© Copyright 2016 ABB ALL right reserved. of guarantee or warranty by ABB for losses, damages to persons or property, fitness for a specific purpose or the like. In no event shall

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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 2016 ABB ALL right reserved.

ABB Engineering (Shanghai)No.4528, Kangxin Highway, Kangqiao Town

Nanhui District, Shanghai, 201319P.R.China

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ManufactureType

Control cabinetMains voltageSupplyControl voltageYear of construction

:::

::::

Type of installation

Customer

Drawing numberDrawing version

::::

:

Project startProject managerLast revisionDesigned byDesigned dateNumber of pages

:::::::

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Table of contentsPlant Location Page supplementary fieldPage Page description Date Editor

ABB_table_of_contents

1 CNWILIU523 Table of contents: 3/23/2017 CNSHLIN84 Table of contents:5 REVISION INFORMATION6 Front View7 Top View8 Side View 9 BLOCK DIAGRAM

10 MAIN POWER INPUT11 POWER SUPPLY DSQC 661 AND 662 12 SAFETY INPUT & OUTPUT

13.b14 PROTECTIVE STOP

15.a POWER UNIT 15.b POWER UNIT SERVO DISCONNECTOR, Option-Safemove

16 CONTROL PANEL17 FPU, FLEXPENDANT18 Main Computer/AnybusCC/RS232 Exp./Interface Board/19 MAIN COMPUTER A31 DSQC1018 / DSQC102420 MAIN COMPUTER A31 DSQC1018 / DSQC1024; A32 DSQC1003 21 FIELDBUS ADAPTER A32:22 DEVICENET A31.2 DSQC1006 / PROFIBUS A31.3 DSQC1005

23.a DIGITAL I/O UNIT INPUT23.b DIGITAL I/O UNIT OUTPUT

25 DIGITAL PART OF COMBI I/O AND 26 DIGITAL I/O UNIT DSQC652

27 COMBI I/O UNIT DSQC65128 RELAY I/O UNIT DSQC653

COPYRIGHTTITLE PAGE

4/1/201610/8/2014 CNYAWU2

3/23/2017 CNSHLIN83/21/2017 CNSHLIN83/31/2016 CNWILIU53/31/2016 CNWILIU53/31/2016 CNWILIU53/30/2016 CNYIHU23/23/2017 CNSHLIN83/23/2017 CNSHLIN83/23/2017 CNSHLIN8

13.a RUN CHAIN OPERATING HW MODE SELECTOR, 2 MODES 9/8/2016 CNSHLIN8RUN CHAIN OPERATING SW MODE SELECTOR, 2 MODES 9/9/2016 CNSHLIN8

3/28/2016 CNYIHU23/23/2017 CNSHLIN83/23/2017 CNSHLIN83/21/2017 CNSHLIN83/21/2017 CNSHLIN81/18/2017 CNSHLIN81/18/2017 CNSHLIN81/18/2017 CNSHLIN810/8/2014 CNYAWU29/8/2016 CNSHLIN89/8/2016 CNSHLIN812/26/2016 CNSHLIN8

10/8/2014 CNYAWU212/26/2016 CNSHLIN8

10/8/2014 CNYAWU210/8/2014 CNYAWU2

COMBI I/O UNIT INPUTCOMBI I/O UNIT OUTPUT24.b

24.a 10/17/201710/17/2017

CNCLCHE3CNCLCHE3

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3 AB

B

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Table of contentsPlant Location Page supplementary fieldPage Page description Date Editor

