CONTROLADOR IRC5 Rev08

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© Copyright 2017 ABB ALL right reserved.
ABB AB
SE-721 68 Västerås
Sweden
Latest revision: Lab/Office: Status: Plant: =

DMRO SE/ IRC5 DESIGN 14 Rel: 17.1
PRN Approved Location: +
COPYRIGHT page Sublocation:+
Document no. Rev. Ind Page1
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Prepared by, date:T Stålnacke 20170317 Approved by, date:Sonny Ögren 20170317 3HAC024480-011 08 Total 156
1 2 3 4 5 6 7 8
TABLE OF CONTENTS
PAGE PAGE DESCRIPTION Date Edited by
1 COPYRIGHT page 2017-03-13 Thomas
2 TABLE OF CONTENTS 2017-03-17 Thomas
7 SYMBOL INFORMATION 2015-09-30 Thomas
8 VIEW OF CONTACTS 2017-03-13 Thomas
8.1 REVISION INFOMATION 2017-03-17 Thomas

9 Device list, by LOCATION 2017-03-16 Thomas
10 Device list, by LOCATION 2017-03-16 Thomas

11 Device list, by FUNCTION 2017-03-16 Thomas
12 Device list, by FUNCTION 2017-03-16 Thomas

13 BLOCK DIAGRAM CONTROL MODULE 2017-03-13 Thomas
14 BLOCK DIAGRAM SINGLE DRIVE MODULE 2017-03-13 Thomas

15 BLOCK DIAGRAM DRIVE MODULE 2017-03-13 Thomas
16 FRONT VIEW OF SINGLE CABINET MDU HV 2017-03-13 Thomas
17 FRONT VIEW OF SINGLE CABINET MDU LV and HV 2017-03-13 Thomas
18 SIDE VIEWS OF SINGLE CABINET 2017-03-13 Thomas
19 VIEW OF DRIVE MODULE CABINET 2017-03-16 Thomas
20 VIEW OF PANEL BOARD 2017-03-13 Thomas
21 VIEW OF CONTACTOR & AXIS COMPUTER UNIT 2017-03-13 Thomas
22 VIEW OF VOLTAGE MEARSUREMENT BOX 2017-03-13 Thomas
23 CONTACT AT THE CABINET WALL 2017-03-16 Thomas
24 OPT:POWER SUPPLY DSQC609 XT31, G4, G5, G6 2017-03-16 Thomas
25 RUN CHAIN block diagram in PANEL BOARD A21 and CONTROL PANEL S21 2017-03-15 Thomas
26 RUN CHAIN and PANEL BOARD A21 Sh. 1 of 4 2017-03-13 Thomas
28.1 PANEL BOARD A21 Sh. 4 of 4 Opt:EXT.CUSTOMER. CONNECT. SYSTEM SIGNALS 2017-03-13 Thomas
28.2 Opt. LED on front; Software based Mode Selector Internal safety harness 2017-03-16 Thomas
29 RUN CHAIN S21, EM.STOP, 2 & 3 MODE SELECTOR, SOFTWARE MODE SWITCH 2017-03-13 Thomas
30 FPU, FLEXPENDANT and option HOT PLUG 2017-03-16 Thomas

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TABLE OF CONTENTS
30.1 FPU, FLEXPENDANT and Opt. HOLD TO RUN DEVICE T10 JOGGING DEVICE 2017-03-16 Thomas
30.2 FPU, Extended FLEXPENDANT cable 15 - 30 m 2017-03-16 Thomas
31 RUN CHAIN A21, EXTERNAL EMERGENCY STOP, EXTERNAL 2 AND 3 MODE SELECTOR 2017-03-13 Thomas
32 RUN CHAIN EXT A21 OPERATING WITH OPT: HOT PLUG rel 11.1 2017-03-15 Thomas
34 MAIN COMPUTER/ANYBUS_CC/RS232 EXP. /INTERFACE BOARD/ 2017-03-13 Thomas
35 MAIN COMPUTER A31 DSQC1000/1018/1024 2017-03-17 Thomas
36 MAIN COMPUTER A31 DSQC1000/1018/1024 ; A32 DSQC1003 2017-03-17 Thomas
37 FIELDBUS ADAPTER A32: ETHERNET/IP, PROFIBUS and PROFINET IO 2017-03-13 Thomas
38 PROFIBUS DP M/S A31.3 2017-03-16 Thomas

38.4 SAFETY BOARD A31.4 SOFTWARE SWITCH 2017-03-13 Thomas
38.5 SAFETY BOARD A31.4 DSQC1015 Hardware and Software based Mode Switch 2017-03-13 Thomas
39 DEVICENET A31.2 m/s DSQC1006 2017-03-13 Thomas
40 DEVICENET ADAPTER 2017-03-16 Thomas

40.1 ETHERNET SWITCH A34, option MULTI MOVE 604-1/2 2017-03-15 Thomas
41 ETHERNET SWITCH A62 2017-03-16 Thomas

42 VISION, INTEGRATED CAMERAS 2017-03-13 Thomas
43 ETHERNET SWITCH A64/CAMERA 2017-03-15 Thomas
44 ETHERNET SWITCH A65 2017-03-15 Thomas
45 DISPENCE PAC SUPPORT A57 2017-03-15 Thomas
46 DIGITAL PART OF COMBI I/O AND DIGITAL I/O UNIT DSQC651&652 2017-03-15 Thomas
47 DIGITAL I/O UNIT DSQC652 2017-03-15 Thomas
47.1 Local I/O Digital master 16in/16out 2017-03-15 Thomas
47.2 Local I/O Digital add on 16in/16out 2017-03-13 Thomas
48 COMBI I/O UNIT DSQC651 2017-03-15 Thomas
49 RELAY I/O UNIT DSQC653 2017-03-15 Thomas
50 RELAY I/O UNIT DSQC653 2017-03-13 Thomas
50.1 Local I/O Relay add on 8RO/8DI 2017-03-14 Thomas
51 ANALOGUE I/O UNIT DSQC355B 2017-03-15 Thomas
51.1 Local I/O Analog add on 4in/4out 2017-03-14 Thomas
52 REMOTE I/O UNIT DSQC350A 2017-03-15 Thomas
53 ENCODER UNIT DSQC377 2017-03-15 Thomas
54 REMOTE SERVICE BOX DSQC680 to Rel. 16.1 2017-03-16 Thomas
54.1 REMOTE SERVICE BOX DSQC1016/DSQC1023 from Rel. 16.2 2017-03-15 Thomas

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TABLE OF CONTENTS
55 MAINS CONNECTION XP0, Q1, F6, Z1, Z3 2017-03-13 Thomas
56 TRANSFORMER UNIT 480V T1.1, T1.3, Z2, X10 2017-03-13 Thomas
57 TRANSFORMER UNIT 262V T1.2, X10 2017-03-16 Thomas
58 OPTION : SERVICE OUTLET F4, F5, X22 2017-03-15 Thomas
59 POWER SUPPLY DSQC 626 AND 627 FOR DRIVE MODULE F2, G1, G9, K41.X1 2017-03-16 Thomas
60 POWER SUPPLY DSQC 661 AND 662 G1, G2, G3, F2, XT16 2017-03-15 Thomas
61 FAN UNIT E1, E2, E3, E5, A21, A43 2017-03-13 Thomas
62 CONTACTOR BOARD A43 2017-03-16 Thomas
63 CONTACTOR UNIT A43, K42, K43, K44 2017-03-16 Thomas

64 CONTACTOR UNIT XS40, XP40 Only for release 13.2 and earlier 2017-03-15 Thomas
65 CONTACTOR BOARD A43.X5, XS5, XP5 Connection for release 13.2 and earlier 2017-03-16 Thomas
66 AXIS COMPUTER UNIT A42, A41.1 2017-03-15 Thomas
67 AXIS COMPUTER UNIT A42, A44 2017-03-13 Thomas

68 FORCE MEASUREMENT BOX 2017-03-15 Thomas
69 EPS A44, DSQC646 2017-03-16 Thomas

70 SAFE MOVE A44, DSQC647 2017-03-15 Thomas
71 SAFE MOVE A44, DSQC647 2017-03-15 Thomas
72 MAIN DRIVE UNIT and ADDITIONAL AXIS 1-3 for LV A41.1 ,2 ,3 ,4 ,5 2017-03-15 Thomas
73 MAIN DRIVE UNIT and ADDITIONAL AXIS 1-3 for HV A41.1, 3, 4, 5 2017-03-15 Thomas
74 EXTERNAL AXIS A43, XS/XP7 Only for release 13.2 and earlier 2017-03-15 Thomas
75 EXTERNAL AXIS no 7, 8, 9 A41.3 .4 .5 , XS/XP7 2017-03-13 Thomas
75.1 EXTERNAL AXES ADAPTER HARNESS XS/XP40, A43:XP5, A7:XP7 :XP8 :XP9 Only for rel.14.1 and later. 2017-03-15 Thomas
76 SERVO DRIVE SYSTEM IRB 120 2017-03-14 Thomas
77 CONTROL CABLE IRB 120 2017-03-14 Thomas
78 CUSTOMER SIGNALS IRB 120 2017-03-14 Thomas
81 CUSTOMER SIGNAL SINGLE CABINET IRB 140 2017-03-13 Thomas
82 SERVO DRIVE UNIT IRB 260 2017-03-13 Thomas
84 CUSTOMER POWER/SIGNAL SINGLE CABINET IRB 260 2017-03-16 Thomas
85 SERVO DRIVE UNITS IRB 360 2017-03-16 Thomas

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TABLE OF CONTENTS
87 CUSTOMER SIGNAL SINGLE CABINET IRB 360 2017-03-13 Thomas
87.1 CUSTOMER POWER/SIGNAL SINGLE CABINET IRB 360 2017-03-13 Thomas
90 CUSTOMER POWER/SIGNAL IRB460, 660, 760 2017-03-16 Thomas
91 C-BUS/P-BUS/ to CP/CS IRB460, 660, 760 2017-03-16 Thomas
92 SERVO DRIVE SYSTEM IRB 660, 760 2017-03-16 Thomas
93 CONTROL CABLE IRB 660, 760 2017-03-16 Thomas
93.5 SERVO DRIVE SYSTEM IRB 1200 2017-03-13 Thomas

93.6 CONTROL CABLE IRB 1200 2017-03-14 Thomas
93.7 CUSTOMER SIGNAL SINGLE CABINET IRB 1200 2017-03-16 Thomas


96 CUSTOMER SIGNALS SINGLE CABINET IRB 1410 2017-03-14 Thomas

99 CUSTOMER SIGNALS IRB 1520 2017-03-14 Thomas
100 SERVO DRIVE UNIT IRB 1600/1660 2017-03-14 Thomas
101 CONTROL CABLE IRB 1600/1660 2017-03-14 Thomas
102 CUSTOMER POWER/SIGNAL SINGLE CABINET IRB 1600/1660 2017-03-14 Thomas
103 SERVO DRIVE UNIT IRB 2400 2017-03-14 Thomas
108 CUSTOMER POWER/SIGNAL IRB2600 2017-03-16 Thomas
109 CUSTOMER POWER/SIGNAL DEVICE NET IRB2600 2017-03-16 Thomas
110 CUSTOMER POWER/SIGNAL PROFI BUS IRB 2600 2017-03-16 Thomas
111 DevNet/PofiNet/Ethernet/Profibus addition to CP/CS IRB2600 2017-03-16 Thomas

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TABLE OF CONTENTS
117 CUSTOMER POWER/SIGNAL IRB4600 2017-03-16 Thomas
118 CUSTOMER POWER/SIGNAL DEVICE NET IRB4600 2017-03-16 Thomas
119 CUSTOMER POWER/SIGNAL PROFI BUS IRB 4600 2017-03-16 Thomas
120 DevNet/ProfiNet/Ethernet/Profibus addition to CP/CS IRB4600 2017-03-16 Thomas
120.1 SERVO DRIVE SYSTEM IRB 6400R 2017-03-14 Thomas
120.2 CONTROL CABLE IRB 6400R 2017-03-14 Thomas
120.3 CUSTOMER POWER/SIGNAL/BUS IRB 6400R 2017-03-14 Thomas
120.4 SERVO DRIVE SYSTEM IRB 6700 2017-03-14 Thomas

120.5 CONTROL CABLE IRB 6700 2017-03-14 Thomas
120.6 CUSTOMER POWER/SIGNAL PARABUSCOM SINGLE CABINET PROFI/DEVICE NET BUS IRB 6700 2017-03-16 Thomas
120.7 DevNet//EtherNet//ProfiNet//PBUS ADDITION TO CP/CS IRB 6700 2017-03-14 Thomas
121 SERVO DRIVE SYSTEM IRB 66xx - 76xx 2017-03-13 Thomas

122 CONTROL CABLE IRB 66xx - 76xx 2017-03-14 Thomas
123 COOLING AXES 1/2 SINGLE CABINET IRB 6600 - 7600 2017-03-14 Thomas
124 CUSTOMER POWER/SIGNAL SINGLE CABINET IRB 6600 - 7600 2017-03-16 Thomas
125 DevNet//EtherNet//ProfiNet//PBUS ADDITION TO CP/CS IRB 66xx - 7600 2017-03-14 Thomas
126 CUSTOMER POWER/SIGNAL SINGLE CABINET PROFI BUS IRB 6600 - 7600 2017-03-16 Thomas
128 CUSTOMER POWER/SIGNAL SINGLE CABINET DEVICE NET IRB 6600 - 7600 2017-03-16 Thomas
128.5 SERVO DRIVE SYSTEM AXES 1-3 IRB 87xx 2017-03-14 Thomas
128.6 SERVO DRIVE SYSTEM AXES 4-6 IRB 87xx 2017-03-14 Thomas
128.7 CONTROL CABLE IRB 87xx 2017-03-14 Thomas
128.8 CUSTOMER POWER/SIGNAL PARAMULTI SINGLE CABINET PROFI/DEVICE NET BUS IRB 8700 2017-03-16 Thomas
128.9 DevNet//EtherNet//ProfiNet//PBUS ADDITION TO CP/CS PARAMULTI IRB 8700 2017-03-13 Thomas

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Strömtransformator/
Current transformer.
Stomme, ramverk/
Functional equipotential bonding Slutkontakt/ Column coordinate number on the drawing
Make contact, general.
Likström, DC / Wire/connector one colour code.

Stomme, ramverk/ Handmanövrerad brytare, allmän/ Direct current, DC. BK = Black, BN = Brown, RD = Red, OG = Orange
Functional equipotential bonding Switch manually operated, general.
YE = Yellow, GN = Green, BU = Blue, VT = Violet
GY = Grey, WH = White, PK = Pink, TQ = Turquoise
Växelström, AC /
Styrning med spak/
Alternating current, AC.
Actuator (operated by lever). Wire/connector two colour code.
Jord, allmän symbol/
Earth , general symbol. Example 1 : WH/RD = White and Red.
Styrning genom vridning/ Styrning, elektromagnetisk styrdon/ Example 2 : GNYE = Green and Yellow.
Actuator(operated by turning). Actuator, by electromagnetic.
Example: Cable with four colour coded wire,
Störningsfri jord/ square area AWG24 and cable number 709.
Ethernet signal:
Functional earthing. Styrning genom tryckning/ 1. Transmit TX+ or TX- and receive RX+ or RX-
Actuator(operated by pushing). 709

2. Unit possible to transmit or recieve TX+/RX+ or TX-/RX- AWG24 BK
BN
3. Ethernet Gigabit signal, transmit pair one MX1+ , MX1-
Skyddsjord/ Nödstopp (svamptryckknapp)/ and receive the MX2+ , MX2- RD/OG
Protective earthing. Actuator, emergency. BK/OG
If Gigabit transmit pair MX3+ , MX3- and receive pair MX4+ , MX4-
Translation table square area from AWG to mm2.

Tvinnade ledare/ Skarvhylsa
Twisted conductors. Through joint AWG28 0,093 AWG18 0,93
AWG26 0,15 AWG16 1,25
AWG24 0,25 AWG14 2,44
AWG22 0,34 AWG12 3,02
Trippel tvinnade ledare/
Filter/ AWG20 0,56 AWG10 4,65
Triple twisted conductors.
Filter.
Run chain presentation starts at sheet 26.
The Run chain marked as a wider wire.
Example: Run chain marked with a wider wire.

Fyrdubbelt tvinnade ledare/ Lampa/
Quadruple twisted conductors. Lamp.
Example: Not Run chain marked with a thin wire.
Part A Example, showing how to read the information before and after a signal.
Tvinnade ledare part A med part B
Twisted conductors part A with part B
Kontakthylsa hona/
Socket outlet female. Extra sheet number .1.
Part B Signal name
Wire number Wire data AXIS COMP: BOARD
A42
XP1 = Pin
-W725 AWG20 BK
(92) (92.1) +24V DRIVE;2
1
Skärm/ Kontaktstift hane/
Pin male. Signal counter XS1 =Socket X1 = PIN or Socket
Shield.
Target sheet 92
Target sheet 92.1
SYMBOL INFORMATION Sublocation:+
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Top view 4 pole Phoenix Power connection 64 pole. XP1 Position for Micro/Mini Fit (principal)
Industrial connector Harting/Amphenol
Top view Front view Back view 6 pole. Side view
Side view
XS1
1 6 5 4
3 2 1
Earth conn.
A43.X5

VIEW OF CONTACTS Sublocation:+
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Revison 06 2016 02 Release 16.1 Revison 08 2017 03 Release 17.1

Sh.2 - 6 table of contents updated
Sh.1 Copyright 2015 updated Sh.9 - 10 Device list updated
Sh.8.1 new revision information. Sh.8.1 Revision information
Sh.18 K42.X31/32, K43.X31/32 added to the Left view coordinate column 3 and 4. Sh.16 updated with opt.1541-1, 1542-1, 1543-1, 1544-1
Sh.17 IRB87xx added.
Sh.23 XP/XS3, XP/XS5, XP/XS7, XP/XS13, XS/XP58 added. Sh.19 XS9 removed from floor plate//
Sh.26 Software mode switch connection add. Column 1. text "COMMUNICATION DRIVE MODULE AND CONTROL MODULE"
Sh.27 Software mode switch connection add. Column 1. Sh.17 IRB87xx added.
Sh.23 XS9 (TXRX- , RXTX+) and ( 2.BI_DA- 2.BI_DB+) was switched at Column 1//
Sh.28 Software mode switch connection add. Column 1. XS1/XP1 and xs2/xp2 updated crossref.
Sh.29 Software/Hardware mode switch connection add. Column 1 and 8. Sh.25 all Cross references was updated.//S21.X1 and EXT S21.X1 added.
Sh.33 Software mode switch connection add. Column 3 & 7. Sh.26 Column 1 cross reference updated// A21x1.2 and A21x2.2
Sh.34 A31.4 safety board add.//A31.1 DSQC 1017 exchanfed with DSQC1001. changed signal direction.
Sh.38.5 Safety bord new sheet. Sh.27 Cross references was updated.//
Sh.28 Cross references was updated.// Connection to A21 X12 was changed.
Sh.55 IRB 8700 option add. // S21.1 was removed
Sh.56 IRB6700, 8700 option T1.1 and T1.3 coordinate 2 and 6 Sh.28.1 Cross section at column 3 updated// Signal direction changed direction
Sh.63 K42.31 and 32 added, K43.31 and 32 added. Column 4. column 3// Text acc. to 1) column 1 was changed//Text added to column 7
// Signal direction changed at column 7//Signal A21x6:2, :3, :4 and :5
Sh.66 Signal was exchanged, right conn. (518 +24V_ XS6:2) and (519 0V_XS6:1)
changed Signal direction column 7.

Sh.79, 80 Power and signal connection added to IRB140// Sh.28.2 New signals to board A23 column 8
Sh.29 A21 changed to S21 column 2//terminal at column 7 changed Device tag.
Sh.93.5, 93.6, 93.7 reference to cirquit drawing 3HAC046307-003 Sh.30 Coordinate 7 // XP4 was EXT-XP4// ref ((Connected to page)) removed
Sh.121.1, .2, .3 exchanged from IRB6700 to IRB6400R // 1) Connect to XS4 .... new text //
Sh.121.4, .5, .6, .7 New sheet IRB6700 Flexpendat cable presentation changed at column 5-8
Sh.128.5-.9 added, IRB8700 Sh.30.2 added.
Sh.129, 130 IRB6400R removed to Sh121.1-.3 Sh.31 EXT-A21 change to EXT-S21 column 2
Sh.32 Device tag H1 changed at column 3//Column 5 changed wire information 205 -219
Revison 07 2016 09 Release 16.2 Sh.34 DSQC1024 add. column 4//DSQC1022 add. column 6
Sh.35 DSQC1024 add. column 4//
Sh.24 new ref. to sheet 54.1 +24V RES//0V RES Sh.36 DSQC1024 add. column 4//
Sh.33 Note 1) add.// XS/XP3 was XP3 at coordinate column 4. Sh.38.5 Sheet Title name changed.
Sh.40 device net cable was splited in two parts.column 3 and 4
Sh.34 A31.4 PROFIBUS board add. DSQC 1005. Sh.51.2, 51.4, 51.6, 51.8 Local I/O Digital, Analogue, Relay.
Sh.54.1 Cross reference add. column 1 and at column 8
Sh.38.4 Safety bord XS3 was S3 cooridinate column 7. Sh.55 shield Title page was changed
Sh.56 GNYE text add. column 1 and GNYE moved outside the transformer column 6
Sh.54 Changed page description"DSQC to REL. 16.1//4.TXRX+ change to TXRX+.4 Sh.59 Note 1) changed.
Sh.61 New signal name column 5
TXRX+.10 add. Sh.62 Internal connection XS6:1 to X5:2 removed// Signal at X5 moves out side the A43 column 6
Sh.65 IRB87xx add. column 1
Sh.54.1 New sheet for the new REMOTE SERVICE BOX for 16.2 Sh.75.1 ref. to circuit drawings column 1
Sh.56 IRB460 added to option T1.1 and T1.3 Sh.79 The motor phases exchange place X12, X16, X13
Sh.82 The motor phases exchange place X12, X13, X16
Sh.57 IRB460 removed from the sheet for T1.2 Sh.106-109 Ref. to manip. circ. drawing added 3HAC029570-007
Sh. 93.6 the SMB and power signals have been implemented. Sh.110 Ref. to manip. circ. draw. was 3HAC025744-001, 3HAC13347-1.
Sh.111 XS9 and R1.(TXRX-,RXTX+)//Ref. to manip.circ.draw.add. 3HAC029570-007
Sh.128.7 Conductor information at terminal XS1/XP1 column 5 and 6.
Sh. 93.7 +R1-CS connection terminal changed from numeric to Alphabetical
Coordinate column7
Sh. 100--102 Page description ...IRB1600/1660 was IRB1600
Sh. 123 XS/XP58 was removed.//R1.SW23 was /R1.FAN.SW

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Location name Function name Page Location name Function name Page
A21 PANEL BOARD 26 E1-E41 FAN UNIT 61
A23 OPTION:STATUS LED ON FRONT 28.2 E1-E41-R1 THERMISTOR 61
A31 MAIN COMPUTER 35 E1-E42 FAN UNIT 61
A31-E22 CHASSIS BLOWER 35 E1-E42-R1 Thermistor 61
A31.2 DeviceNet M/S DSQC1006 39 E1-E43 Fan unit 61
A31.3 PROFIBUS M 38 E1-E43-R1 Thermistor 61
A31.4 Safety Board DSQC1015 38.5 E1-E44 Fan unit 61
A32 Expansion board serie DSQC1003 36 E1-E44-R1 Thermistor 61
A32 DSQC 1003 37 E2 EXT. COMPUTER FAN opt.708-2 61
A32.1 ETHERNET/IP Fieldbus adapter DSQC 669 Slave 37 E2-M1 EXTERNAL COMPUTER FAN 61
A32.2 PROFIBUS Fieldbus adapter DSQC 667 Slave 37 E3 INTERNAL FAN 61
A32.3 PROFINET IO Fieldbus adapter DSQC 688 Slave 37 E3-M1 INTERNAL FAN 61
A32.4 DEVICENET IO Fieldbus adapter DSQC 1004 Slave 37 E5 MDU FAN 61
A34 ETHERNET SWITCH A34 opt. MULTI MOVE 604-1/2 40.1 E5-M1 OPTION : INTERNAL FAN 61
A41 MAIN SERVO DRIVE UNIT 94 EXT-A21-S21.2-H1 MOTOR ON (LAMP) 31

A41.1 MAIN SERVO DRIVE UNIT 100 EXT-ETH_FPU FLEXPENDANT 30.1

A41.1 MAIN SERVO DRIVE UNIT 66 EXT-ETH_FPU-USB FLEXPENDANT 30.1
A41.1 MAIN SERVO DRIVE UNIT 120.1 EXT-S21.1 2-MODE SELECTOR 31
A41.1 MAIN SERVO DRIVE UNIT 121 EXT-S21.1 3-MODE SELECTOR 31
A41.1 MAIN SERVO DRIVE UNIT 76 EXT-S21.2 MOTOR ON PB 31
A41.1 MAIN SERVO DRIVE UNIT 128.6 EXT-S21.3 EMERGENCY PB 31
A41.1-6 MAIN SERVO DRIVE UNIT 103 EXT-S22 Option HOT PLUG 32
A41.1-8 Main servo drive unit 4600 115 EXT-S22-H1 SIGNAL LAMP 32
A41.2 ADDITIONAL RECTIFIER UNIT 72 EXT-T10 T10 JOGGING DEVICE 30.1
A41.3 ADDITIONAL DRIVE UNIT 75 EXT-T10-ETH_FPU FLEXPENDANT 30.1
A41.3 ADDITIONAL DRIVE UNIT 72 EXT-T10.1 HOLD TO RUN DEVICE 30.1
A41.4 ADDITIONAL DRIVE UNIT 75 F1 AUTOMATIC FUSE 63
A41.4 ADDITIONAL DRIVE UNIT 72 F2 AUTOMATIC FUSE 59
A41.5 ADDITIONAL DRIVE UNIT 75 F4 EARTH FAULT BREAKER 58
A41.5 ADDITIONAL DRIVE UNIT 72 F5 CIRCUIT BRAKER 58
A42 AXIS COMPUTER BOARD 66 F6 Option: CIRCUIT BRAKER 55
A43 CONTACTOR UNIT 75.1 G1 POWER SUPPLY DSQC661 60
A43 CONTACTOR BOARD 62 G2 POWER DISTRIBUTION BOARD DSQC662 60
A44 EPS 67 G3 ENERGY BANK 60
A57 Process Interface Board (PIB) 45 G6 DEVICENET POWER SUPPLY 24
A61 Option: REMOTE SERVICE BOX DSQC680 54 G9 POWER SUPPLY Note 1) 59
A62 Ethernet switch 41 H1 STATUS DIOD DRIVE MODULE 63
A64 Ethernet switch 43 I/Ox Digital I/O Master module 47.1
A65 Ethernet switch 44 I/Ox Relay I/O Add on module 50.1
C1 CAPACITOR 93 I/Ox Digital I/O Add on module 47.2
C2 Capacitor 0,47uF 74 I/Ox Analog I/O Add on module 51.1

PRN IRC5 DESIGN 14 Rel: 17.1
Approved Location: +
Sublocation:+
3HAC024480-011 Next 10
Prepared by, date: T Stålnacke 20170317 Approved by, date: Sonny Ögren 20170317 Device list sorted by the Location name 08 Total 156
1 2 3 4 5 6 7 8
K41 RELAY UNIT 59
K42 MOTORS ON CONTACTOR 1 63
K43 MOTORS ON CONTACTOR 2 63
K44 BRAKE CONTACTOR 63
M140-A41.1 MAIN SERVO DRIVE UNIT 79
M460-A41.1 Main servo drive unit 460 88
O716-I/Ox DIG. PART OF COMBI I/O AND DIG. I/O UNIT 46
O719-I/O.X ANALOGUE I/O UNIT 51
O721-I/O.X REMOTE I/O UNIT 52
O726-I/O.X ENCODER UNIT 53
O738-EXT-FMB Option: 738-1 68
O738-EXT-FMB-A1 DSQC686 VOLTAGE MEASURE BOARD 68
O818-RELAY I/O RELAY I/O UNIT 50

OP1-Q1 Main switch circuit breaker 55

OP1-Z2 REAKTOR UNIT 56
OP716_816-I/O.X DIGITAL I/O UNIT 47
OP717_817-I/O.X COMBI I/O UNIT 48
OP718_818-I/O.X DIG. PART OF RELAY I/O UNIT 49
P1 OPTION :DUTY TIME COUNTER 62
Q1 MAINS SWITCH 55
R1.1 BLEEDER 72
S1 SWITCH 61
S21 CONTROL PANEL 29
S21.1 3-MODE SELECTOR 29
S21.1 2-MODE SELECTOR 29
S21.2 MOTOR ON PB 29
S21.2-H1 MOTOR ON (LAMP) 29
S21.3 EMERGENCY PB 29
S22 Option with HOT PLUG 30
S22-H1 SIGNAL LAMP 30
T1.1 TRANSFORMER UNIT 56
Z1 OPTION: MAINS LINE FILTER 55
Z2 REAKTOR UNIT 56
Z3 OPTION: MAINS LINE FILTER IRB8700 55

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Prepared by, date: T Stålnacke 20170317 Approved by, date: Sonny Ögren 20170317 Device list sorted by the Location name 08 Total 156
1 2 3 4 5 6 7 8
S21.1 2-MODE SELECTOR 29 G3 ENERGY BANK 60
EXT-S21.1 2-MODE SELECTOR 31 A34 ETHERNET SWITCH A34 opt. MULTI MOVE 604-1/2 40.1
S21.1 3-MODE SELECTOR 29 A32.1 ETHERNET/IP Fieldbus adapter DSQC 669 Slave 37
EXT-S21.1 3-MODE SELECTOR 31 E2 EXT. COMPUTER FAN opt.708-2 61
G9 POWER SUPPLY Note 1) 59 E2-M1 EXTERNAL COMPUTER FAN 61
A41.3 ADDITIONAL DRIVE UNIT 75 A62 Ethernet switch 41
A41.3 ADDITIONAL DRIVE UNIT 72 A32 Expansion board serie DSQC1003 36
A41.4 ADDITIONAL DRIVE UNIT 72 E1-E41 FAN UNIT 61
A41.5 ADDITIONAL DRIVE UNIT 72 E1-E42 FAN UNIT 61
A41.2 ADDITIONAL RECTIFIER UNIT 72 EXT-ETH_FPU FLEXPENDANT 30.1
O719-I/O.X ANALOGUE I/O UNIT 51 EXT-ETH_FPU-USB FLEXPENDANT 30.1
F1 AUTOMATIC FUSE 63 EXT-T10-ETH_FPU FLEXPENDANT 30.1
F2 AUTOMATIC FUSE 59 E1-E44 Fan unit 61

A42 AXIS COMPUTER BOARD 66 E1-E43 Fan unit 61

I/Ox Analog I/O Add on module 51.1 EXT-T10.1 HOLD TO RUN DEVICE 30.1
R1.1 BLEEDER 72 E3 INTERNAL FAN 61
K44 BRAKE CONTACTOR 63 E3-M1 INTERNAL FAN 61
C1 CAPACITOR 93 A31 MAIN COMPUTER 35
A31-E22 CHASSIS BLOWER 35 A41.1 MAIN SERVO DRIVE UNIT 100
F5 CIRCUIT BRAKER 58 A41 MAIN SERVO DRIVE UNIT 94
OP717_817-I/O.X COMBI I/O UNIT 48 A41.1 MAIN SERVO DRIVE UNIT 66
A43 CONTACTOR BOARD 62 A41.1-6 MAIN SERVO DRIVE UNIT 103
A43 CONTACTOR UNIT 75.1 M140-A41.1 MAIN SERVO DRIVE UNIT 79
S21 CONTROL PANEL 29 M260-A41.1 MAIN SERVO DRIVE UNIT 82
C2 Capacitor 0,47uF 74 M360-A41.1 MAIN SERVO DRIVE UNIT 85
G6 DEVICENET POWER SUPPLY 24 A41.1 MAIN SERVO DRIVE UNIT 120.1
A32.4 DEVICENET IO Fieldbus adapter DSQC 1004 Slave 37 A41.1 MAIN SERVO DRIVE UNIT 121
O716-I/Ox DIG. PART OF COMBI I/O AND DIG. I/O UNIT 46 A41.1 MAIN SERVO DRIVE UNIT 76
OP718_818-I/O.X DIG. PART OF RELAY I/O UNIT 49 A41.1 MAIN SERVO DRIVE UNIT 128.6
OP716_816-I/O.X DIGITAL I/O UNIT 47 Q1 MAINS SWITCH 55
O738-EXT-FMB-A1 DSQC686 VOLTAGE MEASURE BOARD 68 E5 MDU FAN 61
A32 DSQC 1003 37 EXT-A21-S21.2-H1 MOTOR ON (LAMP) 31
A31.2 DeviceNet M/S DSQC1006 39 S21.2-H1 MOTOR ON (LAMP) 29
I/Ox Digital I/O Add on module 47.2 EXT-S21.2 MOTOR ON PB 31
I/Ox Digital I/O Master module 47.1 S21.2 MOTOR ON PB 29
F4 EARTH FAULT BREAKER 58 K42 MOTORS ON CONTACTOR 1 63
EXT-S21.3 EMERGENCY PB 31 K43 MOTORS ON CONTACTOR 2 63
S21.3 EMERGENCY PB 29 M460-A41.1 Main servo drive unit 460 88
O726-I/O.X ENCODER UNIT 53 A41.1-8 Main servo drive unit 4600 115

