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LISTA DOCUMENTI
A
DOCUMENT LIST

DESCRIZIONE FOGLI FOGLIO 2 ÷ 4


DESCRIPTION SHEET SHEET 2 ÷ 4

CONFIGURAZIONE SISTEMA FOGLIO 5


SYSTEM CONFIGURATION SHEET 5

INTERCONNESSIONE A BLOCCHI FOGLIO 6 13


BLOCK INTERCONNECTION SHEET 6 13
REVISIONI
SCHEMA ELETTRICO CIRCUITALE FOGLIO 14 61
B REVISIONS
CIRCUIT DIAGRAM SHEET 14 61

N. REVISIONE DATA VISTO


DESCRIZIONE SEGNALI CONNETTORE X30 FOGLIO 62
N. REVISION DATE CHECKED
X30 CONNECTOR DESCRIPTION SIGNALS SHEET 62

TAVOLE DI RIFERIMENTO COMPONENTI FOGLIO 63 67


REFERENCE TABLES SHEET 63 67

SCHEMA DI INTERCONNESSIONE CABINA FOGLIO 68 73


CABINET INTERCONNECTION DIAGRAM SHEET 68 73

DISPOSIZIONE COMPONENTI FOGLIO 74 88


PARTS LOCATION SHEET 74 88
C

TAVOLA CONFIGURAZIONE MULTI SERVODRIVE FOGLIO 89 91


MULTI SERVODRIVE CONFIGURATION TABLE SHEET 89 91

ENG.-PROGETT. DRAWNER-DISEGN. CHECKED-VISTO MODIF. SH.-FG. MODIF. CHECKED-VISTO TITLE - TITOLO DATE-DATA DRAWING No. - DISEGNO N° REV. SHEET-FOGLIO
C5GP-SEC1.0 - 2.0 - 3.0 SAFE EUROPEAN CONTROL
A. DIELI ACER G. ALOTTO LISTA DOCUMENTI
26/03/2018 CR17.9322.33 00 /
COMAU DOCUMENT LIST FILENAME-NOMEFILE CR1793223300
1 2 3 4 5 6 7 8

NUMERO FG. NUMERO FG.


SH. NUMBER SH. NUMBER
1 LISTA DOCUMENTI 23 I/O DIGITALI
DOCUMENT LIST DIGITAL I/O
2 DESCRIZIONE FOGLI 24 ABILITAZIONE ASSI
A DESCRIPTION SHEET AXIS ENABLING
3 DESCRIZIONE FOGLI 25 LINEE DI COMUNICAZIONE
DESCRIPTION SHEET LINES OF COMMUNICATION
4 DESCRIZIONE FOGLI 26 LINEE DI COMUNICAZIONE
DESCRIPTION SHEET LINES OF COMMUNICATION
5 CONFIGURAZIONE SISTEMA 27 LINEE DI COMUNICAZIONE
SYSTEM CONFIGURATION LINES OF COMMUNICATION
6 INTERCONNESSIONE A BLOCCHI 28 TERMINALE DI PROGRAMMAZIONE WIRED
BLOCK INTERCONNECTION PROGRAMMING TERMINAL UNIT WIRED
7 INTERCONNESSIONE A BLOCCHI 29 INTERCONNESSIONI CONTROLLO/ROBOT
BLOCK INTERCONNECTION CONTROL/ROBOT SIGNALS INTERFACE
8 INTERCONNESSIONE A BLOCCHI 30 INTERCONNESSIONI CONTROLLO/ROBOT
B BLOCK INTERCONNECTION CONTROL/ROBOT SIGNALS INTERFACE
9 INTERCONNESSIONE A BLOCCHI 31 INTERCONNESSIONI CONTROLLO/ROBOT
BLOCK INTERCONNECTION CONTROL/ROBOT SIGNALS INTERFACE
10 INTERCONNESSIONE A BLOCCHI 32 INTERCONNESSIONI CONTROLLO/ROBOT
BLOCK INTERCONNECTION CONTROL/ROBOT SIGNALS INTERFACE
11 INTERCONNESSIONE A BLOCCHI 33 INTERCONNESSIONI CONTROLLO/ROBOT
BLOCK INTERCONNECTION CONTROL/ROBOT SIGNALS INTERFACE
12 INTERCONNESSIONE A BLOCCHI 34 INTERCONNESSIONI CONTROLLO/ROBOT
BLOCK INTERCONNECTION CONTROL/ROBOT SIGNALS INTERFACE
13 INTERCONNESSIONE A BLOCCHI 35 INTERCONNESSIONI CONTROLLO/ROBOT
BLOCK INTERCONNECTION CONTROL/ROBOT SIGNALS INTERFACE
14 INTERRUTTORE GENERALE E FILTRO RETE 36 KIT HIGH SPEED INPUT ASSI OPZIONALE
C MAIN DISCONNECTING DEVICE AND LINE FILTER OPTIONAL HIGH SPEED INPUT AXIS KIT
15 ALIMENTAZIONE DRIVES 37 KIT OLTRECORSA ASSI OPZIONALE
SUPPLY DRIVES OPTIONAL OVERTRAVEL AXIS KIT
16 ALIMENTAZIONE SERVIZI 38 SEGNALI DI SICUREZZA
SERVICES POWER SUPPLY SAFETY SIGNAL
17 DISTRIBUZIONE 24Vdc 39 SEGNALI DI SICUREZZA
24Vdc DISTRIBUTION SAFETY SIGNAL
18 DISTRIBUZIONE 24Vdc 40 KIT ALIMENTAZIONE APPLICAZIONI INTERNE
24Vdc DISTRIBUTION INTERNAL SUPPLY APPLICATION KIT
19 DISTRIBUZIONE 24Vdc 41 KIT ALIMENTAZIONE APPLICAZIONI INTERNE
24Vdc DISTRIBUTION INTERNAL SUPPLY APPLICATION KIT
20 I/O SAFETY & DISTRIBUTION MODULE 42 ASSE AGGIUNTIVO
D
I/O SAFETY & DISTRIBUTION MODULE ADDITIONAL AXIS
21 DISTRIBUZIONE 24Vdc 43 ASSE AGGIUNTIVO
24Vdc DISTRIBUTION ADDITIONAL AXIS
22 SAFE I/O DIGITALI 44 ASSE AGGIUNTIVO
SAFE DIGITAL I/O ADDITIONAL AXIS

ENG.-PROGETT. DRAWNER-DISEGN. CHECKED-VISTO MODIF. SH.-FG. MODIF. CHECKED-VISTO TITLE - TITOLO DATE-DATA DRAWING No. - DISEGNO N° REV. SHEET-FOGLIO
C5GP-SEC1.0 - 2.0 - 3.0 SAFE EUROPEAN CONTROL
A. DIELI ACER G. ALOTTO DESCRIZIONE FOGLI
26/03/2018 CR17.9322.33 00 /
COMAU DESCRIPTION SHEET FILENAME-NOMEFILE CR1793223300
1 2 3 4 5 6 7 8

NUMERO FG. NUMERO FG.


SH. NUMBER SH. NUMBER
45 ASSE AGGIUNTIVO 67 PAGINA INTENZIONALMENTE BIANCA
ADDITIONAL AXIS INTENTIONALLY LEFT BLANK
46 ASSE AGGIUNTIVO 68 SCHEMA DI INTERCONNESSIONE CABINA
A ADDITIONAL AXIS CABINET INTERCONNECTION DIAGRAM
47 ASSE AGGIUNTIVO 69 SCHEMA DI INTERCONNESSIONE CABINA
ADDITIONAL AXIS CABINET INTERCONNECTION DIAGRAM
48 ASSE AGGIUNTIVO 70 SCHEMA DI INTERCONNESSIONE CABINA
ADDITIONAL AXIS CABINET INTERCONNECTION DIAGRAM
49 ASSE AGGIUNTIVO 71 SCHEMA DI INTERCONNESSIONE CABINA
ADDITIONAL AXIS CABINET INTERCONNECTION DIAGRAM
50 12 INPUT / 12 OUTPUT DIGITALI 72 SCHEMA DI INTERCONNESSIONE CABINA
DIGITAL 12 INPUT / 12 OUTPUT CABINET INTERCONNECTION DIAGRAM
51 24 INPUT / 24 OUTPUT DIGITALI 73 SCHEMA DI INTERCONNESSIONE CABINA
DIGITAL 24 INPUT / 24 OUTPUT CABINET INTERCONNECTION DIAGRAM
52 24 INPUT / 24 OUTPUT DIGITALI 74 DISPOSIZIONE COMPONENTI
B DIGITAL 24 INPUT / 24 OUTPUT PARTS LOCATION
53 2 INPUT ANALOGICI - 2 OUTPUT ANALOGICI 75 DISPOSIZIONE COMPONENTI
2 ANALOG INPUT - 2 ANALOG OUTPUT PARTS LOCATION
54 2 INPUT E 2 OUTPUT ANALOGICI 76 DISPOSIZIONE COMPONENTI
2 ANALOG INPUT & 2 ANALOG OUTPUT PARTS LOCATION
55 INTERFACCIA DEVICENET 77 DISPOSIZIONE COMPONENTI
DEVICENET INTERFACE PARTS LOCATION
56 INTERFACCIA PROFIBUS 78 DISPOSIZIONE COMPONENTI
PROFIBUS INTERFACE PARTS LOCATION
57 INTERFACCIA PROFINET 79 DISPOSIZIONE COMPONENTI
PROFINET INTERFACE PARTS LOCATION
58 INPUT OUTPUT MULTIBUS 80 DISPOSIZIONE COMPONENTI
C INPUT OUTPUT MULTIBUS PARTS LOCATION
59 TIP DRESSER COMMAND OPZIONALE 81 DISPOSIZIONE COMPONENTI
OPTIONAL TIP DRESSER COMMAND PARTS LOCATION
60 DOPPIO TIP DRESSER COMMAND OPZIONALE 82 DISPOSIZIONE COMPONENTI
OPTIONAL DOUBLE TIP DRESSER COMMAND PARTS LOCATION
61 PAGINA INTENZIONALMENTE BIANCA 83 DISPOSIZIONE COMPONENTI
INTENTIONALLY LEFT BLANK PARTS LOCATION
62 DEFINIZIONE SEGNALI CONNETTORE X30 84 DISPOSIZIONE COMPONENTI
X30 CONNECTOR DESCRIPTION SIGNALS PARTS LOCATION
63 TAVOLA DI RIFERIMENTO COMPONENTI 85 DISPOSIZIONE COMPONENTI
REFERENCE TABLE PARTS LOCATION
64 TAVOLA DI RIFERIMENTO COMPONENTI 86 DISPOSIZIONE COMPONENTI
D
REFERENCE TABLE PARTS LOCATION
65 TAVOLA DI RIFERIMENTO COMPONENTI 87 DISPOSIZIONE COMPONENTI
REFERENCE TABLE PARTS LOCATION
66 TAVOLA DI RIFERIMENTO COMPONENTI 88 DISPOSIZIONE COMPONENTI
REFERENCE TABLE PARTS LOCATION

ENG.-PROGETT. DRAWNER-DISEGN. CHECKED-VISTO MODIF. SH.-FG. MODIF. CHECKED-VISTO TITLE - TITOLO DATE-DATA DRAWING No. - DISEGNO N° REV. SHEET-FOGLIO
C5GP-SEC1.0 - 2.0 - 3.0 SAFE EUROPEAN CONTROL
A. DIELI ACER G. ALOTTO DESCRIZIONE FOGLI
26/03/2018 CR17.9322.33 00 /
COMAU DESCRIPTION SHEET FILENAME-NOMEFILE CR1793223300
1 2 3 4 5 6 7 8

NUMERO FG. NUMERO FG.


SH. NUMBER SH. NUMBER
89 TAVOLA CONFIGURAZIONE MULTI SERVODRIVE
MULTI SERVODRIVE CONFIGURATION TABLE
90 TAVOLA CONFIGURAZIONE MULTI SERVODRIVE
A MULTI SERVODRIVE CONFIGURATION TABLE
91 TAVOLA CONFIGURAZIONE MULTI SERVODRIVE
MULTI SERVODRIVE CONFIGURATION TABLE

ENG.-PROGETT. DRAWNER-DISEGN. CHECKED-VISTO MODIF. SH.-FG. MODIF. CHECKED-VISTO TITLE - TITOLO DATE-DATA DRAWING No. - DISEGNO N° REV. SHEET-FOGLIO
C5GP-SEC1.0 - 2.0 - 3.0 SAFE EUROPEAN CONTROL
A. DIELI ACER G. ALOTTO DESCRIZIONE FOGLI
26/03/2018 CR17.9322.33 00 /
COMAU DESCRIPTION SHEET FILENAME-NOMEFILE CR1793223300
1 2 3 4 5 6 7 8

SCHEMA CIRCUITALE ROBOT


CIRCUIT DIAGRAM ROBOT

SCHEMA CIRCUITALE DEL CONTROLLO


CIRCUIT DIAGRAM CONTROL SYSTEM
A

COMAU S.p.A.
Via Rivalta 30
10095 Grugliasco (TO), Italy
CONTROL UNIT
UNITA' DI CONTROLLO

PART No.
N° DI CODICE

DATE & SERIAL No


DATA E N° DI SERIE

DEGREE OF PROTECTION WEIGHT


GRADO DI PROTEZIONE PESO
SHORT CIRCUIT CURRENT RATING
MASSIMA CORRENTE DI CORTO CIRCUITO

POWER SUPPLY
ALIMENTAZIONE

X60 X10

X1 X2

CAVI DI CONNESSIONE
CONNECTION CABLE

ENG.-PROGETT. DRAWNER-DISEGN. CHECKED-VISTO MODIF. SH.-FG. MODIF. CHECKED-VISTO TITLE - TITOLO DATE-DATA DRAWING No. - DISEGNO N° REV. SHEET-FOGLIO
C5GP-SEC1.0 - 2.0 - 3.0 SAFE EUROPEAN CONTROL
A. DIELI ACER G. ALOTTO CONFIGURAZIONE SISTEMA
26/03/2018 CR17.9322.33 00 /
COMAU SYSTEM CONFIGURATION FILENAME-NOMEFILE CR1793223300
1 2 3 4 5 6 7 8
ALIMENTAZIONE ELETTRICA DISTRIBUZIONE ALIMENTAZIONI
POWER SUPPLY POWER SUPPLY DISTRIBUTION VENTOLE DISSIPATORE AMS
T100 AMS HEATSINK FANS
X120
OPZIONALE
OPTIONAL
ETO E111 E112 E113
ELECTRICAL ACO SSK TDK
TRANSFORMER Q122 AIR CONDITIONER KIT Q120 SERVICE SOCKET KIT Q102 TIP DRESSER COMMAND
S102
Micro Porta
A Q100 Door Switch