ABB_table_of_contents

RELAY I/O UNIT DSQC6533031 ANALOGUE I/O UNIT DSQC355B32 ENCODER UNIT DSQC37733 CC-LINK343536373839404142

42.a

29 10/8/2014 CNYAWU2REMOTE I/O UNIT DSQC350A 10/8/2014 CNYAWU2

10/8/2014 CNYAWU23/30/2016 CNYIHU210/8/2014 CNYAWU2

VISION, INTEGRATED CAMERAS 10/8/2014 CNYAWU2ETHERNET SWITCH A64/CAMERA 3/21/2017 CNSHLIN8AXIS COMPUTER UNIT 3/21/2017 CNSHLIN8AXIS COMPUTER UNIT 3/23/2017 CNSHLIN8RECTIFIER AND BLEEDER 9/8/2016 CNSHLIN8FAN UNIT 10/8/2014 CNYAWU2REMOTE SERVICE BOX DSQC680 3/21/2017 CNSHLIN8SERVO DRIVE SYSTEM IRB 120 9/8/2016 CNSHLIN8CONTROL CABLE IRB 120 3/23/2017 CNSHLIN8CUSTOMER POWER/SIGNAL IRB 120 3/23/2017 CNSHLIN8

43 SERVO DRIVE SYSTEM IRB 140 10/8/2014 CNYAWU244 CONTROL CABLE IRB 140 3/23/2017 CNSHLIN845 SERVO DRIVE SYSTEM IRB 360 10/8/2014 CNYAWU246 CONTROL CABLE IRB 360 3/23/2017 CNSHLIN847 SERVO DRIVE SYSTEM IRB 1200 3/28/2016 CNYIHU248 CONTROL CABLE IRB 1200 3/23/2017 CNSHLIN8

48.a CUSTOMER POWER/SIGNAL IRB 1200 3/23/2017 CNSHLIN849 SERVO DRIVE SYSTEM IRB 1410, 1600, 260 9/8/2016 CNSHLIN850 CONTROL CABLE IRB 1410, 1600, 260 3/23/2017 CNSHLIN851 CUSTOMER POWER/SIGNAL IRB 1410 3/23/2017 CNSHLIN852 CUSTOMER POWER/SIGNAL IRB 1600 3/22/2017 CNSHLIN853 SERVO DRIVE SYSTEM IRB 910 3/23/2017 CNSHLIN854 CONTROL CABLE IRB 910 3/23/2017 CNSHLIN855 CUSTOMER POWER/SIGNAL IRB 910 3/23/2017 CNSHLIN8

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Rev 00 2014 10- Initial RevisionRev 01 2016 02- Update for NGAC SafeMove Rev 02 2016 09- XS16 updated to 4pin- S21.1 pin number updated Rev 03 2017 01- Update CP/CS for IRB120 IRB1200 IRB1600- Remove output terminals of DSQC652 and mark two wires : input 24VDC and 0V- Update Main computer from DSQC1018 to DSQC1024Rev 04 2017 03- Add CP/CS for IRB910 IRB1410- Add floor cable for IRB910Rev 05 2017 10-Add page 24.a COMBI I/O UNIT INPUT (DSQC651)-Add page 24.b COMBI I/O UNIT OUTPUT (DSQC651) Rev 06 2018 06 12- Add wire number 371 - K42.4NC , 372 - K42.3NC , 373 - K43.4NC , and 374 - K43.3NC (page 15.b)

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Remote service

Brake releaseOnly for IRB120

EtherNet Switch

Power switch

Power input

XS0A64

A61

S21.4

Q1

Emergency stop

Motor on

Flex Pendant Safety Stop

S21.2

S21.3

SECTION A-ASCALE 1 : 2.5

A

A

S21.1

Mode switch

XS16

XS18

XS12

XS13

XS14

XS15

XS17

XS8XS7Power cableSignal cable for force control

Signal cablePower supply

Profibus

XS41Digtial output (DSQC651)Digital input 1 (DSQC652)

Digtal input (DSQC651)Digital input 2(DSQC652)

Analog output (DSQC651)Digital output 1(DSQC652)

Digital output 2(DSQC652)