Sublocation:+
3HAC024480-011 Next 12
Prepared by, date: T Stålnacke 20170317 Approved by, date: Sonny Ögren 20170317 Device list sorted by the Function name 08 Total 156
1 2 3 4 5 6 7 8
OP1-Q1 Main switch circuit breaker 55
EXT-S22 Option HOT PLUG 32
E5-M1 OPTION : INTERNAL FAN 61
P1 OPTION :DUTY TIME COUNTER 62
Z1 OPTION: MAINS LINE FILTER 55
Z3 OPTION: MAINS LINE FILTER IRB8700 55
A23 OPTION:STATUS LED ON FRONT 28.2
S22 Option with HOT PLUG 30
F6 Option: CIRCUIT BRAKER 55
A61 Option: REMOTE SERVICE BOX DSQC680 54
O738-EXT-FMB Option: 738-1 68
A44 EPS 67
A21 PANEL BOARD 26
G2 POWER DISTRIBUTION BOARD DSQC662 60
G1 POWER SUPPLY DSQC661 60

A32.2 PROFIBUS Fieldbus adapter DSQC 667 Slave 37

A31.3 PROFIBUS M 38
A32.3 PROFINET IO Fieldbus adapter DSQC 688 Slave 37
A57 Process Interface Board (PIB) 45
OP1-Z2 REAKTOR UNIT 56
Z2 REAKTOR UNIT 56
O818-RELAY I/O RELAY I/O UNIT 50
K41 RELAY UNIT 59
O721-I/O.X REMOTE I/O UNIT 52
I/Ox Relay I/O Add on module 50.1
EXT-S22-H1 SIGNAL LAMP 32
S22-H1 SIGNAL LAMP 30
H1 STATUS DIOD DRIVE MODULE 63
S1 SWITCH 61
A31.4 Safety Board DSQC1015 38.5
EXT-T10 T10 JOGGING DEVICE 30.1
E1-E41-R1 THERMISTOR 61
E1-E42-R1 Thermistor 61

Sublocation:+
3HAC024480-011 Next 13
Prepared by, date: T Stålnacke 20170317 Approved by, date: Sonny Ögren 20170317 Device list sorted by the Function name 08 Total 156
1 2 3 4 5 6 7 8
230V
F2
XT16
G1
AC
DC
Option Option Option

Devicenet PS Customer PS Customer PS
G3 G2 G6 G4 G5
AC AC AC
Ultra cap DC
DC DC DC
A21 A31
Computer
Panel module
board
I/Ox
I/O
unit
S21
Ethernet service
Control Customer Customer

panel FPU
Field bus
connection connection
Drive
Drive
WAN
USB
LAN

BLOCK DIAGRAM CONTROL MODULE Sublocation:+
Next 14
1 2 3 4 5 6 7 8
-Q1 3 x 200-600VAC
230V
Z1
T1
G1
AC
DC
Z2
G2
DC
Option
Service outlet
F1
A42
AXC
F5 A43
A31
A21 CB K42
F4
Earth K43
fault
prot.
A41
DRIVE
X22
Service
outlet
X1 X2 X1

BLOCK DIAGRAM SINGLE DRIVE MODULE Sublocation:+
Next 15
1 2 3 4 5 6 7 8
-Q1 3 x 200-600VAC
Z1
T1
F2
G1
AC
Z2
DC
Option
Service outlet
F1
A42
AXC
F5 A43
A31
A21 CB K42
F4
Earth K43
fault
prot.
A41
DRIVE
X22
Service
outlet
X1 X2 X1

BLOCK DIAGRAM DRIVE MODULE Sublocation:+
Next 16
1 2 3 4 5 6 7 8
FRONT FRONT VIEW Opt. inside door with I/O and ETHERNET switch
PANEL G4 G5 A34 A31
Q1
E3
S21.3
XT5.3
XT5.3
XT5.3
XT6
XT6
XT6
S21.2 G3
XT5.1
XT5.2
XT5.1
XT5.1
XT5.2
XT5.2
S21.1
A62 or A64 or A65 A62 or A64 or A65
X1 X6
X24 G2
S22
X2
X23 A41
XS4
XT31
XT31
XT31
I/O1
I/O2
I/O3
I/O4
I/O1
I/O2
I/O3
I/O4
I/O5
X2
X3
P1 G1
E5
A62
1541-1/-2 Local I/O layout
X3
X5
X4
X22 X1 1542-1/-2
I/O 2.X5 I/O 1.X5 1543-1/-2
1544-1/-2
XT16
F2 DSQC1030 Opt 1541-1/-2 DSQC1031 Opt 1542-1/-2 DSQC1032 Opt 1543-1/-2 DSQC1033 Opt 1544-1/-2
A41 A41 A41
F1
XS41
XS9
XS5/XS13
XS2
XS3
XP28
XP0 PE XS1 XS7 XS17 XS18

Denomination Unit Pos. No Opt. No
Digital 24 VDC I/O 1-4 716-1
AD Combi I/O I/O 1-4 717-1
Digital with relay I/O 1-4 718-1
Analog 4 in/4 out I/O 1-4 719-1
Profibus DP Slave I/O 1-4 720-1
Interbus-S Slave I/O 1-4 722-1
CC-link slave I/O 1-4 723-1
ENC unit I/O 1-4 726-1
Digital Base 16in/16out I/O 1 1541-1/-2
Digital Add on 16in/16out I/O 2-5 1542-1/-2
Analogue Add on 4in/4out I/O 2-5 1543-1/-2
Relay Add on 8RO/8DI I/O 2-5 1544-1/-2
Ethernet switch A34 604-1/-2
Ethernet switch A62 901-1
FRONT VIEW OF SINGLE CABINET MDU HV Sublocation:+
Next 17
1 2 3 4 5 6 7 8
FRONT VIEW FRONT VIEW

MAIN DRIVE UNIT FOR IRB 120 - 1600 MAIN DRIVE UNIT FOR IRB 2400 - 87XX
LV Low voltage HV High voltage
E3 E3
G3 G3
X1
X6
X7
X1
X2
G2 X16 X15 X14 X2 G2 X6 X7 X14 X15 X2 X16 X1
UPPER SIDE X8
UPPER SIDE X9
X8 and X9 on
X6 the upper side.
X8 UPPER SIDE
X9 UPPER SIDE
X7 A41.1
G1 A41.2 G1
A41.1
X21
X22
X23
X13 X11 X12 X21 X11 X22 X12 X23 X13
X2 X2 X2 X2 X2 X2
X1 X1 X1 X1 X1 X1
F2 X6 X6 X6 F2 X6 X6 X6
A41.3 X7 A41.4 X7 A41.5 X7 A41.3 X7 A41.4 X7 A41.5 X7
F1 X8 X8 X8 F1 X8 X8 X8
X9 X9 X9 X9 X9 X9
X4
X9
STATUS X7
G2 LED LABEL
X6
X5
X1 X3
X8 X2

FRONT VIEW OF SINGLE CABINET MDU LV and HV Sublocation:+
Next 18
1 2 3 4 5 6 7 8
LEFT VIEW WITH LEFT VIEW RIGHT VIEW

FLANGE DISCONNECT
Q1
Q1 A21
E2
G6
G6 F6
A42
Z1 E1
X31/X32
F4 XS10
K42
K43
R1
K44 F5
XS22
T1
A43
Z2 A44

SIDE VIEWS OF SINGLE CABINET Sublocation:+
Next 19
1 2 3 4 5 6 7 8
LEFT FRONT FRONT RIGHT

VIEW PANEL VIEW VIEW
F6
ROOF-MOUNTED
Q1
Q1
E1
A42
Z1 H1 G9
F4 P1 G1
K43
K42
K44 F5 A41.1
X22
R1
T1
K41
A41.3 A41.4 A41.5
A43 F2
F1 A44
XS41
XS2
XP0 XS1 PE XS7 COMMUNICATION DRIVE MODULE

AND CONTROL MODULE

VIEW OF DRIVE MODULE CABINET Sublocation:+
Next 20
We reserve all rights in this document and in the information contained therein.Reproduction, use or 1 2 3 4 5 6 7 8
PANEL
BOARD
A21
RL1 RL2
X12
X20 X5
X7 X8
X6
X15
RL3
X11 X14 X17
X18
X1
X10
RL4
X9 X2

VIEW OF PANEL BOARD Sublocation:+
Next 21
1 2 3 4 5 6 7 8
A42 Axis computer unit A43 Contactor unit A44.2 Safe move
X1 X7 X5 X9 X11 X6 X4 DSQC 647

24V Drive
X22
X4 X3
X8
X21
Measurement link 2 X5 X12
X24 Out
X11
X23
X10
In X9
X1 X10 X12
Relay output pair 1/2 X13
A44.1 EPS unit

Computer module link X2 DSQC 646
X1 Drive power supply
Drive link X11

X5
Contactor bord link X6

X6 Control signal
Drive power
X5 X6
supply
X4 LINK 1 LINK 1
Console port
X3
Process I/O LINK 2 LINK 2
X9
X9 X1 X7 X8 X4 X3

VIEW OF CONTACTOR & AXIS COMPUTER UNIT Sublocation:+
Next 22
1 2 3 4 5 6 7 8
-CONTROLLER Option: 738-1 -MANIPULATOR

-FMB
Reference to
circuit diagram 1) FMB.XP2 Bridge connector if no other option.
FMB
1) FMB.XP2 FMB.XS2
(FMB.X2) (FMB.X2) DSQC686 FMB.X3
FMB.A1.X2
R1.SMB FMB.X1 FMB.A1.X1

XP2 SMB
XS41

VIEW OF VOLTAGE MEARSUREMENT BOX Sublocation:+
Next 23
1 2 3 4 5 6 7 8
Cabinet Cabinet
wall wall
(( ))
XS0
-PE / PE
1 GN/YE AWG 7/(10mm2) (54) -XS18
/ 2 PE connection (54.1)
/ XS18
L1
(55) / XS0 L1 -L:1
L2 Mains power connection
(55) / XS0 L2 L3
-L:2
(55) / XS0 L3 -L:3
Option: Remote service 890-1

Power cable (76) (85) (93) (97) (104) (115) (120.5)
Cross ref (79) (86) (93.5) (98) (106) (116) (121)
-XS1/XP1 / (80) (88) (93.6) (100) (107) (120.1) (122)
XS1/XP1 (82) (89) (94) (101) (112) (120.2) (128.5)
(83) (92) (95) (103) (113) (120.4) (128.7)
-XP23
(77) (93) (104) (120.5) SERVICE PORT
(35) (41) (54) (54.1) / -XP23.1
SMB cable (80) (93.6) (107) (122)
(35) (41) (54) (54.1) / -XP23.2
1
-XS2/XP2 Cross ref (83) (95) (113) (128.7) /
(86) (98) (116) 2 SERVICE PORT
(35) (41) (54) (54.1) / -XP23.3
XS2/XP2 (89) (101) (120.2) 3

(35) (41) (54) (54.1) / -XP23.6

6
(43) / 7.TXRX+
XS3/XP3 External Customer
(43) / 7.TXRX-
sheet 33 (43) / 7.RXTX+
(43) / 7.RXTX-
Internal customer
XS5/XP5 connection -XP28
sheet 78, 81,84,87,87.1,93.7,96,102,105,114 Option: External WAN, Ethernet IP or ProfiNet
(36) / -1.XP28.1 1
(36) / -1.XP28.2
2
(36) / -1.XP28.3
3
(36) / -1.XP28.6
6
XS7/XP7 External Axes
sheet 74, 75, 75.1
-XS41
(67) (70) / MRCO2
Option: Ethernet IP or ProfiNet -XS9 A
(36) (36) / -2.BI_DA+ 5.TXRX+ / (111) (120) (120.7) (67) (70) / MRCO2_N
1 B
(36) (36) / -2.BI_DB+ 5.RXTX+ / (111) (120) (120.7)
(36) (36) / -2.BI_DA- 2
5.TXRX- / (111) (120) (120.7) (67) (70) / MRCI2
(36) (36) / -2.BI_DB- 3 C
5.RXTX- / (111) (120) (120.7)
4 (67) (70) / MRCI2_N
D / FMB (68)
Internal customer (67) (70) / MRC_0V4

E
XS13/XP13 connection Ext.SMB
(67) (70) / 24V_SMB2
sheet 90,91,108-111,117-120. F
-XS17 (67) (70) / MRC_0V5 G

(67) (70) / MRC_0V6
(39) / XS17.3 J
3 Option: DeviceNet on front 730-1
(39) / XS17.5
5
(39) / XS17.1 Cooling axes 1 and 2
1
XS58/XP58 Sheet 123
(39) / XS17.4
4
(39) / XS17.2
2

CONTACT AT THE CABINET WALL Sublocation:+
Next 24
/ +24V CustomerConn
1
Latest revision:
/ 0V CustomerConn
-XT31
1
Prepared by, date:T Stålnacke 20170317

(41) / XT31:1
(43) +24V I/O.1 / (60)
1
(44)
(51.4)
(41) /
2
XT31:5
(43)
(44)
G2
3
(51.4)
2
(43) /
4
1.XT31:2
0V I/O.1 / (60)
5
(43) / 2.XT31:2
5
6
(43) /
G4
1.XT31:6
Approved by, date:Sonny Ögren 20170317

(43) / 2.XT31:6
POWER
SUPPLY
CUSTOMER
3
-X1
-X2
-295 AWG16 BU -230V AC1.12 / (60)

AC
AC
24
-230V AC2.12 / (60)

DC
AC
24
-296 AWG16 BU
0
AWG16 GNYE
24V
0
GND
4
Customer
Connection
8
G5
0V
9
POWER
SUPPLY
PRN
CUSTOMER
10
-X1
Lab/Office:
-X2
DMRO SE/
-_295 AWG16 BU -230V AC1.13 / (60)
AC
AC
24
-230V AC2.13 / (60)

DC
AC
24
5
-_296 AWG16 BU
0
AWG16 GNYE
0
-703 AWG20
-704 AWG20
GND
BU
BU
(40) / -+24Vdevicenet.1
(40) / -0Vdevicenet.1
IRC5 DESIGN 14 Rel: 17.1
G6
6
POWER
SUPPLY
DEVICENET
-X1
-X2
-297 AWG16 BU -230V AC1.11 / (60)

L
AC
24
(51) / -+24Vdevicenet.4 -230V AC2.11 / (60)

DC
N
24
OPT:POWER SUPPLY DSQC609 XT31, G4, G5, G6
-298 AWG16 BU
0
(52) / -+24Vdevicenet.5 AWG16 gnye

0
GND
Status:
7
Approved
Document no.
(54) (54.1) / +24V Res

(54) (54.1) / -0V ReS
3HAC024480-011
Plant:
Sublocation:+
Location: +
=
8
Next 25
Rev. Ind Page24
08 Total 156
1 2 3 4 5 6 7 8
Block diagram for the Run chain in A21 Panel board and S21 Control Panel with Options.
2Cross reference / (28) 3Cross reference to S.21 / (29)
CONTROL MODULE CABINET CONTROL PANEL OPTION

-S21.1 (2 OR 3-MODE SELECTOR) OPTION TERMINAL
A21 PANEL BOARD S21.XS1 S21.XP1
Customer connection
X9
3Cross reference to S.21 / (29)
S21.2 MOTOR ON PB
3Cross reference to S.21 / (29)

6Cross reference to XS.4 / (30)
S21.3 EMERGENCY STOP PB
FLEX PENDANT
XS4
4Cross reference to DP.1 / (30)
5Cross reference hot plug S.22 / (30)
DP1-DP2 double press
Option Hot plug
X10
9Cross reference to A31.X3 / (35)
MAIN COMPUTER
A31.X3
Block diagram for the Run chain and External Control Panel with Options.
2Cross reference / (28) 1Cross reference to EXT S21 / (31)
CONTROL MODULE CABINET EXTERNAL CONTROL PANEL

OPTION
EXT-S21.1 (2 OR 3-MODE SELECTOR) OPTION TERMINAL
A21 PANEL BOARD EXT.S21.X1 EXT-S21.XP1
Customer connection
X9
1Cross reference to EXT S21 / (31)
EXT.S21.2 MOTOR ON PB
1Cross reference to EXT S21 / (31)

6Cross reference to XS.4 / (30)
EXT.S21.3 EMERGENCY STOP PB
FLEX PENDANT
XS4
7Cross reference to DP.3-4 / (32)
DP3-DP4 double press
8Cross reference to Ext Hot Plug S.22 / (32)
X10
9Cross reference to A31.X3 / (35)
MAIN COMPUTER
A31.X3
RUN CHAIN block diagram in PANEL BOARD A21 Sublocation:+
and CONTROL PANEL S21 Document no. Rev. Ind Page25
Next 26
1 2 3 4 5 6 7 8
PANEL BOARD Sh. 1 of 4
-A21
-X1
ES1 top RCH1.2 / (28)
3
FPU
-X2
JUMPER
ES2 top RCH2.2 / (28)
2. See pages(28.1)
JUMPER
EXTERNAL 0V 0V
Software based EMERGENCY 24V Panel 4
24V PANEL
Mode Selector STOP PB
4
internal safety
Run CH1 top

5
Run CH2 top
5
(38.5)/ A21X1.1 EMERGENCY ES1OUT:A

1
STOP OUTPUT 1 ES2 OUT:A
OPTION: EXTERNAL CONNECTIONS
(38.5) / A21X2.1
1
(38.5) / A21X2.2 EMERGENCY ES2 OUT:B

2
(38.5) / A21X1.2 STOP OUTPUT 2 ES1OUT:B EXTERNAL
2
CONTROL
Sep ES2:A / RunCh_0V.1 (28) PANEL
9
Sep ES1:A / RunCh+.1 (28) EM. PB
9
-ES1 -ES2
JUMPER
JUMPER
U U
Sep ES1:B
10
Sep ES2:B
10
ES2 bottom
JUMPER
7
EXTERNAL ES1 bottom
JUMPER
7
SUPPLY 0V
8 RunCh+
24V Panel RunCh+
8
SOFT_ESO
24V PANEL
SOFT_ESI
0V
ES1:int
EMERGENCY STOP 6
(27) / -RunCh+
(27) / -RunCh_0V
(27) / -RCH2
(27) / -RCH1
RELAY SIGNALS ES2:int
6
ES1 ES2

RUN CHAIN and PANEL BOARD A21 Sh. 1 of 4 Sublocation:+
Next 27
1 2 3 4 5 6 7 8

-A21
(28) / -SPEED
-X7
RUN CH1 -RUN_CH1 / (62)
/ (26)
1
AUTO STOP 0V RUN CH1Ret -RUN_CH1Ret / (62)
24V PANEL
A43.X1
Drive module1
2
/ (28)
/ (28)
/ (26)
/ (26)
-X5
/ (26)
-RunCh_0V
RUN CH2Ret -RUN_CH2Ret / (62)
/ (28)
/ (28)
JUMPER 24V PANEL
12 4
JUMPER 24V PANEL 24V PANEL RUN CH2 -RUN_CH2 / (62)
-MAN2
-MAN1
-RCH2
-RCH1
-RunCh+
6 3
JUMPER 0V SPEED -SPEED.1 / (62)
-EN2
-EN1
7 5
JUMPER 0V 0V -0V / (62)
1 6
ENABLE2_1 -ENABLE2.1 / (62)
7
AS1+ ENABLE2_1Ret -ENABLE2_1Ret / (62)
11 8
AS1 AC_ON1 AC_ON.1 / (59)
9
AS1 0V 0V.1 / (59)
& 10
1.See pages (28.1)
AS1-
AS2+ 9 AS2 SOFT AS

5 -X8
RUN CH1
1
AS2 0V RUN CH1Ret
GENERAL STOP 2
RUN CH2Ret
4
AS2- 24V PANEL RUN CH2 BU
3 3
GS1+ GS1 SPEED
10 5
0V if not used Drive
6
GS1 ENABLE2_2
Option: External Enable Device
7 module2
& ENABLE2_2Ret BU
A43.X1
8
AC_ON1 if not used
9
GS1- SOFT GS 0V
8 10
GS2+ GS2
4
-X14
GS2 RUN CH1
1
0V RUN CH1Ret
2
GS2- CH1 RUN CH2Ret

4
2 24V PANEL RUN CH2
3
CH2 SPEED
-X6 5
SUPERIOR STOP JUMPER 24V PANEL 0V if not used Drive
6
JUMPER 6 0V ENABLE2_3 module3
7
(38.5)/ A21X6.4
290 AWG BU SS1+ 1 SS1 ENABLE2_3Ret BU
A43.X1
8
4 AC_ON1 if not used
9
SS1 0V
10
-X17
(38.5) / A21X6.2 291 AWG BU SS1- SOFT SS RUN CH1
1
(38.5)/ A21X6.5
292 AWG BU SS2+ 2 SS2 0V RUN CH1Ret
5 2
SS2 RUN CH2Ret

4
24V PANEL RUN CH2 BU
3
SPEED
5
A21X6.3
(38.5) /
293 AWG BU SS2- 0V if not used Drive
6
ENABLE DEVICE
EN1_1A 3
EN1_1A.1 / (28) ENABLE2_4 module4
Software based 7
EXTERNAL
EN1_1B 7 ENABLE2_4Ret BU
A43.X1
Mode Selector EN2_1B 8 8
AC_ON1 if not used
internal safety EN2_1A 9 9
0V
EN2_1A.1 / (28)
10
10

Next 28
1 2 3 4 5 6 7 8
(25)
X9 and X10 2Cross reference /
(25) to board A21 blockdiagram.
A21
(27) / SPEED 1
-X9
24V PANEL
A21X9:1 / (29) (31)
(27) / -EN2
1 AUTO2
A21X9:2 / (29) (31) (38.5)
(27) / -MAN2
2 MAN2
A21X9:3 / (29) (31) (38.5)
3 MAN FS2
A21X9:4 / (29) (31) (38.5)
4 0V
A21X9:5 / (29) (31)
(27) / -EN1
5 AUTO1
A21X9:6 / (29) (31) (38.5)
(27) / -MAN1
6 MAN1
A21X9:7 / (29) (31) (38.5)
7 MAN FS1
A21X9:8 / (29) (31) (38.5)
8 24V PANEL
A21X9:9 / (29) (29)
9 MOTON
A21X9:10 / (29) (29)
10 ES PANEL 2B
A21X9:11 / (29) (29)
11 ES PANEL 2B
(26) / RunCh_0V.1 A21X9:12 / (29) (29)
12 ES FPU2A
A21X9:13 / (29) (29)
13 ES FPU2A
A21X9:14 / (29) (29)
14 ES PANEL 1B
A21X9:15 / (29) (29)
15 ES PANEL 1B
(26) / RunCh+.1 A21X9:16 / (29) (29)

16 ES FPU1A
A21X9:17 / (29) (29)
17 ES FPU1A
A21X9:18 / (29) (29)
-X12 18 MONLMP
1
A21X9:19 / (29) (29)
(28.2) / +24VSYS.1 250 AWG18 BU 24V SYS 24V FPU POWER 19
(28.2) / -0VSYS.1 251 AWG18 BU 2 0V SYS -PE1 GN/YE EARTH GN/YE -PE1
(28.2) / +24VCOOL8.2 252 AWG20 BU 3 24V PANEL EARTH
(28.2) / 0VCOOL8.2 253 AWG20 BU 4
-X10 24V FPU BK

1 24VFPUPOWER / (30) (32)
0V BN
2 0VPANELB / (30) (32)
(27) / EN1_1A.1
EN1_1 RD
3 EN1_1 / (30) (30) (32)
(27) / EN2_1A.1
EN2_1 OG
4 EN2_1 / (30) (30) (32)
(26) RCH1.2 /
YE
5 1.-ESFPU1:A / (30) (30) Connected If
GN
Jumper removed 1.-ESFPU1:B / (30) (30)
6
when option BU Internal Control Panel.
(26) RCH2.2 /
7 1.-ESFPU2:A / (30) (30)
Internal Control Panel VT if internal Hot plug.
8 1.-ESFPU2:B / (30) (30)
9 AWG20 BU
EXT.PANEL
24V PANEL AWG24

-X11
-X15 1
OP_COM
1 2
OP_MAN 24V PANEL WHGN +24V_Sig.ref. / (35)
3 3 BU -RS485+ / (35)
4 WHBU -RS485- / (35) MAIN A31.X7
OP_AUTO 5
COMPUTER
2 6
OP_MAN_FS WHBN -0V_Sig.ref. / (35)
4 7
8
-A21-X20 -X20
1 1
(28.2) / X20:1
2 2 -X18
(28.2) / X20:2
4 4 RS485+ 24V COOL
(28.2) / RS485+.1 24VCOOL / (61)
5 5 2
(28.2) / RS485-.1 RS485-
3 3 24V DC EXTERNAL TACHO
(28.2) / 24 DC.1 TACHO / (61)
6 6 3
(28.2) / X20:6 COMPUTER
7 7 0V
(28.2) / 0V.2 FAN
8 8 FAN 0V
(28.2) / X20:8 FAN 0V / (61)
1

Next 28.1
1 2 3 4 5 6 7 8

PANEL BOARD PANEL BOARD
2.See pages / (26)
-A21 1.See pages / (27)
-A21
-PE -XS/XP3
AWG16 GN/YE
-X5 -XS/XP3
-X1 -260 -272
ES1 bottom AWG16 OG AWG20 BU 24V PANEL AWG20 BU AWG20 BU
7 A1 12 C1
-X2 -261 -273
ES2 bottom AWG16 OG AWG20 BU AS1+ AWG20 BU
7 B1 11 C2
24V PANEL -262 AWG20 BU AS1- -274 AWG20 BU AWG20 BU
8 B2 9 C3
0V -263 AWG20 BU 0V -275 AWG20 BU
8 A2 7 C4
24V PANEL -264 AWG20 BU AWG20 BU AWG20 BU
4 A3 C5
Run CH1 top GS1+ -276 AWG20 BU
5 10 C6
Run CH2 top GS1- -277 AWG20 BU AWG20 BU
5 8 C7
0V -265 AWG20 BU AWG20 BU
4 B3 C8
ES2 top -266 AWG16 OG 24V PANEL -278 AWG20 BU AWG20 BU

3 B4 6 D1
ES1 top -267 AWG16 OG AS2+ -279 AWG20 BU
3 A4 5 D2
Sep ES1:A -268 AWG16 OG AWG20 BU AS2- -280 AWG20 BU AWG20 BU
9 A5 3 D3
Sep ES2:A -269 AWG16 OG AWG20 BU 0V -281 AWG20 BU
9 B5 1 D4
Sep ES2:B -270 AWG16 OG AWG20 BU
10 B6 D5
Sep ES1:B -271 AWG16 OG GS2+ -282 AWG20 BU
10 A6 4 D6
ES1 OUT A -284 AWG16 OG 1) GS2- -283 AWG20 BU AWG20 BU
1 A7 2 D7
ES1 OUT B 285 AWG16 OG 1)
2 A8 D8
286 1) -X6
ES2 OUT A AWG16 OG
1 B7 -289 AWG20 BU AWG20 BU
ES2 OUT B 287 AWG16 OG 1) 1 A10

2 B8 0V -291 AWG20 BU
2 B10
SS1- -293 AWG20 BU 1)
3 C10
SS2- -290 AWG20 BU 1)
4 B9
SS1+ -292 AWG20 BU 1)
287 AWG20 BU
286 AWG20 BU
285 AWG20 BU
284 AWG20 BU
5 C9
SS2+ -288 AWG20 BU 1) AWG20 BU
6 A9
24V PANEL
7
A21X2:2
A21X2:1
A21X1:2
A21X1:1
A21X6:5
A21X6:4
A21X6:3
A21X6:2
8
9
(38.5) /
(38.5) /
(38.5) /
(38.5) /
(38.5) /
(38.5) /
(38.5) /
(38.5) /
10
Option: External Option: External

1) NO CONNECTION IF SAFETY BOARD DSQC 1015 (A31.4)
Software based Mode switch Software based Mode switch
DMRO SE/ IRC5 DESIGN 14 Rel: 17.1 +
PRN Approved Location:
PANEL BOARD A21 Sh. 4 of 4 Sublocation:+
Opt:EXT.CUSTOMER. CONNECT. SYSTEM SIGNALS Document no. Rev. Ind Page28.1
Next 28.2
1 2 3 4 5 6 7 8
-A21.X12
(60) / +24VSYS 1 Connection alt. 1
+24VSYS.1 / (28)
(60) / -0VSYS 2 Standard
3
0VSYS.1 / (28)
(60) / +24VCOOL8 +24VCOOL8.2 / (28)
(60) / 0VCOOL8 4
Connection alt. 2 0VCOOL8.2 / (28)
Software based Opt. Safety module
Mode Selector DSQC1015 595 AWG20 BU
A31.4X1.1 / (38.5)
internal safety 596 AWG20 BU
A31.4X1.2 / (38.5)
-A21.X21.1 -A21.X12
1 597 AWG16 BU 1 Y1 1
2 598 AWG16 BU 1 2
3 599 AWG16 BU Y2 3
4 600 AWG16 BU 4
+24VCOOL8.1 / (61)
0VCOOL8.1 / (61)
Connection alt. 3
-XP12 Opt. 52 degree -A21.XS12
1 fan panel board. 250 AWG18 BU 24V SYS 1
2 251 AWG18 BU 0V SYS 2

3 252 AWG20 BU 3
4 253 AWG20 BU 4
Connection alt. 4
Opt. Safety module DSQC1015
and Opt. 52 degree fan panel board. 595 AWG20 BU
Software based A31.4X1.1 / (38.5)
596 AWG20 BU
Mode Selector A31.4X1.2 / (38.5)
internal safety
+24VCOOL8.1 / (61)
-A21.X12 -XP12 0VCOOL8.1 / (61)
-A21.X21.1 -A21.X12
1 597 AWG16 BU 1 Y1 1 1 250 AWG18 BU 24V SYS 1
2 598 AWG16 BU 1 Y2 2 2 251 AWG18 BU 0V SYS 2
3 599 AWG16 BU 3 3 252 AWG20 BU 3
4 600 AWG16 BU 4 4 253 AWG20 BU 4
OPTION:STATUS
LED ON FRONT
-A23 -ES2
-ES1
-SUP_ST2
-X2 AWG26
WHBN
-SUP_ST1 1
X20:1 / (28)
BN
2 X20:2 / (28)
WHOG RS485+ RS485+.1 / (28)
-GS2 4 OG RS485- RS485-.1 / (28)
5 BU 24V DC 24DC.1 / (28)
-GS1 3 WHBU
6 X20:6 / (28)
WHGN 0V 0V.2 / (28)
-AS2 7 GN
8 X20:8 / (28)
-AS1
-ENABLE1

Opt. LED on front; Software based Mode Selector Sublocation:+
Internal safety harness Document no. Rev. Ind Page28.2
Next 29
1 2 3 4 5 6 7 8
(25)
3Cross reference to S.21 / (25) CONTROL PANEL
(25) -S21
Option:Run chain Operating, 2 Mode Selector

-S21.1-XS1 -S21.1-XP1
(28) / A21X9:3 -222 AWG20 -241 EXT.AUTO1
EXT.AUTO1 / (29)
(28) / A21X9:2 -221 AWG20 -240 EXT.MAN1 7 7
EXT.MAN1 / (29)
-226 AWG20 -245 EXT.AUTO2 6 6
(28) / A21X9:7 3 EXT.AUTO2 / (29)
(28) / A21X9:6 -225 AWG20 -244 EXT.MAN2 3
EXT.MAN2 / (29)
AUTO
AUTO
2 2
MAN
MAN
2-MODE SELECTOR
S21.1
1 3 5 7 9 11 13 15
OPTION Hardware based Mode switch
24V COMMON_CH1 / (38.5)
2 6 10 14 0V COMMON_CH2 / (38.5)
-246 EXT.COMMON2
EXT.COMMON2 / (29)
-224 AWG20 -242 EXT.COMMON1 4 4
(28) / A21X9:5 8 EXT.COMMON1 / (29)
(28) / A21X9:1 -220 AWG20 8
Option:Run chain Operating, 3 Mode Selector