T110
380/440/500V K105 K106
VENTOLA INT. CABINA
X13 X13
INT. CABINET FAN

230V E110
Z1
Filtro rete BALLAST
Main filter Q121
R1
CONDIZIONATORE D'ARIA M1 M2
X2/CAB
AIR CONDITIONER
X115 EXTERNAL EXTERNAL
X1/CAB TIP DRESSER 1 TIP DRESSER 2
BAT 1 BAT 1
PRESA DI SERVIZIO BATTERY 1 BATTERY 1
SERVICE SOCKET
- + - +

B
ACOPOS MULTI SERVODRIVE

X2 LIM X1
BUS DC OK LIMITER
DC BUS OK

24V X5B X1 X1 X3 X2 X310 X103B X100 X101 X119 X102


X5A

DISABLE 24V INT 24V IN 24V BKP 24V FAN 24V BAT
APC PPS ASM IAM1 IAM2 IAM3 IAM4 IAM5
ACOPOS PC PASSIVE POWER AUX. SUPPLY INVERTER INVERTER INVERTER INVERTER INVERTER
SUPPLY MODULE AXIS AXIS AXIS AXIS AXIS
SAFE MC SAFE MC SAFE MC MODULE MODULE BCM
MODULE MODULE MODULE
AXIS 1-2 AXIS 3-4 AXIS 5-6 BATTERY CHARGER
C MODULE
600V BUS DC INTERNO
INTERNAL 600V DC BUS

24Vdc BUS DC INTERNO


INTERNAL 24Vdc DC BUS

+24V 24V ROBOT


24V INT +24V I/O DRIVE ON 0V(24Vdc) 24V DRIVE OFF

FMP X103A X106A X106B X106C X106C


FEED-THROUGH MOUNTING PLATE
24V EXT

X102 X1/CAB
SOLO CON ASSI AGGIUNTIVI SOLO CON KIT CONNETTORE DI ALIMENTAZIONE SOLO CON KIT AUTOTRASFORMATORE
ONLY WITH ADDITIONAL AXIS ONLY WITH MAIN CONNECTOR KIT ONLY WITH AUTOTRANSFORMER KIT
D SLU-1 BC-1 DO-1
SAFE LOGIC BUS 8 OUTPUT
UNIT CONTROLLER MODULE X30 SP X10 X60d
SOLO CON CONDIZIONATORE SOLO CON KIT PRESA DI SERVIZIO SOLO CON TIP DRESSER COMMAND CIP
BASE
ONLY WITH AIR CONDITIONER ONLY WITH SERVICE SOCKET KIT ONLY WITH TIP DRESSER COMMAND
X128
Applicazioni
SOLO CON CONNETTORE X30 Applications
SOLO CON ALIMENTAZIONE ESTERNA SOLO CON DOPPIO TIP DRESSER COMMAND SOLO CON C5GP-SEC2.0 E SEC3.0
ONLY WITH CONNECTOR X30 ONLY WITH EXTERNAL SUPPLY ONLY WITH DOUBLE TIP DRESSER COMMAND ONLY WITH C5GP-SEC2.0 & SEC3.0 Trasferta Robot Robot
External Equipment Robot Robot

ENG.-PROGETT. DRAWNER-DISEGN. CHECKED-VISTO MODIF. SH.-FG. MODIF. CHECKED-VISTO TITLE - TITOLO DATE-DATA DRAWING No. - DISEGNO N° REV. SHEET-FOGLIO
C5GP-SEC1.0 - 2.0 - 3.0 SAFE EUROPEAN CONTROL
A. DIELI ACER G. ALOTTO INTERCONNESSIONE A BLOCCHI
26/03/2018 CR17.9322.33 00 /
COMAU BLOCK INTERCONNECTION FILENAME-NOMEFILE CR1793223300
1 2 3 4 5 6 7 8

DISTRIBUZIONE 24V SDM


SDM 24V DISTRIBUTION
24V (ASM) BATTERY

X100 X102

V24 INT
GND-V0
BCM DL1
BATTERY CHARGER MODULE

BMS BLOCK BATTERY CHANGER CURRENT SENSING CURRENT SENSING


(C_INT) (C_EXT)

B
V24BKP VINT VEXT
V24BKP VINT VEXT
SS1

CMD01 CMD02 CMD03 CMD04 CMD05 CMD06 CMD07 SS2

V24DRIVEON
8A 2A 1A 5A 0.5A 2A 4A 4A

V24ROBOT

V24DROFF
DL2 DL9 DL10 DL6 DL8 DL7 DL4 DL5
C

V24FAN
V24BKP

V24INT

V24TP

V24IO
V24ROBOT
V24DROFF

V24DROFF
GND-V0

GND-V0

GND-V0

GND-V0

GND-V0

GND-V0

GND-V0
V24FAN
V24 INT

V24 INT

V24 INT

V24TP
V24IO

X103A X103B X103C X106A X106B X106C X110 X119


D

ENG.-PROGETT. DRAWNER-DISEGN. CHECKED-VISTO MODIF. SH.-FG. MODIF. CHECKED-VISTO TITLE - TITOLO DATE-DATA DRAWING No. - DISEGNO N° REV. SHEET-FOGLIO
C5GP-SEC1.0 - 2.0 - 3.0 SAFE EUROPEAN CONTROL
A. DIELI ACER G. ALOTTO INTERCONNESSIONE A BLOCCHI
26/03/2018 CR17.9322.33 00 /
COMAU BLOCK INTERCONNECTION FILENAME-NOMEFILE CR1793223300
1 2 3 4 5 6 7 8

CIRCUITO CONTROLLO ASSI


AXIS CONTROL CIRCUIT
SOLO CON ASSI AGGIUNTIVI
ALIMENTAZIONE SERVODRIVE ONLY WITH ADDITIONAL AXIS
SUPPLY SERVODRIVE

ACOPOS MULTI SERVODRIVE

A X5A

IAM1 IAM2 IAM3 IAM4 or IAM5 IAM4 or IAM5 IAM4 IAM4 IAM4
INVERTER INVERTER INVERTER INVERTER INVERTER INVERTER INVERTER INVERTER
PPS AXIS AXIS AXIS SINGLE AXIS SINGLE AXIS DOUBLE AXIS DOUBLE AXIS DOUBLE AXIS
PASSIVE POWER SAFE MC MODULE SAFE MC MODULE SAFE MC MODULE MODULE MODULE MODULE MODULE MODULE
SUPPLY AXIS 1-2 AXIS 3-4 AXIS 5-6 AXIS 8/9 AXIS 7/9 AXIS 7-8 AXIS 7-8 AXIS 7-8

ETI1-2 ETI3-4 ETI5-6 RTI ETI RTI-RTI ETI-RTI ETI-ETI

X2 Robot Alarm/Air Input


X4B Brake Command 2

X4B Brake Command 4

X4B Brake Command 6

X4B Brake Command 8

X4B Brake Command 8

X4B Brake Command 8


X4A Brake Command 1

X4A Brake Command 3

X4A Brake Command 5

X4A Brake Command 7

X4A Brake Command 7

X4A Brake Command 7


X4A Brake Command

X4A Brake Command


X2 Hight Speed Input

X2 Overtravel Axis
X5B Power Axis 2

X5B Power Axis 4

X5B Power Axis 6

X5B Power Axis 8

X5B Power Axis 8

X5B Power Axis 8


X5A Power Axis 1

X5A Power Axis 3

X5A Power Axis 5

X5A Power Axis 7

X5A Power Axis 7

X5A Power Axis 7


X11 Resolver 8/9

X11 Encoder 7/9


X5A Power Axis

X5A Power Axis

X11 Resolver 7
X11 Resolver 8

X11 Resolver 8
X11 Encoder 1
X11 Encoder 2

X11 Encoder 3
X11 Encoder 4

X11 Encoder 5
X11 Encoder 6

X11 Encoder 7

X11 Encoder 7
X11 Encoder 8
B

X2

X2

X2

X2

X2
FMP
FEED-THROUGH MOUNTING PLATE

CIP
CONNECTORS INTERFACE PANEL

X10 X60 X62 or X63 X62 or X63 X61 X62 X61 X62 X61 X62

Robot Robot Asse Aggiuntivo Asse Aggiuntivo Assi Aggiuntivi Assi Aggiuntivi Assi Aggiuntivi
Robot Robot Additional Axis Additional Axis Additional Axis Additional Axis Additional Axis

ENG.-PROGETT. DRAWNER-DISEGN. CHECKED-VISTO MODIF. SH.-FG. MODIF. CHECKED-VISTO TITLE - TITOLO DATE-DATA DRAWING No. - DISEGNO N° REV. SHEET-FOGLIO
C5GP-SEC1.0 - 2.0 - 3.0 SAFE EUROPEAN CONTROL
A. DIELI ACER G. ALOTTO INTERCONNESSIONE A BLOCCHI
26/03/2018 CR17.9322.33 00 /
COMAU BLOCK INTERCONNECTION FILENAME-NOMEFILE CR1793223300
1 2 3 4 5 6 7 8

OPZIONI COLLEGABILI
OPTIONS CONNECTABLES

BCM DI-1 DO-1 FMP


BATTERY CHARGER MODULE 12 INPUT MODULE 8 OUTPUT MODULE FEED-THROUGH MOUNTING PLATE

A IAM1 IAM2 IAM3


INVERTER INVERTER INVERTER
AXIS AXIS AXIS
SAFE MC MODULE SAFE MC MODULE SAFE MC MODULE
AXIS 1-2 AXIS 3-4 AXIS 5-6

ETI1-2 ETI3-4 ETI5-6


V24DROFF

OUTPUT 1
OUTPUT 2
OUTPUT 3
OUTPUT 4
GND-V0

INPUT 1
INPUT 2
INPUT 3
INPUT 4

X2 Robot Alarm/Air Input


X4B Brake Command 2

X4B Brake Command 4

X4B Brake Command 6


X4A Brake Command 1

X4A Brake Command 3

X4A Brake Command 5


V24IO

X2 Hight Speed Input

X2 Overtravel Axis
X5B Power Axis 2

X5B Power Axis 4

X5B Power Axis 6


X5A Power Axis 1

X5A Power Axis 3

X5A Power Axis 5


X11 Encoder 1
X11 Encoder 2

X11 Encoder 3
X11 Encoder 4

X11 Encoder 5
X11 Encoder 6
X106

X128

B
P1
CONTAORE OPZIONALE
OPTIONAL HOUR METER
X128A X138

ISAM5 HSM5
INTERNAL SUPPLY APPLICATION MODULE HIGH SPEED INPUT MODULE

$HDIN[1..4]

$HDIN[5..8]

$HDIN[5..8]
24Vdc EXT FIELD_BUS

24Vdc EXT FIELD_BUS

24Vdc EXT FIELD_BUS

24Vdc EXT FIELD_BUS

HSI 1

HSI 3

HSI 3
24Vdc SAFE

24Vdc SAFE

24Vdc SAFE

24Vdc SAFE

24Vdc SAFE

24Vdc SAFE

24Vdc SAFE

24Vdc SAFE
24Vdc I/O

24Vdc I/O

24Vdc I/O

24Vdc I/O

24Vdc I/O

24Vdc I/O

24Vdc I/O

24Vdc I/O

X136 X137 X138

X124-1 X126-1 X128-1 X130-1 X106-1 X106-2 X106-3 X106-4

APPLICAZIONI 3÷6 (ESPANSIONE) ALIMENTAZIONE UTENTE (ESPANSIONE)


APPLICATIONS 3÷6 (EXPANSION) USER'S SUPPLY (EXPANSION)
CIP
CONNECTORS INTERFACE PANEL

SOLO CON KIT ALIMENTAZIONE APPLICAZIONI INTERNE


ONLY WITH INTERNAL SUPPLY APPLICATION KIT
X3A X3B X3C X3D1 X3D2 X3D3 X3D4

SOLO CON KIT SEGNALI ROBOT


ONLY WITH SIGNAL MACHINE KIT
D

SOLO CON KIT HIGH SPEED INPUT ASSI X10 X61 or X62 or X63
ONLY WITH HIGH SPEED INPUT AXIS KIT

SOLO CON KIT OLTRECORSA ASSI SOLO CON CONTAORE Robot Assi Aggiuntivi
ONLY WITH OVERTRAVEL AXIS KIT ONLY WITH HOUR METER
Robot Additional Axis

ENG.-PROGETT. DRAWNER-DISEGN. CHECKED-VISTO MODIF. SH.-FG. MODIF. CHECKED-VISTO TITLE - TITOLO DATE-DATA DRAWING No. - DISEGNO N° REV. SHEET-FOGLIO
C5GP-SEC1.0 - 2.0 - 3.0 SAFE EUROPEAN CONTROL
A. DIELI ACER G. ALOTTO INTERCONNESSIONE A BLOCCHI
26/03/2018 CR17.9322.33 00 /
COMAU BLOCK INTERCONNECTION FILENAME-NOMEFILE CR1793223300
1 2 3 4 5 6 7 8

COLLEGAMENTI LINEE SERIALI


SERIAL LINE CONNECTIONS

ETH POWER LINK ETH POWER LINK ETH POWER LINK ETH POWER LINK ETH POWER LINK

A
X3A X5A X3A X3B X3A X3B X3A X3B X3A X3B X3A X3B X3A X3B X3 X4
APC PPS ASM IAM1 IAM2 IAM3 IAM4 IAM5 BCM
ACOPOS PC PASSIVE POWER AUXILIARY SUPPLY INVERTER INVERTER INVERTER INVERTER INVERTER BATTERY
SUPPLY MODULE AXIS AXIS AXIS AXIS AXIS CHARGER
SAFE MC SAFE MC SAFE MC MODULE MODULE MODULE
MODULE MODULE MODULE
AXIS 1-2 AXIS 3-4 AXIS 5-6

USB PORTS

USB1 USB2 USB3 USB4 ETH1 ETH2

B
FMP
Usb2 ETH1 ETH2 FEED-THROUGH MOUNTING PLATE

ETH POWER LINK

USB ETH
X3B X3A X3B X3A
SLU-1
C SAFE LOGIC UNIT
(SL8110)

X124

PFG-PBC (BC1083)
POWER LINK BUS CONTROLLER
SUB SLOT 3 SUB SLOT 2 SUB SLOT 1
TP5
BC-1 (BB82)
SOLO CON ASSI AGGIUNTIVI BUS CONTROLLER BASE
ONLY WITH ADDITIONAL AXIS
D

SOLO CON KIT USB


ONLY WITH USB KIT

SOLO CON KIT ETHERNET


ONLY WITH ETHERNET KIT

ENG.-PROGETT. DRAWNER-DISEGN. CHECKED-VISTO MODIF. SH.-FG. MODIF. CHECKED-VISTO TITLE - TITOLO DATE-DATA DRAWING No. - DISEGNO N° REV. SHEET-FOGLIO
C5GP-SEC1.0 - 2.0 - 3.0 SAFE EUROPEAN CONTROL
A. DIELI ACER G. ALOTTO INTERCONNESSIONE A BLOCCHI
26/03/2018 CR17.9322.33 00 /
COMAU BLOCK INTERCONNECTION FILENAME-NOMEFILE CR1793223300
1 2 3 4 5 6 7 8