DeviceNet

XS2

XS1

ES1 ES2

XS9XS4

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System power supply

Digital I/O

Safety board

DSQC400E for NGAC

DSQC400 for Normal

Contactor Unit

Fan cover

A21

K42, K43, K44

G1

A35

R1.1

Drive unit

E41, E42

A41

Fan

Bleeder

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Main computerZ1

Filter

A31

Leftside View Rightside View

Axis computer Ultra cap bank Power distribution

A42 G3 G2

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A41

Drive unit

Manipulator

A42

Axiscomputer

S21

Control panel

K43

G3

K42

Ultra cap

A21

A35A31.4

Safety board

NGAC Safety board

G1&G2

TPU

AC

DC

Fiel

d bu

s

A31MainComputer

Digital I/O

Ethe

rnet

ser

vice

USB

Q1

LAN

Z1

I/Ox

I/O

unit

220V~230V

Customerconnection


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Wire No. Single phase

PN

1516

PN

2122

PN

1112

-11

AWG

14

-12

AWG

14

AWG

14

-15

AWG

14

-16

AWG

14

-21A

WG

14BK

-22

AWG

14BK

1-XS0 2

L1

L1'

L2

L2'

L3

L3'

-Z1 3

BK BK

BK BK

GN

YE

1

2

3

4

5

6

-Q1

-L1

/

15.a

;815

.b;8

-L2

/

15.a

;815

.b;8

-LP1

/

11;7

-LP2

/

11;7


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AXIS COMPUTER / DRIVE 24V Devicenet/ I/O BRAKE PC/SAFETY BOARDMAIN

COMPUTERMAIN FAN

UNIT

-152 AWG16 BK

-153 AWG16 BK

-254

AWG

20

-255

AWG

20

-250

AWG

16BU

-251

AWG

16

-302

AWG

20

-304

AWG

20

-465

AWG

20

-466

AWG

20

-467

AWG

20

-468

AWG

20

AWG

14

AWG

20

-G1 DSQC661

-G2DSQC662

-G3

-PE1

AWG12 BU AWG20 BU

3-X1 1 5

1-X2 2 34 3-X3 4

1-X1 2 3 4 3-X2 4

1

-X3

4 2 5 3 6 1

-X4

2 3 4 1

-X5

2 3 4 5 6 7 8 1

-X6

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

-X7

23

45

67

89

10 1

-X8

23

41

-X9

23

4

1

24V

CHAR

GE

-X1 2

24V

CHAR

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3

N.C

.

4

N.C

.

5

N.C

.

67

8

+SE

NSE

9

N.C

.

10

N.C

.

GN

YE

2/RD

1/W

H1/

GN

2/BK

BK RD BN OGBU BU BU BU BUBU BU BU BUBU

-253

AWG

16

-252

AWG

16BU

-241

AWG

20BU

-242

AWG

20BU

-243

AWG

20BU

-244

AWG

20BU

248

AWG

18BK

247

AWG

18RD

-0V

BRAK

E;1

/

42;2

44;

2 46

;2 4

8;2

50;2

54;

2

-0V

COO

L /

12

;3

-0V

COO

L;2

/

39;3

-0V

COO

L;3

/

39;3

-0V

DRI

VE /

36

;2

-0V

Driv

e sy

s /

38

;2

-0V

PC;1

/

19;2

-0V

SYS

/

12;3

-0Vd

evic

enet

/

23.a

;1 2

4.a;

1

-24V

CO

OL

/

12;3-2

4V D

rive

sys

/

38;2

-24V

PC;

1 /

19

;2

-24V

SYS

/

12;3

-+24

V BR

AKE;

1 /

15

.a;6

15.

b;6

-+24

V CO

OL;

2 /

39

;3-+

24V

COO

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/

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-+24

V D

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/

36;2 -+

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evic

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/

23.a

;1 2

4.a;

1

-USB

2 +

5V /

20

;7

-USB

2 D

+ /

20

;7-U

SB2

D-

/

20;7

-USB

2_G

ND

/

20;7

-LP1

/ 1

0;3

-LP2

/ 1

0;4

-BRA

KEPB

/

42;2

44;

2 46

;2 4

8;2

50;2

54;

2 -0V

BRAK

E;2

/

42;2

44;

2 46

;2 4

8;2

50;2

54;

