Prepared by, date:2

We

rese

rve

all r

ight

s in

this

doc

umen

t and

in th

e in

form

atio

n co

ntai

ned

ther

ein.

Rep

rodu

ctio

n, u

se o

r di

sclo

sure

to th

ird p

artie

s w

ithou

t exp

ress

aut

horit

y is

stri

ctly

forb

idde

n. ©

Cop

yrig

ht 2

003

AB

B

EM 2015-02-17 JEN 2015-03-04

2015-03-04

Page1

98TotalDRESS PACK

Latest revision:

Approved by, date:

COPYRIGHT PAGELocation:Plant: =

++Sublocation:

SP

Document no.Next

Rev. Ind

Lab/Office: Status:IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5ECO 70147, WI 7698Page 224-231: Adjusted, "Type Se" was "Type S"Page 316-321: Adjusted, "Type H" was "Type S"

3 4 5 6

12

7 821

3HAC026209-001

APPROVEDDMRO SEPRMP

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

Prepared by, date:3

We

rese

rve

all r

ight

s in

this

doc

umen

t and

in th

e in

form

atio

n co

ntai

ned

ther

ein.

Rep

rodu

ctio

n, u

se o

r di

sclo

sure

to th

ird p

artie

s w

ithou

t exp

ress

aut

horit

y is

stri

ctly

forb

idde

n. ©

Cop

yrig

ht 2

003

AB

B

EM 2015-02-17 JEN 2015-03-04

2015-03-04

Page2

98TotalDRESS PACK

Latest revision:

Approved by, date:

TITLE PAGELocation:Plant: =

++Sublocation:

SP

Document no.Next

Rev. Ind

Lab/Office: Status:IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5ECO 70147, WI 7698Page 224-231: Adjusted, "Type Se" was "Type S"Page 316-321: Adjusted, "Type H" was "Type S"

3 4 5 6

12

7 821

3HAC026209-001

APPROVEDDMRO SEPRMP

ManufactureType

Control cabinetMains voltageSupplyControl voltageYear of construction

:::

::::

Type of installation

CustomerRobot serial number(s)Drawing numberDrawing version

::::

:

Project startProject managerLast revisionDesigned byDesigned dateNumber of pages

:::::::

Prepared by, date:4

We

rese

rve

all r

ight

s in

this

doc

umen

t and

in th

e in

form

atio

n co

ntai

ned

ther

ein.

Rep

rodu

ctio

n, u

se o

r di

sclo

sure

to th

ird p

artie

s w

ithou

t exp

ress

aut

horit

y is

stri

ctly

forb

idde

n. ©

Cop

yrig

ht 2

003

AB

B

EM 2015-02-17 JEN 2015-03-04

2015-03-04

Page3

98TotalDRESS PACK

Latest revision:

Approved by, date:

TABLE OF CONTENTS 1-117Location:Plant: =

++Sublocation:

SP

Document no.Next

Rev. Ind

Lab/Office: Status:IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5ECO 70147, WI 7698Page 224-231: Adjusted, "Type Se" was "Type S"Page 316-321: Adjusted, "Type H" was "Type S"

3 4 5 6

12

7 821

3HAC026209-001

APPROVEDDMRO SEPRMP

Table of contentsPlant Location Page supplementary fieldPage Page description Date Editor

ABB_table_of_contents

SublocationSP

104

1

CUSTOMER SIGNALS, ETHERNET

COPYRIGHT PAGE

APPROVED

APPROVED

2009-12-04

2008-06-30

seermes

semitot

DP

SP

S

2

AX3

TITLE PAGE

105

APPROVED

CUSTOMER SIGNALS, ETHERNET

2008-06-30

APPROVED

semitot

2009-12-04

SP

seermes

3

DP

TABLE OF CONTENTS 1-117

S

APPROVED

AX3

2008-06-30

106

semitot

CUSTOMER SIGNALS, PROFIBUS

SP

APPROVED

4

2008-06-30

TABLE OF CONTENTS 118-228

semitot

DP

APPROVED

S

2008-06-30

AX3

AX3

semitot

AX3

107

SP 5-6

CUSTOMER SIGNALS, PROFIBUS

TABLE OF CONTENTS 229-321; 600-702

APPROVED

APPROVED

2008-06-30 semitot

2013-12-06

DP

seermes

SP

S

S

-

50

108

BLOCK DIAGRAM - TYPE S

CUSTOMER SIGNALS, PARALLEL

APPROVED

APPROVED

2008-06-30

2008-06-30

semitot

semitot

SP

DP

S

S

51

-

BLOCK DIAGRAM TYPE S - IRBDP SW5

109

APPROVED

CUSTOMER SIGNALS, PARALLEL

2008-06-30

APPROVED

semitot

2008-06-30

SP

semitot

Se

DP S

52 BLOCK DIAGRAM - TYPE Se

-

APPROVED

110

2008-06-30

CUSTOMER SIGNALS, CANBUS

semitot

APPROVED

SP

2008-06-30

Se

semitot

53

DP

BLOCK DIAGRAM TYPE Se - IRBDP SW5

S -

APPROVED

111

2008-06-30

CUSTOMER SIGNALS, CANBUS

semitot

APPROVED

SP

2008-06-30

H

semitot

54 BLOCK DIAGRAM - TYPE H APPROVED 2008-06-30 semitot

SP HS 55 BLOCK DIAGRAM - TYPE HS APPROVED 2008-06-30 semitot

SP HSe 56 BLOCK DIAGRAM - TYPE HSe APPROVED 2008-06-30

DP

semitot

S

SP

-

CON

114 CUSTOMER SIGNALS, PROFIBUS

57 CONNECTOR LAYOUT

APPROVED

APPROVED

2008-06-30 semitot

2008-06-30 semitot

DP

DP

DP

SP

S

SS

CON

-

58-59

115

117116

CONNECTOR LAYOUT

CUSTOMER SIGNALS, PARALLEL - SW6

CUSTOMER SIGNALS, PROFIBUS

CUSTOMER SIGNALS, PARALLEL - SW6

APPROVED

APPROVED

APPROVEDAPPROVED

2008-06-30

2012-03-21

2013-12-06

2012-03-21

semitot

seermes

seermesseermes

DP S AX3 100 CUSTOMER SIGNALS, PARALLEL APPROVED 2008-06-30 semitot

DP S AX3 101 CUSTOMER SIGNALS, PARALLEL APPROVED 2008-06-30 semitot

DP S AX3 102 CUSTOMER SIGNALS, CANBUS APPROVED 2008-06-30 seermes

DP S AX3 103 CUSTOMER SIGNALS, CANBUS APPROVED 2008-06-30 semitot

DP S AX3

Prepared by, date:5

We

rese

rve

all r

ight

s in

this

doc

umen

t and

in th

e in

form

atio

n co

ntai

ned

ther

ein.

Rep

rodu

ctio

n, u

se o

r di

sclo

sure

to th

ird p

artie

s w

ithou

t exp

ress

aut

horit

y is

stri

ctly

forb

idde

n. ©

Cop

yrig

ht 2

003

AB

B

EM 2015-02-17 JEN 2015-03-04

2015-03-04

Page4

98TotalDRESS PACK

Latest revision:

Approved by, date:

TABLE OF CONTENTS 118-228Location:Plant: =

++Sublocation:

SP

Document no.Next

Rev. Ind

Lab/Office: Status:IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5ECO 70147, WI 7698Page 224-231: Adjusted, "Type Se" was "Type S"Page 316-321: Adjusted, "Type H" was "Type S"

3 4 5 6

12

7 821

3HAC026209-001

APPROVEDDMRO SEPRMP

Table of contentsPlant Location Page supplementary fieldPage Page description Date Editor

ABB_table_of_contents

Sublocation

DP

DP Se

Se

-

AX3

216

200 CUSTOMER SIGNALS, PARALLEL

CUSTOMER SIGNALS, CANBUS APPROVED

APPROVED 2008-06-30

2008-06-30

semitot

semitot

DP

DP

Se

Se -

AX3

217

201 CUSTOMER SIGNALS, PARALLEL

CUSTOMER SIGNALS, CANBUS

APPROVED

APPROVED 2008-06-30

2008-06-30

semitot

semitot

DP Se AX3 202 CUSTOMER SIGNALS, PARALLEL APPROVED 2008-06-30 semitot

AX3

AX3

AX3

AX3

DP Se AX3 203 CUSTOMER SIGNALS, CANBUS APPROVED 2008-06-30 semitot

DP Se AX3 204 CUSTOMER SIGNALS, CANBUS APPROVED 2008-06-30 semitot

DP

DP Se

Se

AX3

- 221

205

CUSTOMER SIGNALS, PROFIBUS

CUSTOMER SIGNALS, CANBUS APPROVED

APPROVED 2008-06-30

2008-06-30

semitot

semitot

DP

DP

DP

DP Se

Se

Se

Se

AX3

AX3

-

AX3

226

206

222

224

CUSTOMER SIGNALS, CANBUS - SW6

CUSTOMER SIGNALS, PROFIBUS

CUSTOMER SIGNALS, ETHERNET

CUSTOMER SIGNALS, PRALLEL - SW6

APPROVED

APPROVED

APPROVED

APPROVED

2012-03-21

2009-12-04

2008-06-30

2012-03-21

semitot

seermes

seermes

seermes

DP

DP

DP

DP

DP

Se

Se

Se

Se

Se

-

AX3

AX3

AX3

AX3

228

227

225

223

207

CUSTOMER SIGNALS, CANBUS - SW6

CUSTOMER SIGNALS, CANBUS - SW6

CUSTOMER SIGNALS, ETHERNET

CUSTOMER SIGNALS, PARALLEL - SW6

CUSTOMER SIGNALS, PROFIBUS APPROVED

APPROVED

APPROVED

APPROVED

APPROVED

2008-06-30

2009-12-04

2012-03-21

2012-03-21

2012-03-21

semitot

seermes

seermes

seermes

seermes

DP Se AX3 208 CUSTOMER SIGNALS, ETHERNET APPROVED 2009-12-04 seermes

DP Se AX3 209 CUSTOMER SIGNALS, PROFIBUS APPROVED 2008-06-30 semitot

DP Se AX3 210 CUSTOMER SIGNALS, PROFIBUS

DP

DP

DP

DP

APPROVED

S

S

S

S

2008-06-30 semitot

118

120

119

121

DP

CUSTOMER SIGNALS, CANBUS - SW6

CUSTOMER SIGNALS, CANBUS - SW6

CUSTOMER SIGNALS, ETHERNET - SW6

CUSTOMER SIGNALS, ETHERNET - SW6

Se

APPROVED

AX3

APPROVED

APPROVED

APPROVED

2012-03-21

2012-03-21

2012-03-21

2012-03-21

211

seermes

seermes

seermes

CUSTOMER SIGNALS, PROFIBUS

seermes

APPROVED 2008-06-30 semitot

DP Se - 212 CUSTOMER SIGNALS, PARALLEL APPROVED 2008-06-30 semitot

DP Se - 213 CUSTOMER SIGNALS, PARALLEL APPROVED 2008-06-30 semitot

DP Se - 214 CUSTOMER SIGNALS, PARALLEL APPROVED 2008-06-30 semitot

DP Se - 215 CUSTOMER SIGNALS, CANBUS APPROVED 2008-06-30 semitot

Prepared by, date:6

We

rese

rve

all r

ight

s in

this

doc

umen

t and

in th

e in

form

atio

n co

ntai

ned

ther

ein.

Rep

rodu

ctio

n, u

se o

r di

sclo

sure

to th

ird p

artie

s w

ithou

t exp

ress

aut

horit

y is

stri

ctly

forb

idde

n. ©

Cop

yrig

ht 2

003

AB

B

EM 2015-02-17 JEN 2015-03-04

2015-03-04

Page5

98TotalDRESS PACK

Latest revision:

Approved by, date:

TABLE OF CONTENTS 229-321Location:Plant: =

++Sublocation:

SP

Document no.Next

Rev. Ind

Lab/Office: Status:IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5ECO 70147, WI 7698Page 224-231: Adjusted, "Type Se" was "Type S"Page 316-321: Adjusted, "Type H" was "Type S"

3 4 5 6

12

7 821

3HAC026209-001

APPROVEDDMRO SEPRMP

Table of contentsPlant Location Page supplementary fieldPage Page description Date Editor

ABB_table_of_contents

Sublocation

DP H 306 CUSTOMER SIGNALS, PROFIBUS APPROVED 2008-06-30 semitot

DP H 307 CUSTOMER SIGNALS, PROFIBUS APPROVED 2008-06-30 semitot

DP H.1 308 CUSTOMER SIGNALS, PARALLEL APPROVED 2008-06-30 semitot

DP H.1 309 CUSTOMER SIGNALS, PARALLEL APPROVED 2008-06-30 semitot

DP H.1 310 CUSTOMER SIGNALS, CANBUS APPROVED 2008-06-30 semitot

DP H.1 311 CUSTOMER SIGNALS, CANBUS APPROVED 2008-06-30 semitot

DP H.1 312 CUSTOMER SIGNALS, ETHERNET APPROVED 2009-12-04 seermes

DP H.1 313 CUSTOMER SIGNALS, ETHERNET APPROVED 2009-12-04 seermes

DP

DP

DP

DP Se

Se

Se

H.1

AX3

AX3

AX3

314

230

229

CUSTOMER SIGNALS, PROFIBUS

231

APPROVED

CUSTOMER SIGNALS, ETHERNET - SW6

CUSTOMER SIGNALS, ETHERNET - SW6

CUSTOMER SIGNALS, ETHERNET - SW6

APPROVED

2008-06-30

APPROVED

APPROVED

2012-03-21

2012-03-21

semitot

2012-03-21

seermes

DP

seermes

seermes

DP

H.1DP

H

315H

CUSTOMER SIGNALS, PROFIBUS

300

316

CUSTOMER SIGNALS, PARALLEL

APPROVEDCUSTOMER SIGNALS, PARALLEL - MH6

APPROVED

2008-06-30APPROVED

2008-06-30

semitot2013-12-06

semitot

DP

DP

seermes

ID

ID

DP

DP

AX3

AX3

H

H

400

402

301

317

CUSTOMER SIGNALS, PARALLEL

IRB66xID, ETHERNET (On request)

IRB66xID

CUSTOMER SIGNALS, PARALLEL - MH6

APPROVED

APPROVED

APPROVED

APPROVED

2011-09-23

2013-12-06

2008-06-30

2008-06-30

seermes

semitot

seermes

semitot

DP

DP

DP

DP H

H

ID

ID

AX3

302

AX3

318

CUSTOMER SIGNALS, CANBUS

403

CUSTOMER SIGNALS, CANBUS - MH6

401 IRB66xID

APPROVED

IRB66xID, ETHERNET (On request)

APPROVED

APPROVED

APPROVED

2008-06-30

2013-12-06

semitot

2011-09-23

2008-06-30

seermes

DP

seermes

DP

semitot

DP

H

H

303

PG

319 CUSTOMER SIGNALS, CANBUS - MH6

CUSTOMER SIGNALS, CANBUS

500

APPROVED

APPROVED

PEDESTAL GUN

2013-12-06

2008-06-30

APPROVED 2008-06-30

semitot

seermes

DP

semitot

DP

H

H

304

320

CUSTOMER SIGNALS, ETHERNET

CUSTOMER SIGNALS, ETHERNET - MH6

APPROVED

APPROVED

2009-12-04

2013-12-06

seermes

seermes

DP

DP

H

H

305

321

CUSTOMER SIGNALS, ETHERNET

CUSTOMER SIGNALS, ETHERNET - MH6

APPROVED

APPROVED

2009-12-04

2013-12-06

seermes

seermes

Prepared by, date:+S/50

We

rese

rve

all r

ight

s in

this

doc

umen

t and

in th

e in

form

atio

n co

ntai

ned

ther

ein.

Rep

rodu

ctio

n, u

se o

r di

sclo

sure

to th

ird p

artie

s w

ithou

t exp

ress

aut

horit

y is

stri

ctly

forb

idde

n. ©

Cop

yrig

ht 2

003

AB

B

EM 2015-02-17 JEN 2015-03-04

2015-03-04

Page6

98TotalDRESS PACK

Latest revision:

Approved by, date:

TABLE OF CONTENTS 600-702Location:Plant: =

++Sublocation:

SP

Document no.Next

Rev. Ind

Lab/Office: Status:IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5ECO 70147, WI 7698Page 224-231: Adjusted, "Type Se" was "Type S"Page 316-321: Adjusted, "Type H" was "Type S"

3 4 5 6

12

7 821

3HAC026209-001

APPROVEDDMRO SEPRMP

Table of contentsPlant Location Page supplementary fieldPage Page description Date Editor

ABB_table_of_contents

Sublocation

semitot

DP REV 702 Revision Notes APPROVED 2008-06-30 semitot

DP CS B 600 CUSTOMER SIGNAL - IRBDP SW5 APPROVED 2008-06-30 semitot

DP RG 601 ROBOT GUN (RG) - IRBDP SW5 APPROVED 2008-06-30 semitot

DP RG 602 ROBOT GUN (RG) - IRBDP SW5 APPROVED 2008-06-30 semitot

DP REV 700 Revision Notes APPROVED 2008-06-30 semitot

DP REV 701 Revision Notes APPROVED 2008-06-30

Prepared by, date:51

We

rese

rve

all r

ight

s in

this

doc

umen

t and

in th

e in

form

atio

n co

ntai

ned

ther

ein.

Rep

rodu

ctio

n, u

se o

r di

sclo

sure

to th

ird p

artie

s w

ithou

t exp

ress

aut

horit

y is

stri

ctly

forb

idde

n. ©

Cop

yrig

ht 2

003

AB

B

EM 2015-02-17 JEN 2015-03-04

2015-03-04

Page50

98TotalDRESS PACK

Latest revision:

Approved by, date:

BLOCK DIAGRAM - TYPE SLocation:Plant: =

++Sublocation:

SPS

Document no.Next

Rev. Ind

Lab/Office: Status:IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5ECO 70147, WI 7698Page 224-231: Adjusted, "Type Se" was "Type S"Page 316-321: Adjusted, "Type H" was "Type S"

71 843

12

2 5

APPROVED

6

3HAC026209-001

DMRO SEPRMP

Axis 6

Axis 1

Axis 5

Axis 2

Axis 4

Axis 3

BaseR1.WELDR1.CP/CS/CBUSR1.CP/CS

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

CA

NB

US

INTE

RFA

CE

XP/XS113

24V

DC

SU

PP

LY, W

ELD

ING

SIG

NA

LS

RS

232/

RS

485

BLOCK DIAGRAM TYPE S (pneumatic gun)IRBDP SW2/SW6Single cabinet controller, IRC5: See circuit diagram, 3HAC024480-004.Dashed cables: See circuit diagram SpotPack, 3HAC026208-001

R1.ETHERNET

R3.ETHERNETR3.WELDR3.CP/CSR3.CBUS

R2.ETHERNETR2.WELDR2.CP/CSR2.CBUS

BUS SIGNALS XP/XS9

Prepared by, date:+Se/52

We

rese

rve

all r

ight

s in

this

doc

umen

t and

in th

e in

form

atio

n co

ntai

ned

ther

ein.

Rep

rodu

ctio

n, u

se o

r di

sclo

sure

to th

ird p

artie

s w

ithou

t exp

ress

aut

horit

y is

stri

ctly

forb

idde

n. ©

Cop

yrig

ht 2

003

AB

B

EM 2015-02-17 JEN 2015-03-04

2015-03-04

Page51

98TotalDRESS PACK

Latest revision:

Approved by, date:

BLOCK DIAGRAM TYPE S - IRBDP SW5Location:Plant: =

++Sublocation:

SPS

Document no.Next

Rev. Ind

Lab/Office: Status:IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5ECO 70147, WI 7698Page 224-231: Adjusted, "Type Se" was "Type S"Page 316-321: Adjusted, "Type H" was "Type S"

3

APPROVED

123HAC026209-001

6 71 82 4 5

DMRO SEPRMP

REGION E

Axis 6

Axis 1

R3.CP/CSR3.WELD

Axis 5

Axis 2

Axis 4

R2.CP/CSAxis 3

Base

CONNECTION BOX

R1.WAR1.CBR1.CBR1.WELD

WATER ANDAIR UNIT

CUSTOMER POWERCUSTOMER SIGNAL

WELD POWER SWC.WELD

SWC.24VSWC.I/O

3HA

C02

9444

-001

C

AN

BU

S IN

TER

FAC

E

3HA

C02

9446

-001

2

4VD

C S

UP

PLY

, WE

LDIN

G S

IGN

ALS

SPOT WELDINGCABINET

SINGLE CABINETCONTROLLER

3HA

C02

9486

-001

R

S23

2/R

S48

5

BLOCK DIAGRAM TYPE S (pneumatic gun)IRBDP SW5Single cabinet controller, IRC5: See circuit diagram, 3HAC024480-004.Dashed cables: See circuit diagram SpotPack, 3HAC026208-001

Prepared by, date:53

We

rese

rve

all r

ight

s in

this

doc

umen

t and

in th

e in

form

atio

n co

ntai

ned

ther

ein.

Rep

rodu

ctio

n, u

se o

r di

sclo

sure

to th

ird p

artie

s w

ithou

t exp

ress

aut

horit

y is

stri

ctly

forb

idde

n. ©

Cop

yrig

ht 2

003

AB

B

EM 2015-02-17 JEN 2015-03-04

2015-03-04

Page52

98TotalDRESS PACK

Latest revision:

Approved by, date:

BLOCK DIAGRAM - TYPE SeLocation:Plant: =

++Sublocation:

SPSe

Document no.Next

Rev. Ind

Lab/Office: Status:IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5ECO 70147, WI 7698Page 224-231: Adjusted, "Type Se" was "Type S"Page 316-321: Adjusted, "Type H" was "Type S"

71 843

12

2 5

APPROVED

6

3HAC026209-001

DMRO SEPRMP

XP/XS113

24V

DC

SU

PP

LY, W

ELD

ING

SIG

NA

LS

RS

232/

RS

485

BLOCK DIAGRAM TYPE Se (servo gun)IRBDP SW2/SW6Single cabinet controller, IRC5: See circuit diagram, 3HAC024480-004.Dashed cables: See circuit diagram SpotPack, 3HAC026208-001

R1.ETHERNET BUS SIGNALS XP/XS9

Servo gun( axis 7 )

M

Axis 6

Axis 1

Axis 5

Axis 2

Axis 4

Axis 3

Base

R1.WELD

R1.CP/CS/CBUSR1.CP/CS

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

115/

230V

AC

R2.CP/CSR2.WELDR2.ETHERNETR2.CBUSR2.SPR3.FB

R3.CP/CSR3.WELDR3.ETHERNETR3.CBUSR3.SPR4.FB

R2.FB

CA

NB

US

INTE

RFA

CE

SPOT WELDINGCABINET

SINGLE CABINETCONTROLLER

Prepared by, date:+H/54

We

rese

rve

all r

ight

s in

this

doc

umen

t and

in th

e in

form

atio

n co

ntai

ned

ther

ein.

Rep

rodu

ctio

n, u

se o

r di

sclo

sure

to th

ird p

artie

s w

ithou

t exp

ress

aut

horit

y is

stri

ctly

forb

idde

n. ©

Cop

yrig

ht 2

003

AB

B

EM 2015-02-17 JEN 2015-03-04

2015-03-04

Page53

98TotalDRESS PACK

Latest revision:

Approved by, date:

BLOCK DIAGRAM TYPE Se - IRBDP SW5Location:Plant: =

++Sublocation:

SPSe

Document no.Next

Rev. Ind

Lab/Office: Status:IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5ECO 70147, WI 7698Page 224-231: Adjusted, "Type Se" was "Type S"Page 316-321: Adjusted, "Type H" was "Type S"

3

APPROVED

123HAC026209-001

6 71 82 4 5

DMRO SEPRMP

REGION E

3HA

C02

9446

-001

2

4VD

C S

UP

PLY

, WE

LDIN

G S

IGN

ALS

SPOT WELDINGCABINET

SINGLE CABINETCONTROLLER

3HA

C02

9486

-001

R

S23

2/R

S48

5

BLOCK DIAGRAM TYPE Se (servo gun)IRBDP SW5Single cabinet controller, IRC5: See circuit diagram, 3HAC024480-004.Dashed cables: See circuit diagram SpotPack, 3HAC026208-001

Servo gun( axis 7 )

M

R3.CP/CSR3.WELD

Axis 6

Axis 1

Axis 5

Axis 2

Axis 4

Axis 3

Base

R2.CP/CSR2.WELD

CONNECTION BOX

R1.SP

R1.WELD

R1.CBR1.CBR1.CB

WATER ANDAIR UNIT

SERVO GUN POWER

CUSTOMER POWERCUSTOMER SIGNAL

WELD POWER SWC.WELD

XP/XS7

SWC.24VSWC.I/O

3HA

C02

9444

-001

C

AN

BU

S IN

TER

FAC

E

Prepared by, date:+HS/55

We

rese

rve

all r

ight

s in

this

doc

umen

t and

in th

e in

form

atio

n co

ntai

ned

ther

ein.

Rep

rodu

ctio

n, u

se o

r di

sclo

sure

to th

ird p

artie

s w

ithou

t exp

ress

aut

horit

y is

stri

ctly

forb

idde

n. ©

Cop

yrig

ht 2

003

AB

B

EM 2015-02-17 JEN 2015-03-04

2015-03-04

Page54

98TotalDRESS PACK

Latest revision:

Approved by, date:

BLOCK DIAGRAM - TYPE HLocation:Plant: =

++Sublocation:

SPH

Document no.Next

Rev. Ind

Lab/Office: Status:IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5ECO 70147, WI 7698Page 224-231: Adjusted, "Type Se" was "Type S"Page 316-321: Adjusted, "Type H" was "Type S"

71 843

12

2 5

APPROVED

6

3HAC026209-001

DMRO SEPRMP

Axis 1

R3.CP/CS

Axis 5

Axis 6

Axis 2

Axis 4

R2.CP/CS

Axis 3

Base R1.CP/CS/CBUS ROBOT SIGNALS, 24VDC SUPPLY XP/XS13SINGLE CABINET

CONTROLLER

BLOCK DIAGRAM TYPE HIRBDP SW2Single cabinet controller, IRC5: See circuit diagram, 3HAC024480-004.

R1.ETHERNET BUS SIGNALS XP/XS9

R2.ETHERNET

R3.ETHERNET

Prepared by, date:+HSe/56

We

rese

rve

all r

ight

s in

this

doc

umen

t and

in th

e in

form

atio

n co

ntai

ned

ther

ein.

Rep

rodu

ctio

n, u

se o

r di

sclo

sure

to th

ird p

artie

s w

ithou

t exp

ress

aut

horit

y is

stri

ctly

forb

idde

n. ©

Cop

yrig

ht 2

003

AB

B

EM 2015-02-17 JEN 2015-03-04

2015-03-04

Page55

98TotalDRESS PACK

Latest revision:

Approved by, date:

BLOCK DIAGRAM - TYPE HSLocation:Plant: =

++Sublocation:

SPHS

Document no.Next

Rev. Ind

Lab/Office: Status:IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5ECO 70147, WI 7698Page 224-231: Adjusted, "Type Se" was "Type S"Page 316-321: Adjusted, "Type H" was "Type S"

71 843

12

2 5

APPROVED

6

3HAC026209-001

DMRO SEPRMP

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

115/

230V

AC

CA

NB

US

INTE

RFA

CE

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 SW2Single cabinet controller, IRC5: See circuit diagram, 3HAC024480-004.Dashed cables: See circuit diagram SpotPack, 3HAC026208-001

R1.ETHERNET BUS SIGNALS XP/XS9

PEDESTAL

GUN

Axis 1

R3.CP/CS

SG.WELDSG.CP/CS

Axis 5

Axis 6

Axis 2

Axis 4

R2.CP/CS

Axis 3

Base

R2.ETHERNET

R3.ETHERNET

WELD POWER

Prepared by, date:+CON/57

We

rese

rve

all r

ight

s in

this

doc

umen

t and

in th

e in

form

atio

n co

ntai

ned

ther

ein.

Rep

rodu

ctio

n, u

se o

r di

sclo

sure

to th

ird p

artie

s w

ithou

t exp

ress

aut

horit

y is

stri

ctly

forb

idde

n. ©

Cop

yrig

ht 2

003

AB

B

EM 2015-02-17 JEN 2015-03-04

2015-03-04

Page56

98TotalDRESS PACK

Latest revision:

Approved by, date:

BLOCK DIAGRAM - TYPE HSeLocation:Plant: =

++Sublocation:

SPHSe

Document no.Next

Rev. Ind

Lab/Office: Status:IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5ECO 70147, WI 7698Page 224-231: Adjusted, "Type Se" was "Type S"Page 316-321: Adjusted, "Type H" was "Type S"

71 843

12

2 5

APPROVED

6

3HAC026209-001

DMRO SEPRMP

Base

R2.CP/CSR2.WELD

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

Servo gunXP/XS13

XP/XS7

( axis 7 )

X104

115/

230V

AC

CA

NB

US

INTE

RFA

CE

SPOT WELDINGCABINET

SINGLE CABINETCONTROLLER

XP/XS113

24V

DC

SU

PP

LY, W

ELD

ING

SIG

NA

LS

RS

232/

RS

485

BLOCK DIAGRAM TYPE HSe (material handling and servo gun)IRBDP SW2Single cabinet controller, IRC5: See circuit diagram, 3HAC024480-004.Dashed cables: See circuit diagram SpotPack, 3HAC026208-001

PEDESTAL

R1.ETHERNET

GUN

BUS SIGNALS XP/XS9

FB.M7

R1.SP

Axis 1

Axis 5

Axis 6

SG.CP/CS

SG.WELD

R3.CP/CSR3.WELD

Axis 2

Axis 4

RESOLVER/SMB SIGNALS

Axis 3

R2.ETHERNETR2.ETHERNET

Prepared by, date:58

We

rese

rve

all r

ight

s in

this

doc

umen

t and

in th

e in

form

atio

n co

ntai

ned

ther

ein.

Rep

rodu

ctio

n, u

se o

r di

sclo

sure

to th

ird p

artie

s w

ithou

t exp

ress

aut

horit

y is

stri

ctly

forb

idde

n. ©

Cop

yrig

ht 2

003

AB

B

EM 2015-02-17 JEN 2015-03-04

2015-03-04

Page57

98TotalDRESS PACK

Latest revision:

Approved by, date:

CONNECTOR LAYOUTLocation:Plant: =

++Sublocation:

SPCON

Document no.Next

Rev. Ind

Lab/Office: Status:IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5ECO 70147, WI 7698Page 224-231: Adjusted, "Type Se" was "Type S"Page 316-321: Adjusted, "Type H" was "Type S"

71 843

12

2 5

APPROVED

6

3HAC026209-001

DMRO SEPRMP

HARTING HAN MODULE/

18

HARTING HAN MODULE/

d

18

25

1225

18

8

EE

1

25

7

625

8

51

6

1

BLOCK DIAGRAM TYPE S/ Se/ H/ HS/ HSe

4

Cb

1 18

HD

1

DD

HD

1

48

1

9

4

25

Female (R3.CP/CS)

Male (R1.CP/CS)

1

417

8

B

c

18 7

HD

12

7

12

A

1

D A

11

8

EE

6

a A

HD

5

DD

DD

Female (R2.CP/CS)

D

9

178

1

17

6

9

8

8

5

HD

25

EE

9 5

17

1

8

DD

C

17

9

Female (R3.CP/CS)only for IRB66X0ID

C

17

9

B

HD

18

B

7

12

1

EE

8

Prepared by, date:59

We

rese

rve

all r

ight

s in

this

doc

umen

t and

in th

e in

form

atio

n co

ntai

ned

ther

ein.

Rep

rodu

ctio

n, u

se o

r di

sclo

sure

to th

ird p

artie

s w

ithou

t exp

ress

aut

horit

y is

stri

ctly

forb

idde

n. ©

Cop

yrig

ht 2

003

AB

B

EM 2015-02-17 JEN 2015-03-04

2015-03-04

Page58

98TotalDRESS PACK

Latest revision:

Approved by, date:

CONNECTOR LAYOUTLocation:Plant: =

++Sublocation:

SPCON

Document no.Next

Rev. Ind

Lab/Office: Status:IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5ECO 70147, WI 7698Page 224-231: Adjusted, "Type Se" was "Type S"Page 316-321: Adjusted, "Type H" was "Type S"

71 843

12

2 5

APPROVED

6

3HAC026209-001

DMRO SEPRMP

A

3

2

Female 4pR1.ETHERNETR2.ETHERNET

Male 4pR2.ETHERNETR3.ETHERNET

A

Female 23p (R1.SP)

1

Female 8p (R2.FB7 & FB.M7)

4

1

4

Male 8p (R3.FB7)

AAA

BLOCK DIAGRAM TYPE Se/HSe

2

3

Female 19p (R3.CBUS) Female 32p (R3.CP/CS)

BLOCK DIAGRAM TYPE H/HS/HSe model (IRBDP MH3)

SOURIAU UTOWOR COMPATIBLE

SOURIAU UTOWOR COMPATIBLE

SOURIAU UTOWOR COMPATIBLE

SOURIAU UTOWOR COMPATIBLE

SOURIAU UTOWOR COMPATIBLE

Prepared by, date:=DP+S.AX3/100

We

rese

rve

all r

ight

s in

this

doc

umen

t and

in th

e in

form

atio

n co

ntai

ned

ther

ein.

Rep

rodu

ctio

n, u

se o

r di

sclo

sure

to th

ird p

artie

s w

ithou

t exp

ress

aut

horit

y is

stri

ctly

forb

idde

n. ©

Cop

yrig

ht 2

003

AB

B

EM 2015-02-17 JEN 2015-03-04

2015-03-04

Page59

98TotalDRESS PACK

Latest revision:

Approved by, date:

CONNECTOR LAYOUTLocation:Plant: =

++Sublocation:

SPCON

Document no.Next

Rev. Ind

Lab/Office: Status:IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5ECO 70147, WI 7698Page 224-231: Adjusted, "Type Se" was "Type S"Page 316-321: Adjusted, "Type H" was "Type S"

71 843

12

2 5

APPROVED

6

3HAC026209-001

DMRO SEPRMP

AA A

A A A

M23M23

Male 17p (R3.FB7) Female 17p (R3.FB7 & R4.FB7)

Female 8p R2.SPR3.SP

Male 8p R2.SPR3.SP

Female 10p (R3.CBUS)Male 10p (R2.CBUS)Female 10p (R2.CBUS)

Female 26p (R3.CPS)Female 26p (R2.CP/CS) Male 26p (R2.CPS)

BLOCK DIAGRAM TYPE H, S, Se (Unique on SW6, MH6)

SOURIAU UTOWOR COMPATIBLE

SOURIAU UTOWOR COMPATIBLE

SOURIAU UTOWOR COMPATIBLE

SOURIAU UTOWOR COMPATIBLE

SOURIAU UTOWOR COMPATIBLE

SOURIAU UTOWOR COMPATIBLE

SOURIAU UTOWOR COMPATIBLE

SOURIAU UTOWOR COMPATIBLE

Prepared by, date:101

We

rese

rve

all r

ight

s in

this

doc

umen

t and

in th

e in

form

atio

n co

ntai

ned

ther

ein.

Rep

rodu

ctio

n, u

se o

r di

sclo

sure

to th

ird p

artie

s w

ithou

t exp

ress

aut

horit

y is

stri

ctly

forb

idde

n. ©

Cop

yrig

ht 2

003

AB

B

EM 2015-02-17 JEN 2015-03-04

2015-03-04

Page100

98TotalTYPE S

Latest revision:

Approved by, date:

CUSTOMER SIGNALS, PARALLELLocation:Plant: =

++Sublocation:

DPSAX3

Document no.Next

Rev. Ind

Lab/Office: Status:IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5ECO 70147, WI 7698Page 224-231: Adjusted, "Type Se" was "Type S"Page 316-321: Adjusted, "Type H" was "Type S"

12APPROVED

3HAC026209-001

1 2 74 53 6 8

DMRO SEPRMP

TYPE SCUSTOMER SIGNALSPARALLELCOMMUNICATIONVALID FORHARNESS IN CABINET3HAC022852-001 (Dual)3HAC024371-001 (Single)FLOOR HARNESS3HAC022957-001,002,003,006

ORANGE LINELOWER ARM HARNESS3HAC022478-001UPPER ARM HARNESS3HAC023170-001,002

SILVER LINELOWER ARM HARNESS3HAC022135-0013HAC022136-001UPPER ARM HARNESS3HAC022474-0013HAC022474-0023HAC022474-003

FOR IRB66x0IDCONNECTION BETWEENR2.CP/CS AND R3.CP/CSSEE PAGE IRB66x0IDLOWER ARM HARNESS3HAC022478-001UPPER ARM HARNESS3HAC025532-001

* Circuitdiagram shows marking on wires for both dual and single cabinet

BK

670

BN

671

RD

672

OG

673

YE

677

GN

678

4

GY

WH/GN

5

WH

GN

6

WH/BK

7

WH/BN

WH/BN

BN

GN/YE

WH/RD

WH/BU

WH/BK

WH/OG

BU

BK

GY

WH/OG

WH

WH/BN

OG

DUAL

BN

679

WH/RD

SINGLE

680

RD

GN/YE

681

WH/OG

-

682

OG

-

-

693

WH/YE

694

YE

-

*

695

WH/GNGN

*

696697

WH/BUBU

WH/GN

698

685

GN

WH/VT

686

VT

WH/BN

GN/YE

WH/GY

BN

101/

3

GY

WH/BU

WH/BK

BU

BK

WH/OG

OG

WH/OGOG

Note 1.1 on Page 700

101/

6

Note 1.3 on Page 700

Note 1.5 on Page 701

101/

7

12

34

GN/YE

WH

-AXIS 3 -AXIS 6-MANIPULATOR BASE-ROBOTCABINET

-XS13

D1 d1-R2CP/CS

D6 d6

D3 d3

D4 d4

B1 b1

B2 b2

B3 b3

B4 b4

B5 b5

B6 b6

B7 b7

B8 b8

B9 b9

B10 b10

B11 b11

B12 b12

B13 b13

B14 b14

B15 b15

B16 b16

B18 b18

B19 b19

B20 b20

B21 b21

C16 c16

C17 c17

C4-R3.CP/CS

C5 c5

C6 c6

C7 c7

B18

B19

B20

B21

B22

B23

B24

B25

B16

B17

B1

B2

B3

B4

B5

B6

B7

B8

B9

B10

B11

B12

D1 d1-R1.CP/CS

D6 d6

D3 d3

D4 d4

B1 B1

B2 b2

B3 b3

B4 b4

B5 b5

B6 b6

B7 b7

B8 b8

B9 b9

B10 b10

B11 b11

B12 b12

B13 b13

B14 b14

B15 b15

B16 b16

B18 b18

B19 b19

B20 b20

B21 b21

C16 c16

C17 c17

1 1-XP5.1

2 2

9 9-XP5.1

10 10

11 11

12 12

3 3

4 4

5 5

6 6

1 1-XP5.2

2 2

3 3

4 4

5 5-XP5.2

6

1 1-XP5.3

2 2

3 3

4 4

5 5

6 6

1 1-XP6

3 3

4 4

2 2

A1 a1

A2 a2

A3 a3

A4 a4

B1 b1

B2 b2

B3 b3

B4 b4

B5 b5

B6 b6

B7 b7

B8 b8

B9 b9

B10 b10

B11 b11

B12 b12

B13 b13

B14 b14

B15 b15

B16 b16

B18 b18

B19 b19

B20 b20

B21 b21

C16 c16

C17 c17

BU

WH/GNGN

WH/BNBN

WH/BUBU

WH/OGOG

WHOGWH

4

GN

5

WH

6

BN

7

WH

GN/YE

GY

WH/OG

RD

OG

BU

WH/BK

RDOG

BK

WH/BNBN

WH/RDRD

101/

4

WH/OGOG

WH/YE

101/

5

YE

WH/GNGNWH/BUBU

WH/VTVTWH/GYGYWH/BKBK

101/

8

24V0V

24V0V

KSRKSR

PE

BKBNRDOGYEGNBUVT

Prepared by, date:102

We

rese

rve

all r

ight

s in

this

doc

umen

t and

in th

e in

form

atio

n co

ntai

ned

ther

ein.

Rep

rodu

ctio

n, u

se o

r di

sclo

sure

to th

ird p

artie

s w

ithou

t exp

ress

aut

horit

y is

stri

ctly

forb

idde

n. ©

Cop

yrig

ht 2

003

AB

B

EM 2015-02-17 JEN 2015-03-04

2015-03-04

Page101

98TotalTYPE S

Latest revision:

Approved by, date:

CUSTOMER SIGNALS, PARALLELLocation:Plant: =

++Sublocation:

DPSAX3

Document no.Next

Rev. Ind

Lab/Office: Status:IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5ECO 70147, WI 7698Page 224-231: Adjusted, "Type Se" was "Type S"Page 316-321: Adjusted, "Type H" was "Type S"

12APPROVED

3HAC026209-001

1 2 74 53 6 8

DMRO SEPRMP

TYPE SCUSTOMER SIGNALSPARALLELCOMMUNICATIONVALID FORHARNESS IN CABINET3HAC022852-001 (Dual)3HAC024371-001 (Single)FLOOR HARNESS3HAC022957-001,002,003,006

ORANGE LINELOWER ARM HARNESS3HAC022478-001UPPER ARM HARNESS3HAC023170-001,002

SILVER LINELOWER ARM HARNESS3HAC022135-0013HAC022136-001UPPER ARM HARNESS3HAC022474-0013HAC022474-0023HAC022474-003

FOR IRB66x0IDCONNECTION BETWEENR2.CP/CS AND R3.CP/CSSEE PAGE IRB66x0IDLOWER ARM HARNESS3HAC022478-001UPPER ARM HARNESS3HAC025532-001

* Circuitdiagram shows markingon wires for both dual andsingle cabinet

687

683

688

684

689690691692

699700666667668669

100/

3

RD

GN

RD

BN

RDGYBKBU

100/

4

100/

5

WH/YEYEWH

B25 b25

-AXIS 3 -AXIS 6-MANIPULATOR BASE-ROBOTCABINET-XS13

C18 c18-R2.CP/CS

C19 c19

C20 c20

C21 c21

B22 b22

B23 b23

B24 b24

B25 b25

B13-R3.CP/CS

B14

B15

C8

B22 b22

B23 b23

B24 b24

c18 c18-R1.CP/CS

C19 c19

C20 c20

C21 c21

A1

A2

A3

A4

7 7-XP5.1

8 8-XP5.1

9 9-XP5.2

10 10

11 11

12 12

7 7-XP5.2

8 8-XP5.2

7 7-XP5.3

8 8

9 9

10 10

11 11

12 12

B22 b22

B23 b23

B24 b24

B25 b25

C10

C11

C12

C13

C14

C15

C18 c18

C19 c19

C20 c20

C21 c21

GN

WH/BN

BN

WH/RD

RD

100/

6

100/

7

WH/RD

YEWH/GNGN

WH/BN

BN

RD

WH/YE

100/

8

WH/BK

BU

WH/BN

VT

WH/RDWH/OGWH/YEWH/GN

WH/YEWH/GNWH/BUWH/VTWH/GY

*DUAL

*SINGLE

BN/BK

Note 1.6 on Page 701

Prepared by, date:103

We

rese

rve

all r

ight

s in

this

doc

umen

t and

in th

e in

form

atio

n co

ntai

ned

ther

ein.