COLLEGAMENTI CIRCUITI DI SICUREZZA


SOLO CON CONNETTORE X30
SAFETY CIRCUITS CONNECTION ONLY WITH CONNECTOR X30
EMG.STOP REMOTO AUTO STOP (CANCELLI) STOP GENERALE
REMOTE EMG.STOP AUTO STOP (FENCE) GENERAL STOP

E-STOP PTU CH1B

E-STOP PTU CH2B


E-STOP PTU CH1A

E-STOP PTU CH2A


A

X30 4 6 5 7 18 20 19 21 25 27 26 28 11 13 12 14

X122 19 13 20 14 15 16 17 18 7 8 21 9 22 10

X128 5 X128 6

X128 11 X128 12
B

X124 2 3 4 5

ENABLING
E.STOP DEVICE
E.STOP ENABLING
DEVICE

C TP5
WIRED TEACH PENDANT

X124 11 7 9 12 10 8 1 18 17

16 15 26 25 16 26 11 21 12 22 15 25 22 23 13 11 21 12
Pulse 3

Pulse 4

Pulse 1

Pulse 2
SI SI SI SI SI SI SI SI SI SI SI SI SI SI
9 10 11 12 13 21 12 22 4 6 5 1 2 3

EXT. E-STOP EXT. E-STOP AUTO STOP AUTO STOP GEN STOP GEN STOP E-STOP E-STOP MONITOR ENABLING ENABLING PROG. AUTO AUTO
CH1 CH2 CH1 CH2 CH1 CH2 CH1 CH2 E-STOP DEVICE DEVICE MODE T1 MODE MODE
D CH2 CH1 LOCAL REMOTE
TEST SIGNALS TEST SIGNALS
PULSED PULSED

SI-1
20 SAFE INPUT MODULE

ENG.-PROGETT. DRAWNER-DISEGN. CHECKED-VISTO MODIF. SH.-FG. MODIF. CHECKED-VISTO TITLE - TITOLO DATE-DATA DRAWING No. - DISEGNO N° REV. SHEET-FOGLIO
C5GP-SEC1.0 - 2.0 - 3.0 SAFE EUROPEAN CONTROL
A. DIELI ACER G. ALOTTO INTERCONNESSIONE A BLOCCHI
26/03/2018 CR17.9322.33 00 /
COMAU BLOCK INTERCONNECTION FILENAME-NOMEFILE CR1793223300
1 2 3 4 5 6 7 8

COLLEGAMENTI CIRCUITI DI SICUREZZA


SAFETY CIRCUITS CONNECTION

SO-1
4 SAFE OUTPUT MODULE

DRIVE DRIVE
A ON ON ENABLE 1 ENABLE 2

SO SO SO SO
3 4 1 2
+ - + - + - + -

13 14 23 24 11 12 21 22

X130 X108 X109


2 4 3 5 1 3 2 4
B
1 3 2 6

X5A X5B X5C X5D X5E

BCM
BATTERY CHARGER MODULE 4 5

Abilitazione Assi Aggiuntivi

Abilitazione Assi Aggiuntivi


X130

Enable Additional Axis

Enable Additional Axis


C

X1 X1
14 24

IAM1 IAM2 IAM3 IAM4 IAM5


INVERTER INVERTER INVERTER INVERTER INVERTER
SI SI AXIS AXIS AXIS AXIS AXIS
7 8 SAFE MC SAFE MC SAFE MC MODULE MODULE
MODULE MODULE MODULE
FEEDBACK FEEDBACK AXIS 1-2 AXIS 3-4 AXIS 5-6
DRIVE DRIVE
ON ON

SI-1A
20 SAFE INPUT MODULE

ACOPOS MULTI SERVODRIVE


SOLO CON ASSI AGGIUNTIVI
ONLY WITH ADDITIONAL AXIS

ENG.-PROGETT. DRAWNER-DISEGN. CHECKED-VISTO MODIF. SH.-FG. MODIF. CHECKED-VISTO TITLE - TITOLO DATE-DATA DRAWING No. - DISEGNO N° REV. SHEET-FOGLIO
C5GP-SEC1.0 - 2.0 - 3.0 SAFE EUROPEAN CONTROL
A. DIELI ACER G. ALOTTO INTERCONNESSIONE A BLOCCHI
26/03/2018 CR17.9322.33 00 /
COMAU BLOCK INTERCONNECTION FILENAME-NOMEFILE CR1793223300
1 2 3 4 5 6 7 8

OPZIONI COLLEGABILI
OPTIONS CONNECTABLES

DI-1 DCM PBM PNM DI-2 DO-2

6 OUTPUT MODULE (DO6322)

6 OUTPUT MODULE (DO6322)

6 OUTPUT MODULE (DO6322)

6 OUTPUT MODULE (DO6322)

6 OUTPUT MODULE (DO6322)

6 OUTPUT MODULE (DO6322)

2 ANALOG OUTPUT (AO2622)

2 ANALOG OUTPUT (AO2622)


12 INPUT MODULE DEVICE NET MASTER PROFIBUS DP PROFINET IO 12 INPUT MODULE 8 OUTPUT MODULE

12 INPUT MODULE (DI9371)

12 INPUT MODULE (DI9371)

12 INPUT MODULE (DI9371)

2 ANALOG INPUT (AI2622)

2 ANALOG INPUT (AI2622)


POWER SUPPLY (PS2100)

POWER SUPPLY (PS2100)

POWER SUPPLY (PS2100)

POWER SUPPLY (PS2100)

POWER SUPPLY (PS2100)

POWER SUPPLY (PS2100)

POWER SUPPLY (PS2100)


INTERFACE MASTER CONTROLLER

A
24Vdc EXT FIELD_BUS

INPUT 3 (THERMAL)
INPUT 4 (THERMAL)
24Vdc SAFE

PROFINET

PROFINET
24Vdc I/O

INPUT 1
INPUT 2

PORT 1

PORT 2
CAN_H
CAN_L

PFB B
PFB A
BC-1 (BB82)

V+
V-
BUS CONTROLLER BASE

X128 DNP PFP

SOLO CON INTERFACCIA DEVICENET


ONLY WITH DEVICENET INTERFACE

SOLO CON INTERFACCIA PROFIBUS


ONLY WITH PROFIBUS INTERFACE
C
SOLO CON INTERFACCIA PROFINET
ONLY WITH PROFINET INTERFACE

SOLO CON 12 INPUT / 12 OUTPUT DIGITALI


ONLY WITH DIGITAL 12 INPUT / 12 OUTPUT

CIP
CONNECTORS INTERFACE PANEL SOLO CON 24 INPUT / 24 OUTPUT DIGITALI
ONLY WITH DIGITAL 24 INPUT / 24 OUTPUT

SOLO CON 2 INPUT ANALOGICI


ONLY WITH 2 ANALOG INPUT

SOLO CON 2 OUTPUT ANALOGICI


D ONLY WITH 2 ANALOG OUTPUT

X93 or X94 X93 or X94 X93 or X94 X93 or X41 SOLO CON 2 INPUT E 2 OUTPUT ANALOGICI
ONLY WITH 2 ANALOG INPUT & 2 ANALOG OUTPUT

SOLO CON INPUT OUTPUT MULTIBUS


APPLICAZIONI APPLICAZIONI APPLICAZIONI APPLICAZIONI ONLY WITH INPUT OUTPUT MULTIBUS
APPLICATIONS APPLICATIONS APPLICATIONS APPLICATIONS

ENG.-PROGETT. DRAWNER-DISEGN. CHECKED-VISTO MODIF. SH.-FG. MODIF. CHECKED-VISTO TITLE - TITOLO DATE-DATA DRAWING No. - DISEGNO N° REV. SHEET-FOGLIO
C5GP-SEC1.0 - 2.0 - 3.0 SAFE EUROPEAN CONTROL
A. DIELI ACER G. ALOTTO INTERCONNESSIONE A BLOCCHI
26/03/2018 CR17.9322.33 00 /
COMAU BLOCK INTERCONNECTION FILENAME-NOMEFILE CR1793223300
1 2 3 4 5 6 7 8

ALIMENTAZIONE TRIFASE
THREE PHASE POWER SUPPLY

ATTENZIONE CONDUTTORI SOTTO CABLATO PER 400V-500V 50/60Hz


TENSIONE CON INTERRUTTORE APERTO WIRED FOR 400V-500V 50/60Hz
WARNING: WIRES ENERGIZED WHIT
MAIN SWITCH OPEN
R S T
A X120 1 2 3

BLK 1

BLK 2

BLK 3
CR17133461 PE X119 /CIP
10AWG

GND1 GND2 GND3 GND4 GND5

Q100 1 3 5
10AWG
Magn. 350A YEL/GRN
Ther. 25A 10AWG
10AWG YEL/GRN
YEL/GRN
B INTERRUTTORE
MAGNETOTERMICO 2 4 6
THERM/MAGN.
MAIN SWITCH SOLO CON KIT CONNETTORE DI ALIMENTAZIONE
ONLY WITH MAIN CONNECTOR KIT
CR17230061
10AWG BLK
SOLO CON CONDIZIONATORE
ONLY WITH AIR CONDITIONER
R S T

SOLO CON KIT PRESA DI SERVIZIO


ONLY WITH SERVICE SOCKET KIT
Z1 L1 L2 L3 Z1 L1 L2 L3
LINE LINE

FILTRO RETE FILTRO RETE SOLO CON KIT AUTOTRASFORMATORE


ONLY WITH AUTOTRANSFORMER KIT
LINE FILTER LINE FILTER
C
LOAD LOAD
SOLO CON TIP DRESSER COMMAND
L1' L2' L3' L1' L2' L3'
ONLY WITH TIP DRESSER COMMAND

YEL/GRN
BLK 1

BLK 2

BLK 3
SOLO CON DOPPIO TIP DRESSER COMMAND
CR17230162
ONLY WITH DOUBLE TIP DRESSER COMMAND
T+ 10AWG

T-

CR17131264
X1/CAB R 507 507 S 508 508 T 509 509 GND
18AWG BLU X1 /CAB 507 507 508 508 509 509 GND
YEL/GRN

BLK1

BLK2

BLK1

BLK2
BLK

BLK

BLK

575R 575S 575T S1


D
CR17230262 CR17432461 CR17134462 CR17131565 CR17131565
105° 10AWG 14AWG 16AWG 14AWG 14AWG
GND5
T+

L1

L2

L3

L1

L3

L1

L3

L3

L2

L1

L3

L2

L1
T-

T100 10 kVA
480R 480S 480T AUTOTRASFORMATORE
15.1A

15.1A

15.2A

15.2A

15.2A

15.2A

16.4A

16.4A

16.6A

16.6A

59.1A

59.1A

59.1A

60.1A

60.1A

60.1A
AUTOTRANSFORMER

ENG.-PROGETT. DRAWNER-DISEGN. CHECKED-VISTO MODIF. SH.-FG. MODIF. CHECKED-VISTO TITLE - TITOLO DATE-DATA DRAWING No. - DISEGNO N° REV. SHEET-FOGLIO
C5GP-SEC1.0 - 2.0 - 3.0 SAFE EUROPEAN CONTROL
A. DIELI ACER G. ALOTTO INTERRUTTORE GENERALE E FILTRO RETE
26/03/2018 CR17.9322.33 00 /
COMAU MAIN DISCONNECTING DEVICE AND LINE FILTER FILENAME-NOMEFILE CR1793223300
1 2 3 4 5 6 7 8

14.3D

14.3D

14.3D

14.4D

14.4D

14.4D
T+

GND5
T-

L1

L2

L3
BALLAST
R1

YEL/GRN
A

BLK

BLK

BLK
CR17230262
10AWG

ACOPOS MULTI SERVODRIVE

FMP
X5A X5B FEED-THROUGH MOUNTING PLATE

L1 L2 L3 RB+ RB- ASM


ALIMENTAZIONE DRIVES AUXILIARY SUPPLY MODULE
SUPPLY DRIVES BUS 600V DC INTERNO
INTERNAL 600V DC BUS
B

BUS 24V DC INTERNO


INTERNAL 24V DC BUS

DC -
AC
+
DC

DC BUS DC OK 5A
DC BUS OK

PPS
PASSIVE POWER SUPPLY
4 6 6 4 1 2 3 4 2 3 4 1

X1 X1 X2 X3

CR17230461 CR17230563 CR17230563 CR17230563


18AWG BLU 18AWG 10AWG 14AWG

BLK 2

BLK 1

BLK 2

BLK 1

BLK 1

BLK 2
DISABLE +24V

+24V OUT 1

+24V OUT 1
D
COM (4)

COM (2)

COM (2)
20.8A

20.8A

17.2A

17.2A

18.1A

18.1A
SOLO CON KIT AUTOTRASFORMATORE
ONLY WITH AUTOTRANSFORMER KIT

ENG.-PROGETT. DRAWNER-DISEGN. CHECKED-VISTO MODIF. SH.-FG. MODIF. CHECKED-VISTO TITLE - TITOLO DATE-DATA DRAWING No. - DISEGNO N° REV. SHEET-FOGLIO
C5GP-SEC1.0 - 2.0 - 3.0 SAFE EUROPEAN CONTROL
A. DIELI ACER G. ALOTTO ALIMENTAZIONE DRIVES
26/03/2018 CR17.9322.33 00 /
COMAU SUPPLY DRIVES FILENAME-NOMEFILE CR1793223300
1 2 3 4 5 6 7 8

18.8D

19.2D

14.5D

14.5D

14.6D

14.6D
+24V DRIVE ON

0V(24Vdc)

L1

L3

L1

L3
BLK1

BLK2

BLK1

BLK2
CR17432461 CR17134462
A 14AWG 16AWG

508 509

ACO Q120 SSK


1 3
AIR CONDITIONER KIT SERVICE SOCKET KIT
2A

CR17132461
18AWG 508 509 510

Q122 1 3 5 2 4
2A CR17134462
16AWG BLK
BLK1

BLK2

24 510 511
S102 301

B MICRO PORTA 2 4 6
X13 /SSK 0 380 440 500 302
DOOR SWITCH 23

YEL/GRN
510 511 512 16AWG BLK
BLK1

BLK2

T110 0 390V 427V 490V


CR17432461 460VA
14AWG BLK 0 115V 0 115V
CR17432461
18AWG
300 301 302 303

16AWG RED

CR17134462
16AWG YEL/GRN
95 96
X13 /ACO 200 201 201 202 GND 0V 400 460 500 1 3

C Q121
3A

P1 + - 2 4
AIR CONDITIONER CABLE AIR CONDITIONER CABLE
18AWG 18AWG
BLK1 or BRN

BLK2 or BRN

BLK1 or RED
BLK4 or BLU
BLK2 or BLK

BLK3 or BLK
h
YEL/GRN

CR17134462

YEL/GRN
16AWG

BLK1

BLK2
CONTAORE OPZIONALE
OPTIONAL HOUR METER 372 373
DOOR SWITCH

DOOR SWITCH

0V

400V

460V

500V
GROUND

SOLO CON CONTAORE


X115 L L PE

ONLY WITH HOUR METER


D
PRESA DI SERVIZIO
SOLO CON CONDIZIONATORE SERVICE SOCKET
ONLY WITH AIR CONDITIONER CONDIZIONATORE D'ARIA
AIR CONDITIONER