2

-0V_

OU

T /

35

;2 4

0;2

-24V

_OU

T /

40

;2 3

5;2

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EXTERNALEMERGENCY

STOP PB

EXTERNALSUPPLY

ES1 top

ES2 top

24V Panel

Run CH1 topRun CH2 top

Sep ES2:ASep ES1:A

Sep ES1:B

Sep ES2:B

ES1OUT:AES2 OUT:A

ES2 bottom

ES2 OUT:B

ES1 bottom

ES1OUT:B

0V24V Panel

ES1:int

ES2:int

0V 0V24V PANEL

24V PANEL

0V

ES1 ES2

-24V SYS / 11;4

-ES FPU 1:A / 16;2 17;2

-ES FPU 1:B / 16;2 17;2

-ES FPU 2:A / 16;2 17;2

-ES FPU 2:B / 16;2 17;2

-RCH

1 /

14

;7-R

CH2

/

14;7

-RS485+ / 19;7-RS485- / 19;7

-Run

Ch+

/

14;6

-Run

Ch_0

V /

14

;6

-LIM_1A / 42;2 44;3 46;3 48;3 50;3 54;3

-LIM_1B / 42;2 44;3 46;3 48;3 50;3 54;3

-LIM_2A / 42;2 44;3 46;3 48;3 50;3 54;3

-LIM_2B / 42;2 44;3 46;3 48;3 50;3 54;3

-24V_Sig.ref. / 19;7

-24V COOL / 11;4

RunCh0VRunCh+

RunC

h0V

RunC

h+

Not available on CDU

1269

AWG20 BU

AWG20 BU

1270

AWG24 BUAWG24 BU

AWG24 BUAWG24 BU

12651268

12671266

5

-209 AWG20 BU

-210 AWG20 BU

-211 AWG20 BU

-212 AWG20 BU

-231 AWG20-232 AWG20

-233 AWG20-234 AWG20

-235 AWG20-236 AWG20

-237 AWG20-238 AWG20

AWG24

-A21

21 22

-S21.3

1211

U U

1

-XS7/X1

2

3

4

6

7

8

1

-XS8/X2

2

3

4

5

6

7

8

511

3

-X9

9

612410

5

-X10

6

7

8

1

-X11

23

45

67

8

1

-X12

2

3

4

1

-X13

3

4

BUWHBU

WHBN

JUM

PER

JUM

PER

JUM

PER

JUM

PER

2

-A31.4Option: DSQC1015 safety board

-X73

4

5

6

21

-A31.4Option: DSQC1015 safety Board

2

-X11

-Y11

-Y21

3

42


59

-X610

14 1

-X14

9

-0V COOL / 11;5

-0V SYS / 11;5

-0V_Sig.ref. / 19;7

MAINCOMPUTER

FPU

24V SYS24V PANEL

0V SYS

24V FPU POWER

24V

PAN

ELPower distribution board

Prepared by, date:13.b

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RUN CHAIN OPERATING HW MODE SELECTOR, 2 MODESLocation:Plant: =

++Sublocation:

Document no.Next

Rev. Ind

Lab/Office: Status:

Beginner 06

7 8

3HAC049406-003

Approved

41 2 3 5 6

>1

24V SYS

0V SYS

-EN

2 /

13

.b;2

-MAN

1 /

13

.b;2

-MAN

2 /

13

.b;2

AWG24 BU

-SPE

ED /

13

.b;2

AUTO

MAN

AUTO

MAN

12471248

1255124612501254

1

AWG24 BUAWG24 BUAWG24 BU

AWG24 BUAWG24 BU

Option:Run chain Ext Operating, 2 Mode Selector

-205 AWG24 x 2 BU

-206 AWG24 x 2 BU

-207 AWG24 x 2 BU

-208 AWG24 x 2 BU

-228 AWG20 BU-229 AWG20 BU

-230 AWG20 BU

-260 AWG20-261 AWG20

-262 AWG20-263 AWG20

-264 AWG20-265 AWG20

-299 AWG20 BU

-300 AWG20 BU

-A21

-S21.2/13.b;5

1314

-S21.4

/13.b;5/16;4

23

45

6

-X6

7

8

9

1011

13

14

1

-X10

2

3

4

9

1314

X1X2

BUBU

BUBU

BUBU

13

14

159

10

11

-1240 EXT.MAN1-1241 EXT.AUTO1

-1244 EXT.MAN2-1245 EXT.AUTO2

-1242 EXT.COMMON1-1246 EXT.COMMON2

5

-S21.1.XS1

12

6

34

1

EXT S21.1.XP1

2

65

43

1

2

3 5

6

7

-A31.4DSQC1015 safety board

-X623

2117

15

2018

-S21.1

2-MODE SELECTOR


43

-X66

8

-0V PANELB / 13.b;5 16;2 17;2

-24V FPU POWER / 13.b;5 16;2 17;2

-EN

1 /

13

.b;2

-EN1_1 / 13.b;5 16;2 17;2

-EN1_2 / 13.b;5 16;2 17;2

24V PANEL24V FPU POWER

Option: Brake release buttonOnly for IRB120

FPU

Option: Motor-on switch


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RUN CHAIN OPERATING SW MODE SELECTOR, 2 MODESLocation:Plant: =

++Sublocation:

Document no.Next

Rev. Ind

Lab/Office: Status:

Beginner 06

7 8

3HAC049406-003

Approved

41 2 3 5 6

>1

24V SYS

0V SYS

-EN

2 /

13

.a;2

-MAN

1 /

13

.a;2

-MAN

2 /

13

.a;2

-SPE

ED /

13

.a;2

AWG24 BUAWG24 BUAWG24 BUAWG24 BU

-205 AWG24 x 2 BU

-206 AWG24 x 2 BU

-207 AWG24 x 2 BU

-208 AWG24 x 2 BU

-228 AWG20 BU-229 AWG20 BU

-230 AWG20 BU

-260 AWG20-261 AWG20

-262 AWG20-263 AWG20

-299 AWG20 BU

-300 AWG20 BU

-A21

-S21.2/13.a;5

1314

-S21.4

/13.a;5/16;4

12

34

56

-X6

7

8

9

1011

13

14

1

-X10

2

3

4

9

1314

X1X2

BUBU

BUBU


-X623

2117

15

2018


43

-X66

8

-0V PANELB / 13.a;5

-24V FPU POWER / 13.a;5

-EN

1 /

13

.a;2

-EN1_1 / 13.a;5

-EN1_2 / 13.a;5


FPU



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++Sublocation:

Document no.Next

Rev. Ind

Lab/Office: Status:

Beginner 06

7 8

3HAC049406-003

Approved

41 2 3 5 6

AUTOSTOP

GENERALSTOP

AS1+

AS1-AS2+

AS2-GS1+

&

GS1-GS2+

GS2-

0V0V

24V PANEL24V PANEL

SS1+

&

SS1-

CH2

SS1

SS2+

INTERLOCKING

SS2-

0V

SS2SOFT SS

CH1

AS1

AS2

GS1

GS2

24V PANEL

24V SYS

SS1

SS2

0V SYS

1

2

3

4

5

67

8

9

10

11

12

-XS9/X5

-RCH

2 /

12;

6

-A21


-X624

221

2

6

-X15

4

2

3

1

5

-EN

1 /

-E

N2

/

-MAN

1 /

-MAN

2 /

-Run

Ch+

/ 1

2;5

-Run

Ch_0

V /

12;

6

-SEL

F215

.a;4

-SEL

F115

.a;4

-LO

CK2B

15.a

;5-L

OCK

1A15

.a;5

-CH

2 /

15

.a;3

-CH

1 /

15

.a;2

-RCH

1 /

12;

6

1263

12641262

1261

AWG24 BU

AWG24 BUAWG24 BU

AWG24 BU


24V

PAN

EL

SOFT GS

SOFT AS


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Page 15.a

61Total

Latest revision:

Approved by, date:

POWER UNIT SERVO DISCONNECTOR

Location:Plant: =

++Sublocation:

Document no.Next

Rev. Ind

Lab/Office: Status:

Beginner 06

7 8

3HAC049406-003

Approved

41 2 3 5 6

CONTROL CABLE

DRIVE UNIT

PTC1

PTC1 ret

BRK REL OUT

BRK REL RET

Wire No. Single phase24 P

N25PN

2728

PN

24

-24A

WG

14

-25A

WG

14

-27

AWG

14

-28

AWG

14

-447

AWG

20

-448

AWG20

-451

AWG

20

-452

AWG

20

-471

AWG

20

-472

AWG

20

-473

AWG

20

-474

AWG

20

-475

AWG

20

-476

AWG

20

-479

AWG

20BU

-480

AWG

20

-481

AWG

20

-482

AWG

20

-483AWG20

-484

AWG

20

-485AWG20

-486

AWG

20

-487AWG20

-489

AWG

16-4

90AW

G16

-A21

A2

A1-K42

13

14

1

2

3

4

2NC

1NC

A2

A1-K43 14

13

1

2

3

4

2NC

1NC

A1

A2

-K443

4

2

1

1-X3 2345 678

1

-X7

2

3

4

12-X8 3456

BU BU BU BU BU BU BU BU BU BU BU BU BU

BU

BUBU

BU

BKBK BK

BK

-444

AWG

16

-443

AWG

16BU BU

4NO

3NO

4NO

3NO

-0V

COO

L;6

/ 1

5.b;

2

-0V_

COO

L /

15.

b;2

-24V

_PAN

EL /

15.

b;3

-+24V BRAKE;1 / 11;3

-BRA

KE /

15.

b;2

-BRA

KERE

L1 /

15

.b;6

42;2

44;2

46;2

48;2

50;2

54;2

-L12

/

15.b

;8

-L22

/

15.b

;8

-CH

1 /

14;

6

-CH

2 /

14;

7

-L1

/ 1

0;3

-L2

/ 1

0;4

-BRA

KERE

L2 /

15

.b;6

42;2

44;2

46;2

48;2

50;2

54;2

-PTC / 15.b;6 42;1 44;2 46;2 48;2 50;2 54;2

-PTC_RET / 15.b;6 42;1 44;2 46;2 48;2 50;2 54;2

-EXT

.LAM

P /

15

.b;5

42;2

44;2

46;2

48;2

50;2

54;2

-SEL

F114

;7

-SEL

F214

;7

-LO

CK1A

14;7

-LO

CK2B

14;7

-BRA

KE_F

B15

.b;3

24V 24V0V


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Repr

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tion,

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++Sublocation:

Document no.Next

Rev. Ind

Lab/Office: Status:

Beginner 06

7 8

3HAC049406-003

Approved

41 2 3 5 6

DRIVE UNIT

PTC1

PTC1 ret

BRK REL OUT

BRK REL RET

Wire No. Single phase24 P

N25PN

2728

PN

24

-24A

WG

14

-25A

WG

14

-27

AWG

14

-28

AWG

14

-447

AWG

20

-448

AWG20

-451

AWG

20

-452

AWG

20

-471

AWG

20

-472

AWG

20

-473

AWG

20

-474

AWG

20

-475

AWG

20

-476

AWG

20

-479

AWG

20BU

-480

AWG

20

-481

AWG

20

-482

AWG

20

-483AWG20

-484

AWG

20

-485AWG20

-486

AWG

20

-487AWG20

-489

AWG

16-4

90AW

G16

-A21

A2

A1-K42

13

14

1

2

3

4

2NC

1NC

A2

A1-K43 14

13

1

2

3

4

2NC

1NC

A1

A2

-K443

4

2

1

1-X3 2345 678

1

-X7

2

3

4

12-X8 3456BU BU BU BU BU BU BU BU BU BU BU BU BU

BU

BUBU

BU

BKBK BK

BK

-444

AWG

16

-443

AWG

16BU BU

161112-X6 7


4NC

3NC

4NC

3NC

5

6

5

6

-371

AWG

24

-372

AWG

24-3

73AW

G24

-374

AWG

24

BU BU BU BU

-0V

COO

L;6

/ 1

5.a;