Rep

rodu

ctio

n, u

se o

r di

sclo

sure

to th

ird p

artie

s w

ithou

t exp

ress

aut

horit

y is

stri

ctly

forb

idde

n. ©

Cop

yrig

ht 2

003

AB

B

EM 2015-02-17 JEN 2015-03-04

2015-03-04

Page102

98TotalTYPE S

Latest revision:

Approved by, date:

CUSTOMER SIGNALS, CANBUSLocation:Plant: =

++Sublocation:

DPSAX3

Document no.Next

Rev. Ind

Lab/Office: Status:IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5ECO 70147, WI 7698Page 224-231: Adjusted, "Type Se" was "Type S"Page 316-321: Adjusted, "Type H" was "Type S"

12APPROVED

3HAC026209-001

1 2 74 53 6 8

DMRO SEPRMP

TYPE SCUSTOMER SIGNALSCANBUSCOMMUNICATIONVALID FORHARNESS IN CABINET3HAC022852-001 (Dual)3HAC024371-001 (Single)3HAC022866-001FLOOR HARNESS3HAC022978-001,002,003,006

ORANGE LINELOWER ARM HARNESS3HAC022480-001UPPER ARM HARNESS3HAC023172-001,002

SILVER LINELOWER ARM HARNESS3HAC022470-0013HAC022471-001UPPER ARM HARNESS3HAC022476-0013HAC022476-0023HAC022476-003

FOR IRB66x0IDCONNECTION BETWEENR2.CP/CS AND R3.CP/CSSEE PAGE IRB66x0IDLOWER ARM HARNESS3HAC022480-001UPPER ARM HARNESS3HAC025532-001

* Circuitdiagram shows marking on wires for both dual and single cabinet

WH/YE

670

YE

671

672

673

677678

WH/GN

103/

8

GN

WH/BN

24V

BN

0V

WH/BU

24V

BU

0V

WH/OG

KSR

OG

KSR

GN/YE PE

103/

3

BNBK

RDOGYEGNBU

BK

GN/YE

VT

WH

BN BU

WH/GN

*

GN

DUAL*

WH/BN

SINGLE

BN

WH/BU

-

BU

WH/OG

-

OG

-

-

GN/YE

WH/GN

12

GN

WH/BN

3

BN

4

WH/BU

BU

WH/OG

OG

103/

4

Note 1.1 on Page 700

Note 1.3 on Page 700

103/

5

-AXIS 3 -AXIS 6-MANIPULATOR BASE-ROBOTCABINET-XS13

D1 d1-R2.CP/CS

D6 d6

D3 d3

D4 d4

B1 b1

B2 b2

B3 b3

B4 b4

B5 b5

B6 b6

B7 b7

B8 b8

B9 b9

B10 b10

C4-R3.CP/CS

C5

C6

C7

B18

B19

B20

B21

B22

B23

B24

B25

B16

B17

D1 d1-R1.CP/CS

D6 d6

D3 d3

D4 d4

B1 b1

B2 b2

B3 b3

B4 b4

B5 b5

B6 b6

B7 b7

B8 b8

B9 b9

B10 b10

1 1-XP5.1

9 9-XP5.1

1 1-XP5.2

1 1-XP6

2 2

3 3

4 4

2 2

10 10

11 11

12 12

2 2

3 3

4 4

A1 a1

A2 a2

A3 a3

A4 a4

B1 b1

B2 b2

B3 b3

B4 b4

B5 b5

B6 b6

B7 b7

B8 b8

B9 b9

B10 b10

WH/BKBK

WH/BNBN

WH/RDRD

WH/OGOG

WH/YEYE

45

67

GN/YE

103/

6

103/

7

GN/YE

45

67

WH/BKBK

WH/BNBN

WH/RDRD

WH/OGOG

Prepared by, date:104

We

rese

rve

all r

ight

s in

this

doc

umen

t and

in th

e in

form

atio

n co

ntai

ned

ther

ein.

Rep

rodu

ctio

n, u

se o

r di

sclo

sure

to th

ird p

artie

s w

ithou

t exp

ress

aut

horit

y is

stri

ctly

forb

idde

n. ©

Cop

yrig

ht 2

003

AB

B

EM 2015-02-17 JEN 2015-03-04

2015-03-04

Page103

98TotalTYPE S

Latest revision:

Approved by, date:

CUSTOMER SIGNALS, CANBUSLocation:Plant: =

++Sublocation:

DPSAX3

Document no.Next

Rev. Ind

Lab/Office: Status:IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5ECO 70147, WI 7698Page 224-231: Adjusted, "Type Se" was "Type S"Page 316-321: Adjusted, "Type H" was "Type S"

12APPROVED

3HAC026209-001

1 2 74 53 6 8

DMRO SEPRMP

TYPE SCUSTOMER SIGNALSCANBUSCOMMUNICATIONVALID FORHARNESS IN CABINET3HAC022852-001 (Dual)3HAC024371-001 (Single)3HAC022866-001FLOOR HARNESS3HAC022978-001,002,003,006

ORANGE LINELOWER ARM HARNESS3HAC022480-001UPPER ARM HARNESS3HAC023172-001,002

SILVER LINELOWER ARM HARNESS3HAC022470-0013HAC022471-001UPPER ARM HARNESS3HAC022476-0013HAC022476-0023HAC022476-003

FOR IRB66x0IDCONNECTION BETWEENR2.CP/CS AND R3.CP/CSSEE PAGE IRB66x0IDLOWER ARM HARNESS3HAC022480-001UPPER ARM HARNESS3HAC025532-001

* Circuitdiagram shows markingon wires for both dual andsingle cabinet

8

RD

1

BK

2

691

3

692

4

689

YE

690

YEWH

VT

BU

VT699

GN

700

GN666

GN

667

GN668

102/

8

669

679680681

+24V CAN

682

0V CAN

693

CAN_H

694

CAN_L

695

RD

696

OG

697

YE

698

GN

685

GY

686

WH

687

WH/BK

683

WH/BN

688

WH/RD

684

WH/OG

GYWH

WH/GN

102/

3

GN

WH/BK

BU

WH/BU

WH/BN

BU

VT

WH/VTVT

RD

WH/GY

BK

WH/YE

GYWH/BK

WH/GN

BK

WH/RDWH/OG

WH/OGOG

WH

WH/BN

BU

BN

WH/YE

WH/RD

WH/GN

WH/BU

RD

WH/BK

WH/VT

BK

WH/GY

WH/BN

*DUAL

BN

*

5

SINGLE

6

7

BN/BK

8

12

34

YEYE

VTVT

GN

-AXIS 3 -AXIS 6-MANIPULATOR BASE-ROBOTCABINET-XS13

B11 b11-R2.CP/CS

B12 b12

B13 b13

B14 b14

B15 b15

B16 b16

B18 b18

B19 b19

B20 b20

B21 b21

C18 c18

C19 c19

C20 c20

C21 c21

C16 c16

C17 c17

B22 b22

B23 b23

B24 b24

B25 b25

A3 a3

A4 a4

A5 a5

A6 a6

A9 a9

A10 a10

A11 a11

A12 a12

B1-R3.CP/CS

B2

B3

B4

B5

B6

B7

B8

B9

B10

B11

B12

B13

B14

B15

C8

A7

A8

A9

A10

A5

A6

A11

A12

B11 b11-R1.CP/CS

B12 b12

B13 b13

B14 b14

B15 b15

B16 b16

B18 b18

B19 b19

B20 b20

B21 b21

C16 c16

C17 c17

C18 c18

C19 c19

C20 c20

C21 c21

B22 b22

B23 b23

B24 b24

B25 b25

A3 a3

A4 a4

A5 a5

A6 a6

A9 a9

A10 a10

A11 a11

A12 a12

A1

A2

A3

A4

5 5-A35.X2

1 1

4 4-A35.X2

2 2

3 3

3 3-XP5.1

4 4

5 5

6 6

7 7-XP5.1

8 8-XP5.1

11 11-XP5.2

12 12

9 9

10 10

5 5-XP5.2

8 8-XP5.2

7 7-XP5.3

8 8

9 9

10 10

11 11

12 12

1 1-XP5.3

6 6

6 6

7 7

2 2

3 3

4 4

5 5

B11 b11

B12 b12

B13 b13

B14 b14

B15 b15

B16 b16

B18 b18

B19 b19

B20 b20

B21 b21

C16 c16

C17 c17

C18 c18

C19 c19

C20 c20

C21 c21

F1 F1

F2 F2

B24 B24

B25 B25

B22

B23

F3 F3

F4 F4

C10 c10

C11 c11

C12 c12

C13 c13

C14 c14

C15 c15

GN

GNGN

102/

6

102/

7

WHOGWHGN

WHBNWHGYRDBU

RD

OGRD

GN

RD

BN

RDBK

BKBU

WHBU

BKOG

BKGN

BKBN

WH/GNGN

102/

4

WH/BUBU

WH/VTVTWH/GYGYWH/BK

102/

5

BK

WH/OGOG

WH/BN

BN

WH/RD

RD

WH/BKBK

WH/BNBN

56

7

Prepared by, date:105

We

rese

rve

all r

ight

s in

this

doc

umen

t and

in th

e in

form

atio

n co

ntai

ned

ther

ein.

Rep

rodu

ctio

n, u

se o

r di

sclo

sure

to th

ird p

artie

s w

ithou

t exp

ress

aut

horit

y is

stri

ctly

forb

idde

n. ©

Cop

yrig

ht 2

003

AB

B

EM 2015-02-17 JEN 2015-03-04

2015-03-04

Page104

98TotalTYPE S

Latest revision:

Approved by, date:

CUSTOMER SIGNALS, ETHERNETLocation:Plant: =

++Sublocation:

DPSAX3

Document no.Next

Rev. Ind

Lab/Office: Status:IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5ECO 70147, WI 7698Page 224-231: Adjusted, "Type Se" was "Type S"Page 316-321: Adjusted, "Type H" was "Type S"

12APPROVED

3HAC026209-001

1 2 74 53 6 8

DMRO SEPRMP

TYPE SCUSTOMER SIGNALSETHERNETCOMMUNICATIONVALID FOR HARNESS IN CABINET3HAC022852-001 (Dual)3HAC024371-001 (Single)3HAC022867-001FLOOR HARNESS3HAC023024-001,002,003,006

ORANGE LINELOWER ARM HARNESS3HAC034334-001UPPER ARM HARNESS3HAC023170-001,002

FOR IRB66X0IDCONNECTION BETWEENR2.CP/CS AND R3.CP/CSSEE PAGE IRB66X00IDLOWER ARM HARNESS3HAC034334-001

* Circuit diagram shows marking on wires for both dual and single cabinet

BN

670

WH/RD

671

RD

672

WH/OG

673

OG

677

WH/YE

678

YE

WH/GN

GN

WH/BN

BN

WH/BU

BU

105/

8

WH/OG

OG

GN/YE

24V

105/

3

0V

24V0V

KSRKSR

PEGN/YE

BNBK

RD

1

OG

2

YE 3GN

4

GN/YE

BUVT

WH/GNGN

-

WH/BN

-

-

BN

-

WH/BU

BK

BU

BN

WH/OGOG

BU

*

WH

DUAL

BU

*SINGLE

WH/GN

GN

WH/BN

105/

4

BN

WH/BU

105/

5

BUBU

WH/OG

OG

Note 1.1 on Page 700

Note 1.3 on Page 700

YE

WH

OG

BU

YE

WH

OG

BU

YE

WH

-XS9

OG

-AXIS 3 -AXIS 6-MANIPULATOR BASE-ROBOTCABINET

-XS13

D1 d1-R2.CP/CS

D6 d6

D3 d3

D4 d4

B1 b1

B2 b2

B3 b3

B4 b4

B5 b5

B6 b6

B7 b7

B8 b8

B9 b9

B10 b10

C4-R3.CP/CS

C5

C6

C7

B18

B19

B20

B21

B22

B23

B24

B25

B16

B17

D1 d1-R1.CP/CS

D6 d6

D3 d3

D4 d4

B1 b1

B2 b2

B3 b3

B4 b4

B5 b5

B6 b6

B7 b7

B8 b8

B9 b9

B10 b10

1 1-R1.ETHERNET

2 2

3 3

4 4

1 1-R2.ETHERNET

2 2

3 3

4 4

1-R3.ETHERNET

2

3

4

1 1-XP5.1

2 2

9 9-XP5.1

10 10

11 11

12 12

1 1-XP5.2

3 3

4 4

1 1-XP6

2 2

3 3

4 4

2 2

1 1

2 2

3 3

4 4

A1 a1

A2 a2

A3 a3

A4 a4

B1 b1

B2 b2

B3 b3

B4

b4B5

b5B6

b6B7

b7B8

b8B9

b9B10

b10

BU

GN/YE

45

67

WH/BKBK

WH/BNBN

WH/RDRD

WH/OGOG

WH/YEYE

105/

6

105/

7

45

67

GN/YE

WH/BKBK

WH/BN

Prepared by, date:106

We

rese

rve

all r

ight

s in

this

doc

umen

t and

in th

e in

form

atio

n co

ntai

ned

ther

ein.

Rep

rodu

ctio

n, u

se o

r di

sclo

sure

to th

ird p

artie

s w

ithou

t exp

ress

aut

horit

y is

stri

ctly

forb

idde

n. ©

Cop

yrig

ht 2

003

AB

B

EM 2015-02-17 JEN 2015-03-04

2015-03-04

Page105

98TotalTYPE S

Latest revision:

Approved by, date:

CUSTOMER SIGNALS, ETHERNETLocation:Plant: =

++Sublocation:

DPSAX3

Document no.Next

Rev. Ind

Lab/Office: Status:IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5ECO 70147, WI 7698Page 224-231: Adjusted, "Type Se" was "Type S"Page 316-321: Adjusted, "Type H" was "Type S"

12APPROVED

3HAC026209-001

1 2 74 53 6 8

DMRO SEPRMP

TYPE SCUSTOMER SIGNALSETHERNETCOMMUNICATIONVALID FOR HARNESS IN CABINET3HAC022852-001 (Dual)3HAC024371-001 (Single)3HAC022867-001FLOOR HARNESS3HAC023024-001,002,003,006

ORANGE LINELOWER ARM HARNESS3HAC034334-001UPPER ARM HARNESS3HAC023170-001,002

FOR IRB66X0IDCONNECTION BETWEENR2.CP/CS AND R3.CP/CSSEE PAGE IRB66X00IDLOWER ARM HARNESS3HAC034334-001

* Circuit diagram shows marking on wires for both dual and single cabinet

679

680681

104/

8

682

693694695696697

689

698

RD

685

686

OGYE

687

GN

683

GY

688

WH

684

WH/BKWH/BNWH/RD

690

WH/OG

691

GY

692

WH

666

WH/BK

667668

BU

669

WH/BN

WH/GN

699

VT

GN

700

WH/BUBU

WH/RD

WH/VT

WH/OG

VT

WH/YE

WH/GY

WH/GN

GYWH/BK

WH/BUWH/VT

BK

WH/OG

WH/GY

OG

WH/YE

104/

3

WH/BN

WH/GN

BN

WH/RD

RD

WH/YE

691

*DUAL *SINGLE

BN/BK

C12

B13 b13

-AXIS 3 -AXIS 6-MANIPULATOR BASE-ROBOTCABINET-XS13

B11 b11-R2.CP/CS

B12 b12

B13 b13

B14 b14

B15 b15

B16 b16

B18 b18

B19 b19

B20 b20

B21 b21

C18 c18

C19 c19

C20 c20

C21 c21

C16 c16

C17 c17

B22 b22

B23 b23

B24 b24

B25 b25

B1-R3.CP/CS

B2

B3

B4

B5

B6

B7

B8

B9

B10

B11

B12

B13

B14

B15

C8

A1

A2

A3

A4

B11 b11-R1.CP/CS

B12 b12

B14 b14

B15 b15

B16 b16

B18 b18

B19 b19

B20 b20

B21 b21

C16 c16

C17 c17

C18 c18

C19 c19

C20 c20

C21 c21

B22 b22

B23 b23

B24 b24

B25 b25

3 3-XP5.1

4 4

5 5

6 6

7 7-XP5.1

8 8-XP5.1

5 5-XP5.2

8 8-XP5.2

10 10

12 12

9 9-XP5.2

1 1-XP5.3

2 2

3 3

4 4

9 9-XP5.3

10 10

11 11

12 12

7 7

8 8

6 6

7 7

11 11

5 5

6 6

B11 b11

B12 b12

B13 b13

B14 b14

B15 b15

B16 b16

B18 b18

B19 b19

B20 b20

B21 b21

C16 c16

C17 c17

C18 c18

C19 c19

C20 c20

C21 c21

B23 b23

B24 b24

B25 b25

C13

C14

C15

C10

C11

B22 b22

104/

6

104/

7

RD

WHOGWHGN

WHBNWHGYRDBU

RD

OG

RD

GN

RD

WH/GN

BN

GN

GY

WH/BUBU

BK

WH/VT

BU

VTWH/GYGYWH/BKBK

104/

4

WH/OG

OGWH/BN

104/

5

BN

WH/RD

RD

WH/YE

YE YEWH/GN WH/GNGN GN

Prepared by, date:107

We

rese

rve

all r

ight

s in

this

doc

umen

t and

in th

e in

form

atio

n co

ntai

ned

ther

ein.

Rep

rodu

ctio

n, u

se o

r di

sclo

sure

to th

ird p

artie

s w

ithou

t exp

ress

aut

horit

y is

stri

ctly

forb

idde

n. ©

Cop

yrig

ht 2

003

AB

B

EM 2015-02-17 JEN 2015-03-04

2015-03-04

Page106

98TotalTYPE S

Latest revision:

Approved by, date:

CUSTOMER SIGNALS, PROFIBUSLocation:Plant: =

++Sublocation:

DPSAX3

Document no.Next

Rev. Ind

Lab/Office: Status:IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5ECO 70147, WI 7698Page 224-231: Adjusted, "Type Se" was "Type S"Page 316-321: Adjusted, "Type H" was "Type S"

12APPROVED

3HAC026209-001

1 2 74 53 6 8

DMRO SEPRMP

TYPE SCUSTOMER SIGNALSPROFIBUSCOMMUNICATIONVALID FORHARNESS IN CABINET3HAC022852-001 (Dual)3HAC024371-001 (Single)3HAC022868-001FLOOR HARNESS3HAC022988-001,002,003,006

ORANGE LINELOWER ARM HARNESS3HAC022480-001UPPER ARM HARNESS3HAC023172-001,002

SILVER LINELOWER ARM HARNESS3HAC022470-0013HAC022471-001UPPER ARM HARNESS3HAC022476-0013HAC022476-0023HAC022476-003

FOR IRB66x0IDCONNECTION BETWEENR2.CP/CS AND R3.CP/CSSEE PAGE IRB66x0IDLOWER ARM HARNESS3HAC022480-001UPPER ARM HARNESS3HAC025532-001

* Circuitdiagram shows markingon wires for both dual andsingle cabinet

WH/YE

670

YE

671

672

673

677678

WH/GN

908/

8

GN

WH/BN

KSR

BN

KSR

WH/BU

24V

BU

0V

WH/OG

24V

OG

0V

PEGN/YE

107/

3

BKBNRDOGYEGNBUVTGN/YE GN/YE

WH/GN

BK

GN

BN

WH/BN

*

BN

DUAL*

WH/BU

SINGLE

BU

-

WH/OG

-

OG

1

-

-

2

34

WH/GN

GN

WH

WH/BN

BU

BN

WH/BU

BU

WH/OG

OG

107/

4

Note 1.1 on Page 700

Note 1.3 on Page 700

107/

5

-AXIS 3 -AXIS 6-MANIPULATOR BASE-ROBOTCABINET

-XS13

D1 d1-R2.CP/CS

D6 d6

D3 d3

D4 d4

B1 b1

B2 b2

B3 b3

B4 b4

B5 b5

B6 b6

B7 b7

B8 b8

B9 b9

B10 b10

C4-R3.CP/CS

C5

C6

C7

B18

B19

B20

B21

B22

B23

B24

B25

B16

B17

D1 d1-R1.CP/CS

D6 D6

D3 D3

D4 D4

B1 B1

B2 B2

B3 B3

B4 B4

B5 B5

B6 B6

B7 B7

B8 B8

B9 B9

B10 B10

1 1-XP5.1

2 2

9 9-XP5.1

10 10

11 11

12 12

1 1-XP5.2

2 2

3 3

4 4

1 1-XP6

2 2

3 3

4 4

A1 a1

A2 a2

A3 a3

A4 a4

B1 b1

B2 b2

B3 b2

B4 b4

B5 b5

B6 b6

B7 b7

B8 b8

B9 b9

B10 b10

12

34

GN/YE

WH/BKBK

WH/BNBN

WH/RDRD

WH/OGOG

WH/YEYE

107/

6

107/

7

45

67

GN/YE

WH/BKBK

WH/BNBN

WH/RDRD

WH/OGOG

Prepared by, date:+.(-)/108

We

rese

rve

all r

ight

s in

this

doc

umen

t and

in th

e in

form

atio

n co

ntai

ned

ther

ein.

Rep

rodu

ctio

n, u

se o

r di

sclo

sure

to th

ird p

artie

s w

ithou

t exp

ress

aut

horit

y is

stri

ctly

forb

idde

n. ©

Cop

yrig

ht 2

003

AB

B

EM 2015-02-17 JEN 2015-03-04

2015-03-04

Page107

98TotalTYPE S

Latest revision:

Approved by, date:

CUSTOMER SIGNALS, PROFIBUSLocation:Plant: =

++Sublocation:

DPSAX3

Document no.Next

Rev. Ind

Lab/Office: Status:IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5ECO 70147, WI 7698Page 224-231: Adjusted, "Type Se" was "Type S"Page 316-321: Adjusted, "Type H" was "Type S"

12APPROVED

3HAC026209-001

1 2 74 53 6 8

DMRO SEPRMP

TYPE SCUSTOMER SIGNALSPROFIBUSCOMMUNICATIONVALID FORHARNESS IN CABINET3HAC022852-001 (Dual)3HAC024371-001 (Single)3HAC022868-001FLOOR HARNESS3HAC022988-001,002,003,006

ORANGE LINELOWER ARM HARNESS3HAC022480-001UPPER ARM HARNESS3HAC023172-001,002

SILVER LINELOWER ARM HARNESS3HAC022470-0013HAC022471-001UPPER ARM HARNESS3HAC022476-0013HAC022476-0023HAC022476-003

FOR IRB66x0IDCONNECTION BETWEENR2.CP/CS AND R3.CP/CSSEE PAGE IRB66x0IDLOWER ARM HARNESS3HAC022480-001UPPER ARM HARNESS3HAC025532-001

* Circuitdiagram shows markingon wires for both dual andsingle cabinet

78

12

689

3

690

4

691

YE

692

YE699

VT

700

VTRD

GN

GN

GN666

GN

667

GN668

106/

8

669

RXD/TXD-P

679

RXD/TXD-N

680681

RD

682

OG

693694

YE

695

GN

696

GY

697

WH

698

WH/BK

685

WH/BN

686

WH/RD

687

WH/OG

683

GY

BU

688

684

WH/BK

WH/GN

WH/BN

106/

3

GN

WH

WH/BU

VT

WH/RD

BU

WH/OG

WH/VTVT

WH/YE

WH/GY

WH/GN

WH/YE

GY

WH/GN

WH/BK

RD

BK

WH/OG

GN

OG

WH/BU

WH/BN

WH/VT

WH/GY

BN

WH/RD

*

RD

DUAL

WH/BK

*

BK

SINGLE

WH/BNBN

BN/BK

56

78

12

34

YEYE

VTVT

GN

-AXIS 3 -AXIS 6-MANIPULATOR BASE-ROBOTCABINET

B25 b25

-XS13

B11 b11-R2.CP/CS

B12 b12

B13 b13

B14 b14

B15 b15

B16 b16

B18 b18

B19 b19

B20 b20

B21 b21

C18 c18

C19 c19

C20 c20

C21 c21

C16 c16

C17 c17

B22 b22

B23 b23

B24 b24

B25 b25

A3 a3

A4 a4

A5 a5

A6 a6

A9 a9

A10 a10

A11 a11

A12 a12

B1-R3.CP/CS

B2

B3

B4

B5

B6

B7

B8

B9

B10

B11

B12

B13

B14

B15

C8

A1

A2

A3

A4

A7

A8

A9

A10

A5

A6

A11

A12

B11 c11-R1.CP/CS

B12 b12

B13 b13

B14 b14

B15 b15

B16 b16

B18 b18

B19 b19

B20 b20

B21 b21

C16 c16

C17 c17

C18 c18

C19 c19

C20 c20

C21 c21

B22 b22

B23 b23

B24 b24

A3 a3

A4 a4

A5 a5

A6 a6

A9 a9

A10 a10

A11 a11

A12 a12

1B 1B-DP-M

1A 1A

3 3-XP5.1

4 4

5 5

6 6

7 7-XP5.1

8 8-XP5.1

5 5-XP5.2

6 6

7 7

8 8-XP5.2

9 9-XP5.2

10 10

11 11

12 12

1 1-XP5.3

2 2

3 3

4 4

5 5

6 6

7 7-XP5.3

8 8

9 9-XP5.3

10 10

11 11

12 12

B11 B11

B12 B12

B13 B13

B14 B14

B15 B15

B16 B16

B18 B18

B19 B19

B20 B20

B21 B21

C16 C16

C17 C17

C18 C18

C19 C19

C20 C20

C21 C21

B22 b22

B23 b23

B24 b24

B25 b25

C10 c10

C11 c11

F5 f5

F6 f6

C12 c12

C13 c13

C14 c14

C15 c15

GN

GNGN

106/

6

106/

7

WHOGWHGN

WHBNWHGYRDBU

RD

OGRD

GN

RD

BN

RDGYBKBU

BKOG

RDGN

BKGN

BKBN

106/

4

WH/GNGNWH/BUBU

WH/VT

106/

5

VTWH/GYGYWH/BKBK

WH/OG

OGWH/BN

BN

WH/RD

RD

WH/BKBKWH/BNBN

56

Prepared by, date:109

We

rese

rve

all r

ight

s in

this

doc

umen

t and

in th

e in

form

atio

n co

ntai

ned

ther

ein.

Rep

rodu

ctio

n, u

se o

r di

sclo

sure

to th

ird p

artie

s w

ithou

t exp

ress

aut

horit

y is

stri

ctly

forb

idde

n. ©

Cop

yrig

ht 2

003

AB

B

EM 2015-02-17 JEN 2015-03-04

2015-03-04

Page108

98TotalTYPE S

Latest revision:

Approved by, date:

CUSTOMER SIGNALS, PARALLELLocation:Plant: =

++Sublocation:

DPS(-)

Document no.Next

Rev. Ind

Lab/Office: Status:IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5ECO 70147, WI 7698Page 224-231: Adjusted, "Type Se" was "Type S"Page 316-321: Adjusted, "Type H" was "Type S"

12APPROVED

3HAC026209-001

1 2 74 53 6 8

DMRO SEPRMP

TYPE SCUSTOMER SIGNALSPARALLELCOMMUNICATIONVALID FORHARNESS IN CABINET3HAC022852-001 (Dual)3HAC024371-001 (Single)FLOOR HARNESS3HAC022957-001,002,003,006

ORANGE LINELOWER/UPPER ARM HARNESS3HAC22486-001,002

* Circuitdiagram shows marking on wires for both dual and single cabinet

670

671

672

673

677678

4

WH/GN

5

GN

6

WH/BN

7

BN

GN/YE

WH/BU

WH/BK

BU

BK

WH/OG

WH/BN

OG

BN

679

WH/RD

680

RD

681

WH/OG

682

OG

693

WH/YE

694

YE

695

WH/GN

696

GN

697

WH/BU

698

BU

685

WH/VT

686

VT

GN/YE

WH/GY

109/

3

GYWH/BKBK

109/

8

24V

0V

24V

0V

KSR

KSR

PE

BKBNRDOGYEGNBUVTGN/YE

BKBN

RD

1

OGYE

2

GN

3

GY

4

WH

GN/YE

WH/BK

WH

WH/BN

-AXIS 6-MANIPULATOR BASE-ROBOTCABINET

-XS13

C4-R3.CP/CS

C5

C6

C7

B18

B19

B20

B21

B22

B23

B24

B25

B16

B17

B1

B2

B3

B4

B5

B6

B7

B8

B9

B10

B11

B12

D1 d1-R1.CP/CS

D6 d6

D3 d3

D4 d4

B1 b1

B2 b2

B3 b3

B4 b4

B5 b5

B6 b6

B7 b7

B8 b8

B9 b9

B10 b10

B11 b11

B12 b12

B13 b13

B14 b14

B15 b15

B16 b16

B18 b18

B19 b19

B20 b20

B21 b21

C16 c16

C17 c17

1 1-XP5.1

2 2

9 9-XP5.1

10 10

11 11

12 12

3 3

4 4

5 5

6 6

1 1-XP5.2

2 2

3 3

4 4

5 5-XP5.2

6 6

1 1-XP5.3

2 2

3 3

4 4

5 5

6 6

1 1-XP6

3 3

4 4

2 2

A1 a1

A2 a2

A3 a3

A4 a4

B1 b1

B2 b2

B3 b3

B4 b4

B5 b5

B6 b6

B7 b7

B8 b8

B9 b9

B10 b10

B11 b11

B12 b12

B13 b13

B14 b14

B15 b15

B16 b16

B18 b18

B19 b19

B20 b20

B21 b21

C16 c16

C17 c17

BU

WH/RD

WH/GN

WH/OG

GN

GY

WH/BN

WH

BN

*

WH/BU

DUAL

BU

*

WH/OG

SINGLE

OG

WH

-

OG

-

WH

-

GN

-

WH

WH/GN

BN

GN

WH

WH/BN

GY

BN

RD

WH/BU

BU

BU

RD

WH/OG

OG

OG

WH/OG

109/

4

OG

Note 1.2 on Page 700

Note 1.4 on Page 700

109/

5 Note 1.7 on Page 701

Prepared by, date:110

We

rese

rve

all r

ight

s in

this

doc

umen

t and

in th

e in

form

atio

n co

ntai

ned

ther

ein.

Rep

rodu

ctio

n, u

se o

r di

sclo

sure

to th

ird p

artie

s w

ithou

t exp

ress

aut

horit

y is

stri

ctly

forb

idde

n. ©

Cop

yrig

ht 2

003

AB

B

EM 2015-02-17 JEN 2015-03-04

2015-03-04

Page109

98TotalTYPE S

Latest revision:

Approved by, date:

CUSTOMER SIGNALS, PARALLELLocation:Plant: =

++Sublocation:

DPS(-)

Document no.Next

Rev. Ind

Lab/Office: Status:IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5ECO 70147, WI 7698Page 224-231: Adjusted, "Type Se" was "Type S"Page 316-321: Adjusted, "Type H" was "Type S"

12APPROVED

3HAC026209-001

1 2 74 53 6 8

DMRO SEPRMP

TYPE SCUSTOMER SIGNALSPARALLELCOMMUNICATIONVALID FORHARNESS IN CABINET3HAC022852-001 (Dual)3HAC024371-001 (Single)FLOOR HARNESS3HAC022957-001,002,003,006

ORANGE LINELOWER/UPPER ARM HARNESS3HAC22486-001,002

* Circuitdiagram shows markingon wires for both dual andsingle cabinet

687

683

688

684

689690691692

699700666667668669

108/

3

RD

GN

RD

BN

RDGYBKBU

108/

4

108/

5

WH/BN

BN

WH/RD

C18 c18-R1.CP/CS

-AXIS 6-MANIPULATOR BASE-ROBOTCABINET-XS13

B13-R3CP/CS

B14

B15

C8

B22 b22

B23 b23

B24 b24

B25 b25

C19 c19

C20 c20

C21 c21

A1

A2

A3

A4

7 7-XP5.1

8 8-XP5.1

9 9-XP5.2

10 10

11 11

12 12

7 7-XP5.2

8 8-XP5.2

7 7-XP5.3

8 8

9 9

10 10

11 11

12 12

B22 b22

B23 b23

B24 b24

B25 b5

C10

C11

C12

C13

C14

C15

C18 c18

C19 c19

C20 c20

C21 c21 RD

WH/YEYEWHGN

108/

8

WH/BK

BU

WH/BN

VT

WH/RDWH/OGWH/YEWH/GN

WH/YEWH/GNWH/BUWH/VTWH/GY

*DUAL

*SINGLE

BN/BK

Note 1.8 on Page 701

Prepared by, date:111

We

rese

rve

all r

ight

s in

this

doc

umen

t and

in th

e in

form

atio

n co

ntai

ned

ther

ein.

Rep

rodu

ctio

n, u

se o

r di

sclo

sure

to th

ird p

artie

s w

ithou

t exp

ress

aut

horit

y is

stri

ctly

forb

idde

n. ©

Cop

yrig

ht 2

003

AB

B

EM 2015-02-17 JEN 2015-03-04

2015-03-04

Page110

98TotalTYPE S

Latest revision:

Approved by, date:

CUSTOMER SIGNALS, CANBUSLocation:Plant: =

++Sublocation:

DPS(-)

Document no.Next

Rev. Ind

Lab/Office: Status:IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5ECO 70147, WI 7698Page 224-231: Adjusted, "Type Se" was "Type S"Page 316-321: Adjusted, "Type H" was "Type S"

12APPROVED

3HAC026209-001

1 2 74 53 6 8

DMRO SEPRMP

TYPE SCUSTOMER SIGNALSCANBUSCOMMUNICATIONVALID FORHARNESS IN CABINET3HAC022852-001 (Dual)3HAC024371-001 (Single)3HAC022866-001FLOOR HARNESS3HAC022978-001,002,003,006

ORANGE LINELOWER/UPPER ARM HARNESS3HAC022488-001,002

* Circuitdiagram shows marking on wires for both dual and single cabinet

Note 1.4 on Page 700

670

671

672

673

677678

WH/GN

GN

WH/BN

BN

WH/BU

BU

WH/OG

OG

GN/YE

111/

3

WHBU

WH/GNGN

WH/BNBN

WH/BUBU

WH/OGOG

GN/YE

12

34

111/

4

111/

5

-AXIS 6-MANIPULATOR BASE-ROBOTCABINET-XS13

C4-R3.CP/CS

C5

C6

C7

B18

B19

B20

B21

B22

B23

B24

B25

B16

B17

D1 d1-R1.CP/CS

D6 d6

D3 d3

D4 d4

B1 b1

B2 b2

B3 b3

B4 b4

B5 b5

B6 b6

B7 b7

B8 b8

B9 b9

B10 b10

1 1-XP5.1

9 9-XP5.1

1 1-XP5.2

1 1-XP6

2 2

3 3

4 4

2 2

10 10

11 11

12 12

2 2

3 3

4 4

A1 a1

A2 a2

A3 a3

A4 a4

B1 b1

B2 b2

B3 b3

B4 b4

B5 b5

B6 b6

B7 b7

B8 b8

B9 b9

B10 b10

WH/BKBK

WH/BNBN

WH/RDRD

WH/OGOG

WH/YEYE

45

67

GN/YE

111/

8

24V0V

24V0V

KSRKSR

PE

BKBNRDOGYEGNBUVTGN/YE

BKBN

*DUAL

*SINGLE

-

-

-

-

WH/GN

GN

WH/BN

BN

WH/BU

BU

WH/OG

OG

Note 1.2 on Page 700

Prepared by, date:114

We

rese

rve

all r

ight

s in

this

doc

umen

t and

in th

e in

form

atio

n co

ntai

ned

ther

ein.

Rep

rodu

ctio

n, u

se o

r di

sclo

sure

to th

ird p

artie

s w

ithou

t exp

ress

aut

horit

y is

stri

ctly

forb

idde

n. ©

Cop

yrig

ht 2

003

AB

B

EM 2015-02-17 JEN 2015-03-04

2015-03-04

Page111

98TotalTYPE S

Latest revision:

Approved by, date:

CUSTOMER SIGNALS, CANBUSLocation:Plant: =

++Sublocation:

DPS(-)

Document no.Next

Rev. Ind

Lab/Office: Status:IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5ECO 70147, WI 7698Page 224-231: Adjusted, "Type Se" was "Type S"Page 316-321: Adjusted, "Type H" was "Type S"

12APPROVED

3HAC026209-001

1 2 74 53 6 8

DMRO SEPRMP

TYPE SCUSTOMER SIGNALSCANBUSCOMMUNICATIONVALID FORHARNESS IN CABINET3HAC022852-001 (Dual)3HAC024371-001 (Single)3HAC022866-001FLOOR HARNESS3HAC022978-001,002,003,006

ORANGE LINELOWER/UPPER ARM HARNESS3HAC022488-001,002

* Circuitdiagram shows markingon wires for both dual andsingle cabinet

679680681682

693694695696697698

685686687

683

688

684

RDBK

691692689690

WHBU

699700

666667

668669

WH/GN110/

3

GNWH/BUBU

WH/VTVTWH/GYGYWH/BKBK

WH/OGOGWH/BN

BN

WH/RD

RD

WH/BKBK

WH/BNBN

56

78

12

34

YEYE

VTVT

GN

-AXIS 6-MANIPULATOR BASE-ROBOTCABINET

-XS13

B1-R3.CP/CS

B2

B3

B4

B5

B6

B7

B8

B9

B10

B11

B12

B13

B14

B15

C8

A7

A8

A9

A10

A5

A6

A11

A12

B11 b11-R1.CP/CS

B12 b12

B13 b13

B14 b14

B15 b15

B16 b16

B18 b18

B19 b19

B20 b20

B21 b21

C16 c16

C17 c17

C18 c18

C19 c19

C20 c20

C21 c21

B22 b22

B23 b23

B24 b24

B25 b25

A3 a3

A4 a4

A5 a5

A6 a6

A9 a9

A10 a10

A11 a11

A12 a12

A1

A2

A3

A4

5 5-A35.X2

1 1

4 4-A35.X2

2 2

3 3

3 3-XP5.1

4 4

5 5

6 6

7 7-XP5.1

8 8-XP5.1

11 11-XP5.2

12 12

9 9

10 10

5 5-XP5.2

8 8-XP5.2

7 7-XP5.3

8 8

9 9

10 10

11 11

12 12

1 1-XP5.3

6 6

6 6

7 7

2 2

3 3

4 4

5 5

B11 b11

B12 b12

B13 b13

B14 b14

B15 b15

B16 b16

B18 b18

B19 b19

B20 b20

B21 b21

C16 c16

C17 c17

C18 c18

C19 c19

C20 c20

C21 c21

F1 f1

F2 f2

B24 b24

B25 b25

B22

B23

F3 f3

F4 f4

C10 c10

C11 c11

C12 c12

C13 c13

C14 c14

C15 c15

GN

GNGN

110/

8

+24V CAN

0V CAN

CAN_H

CAN_L

YE

WHRDOGOGWH

GN GN

GYWH

WH

WH/BKBN

WH/BNWH

WH/RDGY

WH/OGRD

GY

BU

RDWH OGWH/BK RD

BU GN

WH/BN RD

VT BN

RD RDBK BK

WH/YE BKWH/GNWH/RD

BU

WH/OG

WHWHBUBU

BKWH/YEOGWH/GN

BKGN

WH/BU

BK

WH/VT

WH/GYBN

*DUAL

110/

4*SINGLE

BN/BK

110/

5

Prepared by, date:115

We

rese

rve

all r

ight

s in

this

doc

umen

t and

in th

e in

form

atio

n co

ntai

ned

ther

ein.

