660, 760
=
Plant:
Location: +
Sublocation:+
Document no.
Rev. Ind Page98.4
Next 98.5
3HAC024480-005
05 Total
Status:
Approved
2011-01-28
+R1 MP
17
24
19
26
18
25
Latest revision:
23
32
21
30
22
Lab/Office:
DMRO SE/
PRH
31
3
4

SERVO DRIVE SYSTEM
IRB 660, 760
7
14
5
6
9
Status:
Approved
16
16
AWG10
AWG10
=
Plant:
Location: +
Sublocation:+
Document no.
Rev. Ind Page98.5
Next 98.6
3HAC024480-005
05 Total
2011-01-28
GNYE
GNYE
-_432 AWG12
BK
FLOOR CABLE
9
M6V
BURD
6
BK
-X16
-_430 AWG12
BK
M6W
-_428 AWG12
BK
5
M6U
-_417 AWG12
BK
BUGN
14
M3V
-_416 AWG12
BK
7
M3V
-_415 AWG12
BK
BUWH
4
M3W
-_414 AWG12
3
M3W
BK
BUBK
28
-_413 AWG12
BK
-X13
M3U
-_412 AWG12
BK
29
M3U
-_426 AWG12
11 BNBK
20
M5V
BK
31
BK
-X15
-_425 AWG12
BK
M5W
-_424 AWG12
BK
22
M5U
-_411 AWG12
12 BNBU
30
M2V
BK
BKWH
21
-_410 AWG12
BK
M2V
-_409 AWG12
BK
32
M2W
-_408 AWG12
10 BU
23
M2W
14 BNRD
2
BK
-X12
-_407 AWG12
BK
M2U
-_406 AWG12
BK
22 GYRD
10
M2U
-_422 AWG12
13 BNGN
1
M4V
BK
24 GY
25
-X14
-_420 AWG12
BK
M4U
-_418 AWG12
BK
15 BNWH
18
M4U
-_405 AWG12
BK
23 GYWH
26
M1V
-_404 AWG12
BK
25 OGBK
19
M1V
-_403 AWG12
BK
18 GNWH
24
M1W
-_402 AWG12
BK
BK
26 OGBU
17
M1W
-_401 AWG12
-_400 AWG12
16 BN
-XS/XP1
M1U
M1U
-X11
27 OGGN
17 GNRD
2,5mm2
1
7
8
IRB 660 and 760 cabinet module
A41.1
CONTROLLER
DRIVE MODULE
MANIPULATOR
According to Manipulator IRB660 circuit diagram 3HAC025691-001
FLOOR CABLE
CONTROLLER
DRIVE MODULE
MANIPULATOR
IRB660, 760
0,23 mm2
+R1 SMB
(80) /
-XS/XP2
-MRCO1
WH
SDI
A
(80) /
-MRCO 1_N
BU
SDI-N
B
(80) /
-MRCI1
WH
SDO
AXIS COMPUTER BOARD

A42-X4
-MRCI 1_N
(80) /
OG
SDO-N
-MRC_0V1
(80) /
WH
0V
WH
E
(80) /
SERIAL
MEASUREMENT
BOARD
+24V_SMB1
GN
24V
BN
-MRC_0V2
(80) /
G
H
-MRC_0V3
(80) /
AWG16
-C1
BU
EXT.LAMP
AWG16
L
-DP1
BU
RD
EXT.LAMP
L
1
M
2
BU
AWG16
(78.1) /
DRIVE MODULE
XP40
-EXT. LAMP
-_433
AWG16
BU
-BRAKEPB
-_434
AWG16
BU
(78.1) /
+R1 MP
-XS/XP1
30 OGRD
0,75 mm2
11
(78.1) /
-BRAKEREL1
-_435
AWG16
28 OG
BU
4,0 mm2
13
(78.1) /
-BRAKEREL2
-_436
AWG16
BU
-0V BRAKE4
-_437
AWG16
BU
(78.2) /
13
29 OGWH
4,0 mm2
12
CONTACTOR UNIT
A43-X5
(78.2) /
-PTC1
-_439
AWG16
BU
12
31 PKBK
0,75 mm2
32 PKWH
0,75 mm2
27
(78.2) /
-PTC 1 ret
-_440
AWG16
BU
-0V BRAKE3
Latest revision:
-_438
AWG16
BRAKE RELEASE
BRAKE RELEASE
0V BRAKE
0V BRAKE
PTC
27
15
(78.2) /
BRAKE PB
11
0V PTC
15
BU
Lab/Office:
DMRO SE/
PRH

CONTROL CABLE
IRB 660, 760
=
Plant:
Location: +
Sublocation:+
Document no.
Rev. Ind Page98.6
Next 99
3HAC024480-005
05 Total
Status:
Approved
2011-01-28
R1-MP
A1
A2
A3
Latest revision:
D2
D1
A4
A10
A9
A8
B10
D7
Lab/Office:
DMRO SE/
PRH
D8
D3
D4
B1
B8
D9

SERVO DRIVE SYSTEM
IRB 1410
B7
D10
GNYE
GNYE
AWG10
AWG14
BK
AWG10
-_424
BK
BNGN
AWG14
BK
M5R
B1
-_425
AWG14
BK
-X15
BNRD
-_426
AWG14
M5S
A15
BNWH
-_416
M5T
A13
BUWH
BK
M3T
B9
AWG14
BK
-X13
-_414
AWG14
BK
BURD
-_412
AWG14
M3S
B10
BUGN
-_428
BK
M3R
B11
BN
AWG14
BK
M6R
B5
-_430
AWG14
-X16
GNRD
-_432
BK
M6S
B4
GNWH
AWG14
M6T
B3
-_422
BK
BNBU
AWG14
BK
M4T
A7
-_420
AWG14
BK
-X14
BNBK
-_418
AWG14
M4S
A9
BU
-_406
M4R
A11
BKWH
BK
M2R
A5
AWG14
BK
-X12
-_408
AWG14
BK
BK
BK
BK
-_410
AWG14
AWG14
AWG14
M2S
A3
BUBK
-_404
-_402
-_400
M2T
A1
BKRD
BKGN
BKBU
-XS/XP1
M1T
FLOOR CABLE
AWG16
-X11
M1S
M1R
1
6
7
B6
Status:
Approved
-A41
DRIVE MODULE
A7
MANIPULATOR
=
Plant:
Location: +
Sublocation:+
Document no.
Rev. Ind Page99
Next 100
3HAC024480-005
05 Total
2011-01-28
FLOOR CABLE
CONTROLLER
DRIVE MODULE
AXIS COMPUTER BOARD

A42-X4
-XS/XP2
(80) / -MRCO1
(80) / -MRCO 1_N
(80) / -MRCI1
(80) / -MRCI 1_N
(80) / -MRC_0V1
A
B
C
D
MANIPULATOR
IRB1410
0,23 mm2
R1-SMB
SDI
A
SDI-N
B
SDO
C
SDO-N
D
0V
WH
BU
WH
OG
WH
(80) /
WH
+24V_SMB1
GN
24V
BN
-MRC_0V2
(80) /
G
H
K
GY
RD
0V
BATSUP
BATLD
-MRC_0V3
(80) /
SERIAL
MEASUREMENT
BOARD
AWG16
-XS/XP1
-EXT. LAMP
-_433
AWG16
-BRAKEPB
-_434
AWG16
BU
(78.1) /
-BRAKEREL1
-_435
AWG16
BU
(78.1) /
-BRAKEREL2
-_436
AWG16
BU
(78.1) /
R1-MP
OG
C7
(78.1) /
DRIVE MODULE
X40
C7
OGWH
B16
B8
GYBK
B12
C9
GYBU
B13
(78.2) /
-0V BRAKE4
-_438
AWG16
BU
C8
GYGN
B14
CONTACTOR UNIT
A43-X5
-PTC1
-_439
AWG16
BU
-PTC 1 ret
-_440
AWG16
BU
-0V BRAKE3
-_437
AWG16
BU
(78.2) /
C10
OGBU
C2
(78.2) /
B9
OGBK
C1
(78.2) /
B2
OGRD
B15
B7
GYWH
D2
B3
GYRD
D1
B4
GY
D3
C2
OGGN
D4
Latest revision:
C1
Lab/Office:
DMRO SE/
PRH

CONTROL CABLE
IRB 1410
=
Plant:
Location: +
Sublocation:+
Document no.
Rev. Ind Page100
Next 101
3HAC024480-005
05 Total
Status:
Approved
2011-01-28
FLOOR CABLE
CONTROLLER
MANIPULATOR
IRB 1410
CONTROL MODULE
Customer
Connection
-XS/XP5
-625
1
2
3
4
5
6
7
8
9
10
11
-626
-627
-628
-629
-630
-631
-632
-633
-634
-635
-636
AWG24
WH
OG
AWG24
B5
AWG24
C5
AWG24
D5
AWG24
A6
AWG24
B6
AWG24
C6
AWG24
D6
AWG24
A7
AWG24
B7
AWG24
C7
AWG24
D7
BU
OG
WH
OG
OG
OG
WH
OG
GN
OG
WH
OG
BN
OG
WH
OG
GY
OG
RD
OG
BU
OG
12
Latest revision:
A8
R1-CS
CSA
A
CSB
B
CSC
C
CSD
D
CSE
E
CSF
F
CSG
G
CSH
H
CSJ
J
CSK
K
CSL
L
CSM
0,23mm2
-XP/XT5
Lab/Office:
DMRO SE/
PRH

CUSTOMER SIGNALS
DUAL CABINET
IRB 1410
=
Plant:
Location: +
Sublocation:+
Document no.
Rev. Ind Page101
Next 102
3HAC024480-005
05 Total
Status:
Approved
2011-01-28
FLOOR CABLE
CONTROLLER
MANIPULATOR
IRB 1410
CONTROL MODULE
Customer
Connection
-XS/XP5
-708
AWG24
0,23mm2
R1-CS
WH
BK
B5
BU
BN
C5
WH
RD
D5
OG
OG
A6
WH
YE
B6
GN
GN
C6
WH
BU
D6
BN
VT
A7
WH
GY
B7
GY
WH
10
C7
RD
WH/BK
11
D7
BU
WH/BN
12
Latest revision:
A8
CSA
A
CSB
B
CSC
C
CSD
D
CSE
E
CSF
F
CSG
G
CSH
H
CSJ
J
CSK
K
CSL
L
CSM
-XP/XT5
Lab/Office:
DMRO SE/
PRH

CUSTOMER SIGNALS
SINGLE CABINET
IRB 1410
=
Plant:
Location: +
Sublocation:+
Document no.
Rev. Ind Page102
Next 105
3HAC024480-005
05 Total
Status:
Approved
2011-01-28
A1
A2
Latest revision:
A3
D2
D1
A4
A10
A9
A8
Lab/Office:
DMRO SE/
PRH
B10
D7
D8
D3
D4
B1

SERVO DRIVE UNIT
IRB 1600
B8
D9
BNGN
B7
D10
GNYE
AWG10
GNYE
BK
AWG10
-_424 AWG14
M5U
B1
BK
-X15
-_425 AWG14
BK
BNRD
-_426 AWG14
BK
M5V
A15
BNWH
-_416 AWG14
M5W
A13
BUWH
BK
M3W
B9
-_414 AWG14
-X13
BURD
BK
M3V
B10
-_412 AWG14
BK
BUGN
-_428 AWG14
M3U
B11
BN
BK
M6U
B5
-_430 AWG14
BK
-X16
GNRD
-_432 AWG14
BK
M6V
B4
GNWH
-_422 AWG14
M6W
B3
BNBU
M4W
A7
BK
-X14
-_420 AWG14
BK
BNBK
-_418 AWG14
BK
M4V
A9
BU
-_406 AWG14
M4U
A11
BKWH
BK
M2U
A5
-_408 AWG14
-X12
BK
BK
M2V
A3
-_410 AWG14
BK
BK
BK
BUBK
-_404 AWG14
-_402 AWG14
-_400 AWG14
M2W
A1
BKRD
BKGN
-XS/XP1
M1W
AWG16
BKBU
-X11
M1V
M1U
1
7
Status:
Approved
A41.1
B6
=
Plant:
Location: +
Sublocation:+
Document no.
Rev. Ind Page105
Next 106
3HAC024480-005
05 Total
2011-01-28
DRIVE MODULE
Floor cable
R1-MP
A7
MANIPULATOR
IRB 1600
FLOOR CABLE
CONTROLLER
DRIVE MODULE
AXIS COMPUTER BOARD

A42-X4
-XS/XP2
(80) / -MRCO1
(80) / -MRCO 1_N
(80) / -MRCI1
(80) / -MRCI 1_N
(80) / -MRC_0V1
MANIPULATOR
IRB1600
0,23 mm2
A
B
C
D
E
(80) /
R1-SMB
SDI
A
SDI-N
B
SDO
C
SDO-N
D
0V
WH
BU
WH
OG
WH
WH
+24V_SMB1
GN
F
24V
BN
-MRC_0V2
(80) /
G
H
-MRC_0V3
(80) /
WH
GY
RD
KEYPIN
M
0V
BATSUP
BATLD
SERIAL
MEASUREMENT
BOARD
AWG16
-EXT. LAMP
-_433
AWG16
BU
-BRAKEPB
-_434
AWG16
BU
(78.1) /
-BRAKEREL1
-_435
AWG16
BU
(78.1) /
-BRAKEREL2
-_436
AWG16
BU
(78.1) /
R1-MP
-XS/XP1
OG
C7
(78.1) /
DRIVE MODULE
X40
C7
OGWH
B16
B8
GYBK
B12
C9
GYBU
B13
(78.2) /
-_438
-0V BRAKE4
AWG16
C8
BU
GYGN
B14
CONTACTOR UNIT
A43-X5
-PTC1
-_439
AWG16
BU
-PTC 1 ret
-_440
AWG16
BU
-0V BRAKE3
-_437
AWG16
BU
(78.2) /
C10
OGBU
C2
(78.2) /
B9
OGBK
C1
(78.2) /
B2
OGRD
B15
(77) /
-A43-X21.2
LIM 1A
-_441
AWG16
B7
BU
GYWH
D2
CONTACTOR UNIT
A43-X21
(77) /
-A43-X21.4
LIM 2A
-_442
AWG16
BU
(77) /
-A43-X21.3
LIM 2B
-_443
AWG16
BU
(77) /
-A43-X21.1
LIM 1B
-_444
AWG16
BU
B3
GYRD
D1
B4
GY
D3
C2
OGGN
D4
Latest revision:
C1
Lab/Office:
DMRO SE/
PRH