SOLO CON KIT PRESA DI SERVIZIO


ONLY WITH SERVICE SOCKET KIT

ENG.-PROGETT. DRAWNER-DISEGN. CHECKED-VISTO MODIF. SH.-FG. MODIF. CHECKED-VISTO TITLE - TITOLO DATE-DATA DRAWING No. - DISEGNO N° REV. SHEET-FOGLIO
C5GP-SEC1.0 - 2.0 - 3.0 SAFE EUROPEAN CONTROL
A. DIELI ACER G. ALOTTO ALIMENTAZIONE SERVIZI
26/03/2018 CR17.9322.33 00 /
COMAU SERVICES POWER SUPPLY FILENAME-NOMEFILE CR1793223300
1 2 3 4 5 6 7 8

15.6D

15.6D
BATT1 BATT2
BATTERY 1 BATTERY 2

COM (2)

+24V OUT 1
- + - +

A BATTERY BATTERY

- + - +

BLK 1

BLK 2

BLK1

BLK2
BLU
CR17230563 CR17230663
10AWG 16AWG

CR17230663
16AWG BLU

X100 /BCM 1 2 X102 /BCM 1 2 3 4

DL1 BCM
0VIN 24VIN BATTERY CHARGER MODULE
B

CURRENT SENSING CURRENT SENSING


BATTERY CHANGER (C_INT) (C_EXT)
BMS BLOCK

V24BKP VINT VEXT

SS1

C
V24BKP VINT HS_DRV VEXT
SS2

CMD01 CMD02 CMD03 CMD04 CMD05 CMD06 CMD07

DIAG2

DIAG1
CMD1

CMD2
20.1B

20.1B

20.2B

20.2B
DL2 8A DL9 2A DL10 1A DL6 5A DL8 0.5A DL7 2A DL4 4A DL5 4A

V24DRIVEON
V24ROBOT

V24DROFF
D
V24FAN
V24BKP

V24INT

V24TP

V24IO
0VIN

0VIN

0VIN
18.3A

19.1A

20.2A

18.2A

18.4A

19.3A

19.5A

19.5A

19.4A

18.6A

18.7A
ENG.-PROGETT. DRAWNER-DISEGN. CHECKED-VISTO MODIF. SH.-FG. MODIF. CHECKED-VISTO TITLE - TITOLO DATE-DATA DRAWING No. - DISEGNO N° REV. SHEET-FOGLIO
C5GP-SEC1.0 - 2.0 - 3.0 SAFE EUROPEAN CONTROL
A. DIELI ACER G. ALOTTO DISTRIBUZIONE 24Vdc
26/03/2018 CR17.9322.33 00 /
COMAU 24Vdc DISTRIBUTION FILENAME-NOMEFILE CR1793223300
1 2 3 4 5 6 7 8

15.6D

15.6D

17.2D

17.1D

17.3D

17.7D

17.8D
BCM
BATTERY CHARGER MODULE

V24IO
COM (2)

V24BKP

V24DRIVEON
+24V OUT 1

0VIN

V24INT
A
CR17230563
14AWG
BLK 1

BLK 2

X2 /LIM 1 3

LIM
LIMITER

1 3

X1 /LIM
B
3 4 1 2 1 2 1 2 1 2 1 2 3 4 1 2 3 4
CR17230563
14AWG X101 /BCM X103A /BCM X103B /BCM X103C /BCM X106A /BCM X106B /BCM

0V(24Vdc)
+24dc INT
BLK 1

BLK 2

CR17230563 CR17230662 CR17230563 CR17231266 CR17230662 CR17231266 CR17132461


18AWG 18AWG 18AWG 18AWG 18AWG 18AWG 18AWG
BLK 2

BLK 1

BLK 2

BLK 1

BLK 1

BLK 2

BLK 2

BLK 2

BLK 4

BLK 1
+24V DRIVE ON

+24V DRIVE ON
+24dc BKP

0V(24Vdc)

+24V INT

+24V INT

+24V I/O

+24V I/O
D
COM (2)

COM (4)
25.1A

25.1A

21.1A

21.2A

20.8A

20.8A

38.4A

23.8A

38.5A

16.1A
SOLO CON CONTAORE
ONLY WITH HOUR METER

ENG.-PROGETT. DRAWNER-DISEGN. CHECKED-VISTO MODIF. SH.-FG. MODIF. CHECKED-VISTO TITLE - TITOLO DATE-DATA DRAWING No. - DISEGNO N° REV. SHEET-FOGLIO
C5GP-SEC1.0 - 2.0 - 3.0 SAFE EUROPEAN CONTROL
A. DIELI ACER G. ALOTTO DISTRIBUZIONE 24Vdc
26/03/2018 CR17.9322.33 00 /
COMAU 24Vdc DISTRIBUTION FILENAME-NOMEFILE CR1793223300
1 2 3 4 5 6 7 8

17.1D

17.3D

17.6D

17.5D

17.4D
BCM
BATTERY CHARGER MODULE

V24TP

V24DROFF

V24ROBOT
0VIN

V24FAN

FAN CTRL
A

OUTPUT
BCM

1 2 3 4 1 2 3 1 2 3 4 5 6 8 7

X106C /BCM X110 /BCM X119 /BCM


B CR17230967
18AWG

BLK 2

BLK 1

BLK 3
X2 /CAB
24VF

X2/CAB
88 88 88 88
NTC
X2/CAB
79 79 79 79

X2/CAB
78 78 78 78

C CR17231266 CR17132461 CR17230662 CR17130263 CR17231266 CR17230967 CR17231762 CR17231662


18AWG 18AWG 18AWG 20AWG 24AWG 18AWG 22AWG 22AWG

11-GRA/PNK
12-RED-BLU
8-RED
6-PNK

7-BLU

9-BLK
BLK 3

BLK 1

BLK 2

BLK 1

BLK 2

BLK 1

BLK 2

BLK 1
BLU

10-VIO
5-GRA
8-RED

8-RED

6-PNK
7-BLU

7-BLU
9-BLK

4-YEL
1 3 2 1 2 3 1 2 3 1 2 3

CR17430961 CR17431061 CR17431061 CR17431061

RED

RED

RED

RED
BLU

BLK

BLK

BLK

BLK
YEL

YEL

YEL
E110 E111 E112 E113
+24V DRIVE OFF

VENTOLA INTERNA VENTOLA 1 VENTOLA 2 VENTOLA 3


+24V ROBOT
+24Vdc TP

+24Vdc TP

INTERNAL FAN FAN 1 FAN 2 FAN 3


0V(24Vdc)

0V(24Vdc)

0V(24Vdc)

0V(24Vdc)

0V(24Vdc)

0V(24Vdc)

0V(24Vdc)

0V(24Vdc)

0V(24Vdc)

D OPZIONALE
OPTIONAL

VENTOLE DISSIPATORE AMS


AMS HEATSINK FANS
38.6A

38.6A

16.1A

23.8A

33.6A

28.8A

28.8A
28.8A

28.8A

35.1A

35.2A

35.3A

35.3A

SOLO CON CONTAORE SOLO CON KIT SEGNALI ROBOT SOLO CON C5GP-REC2.0 E REC3.0
ONLY WITH HOUR METER ONLY WITH SIGNAL MACHINE KIT ONLY WITH C5GP-REC2.0 & REC3.0

ENG.-PROGETT. DRAWNER-DISEGN. CHECKED-VISTO MODIF. SH.-FG. MODIF. CHECKED-VISTO TITLE - TITOLO DATE-DATA DRAWING No. - DISEGNO N° REV. SHEET-FOGLIO
C5GP-SEC1.0 - 2.0 - 3.0 SAFE EUROPEAN CONTROL
A. DIELI ACER G. ALOTTO DISTRIBUZIONE 24Vdc
26/03/2018 CR17.9322.33 00 /
COMAU 24Vdc DISTRIBUTION FILENAME-NOMEFILE CR1793223300
1 2 3 4 5 6 7 8

17.1D

18.5D

15.5D

15.5D

18.4D
BCM
BATTERY CHARGER MODULE

COM (4)

COM (4)

DISABLE +24V
0VIN

+24V INT
A
17.7C

17.8C

17.8C

17.8C
CMD1

CMD2

DIAG1

DIAG2

DO_01

DO_02
DI_01

DI_02

DI_03

DI_04
B

1 2 3 6 4 5 1 2 3 4 5 1 2 3 4

X130 /BCM X311 /BCM X310 /BCM

IN 1

IN 2

IN 3

IN 4

0V(+24Vdc)
C

A TRASFERTA
CR17230762 TO EXTERNAL EQUIPMENT CR17230563
22AWG 18AWG
3-GRN

5-GRA
2-BRN

8-RED
7-BLU
4-YEL

BLK 1

BLK 1

BLK 2

BLK 2
0V(24Vdc)

0V(24Vdc)

D
DIAG1

DIAG2
CMD1

CMD2
22.8A

22.8A

22.8A

22.8A

22.1A

22.1A

ENG.-PROGETT. DRAWNER-DISEGN. CHECKED-VISTO MODIF. SH.-FG. MODIF. CHECKED-VISTO TITLE - TITOLO DATE-DATA DRAWING No. - DISEGNO N° REV. SHEET-FOGLIO
C5GP-SEC1.0 - 2.0 - 3.0 SAFE EUROPEAN CONTROL
A. DIELI ACER G. ALOTTO I/O SAFETY & DISTRIBUTION MODULE
26/03/2018 CR17.9322.33 00 /
COMAU I/O SAFETY & DISTRIBUTION MODULE FILENAME-NOMEFILE CR1793223300
1 2 3 4 5 6 7 8

18.4D

18.4D
OPZIONI COLLEGABILI
OPTIONS CONNECTABLES

COM (2)
+24V INT
12 INPUT / 12 OUTPUT DIGITALI
(SH. 50)
DIGITAL 12 INPUT / 12 OUTPUT

A 24 INPUT / 24 OUTPUT DIGITALI


(SH. 51)
DIGITAL 24 INPUT / 24 OUTPUT
CR17230662
18AWG
2 INPUT ANALOGICI
BLK 2
(SH. 53)

BLK 1
2 ANALOG INPUT

2 OUTPUT ANALOGICI
(SH. 53)
2 ANALOG OUTPUT

2 INPUT E 2 OUTPUT ANALOGICI


(SH. 54)
2 ANALOG INPUT & 2 ANALOG OUTPUT

INPUT OUTPUT MULTIBUS


(SH. 58)
INPUT OUTPUT MULTIBUS

CR17230662
18AWG
BLU
B

15 16 14 15 16
25 26 24 25 26
GND

GND

GND

GND
24V BC
24V

24V

24V I/O

24V BC

24V I/O
24Vdc

GND

PFG-PBC
(BC1083)
POWER LINK BUS PFG-PCS (PS9400)
CONTROLLER BUS CONTROLLER SUPPLY MODULE

SUB SLOT 3 SUB SLOT 2 SUB SLOT 1


SI-1A SI-1B SO-1 DI-1 DO-1
SLU-1 (SL8110) BC-1 (BB82) 20 SAFE INPUT MODULE 4 SAFE OUTPUT MODULE 12 INPUT MODULE 8 OUTPUT MODULE
SAFE LOGIC UNIT BUS CONTROLLER BASE (SI9100) (SO4110) (DI9371) (DO8332)

ENG.-PROGETT. DRAWNER-DISEGN. CHECKED-VISTO MODIF. SH.-FG. MODIF. CHECKED-VISTO TITLE - TITOLO DATE-DATA DRAWING No. - DISEGNO N° REV. SHEET-FOGLIO
C5GP-SEC1.0 - 2.0 - 3.0 SAFE EUROPEAN CONTROL
A. DIELI ACER G. ALOTTO DISTRIBUZIONE 24Vdc
26/03/2018 CR17.9322.33 00 /
COMAU 24Vdc DISTRIBUTION FILENAME-NOMEFILE CR1793223300
A

D
C

COMAU
22AWG
CR17230762
8-RED DIAG2
20.2D
1

7-BLU DIAG1
20.2D

A. DIELI
ENG.-PROGETT.
CR17231266
24AWG
PROG 1-WHT
28.2A SI 1

11
(SI9100)

SI-1A

AUTO LOCAL 2-BRN


28.3A SI 2

21
AUTO REMOTE 3-GRN
28.3A SI 3
12

ACER
MONITOR E-STOP 4-YEL
28.4A SI 4
2

22

DRAWNER-DISEGN.
20 SAFE INPUT MODULE

ENDV-CH1B 5-GRA
28.7A SI 5
13

ENDV-CH2B 6-PNK
28.7A SI 6
23

SI 7
14

SI 8
24

24AWG
CR17231266
GND
24Vdc

EXT STOP CH1 7-BLU


39.4A SI 9
15

CHECKED-VISTO

G. ALOTTO
EXT STOP CH2 8-RED
39.5A SI 10
25

AUTO STOP CH1 9-BLK


39.5A SI 11
16
3

AUTO STOP CH2 10-VIO


39.5A SI 12
26

CR17231266
24AWG

MODIF. SH.-FG. MODIF.


GEN STOP CH1 1-WHT
39.6A SI 13
11
SI-1B

GEN STOP CH2 2-BRN


39.6A SI 14
21

E-STOP CH1 3-GRN


39.6A SI 15
12

E-STOP CH2 4-YEL


39.6A SI 16
22
4

SI 17
13

CHECKED-VISTO
SI 18
23

SI 19
14

SI 20
24

24AWG
CR17231266

PULSE 1 7-BLU
28.3A Pulse 1
15

PULSE 2

SAFE DIGITAL I/O


8-RED

SAFE I/O DIGITALI


28.6A Pulse 2
25
5

24AWG
CR17231266

PULSE 3 5-GRA
39.7A Pulse 3
16

PULSE 4 6-PNK

TITLE - TITOLO
39.7A Pulse 4
26

C5GP-SEC1.0 - 2.0 - 3.0 SAFE EUROPEAN CONTROL


BLU
CR17231167
20AWG

ENABLE 1+
24.1A SO 1+
11
SO-1

ENABLE 2+
(SO4110)

24.2A SO 2+
21
6

ENABLE 1-
24.3A SO 1-
12

ENABLE 2-
24.3A SO 2-
22

DATE-DATA
4 SAFE OUTPUT MODULE

SO 3+
13

26/03/2018
FILENAME-NOMEFILE

SO 4+
23

SO 3-
14

SO 4-
24
GND
24Vdc

15
7

25
16
26

CR17.9322.33
DRAWING No. - DISEGNO N°

CR1793223300
REV.