Rep

rodu

ctio

n, u

se o

r di

sclo

sure

to th

ird p

artie

s w

ithou

t exp

ress

aut

horit

y is

stri

ctly

forb

idde

n. ©

Cop

yrig

ht 2

003

AB

B

EM 2015-02-17 JEN 2015-03-04

2015-03-04

Page114

98TotalTYPE S

Latest revision:

Approved by, date:

CUSTOMER SIGNALS, PROFIBUSLocation:Plant: =

++Sublocation:

DPS(-)

Document no.Next

Rev. Ind

Lab/Office: Status:IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5ECO 70147, WI 7698Page 224-231: Adjusted, "Type Se" was "Type S"Page 316-321: Adjusted, "Type H" was "Type S"

12APPROVED

3HAC026209-001

1 2 74 53 6 8

DMRO SEPRMP

TYPE SCUSTOMER SIGNALSPROFIBUSCOMMUNICATIONVALID FORHARNESS IN CABINET3HAC022852-001 (Dual)3HAC024371-001 (Single)3HAC022868-001FLOOR HARNESS3HAC022988-001,002,003,006

ORANGE LINELOWER/UPPER ARM HARNESS3HAC022488-001,002

* Circuitdiagram shows markingon wires for both dual andsingle cabinet

Note 1.4 on Page 700

670

671

672

673

677678

WH/GN

GN

WH/BN

BN

WH/BU

BU

WH/OG

OG

GN/YE

115/

3

GN/YE

12

34

WH/GNGN

WH/BNBN

WH/BUBU

WH/OGOG

WHBU

115/

4

115/

5

-AXIS 6-MANIPULATOR BASE-ROBOTCABINET

-XS13

C4-R3.CP/CS

C5

C6

C7

B18

B19

B20

B21

B22

B23

B24

B25

B16

B17

D1 d1-R1.CP/CS

D6 d6

D3 d3

D4 d4

B1 b1

B2 b2

B3 b3

B4 b4

B5 b5

B6 b6

B7 b7

B8 b8

B9 b9

B10 b10

1 1-XP5.1

2 2

9 9-XP5.1

10 10

11 11

12 12

1 1-XP5.2

2 2

3 3

4 4

1 1-XP6

2 2

3 3

4 4

A1 a1

A2 a2

A3 a3

A4 a4

B1 b1

B2 b2

B3 b3

B4 b4

B5 b5

B6 b6

B7 b7

B8 b8

B9 b9

B10 b10

45

67

GN/YE

WH/BKBK

WH/BNBN

WH/RDRD

WH/OGOG

WH/YEYE

115/

8

KSRKSR

24V0V

24V0V

PE

BKBNRDOGYEGNBUVTGN/YE

BKBN

*DUAL

*SINGLE

-

-

-

-

WH/GN

GN

WH/BN

BN

WH/BU

BU

WH/OG

OG

Note 1.2 on Page 700

Prepared by, date:+.AX3/116

We

rese

rve

all r

ight

s in

this

doc

umen

t and

in th

e in

form

atio

n co

ntai

ned

ther

ein.

Rep

rodu

ctio

n, u

se o

r di

sclo

sure

to th

ird p

artie

s w

ithou

t exp

ress

aut

horit

y is

stri

ctly

forb

idde

n. ©

Cop

yrig

ht 2

003

AB

B

EM 2015-02-17 JEN 2015-03-04

2015-03-04

Page115

98TotalTYPE S

Latest revision:

Approved by, date:

CUSTOMER SIGNALS, PARALLELLocation:Plant: =

++Sublocation:

DPS(-)

Document no.Next

Rev. Ind

Lab/Office: Status:IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5ECO 70147, WI 7698Page 224-231: Adjusted, "Type Se" was "Type S"Page 316-321: Adjusted, "Type H" was "Type S"

12APPROVED

3HAC026209-001

1 2 74 53 6 8

DMRO SEPRMP

TYPE SCUSTOMER SIGNALSPROFIBUSCOMMUNICATIONVALID FORHARNESS IN CABINET3HAC022852-001 (Dual)3HAC024371-001 (Single)3HAC022868-001FLOOR HARNESS3HAC022988-001,002,003,006

ORANGE LINELOWER/UPPER ARM HARNESS3HAC022488-001,002

* Circuitdiagram shows markingon wires for both dual andsingle cabinet

679680681682

693694695696697698

685

686687

683

688

684

689690691692

699700

RDGN

666667

668669

WH/GN

114/

3

GNWH/BUBU

WH/VTVTWH/GYGYWH/BKBK

WH/OG

OGWH/BN

BN

WH/RD

RD

WH/BKBKWH/BNBN

56

78

12

34

YEYE

VTVT

GN

-AXIS 6-MANIPULATOR BASE-ROBOTCABINET-XS13

B1-R3.CP/CS

B2

B3

B4

B5

B6

B7

B8

B9

B10

B11

B12

B13

B14

B15

C8

A1

A2

A3

A4

A7

A8

A9

A10

A5

A6

A11

A12

B11 b11R1.CP/CS

B12 b12

B13 b13

B14 b14

B15 b15

B16 b16

B18 b18

B19 b19

B20 b20

B21 b21

C16 c16

C17 c17

C18 c18

C19 c19

C20 c20

C21 c21

B22 b22

B23 b23

B24 b24

B25 b25

A3 a3

A4 a4

A5 a5

A6 a6

A9 a9

A10 a10

A11 a11

A12 a12

1B 1B-DP-M

1A 1A

3 3-XP5.1

4 4

5 5

6 6

7 7-XP5.1

8 8-XP5.1

5 5-XP5.2

6 6

7 7

8 8-XP5.2

9 9-XP5.2

10 10

11 11

12 12

1 1-XP5.3

2 2

3 3

4 4

5 5

6 6

7 7-XP5.3

8 8

9 9-XP5.3

10 10

11 11

12 12

B11 b11

B12 b12

B13 b13

B14 b14

B15 b15

B16 b16

B18 b18

B19 b19

B20 b20

B21 b21

C16 c16

C17 c17

C18 c18

C19 c19

C20 c20

C21 c21

B22 b22

B23 b23

B24 b24

B25 b25

C10 c10

C11 c11

F5 f5

F6 f6

C12 c12

C13 c13

C14 c14

C15 c15

GN

GNGN

114/

8

RXD/TXD-P

RXD/TXD-N

RDOGYEGN

WH

GY

OG

WH

WH

WH/BK

GN

WH/BN

WH

WH/RDWH/OG

BN

GY

WH

WH

GY

WH/BK

RD

WH/BN

BU

VT

RD

OG

BU

RD

WH/RD

GN

WH/OG

RD

WH/YE

BN

WH/GN

WH/YE

RD

WH/GN

GY

RD

BK

GN

BU

WH/BU

BKOG

WH/VT

WH/GY

RD

DUAL

GN

*

BKGN

SINGLE

BK

*

BNBN/BK

114/

4

114/

5

Prepared by, date:117

We

rese

rve

all r

ight

s in

this

doc

umen

t and

in th

e in

form

atio

n co

ntai

ned

ther

ein.

Rep

rodu

ctio

n, u

se o

r di

sclo

sure

to th

ird p

artie

s w

ithou

t exp

ress

aut

horit

y is

stri

ctly

forb

idde

n. ©

Cop

yrig

ht 2

003

AB

B

EM 2015-02-17 JEN 2015-03-04

2015-03-04

Page116

98TotalTYPE S

Latest revision:

Approved by, date:

CUSTOMER SIGNALS, PARALLEL Location:Plant: =

++Sublocation:

DPSAX3

Document no.Next

Rev. Ind

Lab/Office: Status:IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5ECO 70147, WI 7698Page 224-231: Adjusted, "Type Se" was "Type S"Page 316-321: Adjusted, "Type H" was "Type S"

12APPROVED

3HAC026209-001

1 2 74 53 6 8

DMRO SEPRMP

TYPE SCUSTOMER SIGNALSPARALLELCOMMUNICATIONVALID FORHARNESS IN CABINET3HAC022852-001 (Dual)3HAC024371-001 (Single)FLOOR HARNESS3HAC022957-001,002,003,006

SW6LOWER ARM HARNESS3HAC042381-001UPPER ARM HARNESS3HAC042384-001

* Circuitdiagram shows marking on wires for both dual and single cabinet

N.C.=Not Connected

BK

670

BN

671

RD

672

OG

673

YE

677

GN

4

GY

678

WH/GN

WH

5

GN

6

WH/BK

WH/BN

7

WH/BN

BN

GN/YE

WH/RD

WH/BU

WH/BK

WH/OG

BU

BK

BU

WH/OG

WH/BN

WH/BK

OG

BN

DUAL SINGLE

679

WH/RD

GN/YE

RD

680681

WH/OG

-

682

-

OG

693

-

WH/YE

694

YE

-

695

*

WH/GN

696

*

GN

697

WH/BU

698

WH/GN

BU

683

GN

WH/VT

686

WH/BN

VT

GN/YE

BN

WH/GY

101/

3WH/BU

GY

BU

WH/BK

WH/OG

BK

OG

WH/OG

OG

Note 1.1 on Page 700

101/

6

Note 1.3 on Page 700

Note 1.5 on Page 701

101/

7

12

34

GN/YE

WH

G G G G

-ROBOTCABINET

1 1-XP6

2 2

3 3

4 4

1 1-XP5.1

2 2

1 1-XP5.2

2 2

3 3

4 4

9 9-XP5.1

10 10

11 11

12 12

3 3

4 4

5 5

6 6

1 1-XP5.3

2 2

3 3

4 4

5 5

6 6

7 7-XP5.1

7 7-XP5.2

-XS13

A1 a1

A2 a2

A3 a3

A4 a4

B1 b1

B2 b2

B3 b3

B4 b4

B5 b5

B6 b6

B7 b7

B8 b8

B9 b9

B10 b10

B11 b11

B12 b12

B13 b13

B14 b14

B15 b15

B16 b16

B18 b18

B19 b19

B20 b20

B21 b21

C19 c19

C18 c18

-MANIPULATOR BASE

D1 d1-R1.CP/CS

D6 d6

D3 d3

D4 d4

B1 B1

B2 b2

B3 b3

B4 b4

B5 b5

B6 b6

B7 b7

B8 b8

B9 b9

B10 b10

B11 b11

B12 b12

B13 b13

B14 b14

B15 b15

B16 b16

B18 b18

B19 b19

B20 b20

B21 b21

C19 c19

C18 N.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

c c

N.C. N.C.

-AXIS 6

E E-R3.CP/CS

F F

V V

W W

A

B

C

D

H

J

K

L

M

N

P

R

S

T

U

X

Y

Z

a

b

c

N.C.

BU

WH/GNGN

WH/BNBN

WH/BUBU

WH/OGOG

WHOGWHGN

4

WH

5

BN

6

WH

7

GY

GN/YE

RD

WH/OG

BU

OG

GN

WH/BK

RD

BK

WH/BNBN

WH/RDRD

WH/OG

101/

4

OG

WH/YE

101/

5

YE

WH/GNGNWH/BUBU

WH/VTVTWH/GYGYWH/BKBK

101/

8

24V

0V

24V

0V

CS6/KSR

CS8/KSR

CS15

CS16

CS17

CS18

CS19

CS20

PE

CS21

CS12

CS1

CS2

CS3

CS4

CS5

CS6

CS9

CS10

CS11

CS13

CS14

BKBNRDOGYEGNBUVT

Prepared by, date:118

We

rese

rve

all r

ight

s in

this

doc

umen

t and

in th

e in

form

atio

n co

ntai

ned

ther

ein.

Rep

rodu

ctio

n, u

se o

r di

sclo

sure

to th

ird p

artie

s w

ithou

t exp

ress

aut

horit

y is

stri

ctly

forb

idde

n. ©

Cop

yrig

ht 2

003

AB

B

EM 2015-02-17 JEN 2015-03-04

2015-03-04

Page117

98TotalTYPE S

Latest revision:

Approved by, date:

CUSTOMER SIGNALS, PARALLEL Location:Plant: =

++Sublocation:

DPSAX3

Document no.Next

Rev. Ind

Lab/Office: Status:IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5ECO 70147, WI 7698Page 224-231: Adjusted, "Type Se" was "Type S"Page 316-321: Adjusted, "Type H" was "Type S"

12APPROVED

3HAC026209-001

1 2 74 53 6 8

DMRO SEPRMP

TYPE SCUSTOMER SIGNALSPARALLELCOMMUNICATIONVALID FORHARNESS IN CABINET3HAC022852-001 (Dual)3HAC024371-001 (Single)FLOOR HARNESS3HAC022957-001,002,003,006

SW6LOWER ARM HARNESS3HAC042381-001UPPER ARM HARNESS3HAC042384-001

* Circuitdiagram shows markingon wires for both dual andsingle cabinet

N.C.=Not Connected

685

686

688

684

689690691692

699700666667668669

100/

3

RD

OG

RD

BN

RDGYBKBU

100/

4

100/

5

WH/YEYEWH

9 9

-ROBOTCABINET

9 9-XP5.2

10 10

11 11

12 12

7 7-XP5.3

8 8

-MANIPULATOR BASE

10 10

11 11

12 12

5 5-XP5.2

6 6

8 8

8 8-XP5.1

-XS13

B22 b22

B23 b23

B24 b24

B25 b25

C10

C11

C12

C13

C14

C15

C16 c16

C17 c17

C20 c20

C21 c21

B22 N.C.

B23 N.C.

B24 N.C.

B25 N.C.

c16 N.C.-R1.CP/CS

C17 N.C.

C20 N.C.

C21 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.

GN

WH/BN

BN

WH/RD

RD

100/

6

100/

7

WH/RD

YEWH/GNGN

WH/BN

BN

RD

WH/YE

100/

8

GY

WH

WH/BN

VT

WH/RDWH/OGWH/YEWH/GN

WH/YEWH/GNWH/BUWH/VTWH/GY

*DUAL

*SINGLE

BN/BK

Note 1.6 on Page 701

Prepared by, date:119

We

rese

rve

all r

ight

s in

this

doc

umen

t and

in th

e in

form

atio

n co

ntai

ned

ther

ein.

Rep

rodu

ctio

n, u

se o

r di

sclo

sure

to th

ird p

artie

s w

ithou

t exp

ress

aut

horit

y is

stri

ctly

forb

idde

n. ©

Cop

yrig

ht 2

003

AB

B

EM 2015-02-17 JEN 2015-03-04

2015-03-04

Page118

98TotalTYPE S

Latest revision:

Approved by, date:

CUSTOMER SIGNALS, CANBUS Location:Plant: =

++Sublocation:

DPSAX3

Document no.Next

Rev. Ind

Lab/Office: Status:IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5ECO 70147, WI 7698Page 224-231: Adjusted, "Type Se" was "Type S"Page 316-321: Adjusted, "Type H" was "Type S"

12APPROVED

3HAC026209-001

1 2 74 53 6 8

DMRO SEPRMP

TYPE SCUSTOMER SIGNALSPARALLELCOMMUNICATIONVALID FORHARNESS IN CABINET3HAC022852-001 (Dual)3HAC024371-001 (Single)FLOOR HARNESS3HAC022957-001,002,003,006

SW6LOWER ARM HARNESS3HAC042382-001UPPER ARM HARNESS3HAC042385-001

* Circuitdiagram shows marking on wires for both dual and single cabinet

N.C.=Not Connected

BK

670

BN

671

RD

672

OG

673

YE

677

GN

678

4

GY

WH/GN

5

WH

GN

6

WH/BK

WH/BN

7

WH/BN

BN

WH/RD

GN/YE

WH/BU

WH/OG

WH/BK

BU

BK

BU

WH/OG

WH/BK

WH/BN

OG

DUAL

BN

SINGLE

WH/RD

679

GN/YE

RD

680

WH/OG

-

681

-

OG

682

-

693

WH/YEYE

694

-

WH/GN

695

*

696

GN

*

697

WH/BU

698

BU

WH/GN

683

WH/VT

GN

WH/BN

VT

686

BN

GN/YE

WH/GY

WH/BU

101/

3

GY

BU

WH/BKBK

WH/OG

OG

WH/OG

OG

Note 1.1 on Page 700

101/

6

Note 1.3 on Page 700

101/

7

Note 1.5 on Page 701

12

34

GN/YE

WH

G G G G

3 3

4 4

5 5

6 6

1 1-XP5.3

2 2

3 3

4 4

5 5

6 6

7 7-XP5.1

7 7-XP5.2

B11 b11

B12 b12

B13 b13

B14 b14

B15 b15

B16 b16

B18 b18

B19 b19

B20 b20

B21 b21

C19 c19

C18 c18

B11 b11

B12 b12

B13 b13

B14 b14

B15 b15

B16 b16

B18 b18

B19 b19

B20 b20

B21 b21

C19 c19

C18 N.C.

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.

P

R

S

T

U

X

Y

Z

a

b

c

N.C.

-ROBOTCABINET

1 1-XP6

2 2

3 3

4 4

1 1-XP5.1

2 2

1 1-XP5.2

2 2

3 3

4 4

9 9-XP5.1

10 10

11 11

12 12

-XS13

A1 a1

A2 a2

A3 a3

A4 a4

B1 b1

B2 b2

B3 b3

B4 b4

B5 b5

B6 b6

B7 b7

B8 b8

B9 b9

B10 b10

-MANIPULATOR BASE

D1 d1-R1.CP/CS

D6 d6

D3 d3

D4 d4

B1 B1

B2 b2

B3 b3

B4 b4

B5 b5

B6 b6

B7 b7

B8 b8

B9 b9

B10 b10

-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

-AXIS 6

E E-R3.CP/CS

F F

V V

W W

A

B

C

D

H

J

K

L

M

N

BU

WH/GNGN

WH/BNBN

WH/BUBU

WH/OGOG

WHOGWH

4

GN

WH

5

6

BNWH

7

GN/YE

GYRD

WH/OG

BU

OG

WH/BK

GN

BK

RD

WH/BNBN

WH/RDRD

101/

4

WH/OGOG

WH/YEYE

101/

5

WH/GNGNWH/BUBU

WH/VTVTWH/GYGYWH/BKBK

101/

8

24V

0V

24V

0V

CS6/KSR

CS8/KSR

CS10

CS9

CS19

CS20

CS21

CS12

PE

CS5

CS13

CS14

CS11

CS1

CS2

CS3

CS4

CS6

CS15

CS16

CS17

CS18

BKBNRDOGYEGNBUVT

Prepared by, date:120

We

rese

rve

all r

ight

s in

this

doc

umen

t and

in th

e in

form

atio

n co

ntai

ned

ther

ein.

Rep

rodu

ctio

n, u

se o

r di

sclo

sure

to th

ird p

artie

s w

ithou

t exp

ress

aut

horit

y is

stri

ctly

forb

idde

n. ©

Cop

yrig

ht 2

003

AB

B

EM 2015-02-17 JEN 2015-03-04

2015-03-04

Page119

98TotalTYPE S

Latest revision:

Approved by, date:

CUSTOMER SIGNALS, CANBUS Location:Plant: =

++Sublocation:

DPSAX3

Document no.Next

Rev. Ind

Lab/Office: Status:IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5ECO 70147, WI 7698Page 224-231: Adjusted, "Type Se" was "Type S"Page 316-321: Adjusted, "Type H" was "Type S"

12APPROVED

3HAC026209-001

1 2 74 53 6 8

DMRO SEPRMP

TYPE SCUSTOMER SIGNALSPARALLELCOMMUNICATIONVALID FORHARNESS IN CABINET3HAC022852-001 (Dual)3HAC024371-001 (Single)FLOOR HARNESS3HAC022957-001,002,003,006

SW6LOWER ARM HARNESS3HAC042382-001UPPER ARM HARNESS3HAC042385-001

* Circuitdiagram shows markingon wires for both dual andsingle cabinet

N.C.=Not Connected

8

RD

685

1

BK

2

686

3

688

691

684

692

4

689

689

YEYE

690

690

VT

WH

691

BU

692

VT

699

699

GN

700

700

GN

666

666

GN

667

667

GN668

668669

669

100/

3

+24V BUS

0V BUS

C-BUS

C-BUS

P-BUS

P-BUS

RD

OG

RD

RD

BN

BK

RD

WH/YE

GY

WH/GN

BK

WH/RD

BU

100/

4

WH/OG

WHBU

100/

5

WH/YEWH/GN

WH/BUWH/VT

WH/BKBK

WH/GY

WH/BNBN

56

7

BN/BK

8

12

34

YEYE

WH/YE

VT

YE

VT

GN

9 9-XP5.2

10 10

11 11

12 12

5 5-XP5.2

6 6

8 8

8 8-XP5.1

B22 b22

B23 b23

B24 b24

B25 b25

C16 c16

C17 c17

C20 c20

C21 c21

B22 N.C.

B23 N.C.

B24 N.C.

B25 N.C.

c16 N.C.-R1.CP/CS

C17 N.C.

C20 N.C.

C21 N.C.

WH

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.

N.C.-R3.CP/CS

N.C.

N.C.

N.C.

-ROBOTCABINET

7 7-XP5.3

8 8

9 9

10 10

11 11

12 12

-XS13

C10

C11

C12

C13

C14

C15

-MANIPULATOR BASE -AXIS 3 -AXIS 6

5 5-A35.X2

1 1

11 11-XP5.2

12 12

9 9

10 10

4 4-A35.X2

2 2

3 3

7 7-XP5.3

8 8

9 9

10 10

11 11

12 12

F1 F1

F2 F2

B24 B24

B25 B25

B22

B23

F3 F3

F4 F4

C10 c10

C11 c11

C12 c12

C13 c13

C14 c14

C15 c15

B22 b22

B23 b23

B24 b24

B25 b25

A3 a3

A4 a4

A5 a5

A6 a6

A9 N.C.

A10 N.C.

A11 N.C.

A12 N.C.

C C-R2.CBUS

D D

N.C. N.C.

N.C. N.C.

A A

B B

E E

J J

N.C. N.C.

N.C. N.C.

N.C. N.C.

N.C. N.C.

C-R3.CBUS

D

N.C.

N.C.

A

B

E

J

N.C.

N.C.

N.C.

N.C.

GN

GN

WH/BN

GNGN

BN

WH/RD

RD

100/

6

100/

7

WH/RD

YEWH/GNGN

WH/BN

BN

RD

WH/YE

100/

8

GY

WH

WH/BN

RD

VT

BK

WH/RD

BK

WH/OG

BU

WH/YE

WH

WH/GN

WH/YE

BU

WH/GN

BK

WH/BU

OG

WH/VT

BKGN

WH/GY

*

BKBN

DUAL*SINGLE

BN/BK

Note 1.6 on Page 701

WH/BKBK

WH/BNBN

56

7

Prepared by, date:121

We

rese

rve

all r

ight

s in

this

doc

umen

t and

in th

e in

form

atio

n co

ntai

ned

ther

ein.

Rep

rodu

ctio

n, u

se o

r di

sclo

sure

to th

ird p

artie

s w

ithou

t exp

ress

aut

horit

y is

stri

ctly

forb

idde

n. ©

Cop

yrig

ht 2

003

AB

B

EM 2015-02-17 JEN 2015-03-04

2015-03-04

Page120

98TotalTYPE S

Latest revision:

Approved by, date:

CUSTOMER SIGNALS, ETHERNETLocation:Plant: =

++Sublocation:

DPSAX3

Document no.Next

Rev. Ind

Lab/Office: Status:IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5ECO 70147, WI 7698Page 224-231: Adjusted, "Type Se" was "Type S"Page 316-321: Adjusted, "Type H" was "Type S"

12APPROVED

3HAC026209-001

1 2 74 53 6 8

DMRO SEPRMP

TYPE SCUSTOMER SIGNALSPARALLELCOMMUNICATIONVALID FORHARNESS IN CABINET3HAC022852-001 (Dual)3HAC024371-001 (Single)FLOOR HARNESS3HAC022957-001,002,003,006

SW6LOWER ARM HARNESS3HAC042383-001UPPER ARM HARNESS3HAC042386-001

* Circuitdiagram shows marking on wires for both dual and single cabinet

N.C.=Not Connected

BK

670

BN

671

RD

672

OG

673

YE

677

GN

678

GY

4

WH/GN

WH

5

GN

WH/BK

6

WH/BN

WH/BN

7

BN

WH/RD

GN/YE

WH/BK

WH/BU

WH/OG

BU

BU

BK

WH/OG

WH/BN

WH/BK

OG

BN

DUAL

WH/RD

SINGLE

679

RD

GN/YE

680

WH/OG

-

681

-

OG

682

-

WH/YE

693

-

YE

694

*

695

WH/GNGN

696

*

697

WH/BU

698

BU

WH/GN

683

WH/VT

GN

WH/BN

686

VT

GN/YE

BN

WH/GYGY

101/

3WH/BU

BU

WH/BKBK

WH/OG

OG

WH/OG

OG

101/

6

Note 1.1 on Page 700

Note 1.3 on Page 700

Note 1.5 on Page 701

101/

7

12

34

GN/YE

WH

G G G G

3 3

4 4

5 5

6 6

1 1-XP5.3

2 2

3 3

4 4

5 5

6 6

7 7-XP5.1

7 7-XP5.2

B11 b11

B12 b12

B13 b13

B14 b14

B15 b15

B16 b16

B18 b18

B19 b19

B20 b20

B21 b21

C19 c19

C18 c18

B11 b11

B12 b12

B13 b13

B14 b14

B15 b15

B16 b16

B18 b18

B19 b19

B20 b20

B21 b21

C19 c19

C18 N.C.

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.

P

R

S

T

U

X

Y

Z

a

b

c

N.C.

-ROBOTCABINET

1 1-XP6

2 2

3 3

4 4

1 1-XP5.1

2 2

1 1-XP5.2

2 2

3 3

4 4

9 9-XP5.1

10 10

11 11

12 12

-XS13

A1 a1

A2 a2

A3 a3

A4 a4

B1 b1

B2 b2

B3 b3

B4 b4

B5 b5

B6 b6

B7 b7

B8 b8

B9 b9

B10 b10

-MANIPULATOR BASE

D1 d1-R1.CP/CS

D6 d6

D3 d3

D4 d4

B1 B1

B2 b2

B3 b3

B4 b4

B5 b5

B6 b6

B7 b7

B8 b8

B9 b9

B10 b10

-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

-AXIS 6

E E-R3.CP/CS

F F

V V

W W

A

B

C

D

H

J

K

L

M

N

BU

WH/GNGN

WH/BNBN

WH/BUBU

WH/OGOG

WHOGWH

4

GN

WH

5

BN

6

WH

7

GN/YE

GY

WH/OG

RD

OG

BU

WH/BK

GN

RD

BK

WH/BNBN

WH/RDRD

WH/OG

101/

4

OG

WH/YE

101/

5

YE

WH/GNGNWH/BUBU

WH/VTVTWH/GYGYWH/BKBK

101/

8

24V

0V

24V

0V

CS6/KSR

CS8/KSR

CS4

CS5

CS6

CS9

CS10

PE

CS1

CS2

CS3

CS15

CS16

CS17

CS18

CS19

CS20

CS21

CS12

CS11

CS13

CS14

BKBNRDOGYEGNBUVT

Prepared by, date:+Se.AX3/200

We

rese

rve

all r

ight

s in

this

doc

umen

t and

in th

e in

form

atio

n co

ntai

ned

ther

ein.

Rep

rodu

ctio

n, u

se o

r di

sclo

sure

to th

ird p

artie

s w

ithou

t exp

ress

aut

horit

y is

stri

ctly

forb

idde

n. ©

Cop

yrig

ht 2

003

AB

B

EM 2015-02-17 JEN 2015-03-04

2015-03-04

Page121

98TotalTYPE S

Latest revision:

Approved by, date:

CUSTOMER SIGNALS, ETHERNETLocation:Plant: =

++Sublocation:

DPSAX3

Document no.Next

Rev. Ind

Lab/Office: Status:IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5ECO 70147, WI 7698Page 224-231: Adjusted, "Type Se" was "Type S"Page 316-321: Adjusted, "Type H" was "Type S"

12APPROVED

3HAC026209-001

1 2 74 53 6 8

DMRO SEPRMP

TYPE SCUSTOMER SIGNALSPARALLELCOMMUNICATIONVALID FORHARNESS IN CABINET3HAC022852-001 (Dual)3HAC024371-001 (Single)FLOOR HARNESS3HAC022957-001,002,003,006

SW6LOWER ARM HARNESS3HAC042383-001UPPER ARM HARNESS3HAC042386-001

* Circuitdiagram shows markingon wires for both dual andsingle cabinet

N.C.=Not Connected

685

686

688

684

689690691692

699700666667668669

100/

3

RD

OG

RD

BN

RDGYBKBU

100/

4

100/

5

YE

WH

OG

BU

YE

WH

OG

BU

WH/YE

YE

YE

WH

C17 c17

C20 c20

C21 c21

B22 N.C.

B23 N.C.

B24 N.C.

B25 N.C.

c16 N.C.-R1.CP/CS

C17 N.C.

C20 N.C.

C21 N.C.

OG

WH

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.

N.C.-R3.CP/CS

N.C.

N.C.

N.C.

-ROBOTCABINET

7 7-XP5.3

8 8

9 9

10 10

11 11

12 12

-XS13

C10

C11

C12

C13

C14

C15

-MANIPULATOR BASE -AXIS 3 -AXIS 6

-XS9

1 1

2 2

3 3

4 4

1 1-R1.ETHERNET

2 2

3 3

4 4

1 1-R2.ETHERNET

2 2

3 3

4 4

1-R3.ETHERNET

2

3

4

9 9-XP5.2

10 10

11 11

12 12

5 5-XP5.2

6 6

8 8

8 8-XP5.1

B22 b22

B23 b23

B24 b24

B25 b25

C16 c16

BU

GN

WH/BN

BN

WH/RD

RD

100/

6

100/

7

WH/RD

YEWH/GNGN

WH/BN

BN

RD

WH/YE

100/

8

GY

WH

WH/BN

VT

WH/RDWH/OGWH/YEWH/GN

WH/YEWH/GNWH/BUWH/VTWH/GY

*DUAL

*SINGLE

BN/BK

Note 1.6 on Page 701

Prepared by, date:201

We

rese

rve

all r

ight

s in

this

doc

umen

t and

in th

e in

form

atio

n co

ntai

ned

ther

ein.

Rep

rodu

ctio

n, u

se o

r di

sclo

sure

to th

ird p

artie

s w

ithou

t exp

ress

aut

horit

y is

stri

ctly

forb

idde

n. ©

Cop

yrig

ht 2

003

AB

B

EM 2015-02-17 JEN 2015-03-04

2015-03-04

Page200

98TotalTYPE Se

Latest revision:

Approved by, date:

CUSTOMER SIGNALS, PARALLELLocation:Plant: =

++Sublocation:

DPSeAX3

Document no.Next

Rev. Ind

Lab/Office: Status:IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5ECO 70147, WI 7698Page 224-231: Adjusted, "Type Se" was "Type S"Page 316-321: Adjusted, "Type H" was "Type S"

12APPROVED

3HAC026209-001

1 2 74 53 6 8

DMRO SEPRMP

TYPE SECUSTOMER SIGNALSPARALLELCOMMUNICATIONVALID FORHARNESS IN CABINET3HAC022852-001 (Dual)3HAC024371-001 (Single)3HAC021791-001FLOOR HARNESS3HAC022957-001,002,003,0063HEA800736-001,002,003,004

ORANGE LINELOWER ARM HARNESS3HAC022479-001UPPER ARM HARNESS3HAC023171-001,002

SILVER LINELOWER ARM HARNESS3HAC022137-0013HAC022138-001UPPER ARM HARNESS3HAC022475-0013HAC022475-0023HAC022475-003

FOR IRB66x0IDCONNECTION BETWEENR2.CP/CS AND R3.CP/CSSEE PAGE IRB66x0IDLOWER ARM HARNESS3HAC022479-001UPPER ARM HARNESS3HAC025532-001

* Circuitdiagram shows markingon wires for both dual andsingle cabinet

670

671

672

673

400240044000

40134014

40104012

4011

4006400840094007

GN/YE

GN/YE

12

34

GN/YE

BLBUBR

GN/YE

PKRD

OGGN

YE

201/

5

123

GN/YE

4

5

67

45

67

GN/YE

201/

6

201/

7

45

67

GN/YE

1

D6 d6

-AXIS 3 -AXIS 6-MANIPULATOR BASE-ROBOTCABINET

-XS7

-XS13

D1 d1-R2.CP/CS

2 2

D3 d3

D4 d4

D5 d5-R2.CP/CS

D2 d2

D7 d7

C1 c1

C2 c2

C3 c3

C5 c5

B11

B12

B13

B15

C1-R3.CP/CS

C2

C3

D1 d1-R1.CP/CS

D6 d6

D3 d3

D4 d4

E E-R1.SP

C C

A A

G G

J J

K K

L L

M M

R

C4-R3.CP/CS

C5

C6

C7

3 3-A41.1.3.X21

5 5

1 1

1 1-A43.X22

3 3

4 4

2 2

1 1-A43.X24

1 1-XP6

2 2

3 3

4 4

5 5-XS40

6 6

A3 a3

A5 a5

A1 a1

E1 e1

E2 e2

F7 f7

F9 f9

F8 f8

F1 f1

F2 f2

F3 f3

F4 f4

A1 a1

A2 a2

A3 a3

A4 a4

23

GN/YE

45

67

201/

8

24V0V

24V0V

W/TV/SU/R

PTC

0V PTC

24V BRAKE REL

0V BRAKE REL

PE

PE

BKBNRDOGYEGNBUVTGN/YE

-

-

-

-

*DUAL

*SINGLE

400240044000

40134014

40104012

4011

GN/YE

4006400840094007

Note 1.1 on Page 700

Prepared by, date:202

We

rese

rve

all r

ight

s in

this

doc

umen

t and

in th

e in

form

atio

n co

ntai

ned

ther

ein.

Rep

rodu

ctio

n, u

se o

r di

sclo

sure

to th

ird p

artie

s w

ithou

t exp

ress

aut

horit

y is

stri

ctly

forb

idde

n. ©

Cop

yrig

ht 2

003

AB

B

EM 2015-02-17 JEN 2015-03-04

2015-03-04

Page201

98TotalTYPE Se

Latest revision:

Approved by, date:

CUSTOMER SIGNALS, PARALLELLocation:Plant: =

++Sublocation:

DPSeAX3

Document no.Next

Rev. Ind

Lab/Office: Status:IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5ECO 70147, WI 7698Page 224-231: Adjusted, "Type Se" was "Type S"Page 316-321: Adjusted, "Type H" was "Type S"

12APPROVED

3HAC026209-001

1 2 74 53 6 8

DMRO SEPRMP

TYPE SECUSTOMER SIGNALSPARALLELCOMMUNICATIONVALID FORHARNESS IN CABINET3HAC022852-001 (Dual)3HAC024371-001 (Single)3HAC021791-001FLOOR HARNESS3HAC022957-001,002,003,0063HEA800736-001,002,003,004

ORANGE LINELOWER ARM HARNESS3HAC022479-001UPPER ARM HARNESS3HAC023171-001,002

SILVER LINELOWER ARM HARNESS3HAC022137-0013HAC022138-001UPPER ARM HARNESS3HAC022475-0013HAC022475-0023HAC022475-003

FOR IRB66x0IDCONNECTION BETWEENR2.CP/CS AND R3.CP/CSSEE PAGE IRB66x0IDLOWER ARM HARNESS3HAC022479-001UPPER ARM HARNESS3HAC025532-001

* Circuitdiagram showsmarking on wires for both dual and single cabinet

677

678

WH/RD

WH/GN

WH/BN

GN

BK

WH/BN

WH/BK

BN

RD

WH/BU

BN

BU

WH/OG

OG

202/

3

WH/BKWH

BKBU

WH/BNWH/GN

BNGN

WH/BN WH/RD

BN RD

WH/BU WH/OGBU OG

WH/OG WH/YEOG YE

202/

4

200/

820

2/8

X7/S1

200/

5

0V X7/S3

202/

5

Y7/S4

0V Y7/S2

0V EXC2/R2

EXC2/R1

KSR

KSR

BK

BN

*DUAL

*SINGLE

WH/GN

GN

WH/BN

B18-R3.CP/CS

-AXIS 3 -AXIS 6-MANIPULATOR BASE

-ROBOTCABINET

-SMB

-XS13

B1 b1-R2.CP/CS

B2 b2

B3 b3

B4 b4

B5 b5

B6 b6

B7 b7

B8 b8

B9 b9

B10 b10

B19

B20

B21

B22

B23

B24

B25

B16

B17

B1 b1-R1.CP/CS

B2 b2

B3 b3

B4 b4

B5 b5

B6 b6

B7 b7

B8 b8

B9 b9

B10 b10

SP1

SP2

SP3

SP4

SP5

SP6

9-R1.SMB

2

11

4

12

5

1

F F-R2.FB7

E E

D D

C C

B B

A A

1 1-XP5.1

2 2

9 9-XP5.1

10 10

11 11

12 12

1 1-XP5.2

2 2

3 3

4 4

B1 b1

B2 b2

B3 b3

B4 b4

B5 b5

B6 b6

B7 b7

B8 b8

B9 b9

B10 b10

BN

WH/BU

BU

WH/OG

OG

Note 1.9 on Page 702

WH/BK

BK

WH/BN

BN

WH/RD

RD

WH/OGOG

WH/YEYE

WH/RD

WH/BNBKWH/BK

RD

BN

200/

620

2/6

200/

720

2/7

Prepared by, date:203

We

rese

rve

all r

ight

s in

this

doc

umen

t and

in th

e in

form

atio

n co

ntai

ned

ther

ein.

Rep

rodu

ctio

n, u

se o

r di

sclo

sure

to th

ird p

artie

s w

ithou

t exp

ress

aut

horit

y is

stri

ctly

forb

idde

n. ©

Cop

yrig

ht 2

003

AB

B

EM 2015-02-17 JEN 2015-03-04

2015-03-04

Page202

98TotalTYPE Se

Latest revision:

Approved by, date:

CUSTOMER SIGNALS, PARALLELLocation:Plant: =

++Sublocation:

DPSeAX3

Document no.Next

Rev. Ind

Lab/Office: Status:IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5ECO 70147, WI 7698Page 224-231: Adjusted, "Type Se" was "Type S"Page 316-321: Adjusted, "Type H" was "Type S"

12APPROVED

3HAC026209-001

1 2 74 53 6 8

DMRO SEPRMP

TYPE SECUSTOMER SIGNALSPARALLELCOMMUNICATIONVALID FORHARNESS IN CABINET3HAC022852-001 (Dual)3HAC024371-001 (Single)3HAC021791-001FLOOR HARNESS3HAC022957-001,002,003,0063HEA800736-001,002,003,004

ORANGE LINELOWER ARM HARNESS3HAC022479-001UPPER ARM HARNESS3HAC023171-001,002

SILVER LINELOWER ARM HARNESS3HAC022137-0013HAC022138-001UPPER ARM HARNESS3HAC022475-0013HAC022475-0023HAC022475-003

FOR IRB66x0IDCONNECTION BETWEENR2.CP/CS AND R3.CP/CSSEE PAGE IRB66x0IDLOWER ARM HARNESS3HAC022479-001UPPER ARM HARNESS3HAC025532-001

* Circuitdiagram shows markingon wires for both dual andsingle cabinet

YE

679

WH/GN

680

GN

681

201/

6

682

693

201/

7

694695696697698

685686

687

683

688

684

689690691692

699700666

WH/GN

667

GN

668

WH/BU

669

BU

201/

3

WH/VTVTWH/GYGYWH/BKBK

WH/YEYEWH/GNGN

BN

RD

201/

8

RDOGYEGN

GYWHWH/BKWH/BNWH/RDWH/OG

GYWH

WH/BK

BU

WH/BN

VT

WH/RDWH/OGWH/YE

WH

WH/GN

OG

WH/YE

WH

WH/GN

GN

WH/BU

WH

WH/VT

-AXIS 3 -AXIS 6-MANIPULATOR BASE-ROBOTCABINET

-XS13

B11 b11-R2.CP/CS

B12 b12

B13 b13

B14 b14

B15 b15

B16 b16

B18 b18

B19 b19

B20 b20

B21 b21

C20

C21 c21

B22 b22

B23 b23

B24 b24

B25 b25

C18

C16

C17

C19 c19

B1-R3.CP/CS

B2

B3

B4

B5

B6

B7

B8

B9

B10

B14

C8

A1

A2

A3

A4

B11 b11-R1.CP/CS

B12 b12

B13 b13

B14 b14

B15 b15

B16 b16

B18 b18

B19 b19

B20 b20

B21 b21

C16 c16

C17 c17

C18 c18

C19 c19

C20 c20

C21 c21

B22 b22

B23 b23

B24 b24

B25 b25

3 3-XP5.1

4 4

5 5

6 6

7 7-XP5.1

8 8-XP5.1

5 5-XP5.2

6 6

7 7

8 8-XP5.2

9 9-XP5.2

10 10

11 11

12 12

1 1-XP5.3

2 2

3 3

4 4

5 5

6 6

7 7-XP5.3

8 8

9 9

10 10

11 11

12 12

B11 b11

B12 b12

B13 b13

B14 b14

B15 b15

B16 b16

B18 b18

B19 b19

B20 b20

B21 b21

C16 c16

C17 c17

C18 c18

C19 c19

C20 c20

C21 c21

B22 b22

B23 b23

B24 b24

B25 b25

C10

C11

C12

C13

C14

C15

BN

WH/GY

WH

*

GY

DUAL

RD

*

BU

SINGLE

RDOG

BN/BK

RD

GN

RD

BN

WH/OG

RD

OG

GY

Note 1.10 on Page 702

BKBU

201/

4

201/

5

WH/GNGNWH/BUBU

WH/VTVTWH/GYGYWH/BKBK

WH/BN

BN

WH/RD

RD

WH/YE

Prepared by, date:204

We

rese

rve

all r

ight

s in

this

doc

umen

t and

in th

e in

form

atio

n co

ntai

ned

ther

ein.