CONTROL CABLE
IRB 1600
=
Plant:
Location: +
Sublocation:+
Document no.
Rev. Ind Page106
Next 107
3HAC024480-005
05 Total
Status:
Approved
2011-01-28
Floor cable
CONTROLLER
Customer
Connection
MANIPULATOR
IRB 1600
CONTROL MODULE
-XS/XP5
AWG18
-XP/XT6
2
3
4
5
6
7
8
9
10
11
R1-CP/CS
OG
OG
OG
OG
OG
OG
OG
OG
OG
OG
OG
OG
AWG18
AWG18
AWG18
AWG18
AWG18
AWG18
AWG18
AWG18
AWG18
AWG18
AWG18
AWG18
RD
BU
GN
YE
WH
BK
BN
VT
OG
PK
TQ
GY
A1
B1
C1
D1
A2
B2
C2
D2
A3
B3
C3
A1
B1
C1
D1
A2
B2
C2
D2
A3
B3
C3
D3
12
D3
-XP/XT5.1
1
2
3
4
5
6
7
8
9
10
11
CPA
CPB
CPC
CPD
CPE
CPF
CPJ
CPK
CPH
0,23mm2
-625
-626
-627
-628
-629
-630
-631
-632
-633
-634
-635
-636
OG
OG
OG
OG
OG
OG
OG
OG
OG
OG
OG
OG
AWG24
AWG24
AWG24
AWG24
AWG24
AWG24
AWG24
AWG24
AWG24
AWG24
AWG24
AWG24
WH
BU
WH
OG
WH
GN
WH
BN
WH
GY
RD
BU
B5
C5
D5
A6
B6
C6
D6
A7
B7
C7
D7
B5
C5
D5
A6
B6
C6
D6
A7
B7
C7
D7
A8
12
CSA
CSB
CSC
CSD
CSE
CSF
CSG
CSH
CSJ
CSK
CSL
CSM
A8
-XP/XT5.2
13
14
15
16
17
18
19
20
21
22
-637
-638
-639
-640
-641
-642
-643
-644
-645
-646
-647
OG
OG
OG
OG
OG
OG
OG
OG
OG
OG
OG
AWG24
AWG24
AWG24
AWG24
AWG24
AWG24
AWG24
AWG24
AWG24
AWG24
AWG24
23
Latest revision:
RD
OG
RD
GN
RD
BN
RD
GY
BK
BU
WH
B8
C8
D8
A9
B9
C9
D9
A10
B10
C10
D10
Lab/Office:
DMRO SE/
PRH

DUAL CABINET
IRB 1600
B8
C8
D8
A9
B9
C9
D9
A10
B10
C10
D10
CSN
CSP
CSR
CSS
CST
CSU
CSV
CSW
CSX
CSY
CSZ
-648
-649
-650
-651
-652
-653
-654
-655
-656
-657
-658
-659
=
Plant:
Location: +
Sublocation:+
Document no.
Rev. Ind Page107
Next 108
3HAC024480-005
05 Total
Status:
Approved
2011-01-28
FLOOR CABLE
CONTROLLER
Customer
Connection
CONTROL MODULE
1
2
3
4
5
6
7
8
9
10
11
12
-XS/XP5
-709
AWG24
AWG18
R1-CP/CS
RD
BU
GN
YE
WH
BK
BN
VT
OG
PK
TQ
GY
BK
A1
BN
B1
RD
C1
OG
D1
YE
A2
GN
B2
BU
C2
VT
D2
GY
A3
WH
B3
WH/BK
C3
WH/BN
A1
B1
C1
D1
A2
B2
C2
D2
A3
B3
C3
D3
-XP/XT5.1
1
2
3
4
5
6
7
8
9
10
11
12
-710
AWG24
CPA
CPB
CPC
CPD
CPE
CPF
CPJ
CPK
CPH
D3
0,23mm2
WH
BU
WH
OG
WH
GN
WH
BN
WH
GY
RD
BU
BK
B5
BN
C5
RD
D5
OG
A6
YE
B6
GN
C6
BU
D6
VT
A7
GY
B7
WH
C7
WH/BK
D7
WH/BN
B5
C5
D5
A6
B6
C6
D6
A7
B7
C7
D7
A8
CSA
CSB
CSC
CSD
CSE
CSF
CSG
CSH
CSJ
CSK
CSL
CSM
A8
-XP/XT5.2
13
14
15
16
17
18
19
20
21
22
23
RD
OG
RD
GN
RD
BN
RD
GY
BK
BU
WH
WH/RD
B8
WH/OG
WH/YE
or PK
C8
D8
WH/GN
A9
WH/BU
B9
WH/VT
WH/GY
BN/BK
BN/RD
BN/OG
BN/YE
or Light GN
or RD/BK
or GN/BK
or OG/BK
or YE/BK
Latest revision:
C9
D9
A10
B10
C10
D10
Lab/Office:
DMRO SE/
PRH

SINGLE CABINET
IRB 1600
B8
C8
D8
A9
B9
C9
D9
A10
B10
C10
D10
CSN
CSP
CSR
CSS
CST
CSU
CSV
CSW
CSX
CSY
CSZ
-XP/XT6
MANIPULATOR
IRB 1600
=
Plant:
Location: +
Sublocation:+
Document no.
Rev. Ind Page108
Next 111
3HAC024480-005
05 Total
Status:
Approved
2011-01-28
R1 MP
A1
A2
A3
D2
Latest revision:
D1
A4
A10
A9
A8
B10
Lab/Office:
DMRO SE/
PRH
D7
D8
D3
D4
B1

SERVO DRIVE UNIT
IRB 2400
B8
D9
B7
D10
GNYE
GNYE
AWG10
BK
AWG10
-424 AWG14
M5U
B1
BK
X15
-425 AWG14
BK
BNRD
-426 AWG14
BK
M5V
A15
BNWH
-416 AWG14
M5W
A13
BUWH
M3W
B9
BK
-X13
-414 AWG14
BK
BURD
-412 AWG14
BK
M3V
B10
BUGN
-428 AWG14
M3U
B11
BN
BK
M6U
B5
-430 AWG14
BK
X16
GNRD
-432 AWG14
BK
M6V
B4
GNWH
-422 AWG14
M6W
B3
BNBU
M4W
A7
BK
-X14
-420 AWG14
BK
BNBK
-418 AWG14
M4V
A9
BU
BK
M4U
A11
-406 AWG14
BKWH
BK
M2U
A5
-408 AWG14
BK
-X12
BK
-410 AWG14
BK
BK
BK
M2V
A3
BUBK
-404 AWG14
-402 AWG14
-400 AWG14
M2W
A1
BKRD
BKGN
BKBU
-XS/XP1
M1W
FLOOR CABLE
AWG16
-X11
M1V
M1U
1
6
7
Status:
Approved
-A41.1-6
B6
DRIVE MODULE
A7
MANIPULATOR
=
Plant:
Location: +
Sublocation:+
Document no.
Rev. Ind Page111
Next 112
3HAC024480-005
05 Total
2011-01-28
FLOOR CABLE
CONTROLLER
DRIVE MODULE
AXIS COMPUTER BOARD

A42-X4
-XS/XP2
(80) / -MRCO1
(80) / -MRCO 1_N
(80) / -MRCI1
(80) / -MRCI 1_N
(80) / -MRC_0V1
MANIPULATOR
IRB 2400
0,23 mm2
A
B
C
D
+24V_SMB1
GN
-MRC_0V2
(80) /
-MRC_0V3
24V
BN
F
(80) /
WH
E
(80) /
R1 SMB
SDI
A
SDI-N
B
SDO
C
SDO-N
D
0V
WH
BU
WH
OG
WH
J
K
F
G
H
J
WH
GY
RD
SERIAL
MEASUREMENT
BOARD
0V
BATSUP
BATLD
KEYPIN
M
AWG16
-EXT. LAMP
-433
AWG16
BU
-BRAKEPB
-434
AWG16
BU
(78.1) /
-BRAKEREL1
-435
AWG16
BU
(78.1) /
-BRAKEREL2
-436
AWG16
BU
(78.1) /
DRIVE MODULE
X40
-XS/XP1
R1 MP
OG
C7
(78.1) /
C7
OGWH
B16
B8
GYBK
B12
C9
GYBU
B13
(78.2) /
-0V BRAKE4
-438
AWG16
BU
-PTC1
-439
AWG16
BU
-PTC 1 ret
-440
AWG16
BU
-0V BRAKE3
-437
AWG16
BU
C8
GYGN
B14
CONTACTOR UNIT
A43-X5
(78.2) /
C10
OGBU
C2
(78.2) /
B9
OGBK
C1
(78.2) /
B2
OGRD
B15
(77) /
-A43-X21.2
LIM 1A
-441
AWG16
BU
B7
GYWH
D2
CONTACTOR UNIT
A43-X21
(77) /
-A43-X21.4
LIM 2A
-442
AWG16
BU
(77) /
-A43-X21.3
LIM 2B
-443
AWG16
BU
(77) /
-A43-X21.1
LIM 1B
-444
AWG16
BU
B3
GYRD
D1
B4
GY
D3
C2
OGGN
D4
Latest revision:
Lab/Office:
DMRO SE/
PRH
C1

CONTROL CABLE
IRB 2400
=
Plant:
Location: +
Sublocation:+
Document no.
Rev. Ind Page112
Next 113
3HAC024480-005
05 Total
Status:
Approved
2011-01-28
FLOOR CABLE
MANIPULATOR
IRB 2400
CONTROLLER
CONTROL MODULE
Customer
Connection
-XS/XP5
1
2
3
4
5
6
AWG18
-XP/XT6
7
8
9
10
11
-648
-649
-650
-651
-652
-653
-654
-655
-656
-657
-658
-659
OG
OG
OG
OG
OG
OG
OG
OG
OG
OG
OG
OG
AWG18
AWG18
AWG18
AWG18
AWG18
AWG18
AWG18
AWG18
AWG18
AWG18
AWG18
AWG18
12
R1
CP/CS
RD
BU
GN
YE
WH
BK
BN
VT
OG
PK
TQ
GY
A1
B1
C1
D1
A2
B2
C2
D2
A3
B3
C3
A1
B1
C1
D1
A2
B2
C2
D2
A3
B3
C3
D3
D3
-XP/XT5.1
1
2
3
4
5
6
7
8
9
10
11
CPA
CPB
CPC
CPD
CPE
CPF
CPJ
CPK
CPL
CPM
0,23mm2
-625
-626
-627
-628
-629
-630
-631
-632
-633
-634
-635
-636
OG
OG
OG
OG
OG
OG
OG
OG
OG
OG
OG
OG
AWG24
AWG24
AWG24
AWG24
AWG24
AWG24
AWG24
AWG24
AWG24
AWG24
AWG24
AWG24
12
WH
BU
WH
OG
WH
GN
WH
BN
WH
GY
RD
BU
B5
C5
D5
A6
B6
C6
D6
A7
B7
C7
D7
B5
C5
D5
A6
B6
C6
D6
A7
B7
C7
D7
A8
CSA
CSB
CSC
CSD
CSE
CSF
CSG
CSH
CSJ
CSK
CSL
CSM
A8
-XP/XT5.2
13
14
15
16
17
18
19
20
21
22
-637
-638
-639
-640
-641
-642
-643
-644
-645
-646
-647
OG
OG
OG
OG
OG
OG
OG
OG
OG
OG
OG
AWG24
AWG24
AWG24
AWG24
AWG24
AWG24
AWG24
AWG24
AWG24
AWG24
AWG24
23
Latest revision:
RD
OG
RD
GN
RD
BN
RD
GY
BK
BU
WH
B8
C8
D8
A9
B9
C9
D9
A10
B10
C10
D10
Lab/Office:
DMRO SE/
PRH

DUAL CABINET
IRB 2400
B8
C8
D8
A9
B9
C9
D9
A10
B10
C10
D10
CSN
CSP
CSR
CSS
CST
CSU
CSV
CSW
CSX
CSY
CSZ
=
Plant:
Location: +
Sublocation:+
Document no.
Rev. Ind Page113
Next 114
3HAC024480-005
05 Total
Status:
Approved
2011-01-28
CONTROLLER
MANIPULATOR
IRB 2400
CONTROL MODULE
Customer
Connection
-XP/XT6
-XS/XP5
-709
AWG24
1
2
3
4
5
6
7
8
9
10
11
12
AWG18
BN
A1
RD
B1
OG
C1
YE
D1
GN
A2
BU
B2
VT
C2
GY
D2
WH
A3
WH/BK
B3
WH/BN
R1
CP/CS
RD
BU
GN
YE
WH
BK
BN
VT
OG
PK
TQ
GY
BK
C3
A1
B1
C1
D1
A2
B2
C2
D2
A3
B3
C3
D3
-XP/XT5.1
1
2
3
4
5
6
7
8
9
10
11
12
-710
AWG24
CPA
CPB
CPC
CPD
CPE
CPF
CPJ
CPK
CPL
CPM
D3
0,23mm2
WH
BU
WH
OG
WH
GN
WH
BN
WH
GY
RD
BU
BK
BN
B5
RD
C5
OG
D5
YE
A6
GN
B6
BU
C6
VT
D6
GY
A7
WH
B7
WH/BK
C7
WH/BN
D7
B5
C5
D5
A6
B6
C6
D6
A7
B7
C7
D7
A8
CSA
CSB
CSC
CSD
CSE
CSF
CSG
CSH
CSJ
CSK
CSL
CSM
A8
-XP/XT5.2
13
14
15
16
17
18
19
20
21
22
23
RD
OG
RD
GN
RD
BN
RD
GY
BK
BU
WH
WH/RD
WH/OG
WH/YE
or PK
B8
C8
WH/GN
D8
WH/BU
A9
WH/VT
WH/GY
BN/BK
BN/RD
BN/OG
BN/YE
or Light GN
or RD/BK
or GN/BK
or OG/BK
or YE/BK
Latest revision:
B9
C9
D9
A10
B10
C10
D10
Lab/Office:
DMRO SE/
PRH