-S21.1-XS1 -S21.1-XP1
(28) / A21X9:8 -227AWG20 -245 EXT.AUTO2

EXT.AUTO2 / (29)
-244 EXT.MAN2 3 3
EXT.MAN2 / (29)
-243 EXT MAN FS2 2 2
EXT.MAN FS2 / (31)
-223AWG20 -241 EXT.AUTO1 1 1
MAN 100%
MAN 100%
(28) / A21X9:4 EXT.AUTO1 / (29)
-240 EXT.MAN1 7 7
EXT.MAN1 / (29)
AUTO
AUTO
-239 EXT MAN FS1 6 6
MAN
MAN
5 5
EXT.MAN FS1 / (31)
3-MODE SELECTOR
-XS/XP37 -S21.1 6 12 10 2 4 8 18 22 24 14 16 20
-588 AWG20 BU 1 OPTION Hardware based Mode switch
(28) / A21X9:9 24V COMMON_CH1 / (38.5)
-589 AWG20 BU 2 5 1 17 13
(28) / A21X9:10 0V COMMON_CH2 / (38.5)
-590 AWG20 BU 11
(28) / A21X9:19
(28) / A21X9:17
-586 AWG20 OG 9 -237 AWG20 OG ES panel 1:A -242 EXT.COMMON1
EXT.COMMON1 / (29)
(28) / A21X9:18
-587 AWG20 OG 10 -238 AWG20 OG ES panel 1:A -246 EXT.COMMON2 8 8
EXT.COMMON2 / (29)
-582 AWG20 OG 5 -233 AWG20 OG ES panel 2:A 4 4
(28) / A21X9:13
-583 AWG20 OG 6 -234 AWG20 OG ES panel 2:A
(28) / A21X9:14
-580 AWG20 OG 3 -231 AWG20 OG ES panel 2:B
(28) / A21X9:11
-581 AWG20 OG 4 -232 AWG20 OG ES panel 2:B
(28) / A21X9:12
-584 AWG20 OG 7 -235 AWG20 OG ES panel 1:B Software based XP37
(28) / A21X9:15 Connected jumper when no
-585 AWG20 OG 8 -236 AWG20 OG ES panel 1:B Mode Selector EMERGENCY PB
(28) / A21X9:16 Emergency Stop on Panel.
internal safety S21.3 1
2
(28) / A21X9:17 -237 AWG20 ES panel 1:A 21 22 11
(28) / A21X9:18 -238 AWG20 ES panel 1:A 9
(28) / A21X9:13 -233 AWG20 ES panel 2:A 11 12 10
(28) / A21X9:14 -234 AWG20 ES panel 2:A 5
(28) / A21X9:11 -231 AWG20 ES panel 2:B 6 -591 AWG20 OG

8
MOTOR ON PB
S21.2
(28) / A21X9:10 -229 AWG20 14 13
(28) / A21X9:19
-230 AWG20 X2 X1
(28) / A21X9:9
-228 AWG20 -PE1
-PE1 GN/YE GN/YE

RUN CHAIN S21, EM.STOP, 2 & 3 MODE SELECTOR, Sublocation:+
SOFTWARE MODE SWITCH Document no. Rev. Ind Page29
Next 30
1 2 3 4 5 6 7 8
4Cross reference to DP.1 / (25) Option with HOT PLUG

-S22 CONTROLLER
5Cross reference hot plug S.22 / (25)
6Cross reference to XS.4 / (25) (25) -H1
BU1 SIGNAL LAMP
64 63 X1 X2
14 13
53 54
1) Connect to XS4 when option

External Control Panel.
YE -209 BU
(28) / 1.-ESFPU1:A
BU -211 BU
(28) / 1.-ESFPU2:A
VT -212 BU
(28) / 1.-ESFPU2:B
GN -210 BU
(28) / 1.-ESFPU1:B
(28) / -EN1_1 RD 21 22 -207 BU
(28) / -EN2_1 OG 41 42 -208 BU

-XP4
RunCh0V
RunCh1
5
-XS4
Without hot plug. 1) 6
YE 3
(28) / 1.-ESFPU1:A 2.ESFPU1.A / (30.1)
4
BU 5
(28) / 1.-ESFPU2:A 2.ESFPU2.A / (30.1)
VT 6
(28) / 1.-ESFPU2:B 2.ESFPU2.B / (30.1)
GN 4
(28) / 1.-ESFPU1:B 2.ESFPU1.B / (30.1)
(28) / -EN1_1 RD 7
2.EN1.1 / (30.1)
(28) / -EN2_1 OG 17
2.EN2.1 / (30.1)
205 1 AWG20 BU
2.24VFPUPOWER / (30.1)
-24VFPUPOWER BK 2 -Y.1
A21-X10
(28) /
BOARD
PANEL
205 12 AWG20 BU With Standard flexpendant cable
206 2 AWG20 BU
2.0VPANELB / (30.1)
(28) / -0VPANELB BN 2 -Y.2
206
???? 8 AWG20 BU
(35) / -TD+ AWG24 4x2 SFTP OG 13

2.TD+ / (30.1)
COMPUTER
(35) / -TD- WHOG 14

2.TD- / (30.1)
A31.X3
(35) / -RD+ GN 15
2.RD+
MAIN
/ (30.1)
(35) / -RD- WHGN 16

2.RD- / (30.1)

FPU, FLEXPENDANT and option HOT PLUG Sublocation:+
Next 30.1
1 2 3 4 5 6 7 8
HOLD TO RUN DEVICE

-EXT-T10.1
EMERGENCY-STOP
A -K1
D
Option: 983-1 Hold to run device
E
EN-DEVICE
FLEXPENDANT -K2
G
-ETH_FPU
-EXT-XP4
I
EMERGENCY-STOP
A B C D E F G H I J
(30) 3 -K1
(32)
/ 2.ESFPU1.A
(30) 5
/ 2.ESFPU2.A
(32)
(30) 6
(32)
/ 2.ESFPU2.B
(30) 4
(32)
/ 2.ESFPU1.B
(30) 7 T10 JOGGING DEVICE
/ 2.EN1.1
(32) -EXT-T10
(30) 17
(32)
/ 2.EN2.1 EMERGENCY-STOP
(30) 1
/ 2.24VFPUPOWER EN-DEVICE
(32) A
-K1
12 -K2 B
(30) 2 C
(32)
/ 2.0VPANELB
D
8
(30) 13 -ETH_FPU-USB Option: 976-1 T10 Jogging device

(32)
/ 2.TD+
E
(30) 14 F
(32)
/ 2.TD-
(30) 15 G
/ 2.RD+ EN-DEVICE
(32)
(30) 16 H -K2
(32)
/ 2.RD-
I
-ETH_FPU

Location: +
PRN
FPU, FLEXPENDANT and Opt. HOLD TO RUN DEVICE Approved Sublocation:+
T10 JOGGING DEVICE Document no. Rev. Ind Page30.1
Next 30.2
1 2 3 4 5 6 7 8
Harness: 3HAC055665-002,-003,-004
CONTROLLER
Opt 784 Extended flexpendant cable

15m, 22m, 30m FLEXPENDANT
-ETH_FPU
-XS4 -XP4
EMERGENCY-STOP
3 3 WH/RD-RD (2x) AWG23 3 Standard Flexpendant cable -K1
5 5 WH/OG-OG (2x) AWG23 5
6 6 WH/BN-BN (2x) AWG23 6
4 4 WH/BK-BK (2x) AWG23 4
7 7 BU6 AWG26 7
17 17 WH5 AWG26 17
1 1 OG8 0,5mm² 1
EN-DEVICE
12 12 OG9 0,5mm² 12 -K2

2 2 OG 0,5mm² 2
8 8 OG7 0,5mm² 8
13 13 YE4 AWG26 13 -ETH_FPU-USB
14 14 OG3 AWG26 14
15 15 WH1 AWG26 15
16 16 BU2 AWG26 16

FPU, Extended FLEXPENDANT cable 15 - 30 m Sublocation:+
Next 31
1 2 3 4 5 6 7 8
1Cross reference to EXT S21 / (25) (25) (25)
EXT.CONTROL PANEL Sh.1 of 2

-EXT-S21
Option:Run chain Ext Operating, 2 Mode Selector
-EXT-S21.1-XS1 -EXT-S21.1-XP1
RD -222 AWG20 -241 EXT.AUTO1
(28) / A21X9:3 EXT.AUTO1 / (31)
BN -221 AWG20 -240 EXT.MAN1 7 7
(28) / A21X9:2 EXT.MAN1 / (31)
BU -226 AWG20 -245 EXT.AUTO2 6 6
(28) / A21X9:7 EXT.AUTO2 / (31)
GN -225 AWG20 -244 EXT.MAN2 3 3
(28) / A21X9:6 2 2 EXT.MAN2 / (31)
2-MODE SELECTOR
1 3 5 7 9 11 13 15
-EXT-S21.1 OPTION
2 6 10 14
-246 EXT.COMMON2
EXT.COMMON2 / (31)
YE -224 AWG20 -242 EXT.COMMON1 4 4
(28) / A21X9:5 EXT.COMMON1 / (31)
BK -220 AWG20 8 8
(28) / A21X9:1
Option:Run chain Ext Operating, 3 Mode Selector

-EXT-S21.1-XS1 -EXT-S21.1-XP1
VT -227AWG20 -245 EXT.AUTO2 GN/OG
(28) / A21X9:8 3 EXT.AUTO2 / (31)
-244 EXT.MAN2 3 GN/RD
EXT.MAN2 / (31)
-243 EXT MAN FS2 2 2 GN/BK
EXT.MAN FS2 / (29)
OG -223AWG20 -241 EXT.AUTO1 1 1 GN/GY
(28) / A21X9:4 EXT.AUTO1 / (31)
-240 EXT.MAN1 7 7 BN/VT
EXT.MAN1 / (31)
-239 EXT MAN FS1 6 6 BN/BU
3-MODE SELECTOR 5 5
EXT.MAN FS1 / (29)
6 12 10 2 4 8 18 22 24 14 16 20
-EXT-S21.1 OPTION
5 1 17 13
-242 EXT.COMMON1 BN/WH

EXT.COMMON1 / (31)
-246 EXT.COMMON2 8 8 GN/BU
4 4
EXT.COMMON2 / (31)
MOTOR ON PB
-EXT-S21.2
WH -229 AWG20 14 13
(28) / A21X9:10
(28) / A21X9:19
WH/BK -230 AWG20 X2 X1 EMERGENCY PB
(28) / A21X9:9
GY -228 AWG20 -EXT-S21.3
-DP6 -237 AWG20 ES panel 1:A 21 22
DP6 / (32) 1 -238 AWG20 ES panel 1:A
-DP5 -233 AWG20 ES panel 2:A 11 12
DP5 / (32) 1 -234 AWG20 ES panel 2:A

WH/BN -231 AWG20 ES panel 2:B
(28) / A21X9:11
WH/RD -232 AWG20 ES panel 2:B
(28) / A21X9:12
WH/GN -235 AWG20 ES panel 1:B
(28) / A21X9:15
WH/BU -236 AWG20 ES panel 1:B
(28) / A21X9:16
-PE1 GN/YE GN/BN GN/YE -PE1
GN/WH

RUN CHAIN A21, EXTERNAL EMERGENCY STOP, Sublocation:+
EXTERNAL 2 AND 3 MODE SELECTOR Document no. Rev. Ind Page31
Next 32
1 2 3 4 5 6 7 8
8Cross reference to Ext Hot Plug S.22 / (25)
Option:Hot plug from Rel.11.1 EXT.CONTROL PANEL Sh.2 of 2

7Cross reference to DP.3-4 / (25)
-EXT-S21
Option HOT PLUG

-EXT-S22
SIGNAL LAMP
-H1
W529
64 63 x1 x2 213
W525/BU 14 13 W526
W527/BU 53 54 W528
W521 22 21 W522
W523 42 41 W524
521 AWG20 BU Without hot plug

523 AWG20 BU
XP100 5 7 1 3 4 2 8 6
-XP100 1 3 4 2
XS100 5 7 1 3 4 2 8 6
-495 AWG20 BU
-500 AWG20 BU
-497 AWG20 BU
-496 AWG20 BU
AWG20 AWG20
-XS4
BN/BK -DP1 24V FPU_POWER 205 BU
(28) / 24VFPUPOWER 2.24VFPUPOWER / (30.1)
1
24V FPU_POWER 205 BU
12
BN/RD -DP2 0VPANELB 206 BU
(28) / 0VPANELB 2.0VPANELB / (30.1)
2
0VPANELB 206 BU
8
A21 PANEL BOARD
BN/OG EN 1_1 -214

(28) / EN1_1 2.EN1.1 / (30.1)
(28) / EN2_1
BN/YE EN 2_1 -215 7
2.EN2.1 / (30.1)
(28) / A21X9:17
WH/VT -DP4 17
WH/GY 1 ES FPU 1:A -216
(28) / A21X9:18 2.ESFPU1.A / (30.1)
ES FPU 1:B -217 BU 3
2.ESFPU1.B / (30.1)
WH/OG DP3 4
(28) / A21X9:13 (31) / DP6 ES FPU 2:A
WH/YE 1 -218
(28) / A21X9:14 2.ESFPU2.A / (30.1)
ES FPU 2:B -219 BU 5
2.ESFPU2.B / (30.1)
6
(31) / DP5
MAIN COMPUTER
A31.X3
AWG24 4x2 SFTP

(35) / TD+ BN TD+ 2.TD+ / (30.1)
(35) / TD- WHOG TD- 13
2.TD- / (30.1)
(35) / RD+
GN RD+ 14
2.RD+ / (30.1)
(35) / RD-
BNWH RD- 15
2.RD- / (30.1)
16

RUN CHAIN EXT A21 OPERATING WITH Sublocation:+
OPT: HOT PLUG rel 11.1 Document no. Rev. Ind Page32
Next 34
1 2 3 4 5 6 7 8
A31 Main Computer Unit DSQC1000 Rel. 15.2 and earlier

Main Computer Unit DSQC1018 Rel. 16.1
Main Computer Unit DSQC1024 Rel. 17.1
A31.4-X1
A31.4 A31.4-X6
Safety board
DSQC1015
POWER
PROFIBUS M PCI A31.4-X7
AnybusCC/RS232 Expansion Board Pin no 2 = 24V DSQC1005
DSQC1003 Profibus/S A32.4 Pin no 1 = 0V
PROFIBUS M
ProfiNet/S
A32.3
Console Ethernet /IP/S A32.1
DeviceNet/S DSQC1004 A32.2 A31.1 SERVICE 10/100
X20 Battery BT1 in Old:
X1 X2 DSQC1001 Interface Board
Com1 New: DSQC1001
LAN 1 Interface Board Battery BT1 in 3HAC042827-001
DSQC1017
BT1
Back side 80,78... ....6, 4, 2 10/100 X3 DSQC1017

3HAC050354-001
Front side 79,77... ....5, 3, 1
LAN 2 X4 POWER COM Express module
A32 10/100 DISC-Act
New DSQC1022/1026
X2 STATUS SD card 2GB
3HAC046408-001 NS Old DSQC1002 X13 DSQC1008
LAN 3 MS
X5
Front side 10/100/1000 X15
1, 3, 5..... ...77, 79
2, 4, 6..... ...78, 80
X19 Fan power
WAN X6 X16
X1 10/100/1000 Pin 1 = 24V
Pin 2 = Tacho
X7 Pin 3 = 0V
PANEL UNIT
X9
X3 AXC
X10 X11 X12

USB 2/1 USB 4/3
PROFIBUS M
A31.3 PROFIBUS M PCI
DSQC1005
A31.2 DeviceNet M/S PCI DeviceNet M/S

DSQC1006

MAIN COMPUTER/ANYBUS_CC/RS232 EXP. Sublocation:+
/INTERFACE BOARD/ Document no. Rev. Ind Page34
Next 35
1 2 3 4 5 6 7 8
(25) old M.Comp. DSQC1000 Rel. 15.2 and earlier

9Cross reference to A31.X3 /
(25) MAIN COMPUTER old M.Comp. DSQC1018 Rel. 16.1
-A31 new M.Comp. DSQC1024 Rel. 17.1
-X2 AWG24
TX+ WHOG
XP23.1 / (23)
1
TX- OG
XP23.2 / (23)
-X1 YELLOW LABEL RX+ 2 WHGN
3 XP23.3 / (23)
(60) / +24V PC.1 SERVICE
2 ETH_SERVICE PORT
(60) / -0V PC.1 RX- GN
XP23.6 / (23)
6
PROCESS 1
POWER
SUPPLY
POWER (GREEN) opt. 901-1
A62.X1
1.TXRX+ / (41) (43) (51.4) (54) (54.1)
1.TXRX- / (41) (43) (51.4) (54) (54.1) or
A61:X10
1.RXTX+ / (41) (43) (51.4) (54) (54.1) REMOTE SERVICE
DISC-ACT (YELLOW) 1.RXTX- / (41) (43) (51.4) (54) (54.1) or
A64.X1
STATUS (GREEN-RED) -X3

1 RD+ / (30) (32)
GREEN LABEL
2 RD- / (30) (32)
3 TD+ / (30) (32)
TPU FLEXPENDANT
4
NS (GREEN-RED) 5
6 TD- / (30) (32)
7
8
MS (GREEN/RED)
-X7 AWG24
1
2 WHGN +24V_Sig.ref. / (28)
BLUE LABEL 3 BU -RS485+ / (28)
4
PANEL UNIT WHBU -RS485- / (28) PANEL BOARD
5
RS 485
-0V_Sig.ref. / (28)
7
CHASSIS BLOWER
-E22
M -X9
-2.TXRX+ / (66) (69) (70) DRIVE
-X19 AWG24 TX+ 1
-2.TXRX- / (66) (69) (70) MODULE
+
RED LABEL TX- 2

GND BK
RX+ -2.RXTX+ / (66) (69) (70) AXIS
1 3
+24V RD AXC1 COMPUTER
2 4
FAN_TACH YE ETH_DRIVE
3 5
RX- 6 -2.RXTX- / (66) (69) (70)
7
8
8.TXRX+ / (40.1)
8.TXRX- / (40.1) A34.X5
8.RXTX+ / (40.1) AXC SWITCH
8.RXTX- / (40.1)

MAIN COMPUTER A31 DSQC1000/1018/1024 Sublocation:+
Next 36
1 2 3 4 5 6 7 8
old M.Computer DSQC1000

old M.Computer DSQC1018
-A31 New M.Computer DSQC1024
WAN -X6
WHITE LABEL MX1+ OPTION:
1 1.XP28.1 / (23)
MX1- 1.XP28.2 / (23) EXTERNAL
2
A31.X6 MX2+ 1.XP28.3 / (23) WAN
3
MX2- 1.XP28.6 / (23)
Option: 232 6
Expansion board serie DSQC1003
-A32
-232 -X2 -X15

COM1_DCD LAN -X4
1
COM1_RXD 1 1 TX+ 2.BI_DA+ / (23)
2 1
COM1_TXD 2 2 TX- 2.BI_DA- / (23)
3 2
COM1_DTR 3 3 RX+ 2.BI_DB+ / (23)
4 3
0V 4 4 RX- 2.BI_DB- / (23)
5 6
COM1_DSR 5 5
6
COM1_RTS-N
7
COM1_CTS-N
8
COM1_RI
-232 LAN -X5

CONSOLE_DCD 76 76 MX1+ 2.BI_DA+ / (23)
1 1
CONSOLE_RXD 77 77 MX1- 2.BI_DA- / (23)
2 2
CONSOLE_TXD 78 78 MX2+ 2.BI_DB+ / (23) Ethernet
3 3
CONSOLE_DTR 79 79 MX2- 2.BI_DB- / (23)
4 6
GND 80 80
5
CONSOLE_DSR
6 4
CONSOLE_RTS-N
7 5
CONSOLE_CTS-N 1.MX1.RX+ / (44)
8 7
CONSOLE_RI 1.MX1.RX- / (44) if opt 941-1
9 8
1.RXMX2.+ / (44) A65.X5
1.RXMX2.- / (44)
-X10.USB 1
3
2
4
1
PROCESS
-X10.USB 2
SUPPLY
POWER
AWG28 GN -USB2 D+ / (60)
3
AWG28 WH -USB2 D- / (60)
2
AWG24 BK -USB2_GND / (60)
4
AWG24 RD -USB2 +5V / (60)
1
-X11.USB 3
3
2
4
1
-X11.USB4
3
2
4
1

MAIN COMPUTER A31 DSQC1000/1018/1024 ; Sublocation:+
A32 DSQC1003 Document no. Rev. Ind Page36
Next 37
1 2 3 4 5 6 7 8
ETHERNET/IP Fieldbus adapter DSQC 669

-A32.1 Slave
-Z1 -X1
TX+
TX- 1
2
RX+
SLAVE 3
4
CompactCom RX- 5
6
7
8
Expansion Board
DSQC 1003 PROFIBUS Fieldbus adapter DSQC 667
-A32 -A32.2 Slave
-Z1
-X1
X2 SHIELD
-X1 1
OPTION & HARNESS TO CUSTOMER I/O

1 SLAVE RXD/TXD-p
2 3
CONTROL-P
3 1 CompactCom GND 4
4 2 5
+5VDC
3 6
4
RXD/TXD-N 8
5
6
7
77 8
78 PROFINET IO Fieldbus adapter DSQC 688
79 Slave
80 -A32.3
-X1
-Z1
TX+
TX- 1
SLAVE 2
RX+
3
CompactCom
RX-
6
DEVICENET IO Fieldbus adapter DSQC 1004

-A32.4 Slave
-X1
-Z1
TX+
TX- 1
SLAVE 2
RX+
3
CompactCom
RX-
6

FIELDBUS ADAPTER A32: Sublocation:+
ETHERNET/IP, PROFIBUS and Document no. Rev. Ind Page37
PROFINET IO Next 38
1 2 3 4 5 6 7 8
PROFIBUS M
-A31.3 DSQC1005
Customer
Connection
X12
PCIe
SHIELD
RXD/TXD-P 1 1B
MASTER CONTROL-P 3 (111)
GND 4 OPTION & HARNESS TO CUSTOMER I/O (120)
/ A31.3 (120.7)
+5VDC 5 (125)
RXD/TXD-N 6 1A
8

PROFIBUS DP M/S A31.3 Sublocation:+
Next 38.4
1 2 3 4 5 6 7 8
Options: With harness connection Options: With harness connection

996-1 Safety Module 996-1 Safety Module
and and
735-7 Keyless Mode Selector 735-7 Keyless Mode Selector
and and
731-1 Safety internal connection. 731-2 Safety external connection.
Panel Board EM Stop Panel Board

EM Stop A21
A21
XP37
XS37
XP37
XS37
S21.3 S21.3 X9
X9
Motors On Motors On
Safety Board Safety Board
S21.2 S21.2
A31.4 A31.4
+24v/0v
+24v/0v X1
X1
Key Switch Key Switch
X6 X6
S21.1 S21.1
X12 X12 X12 X12
XS/XP39
XS/XP39
X1 X1
X2 X2
X5 X5
X6 X6
XS/XP38
XS/XP38
Main Contact. superv. Main Contact. superv.
Ext. safety connection

K42 K43 K42 K43 XS3

SAFETY BOARD A31.4 SOFTWARE SWITCH Sublocation:+
Next 38.5
1 2 3 4 5 6 7 8
Safety Board DSQC1015

-A31.4
X20 -X1
1 -595 AWG20 BU
-A31.4X1.1 / (28.2) (28.2)
2 -596 AWG20 BU
-A31.4X1.2 / (28.2) (28.2)
PCIe EXT.AUTO1 /
Software based Hardware based
EXT.MAN1 /
Mode Switch Mode Switch
EXT.MAN FS1 / Hardware based
-X6 -X6 24V COMMON_CH1 /
(29)
3 -578 AWG24 BU 3. 578 AWG24 BU (29) Mode Switch

4
EXT.AUTO2 /
4 -579 AWG24 BU 579 AWG24 BU
8
EXT.MAN2 /
8
6
EXT.MAN FS2 /
6 (29)
0V COMMON_CH2 / (29)
17 -575 AWG24 BU
A21X9:6 / (28)
15 -576 AWG24 BU
A21X9:7 / (28)
13 -577 AWG24 BU
A21X9:8 / (28)
Software based
18
23 -572 AWG24 BU Mode Switch
A21X9:2 / (28)
21 -573 AWG24 BU
A21X9:3 / (28)
19 -574 AWG24 BU
A21X9:4 / (28)
20
-XS/XP38
12 -570 AWG24 BU -773 AWG20 BU
-K42.31 / (63)
7 -568 AWG24 BU 3 -771 AWG20 BU
-K42.32 / (63)
16 -571 AWG24 BU 1 -774 AWG20 BU
-K43.31 / (63)
11 -569 AWG24 BU 4 -772 AWG20 BU
-K43.32 / (63)
2
-XS/XP39
10 -564 AWG24 BU -284 AWG20 BU
A21X1.1 / (26) A21X1:1 / (28.1)
5 -565 AWG24 BU 1 -285 AWG20 BU
A21X1.2 / (26) A21X1:2 / (28.1)
14 -566 AWG24 BU 2 -286 AWG20 BU
A21X2.1 / (26) A21X2:1 / (28.1)
9 -567 AWG24 BU 3 -287 AWG20 BU
A21X2.2 / (26) A21X2:2 / (28.1)
4
22 -560 AWG24 BU -291 AWG20 BU
A21X6.2 / (27) A21X6:2 / (28.1)
2 -561 AWG24 BU 5 -293 AWG20 BU
A21X6.3 / (27) A21X6:3 / (28.1)
24 -562 AWG24 BU 6 -290 AWG20 BU
A21X6.4 / (27) A21X6:4 / (28.1)
1 -563 AWG24 BU 7 -292 AWG20 BU
A21X6.5 / (27) A21X6:5 / (28.1)
8
Option: Internal Option: External

Safety connection Safety connection

SAFETY BOARD A31.4 DSQC1015 Sublocation:+
Hardware and Document no. Rev. Ind Page38.5
Software based Mode Switch Next 39
1 2 3 4 5 6 7 8
DeviceNet M/S DSQC1006

-A31.2
X12 -CHA -A35-X1 1) Termination

V- BK -XS17.3 / (23)
1
CAN_L BU -XS17.5 / (23)
2 2
DRAIN SC OPTION
-XS17.1 / (23)
3 3
PCIe CAN_H WH 1) Termination resistor
-XS17.4 / (23)
when the optional
4 4
V+ RD harness is not connected.
-XS17.2 / (23)
5 5
-V- / (40)
-CAN_L / (40)
-DRAIN / (40)
-CAN_H / (40)
-V+ / (40)

DEVICENET A31.2 m/s DSQC1006 Sublocation:+
Next 40
1 2 3 4 5 6 7 8
-I/O1-X5
(39) / -V- BK -V-.1 / (46)
(39) / -CAN_L 1 BU -CAN_L.1 / (46)
(39) / -CAN_H 2 WH -CAN_H.1 / (46) Digital I/O unit
(39) / -V+ 4 RD -V+.1 / (46)
(39) / -DRAIN 5 SC -DRAIN.1 / (46)
3
6 IF 1 or 2 I/O
7 BK -V-.2 / (49)
9 BU -CAN_L.2 / (49)
11 WH -CAN_H.2 / (49) Relay I/O unit
12 RD -V+.2 / (49)
SC -DRAIN.2 / (49)
-I/O2-X5
1 Not connected
2 if 3 or 4 I/O BK -V-.3 / (51)
4 BU -CAN_L.3 / (51)
5 WH -CAN_H.3 / (51) Analogue I/O unit
3 RD -V+.3 / (51)
6 SC -DRAIN.3 / (51)
9
11
-I/O2- 4 -I/O2-X5 12 BK -V-.4 / (52)

TO CUSTOMER I/O
OPTION: HARNESS
1 1 BU -CAN_L.4 / (52)
2 2 WH -CAN_H.4 / (52) Remote I/O unit
4 4 Connected only if 3 or 4 I/O RD -V+.4 / (52)
5 5 SC -DRAIN.4 / (52)
3 3
BK -V-.5 /
IF 3 or 4 I/O BU -CAN_L.5 /
WH -CAN_H.5 / Interbus slave
-I/O4-X5
RD -V+.5 /
1 SC -DRAIN.5 /
2
4
5 BK -V-.6 /
3 BU -CAN_L.6 /
WH -CAN_H.6 / Profibus DP slave
RD -V+.6 /
-I/O5-X5
SC -DRAIN.6 /
1
2
4 BK -V-.7 / (53)
5 BU -CAN_L.7 / (53)
3 WH -CAN_H.7 / (53) Encoder unit
RD -V+.7 / (53)
SC -DRAIN.7 / (53)
-I/O6-X5
1
2 BK -V-.8 /
4 BU -CAN_L.8 /
5 WH -CAN_H.8 / PLC. CPU A63.1.XS1
3 RD -V+.8 /
PLC I/O1.X5--> SC -DRAIN.8 /
-A35-X2 connected
-0Vdevicenet.1 1
(24) / only to
2
-120 Ohm I/O1
4
(111)
5 x1 x2
(24) / -+24Vdevicenet.1 / A35
(120)
3 (120.7)
(125)

DEVICENET ADAPTER Sublocation:+
Next 40.1
1 2 3 4 5 6 7 8
ETHERNET SWITCH A34

-A34 opt. MULTI MOVE 604-1/2
-XP49
-X2
1 717 -X6 24V Pwr1+ 1

(60) / X49.1
2 718 0V Pwr1- 2 Drive module 2
(60) / X49.2
719 3
Pwr2+
Pwr2- -X3
1
2
-X1 Drive module 3
(66) / -9.TXRX+ 1 RX+ 3
(66) / -9.TXRX- 2 RX- 6
A42.X2 (66) / -9.RXTX+ TX+

3
-X4
(66) / -9.RXTX- 6 TX- TX+ 1
TX- 2 Drive module 4

RX+ 3
RX- 6
-X5
TX+ 1 8.TXRX+ / (35)
TX- 2 8.TXRX- / (35)

A31.X9
RX+ 3 8.RXTX+ / (35)
RX- 6 8.RXTX- / (35)

ETHERNET SWITCH A34, option MULTI MOVE Sublocation:+
604-1/2 Document no. Rev. Ind Page40.1
Next 41
1 2 3 4 5 6 7 8
if opt. 901-1
1041 / (45)
1042 / (45)
Ethernet switch
-A62
-X2
1043 -X6 US 24V 1

(24) / XT31:1
1044 GND 0V 2
(24) / XT31:5
3
-X3
1 XP23.1 / (23)
2 XP23.2 / (23)
-X1 Connected to Ethernet
(35) / -1.TXRX+ 1 RX+ 3 XP23.3 / (23)
service port X23.
(35) / -1.TXRX- 2 RX- 6 XP23.6 / (23)
A31.X2 (35) / -1.RXTX+ TX+

3
-X4
(54)
(35) / -1.RXTX- 6 TX- TX+ 1 TXRX+.10 /
(54.1)
(54) Remote
TX- 2 TXRX-.10 /
(54.1) service box A61
(54)
RX+ 3 RXTX+.10 /
(54.1)
(54)
RX- 6 RXTX-.10 /
(54.1)
-X5
TX+ 1 3.TXRX+ / (45)
TX- 2 3.TXRX- / (45)

A57.X6
RX+ 3 3.RXTX+ / (45)
RX- 6 3.RXTX- / (45)

ETHERNET SWITCH A62 Sublocation:+
Next 42
1 2 3 4 5 6 7 8
Robot controller Opt. INSIDE DOOR WITH ETHERNET for CAMERAS
Main computer Customer

power supply (96W)
Yellow label
Ethernet Service 24V
Ethernet X45.1 X45.2

Cam 1
24V and I/O External
I/O
Ethernet switch Ethernet Camera lighting
X45.3
Cam 2
24V and I/O External A64
I/O Camera X2 X1 X6
Ethernet lighting
XT31
Cam 3
Ethernet External
I/O 24V and I/O Camera lighting
24V I/O X3 X5 X4
Power supply

VISION, INTEGRATED CAMERAS Sublocation:+
Next 43
1 2 3 4 5 6 7 8
Camera 1
-XS45.1 -XP45.1
764 +24V 1 1
Power
(24) / 1.XT31:2 +24V.REDwire /
(24) / 1.XT31:6
765 0V 2 2
3 3
0V.GroundBLACKwire /
(24) / 2.XT31:2
766 4 4
(24) / 2.XT31:6
767 5 5
6 6
Ethernet switch
7 7
-A64 8 8
9 9
-X2 Customer connection 10 10
1043 -X6 US 24V 1 11 11
(24) / XT31:1 12 12
1044 GND 0V 2
(24) / XT31:5
Camera 1
3
Camera 2
-XS45.2 -XP45.2
6 +24V 1 1
Power
.+24V.REDwire /
0V 2 2
.0V.GroundBLACKwire /
3 3
4 4
5 5
-X3 Customer connection 6 6
1 7 7
8 8
2 Camera 2 9 9
-X1 10 10
(35) / -1.TXRX+ RX+
1 3 11 11
RX- 12 12
(35) / -1.TXRX- 2 6
A31.X2 TX+
(35) / -1.RXTX+
Camera 3
3 -XS45.3 -XP45.3
-X4 Customer connection 768 +24V 1 1
TX-
Power
(35) / -1.RXTX- 6 1 +24V.REDwire. /
769 0V 2 2
3 3
0V.GroundBLACKwire. /
2 Camera 3 4 4
5 5
3 6 6
7 7
6 8 8
9 9
10 10
-X5 11 11
(54)
TX+ 1 TXRX+.4 /
(54.1) 12 12
(54)
TX- 2 TXRX-.4 /
(54.1)
(54) A61.X10
RX+ 3 RXTX+.4 /
(54.1) If option Remote service
(54)
RX- 6 RXTX-.4 /
(54.1)
7.TXRX+ / (23)
7.TXRX- / (23)
If not Remote service
7.RXTX+ / (23)
7.RXTX- / (23)

ETHERNET SWITCH A64/CAMERA Sublocation:+
Next 44
1 2 3 4 5 6 7 8
Opt. if 941-1
Ethernet switch
-A65
-X2
1043 -X6 US 24V 1

(24) / XT31:1
1044 GND 0V 2
(24) / XT31:5
3
-X3
1
2
-X1
1 RX+ 3
2 RX- 6
3 TX+
-X4
6 TX- TX+ 1
TX- 2
RX+ 3
RX- 6
-X5
TX+/RX+ 1 1.MX1.RX+ / (36)
TX-/RX- 2 1.MX1.RX- / (36)

A31.X5
RX+/TX+ 3 1.RXMX2.+ / (36)
RX-/RX+ 6 1.RXMX2.- / (36)

ETHERNET SWITCH A65 Sublocation:+
Next 45
1 2 3 4 5 6 7 8
Process Interface Board (PIB)

-A57
-X57.1
-X1 24V 1
-X2 V-
(41) / 1041 1
1 1
0V 2 CAN_L
(41) / 1042 2
2 2
3 DRAIN
3 3
4 CAN_H
V- 4 4
5 V+
CAN_L 5 5
CAN_H
V+
-X57.2
1
-X11 V-
1 1
-X6 2 CAN_L
(41) / 3.TXRX+ 1 RX+ 2 2
3 DRAIN
(41) / 3.TXRX- 2 RX- 3
120ohm
3
4 CAN_H
(41) / 3.RXTX+ 3 TX+ 4 4
5 V+
(41) / 3.RXTX- 6 TX- 5 5

DISPENCE PAC SUPPORT A57 Sublocation:+
Next 46
1 2 3 4 5 6 7 8
3)
opt. 716/816
(24) / -+24Vdevicenet.2 DIG. PART OF COMBI I/O AND DIG. I/O UNIT opt. 717/817
-I/Ox DSQC 651& 652
XTXX.X3
-X3
INPUT CH.1
1 2
2 3
3 4
-X5 4
(40) / -V-.1 5
(40) / -CAN_L.1 1 5 6
(40) / -CAN_H.1 2 6 7
(40) / -V+.1 4 7 8
5 8 0V
(40) / -DRAIN.1 9
0V 3 10
OR PREVIOUS NA0 6
I/O UNIT NA1 7
1) NA2 8 0V
NA3 9 4)
NA4 10 XTXX.X4
NA5 11
-X4
12 INPUT CH.9
1 10
2 11
3 12
4 13
5 14
6 15
1) JUMPERS PLACED ACCORDING TO 7 16
THE ACTUAL NODE ADDRESS. 8 0V
9
10
2) RESISTANS 120 OHM SHALL ALWAYS
BE CONNECTED IN THE FIRST AND THE
LAST CONNECTOR IN THE CAN-BUS CIRCUIT.
3) CONNECTED IN THE LAST CONNECTOR IN THE

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

DIGITAL PART OF COMBI I/O AND Sublocation:+
DIGITAL I/O UNIT DSQC651&652 Document no. Rev. Ind Page46
Next 47
1 2 3 4 5 6 7 8
DIGITAL I/O UNIT opt. 716/816

-I/O.X DSQC 652
OUTPUT CH 1-8
XTXX.X1
<1 X1
OUTPUT CH.1
1 2
2 3
3 4
4 5
5 6
6 7
7 8
8 0V
0V 9 24V DC
10
24V
OUTPUT CH 9-16
XTXX.X2
<1 -X2
OUTPUT CH.9
0V
1 10
2 11
3 12
4 13
5 14
6 15
7 16
8 0V
9 24V DC
10

DIGITAL I/O UNIT DSQC652 Sublocation:+
Next 48
1 2 3 4 5 6 7 8
COMBI I/O UNIT

opt. 717/817
-I/O.X DSQC 651
OUTPUT CH 1-8
XTXX.X1
-X1
<1 OUTPUT CH.1
1 2
2 3
3 4
4 5
5 6
6 7
7 8
8 0V
0V 9 24V DC
10
-X6
INPUT CH.1
CPU INPUT CH.2 1
2
0V
3
DAC
OUTPUT CH.1
5
REF 0VA
4
OUTPUT CH.2
6
+15V
DC
0VA
DC
-15V

COMBI I/O UNIT DSQC651 Sublocation:+
Next 49
1 2 3 4 5 6 7 8
DIG. PART OF RELAY I/O UNIT opt. 718/818

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

THE ACTUAL NODE ADDRESS.