00
CR17230762
22AWG

5-GRA
0V(24Vdc)
20.2D
8

4-YEL
0V(24Vdc)
20.2D

3-GRN
CMD2
/

20.1D

2-BRN
CMD1
20.1D
SHEET-FOGLIO
1 2 3 4 5 6 7 8

19.2D

18.7D
12 INPUT MODULE 8 OUTPUT MODULE
(DI9371) (DO8332)

+24V I/O
0V(24Vdc)
24Vdc 24Vdc
GND GND

A
CR17230662
18AWG

BLK 1

BLK 2
DI-1 DO-1

OUTPUT 1

OUTPUT 2

OUTPUT 3

OUTPUT 4

OUTPUT 5

OUTPUT 6

OUTPUT 7

OUTPUT 8

+24 VDC

+24 VDC
INPUT 10

INPUT 11

INPUT 12
INPUT 1

INPUT 2

INPUT 3

INPUT 4

INPUT 5

INPUT 6

INPUT 7

INPUT 8

INPUT 9

GND

GND
21 22 23 24 25 26 21 22 23 24 25 26
11 12 13 14 15 16 11 12 13 14 15 16

CR17130263 CR17130263
22AWG 22AWG
GRN

GRA

RED
PNK

BLU
BLK
YEL

VIO
C

OPZIONI COLLEGABILI
OPTIONS CONNECTABLES

INTERFACCIA DEVICENET
(SH. 55)
DEVICENET INTERFACE

INTERFACCIA PROFIBUS
(SH. 56)
PROFIBUS INTERFACE

INTERFACCIA PROFINET
(SH. 57)
PROFINET INTERFACE

TIP DRESSER COMMAND


(SH. 59)
TIP DRESSER COMMAND
OUTPUT 1

OUTPUT 2

OUTPUT 3

OUTPUT 4
D
INPUT 1

INPUT 2

INPUT 3

INPUT 4

DOPPIO TIP DRESSER COMMAND


(SH. 60)
DOUBLE TIP DRESSER COMMAND
35.6A

35.6A

35.6A

35.6A

35.7A

35.7A

35.7A

35.7A

SOLO CON KIT SEGNALI ROBOT


ONLY WITH SIGNAL MACHINE KIT

ENG.-PROGETT. DRAWNER-DISEGN. CHECKED-VISTO MODIF. SH.-FG. MODIF. CHECKED-VISTO TITLE - TITOLO DATE-DATA DRAWING No. - DISEGNO N° REV. SHEET-FOGLIO
C5GP-SEC1.0 - 2.0 - 3.0 SAFE EUROPEAN CONTROL
A. DIELI ACER G. ALOTTO I/O DIGITALI
26/03/2018 CR17.9322.33 00 /
COMAU DIGITAL I/O FILENAME-NOMEFILE CR1793223300
1 2 3 4 5 6 7 8

22.6D

22.6D

22.6D

22.6D
SOLO CON ASSI AGGIUNTIVI
ONLY WITH ADDITIONAL AXIS

ENABLE 1+

ENABLE 2+

ENABLE 1-

ENABLE 2-
A

CR17231167
20AWG
BLU

CR17231167
20AWG
BLU

2 4 3 5 1 3 2 4

X108 X109
ENABLE 1+

ENABLE 2+

ENABLE 1-

ENABLE 2-
B

CR17240960
22AWG

GRN
WHT

BRN

YEL
WHT WHT WHT WHT
BRN BRN BRN BRN
GRN GRN GRN GRN
YEL YEL YEL YEL

1 2 3 4 1 2 3 4 1 2 3 4 1 2 3 4 1 2 3 4

X5A /CAB X5B /CAB X5C /CAB X5D /CAB X5E /CAB

ENABLE 1+

ENABLE 2+

ENABLE 1+

ENABLE 2+

ENABLE 1+

ENABLE 2+

ENABLE 1+

ENABLE 2+

ENABLE 1+

ENABLE 2+
ENABLE 1-

ENABLE 2-

ENABLE 1-

ENABLE 2-

ENABLE 1-

ENABLE 2-

ENABLE 1-

ENABLE 2-

ENABLE 1-

ENABLE 2-
C

ABILITAZIONE ASSI AGGIUNTIVI


ADDITIONAL AXIS ENABLING

OPZIONI COLLEGABILI
OPTIONS CONNECTABLES
(SH. 42)
(SH. 43)
D
(SH. 44)
ASSI AGGIUNTIVI (SH. 45)
ADDITIONAL AXIS (SH. 46)
(SH. 47)
(SH. 48)
(SH. 49)

ENG.-PROGETT. DRAWNER-DISEGN. CHECKED-VISTO MODIF. SH.-FG. MODIF. CHECKED-VISTO TITLE - TITOLO DATE-DATA DRAWING No. - DISEGNO N° REV. SHEET-FOGLIO
C5GP-SEC1.0 - 2.0 - 3.0 SAFE EUROPEAN CONTROL
A. DIELI ACER G. ALOTTO ABILITAZIONE ASSI
26/03/2018 CR17.9322.33 00 /
COMAU AXIS ENABLING FILENAME-NOMEFILE CR1793223300
1 2 3 4 5 6 7 8

18.3D

18.3D
+24dc BKP
0V(24Vdc) APC
ACOPOS PC

A
CR17230563 USB 3.0 PORTS USB 2.0 PORTS ETHERNET 1 PORTS ETHERNET 2 PORTS
18AWG
BLK 1

BLK 2

NOT USED

NOT USED

NOT USED

NOT USED

NOT USED

NOT USED

NOT USED

NOT USED
VBUS

VBUS
GND

GND

RX+

RX+
TX+

TX+
RX-

RX-
D+

D+

TX-

TX-
0V
24V

D-

D-
+ - 1 2 3 4 1 2 3 4 1 2 3 6 4 5 7 8 1 2 3 6 4 5 7 8

24V /APC USB1 USB2 ETH1 ETH2

CR17130782 CR17231266 CR17130882


24AWG 24AWG 24AWG

WHT/GRN

WHT/GRN

WHT/BRN
WHT/ORG

WHT/ORG

WHT/BLU
GRN

GRN

BRN
ORG

ORG

BLU
C

1 2 3 4 3 6 1 2 4 5 7 8
USB ETH
VBUS

TX-
D+

RX+

NOT USED

NOT USED

NOT USED

NOT USED
GND
D-

TX+

RX-
CONNESSIONE USB OPZIONALE CONNESSIONE ETHERNET
OPTIONAL USB CONNECTION ETHERNET CONNECTION

D RX+
TX+

RX-
TX-

SOLO CON KIT USB


ONLY WITH USB KIT
28.1A

28.1A

28.1A

28.1A

SOLO CON KIT ETHERNET


ONLY WITH ETHERNET KIT

ENG.-PROGETT. DRAWNER-DISEGN. CHECKED-VISTO MODIF. SH.-FG. MODIF. CHECKED-VISTO TITLE - TITOLO DATE-DATA DRAWING No. - DISEGNO N° REV. SHEET-FOGLIO
C5GP-SEC1.0 - 2.0 - 3.0 SAFE EUROPEAN CONTROL
A. DIELI ACER G. ALOTTO LINEE DI COMUNICAZIONE
26/03/2018 CR17.9322.33 00 /
COMAU LINES OF COMMUNICATION FILENAME-NOMEFILE CR1793223300
1 2 3 4 5 6 7 8

FMP
FEED-THROUGH MOUNTING PLATE

APC PPS IAM1 IAM2 IAM3


ACOPOS PC PASSIVE POWER SUPPLY INVERTER AXIS SAFE MC MODULE AXIS 1-2 INVERTER AXIS SAFE MC MODULE AXIS 3-4 INVERTER AXIS SAFE MC MODULE AXIS 5-6

A
EPL EPL EPL EPL EPL EPL EPL EPL EPL
EPL
LINK L/D1 L/D2 L/D1 L/D2 L/D1 L/D2 L/D1 L/D2

RJ45 RJ45 RJ45 RJ45 RJ45 RJ45 RJ45 RJ45 RJ45

X3A X3A X3B X3A X3B X3A X3B X3A X3B

ETH POWER LINK CABLE ETH POWER LINK CABLE ETH POWER LINK CABLE ETH POWER LINK CABLE

CR17231861 CR17231861 CR17231861 CR17231861

ETH POWER LINK CABLE


D

27.3A
ENG.-PROGETT. DRAWNER-DISEGN. CHECKED-VISTO MODIF. SH.-FG. MODIF. CHECKED-VISTO TITLE - TITOLO DATE-DATA DRAWING No. - DISEGNO N° REV. SHEET-FOGLIO
C5GP-SEC1.0 - 2.0 - 3.0 SAFE EUROPEAN CONTROL
A. DIELI ACER G. ALOTTO LINEE DI COMUNICAZIONE
26/03/2018 CR17.9322.33 00 /
COMAU LINES OF COMMUNICATION FILENAME-NOMEFILE CR1793223300
1 2 3 4 5 6 7 8

26.8D
FMP BCM
FEED-THROUGH MOUNTING PLATE BATTERY CHARGER MODULE

ETH POWER LINK CABLE


IAM4 IAM5
INVERTER AXIS MODULE 4 INVERTER AXIS MODULE 5
A
EPL EPL EPL EPL
EPL EPL
L/D1 L/D2 L/D1 L/D2
L/D1 L/D2

RJ45 RJ45 RJ45 RJ45 RJ45 RJ45

X3A X3B X3A X3B X3 X4

ETH POWER LINK CABLE


ETH POWER LINK CABLE ETH POWER LINK CABLE ETH POWER LINK CABLE

CR17231861
CR17231861 CR17231861 CR17231862

ETH POWER LINK CABLE


CR17231861

PFG-BUS COUPLER 81 HEX (129 DECIMAL)

C
OPZIONI COLLEGABILI X3B X3A 8 0 X16 X3B X3A
OPTIONS CONNECTABLES RJ45 RJ45 RJ45 RJ45
C
4

SUB SLOT 2 = DCS DEVICENET MASTER INTERFACE C


SUB SLOT 2 = PBS PROFIBUS MASTER INTERFACE L/A IF2 L/A IF1 8 0 X1 L/A IF2 L/A IF1

SUB SLOT 2 = PNS PROFINET MASTER INTERFACE 4

SUB SLOT 3 = DCM DEVICENET MASTER INTERFACE (SH. 55)


SUB SLOT 3 = PBM PROFIBUS MASTER INTERFACE (SH. 56) EPL EPL EPL EPL
SUB SLOT 3 = PNM PROFINET MASTER INTERFACE (SH. 57 )
C C
8 0 X16 8 0 X16
SLU-BUS COUPLER 90 HEX (144 DECIMAL)
4 4

C C
8 0 X1 8 0 X1
C
4 4
8 0 X16
D PFG-PBC (BC1083) 4 SLU-1 (SL8110)
POWER LINK BUS CONTROLLER C SAFE LOGIC UNIT
SUB SLOT 3 SUB SLOT 2 SUB SLOT 1 8 0 X1

BC-1 (BB82) 4
SOLO CON ASSI AGGIUNTIVI BUS CONTROLLER BASE
ONLY WITH ADDITIONAL AXIS

ENG.-PROGETT. DRAWNER-DISEGN. CHECKED-VISTO MODIF. SH.-FG. MODIF. CHECKED-VISTO TITLE - TITOLO DATE-DATA DRAWING No. - DISEGNO N° REV. SHEET-FOGLIO
C5GP-SEC1.0 - 2.0 - 3.0 SAFE EUROPEAN CONTROL
A. DIELI ACER G. ALOTTO LINEE DI COMUNICAZIONE
26/03/2018 CR17.9322.33 00 /
COMAU LINES OF COMMUNICATION FILENAME-NOMEFILE CR1793223300
1 2 3 4 5 6 7 8

25.5D

25.5D

25.5D

25.5D

22.2D

22.2D

22.2D

22.5D

22.2D

22.5D

22.2D

22.2D

19.3D
19.3D

19.3D
19.3D
38.7A

38.7A

39.1A

39.1A
TX+

RX-

PROG

MONITOR E-STOP

ES PTU 1B

ES PTU 2B
TX-

PULSE 1

PULSE 2
RX+

+24Vdc TP
+24Vdc TP
AUTO LOCAL

0V(24Vdc)
0V(24Vdc)
AUTO REMOTE

ENDV-CH2B

ENDV-CH1B
ES PTU 2A

ES PTU 1A
A

CR17231266 CR17231266 CR17231266


24AWG 24AWG 24AWG
WHT/ORG

WHT/GRN

3-GRN
1-WHT

5-GRA

5-GRA
2-BRN

2-BRN
8-RED

8-RED

8-RED
6-PNK

6-PNK

6-PNK
7-BLU

7-BLU

9-BLK
4-YEL
ORG

GRN

X124 13 14 15 16 1 18 17 11 7 12 3 5 4 2 9 10 8 6 19

TP5 CABLE

24AWG 24AWG 22AWG 24AWG 20AWG


C

WHT/GRN

GRN/BRN
WHT/PNK

GRA/PNK
WHT/BLU

RED/BLU
ORG

GRN
WHT

WHT

GRA
BRN
RED

PNK
BLU

BLU

BLK
YEL
VIO

REMOTE
AUTO ENABLING
T1 DEVICE
RX-

TX+

TX-
RX+

ENABLING

GND

+24Vdc
E. STOP DEVICE
E. STOP
D
TP5
WIRED TEACH PENDANT

ENG.-PROGETT. DRAWNER-DISEGN. CHECKED-VISTO MODIF. SH.-FG. MODIF. CHECKED-VISTO TITLE - TITOLO DATE-DATA DRAWING No. - DISEGNO N° REV. SHEET-FOGLIO
C5GP-SEC1.0 - 2.0 - 3.0 SAFE EUROPEAN CONTROL
A. DIELI ACER G. ALOTTO TERMINALE DI PROGRAMMAZIONE WIRED
26/03/2018 CR17.9322.33 00 /
COMAU PROGRAMMING TERMINAL UNIT WIRED FILENAME-NOMEFILE CR1793223300
1 2 3 4 5 6 7 8

ASSE 1
AXIS 1

A
FMP
FEED-THROUGH MOUNTING PLATE

IAM1
INVERTER AXIS MODULE AXIS 1-2 BUS 600V DC INTERNO
INTERNAL 600V DC BUS

BUS 24V DC INTERNO


INTERNAL 24V DC BUS

B SAFE MC MODULE

ETI1
ENCODER TRANSDUCER INTERFACE

$HDIN[1..4]