SINGLE CABINET
IRB 2400
B8
C8
D8
A9
B9
C9
D9
A10
B10
C10
D10
CSN
CSP
CSR
CSS
CST
CSU
CSV
CSW
CSX
CSY
CSZ
=
Plant:
Location: +
Sublocation:+
Document no.
Rev. Ind Page114
Next 115
3HAC024480-005
05 Total
Status:
Approved
2011-01-28
2,5mm2
R1 MP
17
24
19
26
18
25
1
10
Latest revision:
2
23
32
21
30
22
31
20
Lab/Office:
DMRO SE/
PRH
29
28
3
4
7

SERVO DRIVE SYSTEM
IRB 2600
14
5
6
9
BURD
16
8
16
Status:
Approved
GNYE
BK
GNYE
-_432 AWG12
BK
AWG10
AWG10
M6V
-_430 AWG12
BK
6
M6W
-_428 AWG12
BK
BUGN
M6U
-_417 AWG12
-X13
BUWH
M3V
14
BUBK
BK
BK
-_416 AWG12
-_415 AWG12
M3V
M3W
BK
11 BNBK
BK
-_414 AWG12
BK
3
M3W
-_413 AWG12
12 BNBU
28
M3U
BKWH
BK
-X15
29
-_412 AWG12
BK
M3U
-_426 AWG12
10 BU
20
M5V
BK
19 GYBK
31
-_425 AWG12
BK
M5W
-_424 AWG12
-X12
21 GYGN
22
M5U
BK
20 GYBU
30
-_411 AWG12
BK
M2V
-_410 AWG12
BK
14 BNRD
21
M2V
-_409 AWG12
BK
22 GYRD
32
M2W
-_408 AWG12
13 BNGN
23
M2W
24 GY
2
BK
-_407 AWG12
BK
BK
-X14
M2U
-_406 AWG12
-_422 AWG12
15 BNWH
10
M2U
M4V
BK
23 GYWH
BKGN
-_420 AWG12
BK
25
M4W
-_418 AWG12
BKRD
M4U
BK
-X11
18
BKBU
-_405 AWG12
BK
26
M1V
-_404 AWG12
BK
25 OGBK
19
M1V
-_403 AWG12
BK
BK
18 GNWH
24
M1W
-_402 AWG12
-_401 AWG12
BK
26 OGBU
17
M1W
M1U
-_400 AWG12
1
16 BN
-XS/XP1
27 OGGN
17 GNRD
M1U
1
7
8

A41.1
-X16
2
=
Plant:
Location: +
Sublocation:+
Document no.
Rev. Ind Page115
Next 115.1
3HAC024480-005
05 Total
2011-01-28
DRIVE MODULE
MANIPULATOR
FLOOR CABLE
CONTROLLER
DRIVE MODULE
MANIPULATOR
IRB 2600
0,23 mm2
(80) /
-XS/XP2
-MRCO1
R1 SMB
SDI
WH
-MRCO 1_N
(80) /
BU
SDI-N
B
(80) /
-MRCI1
WH
SDO
AXIS COMPUTER BOARD

A42-X4
(80) /
-MRCI 1_N
OG
SDO-N
-MRC_0V.1
(124) /
C
D
WH
0V
WH
E
(80) /
+24V_SMB1
GN
24V
BN
-MRC_0V.2
(94.6) /
-MRC_0V.3
(94.6) /
WH
BATT-
GY
BATT+
RD
BATT LOAD
(78.1) /
DRIVE MODULE
XS40
-EXT. LAMP
-_433
AWG16
BU
-BRAKEPB
-_434
AWG16
BU
(78.1) /
-BRAKEREL1
-_435
AWG16
-XS/XP1
R1 MP
30 OG
11
(78.1) /
BU
0,75mm2
-BRAKEREL2
-_436
AWG16
-0V BRAKE4
-_437
AWG16
(78.2) /
28 OGRD 4mm2
12
AWG16
BU
-_439
AWG16
BU
13
29 OGWH 4mm2
BU
-_438
31 PKBK 0,75mm2
27
CONTACTOR UNIT
A43-X5
BRAKE PB
11
13
(78.1) /
12
32 PKBU 0,75mm2
-0V BRAKE3
Latest revision:
-_440
AWG16
BRAKE RELEASE
BRAKE RELEASE
0V BRAKE
0V BRAKE
EXT.LAMP
27
15
(78.2) /
SERIAL
MEASUREMENT
BOARD
0V BRAKE
15
BU
Lab/Office:
DMRO SE/
PRH

CONTROL CABLE
IRB 2600
=
Plant:
Location: +
Sublocation:+
Document no.
Rev. Ind Page115.1
Next 115.2
3HAC024480-005
05 Total
Status:
Approved
2011-01-28
FLOOR CABLE
Customer
Connection
-XP/XT6
Dual cabinet
-670
AWG18
CONTROLLER
CONTROL MODULE
Single cabinet
-713
AWG20 BK
-671
AWG18
-673
AWG18
1
2
A2
YE
GN
A3
4
GNYE
BU
VT
A4
D6
D3
D4
CPH
SH
-XP/XT5.1
1
2
3
4
5
6
7
8
-677 AWG24
-678 AWG24
-679 AWG24
-680 AWG24
-681 AWG24
-682 AWG24
-683 AWG24
-684 AWG24
-705 1/WH
AWG24
9
10
11
1/BU
-711
AWG24
B1
BN
B2
RD
YE
GN
BU
VT
-712
AWG24
1/WH
1/BU
2/WH
2/WH
2/OG
2/OG
0,23mm2
bu
0,23mm2
og
3/WH
3/WH
3/GN
3/GN
4/WH
4/WH
4/BN
6
8
9
10
11
gn
0,23mm2
gn
0,23mm2
bn
0,23mm2
-685
-686
-687
-688
-689
-690
-691
-692
AWG24
AWG24
AWG24
AWG24
AWG24
AWG24
AWG24
AWG24
3
4
5
6
7
8
9
10
11
12
B14
WH
AWG24
BU
AWG24
WH
AWG24
OG
AWG24
C19
C21
B7
B8
B9
B4
B5
4/BN
-711
AWG24
WH
WH/BK
WH/BN
WH/RD
WH/OG
WH/YE
WH/GN
or PK
or Light GN
AWG24
GN
AWG24
WH
AWG24
BN
B6
GY
WH
C16
C17
C18
C20
B22
B23
B24
B25
RDog
0,23mm2
og
0,23mm2
RDgn
0,23mm2
RDbn
0,23mm2
RDgy
0,23mm2
gy
0,23mm2
BKbu
0,23mm2
bu
0,23mm2
AWG24
B3
B4
B5
CS
CS
CS
CS
-693
-694
-695
-696
-697
-698
-699
-700
-666
-667
-668
-669
AWG24
AWG24
AWG24
AWG24
AWG24
AWG24
AWG24
AWG24
AWG24
AWG24
AWG24
AWG24
-713
AWG20
GY
B6
C17
C18
C20
B22
B23
WH/BK
WH/BN
WH/RD
WH/OG
WH/YE
WH/GN
WH/BU
WH/VT
WH/GY
BN/BK
or Light GN
or RD/BK
AWG16
Latest revision:
B15
B16
B18
B19
B20
B21
C10
C11
C12
C13
C14
C15
CS
CS
CS
B24
B25
WHbn 0,23mm2
WH
CS
CS
CS
CS
C16
W27
-XP/XT5.3
B13
B10
B3
12
B12
WHgn 0,23mm2
CS
CS
CS
CS
CS
CS
W28
B2
B11
0,23mm2
-XP/XT5.2
B1
WHog 0,23mm2
B11
B12
B13
B14
C19
C21
B7
B8
B9
B10
OG
BKog
CPA_ /
CPE_ /
CPB_ /
CPF_ /
CPC_ /
CPJ_ /
CPD_ /
CPK_ /
D7
W27
BK
12
CP/CS
R1
D1
A1
OG
AWG18
1mm2
RD
-672
w26
-XS/XP13
BN
MANIPULATOR
IRB 2600
bn
0,23mm2
WHgy 0,23mm2
gy
0,23mm2
RDbu
0,23mm2
bu
0,23mm2
B15
B16
B18
B19
B20
CS
CS
CS
CS
CS
CS
B21
Lab/Office:
DMRO SE/
PRH

IRB2600
=
Plant:
Location: +
Sublocation:+
Document no.
Rev. Ind Page115.2
Next 115.3
3HAC024480-005
05 Total
Status:
Approved
2011-01-28
FLOOR CABLE
Customer
Connection
Dual cabinet
-XP/XT6
-670
AWG18
CONTROLLER
CONTROL MODULE
Single cabinet
-713
AWG20
MANIPULATOR
IRB 2600
AWG18
-XS/XP13
A1
BK
-671
AWG18
A2
RD
-672
AWG18
A3
YE
-673
AWG18
4
GNYE
A4
BU
VT
-XP/XT5.1
1
2
3
4
5
6
7
8
-711
-677 AWG24
-678 AWG24
-679 AWG24
-680 AWG24
-681 AWG24
-682 AWG24
-683 AWG24
-684 AWG24
-705 1/WH
AWG24
9
10
11
1/BU
AWG24
AWG24
AWG24
WH
BU
WH
OG
WH
GN
GN
BN
BK
B1
BN
B2
RD
B11
B12
B13
B14
C19
C21
B7
B8
B9
B10
OG
YE
GN
BU
VT
-712
1/WH
AWG24
1/BU
2/WH
2/WH
2/OG
2/OG
CP/CSV
D3
GN
CP/CSF
D6
OG
CP/CSE
D1
BN
R1.D CP/CS
12
D4
CS
CS
B1
B2
B11
B12
B13
B14
C19
C21
WH
BU
WH
OG
B7
B8
B9
B10
-XP/XT5.2
1
2
3
4
5
6
7
8
9
10
11
-685
-686
-687
-688
-689
-690
-691
-692
3/WH
3/WH
3/GN
3/GN
4/WH
4/WH
4/BN
4/BN
AWG24
AWG24
AWG24
AWG24
AWG24
AWG24
AWG24
AWG24
-711
GY
AWG24
WH
B3
B4
B5
1
2
3
4
5
6
7
8
9
10
11
B3
B4
B5
B6
WH/BK
WH/BN
WH/RD
WH/OG
WH/YE
WH/GN
RD
OG
RD
RD
C16
C17
C18
C20
B22
B23
B24
B25
or PK
or Light GN
12
-XP/XT5.3
WH
GN
WH
BN
CS
CS
CS
CS
B6
C16
C17
C18
C20
BK
BU
B24
B25
-713
-693
-694
-695
-696
-697
-698
-699
-700
-666
-667
-668
-669
AWG24
AWG24
AWG24
AWG24
AWG24
AWG24
AWG24
AWG24
AWG24
AWG24
AWG24
AWG24
AWG20
WH
WH/BK
WH/BN
WH/RD
WH/OG
WH/YE
WH/GN
WH/BU
WH/VT
WH/GY
BN/BK
or Light GN
or RD/BK
BN/BK
12
OPTION
//DEVICENET acc. to page
115.5
WH
BN
WH
GY
RD
BU
BK
OG
BK
GN
BK
BN
GY
B15
B16
B18
B19
B20
B21
C10
C11
C12
C13
C14
C15
B15
B16
B18
B19
B20
B21
A5
A6
A9
A10
A11
A12
AWG16
Latest revision:
Lab/Office:
DMRO SE/
PRH

DEVICE NET
IRB2600
=
Plant:
Location: +
Sublocation:+
Document no.
Rev. Ind Page115.3
Next 115.4
3HAC024480-005
05 Total
Status:
Approved
2011-01-28
FLOOR CABLE
Dual controller
XP/XT 6
670
AWG18
Single controller
-713
AWG20 BK
1
AWG18
672
AWG18
AWG18
677 AWG24
678 AWG24
679 AWG24
680 AWG24
681 AWG24
682 AWG24
683 AWG24
684 AWG24
705 1/WH
1
2
3
4
5
6
7
8
9
AWG24
10
11
D6
D3
4
GNYE
BU
-711
AWG24
A4
AWG24
WH
BU
WH
OG
WH
GN
GN
BN
B1
B2
RD
B11
B12
B13
B14
C19
C21
B7
B8
B9
B10
OG
YE
GN
BU
VT
-712
AWG24
1/WH
1/BU
2/WH
2/WH
2/OG
2/OG
12
CP7
D4
AWG24
BK
BN
1/BU
CP6
3
A3
VT
XP/XT5.1
CP5
2
A2
GN
673
D1
A1
YE
CP4
OG
+R1 CP/CS
AWG18
RD
XS/XP13
BN
671
MANIPULATOR
IRB 2600
B1
B2
B11
B12
B13
B14
C19
C21
WH
BU
WH
OG
B7
B8
B9
CS
CS
CS
CS
CS
CS
CS
CS
CS
CS
CS
CS
According to Manipulator diagram 3HAC025744-001 and 3HAC13347-1
Customer
Connection
CONTROLLER
CONTROL MODULE
B10
XP/XT5.2
1
2
3
685
686
687
688
689
690
691
692
4
5
6
7
8
9
10
11
3/WH
3/WH
3/GN
3/GN
4/WH
4/WH
4/BN
4/BN
AWG24
AWG24
AWG24
AWG24
AWG24
AWG24
AWG24
AWG24
-711
AWG24
B3
B4
B5
B6
GY
WH
WH/BK
WH/BN
WH/RD
WH/OG
or PK
or Light GN
WH/YE
WH/GN
12
XP/XT5.3
1
2
3
4
5
6
7
8
9
10
11
693
694
695
696
697
698
699
700
666
667
668
669
AWG24
AWG24
AWG24
AWG24
AWG24
AWG24
AWG24
AWG24
AWG24
AWG24
AWG24
AWG24
12
OPTION
-713
AWG20
WH
GN
WH
BN
WH/BK
WH/BN
WH/RD
WH/OG
WH/YE
WH/GN
WH/BU
WH/VT
WH/GY
BN/BK
or Light GN
or RD/BK
AWG16 BN/BK
//PROFIBUS acc. to (98.4.1)
Latest revision:
B15
B16
B18
B19
B20
B21
C10
C11
C12
C13
C14
C15
B4
B5
RD
OG
RD
RD
RD
GY
BK
BU
C16
C17
C18
C20
B22
B23
B24
B25
B6
C16
C17
C18
C20
B22
B23
B24
CS
CS
CS
CS
CS
CS
CS
CS
CS
CS
CS
CS
B25
WH
BN
WH
GY
RD
BU
BK
OG
BK
GN
BK
BN
GY
WH
B3
For more information aboute Option connected to XS13.