CAN-BUS CIRCUIT.

RELAY I/O UNIT DSQC653 Sublocation:+
Next 50
1 2 3 4 5 6 7 8
opt. 718/818
-RELAY I/O DSQC 653
XTXX.X1
-X1
OUT CH.1A
1
OUT CH.1B
2
OUT CH.2A
3
OUT CH.2B
4
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

RELAY I/O UNIT DSQC653 Sublocation:+
Next 51
1 2 3 4 5 6 7 8
ANALOGUE I/O UNIT opt. 719/819

-I/O.X DSQC 355B
3)
-X7
ANOUT_1
(24) / -+24Vdevicenet.4 1 ANOUT_2
2 ANOUT_3
ADC MUX 3
(24) / -0Vdevicenet.4 ANOUT_4
4 0V
19 0V
0V 20 0V
21 0V
-X5
-V-.3
(40) / 22
(40) / -CAN_L.3 1
(40) / -CAN_H.3 2
(40) / -V+.3 4
5
(40) / -DRAIN.3
0V 3 REF
6 DAC
OR PREVIOUS NA0
7 -X8
I/O UNIT NA1 ANIN_1
1) NA2 8 1 ANIN_2
NA3 9 2 ANIN_3
NA4 10 3 ANIN_4
NA5 11 4
12 24V
17
18
19
20
21
0V 22
1) JUMPERS PLACED ACCORDING TO 23
THE ACTUAL NODE ADDRESS. 24 0V
25 0V
26 0V
27 0V
28

CAN-BUS CIRCUIT.

ANALOGUE I/O UNIT DSQC355B Sublocation:+
Next 51.2
1 2 3 4 5 6 7 8
Opt 1542-1
Opt 1542-2
Digital I/O Add on module DSQC1031
-I/Ox
XTXX.X1
-X1
DO_8
1 7
2 6
3 5
4 4
5 3
6 2
7 1
8 GND DO
9 PWR DO
10 DO_16
11 15
12 14
13 13
14 12
15 11
16 10
17 9
18 GND DO
19 PWR DO
20
XTXX.X2
-X2
DI_8
1 7
2 6
3 5
4 4
5 3
6 2
7 1
8 GND DI
9 DI_16
10 15
11 14
12 13
13 12
14 11
15 10
16 9
17 GND_DI
18

Local I/O Digital add on 16in/16out Sublocation:+
Next 51.4
1 2 3 4 5 6 7 8
Opt 1541-1
opt 1541-2
Digital I/O Base module DSQC1030
-I/Ox
-X4 -X4
703 1 1 GND
(24) / XT31:1
704 2 2 PWR
(24) / XT31:5
3 GND
4 PWR XTXX.X1
-X1
DO_8
ISO. test voltage 500VAC 1 7
2 6
3 5
4 4
5 3
6 2
7 1
8 GND DO
9 PWR DO
10 DO_16
11 15
12 14
13 13
14 12
15 11
16 10
17 9
18 GND DO
19 PWR DO
-X3 20
(35) / -1.TXRX+ 1 RX+
(35) / -1.TXRX- 2 RX-
A31.X4 Main computer XTXX.X2
(35) / -1.RXTX+ TX+ -X2
3
DI_8
1 7
(35) / -1.RXTX- 6 TX- 2 6
3 5
4 4
5 3
6 2
7 1
8 GND DI
9 DI_16
10 15
-X5 11 14
1 RX+ 12 13
13 12
2 RX- 14 11
15 10
3 TX+ 16 9
17 GND_DI
6 TX- 18

Local I/O Digital Base 16in/16out Sublocation:+
Next 51.6
1 2 3 4 5 6 7 8
Opt 1544-1
Opt 1544-2
Relay I/O Add on module DSQC1033
-I/Ox
-X3
1 GND
2 PWR
3 GND ISO. test voltage 3000VAC
4 PWR XTXX.X1
-X1
RLY_4
1 RLY_4
2 RLY_3
3 RLY_3
4 RLY_2
5 RLY_2
6 RLY_1
7 RLY_1
8 RLY_8
9 RLY_8
10 RLY_7
11 RLY_7
12 RLY_6
13 RLY_6
14 RLY_5
15 RLY_5
16
ISO. test voltage 500VAC
XTXX.X2
-X2
DI_4
1 3
2 2
3 1
4 GND_DI
5 DI_8
6 7
7 6
8 5
9 GND_DI
10

Local I/O Relay add on 8RO/8DI Sublocation:+
Next 51.8
1 2 3 4 5 6 7 8
Opt 1543-1
Opt 1543-2
Analog I/O Add on module DSQC1032
-I/Ox
-X2
1 GND
2 PWR
3 GND
XTXX.X1
4 PWR -X1
GND
1 AI_2
2 GND
3 AI_1
4 GND
5 AO_2
6 GND
7 AO_1
8 GND
9 AI_4
10 GND
11 AI_3
12 GND
13 AO_4
14 GND
15 AO_3
16

Local I/O Analog add on 4in/4out Sublocation:+
Next 52
1 2 3 4 5 6 7 8
3)
(24) / -0Vdevicenet.5 REMOTE I/O UNIT opt. 721/821

-I/O.X DSQC 350A
-X5
-V-.4
(40) /
(40) / -CAN_L.4 1 NAC

(40) / -CAN_H.4 2 -X8

(40) / -V+.4 4 LINE 1 (BLUE)
5 REMOTE I/O IN
1
(40) / -DRAIN.4
0V 3 LINE 2 (CLEAR)
OR PREVIOUS NA0 6 1 2
I/O UNIT NA1 7 -X9
1) NA2 8 (BLUE)
NA3 9 REMOTE I/O OUT
1
NA4 10
NA5 11 (CLEAR)
12
2


LAST CONNECTOR IN THE CAN-BUS CIRCUIT. 4
3) CONNECTED IN THE LAST CONNECTOR IN THE 4

CAN-BUS CIRCUIT.

REMOTE I/O UNIT DSQC350A Sublocation:+
Next 53
1 2 3 4 5 6 7 8
ENCODER UNIT opt. 726/826

-I/O.X DSQC 377
3)
(24) / -+24Vdevicenet.8 Encoder

Connection
-X20
24 VDC
-X5 1
-V-.7
(40) / 0V
(40) / -CAN_L.7 1
2
(40) / -CAN_H.7 2 ENC +24V
(40) / -V+.7 4
3
5 ENC 0V
(40) / -DRAIN.7 4 Encoder
0V 3 2 1 ENC_A
OR PREVIOUS NA0 6
5
7 A
I/O UNIT NA1 ENC_B
1) NA2 8
6
9 1
NA3 +24V
NA4 10
7
NA5 11 0V Synch switch
12 2 1
8
DIGIN
A
9
2 1
A
1

CAN-BUS CIRCUIT.

ENCODER UNIT DSQC377 Sublocation:+
Next 54
1 2 3 4 5 6 7 8
1) Only connected if Opt. REMOTE SERVICE BOX

Option:
REMOTE SERVICE BOX opt. 890-1
DSQC680 opt. 890-2
-A61
opt.( 890-1, 890-3) only
-X2 -A61-X2
-A61-X1 -X1 1) 1
XS18 / (23)
(24) / -0V ReS 746 1 1) 1
(24) / +24V Res 745 2 1) 2
AWG24 -A61-X10
-X10
(35) / -1.TXRX+ WHOG 1 1) 1
RX+ -A61-X11 AWG24
-X11
2 1) 2 1 1) 1
(35) / -1.TXRX- OG WHOG
XP23.1 / (23)
RX-
WHGN
3 1) 3 2 1) 2 OG
(35) / -1.RXTX+ TX+ XP23.2 / (23)
3 1) 3 WHGN
6 XP23.3 / (23)
GN 1) 6
(35) / -1.RXTX- TX- 6 1) 6 GN
7
XP23.6 / (23)
A31.X2 8
or (43) / TXRX+.4
A64.X5 (43) / TXRX-.4

if opt. 1341-1
(43) / RXTX+.4
or
(43) / RXTX-.4
A62.X4
(41) / TXRX+.10 -X15

1
(41) / TXRX-.10 LAN3 only for X12
2
diagnostic 8/
3
(41) / RXTX+.10 4 Console LAN4 only for -X13
5
(41) / RXTX-.10 unit diagnostic 8/
6
7
X14
8 WAN Internet 8/
9
Coupler connection if Opt.890-3

-X12.1 -X12.2
1 1
2 2
3 3
6 6

REMOTE SERVICE BOX DSQC680 to Rel. 16.1 Sublocation:+
Next 54.1
1 2 3 4 5 6 7 8
1) Only connected if Opt. REMOTE SERVICE BOX

Option:
REMOTE SERVICE BOX opt. 890-4
DSQC1016/DSQC1023 opt. 890-5
-A61
-X2 -A61-X2
-A61-X1 -X1 1) 1
XS18 / (23)
(24) / +24V Res 745 7 1) 7
(24) / -0V ReS 746 8 1) 8
9 1) 9
-P2 -A61-P2 AWG24

1 1) 1 WHOG
XP23.1 / (23)
2 1) 2 OG
XP23.2 / (23)
-A61-P1
AWG24 -P1 3 1) 3 WHGN

XP23.3 / (23)
(35) / -1.TXRX+ WHOG 1 1) 1
RX+ 6 1) 6 GN
2 XP23.6 / (23)
(35) / -1.TXRX- OG 1) 2
RX-
WHGN
3 1) 3
(35) / -1.RXTX+ TX+
A31.X2
or 6 1) 6
GN
(35) / -1.RXTX- TX-
A64.X5
if opt. 1341-1
or (43) / TXRX+.4
A62.X4
if opt.901-1 (43) / TXRX-.4
LAN3 8/ -P3
(43) / RXTX+.4
-P4
(43) / RXTX-.4 LAN4/WAN 8/
(41) / TXRX+.10
(41) / TXRX-.10
(41) / RXTX+.10
(41) / RXTX-.10

REMOTE SERVICE BOX DSQC1016/DSQC1023 Sublocation:+
from Rel. 16.2 Document no. Rev. Ind Page54.1
Next 55
1 2 3 4 5 6 7 8
XS0 L1
XS0 L2
XS0 L3
(23)
(23)
(23)
-XP0 1 2 3
BK
BK
BK
-101 AWG10
-102 AWG10
-103 AWG10
????
-Q1 1 3 5
2 4 6
-109 AWG10
-108 AWG10 BK
-107 AWG10 BK
-F6
Option: 1 3 5
Option: Not for
101
102
103
CIRCUIT BRAKER 1 phase connection
1 3 5
2 4 6 -Q1
I> I> I>
Main switch circuit breaker T1 T2 T3
-106 AWG10 BK
-105 AWG10 BK
-104 AWG10 BK
110
111
112
-Z1 1 3 5
OPTION: 3
MAINS LINE FILTER 2 4 6
BK
BK
BK
-110 AWG10
-111 AWG10
-112 AWG10
-X10 1 2 3
-113 AWG10 BK
-114 AWG10 BK
-115 AWG10 BK 1 3 5
X1 X1 X1
-Z3
OPTION: 3
MAINS LINE FILTER IRB8700 2 4 6
???? ???? ????

(56)/-L1
(56)/-L2
(56)/-L3
If Option: 3 Phase
TRANSFORMER UNIT
MAINS CONNECTION XP0, Q1, F6, Z1, Z3 Sublocation:+
Next 56
1 2 3 4 5 6 7 8
MAINS CONNECTION
Transformer
/ (55)
/ (55)
/ (55)
T1.3 USED FOR DIRECT POWER SUPPLY:
IRB460, 660, 760, 4600, 66x0, 6700 .400-480V
-L1
-L2
-L3
IRB7600, 8700 ...................................480V
3HAC 037015-001 1,2 kVA
113 AWG 10 BN
114 AWG 10 BN
115 AWG 10 BN
Transformer
Option T1.2 L1-L2-L3
262V AC if IRB140-2600
113
114
115
AWG12 BK
Transformer AWG10 BK
L1.1
L2.1
L3.1
T1.1 3HAC 024138-001 (13kVA) 150
IRB460, 660, 760, 4600, 66x0, 6700, 7600, 8700 151
TRANSFORMER UNIT REAKTOR UNIT
(57)
(57)
(57)
TRANSFORMER UNIT -T1.3 -Z2

-T1.1 -X1
L1IN L2IN L3IN
-X1 -X1
IN
F1 F3 F5
-L1
480V
200V
220V
400V
440V
500V
600V
200V
220V
400V
440V
500V
600V
200V
220V
400V
440V
480V
500V
600V
230V
400V
440V
480V
480V
F2 F4 F6
1 2 3 -X2
1 2 3 L1UT L2UT L3UT
480VAC
480VAC
480VAC
230VAC
115VAC
230V
230V
OUT
GNYE
GNYE
-X2
N
230VAC
230VAC
230VAC
115VAC
-X2
AWG10
N
AWG10
-Z2 116 117 118

INL1 INL2 INL3
-X1
REAKTOR UNIT
F1 F3 F5
1 2
119
120
121
-L1
1 2
-230VAC1 SC.1
-230VAC2 SC.1
230V AC1.DC
230V AC2.DC
F2 F4 F6
-X2
-230VAC1 SC.1
-230VAC2 SC.1
(58) / -T1_230V
(58) / -T1_115V
(58) / -T1_N
OUTL1
OUTL2
OUTL3
-T1_230V
-T1_115V
-T1_N
-T1_L1
-T1_L2
-T1_L3
119 120 121
(58) /
(63) /
(63) /
(63) /
/ -T1_L1 / -T1_L2 / -T1_L3
(59) /
(59) /
(58) /
(58) /
(60) /
(60) /
(63)
(63)
(63)
(60) /
(60) /
230VAC
POWER SUPPLY CONTACTOR SERVICE 230VAC POWER SUPPLY
UNITS OUTLET POWER SUPPLY SINGLE DRIVE SERVICE CONTACTOR
DRIVE MODULE MODULE OUTLET UNITS

TRANSFORMER UNIT 480V T1.1, T1.3, Z2, X10 Sublocation:+
Next 57
1 2 3 4 5 6 7 8
MAINS CONNECTION Option: Transformer T1.2 L1-L2-L3 = 262V

if IRB120 - 360, 14x0 - 44x0, 6400R
T1.2 (4,2kVA) (4,2kVA) (4,2kVA) (6,0kVA)
/ (56)
/ (56)
/ (56)
Terminal 3HAC037016-001 3HAC037017-001 3HAC037018-001 3HAC024180--001
-L1.1
-L2.1
-L3.1
1) 200V 400V 440V 200V
2) 220V 480V 220V

-X10 1 2 3
3) 500V 400V
BK
BK
BK
4) 600V 440V
-113 AWG10
-114 AWG10
-115 AWG10
5) 480V
6) 500V
TRANSFORMER UNIT
-T1.2 7) 600V
-X1
1) 2) 3) 4) 5) 6) 7) 1) 2) 3) 4) 5) 6) 7) 1) 2) 3) 4) 5) 6) 7)
1 2 3
GNYE
262VAC
262VAC
262VAC
230VAC
115VAC
230V
230V
-X2
AWG10
N
119
120
121
-230VAC1 SC.1
-230VAC2 SC.1
-T1_L1
-T1_L2
-T1_L3
-T1_230V
-T1_115V
-T1_N
230V AC1.DC
230V AC2.DC
(58) /
(63) /
(63) /
(63) /
(58) /
(58) /
(60) /
(60) /
(59) /
(59) /
POWER SUPPLY POWER SUPPLY CONTACTOR SERVICE

DRIVE MODULE SINGLE DRIVE UNITS OUTLET
MODULE
1), 2)
TRANSFORMER UNIT 262V T1.2, X10 Sublocation:+
Next 58
1 2 3 4 5 6 7 8
/ (56) (56) (57)
/ (56) (56) (57)
/ (56) (56) (57)

-T1_230V
-T1_115V
-T1_N
-184 4 3
AWG16
OPTION:
SERVICE OUTLET BK
CIRCUIT BRAKER
-F5 1
US = 4A
EU = 2A
2
BU
AWG16BK
-183
EARTH FAULT
BREAKER -F4 1 3
2 4
AWG18 GNYE
AWG16 BK 185
AWG16 BU 187
-XP22.1 1 2
-XS22.1 1 2
AWG18 BK
-X22 AWG18 WH AWG16 GNYE
GND 1 2

OPTION : SERVICE OUTLET F4, F5, X22 Sublocation:+
Next 59
1 2 3 4 5 6 7 8
230VAC
1) Option Power supply
/
for three external axes in Drive Module
-230V AC1.DC
-230V AC2.DC
(56) (57)
(56) (57)
AWG16
AUTOMATIC FUSE
-F2 1 3
A21.X7 PANEL BOARD

2 4 RELAY UNIT -K41.X1
-156
-K41 AWG20 BU -AC_ON.1 / (27)
BK
1
11 A1
BK
AWG16
A2
14 24 AWG20 BU
-0V.1 / (27)
BK
2
POWER SUPPLY
-153
-152
POWER SUPPLY AWG16 GNYE
Note 1) 158 157
-G1 -G9
-X1 3 1 5
-X1 N L
-X2 AC
-XS3 -XS4 DC
1 4 2 5 3 6
1 2 3 5 6 7 4 8 1 2 3 4 -X2 + -
BU BU BU BU BU BU
AWG16 AWG16 AWG16 AWG16 AWG24 AWG24
-463 AWG16 BU
-464 AWG16 BU
BU BU BU BU AWG16
-510 AWG20
-511 AWG20
-513 AWG20
AWG16
-512 AWG20
AWG16 AWG16 AWG16
514
515
AWG16
BU
516
517
518
519
BU
-465
-466
-469
-467
-468
-470
-G2.XP9 1 3 2 4
-G2.XS9 1 3 2 4
DRIVE.1
DRIVE.1
-+24V BRAKE.1
-+24V BRAKE.2
-+24V COOL.1
-0V BRAKE.1
-0V BRAKE.2
-0V COOL.1
-+24V COOL.3
-+24V COOL.2
-0V COOL.3
-0V COOL.2
-+5V_OUT
-ACOK
W758
W763
DRIVE
DRIVE
Drive sys
Drive sys
(63)
(65)
(66) /
(66) -+24V
(66) -0V
(62) -+24V
(62) -0V
(66) +24V
(66) -0V
(66) /
(62) /
(61) /
(61) /
(62) /
(62) /
(62) /
(61) /
(61) /
(62) /
(62) /
AXIS COMP. MAIN SERVO CONTACTOR CONTACTOR MAIN FAN AXIS COMP. EXTERNAL
UNIT DRIVE UNIT UNIT UNIT UNIT UNIT AXES
POWER SUPPLY DSQC 626 AND 627 Sublocation:+
FOR DRIVE MODULE F2, G1, G9, K41.X1 Document no. Rev. Ind Page59
Next 60
-XS49
(40.1) X49.1 302
A34.X6
Harness:
(40.1) X49.2 304
2
1
Latest revision:
AXC SWITCH
-G2
3HAC047294-001 (xs49)
-Y1
(66) -+24V DRIVE 516 AWG16 BU

1
-Y2
(66) -0V DRIVE 517 AWG16 BU
4
(66) / +24V Drive sys 518 AWG16 BU
2
-X3
(66) / -0V Drive sys 519 AWG16 BU
5
2
AXIS / DRIVE /
DSQC662
(62) -+24V DRIVE.1 -463 AWG16 BU
CONTACTOR BOARD
3
(62) -0V DRIVE.1 -464 AWG16 BU
6
-G1
-X1
-X2
POWER DISTRIBUTION BOARD AWG12 BU
(24) / +24V I/O.1 -247 AWG16 BU
1
1 +24V

+24V
-X4
I/O
2
(24) / -0V I/O.1 -248 AWG16 BU 2
3
0V
3
CUSTOMER
3
3
4
-X1
0V
4
4
POWER SUPPLY DSQC661
(62) / -+24V BRAKE.1 -466 AWG16 BU AWG16 GNYE
1
3
(62) / -+24V BRAKE.2 -465 AWG16 BU

AC
2
1
(62) / -+24V COOL.1 -469 AWG16 BU

DC
3
5
-X3
4
AWG20 BU
-X2
-X5
BOARD
ACOK_N
(62) / -0V BRAKE.1 -467 AWG16 BU
5
CONTACTOR
3
3
TEMP OK_N
BU
4
(62) / -0V BRAKE.2 -468 AWG16

6
4
4
(62) / -0V COOL.1 -470 AWG16 BU

7
-153 AWG16
-152 AWG16
BK
BK
PRN
(28.2) / +24VSYS -250 AWG16 BU
1
Lab/Office:
DMRO SE/
(28.2) / +24VCOOL8 -252 AWG16 BU
2
-XT16
3
5
4
L2
(35) / +24V PC.1 -301 AWG16 BU

5
L2
-X6
-309 BK -230V AC2.11 (24)

6
AWG16
L2
PC (28.2) / -0VSYS -251 AWG16 BU -158 BK -230V AC2.12 (24)
G1, G2, G3, F2, XT16

7
AWG16
L2
JUMPER
(62) (63)/ 0VCOOL8 -253 AWG16 BU -_158 BK -230V AC2.13 (24)

PANEL BOARD,
8
AWG16
(62) (28.2)
L2
(62)
(63)
9
L2
(63)
6
L1
10
POWER SUPPLY DSQC 661 AND 662
(35) / -0V PC.1 -303 AWG16 BU

L1
11
-308 BK -230V AC1.11 (24)

AWG16
L1
12
-157 BK -230V AC1.12 (24)

AWG16
L1
JUMPER
-G3
-X1
-_157 BK -230V AC1.13 (24)

1
1
AWG16
L1
2
2
3
3
L1
4
4
Status:
5
5
-X7
7
6
6
Approved
7
7
Document no.
ENERGY BANK
8
8
9
9
10
10
-F2
3HAC024480-011
(36) / -USB2 +5V 2/RD

Plant:
1
(36) / -USB2 D- 1/WH

2
(36) / -USB2 D+ 1/GN

-X8
MAIN
3
(36) / -USB2_GND 2/BK (56) (56) (57)

4
Sublocation:+
Location: +
=
COMPUTER
-230VAC1 SC.1 /
1
2
AUTOMATIC FUSE 1/BK
(56) (56) (57)

8
-230VAC2 SC.1 /
230VAC
connection
BK
4
AWG20
2/BK
(61) / -+24V COOL.3

1
(61) / -+24V COOL.2 RD

2
(61) / -0V COOL.3 BN

If Option: 3 phase
-X9
UNIT
3
OG
Next 61
Rev. Ind Page60
(61) / -0V COOL.2

MAIN FAN
4
AWG16
08 Total 156
1 2 3 4 5 6 7 8
(59) (60) (59) (60) POWER SUPPLY

-0V COOL.2 -+24V COOL.3 PANEL BOARD X18
(28.2)
(28.2)
(28.2)
(28.2)
FAN1ret.4
FAN2ret.5
(59) (60) (59) (60)
+24VCOOL8.1
0VCOOL8.1
(62)
(62)
(62)
(62)
-0V COOL.3 -+24V COOL.2
AWG24 OG BN BK RD (28) (28) (28)
+24VCOOL.4
+24VCOOL.5
0VCOOL.4
0VCOOL.5
24VCOOL
TACHO
FAN0V
(62)
(62)
252
253
FAN UNIT Option 1170-1:
386 AWG20 BU
387 AWG20 BU
-E1 Thermistor R1 at E41, E42, E43, E44.
if LV
-XS1 4 2 1 3
if HV
AWG24 BU
AWG24 BU
AWG24 BU
AWG24 BU
+A43 -XS11 1 2 3
-W753
-E41 FAN UNIT
-W751
-W754
-X1
AWG24
- + -X1 1 1
BU
M
AWG24
AWG24
BU
BU
3 1
-X2 -X2
-R1
W750
1 2
1 2
W752
AWG24
BU
14
-E42 FAN UNIT
AWG24
+A43 -XP11.1 1 2 3 -S1
BU
SWITCH 13
-X1 -X1
- +
3
M 1
-363 AWG20 BU
-364 AWG20 BU
=IRC5-W756
-X2 -X2
360 AWG20 BU
362 AWG20 BU
361 AWG20 BU
1 -R1 2
1 2
BU
AWG24
-E43 Fan unit
-X1 -X1 -A21

- +
3
M 1
-X18
380 AWG20 BU
381 AWG20 BU
382 AWG20 BU
384 AWG20 BU
383 AWG20 BU
385 AWG20 BU
-X2 -X2 1 3 2
1 -R1 2
1 2
BK BN RD
-E44 Fan unit EXT.
COMPUTER FAN INTERNAL
-FAN 1 ret.4
opt.708-2 FAN MDU FAN
-X1
-+24V COOL.4(123)
-+24V COOL.5(123)
- + -X1
-0V COOL.4
-0V COOL.5
-E2
-FAN 2 ret.5
M -E3 -E5
3 1 -X1 3 2 1
-XS1 1 2
-X2 -X2 3 1
1 -R1 2
1 2
1 2
(123)
- + M M
M
(123)
(123)
(123)
FAN UNIT E1, E2, E3, E5, A21, A43 Sublocation:+
Next 62
1 2 3 4 5 6 7 8
CONTACTOR BOARD
-A43
DRIVE POWER
-X5 PTC1
-XS6 1 A43X5:1 / (65)
(59) (60) -0V DRIVE.1 PTC1 ret
SUPPLY
2
A43X5:2 / (65)
Connection if
1 0V BRAKE A43X5:3 / (65)
(59) (60) -+24V DRIVE.1 3 0V BRAKE Rel.13.2 and earlier.
24VDrive 4
A43X5:4 / (65)
2
1 2
24V -A43.XS5
-X1 1 A43.XP5
(27) / -RUN_CH1
CONTROL (27) / -RUN_CH1Ret 1 2 Sh.75.1
MODULE (27) / -RUN_CH2 2 3 Connection from Rel.14.1
(27) / -RUN_CH2Ret 3 4
A21.X7
4
-X10
LIM2 ch1 -X22
24VDrive FAN1ret.4 / (61)
LIMIT LIM2 ch2 1
3
RunCh2 3
SWITCH 2
EXTERNAL LIM2 ch2 ret 2
AXIS LIM2 ch1 ret 4

2
24VDrive 1
+24VCOOL.4
-X23
0VCOOL.4
4
LIMIT 1
OVERRIDE 3
1) Jumpers if not used
24V COOL
BRAKE CTRL
4
2
(61)
(61)
(70) (83) (98) / -A43-X21.1
(101) (104) (113) LIM1 ch1 -X21
LIMIT
SWITCH 1 (70) (83) (98) / -A43-X21.3 LIM1 ch2 1 -X11
(101) (104) (113) 3
CONTROL 1) 1) RunCh1 FAN2ret.5 / (61)
CABLE (70) (83) (98) / -A43-X21.4 LIM1 ch2 ret LIM2 3
0V COOL
(101) (104) (113) LIM1 ch1 ret 4 LIM1
(70) (83) (98) / -A43-X21.2 2
2
(101) (104) (113)
-X1
CONTROL (27) / -ENABLE2.1 1
MODULE (27) / -ENABLE2_1Ret 5
6 INTERLOCKING
0VCOOL8
-BRAKE
A21.X7 (27) / -SPEED.1
+24VCOOL.5
4
0VCOOL.5
(27) / -0V 7
AXC
8
-X4
PAN_CH1
24V COOL
(66) / -RS485+
0V COOL
BU
(63) /
AXIS (66) / -RS485- WHBU 4 K2
(60) /
COMPUTER (66) / -0V ENABLE2 OG 5 K1
RunCh1
(66) / -ENABLE2 7
A42.X6 WHOG
(61)
(61)
8
PAN_CH2
RunCh2
24V COOL
-XS7
(59) (60) / -+24V BRAKE.2
-X12 -491 AWG20 BU +24V
1
-LOCK1A
-LOCK2B
0VCOOL8
-RCH1
-0V COOL.1
0VCOOL8
(59) (60) / 1
-SELF1
-SELF2
2 -492 AWG20 BU 0V
(59) (60) / -+24V COOL.1 2
(63) /
3 OPTION :DUTY
(59) (60) / -+24V BRAKE.1 TIME COUNTER
(63)
(63)
(63)
(63)
(60) /
-RCH2
4 (60) / -P1
(59) (60) / -0V BRAKE.1
5
-
(63) /
(59) (60) / -0V BRAKE.2 +
6 -
h +
CONTINUATION NEXT PAGE
CONTACTOR BOARD A43 Sublocation:+
Next 63
-A43
1
Latest revision:
CONTACTOR
-X8
-K42
UNIT K42,K43,K44
-471 AWG20 BU 0VCOOL8 / (60)
2
-472 AWG20 BU -RCH1 / (62)
A2
A1
1

