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DMRO SEPRIM
The information in this document is subject to change without notice and should not be construed as a commitment by ABB. ABB assumes no responsibility for any errors that may appear in this document.
Except as may be expressly stated anywhere in this document, nothing herein shall be construed as anykind of guarantee or warranty by ABB for losses, damages to persons or property, fitness for aspecific purpose or the like.
In no event shall ABB be liable for incidental or consequential damages arising from use of this document.
This document and parts thereof must not be reproduced or copied without ABB's written permission,and contents therof must not be imparted to a third party nor be used for any unauthorized purpose.Contravention will be prosecuted.
Additional copies of this document may be obtained from ABB at its then current charge.
© Copyright 2004 ABB ALL right reserved.
ABB Automation Technologies ABRobotics
SE-721 68 VästeråsSweden
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DMRO SEPRIM
Table of contentsPlant Location Page supplementary fieldPage Page description Date Editor
ABB_table_of_contents
SublocationSP 1
PARAMULTI SW6
COPYRIGHT PAGE APPROVED 2016-01-14
SP 2 TABLE OF CONTENTS 1-271 APPROVED 2016-01-14
150-152
DP H AX3
SP
APPROVED 2016-01-14 seermes
SP
SP
S 50
3
BLOCK DIAGRAM - TYPE S
LEGEND
APPROVED
APPROVED
2016-01-14
2016-01-14
seermes
seermes
SP Se 51 BLOCK DIAGRAM - TYPE Se APPROVED 2016-01-14 seermes
APPROVED 2016-01-14 seermesDP PG
SP H 52 BLOCK DIAGRAM - TYPE H APPROVED 2016-01-14 seermes
SP HS 53 BLOCK DIAGRAM - TYPE HS APPROVED 2016-01-14 seermes
SP HSe 54 BLOCK DIAGRAM - TYPE HSe APPROVED 2016-01-14 seermes
SP CON 55
PARAMULTI, SERVOGUN SW6
CONNECTOR LAYOUT APPROVED 2016-01-14 seermes
SP CON
250
56
200-201
CONNECTOR LAYOUT
PARAMULTI MH3 & 6
PEDISTAL GUN
APPROVED 2016-01-14 seermes
seermes
seermes
DP S AX3 100-101 APPROVED 2016-01-14 seermes
DP Se AX3 APPROVED 2016-01-14 seermes
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1 2 3 4 5 6 7
DMRO SEPRIM
Paracom
Parabuscom
Paramulti
S
Se
H
FB
SMB
CP/CS
CBUS
SP
MH3
MH6
Parallel Communication
Parallel and Bus Communication(CANBUS, PROFIBUS and DEVICENET)
Parallel and Ethernet Communication
Welding
Weld with Servogun
Material Handling
Motor Feedback Signal (7th axis)
Serial Measurment Board
Customer Power/Customer Signal
Bus Signal
Servo Gun Power
Harness between axis 3 to axis 6
Harness between Manipulator base to axis 6
Protective Earth
Twisted wires
Quad twined wires
Screened wires
Screen is connected to earth
Screen connection continues on the next page
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1 2 3 4 5 6 7
DMRO SEPRIM
Axis 6
Axis 1
Axis 5
Axis 2
R1.ETHERNET
Axis 4
Axis 3
BaseR1.WELDR1.CP/CS/CBUS
WATER ANDAIR UNIT
XS/XP101
ROBOT SIGNALS, 24VDC SUPPLY