SPOTPACK circuit diagram 3HAC026208-001
DRESSPACK circuit diagram 3HAC026209-001
Lab/Office:
DMRO SE/
PRH

PROFI BUS
IRB 2600
B15
B16
B18
B19
B20
B21
A3
A4
A9
A10
A11
CS
CS
CS
CS
CS
CS
CS
CS
CS
CS
CS
CS
A12
=
Plant:
Location: +
Sublocation:+
Document no.
Rev. Ind Page115.4
Next 115.5
3HAC024480-005
05 Total
Status:
Approved
2011-01-28
FLOOR CABLE
CONTROLLER
CONTROL MODULE
Customer
Connection
OPTION : DEVICENET
MANIPULATOR
IRB 2600
A35
-X2
-707
(98.4.1)
2/BK
V-
AWG22
+DeviceNet-XS/XP13
BK
F2
1
1/BU
0V
B23
BU
CAN_L
CAN_L
F4
2
Bare wire
A4
SHIELD
3
1/WH
WH
CAN_H
F3
4
2/RD
CAN_H
A3
RD
V+
R1 CP/CS
AWG24
+24V CAN
F1
B22
AWG22
XP9
(22) /
(22) /
Option: ProfiNet / Ethernet IP
(22) /
(22) /
A33
OPTION : PROFIBUS
(98.4.1) -(DP-M)1
Option: 803-4
(115.4.1)
1B
XP9.2
XP9.3
XP9.6
YE
WH
OG
BU
F5
1/GN
Latest revision:
ProfiNet//Ethernet
+R1 CP/CS
RXD/TXD-P
A5
GN
RXD/TXD-N
1A
RD
RXD/TXD-P
-R1.CBUS
AWG22
-XS/XP13
-709 AWG24
1/RD
XP9.1
RXD/TXD-N
F6
A6
Lab/Office:
DMRO SE/
PRH

DevNet//PofiNet/Ethernet addition to CP/CS
IRB2600
=
Plant:
Location: +
Sublocation:+
Document no.
Rev. Ind Page115.5
Next 117
3HAC024480-005
05 Total
Status:
Approved
2011-01-28
AWG18 BK
R1 MP
A1
A2
A5
A6
A3
A4
B3
Latest revision:
B5
B4
A7
A8
A11 A9
A12 A10
B6
Lab/Office:
DMRO SE/
PRH
B8
B7
A13 B1
A15
A14 B2
A16

SERVO DRIVE SYSTEM
IRB 4400
B9
B9
PKWH
AWG10
AWG10
BK
BK
-_430 AWG16
-_432 AWG16
M6V
A13 B1
A15
A14 B2
A16
PK
BK
-_428 AWG16
-X16
M6W
PKRD
-X13
M6U
GYBK
GNWH
B7
GYGN
AWG16
AWG16
AWG16
AWG16
AWG16
AWG16
GYBU
B8
-_412
-_413
-_414
-_415
-_416
-_417
-X15
GNRD
BK
-_426 AWG16
BN
BK
-_425 AWG16
M3U
M3U
M3W
M3W
M3V
M3V
B6
PKBK
BK
M5V
A11 A9
A12 A10
PKGN
A8
-_424 AWG16
1 4 3 6 2 5
M5W
A7
OGWH
-X12
M5U
B4
BNGN
A4
BNBU
BNWH
AWG16
AWG16
AWG16
AWG16
AWG16
AWG16
BNRD
B5
-_406
-_407
-_408
-_409
-_410
-_411
-X14
BNBK
B3
BU
A3
M2U
M2U
M2W
M2W
M2V
M2V
BK
-_422 AWG16
OGBK
BK
-_420 AWG16
M4V
BK
AWG16
AWG16
AWG16
AWG16
AWG16
AWG16
-_418 AWG16
-_400
-_401
-_402
-_403
-_404
-_405
1 4 3 6 2 5
OGGN
A6
GYWH
A5
BK
A2
BKWH
A1
BURD
BUGN
BKGN
BKBU
-X11
M4W
FLOOR CABLE
AWG16 BK
-XS/XP1
M4U
M1U
M1U
M1W
M1W
M1V
M1V
1
6
7
B11
B11
B10
Status:
Approved
A41.1
1 4 3 6 2 5
2
DRIVE MODULE
B10
CONTROLLER
C3
C4
=
Plant:
Location: +
Sublocation:+
Document no.
Rev. Ind Page117
Next 118
3HAC024480-005
05 Total
2011-01-28
C5
C6
C7
C8
C9
C11
C10 C12
MANIPULATOR
FLOOR CABLE
CONTROLLER
DRIVE MODULE
MANIPULATOR
IRB 4400
0,23 mm2
AXIS COMPUTER BOARD

A42-X4
-XS/XP2
(80) / -MRCO1
(80) / -MRCO 1_N
(80) / -MRCI1
(80) / -MRCI 1_N
(80) / -MRC_0V1
A
B
C
D
+24V_SMB1
GN
-MRC_0V2
(80) /
-MRC_0V3
24V
G
H
J
G
H
J
K
SERIAL
MEASUREMENT
BOARD
BN
F
(80) /
WH
E
(80) /
R1 SMB
SDI
A
SDI-N
B
SDO
C
SDO-N
D
0V
WH
BU
WH
OG
WH
WH
GY
RD
0V
BATSUP
BATLD
KEYPIN
M
AWG16
-XS/XP1
-EXT. LAMP
-_433
AWG16
-BRAKEPB
-_434
AWG16
BU
(78.1) /
-BRAKEREL1
-_435
AWG16
BU
(78.1) /
-BRAKEREL2
-_436
AWG16
BU
(78.1) /
R1 MP
WH
C16
DRIVE MODULE
X40
(78.1) /
C16
VT
B16
B16
RDBK
B12
B12
RDBU
B13
(78.2) /
-0V BRAKE4
-_438
AWG16
BU
-PTC1
-_439
AWG16
BU
-PTC 1 ret
-_440
AWG16
BU
-0V BRAKE3
-_437
AWG16
BU
B13
RDGN
B14
CONTACTOR UNIT
A43-X5
(78.2) /
B14
VTGN
C2
(78.2) /
C2
VTBU
C1
(78.2) /
C1
VTWH
B15
(77) /
-A43-X21.2
LIM 1A
-_441
AWG16
BU
B15
RD
D2
CONTACTOR UNIT
A43-X21
(77) /
-A43-X21.4
LIM 2A
-_442
AWG16
BU
(77) /
-A43-X21.3
LIM 2B
-_443
AWG16
BU
(77) /
-A43-X21.1
LIM 1B
-_444
AWG16
BU
D2
RDWH
D1
D1
VTBK
D3
D3
VTRD
D4
Latest revision:
Lab/Office:
DMRO SE/
PRH
D4

CONTROL CABLE
IRB 4400
=
Plant:
Location: +
Sublocation:+
Document no.
Rev. Ind Page118
Next 119
3HAC024480-005
05 Total
Status:
Approved
2011-01-28
FLOOR CABLE
CONTROLLER
CONTROL MODULE
Customer
Connection
-XS/XP5
AWG18
-XP/XT6
1
2
3
4
5
6
MANIPULATOR
IRB 4400
7
8
9
10
11
-W648
-W649
-W650
-W651
-W652
-W653
-W654
-W655
-W656
-W657
-W658
-W659
+R1 CP/CS
OG
OG
OG
OG
OG
OG
OG
OG
OG
OG
OG
OG
AWG18
AWG18
AWG18
AWG18
AWG18
AWG18
AWG18
AWG18
AWG18
AWG18
AWG18
AWG18
12
RD
BU
GN
YE
WH
BK
BN
VT
OG
PK
TQ
GY
A1
B1
C1
D1
A2
B2
C2
D2
A3
B3
C3
2
3
4
5
6
7
8
9
10
11
B1
C1
D1
A2
B2
C2
D2
A3
CPA
CPB
CPC
CPD
CPE
CPF
CPJ
CPK
CPL
CPM
B3
C3
D3
D3
-XP/XT5.1
1
A1
0,23mm2
-W625
-W626
-W627
-W628
-W629
-W630
-W631
-W632
-W633
-W634
-W635
-W636
OG
OG
OG
OG
OG
OG
OG
OG
OG
OG
OG
OG
AWG24
AWG24
AWG24
AWG24
AWG24
AWG24
AWG24
AWG24
AWG24
AWG24
AWG24
AWG24
12
WH
BU
WH
OG
WH
GN
WH
BN
WH
GY
RD
BU
B5
C5
D5
A6
B6
C6
D6
A7
B7
C7
D7
B5
C5
D5
A6
B6
C6
D6
A7
B7
C7
D7
A8
CSA
CSB
CSC
CSD
CSE
CSF
CSG
CSH
CSJ
CSK
CSL
CSM
A8
-XP/XT5.2
13
14
15
16
17
18
19
20
21
22
-W637
-W638
-W639
-W640
-W641
-W642
-W643
-W644
-W645
-W646
-W647
OG
OG
OG
OG
OG
OG
OG
OG
OG
OG
OG
AWG24
AWG24
AWG24
AWG24
AWG24
AWG24
AWG24
AWG24
AWG24
AWG24
AWG24
23
Latest revision:
RD
OG
RD
GN
RD
BN
RD
GY
BK
BU
WH
B8
C8
D8
A9
B9
C9
D9
A10
B10
C10
D10
Lab/Office:
DMRO SE/
PRH

DUAL CABINET
IRB 4400
B8
C8
D8
A9
B9
C9
D9
A10
B10
C10
D10
CSN
CSP
CSR
CSS
CST
CSU
CSV
CSW
CSX
CSY
CSZ
=
Plant:
Location: +
Sublocation:+
Document no.
Rev. Ind Page119
Next 120
3HAC024480-005
05 Total
Status:
Approved
2011-01-28
FLOOR CABLE
CONTROLLER
CONTROL MODULE
Customer
Connection
-XP/XT6
1
2
3
4
5
6
7
8
9
10
11
12
MANIPULATOR
IRB 4400
-XS/XP5
-709
AWG24
AWG18
BN
A1
RD
B1
OG
C1
YE
D1
GN
A2
BU
B2
VT
C2
GY
D2
WH
A3
WH/BK
B3
WH/BN
+R1.4400 CP/CS
CPA
A1
CPB
CPC
B1
CPD
C1
CPE
D1
CPF
A2
CPJ
B2
CPK
C2
CPL
D2
CPM
A3
RD
BU
GN
YE
WH
BK
BN
VT
OG
PK
TQ
GY
BK
C3
B3
C3
D3
-XP/XT5.1
1
2
3
4
5
6
7
8
9
10
11
12
-710
AWG24
D3
0,23mm2
WH
BU
WH
OG
WH
GN
WH
BN
WH
GY
RD
BU
BK
BN
B5
RD
C5
OG
D5
YE
A6
GN
B6
BU
C6
VT
D6
GY
A7
WH
B7
WH/BK
C7
WH/BN
D7
B5
C5
D5
A6
B6
C6
D6
A7
B7
C7
D7
A8
CSA
CSB
CSC
CSD
CSE
CSF
CSG
CSH
CSJ
CSK
CSL
CSM
A8
-XP/XT5.2
13
14
15
16
17
18
19
20
21
22
23
RD
OG
RD
GN
RD
BN
RD
GY
BK
BU
WH
WH/RD
WH/OG
WH/YE
or PK
B8
C8
WH/GN
D8
WH/BU
A9
WH/VT
WH/GY
BN/BK
BN/RD
BN/OG
BN/YE
or Light GN
or RD/BK
or GN/BK
or OG/BK
or YE/BK
Latest revision:
B9
C9
D9
A10
B10
C10
D10
Lab/Office:
DMRO SE/
PRH

SINGLE CABINET
IRB 4400
B8
C8
D8
A9
B9
C9
D9
A10
B10
C10
D10
CSN
CSP
CSR
CSS
CST
CSU
CSV
CSW
CSX
CSY
CSZ
=
Plant:
Location: +
Sublocation:+
Document no.
Rev. Ind Page120
Next 123
3HAC024480-005
05 Total
Status:
Approved
2011-01-28
+R1 MP
17
24
19
26
18
25
Latest revision:
1
10
2
23
32
21
30
22
31
Lab/Office:
DMRO SE/
PRH
20
29
28
3
4