CONTACTOR BOARD
-K44
-473 AWG20 BU 0VCOOL8 / (60)
6
-474 AWG20 BU -BRAKE / (62)
A2
A1
5
2
-K43
-475 AWG20 BU 0VCOOL8 / (60)
4
-476 AWG20 BU -RCH2 / (62)

3
A2
A1
-X3
-451 AWG20 BU
24V
-452 AWG20 BU BRAKE_FB
1
2

6
-479 AWG20 BU 0V
5
-493 AWG20 BU -480 AWG20 BU

3
-SELF1 (62)
44
43
4
-481 AWG20 BU
-H1
24V
10
-494 AWG20 BU -482 AWG20 BU
STATUS DIOD
-SELF2 (62)
DRIVE MODULE
44
43
9
-483 AWG20 BU LOCK1B

22
21
3
-484 AWG20 BU
-LOCK1A (62)
2
-485 AWG20 BU LOCK2A

22
21
7
-486 AWG20 BU
-LOCK2B (62)
8
4
EXTCONT
&
-X24
773 AWG20 BU
(38.5) / -K42.31
3
771 AWG20 BU 0V
(38.5) / -K42.32
PRN
AWG20 BU
4
774
32X
31X
(38.5) / -K43.31
Lab/Office:
DMRO SE/
internal safety
772 AWG20 BU
Mode Selector
5
(38.5) / -K43.32
Software based
32X
31X
24V
PTC2
5
PTC2 0V
2
EXT MON 1A
EXT MON 1B
34
33
EXT MON 2A
CUSTOMER
EXT MON 2B
CONNECTION

34
33
W761
(64) 761 760 759 758
34
33
54
53
54
53
6
W758
(59)
CONTACTOR UNIT A43, K42, K43, K44
W762
(64)
-490
-X9
BRAKEREL1 -447 AWG16 BU -489 BU -487 AWG16 BU 24V BRAKE

(64) / -XP40.2
4
3
14
13
13
14
1
(CONTROL CABLE AND OPTION: EXTERNAL AXIS)
BRAKEREL2 -448 AWG16 BU -477 AWG16 BU

(64) / -XP40.3
2
Status:
7
EXT.LAMP BU
Approved
-445 AWG16
(64) / -XP40. 1
Document no.
EXTBRAKEREL -449 AWG16 BU

(64) / -XP40.5
6
5
BRAKEPB -446 AWG16 -488 AWG16 BU BRAKE PB

(64) / -XP40.4
22
21
3HAC024480-011
3
Plant:
EXTBRAKEPB -450 AWG16 BU

(64) / -XP40.6
-F1
Sublocation:+
Location: +
=
-XP43
-XS43
-128 AWG10 BK -122 AWG10 BK -119 AWG10 BK

8
(72) (73) /
I>
-L21
2
1
2
1
2
1
1
1
-T1_L1 / (56) (56) (57)

(72) (73) /
I>
-L22
4
3
4
3
4
3
2
2
-T1_L2 / (56) (56) (57)

(72) (73) /
I>
-L23
6
5
6
5
6
5
3
3
Next 64
Rev. Ind Page63
-T1_L3 / (56) (56) (57)

08 Total 156
MAIN DRIVE UNIT
1 2 3 4 5 6 7 8
XP40.1
XP40.2
XP40.3
XP40.4
XP40.5
XP40.6
W761
W762
(63)
(63)
(63)
(63)
(63)
(63)
(63)
(63)
761
762
-XP40.2
-XP40 1 2 3 4 5 6 5 6
-XS40.1
1 2 3 4 5 6
EXT.LAMP
BRAKE REL
BRAKE REL
BRAKE PB
EXTBRAKEPB / (74)
BU BU BU BU
If Standard connection or Option: If one or two external axes EXTBRAKEREL / (74)
Option: If three external axes
-445
-447
-448
-446
with Option: Three external axes. (XP40 connected to SX40.1) (XS40.1 connected to XP40.2)
(XP40 connected to XS40) (XS40 connected to XP40.1) (XP40.1 not connected)
AWG16 AWG16 AWG16 AWG16
-XP40.1
1 2 3 4
-XS40
1 2 3 4 5 6
-EXT. LAMP -BRAKEREL1 -BRAKEREL2 -BRAKEPB

(80) (80) (80) (80)
(83) (83) (83) (83)
(86) (86) (86) (86)
(89) (89) (89) (89)
(93) (93) (93) (93)
(93.6) (93.6) (93.6) (93.6)
(95) (95) (95) (95)
(98) (98) (98) (98)
(101) (101) (101) (101)
(104) (104) (104) (104)
(107) (107) (107) (107)
(113) (113) (113) (113)
(116) (116) (116) (116)
(120.2) (120.2) (120.2) (120.2)
(120.5) (120.5) (120.5) (120.5)
(122) (122) (122) (122)
(128.7) (128.7) (128.7) (128.7)
CONTROL CABLE
CONTACTOR UNIT XS40, XP40 Sublocation:+
Only for release 13.2 and earlier Document no. Rev. Ind Page64
Next 65
1 2 3 4 5 6 7 8
CONNECTED IN STANDARD AND IF THREE EXTERNAL AXES

A43X5:1 / -XP5/XS5
(62) -PTC1 / (80) (86) (93.6) (98) (104) (120.2)
1 (83) (93) (95) (101) (113) (122)
A43X5:2 /
-PTC 1 ret / (80) (86) (93.6) (98) (104) (120.2)
(62)
2 (83) (93) (95) (101) (113) (122)
A43X5:3 /
-0V BRAKE3 / (80) (86) (93) (95) (101) (107) (116) (120.5) (128.7)
(62)
3 (83) (89) (93.6) (98) (104) (113) (120.2) (122)
A43X5:4 /
-0V BRAKE4 / (80) (86) (93) (95) (101) (107) (116) (120.5) (128.7)
(62)
4 (83) (89) (93.6) (98) (104) (113) (120.2) (122)
OPTION: IF THREE EXTERNAL AXES OPTION: IF ONE OR TWO EXTERNAL AXES
-XP5.2 -XS5.1 4018 -XP5.1

1 1 1
4019
2 2 2
/ W763 0V BRAKE 4016 4015
(59)
3 3 3
4017
4 4 4
0V BRAKE 4012
XS5.1:3 / (74)
Contactor unit A43.X5

Block diagram for: XS5
Connected in standard Connected
Contactor unit A43.X5

XS5.1 XP5.1 XS5
Connected
Block diagram for:
Option one or two external axes in Drive module ,
or Single drive unit 1-3 axes. 0V BRAKE 4012 Connected
Block diagram for:

Option if three external axes and Contactor unit A43.X5
Drive module with 2600-87xx XS5
Connected
XP5.2
Power supply G9 XS5.1 XP5.1
Not connected
Connected

CONTACTOR BOARD A43.X5, XS5, XP5 Sublocation:+
Connection for release 13.2 and earlier Document no. Rev. Ind Page65
Next 66
1 2 3 4 5 6 7 8
DRIVE (69) (70) / -+24V DRIVE;2 -726 AWG20 BK
POWER AXIS COMPUTER BOARD MAIN SERVO DRIVE UNIT

SUPPLY (69) (70) / 0V DRIVE;2 -725 AWG20
EPS/SAFE MOVE -A42 -A41.1
-(A42-X)1
A44-X1
1
2
-XS1
DRIVE (59) (60) -+24V DRIVE
POWER 1
SUPPLY (59) (60) -0V DRIVE
2
-XP11 AWG26 4x2 SFTP
(59) ACOK
-XP8
Connected only to 3 BN
DRIVE MODULE (59) +5V_OUT 1 1

4 BNWH
Jumper with Single Drive Module 2 2
No jumper if Drive Module. OG
3 3
1) OGWH
AWG24 -XP2
(35) / -2.TXRX+ 6 6
RX+
A31.X9 1
MAIN (35) / -2.TXRX-

RX-
COMPUTER 2
(35) / -2.RXTX+ TX+
3
(35) / -2.RXTX- TX-
6
OPTION : (69) (70) / 6.TXRX+

EPS OR (69) (70) / 6.TXRX-
SAFE MOVE (69) (70) / 6.RXTX+
A44-X4 (69) (70) / 6.RXTX-
(40.1) / -9.TXRX+
OPTION : (40.1) / -9.TXRX-
AXC SWITCH (40.1) / -9.RXTX+
A34 (40.1) / -9.RXTX-
-XP6
(62) / -RS485+
4
CONTACTOR (62) / -RS485-
BOARD 5
-XS6
-0V ENABLE2 -0V Drive sys 519 AWG16 BU
A43.X4 (62) / (59) (60) /
7 1
(62) / -ENABLE2
8 (59) (60) / +24V Drive sys 518 AWG16 BU
2
XS9
RXD
2
1) No connection to main computer if EPS or SAFE MOVE is connected TXD
3
0V
5

AXIS COMPUTER UNIT A42, A41.1 Sublocation:+
Next 67
1 2 3 4 5 6 7 8
EPS
-A44
(.3) Option: EPS

(69.4) connect to
(70.3) A44-X5
(71.3)
3.See pages / (69)
AXIS COMPUTER BOARD SAFE MOVE

-A42 -A44 Option: Safe Move connect
to A44-x5 and x7
(70)
4.See pages / (70)
-XP4
MRCO1 -MRCO1 / (77) (80) (83) (86) (89) (93)
1 (93.6) (95) (98) (101) (104) (107)
(113) (116) (120.2) (120.5) (122) (128.7)
MRCO1_N -MRCO 1_N / (77) (80) (83) (86) (89) (93)

2 (93.6) (95) (98) (101) (104) (107)
(113) (116) (120.2) (120.5) (122) (128.7)
(77) (80) (83) (86) (89) (93)
MRCI1 -MRCI1 / (93.6) (95) (98) (101) (104) (107)
4 (113) (116) (120.2) (120.5) (122) (128.7)
(77) (80) (83) (86) (89) (93)

MRCI1_N CONTROL
-MRCI 1_N / (93.6) (95) (98) (101) (104) (107)

5 (113) (116) (120.2) (120.5) (122) (128.7) SIGNAL XS2
0V -MRC_0V1/ (77) (80) (83) (86) (89)

6 (93) (93.6) (95) (98) (101)
(104) (107) (113) (116) (120.2)
(120.5) (122) (128.7)
24V_SMB1 +24V_SMB1 / (77) (80) (83) (86) (89) (93)
7 (93.6) (95) (98) (101) (104) (107)
(113) (116) (120.2) (120.5) (122) (128.7)
0V -MRC_0V2 / (77) (80) (83) (86) (93)

3 (95) (98) (101) (104) (107)
(113) (116) (120.2) (120.5) (122)
(128.7)
0V -MRC_0V3 / (77) (80) (83) (86) (93)
9 (95) (98) (101) (104) (107)
(113) (116) (120.2) (120.5) (122)
(128.7)
-XP5
MRCO2 MRCO2 / (23)
1
MRCO2_N MRCO2_N / (23)
2
MRCI2 MRCI2 / (23)
4
MRCI2_N MRCI2_N / (23) EXT. AXIS
5 SIGNAL XS41
0V MRC_0V4 / (23)
6
24V_SMB2 24V_SMB2 / (23)
7
0V MRC_0V5 / (23)
3
0V MRC_0V6 / (23)
9

AXIS COMPUTER UNIT A42, A44 Sublocation:+
Next 68
1 2 3 4 5 6 7 8
-EXT-FMB Option: 738-1
12 x AWG24 BU UL1569
-X1
SDI_AXC 1005
SDI_AXC_N A 1006
SDO_AXC B 1007 DSQC686 VOLTAGE MEASURE BOARD
(23) / XS41 SMB 19 x 0,14mm^2 BU
SDO_AXC_N C 1008 -A1
0V D 1011
24V E 1012 -XS1 -X1 -X2 -XP2 -X3
F AIN1_P
2 1 1 AIN1_N
3 2 2 AIN2_P
4 3 3 AIN2_N
5 4 4 AIN3_P
7 5 5 AIN3_N
8 6 6 AIN4_P
9 7 7 AIN4_N
10 8 8 AIN5_P Customer connection
11 9 9 AIN5_N
12 10 10 AIN6_P
Bridge connector FMB.X2 13 11 11 AIN6_N
14 12 12 AIN7_P
-X2 14 14 AIN7_N
SDO_SMB 1001 15 15 SEN_DET_P
SDO_SMB_N A 1002 16 16 SEN_DET_N
SDI_SMB B 1003 17 17 0V_AI_ANALOG
Customer connection SDI_SMB_N C 1004 23 18 -15V_AI
0V D 1009 24 19 +15V_AI
24V E 1010 25 20
F

FORCE MEASUREMENT BOX Sublocation:+
Next 69
1 2 3 4 5 6 7 8
Option: EPS opt. 810-1

-A44 DSQC 646
-X4
AWG24
TX+ BU 6.TXRX+ / (66)
-X1 1
DRIVE POWER (66) / 0V DRIVE;2 TX- WHBU 6.TXRX- / (66) AXIS
SUPPLY 1 2 COMPUTER
(66) / -+24V DRIVE;2 RX+ OG
6.RXTX+ / (66) BOARD
2 3 A42-X2
WHOG
RX- 6.RXTX- / (66)
6
-X6
MRCO1
AWG24 -X3 1
(35) / -2.TXRX+ WHOG RX+ MRCO1-N
A31.X9 1 2
MAIN (35) / -2.TXRX- OG RX- MRCI1
COMPUTER 2 4
(35) / -2.RXTX+ WHGN TX+ MRCI1-N CONTROL
3 5 SIGNAL
GN TX- 0V XS2
(35) / -2.RXTX-
6 6
24V-SMB1
7
0V
3
0V
9
-X5 -X9
MRCO1 +24V
1 1
MRCO1-N 0V
2 2
MRCI1 OUT1A
Option: EPS Connect 4 3
to AXIS COMPUTER MRCI1-N OUT1B
BOARD A42-X4 5 4
0V OUT2A
3.See pages / (67) 6 5
24V-SMB1 OUT2B PROCESS I/O
7 6
0V OUT3A
3 7
0V OUT3B
9 8
OUT4A
9
OUT4B
10
OUT5A
11
OUT5B
12
CSC INA
13
CSC INB
14

EPS A44, DSQC646 Sublocation:+
Next 70
1 2 3 4 5 6 7 8
opt. 810-2
Option: SAFE MOVE DSQC 647
-A44
X13
Relay output RelOut 1A -A43-X21.1 / (62)
XS1
DRIVE POWER (66) / -0V DRIVE;2 pair 1 1
SUPPLY 1 RelOut 1B -A43-X21.2 / (62)
(66) / -+24V DRIVE;2 2 CONTACTOR UNIT
2 Relay output RelOut 2A -A43-X21.3 / (62) X21
pair 2 3
RelOut 2B -A43-X21.4 / (62)
4
AWG24
MAIN (35) / -2.TXRX+ AWG24 WHOG X3 TX+ X4 WHOG -6.TXRX+ / (66) AXIS
1 RX+ 1
COMPUTER (35) / -2.TXRX- OG OG -6.TXRX- / (66) COMPUTER
2 RX- TX- 2
A31.X9 (35) / -2.RXTX+ WHGN
TX+ RX+
WHGN
-6.RXTX+ / (66) BOARD
3 3
A42.X2
4 4
GN 5 5 GN
(35) / -2.RXTX- TX- RX- -6.RXTX- / (66)
6 6
7 7
8 8
-X5 -X6
MRCO1 MRCO1
1 1
MRCO1-N MRCO1-N
2 2
Connect to MRCI1 MRCI1
AXIS COMPUTER 4 4 CONTROL
BOARD MRCI1-N MRCI1-N SIGNAL
A42-X4 5 5 XS2
4.See pages / (67) 0V 0V
6 6
24V-SMB1 24V-SMB1
7 7
0V 0V
3 3
0V 0V
9 9
-X7 -X8
MRCO2 MRCO2 MRCO2 / (23)
1 1
MRCO2-N MRCO2-N MRCO2_N / (23)
Connect to 2 2
AXIS COMPUTER MRCI2 MRCI2 MRCI2 / (23) EXT. AXIS
BOARD 4 4 SIGNAL
A42-X5 MRCI2-N MRCI2-N MRCI2_N / (23) XS41
4.See pages / (67) 5 5
0V 0V MRC_0V4 / (23)
6 6
24V-SMB2 24V-SMB2 24V_SMB2 / (23)
7 7
0V 0V MRC_0V5 / (23)
3 3
0V 0V MRC_0V6 / (23)
9 9

SAFE MOVE A44, DSQC647 Sublocation:+
Next 71
1 2 3 4 5 6 7 8
Option: SAFE MOVE DSQC647

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

SAFE MOVE A44, DSQC647 Sublocation:+
Next 72
1 2 3 4 5 6 7 8
ADDITIONAL AXIS 1, DRIVE UNIT NO 7

ADDITIONAL RECTIFIER UNIT ADDITIONAL DRIVE UNIT
MAIN DRIVE UNIT LV unit -A41.2 -A41.3
A41.1 -X9 -X8 -X9 -X8 -X9
POWER UNIT 1 TX+ 1 1 1 1 TX+
2 TX- 2 2 2 2 TX-
3 RX+ 3 3 3 3 RX+
6 RX- 6 6 6 6 RX-
/ (63)
/ (63)
/ (63)
-L21
-L22
-L23
XS1 -XP1
-XS21 -XP21 1 1
1 DC+ 2
2 DC- 3
AWG10 BK
XS7
-W550
-XS7 XS6 -XS7 XS6

1 0V DRIVE 1 1 1 1 0V DRIVE
GNYE X1
2 24V DRIVE 2 2 2 2 24V DRIVE
-W556
AWG12
1
BK
-W554
-W552
AWG12 ADDITIONAL DRIVE UNIT

4 GNYE X1
-W551 AWG12 -A41.4
BK
AWG12 1 ADDITIONAL AXIS 2, DRIVE UNIT NO 8 XS6
3 BK
-W557 AWG12 1
BK
AWG12 2
BK
4
2
-W555 AWG12
BK
3
-W553 AWG12
-X8
2 1 TX+
2 TX-
3 RX+
6 RX-
XS1 -XP1
-XS22 -XP22 1 1
1 DC+ 2
2 DC- 3 -X9
AWG10 BK 1 TX+
XS7 2 TX-
1 3 RX+
2 6 RX-
BLEEDER -X2 BLEEDER -X2
AWG12 AWG12
24V DRIVE
-1 BK Bleeder + -1 BK
0V DRIVE
Bleeder +
1 1 ADDITIONAL DRIVE UNIT
1 1 -A41.5
XS6 XS7
1 0V DRIVE 1
2 2 2 24V DRIVE 2
-2 AWG12 BK Bleeder - -2 AWG12 BK
Bleeder -
2 2 -X8
ADDITIONAL AXIS 3, DRIVE UNIT NO 9 1 TX+
GNYE GNYE 2 TX-
AWG12 AWG12 3 RX+
6 RX-
XS1 -XP1
-XS23 -XP23 1 1 -X9
1 DC+ 2 1
2 DC- 3 2
AWG10 BK 3
6

MAIN DRIVE UNIT and ADDITIONAL AXIS 1-3 for LV Sublocation:+
A41.1 ,2 ,3 ,4 ,5 Document no. Rev. Ind Page72
Next 73
1 2 3 4 5 6 7 8
ADDITIONAL DRIVE UNIT

POWER UNIT MAIN DRIVE UNIT ADDITIONAL AXIS 1, DRIVE UNIT NO 7
A41.1
/ (63)
/ (63)
/ (63)
-X9 (72.6)
-X8 -X9
1 TX+ -A41.3 1 1 TX+
-L21
-L22
-L23
2 TX- 2 2 TX-
3 RX+ 3 3 RX+
6 RX- 6 6 RX-
AWG10
AWG10
AWG10 XS1 -XP1
GNYE
-XS21 -XP21 1 1
AWG10
1 DC+ 2
-W138
2 DC- 3
-W137
AWG10 BK
-XS7 XS6 XS7
-X1 1 0V DRIVE 1 1 0V DRIVE
2 24V DRIVE 2 2 24V DRIVE
-W136
4

3 ADDITIONAL AXIS 2, DRIVE UNIT NO 8 XS6

(72.6) 1
2 -A41.4 2
-X8
1 TX+
2 TX-
3 RX+
6 RX-
XS1 -XP1
-XS22 -XP22 1 1
1 DC+ 2
2 DC- 3 -X9
AWG10 BK 1 TX+
XS7 2 TX-
BLEEDER -X2 1 3 RX+
-1 AWG12 BK Bleeder + 2 6 RX-
1
0V DRIVE
24V DRIVE
1
-A41.5 ADDITIONAL DRIVE UNIT
2 XS7
XS6
-2 AWG12 BK Bleeder - 1 0V DRIVE 1
2
2 24V DRIVE 2
GNYE ADDITIONAL AXIS 3, DRIVE UNIT NO 9

AWG12 -X8
1 TX+
2 TX-
3 RX+
XS1 -XP1 6 RX-
-XS23 -XP23 1 1
1 DC+ 2
2 DC- 3 -X9
AWG10 BK 1
2
3
6

MAIN DRIVE UNIT and ADDITIONAL AXIS 1-3 Sublocation:+
for HV A41.1, 3, 4, 5 Document no. Rev. Ind Page73
Next 74
1 2 3 4 5 6 7 8
CONTACTOR BOARD
A43
-X24 -4013 AWG16 -XS/XP7
PTC2 BU
1 -4014 AWG16 E1
PTC2 0V BU
2
E2
3
4
5
E3
6
Capacitor 0,47uF
-C2 E4
E5
E6
XS5.1:3 /
-4012 AWG16 BU
(65)
F9
F10
Remove the bridge before connection.
F11
-X22 -4006 AWG16
LIM2 ch1 BU
F1
1
LIM2 ch1 ret -4007 AWG16 BU
2 F4
LIM2 ch2 -4008 AWG16 BU
3 F2
LIM2 ch2 ret -4009 AWG16 BU
4 F3
F5
F6
(64) / EXTBRAKEREL BRAKE REL. +24V -4010 AWG16 BU
(64) / EXTBRAKEPB BRAKE PB -4011 AWG16 BU F7
F8
AWG10 GNYE
AWG18

EXTERNAL AXIS A43, XS/XP7 Sublocation:+
Only for release 13.2 and earlier Document no. Rev. Ind Page74
Next 75
1 2 3 4 5 6 7 8
+C

A41.3
AWG12
External axis no. 7 -XS/XP7
-X2
1 U -4000 BK
A1
4 U -4001 BK
A2
3 W -4002 BK
A3
6 W -4003 BK
A4
2 V -4004 BK
A5
5 V -4005 BK
A6
ADDITIONAL DRIVE UNIT External axis no.8

-A41.4
-X2 -4000
U BK
1 B1
U -4001 BK
4 B2
W -4002 BK
3 B3
W -4003 BK
6 B4
V -4004 BK
2 B5
V -4005 BK
5 B6
ADDITIONAL DRIVE UNIT External axis no.9

-A41.5
-X2 4000
U BK
1 C1
U 4001 BK
4 C2
W 4002 BK
3 C3
W 4003 BK
6 C4
V 4004 BK
2 C5
V 4005 BK
5 C6

EXTERNAL AXIS no 7, 8, 9 A41.3 .4 .5 , XS/XP7 Sublocation:+
Next 75.1
1 2 3 4 5 6 7 8
CONTACTOR UNIT
A43
EXT BRAKE
EXT BRAKE
PTC1ret
24V DRIVE
0V BRAKE
0V BRAKE
RELEASE
PTC2 0V
PTC1
PUSH B.
XS40/ XP40/
PTC2
XP40.1 XS40.1 X24 X5
0V
1 2 3 4 5 6 1 2 3 4 5 6 1 2 3 4 5 6 1 2 3 4
4028
4024
JUMPER
AWG20 BU
445
447
448
446
4018
4019
4016
4017
2-POL
4032
4035
XP7
2 2 a1 a3 a5 e1 e2 f7 f8 f9 f1 f2 f3 f4
Y2 Y3
1 1
-Y6
4029
4028/
5
C2
2
1
4031
4030/ 2
-Y5
4025
4024/
4020
4015/
2 -Y1
1
4027
4026/
-Y4
4021
4020/
2
1
4023
4022/
4015
EXT BRAKE REL 4029
A43.XP5
PTC2 0V
EXT BRAKE
EXT BRAKE 4031

BRAKE PB 4025
BRAKE PB 4026
BRAKE PB 4027
0V BRAKE 4021
0V BRAKE 4022
0V BRAKE 4023
RELEASE 4030
RELEASE
PTC2
1 2 3 4
PTC2 4032
PTC2 4033
PTC2 4033
PTC2 4034
4034
4035
-A7.XP9 -A7.XP8 -A7.XP7
A43.XS5
1 2 3 4 5 1 2 3 4 5 4 5 Sh.62
1 2 3
R1-SP A E C J K L R M G
*) *) *) *) PTC2 JUMPER WHEN NOT CONNECTED.
-A7.XS7
1 2 3 4 5
Acc. to circuit diagram for the products: Acc. to circuit diagram for the products: Acc. to circuit diagram for the products:
IRBT, DRESSPACK, SERVOGUN, MTM, MU, GU, IRBP IRBT, DRESSPACK, MTM
MTM, AWG18
4010
4011
4012
4013
4014
BU
Acc. to circuit diagram. XS7
DRESSPACK/SERVOGUN: 3HAC026209-001
F E
IRBP: 3HAC035753-001 5 6 7 8 9 10 11 1 2 3 4 5 6
IRBT: 3HAC043574-001
MU/GU: 3HAC039887-001
MTM: 3HAC051586-001 CONNECTED WITH AWG16 BU,
RTT: 3HEA802298-001 only for IRC5 DESIGN 06 and earlier. IF NO OTHER NOTATION

EXTERNAL AXES ADAPTER HARNESS Sublocation:+
XS/XP40, A43:XP5, A7:XP7 :XP8 :XP9 Document no. Rev. Ind Page75.1
Only for rel.14.1 and later. Next 76
1 2 3 4 5 6 7 8
This is not any available option. Connection to the break release button,
This is only examples how to connect with power from the cabinet.
the break release button for the IRB120
internal or external the cabinet. -XS.35 -XS.40
4 3 4
MAIN SERVO DRIVE UNIT
24V BREAK REL.

0V BREAKE
with power outside the cabinet.

Connection to the break release button,
-A41.1
24V BRAKE PB
24V BRAKE PB -X100 1
-X11 1 3 2 -X12 1 3 2 -X13 1 3 2 -X14 1 3 2 -X15 1 3 2 -X16 1 3 2
BK 12 14
BK
BK
BK
BK
BK
BK
BK
BK
BK
BK
BK
BK
BK
BK
BK
BK
BK
-K100
AWG16
AWG16
AWG16
AWG16
AWG16
AWG16
AWG16
AWG16
AWG16
AWG16
AWG16
AWG16
AWG16
AWG16
AWG16
AWG16
AWG16
AWG16
11
0V BREAKE -X100 2
-_400
-_402
-_404
-_406
-_408
-_410
-_412
-_414
-_416
-_418
-_420
-_422
-_424
-_425
-_426
-_428
-_430
-_432
-PE100
AWG16 GNYE
Cross ref / (23) D1 D3 D2 D4 C1 C2
XS1/XP1 A13 A15 B1 B3 B4 B5 B6 B7 B8 B9 B10 B11 DRIVE MODULE
XS/XP1 A1 A3 A5 B14 B12 A7 A9 A11
AWG20 BK
AWG20 BK
FLOOR CABLE
24V Brake
0V Brake
MW3
MW1
MW2
MW6
MW5
MW4
MU3
MU1
MU2
MU6
MU5
MU4
MV3
MV1
MV2
MV6
MV5
MV4
MANIPULATOR
R1.MP 6 9 10 12 13 LUG1 1 2 5 3 4 8 20 23 24 17 21 22 15 16 19
According to Manipulator circuit diagram 3HAC031408-003

SERVO DRIVE SYSTEM Sublocation:+
IRB 120 Document no. Rev. Ind Page76
Next 77
1 2 3 4 5 6 7 8
FLOOR CABLE
CONTROLLER MANIPULATOR
DRIVE MODULE

Cross ref XS2/XP2 / (23)
0,23 mm2
R1 SMB SMB/EIB
-XS/XP2
(67) / -MRCO1 WH SDI
A A
(67) / -MRCO 1_N BU SDI-N
B B
(67) / -MRCI1 WH SDO SERIAL
C C MEASUREMENT
(67) / -MRCI 1_N OG SDO-N BOARD
D D
(67) / -MRC_0V1 WH 0V
E WH E
(67) / +24V_SMB1 GN 24V
F BN F
(67) / -MRC_0V2
G
(67) / -MRC_0V3 WH J
J
GY K
K
RD L
L
M

CONTROL CABLE Sublocation:+
Next 78
1 2 3 4 5 6 7 8
FLOOR CABLE supplied by the customer
Customer
Connection

-708 XS/XP5
XT/XT5 R1.CS
AWG24 BK
1 B5 A
AWG24 BN
2 C5 B
AWG24 RD
3 D5 C
AWG24 OG
4 A6 D
AWG24 YE
5 B6 E
AWG24 GN
6 C6 F
AWG24 BU
7 D6 G
AWG24 VT
8 A7 H
AWG24 GY
9 B7 J
AWG24 WH
10 C7 K
AWG24 WH/BK
11 D7
AWG24 WH/BN
12 A8

CUSTOMER SIGNALS Sublocation:+
Next 79
1 2 3 4 5 6 7 8

-A41.1
1 3 2 1 3 2 1 3 2 1 3 2 1 3 2 1 3 2
-X11 -X12 -X13 -X14 -X15 -X16
BK
BK
BK
BK
BK
BK
BK
BK
BK
BK
BK
BK
BK
BK
BK
BK
BK
BK
AWG16
AWG16
AWG16
AWG16
AWG16
AWG16
AWG16
AWG16
AWG16
AWG16
AWG16
AWG16
AWG16
AWG16
AWG16
AWG16
AWG16
AWG16
-_400
-_402
-_404
-_406
-_408
-_410
-_412
-_414
-_416
-_418
-_420
-_422
-_424
-_425
-_426
-_428
-_430
-_432
GNYE
GNYE
AWG10
AWG10
Cross ref / (23) DRIVE MODULE
XS1/XP1 -XS1 A1 A3 A5 A7 A9 A11 A13 A15 B1 B3 B4 B5 B6 B7 B8 B9 B10 B11 PE1 PE2
GNWH
BUWH
BNWH
BKWH
GNRD
BUGN
BNGN
BURD
BKGN
BNRD
BKRD
BNBU
BKBU
BUBK
BNBK
BN
BU
BK
FLOOR CABLE
M3R
M1R
M2R
M6R
M5R
M4R
M3S
M1S
M2S
M6S
M5S
M4S
M3T
M1T
M2T
M6T
M5T
M4T
AWG16
PE1 PE2 MANIPULATOR

-R1.(MP 4-)6 6 9 12 4 7 10 1 2 3
13 17 15 1 5 3 7 11 9
-R1.(MP 1-)3

Next 80
1 2 3 4 5 6 7 8
FLOOR CABLE
CONTROLLER
MANIPULATOR
DRIVE MODULE 0,23 mm2
Cross ref XS2/XP2 / (23) R2.SMB
-XS2
(67) / -MRCO 1_N A BU 9 SDI-N
(67) / -MRCI1 B WH 5 SDO
(67) / -MRCI 1_N C OG 8 SDO-N
AXIS COMPUTER BOARD (67) / -MRC_0V1 D WH 4 0V SERIAL
A42-X4 E WH 3 MEASUREMENT
(67) / +24V_SMB1 GN 24V BOARD
F BN 7
(67) / -MRC_0V2
G
(67) / -MRC_0V3 H
J GY BATSUP
K RD 6 BATLD
L 2

Cross ref / (23)

XS1/XP1 AWG16
-XS1 R1-H1
(64) / -EXT. LAMP -_433 AWG16 C7 OG
1 R1-.(MP 4-)6
DRIVE MODULE (64) / -BRAKEPB -_434 AWG16 BU B16 OGWH
X40 15
(64) / -BRAKEREL1 -_435 AWG16 BU B12 GYBK
8
(64) / -BRAKEREL2 -_436 AWG16 BU B13 GYBU
(65) / -0V BRAKE4 -_438 AWG16 BU B14 GYGN
13
CONTACTOR UNIT (65) / -PTC1 -_439 AWG16 BU C2 OGBU
A43-X5 11
(65) / -PTC 1 ret -_440 AWG16 BU C1 OGBK
-R1.140-(MP 1-)3
2
(65) / -0V BRAKE3 -_437 AWG16 BU B15 OGRD
14
D2 GYWH
10
D1 GYRD
16
D3 GY
18
D4 OGGN
12