$HDIN[5..8]
ENCODER ASSE 1

0V(24Vdc)

0V(24Vdc)
ENCODER AXIS 1

+24Vdc

+24Vdc
HSI1+

HSI3+
HSI1-

HSI3-
U V W B- B+ 1 2 3 4 5 6 7 8 1 6 5 9 4 8

X5A /IAM1 X4A /IAM1 X2 /IAM1 X11 /ETI1

CR1723356x CR17132660 CR17230967


22AWG 24AWG
AWG 14AWG 18AWG
YEL/GRN
YEL/GRN

3-GRN
1-WHT

5-GRA
2-BRN

GRN
WHT
6-PNK

GRA
BRN

PNK
4-YEL

YEL
BLK 1

BLK 2

BLK 3

BLK 6

BLK 5

30.1C 10AWG 10AWG


YEL/GRN YEL/GRN

X60a /CIP 1 2 3 14 X60d /CIP 2 1 X10 /CIP 1 2 3 4 5 6 7


PHASE U AX1

FASE V AX1

CLK - AX1
CLK - AX1

DATA + AX1
DATA + AX1
0V(UP) AX1
0V(UP) AX1

SCHERMO AX1
FASE W AX1

GROUND

FRENO - AX1
BRAKE - AX1

DATA - AX1
DATA - AX1
FASE U AX1

PHASE V AX1

CLK + AX1
CLK + AX1
PHASE W AX1

SHIELD AX1
TERRA

FRENO + AX1
BRAKE + AX1

UP AX1
UP AX1
0V(24Vdc)

+24Vdc
HSI1+

HSI3+
HSI1-

HSI3-
D
36.2A

36.2A

36.2A

36.3A

36.4A

AGLI STESSI PIN DEL CONNETTORE X2 DELLO SMISTAMENTO ROBOT 36.4A AGLI STESSI PIN DEL CONNETTORE X1 DELLO SMISTAMENTO ROBOT
TO THE SAME PINS OF THE X2 TO THE DISTRIBUTION SIGNALS MACHINE TO THE SAME PINS OF THE X1 TO THE DISTRIBUTION SIGNALS MACHINE

SCHEMA ELETTRICO ROBOT


CR17233561 FOR SEC 1.0 (14AWG) SOLO CON KIT HIGH SPEED INPUT ASSI
MACHINE CIRCUIT DIAGRAM ONLY WITH HIGH SPEED INPUT AXIS KIT
CR17233563 FOR SEC 2.0 - 3.0 (12AWG)

ENG.-PROGETT. DRAWNER-DISEGN. CHECKED-VISTO MODIF. SH.-FG. MODIF. CHECKED-VISTO TITLE - TITOLO DATE-DATA DRAWING No. - DISEGNO N° REV. SHEET-FOGLIO
C5GP-SEC1.0 - 2.0 - 3.0 SAFE EUROPEAN CONTROL
A. DIELI ACER G. ALOTTO INTERCONNESSIONI CONTROLLO/ROBOT
26/03/2018 CR17.9322.33 00 /
COMAU CONTROL/ROBOT SIGNALS INTERFACE FILENAME-NOMEFILE CR1793223300
1 2 3 4 5 6 7 8

ASSE 2
AXIS 2

A
FMP
FEED-THROUGH MOUNTING PLATE

IAM1
INVERTER AXIS MODULE AXIS 1-2 BUS 600V DC INTERNO
INTERNAL 600V DC BUS

BUS 24V DC INTERNO


INTERNAL 24V DC BUS

B SAFE MC MODULE

ETI2
ENCODER TRANSDUCER INTERFACE

ENCODER ASSE 2
ENCODER AXIS 2

U V W B- B+ 1 6 5 9 4 8

X5B /IAM1 X4B /IAM1 X11 /ETI2

CR1723356x CR17230967
24AWG
AWG 14AWG 18AWG
YEL/GRN
YEL/GRN

GRN
WHT

GRA
BRN

PNK
YEL
BLK 1

BLK 2

BLK 3

BLK 6

BLK 5

29.3C 31.1C

X60b /CIP 1 2 3 14 X60d /CIP 4 3 X10 /CIP 13 14 15 16 17 18 19


PHASE U AX2

FASE V AX2

CLK - AX2
CLK - AX2

DATA + AX2
DATA + AX2

SCHERMO AX2
FASE W AX2

GROUND

0V(UP) AX2
0V(UP) AX2
FRENO - AX2
BRAKE - AX2

DATA - AX2
DATA - AX2
FASE U AX2

PHASE V AX2

CLK + AX2
CLK + AX2
PHASE W AX2

SHIELD AX2
TERRA

FRENO + AX2
BRAKE + AX2

UP AX2
UP AX2
D
AGLI STESSI PIN DEL CONNETTORE X2 DELLO SMISTAMENTO ROBOT AGLI STESSI PIN DEL CONNETTORE X1 DELLO SMISTAMENTO ROBOT
TO THE SAME PINS OF THE X2 TO THE DISTRIBUTION SIGNALS MACHINE TO THE SAME PINS OF THE X1 TO THE DISTRIBUTION SIGNALS MACHINE

SCHEMA ELETTRICO ROBOT


CR17233561 FOR SEC 1.0 (14AWG) MACHINE CIRCUIT DIAGRAM
CR17233563 FOR SEC 2.0 - 3.0 (12AWG)

ENG.-PROGETT. DRAWNER-DISEGN. CHECKED-VISTO MODIF. SH.-FG. MODIF. CHECKED-VISTO TITLE - TITOLO DATE-DATA DRAWING No. - DISEGNO N° REV. SHEET-FOGLIO
C5GP-SEC1.0 - 2.0 - 3.0 SAFE EUROPEAN CONTROL
A. DIELI ACER G. ALOTTO INTERCONNESSIONI CONTROLLO/ROBOT
26/03/2018 CR17.9322.33 00 /
COMAU CONTROL/ROBOT SIGNALS INTERFACE FILENAME-NOMEFILE CR1793223300
1 2 3 4 5 6 7 8

ASSE 3
AXIS 3

A
FMP
FEED-THROUGH MOUNTING PLATE

IAM2
INVERTER AXIS MODULE AXIS 3-4 BUS 600V DC INTERNO
INTERNAL 600V DC BUS

BUS 24V DC INTERNO


INTERNAL 24V DC BUS

B SAFE MC MODULE

ETI3
ENCODER TRANSDUCER INTERFACE

OVT NEG COM


OVT POS COM

OVT NEG IN
ENCODER ASSE 3

OVT POS IN

0V(24Vdc)

0V(24Vdc)
ENCODER AXIS 3

+24Vdc

+24Vdc
U V W B- B+ 1 2 3 4 5 6 7 8 1 6 5 9 4 8

X5A /IAM2 X4A /IAM2 X2 /IAM2 X11 /ETI3

C CR17231567 CR17231567
18AWG BLU 18AWG BLU

CR1723356x CR17133160 CR17230967


22AWG 24AWG
AWG 18AWG
YEL/GRN

GRN
WHT

GRA
BRN

PNK
YEL
GRN
WHT
BRN

YEL
BLK 1

BLK 2

BLK 3

BLK 6

BLK 5

30.3C 32.1C

X60c /CIP 1 2 3 X60d /CIP 6 5 X10 /CIP 25 26 27 28 29 30 31


PHASE U AX3

FASE V AX3

CLK - AX3
CLK - AX3

DATA + AX3
DATA + AX3
0V(UP) AX3
0V(UP) AX3

SCHERMO AX3
FASE W AX3

FRENO - AX3
BRAKE - AX3

DATA - AX3
DATA - AX3
FASE U AX3

PHASE V AX3

CLK + AX3
CLK + AX3
PHASE W AX3

SHIELD AX3
FRENO + AX3
BRAKE + AX3

UP AX3
UP AX3
OVT NEG IN
OVT POS IN

+24Vdc

+24Vdc
D
37.8A

37.1A

37.8A

37.1A
AGLI STESSI PIN DEL CONNETTORE X2 DELLO SMISTAMENTO ROBOT AGLI STESSI PIN DEL CONNETTORE X1 DELLO SMISTAMENTO ROBOT
TO THE SAME PINS OF THE X2 TO THE DISTRIBUTION SIGNALS MACHINE TO THE SAME PINS OF THE X1 TO THE DISTRIBUTION SIGNALS MACHINE

SCHEMA ELETTRICO ROBOT


CR17233561 FOR SEC 1.0 (14AWG) SOLO CON KIT OLTRECORSA ASSI
MACHINE CIRCUIT DIAGRAM ONLY WITH OVERTRAVEL AXIS KIT
CR17233563 FOR SEC 2.0 - 3.0 (12AWG)

ENG.-PROGETT. DRAWNER-DISEGN. CHECKED-VISTO MODIF. SH.-FG. MODIF. CHECKED-VISTO TITLE - TITOLO DATE-DATA DRAWING No. - DISEGNO N° REV. SHEET-FOGLIO
C5GP-SEC1.0 - 2.0 - 3.0 SAFE EUROPEAN CONTROL
A. DIELI ACER G. ALOTTO INTERCONNESSIONI CONTROLLO/ROBOT
26/03/2018 CR17.9322.33 00 /
COMAU CONTROL/ROBOT SIGNALS INTERFACE FILENAME-NOMEFILE CR1793223300
1 2 3 4 5 6 7 8

ASSE 4
AXIS 4

A
FMP
FEED-THROUGH MOUNTING PLATE

IAM2
INVERTER AXIS MODULE AXIS 3-4 BUS 600V DC INTERNO
INTERNAL 600V DC BUS

BUS 24V DC INTERNO


INTERNAL 24V DC BUS

B SAFE MC MODULE

ETI4
ENCODER TRANSDUCER INTERFACE

ENCODER ASSE 4
ENCODER AXIS 4

U V W B- B+ 1 6 5 9 4 8

X5B /IAM2 X4B /IAM2 X11 /ETI4

CR1723356x CR17230967
24AWG
AWG 18AWG
YEL/GRN

GRN
WHT

GRA
BRN

PNK
YEL
BLK 1

BLK 2

BLK 3

BLK 6

BLK 5

31.3C 33.1C

X60a /CIP 11 12 13 X60d /CIP 13 12 X10 /CIP 37 38 39 40 41 42 43


PHASE U AX4

FASE V AX4

CLK - AX4
CLK - AX4

DATA + AX4
DATA + AX4
0V(UP) AX4
0V(UP) AX4

SCHERMO AX4
FASE W AX4

FRENO - AX4
BRAKE - AX4

DATA - AX4
DATA - AX4
FASE U AX4

PHASE V AX4

CLK + AX4
CLK + AX4
PHASE W AX4

SHIELD AX4
FRENO + AX4
BRAKE + AX4

UP AX4
UP AX4
D
AGLI STESSI PIN DEL CONNETTORE X2 DELLO SMISTAMENTO ROBOT AGLI STESSI PIN DEL CONNETTORE X1 DELLO SMISTAMENTO ROBOT
TO THE SAME PINS OF THE X2 TO THE DISTRIBUTION SIGNALS MACHINE TO THE SAME PINS OF THE X1 TO THE DISTRIBUTION SIGNALS MACHINE

SCHEMA ELETTRICO ROBOT


CR17233561 FOR SEC 1.0 (14AWG) MACHINE CIRCUIT DIAGRAM
CR17233563 FOR SEC 2.0 - 3.0 (14AWG)

ENG.-PROGETT. DRAWNER-DISEGN. CHECKED-VISTO MODIF. SH.-FG. MODIF. CHECKED-VISTO TITLE - TITOLO DATE-DATA DRAWING No. - DISEGNO N° REV. SHEET-FOGLIO
C5GP-SEC1.0 - 2.0 - 3.0 SAFE EUROPEAN CONTROL
A. DIELI ACER G. ALOTTO INTERCONNESSIONI CONTROLLO/ROBOT
26/03/2018 CR17.9322.33 00 /
COMAU CONTROL/ROBOT SIGNALS INTERFACE FILENAME-NOMEFILE CR1793223300
1 2 3 4 5 6 7 8

19.2D
ASSE 5
AXIS 5

0V(24Vdc)
A
FMP
FEED-THROUGH MOUNTING PLATE

IAM3
INVERTER AXIS MODULE AXIS 5-6 BUS 600V DC INTERNO
INTERNAL 600V DC BUS

BUS 24V DC INTERNO


INTERNAL 24V DC BUS

B SAFE MC MODULE

ETI5
ENCODER TRANSDUCER INTERFACE

ROBOT ALARM+

ROBOT ALARM-

AIR INPUT+
ENCODER ASSE 5

AIR INPUT-
0V(24Vdc)

0V(24Vdc)
ENCODER AXIS 5

+24Vdc

+24Vdc
U V W B- B+ 1 2 3 4 5 6 7 8 1 6 5 9 4 8

X5A /IAM3 X4A /IAM3 X2 /IAM3 X11 /ETI5

C CR17231567 CR17231567
18AWG BLU 18AWG BLU

CR1723356x CR17230967
CR17130263
24AWG
AWG 18AWG 20AWG BLU
YEL/GRN

GRN
WHT

GRA
BRN

PNK
YEL
BLK 1

BLK 2

BLK 3

BLK 6

BLK 5

32.3C 34.1C

X60b /CIP 11 12 13 X60d /CIP 15 14 X10 /CIP 49 50 51 52 53 54 55


ROBOT ALARM
PHASE U AX5

FASE V AX5

CLK - AX5
CLK - AX5

DATA + AX5
DATA + AX5
0V(UP) AX5
0V(UP) AX5

SCHERMO AX5
FASE W AX5

FRENO - AX5
BRAKE - AX5

DATA - AX5
DATA - AX5
FASE U AX5

PHASE V AX5

CLK + AX5
CLK + AX5
PHASE W AX5

SHIELD AX5
FRENO + AX5
BRAKE + AX5

UP AX5
UP AX5
AIR INPUT

D
35.5A

35.5A

AGLI STESSI PIN DEL CONNETTORE X2 DELLO SMISTAMENTO ROBOT AGLI STESSI PIN DEL CONNETTORE X1 DELLO SMISTAMENTO ROBOT
TO THE SAME PINS OF THE X2 TO THE DISTRIBUTION SIGNALS MACHINE TO THE SAME PINS OF THE X1 TO THE DISTRIBUTION SIGNALS MACHINE

SCHEMA ELETTRICO ROBOT


CR17233561 FOR SEC 1.0 (14AWG) SOLO CON KIT SEGNALI ROBOT
MACHINE CIRCUIT DIAGRAM ONLY WITH SIGNAL MACHINE KIT
CR17233563 FOR SEC 2.0 - 3.0 (14AWG)