SERVO DRIVE SYSTEM
IRB 4600
7
14
5
6
Status:
Approved
BURD
16
16
=
Plant:
Location: +
Sublocation:+
Document no.
Rev. Ind Page123
Next 124
3HAC024480-005
05 Total
2011-01-28
GNYE
GNYE
-_432 AWG12
BK
AWG10
AWG10
M6V
BK
-_430 AWG12
BK
M6W
-_428 AWG12
BK
-X13
BUGN
M6U
-_417 AWG12
BK
BUWH
M3V
-_416 AWG12
14
BUBK
M3V
BK
BNBK
-_415 AWG12
BK
11
4
M3W
-_414 AWG12
BK
M3W
BK
BNBU
-_413 AWG12
BK
12
28
M3U
-_412 AWG12
BKWH
M3U
BK
-X15
29
BU
-_426 AWG12
10
20
M5V
BK
GYBK
-_425 AWG12
BK
19
31
M5W
-_424 AWG12
BK
GYGN
M5U
-_411 AWG12
-X12
21
22
GYBU
M2V
BK
20
30
BNRD
-_410 AWG12
BK
14
21
M2V
-_409 AWG12
BK
GYRD
M2W
-_408 AWG12
22
32
BNGN
M2W
BK
13
23
GY
-_407 AWG12
BK
24
2
M2U
-_406 AWG12
BNWH
M2U
BK
-X14
15
10
GYWH
-_422 AWG12
23
1
M4V
BK
BKGN
-_420 AWG12
BK
25
M4W
-_418 AWG12
BK
BKRD
M4U
-_405 AWG12
BK
-X11
18
BKBU
M1V
-_404 AWG12
BK
26
OGBK
M1V
-_403 AWG12
BK
25
19
GNWH
M1W
-_402 AWG12
BK
BK
18
24
OGBU
M1W
-_401 AWG12
-_400 AWG12
26
17
BN
M1U
M1U
16
OGGN
GNRD
-XS/XP1
27
17
2,5mm2
FLOOR CABLE
1
7
8
-A41.1-8
-X16
2
DRIVE MODULE
CONTROLLER
MANIPULATOR
FLOOR CABLE
CONTROLLER
MANIPULATOR
DRIVE MODULE
IRB 4600
0,23 mm2
(80) /
-XS/XP2
-MRCO1
+R1 SMB
SDI
WH
-MRCO 1_N
(80) /
BU
SDI-N
B
(80) /
-MRCI1
WH
SDO
AXIS COMPUTER BOARD

A42-X4
(80) /
-MRCI 1_N
OG
SDO-N
-MRC_0V.1
(115.1) /
WH
0V
WH
E
(80) /
+24V_SMB1
GN
24V
BN
-MRC_0V.2
(146) /
-MRC_0V.3
(146) /
WH
BATT-
GY
BATT+
RD
BATT LOAD
(78.1) /
DRIVE MODULE
XS40
-EXT. LAMP
-_433
AWG16
BU
-BRAKEPB
-_434
AWG16
BU
(78.1) /
-XS/XP1
+R1 MP
30 OG
4,0 mm2
-BRAKEREL1
-_435
AWG16
28 OGRD
BU
0,75 mm2
13
(78.1) /
-BRAKEREL2
-_436
AWG16
-0V BRAKE4
-_437
AWG16
(78.2) /
13
29 OGWH
BU
12
-_438
AWG16
12
31 PKBK
BU
4,0 mm2
27
-_439
CONTACTOR UNIT
A43-X5
AWG16
Latest revision:
-_440
AWG16
0V BRAKE
0V BRAKE
EXT.LAMP
27
32 PKBU
-0V BRAKE3
BRAKE RELEASE
BRAKE RELEASE
0,75 mm2
BU
0,75 mm2
15
(78.2) /
BRAKE PB
11
11
(78.1) /
SERIAL
MEASUREMENT
BOARD
0V BRAKE
15
BU
Lab/Office:
DMRO SE/
PRH

CONTROL CABLE
IRB 4600
=
Plant:
Location: +
Sublocation:+
Document no.
Rev. Ind Page124
Next 125
3HAC024480-005
05 Total
Status:
Approved
2011-01-28
CONTROLLER
CONTROL MODULE
Customer
Connection
-XP/XT6
Dual cabinet
-670
AWG18
Single cabinet
-713
AWG20 BK
-671
AWG18
-673
AWG18
A2
GN
A3
BU
VT
+R1 CP/CS
D1
A1
YE
MANIPULATOR
IRB 4600
OG
AWG18
AWG18
RD
-672
FLOOR CABLE
-XS/XP13
BN
A4
D6
D3
D4
CPH
CPA /
CPE /
CPB /
CPF /
CPC /
CPJ /
CPD /
CPK /
D7
-XP/XT5.1
1
2
3
4
5
6
7
8
-677 AWG24
-678 AWG24
-679 AWG24
-680 AWG24
-681 AWG24
-682 AWG24
-683 AWG24
-684 AWG24
-705 1/WH
AWG24
9
10
11
1/BU
-711
AWG24
AWG24
AWG24
WH
BU
WH
OG
WH
GN
GN
BN
BK
BN
B1
RD
B2
OG
B11
B12
B13
B14
C19
C21
B7
B8
B9
B10
YE
GN
BU
VT
-712
AWG24
1/WH
1/BU
2/WH
2/WH
2/OG
2/OG
12
WH
BU
WH
OG
B1
B2
B11
B12
B13
CS
CS
CS
CS
CS
CS
B14
C19
C21
B7
B8
B9
CS
CS
CS
CS
B10
-XP/XT5.2
1
2
3/WH
3/WH
3/GN
3/GN
4/WH
4/WH
4/BN
3
4
5
6
7
8
9
10
11
-685
-686
-687
-688
-689
-690
-691
-692
AWG24
AWG24
AWG24
AWG24
AWG24
AWG24
AWG24
AWG24
B3
B4
4/BN
-711
AWG24
B5
GY
WH
WH/BK
WH/BN
WH/RD
WH/OG
WH/YE
WH/GN
or PK
or Light GN
1
2
3
4
5
6
7
8
9
10
11
12
-693
-694
-695
-696
-697
-698
-699
-700
-666
-667
-668
-669
AWG24
AWG24
AWG24
AWG24
AWG24
AWG24
AWG24
AWG24
AWG24
AWG24
AWG24
AWG24
-713
AWG20
C16
C17
C18
C20
B22
B23
B24
B25
WH/BK
WH/BN
WH/RD
WH/OG
WH/YE
WH/GN
WH/BU
WH/VT
WH/GY
BN/BK
or Light GN
or RD/BK
AWG16
Latest revision:
B4
B5
CS
CS
CS
CS
B6
C16
C17
C18
C20
B22
B23
CS
CS
CS
B24
B25
WH
BN
WH
GY
RD
BU
GY
WH
B3
RD
OG
RD
RD
RD
GY
BK
BU
B6
12
-XP/XT5.3
WH
GN
WH
BN
B15
B16
B18
B19
B20
B21
C10
C11
C12
C13
C14
C15
B15
B16
B18
B19
B20
CS
CS
CS
CS
CS
CS
B21
Lab/Office:
DMRO SE/
PRH

IRB4600
=
Plant:
Location: +
Sublocation:+
Document no.
Rev. Ind Page125
Next 126
3HAC024480-005
05 Total
Status:
Approved
2011-01-28
Customer
Connection
Dual cabinet
-XP/XT6
-670
Single cabinet
-713
AWG18
AWG20
CONTROLLER
CONTROL MODULE
AWG18
A1
-671
AWG18
-672
AWG18
-673
A3
YE
AWG18
CP/CSF
D6
CP/CSV
D3
GN
CP/CSE
A2
RD
OG
+R1.D CP/CS
D1
BN
MANIPULATOR
IRB 4600
FLOOR CABLE
-XS/XP13
BK
A4
BU
D4
VT
GNYE
-XP/XT5.1
1
2
3
4
5
6
7
8
-711
-677 AWG24
-678 AWG24
-679 AWG24
-680 AWG24
-681 AWG24
-682 AWG24
-683 AWG24
-684 AWG24
-705 1/WH
AWG24
9
10
11
AWG24
AWG24
BN
B1
RD
B2
OG
B11
B12
B13
B14
C19
C21
B7
B8
B9
B10
YE
GN
BU
VT
1/BU
AWG24
WH
BU
WH
OG
WH
GN
GN
BN
BK
-712
1/WH
AWG24
1/BU
2/WH
2/WH
2/OG
2/OG
12
CS
CS
B1
B2
B11
B12
B13
B14
C19
C21
WH
BU
WH
OG
B7
B8
B9
B10
-XP/XT5.2
1
2
3
4
5
6
7
8
9
10
11
-685
-686
-687
-688
-689
-690
-691
-692
3/WH
3/WH
3/GN
3/GN
4/WH
4/WH
4/BN
4/BN
AWG24
AWG24
AWG24
AWG24
AWG24
AWG24
AWG24
AWG24
B3
B4
B5
-711
GY
B6
AWG24
WH
C16
C17
C18
C20
B22
B23
B24
B25
WH/BK
WH/BN
WH/RD
WH/OG
WH/YE
WH/GN
or PK
or Light GN
12
-XP/XT5.3
1
2
3
4
5
6
7
8
9
10
11
WH
GN
WH
BN
B3
B4
B5
RD
OG
RD
RD
CS
CS
CS
CS
B6
C16
C17
C18
C20
BK
BU
B24
B25
-713
-693
-694
-695
-696
-697
-698
-699
-700
-666
-667
-668
-669
AWG24
AWG24
AWG24
AWG24
AWG24
AWG24
AWG24
AWG24
AWG24
AWG24
AWG24
AWG24
AWG20
WH
WH/BK
WH/BN
WH/RD
WH/OG
WH/YE
WH/GN
WH/BU
WH/VT
WH/GY
BN/BK
or Light GN
or RD/BK
AWG16
12
OPTION
//DEVICENET acc. to page
WH
BN
WH
GY
RD
BU
BK
OG
BK
GN
BK
BN
GY
BN/BK
B15
B16
B18
B19
B20
B21
C10
C11
C12
C13
C14
C15
B15
B16
B18
B19
B20
B21
A5
A6
A9
A10
A11
A12
127.5
Latest revision:
Lab/Office:
DMRO SE/
PRH

DEVICE NET
IRB4600
=
Plant:
Location: +
Sublocation:+
Document no.
Rev. Ind Page126
Next 127
3HAC024480-005
05 Total
Status:
Approved
2011-01-28
Customer
Connection
Dual controller
XP/XT 6
670
Single controller
671
AWG18
FLOOR CABLE
XS/XP13
AWG18
AWG18
CP4
D1
CP5
2
A2
D6
CP6
3
A3
YE
D3
4
GNYE
GN
+R1 CP/CS
AWG18
A1
BK
A4
BU
MANIPULATOR
IRB 6600-7600
OG
RD
673
BN
672
CONTROLLER
CONTROL MODULE
-713
AWG20
AWG18
CP7
D4
VT
1
2
3
4
5
6
7
8
9
AWG24
677 AWG24
678 AWG24
679 AWG24
680 AWG24
681 AWG24
682 AWG24
683 AWG24
684 AWG24
705 1/WH
AWG24
10
-711
AWG24
11
B2
BN
B11
B12
B13
B14
C19
C21
B7
B8
B9
B10
RD
OG
YE
GN
BU
VT
-712
AWG24
2/WH
WH
BU
WH
OG
WH
GN
GN
BN
B1
BK
1/BU
AWG24
2/OG
1/WH
1/BU
2/WH
12
2/OG
B1
B2
B11
B12
B13
B14
C19
C21
WH
BU
WH
OG
B7
B8
B9
CS
CS
CS
CS
CS
CS
CS
CS
CS
CS
CS
CS
XP/XT5.1
B10
XP/XT5.2
3/WH
1
2
3
4
5
6
7
8
9
10
11
685
686
687
688
689
690
691
692
3/GN
3/WH
4/WH
3/GN
4/BN
4/WH
AWG24
AWG24
AWG24
AWG24
AWG24
AWG24
AWG24
AWG24
4/BN
-711
AWG24
2
4
5
6
7
8
9
10
11
693
694
695
696
697
698
699
700
666
667
668
669
AWG24
AWG24
AWG24
AWG24
AWG24
AWG24
AWG24
AWG24
AWG24
AWG24
AWG24
AWG24
12
OPTION
B5
GY
WH
WH/RD
or PK
WH/YE or Light GN
WH/OG
WH/BK
WH/BN
WH/RD
WH/OG
WH/YE
WH/GN
WH/BU
WH/VT
WH/GY
BN/BK
or Light GN
or RD/BK
AWG16
//PROFIBUS acc. to 127.5
Latest revision:
BN/BK
B15
B16
B18
B19
B20
B21
C10
C11
C12
C13
C14
C15
B4
B5
B6
C16
C17
C18
C20
B22
B23
B24
CS
CS
CS
CS
CS
CS
CS
CS
CS
CS
CS
CS
B25
WH
BN
WH
GY
RD
BU
BK
OG
BK
GN
BK
BN
GY
WH
B3
RD
OG
RD
RD
RD
GY
BK
BU
C16
C17
C18
C20
B22
B23
B24
B25
WH/BN
-713
AWG20
WH
GN
WH
BN
B6
WH/GN
XP/XT5.3
B4
WH/BK
12
B3