Next 81
1 2 3 4 5 6 7 8
FLOOR CABLE
CONTROLLER
MANIPULATOR
CONTROL MODULE
Customer
Connection
-XS/XP5 0,23mm2
-708
-XP/XT5 AWG24

WH +R1 -CS
BK CSA
1 B5 1
BN BU CSB
2 C5 9
RD WH CSC
3 D5 2
OG OG CSD
4 A6 10
YE WH CSE
5 B6 3
GN GN CSF
6 C6 11
BU WH CSG
7 D6 4
VT BN CSH
8 A7 12
GY WH CSJ
9 B7 5
WH GY CSK
10 C7 13
WH/BK RD CSL
11 D7 6
WH/BN BU CSM
12 A8 14

CUSTOMER SIGNAL Sublocation:+
SINGLE CABINET Document no. Rev. Ind Page81
IRB 140 Next 82
1 2 3 4 5 6 7 8

-A41.1
-X11 1 3 2 -X12 1 3 2 -X13 1 3 2 -X16 1 3 2

BK
BK
BK
BK
BK
BK
BK
BK
BK
BK
BK
BK
-_400 AWG16
-_402 AWG16
-_404 AWG16
-_406 AWG16
-_408 AWG16
-_410 AWG16
-_412 AWG16
-_414 AWG16
-_416 AWG16
-_428 AWG16
-_430 AWG16
-_432 AWG16
GNYE
GNYE
Cross ref / (23) -XS/XP1 A1 A3 A5 A7 A9 A11 A13 A15 B1 B9 B10 B11 CONTROLLER
PE1 PE2
XS1/XP1 DRIVE MODULE
GNWH
BUWH
BKWH
GNRD
BUGN
BKGN
BURD
BKRD
BKBU
BUBK
BN
BK
GNYE
GNYE
AWG16
Floor cable
M1W
M2W
M3W
M6W
M1U
M2U
M3U
M6U
M1V
M2V
M3V
M6V
A1 A2 A3 A4 D1 D2 D3 D4 B1 D8 D7 B10 MANIPULATOR
PE1 PE2
R1-MP IRB 260

SERVO DRIVE UNIT Sublocation:+
Next 83
1 2 3 4 5 6 7 8
FLOOR CABLE
DRIVE MODULE

0,23 mm²
R1 SMB
-XS/XP2
A A
B B
(67) / -MRCI1 WH SDO
C C
AXIS COMPUTER BOARD (67) / -MRCI 1_N OG SDO-N
A42-X4 D D
(67) / -MRC_0V1 WH 0V
E WH E
(67) / +24V_SMB1 GN 24V
F BN F
(67) / -MRC_0V2 SERIAL
G MEASUREMENT
(67) / -MRC_0V3 WH 0V BOARD

J J

GY BATT+
K K
RD BATT LOAD
L L
Keypin
AWG16 M
Cross ref / (23)

XS1/XP1 R1 MP
-433 AWG16 -XS/XP1
(64) / -EXT. LAMP BU OG
DRIVE MODULE C7 C7
X40 (64) / -BRAKEPB -434 AWG16 BU OGWH
B16 B8
(64) / -BRAKEREL1 -435 AWG16 BU GYBK
B12 C9
(64) / -BRAKEREL2 -436 AWG16 BU GYBU
B13 C8
(65) / -0V BRAKE4 -438 AWG16 BU GYGN
B14 C10
CONTACTOR UNIT (65) / -PTC1 -439 AWG16 BU OGBU
A43-X5 C2 B9
(65) / -PTC 1 ret -440 AWG16 BU OGBK
C1 B2
(65) / -0V BRAKE3 -437 AWG16 BU OGRD
B15 B7
(62) / -A43-X21.2 LIM 1A -441 AWG16 BU GYWH
D2 B3
CONTACTOR UNIT (62) / -A43-X21.4 LIM 2A -442 AWG16 BU GYRD
A43-X21 D1 B4
(62) / -A43-X21.3 LIM 2B -443 AWG16 BU GY
D3 C2
(62) / -A43-X21.1 LIM 1B -444 AWG16 BU OGGN
D4 C1

Next 84
1 2 3 4 5 6 7 8
Floor cable
Customer
CONTROL MODULE
Connection
-XS/XP5
-709 AWG18
-XP/XT6 AWG24 R1-CP/CS
BK RD CPA
1 BN A1 BU A1 CPB
2 RD B1 GN B1 CPC
3 OG C1 YE C1 CPD
4 YE D1 WH D1 CPE
5 GN A2 BK A2 CPF
6 BU B2 BN B2 CPJ
7 VT C2 VT C2 CPK
8 GY D2 OG D2 CPL
9 WH A3 PK A3 CPM
10 WH/BK B3 TQ B3
11 WH/BN C3 GY C3

12 D3 D3
-XP/XT5.1
-710 0,23mm2
AWG24 BK WH CSA
1 BN B5 BU B5 CSB
2 RD C5 WH C5 CSC
3 OG D5 OG D5 CSD
4 YE A6 WH A6 CSE
5 GN B6 GN B6 CSF
6 BU C6 WH C6 CSG
7 VT D6 BN D6 CSH
8 GY A7 WH A7 CSJ
9 WH B7 GY B7 CSK
10 WH/BK C7 RD C7 CSL
11 WH/BN D7 BU D7 CSM
12 A8 A8
-XP/XT5.2
WH/RD RD CSN
13 WH/OG B8 OG B8 CSP
14 WH/YE or PK C8 RD C8 CSR
15 WH/GN D8 GN D8 CSS
16 WH/BU A9 RD A9 CST
17 WH/VT B9 BN B9 CSU
18 WH/GY or Light GN C9 RD C9 CSV
19 BN/BK or RD/BK D9 GY D9 CSW
20 BN/RD or GN/BK A10 BK A10 CSX
21 BN/OG or OG/BK B10 BU B10 CSY
22 BN/YE or YE/BK C10 WH C10 CSZ
23 D10 D10

CUSTOMER POWER/SIGNAL Sublocation:+
SINGLE CABINET IRB 260 Document no. Rev. Ind Page84
Next 85
1 2 3 4 5 6 7 8

-A41.1
-X11 1 3 2 -X12 2 3 1 -X13 1 3 2 -X15 2 3 1
BK
BK
BK
BK
BK
BK
BK
BK
BK
BK
BK
BK
AWG16
AWG16
AWG16
AWG16
AWG16
AWG16
AWG16
AWG16
AWG16
AWG16
AWG16
AWG16
-_400
-_402
-_404
-_410
-_408
-_406
-_418
-_420
-_422
-_416
-_414
-_412
M2U
M2V
M2W
M1W
M1V
M1U
M3U
M3V
M3W
M4W
M4V
M4U
GNYE
GNYE
AWG10
AWG10
XS1/XP1 -XS1 A11 A9 A7 A5 B3 B4 B10 B9 B8 A13 A15 B1
FLOOR CABLE
MANIPULATOR

SERVO DRIVE UNITS Sublocation:+
Next 86
1 2 3 4 5 6 7 8
FLOOR CABLE
CONTROLLER
MANIPULATOR
DRIVE MODULE
-XS2
(67) / -MRCO1 A
(67) / -MRCO 1_N B
(67) / -MRCI1 C
(67) / -MRCI 1_N D
AXIS COMPUTER BOARD (67) / -MRC_0V1 E
A42-X4
(67) / +24V_SMB1 F
(67) / -MRC_0V2 G
H
(67) / -MRC_0V3 J
K
L

Cross ref / (23)

XS1/XP1
-XS1
(64) / -EXT. LAMP -_433 AWG16 BU C7
(64) / -BRAKEPB -_434 AWG16 BU B16

DRIVE MODULE
X40 (64) / -BRAKEREL1 -_435 AWG16 BU B12
(64) / -BRAKEREL2 -_436 AWG16 BU B13
(65) / -0V BRAKE4 -_438 AWG16 BU B14
CONTACTOR UNIT (65) / -PTC1 -_439 AWG16 BU C2

A43-X5
(65) / -PTC 1 ret -_440 AWG16 BU C1
(65) / -0V BRAKE3 -_437 AWG16 BU B15
D2
D1
D3
D4

Next 87
1 2 3 4 5 6 7 8
FLOOR CABLE
CONTROLLER
MANIPULATOR
CONTROL MODULE
Customer
Connection

-XS/XP5 0,23mm2
-708
-XP/XT5 AWG24 R1-CS
BK WH CSA
1 B5 A
BN BU CSB
2 C5 B
RD WH CSC
3 D5 C
OG OG CSD
4 A6 D
YE WH CSE
5 B6 E
GN GN CSF
6 C6 F
BU WH CSG
7 D6 G
VT BN CSH
8 A7 H
GY WH CSJ
9 B7 J
WH GY CSK
10 C7 K
WH/BK RD CSL
11 D7 L
WH/BN BU CSM
12 A8 M

IRB 360 Next 87.1
1 2 3 4 5 6 7 8
CONTROLLER
FLOOR CABLE MANIPULATOR
CONTROL MODULE
Customer
Connection 0,23mm2
-XP/XT5.1 AWG24 OG -XS/XP5
625 WH 1
1 626 B5 BU 2
2 627 C5 WH 3
3 628 D5 OG 4
4 629 A6 WH 5
5 630 B6 GN 6
6 631 C6 WH 7 +R1 -CS
7 632 D6 BN 8 1 1
8 633 A7 WH 9 2 2
9 634 B7 GY 10 3 3
10 635 C7 RD 11 4 4
11 636 D7 BU 12 5 5
12 A8 6 6
7 7
XP/XT5.2 8 8
637 RD 13 9 9
13 638 B8 OG 14 10 10
14 639 C8 RD 15 11 11
15 640 D8 GN 16 12 12
16 641 A9 RD 17 13 13
17 642 B9 BN 18 14 14
18 643 C9 RD 19 15 15
19 644 D9 GY 20 16 16
20 645 A10 BK 21 17 17
21 646 B10 BU 22 18 18
22 647 C10 BK 23 19 19
23 D10 20 20
21 21
22 22
23 23
XP6 AWG18 OG AWG18
648 RD 1
1 649 A1 BU 2
2 650 B1 GN 3
3 651 C1 YE 4
4 652 D1 WH 5
5 563 A2 BK 6
6 654 B2 BN 8
7 655 C2 VT 9
8 656 D2 OG 10
9 657 A3 PK 11
10 658 B3 +R1 -CP
11 659 C3 GNYE 12 1 1
12 D3 2 2
3 3
4 4
5 5
6 6
AWG16 GNYE 8 8
9 9
10 10
11 11
12 12

SINGLE CABINET Document no. Rev. Ind Page87.1
IRB 360 Next 88
Cross ref
XS1/XP1
1
Latest revision:
R1 MP
/ (23)
-A41.1
2,5mm2
-XS/XP1
-X11

17 GNRD M1U -_400 AWG12 BK
17
17
27 OGGN M1U -_401 AWG12 BK 4
24
24
16 BN M1W -_402 AWG12 BK
3
19
19
26 OGBU M1W -_403 AWG12 BK
2
26
26
Main servo drive unit 460
18 GNWH M1V -_404 AWG12 BK

2
18
18
25 OGBK M1V -_405 AWG12 BK
5
25
25

3
-X12
23 GYWH M2U -_406 AWG12 BK

1
23
23
15 BNWH M2U -_407 AWG12 BK

4
32
32
24 GY M2W -_408 AWG12 BK

3
21
21
13 BNGN M2W -_409 AWG12 BK

6
4
30
30
22 GYRD M2V -_410 AWG12 BK

2
22
22
14 BNRD M2V -_411 AWG12 BK

5
31
31
Cabinet module
PRN
Lab/Office:
DMRO SE/
5
IRB 460
-X13
10 BU M3U -_412 AWG12 BK

1
3
3
SERVO DRIVE SYSTEM

4 BKWH M3U -_413 AWG12 BK
4
4
4
12 BNBU M3W -_414 AWG12 BK

3
7
7
6
5 BK M3W -_415 AWG12 BK

6
14
14
11 BNBK M3V -_416 AWG12 BK

2
5
5
6 BUBK M3V -_417 AWG12 BK

5
6
6
-X16
9 BUWH M6U -_428 AWG12 BK

1
9
9
Status:
7 BUGN M6W -_430 AWG12 BK

7
Approved
16
16
8 BURD M6V -_432 AWG12 BK

Document no.
2
8 PE1
8 PE1
AWG10 GNYE
AWG10 GNYE
PE2
PE2
3HAC024480-011
Plant:
Sublocation:+
Location: +
=
8
DRIVE MODULE
CONTROLLER
MANIPULATOR
FLOOR CABLE
Next 89
Rev. Ind Page88
08 Total 156
1 2 3 4 5 6 7 8
FLOOR CABLE
DRIVE MODULE

0,23 mm2
R1 SMB
-XS/XP2
A A
B B
C C
A42-X4 D D
(67) / -MRC_0V1 WH 0V
E WH E
According to Manipulator IRB 460 circuit diagram 3HAC036446-005

(67) / +24V_SMB1 GN 24V
F BN F
Key pin
M
SERIAL
MEASUREMENT
BOARD
Cross ref / (23)

XS1/XP1
-_433 AWG16 -XS/XP1

(64) / -EXT. LAMP BU
R1 MP
DRIVE MODULE (64) / -BRAKEPB -_434 AWG16 BU 28 OG 0,75 mm2 BRAKE PB
XS40 11 11
(64) / -BRAKEREL1 -_435 AWG16 BU 30 OGRD 4mm2 BRAKE RELEASE
13 13 BRAKE RELEASE
(64) / -BRAKEREL2 -_436 AWG16
(65) / -0V BRAKE4 -_437 AWG16 BU 29 OGWH 4mm2 0V BRAKE

12 12 0V BRAKE
-_438 AWG16 BU 31 PKBK 0,75mm2 24V EXT.LAMP
27 27
CONTACTOR UNIT -_439 AWG16 BU
A43-X5
32 PKBU 0,75mm2 0V EXT.LAMP
15 15
(65) / -0V BRAKE3 -_440 AWG16 BU

Next 90
1 2 3 4 5 6 7 8
FLOOR CABLE
Customer CONTROL MODULE
Connection Single cabinet w26 1mm2
-XP/XT6 -713 R1 CP
-XS/XP13
AWG20 BK 1 24V
1 BN A1 D1
RD 2 0V
2 OG A2 D6
YE 3 24V
3 GN A3 D3
BU 4 0V
4 VT A4 GNYE D4
PE
SH
-XP/XT5.1 -711 W27 R1 CS
AWG24 BK BKog 0,23mm2 CS

According to Manipulator IRB 660, 760 circuit diagram 3HAC025691-001
1 BN B1 bu 0,23mm2 B1 CS
2 RD B2 WHog 0,23mm2 B2 CS
3 OG B11 og 0,23mm2 B11 CS
4 YE B12 WHgn 0,23mm2 B12 CS
5 GN B13 gn 0,23mm2 B13 CS

6 BU B14 GN AWG24 B14 CS

7 VT C19 BN AWG24 C19 CS
8 -712 1/WH C21 WH AWG24 C21 CS
9 AWG24 1/BU B7 BU AWG24 B7 CS
10 2/WH B8 WH AWG24 B8 CS
11 2/OG B9 OG AWG24 B9 CS
12 B10 W28 B10
-XP/XT5.2
3/WH WH AWG24 CS
1 3/GN B3 GN AWG24 B3 CS
3 4/BN B5 BN AWG24 B5 CS
4 -711 GY B6 RD AWG24 B6 CS
5 AWG24 WH C16 OG AWG24 C16 CS
6 WH/BK C17 RD AWG24 C17 CS
7 WH/BN C18 RD AWG24 C18 CS
8 WH/RD C20 C20
9 WH/OG B22
10 WH/YE or PK B23
11 WH/GN or Light GN B24
12 B25
-XP/XT5.3 -713 W27

AWG20 GY WHbn 0,23mm2 CS
1 WH B15 bn 0,23mm2 B15 CS
2 WH/BK B16 WHgy 0,23mm2 B16 CS
3 WH/BN B18 gy 0,23mm2 B18 CS
4 WH/RD B19 RDbu 0,23mm2 B19 CS
5 WH/OG B20 bu 0,23mm2 B20 CS
6 WH/YE B21 B21
7 WH/GN C10
8 WH/BU C11
9 WH/VT C12
10 WH/GY or Light GN C13
11 BN/BK or RD/BK C14
12 C15
AWG16 GNYE

IRB460, 660, 760 Document no. Rev. Ind Page90
Next 91
1 2 3 4 5 6 7 8
FLOOR CABLE
Connection
A35
OPTION : DEVICENET -X2 AWG22 AWG24 R1 CP/CS
-707 -XS/XP13
(111.1) 2/BK V- BK 0V
(120.1)
(125.1) 1 F2 B23
(109.1) 1/BU CAN_L BU CAN_L
(118.1) F4 A4
2
(128.1) Bare wire SHIELD
3
1/WH CAN_H WH CAN_H

4 F3 A3
2/RD V+ RD +24V CAN
5 F1 B22
A33 AWG22
OPTION : PROFIBUS -XS/XP13 +R1 CP/CS
-709
Option: 803-4 -(DP-M)1 RD
1/RD RXD/TXD-P RXD/TXD-P
1B 2 F5 A5
1/GN RXD/TXD-N GN RXD/TXD-N
1A F6 A6

C-BUS/P-BUS/ to CP/CS Sublocation:+
IRB460, 660, 760 Document no. Rev. Ind Page91
Next 92
Cross ref
1
Latest revision:
XS1/XP1
/ (23)
A41.1
2,5mm2
+R1 MP

-XS/XP1
17 GNRD M1U -_400 AWG12 BK -X11
1
17
17
27 OGGN M1U -_401 AWG12 BK
4
24
24
16 BN M1W -_402 AWG12 BK
3
19
19
2

6
26
26
2
18
18

5
25
25
-X14

M4U -_418 AWG12 BK
1
1
M4U -_420 AWG12 BK

3
3
10
M4V -_422 AWG12 BK
2
2
-X12

1
23
23

4
32
32
24 GY M2W -_408 AWG12 BK

3
21
21
M2W -_409 AWG12 BK

4
13 BNGN
6
30
30

2
22
22

5
Cabinet module
31
31
PRN
Lab/Office:
DMRO SE/
-X15
M5U -_424 AWG12 BK

1
20
M5W -_425 AWG12 BK

5
29
M5V -_426 AWG12 BK

2
28
IRB 660, 760

-X13
BK
SERVO DRIVE SYSTEM

IRC5 DESIGN 14 Rel: 17.1 10 BU M3U -_412 AWG12
3
3
1

4
4
4

6
7
7
3
5 BK M3W -_415 AWG12 BK

6
14
14

5
5
2

6
6
5
-X16

Status:
9
9
1
7
BUGN BK
Approved
7 M6W -_430 AWG12

3
16
16
Document no.

2
8 PE1
8 PE1
AWG10 GNYE
AWG10 GNYE
3HAC024480-011
PE2
PE2
Plant:
Sublocation:+
Location: +
=
8
FLOOR CABLE
DRIVE MODULE
CONTROLLER
Next 93
Rev. Ind Page92
08 Total 156
MANIPULATOR
1 2 3 4 5 6 7 8
FLOOR CABLE
DRIVE MODULE
0,23 mm2
+R1 SMB
-XS/XP2
A A
B B
C C
A42-X4 D D
(67) / -MRC_0V1 WH 0V
E WH E
(67) / +24V_SMB1 GN 24V

F BN F
G MEASUREMENT
BOARD
H
(67) / -MRC_0V3
J
AWG16 BU 1 BU EXT.LAMP RD EXT.LAMP

-DP1 AWG16 L L
1
-C1 M
2
BU
AWG16
(64) / -EXT. LAMP -_433 AWG16 BU Cross ref / (23) +R1 MP

XS1/XP1
-_434 AWG16 -XS/XP1
DRIVE MODULE (64) / -BRAKEPB BU 30 OGRD 0,75 mm2 BRAKE PB
XP40 11 11
(64) / -BRAKEREL1 -_435 AWG16 BU 28 OG 4,0 mm2 BRAKE RELEASE
13 13 BRAKE RELEASE
(64) / -BRAKEREL2 -_436 AWG16 BU
(65) / -0V BRAKE4 -_437 AWG16 BU 29 OGWH 4,0 mm2 0V BRAKE

12 12 0V BRAKE
CONTACTOR UNIT (65) / -PTC1 -_439 AWG16 BU 31 PKBK 0,75 mm2 PTC
A43-X5 27 27
(65) / -PTC 1 ret -_440 AWG16 BU 32 PKWH 0,75 mm2 0V PTC
15 15
(65) / -0V BRAKE3 -_438 AWG16 BU

IRB 660, 760 Document no. Rev. Ind Page93
Next 93.5
1 2 3 4 5 6 7 8
Cabinet module
A41.1
-X11 1 3 2 -X12 1 3 2 -X13 1 3 2 -X14 1 3 2 -X15 1 3 2 -X16 1 3 2

BK
BK
BK
BK
BK
BK
BK
BK
BK
BK
BK
BK
BK
BK
BK
BK
BK
BK
AWG16
AWG16
AWG16
AWG16
AWG16
AWG16
AWG16
AWG16
AWG16
AWG16
AWG16
AWG16
AWG16
AWG16
AWG16
AWG16
AWG16
AWG16
-_400
-_402
-_404
-_406
-_408
-_410
-_412
-_414
-_416
-_418
-_420
-_422
-_424
-_425
-_426
-_428
-_430
-_432
AWG16 GNYE
AWG16 GNYE
Cross ref / (23)
XS1/XP1 A1 A3 A5 A7 A9 A11 A13 A15 B1 B3 B4 B5 B6 B7 B8 B9 B10 B11
XS/XP1 PE1 PE2
DRIVE MODULE
FLOOR CABLE
AWG16
MW1
MW2
MW3
MW4
MW5
MW6
MU1
MU2
MU3
MU4
MU5
MU6
MV1
MV2
MV3
MV4
MV5
MV6
MANIPULATOR
-MP1+R1 1 2 5 3 4 8 6 9 10 15 16 19 17 21 22 20 23 24 PE1 PE2

IRB 1200 Document no. Rev. Ind Page93.5
Next 93.6
1 2 3 4 5 6 7 8
FLOOR CABLE
CONTROLLER
MANIPULATOR
-XS2 -XP2 R1-SMB
(67) / -MRCO1 A A WH SDI
(67) / -MRCO 1_N B B BU A SDI-N
(67) / -MRCI1 C C WH B SDO
(67) / -MRCI 1_N D D OG C SDO-N
AXIS COMPUTER BOARD (67) / -MRC_0V1 E E WH D 0V
A42-X4 WH E
(67) / +24V_SMB1 F F GN 24V
BN F
G ENCODER
H
INTERFACE
J
BOARD

Cross ref / (23)

XS1/XP1 AWG16
-XS1 -XP1 R1-MP
(64) / -EXT. LAMP -_433 AWG16 C7 C7 OG
14 EXT LAMP
DRIVE MODULE (64) / -BRAKEPB -_434 AWG16 BU B16 B16 OGWH
X40 11 BRAKE PB
(64) / -BRAKEREL1 -_435 AWG16 BU B12 B12 GYBK
13 24V BRAKE REL

(64) / -BRAKEREL2 -_436 AWG16 BU B13 B13 GYBU
18 24V BRAKE REL
(65) / -0V BRAKE4 -_438 AWG16 BU B14 B14 GYGN
12 0V BRAKE
CONTACTOR UNIT (65) / -PTC1 -_439 AWG16 BU C2 C2
A43-X5
(65) / -PTC 1 ret -_440 AWG16 BU C1 C1
(65) / -0V BRAKE3 -_437 AWG16 BU B15 B15 OGRD
7 0V BRAKE
D2 D2
D1 D1
D3 D3
AWG16 BK
D4 D4

Next 93.7
1 2 3 4 5 6 7 8
FLOOR CABLE
CONTROLLER
MANIPULATOR
CONTROL MODULE
Customer
Connection

-XS/XP5 0,23mm2
-708
-XP/XT5 AWG24
BK WH +R1-CS
1 B5 A
BN BU
2 C5 B
RD WH
3 D5 C
OG OG
4 A6 D
YE WH
5 B6 E
GN GN
6 C6 F
BU WH
7 D6 G
VT BN
8 A7 H
GY WH
9 B7 J
WH GY
10 C7 K
WH/BK
11 D7
WH/BN
12 A8

SINGLE CABINET Document no. Rev. Ind Page93.7
IRB 1200 Next 94
1 2 3 4 5 6 7 8
Cabinet module
-A41
-X11 1 3 2 -X12 2 3 1 -X14 1 3 2 -X16 2 3 1 -X13 1 3 2 -X15 2 3 1
BK
BK
BK
BK
BK
BK
BK
BK
BK
BK
BK
BK
BK
BK
BK
BK
BK
BK
AWG16
AWG16
AWG16
AWG16
AWG16
AWG16
AWG16
AWG16
AWG16
AWG16
AWG16
AWG16
AWG16
AWG16
AWG16
AWG16
AWG16
AWG16
-_400
-_402
-_404
-_410
-_408
-_406
-_418
-_420
-_422
-_432
-_430
-_428
-_412
-_414
-_416
-_426
-_425
-_424
GNYE
AWG10
AWG10
Cross ref / (23)
XS1/XP1 -XS/XP1 A1 A3 A5 A11 A9 A7 B3 B4 B5 B11 B10 B9 A13 A15 B1 B8 B7 B6 PE1 PE2 DRIVE MODULE
GNWH
BUWH
BNWH
BKWH
GNRD
BUGN
BNGN
BKGN
BURD
BNRD
BKRD
BNBU
BKBU
BUBK
BNBK
BU
BN
BK
AWG16
FLOOR CABLE
M1R
M2R
M4R
M6R
M3R
M5R
M1S
M2S
M4S
M6S
M3S
M5S
M1T
M2T
M4T
M6T
M3T
M5T
A1 A2 A3 D2 D1 A4 A10 A9 A8 B10 D7 D8 D3 D4 B1 D9 D10 A7 PE1 PE2
R1-MP MANIPULATOR

Next 95
1 2 3 4 5 6 7 8
FLOOR CABLE
CONTROLLER
MANIPULATOR
-XS/XP2 R1-SMB
(67) / -MRCO 1_N A BU A SDI-N
(67) / -MRCI1 B WH B SDO
(67) / -MRCI 1_N C OG C SDO-N
AXIS COMPUTER BOARD (67) / -MRC_0V1 D WH D 0V
A42-X4 E WH E
(67) / +24V_SMB1 GN 24V
F BN F
G MEASUREMENT
(67) / -MRC_0V3 H 0V BOARD
J GY J BATSUP
K RD K BATLD
L L

AWG16
Cross ref / (23)
XS1/XP1 R1-MP
-_433 AWG16 -XS/XP1
(64) / -EXT. LAMP OG
C7 C7
(64) / -BRAKEPB -_434 AWG16 BU OGWH
DRIVE MODULE B16 B8

X40 (64) / -BRAKEREL1 -_435 AWG16 BU GYBK
B12 C9
(64) / -BRAKEREL2 -_436 AWG16 BU GYBU
B13 C8
(65) / -0V BRAKE4 -_438 AWG16 BU GYGN
B14 C10
CONTACTOR UNIT (65) / -PTC1 -_439 AWG16 BU OGBU
A43-X5 C2 B9
(65) / -PTC 1 ret -_440 AWG16 BU OGBK
C1 B2
(65) / -0V BRAKE3 -_437 AWG16 BU OGRD
B15 B7
GYWH
D2 B3
GYRD
D1 B4
GY
D3 C2
OGGN
D4 C1

Next 96
1 2 3 4 5 6 7 8
FLOOR CABLE
CONTROLLER
MANIPULATOR
CONTROL MODULE
Customer
Connection
-XS/XP5 0,23mm2
-XP/XT5 R1-CS
-708

AWG24 BK WH CSA
1 B5 A
BN BU CSB
2 C5 B
RD WH CSC
3 D5 C
OG OG CSD
4 A6 D
YE WH CSE
5 B6 E
GN GN CSF
6 C6 F
BU WH CSG
7 D6 G
VT BN CSH
8 A7 H
GY WH CSJ
9 B7 J
WH GY CSK
10 C7 K
WH/BK RD CSL
11 D7 L
WH/BN BU CSM
12 A8 M

CUSTOMER SIGNALS Sublocation:+
IRB 1410 Next 97
1 2 3 4 5 6 7 8
Cabinet module
A41.1
-X11 1 3 2 -X12 1 3 2 -X13 1 3 2 -X14 1 3 2 -X15 1 3 2 -X16 1 3 2

BK
BK
BK
BK
BK
BK
BK
BK
BK
BK
BK
BK
BK
BK
BK
BK
BK
BK
AWG16
AWG16
AWG16
AWG16
AWG16
AWG16
AWG16
AWG16
AWG16
AWG16
AWG16
AWG16
AWG16
AWG16
AWG16
AWG16
AWG16
AWG16
-_400
-_402
-_404
-_406
-_408
-_410
-_412
-_414
-_416
-_418
-_420
-_422
-_424
-_425
-_426
-_428
-_430
-_432
AWG16 GNYE
AWG16 GNYE
Cross ref / (23)
XS1/XP1 A1 A3 A5 A7 A9 A11 A13 A15 B1 B3 B4 B5 B6 B7 B8 B9 B10 B11
XS/XP1 PE1 PE2
DRIVE MODULE
FLOOR CABLE
AWG16
MW1
MW2
MW3
MW4
MW5
MW6
MU1
MU2
MU3
MU4
MU5
MU6
MV1
MV2
MV3
MV4
MV5
MV6
MANIPULATOR
R1.MP 1 2 5 3 4 8 6 9 10 15 16 19 17 21 22 20 23 24 PE1 PE2

Next 98
1 2 3 4 5 6 7 8
FLOOR CABLE
CONTROLLER
MANIPULATOR
0,23 mm2
DRIVE MODULE
Cross ref XS2/XP2 / (23) R1-SMB
-XS/XP2
A42-X4 E WH E
(67) / +24V_SMB1 GN 24V
F BN F
G MEASUREMENT
-MRC_0V3 H WH 0V
(67) / BOARD
J GY J BATSUP
K RD K BATLD
L L
KEYPIN

Cross ref / (23)
AWG16
XS1/XP1 R1-MP
-XS/XP1
(64) / -EXT. LAMP BU OG
C7 14
(64) / -BRAKEPB BU OGWH
DRIVE MODULE B16 11

X40 (64) / -BRAKEREL1 BU GYBK
B12 13
(64) / -BRAKEREL2 BU GYBU
B13 18
(65) / -0V BRAKE4 BU GYGN
B14 12
CONTACTOR UNIT (65) / -PTC1 BU
A43-X5 C2
(65) / -PTC 1 ret BU
C1
(65) / -0V BRAKE3 BU OGRD
B15 7
(62) / -A43-X21.2 BU
D2
CONTACTOR UNIT (62) / -A43-X21.4 BU
A43-X21 D1
(62) / -A43-X21.3 BU
D3
(62) / -A43-X21.1 BU
AWG16 BK
D4

Next 99
1
Latest revision:

2

3
4
PRN
Lab/Office:
DMRO SE/
5
IRB 1520
CUSTOMER SIGNALS
6
J
F
K
E
B
A
H
D
C
K
H
R1.CS
Status:
MANIPULATOR
7
Approved
Document no.
3HAC024480-011
Plant:
Customer connection Signal

Included with option Power source RPS_400
Sublocation:+
Location: +
=
8

Rev. Ind Page99
Next 100
08 Total 156
1 2 3 4 5 6 7 8

A41.1
-X11 1 3 2 -X12 2 3 1 -X14 1 3 2 -X16 2 3 1 -X13 1 3 2 -X15 2 3 1
BK
BK
BK
BK
BK
BK
BK
BK
BK
BK
BK
BK
BK
BK
BK
BK
BK
BK
-_400 AWG16
-_402 AWG16
-_404 AWG16
-_410 AWG16
-_408 AWG16
-_406 AWG16
-_418 AWG16
-_420 AWG16
-_422 AWG16
-_432 AWG16
-_430 AWG16
-_428 AWG16
-_412 AWG16
-_414 AWG16
-_416 AWG16
-_426 AWG16
-_425 AWG16
-_424 AWG16
GNYE
GNYE
AWG10
AWG10
XS1/XP1 -XS/XP1 A1 A3 A5 A11 A9 A7 B3 B4 B5 B11 B10 B9 A13 A15 B1 B8 B7 B6 PE1 PE2
GNWH
BUWH
BNWH
BKWH
GNRD
BUGN
BNGN
BKGN
BURD
BNRD
BKRD
BNBU
BKBU
BUBK
BNBK
AWG16
BU
BN
BK
Floor cable
M1W
M2W
M4W
M6W
M3W
M5W
M1U
M2U
M4U
M6U
M3U
M5U
M1V
M2V
M4V
M6V
M3V
M5V
R1-MP
MANIPULATOR
IRB 1600