Rep

rodu

ctio

n, u

se o

r di

sclo

sure

to th

ird p

artie

s w

ithou

t exp

ress

aut

horit

y is

stri

ctly

forb

idde

n. ©

Cop

yrig

ht 2

003

AB

B

EM 2015-02-17 JEN 2015-03-04

2015-03-04

Page203

98TotalTYPE Se

Latest revision:

Approved by, date:

CUSTOMER SIGNALS, CANBUSLocation:Plant: =

++Sublocation:

DPSeAX3

Document no.Next

Rev. Ind

Lab/Office: Status:IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5ECO 70147, WI 7698Page 224-231: Adjusted, "Type Se" was "Type S"Page 316-321: Adjusted, "Type H" was "Type S"

12APPROVED

3HAC026209-001

1 2 74 53 6 8

DMRO SEPRMP

TYPE SECUSTOMER SIGNALSCANBUSCOMMUNICATIONVALID FORHARNESS IN CABINET3HAC022852-001 (Dual)3HAC024371-001 (Single)3HAC021791-0013HAC022866-001FLOOR HARNESS3HAC022978-001,002,003,0063HEA800736-001,002,003,004

ORANGE LINELOWER ARM HARNESS3HAC022481-001UPPER ARM HARNESS3HAC023173-001,002

SILVER LINELOWER ARM HARNESS3HAC022472-0013HAC022473-001UPPER ARM HARNESS3HAC022477-0013HAC022477-0023HAC022477-003

FOR IRB66x0IDCONNECTION BETWEENR2.CP/CS AND R3.CP/CSSEE PAGE IRB66x0IDLOWER ARM HARNESS3HAC022481-001UPPER ARM HARNESS3HAC025532-001

IRB6660LOWER ARM HARNESS3HAC027105-001

* Circuitdiagram shows marking on wires for both dual and single cabinet

670

671

672

673

400240044000

40134014

40104012

4011

4006400840094007

GN/YE

GN/YE

12

34

GN/YE

BLBU

BN

GN/YE

PKRD

OGGN

YE

204/

5

45

67

GN/YE

123

GN/YE

45

67

204/

6

204/

7

123

GN/YE

45

6

D1 d1-R2.CP/CS

-AXIS 3 -AXIS 6-MANIPULATOR BASE-ROBOTCABINET

-XS7

-XS13

2 2

D6 d6

D3 d3

D4 d4

D5 d5-R2.CP/CS

D2 d2

D7 d7

C1 c1

C2 c2

C3 c3

C5 c5

B11

B12

B13

B15

C1-R3.CP/CS

C2

C3

D1 d1-R1.CP/CS

D6 d6

D3 d3

D4 d4

E E-R1.SP

C C

A A

G G

J J

K K

L L

M M

R R

C4-R3.CP/CS

C5

C6

C7

3 3-A41.1.3.X21

5 5

1 1

1 1-A43.X22

3 3

4 4

2 2

1 1-A43.X24

1 1-XP6

2 2

3 3

4 4

6 6

5 5-XS40

A3 c3

A5 c5

A1 c1

E1 e1

E2 e2

F7 f7

F9 f9

F8 f8

F1 f1

F2 f2

F3 f3

F4 f4

A1 a1

A2 a2

A3 a3

A4 a4

7

45

67

GN/YE

204/

8

24V BRAKE REL

0V BRAKE REL

24V0V

24V0V

PE

W/T

V/S

U/R

PE

PTC

0V PTC

BKBNRDOGYEGNBUVT

672

GN/YE

-

-

-

-

*DUAL *SINGLE

4014

40104012

4011

4006400840094007

40044000

4013

GN/YE

4002

Note 1.1 on Page 700

Prepared by, date:205

We

rese

rve

all r

ight

s in

this

doc

umen

t and

in th

e in

form

atio

n co

ntai

ned

ther

ein.

Rep

rodu

ctio

n, u

se o

r di

sclo

sure

to th

ird p

artie

s w

ithou

t exp

ress

aut

horit

y is

stri

ctly

forb

idde

n. ©

Cop

yrig

ht 2

003

AB

B

EM 2015-02-17 JEN 2015-03-04

2015-03-04

Page204

98TotalTYPE Se

Latest revision:

Approved by, date:

CUSTOMER SIGNALS, CANBUSLocation:Plant: =

++Sublocation:

DPSeAX3

Document no.Next

Rev. Ind

Lab/Office: Status:IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5ECO 70147, WI 7698Page 224-231: Adjusted, "Type Se" was "Type S"Page 316-321: Adjusted, "Type H" was "Type S"

12APPROVED

3HAC026209-001

1 2 74 53 6 8

DMRO SEPRMP

TYPE SECUSTOMER SIGNALSCANBUSCOMMUNICATIONVALID FORHARNESS IN CABINET3HAC022852-001 (Dual)3HAC024371-001 (Single)3HAC021791-0013HAC022866-001FLOOR HARNESS3HAC022978-001,002,003,0063HEA800736-001,002,003,004

ORANGE LINELOWER ARM HARNESS3HAC022481-001UPPER ARM HARNESS3HAC023173-001,002

SILVER LINELOWER ARM HARNESS3HAC022472-0013HAC022473-001UPPER ARM HARNESS3HAC022477-0013HAC022477-0023HAC022477-003

FOR IRB66x0IDCONNECTION BETWEENR2.CP/CS AND R3.CP/CSSEE PAGE IRB66x0IDLOWER ARM HARNESS3HAC022481-001UPPER ARM HARNESS3HAC025532-001

IRB6660LOWER ARM HARNESS3HAC027105-001

* Circuitdiagram showsmarking on wires for bothdual and single cabinet

677

WH/RD

678

WH/BN

WH/GN

BK

GN

WH/BK

WH/BN

RD

BN

BN

WH/BUBU

WH/OGOG

205/

3

WH/BKWH

BKBU

WH/BNWH/GN

BNGN

WH/RD

RD

WH/BN

BN

WH/OGWH/BUOGBU

WH/YEYE

WH/OGOG

205/

4

203/

820

5/8

0V EXC2/R2

203/

5

X7/S1

205/

5

0V X7/S3

Y7/S4

0V Y7/S2

EXC2/R1

KSR

KSR

BK

BN

*DUAL

*SINGLE

WH/GN

GN

WH/BN

BN

B18-R3.CP/CS

-AXIS 3 -AXIS 6-MANIPULATOR BASE-ROBOTCABINET

-SMB

-XS13

B1 b1-R2.CP/CS

B2 b2

B3 b3

B4 b4

B5 b5

B6 b6

B7 b7

B8 b8

B9 b9

B10 b10

B19

B20

B21

B22

B23

B24

B25

B16

B17

B1 b1-R1.CP/CS

B2 b2

B3 b3

B4 b4

B5 b5

B6 b6

B7 b7

B8 b8

B9 b9

B10 b10

SP1

SP2

SP3

SP4

SP5

SP6

9 9-R1.SMB1

2 2

11 11

4 4

12 12

5 5

1 1

F F-R2.FB7

E E

D D

C C

B B

A A

1 1-XP5.1

2 2

9 9-XP5.1

10 10

11 11

12 12

1 1-XP5.2

2 2

3 3

4 4

B1 b1

B2 b2

B3 b3

B4 b4

B5 b5

B6 b6

B7 b7

B8 b8

B9 b9

B10 b10

WH/BUBU

WH/OGOG

Note 1.9 on Page 702

WH/RD

WH/BNBKWH/BK

WH/BK

BK

WH/BN

BN

WH/RD

RD

WH/OGOG

WH/YEYE

RD

BN

203/

620

5/6

203/

720

5/7

Prepared by, date:206

We

rese

rve

all r

ight

s in

this

doc

umen

t and

in th

e in

form

atio

n co

ntai

ned

ther

ein.

Rep

rodu

ctio

n, u

se o

r di

sclo

sure

to th

ird p

artie

s w

ithou

t exp

ress

aut

horit

y is

stri

ctly

forb

idde

n. ©

Cop

yrig

ht 2

003

AB

B

EM 2015-02-17 JEN 2015-03-04

2015-03-04

Page205

98TotalTYPE Se

Latest revision:

Approved by, date:

118Location:Plant: =

++Sublocation:

DPSeAX3

Document no.Next

Rev. Ind

Lab/Office: Status:IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5ECO 70147, WI 7698Page 224-231: Adjusted, "Type Se" was "Type S"Page 316-321: Adjusted, "Type H" was "Type S"

8765321

APPROVED

12

4

DMRO SEPRMP

TYPE SECUSTOMER SIGNALSCANBUSCOMMUNICATIONVALID FORHARNESS IN CABINET3HAC022852-001 (Dual)3HAC024371-001 (Single)3HAC021791-0013HAC022866-001FLOOR HARNESS3HAC022978-001,002,003,0063HEA800736-001,002,003,004

ORANGE LINELOWER ARM HARNESS3HAC022481-001UPPER ARM HARNESS3HAC023173-001,002

SILVER LINELOWER ARM HARNESS3HAC022472-0013HAC022473-001UPPER ARM HARNESS3HAC022477-0013HAC022477-0023HAC022477-003

FOR IRB66x0IDCONNECTION BETWEENR2.CP/CS AND R3.CP/CSSEE PAGE IRB66x0IDLOWER ARM HARNESS3HAC022481-001UPPER ARM HARNESS3HAC025532-001

IRB6660LOWER ARM HARNESS3HAC027105-001

* Circuitdiagram shows markingon wires for both dual andsingle cabinet

WH/BN

679

BN

680

5

681

6

682

7

693

8

694

1

695

2

696

3

697

4

698

YE

685

YE

686

VT

687

VT

683

GN

688

GN

684

GN

RD

GN

BK

204/

8

691692689

+24V CAN

690

0V CAN

WHCAN_H

BUCAN_L

699

RD

700

OG

666667

YE

668

GN

669

GYWHWH/BK

WH/GN

204/

3

WH/BN

GN

WH/RD

WH/BU

WH/OG

BU

GY

WH/VT

WHWH/BK

VTWH/GY

BU

WH/BN

GY

VT

WH/BK

RD

BK

BK

WH/OG

WH/YE

OG

WH/GN

WH/BN

WH/RD

BN

WH/OG

WH/RD

WH

RD

BU

WH/BKBK

WH/YE

WH/BN

WH/GN

BN

WH/BU

5

WH/VT

6

WH/GY

7

*

8

DUAL

1

*

2

SINGLE

34BN/BK

YEYE

VTVT

-AXIS 3 -AXIS 6-MANIPULATOR BASE-ROBOTCABINET-XS13

B11 b11-R2.CP/CS

B12 b12

B13 b13

B14 b14

B15 b15

B16 b16

B18 b18

B19 b19

B20 b20

B21 b21

C18 c18

C19 c19

C20 c20

C21 c21

C16 c16

C17 c17

B22 b22

B23 b23

B24 b24

B25 b25

A3 a3

A4 a4

A5 a5

A6 a6

A9 a9

A10 a10

A11 a11

A12 a12

B1-R3.CP/CS

B2

B3

B4

B5

B6

B7

B8

B9

B10

B14

C8

A7

A8

A9

A10

A5

A6

A11

A12

B11 b11-R1.CP/CS

B12 b12

B13 b13

B14 b14

B15 b15

B16 b16

B18 b18

B19 b19

B20 b20

B21 b21

C16 c16

C17 c17

C18 c18

C19 c19

C20 c20

C21 c21

B22 b22

B23 b23

B24 b24

B25 b25

A3 a3

A4 a4

A5 a5

A6 a6

A9 a9

A10 a10

A11 a11

A12 a12

A1

A2

A3

A4

5 5-A35.X2

1 1

4 4-A35.X2

2 2

3 3

3 3-XP5.1

4 4

5 5

6 6

7 7-XP5.1

8 8-XP5.1

11 11-XP5.2

12 12

9 9

10 10

5 5-XP5.2

8 8-XP5.2

7 7-XP5.3

8 8

9 9

10 10

11 11

12 12

1 1-XP5.3

6 6

6 6

7 7

2 2

3 3

4 4

5 5

B11 b11

B12 b12

B13 b13

B14 b14

B15 b15

B16 b16

B18 b18

B19 b19

B20 b20

B21 b21

C16 c16

C17 c17

C18 c18

C19 c19

C20 c20

C21 c21

F1 f1

F2 f2

B24 b24

B25 b25

B22

B23

F3 f3

F4 f4

C10 c10

C11 c11

C12 c12

C13 c13

C14 c14

C15 c15

GNGN

GNGN

204/

6

204/

7

WHOGWHGN

WHBNWHGYRDBU

RD

OGRD

GN

RD

BN

RDBK

BKBU

WHBU

BKOG

BKGN

BKBN

204/

4

WH/GNGNWH/BUBU

WH/VT

204/

5

VTWH/GYGYWH/BKBK

WH/OG

OGWH/BN

BN

WH/RD

RD

WH/BKBK

Prepared by, date:207

We

rese

rve

all r

ight

s in

this

doc

umen

t and

in th

e in

form

atio

n co

ntai

ned

ther

ein.

Rep

rodu

ctio

n, u

se o

r di

sclo

sure

to th

ird p

artie

s w

ithou

t exp

ress

aut

horit

y is

stri

ctly

forb

idde

n. ©

Cop

yrig

ht 2

003

AB

B

EM 2015-02-17 JEN 2015-03-04

2015-03-04

Page206

98TotalTYPE Se

Latest revision:

Approved by, date:

119Location:Plant: =

++Sublocation:

DPSeAX3

Document no.Next

Rev. Ind

Lab/Office: Status:IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5ECO 70147, WI 7698Page 224-231: Adjusted, "Type Se" was "Type S"Page 316-321: Adjusted, "Type H" was "Type S"

8765321

APPROVED

12

4

DMRO SEPRMP

TYPE SCUSTOMER SIGNALSETHERNETCOMMUNICATIONVALID FOR HARNESS IN CABINET3HAC022852-001 (Dual)3HAC024371-001 (Single)3HAC021791-0013HAC022867-001FLOOR HARNESS3HAC023024-001,002,003,0063HEA800736-001,002,003,004

ORANGE LINELOWER ARM HARNESS3HAC034335-001UPPER ARM HARNESS3HAC023171-001,002

FOR IRB66X0IDCONNECTION BETWEENR2.CP/CS AND R3.CP/CSSEE PAGE IRB66X00IDLOWER ARM HARNESS3HAC034335-001

* Circuit diagram shows marking on wires for both dual and single cabinet

670

671

672

673

400240044000

40134014

40104012

4011

4006400840094007

GN/YE

GN/YE

12

34

GN/YE

BLBUBR

GN/YE

PKRD

OGGN

YE

207/

5

123

GN/YE

45

67

45

67

GN/YE

207/

6

207/

7

45

67

GN/YE

GN/YE

45

67

-AXIS 3 -AXIS 6-MANIPULATOR BASE-ROBOTCABINET

-XS9

-XS7

-XS13

D1 d1-R3.CP/CS

D4 d4

D6 d6

D3 d3

D5 d5-R2.CP/CS

D2 d2

D7 d7

C1 c1

C2 c2

C3 c3

C5 c5

B11

B12

B13

B15

C4-R3.CP/CS

C5

C6

C7

C1-R3.CP/CS

C2

C3

D1 c1-R1.CP/CS

D6 c6

D3 c3

D4 c4

E E-R1.SP

C C

A A

G G

J J

K K

L L

M M

R R

1 1-R1.ETHERNET

2 2

3 3

4 4

1 1-R2.ETHERNET

2 2

3 3

4 4

1-R3.ETHERNET

2

3

4

3 3-A41.1.3.X21

5 5

1 1

1 1-A43.X22

3 3

4 4

2 2

1 1-A43.X24

2 2

1 1-XP6

2 2

3 3

4 4

6 6

5 5-XS40

1 1

2 2

3 3

4 4

A3 a3

A5 a5

A1 a1

E1 e1

E2 e2

F7 f7

F9 f9

F8 f8

F1 f1

F2 f2

F3 f3

F4 f4

A1 A1

A2 A2

A3 A3

A4 A4

123

207/

8

24V0V

24V0V

PE

W/T

V/S

U/R

PE

PTC

0V PTC

24V BRAKE REL

0V BRAKE REL

BK

RDBN

OGYEGNBUVTGN/YE

*DUAL *SINGLE

-

-

-

-

400240044000

40134014

40104012

4011

GN/YE

4006400840094007

Note 1.1 on Page 700

YE

WH

OG

BU

YE

WH

OG

BU

YE

WH

OG

BU

Prepared by, date:208

We

rese

rve

all r

ight

s in

this

doc

umen

t and

in th

e in

form

atio

n co

ntai

ned

ther

ein.

Rep

rodu

ctio

n, u

se o

r di

sclo

sure

to th

ird p

artie

s w

ithou

t exp

ress

aut

horit

y is

stri

ctly

forb

idde

n. ©

Cop

yrig

ht 2

003

AB

B

EM 2015-02-17 JEN 2015-03-04

2015-03-04

Page207

98TotalTYPE Se

Latest revision:

Approved by, date:

CUSTOMER SIGNALS, ETHERNETLocation:Plant: =

++Sublocation:

DPSeAX3

Document no.Next

Rev. Ind

Lab/Office: Status:IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5ECO 70147, WI 7698Page 224-231: Adjusted, "Type Se" was "Type S"Page 316-321: Adjusted, "Type H" was "Type S"

12APPROVED

3HAC026209-001

1 2 74 53 6 8

DMRO SEPRMP

TYPE SCUSTOMER SIGNALSETHERNETCOMMUNICATIONVALID FOR HARNESS IN CABINET3HAC022852-001 (Dual)3HAC024371-001 (Single)3HAC021791-0013HAC022867-001FLOOR HARNESS3HAC023024-001,002,003,0063HEA800736-001,002,003,004

ORANGE LINELOWER ARM HARNESS3HAC034335-001UPPER ARM HARNESS3HAC023171-001,002

FOR IRB66X0IDCONNECTION BETWEENR2.CP/CS AND R3.CP/CSSEE PAGE IRB66X00IDLOWER ARM HARNESS3HAC034335-001

* Circuit diagram shows marking on wires for both dual and single cabinet

RD

WH/GN

GN

BN

WH/BN

BN

677

678

WH/BU

BU

WH/OG

OG

208/

3

WH/BNWH/GN

BNGN

WH/BN WH/RD

RDBN

WH/BU WH/OGBU OG

WH/YEWH/OGOG YE

WH/BKWH

BKBU

208/

4

206/

820

8/8

Y7/S4

206/

5

0V Y7/S2

208/

5

0V EXC2/R2

EXC2/R1

KSR

KSR

X7/S1

0V X7/S3

BK

BN

*DUAL

*SINGLE

WH/GN

GN

WH/BN

5 5-XP5.1

-AXIS 3 -AXIS 6-MANIPULATOR BASE-ROBOTCABINET

-SMB

-XS13

B1 b1-R2.CP/CS

B2 b2

B3 b3

B4 b4

B5 b5

B6 b6

B7 b7

B8 b8

B9 b9

B10 b10

B18-R3.CP/CS

B19

B3 b3

B4 b4

B5 b5

B6 b6

B1 b1-R1.CP/CS

B2 b2

B7 b7

B8 b8

B9 b9

B10 b10

SP3

SP4

SP5

SP6

SP1

SP2

9 9-R1.SMB1

2 2

11 11

4 4

12 12

5 5

1 1

F F-R2.FB7

E E

D D

C C

B B

A A

B20

B21

B22

B23

B24

B25

B16

B17

1 1-XP5.1

2 2

10 10

11 11

12 12

1 1-XP5.2

2 2

3 3

4 4

B3 b3

B4 b4

B5 b5

B6 b6

B7 b7

B8 b8

B9 b9

B10 b10

B1 b1

B2 b2

BN

WH/BU

BU

WH/OG

OG

Note 1.9 on Page 702

WH/BN

BN

WH/RD

RD

WH/OGOG

WH/YEYE

WH/BK

BK

WH/RD

WH/BNBKWH/BK

RD

BN

206/

620

8/6

206/

720

8/7

WH/RD

WH/BNBKWH/BK

Prepared by, date:209

We

rese

rve

all r

ight

s in

this

doc

umen

t and

in th

e in

form

atio

n co

ntai

ned

ther

ein.

Rep

rodu

ctio

n, u

se o

r di

sclo

sure

to th

ird p

artie

s w

ithou

t exp

ress

aut

horit

y is

stri

ctly

forb

idde

n. ©

Cop

yrig

ht 2

003

AB

B

EM 2015-02-17 JEN 2015-03-04

2015-03-04

Page208

98TotalTYPE Se

Latest revision:

Approved by, date:

CUSTOMER SIGNALS, ETHERNETLocation:Plant: =

++Sublocation:

DPSeAX3

Document no.Next

Rev. Ind

Lab/Office: Status:IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5ECO 70147, WI 7698Page 224-231: Adjusted, "Type Se" was "Type S"Page 316-321: Adjusted, "Type H" was "Type S"

12APPROVED

3HAC026209-001

1 2 74 53 6 8

DMRO SEPRMP

TYPE SCUSTOMER SIGNALSETHERNETCOMMUNICATIONVALID FOR HARNESS IN CABINET3HAC022852-001 (Dual)3HAC024371-001 (Single)3HAC021791-0013HAC022867-001FLOOR HARNESS3HAC023024-001,002,003,0063HEA800736-001,002,003,004

ORANGE LINELOWER ARM HARNESS3HAC034335-001UPPER ARM HARNESS3HAC023171-001,002

FOR IRB66X0IDCONNECTION BETWEENR2.CP/CS AND R3.CP/CSSEE PAGE IRB66X00IDLOWER ARM HARNESS3HAC034335-001

* Circuit diagram shows marking on wires for both dual and single cabinet

679680681682

693694

207/

8

695696697698

685

686687

RD

683

OG

688

YE

684

GY

GN

WH

689

WH/BK

690

WH/BNWH/RD

691

WH/OG

692

GY

666667

WH

WH/GN

668

WH/BK

GN

669

BU

WH/BU

699

WH/BN

BU

700

VT

WH/VTVTWH/GY

WH/RD

GYWH/BK

WH/OG

BK

WH/YE

WH/OG

WH/GN

OG

WH/BU

207/

3

WH/BN

WH/VT

BN

WH/GY

WH/RD

WH/YE

RD

WH/GN

WH/YE

YEWH/GNGN

*DUAL *SINGLE

BN/BK

-AXIS 3 -AXIS 6-MANIPULATOR BASE-ROBOTCABINET

-XS13

B11 b11-R2.CP/CS

B12 b12

B13 b13

B14 b14

B15 b15

B16 b16

B18 b18

B19 b19

B20 b20

B21 b21

C18 c18

C19 c19

C20 c20

C21 c21

C16 c16

C17 c17

B22 b22

B23 b23

B24 b24

B25 b25

B1-R3.CP/CS

B2

B3

B4

B5

B6

B7

B8

B9

B10

B14

C8

A1

A2

A3

A4

B11 b11-R1.CP/CS

B12 b12

B13 b13

B14 b14

B15 b15

B16 b16

B18 b18

B19 b19

B20 b20

B21 b21

C16 c16

C17 c17

C18 c18

C19 c19

C20 c20

C21 c21

B22 b22

B23 b23

B24 b24

B25 b25

3 3-XP5.1

4 4

5 5

6 6

7 7-XP5.1

8 8-XP5.1

5 5-XP5.2

8 8-XP5.2

9 9-XP5.2

10 10

12 12

1 1-XP5.3

2 2

3 3

4 4

9 9-XP5.3

10 10

11 11

12 12

7 7

8 8

6 6

7 7

11 11

5 5

6 6

B11 b11

B12 b12

B13 b13

B14 b14

B15 b15

B16 b16

B18 b18

B19 b19

B20 b20

B21 b21

C16 c16

C17 c17

C18 c18

C19 c19

C20 c20

C21 c21

B22 b22

B23 b23

B24 b24

B25 b25

C12

C13

C14

C15

C10

C11

207/

6

207/

7

WHOGWHGN

WHBNWHGYRDBU

RD

OGRD

GN

RD

BN

RD

GYBKBU

WH/GNGNWH/BUBU

WH/VTVT

207/

4

WH/GYGYWH/BK

207/

5

BK

WH/OG

OGWH/BN

BN

WH/RD

RD

WH/BK

BKWH/GNGN

Prepared by, date:210

We

rese

rve

all r

ight

s in

this

doc

umen

t and

in th

e in

form

atio

n co

ntai

ned

ther

ein.

Rep

rodu

ctio

n, u

se o

r di

sclo

sure

to th

ird p

artie

s w

ithou

t exp

ress

aut

horit

y is

stri

ctly

forb

idde

n. ©

Cop

yrig

ht 2

003

AB

B

EM 2015-02-17 JEN 2015-03-04

2015-03-04

Page209

98TotalTYPE Se

Latest revision:

Approved by, date:

CUSTOMER SIGNALS, PROFIBUSLocation:Plant: =

++Sublocation:

DPSeAX3

Document no.Next

Rev. Ind

Lab/Office: Status:IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5ECO 70147, WI 7698Page 224-231: Adjusted, "Type Se" was "Type S"Page 316-321: Adjusted, "Type H" was "Type S"

12APPROVED

3HAC026209-001

1 2 74 53 6 8

DMRO SEPRMP

TYPE SECUSTOMER SIGNALSPROFIBUSCOMMUNICATIONVALID FORHARNESS IN CABINET3HAC022852-001 (Dual)3HAC024371-001 (Single)3HAC021791-0013HAC022868-001FLOOR HARNESS3HAC022988-001,002,003,0063HEA800736-001,002,003,004

ORANGE LINELOWER ARM HARNESS3HAC022481-001UPPER ARM HARNESS3HAC023173-001,002

SILVER LINELOWER ARM HARNESS3HAC022472-0013HAC022473-001UPPER ARM HARNESS3HAC022477-0013HAC022477-0023HAC022477-003

FOR IRB66x0IDCONNECTION BETWEENR2.CP/CS AND R3.CP/CSSEE PAGE IRB66x0IDLOWER ARM HARNESS3HAC022481-001UPPER ARM HARNESS3HAC025532-001

IRB6660LOWER ARM HARNESS3HAC027105-001

* Circuitdiagram showsmarking on wires for bothdual and single cabinet

670

671

672

673

400240044000

40134014

40104012

4011

4006400840094007

GN/YE

GN/YE

12

34

GN/YE

BLBUBR

GN/YE

PK

RD

OGGN

YE

210/

5

45

67

GN/YE

123

GN/YE

45

67

210/

6

210/

7

45

67

GN/YE

123

GN/YE

4

D7 d7

-AXIS 3 -AXIS 6-MANIPULATOR BASE-ROBOTCABINET

-XS7

-XS13

D5 d5-R2.CP/CS

D2 d2

C1 c1

C2 c2

C3 c3

C5 c5

D1 d1-R2.CP/CS

D6 d6

D4 d4

D3 d3

D1 d1-R1.CP/CS

D6 d6

D3 d3

D4 d4

E E-R1.SP

C C

A A

G G

J J

K K

L L

M M

R R

B11

B12

B13

B15

C4-R3.CP/CS

C5

C6

C7

C1-R3.CP/CS

C2

C3

3 3-A41.1.3.X21

5 5

1 1

1 1-A43.X22

3 3

4 4

2 2

1 1-A43.X24

2 2

1 1-XP6

2 2

3 3

4 4

6 6

5 5-XS40

A3 a3

A5 a5

A1 a1

E1 e1

E2 e2

F7 f7

F9 f9

F8 f8

F1 f1

F2 f2

F3 f3

F4 f4

A1 a1

A2 a2

A3 a3

A4 a4

56

7

210/

8

24V

0V

24V

0V

W/T

V/S

U/R

PE

PTC

0V PTC

24V BRAKE REL

0V BRAKE REL

PE

BKBNRDOGYEGNBUVTGN/YE

*DUAL

*SINGLE

-

-

-

- VT

40134014

40104012

4011

4006400840094007

GN/YE

400240044000

Note 1.1 on Page 700

Prepared by, date:211

We

rese

rve

all r

ight

s in

this

doc

umen

t and

in th

e in

form

atio

n co

ntai

ned

ther

ein.

Rep

rodu

ctio

n, u

se o

r di

sclo

sure

to th

ird p

artie

s w

ithou

t exp

ress

aut

horit

y is

stri

ctly

forb

idde

n. ©

Cop

yrig

ht 2

003

AB

B

EM 2015-02-17 JEN 2015-03-04

2015-03-04

Page210

98TotalTYPE Se

Latest revision:

Approved by, date:

CUSTOMER SIGNALS, PROFIBUSLocation:Plant: =

++Sublocation:

DPSeAX3

Document no.Next

Rev. Ind

Lab/Office: Status:IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5ECO 70147, WI 7698Page 224-231: Adjusted, "Type Se" was "Type S"Page 316-321: Adjusted, "Type H" was "Type S"

12APPROVED

3HAC026209-001

1 2 74 53 6 8

DMRO SEPRMP

TYPE SECUSTOMER SIGNALSPROFIBUSCOMMUNICATIONVALID FORHARNESS IN CABINET3HAC022852-001 (Dual)3HAC024371-001 (Single)3HAC021791-0013HAC022868-001FLOOR HARNESS3HAC022988-001,002,003,0063HEA800736-001,002,003,004

ORANGE LINELOWER ARM HARNESS3HAC022481-001UPPER ARM HARNESS3HAC023173-001,002

SILVER LINELOWER ARM HARNESS3HAC022472-0013HAC022473-001UPPER ARM HARNESS3HAC022477-0013HAC022477-0023HAC022477-003

FOR IRB66x0IDCONNECTION BETWEENR2.CP/CS AND R3.CP/CSSEE PAGE IRB66x0IDLOWER ARM HARNESS3HAC022481-001UPPER ARM HARNESS3HAC025532-001

IRB6660LOWER ARM HARNESS3HAC027105-001

* Circuitdiagram showsmarking on wires for bothdual and single cabinet

WH/GN

RD

GN

BN

WH/BN

BN

677

678

WH/BU

BU

WH/OG

OG

211/

3

WH/GN WH/BN

GN BN

WH/BN WH/RD

BN RD

WH/BU WH/OGBU OG

WH/YEWH/OGOG YE

WH WH/BK

BU BK

211/

4

209/

821

1/8

Y7/S4

209/

5

0V Y7/S2

211/

5

0V EXC2/R2

EXC2/R1

KSR

KSR

X7/S1

0V X7/S3

BK

BN

*DUAL

*SINGLE

WH/GN

GN

WH/BN

B18-R3.CP/CS

-AXIS 3 -AXIS 6-MANIPULATOR BASE-ROBOTCABINET

-SMB

-XS13

B1 b1-R2.CP/CS

B2 b2

B3 b3

B4 b4

B5 b5

B6 b6

B7 b7

B8 b8

B9 b9

B10 b10

B19

B3 b3

B4 b4

B5 b5

B6 b6

B1 b1-R1.CP/CS

B2 b2

B7 b7

B8 b8

B9 b9

B10 b10

SP3

SP4

SP5

SP6

SP1

SP2

9-R1.SMB1

2

11

4

12

5

1

F F-R2.FB7

E E

D D

C C

B B

A A

B20

B21

B22

B23

B24

B25

B16

B17

1 1-XP5.1

2 2

9 9-XP5.1

10 10

11 11

12 12

1 1-XP5.2

2 2

3 3

4 4

B3 b3

B4 b4

B5 b5

B6 b6

B7 b7

B8 b8

B9 b9

B10 b10

B1 b1

B2 b2

BN

WH/BU

BU

WH/OG

OG

Note 1.9 on Page 702

WH/BN

BN

WH/RD

RD

WH/OGOG

WH/YEYE

WH/BK

BK

WH/RD

WH/BNBKWH/BK

RD

BN

209/

621

1/6

209/

721

1/7

WH/RD

WH/BNBKWH/BK

Prepared by, date:+.(-)/212

We

rese

rve

all r

ight

s in

this

doc

umen

t and

in th

e in

form

atio

n co

ntai

ned

ther

ein.

Rep

rodu

ctio

n, u

se o

r di

sclo

sure

to th

ird p

artie

s w

ithou

t exp

ress

aut

horit

y is

stri

ctly

forb

idde

n. ©

Cop

yrig

ht 2

003

AB

B

EM 2015-02-17 JEN 2015-03-04

2015-03-04

Page211

98TotalTYPE Se

Latest revision:

Approved by, date:

CUSTOMER SIGNALS, PROFIBUSLocation:Plant: =

++Sublocation:

DPSeAX3

Document no.Next

Rev. Ind

Lab/Office: Status:IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5ECO 70147, WI 7698Page 224-231: Adjusted, "Type Se" was "Type S"Page 316-321: Adjusted, "Type H" was "Type S"

12APPROVED

3HAC026209-001

1 2 74 53 6 8

DMRO SEPRMP

TYPE SECUSTOMER SIGNALSPROFIBUSCOMMUNICATIONVALID FORHARNESS IN CABINET3HAC022852-001 (Dual)3HAC024371-001 (Single)3HAC021791-0013HAC022868-001FLOOR HARNESS3HAC022988-001,002,003,0063HEA800736-001,002,003,004

ORANGE LINELOWER ARM HARNESS3HAC022481-001UPPER ARM HARNESS3HAC023173-001,002

SILVER LINELOWER ARM HARNESS3HAC022472-0013HAC022473-001UPPER ARM HARNESS3HAC022477-0013HAC022477-0023HAC022477-003

FOR IRB66x0IDCONNECTION BETWEENR2.CP/CS AND R3.CP/CSSEE PAGE IRB66x0IDLOWER ARM HARNESS3HAC022481-001UPPER ARM HARNESS3HAC025532-001

IRB6660LOWER ARM HARNESS3HAC027105-001

* Circuitdiagram showsmarking on wires for bothdual and single cabinet

GN

679

210/

8

680681

RXD/TXD-P

682

RXD/TXD-N

693

RD

694

OG

695

YE

696

GN

697

GY

698

WH

685

WH/BK

686

WH/BNWH/RD

687

WH/OG

683

GY

688

WH

684

WH/BK

689690

BU

WH/GN

691

WH/BN

GN

VT

692

WH/BU

WH/RD

699

BU

WH/OG

700

WH/YE

RD

WH/VT

GN

WH/GN

VT

666

WH/YE

WH/GY

667

WH/GN

GY

RD

668

WH/BK

669

GN

BK

210/

3

WH/BU

WH/OG

WH/VT

OG

WH/GY

WH/BN

*

BN

DUAL

WH/RD

RD

*

WH/BK

SINGLE

BK

BN/BK

WH/BN

BN

56

78

12

34

YEYE

VTVT

GNGN

GNGN

210/

6

201/

7

B14 b14

-AXIS 3 -AXIS 6-MANIPULATOR BASE-ROBOTCABINET

-XS13

B11 b11-R2.CP/CS

B12 b12

B13 b13

B15 b15

B16 b16

B18 b18

B19 b19

B20 b20

B21 b21

C20 c20

C21 c21

C16 c16

C17 c17

C18 c18

C19 c19

B22 b22

B23 b23

B24 b24

B25 b25

A3 a3

A4 a4

A5 a5

A6 a6

A9 a9

A10 a10

A11 a11

A12 a12

B1-R3.CP/CS

B2

B3

B4

B5

B6

B7

B8

B9

B10

A1

A2

A3

A4

A7

A8

A9

A10

A5

A6

A11

A12

B11 b11-R1.CP/CS

B12 b12

B13 b13

B14 b14

B15 b15

B16 b16

B18 b18

B19 b19

B20 b20

B21 b21

C16 c16

C17 c17

C18 c18

C19 c19

C20 c20

C21 c21

B22 b22

B23 b23

B24 b24

B25 b25

A3 a3

A4 a4

A5 a5

A6 a6

A9 a9

A10 a10

A11 a11

A12 a12

B14

C8

1B 1B-DP-M

1A 1A

3 3-XP5.1

4 4

5 5

6 6

7 7-XP5.1

8 8-XP5.1

5 5-XP5.2

6 6

7 7

8 8-XP5.2

9 9-XP5.2

10 10

11 11

12 12

1 1-XP5.3

2 2

3 3

4 4

5 5

6 6

7 7-XP5.3

8 8

9 9-XP5.3

10 10

11 11

12 12

B11 b11

B12 b12

B13 b13

B14 b14

B15 b15

B16 b16

B18 b18

B19 b19

B20 b20

B21 b21

C16 c16

C17 c17

C18 c18

C19 c19

C20 c20

C21 c21

B22 b22

B23 b23

B24 b24

B25 b25

C10 c10

C11 c11

F5 f5

F6 f6

C12 c12

C13 c13

C14 c14

C15 c15

WHOGWHGN

WHBNWHGYRDBU

RDOG

RD

GN

RD

BN

RDGY

BKBU

BKOG

WH/GN

RDGN

GN

BK

WH/BU

GN

BU

BK

WH/VT

BN

VT

201/

4

WH/GYGYWH/BK

210/

5

BK

WH/OG

OG

WH/BN

BN

WH/RD

RD

WH/BKBK

WH/BNBN

56

78

12

34

YEYE

VTVT

GNGN

GN

Prepared by, date:213

We

rese

rve

all r

ight

s in

this

doc

umen

t and

in th

e in

form

atio

n co

ntai

ned

ther

ein.

Rep

rodu

ctio

n, u

se o

r di

sclo

sure

to th

ird p

artie

s w

ithou

t exp

ress

aut

horit

y is

stri

ctly

forb

idde

n. ©

Cop

yrig

ht 2

003

AB

B

EM 2015-02-17 JEN 2015-03-04

2015-03-04

Page212

98TotalTYPE Se

Latest revision:

Approved by, date:

CUSTOMER SIGNALS, PARALLELLocation:Plant: =

++Sublocation:

DPSe(-)

Document no.Next

Rev. Ind

Lab/Office: Status:IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5ECO 70147, WI 7698Page 224-231: Adjusted, "Type Se" was "Type S"Page 316-321: Adjusted, "Type H" was "Type S"

12APPROVED

3HAC026209-001

1 2 74 53 6 8

DMRO SEPRMP

TYPE SECUSTOMER SIGNALSPARALLELCOMMUNICATIONVALID FORHARNESS IN CABINET3HAC022852-001 (Dual)3HAC024371-001 (Single)3HAC021791-001FLOOR HARNESS3HAC022957-001,002,003,0063HEA800736-001,002,003,004

ORANGE LINELOWER/UPPER ARM HARNESS3HAC022487-001,002

* Circuitdiagram showsmarking on wires for bothdual and single cabinet

670

671

672

673

400240044000

40134014

40104012

4011

4006400840094007

GN/YE

GN/YE

12

34

GN/YE

BLBU

BR

GN/YE

PKRD

OGGN

YE

213/

5

123

GN/YE

4

5

6

7

45

67

GN/YE

213/

8

24V BRAKE REL

0V BRAKE REL

24V

0V

24V

0V

PE

W/T

V/S

U/R

PE

PTC

-XS13

-AXIS 6-MANIPULATOR BASE-ROBOTCABINET

-XS7

1 1

B11

B12

B13

B15

C1-R3.CP/CS

C2

C3

D1 d1-R1.CP/CS

D6 d6

D3 d3

D4 d4

E ER1.SP

C C

A A

G G

J J

K K

L L

M M

R R

C4-R3.CP/CS

C5

C6

C7

3 3-A41.1.3.X21

5 5

1 1-A43.X22

3 3

4 4

2 2

1 1-A43.X24

2 2

1 1-XP6

2 2

3 3

4 4

5 5-XS40

6 6

A3 a3

A5 a5

A1 a1

E1 e1

E2 e2

F7 f7

F9 f9

F8 f8

F1 f1

F2 f2

F3 f3

F4 f4

A1 a1

A2 a2

A3 a3

A4 a4

0V PTC

BKBNRDOGYEGNBUVTGN/YE

*DUAL

*SINGLE

-

-

-

-

40134014

40104012

4011

4006400840094007

GN/YE

400240044000

Note 1.2 on Page 700

Prepared by, date:214

We

rese

rve

all r

ight

s in

this

doc

umen

t and

in th

e in

form

atio

n co

ntai

ned

ther

ein.

Rep

rodu

ctio

n, u

se o

r di

sclo

sure

to th

ird p

artie

s w

ithou

t exp

ress

aut

horit

y is

stri

ctly

forb

idde

n. ©

Cop

yrig

ht 2

003

AB

B

EM 2015-02-17 JEN 2015-03-04

2015-03-04

Page213

98TotalTYPE Se

Latest revision:

Approved by, date:

CUSTOMER SIGNALS, PARALLELLocation:Plant: =

++Sublocation:

DPSe(-)

Document no.Next

Rev. Ind

Lab/Office: Status:IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5ECO 70147, WI 7698Page 224-231: Adjusted, "Type Se" was "Type S"Page 316-321: Adjusted, "Type H" was "Type S"

12APPROVED

3HAC026209-001

1 2 74 53 6 8

DMRO SEPRMP

X7/S1

TYPE SECUSTOMER SIGNALSPARALLELCOMMUNICATIONVALID FORHARNESS IN CABINET3HAC022852-001 (Dual)3HAC024371-001 (Single)3HAC021791-001FLOOR HARNESS3HAC022957-001,002,003,0063HEA800736-001,002,003,004

ORANGE LINELOWER/UPPER ARM HARNESS3HAC022487-001,002

* Circuitdiagram showsmarking on wires for bothdual and single cabinet

0V X7/S3

677

Y7/S4

678

0V Y7/S2

WH/GN

0V EXC2/R2

GN

EXC2/R1

WH/BN

KSR

KSR

BN

WH/BU

BK

BU

BN

WH/OG

*

OG

DUAL

214/

3

*SINGLE

WH/GN

GN

WH/BN

BN

WH/BU

BU

WH/OG

OG

Note 1.11 on Page 702

WH

BU

WH/GN

GN

WH/BN

BN

WH/BUBU

WH/OGOG

214/

4

212/

521

4/5

-AXIS 6-MANIPULATOR BASE-ROBOTCABINET

-SMB

-XS13

B18-R3.CP/CS

B19

B20

B21

B22

B23

B24

B25

B16

B17

B1 b1-R1.CP/CS

B2 b2

B3 b3

B4 b4

B5 b5

B6 b6

B7 b7

B8 b8

B9 b9

B10 b10

SP1

SP2

SP3

SP4

SP5

SP6

9-R1.SMB1

2

11

4

12

5

1

F F-R2.FB7

E E

D D

C C

B B

A A

1 1-XP5.1

2 2

9 9-XP5.1

10 10

11 11

12 12

1 1-XP5.2

2 2

3 3

4 4

B1 b1

B2 b2

B3 b3

B4 b4

B5 b5

B6 b6

B7 b7

B8 b8

B9 b9

B10 b10

WH/RD

WH/BNBKWH/BK

RD

BN

WH/BK

BK

WH/BN

BN

WH/RD

RD

WH/OGOG

WH/YEYE

WH/RD

WH/BNBKWH/BK

RD

BN

212/

821

4/8

Prepared by, date:215

We

rese

rve

all r

ight

s in

this

doc

umen

t and

in th

e in

form

atio

n co

ntai

ned

ther

ein.