Lab/Office:
DMRO SE/
PRH

PROFI BUS
IRB 4600
B15
B16
B18
B19
B20
B21
A3
A4
A9
A10
A11
CS
CS
CS
CS
CS
CS
CS
CS
CS
CS
CS
CS
A12
=
Plant:
Location: +
Sublocation:+
Document no.
Rev. Ind Page127
Next 127.5
3HAC024480-005
05 Total
Status:
Approved
2011-01-28
CONTROLLER
CONTROL MODULE
FLOOR CABLE
MANIPULATOR
IRB 4600
Customer
Connection
-A35
OPTION : DEVICENET
-707
X2
1
2/BK
AWG22
XS/XP13
V-
BK
F2
1/BU
0V
B23
BU
CAN_L
CAN_L
F4
2
Bare wire
A4
SHIELD
3
+R1 CP/CS
AWG24
1/WH
WH
CAN_H
F3
4
2/RD
CAN_H
A3
RD
V+
+24V CAN
F1
B22
AWG22
XP9
Option: ProfiNet / Ethernet IP
A33
OPTION : PROFIBUS
-709 AWG24
Option: 803-4 =Sh127 (DP-M)1
1/RD
2
1B
1/GN
(22) /
XP9.1
(22) /
XP9.2
(22) /
XP9.3
(22) /
XP9.6
R1.CBUS
YE
WH
OG
BU
AWG22
RXD/TXD-P
XS/XP13
Latest revision:
RXD/TXD-P
A5
GN
RXD/TXD-N
1A
+R1 CP/CS
RD
F5
ProfiNet//Ethernet
RXD/TXD-N
F6
A6
Lab/Office:
DMRO SE/
PRH

DevNet//PofiNet/Ethernet addition to CP/CS
IRB4600
=
Plant:
Location: +
Sublocation:+
Document no.
Rev. Ind Page127.5
Next 128
3HAC024480-005
05 Total
Status:
Approved
2011-01-28
+R1 MP
17
24
19
26
18
25
1
Latest revision:
10
2
23
32
21
30
22
31
Lab/Office:
DMRO SE/
PRH
20
29
28
3
4

SERVO DRIVE SYSTEM
IRB 66xx - 76xx
7
14
5
6
9
Status:
Approved
16
16
AWG10
AWG10
=
Plant:
Location: +
Sublocation:+
Document no.
Rev. Ind Page128
Next 129
3HAC024480-005
05 Total
2011-01-28
GNYE
GNYE
-_432 AWG12
BK
FLOOR CABLE
9
M6V
BK
BURD
-_430 AWG12
BK
6
M6W
-_428 AWG12
BK
-X16
BUGN
M6U
-_417 AWG12
BUWH
M3V
BK
14
BUBK
-_416 AWG12
BK
7
M3V
-_415 AWG12
11 BNBK
4
M3W
BK
BK
-_414 AWG12
BK
3
M3W
-_413 AWG12
12 BNBU
28
M3U
BK
-X13
BKWH
-_412 AWG12
29
M3U
BK
10 BU
20
-_426 AWG12
M5V
BK
19 GYBK
31
-_425 AWG12
BK
-X15
M5W
-_424 AWG12
BK
21 GYGN
22
M5U
-_411 AWG12
20 GYBU
30
M2V
BK
14 BNRD
21
-_410 AWG12
BK
M2V
-_409 AWG12
BK
22 GYRD
32
M2W
-_408 AWG12
13 BNGN
23
M2W
BK
24 GY
-_407 AWG12
BK
-X12
M2U
-_406 AWG12
BK
15 BNWH
10
M2U
-_422 AWG12
23 GYWH
1
M4V
BK
BKGN
-_420 AWG12
BK
25
M4U
-_418 AWG12
-X14
BKRD
M4U
BK
18
BKBU
-_405 AWG12
BK
26
M1V
-_404 AWG12
BK
25 OGBK
19
M1V
-_403 AWG12
BK
18 GNWH
24
M1W
-_402 AWG12
BK
BK
26 OGBU
17
M1W
-_401 AWG12
-_400 AWG12
16 BN
-XS/XP1
M1U
M1U
-X11
27 OGGN
17 GNRD
2,5mm2
1
7
8
IRB 66xx - 76xx cabinet module
A41.1
CONTROLLER
DRIVE MODULE
MANIPULATOR
According to Manipulator IRB66XX - 76XX circuit diagram 3HAC025744-001
FLOOR CABLE
CONTROLLER
DRIVE MODULE
MANIPULATOR
IRB66x0, 7600
0,23 mm2
+R1 SMB
(80) /
-XS/XP2
-MRCO1
WH
SDI
A
(80) /
-MRCO 1_N
BU
SDI-N
B
(80) /
-MRCI1
WH
SDO
AXIS COMPUTER BOARD

A42-X4
-MRCI 1_N
(80) /
OG
SDO-N
-MRC_0V1
(80) /
WH
0V
WH
E
(80) /
+24V_SMB1
GN
24V
BN
-MRC_0V2
(80) /
SERIAL
MEASUREMENT
BOARD
BAT BR
G
BAT BR
-MRC_0V3
(80) /
WH
0V
GY
BATSUP
AWG16
-C1
BU
EXT.LAMP
AWG16
L
-DP1
BU
RD
EXT.LAMP
L
1
2
BU
AWG16
(78.1) /
DRIVE MODULE
XP40
-EXT. LAMP
-_433
AWG16
BU
-BRAKEPB
-_434
AWG16
BU
(78.1) /
+R1 MP
-XS/XP1
30 OGRD
0,75 mm2
11
(78.1) /
-BRAKEREL1
-_435
AWG16
28 OG
BU
4,0 mm2
13
(78.1) /
-BRAKEREL2
-_436
AWG16
BU
-0V BRAKE4
-_437
AWG16
BU
(78.2) /
13
29 OGWH
4,0 mm2
12
CONTACTOR UNIT
A43-X5
(78.2) /
-PTC1
-_439
AWG16
BU
12
31 PKBK
0,75 mm2
32 PKWH
0,75 mm2
27
(78.2) /
-PTC 1 ret
-_440
AWG16
BU
-0V BRAKE3
Latest revision:
-_438
AWG16
BRAKE RELEASE
BRAKE RELEASE
0V BRAKE
0V BRAKE
PTC
27
15
(78.2) /
BRAKE PB
11
0V PTC
15
BU
Lab/Office:
DMRO SE/
PRH

CONTROL CABLE
IRB 66xx - 76xx
=
Plant:
Location: +
Sublocation:+
Document no.
Rev. Ind Page129
Next 134
3HAC024480-005
05 Total
Status:
Approved
2011-01-28
MANIPULATOR
FLOOR CABLE
IRB66x0, 7600
-BOX1
CONTROLLER
DRIVE MODULE
0,23 mm2
(76.5) (76.5) (135) /
-+24V COOL.4
AWG24
1/WH
WH
24V COOL
24V FAN1
N
(76.5) (76.5) (135) /
-0V COOL.4
1/BU
BU
0V COOL
0V FAN1
P
(76.5) (76.5) (135) /
-FAN 1 ret.4
3/WH
WH
FAN1 ret
T1
R
(76.5) (76.5) (135) /
-+24V COOL.5
2/WH
WH
24V COOL
24V FAN2
f
(76.5) (76.5) (135) /
-0V COOL.5
2/OG
OG
0V COOL
0V FAN2
g
(76.5) (76.5) (135) /
-FAN 2 ret.5
3/GN
GN
FAN2 ret
T2
Latest revision:
Lab/Office:
DMRO SE/
PRH

COOLING AXES 1/2
DUAL CABINET
IRB 6600 - 7600
=
Plant:
Location: +
Sublocation:+
Document no.
Rev. Ind Page134
Next 135
3HAC024480-005
05 Total
Status:
Approved
2011-01-28
FLOOR CABLE
CONTROLLER
MANIPULATOR
CONTROL MODULE
IRB66x0, 7600
DRIVE
MODULE
0,23 mm2
+R1 SW
-XS/XP58
(134) /
-+24V COOL.4
WH
24V COOL
N
(134) /
-0V COOL.4
BU
0V COOL
P
(134) /
-FAN 1 ret.4
24V FAN1
N
0V FAN1
P
WH
FAN1 ret
T1
R
(134) /
-+24V COOL.5
WH
24V COOL
f
(134) /
-0V COOL.5
OG
0V COOL
g
(134) /
-FAN 2 ret.5
24V FAN2
f
0V FAN2
g
GN
FAN2 ret
T2
Not in use
i
Not in use
S
Latest revision:
Lab/Office:
DMRO SE/
PRH

COOLING AXES 1/2
SINGLE CABINET
IRB 6600 - 7600
=
Plant:
Location: +
Sublocation:+
Document no.
Rev. Ind Page135
Next 136
3HAC024480-005
05 Total
Status:
Approved
2011-01-28
Customer
Connection
CONTROLLER
CONTROL MODULE
XP/XT 6
D6
AWG18
-673
D3
AWG18
A4
6
7
8
9
B1
B2
10
2/WH
2/OG
12
BKog
0,23mm2
bu
0,23mm2
og
gn
0,23mm2
gn
0,23mm2
bn
B5
4/BN
8
10
11
B14
C19
WH
AWG24
BU
AWG24
WH
AWG24
OG
AWG24
C21
B7
B8
B9
CS
CS
CS
CS
CS
CS
CS
CS
CS
CS
CS
CS
B10
B4
4/WH
B12
B13
0,23mm2
B3
3/GN
B2
B11
WHgn 0,23mm2
3/WH
B1
W28
1mm2
0,23mm2
XP/XT5.2
D4
WHog 0,23mm2
B11
B12
B13
B14
C19
C21
B7
B8
B9
B10
1/BU
11
SH
W27
-677 AWG24
-678 AWG24
-679 AWG24
-680 AWG24
-681 AWG24
-682 AWG24
-683 AWG24
-684 AWG24
AWG24
-705 1/WH
CP7
1mm2
GNYE 1mm2
XP/XT5.1
CP6
1mm2
A3
CP5
1mm2
A2
-672
CP4
D1
AWG18
+R1 CP/CS
1mm2
A1
-671
W26
1
MANIPULATOR
IRB 6600-7600
AWG18
FLOOR CABLE
XS/XP13
-670
-685
-686
-687
-688
-689
-690
-691
-692
B6
AWG24
AWG24
AWG24
AWG24
AWG24
AWG24
AWG24
AWG24
C16
C17
C18
C20
B22
B23
B24
B25
12
RDog
0,23mm2
og
0,23mm2
RDgn
0,23mm2
RDbn
0,23mm2
RDgy
0,23mm2
gy
0,23mm2
BKbu
0,23mm2
bu
0,23mm2
WH
AWG24
GN
AWG24
WH
AWG24
BN
AWG24
B3
B4
B5
B6
C16
C17
C18
C20
B22
B23
B24
CS
CS
CS
CS
CS
CS
CS
CS
CS
CS
CS
CS
B25
W27
XP/XT5.3
1
2
3
4
5
6
7
8
9
10
11
-693
-694
-695
-696
-697
-698
-699
-700
-666
-667
-668
-669
AWG24
AWG24
AWG24
AWG24
AWG24
AWG24
AWG24
AWG24
AWG24
AWG24
AWG24
AWG24
12
WHbn 0,23mm2
AWG16
B15
B16
B18
B19
B20
B21
C10
C11
C12
C13
C14
C15
bn
B15
0,23mm2
B16
WHgy 0,23mm2
gy
0,23mm2
RDbu
0,23mm2
bu
0,23mm2
B18
B19
B20
SH
CS
CS
CS
CS
CS
CS
B21

Latest revision:
Lab/Office:
DMRO SE/
PRH

DUAL CABINET
IRB 6600 - 7600
=
Plant:
Location: +
Sublocation:+
Document no.
Rev. Ind Page136
Next 137
3HAC024480-005
05 Total
Status:
Approved
2011-01-28
Customer
Connection
CONTROLLER
CONTROL MODULE
XP/XT 6
-713
AWG20
FLOOR CABLE
w26
XS/XP13
2
3
D3
4
GNYE
B1
B2
RD
YE
GN
BU
VT
-712
AWG24
9
10
1/WH
1/BU
2/WH
11
2/OG
12
BKog
0,23mm2
bu
0,23mm2
og
gn
0,23mm2
gn
0,23mm2
bn
0,23mm2
B3
3/GN
B4
4/WH
B5
4/BN
-711
AWG24
C16
C17
C18
C20
B22
B23
B24
B25
WH
WH/BK
WH/RD
WH/OG
10
11
B14
C19
WH
AWG24
BU
AWG24
WH
AWG24
OG
AWG24
or PK
WH/GN or Light GN
WH/YE
12
WH
AWG24
GN
AWG24
WH
AWG24
BN
B6
GY
WH/BN
B13
C21
B7
B8
B9
B10
3/WH
B12
WHgn 0,23mm2
CS
CS
CS
CS
CS
CS
CS
CS
CS
CS
CS
CS
W28
B2
B11
0,23mm2
XP/XT5.2
B1
WHog 0,23mm2
B11
B12
B13
B14
C19
C21
B7
B8
B9
B10
OG
CP7
D4
SH
W27
BK
BN
3
A4
VT
-711
AWG24
CP6
A3
GN
BU
XP/XT5.1
CP5
D6
YE
CP4
A2
OG
+R1 CP/CS
D1
RD
1mm2
A1
BN
MANIPULATOR
IRB 6600-7600
1
BK
RDog
0,23mm2
og
0,23mm2
RDgn
0,23mm2
RDbn
0,23mm2
RDgy
0,23mm2
gy
0,23mm2
BKbu
0,23mm2
bu
0,23mm2
AWG24
B3
B4
B5
B6
C16
C17
C18
C20
B22
B23
B24
CS
CS
CS
CS
CS
CS
CS
CS
CS
CS
CS
CS
B25
W27
XP/XT5.3
1
-713
AWG20
GY
WHbn 0,23mm2
WH
2
3
WH/BK
WH/BN
4
5
WH/RD
WH/OG
6
7
WH/YE
WH/GN
8
9
WH/BU
WH/VT
10
11
WH/GY
BN/BK
or Light GN
or RD/BK
12
AWG16
BN/BK
B15
B16
B18
B19
B20
B21
C10
C11
C12
C13
C14
C15
bn
B15
0,23mm2
B16
WHgy 0,23mm2
gy
0,23mm2
RDbu
0,23mm2
bu
0,23mm2
B18
B19
B20
SH
CS
CS
CS
CS
CS
CS
B21

