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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
104-105
1
PARAMULTI SW6
COPYRIGHT PAGE
APPROVED
APPROVED
2015-09-03
2015-09-03
SEEMFJA
SP 2
DP
TABLE OF CONTENTS 1-271
Se
APPROVED
AX3
2015-09-03
150-151 PARACOM, SERVOGUN SW6
APPROVED 2015-09-03 SEEMFJA
DP H AX3
SP
APPROVED 2015-09-03 SEEMFJA
DP
SP
SP
H
S 50
3
152-154
BLOCK DIAGRAM - TYPE S
LEGEND
PARABUSCOM, SERVOGUN SW6
APPROVED
APPROVED
APPROVED
2015-09-03
2015-09-03
2015-09-03
SEEMFJA
SEEMFJA
SEEMFJA
DP H APPROVED 2015-09-03 SEEMFJA
SP Se 51 BLOCK DIAGRAM - TYPE Se APPROVED 2015-09-03 SEEMFJA
APPROVED 2015-09-03 SEEMFJADP PG
SP H 52 BLOCK DIAGRAM - TYPE H APPROVED 2015-09-03 SEEMFJA
SP HS 53 BLOCK DIAGRAM - TYPE HS APPROVED 2015-09-03 SEEMFJA
SP HSe 54 BLOCK DIAGRAM - TYPE HSe APPROVED 2015-09-03 SEEMFJA
SP
156-157
CON
PARAMULTI, SERVOGUN SW6
55 CONNECTOR LAYOUT APPROVED 2015-09-03 SEEMFJA
SP CON
204-205
250
200-201
56
202-203
PARACOM MH3 & 6
CONNECTOR LAYOUT
PEDISTAL GUN
PARAMULTI MH3 & 6
PARABUSCOM MH3 & 6
APPROVED 2015-09-03 SEEMFJA
SEEMFJA
SEEMFJA
DP S AX3
AX3
100-101 PARACOM SW6 APPROVED 2015-09-03 SEEMFJA
DP S
AX3
AX3 APPROVED 2015-09-03 SEEMFJA
DP S AX3
102-103 PARABUSCOM SW6
APPROVED 2015-09-03 SEEMFJA
DP Se AX3 APPROVED 2015-09-03 SEEMFJA
DP Se AX3
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Document no.Next
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Lab/Office: Status:IRB6650S, IRB7600 LeanIDECO 74237, WI 93585New drawing
3HAC022327-002
8
00Approved
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 Signal
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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BLOCK DIAGRAM - TYPE SLocation:Plant: =
++Sublocation:
SPS
Document no.Next
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3HAC022327-002
8
00Approved
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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BLOCK DIAGRAM - TYPE SeLocation:Plant: =
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SPSe
Document no.Next
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3HAC022327-002
8
00Approved
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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SPH
Document no.Next
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3HAC022327-002
8
00Approved
1 2 3 4 5 6 7
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
Prepared by, date:+HSe/54
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++Sublocation:
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Document no.Next
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Lab/Office: Status:IRB6650S, IRB7600 LeanIDECO 74237, WI 93585New drawing
3HAC022327-002
8
00Approved
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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++Sublocation:
SPHSe
Document no.Next
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Lab/Office: Status:IRB6650S, IRB7600 LeanIDECO 74237, WI 93585New drawing
3HAC022327-002
8
00Approved
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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++Sublocation:
SPCON
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3HAC022327-002
8
00Approved
1 2 3 4 5 6 7
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
Prepared by, date:=DP+S.AX3/100
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Lab/Office: Status:IRB6650S, IRB7600 LeanIDECO 74237, WI 93585New drawing
3HAC022327-002
8
00Approved
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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Latest revision:
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PARACOM SW6Location:Plant: =
++Sublocation:
DPSAX3
Document no.Next
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3HAC022327-002
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00Approved
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DMRO SEPRIM
SW6LOWER ARM HARNESS3HAC046476-001UPPER ARM HARNESS3HAC046482-0013HAC046482-002
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
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Latest revision:
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PARACOM SW6Location:Plant: =
++Sublocation:
DPSAX3
Document no.Next
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Lab/Office: Status:IRB6650S, IRB7600 LeanIDECO 74237, WI 93585New drawing
3HAC022327-002
8
00Approved
1 2 3 4 5 6 7
DMRO SEPRIM
SW6LOWER ARM HARNESS3HAC046476-001UPPER ARM HARNESS3HAC046482-0013HAC046482-002
N.C.=Not Connected
WH/YEYE N.C.
N.C.
N.C.
WH
IRC
5 3H
AC
0244
80-0
11 &
PM
C 3
HA
C02
6871
-020
-MANIPULATOR BASE
-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.
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SW6LOWER ARM HARNESS3HAC046477-001UPPER ARM HARNESS3HAC046483-0013HAC046483-002
N.C.=Not Connected
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DMRO SEPRIM
SW6LOWER ARM HARNESS3HAC046477-001UPPER ARM HARNESS3HAC046483-0013HAC046483-002
* Circuitdiagram shows markingon wires for single cabinet
N.C.=Not Connected
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DMRO SEPRIM
SW6LOWER ARM HARNESS3HAC046478-001UPPER ARM HARNESS3HAC046482-0013HAC046482-002
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CS1
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SW6LOWER ARM HARNESS3HAC046476-002UPPER ARM HARNESS3HAC046482-0033HAC046482-004
N.C.=Not Connected
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CS5
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SW6LOWER ARM HARNESS3HAC046476-002UPPER ARM HARNESS3HAC046482-0033HAC046482-004
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DMRO SEPRIM
SW6LOWER ARM HARNESS3HAC046477-002UPPER ARM HARNESS3HAC046483-0033HAC046483-004
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DMRO SEPRIM
SW6LOWER ARM HARNESS3HAC046477-002UPPER ARM HARNESS3HAC046483-0033HAC046483-004
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8
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DMRO SEPRIM
MH3UPPER ARM HARNESS3HAC046861-0013HAC046861-002
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3HAC022327-002
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3HAC022327-002
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3HAC022327-002
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00Approved
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DMRO SEPRIM
MH3UPPER ARM HARNESS3HAC046862-0013HAC046862-002
MH6LOWER ARM HARNESS3HAC053923-001UPPER ARM HARNESS3HAC046551-0013HAC046551-002
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3HAC022327-002
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00Approved
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DMRO SEPRIM
MH3UPPER ARM HARNESS3HAC046863-0013HAC046863-002
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CS15
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CS18
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