24VDC SUPPLY, PARALLEL INTERFACE, PROP. VALVE
WELD POWER
XP/XS13
XP/XS103
X101
SPOT WELDINGCABINET
SINGLE CABINETCONTROLLER
115/
230V
AC
BU
S IN
TER
FAC
E
XP/XS113
24V
DC
SU
PP
LY, W
ELD
ING
SIG
NA
LS
RS
232/
RS
485
BLOCK DIAGRAM TYPE S (pneumatic gun)IRBDP SW6Single cabinet controller, IRC5: See circuit diagram, 3HAC024480-011and 3HAC026871-020 for Panel mounted controller.Dashed cables: See circuit diagram SpotPack, 3HAC026208-001
R2.ETHERNETR2.WELDR2.CPSR2.CBUS
R3.ETHERNETR3.WELDR3.CPSR3.CBUS
BUS SIGNALS XP/XS9
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1 2 3 4 5 6 7
DMRO SEPRIM
XP/XS113
24V
DC
SU
PP
LY, W
ELD
ING
SIG
NA
LS
RS
232/
RS
485
BLOCK DIAGRAM TYPE Se (servo gun)IRBDP SW6Single cabinet controller, IRC5: See circuit diagram, 3HAC024480-011and 3HAC026871-020 for Panel mounted controller.Dashed cables: See circuit diagram SpotPack, 3HAC026208-001
R1.ETHERNET
Axis 2R2.FB7
BUS SIGNALS XP/XS9
Servo gun( axis 7 )
M
Axis 3
Axis 6
Axis 1
Axis 5
Axis 4
Base
R1.WELD
R1.CP/CS/CBUS
R1.SP
WATER ANDAIR UNIT
XS/XP101
24VDC SUPPLY, PARALLEL INTERFACE
WELD POWER
ROBOT SIGNALS, 24VDC SUPPLY
SERVO GUN POWER
XP/XS103
XP/XS7
X101
XP/XS13
230V
AC
R2.ETHERNETR2.WELDR2.CPSR2.CBUSR2.SPR3.FB7
R3.ETHERNETR3.WELDR3.CPSR3.CBUSR3.SPR4.FB7
BU
S IN
TER
FAC
E
SPOT WELDINGCABINET
SINGLE CABINETCONTROLLER
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DMRO SEPRIM
Axis 1
R3.ETHERNETR3.CPS
Axis 5
Axis 6
Axis 2
Axis 4
R2.ETHERNETR2.CPS
Axis 3
Base R1.CP/CS/CBUS ROBOT SIGNALS, 24VDC SUPPLY XP/XS13SINGLE CABINET
CONTROLLER
BLOCK DIAGRAM TYPE HIRBDP SW6Single cabinet controller, IRC5: See circuit diagram, 3HAC024480-011and 3HAC026871-020 for Panel mounted controller.
R1.ETHERNET BUS SIGNALS XP/XS9
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1 2 3 4 5 6 7
DMRO SEPRIM
WELDING SIGNALS, 24VDC SUPPLY
R1.CP/CS/CBUS
WATER ANDAIR UNIT
ROBOT SIGNALS, 24VDC SUPPLY
XS/XP101
24VDC SUPPLY, PARALLEL INTERFACE, PROP. VALVE
X104
XP/XS13
XP/XS103
X101
SPOT WELDINGCABINET
SINGLE CABINETCONTROLLER
230V
AC
BU
S IN
TER
FAC
E
XP/XS113
24V
DC
SU
PP
LY, W
ELD
ING
SIG
NA
LS
RS
232/
RS
485
BLOCK DIAGRAM TYPE HS (material handling and pneumatic gun)IRBDP SW6Single cabinet controller, IRC5: See circuit diagram, 3HAC024480-011and 3HAC026871-020 for Panel mounted controller.Dashed cables: See circuit diagram SpotPack, 3HAC026208-001
R1.ETHERNET BUS SIGNALS XP/XS9
R3.ETHERNETR3.CPS
Axis 2
PEDESTAL
GUN
R2.ETHERNETR2.CPS
Axis 3
Axis 1
SG.WELDSG.CP/CS
Axis 5
Axis 6 Axis 4
Base
WELD POWER
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1 2 3 4 5 6 7
DMRO SEPRIM
Base R1.CP/CS/CBUS
R3.
FB7
WATER ANDAIR UNIT
XS/XP101
WELDING SIGNALS, 24VDC SUPPLY
ROBOT SIGNALS, 24VDC SUPPLY
POWER SERVOGUN
WELD POWER
24VDC SUPPLY, PARALLEL INTERFACE, PROP. VALVE XP/XS103
X101
M
XP/XS13Servo gun
XP/XS7
( axis 7 )
X104
230V
AC
R3.ETHERNETR3.CPS
BU
S IN
TER
FAC
E
SPOT WELDINGCABINET