IRB 1600/1660 Document no. Rev. Ind Page100
Next 101
1 2 3 4 5 6 7 8
FLOOR CABLE
CONTROLLER
MANIPULATOR
0,23 mm2
DRIVE MODULE
-XS/XP2 R1-SMB
A42-X4 E WH E
(67) / +24V_SMB1 GN 24V
F BN F
G MEASUREMENT
-MRC_0V3 H WH 0V
(67) / BOARD
J GY J BATSUP
K RD K BATLD
L L
KEYPIN

AWG16
Cross ref / (23)

XS1/XP1 R1-MP
-_433 AWG16 BU -XS/XP1
C7 C7
(64) / -BRAKEPB -_434 AWG16 BU OGWH
DRIVE MODULE B16 B8

X40 (64) / -BRAKEREL1 -_435 AWG16 BU GYBK
B12 C9
(64) / -BRAKEREL2 -_436 AWG16 BU GYBU
B13 C8
(65) / -0V BRAKE4 -_438 AWG16 BU GYGN
B14 C10
CONTACTOR UNIT (65) / -PTC1 -_439 AWG16 BU OGBU
A43-X5 C2 B9
(65) / -PTC 1 ret -_440 AWG16 BU OGBK
C1 B2
(65) / -0V BRAKE3 -_437 AWG16 BU OGRD
B15 B7
(62) / -A43-X21.2 LIM 1A -_441 AWG16 BU GYWH
D2 B3
CONTACTOR UNIT (62) / -A43-X21.4 LIM 2A -_442 AWG16 BU GYRD
A43-X21 D1 B4
(62) / -A43-X21.3 LIM 2B -_443 AWG16 BU GY
D3 C2
(62) / -A43-X21.1 LIM 1B -_444 AWG16 BU OGGN
D4 C1

IRB 1600/1660 Document no. Rev. Ind Page101
Next 102
1 2 3 4 5 6 7 8
FLOOR CABLE
CONTROLLER
MANIPULATOR
Customer
CONTROL MODULE
Connection
-XS/XP5
-XP/XT6 -709 AWG18
AWG24 R1-CP/CS
1 BK RD CPA
2 BN A1 BU A1 CPB
3 RD B1 GN B1 CPC
4 OG C1 YE C1 CPD
5 YE D1 WH D1 CPE
6 GN A2 BK A2 CPF
7 BU B2 BN B2 CPJ
8 VT C2 VT C2 CPK
9 GY D2 OG D2 CPH
10 WH A3 PK A3
11 B3 TQ B3

WH/BK
12 WH/BN C3 GY C3
D3 D3
-XP/XT5.1
-710 0,23mm2
1 AWG24 BK WH CSA
2 BN B5 BU B5 CSB
3 RD C5 WH C5 CSC
4 OG D5 OG D5 CSD
5 YE A6 WH A6 CSE
6 GN B6 GN B6 CSF
7 BU C6 WH C6 CSG
8 VT D6 BN D6 CSH
9 GY A7 WH A7 CSJ
10 WH B7 GY B7 CSK
A8 A8
-XP/XT5.2
13 WH/RD RD CSN
D10 D10

IRB 1600/1660 Next 103
1 2 3 4 5 6 7 8
-A41.1-6
-X11 1 2 3 -X12 3 2 1 -X14 1 2 3 X16 3 2 1 -X13 1 2 3 X15 3 2 1
BK
BK
BK
BK
BK
BK
BK
BK
BK
BK
BK
BK
BK
BK
BK
BK
BK
BK
-400 AWG14
-402 AWG14
-404 AWG14
-410 AWG14
-408 AWG14
-406 AWG14
-418 AWG14
-420 AWG14
-422 AWG14
-432 AWG14
-430 AWG14
-428 AWG14
-412 AWG14
-414 AWG14
-416 AWG14
-426 AWG14
-425 AWG14
-424 AWG14
GNYE
GNYE
AWG10
AWG10
Cross ref / (23)
XS1/XP1 -XS/XP1 A1 A3 A5 A11 A9 A7 B3 B4 B5 B11 B10 B9 A13 A15 B1 B8 B7 B6 PE1 PE2 DRIVE MODULE
GNWH
BUWH
BNWH
BKWH
GNRD
BUGN
BKGN
BURD
BNRD
BKRD
BNBU
BKBU
BUBK
BNBK
BU
BN
BK
AWG16
FLOOR CABLE
M1W
M2W
M4W
M6W
M3W
M5W
M1U
M2U
M4U
M6U
M3U
M5U
M1V
M2V
M4V
M6V
M3V
M5V
R1 MP MANIPULATOR

Next 104
1 2 3 4 5 6 7 8
FLOOR CABLE
R1 SMB
-XS/XP2
AXIS COMPUTER BOARD (67) / -MRC_0V1 D WH D 0V SERIAL
A42-X4 E WH E MEASUREMENT
(67) / +24V_SMB1 GN 24V BOARD
F BN F
(67) / -MRC_0V2
G G
(67) / -MRC_0V3 H WH H 0V
J GY J BATSUP
K RD K BATLD
L L
KEYPIN
M
AWG16
Cross ref / (23)

XS1/XP1 R1 MP
-433 AWG16 BU -XS/XP1
DRIVE MODULE C7 C7
X40 (64) / -BRAKEPB -434 AWG16 BU OGWH
B16 B8
(64) / -BRAKEREL1 -435 AWG16 BU GYBK
B12 C9
(64) / -BRAKEREL2 -436 AWG16 BU GYBU
B13 C8
(65) / -0V BRAKE4 -438 AWG16 BU GYGN
B14 C10
CONTACTOR UNIT (65) / -PTC1 -439 AWG16 BU OGBU
A43-X5 C2 B9
(65) / -PTC 1 ret -440 AWG16 BU OGBK
C1 B2
(65) / -0V BRAKE3 -437 AWG16 BU OGRD
B15 B7
(62) / -A43-X21.2 LIM 1A -441 AWG16 BU GYWH
D2 B3
CONTACTOR UNIT (62) / -A43-X21.4 LIM 2A -442 AWG16 BU GYRD
A43-X21 D1 B4
(62) / -A43-X21.3 LIM 2B -443 AWG16 BU GY
D3 C2
(62) / -A43-X21.1 LIM 1B -444 AWG16 BU OGGN
D4 C1

Next 105
1 2 3 4 5 6 7 8
CONTROL MODULE
Customer
-XS/XP5
Connection -XP/XT6 -709 AWG18
AWG24
R1 CP/CS
1 BK RD CPA
2 BN A1 BU A1 CPB
3 RD B1 GN B1 CPC
4 OG C1 YE C1 CPD
5 YE D1 WH D1 CPE
6 GN A2 BK A2 CPF
7 BU B2 BN B2 CPJ
8 VT C2 VT C2 CPK
9 GY D2 OG D2 CPL
10 WH A3 PK A3 CPM
11 WH/BK B3 TQ B3
12 WH/BN C3 GY C3
D3 D3
-XP/XT5.1
-710 0,23mm2
1 AWG24 BK WH CSA
2 BN B5 BU B5 CSB
3 RD C5 WH C5 CSC
4 OG D5 OG D5 CSD
5 YE A6 WH A6 CSE
6 GN B6 GN B6 CSF
7 BU C6 WH C6 CSG
8 VT D6 BN D6 CSH
9 GY A7 WH A7 CSJ
10 WH B7 GY B7 CSK
A8 A8
-XP/XT5.2
13 WH/RD RD CSN
D10 D10

IRB 2400 Next 106
Cross ref
XS1/XP1
1
Latest revision:
/ (23)
R1 MP
A41.1
2,5mm2

-XS/XP1
-X11
17 GNRD M1U -_400 AWG12 BK 1
17
17
4
24
24
16 BN M1W -_402 AWG12 BK
2
19
19
6
26
26
Main servo drive unit

2
18
18
5
25
25

-X14
1 BKBU M4U -_418 AWG12 BK

1
1
1
3 BKRD M4W -_420 AWG12 BK
3
10
10
2 BKGN M4V -_422 AWG12 BK
2
2
2
-X12

1
23
23

4
32
32
24 GY M2W -_408 AWG12 BK

3
4
21
21

6
30
30

2
22
22

5
31
31
PRN
Lab/Office:
DMRO SE/
-X15
20 GYBU M5U -_424 AWG12 BK

1
20
20
5
21 GYGN M5W -_425 AWG12 BK

3
29
29
IRB 2600
19 GYBK M5V -_426 AWG12 BK
2
28
28
SERVO DRIVE SYSTEM

-X13

10 BU M3U -_412 AWG12 BK
1
3
3

4
4
4
6

3
7
7
5 BK M3W -_415 AWG12 BK

6
14
14

2
5
5

6
5
Status:
-X16

7
9
9
Approved

Document no.
3
16
16

2
8 PE1
8 PE1
AWG10 GNYE
3HAC024480-011
AWG10 GNYE
Plant:
PE2
PE2
Sublocation:+
Location: +
=
8
DRIVE MODULE
Next 107
Rev. Ind Page106
08 Total 156
MANIPULATOR
1 2 3 4 5 6 7 8
FLOOR CABLE
DRIVE MODULE

0,23 mm2
R1 SMB
-XS/XP2
A A
B B
C C MEASUREMENT
AXIS COMPUTER BOARD (67) / -MRCI 1_N OG SDO-N BOARD
A42-X4 D D
(67) / -MRC_0V1 WH 0V
E WH E
(67) / +24V_SMB1 GN 24V

F BN F
(67) / -MRC_0V2
G G
According to Manipulator diagram 3HAC029570-007

H H
(67) / -MRC_0V3 WH BATT-
J J
GY BATT+
K K
RD BATT LOAD
L L
Key pin
M
Cross ref / (23)

XS1/XP1
-_433 AWG16 -XS/XP1
R1 MP
DRIVE MODULE (64) / -BRAKEPB -_434 AWG16 BU 30 OG 0,75mm2 BRAKE PB
XS40 11 11
13 13 BRAKE RELEASE
(64) / -BRAKEREL2 -_436 AWG16

12 12 0V BRAKE
-_438 AWG16 BU 31 PKBK 0,75mm2 EXT.LAMP
27 27
A43-X5
32 PKBU 0,75mm2 0V BRAKE
15 15
(65) / -0V BRAKE3 -_440 AWG16 BU

Next 108
1 2 3 4 5 6 7 8
FLOOR CABLE
Connection w26 1mm2
-XP/XT6 -713 -XS/XP13 R1 CP/CS
AWG20 BK 1
D1
CPA_ /
1 BN A1 CPE_ /
RD 2
CPB_ /
2 OG A2 D6 CPF_ /
YE 3
CPC_ /
3 GN A3 D3 CPJ_ /
BU 4
CPD_ /
4 VT A4 GNYE D4 CPK_ /
CPH
SH D7
-XP/XT5.1 -711 W27
3 OG B11 og 0,23mm2 B11 CS
5 GN B13 gn 0,23mm2 B13 CS

6 BU B14 gn 0,23mm2 B14

7 VT C19 bn 0,23mm2 C19
8 -712 1/WH C21 WH AWG24 C21 CS
12 B10 B10
W28
-XP/XT5.2
3/WH WH AWG24 CS
4 -711 GY B6 RDog 0,23mm2 B6
5 AWG24 WH C16 og 0,23mm2 C16
6 WH/BK C17 RDgn 0,23mm2 C17
7 WH/BN C18 RDbn 0,23mm2 C18
8 WH/RD C20 RDgy 0,23mm2 C20 CS
9 WH/OG B22 gy 0,23mm2 B22 CS
10 WH/YE or PK B23 BKbu 0,23mm2 B23 CS
11 WH/GN or Light GN B24 bu 0,23mm2 B24
12 B25 B25
W27
-XP/XT5.3 -713
1 WH B15 bn 0,23mm2 B15 CS
6 WH/YE B21 B21
7 WH/GN C10
8 WH/BU C11
9 WH/VT C12
12 AWG16 GNYE C15

IRB2600 Document no. Rev. Ind Page108
Next 109
1 2 3 4 5 6 7 8
FLOOR CABLE
Connection AWG18
-XP/XT6 -713 -XS/XP13
AWG20 1 R1 CP/CS
1 BK A1 CP/CSE
BN D1
2 RD A2 2 CP/CSF
OG D6
3 YE A3 3 CP/CSV
GN D3
4 BU A4 4
VT GNYE D4
-XP/XT5.1 -711 AWG24 AWG24

AWG24 BK WH CS
1 BN B1 BU B1 CS
2 RD B2 WH B2
3 OG B11 OG B11
4 YE B12 WH B12
5 GN B13 GN B13
6 BU B14 GN B14

7 VT C19 BN C19
8 -712 1/WH C21 WH C21
9 AWG24 1/BU B7 BU B7
10 2/WH B8 WH B8
11 2/OG B9 OG B9
12 B10 B10
-XP/XT5.2
3/WH WH CS
1 3/GN B3 GN B3 CS
2 4/WH B4 WH B4 CS
3 4/BN B5 BN B5 CS
4 -711 GY B6 RD B6
5 AWG24 WH C16 OG C16
6 WH/BK C17 RD C17
7 WH/BN C18 RD C18
8 WH/RD C20 C20
9 WH/OG B22
10 WH/YE or PK B23 BK
11 WH/GN or Light GN B24 BU B24
12 B25 B25
-XP/XT5.3 -713
AWG20 GY WH
1 WH B15 BN B15
2 WH/BK B16 WH B16
3 WH/BN B18 GY B18
4 WH/RD B19 RD B19
5 WH/OG B20 BU B20
6 WH/YE B21 BK B21
7 WH/GN C10 OG A5
8 WH/BU C11 BK A6
9 WH/VT C12 GN A9
10 WH/GY or Light GN C13 BK A10
11 BN/BK or RD/BK C14 BN A11
12 C15 A12
OPTION //DEVICENET acc. to page (91.1)

AWG16 GNYE

DEVICE NET Document no. Rev. Ind Page109
IRB2600 Next 110
1 2 3 4 5 6 7 8
FLOOR CABLE
Connection
XP/XT 6 -713 XS/XP13 AWG18 +R1 CP/CS
AWG20 BK 1 CP4
1 BN A1 D1
RD 2 CP5
2 OG A2 D6
YE 3 CP6
3 GN A3 D3
BU 4 CP7
4 VT A4 GNYE D4
XP/XT5.1 -711 AWG24 AWG24

AWG24 BK WH CS
1 BN B1 BU B1 CS
2 RD B2 WH B2 CS
3 OG B11 OG B11 CS
4 YE B12 WH B12 CS
5 GN B13 GN B13 CS
6 BU B14 GN B14 CS
7 VT C19 BN C19 CS
8 -712 1/WH C21 WH C21 CS

AWG24

9 1/BU B7 BU B7 CS
10 2/WH B8 WH B8 CS
11 2/OG B9 OG B9 CS
12 B10 B10
XP/XT5.2
3/WH WH CS
1 3/GN B3 GN B3 CS
2 4/WH B4 WH B4 CS
3 4/BN B5 BN B5 CS
4 -711 GY B6 RD B6 CS
5 AWG24 WH C16 OG C16 CS
6 WH/BK C17 RD C17 CS
7 WH/BN C18 RD C18 CS
8 WH/RD C20 RD C20 CS
9 WH/OG B22 GY B22 CS
10 WH/YE or PK B23 BK B23 CS
11 WH/GN or Light GN B24 BU B24 CS
12 B25 B25
XP/XT5.3 -713
AWG20 GY WH CS
1 WH B15 BN B15 CS
2 WH/BK B16 WH B16 CS
3 WH/BN B18 GY B18 CS
4 WH/RD B19 RD B19 CS
5 WH/OG B20 BU B20 CS
6 WH/YE B21 BK B21 CS
7 WH/GN C10 OG A3 CS
8 WH/BU C11 BK A4 CS
9 WH/VT C12 GN A9 CS
10 WH/GY or Light GN C13 BK A10 CS
11 BN/BK or RD/BK C14 BN A11 CS
12 C15 A12
AWG16 GNYE
For more information aboute Option connected to XS13.
SPOTPACK circuit diagram 3HAC026208-001
OPTION //PROFIBUS acc. to (111.1) DRESSPACK circuit diagram 3HAC026209-001

PROFI BUS Document no. Rev. Ind Page110
IRB 2600 Next 111
1 2 3 4 5 6 7 8
Customer
Connection FLOOR CABLE
OPTION : DEVICENET
CONTROL MODULE
Additional sheet (91.1) (120.1) (125.1) (109.1) (118.1) (128.1)
A35
-707 AWG22 AWG24 R1 CP/CS
1 -XS/XP13 BK
2/BK V- 0V
F2 B23
2 1/BU CAN_L BU CAN_L
F4 A4
3 Bare wire SHIELD
(40) / A35
4 1/WH CAN_H WH CAN_H
F3 A3
5 2/RD V+ RD +24V CAN
F1 B22

AWG22
XP9 -R1.CBUS
1 YE
ProfiNet//Ethernet
(23) / 5.TXRX+ 1 TX+
1
2 WH
(23) / 5.RXTX+ 2 RX+
Option: ProfiNet / Ethernet IP 2
3 OG
(23) / 5.TXRX- 3 3 TX-
4 BU
(23) / 5.RXTX- 4 4 RX-
A31
OPTION : PROFIBUS -(DP-M)1 AWG22
Option: 803-4 -XS/XP13 +R1 CP/CS
-709
Additional sheet (110.1) 1/RD RXD/TXD-P RD RXD/TXD-P
1B 2 F5 A5
(38) / A31.3
1A F6 A6

DevNet/PofiNet/Ethernet/Profibus addition to CP/CS Sublocation:+
Next 112
FLOOR CABLE
Cross ref
XS1/XP1
1
Latest revision:
A41.1
/ (23)
AWG16 BK
R1 MP
-XS/XP1
M1U BKBU -_400 AWG16 -X11

AWG16
A1
A1
M1U BKGN -_401
AWG16
A2
M1W BUGN -_402
A2
AWG16
A5
M1W BURD -_403
A5
AWG16
A6
M1V BKWH -_404
A6
AWG16
A3
M1V BK -_405
A3
1 4 3 6 2 5
A4
A4
2
-X14
M4U GYWH -_418 AWG16 BK

1
B3
B3
M4W OGGN -_420 AWG16 BK
3
B5
B5

M4V OGBK -_422 AWG16 BK
2
B4
B4
3
-X12
M2U BU -_406 AWG16

AWG16
A7
M2U BNBK -_407
A7
AWG16
A8
M2W BNRD -_408
A8
M2W BNWH -_409 AWG16
M2V BNBU -_410 AWG16
AWG16
A11 A9
M2V BNGN -_411
A11 A9
1 4 3 6 2 5
A12 A10
A12 A10
4
-X15
M5U OGWH -_424 AWG16 BK

1
B6
B6
M5W PKGN -_425 AWG16 BK

3
B8
B8
M5V PKBK -_426 AWG16 BK

2
PRN
B7
B7
Lab/Office:
DMRO SE/
5
IRB 4400
-X13
M3U BN -_412 AWG16

M3U GNRD -_413 AWG16
M3W GYBU -_414 AWG16
AWG16
A13 B1
M3W GYGN -_415

A13 B1
AWG16
A14 B2
M3V GNWH -_416

A14 B2
M3V GYBK -_417 AWG16

A15
1 4 3 6 2 5
A15
SERVO DRIVE SYSTEM

Acc. to Manipulator circuit diagram 3HAC9821-1
A16
A16

-X16
6
M6U PKRD -_428 AWG16 BK

1
B9
B9
M6W PK -_430 AWG16 BK

3
B11
B11
M6V PKWH -_432 AWG16 BK

2
B10
B10
PE1
PE1
AWG10
AWG10
PE2
PE2
Status:
7
Approved
Document no.
C3
C4
C5
3HAC024480-011
C6
Plant:
C7
C8
C9
Sublocation:+
Location: +
=
8
C11
AWG18 BK
C10 C12
CONTROLLER
DRIVE MODULE
MANIPULATOR
Next 113
Rev. Ind Page112
08 Total 156
1 2 3 4 5 6 7 8
FLOOR CABLE
DRIVE MODULE

0,23 mm2
R1 SMB
-XS/XP2
A42-X4 E WH E
(67) / +24V_SMB1 GN 24V
F BN F SERIAL
(67) / -MRC_0V2 MEASUREMENT
G G BOARD
(67) / -MRC_0V3 H WH H 0V
J GY J BATSUP
K RD K BATLD
L L
KEYPIN
M

Cross ref / (23)
AWG16
XS1/XP1 R1 MP
-_433 AWG16 -XS/XP1
(64) / -EXT. LAMP WH
C16 C16
DRIVE MODULE (64) / -BRAKEPB -_434 AWG16 BU VT
X40 B16 B16

(64) / -BRAKEREL1 -_435 AWG16 BU RDBK
B12 B12
(64) / -BRAKEREL2 -_436 AWG16 BU RDBU
B13 B13
(65) / -0V BRAKE4 -_438 AWG16 BU RDGN
B14 B14
CONTACTOR UNIT (65) / -PTC1 -_439 AWG16 BU VTGN
A43-X5 C2 C2
(65) / -PTC 1 ret -_440 AWG16 BU VTBU
C1 C1
(65) / -0V BRAKE3 -_437 AWG16 BU VTWH
B15 B15
(62) / -A43-X21.2 LIM 1A -_441 AWG16 BU RD
D2 D2
CONTACTOR UNIT (62) / -A43-X21.4 LIM 2A -_442 AWG16 BU RDWH
A43-X21 D1 D1
(62) / -A43-X21.3 LIM 2B -_443 AWG16 BU VTBK
D3 D3
(62) / -A43-X21.1 LIM 1B -_444 AWG16 BU VTRD
D4 D4

Next 114
1 2 3 4 5 6 7 8
FLOOR CABLE
CONTROL MODULE
Customer
-XS/XP5 AWG18
Connection -XP/XT6
-W8 +R1 CP/CS
1 AWG24 thoma RD CPA
2 Peter A1 BU A1 CPB
3 RD B1 GN B1 CPC
4 OG C1 YE C1 CPD
5 YE D1 WH D1 CPE
6 GN A2 BK A2 CPF
7 BU B2 BN B2 CPJ
8 VT C2 VT C2 CPK
9 GY D2 OG D2 CPL
10 WH A3 PK A3 CPM
11 WH/BK B3 TQ B3
12 WH/BN C3 GY C3
D3 D3
16x2
32x0,23
-XP/XT5.1 -W20001
-710 0,23mm2
AWG24

1 BK WHbu WH CSA
2 BN B5 bu BU B5 CSB
3 RD C5 WHog WH C5 CSC
4 OG D5 og OG D5 CSD
5 YE A6 WHgn WH A6 CSE
6 GN B6 gn GN B6 CSF
7 BU C6 WHbn WH C6 CSG
8 VT D6 bn BN D6 CSH
9 GY A7 WHgy WH A7 CSJ
10 WH B7 gy GY B7 CSK
11 WH/BK C7 RDbu RD C7 CSL
12 WH/BN D7 bu BU D7 CSM
A8 A8
-XP/XT5.2
13 WH/RD RDog RD CSN
14 WH/OG B8 og OG B8 CSP
15 WH/YE or PK C8 RDgn RD C8 CSR
16 WH/GN D8 gn GN D8 CSS
17 WH/BU A9 RDbn RD A9 CST
18 WH/VT B9 bn BN B9 CSU
19 WH/GY or Light GN C9 RDgy RD C9 CSV
20 BN/BK or RD/BK D9 gy GY D9 CSW
21 BN/RD or GN/BK A10 BKbu BK A10 CSX
22 BN/OG or OG/BK B10 bu BU B10 CSY
23 BN/YE or YE/BK C10 BKog WH C10 CSZ
D10 D10

IRB 4400 Next 115
Cross ref
XS1/XP1
FLOOR CABLE
1
Latest revision:
/ (23)
2,5mm2 -A41.1-8
+R1 MP

-XS/XP1
-X11
17 GNRD M1U -_400 AWG12 BK 1
17
17
4
24
24
16 BN M1W -_402 AWG12 BK
2
19
19
6
26
26
Main servo drive unit 4600

2
18
18
5
25
25

-X14

1
1
1
3
10
10
2
2
2
-X12

1
23
23

4
32
32
24 GY M2W -_408 AWG12 BK

3
4
21
21

6
30
30

2
22
22

5
31
31
PRN
Lab/Office:
DMRO SE/
-X15

1
20
20
5

3
29
29
IRB 4600
2
28
28
SERVO DRIVE SYSTEM

-X13

10 BU M3U -_412 AWG12 BK
1
3
3

4
4
4
6

3
7
7
5 BK M3W -_415 AWG12 BK

6
14
14

2
5
5

6
5
Status:
-X16

7
9
9
Approved

Document no.
3
16
16

2
8 PE1
8 PE1
AWG10 GNYE
3HAC024480-011
AWG10 GNYE
Plant:
PE2
PE2
????????
Sublocation:+
Location: +
=
8
CONTROLLER
Next 116
Rev. Ind Page115
08 Total 156
MANIPULATOR
DRIVE MODULE
1 2 3 4 5 6 7 8
FLOOR CABLE
DRIVE MODULE

0,23 mm2
-XS/XP2 +R1 SMB
A A
B B
C C
A42-X4 D D
(67) / -MRC_0V1 WH 0V
E WH E
(67) / +24V_SMB1 GN 24V

F BN F
(67) / -MRC_0V2
G G
H H
(67) / -MRC_0V3 WH BATT-
J J
GY BATT+
K K
RD BATT LOAD
L L
Key pin SERIAL
M MEASUREMENT
BOARD
Cross ref / (23)

XS1/XP1
-_433 AWG16 -XS/XP1
+R1 MP
DRIVE MODULE (64) / -BRAKEPB -_434 AWG16 BU 30 OG 0,75 mm2 BRAKE PB
XS40 11 11
(64) / -BRAKEREL1 -_435 AWG16 BU 28 OGRD 4,0 mm2 BRAKE RELEASE
13 13 BRAKE RELEASE
(64) / -BRAKEREL2 -_436 AWG16

12 12 0V BRAKE
-_438 AWG16 BU 31 PKBK 0,75 mm2 EXT.LAMP
27 27
A43-X5
32 PKBU 0,75 mm2 0V BRAKE
15 15
(65) / -0V BRAKE3 -_440 AWG16 BU

Next 117
1 2 3 4 5 6 7 8
CONTROLLER FLOOR CABLE MANIPULATOR
Customer
Connection AWG18
-XP/XT6 -713 -XS/XP13 +R1 CP/CS
AWG20 BK 1
D1
CPA /
1 BN A1 CPE /
RD 2
CPB /
2 OG A2 D6 CPF /
YE 3
CPC /
3 GN A3 D3 CPJ /
BU 4
CPD /
4 VT A4 D4 CPK /
CPH
D7
-XP/XT5.1 -711 AWG24 AWG24
AWG24 BK WH CS
1 BN B1 BU B1 CS
2 RD B2 WH B2 CS
3 OG B11 OG B11 CS
4 YE B12 WH B12 CS
5 GN B13 GN B13 CS
6 BU B14 GN B14
7 VT C19 BN C19
8 -712 1/WH C21 WH C21 CS
9 AWG24 1/BU B7 BU B7 CS
10 2/WH B8 WH B8 CS
11 2/OG B9 OG B9 CS
12 B10 B10
-XP/XT5.2
3/WH WH CS
1 3/GN B3 GN B3 CS
2 4/WH B4 WH B4 CS
3 4/BN B5 BN B5 CS
4 -711 GY B6 RD B6
6 WH/BK C17 RD C17
7 WH/BN C18 RD C18
12 B25 B25
-XP/XT5.3 -713
AWG20 GY WH CS
1 WH B15 BN B15 CS
6 WH/YE B21 B21
7 WH/GN C10
8 WH/BU C11
9 WH/VT C12
12 C15
AWG16 GNYE

Next 118
1 2 3 4 5 6 7 8

Customer
Connection AWG18
-XP/XT6 -713 -XS/XP13 +R1 CP/CS
1 AWG20 BK A1 1 CP/CSE
BN D1
2 RD A2 2 CP/CSF
OG D6
3 YE A3 3 CP/CSV
GN D3
4 BU A4 4
VT D4
GNYE
-XP/XT5.1 -711 AWG24 AWG24

AWG24 BK WH CS
1 BN B1 BU B1 CS
2 RD B2 WH B2
3 OG B11 OG B11
4 YE B12 WH B12
5 GN B13 GN B13
According to Manipulator diagram 3HAC025744-001 and 3HAC13347-1

6 BU B14 GN B14
7 VT C19 BN C19
8 -712 1/WH C21 WH C21

9 AWG24 1/BU B7 BU B7
10 2/WH B8 WH B8
11 2/OG B9 OG B9
12 B10 B10
-XP/XT5.2
3/WH WH CS
1 3/GN B3 GN B3 CS
2 4/WH B4 WH B4 CS
3 4/BN B5 BN B5 CS
4 -711 GY B6 RD B6
6 WH/BK C17 RD C17
7 WH/BN C18 RD C18
8 WH/RD C20 C20
9 WH/OG B22
10 WH/YE or PK B23 BK
12 B25 B25
-XP/XT5.3 -713
AWG20 GY WH
1 WH B15 BN B15
2 WH/BK B16 WH B16
3 WH/BN B18 GY B18
4 WH/RD B19 RD B19
5 WH/OG B20 BU B20
6 WH/YE B21 BK B21
7 WH/GN C10 OG A5
8 WH/BU C11 BK A6
9 WH/VT C12 GN A9
10 WH/GY or Light GN C13 BK A10
11 BN/BK or RD/BK C14 BN A11
12 C15 A12
AWG16 GNYE
OPTION //DEVICENET acc. to page (91.1)

DEVICE NET Document no. Rev. Ind Page118
IRB4600 Next 119
1 2 3 4 5 6 7 8

Customer
Connection
XP/XT 6 XS/XP13 AWG18 +R1 CP/CS
-713 1 CP4
1 AWG20 BK A1 D1
BN 2 CP5
2 RD A2 D6
OG 3 CP6
3 YE A3 D3
GN 4 CP7
4 BU A4 GNYE D4
VT
XP/XT5.1 AWG24 AWG24
-711 WH CS
1 AWG24 BK B1 BU B1 CS
2 BN B2 WH B2 CS
3 RD B11 OG B11 CS
4 OG B12 WH B12 CS

5 YE B13 GN B13 CS
6 GN B14 GN B14 CS
7 BU C19 BN C19 CS
8 VT C21 WH C21 CS
9 -712 1/WH B7 BU B7 CS
10 AWG24 1/BU B8 WH B8 CS
11 2/WH B9 OG B9 CS
12 2/OG B10 B10
XP/XT5.2
WH CS
1 3/WH B3 GN B3 CS
2 3/GN B4 WH B4 CS
3 4/WH B5 BN B5 CS
4 4/BN B6 RD B6 CS
5 -711 GY C16 OG C16 CS
6 AWG24 WH C17 RD C17 CS
9 WH/RD B22 GY B22 CS
10 WH/OG or PK B23 BK B23 CS
11 WH/YE or Light GN B24 BU B24 CS
12 WH/GN B25 B25
XP/XT5.3 -713
AWG20 GY WH CS
1 WH B15 BN B15 CS
12 C15 A12
AWG16 GNYE For more information aboute Option connected to XS13.

PROFI BUS Document no. Rev. Ind Page119
IRB 4600 Next 120
1 2 3 4 5 6 7 8

CONTROL MODULE
Customer
Connection
A35
+R1 CP/CS
OPTION : DEVICENET -707 XS/XP13 AWG22 AWG24
Additional sheet (91.1) X2 2/BK V- BK 0V
(111.1) (125.1) 1 F2 B23
(109.1) (118.1) BU
(128.1)
1/BU CAN_L CAN_L
(40) / A35 2 F4 A4
Bare wire SHIELD
3
1/WH CAN_H WH CAN_H
F3 A3
4
2/RD V+ RD +24V CAN
5 F1 B22
AWG22
XP9 R1.CBUS
YE 1
(23) / 5.TXRX+ RX+
1 1
2 WH 2 2
(23) / 5.TXRX- RX- ProfiNet//Ethernet
Option: ProfiNet / Ethernet IP
3 OG 3 3
(23) / 5.RXTX+ TX+
4 BU 4 4
(23) / 5.RXTX- TX-
AWG22
OPTION : PROFIBUS A31.3 +R1 CP/CS
-709 XS/XP13
Option: 803-4 (DP-M)1 1/RD RXD/TXD-P RD RXD/TXD-P
Additional sheet 2
(125.1) (119.1) (126.1)
1B F5 A5
(38) / A31.3
1A F6 A6

DevNet/ProfiNet/Ethernet/Profibus addition to CP/CS Sublocation:+
Next 120.1
1 2 3 4 5 6 7 8
-A41.1
1 4 3 6 2 5 1 3 2 1 4 3 6 2 5 1 3 2 1 4 3 6 2 5 1 3 2
-X11 -X14 -X12 -X15 -X13 -X16
418.1
M4W 420.1
422.1
424.1
M5W 425.1
426.1
400
401
M1W 402
M1W 403
404
405
406
407
M2W 408
M2W 409
410
412
413
M3W 414
M3W 415
416
417
431
M6W 430
432
411
M1U
M1U
M4U
M2U
M2U
M5U
M3U
M3U
M6U
M1V
M1V
M4V
M2V
M2V
M5V
M3V
M3V
M6V
AWG14 BK
AWG12 BK
-Y1 1 -Y3 1 -Y2 1 -Y4 1 -Y6 1 -Y5 1

418
419
420
421
422
423
424
427
425
428
426
429
Cross ref / (23) AWG10 GNYE
XS1/XP1
AWG14 BK
DRIVE MODULE
-XS/XP1 A1 A14 A2 B15 B1 A15 C13 C8 D13 D8 C14 D7 A4 A11 A5 B11 B4 A12 C3 C15 B3 D15 C4 D16 C11 A9 D12 B10 D11 B9 B6 B7 A7 PE1 PE2
FLOOR CABLE
BN//WH
OG/WH
GN/WH
OG/GN
BU/WH
BK/WH
OG/RD
PK/WH
OG/BU
GY/GN
GN/RD
BN/GN
BU/GN
BK/GN
PK/GN
GY/BU
BN/RD
BU/RD
GY/BK
BK/RD
BN/BU
PK/RD
BK/BU
BU/BK
BN/BK
PK/BU
PK/BK
PK/BK
OG
BU
BN
BK
PK
AWG14
AWG10 GNYE
AWG16
+R1 MP 8 22 21 35 9 23 51 53 64 66 63 65 13 49 2 62 1 61 68 70 57 59 69 71 15 17 4 6 3 5 42 31 43 PE1 PE2

MANIPULATOR
Referring to the circuit diagram 3HAC8935-1.