Rep

rodu

ctio

n, u

se o

r di

sclo

sure

to th

ird p

artie

s w

ithou

t exp

ress

aut

horit

y is

stri

ctly

forb

idde

n. ©

Cop

yrig

ht 2

003

AB

B

EM 2015-02-17 JEN 2015-03-04

2015-03-04

Page214

98TotalTYPE Se

Latest revision:

Approved by, date:

CUSTOMER SIGNALS, PARALLELLocation:Plant: =

++Sublocation:

DPSe(-)

Document no.Next

Rev. Ind

Lab/Office: Status:IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5ECO 70147, WI 7698Page 224-231: Adjusted, "Type Se" was "Type S"Page 316-321: Adjusted, "Type H" was "Type S"

12APPROVED

3HAC026209-001

1 2 74 53 6 8

DMRO SEPRMP

TYPE SECUSTOMER SIGNALSPARALLELCOMMUNICATIONVALID FORHARNESS IN CABINET3HAC022852-001 (Dual)3HAC024371-001 (Single)3HAC021791-001FLOOR HARNESS3HAC022957-001,002,003,0063HEA800736-001,002,003,004

ORANGE LINELOWER/UPPER ARM HARNESS3HAC022487-001,002

* Circuitdiagram showsmarking on wires for bothdual and single cabinet

GN

679

GY

680

WH

681

WH/BK

682

WH/BN

693

WH/RD

694

WH/OG

695

GY

696

WH

697

WH/BK

698

BU

685

WH/BN

686

VT

687

WH/RD

683

WH/OG

688

WH/YE

684

WH/GN

689

WH/YE

690

WH/GN

691

WH/BU

692

WH/VT

699

WH/GY

700

*

666

DUAL

667

*

668

SINGLE

669 BN/BK

213/

3

Note 1.12 on Page 702

WHOGWHGN

WH

-AXIS 6-MANIPULATOR BASE-ROBOTCABINET

6 6

-XS13

B1R3.CP/CS

B2

B3

B4

B5

B6

B7

B8

B9

B10

B14

C8

A1

A2

A3

A4

B11 b11-R1.CP/CS

B12 b12

B13 b13

B14 b14

B15 b15

B16 b16

B18 b18

B19 b19

B20 b20

B21 b21

C16

C17

C18

C19 c19

C20

C21

B22

B23

B24

B25

3 3-XP5.1

4 4

5 5

7 7-XP5.15

8 8-XP5.1

5 5-XP5.2

6 6

7 7

8 8-XP5.2

9 9-XP5.2

10 10

11 11

12 12

1 1-XP5.3

2 2

3 3

4 4

5 5

6 6

7 7-XP5.3

8 8

9 9

10 10

11 11

12 12

B11 b11

B12 b12

B13 b13

B14 b14

B15 b15

B16 b16

B18 b18

B19 b19

B20 b20

B21 b21

C16 c16

C17 c17

C18 c18

C19 c19

C20 c20

C21 c21

B22 b22

B23 b23

B24 b24

B25 b25

C10

C11

C12

C13

C14

C15

BNWHGYRDBU

RDOG

RD

GN

RD

BN

RDGYBKBU

213/

4

213/

4

WH/GNGNWH/BUBU

WH/VTVTWH/GYGYWH/BKBK

BN

RD

WH/YEYEWHGN

213/

8

RDOGYE

Prepared by, date:216

We

rese

rve

all r

ight

s in

this

doc

umen

t and

in th

e in

form

atio

n co

ntai

ned

ther

ein.

Rep

rodu

ctio

n, u

se o

r di

sclo

sure

to th

ird p

artie

s w

ithou

t exp

ress

aut

horit

y is

stri

ctly

forb

idde

n. ©

Cop

yrig

ht 2

003

AB

B

EM 2015-02-17 JEN 2015-03-04

2015-03-04

Page215

98TotalTYPE Se

Latest revision:

Approved by, date:

CUSTOMER SIGNALS, CANBUSLocation:Plant: =

++Sublocation:

DPSe(-)

Document no.Next

Rev. Ind

Lab/Office: Status:IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5ECO 70147, WI 7698Page 224-231: Adjusted, "Type Se" was "Type S"Page 316-321: Adjusted, "Type H" was "Type S"

12APPROVED

3HAC026209-001

1 2 74 53 6 8

DMRO SEPRMP

TYPE SECUSTOMER SIGNALSCANBUSCOMMUNICATIONVALID FORHARNESS IN CABINET3HAC022852-001 (Dual)3HAC024371-001 (Single)3HAC021791-0013HAC022866-001FLOOR HARNESS3HAC022978-001,002,003,0063HEA800736-001,002,003,004

ORANGE LINELOWER/UPPER ARM HARNESS3HAC022491-001,002

* Circuitdiagram showsmarking on wires for bothdual and single cabinet

670

671

672

673

400240044000

40134014

40104012

4011

4006400840094007

GN/YE

GN/YE

12

34

GN/YE

BLBUBR

GN/YE

PK

RD

OGGN

YE

216/

7

45

67

GN/YE

123

GN/YE

45

67

216/

8

24V BRAKE REL

0V BRAKE REL

24V

0V

24V

0V

PE

W/T

V/S

U/R

PE

-AXIS 6-MANIPULATOR BASE-ROBOTCABINET

-XS7

-XS13

2 2

B11

B12

B13

B15

C1-R3.CP/CS

C2

C3

D1 d1-R1.CP/CS

D6 d6

D3 d3

D4 d4

E E-R1.SP

C C

A A

G G

J J

K K

L L

M M

R

C4-R3.CP/CS

C5

C6

C7

3 3-A41.1.3.X21

5 5

1 1

1 1-A43.X22

3 3

4 4

1 1-A43.X24

2 2

1 1-XP6

2 2

3 3

4 4

6 6

5 5-XS40

A3 a3

A5 a5

A1 a1

E1 e1

E2 e2

F7 f7

F9 f9

F8 f8

F1 f1

F2 f2

F3 f3

F4 f4

A1 a1

A2 a2

A3 a3

A4 a4

PTC

0V PTC

BKBNRDOGYEGNBUVTGN/YE

*DUAL

*SINGLE

-

-

-

-

40044000

40134014

40104012

4011

4006400840094007

GN/YE

4002

Note 1.2 on Page 700

Prepared by, date:217

We

rese

rve

all r

ight

s in

this

doc

umen

t and

in th

e in

form

atio

n co

ntai

ned

ther

ein.

Rep

rodu

ctio

n, u

se o

r di

sclo

sure

to th

ird p

artie

s w

ithou

t exp

ress

aut

horit

y is

stri

ctly

forb

idde

n. ©

Cop

yrig

ht 2

003

AB

B

EM 2015-02-17 JEN 2015-03-04

2015-03-04

Page216

98TotalTYPE Se

Latest revision:

Approved by, date:

CUSTOMER SIGNALS, CANBUSLocation:Plant: =

++Sublocation:

DPSe(-)

Document no.Next

Rev. Ind

Lab/Office: Status:IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5ECO 70147, WI 7698Page 224-231: Adjusted, "Type Se" was "Type S"Page 316-321: Adjusted, "Type H" was "Type S"

12APPROVED

3HAC026209-001

1 2 74 53 6 8

DMRO SEPRMP

TYPE SECUSTOMER SIGNALSCANBUSCOMMUNICATIONVALID FORHARNESS IN CABINET3HAC022852-001 (Dual)3HAC024371-001 (Single)3HAC021791-0013HAC022866-001FLOOR HARNESS3HAC022978-001,002,003,0063HEA800736-001,002,003,004

ORANGE LINELOWER/UPPER ARM HARNESS3HAC022491-001,002

* Circuitdiagram showsmarking on wires for bothdual and single cabinet

0V X7/S3

677

Y7/S4

678

0V Y7/S2

WH/GN

0V EXC2/R2

GN

EXC2/R1

WH/BN

KSR

BN

KSR

WH/BU

BK

BU

BN

WH/OG

*

OG

DUAL

217/

3

*SINGLE

WH/GN

GN

WH/BN

BN

WH/BU

BU

WH/OG

OG

Note 1.11 on Page 702

WH

BU

WH/GN

GN

WH/BN

BN

WH/BUBU

WH/OGOG

217/

4

215/

521

7/5

B17

-AXIS 6-MANIPULATOR BASE-ROBOTCABINET

-SMB

-XS13

B18-R3.CP/CS

B19

B20

B21

B22

B23

B24

B25

B16

B1 b1-R1.CP/CS

B2 b2

B3 b3

B4 b4

B5 b5

B6 b6

B7 b7

B8 b8

B9 b9

B10 b10

SP1

SP2

SP3

SP4

SP5

SP6

9-R1.SMB1

2

11

4

12

5

1

F F-R2.FB7

E E

D D

C C

B B

A A

1 1-XP5.1

2 2

9 9-XP5.1

10 10

11 11

12 12

1 1-XP5.2

2 2

3 3

4 4

B1 b1

B2 b2

B3 b3

B4 b4

B5 b5

B6 b6

B7 b7

B8 b8

B9 b9

B10 b10

WH/RD

WH/BNBKWH/BK

RD

BN

WH/BK

BK

WH/BN

BN

WH/RD

RD

WH/OGOG

WH/YEYE

WH/RD

WH/BNBKWH/BK

RD

BN

215/

821

7/8

X7/S1

Prepared by, date:221

We

rese

rve

all r

ight

s in

this

doc

umen

t and

in th

e in

form

atio

n co

ntai

ned

ther

ein.

Rep

rodu

ctio

n, u

se o

r di

sclo

sure

to th

ird p

artie

s w

ithou

t exp

ress

aut

horit

y is

stri

ctly

forb

idde

n. ©

Cop

yrig

ht 2

003

AB

B

EM 2015-02-17 JEN 2015-03-04

2015-03-04

Page217

98TotalTYPE Se

Latest revision:

Approved by, date:

CUSTOMER SIGNALS, CANBUSLocation:Plant: =

++Sublocation:

DPSe(-)

Document no.Next

Rev. Ind

Lab/Office: Status:IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5ECO 70147, WI 7698Page 224-231: Adjusted, "Type Se" was "Type S"Page 316-321: Adjusted, "Type H" was "Type S"

12APPROVED

3HAC026209-001

1 2 74 53 6 8

DMRO SEPRMP

TYPE SECUSTOMER SIGNALSCANBUSCOMMUNICATIONVALID FORHARNESS IN CABINET3HAC022852-001(Dual)3HAC024371-001 (Single)3HAC021791-0013HAC022866-001FLOOR HARNESS3HAC022978-001,002,003,0063HEA800736-001,002,003,004

ORANGE LINELOWER/UPPER ARM HARNESS3HAC022491-001,002

* Circuitdiagram showsmarking on wires for bothdual and single cabinet

679680681682

693694695696697698

685686687

683

688

684

RDBK

691692689690

WH/GN

WHBU

GN

699

WH/BU

700

BU

666

WH/VT

667

VT

668

WH/GY

669

GYWH/BKBK

216/

3

BN

RD

WH/BKBK

WH/BNBN

56

78

12

34

YEYE

VTVT

GNGN

GNGN

216/

8

+24V CAN

0V CAN

CAN_H

CAN_L

RDOG

-AXIS 6-MANIPULATOR BASE-ROBOTCABINET-XS13

B1-R3.CP/CS

B2

B3

B4

B5

B6

B7

B8

B9

B10

B14

C8

A7

A8

A9

A10

A5

A6

A11

A12

B11 b11-R1.CP/CS

B12 b12

B13 b13

B14 b14

B15 b15

B16 b16

B18 b18

B19 b19

B20 b20

B21 b21

C16 c16

C17 c17

C18 c18

C19 c19

C20 c20

C21 c21

B22 b22

B23 b23

B24 b24

B25 b25

A3 a3

A4 a4

A5 a5

A6 a6

A9 a9

A10 a10

A11 a11

A12 a12

A1

A2

A3

A4

5 5-A35.X2

1 1

4 4-A35.X2

2 2

3 3

3 3-XP5.1

4 4

5 5

6 6

7 7-XP5.1

8 8-XP5.1

11 11-XP5.2

12 12

9 9

10 10

5 5-XP5.2

8 8-XP5.2

7 7-XP5.3

8 8

9 9

10 10

11 11

12 12

1 1-XP5.3

6 6

6 6

7 7

2 2

3 3

4 4

5 5

B11 b11

B12 b12

B13 b13

B14 b14

B15 b15

B16 b16

B18 b18

B19 b19

B20 b20

B21 b21

C16 c16

C17 c17

C18 c18

C19 c19

C20 c20

C21 c21

F1 f1

F2 f2

B24 b24

B25 b25

B22

B23

F3 f3

F4 f4

C10 c10

C11 c11

C12 c12

C13 c13

C14 c14

C15 c15

YEGN

GYWHWH/BKWH/BNWH/RDWH/OG

GYWHWH/BK

BU

WH/BN

WH

VT

OG

RD

WH

BK

GN

WH/YE

WH

WH/GN

BN

WH/RD

WH

WH/OG

GY

WH

RD

BU

BU

WH/YE

RD

WH/GN

OG

WH/BU

RD

WH/VT

GN

WH/GY

RD

*

BN

DUAL

RD

*

BK

SINGLE

BKBU

BN/BK

WHBU

BKOG

BKGN

BKBN

216/

4

216/

4

Prepared by, date:222

We

rese

rve

all r

ight

s in

this

doc

umen

t and

in th

e in

form

atio

n co

ntai

ned

ther

ein.

Rep

rodu

ctio

n, u

se o

r di

sclo

sure

to th

ird p

artie

s w

ithou

t exp

ress

aut

horit

y is

stri

ctly

forb

idde

n. ©

Cop

yrig

ht 2

003

AB

B

EM 2015-02-17 JEN 2015-03-04

2015-03-04

Page221

98TotalTYPE Se

Latest revision:

Approved by, date:

CUSTOMER SIGNALS, PROFIBUSLocation:Plant: =

++Sublocation:

DPSe(-)

Document no.Next

Rev. Ind

Lab/Office: Status:IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5ECO 70147, WI 7698Page 224-231: Adjusted, "Type Se" was "Type S"Page 316-321: Adjusted, "Type H" was "Type S"

12APPROVED

3HAC026209-001

1 2 74 53 6 8

DMRO SEPRMP

TYPE SECUSTOMER SIGNALSPROFIBUSCOMMUNICATIONVALID FORHARNESS IN CABINET3HAC022852-001 (Dual)3HAC024371-001 (Single)3HAC021791-0013HAC022868-001FLOOR HARNESS3HAC022988-001,002,003,0063HEA800736-001,002,003,004

ORANGE LINELOWER/UPPER ARM HARNESS3HAC022491-001,002

* Circuitdiagram showsmarking on wires for bothdual and single cabinet

670

671

672

673

400240044000

40134014

40104012

4011

4006400840094007

GN/YE

GN/YE

BLBU

BR

GN/YE

PKRD

OGGN

YE

12

34

GN/YE

222/

5

45

67

GN/YE

123

GN/YE

45

6

7

222/

8

24V BRAKE REL

0V BRAKE REL

24V

0V

24V

0V

W/T

V/S

U/R

PE

PE

PTC

-XS13-AXIS 6-MANIPULATOR BASE-ROBOTCABINET

-XS7

1 1

D1 d1-R1.CP/CS

D6 d6

D3 d3

D4 d4

E E-R1.SP

C C

A A

G G

J J

K K

L L

M M

R

B11

B12

B13

B15

C4-R3.CP/CS

C5

C6

C7

C1-R3.CP/CS

C2

C3

3 3-A41.1.3.X21

5 5

1 1-A43.X22

3 3

4 4

2 2

1 1-A43.X24

2 2

1 1-XP6

2 2

3 3

4 4

6 6

5 5-XS40

A3 a3

A5 a5

A1 a1

E1 e1

E2 e2

F7 f7

F9 f9

F8 f8

F1 f1

F2 f2

F3 f3

F4 f4

A1 a1

A2 a2

A3 a3

A4 a4

0V PTC

BKBNRDOGYEGNBUVT

-

-

-

-GN/YE

*DUAL *SINGLE

40134014

40104012

4011

40064008

GN/YE

40094007

400240044000

Note 1.2 on Page 700

Prepared by, date:223

We

rese

rve

all r

ight

s in

this

doc

umen

t and

in th

e in

form

atio

n co

ntai

ned

ther

ein.

Rep

rodu

ctio

n, u

se o

r di

sclo

sure

to th

ird p

artie

s w

ithou

t exp

ress

aut

horit

y is

stri

ctly

forb

idde

n. ©

Cop

yrig

ht 2

003

AB

B

EM 2015-02-17 JEN 2015-03-04

2015-03-04

Page222

98TotalTYPE Se

Latest revision:

Approved by, date:

CUSTOMER SIGNALS, PROFIBUSLocation:Plant: =

++Sublocation:

DPSe(-)

Document no.Next

Rev. Ind

Lab/Office: Status:IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5ECO 70147, WI 7698Page 224-231: Adjusted, "Type Se" was "Type S"Page 316-321: Adjusted, "Type H" was "Type S"

12APPROVED

3HAC026209-001

1 2 74 53 6 8

DMRO SEPRMP

TYPE SECUSTOMER SIGNALSPROFIBUSCOMMUNICATIONVALID FORHARNESS IN CABINET3HAC022852-001 (Dual)3HAC024371-001 (Single)3HAC021791-0013HAC022868-001FLOOR HARNESS3HAC022988-001,002,003,0063HEA800736-001,002,003,004

ORANGE LINELOWER/UPPER ARM HARNESS3HAC022491-001,002

* Circuitdiagram showsmarking on wires for bothdual and single cabinet

0V Y7/S2

WH/GN

0V EXC2/R2

GN

EXC2/R1

WH/BN

KSR

BN

KSR

677X7/S1

678 0V X7/S3

WH/BU

BK

BU

BN

WH/OG

*

OG

DUAL

223/

3

*SINGLE

WH/BN

BN

WH/BU

BU

WH/OG

OG

WH/GN

GN

Note 1.11 on Page 702

WH/GN

GN

WH/BN

BN

WH/BUBU

WH/OGOG

WH

BU

223/

4

221/

522

3/5

-MANIPULATOR BASE -AXIS 6

B8 b8

-ROBOTCABINET

-SMB

-XS13

B18-R3.CP/CS

B19

B3 b3

B4 b4

B5 b5

B6 b6

B1 b1-R1.CP/CS

B2 b2

B7 b7

B9 b9

B10 b10

SP3

SP4

SP5

SP6

SP1

SP2

9 9-R1.SMB1

2 2

11 11

4 4

12 12

5 5

1 1

F F-R2.FB7

E E

D D

C C

B B

A A

B20

B21

B22

B23

B24

B25

B16

B17

1 1-XP5.1

2 2

9 9-XP5.1

10 10

11 11

12 12

1 1-XP5.2

2 2

3 3

4 4

B3 b3

B4 b4

B5 b5

B6 b6

B7 b7

B8 b8

B9 b9

B10 b10

B1 b1

B2 b2

WH/RD

WH/BNBKWH/BK

RD

BN

WH/BN

BN

WH/RD

RD

WH/OGOG

WH/YEYE

WH/BK

BK

WH/RD

WH/BNBKWH/BK

RD

BN

221/

822

3/8

Y7/S4

Prepared by, date:+.AX3/224

We

rese

rve

all r

ight

s in

this

doc

umen

t and

in th

e in

form

atio

n co

ntai

ned

ther

ein.

Rep

rodu

ctio

n, u

se o

r di

sclo

sure

to th

ird p

artie

s w

ithou

t exp

ress

aut

horit

y is

stri

ctly

forb

idde

n. ©

Cop

yrig

ht 2

003

AB

B

EM 2015-02-17 JEN 2015-03-04

2015-03-04

Page223

98TotalTYPE Se

Latest revision:

Approved by, date:

CUSTOMER SIGNALS, PROFIBUSLocation:Plant: =

++Sublocation:

DPSe(-)

Document no.Next

Rev. Ind

Lab/Office: Status:IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5ECO 70147, WI 7698Page 224-231: Adjusted, "Type Se" was "Type S"Page 316-321: Adjusted, "Type H" was "Type S"

12APPROVED

3HAC026209-001

1 2 74 53 6 8

DMRO SEPRMP

TYPE SECUSTOMER SIGNALSPROFIBUSCOMMUNICATIONVALID FORHARNESS IN CABINET3HAC022852-001 (Dual)3HAC024371-001 (Single)3HAC021791-0013HAC022868-001FLOOR HARNESS3HAC022988-001,002,003,0063HEA800736-001,002,003,004

ORANGE LINELOWER/UPPER ARM HARNESS3HAC022491-001,002

* Circuitdiagram showsmarking on wires for bothdual and single cabinet

679680681682

693694695696697

698

WH/GN

685

GN

686

WH/BU

687

BU

683

WH/VT

688

VTWH/GY

684

GY

689

WH/BK

690

BK

691

BN

692

RD

699

WH/BK

700

RD

BK

GN

WH/BN

666

BN

667

5

668

6

669

7

222/

2

8

12

34

YEYE

VTVT

GNGN

GNGN

222/

8

RXD/TXD-P

RXD/TXD-N

RDOGYEGN

GYWHWH/BKWH/BNWH/RDWH/OG

GYWH

WH/BK

BU

WH/BN

VT

WH/RDWH/OG

WH/YE

-AXIS 6-MANIPULATOR BASE-ROBOTCABINET

-XS13

B1-R3.CP/CS

B2

B3

B4

B5

B6

B7

B8

B9

B10

A1

A2

A3

A4

A7

A8

A9

A10

A5

A6

A11

A12

B11 b11-R1.CP/CS

B12 b12

B13 b13

B14 b14

B15 b15

B16 b16

B18 b18

B19 b19

B20 b20

B21 b21

C16

C17

C18

C19 b19

C20

C21 b21

B22 b22

B23 b23

B24 b24

B25 b25

A3 a3

A4 a4

A5 a5

A6 a6

A9 a7

A10 a10

A11 a11

A12 a12

B14

C8

1B 1B-DP-M

1A 1A

3 3-XP5.1

4 4

5 5

6 6

7 7-XP5.1

8 8-XP5.1

5 5-XP5.2

6 6

7 7

8 8-XP5.2

9 9-XP5.2

10 10

11 11

12 12

1 1-XP5.3

2 2

3 3

4 4

5 5

6 6

7 7-XP5.3

8 8

9 9-XP5.3

10 10

11 11

12 12

B11 b11

B12 b12

B13 b13

B14 b14

B15 b15

B16 b16

B18 b18

B19 b19

B20 b20

B21 b21

C16 c16

C17 c17

C18 c18

C19 c19

C20 c20

C21 c21

B22 b22

B23 b23

B24 b24

B25 b25

C10 c10

C11 c11

F5 f5

F6 f6

C12 c12

C13 c13

C14 c14

C15 c15

WH/GN

WH/YEWH/GN

RDGN

WH/BU

RD

WH/VT

OG

WH/GY

RD

668

GN

*

RD

DUAL

BN

*WH

SINGLE

OGWH

BN/BK

GN

WHBNWHGYRDBU

RDGY

BKBU

BKOG

RDGN

BKGN

BKBN

222/

4

222/

4

Prepared by, date:225

We

rese

rve

all r

ight

s in

this

doc

umen

t and

in th

e in

form

atio

n co

ntai

ned

ther

ein.

Rep

rodu

ctio

n, u

se o

r di

sclo

sure

to th

ird p

artie

s w

ithou

t exp

ress

aut

horit

y is

stri

ctly

forb

idde

n. ©

Cop

yrig

ht 2

003

AB

B

EM 2015-02-17 JEN 2015-03-04

2015-03-04

Page224

98TotalTYPE Se

Latest revision:

Approved by, date:

CUSTOMER SIGNALS, PARALLEL Location:Plant: =

++Sublocation:

DPSeAX3

Document no.Next

Rev. Ind

Lab/Office: Status:IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5ECO 70147, WI 7698Page 224-231: Adjusted, "Type Se" was "Type S"Page 316-321: Adjusted, "Type H" was "Type S"

12APPROVED

3HAC026209-001

1 2 74 53 6 8

DMRO SEPRMP

TYPE SeCUSTOMER SIGNALSPARALLELCOMMUNICATIONVALID FORHARNESS IN CABINET3HAC022852-001 (Dual)3HAC024371-001 (Single)FLOOR HARNESS3HAC022957-001,002,003,006

SW6LOWER ARM HARNESS3HAC042381-002UPPER ARM HARNESS3HAC042384-002

* Circuitdiagram shows marking on wires for both dual and single cabinet

N.C.=Not Connected

BK

670

BN

671

RD

672

OG

673

YE

677

GN

678

GY

4

WH/GN

WH

5

GN

WH/BK

6

WH/BN

WH/BN

7

BN

GN/YE

WH/RDWH/OG

WH/BU

WH/BK

BU

BU

BK

WH/OG

WH/BN

WH/BK

OG

BN

DUAL

WH/RD

SINGLE

679

GN/YE

RD

680

WH/OG

-

681

-

OG

682

WH/YE

693

-

-

YE

694

WH/GN

*

695

*

696

GN

697

WH/BU

698

BU

WH/GN

683

GN

WH/VT

686

VT

WH/BN

WH/GY

BN

GN/YE

101/

3WH/BU

GY

BU

WH/BK

WH/OG

BK

OG

WH/OG

OG

Note 1.1 on Page 700

101/

6

Note 1.3 on Page 700

Note 1.5 on Page 701

101/

7

12

34

GN/YE

WH

G G G G

3 3

4 4

5 5

6 6

1 1-XP5.3

2 2

3 3

4 4

5 5

6 6

7 7-XP5.1

7 7-XP5.2

B11 b11

B12 b12

B13 b13

B14 b14

B15 b15

B16 b16

B18 b18

B19 b19

B20 b20

B21 b21

C19 c19

C18 c18

B11 b11

B12 b12

B13 b13

B14 b14

B15 b15

B16 b16

B18 b18

B19 b19

B20 b20

B21 b21

C19 c19

C18 N.C.

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.

P

R

S

T

U

X

Y

Z

a

b

c

N.C.

-ROBOTCABINET

1 1-XP6

2 2

3 3

4 4

1 1-XP5.1

2 2

1 1-XP5.2

2 2

3 3

4 4

9 9-XP5.1

10 10

11 11

12 12

-XS13

A1 a1

A2 a2

A3 a3

A4 a4

B1 b1

B2 b2

B3 b3

B4 b4

B5 b5

B6 b6

B7 b7

B8 b8

B9 b9

B10 b10

-MANIPULATOR BASE

D1 d1-R1.CP/CS

D6 d6

D3 d3

D4 d4

B1 B1

B2 b2

B3 b3

B4 b4

B5 b5

B6 b6

B7 b7

B8 b8

B9 b9

B10 b10

-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

-AXIS 6

E E-R3.CP/CS

F F

V V

W W

A

B

C

D

H

J

K

L

M

N

BU

WH/GNGN

WH/BNBN

WH/BUBU

WH/OGOG

WHOGWHGN

45

WH

6

BNWH

7

GN/YE

GYRD

WH/OG

BU

OG

GN

WH/BK

RD

BK

WH/BNBN

WH/RDRD

WH/OG

101/

4

OG

WH/YE

101/

5

YE

WH/GNGNWH/BUBU

WH/VTVTWH/GYGYWH/BKBK

101/

8

24V

0V

24V

0V

CS6/KSR

CS8/KSR

CS4

CS5

CS6

CS9

CS10

CS3

PE

CS1

CS2

CS15

CS16

CS17

CS18

CS19

CS20

CS21

CS12

CS11

CS13

CS14

BKBNRDOGYEGNBUVT

Prepared by, date:226

We

rese

rve

all r

ight

s in

this

doc

umen

t and

in th

e in

form

atio

n co

ntai

ned

ther

ein.

Rep

rodu

ctio

n, u

se o

r di

sclo

sure

to th

ird p

artie

s w

ithou

t exp

ress

aut

horit

y is

stri

ctly

forb

idde

n. ©

Cop

yrig

ht 2

003

AB

B

EM 2015-02-17 JEN 2015-03-04

2015-03-04

Page225

98TotalTYPE Se

Latest revision:

Approved by, date:

CUSTOMER SIGNALS, PARALLEL Location:Plant: =

++Sublocation:

DPSeAX3

Document no.Next

Rev. Ind

Lab/Office: Status:IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5ECO 70147, WI 7698Page 224-231: Adjusted, "Type Se" was "Type S"Page 316-321: Adjusted, "Type H" was "Type S"

12APPROVED

3HAC026209-001

1 2 74 53 6 8

DMRO SEPRMP

TYPE SeCUSTOMER SIGNALSPARALLELCOMMUNICATIONVALID FORHARNESS IN CABINET3HAC022852-001 (Dual)3HAC024371-001 (Single)FLOOR HARNESS3HAC022957-001,002,003,006

SW6LOWER ARM HARNESS3HAC042381-002UPPER ARM HARNESS3HAC042384-002

* Circuitdiagram shows markingon wires for both dual andsingle cabinet

N.C.=Not Connected

685

WH/RD

686

WH/BN

688

BK

684

WH/BK

4002

689

RD

690

4004

691

BN

4000

692

4013

699

4014

700

4010

666

4012

667

4011

668

40064008

669

40094007

100/

3

GN/YE

BLBUBR

GN/YE

PKRD

OG

RD

GN

OG

YE

RD

BN

RDGY

3

BK

2

BU

110

0/4

GN/YE

4

100/

55

67

WH/YEYE

8 82 24 43 31 1

7 7-R4.FB

8 82 24 43 31 1

3

9 9-XP5.2

10 10

11 11

12 12

5 5-XP5.2

6 6

8 8

8 8-XP5.1

B22 b22

B23 b23

B24 b24

B25 b25

C16 c16

C17 c17

C20 c20

C21 c21

B22 N.C.

B23 N.C.

B24 N.C.

B25 N.C.

c16 N.C.-R1.CP/CS

C17 N.C.

C20 N.C.

C21 N.C.

WH

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.

N.C.-R3.CP/CS

N.C.

N.C.

N.C.

-ROBOTCABINET

7 7-XP5.3

8 8

9 9

10 10

11 11

12 12

-XS13

C10

C11

C12

C13

C14

C15

-MANIPULATOR BASE -AXIS 3 -AXIS 6

F8 f8

3 3-A41.1.3.X21

5 5

1 1

1 1-A43.X24

2 2

5 5-XS40

6 6

-XS7

A3 a3

A5 a5

A1 a1

E1 e1

E2 e2

F7 f7

F9 f9

4 4-R2.SP

E E-R1.SP

C C

A A

G G

J J

K K

L L

M M

R

1 1

3 3

C C

D D

A A

B B

4-R3.SP

1

3

C

D

A

B

PE PE PE

F4 f4

1 1-A43.X22

3 3

4 4

2 2

F1 f1

F2 f2

F3 f3

F F-R2.FB7

E E

D D

C C

B B

A A

-SMB9-R1.SMB

2

11

4

12

5

1

7 7-R3.FB

GN

2

WH/BN

1

BN

GN/YE

4

WH/RD

5

RD

100/

6

67

100/

7

W/TV/SU/R

WH/RD

PTC

YEWH/GN

0V PTC

24V BRAKE REL

GN

WH/BN

0V BRAKE REL

BN

RD

PE

WH/YE

100/

8

GY

WH

WH/RD 0V EXC 2WH/RD

WH/BN

Y7WH/BN WH/BN

VT

BK 0V X7BK

WH/RD

WH/BK X7WH/BK

WH/OG

RD EXC 2RD

WH/YE

BN 0V Y7BN

WH/GN

WH/YEWH/GNWH/BUWH/VTWH/GY

*DUAL

*

40024004

SINGLE

4000

4013

BN/BK

4014

Note 1.6 on Page 701

40104012

4011

GN/YE

4006400840094007

Prepared by, date:227

We

rese

rve

all r

ight

s in

this

doc

umen

t and

in th

e in

form

atio

n co

ntai

ned

ther

ein.

Rep

rodu

ctio

n, u

se o

r di

sclo

sure

to th

ird p

artie

s w

ithou

t exp

ress

aut

horit

y is

stri

ctly

forb

idde

n. ©

Cop

yrig

ht 2

003

AB

B

EM 2015-02-17 JEN 2015-03-04

2015-03-04

Page226

98TotalTYPE Se

Latest revision:

Approved by, date:

CUSTOMER SIGNALS, CANBUS Location:Plant: =

++Sublocation:

DPSeAX3

Document no.Next

Rev. Ind

Lab/Office: Status:IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5ECO 70147, WI 7698Page 224-231: Adjusted, "Type Se" was "Type S"Page 316-321: Adjusted, "Type H" was "Type S"

12APPROVED

3HAC026209-001

1 2 74 53 6 8

DMRO SEPRMP

TYPE SeCUSTOMER SIGNALSPARALLELCOMMUNICATIONVALID FORHARNESS IN CABINET3HAC022852-001 (Dual)3HAC024371-001 (Single)FLOOR HARNESS3HAC022957-001,002,003,006

SW6LOWER ARM HARNESS3HAC042382-002UPPER ARM HARNESS3HAC042385-002

* Circuitdiagram shows marking on wires for both dual and single cabinet

N.C.=Not Connected

BK

670

BN

671

RD

672

OG

673

YE

677

GN

678

GY

4

WH/GN

WH

5

GN

WH/BK

6

WH/BN

WH/BN

7

BN

GN/YE

WH/RDWH/OG

WH/BU

WH/BK

BU

BU

BK

WH/OG

WH/BN

WH/BK

OG

BN

DUAL

WH/RD

SINGLE

679

GN/YE

RD

680

WH/OG

-

681

-

OG

682

WH/YE

693

-

-

YE

694

WH/GN

*

695

*

696

GN

697

WH/BU

698

BU

WH/GN

683

GN

WH/VT

686

VT

WH/BN

WH/GY

BN

GN/YE

101/

3WH/BU

GY

BU

WH/BK

WH/OG

BK

OG

WH/OG

OG

Note 1.1 on Page 700

101/

6

Note 1.3 on Page 700

Note 1.5 on Page 701

101/

7

12

34

GN/YE

WH

G G G G

3 3

4 4

5 5

6 6

1 1-XP5.3

2 2

3 3

4 4

5 5

6 6

7 7-XP5.1

7 7-XP5.2

B11 b11

B12 b12

B13 b13

B14 b14

B15 b15

B16 b16

B18 b18

B19 b19

B20 b20

B21 b21

C19 c19

C18 c18

B11 b11

B12 b12

B13 b13

B14 b14

B15 b15

B16 b16

B18 b18

B19 b19

B20 b20

B21 b21

C19 c19

C18 N.C.

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.

P

R

S

T

U

X

Y

Z

a

b

c

N.C.

-ROBOTCABINET

1 1-XP6

2 2

3 3

4 4

1 1-XP5.1

2 2

1 1-XP5.2

2 2

3 3

4 4

9 9-XP5.1

10 10

11 11

12 12

-XS13

A1 a1

A2 a2

A3 a3

A4 a4

B1 b1

B2 b2

B3 b3

B4 b4

B5 b5

B6 b6

B7 b7

B8 b8

B9 b9

B10 b10

-MANIPULATOR BASE

D1 d1-R1.CP/CS

D6 d6

D3 d3

D4 d4

B1 B1

B2 b2

B3 b3

B4 b4

B5 b5

B6 b6

B7 b7

B8 b8

B9 b9

B10 b10

-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

-AXIS 6

E E-R3.CP/CS

F F

V V

W W

A

B

C

D

H

J

K

L

M

N

BU

WH/GNGN

WH/BNBN

WH/BUBU

WH/OGOG

WHOGWHGN

45

WH

6

BNWH

7

GN/YE

GYRD

WH/OG

BU

OG

GN

WH/BK

RD

BK

WH/BNBN

WH/RDRD

WH/OG

101/

4

OG

WH/YE

101/

5

YE

WH/GNGNWH/BUBU

WH/VTVTWH/GYGYWH/BKBK

101/

8

24V

0V

24V

0V

CS6/KSR

CS8/KSR

CS4

CS5

CS6

CS9

CS10

CS3

PE

CS1

CS2

CS15

CS16

CS17

CS18

CS19

CS20

CS21

CS12

CS11

CS13

CS14

BKBNRDOGYEGNBUVT

Prepared by, date:228

We

rese

rve

all r

ight

s in

this

doc

umen

t and

in th

e in

form

atio

n co

ntai

ned

ther

ein.

Rep

rodu

ctio

n, u

se o

r di

sclo

sure

to th

ird p

artie

s w

ithou

t exp

ress

aut

horit

y is

stri

ctly

forb

idde

n. ©

Cop

yrig

ht 2

003

AB

B

EM 2015-02-17 JEN 2015-03-04

2015-03-04

Page227

98TotalTYPE Se

Latest revision:

Approved by, date:

CUSTOMER SIGNALS, CANBUS Location:Plant: =

++Sublocation:

DPSeAX3

Document no.Next

Rev. Ind

Lab/Office: Status:IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5ECO 70147, WI 7698Page 224-231: Adjusted, "Type Se" was "Type S"Page 316-321: Adjusted, "Type H" was "Type S"

12APPROVED

3HAC026209-001

1 2 74 53 6 8

DMRO SEPRMP

TYPE SeCUSTOMER SIGNALSPARALLELCOMMUNICATIONVALID FORHARNESS IN CABINET3HAC022852-001 (Dual)3HAC024371-001 (Single)FLOOR HARNESS3HAC022957-001,002,003,006

SW6LOWER ARM HARNESS3HAC042382-002UPPER ARM HARNESS3HAC042385-002

* Circuitdiagram shows markingon wires for both dual andsingle cabinet

N.C.=Not Connected

8

RD

685

1

BK

2

686

3

688

691

684

692

4

689

689

YEYE

690

690

VT

WH

691

BU

692

VT

699

699

GN

700

700

GN

666

666

GN

667

667

GN668

668669

669

100/

3

+24V BUS

0V BUS

C-BUS

C-BUS

P-BUS

P-BUS

RD

OG

RD

RD

BN

BK

RD

WH/YE

GY

WH/GN

BK

WH/RD

BU

100/

4

WH/OG

WHBU

100/

5

WH/YEWH/GN

WH/BUWH/VT

WH/BKBK

WH/GY

WH/BNBN

56

7

BN/BK

8

12

34

YEYE

WH/YE

VT

YE

VT

GN

9 9-XP5.2

10 10

11 11

12 12

5 5-XP5.2

6 6

8 8

8 8-XP5.1

B22 b22

B23 b23

B24 b24

B25 b25

C16 c16

C17 c17

C20 c20

C21 c21

B22 N.C.

B23 N.C.

B24 N.C.

B25 N.C.

c16 N.C.-R1.CP/CS

C17 N.C.

C20 N.C.

C21 N.C.

WH

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.

N.C.-R3.CP/CS

N.C.

N.C.

N.C.

-ROBOTCABINET

7 7-XP5.3

8 8

9 9

10 10

11 11

12 12

-XS13

C10

C11

C12

C13

C14

C15

-MANIPULATOR BASE -AXIS 3 -AXIS 6

5 5-A35.X2

1 1

11 11-XP5.2

12 12

9 9

10 10

4 4-A35.X2

2 2

3 3

7 7-XP5.3

8 8

9 9

10 10

11 11

12 12

F1 F1

F2 F2

B24 B24

B25 B25

B22

B23

F3 F3

F4 F4

C10 c10

C11 c11

C12 c12

C13 c13

C14 c14

C15 c15

B22 b22

B23 b23

B24 b24

B25 b25

A3 a3

A4 a4

A5 a5

A6 a6

A9 N.C.

A10 N.C.

A11 N.C.

A12 N.C.

C C-R2.CBUS

D D

N.C. N.C.

N.C. N.C.

A A

B B

E E

J J

N.C. N.C.

N.C. N.C.

N.C. N.C.

N.C. N.C.

C-R3.CBUS

D

N.C.

N.C.

A

B

E

J

N.C.

N.C.

N.C.

N.C.

GN

GN

WH/BN

GNGN

BN

WH/RD

RD

100/

6

100/

7

WH/RD

YEWH/GNGN

WH/BN

BN

RD

WH/YE

100/

8

GY

WH

WH/BN

RD

VT

BK

WH/RD

BK

WH/OG

BU

WH/YE

WH

WH/GN

WH/YE

BU

WH/GN

BK

WH/BU

OG

WH/VT

BKGN

WH/GY

*

BKBN

DUAL*SINGLE

BN/BK

Note 1.6 on Page 701

WH/BKBK

WH/BNBN

56

7

Prepared by, date:229

We

rese

rve

all r

ight

s in

this

doc

umen

t and

in th

e in

form

atio

n co

ntai

ned

ther

ein.

Rep

rodu

ctio

n, u

se o

r di

sclo

sure

to th

ird p

artie

s w

ithou

t exp

ress

aut

horit

y is

stri

ctly

forb

idde

n. ©

Cop

yrig

ht 2

003

AB

B

EM 2015-02-17 JEN 2015-03-04

2015-03-04

Page228

98TotalTYPE Se

Latest revision:

Approved by, date:

CUSTOMER SIGNALS, CANBUSLocation:Plant: =

++Sublocation:

DPSeAX3

Document no.Next

Rev. Ind

Lab/Office: Status:IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5ECO 70147, WI 7698Page 224-231: Adjusted, "Type Se" was "Type S"Page 316-321: Adjusted, "Type H" was "Type S"

12APPROVED

3HAC026209-001

1 2 74 53 6 8

DMRO SEPRMP

TYPE SeCUSTOMER SIGNALSPARALLELCOMMUNICATIONVALID FORHARNESS IN CABINET3HAC022852-001 (Dual)3HAC024371-001 (Single)FLOOR HARNESS3HAC022957-001,002,003,006

SW6LOWER ARM HARNESS3HAC042382-002UPPER ARM HARNESS3HAC042385-002

* Circuitdiagram shows markingon wires for both dual andsingle cabinet

WH/RD

WH/BN

BK

4002

WH/BK

4004

RD

4000

BN

40134014

40104012

4011

4006400840094007

GN/YE

BLBUBR

GN/YE

PKRD

OGGN

YE

321

GN/YE

4

5

67

3

A A

F F-R2.FB7

E E

D D

C C

B B

A A

9-R1.SMB

2

11

4

12

5

1

7 7-R3.FB

8 82 24 43 31 1

7 7-R4.FB

8 82 24 43 31 1

-SMB

-ROBOTCABINET -MANIPULATOR BASE -AXIS 3 -AXIS 6

F8 f8

3 3-A41.1.3.X21

5 5

1 1

1 1-A43.X24

2 2

5 5-XS40

6 6

-XS7

A3 a3

A5 a5

A1 a1

E1 e1

E2 e2

F7 f7

F9 f9

4 4-R2.SP

E E-R1.SP

C C

G G

J J

K K

L L

M M

R

1 1

3 3

C C

D D

A A

B B

4-R3.SP

1

3

C

D

A

B

PE PE PE

F4 f4

1 1-A43.X22

3 3

4 4

2 2

F1 f1

F2 f2

F3 f3

21

GN/YE

45

67

W/TV/SU/R

PTC

0V PTC

24V BRAKE REL

0V BRAKE REL

PE

0V EXC 2WH/RDWH/RD

Y7WH/BN WH/BN

0V X7BKBK

WH/BK WH/BK X7

RD EXC 2RD

BN BN 0V Y7

400240044000

40134014

40104012

4011

GN/YE

4006400840094007

Prepared by, date:230

We

rese

rve

all r

ight

s in

this

doc

umen

t and

in th

e in

form

atio

n co

ntai

ned

ther

ein.