ENG.-PROGETT. DRAWNER-DISEGN. CHECKED-VISTO MODIF. SH.-FG. MODIF. CHECKED-VISTO TITLE - TITOLO DATE-DATA DRAWING No. - DISEGNO N° REV. SHEET-FOGLIO
C5GP-SEC1.0 - 2.0 - 3.0 SAFE EUROPEAN CONTROL
A. DIELI ACER G. ALOTTO INTERCONNESSIONI CONTROLLO/ROBOT
26/03/2018 CR17.9322.33 00 /
COMAU CONTROL/ROBOT SIGNALS INTERFACE FILENAME-NOMEFILE CR1793223300
1 2 3 4 5 6 7 8

ASSE 6
AXIS 6

A
FMP
FEED-THROUGH MOUNTING PLATE

IAM3
INVERTER AXIS MODULE AXIS 5-6 BUS 600V DC INTERNO
INTERNAL 600V DC BUS

BUS 24V DC INTERNO


INTERNAL 24V DC BUS

B SAFE MC MODULE

ETI6
ENCODER TRANSDUCER INTERFACE

ENCODER ASSE 6
ENCODER AXIS 6

U V W B- B+ 1 6 5 9 4 8

X5B /IAM3 X4B /IAM3 X11 /ETI6

CR1723356x CR17230967
24AWG
AWG 18AWG
YEL/GRN

GRN
WHT

GRA
BRN

PNK
YEL
BLK 1

BLK 2

BLK 3

BLK 6

BLK 5

33.3C

X60c /CIP 11 12 13 X60d /CIP 17 16 X10 /CIP 61 62 63 64 65 66 67


PHASE U AX6

FASE V AX6

CLK - AX6
CLK - AX6

DATA + AX6
DATA + AX6
0V(UP) AX6
0V(UP) AX6

SCHERMO AX6
FASE W AX6

FRENO - AX6
BRAKE - AX6

DATA - AX6
DATA - AX6
FASE U AX6

PHASE V AX6

CLK + AX6
CLK + AX6
PHASE W AX6

SHIELD AX6
FRENO + AX6
BRAKE + AX6

UP AX6
UP AX6
D
AGLI STESSI PIN DEL CONNETTORE X2 DELLO SMISTAMENTO ROBOT AGLI STESSI PIN DEL CONNETTORE X1 DELLO SMISTAMENTO ROBOT
TO THE SAME PINS OF THE X2 TO THE DISTRIBUTION SIGNALS MACHINE TO THE SAME PINS OF THE X1 TO THE DISTRIBUTION SIGNALS MACHINE

SCHEMA ELETTRICO ROBOT


CR17233561 FOR SEC 1.0 (14AWG) MACHINE CIRCUIT DIAGRAM
CR17233563 FOR SEC 2.0 - 3.0 (14AWG)

ENG.-PROGETT. DRAWNER-DISEGN. CHECKED-VISTO MODIF. SH.-FG. MODIF. CHECKED-VISTO TITLE - TITOLO DATE-DATA DRAWING No. - DISEGNO N° REV. SHEET-FOGLIO
C5GP-SEC1.0 - 2.0 - 3.0 SAFE EUROPEAN CONTROL
A. DIELI ACER G. ALOTTO INTERCONNESSIONI CONTROLLO/ROBOT
26/03/2018 CR17.9322.33 00 /
COMAU CONTROL/ROBOT SIGNALS INTERFACE FILENAME-NOMEFILE CR1793223300
1 2 3 4 5 6 7 8

19.4D

19.4D

19.5D

19.5D

33.4D

33.5D

23.1D

23.1D

23.2D

23.2D

23.5D

23.5D

23.5D

23.4D
+24V DRIVE OFF

ROBOT ALARM

AIR INPUT
+24V ROBOT

INPUT 1

INPUT 2

INPUT 3

INPUT 4
0V(24Vdc)

0V(24Vdc)

OUTPUT 4

OUTPUT 3

OUTPUT 2

OUTPUT 1
A

CR17230967 CR17130263 CR17130263


18AWG 20AWG 22AWG
BLK 2

BLK 1

BLK 1

BLK 2

GRN

GRA

RED
PNK
BLU

BLU

BLU

BLK
YEL

VIO
CR17230967
B 18AWG
1 2 3 4 5 6 7 8 9 10

X1 /CAB X3A /CAB


42 42 42 42 43 43 43 43

42 43
CR1723356x CR17230967
18AWG 20AWG
BLU BLU

10AWG
YEL/GRN

X60d /CIP 11 10 X10 /CIP 12 36 9 21 57 58 59 60 69 70 71 72

OUTPUT 4

OUTPUT 3

OUTPUT 2

OUTPUT 1
+24V DRIVE OFF

ROBOT ALARM

AIR INPUT
+24V ROBOT

INPUT 1

INPUT 2

INPUT 3

INPUT 4
0V(24V DRIVE OFF)

0V(24Vdc)

OPZIONALE
OPTIONAL

AGLI STESSI PIN DEL CONNETTORE X1-X2 DELLO SMISTAMENTO ROBOT


TO THE SAME PINS OF THE X1-X2 TO THE DISTRIBUTION SIGNALS MACHINE

SCHEMA ELETTRICO ROBOT


MACHINE CIRCUIT DIAGRAM
OPZIONI COLLEGABILI
OPTIONS CONNECTABLES
(SH. 42)
D
(SH. 43)
(SH. 44)
ASSE AGGIUNTIVO (SH. 45)
ADDITIONAL AXIS (SH. 46)
(SH. 47)
(SH. 48) CR17233561 FOR SEC 1.0 SOLO CON KIT SEGNALI ROBOT
(SH. 49) CR17233563 FOR SEC 2.0 - 3.0 ONLY WITH SIGNAL MACHINE KIT

ENG.-PROGETT. DRAWNER-DISEGN. CHECKED-VISTO MODIF. SH.-FG. MODIF. CHECKED-VISTO TITLE - TITOLO DATE-DATA DRAWING No. - DISEGNO N° REV. SHEET-FOGLIO
C5GP-SEC1.0 - 2.0 - 3.0 SAFE EUROPEAN CONTROL
A. DIELI ACER G. ALOTTO INTERCONNESSIONI CONTROLLO/ROBOT
26/03/2018 CR17.9322.33 00 /
COMAU CONTROL/ROBOT SIGNALS INTERFACE FILENAME-NOMEFILE CR1793223300
1 2 3 4 5 6 7 8

29.4D

29.4D

29.5D

29.5D

29.5D

29.5D
+24Vdc
HSI1+

HSI3+
0V(24Vdc)
HSI1-

HSI3-
A
CR17132660
22AWG

3-GRN
1-WHT

5-GRA
2-BRN

6-PNK
4-YEL
X138 /HSM 1 6 2 7 8 3 4 5

HSM5
HIGH SPEED INPUT MODULE

2.2K 2.2K

B HS1 HS3
1N4148 1N4148
GIALLO GIALLO
YELLOW YELLOW

2 3 4 1 2 3 4 1 9 10

X136 /HSM X137 /HSM X138/HSM


0V(24Vdc)

0V(24Vdc)
HSI1+ $HDIN[1..4]

HSI3+ $HDIN[5..8]
HSI1- $HDIN[1..4]

+24Vdc

HSI3- $HDIN[5..8]

+24Vdc
CR17132660
22AWG BLU

1 2 3

X3B /CAB
C HIGH SPEED INPUT 1 HIGH SPEED INPUT 3
HIGH SPEED INPUT 1 HIGH SPEED INPUT 3
CR17230967
20AWG
BLU

X10 /CIP 46 47

HSI3+ $HDIN[5..8]

HSI3- $HDIN[5..8]
D
SCHEMA ELETTRICO ROBOT
MACHINE CIRCUIT DIAGRAM

SOLO CON KIT HIGH SPEED INPUT ASSI


ONLY WITH HIGH SPEED INPUT AXIS KIT

ENG.-PROGETT. DRAWNER-DISEGN. CHECKED-VISTO MODIF. SH.-FG. MODIF. CHECKED-VISTO TITLE - TITOLO DATE-DATA DRAWING No. - DISEGNO N° REV. SHEET-FOGLIO
C5GP-SEC1.0 - 2.0 - 3.0 SAFE EUROPEAN CONTROL
A. DIELI ACER G. ALOTTO KIT HIGH SPEED INPUT ASSI OPZIONALE
26/03/2018 CR17.9322.33 00 /
COMAU OPTIONAL HIGH SPEED INPUT AXIS KIT FILENAME-NOMEFILE CR1793223300
1 2 3 4 5 6 7 8

31.5D

31.5D

31.5D

31.4D
+24Vdc

+24Vdc

OVT POS IN
OVT NEG IN
A

CR17133160 CR17133160
22AWG 22AWG
GRN
WHT

BRN
YEL
B

CR17133160 CR17133160 CR17133160 CR17133160


22AWG GRN 22AWG WHT 22AWG YEL 22AWG BRN

1 3 4 2 1 3 4 2 1 3 4 2 1 3 4 2 1 3 4 2

X3C /CAB X3D1 /CAB X3D2 /CAB X3D3 /CAB X3D4 /CAB

CR17133160 CR17133160 CR17133160 CR17133160


C 22AWG BLU 22AWG BLU 22AWG BLU 22AWG BLU
OVT POS OUT

OVT NEG IN

OVT POS OUT

OVT NEG IN

OVT POS OUT

OVT NEG IN

OVT POS OUT

OVT NEG IN
OVT NEG OUT

OVT POS IN

OVT NEG OUT

OVT POS IN

OVT NEG OUT

OVT POS IN

OVT NEG OUT

OVT POS IN
CR17230967
20AWG
BLU

X10 /CIP 10 22 23 11
OVT POS OUT

OVT NEG IN
OVT NEG OUT

OVT POS IN

OPZIONI COLLEGABILI
OPTIONS CONNECTABLES
(SH. 42)
D
(SH. 43)
(SH. 44)
SCHEMA ELETTRICO ROBOT ASSE AGGIUNTIVO (SH. 45)
ADDITIONAL AXIS (SH. 46)
MACHINE CIRCUIT DIAGRAM
(SH. 47)
(SH. 48) SOLO CON KIT OLTRECORSA ASSI
(SH. 49) ONLY WITH OVERTRAVEL AXIS KIT

ENG.-PROGETT. DRAWNER-DISEGN. CHECKED-VISTO MODIF. SH.-FG. MODIF. CHECKED-VISTO TITLE - TITOLO DATE-DATA DRAWING No. - DISEGNO N° REV. SHEET-FOGLIO
C5GP-SEC1.0 - 2.0 - 3.0 SAFE EUROPEAN CONTROL
A. DIELI ACER G. ALOTTO KIT OLTRECORSA ASSI OPZIONALE
26/03/2018 CR17.9322.33 00 /
COMAU OPTIONAL OVERTRAVEL AXIS KIT FILENAME-NOMEFILE CR1793223300
1 2 3 4 5 6 7 8

18.6D

18.7D

19.1D

19.1D

28.4A

28.5A
OPZIONI COLLEGABILI
OPTIONS CONNECTABLES

+24V I/O

ES PTU 1B

ES PTU 2B
+24V DRIVE ON

0V(24Vdc)

0V(24Vdc)
KIT ALIMENTAZIONE APPLICAZIONI INTERNE INPUT OUTPUT MULTIBUS
(SH. 40) (SH. 58)
INTERNAL SUPPLY APPLICATION KIT INPUT OUTPUT MULTIBUS

INTERFACCIA DEVICENET TIP DRESSER COMMAND


(SH. 55) (SH. 59)
A DEVICENET INTERFACE TIP DRESSER COMMAND

INTERFACCIA PROFIBUS DOPPIO TIP DRESSER COMMAND


(SH. 56) (SH. 60)
PROFIBUS INTERFACE DOUBLE TIP DRESSER COMMAND

INTERFACCIA PROFINET CR17231266 CR17231266


(SH. 57)
PROFINET INTERFACE 18AWG 24AWG

8-RED

6-PNK
BLK 2

BLK 4

BLK 1

BLK 3
B CR17231266
18AWG
BLU

CR17231266
22AWG
X102 2 1 4 X128 3 9 1 7 4 10 2 8 11 5 12 6 BLU

CR17231567 CR17231567
18AWG ORG 18AWG ORG

ESTOP-1B

ESTOP-1B

ESTOP-2B

ESTOP-2B
24V I/O

24V I/O

24V EXT FIELD

24V EXT FIELD


24V DRIVE ON

24V DRIVE ON

0V(24Vdc)

0V(24Vdc)
C APPLICAZIONI
APPLICATIONS

2 1 4 2 1 4

CR17231061 CR17240163
18AWG 14AWG
BLK2

BLK1

BLK4

BLK2

BLK1

BLK4
18AWG 18AWG 14AWG
BLU BLU BLU

18AWG 18AWG 18AWG 14AWG


BLU BLU BLU BLU

X30 /CIP 29 15 22 23 30 9 16 2 SP /CIP 4 5 1 3 2


24V EXT FIELD

ESTOP-2B

ESTOP-1B
24V EXT

24V EXT

24V EXT
24V EXT FIELD

24V EXT FIELD


0V

0V

0V

0V

0V

0V

0V

0V
D
24V EXT

0V

0V

0V
39.2A

39.2A

39.2A

39.3A

39.8A

39.8A

39.3A
A TRASFERTA A TRASFERTA SOLO CON CONNETTORE X30 SOLO CON ALIMENTAZIONE ESTERNA
ONLY WITH CONNECTOR X30 ONLY WITH EXTERNAL SUPPLY
TO EXTERNAL EQUIPMENT TO EXTERNAL EQUIPMENT

ENG.-PROGETT. DRAWNER-DISEGN. CHECKED-VISTO MODIF. SH.-FG. MODIF. CHECKED-VISTO TITLE - TITOLO DATE-DATA DRAWING No. - DISEGNO N° REV. SHEET-FOGLIO
C5GP-SEC1.0 - 2.0 - 3.0 SAFE EUROPEAN CONTROL
A. DIELI ACER G. ALOTTO SEGNALI DI SICUREZZA
26/03/2018 CR17.9322.33 00 /
COMAU SAFETY SIGNAL FILENAME-NOMEFILE CR1793223300
1 2 3 4 5 6 7 8