SINGLE CABINETCONTROLLER
XP/XS113
24V
DC
SU
PP
LY, W
ELD
ING
SIG
NA
LS
Axis 2
RS
232/
RS
485
BLOCK DIAGRAM TYPE HSe (material handling and servo gun)IRBDP SW6Single cabinet controller, IRC5: See circuit diagram, 3HAC024480-011and 3HAC026871-020 for Panel mounted controller.Dashed cables: See circuit diagram SpotPack, 3HAC026208-001
PEDESTAL
R1.ETHERNET
GUN
BUS SIGNALS XP/XS9
R2.ETHERNETR2.CPS
FB.M7
R1.SP
Axis 1
Axis 5
Axis 6
SG.CP/CS
SG.WELD
Axis 4
RESOLVER/SMB SIGNALS
Axis 3
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DMRO SEPRIM
HARTING HAN MODULE/
A
A
A
18
A
18
d
25 25
EE
3
2
Male 4pR2.ETHERNETR3.ETHERNET
Female 4pR1.ETHERNETR2.ETHERNET
BLOCK DIAGRAM TYPE S/H
b
1
HD
1
48
9
Male (R1.CP/CS)
1
SOURIAU SOURIAU
SOURIAU SOURIAU
17
4
1
4
c
1
8
1
6
a
HDDD
9 5
817
Female 26p (R3.CPS)Male 26p (R2.CPS)
Female 10p (R2.CBUS)Male 10p (R2.CBUS)
Female 10p (R3.CBUS)
Female 26p (R2.CP/CS)
2
3
7
12
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1 2 3 4 5 6 7
DMRO SEPRIM
SOURIAU
Female 23p (R1.SP)
SOURIAU
Female 8p (R2.FB7)
SOURIAU
HUMMEL
SOURIAU
HUMMEL
SOURIAU
Female 17p (R3.FB7 & R4.FB7)
Female 8p R2.SPR3.SP
Male 8p R2.SP
Male 8p (R2.FB7) Male 17p (R3.FB7)
AA
A
BLOCK DIAGRAM TYPE Se
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DMRO SEPRIM
SW6LOWER ARM HARNESS3HAC055115-001UPPER ARM HARNESS3HAC055586-0013HAC055586-002
N.C.=Not Connected
45
67
GN/YE
WH/BKBK
WH/BNBN
WH/RDRD
WH/OGOG
WH/YEYE
WH/GNGNWH/BUBU
WH/VTVTWH/GYGYWH/BKBK
WH/OGOG
G G G G
IRC
5 3H
AC
0244
80-0
11 &
PM
C 3
HA
C02
6871
-020
-MANIPULATOR BASE
-R1.CP/CSd1
d6
d3
d4
b1
b2
b3
b4
b5
b6
b7
b8
b9
b10
b11
b12
b13
b14
b15
b16
b18
b19
b20
b21
c19
N.C.
D
-AXIS 3
E E-R2CP/CS
F F
V V
W W
A A
B B
C C
D D
H H
J J
K K
L L
M M
N N
P P
R R
S S
T T
U U
X X
Y Y
Z Z
a a
b b
c c
N.C. N.C.
-AXIS 6
E E-R3.CP/CS
F F
V V
W W
A
B
C
H
J
K
L
M
N
P
R
S
T
U
X
Y
Z
a
b
c
N.C.
45
67
GN/YE
WH/OGOG
WH/BKBK
WH/BNBN
WH/RDRD
WH/OGOG
WH/YEYE
WH/GNGNWH/BUBU
WH/VTVTWH/GYGYWH/BKBK
24V
0V
24V
0V
CS7/KSR
CS8/KSR
CS2
CS3
CS4
CS5
CS6
CS9
CS10
CS11
CS12
CS14
CS15
CS16
CS17
CS18
CS19
CS20
CS21
PE
CS1
CS13
Prepared by, date:+Se.AX3/150
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Latest revision:
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++Sublocation:
DPSAX3
Document no.Next
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3HAC053524-002
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00Approved
1 2 3 4 5 6 7
DMRO SEPRIM
SW6LOWER ARM HARNESS3HAC055115-001UPPER ARM HARNESS3HAC055586-0013HAC055586-002
N.C.=Not Connected
YE
WH
OG
BU
WH/YE
YE
YE
WH
WH
3
4
1 1-R2.ETHERNET
2 2
3 3
4 4
1-R3.ETHERNET
2
3
4
OG
IRC
5 3H
AC
0244
80-0
11 &
PM
C 3
HA
C02
6871
-020
-MANIPULATOR BASE
N.C.
N.C.
N.C.
N.C.
-R1.CP/CSN.C.
N.C.
N.C.
N.C.
-AXIS 3
N.C. N.C.
N.C. N.C.
N.C. N.C.
N.C. N.C.
N.C. N.C.-R2.CP/CS
N.C. N.C.
N.C. N.C.
N.C. N.C.
N.C.
N.C.
N.C.
N.C.
-AXIS 6
N.C.-R3.CP/CS
N.C.
N.C.
N.C.