Rep

rodu

ctio

n, u

se o

r di

sclo

sure

to th

ird p

artie

s w

ithou

t exp

ress

aut

horit

y is

stri

ctly

forb

idde

n. ©

Cop

yrig

ht 2

003

AB

B

EM 2015-02-17 JEN 2015-03-04

2015-03-04

Page229

98TotalTYPE Se

Latest revision:

Approved by, date:

CUSTOMER SIGNALS, ETHERNETLocation:Plant: =

++Sublocation:

DPSeAX3

Document no.Next

Rev. Ind

Lab/Office: Status:IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5ECO 70147, WI 7698Page 224-231: Adjusted, "Type Se" was "Type S"Page 316-321: Adjusted, "Type H" was "Type S"

12APPROVED

3HAC026209-001

1 2 74 53 6 8

DMRO SEPRMP

TYPE SeCUSTOMER SIGNALSPARALLELCOMMUNICATIONVALID FORHARNESS IN CABINET3HAC022852-001 (Dual)3HAC024371-001 (Single)FLOOR HARNESS3HAC022957-001,002,003,006

SW6LOWER ARM HARNESS3HAC042383-002UPPER ARM HARNESS3HAC042386-002

* Circuitdiagram shows marking on wires for both dual and single cabinet

N.C.=Not Connected

BK

670

BN

671

RD

672

OG

673

YE

677

GN

678

GY

4

WH/GN

WH

5

GN

WH/BK

6

WH/BN

WH/BN

7

BN

GN/YE

WH/RDWH/OG

WH/BU

WH/BK

BU

BU

BK

WH/OG

WH/BN

WH/BK

OG

BN

DUAL

WH/RD

SINGLE

679

GN/YE

RD

680

WH/OG

-

681

-

OG

682

WH/YE

693

-

-

YE

694

WH/GN

*

695

*

696

GN

697

WH/BU

698

BU

WH/GN

683

GN

WH/VT

686

VT

WH/BN

WH/GY

BN

GN/YE

101/

3WH/BU

GY

BU

WH/BK

WH/OG

BK

OG

WH/OG

OG

Note 1.1 on Page 700

101/

6

Note 1.3 on Page 700

Note 1.5 on Page 701

101/

7

12

34

GN/YE

WH

G G G G

3 3

4 4

5 5

6 6

1 1-XP5.3

2 2

3 3

4 4

5 5

6 6

7 7-XP5.1

7 7-XP5.2

B11 b11

B12 b12

B13 b13

B14 b14

B15 b15

B16 b16

B18 b18

B19 b19

B20 b20

B21 b21

C19 c19

C18 c18

B11 b11

B12 b12

B13 b13

B14 b14

B15 b15

B16 b16

B18 b18

B19 b19

B20 b20

B21 b21

C19 c19

C18 N.C.

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.

P

R

S

T

U

X

Y

Z

a

b

c

N.C.

-ROBOTCABINET

1 1-XP6

2 2

3 3

4 4

1 1-XP5.1

2 2

1 1-XP5.2

2 2

3 3

4 4

9 9-XP5.1

10 10

11 11

12 12

-XS13

A1 a1

A2 a2

A3 a3

A4 a4

B1 b1

B2 b2

B3 b3

B4 b4

B5 b5

B6 b6

B7 b7

B8 b8

B9 b9

B10 b10

-MANIPULATOR BASE

D1 d1-R1.CP/CS

D6 d6

D3 d3

D4 d4

B1 B1

B2 b2

B3 b3

B4 b4

B5 b5

B6 b6

B7 b7

B8 b8

B9 b9

B10 b10

-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

-AXIS 6

E E-R3.CP/CS

F F

V V

W W

A

B

C

D

H

J

K

L

M

N

BU

WH/GNGN

WH/BNBN

WH/BUBU

WH/OGOG

WHOGWHGN

45

WH

6

BNWH

7

GN/YE

GYRD

WH/OG

BU

OG

GN

WH/BK

RD

BK

WH/BNBN

WH/RDRD

WH/OG

101/

4

OG

WH/YE

101/

5

YE

WH/GNGNWH/BUBU

WH/VTVTWH/GYGYWH/BKBK

101/

8

24V

0V

24V

0V

CS6/KSR

CS8/KSR

CS4

CS5

CS6

CS9

CS10

CS3

PE

CS1

CS2

CS15

CS16

CS17

CS18

CS19

CS20

CS21

CS12

CS11

CS13

CS14

BKBNRDOGYEGNBUVT

Prepared by, date:231

We

rese

rve

all r

ight

s in

this

doc

umen

t and

in th

e in

form

atio

n co

ntai

ned

ther

ein.

Rep

rodu

ctio

n, u

se o

r di

sclo

sure

to th

ird p

artie

s w

ithou

t exp

ress

aut

horit

y is

stri

ctly

forb

idde

n. ©

Cop

yrig

ht 2

003

AB

B

EM 2015-02-17 JEN 2015-03-04

2015-03-04

Page230

98TotalTYPE Se

Latest revision:

Approved by, date:

CUSTOMER SIGNALS, ETHERNETLocation:Plant: =

++Sublocation:

DPSeAX3

Document no.Next

Rev. Ind

Lab/Office: Status:IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5ECO 70147, WI 7698Page 224-231: Adjusted, "Type Se" was "Type S"Page 316-321: Adjusted, "Type H" was "Type S"

12APPROVED

3HAC026209-001

1 2 74 53 6 8

DMRO SEPRMP

TYPE SeCUSTOMER SIGNALSPARALLELCOMMUNICATIONVALID FORHARNESS IN CABINET3HAC022852-001 (Dual)3HAC024371-001 (Single)FLOOR HARNESS3HAC022957-001,002,003,006

SW6LOWER ARM HARNESS3HAC042383-002UPPER ARM HARNESS3HAC042386-002

* Circuitdiagram shows markingon wires for both dual andsingle cabinet

N.C.=Not Connected

685

686

WH/RD

688

WH/BN

BK

684

4002

WH/BK

689

4004

RD

690

BN

691

4000

692

4013

699

4014

4010

700666

4012

667

4011

4006

668

4008

669

4009

100/

3

4007

GN/YE

BLBUBR

GN/YE

PKRD

OG

RD

GN

OG

YE

RD

BN

RDGY

3

BK

2

BU

110

0/4

GN/YE

4

100/

5

5

67

WH/YEYE

1

3

C

D

A

B

3

9 9-XP5.2

10 10

11 11

12 12

5 5-XP5.2

6 6

8 8

8 8-XP5.1

B22 b22

B23 b23

B24 b24

B25 b25

C16 c16

C17 c17

C20 c20

C21 c21

B22 N.C.

B23 N.C.

B24 N.C.

B25 N.C.

c16 N.C.-R1.CP/CS

C17 N.C.

C20 N.C.

C21 N.C.

WH

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.

N.C.-R3.CP/CS

N.C.

N.C.

N.C.

-ROBOTCABINET-XS13

-MANIPULATOR BASE -AXIS 3 -AXIS 6

PE PE PE

F4 f4

1 1-A43.X22

3 3

4 4

2 2

F1 f1

F2 f2

F3 f3

F F-R2.FB7

E E

D D

C C

B B

A A

-SMB9-R1.SMB

2

11

4

12

5

1

7 7-R3.FB

8 82 24 43 31 1

7 7-R4.FB

8 82 24 43 31 1

7 7-XP5.3

8 8

9 9

10 10

11 11

12 12

C10

C11

C12

C13

C14

C15

F8 f8

3 3-A41.1.3.X21

5 5

1 1

1 1-A43.X24

2 2

5 5-XS40

6 6

-XS7

A3 a3

A5 a5

A1 a1

E1 e1

E2 e2

F7 f7

F9 f9

4 4-R2.SP

E E-R1.SP

C C

A A

G G

J J

K K

L L

M M

R

1 1

3 3

C C

D D

A A

B B

4-R3.SP

2

GN

WH/BN

1

GN/YE

BN

4

WH/RD

5

RD

100/

6

67

100/

7

W/TV/S

WH/RD

U/R

YE

PTC

0V PTC

WH/GN

24V BRAKE REL

GN

WH/BN

0V BRAKE REL

BN

PE

RD

WH/YE

100/

8

GY

WH

0V EXC 2WH/RDWH/RD

WH/BN

WH/BNWH/BN Y7

VT

0V X7BK

WH/RD

BK

X7

WH/OG

WH/BK WH/BK

RD EXC 2RD

WH/YE

BN 0V Y7

WH/GN

BN

WH/YEWH/GNWH/BUWH/VTWH/GY

*DUAL

*

4002

SINGLE

40044000

BN/BK

4013

Note 1.6 on Page 701

4014

40104012

4011

GN/YE

4006400840094007

Prepared by, date:+H/300

We

rese

rve

all r

ight

s in

this

doc

umen

t and

in th

e in

form

atio

n co

ntai

ned

ther

ein.

Rep

rodu

ctio

n, u

se o

r di

sclo

sure

to th

ird p

artie

s w

ithou

t exp

ress

aut

horit

y is

stri

ctly

forb

idde

n. ©

Cop

yrig

ht 2

003

AB

B

EM 2015-02-17 JEN 2015-03-04

2015-03-04

Page231

98TotalTYPE Se

Latest revision:

Approved by, date:

CUSTOMER SIGNALS, ETHERNETLocation:Plant: =

++Sublocation:

DPSeAX3

Document no.Next

Rev. Ind

Lab/Office: Status:IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5ECO 70147, WI 7698Page 224-231: Adjusted, "Type Se" was "Type S"Page 316-321: Adjusted, "Type H" was "Type S"

12APPROVED

3HAC026209-001

1 2 74 53 6 8

DMRO SEPRMP

TYPE SeCUSTOMER SIGNALSPARALLELCOMMUNICATIONVALID FORHARNESS IN CABINET3HAC022852-001 (Dual)3HAC024371-001 (Single)FLOOR HARNESS3HAC022957-001,002,003,006

SW6LOWER ARM HARNESS3HAC042383-002UPPER ARM HARNESS3HAC042386-002

* Circuitdiagram shows markingon wires for both dual andsingle cabinet

YE

WH

OG

BU

YE

WH

OG

BU

YE

WH

OG

-ROBOTCABINET -MANIPULATOR BASE -AXIS 3 -AXIS 6

-XS9

1 1

2 2

3 3

4 4

1 1-R1.ETHERNET

2 2

3 3

4 4

1 1-R2.ETHERNET

2 2

3 3

4 4

1-R3.ETHERNET

2

3

4BU

Prepared by, date:301

We

rese

rve

all r

ight

s in

this

doc

umen

t and

in th

e in

form

atio

n co

ntai

ned

ther

ein.

Rep

rodu

ctio

n, u

se o

r di

sclo

sure

to th

ird p

artie

s w

ithou

t exp

ress

aut

horit

y is

stri

ctly

forb

idde

n. ©

Cop

yrig

ht 2

003

AB

B

EM 2015-02-17 JEN 2015-03-04

2015-03-04

Page300

98TotalTYPE H, HS AND HSe

Latest revision:

Approved by, date:

CUSTOMER SIGNALS, PARALLELLocation:Plant: =

++Sublocation:

DPH

Document no.Next

Rev. Ind

Lab/Office: Status:IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5ECO 70147, WI 7698Page 224-231: Adjusted, "Type Se" was "Type S"Page 316-321: Adjusted, "Type H" was "Type S"

71 843

12

2 5

APPROVED

6

3HAC026209-001

DMRO SEPRMP

TYPE H, HS AND HSeCUSTOMER SIGNALSPARALLELCOMMUNICATIONVALID FORHARNESS IN CABINET3HAC022852-001 (Dual)3HAC024371-001 (Single)FLOOR HARNESS3HAC022957-001,002,003,006

ORANGE LINELOWER ARM HARNESS3HAC022996-0013HAC022997-0013HAC028811-001UPPER ARM HARNESS3HAC023252-001,002,003,004

SILVER LINELOWER ARM HARNESS3HAC022996-0013HAC022997-001UPPER ARM HARNESS3HAC023057-001,002,003,004,005

FOR IRB66x0IDCONNECTION BETWEENR2.CP/CS AND R3.CP/CSSEE PAGE IRB66x0IDLOWER ARM HARNESS3HAC022996-0013HAC022997-001UPPER ARM HARNESS3HAC025532-001

* Circuitdiagram showsmarking on wires for bothdual and single cabinet

-

670

-

671

BK

672

BN

673

RD

677

4

OG

678

5

YE

WH/GN

GN

6

GN

GY

7

WH/BN

WH

GN/YE

BN

WH/BK

WH/BK

WH/BU

BK

WH/BNWH/RD

BU

WH/BN

WH/OG

BN

WH/OG

OG

WH/RD

GY

679

RD

WH

680

WH/OG

*

681

OG

DUAL

682

*

WH/YE

693

YE

SINGLE

694

WH/GN

695

WH/GN

GN

696

WH/BU

GN

697

BU

WH/BN

698

BN

WH/VTVT

WH/BU

685

WH/GY

BU

686

GY

WH/OG

GN/YE

WH/BK

301/

3

OG

BK

WH/OGOG

Note 1.1 on Page 700

Note 1.3 on Page 700

301/

6Note 1.5 on Page 701

301/

7

12

34

GN/YE

WH

-AXIS 3 -AXIS 6-MANIPULATOR BASE-ROBOTCABINET

-XS13

D1 d1-R2.CP/CS

D6 d6

D3 d3

D4 d4

B1 b1

B2 b2

B3 b3

B4 b4

B5 b5

B6 b6

B7 b7

B8 b8

B9 b9

B10 b10

B11 b11

B12 b12

B13 b13

B14 b14

B15 b15

B16 b16

B18 b18

B19 b19

B20 b20

B21 b21

C16 c16

C17 c17

C4-R3.CP/CS

C5

C6

C7

B18

B19

B20

B21

B22

B23

B24

B25

B16

B17

B1

B2

B3

B4

B5

B6

B7

B8

B9

B10

B11

B12

D1 d1-R1.CP/CS

D6 d6

D3 d3

D4 d4

B1 b1

B2 b2

B3 b3

B4 b4

B5 b5

B6 b6

B7 b7

B8 b8

B9 b9

B10 b10

B11 b11

B12 b12

B13 b13

B14 b14

B15 b15

B16 b16

B18 b18

B19 b19

B20 b20

B21 b21

C16 c16

C17 c17

1 1-XP5.1

2 2

9 9-XP5.1

10 10

11 11

12 12

3 3

4 4

5 5

6 6

1 1-XP5.2

2 2

3 3

4 4

5 5-XP5.2

6 6

1 1-XP5.3

2 2

3 3

4 4

5 5

6 6

1 1-XP6

3 3

4 4

2 2

A1 d1

A2 d2

A3 d3

A4 4

B1 b1

B2 b2

B3 b3

B4 b4

B5 b5

B6 b6

B7 b7

B8 b8

B9 b9

B10 b10

B11 b11

B12 b12

B13 b13

B14 b14

B15 b15

B16 b16

B18 b18

B19 b19

B20 b20

B21 b21

C16 c16

C17 c17

BU

WH/GNGN

WH/BNBN

WH/BUBU

WH/OGOG

WHOGWH

4

GN

5

WH

6

BN

7

WH

GN/YE

GY

WH/OG

RD

OG

BU

WH/BK

RD

BK

OG

WH/BNBN

WH/RDRD

WH/OG

301/

4

OG

WH/YEYE

WH/GNGNWH/BUBU

WH/VTVTWH/GYGYWH/BKBK

301/

8

24V

0V

24V

0V

PE

BKBNRDOGYEGNBUVTGN/YE

-

-

Prepared by, date:302

We

rese

rve

all r

ight

s in

this

doc

umen

t and

in th

e in

form

atio

n co

ntai

ned

ther

ein.

Rep

rodu

ctio

n, u

se o

r di

sclo

sure

to th

ird p

artie

s w

ithou

t exp

ress

aut

horit

y is

stri

ctly

forb

idde

n. ©

Cop

yrig

ht 2

003

AB

B

EM 2015-02-17 JEN 2015-03-04

2015-03-04

Page301

98TotalTYPE H, HS AND HSe

Latest revision:

Approved by, date:

CUSTOMER SIGNALS, PARALLEL Location:Plant: =

++Sublocation:

DPH

Document no.Next

Rev. Ind

Lab/Office: Status:IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5ECO 70147, WI 7698Page 224-231: Adjusted, "Type Se" was "Type S"Page 316-321: Adjusted, "Type H" was "Type S"

71 843

12

2 5

APPROVED

6

3HAC026209-001

DMRO SEPRMP

TYPE H, HS AND HSeCUSTOMER SIGNALSPARALLELCOMMUNICATIONVALID FORHARNESS IN CABINET3HAC022852-001 (Dual)3HAC024371-001 (Single)FLOOR HARNESS3HAC022957-001,002,003,006

ORANGE LINELOWER ARM HARNESS3HAC022996-0013HAC022997-0013HAC028811-001UPPER ARM HARNESS3HAC023252-001,002,003,004

SILVER LINELOWER ARM HARNESS3HAC022996-0013HAC022997-001UPPER ARM HARNESS3HAC023057-001,002,003,004,005

FOR IRB66x0IDCONNECTION BETWEENR2.CP/CS AND R3.CP/CSSEE PAGE IRB66x0IDLOWER ARM HARNESS3HAC022996-0013HAC022997-001UPPER ARM HARNESS3HAC025532-001

* Circuitdiagram showsmarking on wires for bothdual and single cabinet

687

683

688

684

689690691692

699700666667668669

300/

3

RD

GN

RD

BN

RDGYBKBU

300/

4

300/

5

WH/YEYEWH/GN

B25 b25

-AXIS 3 -AXIS 6-MANIPULATOR BASE-ROBOTCABINET

-XS13

C18 c18-R2.CP/CS

C19 c19

C20 c20

C21 c21

B22 b22

B23 b23

B24 b24

B25 b25

B13-R3.CP/CS

B14

B15

C8

B22 b22

B23 b23

B24 b24

C18 c18-R1.CP/CS

C19 c19

C20 c20

C21 c21

A1

A2

A3

A4

7 7-XP5.1

8 8-XP5.1

9 9-XP5.2

10 10

11 11

12 12

7 7-XP5.2

8 8-XP5.2

7 7-XP5.3

8 8

9 9

10 10

11 11

12 12

B22 b22

B23 b23

B24 b24

B25 b25

C10

C11

C12

C13

C14

C15

C18 c18

C19 c19

C20 c20

C21 c21

GN

WH/BN

BN

WH/RD

RD

300/

6

300/

7

WH/RD

YEWH/GNGN

WH/BN

BN

RD

WH/YE

300/

8

WH/BK

BU

WH/BN

VT

WH/RDWH/OGWH/YEWH/GN

WH/YEWH/GNWH/BUWH/VTWH/GY

*DUAL

*SINGLE

BN/BK

Note 1.6 on Page 701

Prepared by, date:303

We

rese

rve

all r

ight

s in

this

doc

umen

t and

in th

e in

form

atio

n co

ntai

ned

ther

ein.

Rep

rodu

ctio

n, u

se o

r di

sclo

sure

to th

ird p

artie

s w

ithou

t exp

ress

aut

horit

y is

stri

ctly

forb

idde

n. ©

Cop

yrig

ht 2

003

AB

B

EM 2015-02-17 JEN 2015-03-04

2015-03-04

Page302

98TotalTYPE H, HS AND HSe

Latest revision:

Approved by, date:

CUSTOMER SIGNALS, PARALLEL Location:Plant: =

++Sublocation:

DPH

Document no.Next

Rev. Ind

Lab/Office: Status:IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5ECO 70147, WI 7698Page 224-231: Adjusted, "Type Se" was "Type S"Page 316-321: Adjusted, "Type H" was "Type S"

71 843

12

2 5

APPROVED

6

3HAC026209-001

DMRO SEPRMP

TYPE H, HS AND HSeCUSTOMER SIGNALSCANBUSCOMMUNICATIONVALID FORHARNESS IN CABINET3HAC022852-001 (Dual)3HAC024371-001 (Single)3HAC022866-001FLOOR HARNESS3HAC022978-001,002,003,006

ORANGE LINELOWER ARM HARNESS3HAC022998-0013HAC022999-0013HAC028811-001UPPER ARM HARNESS3HAC023253-001,002,003,004

SILVER LINELOWER ARM HARNESS3HAC022998-0013HAC022999-001UPPER ARM HARNESS3HAC023058-001,002,003,004,005

FOR IRB66x0IDCONNECTION BETWEENR2.CP/CS AND R3.CP/CSSEE PAGE IRB66x0IDLOWER ARM HARNESS3HAC022998-0013HAC022999-001UPPER ARM HARNESS3HAC025532-001

* Circuitdiagram showsmarking on wires for bothdual and single cabinet

WH/YE

670

YE

671

672

673

677678

WH/GN

303/

8

GN

WH/BN

24V

BN

0V

WH/BU

24V

BU

0V

WH/OG

PE

OG

BK

GN/YE

BN

303/

3

RDOGYEGNBUVT

-

-

-

WH

-GN/YE

BU

WH/GN

BK

GN

BN

WH/BN

*

BN

DUAL

WH/BU

*

BU

SINGLE

WH/OGOG

WH/GN

GN/YE

GN

WH/BN

1

BN

2

WH/BU

34

BU

WH/OGOG

Note 1.1 on Page 700

Note 1.3 on Page 700

303/

4

303/

5

-AXIS 3 -AXIS 6-MANIPULATOR BASE-ROBOTCABINET-XS13

D1 d1-R2.CP/CS

D6 d6

D3 d3

D4 d4

B1 b1

B2 b2

B3 b3

B4 b4

B5 b5

B6 b6

B7 b7

B8 b8

B9 9

B10 b10

C4-R3.CP/CS

C5

C6

C7

B18

B19

B20

B21

B22

B23

B24

B25

B16

B17

D1 d1-R1.CP/CS

D6 d6

D3 d3

D4 d4

B1 b1

B2 b2

B3 b3

B4 b4

B5 b5

B6 b6

B7 b7

B8 b8

B9 b9

B10 b10

1 1-XP5.1

9 9-XP5.1

1 1-XP5.2

1 1-XP6

2 2

3 3

4 4

2 2

10 10

11 11

12 12

2 2

3 3

4 4

A1 a1

A2 a2

A3 a3

A4 a4

B1 b1

B2 b2

B3 b3

B4 b4

B5 b5

B6 b6

B7 b7

B8 b8

B9 b9

B10 b10

WH/BKBK

WH/BNBN

WH/RDRD

WH/OGOG

WH/YEYE

45

67

GN/YE

303/

6

303/

7

GN/YE

45

67

WH/BKBK

WH/BNBN

WH/RDRD

WH/OGOG

Prepared by, date:304

We

rese

rve

all r

ight

s in

this

doc

umen

t and

in th

e in

form

atio

n co

ntai

ned

ther

ein.

Rep

rodu

ctio

n, u

se o

r di

sclo

sure

to th

ird p

artie

s w

ithou

t exp

ress

aut

horit

y is

stri

ctly

forb

idde

n. ©

Cop

yrig

ht 2

003

AB

B

EM 2015-02-17 JEN 2015-03-04

2015-03-04

Page303

98TotalTYPE H, HS AND HSe

Latest revision:

Approved by, date:

CUSTOMER SIGNALS, CANBUSLocation:Plant: =

++Sublocation:

DPH

Document no.Next

Rev. Ind

Lab/Office: Status:IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5ECO 70147, WI 7698Page 224-231: Adjusted, "Type Se" was "Type S"Page 316-321: Adjusted, "Type H" was "Type S"

71 843

12

2 5

APPROVED

6

3HAC026209-001

DMRO SEPRMP

TYPE H, HS AND HSeCUSTOMER SIGNALSCANBUSCOMMUNICATIONVALID FORHARNESS IN CABINET3HAC022852-001 (Dual)3HAC024371-001 (Single)3HAC022866-001FLOOR HARNESS3HAC022978-001,002,003,006

ORANGE LINELOWER ARM HARNESS3HAC022998-0013HAC022999-0013HAC028811-001UPPER ARM HARNESS3HAC023253-001,002,003,004

SILVER LINELOWER ARM HARNESS3HAC022998-0013HAC022999-001UPPER ARM HARNESS3HAC023058-001,002,003,004,005

FOR IRB66x0IDCONNECTION BETWEENR2.CP/CS AND R3.CP/CSSEE PAGE IRB66x0IDLOWER ARM HARNESS3HAC022998-0013HAC022999-001UPPER ARM HARNESS3HAC025532-001

* Circuitdiagram showsmarking on wires for bothdual and single cabinet

8

RD

1

BK

2

691

3

692

4

689

YE

690

YEWH

VT

BU

VT699

GN

700

GN666

GN

667

GN668

302/

8

669

679680681

+24V CAN

682

0V CAN

693

CAN_H

694

CAN_L

695

RD

696

OG

697

YE

698

GN

685

GY

686

WH

687

WH/BK

683

WH/BN

688

WH/RD

684

WH/OG

GYWH

WH/GN302/

3

GN

WH/BK

BU

WH/BU

WH/BN

BU

VT

WH/VT

VT

RD

WH/GY

BK

WH/YE

GYWH/BK

WH/GN

BK

WH/RDWH/OG

WH/OGOG

WH

WH/BN

BU

BN

WH/GN

WH/RD

WH/YE

WH/BU

RD

WH/BK

WH/VT

BK

WH/GY

WH/BN

*DUAL

BN

*

5

SINGLE

6

7

BN/BK

8

12

34

YEYE

VTVT

GN

-AXIS 3 -AXIS 6-MANIPULATOR BASE-ROBOTCABINET-XS13

B11 b11-R2.CP/CS

B12 b12

B13 b13

B14 b14

B15 b15

B16 b16

B18 b18

B19 b19

B20 b20

B21 b21

C18 b18

C19 b19

C20 b20

C21 b21

C16 c16

C17 c17

B22 b22

B23 b23

B24 b24

B25 b25

A3 a3

A4 a4

A5 a5

A6 a6

A9 a9

A10 a10

A11 a11

A12 a12

B1-R3.CP/CS

B2

B3

B4

B5

B6

B7

B8

B9

B10

B11

B12

B13

B14

B15

C8

A7

A8

A9

A10

A5

A6

A11

A12

B11 a11-R1.CP/CS

B12 a12

B13 a13

B14 b14

B15 b15

B16 b16

B18 b18

B19 b19

B20 b20

B21 b21

C16 c16

C17 c17

C18 c18

C19 c19

C20 c20

C21 c21

B22 b22

B23 b23

B24 b24

B25 b25

A3 a3

A4 a4

A5 a5

A6 a6

A9 a9

A10 a10

A11 a11

A12 a12

A1

A2

A3

A4

5 5-A35.X2

1 1

4 4-A35.X2

2 2

3 3

3 3-XP5.1

4 4

5 5

6 6

7 7-XP5.1

8 8-XP5.1

11 11-XP5.2

12 12

9 9

10 10

5 5-XP5.2

8 8-XP5.2

7 7-XP5.3

8 8

9 9

10 10

11 11

12 12

1 1-XP5.3

6 6

6 6

7 7

2 2

3 3

4 4

5 5

B11 b11

B12 b12

B13 b13

B14 b14

B15 b15

B16 b16

B18 b18

B19 b19

B20 b20

B21 b21

C16 c16

C17 c17

C18 c18

C19 c19

C20 c20

C21 c21

F1 f1

F2 f2

B24 b24

B25 b25

B22

B23

F3 f3

F4 f4

C10 c10

C11 c11

C12 c12

C13 c13

C14 c14

C15 c15

GN

GNGN

302/

6

302/

7

WHOGWHGN

WHBNWHGYRDBU

RD

OGRD

GN

RD

BN

RDBK

BKBU

WHBU

BKOG

BKGN

BKBN

WH/GNGN

302/

4

WH/BUBU

WH/VTVTWH/GYGYWH/BK

302/

5

BK

WH/OGOG

WH/BN

BN

WH/RD

RD

WH/BKBK

WH/BNBN

56

7

Prepared by, date:305

We

rese

rve

all r

ight

s in

this

doc

umen

t and

in th

e in

form

atio

n co

ntai

ned

ther

ein.

Rep

rodu

ctio

n, u

se o

r di

sclo

sure

to th

ird p

artie

s w

ithou

t exp

ress

aut

horit

y is

stri

ctly

forb

idde

n. ©

Cop

yrig

ht 2

003

AB

B

EM 2015-02-17 JEN 2015-03-04

2015-03-04

Page304

98TotalTYPE H, HS AND HSe

Latest revision:

Approved by, date:

CUSTOMER SIGNALS, ETHERNETLocation:Plant: =

++Sublocation:

DPH

Document no.Next

Rev. Ind

Lab/Office: Status:IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5ECO 70147, WI 7698Page 224-231: Adjusted, "Type Se" was "Type S"Page 316-321: Adjusted, "Type H" was "Type S"

71 843

12

2 5

APPROVED

6

3HAC026209-001

DMRO SEPRMP

TYPE H, HS AND HSeCUSTOMER SIGNALSETHERNETCOMMUNICATIONVALID FORHARNESS IN CABINET3HAC022852-001 (Dual)3HAC024371-001 (Single)3HAC022867-001FLOOR HARNESS3HAC023024-001,002,003,006

ORANGE LINELOWER ARM HARNESS3HAC034141-001UPPER ARM HARNESS3HAC023252-001,002,004

SILVER LINELOWER ARM HARNESS3HAC034138-0013HAC034139-001UPPER ARM HARNESS3HAC034204-0023HAC026813-002

FOR IRB66X0IDCONNECTION BETWEEN R2.CP/CS AND R3.CP/CSSEE PAGE IRB66X0IDLOWER ARM HARNESS3HAC034138-0013HAC034139-001

* Circuitdiagram showsmarking on wires for both dual and single cabinet

BN

670

WH/RD

671

RD

672

WH/OG

673

OG

677

WH/YE

678

YE

WH/GN

GN

WH/BN

BN

WH/BU

BU

305/

8

WH/OG

OG

24V

GN/YE

0V

305/

3

24V0V

PE

BKBNRDOGYEGN

12

BU

3

VT

4

GN/YE GN/YE

BKBN

WH/GNGN

*

WH/BN

DUAL

BN

*SINGLE

WH/BUBU

-

WH/OGOG

-

-

-

WH

WH/GN

BU

GN

WH/BN

BN

WH/BU

305/

4

BU

WH/OG

OG

305/

5

Note 1.1 on Page 700

Note 1.3 on Page 700

YE

WH

OG

BU

YE

WH

OG

BU

YE

WH

OG

BU

-AXIS 3 -AXIS 6-MANIPULATOR BASE-ROBOTCABINET

-XS13

D1 d1

-R2.CP/CS

D6 d6

D3 d3

D4 d4

B1 b1

B2 b2

B3 b3

B4 b4

B5 b5

B6 b6

B7 b7

B8 b8

B9 b9

B10 b10

C4

-R3.CP/CS

C5

C6

C7

B18

B19

B20

B21

B22

B23

B24

B25

B16

B17

D1 d1

-R1.CP/CS

D6 d6

D3 d3

D4 d4

B1 b1

B2 b2

B3 b3

B4 b4

B5 b5

B6 b6

B7 b7

B8 b8

B9 b9

B10 b10

1 1-XP5.1

2 2

9 9-XP5.1

10 10

11 11

12 12

1 1-XP5.2

3 3

4 4

1 1-XP6

2 2

3 3

4 4

2 2

A1 a1

A2 a2

A3 a3

A4 a4

B1 b1

B2 b2

B3 b3

B4 b4

B5 b5

B6 b6

B7 b7

B8 b8

B9 b9

B10 b10

-XS9

1 1

-R1.ETHERNET

2 2

3 3

4 4

1 1

-R2.ETHERNET

2 2

3 3

4 4

1

-R3.ETHERNET

2

3

4

1 1

2 2

3 3

4 4

GN/YE

45

67

WH/BKBK

WH/BNBN

WH/RDRD

WH/OGOG

WH/YEYE

305/

6

305/

7

45

67

GN/YE

WH/BKBK

WH/BN

Prepared by, date:306

We

rese

rve

all r

ight

s in

this

doc

umen

t and

in th

e in

form

atio

n co

ntai

ned

ther

ein.

Rep

rodu

ctio

n, u

se o

r di

sclo

sure

to th

ird p

artie

s w

ithou

t exp

ress

aut

horit

y is

stri

ctly

forb

idde

n. ©

Cop

yrig

ht 2

003

AB

B

EM 2015-02-17 JEN 2015-03-04

2015-03-04

Page305

98TotalTYPE H, HS AND HSe

Latest revision:

Approved by, date:

CUSTOMER SIGNALS, ETHERNETLocation:Plant: =

++Sublocation:

DPH

Document no.Next

Rev. Ind

Lab/Office: Status:IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5ECO 70147, WI 7698Page 224-231: Adjusted, "Type Se" was "Type S"Page 316-321: Adjusted, "Type H" was "Type S"

71 843

12

2 5

APPROVED

6

3HAC026209-001

DMRO SEPRMP

TYPE H, HS AND HSeCUSTOMER SIGNALSETHERNETCOMMUNICATIONVALID FORHARNESS IN CABINET3HAC022852-001 (Dual)3HAC024371-001 (Single)3HAC022867-001FLOOR HARNESS3HAC023024-001,002,003,006

ORANGE LINELOWER ARM HARNESS3HAC034141-001UPPER ARM HARNESS3HAC023252-001,002,004

SILVER LINELOWER ARM HARNESS3HAC034138-0013HAC034139-001UPPER ARM HARNESS3HAC034204-0023HAC026813-002

FOR IRB66X0IDCONNECTION BETWEEN R2.CP/CS AND R3.CP/CSSEE PAGE IRB66X0IDLOWER ARM HARNESS3HAC034138-0013HAC034139-001

* Circuitdiagram showsmarking on wires for both dual and single cabinet

679680681

304/

8

682

693694695696697698

689

685

RD

686

OG

687

YE

683

GN

688

GY

684

WHWH/BKWH/BN

690

WH/RD

691

WH/OG

GY

692

WH

666

WH/BK

667

BU

668

WH/BN

WH/GN

669

GN

VT

699

WH/BU

700

BU

WH/VT

WH/RD

VT

WH/OG

WH/GY

WH/YE

GY

WH/YE

WH/BK

WH/GN

BK

WH/BUWH/VT

WH/OG

WH/GY

OG

304/

3

WH/YE

WH/BN

WH/GN

BN

WH/RD

RD

WH/YEWH/YEYEYE

*

WH/GNWH/GNGN

DUAL

GN

*SINGLE

BN/BK

B7

-AXIS 3 -AXIS 6-MANIPULATOR BASE-ROBOTCABINET-XS13

B11 b11-R2.CP/CS

B12 b12

B13 b13

B14 b14

B15 b15

B16 b16

B18 b18

B19 b19

B20 b20

B21 b21

C18 c18

C19 c19

C20 c20

C21 c21

C16 c16

C17 c17

B22 b22

B23 b23

B24 b24

B25 b25

B1-R3.CP/CS

B2

B3

B4

B5

B6

B8

B9

B10

B11

B12

B13

B14

B15

C8

A1

A2

A3

A4

B11 b11-R1.CP/CS

B12 b12

B13 b13

B14 b14

B15 b15

B16 b16

B18 b18

B19 b19

B20 b20

B21 b21

C16 c16

C17 c17

C18 c18

C19 c19

C20 c20

C21 c21

B22 b22

B23 b23

B24 b24

B25 b25

3 3-XP5.1

4 4

5 5

6 6

7 7-XP5.1

8 8-XP5.1

5 5-XP5.2

8 8-XP5.2

10 10

12 12

9 9-XP5.2

1 1-XP5.3

2 2

3 3

4 4

9 9-XP5.3

10 10

11 11

12 12

7 7

8 8

6 6

7 7

11 11

5 5

6 6

B11 b11

B12 b12

B13 b13

B14 b14

B15 b15

B16 b16

B18 b18

B19 b19

B20 b20

B21 b21

C16 c16

C17 c17

C18 c18

C19 c19

C20 c20

C21 c21

B23 b23

B24 b24

B25 b25

C12

C13

C14

C15

C10

C11

B22 B22

304/

6

304/

7

RD

WHOGWHGN

WHBNWHGYRDBU

RD

OG

RD

GN

RD

WH/GN

BN

GN

GY

WH/BU

BK

BU

BU

WH/VTVTWH/GYGYWH/BK

304/

4

BK

WH/OG

OGWH/BN

304/

5

BN

WH/RD

RD

Prepared by, date:307

We

rese

rve

all r

ight

s in

this

doc

umen

t and

in th

e in

form

atio

n co

ntai

ned

ther

ein.

Rep

rodu

ctio

n, u

se o

r di

sclo

sure

to th

ird p

artie

s w

ithou

t exp

ress

aut

horit

y is

stri

ctly

forb

idde

n. ©

Cop

yrig

ht 2

003

AB

B

EM 2015-02-17 JEN 2015-03-04

2015-03-04

Page306

98TotalTYPE H, HS AND HSe

Latest revision:

Approved by, date:

CUSTOMER SIGNALS, PROFIBUSLocation:Plant: =

++Sublocation:

DPH

Document no.Next

Rev. Ind

Lab/Office: Status:IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5ECO 70147, WI 7698Page 224-231: Adjusted, "Type Se" was "Type S"Page 316-321: Adjusted, "Type H" was "Type S"

71 843

12

2 5

APPROVED

6

3HAC026209-001

DMRO SEPRMP

TYPE H, HS AND HSeCUSTOMER SIGNALSPROFIBUSCOMMUNICATIONVALID FORHARNESS IN CABINET3HAC022852-001 (Dual)3HAC024371-001 (Single)3HAC022868-001FLOOR HARNESS3HAC022988-001,002,003,006

ORANGE LINELOWER ARM HARNESS3HAC022998-0013HAC022999-0013HAC028811-001UPPER ARM HARNESS3HAC023253-001,002,003,004

SILVER LINELOWER ARM HARNESS3HAC022998-0013HAC022999-001UPPER ARM HARNESS3HAC023058-001,002,003,004,005

FOR IRB66x0IDCONNECTION BETWEENR2.CP/CS AND R3.CP/CSSEE PAGE IRB66x0IDLOWER ARM HARNESS3HAC022998-0013HAC022999-001UPPER ARM HARNESS3HAC025532-001

* Circuitdiagram showsmarking on wires for bothdual and single cabinet

WH/YE

670

YE

671

672

673

677678

WH/GN

307/

8

GN

WH/BN

24V

BN

0V

WH/BU

24V

BU

0V

PE

WH/OGOG

BK

GN/YE

BN

307/

3

RDOGYEGNBUVTGN/YE

BK

GN/YE

BN

WH/GN

*

GN

DUAL

WH/BN

*

BN

SINGLE

WH/BUBU

-

WH/OG

-

OG

-

1

-

2

WH/GN

3

GN

4

WH/BNBN

WH

WH/BU

BU

BU

WH/OGOG

Note 1.1 on Page 700

Note 1.3 on Page 700

307/

4

307/

5

-AXIS 3 -AXIS 6-MANIPULATOR BASE-ROBOTCABINET

-XS13

D1 d1-R2.CP/CS

D6 d6

D3 d3

D4 d4

B1 b1

B2 b2

B3 b3

B4 b4

B5 b5

B6 b6

B7 b7

B8 b8

B9 b9

B10 b10

C4-R3.CP/CS

C5

C6

C7

B18

B19

B20

B21

B22

B23

B24

B25

B16

B17

D1 d1-R1.CP/CS

D6 d6

D3 d3

D4 d4

B1 b1

B2 b2

B3 b3

B4 b4

B5 b5

B6 b6

B7 b7

B8 b8

B9 b9

B10 b10

1 1-XP5.1

2 2

9 9-XP5.1

10 10

11 11

12 12

1 1-XP5.2

2 2

3 3

4 4

1 1-XP6

2 2

3 3

4 4

A1 a1

A2 a2

A3 a3

A4 a4

B1 b1

B2 b2

B3 b3

B4 b4

B5 b5

B6 b6

B7 b7

B8 b8

B9 b9

B10 b10

45

67

GN/YE

WH/BKBK

WH/BNBN

WH/RDRD

WH/OGOG

WH/YEYE

307/

6

307/

7

45

67

GN/YE

WH/BKBK

WH/BNBN

WH/RDRD

WH/OGOG

Prepared by, date:+.1/308

We

rese

rve

all r

ight

s in

this

doc

umen

t and

in th

e in

form

atio

n co

ntai

ned

ther

ein.