Latest revision:
Lab/Office:
DMRO SE/
PRH

SINGLE CABINET
IRB 6600 - 7600
=
Plant:
Location: +
Sublocation:+
Document no.
Rev. Ind Page137
Next 138
3HAC024480-005
05 Total
Status:
Approved
2011-01-28
FLOOR CABLE
Customer
Connection
CONTROLLER
CONTROL MODULE
MANIPULATOR
IRB 6600-7600
-A35
-X2
1
F2
0V
B23
BU
CAN_L
1/BU
+R1 CP/CS
AWG24
BK
V-
2/BK
OPTION : DEVICENET
AWG22
XS/XP13
-707
CAN_L
F4
A4
SHIELD
Bare wire
WH
CAN_H
1/WH
F3
-A37
AWG24
2/GY
3/BN
1/YE
2/PK
1/GN
OPTION : PROFIBUS
(139.1)
(140.1)
(141.1)
(142.1)
(143.1)
(144.1)
3/WH
DO
DO_N
DI
DI_N
GND
GND
A33
-(DP-M)1
1B
+24V CAN
F1
B22
-708
-X5
OPTION : INTERBUS
RD
V+
2/RD
CAN_H
A3
F7
F8
F9
F10
F1
1/GN
DO
DO_N
DI
DI_N
GND
+R1 CP/CS
RXD/TXD-P
A5
GN
RXD/TXD-N
Latest revision:
A10
A11
A12
B22
RD
F5
1A
A9
AWG22
RXD/TXD-P
+R1 CP/CS
YE
GN
GY
PK
BN
WH
-XS/XP13
-709 AWG24
1/RD
AWG24
XS/XP13
RXD/TXD-N
F6
A6
Lab/Office:
DMRO SE/
PRH

DevNet//IBUS//PBUS ADDITION TO CP/CS
IRB 6600 - 7600
=
Plant:
Location: +
Sublocation:+
Document no.
Rev. Ind Page138
Next 139
3HAC024480-005
05 Total
Status:
Approved
2011-01-28
Customer
Connection
CONTROLLER
CONTROL MODULE
XP/XT 6
3
A3
4
GNYE
A4
XP/XT5.1
AWG24
677 AWG24
678 AWG24
679 AWG24
680 AWG24
681 AWG24
682 AWG24
683 AWG24
684 AWG24
705 1/WH
2
3
4
5
6
7
8
9
AWG24
10
2/WH
11
WH
BU
WH
OG
WH
GN
GN
BN
B2
B11
B12
B13
B14
C19
C21
B7
B8
B9
B10
2/OG
12
CP7
D4
AWG24
B1
1/BU
CP6
D3
AWG18
CP5
D6
AWG18
673
CP4
2
A2
672
+R1 CP/CS
D1
AWG18
MANIPULATOR
IRB 6600-7600
A1
671
AWG18
AWG18
FLOOR CABLE
XS/XP13
670
B1
B2
B11
B12
B13
B14
C19
C21
WH
BU
WH
OG
B7
B8
B9
CS
CS
CS
CS
CS
CS
CS
CS
CS
CS
CS
CS
B10
XP/XT5.2
3/WH
B3
3/GN
B4
4/WH
B5
4/BN
685
686
687
688
689
690
691
692
4
5
6
7
8
9
10
11
WH
GN
WH
BN
B6
AWG24
AWG24
AWG24
AWG24
AWG24
AWG24
AWG24
AWG24
B4
B5
RD
OG
RD
RD
RD
GY
BK
BU
C16
C17
C18
C20
B22
B23
B24
B25
12
B3
B6
C16
C17
C18
C20
B22
B23
B24
CS
CS
CS
CS
CS
CS
CS
CS
CS
CS
CS
CS
B25
XP/XT5.3
1
2
3
4
5
6
7
8
9
10
11
693
694
695
696
697
698
699
700
666
667
668
669
AWG24
AWG24
AWG24
AWG24
AWG24
AWG24
AWG24
AWG24
AWG24
AWG24
AWG24
AWG24
AWG16
12
OPTION
//PROFIBUS acc. to (138.1)
Latest revision:
WH
BN
WH
GY
RD
BU
BK
OG
BK
GN
BK
BN
B15
B16
B18
B19
B20
B21
C10
C11
C12
C13
C14
C15
B15
B16
B18
B19
B20
B21
A3
A4
A9
A10
A11
CS
CS
CS
CS
CS
CS
CS
CS
CS
CS
CS
CS
A12

Lab/Office:
DMRO SE/
PRH

DUAL CABINET PROFIBUS
IRB 6600 - 7600
=
Plant:
Location: +
Sublocation:+
Document no.
Rev. Ind Page139
Next 140
3HAC024480-005
05 Total
Status:
Approved
2011-01-28
Customer
Connection
CONTROLLER
CONTROL MODULE
XP/XT 6
1
A2
-672
4
5
6
7
8
9
4
GNYE
AWG18
A4
AWG24
-677 AWG24
-678 AWG24
-679 AWG24
-680 AWG24
-681 AWG24
-682 AWG24
-683 AWG24
-684 AWG24
-705 1/WH
AWG24 1/BU
10
AWG24
WH
BU
WH
OG
WH
GN
GN
BN
B1
B2
B11
B12
B13
B14
C19
C21
B7
B8
B9
B10
2/WH
11
CP5
2/OG
12
CP6
D3
XP/XT5.1
CP4
3
A3
+R1 CP/CS
D6
AWG18
-673
MANIPULATOR
IRB 6600-7600
AWG18
D1
A1
-671
AWG18
AWG18
FLOOR CABLE
XS/XP13
-670
CP7
D4
B1
B2
B11
B12
B13
B14
C19
C21
WH
BU
WH
OG
B7
B8
B9
CS
CS
CS
CS
CS
CS
CS
CS
CS
CS
CS
CS
B10
XP/XT5.2
3/WH
B3
3/GN
B4
4/WH
B5
4/BN
4
5
6
7
8
9
10
11
-685
-686
-687
-688
-689
-690
-691
-692
WH
GN
WH
BN
B6
AWG24
AWG24
AWG24
AWG24
AWG24
AWG24
AWG24
AWG24
B4
B5
RD
OG
RD
RD
C16
C17
C18
C20
B22
B23
B24
B25
12
B3
B6
C16
C17
C18
CS
CS
CS
CS
CS
CS
CS
CS
C20
BK
BK
BU
B23
B24
CS
CS
CS
B25
XP/XT5.3
1
2
3
4
5
6
7
8
9
10
11
-693
-694
-695
-696
-697
-698
-699
-700
-666
-667
-668
-669
AWG24
AWG24
AWG24
AWG24
AWG24
AWG24
AWG24
AWG24
AWG24
AWG24
AWG24
AWG24
12
OPTION
//INTERBUS-S acc. to (138.1)
Latest revision:
AWG16
B15
B16
B18
B19
B20
B21
C10
C11
C12
C13
C14
C15
WH
BN
WH
GY
RD
BU
BK
OG
BK
GN
B15
B16
B18
B19
B20
B21
A5
A6
A3
CS
CS
CS
CS
CS
CS
CS
CS
CS
CS
A4

Lab/Office:
DMRO SE/
PRH

DUAL CABINET INTERBUS
IRB 6600 - 7600
=
Plant:
Location: +
Sublocation:+
Document no.
Rev. Ind Page140
Next 141
3HAC024480-005
05 Total
Status:
Approved
2011-01-28
Customer
Connection
CONTROLLER
CONTROL MODULE
XP/XT 6
FLOOR CABLE
-671
AWG18
A3
-673
4
GNYE
AWG18
A4
XP/XT5.1
AWG24
-677 AWG24
-678 AWG24
-679 AWG24
-680 AWG24
-681 AWG24
-682 AWG24
-683 AWG24
-684 AWG24
-705 1/WH
AWG24 1/BU
1
2
3
4
5
6
7
8
9
10
AWG24
WH
BU
WH
OG
WH
GN
GN
BN
B1
B2
B11
B12
B13
B14
C19
C21
B7
B8
B9
B10
2/WH
11
CP4
AWG18
A2
-672
+R1 CP/CS
D1
A1
2/OG
12
MANIPULATOR
IRB 6600-7600
1
AWG18
AWG18
XS/XP13
-670
CP5
D6
CP6
D3
CP7
D4
B1
B2
B11
B12
B13
B14
C19
C21
WH
BU
WH
OG
B7
B8
B9
CS
CS
CS
CS
CS
CS
CS
CS
CS
CS
CS
CS
B10
XP/XT5.2
3/WH
B3
3/GN
B4
4/WH
B5
4/BN
-685
-686
-687
-688
-689
-690
-691
-692
5
6
7
8
9
10
11
WH
GN
WH
BN
B6
AWG24
AWG24
AWG24
AWG24
AWG24
AWG24
AWG24
AWG24
B4
B5
RD
OG
RD
RD
C16
C17
C18
C20
B22
B23
B24
B25
12
B3
B6
C16
C17
C18
CS
CS
CS
CS
CS
CS
CS
CS
C20
BK
BU
CS
CS
B24
B25
XP/XT5.3
1
2
3
4
5
6
7
8
9
10
11
-693
-694
-695
-696
-697
-698
-699
-700
-666
-667
-668
-669
AWG24
AWG24
AWG24
AWG24
AWG24
AWG24
AWG24
AWG24
AWG24
AWG24
AWG24
AWG24
12
OPTION
//DEVICE net acc. to (138.1)
Latest revision:
AWG16
B15
B16
B18
B19
B20
B21
C10
C11
C12
C13
C14
C15
WH
BN
WH
GY
RD
BU
BK
OG
BK
GN
BK
BN

Lab/Office:
DMRO SE/
PRH

DUAL CABINET DEVICE NET
IRB 6600 - 7600
B15
B16
B18
B19
B20
B21
A5
A6
A9
A10
A11
CS
CS
CS
CS
CS
CS
CS
CS
CS
CS
CS
CS
A12
=
Plant:
Location: +
Sublocation:+
Document no.
Rev. Ind Page141
Next 142
3HAC024480-005
05 Total
Status:
Approved
2011-01-28
CONTROLLER
CONTROL MODULE
Customer
Connection
XP/XT 6
-713
AWG20
FLOOR CABLE
XS/XP13
D6
D3
4
GNYE
BU
AWG24
B2
B11
B12
B13
B14
C19
C21
B7
B8
B9
B10
OG
YE
GN
BU
WH
BU
WH
OG
WH
GN
GN
BN
B1
RD
VT
-712
AWG24
9
10
1/WH
1/BU
2/WH
11
2/OG
12
CP7
D4
AWG24
BK
BN
A4
VT
-711
AWG24
CP6
3
A3
GN
XP/XT5.1
CP5
2
A2
YE
CP4
D1
A1
RD
+R1 CP/CS
1
OG
MANIPULATOR
IRB 6600-7600
AWG18
BK
BN
B1
B2
B11
B12
B13
B14
C19
C21
WH
BU
WH
OG
B7
B8
B9
CS
CS
CS
CS
CS
CS
CS
CS
CS
CS
CS
CS
B10
XP/XT5.2
3/WH
B3
3/GN
B4
4/WH
B5
4/BN
-711
AWG24
5
6
B6
GY
WH
WH/BN
WH/RD
WH/OG
10
WH/YE
11
WH/GN
or PK
or Light GN
12
XP/XT5.3
1
-713
AWG20
2
3
WH/BK
WH/BN
4
5
WH/RD
WH/OG
6
7
WH/YE
WH/GN
8
9
WH/BU
WH/VT
10
11
WH/GY
BN/BK
12
OPTION
or Light GN
or RD/BK
AWG16
//PROFIBUS acc. to (138.1)
Latest revision:
BN/BK
B15
B16
B18
B19
B20
B21
C10
C11
C12
C13
C14
C15
B4
B5
B6
C16
C17
C18
C20
B22
B23
B24
CS
CS
CS
CS
CS
CS
CS
CS
CS
CS
CS
CS
B25
WH
BN
WH
GY
RD
BU
BK
OG
BK
GN
BK
BN
GY
WH
B3
RD
OG
RD
RD
RD
GY
BK
BU
C16
C17
C18
C20
B22
B23
B24
B25
WH/BK
WH
GN
WH
BN