38.1D

38.1D

38.1D

38.1D

38.8D

22.3D

22.3D

22.3D

22.3D

22.4D

22.4D

22.4D

22.4D

22.5D

22.5D

38.8D

38.8D
28.5A

28.5A

GEN STOP CH1

GEN STOP CH2

E-STOP CH1

E-STOP CH2

ESTOP-1B

ESTOP-2B
24V EXT

PULSE 3

PULSE 4
24V EXT FIELD

EXT STOP CH1

EXT STOP CH2


0V

0V

0V

AUTO STOP CH1

AUTO STOP CH2


ES PTU 2A

ES PTU 1A
A

CR17231266 CR17231266 CR17231266 CR17231266 CR17231266


24AWG 18AWG 24AWG 24AWG 22AWG
BLU BLU

3-GRN
10-VIO

1-WHT
5-GRA

5-GRA
2-BRN

2-BRN
8-RED

6-PNK
7-BLU

9-BLK

4-YEL
B

CR17231266
22AWG
BLU
X122 22 21 12 11 24 6 5 4 3 2 1 13 14 15 16 17 18 7 8 19 20 9 10
24V EXT
24V EXT FIELD

0V

0V

0V

0V

0V

0V

0V

E-STOP PB1

E-STOP PB2
C CR17231061 CR17231061 CR17231061 CR17231061
22AWG 22AWG 22AWG 22AWG

11-GRA/PNK

12-RED/BLU
3-GRN

1-WHT

10-VIO

5-GRA
2-BRN

8-RED

6-PNK
7-BLU

9-BLK
4-YEL

X30 /CIP 12 11 6 7 20 21 27 28 4 18 25 26 19 5 13 14

AUTO-STOP 1+

AUTO-STOP 2+

PULSE 3

PULSE 3

PULSE 3

PULSE 4

PULSE 4

PULSE 4

E-STOP 1B

E-STOP 2B
E-STOP 1+

E-STOP 2+

GEN-STOP 1+

GEN-STOP 2+
ESTOP-2A

ESTOP-1A

A TRASFERTA
TO EXTERNAL EQUIPMENT SOLO CON CONNETTORE X30
ONLY WITH CONNECTOR X30

ENG.-PROGETT. DRAWNER-DISEGN. CHECKED-VISTO MODIF. SH.-FG. MODIF. CHECKED-VISTO TITLE - TITOLO DATE-DATA DRAWING No. - DISEGNO N° REV. SHEET-FOGLIO
C5GP-SEC1.0 - 2.0 - 3.0 SAFE EUROPEAN CONTROL
A. DIELI ACER G. ALOTTO SEGNALI DI SICUREZZA
26/03/2018 CR17.9322.33 00 /
COMAU SAFETY SIGNAL FILENAME-NOMEFILE CR1793223300
1 2 3 4 5 6 7 8

KIT ALIMENTAZIONE APPLICAZIONI INTERNE OPZIONALE


C5G-ISAK
OPTIONAL INTERNAL SUPPLY APPLICATION KIT

VEDERE FOGLIO
SEE SHEET
( 38 )

24V EXT FIELD


24V DRIVE ON

E-STOP CH1B

E-STOP CH2B
E-STOP CH1A

E-STOP CH2A
0V(24Vdc)
24V I/O

3 9 1 7 4 10 2 8 11 5 12 6

X128
CR17132560
18AWG
BLU

X128A 3 9 1 7 4 10 2 8 11 5 12 6
B
ISAM5
INTERNAL SUPPLY APPLICATION MODULE

24V EXT FIELD

24V DRIVE ON
E-STOP-2C

E-STOP-1C

E-STOP-1E

E-STOP-2E
C

0V(24Vdc)

24V I/O
41.3B

41.2B

41.2B

41.2B

41.1B

41.1B

41.5B

41.5B
3 9 1 7 4 10 2 8 11 5 6 12 3 9 1 7 4 10 2 8 11 5 12 6

X124-1 18AWG X126-1 18AWG


BLU BLU
24V EXT FIELD

24V EXT FIELD

24V EXT FIELD

24V EXT FIELD


24V DRIVE ON

24V DRIVE ON

0V(24Vdc)

0V(24Vdc)

E-STOP CH1B

E-STOP CH2B

24V DRIVE ON

24V DRIVE ON

0V(24Vdc)

0V(24Vdc)

E-STOP CH1B

E-STOP CH2B
24V I/O

24V I/O

24V I/O

24V I/O
E-STOP CH1A

E-STOP CH2A

E-STOP CH1A

E-STOP CH2A
D

APPLICAZIONE 3 (ESPANSIONE) APPLICAZIONE 4 (ESPANSIONE)


APPLICATION 3 (EXPANSION) APPLICATION 4 (EXPANSION)

ENG.-PROGETT. DRAWNER-DISEGN. CHECKED-VISTO MODIF. SH.-FG. MODIF. CHECKED-VISTO TITLE - TITOLO DATE-DATA DRAWING No. - DISEGNO N° REV. SHEET-FOGLIO
C5GP-SEC1.0 - 2.0 - 3.0 SAFE EUROPEAN CONTROL
A. DIELI ACER G. ALOTTO KIT ALIMENTAZIONE APPLICAZIONI INTERNE
26/03/2018 CR17.9322.33 00 /
COMAU INTERNAL SUPPLY APPLICATION KIT FILENAME-NOMEFILE CR1793223300
1 2 3 4 5 6 7 8

KIT ALIMENTAZIONE APPLICAZIONI INTERNE OPZIONALE


C5G-ISAK
OPTIONAL INTERNAL SUPPLY APPLICATION KIT

A
40.8C

40.8C

40.8C

40.8C

40.7C

40.7C

40.8C

40.8C
ISAM5
INTERNAL SUPPLY APPLICATION MODULE
24V DRIVE ON

0V(24Vdc)

E-STOP-1C

E-STOP-2C
24V I/O

E-STOP-1E

E-STOP-2E
24V EXT FIELD

3 9 1 7 4 10 2 8 11 5 12 6 3 9 1 7 4 10 2 8 11 5 12 6 1 4 2 3 1 4 2 3 1 4 2 3 1 4 2 3

X128-1 18AWG X130-1 18AWG X106-1 X106-2 X106-3 X106-4


BLU BLU
24V EXT FIELD

24V EXT FIELD

24V EXT FIELD

24V EXT FIELD


24V DRIVE ON

24V DRIVE ON

0V(24Vdc)

0V(24Vdc)

E-STOP CH1B

E-STOP CH2B

24V DRIVE ON

24V DRIVE ON

0V(24Vdc)

0V(24Vdc)

E-STOP CH1B

E-STOP CH2B

24V DRIVE ON

0V(24Vdc)

0V(24Vdc)

24V DRIVE ON

0V(24Vdc)

0V(24Vdc)

24V DRIVE ON

0V(24Vdc)

0V(24Vdc)

24V DRIVE ON

0V(24Vdc)

0V(24Vdc)
24V I/O

24V I/O

24V I/O

24V I/O

24V I/O

24V I/O

24V I/O

24V I/O
E-STOP CH1A

E-STOP CH2A

E-STOP CH1A

E-STOP CH2A

APPLICAZIONE 5 (ESPANSIONE) APPLICAZIONE 6 (ESPANSIONE) ALIMENTAZIONE UTENTE (ESPANSIONE)


APPLICATION 5 (EXPANSION) APPLICATION 6 (EXPANSION) USER'S SUPPLY (EXPANSION)

ENG.-PROGETT. DRAWNER-DISEGN. CHECKED-VISTO MODIF. SH.-FG. MODIF. CHECKED-VISTO TITLE - TITOLO DATE-DATA DRAWING No. - DISEGNO N° REV. SHEET-FOGLIO
C5GP-SEC1.0 - 2.0 - 3.0 SAFE EUROPEAN CONTROL
A. DIELI ACER G. ALOTTO KIT ALIMENTAZIONE APPLICAZIONI INTERNE
26/03/2018 CR17.9322.33 00 /
COMAU INTERNAL SUPPLY APPLICATION KIT FILENAME-NOMEFILE CR1793223300
1 2 3 4 5 6 7 8

VEDERE FOGLIO ASSE AGGIUNTIVO OPZIONALE VEDERE FOGLIO VEDERE FOGLIO


SEE SHEET OPTIONAL ADDITIONAL AXIS SEE SHEET SEE SHEET
( 24 ) ( 35 ) ( 37 )

+24V DRIVE OFF

0V(DRIVE OFF)

OVT NEG OUT


OVT POS OUT

OVT NEG IN
ENABLE 1+

ENABLE 2+

OVT POS IN
ENABLE 1-

ENABLE 2-
A

1 2 3 4 1 3 4 2
X5A /CAB
X5B /CAB X1 /CAB 42 43
X3D1 /CAB
CR17241060 X3D2 /CAB
22AWG
X3D3 /CAB
X3D4 /CAB
FMP
GRN
WHT

BRN

18AWG-BLU
YEL

FEED-THROUGH MOUNTING PLATE


X1 1 2 3 4 5 6

SINGOLO ASSE IAM4 OR IAM5


BUS 600V DC INTERNO AXIS SINGLE INVERTER AXIS MODULE
INTERNAL 600V DC BUS
B

BUS 24V DC INTERNO


INTERNAL 24V DC BUS

RTIx
RESOLVER TRANSDUCER INTERFACE

RESOLVER ASSE 8 / 9
RESOLVER AXIS 8 / 9

C U V W B- B+ 5 9 7 3 4 8 1 2

X5A X4A X11

CR17240061 CR17240061 CR17240061 CR17240061


24AWG 18AWG 22AWG
12AWG 18AWG
YEL/GRN
BLK 1

BLK 2

BLK 3

BLK2

BLK1

ORG
GRN

GRN
WHT

WHT
GRA

BRN
RED

BLU

BLU
BLK

YEL

YEL
VIO
20AWG 10AWG
YEL/GRN YEL/GRN

14AWG
YEL/GRN
X62a /CIP X62b /CIP X62c /CIP X62b/CIP
X63a /CIP 1 2 3 X63b /CIP 2 1 7 8 9 X63c /CIP 1 2 3 4 7 8 9 10 11 X63b/CIP 10 11 3 5 6 4
PHASE U

FRENO +
FASE V

SCHERMO
FASE W

FRENO -
BRAKE -

S2
S2

S4
S4

S1
S1

S3
S3

TERMICA PTC

TERMICA PTC

OVT POS OUT


OVT POS OUT
FASE U

PHASE V

GROUND

GROUND

GROUND

PTC THERMAL

PTC THERMAL

OVT NEG IN
OVT NEG IN
PHASE W

SHIELD

0V(DRIVE OFF)
0V(DRIVE OFF)
BRAKE +

RH
RH

RL
RL

+24V DRIVE OFF


+24V DRIVE OFF

OVT POS IN
OVT POS IN
TERRA

TERRA

TERRA

OVT NEG OUT


OVT NEG OUT
D

ASSE 8 (PINZA ELETTRICA) / ASSE 9


AXIS 8 (ELECTRIC GUN) / AXIS 9
ENG.-PROGETT. DRAWNER-DISEGN. CHECKED-VISTO MODIF. SH.-FG. MODIF. CHECKED-VISTO TITLE - TITOLO DATE-DATA DRAWING No. - DISEGNO N° REV. SHEET-FOGLIO
C5GP-SEC1.0 - 2.0 - 3.0 SAFE EUROPEAN CONTROL
A. DIELI ACER G. ALOTTO ASSE AGGIUNTIVO
26/03/2018 CR17.9322.33 00 /
COMAU ADDITIONAL AXIS FILENAME-NOMEFILE CR1793223300
1 2 3 4 5 6 7 8

VEDERE FOGLIO ASSE AGGIUNTIVO OPZIONALE VEDERE FOGLIO VEDERE FOGLIO


SEE SHEET OPTIONAL ADDITIONAL AXIS SEE SHEET SEE SHEET
( 24 ) ( 35 ) ( 37 )

+24V DRIVE OFF

0V(DRIVE OFF)

OVT NEG OUT


OVT POS OUT

OVT NEG IN
ENABLE 1+

ENABLE 2+

OVT POS IN
ENABLE 1-

ENABLE 2-
A

1 2 3 4 1 3 4 2
X5A /CAB
X5B /CAB X1 /CAB 42 43
X3D1 /CAB
CR17241060 X3D2 /CAB
22AWG
X3D3 /CAB
X3D4 /CAB
FMP
GRN
WHT

BRN

18AWG-BLU
YEL

FEED-THROUGH MOUNTING PLATE


X1 1 2 3 4 5 6

SINGOLO ASSE IAM4 OR IAM5


BUS 600V DC INTERNO AXIS SINGLE INVERTER AXIS MODULE
INTERNAL 600V DC BUS
B

BUS 24V DC INTERNO


INTERNAL 24V DC BUS

ETIx
ENCODER TRANSDUCER INTERFACE

ENCODER ASSE 7 / 9
ENCODER AXIS 7 / 9

C U V W B- B+ 1 6 5 9 4 8

X5A X4A X11

CR17240262 CR17240262 CR17240262


18AWG 22AWG
CR17240262 24AWG
12AWG 18AWG
YEL/GRN

GRN
WHT

GRA
BRN

RED

BLU

BLU

BLU

BLU

BLU

BLU
YEL
BLK 1

BLK 2

BLK 3

20AWG 10AWG
BLK6

BLK5

YEL/GRN YEL/GRN

14AWG
YEL/GRN
X62a /CIP X62b /CIP X62c /CIP X62b/CIP
X63a /CIP 1 2 3 X63b /CIP 2 1 7 8 9 X63c /CIP 1 2 7 8 3 4 11 X63b/CIP 10 4 5 6 12 11
PHASE U

FRENO +

UP
UP
FASE V

CLK -
CLK -

DATA +
DATA +
0V(UP)
0V(UP)

SCHERMO
FASE W

FRENO -
BRAKE -

OVT POS OUT


OVT POS OUT

OVT NEG IN
OVT NEG IN
FASE U

PHASE V

GROUND

GROUND

GROUND

DATA -
DATA -
CLK +
CLK +
PHASE W

SHIELD

0V(DRIVE OFF)
0V(DRIVE OFF)
BRAKE +

+24V DRIVE OFF


+24V DRIVE OFF

OVT POS IN
OVT POS IN
TERRA

TERRA

TERRA

OVT NEG OUT


OVT NEG OUT
D

ASSE 7 (SLITTA/TAVOLA) / ASSE 9 (TAVOLA)


AXIS 7 (SLIDE/TABLE) / AXIS 9 (TABLE)
ENG.-PROGETT. DRAWNER-DISEGN. CHECKED-VISTO MODIF. SH.-FG. MODIF. CHECKED-VISTO TITLE - TITOLO DATE-DATA DRAWING No. - DISEGNO N° REV. SHEET-FOGLIO
C5GP-SEC1.0 - 2.0 - 3.0 SAFE EUROPEAN CONTROL
A. DIELI ACER G. ALOTTO ASSE AGGIUNTIVO
26/03/2018 CR17.9322.33 00 /
COMAU ADDITIONAL AXIS FILENAME-NOMEFILE CR1793223300
1 2 3 4 5 6 7 8

VEDERE FOGLIO ASSE AGGIUNTIVO OPZIONALE VEDERE FOGLIO VEDERE FOGLIO


SEE SHEET OPTIONAL ADDITIONAL AXIS SEE SHEET SEE SHEET
( 24 ) ( 35 ) ( 37 )

+24V DRIVE OFF

0V(DRIVE OFF)