Rep

rodu

ctio

n, u

se o

r di

sclo

sure

to th

ird p

artie

s w

ithou

t exp

ress

aut

horit

y is

stri

ctly

forb

idde

n. ©

Cop

yrig

ht 2

003

AB

B

EM 2015-02-17 JEN 2015-03-04

2015-03-04

Page307

98TotalTYPE H, HS AND HSe

Latest revision:

Approved by, date:

CUSTOMER SIGNALS, PROFIBUSLocation:Plant: =

++Sublocation:

DPH

Document no.Next

Rev. Ind

Lab/Office: Status:IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5ECO 70147, WI 7698Page 224-231: Adjusted, "Type Se" was "Type S"Page 316-321: Adjusted, "Type H" was "Type S"

71 843

12

2 5

APPROVED

6

3HAC026209-001

DMRO SEPRMP

TYPE H, HS AND HSeCUSTOMER SIGNALSPROFIBUSCOMMUNICATIONVALID FORHARNESS IN CABINET3HAC022852-001 (Dual)3HAC024371-001 (Single)3HAC022868-001FLOOR HARNESS3HAC022988-001,002,003,006

ORANGE LINELOWER ARM HARNESS3HAC022998-0013HAC022999-0013HAC028811-001UPPER ARM HARNESS3HAC023253-001,002,003,004

SILVER LINELOWER ARM HARNESS3HAC022998-0013HAC022999-001UPPER ARM HARNESS3HAC023058-001,002,003,004,005

FOR IRB66x0IDCONNECTION BETWEENR2.CP/CS AND R3.CP/CSSEE PAGE IRB66x0IDLOWER ARM HARNESS3HAC022998-0013HAC022999-001UPPER ARM HARNESS3HAC025532-001

* Circuitdiagram showsmarking on wires for bothdual and single cabinet

78

12

689

3

690

4

691

YE

692

YE699

VT

700

VTRD

GN

GN

GN666

GN

667

GN668

306/

8

669

RXD/TXD-P

679680

RXD/TXD-N

RD

681682

OGYE

693694

GN

GY

695696

WH

697

WH/BK

698

WH/BN

685

WH/RD

686

WH/OG

687

GY

WH

683

688

WH/BK

684

BU

WH/BN

WH/GN

306/

3

VT

GN

WH/RD

WH/BU

WH/OG

BU

WH/YE

WH/VT

WH/GN

VT

WH/YE

WH/GY

WH/GN

GYWH/BK

RD

BK

GN

WH/OG

WH/BUWH/VT

OG

WH/GY

WH/BN

BN

*

WH/RD

DUAL

RD

*

WH/BK

SINGLE

BK

BN/BK

WH/BNBN

56

78

12

34

YEYE

VTVT

GN

-AXIS 3 -AXIS 6-MANIPULATOR BASE-ROBOTCABINET

A3 a3

-XS13

B11 b11-R2.CP/CS

B12 b12

B13 b13

B14 b14

B15 b15

B16 b16

B18 b18

B19 b19

B20 b20

B21 b21

C18 c18

C19 c19

C20 c20

C21 c21

C16 c16

C17 c17

B22 b22

B23 b23

B24 b24

B25 b25

A3 a3

A4 a4

A5 a5

A6 a6

A9 a9

A10 a10

A11 a11

A12 a12

B1-R3.CP/CS

B2

B3

B4

B5

B6

B7

B8

B9

B10

B11

B12

B13

B14

B15

C8

A1

A2

A3

A4

A7

A8

A9

A10

A5

A6

A11

A12

B11 b11-R1.CP/CS

B12 b12

B13 b13

B14 b14

B15 b15

B16 b16

B18 b18

B19 b19

B20 b20

B21 b21

C16 c16

C17 c17

C18 c18

C19 c19

C20 c20

C21 c21

B22 b22

B23 b23

B24 b24

B25 b25

A4 a4

A5 a5

A6 a6

A9 a9

A10 a10

A11 a11

A12 a12

1B 1B-DP-M

1A 1A

3 3-XP5.1

4 4

5 5

6 6

7 7-XP5.1

8 8-XP5.1

5 5-XP5.2

6 6

7 7

8 8-XP5.2

9 9-XP5.2

10 10

11 11

12 12

1 1-XP5.3

2 2

3 3

4 4

5 5

6 6

7 7-XP5.3

8 8

9 9-XP5.3

10 10

11 11

12 12

B11 b11

B12 b23

B13 b13

B14 b14

B15 b15

B16 b16

B18 b18

B19 b19

B20 b20

B21 b21

C16 c16

C17 c17

C18 c18

C19 c19

C20 c20

C21 c21

B22 b22

B23 b23

B24 b24

B25 b25

C10 c10

C11 c11

F5 f5

F6 f6

C12 c12

C13 c13

C14 c14

C15 c15

GN

GNGN

306/

6

306/

7

WHOGWHGN

WHBNWHGYRDBU

RD

OGRD

GN

RD

BN

RDGYBKBU

BKOG

RDGN

BKGN

BKBN

306/

4

WH/GNGNWH/BUBU

WH/VT

306/

5

VTWH/GYGYWH/BKBK

WH/OG

OGWH/BN

BN

WH/RD

RD

WH/BKBKWH/BNBN

56

Prepared by, date:309

We

rese

rve

all r

ight

s in

this

doc

umen

t and

in th

e in

form

atio

n co

ntai

ned

ther

ein.

Rep

rodu

ctio

n, u

se o

r di

sclo

sure

to th

ird p

artie

s w

ithou

t exp

ress

aut

horit

y is

stri

ctly

forb

idde

n. ©

Cop

yrig

ht 2

003

AB

B

EM 2015-02-17 JEN 2015-03-04

2015-03-04

Page308

98TotalTYPE H, HS AND HSe

Latest revision:

Approved by, date:

CUSTOMER SIGNALS, PARALLELLocation:Plant: =

++Sublocation:

DPH1

Document no.Next

Rev. Ind

Lab/Office: Status:IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5ECO 70147, WI 7698Page 224-231: Adjusted, "Type Se" was "Type S"Page 316-321: Adjusted, "Type H" was "Type S"

12APPROVED

3HAC026209-001

1 2 74 53 6 8

DMRO SEPRMP

TYPE H, HS AND HSeCUSTOMER SIGNALSPARALLELCOMMUNICATIONVALID FORHARNESS IN CABINET3HAC022852-001 (Dual)3HAC024371-001 (Single)FLOOR HARNESS3HAC022957-001,002,003,006

IRBDP MH3LOWER ARM HARNESS3HAC022996-0013HAC022997-001UPPER ARM HARNESS3HAC026813-001

* Circuitdiagram showsmarking on wires for bothdual and single cabinet

OG

670

YE

671

GN

672

GY

673

WH

677

WH/BK

678

WH/BN

45

WH/GN

WH/RD

GN

WH/OG

6

WH/BN

GY

7

BN

WH

GN/YE

WH/BU

WH/BK

*

BU

BK

DUAL

WH/OG

*

WH/BN

OG

SINGLE

BN

679

WH/RD

680

RD

WH/GN

WH/OG

GN

681

OG

WH/BN

682

WH/YE

BN

693

YE

694

WH/BU

695

BU

WH/GN

696

WH/OG

GN

697

OG

WH/BU

698

BU

685

WH/VT

686

VT

GN/YE

WH/GY

WH/OG

301/

3

OG

GY

Note 1.1 on Page 700

WH/BK

Note 1.3 on Page 700

BK

Note 1.5 on Page 701

PEGN/YEGN/YE

301/

6

301/

7

12

34

GN/YE

WH

-AXIS6-AXIS 3-MANIPULATOR BASE+.-ROBOTCABINET

-XS13

f-R3.CP/CS

D1 d1-R2.CP/CS

D6 d6

D3 d3

D4 d4

B1 b1

B2 b2

B3 b3

B4 b4

B5 b5

B6 b6

B7 b7

B8 b8

B9 b9

B10 b10

B11 b11

B12 b12

B13 b13

B14 b14

B15 b15

B16 b16

B18 b18

B19 b19

B20

B21

C16

C17

g

h

j

A

B

C

D

E

F

G

H

J

K

L

M

N

P

R

S

T

U

D1 d1-R1.CP/CS

D6 d6

D3 d3

D4 d4

B1 b1

B2 b2

B3 b3

B4 b4

B5 b5

B6 b6

B7 b7

B8 b8

B9 b9

B10 b10

B11 b11

B12 b12

B13 b13

B14 b14

B15 b15

B16 b16

B18 b18

B19 b19

B20 b20

B21 b21

C16 c16

C17 c17

V

1 1-XP5.1

2 2

9 9-XP5.1

10 10

11 11

12 12

3 3

4 4

5 5

6 6

1 1-XP5.2

2 2

3 3

4 4

5 5-XP5.2

6 6

1 1-XP5.3

2 2

3 3

4 4

5 5

6 6

1 1-XP6

3 3

4 4

2 2

A1 a1

A2 a2

A3 a3

A4 a4

B1 b1

B2 b2

B3 b3

B4 b4

B5 b5

B6 b6

B7 b7

B8 b8

B9 b9

B10 b10

B11 b11

B12 b12

B13 b13

B14 b14

B15 b15

B16 b16

B18 b18

B19 b19

B20 b20

B21 b21

C16 c16

C17 c17

BU

WH/GNGN

WH/BNBN

WH/BUBU

WH/OGOG

WH/BK

WH

WH/OG

OG

WH/BN

WH

WH/RD

GN

WH/BK

WH

BK

BN

WH/BN

WH

BN

GY

WH/RD

RD

RD

BU

WH/OG

RD

OG

OG

WH/YEYE

WH/GNGNWH/BU

301/

4

BU

WH/VTVT

301/

5

WH/GYGY

301/

8

24V

0V

24V

0V

BK

OG

BN

RD

-

-

-

-

GN/YE

BNBK

RDOG

YEGNBUVT

BKBN

RD

Prepared by, date:310

We

rese

rve

all r

ight

s in

this

doc

umen

t and

in th

e in

form

atio

n co

ntai

ned

ther

ein.

Rep

rodu

ctio

n, u

se o

r di

sclo

sure

to th

ird p

artie

s w

ithou

t exp

ress

aut

horit

y is

stri

ctly

forb

idde

n. ©

Cop

yrig

ht 2

003

AB

B

EM 2015-02-17 JEN 2015-03-04

2015-03-04

Page309

98TotalTYPE H, HS AND HSe

Latest revision:

Approved by, date:

CUSTOMER SIGNALS, PARALLELLocation:Plant: =

++Sublocation:

DPH1

Document no.Next

Rev. Ind

Lab/Office: Status:IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5ECO 70147, WI 7698Page 224-231: Adjusted, "Type Se" was "Type S"Page 316-321: Adjusted, "Type H" was "Type S"

12APPROVED

3HAC026209-001

1 2 74 53 6 8

DMRO SEPRMP

TYPE H, HS AND HSECUSTOMER SIGNALSPARALLELCOMMUNICATIONVALID FORHARNESS IN CABINET3HAC022852-001 (Dual)3HAC024371-001 (Single)FLOOR HARNESS3HAC022957-001,002,003,006

IRBDP MH3LOWER ARM HARNESS3HAC022996-0013HAC022997-001

* Circuitdiagram showsmarking on wires for bothdual and single cabinet

687

683

688

684

689690691692

699700666667668669

300/

3

RD

GN

RD

BN

RDGYBKBU

300/

4

300/

5

WH/YEYEWH

B22 b22

-AXIS 3 -AXIS 6-MANIPULATOR BASE-ROBOTCABINET-XS13

C18-R2.CP/CS

C19

C20

C21

B22

B23

B24

B25

B23 b23

B24 b24

B25 b25

C18 c18-R1.CP/CS

C19 c19

C20 c20

C21 c21

7 7-XP5.1

8 8-XP5.1

9 9-XP5.2

10 10

11 11

12 12

7 7-XP5.2

8 8-XP5.2

7 7-XP5.3

8 8

9 9

10 10

11 11

12 12

B22 b22

B23 b23

B24 b24

B25 b25

C10

C11

C12

C13

C14

C15

C18 c18

C19 c19

C20 c20

C21 c21

GN

WH/BN

BN

WH/RD

RD

300/

6

WH/BK

BU

WH/BN

VT

WH/RDWH/OGWH/YEWH/GN

WH/YEWH/GNWH/BUWH/VTWH/GYWH/BK

*DUAL *SINGLE Note 1.6 on Page 701

Prepared by, date:311

We

rese

rve

all r

ight

s in

this

doc

umen

t and

in th

e in

form

atio

n co

ntai

ned

ther

ein.

Rep

rodu

ctio

n, u

se o

r di

sclo

sure

to th

ird p

artie

s w

ithou

t exp

ress

aut

horit

y is

stri

ctly

forb

idde

n. ©

Cop

yrig

ht 2

003

AB

B

EM 2015-02-17 JEN 2015-03-04

2015-03-04

Page310

98TotalTYPE H, HS AND HSe

Latest revision:

Approved by, date:

CUSTOMER SIGNALS, CANBUSLocation:Plant: =

++Sublocation:

DPH1

Document no.Next

Rev. Ind

Lab/Office: Status:IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5ECO 70147, WI 7698Page 224-231: Adjusted, "Type Se" was "Type S"Page 316-321: Adjusted, "Type H" was "Type S"

12APPROVED

3HAC026209-001

1 2 74 53 6 8

DMRO SEPRMP

TYPE H, HS AND HSeCUSTOMER SIGNALSCANBUSCOMMUNICATIONVALID FORHARNESS IN CABINET3HAC022852-001(Dual)3HAC024371-001 (Single)3HAC022866-001FLOOR HARNESS3HAC022978-001,002,003,006

IRBDP MH3LOWER ARM HARNESS3HAC022998-0013HAC022999-001UPPER ARM HARNESS3HAC026813-002

* Circuitdiagram showsmarking on wires for bothdual and single cabine

670

671

672

673

677

303/

8

678

WH/GN

24V

GN

0V

WH/BN

24V

BN

0V

WH/OG

WH/BU

BU

OG

WH/OG

WH/RD

OG

RD

GN/YE

-

303/

3

-

-

-

GN/YE

BKBNRDOGYEGN

WH

BU

BU

VT

WH/GN

BK

GN

BN

WH/BNBN

*

WH/BU

DUAL *

BU

WH/OG

SINGLE

OG

GN/YE

WH/GN

1

GN

2

WH/BN

3

BN

4

WH/BU

BU

WH/OG

OG

Note 1.1 on Page 700

303/

4

Note 1.3 on Page 700

303/

5

PE

GN/YEGN/YE

-AXIS 3 -AXIS 6-MANIPULATOR BASE-ROBOTCABINET-XS13

D1 d1-R2.CP/CS

D6 d6

D3 d3

D4 d4

B1 b1

B2 b2

B3 b3

B4 b4

B5 b5

B6 b6

B7 b7

B8 b8

B9 b9

B10 b10

f-R3.CP/CS

g

h

j

A

B

C

D

E

F

G

H

J

K

D1 d1-R1.CP/CS

D6 d6

D3 d3

D4 d4

B1 b1

B2 b2

B3 b3

B4 b4

B5 b5

B6 b6

B7 b7

B8 b8

B9 b9

B10 b10

V

1 1-XP5.1

9 9-XP5.1

1 1-XP5.2

1 1-XP6

2 2

3 3

4 4

2 2

10 10

11 11

12 12

2 2

3 3

4 4

A1 a1

A2 a2

A3 a3

A4 a4

B1 b1

B2 b2

B3 b3

B4 b4

B5 b5

B6 b6

B7 b7

B8 b8

B9 b9

B10 b10

WH/BKBK

WH/BNBN

WH/RDRD

WH/OGOG

WH/YEYE

4

5

6

7

GN/YE

303/

6

303/

7

WH/BKBK

WH/BNBN

WH/BKBK

WH/BNBN

WH/RDRD

WH/OGOG

WH/YEYE

Prepared by, date:312

We

rese

rve

all r

ight

s in

this

doc

umen

t and

in th

e in

form

atio

n co

ntai

ned

ther

ein.

Rep

rodu

ctio

n, u

se o

r di

sclo

sure

to th

ird p

artie

s w

ithou

t exp

ress

aut

horit

y is

stri

ctly

forb

idde

n. ©

Cop

yrig

ht 2

003

AB

B

EM 2015-02-17 JEN 2015-03-04

2015-03-04

Page311

98TotalTYPE H, HS AND HSe

Latest revision:

Approved by, date:

CUSTOMER SIGNALS, CANBUSLocation:Plant: =

++Sublocation:

DPH1

Document no.Next

Rev. Ind

Lab/Office: Status:IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5ECO 70147, WI 7698Page 224-231: Adjusted, "Type Se" was "Type S"Page 316-321: Adjusted, "Type H" was "Type S"

12APPROVED

3HAC026209-001

1 2 74 53 6 8

DMRO SEPRMP

TYPE H, HS AND HSeCUSTOMER SIGNALSCANBUSCOMMUNICATIONVALID FORHARNESS IN CABINET3HAC022852-001 (Dual)3HAC024371-001 (Single)3HAC022866-001FLOOR HARNESS3HAC022978-001,002,003,006

IRBDP MH3LOWER ARM HARNESS3HAC022998-0013HAC022999-001UPPER ARM HARNESS3HAC026813-002

* Circuitdiagram showsmarking on wires for bothdual and single cabine

666667

668

+24V CAN

669

0V CAN

679

CAN_H

680

CAN_L

681682

RD

693

OG

694

YE

695

GN

696

GY

697

WH

698

WH/BK

685

WH/BN

686

WH/RD

687

WH/OG

GY

683

688

WHWH/BK

684

RD

BU

BK

WH/BN

691

VT

692

RD

689

BK

690

WH/YE

WH

WH/GN

BU

WH/RD

699

WH/OG

700

WHBU

WH/GN

WH/YE

GN

302/

3

WH/GN

WH/BU

WH/BU

BU

WH/VT

WH/GY

WH/VT

VT

BN/BK

WH/GY

*

GY

DUAL *

WH/BKBK

SINGLE

WH/OGOGWH/BN

BN

WH/RD

RD

WH/BKBK

WH/BNBN

56

78

12

34

YEYE

VTVT

GN

M

-AXIS 3 -AXIS 6-MANIPULATOR BASE

A-R3.CBUS

B

C

D

E

F

G

H

J

K

L

-ROBOTCABINET-XS13

B11 b11-R2.CP/CS

B12 b12

B13 b13

B14 b14

B15 b15

B16 b16

B18 b18

B19 b19

B20

B21

C18

C19

C20

C21

C16

C17

B22 b22

B23 b23

B24 b24

B25 b25

A3 a3

A4 a4

A5 a5

A6 a6

A9 a9

A10 a10

A11 a11

A12 a12

L-R3.CP/CS

M

N

P

R

S

T

U

B11 b11-R1.CP/CS

B12 b12

B13 b13

B14 b14

B15 b15

B16 b16

B18 b18

B19 b19

B20 b20

B21 b21

C16 c16

C17 c17

C18 c18

C19 c19

C20 c20

C21 c21

B22 b22

B23 b23

B24 b24

B25 b25

A3 a3

A4 a4

A5 a5

A6 a6

A9 a9

A10 a10

A11 a11

A12 a12

5 5-A35.X2

1 1

4 4-A35.X2

2 2

3 3

3 3-XP5.1

4 4

5 5

6 6

7 7-XP5.1

8 8-XP5.1

11 11-XP5.2

12 12

9 9

10 10

5 5-XP5.2

8 8-XP5.2

7 7-XP5.3

8 8

9 9

10 10

11 11

12 12

1 1-XP5.3

6 6

6 6

7 7

2 2

3 3

4 4

5 5

B11 b11

B12 b12

B13 b13

B14 b14

B15 b15

B16 b16

B18 b18

B19 b19

B20 b20

B21 b21

C16 c16

C17 c17

C18 c18

C19 c19

C20 c20

C21 c21

F1 f1

F2 f2

B24 b24

B25 b25

B22

B23

F3 f3

F4 f4

C10 c10

C11 c11

C12 c12

C13 c13

C14 c14

C15 c15

GN

GNGN

302/

6

302/

7

WHOGWHGN

WHBNWHGYRDBU

RD

OGRD

GN

RD

BN

RDBK

BKBU

WHBU

BK

WH/GN

OG

GN

BK

WH/BU

GN

BU

BK

WH/VT

BN

VTWH/GYGY

302/

4

WH/BKBK

WH/BNBN

56

7

302/

5

8

12

34

YEYE

VTVT

GNGN

GNGN

302/

8

Prepared by, date:313

We

rese

rve

all r

ight

s in

this

doc

umen

t and

in th

e in

form

atio

n co

ntai

ned

ther

ein.

Rep

rodu

ctio

n, u

se o

r di

sclo

sure

to th

ird p

artie

s w

ithou

t exp

ress

aut

horit

y is

stri

ctly

forb

idde

n. ©

Cop

yrig

ht 2

003

AB

B

EM 2015-02-17 JEN 2015-03-04

2015-03-04

Page312

98TotalTYPE H, HS AND HSe

Latest revision:

Approved by, date:

CUSTOMER SIGNALS, ETHERNETLocation:Plant: =

++Sublocation:

DPH1

Document no.Next

Rev. Ind

Lab/Office: Status:IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5ECO 70147, WI 7698Page 224-231: Adjusted, "Type Se" was "Type S"Page 316-321: Adjusted, "Type H" was "Type S"

12APPROVED

3HAC026209-001

1 2 74 53 6 8

DMRO SEPRMP

TYPE H, HS AND HSeCUSTOMER SIGNALSETHERNETCOMMUNICATIONVALID FORHARNESS IN CABINET3HAC022858-001 (Dual)3HAC024371-001 (Single)3HAC022867-001FLOOR HARNESS3HAC023024-001,002,003,006

IRBDP MH3LOWER ARM HARNESS3HAC034138-0013HAC034139-001UPPER ARM HARNESS3HAC026813-0013HAC034204-001

* Circuitdiagram showsmarking on wires for bothdual and single cabine

WH/RD

670

RD

671

WH/OG

672

OG

673

WH/YE

677

YE

678

WH/GN

GN

WH/BN

BN

WH/BU

305/

8

BU

WH/OG

OG

24V

GN/YE

0V

305/

3

24V

0V

WH/OGOG

WH/RDRD

-

-

-

-

1

2

*

3

DUAL

4

BK

GN/YE

BN

WH/GN

RD

GN

OG

WH/BN

YE

BN

GN

WH/BU

BU

BU

VT

*

WH/OG

SINGLE

OG

GN/YE

BK WHBN BU

WH/GN

GN

WH/BN

305/

4

BN

WH/BU

BU

WH/OG

305/

5

OG

Note 1.1 on Page 700

Note 1.3 on Page 700

PEGN/YEGN/YE

YE

WH

OG

BU

YE

WH

OG

BU

YE

WH

-XS9

-AXIS 3 -AXIS 6-MANIPULATOR BASE-ROBOTCABINET

-XS13

D1 d1-R2.CP/CS

D6 d6

D3 d3

D4 d4

B1 b1

B2 b2

B3 b3

B4 b4

B5 b5

B6 b6

B7 b7

B8 b8

B9 b9

B10 b10

f-R3.CP/CS

g

h

j

V

A

B

C

D

E

F

G

H

J

K

D1 d1-R1.CP/CS

D6 d6

D3 d3

D4 d4

B1 b1

B2 b2

B3 b3

B4 b4

B5 b5

B6 b6

B7 b7

B8 b8

B9 b9

B10 b10

1 1-XP5.1

2 2

9 9-XP5.1

10 10

11 11

12 12

1 1-XP5.2

3 3

4 4

1 1-XP6

2 2

3 3

4 4

2 2

A1 a1

A2 a2

A3 a3

A4 a4

B1 b1

B2 b2

B3 b3

B4 b4

B5 b5

B6 b6

B7 b7

B8 b8

B9 b9

B10 b10

1 1-R1.ETHERNET

2 2

3 3

4 4

1 1-R2.ETHERNET

2 2

3 3

4 4

1 1-R3.ETHERNET

2 2

3 3

4 4

1 1

2 2

3 3

4 4

OG

BU

GN/YE

4

5

6

7

WH/BKBK

WH/BNBN

WH/RDRD

WH/OGOG

WH/YEYE

305/

6

305/

7

WH/BKBK

WH/BNBN

WH/BKBK

WH/BNBN

Prepared by, date:314

We

rese

rve

all r

ight

s in

this

doc

umen

t and

in th

e in

form

atio

n co

ntai

ned

ther

ein.

Rep

rodu

ctio

n, u

se o

r di

sclo

sure

to th

ird p

artie

s w

ithou

t exp

ress

aut

horit

y is

stri

ctly

forb

idde

n. ©

Cop

yrig

ht 2

003

AB

B

EM 2015-02-17 JEN 2015-03-04

2015-03-04

Page313

98TotalTYPE H, HS AND HSe

Latest revision:

Approved by, date:

CUSTOMER SIGNALS, ETHERNETLocation:Plant: =

++Sublocation:

DPH1

Document no.Next

Rev. Ind

Lab/Office: Status:IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5ECO 70147, WI 7698Page 224-231: Adjusted, "Type Se" was "Type S"Page 316-321: Adjusted, "Type H" was "Type S"

12APPROVED

3HAC026209-001

1 2 74 53 6 8

DMRO SEPRMP

TYPE H, HS AND HSeCUSTOMER SIGNALSETHERNETCOMMUNICATIONVALID FORHARNESS IN CABINET3HAC022858-001 (Dual)3HAC024371-001 (Single)3HAC022867-001FLOOR HARNESS3HAC023024-001,002,003,006

IRBDP MH3LOWER ARM HARNESS3HAC034138-0013HAC034139-001UPPER ARM HARNESS3HAC026813-0013HAC034204-001

* Circuitdiagram showsmarking on wires for bothdual and single cabine

WH/BUBU

DUAL

WH/VTVT

RD

WH/GY

OG

GY

YE

WH/BK

GN

BK

GY

WH/OG

WH

304/

3

OG

WH/BK

WH/BN

WH/BN

BN

WH/RD

WH/RD

WH/OG

RD

GY

WH/YE

WH

YE

WH/BK

WH/GN

BU

GN

WH/BN

VT

WH/RDWH/OGWH/YEWH/YEWH/GN

WH/BUWH/VTWH/GYBN/BKWH/YEWH/GN

304/

6

SINGLE

304/

7*

RD

*WHOGWHGN

WHBNWHGYRD

WH/GNGN

BU

RD

WH/BU

-AXIS 3 -AXIS 6-MANIPULATOR BASE-ROBOTCABINET-XS13

B11 b11-R2.CP/CS

B12 b12

B13 b13

B14 b14

B15 b15

B16 b16

B18 b18

B19 b19

B20

B21

C18

C19

C20

C21

C16

C17

B22

B23

B24

B25

L-R3.CP/CS

M

N

P

R

S

T

U

B11 b11-R1.CP/CS

B12 b12

B13 b13

B14 b14

B15 b15

B16 b16

B18 b18

B19 b19

B20 b20

B21 b21

C16 c16

C17 c17

C18 c18

C19 c19

C20 c20

C21 c21

B22 b22

B23 b23

B24 b24

B25 b25

3 3-XP5.1

4 4

5 5

6 6

7 7-XP5.1

8 8-XP5.1

5 5-XP5.2

8 8-XP5.2

10 10

12 12

9 9-XP5.2

1 1-XP5.3

2 2

3 3

4 4

9 9-XP5.3

10 10

11 11

12 12

7 7

8 8

6 6

7 7

11 11

5 5

6 6

B11 b11

B12 b12

B13 b13

B14 b14

B15 b15

B16 b16

B18 b18

B19 b19

B20 b20

B21 b21

C16 c16

C17 c17

C18 c18

C19 c19

C20 c20

C21 c21

B23 b23

B24 b24

B25 b25

C12

C13

C14

C15

C10

C11

B22 b22

OG

BU

RD

WH/VT

GN

VT

RD

WH/GY

BN

GY

GYBKBU

304/

4

304/

5

304/

8

679680681682

693694695696697698

685

686687

683

688

684

689690691692

666667668669699700

WH/GNGN

Prepared by, date:315

We

rese

rve

all r

ight

s in

this

doc

umen

t and

in th

e in

form

atio

n co

ntai

ned

ther

ein.

Rep

rodu

ctio

n, u

se o

r di

sclo

sure

to th

ird p

artie

s w

ithou

t exp

ress

aut

horit

y is

stri

ctly

forb

idde

n. ©

Cop

yrig

ht 2

003

AB

B

EM 2015-02-17 JEN 2015-03-04

2015-03-04

Page314

98TotalTYPE H, HS AND HSe

Latest revision:

Approved by, date:

CUSTOMER SIGNALS, PROFIBUSLocation:Plant: =

++Sublocation:

DPH1

Document no.Next

Rev. Ind

Lab/Office: Status:IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5ECO 70147, WI 7698Page 224-231: Adjusted, "Type Se" was "Type S"Page 316-321: Adjusted, "Type H" was "Type S"

12APPROVED

3HAC026209-001

1 2 74 53 6 8

DMRO SEPRMP

TYPE H, HS AND HSeCUSTOMER SIGNALSPROFIBUSCOMMUNICATIONVALID FORHARNESS IN CABINET3HAC022852-001 (Dual)3HAC024371-001 (Single)3HAC022868-001FLOOR HARNESS3HAC022988-001,002,003,006

IRBDP MH3LOWER ARM HARNESS3HAC022998-0013HAC022999-001UPPER ARM HARNESS3HAC026813-002

* Circuitdiagram showsmarking on wires for bothdual and single cabine

24V

670

0V

671 WH/OG

672

OG

673 WH/RD

GN/YE

RD

307/

3

-

-

-

-

BKBNRDOG

GN/YE

YE

WH/GN

GN

GN

BUVT

WH/BNBN

GN/YE

WH/BU

677

BU

678

WH/OG

WH/GN

OG

GN

WH/BN

1

2

BN

WH/BU

3

4

BU

WH/OG

OG

WHBKBUBN

*DUAL *SINGLE

307/

4

307/

5

WH/GN

GN

WH/BN

BN

WH/BU

BU

WH/OG

OG

Note 1.1 on Page 700

Note 1.3 on Page 700

PE

GN/YEGN/YE

4

5

6

7

GN/YE

WH/BK

-AXIS 3 -AXIS 6-MANIPULATOR BASE-ROBOTCABINET-XS13

D1 d1-R2.CP/CS

D6 d6

D3 d3

D4 d4

B1 b1

B2 b2

B3 b3

B4 b4

B5 b5

B6 b6

B7 b7

B8 b8

B9 b9

B10 b10

f-R3.CP/CS

g

h

j

V

A

B

C

D

E

F

G

H

J

K

D1 d1-R1.CP/CS

D6 d6

D3 d3

D4 d4

B1 b1

B2 b2

B3 b3

B4 b4

B5 b5

B6 b6

B7 b7

B8 b8

B9 b9

B10 b10

1 1-XP5.1

2 2

9 9-XP5.1

10 10

11 11

12 12

1 1-XP5.2

2 2

3 3

4 4

1 1-XP6

2 2

3 3

4 4

A1 a1

A2 a2

A3 a3

A4 a4

B1 b1

B2 b2

B3 b3

B4 b4

B5 b5

B6 b6

B7 b7

B8 b8

B9 b9

B10 b10

BK

WH/BNBN

WH/RDRD

WH/OGOG

WH/YEYE

307/

6

307/

7

WH/BKBK

WH/BNBN

WH/BKBK

WH/BNBN

WH/RDRD

WH/OGOG

WH/YEYE

307/

8

24V

0V

Prepared by, date:+./316

We

rese

rve

all r

ight

s in

this

doc

umen

t and

in th

e in

form

atio

n co

ntai

ned

ther

ein.

Rep

rodu

ctio

n, u

se o

r di

sclo

sure

to th

ird p

artie

s w

ithou

t exp

ress

aut

horit

y is

stri

ctly

forb

idde

n. ©

Cop

yrig

ht 2

003

AB

B

EM 2015-02-17 JEN 2015-03-04

2015-03-04

Page315

98TotalTYPE H, HS AND HSe

Latest revision:

Approved by, date:

CUSTOMER SIGNALS, PROFIBUSLocation:Plant: =

++Sublocation:

DPH1

Document no.Next

Rev. Ind

Lab/Office: Status:IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5ECO 70147, WI 7698Page 224-231: Adjusted, "Type Se" was "Type S"Page 316-321: Adjusted, "Type H" was "Type S"

12APPROVED

3HAC026209-001

1 2 74 53 6 8

DMRO SEPRMP

TYPE H, HS AND HSeCUSTOMER SIGNALSPROFIBUSCOMMUNICATIONVALID FORHARNESS IN CABINET3HAC022852-001 (Dual)3HAC024371-001 (Single)3HAC022868-001FLOOR HARNESS3HAC022988-001,002,003,006

IRBDP MH3LOWER ARM HARNESS3HAC022998-0013HAC022999-001UPPER ARM HARNESS3HAC026813-002

* Circuitdiagram showsmarking on wires for bothdual and single cabine

RDGN

666667

WH/GN

668

306/

3

669

GN

DUAL

WH/BUBU

RD

WH/VT

OG

VT

YE

WH/GY

GN

GY

GY

WH/BK

WHWH/BK

BK

WH/OG

WH/BN

OG

WH/RD

WH/BN

WH/OG

BN

GY

WH/RD

WH

RD

WH/BK

WH/BK

BU

WH/BN

BKWH/BN

VT

WH/RD

BN

WH/OG

5

WH/YE

6

7

WH/GN

WH/YE

8

1

WH/GN

2

RD

3

GN

4

WH/BU

YE

WH/VT

WH/GY

YE

VT

BN/BK

VT

*

GN

SINGLE

GN

GNGN

306/

6

306/

7

WHOGWHGN

WHBNWHGYRDBU

RD

OGRD

GN

RD

BN

-AXIS 3 -AXIS 6-MANIPULATOR BASE-ROBOTCABINET

B24 b24

-XS13

A-R3.CBUS

B

C

D

E

F

G

H

J

K

L

M

B11 b11-R2.CP/CS

B12 b12

B13 b13

B14 b14

B15 b15

B16 b16

B18 b18

B19 b19

B20

B21

C18

C19

C20

C21

C16

C17

B22 b22

B23 b23

B24 b24

B25 b25

A3 a3

A4 a4

A5 a5

A6 a6

A9 a9

A10 a10

A11 a11

A12 a12

L-R3.CP/CS

M

N

P

R

S

T

U

B11 b11-R1.CP/CS

B12 b12

B13 b13

B14 b14

B15 b15

B16 b16

B18 b18

B19 b19

B20 b20

B21 b21

C16 c16

C17 c17

C18 c18

C19 c19

C20 c20

C21 c21

B22 b22

B23 b23

B25 b25

A3 a3

A4 a4

A5 a5

A6 a6

A9 a9

A10 a10

A11 a11

A12 a12

1B 1B-DP-M

1A 1A

3 3-XP5.1

4 4

5 5

6 6

7 7-XP5.1

8 8-XP5.1

5 5-XP5.2

6 6

7 7

8 8-XP5.2

9 9-XP5.2

10 10

11 11

12 12

1 1-XP5.3

2 2

3 3

4 4

5 5

6 6

7 7-XP5.3

8 8

9 9-XP5.3

10 10

11 11

12 12

B11 b11

B12 b12

B13 b13

B14 b14

B15 b15

B16 b16

B18 b18

B19 b19

B20 b20

B21 b21

C16 c16

C17 c17

C18 c18

C19 c19

C20 c20

C21 c21

B22 b22

B23 b23

B24 b24

B25 b25

C10 c10

C11 c11

F5 f5

F6 f6

C12 c12

C13 c13

C14 c14

C15 c15

RDGYBKBU

BKOG

RDGN

WH/GN

BK

GN

GN

WH/BU

BK

BU

BN

WH/VTVT

306/

4

WH/GYGY

WH/BKBKWH/BN

306/

5

BN

56

78

12

34

YEYE

VTVT

GNGN

GNGN

306/

8

RXD/TXD-P

RXD/TXD-N

*

679680681682

693694695696697698

685

686687

683

688

684

689690691692

699700

Prepared by, date:317

We

rese

rve

all r

ight

s in

this

doc

umen

t and

in th

e in

form

atio

n co

ntai

ned

ther

ein.

Rep

rodu

ctio

n, u

se o

r di

sclo

sure

to th

ird p

artie

s w

ithou

t exp

ress

aut

horit

y is

stri

ctly

forb

idde

n. ©

Cop

yrig

ht 2

003

AB

B

EM 2015-02-17 JEN 2015-03-04

2015-03-04

Page316

98TotalTYPE H

Latest revision:

Approved by, date:

CUSTOMER SIGNALS, PARALLEL Location:Plant: =

++Sublocation:

DPH

Document no.Next

Rev. Ind

Lab/Office: Status:IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5ECO 70147, WI 7698Page 224-231: Adjusted, "Type Se" was "Type S"Page 316-321: Adjusted, "Type H" was "Type S"

71 843

12

2 5

APPROVED

6

3HAC026209-001

DMRO SEPRMP

TYPE HCUSTOMER SIGNALSPARALLELCOMMUNICATIONVALID FORHARNESS IN CABINET3HAC022852-001 (Dual)3HAC024371-001 (Single)FLOOR HARNESS3HAC022957-001,002,003,006

MH6LOWER ARM HARNESS3HAC043042-001UPPER ARM HARNESS3HAC043045-001

* Circuitdiagram shows marking on wires for both dual and single cabinet

N.C.=Not Connected

BK

670

BN

671

RD

672

OG

673

YE

677

GN

4

GY

678

WH/GN

WH

5

GN

6

WH/BK

WH/BN

7

WH/BN

BN

GN/YE

WH/RD

WH/BU

WH/BK

WH/OG

BU

BK

BU

WH/OG

WH/BN

WH/BK

OG

BN

DUAL SINGLE

679

WH/RD

GN/YE

RD

680681

WH/OG

-

682

-

OG

693

-

WH/YE

694

YE

-

695

*

WH/GN

696

*

GN

697

WH/BU

698

WH/GN

BU

683

GN

WH/VT

686

WH/BN

VT

GN/YE

BN

WH/GY

101/

3WH/BU

GY

BU

WH/BK

WH/OG

BK

OG

WH/OG

OG

Note 1.1 on Page 700

101/

6

Note 1.3 on Page 700

Note 1.5 on Page 701

101/

7

12

34

GN/YE

WH

G G G G

-ROBOTCABINET

1 1-XP6

2 2

3 3

4 4

1 1-XP5.1

2 2

1 1-XP5.2

2 2

3 3

4 4

9 9-XP5.1

10 10

11 11

12 12

3 3

4 4

5 5

6 6

1 1-XP5.3

2 2

3 3

4 4

5 5

6 6

7 7-XP5.1

7 7-XP5.2

-XS13

A1 a1

A2 a2

A3 a3

A4 a4

B1 b1

B2 b2

B3 b3

B4 b4

B5 b5

B6 b6

B7 b7

B8 b8

B9 b9

B10 b10

B11 b11

B12 b12

B13 b13

B14 b14

B15 b15

B16 b16

B18 b18

B19 b19

B20 b20

B21 b21

C19 c19

C18 c18

-MANIPULATOR BASE

D1 d1-R1.CP/CS

D6 d6

D3 d3

D4 d4

B1 B1

B2 b2

B3 b3

B4 b4

B5 b5

B6 b6

B7 b7

B8 b8

B9 b9

B10 b10

B11 b11

B12 b12

B13 b13

B14 b14

B15 b15

B16 b16

B18 b18

B19 b19

B20 b20

B21 b21

C19 c19

C18 N.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

c c

N.C. N.C.

-AXIS 6

E E-R3.CP/CS

F F

V V

W W

A

B

C

D

H

J

K

L

M

N

P

R

S

T

U

X

Y

Z

a

b

c

N.C.

BU

WH/GNGN

WH/BNBN

WH/BUBU

WH/OGOG

WHOGWHGN

4

WH

5

BN

6

WH

7

GY

GN/YE

RD

WH/OG

BU

OG

GN

WH/BK

RD

BK

WH/BNBN

WH/RDRD

WH/OG

101/

4

OG

WH/YE

101/

5

YE

WH/GNGNWH/BUBU

WH/VTVTWH/GYGYWH/BKBK

101/

8

24V

0V

24V

0V

CS6/KSR

CS8/KSR

CS15

CS16

CS17

CS18

CS19

CS20

PE

CS21

CS12

CS1

CS2

CS3

CS4

CS5

CS6

CS9

CS10

CS11

CS13

CS14

BKBNRDOGYEGNBUVT

Prepared by, date:318

We

rese

rve

all r

ight

s in

this

doc

umen

t and

in th

e in

form

atio

n co

ntai

ned

ther

ein.

Rep

rodu

ctio

n, u

se o

r di

sclo

sure

to th

ird p

artie

s w

ithou

t exp

ress

aut

horit

y is

stri

ctly

forb

idde

n. ©

Cop

yrig

ht 2

003

AB

B

EM 2015-02-17 JEN 2015-03-04

2015-03-04

Page317

98TotalTYPE H

Latest revision:

Approved by, date:

CUSTOMER SIGNALS, PARALLEL Location:Plant: =

++Sublocation:

DPH

Document no.Next

Rev. Ind

Lab/Office: Status:IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5ECO 70147, WI 7698Page 224-231: Adjusted, "Type Se" was "Type S"Page 316-321: Adjusted, "Type H" was "Type S"

71 843

12

2 5

APPROVED

6

3HAC026209-001

DMRO SEPRMP

TYPE HCUSTOMER SIGNALSPARALLELCOMMUNICATIONVALID FORHARNESS IN CABINET3HAC022852-001 (Dual)3HAC024371-001 (Single)FLOOR HARNESS3HAC022957-001,002,003,006

MH6LOWER ARM HARNESS3HAC043042-001UPPER ARM HARNESS3HAC043045-001

* Circuitdiagram shows markingon wires for both dual andsingle cabinet

N.C.=Not Connected

685

686

688

684

689690691692

699700666667668669

100/

3

RD

OG

RD

BN

RDGYBKBU

100/

4

100/

5

WH/YEYEWH

9 9

-ROBOTCABINET

9 9-XP5.2

10 10

11 11

12 12

7 7-XP5.3

8 8

-MANIPULATOR BASE

10 10

11 11

12 12

5 5-XP5.2

6 6

8 8

8 8-XP5.1

-XS13

B22 b22

B23 b23

B24 b24

B25 b25

C10

C11

C12

C13

C14

C15

C16 c16

C17 c17

C20 c20

C21 c21

B22 N.C.