-R1.ETHERNET1
2
GN
BU
WH/BN
BN
WH/RD
RD
WH/RD
YEWH/GNGN
WH/BN
BN
RD
WH/YE
Prepared by, date:151
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DMRO SEPRIM
SW6LOWER ARM HARNESS3HAC055115-002UPPER ARM HARNESS3HAC055586-0033HAC055586-004
N.C.=Not Connected
45
67
GN/YE
WH/BKBK
WH/BNBN
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WH/YEYE
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WH/VTVTWH/GYGYWH/BKBK
WH/OGOG
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IRC
5 3H
AC
0244
80-0
11 &
PM
C 3
HA
C02
6871
-020
-MANIPULATOR BASE
-R1.CP/CSd1
d6
d3
d4
b1
b2
b3
b4
b5
b6
b7
b8
b9
b10
b11
b12
b13
b14
b15
b16
b18
b19
b20
b21
c19
N.C.
C
-AXIS 3
E E-R2CP/CS
F F
V V
W W
A A
B B
C C
D D
H H
J J
K K
L L
M M
N N
P P
R R
S S
T T
U U
X X
Y Y
Z Z
a a
b b
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45
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GN/YE
WH/OGOG
WH/BKBK
WH/BNBN
WH/RDRD
WH/OGOG
WH/YEYE
WH/GNGNWH/BUBU
WH/VTVTWH/GYGYWH/BKBK
24V
0V
24V
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CS7/KSR
CS8/KSR
CS2
CS3
CS4
CS5
CS6
CS9
CS10
CS11
CS13
CS14
CS15
CS16
CS17
CS18
CS19
CS20
CS21
PE
CS1
CS12
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SW6LOWER ARM HARNESS3HAC055115-002UPPER ARM HARNESS3HAC055586-0033HAC055586-004
N.C.=Not Connected
WH/RD
WH/BN
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WH/BK
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123
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WH/YE
WH/RD
WH/BNBKWH/BK
RD
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N.C.=Not Connected
YE
WH
OG
BU
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WH
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5 3H
AC
0244
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11
-MANIPULATOR BASE -AXIS 3 -AXIS 6
-R1.ETHERNET1
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MH6LOWER ARM HARNESS3HAC052427-001UPPER ARM HARNESS3HAC054636-0013HAC054636-002
N.C.=Not Connected
45
67
GN/YE
WH/BKBK
WH/BNBN
WH/RDRD
WH/OGOG
WH/YEYE
WH/GNGNWH/BUBU
WH/VTVTWH/GYGYWH/BKBK
WH/OGOG
G G G
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5 3H
AC
0244
80-0
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C 3
HA
C02
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-MANIPULATOR BASE
-R1.CP/CSd1
d6
d3
d4
b1
b2
b3
b4
b5
b6
b7
b8
b9
b10
b11
b12
b13
b14
b15
b16
b18
b19
b20
b21
c19
N.C.
D
-AXIS 3
E E-R2CP/CS
F F
V V
W W
A A
B B
C C
D D
H H
J J
K K
L L
M M
N N
P P
R R
S S
T T
U U
X X
Y Y
Z Z
a a
b b
c c
N.C. N.C.
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A
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L
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45
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GN/YE
WH/OGOG
WH/BKBK
WH/BNBN
WH/RDRD
WH/OGOG
WH/YEYE
WH/GNGNWH/BUBU
WH/VTVTWH/GYGYWH/BKBK
24V
0V
24V
0V
CS7/KSR
CS8/KSR
CS2
CS3
CS4
CS5
CS6
CS9
CS10
CS11
CS12
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MH6LOWER ARM HARNESS3HAC052427-001UPPER ARM HARNESS3HAC054636-0013HAC054636-002
N.C.=Not Connected
YE
WH
OG
BU
WH/YE
YE
YE
WH
-R1.ETHERNET1
WH
OG
IRC
5 3H
AC
0244
80-0
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C 3
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-R1.CP/CSN.C.
N.C.
N.C.
N.C.
-AXIS 3
N.C. N.C.-R2.CP/CS
N.C. N.C.
N.C. N.C.
N.C. N.C.
-AXIS 6
N.C.-R3.CP/CS
N.C.
N.C.
N.C.
N.C.
N.C.
N.C.
N.C.
N.C. N.C.
N.C. N.C.
N.C. N.C.
N.C. N.C.
N.C.
N.C.
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2
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1 1-R2.ETHERNET
2 2
3 3
4 4
1-R3.ETHERNET
2
3
4
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GY
GRBNWHBURD
PK
YEWH/RD
WH/BNBKWH/BK
RD
BNWH/RD
WH/BNBKWH/BK
RD
BN
3HA
C02
6208
-001
-MANIPULATOR BASE-SERVO PEDESTAL GUN
(AXIS 7) -SMB
G G
H H
A A
B B
C C
D D
E E
F F-R3.FB7
9 9-R1.SMB1.7
2 2
11 11
4 4
12 12
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