Lab/Office:
DMRO SE/
PRH

SINGLE CABINET PROFI BUS
IRB 6600 - 7600
B15
B16
B18
B19
B20
B21
A3
A4
A9
A10
A11
CS
CS
CS
CS
CS
CS
CS
CS
CS
CS
CS
CS
A12
=
Plant:
Location: +
Sublocation:+
Document no.
Rev. Ind Page142
Next 143
3HAC024480-005
05 Total
Status:
Approved
2011-01-28
CONTROLLER
CONTROL MODULE
Customer
Connection
XP/XT 6
-713
AWG20
FLOOR CABLE
3
A3
GN
4
GNYE
2
4
B11
B12
B13
B14
C19
C21
B7
B8
B9
B10
YE
GN
BU
WH
BU
WH
OG
WH
GN
GN
BN
B2
OG
VT
-712
AWG24
9
10
1/WH
1/BU
2/WH
11
2/OG
12
CP7
D4
AWG24
B1
RD
AWG24
BK
BN
CP6
D3
A4
VT
-711
AWG24
CP5
D6
BU
XP/XT5.1
CP4
2
A2
YE
+R1 CP/CS
D1
A1
OG
MANIPULATOR
IRB 6600-7600
1
BK
RD
AWG18
XS/XP13
BN
B1
B2
B11
B12
B13
B14
C19
C21
WH
BU
WH
OG
B7
B8
B9
CS
CS
CS
CS
CS
CS
CS
CS
CS
CS
CS
CS
B10
XP/XT5.2
3/WH
B3
3/GN
B4
4/WH
B5
4/BN
4
5
6
7
-711
AWG24
B6
GY
WH/BK
WH/RD
WH/OG
10
11
WH/YE
WH/GN
or PK
or Light GN
12
XP/XT5.3
1
-713
AWG20
2
3
WH/BK
WH/BN
4
5
WH/RD
WH/OG
6
7
WH/YE
WH/GN
8
9
WH/BU
WH/VT
10
11
WH/GY
BN/BK
12
OPTION
or Light GN
or RD/BK
AWG16
//INTERBUS-S acc. to (138.1)
Latest revision:
BN/BK
B15
B16
B18
B19
B20
B21
C10
C11
C12
C13
C14
C15
B4
B5
B6
C16
C17
C18
CS
CS
CS
CS
CS
CS
CS
CS
C20
BK
BK
BU
B23
B24
CS
CS
CS
B25
WH
BN
WH
GY
RD
BU
BK
OG
BK
GN
GY
WH
B3
RD
OG
RD
RD
C16
C17
C18
C20
B22
B23
B24
B25
WH
WH/BN
WH
GN
WH
BN
B15
B16
B18
B19
B20
B21
A5
A6
A3
CS
CS
CS
CS
CS
CS
CS
CS
CS
CS
A4

Lab/Office:
DMRO SE/
PRH

SINGLE CABINET INTERBUS
IRB 6600 - 7600
=
Plant:
Location: +
Sublocation:+
Document no.
Rev. Ind Page143
Next 144
3HAC024480-005
05 Total
Status:
Approved
2011-01-28
FLOOR CABLE
CONTROLLER
CONTROL MODULE
XP/XT 6
-713
AWG20
MANIPULATOR
IRB 6600-7600
AWG18
XS/XP13
BK
A1
BN
2
A2
OG
3
A3
GN
4
GNYE
XP/XT5.1
-711
AWG24
AWG24
B1
B2
RD
B11
B12
B13
B14
C19
C21
B7
B8
B9
B10
OG
YE
GN
BU
AWG24
WH
BU
WH
OG
WH
GN
GN
BN
BK
BN
A4
VT
VT
-712
AWG24
9
10
1/WH
1/BU
2/WH
11
2/OG
12
CP6
D3
BU
CP5
D6
YE
CP4
D1
RD
+R1 CP/CS
CP7
D4
B1
B2
B11
B12
B13
B14
C19
C21
WH
BU
WH
OG
B7
B8
B9
CS
CS
CS
CS
CS
CS
CS
CS
CS
CS
CS
CS
Customer
Connection
B10
XP/XT5.2
3/WH
B3
3/GN
B4
4/WH
B5
4/BN
-711
AWG24
5
6
B6
GY
WH/BN
WH/RD
WH/OG
10
WH/YE
11
WH/GN
or PK
or Light GN
12
XP/XT5.3
1
-713
AWG20
2
3
WH/BK
WH/BN
4
5
WH/RD
WH/OG
6
7
WH/YE
WH/GN
8
9
WH/BU
WH/VT
10
11
WH/GY
BN/BK
or Light GN
or RD/BK
AWG16
12
OPTION
//DEVICE net acc. to (138.1)
Latest revision:
BN/BK
B15
B16
B18
B19
B20
B21
C10
C11
C12
C13
C14
C15
B4
B5
B6
C16
C17
C18
CS
CS
CS
CS
CS
CS
CS
CS
C20
BK
BU
CS
CS
B24
B25
WH
BN
WH
GY
RD
BU
BK
OG
BK
GN
BK
BN
GY
WH
B3
RD
OG
RD
RD
C16
C17
C18
C20
B22
B23
B24
B25
WH
WH/BK
WH
GN
WH
BN

Lab/Office:
DMRO SE/
PRH

SINGLE CABINET DEVICE NET
IRB 6600 - 7600
B15
B16
B18
B19
B20
B21
A5
A6
A9
A10
A11
CS
CS
CS
CS
CS
CS
CS
CS
CS
CS
CS
CS
A12
Sheet 144.1 and further

pages is manufacturing
documents for ABB internal use.
=
Plant:
Location: +
Sublocation:+
Document no.
Rev. Ind Page144
Next 145
3HAC024480-005
05 Total
Status:
Approved
2011-01-28
DC-BUSBAR
-A41.1
22
35
51
53
64
66
63
65
13
49
62
61
68
70
57
C4
59
D16
69
C11
71
A9
15
17
D12
B10
D11
B9
M6S
M3S
M3S
M3T
M3T
M5S
M5S
D15
GY/BU
B3
GN/RD
C15
GY/GN
C3
1 2 3 4 5 6
-X16
GN/WH
A12
PK
B4
M5T
M5R
M2S
M2S
B11
PK/GN
A5
B6
B7
42
A7
DRIVE MODULE
43
MANIPULATOR
BU/RD
M6T
BU/WH
M6R
-X15
PK/BU
A11
BN/RD
A4
BU
OG
D7
BN/BK
C14
BU/GN
M3R
GY/BK
M3R
-X14
M2R
M4S
M4S
M4T
D8
PK/BK
OG/RD
D13
OG/GN
C8
OG/WH
C13
M4T
M4R
M4R
A15
23
-X13
OG/BU
B1
BK
BU/BK
21
M1S
M1S
B15
BK/GN
A2
BK/RD
BK/BU
8
M1T
M1T
M1R
A14
BK/WH
A1
BN
PK/BK
M5T
PK/RD
M5R
-X12
M1R
-XS/XP1
FLOOR CABLE
-X11
PK/WH
M2T
BN//WH
M2T
BN/BU
M2R
BN/GN
31
+R1-MP
Referring to the IRB6400R circuit diagram.

Latest revision:
Lab/Office:
DMRO SE/
PRH

SERVO DRIVE SYSTEM
IRB 6400R
=
Plant:
Location: +
Sublocation:+
Document no.
Rev. Ind Page145
Next 146
3HAC024480-005
05 Total
Status:
Approved
2011-01-28
FLOOR CABLE
CONTROLLER
MANIPULATOR
CONTROL MODULE
+R1-SMB
-XS/XP2
(80) /
-MRCO1
(80) /
(80) /
/
(80) /
10
-MRCO 1_N
(80) /
AXIS COMPUTER BOARD

A42-X4
SDI
A
SDI-N
-MRCI1
SDO
-MRCI 1_N
SDO-N
-MRC_0V.1
0V
+24V_SMB1
(124) /
24V
-MRC_0V.2
BAT BR
(124) /
-MRC_0V.3
0V
BATSUP
EXT LAMP
L
11
-XS/XP1
-EXT. LAMP
-433
AWG16
BU
-BRAKEPB
-434
AWG16
BU
(78.1) /
-BRAKEREL1
-435
AWG16
BU
(78.1) /
-BRAKEREL2
-436
AWG16
BU
(78.1) /
DRIVE MODULE
XP40
=MAN+R1.6400R-MP
VTBK
D1
(78.1) /
52
RDWH
C12
11
GYRD
B12
36
GYWH
C9
(78.2) /
-0V BRAKE4
-438
AWG16
48
OGBK
BU
D9
-PTC1
-439
AWG16
BU
-PTC 1 ret
-440
AWG16
BU
-0V BRAKE3
-437
AWG16
BU
(78.2) /
CONTACTOR UNIT
A43-X5
24
RDGN
C2
(78.2) /
20
RDBU
C1
(78.2) /
30
GY
B13
Latest revision:
SERIAL
MEASUREMENT
BOARD
BAT BR
Lab/Office:
DMRO SE/
PRH
12

CONTROL CABLE
IRB 6400R
=
Plant:
Location: +
Sublocation:+
Document no.
Rev. Ind Page146
Next 147
3HAC024480-005
05 Total
Status:
Approved
2011-01-28
CONTROLLER
FLOOR CABLE
MANIPULATOR
CONTROL MODULE
IRB 64004R
+R1-CP/CS
-XP/XT6
1, BK
A1
3-POL
2, BK
A2
GNYE
-XP/XT5.1
AWG24
1/WH
CSA
1/BU
CSB
2/WH
CSC
2/OG
CSD
3/WH
CSE
3/GN
CSF
4/WH
CSG
4/BN
CSH
5/WH
CSJ
5/GY
CSK
25-POL
10
10
A3
-XS6
2/RD
+24V
2/BK
0V
1/WH
CAN1_H
1/BU
CAN1_L
Connect to A35.X2
9-POL
2
3
Latest revision:
Lab/Office:
DMRO SE/
PRH

CUSTOMER POWER/SIGNAL/BUS
IRB 6400R
=
Plant:
Location: +
Sublocation:+
Document no.
Rev. Ind Page147
Next 3HAC040
3HAC024480-005
05 Total
Status:
Approved
2011-01-28
Connection point A
Wire
no.
Specification
Item design.
:term Type
Connection point B
Ref
Item design.:term
Type
AWG24
+A43-XS11
Dp1
-S1
14
10
-W751 BU
AWG24
+A43-XS11
Dp1
+A43-XP11.1
-W752 BU
AWG24
+A43-XS11
Dp2
-E5
-W753 BU
AWG24
+A43-XS11
Dp2
+A43-XP11.1
-W754 BU
AWG24
+A43-XS11
+A43-XP11.1
-W756 BU
AWG24
-S1
13
10
-E5
Remark
Sheet
0V COOL
76.5 76.5
Rev
76.5 76.5
+24V COOL
76.5 76.5
76.5 76.5
FAN2
76.5 76.5
76.5 76.5
-W750 BU
Ref
This connection table generated from EplanP8. Types acc.to item no. in Parts List/Typer enl. pos.nr i stycklista
Single-coloured wires must be marked permanent with wires number./Enfrgade enkelledare skall mrkas med kabelnummer p ett varaktigt stt
Crimping and stripping will be executed acc. to component suppliers recommendation/
Kontaktpressning och avisoleringslngd skall utfras enligt komponentleverantrens rekommendationer.
Lab/Office:
DMRO SE/
Latest revision:
PRH
Prepared by, date: SETHSTA
Approved by, date:

Part of circuit drawing: 3HAC024480-005
Description: Connection table
=
Plant:
Location: +
Sublocation:+
Document no.
Rev. Ind Page1
Next 1
3HAC040044-003
00 Total 1
Status:
APPROVED

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1

Copyright 2004 ABB ALL right reserved.

IRC5 SC/DC DESIGN 09 Rel 11.1

Device list sorting by Function name

Device list sorting by Function name

Device list sorting by Location name

Device list sorting by Location name

BLOCK DIAGRAM SINGLE CONTROL MODULE

BLOCK DIAGRAM DUAL CONTROL MODULE

BLOCK DIAGRAM DUAL DRIVE MODULE

FRONT VIEW OF SINGLE CABINET MDU HV

FRONT VIEW OF SINGLE CABINET MDU LV and HV

SIDE VIEWS OF SINGLE CABINET

VIEW OF CONTROL MODULE DUAL CABINET

VIEW OF DRIVE MODULE DUAL CABINET

VIEW OF COMPUTER UNIT AND PANEL BOARD

VIEW OF CONTACTOR & AXIS COMPUTER UNIT

VIEW OF VOLTAGE MEARSUREMENT BOX

CONTACT AT THE CABINET WALL

MAINS CONNECTION DUAL CABINET

PROCESS POWER SUPPLY DUAL CABINET

OPT:POWER SUPPLY DSQC609 FOR DUAL CAB.

OPT:POWER SUPPLY DSQC609 FOR SINGLE CAB.

RUN CHAIN OPERATING, 3 MODE SELECTOR

RUN CHAIN OPERATING, 2 MODE SELECTOR

IRC5 SC/DC DESIGN 09 Rel 11.1

BLOCK DIAGRAM RUN CHAIN EXT OPERATING SELECTOR

RUN CHAIN EXT OPERATING, PANEL BOARD

RUN CHAIN EXT OPERATING, 2 AND 3 MODE SELECTOR

FPU, FLEXPENDANT OPTION: HOT PLUG

OPTION: EXT.CUSTOMER CONNECT. SYSTEM SIGNALS

MAIN COMPUTER DSQC 639

MAIN COMPUTER DSQC 639

FIELDBUS ADAPTER: ETHERNET/IP, PROFIBUS and PROFINET IO

DEVICENET SINGLE/DUAL ADAPTER

DISPENCE PAC SUPPORT

DIGITAL PART OF COMBI I/O AND DIGITAL I/O UNIT

DIGITAL I/O UNIT

COMBI I/O UNIT

RELAY I/O UNIT

RELAY I/O UNIT

ANALOGUE I/O UNIT

REMOTE I/O UNIT

PLC.CPU unit PM582

PLC.DIGITAL unit DC532

PLC.DIGITAL INPUTS and RELAY OUTPUTS DX522

IRC5 SC/DC DESIGN 09 Rel 11.1

PLC. ANALOGUE I/O UNIT

PLC. ETHERNET switch CM577-ETH

OPTION : SERVICE OUTLET

POWER SUPPLY DSQC 626 AND 627 FOR DUAL CABINET

POWER SUPPLY DSQC 661 AND 662 FOR SINGLE CABINET

AXIS COMPUTER UNIT

AXIS COMPUTER UNIT

FORCE MEASUREMENT BOX

MAIN DRIVE UNIT and ADDITIONAL AXIS 1-3 for LV

MAIN DRIVE UNIT and ADDITIONAL AXIS 1-3 for HV

SERVO DRIVE SYSTEM IRB 120

CONTROL CABLE IRB 120

CUSTOMER SIGNALS IRB 120

SERVO DRIVE SYSTEM IRB 140

CONTROL CABLE IRB 140

CUSTOMER SIGNAL DUAL CABINET IRB 140