B23 N.C.

B24 N.C.

B25 N.C.

c16 N.C.-R1.CP/CS

C17 N.C.

C20 N.C.

C21 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.

GN

WH/BN

BN

WH/RD

RD

100/

6

100/

7

WH/RD

YEWH/GNGN

WH/BN

BN

RD

WH/YE

100/

8

GY

WH

WH/BN

VT

WH/RDWH/OGWH/YEWH/GN

WH/YEWH/GNWH/BUWH/VTWH/GY

*DUAL

*SINGLE

BN/BK

Note 1.6 on Page 701

Prepared by, date:319

We

rese

rve

all r

ight

s in

this

doc

umen

t and

in th

e in

form

atio

n co

ntai

ned

ther

ein.

Rep

rodu

ctio

n, u

se o

r di

sclo

sure

to th

ird p

artie

s w

ithou

t exp

ress

aut

horit

y is

stri

ctly

forb

idde

n. ©

Cop

yrig

ht 2

003

AB

B

EM 2015-02-17 JEN 2015-03-04

2015-03-04

Page318

98TotalTYPE H

Latest revision:

Approved by, date:

CUSTOMER SIGNALS, CANBUS Location:Plant: =

++Sublocation:

DPH

Document no.Next

Rev. Ind

Lab/Office: Status:IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5ECO 70147, WI 7698Page 224-231: Adjusted, "Type Se" was "Type S"Page 316-321: Adjusted, "Type H" was "Type S"

71 843

12

2 5

APPROVED

6

3HAC026209-001

DMRO SEPRMP

TYPE HCUSTOMER SIGNALSPARALLELCOMMUNICATIONVALID FORHARNESS IN CABINET3HAC022852-001 (Dual)3HAC024371-001 (Single)FLOOR HARNESS3HAC022957-001,002,003,006

MH6LOWER ARM HARNESS3HAC043043-001UPPER ARM HARNESS3HAC043046-001

* Circuitdiagram shows marking on wires for both dual and single cabinet

N.C.=Not Connected

BK

670

BN

671

RD

672

OG

673

YE

677

GN

678

4

GY

WH/GN

5

WH

GN

6

WH/BK

WH/BN

7

WH/BN

BN

WH/RD

GN/YE

WH/BU

WH/OG

WH/BK

BU

BK

BU

WH/OG

WH/BK

WH/BN

OG

DUAL

BN

SINGLE

WH/RD

679

GN/YE

RD

680

WH/OG

-

681

-

OG

682

-

693

WH/YEYE

694

-

WH/GN

695

*

696

GN

*

697

WH/BU

698

BU

WH/GN

683

WH/VT

GN

WH/BN

VT

686

BN

GN/YE

WH/GY

WH/BU

101/

3

GY

BU

WH/BKBK

WH/OG

OG

WH/OG

OG

Note 1.1 on Page 700

101/

6

Note 1.3 on Page 700

101/

7

Note 1.5 on Page 701

12

34

GN/YE

WH

G G G G

3 3

4 4

5 5

6 6

1 1-XP5.3

2 2

3 3

4 4

5 5

6 6

7 7-XP5.1

7 7-XP5.2

B11 b11

B12 b12

B13 b13

B14 b14

B15 b15

B16 b16

B18 b18

B19 b19

B20 b20

B21 b21

C19 c19

C18 c18

B11 b11

B12 b12

B13 b13

B14 b14

B15 b15

B16 b16

B18 b18

B19 b19

B20 b20

B21 b21

C19 c19

C18 N.C.

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.

P

R

S

T

U

X

Y

Z

a

b

c

N.C.

-ROBOTCABINET

1 1-XP6

2 2

3 3

4 4

1 1-XP5.1

2 2

1 1-XP5.2

2 2

3 3

4 4

9 9-XP5.1

10 10

11 11

12 12

-XS13

A1 a1

A2 a2

A3 a3

A4 a4

B1 b1

B2 b2

B3 b3

B4 b4

B5 b5

B6 b6

B7 b7

B8 b8

B9 b9

B10 b10

-MANIPULATOR BASE

D1 d1-R1.CP/CS

D6 d6

D3 d3

D4 d4

B1 B1

B2 b2

B3 b3

B4 b4

B5 b5

B6 b6

B7 b7

B8 b8

B9 b9

B10 b10

-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

-AXIS 6

E E-R3.CP/CS

F F

V V

W W

A

B

C

D

H

J

K

L

M

N

BU

WH/GNGN

WH/BNBN

WH/BUBU

WH/OGOG

WHOGWH

4

GN

WH

5

6

BNWH

7

GN/YE

GYRD

WH/OG

BU

OG

WH/BK

GN

BK

RD

WH/BNBN

WH/RDRD

101/

4

WH/OGOG

WH/YEYE

101/

5

WH/GNGNWH/BUBU

WH/VTVTWH/GYGYWH/BKBK

101/

8

24V

0V

24V

0V

CS6/KSR

CS8/KSR

CS10

CS9

CS19

CS20

CS21

CS12

PE

CS5

CS13

CS14

CS11

CS1

CS2

CS3

CS4

CS6

CS15

CS16

CS17

CS18

BKBNRDOGYEGNBUVT

Prepared by, date:320

We

rese

rve

all r

ight

s in

this

doc

umen

t and

in th

e in

form

atio

n co

ntai

ned

ther

ein.

Rep

rodu

ctio

n, u

se o

r di

sclo

sure

to th

ird p

artie

s w

ithou

t exp

ress

aut

horit

y is

stri

ctly

forb

idde

n. ©

Cop

yrig

ht 2

003

AB

B

EM 2015-02-17 JEN 2015-03-04

2015-03-04

Page319

98TotalTYPE H

Latest revision:

Approved by, date:

CUSTOMER SIGNALS, CANBUS Location:Plant: =

++Sublocation:

DPH

Document no.Next

Rev. Ind

Lab/Office: Status:IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5ECO 70147, WI 7698Page 224-231: Adjusted, "Type Se" was "Type S"Page 316-321: Adjusted, "Type H" was "Type S"

71 843

12

2 5

APPROVED

6

3HAC026209-001

DMRO SEPRMP

TYPE HCUSTOMER SIGNALSPARALLELCOMMUNICATIONVALID FORHARNESS IN CABINET3HAC022852-001 (Dual)3HAC024371-001 (Single)FLOOR HARNESS3HAC022957-001,002,003,006

MH6LOWER ARM HARNESS3HAC043043-001UPPER ARM HARNESS3HAC043046-001

* Circuitdiagram shows markingon wires for both dual andsingle cabinet

N.C.=Not Connected

8

RD

685

1

BK

2

686

3

688

691

684

692

4

689

689

YEYE

690

690

VT

WH

691

BU

692

VT

699

699

GN

700

700

GN

666

666

GN

667

667

GN668

668669

669

100/

3

+24V BUS

0V BUS

C-BUS

C-BUS

P-BUS

P-BUS

RD

OG

RD

RD

BN

BK

RD

WH/YE

GY

WH/GN

BK

WH/RD

BU

100/

4

WH/OG

WHBU

100/

5

WH/YEWH/GN

WH/BUWH/VT

WH/BKBK

WH/GY

WH/BNBN

56

7

BN/BK

8

12

34

YEYE

WH/YE

VT

YE

VT

GN

9 9-XP5.2

10 10

11 11

12 12

5 5-XP5.2

6 6

8 8

8 8-XP5.1

B22 b22

B23 b23

B24 b24

B25 b25

C16 c16

C17 c17

C20 c20

C21 c21

B22 N.C.

B23 N.C.

B24 N.C.

B25 N.C.

c16 N.C.-R1.CP/CS

C17 N.C.

C20 N.C.

C21 N.C.

WH

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.

N.C.-R3.CP/CS

N.C.

N.C.

N.C.

-ROBOTCABINET

7 7-XP5.3

8 8

9 9

10 10

11 11

12 12

-XS13

C10

C11

C12

C13

C14

C15

-MANIPULATOR BASE -AXIS 3 -AXIS 6

5 5-A35.X2

1 1

11 11-XP5.2

12 12

9 9

10 10

4 4-A35.X2

2 2

3 3

7 7-XP5.3

8 8

9 9

10 10

11 11

12 12

F1 F1

F2 F2

B24 B24

B25 B25

B22

B23

F3 F3

F4 F4

C10 c10

C11 c11

C12 c12

C13 c13

C14 c14

C15 c15

B22 b22

B23 b23

B24 b24

B25 b25

A3 a3

A4 a4

A5 a5

A6 a6

A9 N.C.

A10 N.C.

A11 N.C.

A12 N.C.

C C-R2.CBUS

D D

N.C. N.C.

N.C. N.C.

A A

B B

E E

J J

N.C. N.C.

N.C. N.C.

N.C. N.C.

N.C. N.C.

C-R3.CBUS

D

N.C.

N.C.

A

B

E

J

N.C.

N.C.

N.C.

N.C.

GN

GN

WH/BN

GNGN

BN

WH/RD

RD

100/

6

100/

7

WH/RD

YEWH/GNGN

WH/BN

BN

RD

WH/YE

100/

8

GY

WH

WH/BN

RD

VT

BK

WH/RD

BK

WH/OG

BU

WH/YE

WH

WH/GN

WH/YE

BU

WH/GN

BK

WH/BU

OG

WH/VT

BKGN

WH/GY

*

BKBN

DUAL*SINGLE

BN/BK

Note 1.6 on Page 701

WH/BKBK

WH/BNBN

56

7

Prepared by, date:321

We

rese

rve

all r

ight

s in

this

doc

umen

t and

in th

e in

form

atio

n co

ntai

ned

ther

ein.

Rep

rodu

ctio

n, u

se o

r di

sclo

sure

to th

ird p

artie

s w

ithou

t exp

ress

aut

horit

y is

stri

ctly

forb

idde

n. ©

Cop

yrig

ht 2

003

AB

B

EM 2015-02-17 JEN 2015-03-04

2015-03-04

Page320

98TotalTYPE H

Latest revision:

Approved by, date:

CUSTOMER SIGNALS, ETHERNETLocation:Plant: =

++Sublocation:

DPH

Document no.Next

Rev. Ind

Lab/Office: Status:IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5ECO 70147, WI 7698Page 224-231: Adjusted, "Type Se" was "Type S"Page 316-321: Adjusted, "Type H" was "Type S"

71 843

12

2 5

APPROVED

6

3HAC026209-001

DMRO SEPRMP

TYPE HCUSTOMER SIGNALSPARALLELCOMMUNICATIONVALID FORHARNESS IN CABINET3HAC022852-001 (Dual)3HAC024371-001 (Single)FLOOR HARNESS3HAC022957-001,002,003,006

MH6LOWER ARM HARNESS3HAC043044-001UPPER ARM HARNESS3HAC043047-001

* Circuitdiagram shows marking on wires for both dual and single cabinet

N.C.=Not Connected

BK

670

BN

671

RD

672

OG

673

YE

677

GN

678

GY

4

WH/GN

WH

5

GN

WH/BK

6

WH/BN

WH/BN

7

BN

WH/RD

GN/YE

WH/BK

WH/BU

WH/OG

BU

BU

BK

WH/OG

WH/BN

WH/BK

OG

BN

DUAL

WH/RD

SINGLE

679

RD

GN/YE

680

WH/OG

-

681

-

OG

682

-

WH/YE

693

-

YE

694

*

695

WH/GNGN

696

*

697

WH/BU

698

BU

WH/GN

683

WH/VT

GN

WH/BN

686

VT

GN/YE

BN

WH/GYGY

101/

3WH/BU

BU

WH/BKBK

WH/OG

OG

WH/OG

OG

101/

6

Note 1.1 on Page 700

Note 1.3 on Page 700

Note 1.5 on Page 701

101/

7

12

34

GN/YE

WH

G G G G

3 3

4 4

5 5

6 6

1 1-XP5.3

2 2

3 3

4 4

5 5

6 6

7 7-XP5.1

7 7-XP5.2

B11 b11

B12 b12

B13 b13

B14 b14

B15 b15

B16 b16

B18 b18

B19 b19

B20 b20

B21 b21

C19 c19

C18 c18

B11 b11

B12 b12

B13 b13

B14 b14

B15 b15

B16 b16

B18 b18

B19 b19

B20 b20

B21 b21

C19 c19

C18 N.C.

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.

P

R

S

T

U

X

Y

Z

a

b

c

N.C.

-ROBOTCABINET

1 1-XP6

2 2

3 3

4 4

1 1-XP5.1

2 2

1 1-XP5.2

2 2

3 3

4 4

9 9-XP5.1

10 10

11 11

12 12

-XS13

A1 a1

A2 a2

A3 a3

A4 a4

B1 b1

B2 b2

B3 b3

B4 b4

B5 b5

B6 b6

B7 b7

B8 b8

B9 b9

B10 b10

-MANIPULATOR BASE

D1 d1-R1.CP/CS

D6 d6

D3 d3

D4 d4

B1 B1

B2 b2

B3 b3

B4 b4

B5 b5

B6 b6

B7 b7

B8 b8

B9 b9

B10 b10

-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

-AXIS 6

E E-R3.CP/CS

F F

V V

W W

A

B

C

D

H

J

K

L

M

N

BU

WH/GNGN

WH/BNBN

WH/BUBU

WH/OGOG

WHOGWH

4

GN

WH

5

BN

6

WH

7

GN/YE

GY

WH/OG

RD

OG

BU

WH/BK

GN

RD

BK

WH/BNBN

WH/RDRD

WH/OG

101/

4

OG

WH/YE

101/

5

YE

WH/GNGNWH/BUBU

WH/VTVTWH/GYGYWH/BKBK

101/

8

24V

0V

24V

0V

CS6/KSR

CS8/KSR

CS4

CS5

CS6

CS9

CS10

PE

CS1

CS2

CS3

CS15

CS16

CS17

CS18

CS19

CS20

CS21

CS12

CS11

CS13

CS14

BKBNRDOGYEGNBUVT

Prepared by, date:+ID.AX3/400

We

rese

rve

all r

ight

s in

this

doc

umen

t and

in th

e in

form

atio

n co

ntai

ned

ther

ein.

Rep

rodu

ctio

n, u

se o

r di

sclo

sure

to th

ird p

artie

s w

ithou

t exp

ress

aut

horit

y is

stri

ctly

forb

idde

n. ©

Cop

yrig

ht 2

003

AB

B

EM 2015-02-17 JEN 2015-03-04

2015-03-04

Page321

98TotalTYPE H

Latest revision:

Approved by, date:

CUSTOMER SIGNALS, ETHERNETLocation:Plant: =

++Sublocation:

DPH

Document no.Next

Rev. Ind

Lab/Office: Status:IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5ECO 70147, WI 7698Page 224-231: Adjusted, "Type Se" was "Type S"Page 316-321: Adjusted, "Type H" was "Type S"

71 843

12

2 5

APPROVED

6

3HAC026209-001

DMRO SEPRMP

TYPE HCUSTOMER SIGNALSPARALLELCOMMUNICATIONVALID FORHARNESS IN CABINET3HAC022852-001 (Dual)3HAC024371-001 (Single)FLOOR HARNESS3HAC022957-001,002,003,006

MH6LOWER ARM HARNESS3HAC043044-001UPPER ARM HARNESS3HAC043047-001

* Circuitdiagram shows markingon wires for both dual andsingle cabinet

N.C.=Not Connected

685

686

688

684

689690691692

699700666667668669

100/

3

RD

OG

RD

BN

RDGYBKBU

100/

4

100/

5

YE

WH

OG

BU

YE

WH

OG

BU

WH/YE

YE

YE

WH

C17 c17

C20 c20

C21 c21

B22 N.C.

B23 N.C.

B24 N.C.

B25 N.C.

c16 N.C.-R1.CP/CS

C17 N.C.

C20 N.C.

C21 N.C.

OG

WH

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.

N.C.-R3.CP/CS

N.C.

N.C.

N.C.

-ROBOTCABINET

7 7-XP5.3

8 8

9 9

10 10

11 11

12 12

-XS13

C10

C11

C12

C13

C14

C15

-MANIPULATOR BASE -AXIS 3 -AXIS 6

-XS9

1 1

2 2

3 3

4 4

1 1-R1.ETHERNET

2 2

3 3

4 4

1 1-R2.ETHERNET

2 2

3 3

4 4

1-R3.ETHERNET

2

3

4

9 9-XP5.2

10 10

11 11

12 12

5 5-XP5.2

6 6

8 8

8 8-XP5.1

B22 b22

B23 b23

B24 b24

B25 b25

C16 c16

BU

GN

WH/BN

BN

WH/RD

RD

100/

6

100/

7

WH/RD

YEWH/GNGN

WH/BN

BN

RD

WH/YE

100/

8

GY

WH

WH/BN

VT

WH/RDWH/OGWH/YEWH/GN

WH/YEWH/GNWH/BUWH/VTWH/GY

*DUAL

*SINGLE

BN/BK

Note 1.6 on Page 701

Prepared by, date:401

We

rese

rve

all r

ight

s in

this

doc

umen

t and

in th

e in

form

atio

n co

ntai

ned

ther

ein.

Rep

rodu

ctio

n, u

se o

r di

sclo

sure

to th

ird p

artie

s w

ithou

t exp

ress

aut

horit

y is

stri

ctly

forb

idde

n. ©

Cop

yrig

ht 2

003

AB

B

EM 2015-02-17 JEN 2015-03-04

2015-03-04

Page400

98TotalTYPE S, Se, H, HS, HSe

Latest revision:

Approved by, date:

IRB66xIDLocation:Plant: =

++Sublocation:

DPIDAX3

Document no.Next

Rev. Ind

Lab/Office: Status:IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5ECO 70147, WI 7698Page 224-231: Adjusted, "Type Se" was "Type S"Page 316-321: Adjusted, "Type H" was "Type S"

12APPROVED

3HAC026209-001

1 2 74 53 6 8

DMRO SEPRMP

TYPE S, Se, H, HS AND HSeCUSTOMER SIGNALS

UPPER ARM HARNESS3HAC025532-001

POWER

-AXIS 3 -AXIS 6

D1 d1

D6 d6

D3 d3

D4 d4

D5 d5-R2.CP/CS

D2 d2D7 d7C1 c1C2 c2C3 c3C5 c5

B22 b22B23 b23

B24 b24B25 b25

A3 a3A4 a4

A5 a5A6 a6

A9 a9A10 a10

A11 a11A12 a12

C4

C5

C6

C7

C1-R3.CP/CS

C2C3

B11B12B13B15

A1A2

A3A4

A7A8

A9A10

A5A6

A11A12

4

6

5

7

1

2

GNYE

1

2

3

4

5

6

7

GNYE

WHBK

BK

WHBN

BN

WH5

WH6

WH7

WH8

WH1

WH2

WH3

WH4

Prepared by, date:402

We

rese

rve

all r

ight

s in

this

doc

umen

t and

in th

e in

form

atio

n co

ntai

ned

ther

ein.

Rep

rodu

ctio

n, u

se o

r di

sclo

sure

to th

ird p

artie

s w

ithou

t exp

ress

aut

horit

y is

stri

ctly

forb

idde

n. ©

Cop

yrig

ht 2

003

AB

B

EM 2015-02-17 JEN 2015-03-04

2015-03-04

Page401

98TotalTYPE S, Se, H, HS, HSe

Latest revision:

Approved by, date:

IRB66xIDLocation:Plant: =

++Sublocation:

DPIDAX3

Document no.Next

Rev. Ind

Lab/Office: Status:IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5ECO 70147, WI 7698Page 224-231: Adjusted, "Type Se" was "Type S"Page 316-321: Adjusted, "Type H" was "Type S"

12APPROVED

3HAC026209-001

1 2 74 53 6 8

DMRO SEPRMP

TYPE S, Se, H, HS AND HSeCUSTOMER SIGNALS

UPPER ARM HARNESS3HAC025532-001

SIGNAL

-AXIS 3 -AXIS 6

B1 b1-R2.CP/CS

B2 b2

B3 b3B4 b4

B5 b5B6 b6

B7 b7B8 b8

B9 b9B10 b10

B11 b11B12 b12

B13 b13B14 b14

B15 b15B16 b16

B18 b18B19 b19

B20 b20B21 b21

C16 b16

C17 c17

C18 c18

C19 c19

C20 c20

C21 c21

B18-R2.CP/CS

B19

B20B21

B22B23

B24B25

B16B17

B1B2

B3B4

B5B6

B7B8

B9B10

B14

C8

WHBK

BK

WHBN

BN

WHRD

RD

WHOG

OG

WHYE

YE

WHGN

GN

WHBU

BU

WHVT

VT

WHGY

GY

WHBK

BK

WHOG

OG

WHBN

BN

WHRD

RD

WHYE

YE

WH

GN

Prepared by, date:403

We

rese

rve

all r

ight

s in

this

doc

umen

t and

in th

e in

form

atio

n co

ntai

ned

ther

ein.

Rep

rodu

ctio

n, u

se o

r di

sclo

sure

to th

ird p

artie

s w

ithou

t exp

ress

aut

horit

y is

stri

ctly

forb

idde

n. ©

Cop

yrig

ht 2

003

AB

B

EM 2015-02-17 JEN 2015-03-04

2015-03-04

Page402

98TotalTYPE S, Se, H, HS, HSe

Latest revision:

Approved by, date:

IRB66xID, ETHTERNETLocation:Plant: =

++Sublocation:

DPIDAX3

Document no.Next

Rev. Ind

Lab/Office: Status:IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5ECO 70147, WI 7698Page 224-231: Adjusted, "Type Se" was "Type S"Page 316-321: Adjusted, "Type H" was "Type S"

12APPROVED

3HAC026209-001

1 2 74 53 6 8

DMRO SEPRMP

TYPE S, Se, H, HS AND HSeCUSTOMER SIGNALS

UPPER ARM HARNESS3HAC041028-001

YE

WH

3 3

4 4

-AXIS 3

D1 d1

D6 d6

D3 d3

D4 d4

D5 d5-R2.CP/CS

D2 d2D7 d7C1 c1C2 c2C3 c3C5 c5

C4

C5

C6

C7

C1-R3.CP/CS

C2C3

B11B12B13B15

POWER

4

6

5

7

1

2

GNYE

1

2

3

4

5

6

7

GNYE

-AXIS 6

1 1-R2.ETHERNET

2 2

3 3

4 4

1 1-R3.ETHERNET

2 2

OG

BU

Prepared by, date:+PG/500

We

rese

rve

all r

ight

s in

this

doc

umen

t and

in th

e in

form

atio

n co

ntai

ned

ther

ein.

Rep

rodu

ctio

n, u

se o

r di

sclo

sure

to th

ird p

artie

s w

ithou

t exp

ress

aut

horit

y is

stri

ctly

forb

idde

n. ©

Cop

yrig

ht 2

003

AB

B

EM 2015-02-17 JEN 2015-03-04

2015-03-04

Page403

98TotalTYPE S, Se, H, HS, HSe

Latest revision:

Approved by, date:

IRB66xID, ETHERNETLocation:Plant: =

++Sublocation:

DPIDAX3

Document no.Next

Rev. Ind

Lab/Office: Status:IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5ECO 70147, WI 7698Page 224-231: Adjusted, "Type Se" was "Type S"Page 316-321: Adjusted, "Type H" was "Type S"

12APPROVED

3HAC026209-001

1 2 74 53 6 8

DMRO SEPRMP

TYPE S, Se, H, HS AND HSeCUSTOMER SIGNALS

UPPER ARM HARNESS3HAC041028-001

-AXIS 3 -AXIS 6

B1 b1-R2.CP/CS

B2 b2

B3 b3B4 b4

B5 b5B6 b6

B7 b7B8 b8

B9 b9B10 b10

B11 b11B12 b12

B13 b13B14 b14

B15 b15B16 b16

B18 b18B19 b19

B20 b20B21 b21

C16 b16

C17 c17

C18 c18

C19 c19

C20 c20

C21 c21

B18-R2.CP/CS

B19

B20B21

B22B23

B24B25

B16B17

B1B2

B3B4

B5B6

B7B8

B9B10

B14

C8

SIGNAL WHBK

BK

WHBN

BN

WHRD

RD

WHOG

OG

WHYE

YE

WHGN

GN

WHBU

BU

WHVT

VT

WHGY

GY

WHBK

BK

WHOG

OG

WHBN

BN

WHRD

RD

WHYE

YE

WH

GN

Prepared by, date:+CS.B/600

We

rese

rve

all r

ight

s in

this

doc

umen

t and

in th

e in

form

atio

n co

ntai

ned

ther

ein.

Rep

rodu

ctio

n, u

se o

r di

sclo

sure

to th

ird p

artie

s w

ithou

t exp

ress

aut

horit

y is

stri

ctly

forb

idde

n. ©

Cop

yrig

ht 2

003

AB

B

EM 2015-02-17 JEN 2015-03-04

2015-03-04

Page500

98TotalTYPE HS, HSe

Latest revision:

Approved by, date:

PEDESTAL GUNLocation:Plant: =

++Sublocation:

DPPG

Document no.Next

Rev. Ind

Lab/Office: Status:IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5ECO 70147, WI 7698Page 224-231: Adjusted, "Type Se" was "Type S"Page 316-321: Adjusted, "Type H" was "Type S"

71 843

12

2 5

APPROVED

6

3HAC026209-001

DMRO SEPRMP

TYPE HSeRESOLVER SIGNALSVALID FORFLOOR HARNESS3HXD1250-70LOWER ARM HARNESS3HAC023278-001

SERVO POWERVALID FORHARNESS IN CABINET3HAC021791-001FLOOR HARNESS3HEA800736-001,002,003,004

TYPE HS, HSeSIGNALS TO PEDESTAL GUNSEE PAGE PEDESTAL GUN (PG)IN CIRCUIT DIAGRAM 3HAC026208-001

400240044000

40134014

40104012

4011

4006400840094007

GN/YE

BKBUBN

GN/YE

PKRD

OGGN

YE

GY

GRBNWHBURD

PK

YEWH/RD

WH/BNBKWH/BK

RD

BNWH/RD

WH/BNBKWH/BK

RD

BN

-MANIPULATOR BASE-ROBOTCABINET -SERVO PEDESTAL GUN(AXIS 7) -SMB

-XS7

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

5 5

1 1

FF-R2.FB7

E E

D D

C C

B B

A A

3 3-A41.1.3.X21

5 5

1 1

1 1-A43.X22

3 3

4 4

2 2

1 1-A43.X24

2 2

5 5-XS40

6 6

F F

E E

D D

C C

B B

A A

G G

H H

E E-R1.SP

C C

A A

G G

J J

K K

L L

M M

R R

A3 a3

A5 a5

A1 a1

E1 e1

E2 e2

F7 f7

F9 f9

F8 f8

F1 f1

F2 f2

F3 f3

F4 f4

Prepared by, date:+RG/601

We

rese

rve

all r

ight

s in

this

doc

umen

t and

in th

e in

form

atio

n co

ntai

ned

ther

ein.

Rep

rodu

ctio

n, u

se o

r di

sclo

sure

to th

ird p

artie

s w

ithou

t exp

ress

aut

horit

y is

stri

ctly

forb

idde

n. ©

Cop

yrig

ht 2

003

AB

B

EM 2015-02-17 JEN 2015-03-04

2015-03-04

Page600

98TotalBASE- AX 6

Latest revision:

Approved by, date:

CUSTOMER SIGNAL - IRBDP SW5Location:Plant: =

++Sublocation:

DPCSB

Document no.Next

Rev. Ind

Lab/Office: Status:IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5ECO 70147, WI 7698Page 224-231: Adjusted, "Type Se" was "Type S"Page 316-321: Adjusted, "Type H" was "Type S"

861

3HAC026209-001

APPROVED

12

75432

DMRO SEPRMP

Region E

CONNECTION BOX MANIPULATOR

24 VDC0 VDC

SPARE (KSR)SPARE (KSR)SPARESPARESPARESPAREgun_openhlift_open

temp_okSPAREequalizeclose_gunopen_hliftclose_hliftSPARESPARESPARESPARE

SPARESPARESPARESPARESPARESPARESPARESPARE

SWC

EARTH

-3HAC2360-3

-3HAC2360-3

-3HAC15620-1

-3HAC022454-001-3HAC022454-001 -R2.CP/CS -R3.CP/CS-XS/XP8.1

-XS/XP8.2

-XS/XP8.3

-XT/XP5.1

-XT/XP5.2

-XT/XP5.3

-XT/XP5.2

f f

g g

A A

B B

C C

D D

E E

F F

G G

H H

J J

K K

L L

M M

N N

P P

R R

S S

T T

U U

X XY YZ Za ab bc cd de e

h h

f f

g g

A A

B B

C C

D D

E E

F F

G G

H H

J J

K K

L L

M M

N N

P P

R R

S S

T T

U U

X XY YZ Za ab bc cd de e

h h

1 1

2 2

7 7

8 8

1 1

2 2

3 3

4 4

5 5

6 6

7 7

8 8

9 9

10 10

11 1112 1213 1314 14

9 9

10 10

11 11

12 12

13 13

14 14

7 78 89 9

10 1011 1112 1213 1314 14

1 14 4

1 1

2 2

3 3

4 4

5 5

6 6

7 7

8 8

9 9

10 10

11 11

12 12

13 13

14 14

1 12 23 34 4

1 1

2 2

3 3

4 4

5 56 67 78 89 9

10 1011 1112 12

4,WH

5,WH

1:WHBK

1:BK

2:WHBN

2:BN

3:WHRD

3:RD

4:WHOG

4:OG

5:WHYE

5:YE

6:WHGN

6:GN

6:WHBU

6:BU

7:WHVT

7:VT

7:WHGY

7:GY

8:WHBK

8:BK

8:WHOG

8:OG

7,WH

4,WH

5,WH

1:WHBK

1:BK

2:WHBN

2:BN

3:WHRD

3:RD

4:WHOG

4:OG

5:WHYE

5:YE

6:WHGN

6:GN

6:WHBU

6:BU

7:WHVT

7:VT

7:WHGY

7:GY

8:WHBK

8:BK

8:WHOG

8:OG

9:WHBN

9:BN

9:WHRD

9:RD

7,WH

1:WHBU

1:BU

2:WH/OG

2:OG

3:WH/GN

3:GN

4:WH/BN

4:BN

5:WH/GY

5:GY

6:RD/BU

6:BU

7:RD/OG

7:OG

8:RD/GN

8:GN

9:RD/BN

9:BN

3BK

4BK

1BK

2BK

10:RD/GY

10:GY

11:BK/BU

11:BU

12:BK/OG

12:OG

13:BK/GN

13:GN

0,750,750,75GNYE

0,750,750,75GNYE

TYPECUSTOMER SIGNALS

VALID FORFLOOR HARNESS3HAC029393-001, -005

LOWER ARM HARNESS3HAC029390-001, 005

UPPER ARM HARNESS3HAC029391-001, -005

Prepared by, date:602

We

rese

rve

all r

ight

s in

this

doc

umen

t and

in th

e in

form

atio

n co

ntai

ned

ther

ein.

Rep

rodu

ctio

n, u

se o

r di

sclo

sure

to th

ird p

artie

s w

ithou

t exp

ress

aut

horit

y is

stri

ctly

forb

idde

n. ©

Cop

yrig

ht 2

003

AB

B

EM 2015-02-17 JEN 2015-03-04

2015-03-04

Page601

98TotalPOWER

Latest revision:

Approved by, date:

ROBOT GUN (RG) - IRBDP SW5Location:Plant: =

++Sublocation:

DPRG

Document no.Next

Rev. Ind

Lab/Office: Status:IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5ECO 70147, WI 7698Page 224-231: Adjusted, "Type Se" was "Type S"Page 316-321: Adjusted, "Type H" was "Type S"

3

APPROVED

123HAC026209-001

6 71 82 4 5

DMRO SEPRMP

REGION E

For further information see circuit diagram,

3HAC024480-004 for single cabinet.

DRIVE MODULE CABINET

R

S

T

EARTH

PTC

PTC 0V

BRAKE REL

BRAKE 0V

LIM1

LIM2

LIM2

LIM1

BRAKE PB

6 module

2,5

2,5

2,5

2,5

23p

1,5

1,5

1,5

1,5

MECHANICAL UNIT

8p

R3.SP

FREE END

TYPE7TH AXIS POWER SIGNALS

VALID FORLOWER ARM HARNESS3HAC029579-001, 005

UPPER ARM HARNESS3HAC029580-001, -005

-3HAC3726-4 -3HAC3726-4-3HAC15653-1-R1.SP -R2.SP-XS/XP7

A A

C C

E E

G G

J J

K K

L L

M M

R R

A A

C C

E E

G G

B B

D D

F F

H H

A1 a1

A5 a5

A3 a3

E1 e1

E2 e2

F7 f7

F9 f9

F1 f1

F2 f2

F4 f4

F3 f3

F8 f8

BN

BU

BK

PK

RD

OG

GN

YE

GNYE

1/OG

2/OG

3/OG

GNYE

4/OG

5/OG

6/OG

7/OG

1/OG

2/OG

3/OG

GNYE

4/OG

5/OG

6/OG

7/OG

Prepared by, date:+REV/700

We

rese

rve

all r

ight

s in

this

doc

umen

t and

in th

e in

form

atio

n co

ntai

ned

ther

ein.

Rep

rodu

ctio

n, u

se o

r di

sclo

sure

to th

ird p

artie

s w

ithou

t exp

ress

aut

horit

y is

stri

ctly

forb

idde

n. ©

Cop

yrig

ht 2

003

AB

B

EM 2015-02-17 JEN 2015-03-04

2015-03-04

Page602

98TotalSIGNAL

Latest revision:

Approved by, date:

ROBOT GUN (RG) - IRBDP SW5Location:Plant: =

++Sublocation:

DPRG

Document no.Next

Rev. Ind

Lab/Office: Status:IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5ECO 70147, WI 7698Page 224-231: Adjusted, "Type Se" was "Type S"Page 316-321: Adjusted, "Type H" was "Type S"

3

APPROVED

123HAC026209-001

6 71 82 4 5

DMRO SEPRMP

REGION E

MRCO

MRCO_N

MRCI

MRCI_N

0V

24V

BATT BR

BATT-

BATT+

BATT LOAD

SINGLE CABINET

WHBU

BU

WHOG

OG

WHGN

WHBN

GN

BN

WHGY

GY

RD

KEYPIN

WHBU

BU

WHOG

OG

WHGN

GN

GY

RD

MECHANICAL UNITTYPE Se AND HSe7TH AXIS FEEDBACK SIGNALS

LOWER/UPPER ARM HARNESS3HAC030638-001, 005

FREE END

-3HAA2485-3-3HAA2485-3-A42.X4 -R1.SMB -R1.SMB 1.7 -R2.FB7-R2.SMB

-SMB

-XS/XP2

1 1

2 2

3 3

4 4

5 5

6 6

7 7

9 9

A A

B B

C C

D D

E E

F F

J J

K K

L L

G G

H H

M M

5 5

12 12

4 4

11 11

2 2

9 9

1 1

A A

B B

C C

D D

E E

F F

9 9

5 5

8 8

4 4

3 3

7 7

6 6

2 2

A A

B B

C C

D D

E E

F F

J J

K K

L L

G G

1/WHBK

1/BK

2/WHBN

2/BN

3/WHRD

3/RD

1/WHBK

1/BK

2/WHBN

2/BN

3/WHRD

3/RD

Prepared by, date:701

We

rese

rve

all r

ight

s in

this

doc

umen

t and

in th

e in

form

atio

n co

ntai

ned

ther

ein.

Rep

rodu

ctio

n, u

se o

r di

sclo

sure

to th

ird p

artie

s w

ithou

t exp

ress

aut

horit

y is

stri

ctly

forb

idde

n. ©

Cop

yrig

ht 2

003

AB

B

EM 2015-02-17 JEN 2015-03-04

2015-03-04

Page700

98Total

Latest revision:

Approved by, date:

Revision NotesLocation:Plant: =

++Sublocation:

DPREV

Document no.Next

Rev. Ind

Lab/Office: Status:IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5ECO 70147, WI 7698Page 224-231: Adjusted, "Type Se" was "Type S"Page 316-321: Adjusted, "Type H" was "Type S"

3 4 5 6

12

7 821

3HAC026209-001

APPROVEDDMRO SEPRMP

Lower Arm Harness Type S3HAC022478-001 Rev. 00, 01, 023HAC022480-001 Rev. 00, 01, 023HAC022135-001 Rev. 003HAC022136-001 Rev. 003HAC022470-001 Rev. 003HAC022471-001 Rev. 00

Note 1.2

Note 1.1

Lower Arm Harness Type S3HAC022486-001 Rev. 00, 013HAC022486-002 Rev. 00, 013HAC022488-001 Rev. 00, 013HAC022488-002 Rev. 00, 01

Note 1.3 Lower Arm Harness Type S3HAC022478-001 Rev. 00, 01, 023HAC022480-001 Rev. 00, 01, 023HAC022135-001 Rev. 003HAC022136-001 Rev. 003HAC022470-001 Rev. 003HAC022471-001 Rev. 00

Lower Arm Harness Type H, HS and HSe3HAC022996-001 Rev. 00, 013HAC022997-001 Rev. 00, 01, 023HAC022998-001 Rev. 00, 013HAC022999-001 Rev. 00, 01, 02

Note 1.4 Lower Arm Harness Type S3HAC022486-001 Rev. 00, 013HAC022486-002 Rev. 00, 013HAC022488-001 Rev. 00, 013HAC022488-002 Rev. 00, 01

Lower Arm Harness Type H, HS and HSe3HAC022996-001 Rev. 00, 013HAC022997-001 Rev. 00, 01, 023HAC022998-001 Rev. 00, 013HAC022999-001 Rev. 00, 01, 02

Lower arm harness IRB66603HAC027105-001 Rev. 00, 01

Lower Arm Harness Type Se3HAC022487-001 Rev. 00, 01, 023HAC022487-002 Rev. 00, 01, 023HAC022491-001 Rev. 00, 01, 023HAC022491-002 Rev. 00, 01, 02

Lower Arm Harness Type Se3HAC022479-001 Rev. 00, 01, 02, 033HAC022481-001 Rev. 00, 01, 02, 033HAC022137-001 Rev. 003HAC022138-001 Rev. 003HAC022472-001 Rev. 003HAC022473-001 Rev. 00

Prepared by, date:702

We

rese

rve

all r

ight

s in

this

doc

umen

t and

in th

e in

form

atio

n co

ntai

ned

ther

ein.

Rep

rodu

ctio

n, u

se o

r di

sclo

sure

to th

ird p

artie

s w

ithou

t exp

ress

aut

horit

y is

stri

ctly

forb

idde

n. ©

Cop

yrig

ht 2

003

AB

B

EM 2015-02-17 JEN 2015-03-04

2015-03-04

Page701

98Total

Latest revision:

Approved by, date:

Revision NotesLocation:Plant: =

++Sublocation:

DPREV

Document no.Next

Rev. Ind

Lab/Office: Status:IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5ECO 70147, WI 7698Page 224-231: Adjusted, "Type Se" was "Type S"Page 316-321: Adjusted, "Type H" was "Type S"

3 4 5 6

12

7 821

3HAC026209-001

APPROVEDDMRO SEPRMP

Note 1.5 Lower Arm Harness Type S3HAC022478-001 Rev. 00, 01, 023HAC022135-001 Rev. 003HAC022136-001 Rev. 00

Lower Arm Harness Type H, HS and HSe3HAC022996-001 Rev. 00, 013HAC022997-001 Rev. 00, 01, 02

Note 1.6 Lower Arm Harness Type S3HAC022478-001 Rev.00, 01, 023HAC022135-001 Rev. 003HAC022136-001 Rev. 00

Lower Arm Harness Type H, HS and HSe3HAC022996-001 Rev. 00, 013HAC022997-001 Rev. 00, 01, 02

Note 1.7 Lower Arm Harness Type S3HAC022486-001 Rev. 00, 013HAC022486-002 Rev. 00, 01

Note 1.8 Lower Arm Harness Type S3HAC022486-001 Rev. 00, 013HAC022486-002 Rev. 00, 01

Prepared by, date:

We

rese

rve

all r

ight

s in

this

doc

umen

t and

in th

e in

form

atio

n co

ntai

ned

ther

ein.

Rep

rodu

ctio

n, u

se o

r di

sclo

sure

to th

ird p

artie

s w

ithou

t exp

ress

aut

horit

y is

stri

ctly

forb

idde

n. ©

Cop

yrig

ht 2

003

AB

B

EM 2015-02-17 JEN 2015-03-04

2015-03-04

Page702

98Total

Latest revision:

Approved by, date:

Revision NotesLocation:Plant: =

++Sublocation:

DPREV

Document no.Next

Rev. Ind

Lab/Office: Status:IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5ECO 70147, WI 7698Page 224-231: Adjusted, "Type Se" was "Type S"Page 316-321: Adjusted, "Type H" was "Type S"

3 4 5 6

12

7 821

3HAC026209-001

APPROVEDDMRO SEPRMP

Note 1.9 Lower Arm Harness Type Se3HAC022479-001 Rev. 00, 01, 02, 033HAC022481-001 Rev. 00, 01, 02, 033HAC022137-001 Rev. 003HAC022138-001 Rev. 003HAC022472-001 Rev. 003HAC022473-001 Rev. 00

Note 1.10 Lower Arm Harness Type Se3HAC022479-001 Rev. 00, 01, 02, 033HAC022137-001 Rev. 003HAC022138-001 Rev. 00

Note 1.11 Lower Arm Harness Type Se3HAC022487-001 Rev. 00, 01, 023HAC022487-002 Rev. 00, 01, 023HAC022491-001 Rev. 00, 01, 023HAC022491-002 Rev. 00, 01, 02

Note 1.12 Lower Arm Harness Type Se3HAC022487-001 Rev. 00, 01, 023HAC022487-002 Rev. 00, 01, 02

Lower Arm Harness IRB66603HAC027105-001 Rev. 00,01