IRB 6400R Document no. Rev. Ind Page120.1
Next 120.2
1 2 3 4 5 6 7 8
FLOOR CABLE
CONTROLLER
MANIPULATOR
CONTROL MODULE
0,23 mm2
Cross ref XS2/XP2 / (23) -XS/XP2
(67) / -MRCO1 WH -SMB SDI
A 1
B 2
C 3
A42-X4 D 4
(67) / -MRC_0V1 WH 0V
E WH 5
(67) / +24V_SMB1 GN 24V
F BN 6
(67) / -MRC_0V2 BAT BR
G 7
BAT BR
H 8
(67) / -MRC_0V3 WH 0V
J 9
GY BATSUP
K 10 SERIAL

RD EXT LAMP MEASUREMENT
L 11 BOARD
Cross ref / (23)

AWG14
XS1/XP1
-XS/XP1
(64) / -EXT. LAMP -433 AWG16 BU VTBK -MP
DRIVE MODULE D1 52
XP40 (64) / -BRAKEPB -434 AWG16 BU RDWH
C12 11
(64) / -BRAKEREL1 -435 AWG16 BU GYRD
B12 36
(64) / -BRAKEREL2 -436 AWG16 BU GYWH
C9 48
(65) / -0V BRAKE4 -438 AWG16 BU OGBK

D9 24
(65) / -PTC1 -439 AWG16 BU RDGN
CONTACTOR UNIT C2 20
A43-X5 (65) / -PTC 1 ret -440 AWG16 BU RDBU
C1 30
(65) / -0V BRAKE3 -437 AWG16 BU GY
B13 12

Next 120.3
1 2 3 4 5 6 7 8
CONTROL MODULE
R1
-XP/XT6 CP/CS
1, BK
1 A1
2, BK 3-POL
2 A2
GNYE
A3
-XP/XT5.1
AWG24 1/WH CSA

1 1
1/BU CSB
2 2

2/WH CSC
3 3
2/OG CSD
4 4
3/WH CSE
5 5 25-POL
3/GN CSF
6 6
4/WH CSG
7 7
4/BN CSH
8 8
5/WH CSJ
9 9
5/GY CSK
10 10
-XS6
2/RD +24V
5 1
2/BK 0V
Connect to A35.X2 1 2 9-POL
1/WH CAN1_H
4 5
1/BU CAN1_L
2 9

CUSTOMER POWER/SIGNAL/BUS Sublocation:+
Next 120.4
Cross ref
XS1/XP1
1
Latest revision:
/ (23)
A41.1
2,5mm2
+R1 MP

-XS/XP1
17 GNRD M1U -_400 AWG12 BK -X11
1
17
17
4
24
24
16 BN M1W -_402 AWG12 BK
3
19
19
2

6
26
26
2
18
18

5
25
25
-X14

1
1
1

3
3
10
10
2
2
2
-X12

1
23
23

4
32
32
24 GY M2W -_408 AWG12 BK

3
21
21
BNGN M2W -_409 AWG12 BK

4
13
6
30
30

2
22
22

5
31
31
PRN
Lab/Office:
DMRO SE/
-X15

1
20
20

5
29
29
IRB 6700
2
28
28
According to manipulator circuit diagram 3HAC043446-005 r00

-X13
BU BK
SERVO DRIVE SYSTEM

IRC5 DESIGN 14 Rel: 17.1 10 M3U -_412 AWG12
3
3
1

4
4
4

6
7
7
3
5 BK M3W -_415 AWG12 BK

6
14
14

5
5
2

6
6
5
-X16

Status:
9
9
1
7
BUGN BK
Approved
7 M6W -_430 AWG12

3
16
16
Document no.

2
8 PE1
8 PE1
AWG10 GNYE
AWG10 GNYE
3HAC024480-011
PE2
PE2
Plant:
Sublocation:+
Location: +
=
8
FLOOR CABLE
DRIVE MODULE
CONTROLLER
08 Total 156
MANIPULATOR
Next 120.5
Rev. Ind Page120.4
1 2 3 4 5 6 7 8
FLOOR CABLE
DRIVE MODULE

0,23 mm2
R1 SMB
-XS/XP2
A A
B B
C C MEASUREMENT
A42-X4 D D
(67) / -MRC_0V1 WH 0V
E WH E
(67) / +24V_SMB1 GN 24V

According to manipulator circuit diagram 3HAC043446-005 r00

F BN F
(67) / -MRC_0V2
G G
H H
(67) / -MRC_0V3 WH
J J
GY
K K
RD
L L
Key pin
M
Cross ref / (23)

XS1/XP1
-_433 AWG16 -XS/XP1
R1 MP
DRIVE MODULE (64) / -BRAKEPB -_434 AWG16 BU 30 OG 0,75mm2 BRAKE PB
XS40 11 11
13 13
(64) / -BRAKEREL2 -_436 AWG16

12 12
-_438 AWG16 BU 31 PKBK 0,75mm2 EXT.LAMP
27 27
A43-X5
32 PKBU 0,75mm2 0V EXT.LAMP
15 15
(65) / -0V BRAKE3 -_440 AWG16 BU

Next 120.6
1 2 3 4 5 6 7 8
+C
Customer CONTROLLER FLOOR CABLE MANIPULATOR
Connection
AWG20 BK 1 4
1 BN A1 D1
RD 2 5
2 OG A2 D6
According to manipulator diagram 3HAC044246-002 PARABUSCOM or PARAMULTI

YE 3 6
3 GN A3 D3
BU 4 7
4 VT A4 GNYE D4

AWG24 BK WH CS
1 BN B1 BU B1 CS
2 RD B2 WH B2 CS
3 B11 B11
According to Manipulator diagram 3HAC044246-002 PARACOM

OG OG CS
4 YE B12 WH B12 CS
5 GN B13 GN B13 CS
6 BU B14 GN B14 CS
7 VT C19 BN C19 N.C = Not connected

8 -712 1/WH C21 WH C21 CS

10 2/WH B8 WH B8 CS
11 2/OG B9 OG B9 CS
12 B10 B10
XP/XT5.2
3/WH WH CS
1 3/GN B3 GN B3 CS
2 4/WH B4 WH B4 CS
3 4/BN B5 BN B5 CS
4 -711 GY B6 RD B6 N.C
5 AWG24 WH C16 OG C16 N.C
6 WH/BK C17 RD C17 N.C
7 WH/BN C18 RD C18 N.C
8 WH/RD C20 RD C20 CS only in Parabuscom
9 WH/OG B22 GY B22 CS only in Parabuscom
10 WH/YE or PK B23 BK B23 CS only in Parabuscom
11 WH/GN or Light GN B24 BU B24 CS only in Parabuscom
12 B25 B25
XP/XT5.3 -713
AWG20 GY WH CS
1 WH B15 BN B15 CS
6 WH/YE B21 BK B21 CS only in Parabuscom
7 WH/GN C10 OG A3 CS only in Parabuscom
8 WH/BU C11 BK A4 N.C
9 WH/VT C12 GN A9 N.C
10 WH/GY or Light GN C13 BK A10 N.C
11 BN/BK or RD/BK C14 BN A11 N.C
12 C15 A12
Option: ProfiNet/Ethernet IP sheet / (120.7) AWG16 GNYE
OPT.//PROFI BUS, or DEVICE NET acc. to sh. (120.7.1) DRESSPACK circuit diagram 3HAC026209-001
Only in Parabuscom and Paramulti

CUSTOMER POWER/SIGNAL PARABUSCOM Sublocation:+
SINGLE CABINET PROFI/DEVICE NET BUS Document no. Rev. Ind Page120.6
IRB 6700 Next 120.7
1 2 3 4 5 6 7 8
+C
Customer
Connection
FLOOR CABLE
CONTROL MODULE
OPTION A31.3
DEVICENET -X2 -707 XS/XP13 AWG22 AWG24 +R1 CP/CS
Additional sheet 1 BK
(.1) (120.6.1) (128.8.1)
2/BK V- 0V
F2 B23
2 1/BU CAN_L BU CAN_L
(40) / A35 F4 A4
3 Bare wire SHIELD
F3 A3

F1 B22
PARABUSCOM
According to Manipulator diagram 3HAC044246-002 r00

OPTION A31.3 AWG22
PROFIBUS -XS/XP13 +R1 CP/CS
-709
Add. sh. (.1) (120.6.1) (128.8.1) -(DP-M)1 RD
1/RD RXD/TXD-P RXD/TXD-P
1B 2 F5 A5
(38) / A31.3
1A F6 A6
AWG22
R1.ETHERNET
XP9
1 YE 1 1
5.TXRX+ / (23) RX+
According to PARAMULTI Option: 2 WH 2 2
(23) / 5.TXRX- RX-
(120.6) / ProfiNet/Ethernet IP sheet 3 OG 3 3 ProfiNet//Ethernet
PARAMULTI
(23) / 5.RXTX+ TX+
4 BU 4 4
(23) / 5.RXTX- TX-

Location: +
PRN
DevNet//EtherNet//ProfiNet//PBUS ADDITION TO CP/CS Approved Sublocation:+
Next 121
Cross ref
XS1/XP1
1
Latest revision:
/ (23)
2,5mm2
+R1 MP
-XS/XP1
-X11
-A41.1

1
17
17
4
24
24
16 BN M1W -_402 AWG12 BK
3
19
19
2
26
26
18
18
5
25
25
-X14

1
1
1

3
10
10
3
2
2
2
-X12

1
23
23

4
32
32
24 GY M2W -_408 AWG12 BK

3
21
21

6
4
30
30

2
22
22

5
31
31
PRN
-X15
Lab/Office:
DMRO SE/
1
20
20

3
29
29
5

2
28
28
IRB 66xx - 76xx

-X13
10 BU M3U -_412 AWG12 BK

3
3
SERVO DRIVE SYSTEM

1

According to Manipulator IRB66XX - 76XX circuit diagram 3HAC025744-001
4
4
4

7
7
3
6
5 BK M3W -_415 AWG12 BK

6
14
14

5
5
2

6
6
5
-X16

9
9
1
Status:

7
Approved
3
16
16

Document no.
2
8 PE1
8 PE1
AWG10 GNYE
AWG10 GNYE
PE2
PE2
3HAC024480-011
Plant:
Sublocation:+
Location: +
=
8
FLOOR CABLE
DRIVE MODULE
CONTROLLER
MANIPULATOR
Next 122
Rev. Ind Page121
08 Total 156
1 2 3 4 5 6 7 8
FLOOR CABLE
DRIVE MODULE
0,23 mm2
+R1 SMB
-XS/XP2
A A
B B
C C MEASUREMENT
A42-X4 D D
(67) / -MRC_0V1 WH 0V
According to Manipulator IRB66XX - 76XX circuit diagram 3HAC025744-001

E WH E
(67) / +24V_SMB1 GN 24V

F BN F
(67) / -MRC_0V2 BAT BR
G G
BAT BR
H H
(67) / -MRC_0V3 WH 0V
J J
GY BATSUP
K K
AWG16 BU 1 BU EXT.LAMP RD EXT.LAMP
-DP1 AWG16 L L
1
-C1
2
BU
AWG16
(64) / -EXT. LAMP -_433 AWG16 BU Cross ref / (23) +R1 MP

XS1/XP1
-_434 AWG16 -XS/XP1
DRIVE MODULE (64) / -BRAKEPB BU 30 OGRD 0,75 mm2 BRAKE PB
XP40 11 11
(64) / -BRAKEREL1 -_435 AWG16 BU 28 OG 4,0 mm2 BRAKE RELEASE
13 13 BRAKE RELEASE
(64) / -BRAKEREL2 -_436 AWG16 BU

12 12 0V BRAKE
CONTACTOR UNIT (65) / -PTC1 -_439 AWG16 BU 31 PKBK 0,75 mm2 PTC
A43-X5 27 27
(65) / -PTC 1 ret -_440 AWG16 BU 32 PKWH 0,75 mm2 0V PTC
15 15
(65) / -0V BRAKE3 -_438 AWG16 BU

IRB 66xx - 76xx Document no. Rev. Ind Page122
Next 123
1 2 3 4 5 6 7 8
FLOOR CABLE
CONTROL MODULE IRB66x0, 7600
DRIVE
MODULE
0,23 mm2
-R1-SW23
(61) / -+24V COOL.4 24V COOL WH 24V FAN1
N
(61) / -0V COOL.4 0V COOL BU 0V FAN1
P
(61) / -FAN 1 ret.4 FAN1 ret WH T1
R
(61) / -+24V COOL.5 24V COOL WH 24V FAN2

f
(61) / -0V COOL.5 0V COOL OG 0V FAN2
g
(61) / -FAN 2 ret.5 FAN2 ret GN T2
h
Not in use
i
Not in use
S

COOLING AXES 1/2 Sublocation:+
IRB 6600 - 7600 Next 124
1 2 3 4 5 6 7 8

Connection w26 1mm2
XP/XT 6 -713 -XS/XP13 +R1 CP/CS
AWG20 BK 1 CP4
1 BN A1 D1
RD 2 CP5
2 OG A2 D6
YE 3 CP6
3 GN A3 D3
BU 4 CP7
4 VT A4 GNYE D4
XP/XT5.1 -711 SH
W27

3 OG B11 og 0,23mm2 B11 CS
5 GN B13 gn 0,23mm2 B13 CS

6 BU B14 gn 0,23mm2 B14 CS

7 VT C19 bn 0,23mm2 C19 CS
8 -712 1/WH C21 WH AWG24 C21 CS
12 B10 B10
XP/XT5.2 W28
3/WH WH AWG24 CS
4 -711 GY B6 RDog 0,23mm2 B6 CS
5 AWG24 WH C16 og 0,23mm2 C16 CS
6 WH/BK C17 RDgn 0,23mm2 C17 CS
7 WH/BN C18 RDbn 0,23mm2 C18 CS
8 WH/RD C20 RDgy 0,23mm2 C20 CS
9 WH/OG B22 gy 0,23mm2 B22 CS
10 WH/YE or PK B23 BKbu 0,23mm2 B23 CS
11 WH/GN or Light GN B24 bu 0,23mm2 B24 CS
12 B25 B25
W27
XP/XT5.3 -713
1 WH B15 bn 0,23mm2 B15 CS
6 WH/YE B21 SH B21
7 WH/GN C10
8 WH/BU C11
9 WH/VT C12
12 C15
AWG16 GNYE For more information aboute Option connected to XS13.
DRESSPACK circuit diagram 3HAC026209-001
IRB 6600 - 7600 Next 125
1 2 3 4 5 6 7 8
FLOOR CABLE
Customer CONTROLLER MANIPULATOR
Connection CONTROL MODULE
OPTION : DEVICENET A35

Add. sh.
-X2 -707 XS/XP13 AWG22 AWG24 +R1 CP/CS
(91.1)
(111.1)
1 2/BK V- BK 0V
(120.1) F2 B23
(109.1) 2 1/BU CAN_L BU CAN_L
(118.1)
(128.1) (40) / A35 F4 A4
3 Bare wire SHIELD
F3 A3

F1 B22

A31.3 AWG22
OPTION : PROFIBUS +R1 CP/CS
-709
-(DP-M)1 -XS/XP13 RD
Add. sh. (120.2) (119.1) (126.1) 1/RD RXD/TXD-P RXD/TXD-P
1B 2 F5 A5
(38) / A31.3
1A F6 A6
AWG22
R1.CBUS
XP9
YE 1 ProfiNet//Ethernet
5.TXRX+ / (23) RX+
1 1
Option: ProfiNet / Ethernet IP 2 WH 2 2
(23) / 5.TXRX- RX-
6600, 6620,6640, 6650s, 7600
3 OG 3 3
(23) / 5.RXTX+ TX+
4 BU 4 4
(23) / 5.RXTX- TX-

Location: +
PRN
DevNet//EtherNet//ProfiNet//PBUS ADDITION TO CP/CS Approved Sublocation:+
IRB 66xx - 7600 Document no. Rev. Ind Page125
Next 126
1 2 3 4 5 6 7 8

Customer
Connection
AWG20 BK 1 CP4
1 BN A1 D1
RD 2 CP5
2 OG A2 D6
YE 3 CP6
3 GN A3 D3
BU 4 CP7
4 VT A4 GNYE D4

AWG24 BK WH CS
1 BN B1 BU B1 CS
2 RD B2 WH B2 CS
3 OG B11 OG B11 CS
4 YE B12 WH B12 CS

5 GN B13 GN B13 CS
6 BU B14 GN B14 CS
7 VT C19 BN C19 CS
8 -712 1/WH C21 WH C21 CS

10 2/WH B8 WH B8 CS
11 2/OG B9 OG B9 CS
12 B10 B10
XP/XT5.2
3/WH WH CS
1 3/GN B3 GN B3 CS
2 4/WH B4 WH B4 CS
3 4/BN B5 BN B5 CS
4 -711 GY B6 RD B6 CS
12 B25 B25
XP/XT5.3 -713
AWG20 GY WH CS
1 WH B15 BN B15 CS
12 C15 A12
AWG16 GNYE

SINGLE CABINET PROFI BUS Document no. Rev. Ind Page126
IRB 6600 - 7600 Next 128
1 2 3 4 5 6 7 8
FLOOR CABLE
Customer
Connection AWG18
XP/XT 6 -713 XS/XP13
AWG20 BK 1 +R1 CP/CS CP4
1 BN A1 D1
RD 2 CP5
2 OG A2 D6
YE 3 CP6
3 GN A3 D3
BU 4 CP7
4 VT A4 GNYE D4

AWG24 BK WH CS
1 BN B1 BU B1 CS
2 RD B2 WH B2 CS
3 OG B11 OG B11 CS

4 YE B12 WH B12 CS
5 GN B13 GN B13 CS
6 BU B14 GN B14 CS
7 VT C19 BN C19 CS
8 -712 1/WH C21 WH C21 CS

10 2/WH B8 WH B8 CS
11 2/OG B9 OG B9 CS
12 B10 B10
XP/XT5.2
3/WH WH CS
1 3/GN B3 GN B3 CS
2 4/WH B4 WH B4 CS
3 4/BN B5 BN B5 CS
4 -711 GY B6 RD B6 CS
8 WH/RD C20 C20
9 WH/OG B22
10 WH/YE or PK B23 BK CS
12 B25 B25
XP/XT5.3 -713
AWG20 GY WH CS
1 WH B15 BN B15 CS
12 C15 A12
AWG16 GNYE
OPTION //DEVICE net acc. to (91.1) SPOTPACK circuit diagram 3HAC026208-001
DRESSPACK circuit diagram 3HAC026209-001

SINGLE CABINET DEVICE NET Document no. Rev. Ind Page128
IRB 6600 - 7600 Next 128.5
Cross ref
XS1/XP1
1
Latest revision:
/ (23)
2,5mm2
+R1 MP
-XS/XP1
-X11
-A41.1

1
17
17
4
24
24
16 BN M1W -_402 AWG12 BK
3
19
19
2
26
26
18
18
5
25
25

3
-X12

1
23
23

4
32
32
24 GY M2W -_408 AWG12 BK

3
21
21

6
4
30
30

2
22
22

5
31
31
PRN
Lab/Office:
DMRO SE/
5
IRB 87xx
-X13
According to Manipulator IRB 87XX circuit diagram 3HAC051028-002

10 BU M3U -_412 AWG12 BK
3
3
1

4
4
4

7
7
3
SERVO DRIVE SYSTEM AXES 1-3

6
5 BK M3W -_415 AWG12 BK

6
14
14

5
5
2

6
6
5
Status:
7
Approved
Document no.
PE1
PE1
AWG10 GNYE
AWG10 GNYE
PE2
PE2
3HAC024480-011
Plant:
Sublocation:+
Location: +
=
8
FLOOR CABLE
DRIVE MODULE
CONTROLLER
MANIPULATOR
08 Total 156
Next 128.6
Rev. Ind Page128.5
1 2 3 4 5 6 7 8
+C
MAIN SERVO DRIVE UNIT MAIN SERVO DRIVE UNIT ADDITIONAL DRIVE UNIT AXIS 4 ADDITIONAL DRIVE UNIT AXIS 5
-A41.1 -A41.1 -A41.3 -A41.4
3 1 2 -X15 1 4 3 6 2 5 -X2 1 4 3 6 2 5
-X14 1 4 3 6 2 5 -X2
BK
BK
BK
BK
BK
BK
BK
BK
BK
BK
BK
BK
BK
BK
BK
-_430 AWG12
-_431 AWG12
-_432 AWG12
-_418 AWG12
-_419 AWG12
-_420 AWG12
-_421 AWG12
-_422 AWG12
-_423 AWG12
-_424 AWG12
-_425 AWG12
-_426 AWG12
-_427 AWG12
-_428 AWG12
-_429 AWG12
GNYE
GNYE
AWG10
AWG10
M6W
M6U
M6V
M4U
M4U
M4W
M4W
M4V
M4V
M5U
M5U
M5W
M5W
M5V
M5V
16 9 8 1 4 6 10 2 5 19 20 23 29 22 28 PE1 PE2 CONTROLLER
-XS/XP11 DRIVE MODULE
GYWH
BNWH
BKWH
FLOOR CABLE
BNGN
GYRD
BKGN
BNRD
BKRD
BNBU
BKBU
BNBK
BUBK
GY
BU
BK
2,5mm2
23
15
24
13
22
14
10
12
11
1
6
1 10 2 23 32 21 30 22 31 3 4 7 14 5 6 PE1 PE2
MANIPULATOR
According to Manipulator IRB 87XX circuit diagram 3HAC051028-002

SERVO DRIVE SYSTEM AXES 4-6 Sublocation:+
IRB 87xx Document no. Rev. Ind Page128.6
Next 128.7
1 2 3 4 5 6 7 8
FLOOR CABLE
+C

0,23 mm2
-XS2/XP2 R1 SMB
AXIS COMPUTER BOARD
A A
B B
C C MEASUREMENT
(67) / -MRCI 1_N OG SDO-N BOARD
D D
(67) / -MRC_0V1 WH 0V
A42-X4
E WH E
(67) / +24V_SMB1 GN 24V
F BN F
(67) / -MRC_0V2
G G
According to circuit diagram 3HAC051028-002

H H
(67) / -MRC_0V3 WH
J J
GY
K K
RD
L L
Key pin
M
Cross ref / (23)

XS1/XP1
DRIVE MODULE
-XS1/XP1 R1-MP-A
(64) / -BRAKEPB -_434 AWG16 DP1 30 OG 0,75mm² N/A
11 11
(65) / -0V BRAKE4 437 -Y4 -_437 AWG16 DP4 29 OG/WH 4mm² 0V BRAKE
2;1 12 12
XS40
(64) / -BRAKEREL1 435 -Y3 -_435 AWG16 DP2 28 OG/RD 4mm² N/A
2;1 13 13
440
436
(65) / -0V BRAKE3 440 -Y1 440/440.1

2;1
434.1
CONTACTOR UNIT
-XS11/XP11 R1-MP-B
30 OG 0,75mm² BRAKE PB
11 11
437.1 440.1/437.1 29 OG/WH 4mm² 0V BRAKE
A43-X5
12
12
DP5 435.1 DP3 28 OG/RD 4mm² BRAKE RELEASE
436.1
13 13
(64) / -BRAKEREL2 -_436 AWG16 BU -Y2
437.1 2;1 32 PK/BU 0,75mm² 0V EXT.LAMP
BU 15
15
(64) / -EXT. LAMP -_433 AWG16 27 PK/BK 0,75mm² 24V EXT.LAMP
27
27

IRB 87xx Document no. Rev. Ind Page128.7
Next 128.8
1 2 3 4 5 6 7 8
+C
Customer CONTROLLER FLOOR CABLE MANIPULATOR
Connection
AWG20 BK 1 4
1 BN A1 D1
RD 2 5
2 OG A2 D6
YE 3 6
3 GN A3 D3
BU 4 7
4 VT A4 GNYE D4

AWG24 BK WH CS
1 BN B1 BU B1 CS
According to manipulator diagram 3HAC053524-002 PARAMULTI

2 RD B2 WH B2 CS
3 OG B11 OG B11 CS
4 YE B12 WH B12 CS
5 GN B13 GN B13 CS
6 BU B14 GN B14 CS
7 VT C19 BN C19 N.C = Not connected

8 -712 1/WH C21 WH C21 CS

10 2/WH B8 WH B8 CS
11 2/OG B9 OG B9 CS
12 B10 B10
XP/XT5.2
3/WH WH CS
1 3/GN B3 GN B3 CS
2 4/WH B4 WH B4 CS
3 4/BN B5 BN B5 CS
4 -711 GY B6 RD B6 N.C
5 AWG24 WH C16 OG C16 N.C
6 WH/BK C17 RD C17 N.C
7 WH/BN C18 RD C18 N.C
8 WH/RD C20 RD C20 N.C
9 WH/OG B22 GY B22 N.C
10 WH/YE or PK B23 BK B23 N.C
11 WH/GN or Light GN B24 BU B24 N.C
12 B25 B25
XP/XT5.3 -713
AWG20 GY WH CS
1 WH B15 BN B15 CS
6 WH/YE B21 BK B21 N.C
7 WH/GN C10 OG A3 N.C
8 WH/BU C11 BK A4 N.C
9 WH/VT C12 GN A9 N.C
10 WH/GY or Light GN C13 BK A10 N.C
11 BN/BK or RD/BK C14 BN A11 N.C
12 C15 A12
AWG16 GNYE
Option: ProfiNet/Ethernet IP sheet / (128.9) SPOTPACK/DRESSPACK circuit diagram 3HAC053524-002
OPT.//PROFI BUS, or DEVICE NET acc. to sh. (120.7.1)
Only in Paramulti

CUSTOMER POWER/SIGNAL PARAMULTI Sublocation:+
SINGLE CABINET PROFI/DEVICE NET BUS Document no. Rev. Ind Page128.8
IRB 8700 Next 128.9
1 2 3 4 5 6 7 8
+C

Customer
Connection
AWG22
R1.ETHERNET
XP9
1 YE 1 1
5.TXRX+ / (23) RX+
According to PARAMULTI Option: 2 WH 2 2
(23) / 5.TXRX- RX-
(128.8) / ProfiNet/Ethernet IP sheet 3 OG 3 3 ProfiNet//Ethernet
PARAMULTI
(23) / 5.RXTX+ TX+
4 BU 4 4
(23) / 5.RXTX- TX-

DevNet//EtherNet//ProfiNet//PBUS ADDITION TO Sublocation:+
CP/CS PARAMULTI IRB 8700 Document no. Rev. Ind Page128.9
Next

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© Copyright 2017 ABB ALL right reserved.

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

2 TABLE OF CONTENTS 2017-03-17 Thomas

3 TABLE OF CONTENTS 2017-03-17 Thomas

4 TABLE OF CONTENTS 2017-03-17 Thomas

5 TABLE OF CONTENTS 2017-03-17 Thomas

6 TABLE OF CONTENTS 2017-03-17 Thomas

7 SYMBOL INFORMATION 2015-09-30 Thomas

8 VIEW OF CONTACTS 2017-03-13 Thomas

8.1 REVISION INFOMATION 2017-03-17 Thomas

10 Device list, by LOCATION 2017-03-16 Thomas

12 Device list, by FUNCTION 2017-03-16 Thomas

14 BLOCK DIAGRAM SINGLE DRIVE MODULE 2017-03-13 Thomas

16 FRONT VIEW OF SINGLE CABINET MDU HV 2017-03-13 Thomas

17 FRONT VIEW OF SINGLE CABINET MDU LV and HV 2017-03-13 Thomas

18 SIDE VIEWS OF SINGLE CABINET 2017-03-13 Thomas

19 VIEW OF DRIVE MODULE CABINET 2017-03-16 Thomas

20 VIEW OF PANEL BOARD 2017-03-13 Thomas

21 VIEW OF CONTACTOR & AXIS COMPUTER UNIT 2017-03-13 Thomas

22 VIEW OF VOLTAGE MEARSUREMENT BOX 2017-03-13 Thomas

23 CONTACT AT THE CABINET WALL 2017-03-16 Thomas

24 OPT:POWER SUPPLY DSQC609 XT31, G4, G5, G6 2017-03-16 Thomas

26 RUN CHAIN and PANEL BOARD A21 Sh. 1 of 4 2017-03-13 Thomas

27 RUN CHAIN and PANEL BOARD A21 Sh. 2 of 4 2017-03-13 Thomas

28 RUN CHAIN and PANEL BOARD A21 Sh. 3 of 4 2017-03-16 Thomas

30 FPU, FLEXPENDANT and option HOT PLUG 2017-03-16 Thomas

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

30.2 FPU, Extended FLEXPENDANT cable 15 - 30 m 2017-03-16 Thomas

34 MAIN COMPUTER/ANYBUS_CC/RS232 EXP. /INTERFACE BOARD/ 2017-03-13 Thomas

35 MAIN COMPUTER A31 DSQC1000/1018/1024 2017-03-17 Thomas

36 MAIN COMPUTER A31 DSQC1000/1018/1024 ; A32 DSQC1003 2017-03-17 Thomas

37 FIELDBUS ADAPTER A32: ETHERNET/IP, PROFIBUS and PROFINET IO 2017-03-13 Thomas

38 PROFIBUS DP M/S A31.3 2017-03-16 Thomas

40 DEVICENET ADAPTER 2017-03-16 Thomas

41 ETHERNET SWITCH A62 2017-03-16 Thomas

43 ETHERNET SWITCH A64/CAMERA 2017-03-15 Thomas

44 ETHERNET SWITCH A65 2017-03-15 Thomas

45 DISPENCE PAC SUPPORT A57 2017-03-15 Thomas

47 DIGITAL I/O UNIT DSQC652 2017-03-15 Thomas

47.1 Local I/O Digital master 16in/16out 2017-03-15 Thomas

47.2 Local I/O Digital add on 16in/16out 2017-03-13 Thomas

48 COMBI I/O UNIT DSQC651 2017-03-15 Thomas

49 RELAY I/O UNIT DSQC653 2017-03-15 Thomas

50 RELAY I/O UNIT DSQC653 2017-03-13 Thomas

50.1 Local I/O Relay add on 8RO/8DI 2017-03-14 Thomas

51 ANALOGUE I/O UNIT DSQC355B 2017-03-15 Thomas

51.1 Local I/O Analog add on 4in/4out 2017-03-14 Thomas

52 REMOTE I/O UNIT DSQC350A 2017-03-15 Thomas

53 ENCODER UNIT DSQC377 2017-03-15 Thomas

54 REMOTE SERVICE BOX DSQC680 to Rel. 16.1 2017-03-16 Thomas

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

56 TRANSFORMER UNIT 480V T1.1, T1.3, Z2, X10 2017-03-13 Thomas

57 TRANSFORMER UNIT 262V T1.2, X10 2017-03-16 Thomas

58 OPTION : SERVICE OUTLET F4, F5, X22 2017-03-15 Thomas

62 CONTACTOR BOARD A43 2017-03-16 Thomas

63 CONTACTOR UNIT A43, K42, K43, K44 2017-03-16 Thomas

67 AXIS COMPUTER UNIT A42, A44 2017-03-13 Thomas

69 EPS A44, DSQC646 2017-03-16 Thomas

71 SAFE MOVE A44, DSQC647 2017-03-15 Thomas

75 EXTERNAL AXIS no 7, 8, 9 A41.3 .4 .5 , XS/XP7 2017-03-13 Thomas

76 SERVO DRIVE SYSTEM IRB 120 2017-03-14 Thomas

77 CONTROL CABLE IRB 120 2017-03-14 Thomas