2

-0V_

COO

L /

15.

a;2

-24V

_PAN

EL /

15.

a;3

-+24V BRAKE;1 / 11;3

-BRA

KE /

15.

a;3

-BRA

KERE

L1 /

15

.a;6

-L12

/

15.a

;8

-L22

/

15.a

;8

-CH

1 /

-CH

2 /

-L1

/ 1

0;3

-L2

/ 1

0;4

-BRA

KERE

L2 /

15

.a;6

-PTC / 15.a;6

-PTC_RET / 15.a;6

-EXT

.LAM

P /

15

.a;5

-SEL

F1

-SEL

F2

-LO

CK1A

-LO

CK2B

-BRA

KE_F

B15

.a;4

24V 24V0V


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Latest revision:

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CONTROL PANELLocation:Plant: =

++Sublocation:

Document no.Next

Rev. Ind

Lab/Office: Status:

Beginner 06

7 8

3HAC049406-003

Approved

41 2 3 5 6

SAFETYBOARDA21-X10

MAINCOMPUTERA31-A8

Cabinet

24V TPU

0V

EN1EN2

TPU_START

24V FPU_POWER

ES FPU 1:AES FPU 1:BES FPU 2:AES FPU 2:B

EN 1_10V

FPU_START

0VEN2

EN 1_2

FPU

TD-TD+

RD-RD+

TD+TD-RD+RD-

4

1

11

13

5

-X6

2

10

7

14

4

1

11

13

9

11

12

10

5

-X6

2

10

7

14

3

-X9

5

6

4

-260 AWG20-261 AWG20-262 AWG20-263 AWG20

-264 AWG20-265 AWG20

-229 AWG20

-230 AWG20-228 AWG20

5

6

7

-237 ES panel 1:A-238 ES panel 1:A-233 ES panel 2:A-234 ES panel 2:A-231 ES panel 2:B-232 ES panel 2:B-235 ES panel 1:B-236 ES panel 1:B

X1X2

1314

-S21.2MOTOR ON PB

1211

-A21SAFETY BOARD

+EXT-A21EXT.CONTROL PANEL

AWG24

2221-S21.3

EMERGENCY PB

=CAB-S21.1

2-MODE SELECTOR

1

2

3

14

16

13

15

2

17

-XS4

1

7

4

6

3

5

8

11

12

-PE1-PE1

12

11

8

5

3

6

4

7

-XS4

1

17

2

16

1415

13

AWG24 OGWHOGGNWHGN

9

11

12

10

3

-X9

5

6

4

-299 AWG20 BU-300 AWG20 BU 1314

-S21.4

/13.a;5/13.b;5

8

9

-0V PANELB / 13.a;5


-EN1_1 / 13.a;5-EN1_2 / 13.a;5

-ES FPU 1:A / 12;7-ES FPU 1:B / 12;7-ES FPU 2:A / 12;7-ES FPU 2:B / 12;7

-RD+ / 19;7-RD- / 19;7

-TD+ / 19;7-TD- / 19;7



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Repr

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tion,

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++Sublocation:

Document no.Next

Rev. Ind

Lab/Office: Status:

Beginner 06

7 8

3HAC049406-003

Approved

41 2 3 5 6

SAFETYBOARDA21-X10

MAINCOMPUTERA31-A8

1)

USB

AWG24

5

6

4

1

12

2

8

7

17

13

14

15

16

3

-XS4

-FPU1

5

6

3-XP4

4

-K1

-K2

;7

EN-DEVICE

OG

WHOG

GN

WHGN

-ETH_FPU

-0V PANELB / 13.a;5


-EN1_1 / 13.a;5

-EN1_2 / 13.a;5

-ES FPU 1:A / 12;7

-ES FPU 1:B / 12;7

-ES FPU 2:A / 12;7

-ES FPU 2:B / 12;7

-RD+ / 19;7

-RD- / 19;7

-TD+ / 19;7

-TD- / 19;7

RunCh0V

RunCh1


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ight

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Latest revision:

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Main Computer/AnybusCC/RS232 Exp./Interface Board/Location:Plant: =

++Sublocation:

Document no.Next

Rev. Ind

Lab/Office: Status:

Beginner 06

7 8

3HAC049406-003

Approved

41 2 3 5 6

Front side 79,77... ....5, 3, 1

X2

X1

X3

AnybusCC/RS232 Expansion BoardDSQC1003

X1 X2

X3

X4

X5

X6

X7

X9

X10 X11

X16

X12

X13

Pin no 1 = 0VPin no 2 = 24V

New:Interface BoardDSQC1017

X15

...78

, 80

2, 4

, 6...

..

...77

, 79

1, 3

, 5...

..

Front side

....6, 4, 2Back side 80,78...

POWERDISC-ActSTATUSNS MS

3HAC046408-001

Profibus/S

ProfiNet/SEthernet /IP/S

DeviceNet/S DSQC1004

Old Main Computer Unit DSQC1018New main Computer Unit DSQC1024

COM Express moduleDSQC1002

SD card 2GBDSQC1008

Console

Com1LAN 1 10/100

LAN 210/100

LAN 310/100/1000

WAN10/100/1000

PANEL UNIT

AXC

USB 4/3USB 2/1

POWER

SERVICE 10/100

X19 Fan power

Pin 1 = 24VPin 2 = TachoPin 3 = 0V

Battery BT1 inDSQC1001

BT1

A32

A31

A32.2

A32.4

A32.3

A31.1A32.1

DeviceNet M/S PCIDSQC1006A31.2

Old:Interface BoardDSQC1001

3HAC050354-001

X20

Battery BT1 inDSQC1017

A31.4 Safety boardDSQC1015

3HAC042827-001

PROFIBUS M

A31.3PROFIBUS M PCIDSQC1005

A31.4-X1A31.4-X6A31.4-X7

Safety board

Safety boardDSQC1015

A31.4

DeviceNet M/S

PROFIBUS M


We

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Latest revision:

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MAIN COMPUTER A31 DSQC1018 / DSQC1024Location:Plant: =

++Sublocation:

Document no.Next

Rev. Ind

Lab/Office: Status:

Beginner 06

7 8

3HAC049406-003

Approved

41 2 3 5 6

PROCESS POWERSUPPLY

GND+24V

FAN_TACH

TX+

TX+ TX-

TX-

RX+

RX+

RX-

RX-

DRIVEMODULEAXIS COMPUTER

SERVICEPORT

AXC1ETH_DRIVE

ETH_SERVICE

PANEL UNITRS 485

TPU

SAFETY BOARD

FLEXPENDANT

RED LABEL

YELLOW LABEL

BLUE LABEL

GREEN LABEL


A61:X10REMOTE SERVICEorA64.X1

AWG24

AWG24

AWG24

MAIN COMPUTER A31

2

6

1

-X2

3

6

5

2

8

3

-X3

4

1

7

2

65

8

1

-X9

34

7

DISC-ACT (YELLOW)

MS (GREEN/RED)

STATUS (GREEN-RED)

21

-X19

3

2

-X1

1

2

4

1

-X7

3

5

7

BK

RD

YE

OG

GN

WHOG

WHGN

BU

WHGN

WHBU

POWER (GREEN)

NS (GREEN-RED)

WHBN

1.TXRX+ / 35;2 40;21.TXRX- / 35;2 40;2

1.RXTX+ / 35;2 40;2

1.RXTX- / 35;2 40;2

-24V PC;1 / 11;5

-0V PC;1 / 11;6

-RD+ / 16;2 17;2-RD- / 16;2 17;2

-TD+ / 16;2 17;2

-TD- / 16;2 17;2

-0V_Sig.ref. / 12;7

-RS485+ / 12;7-RS485- / 12;7

-24V_Sig.ref. / 12;7

_TX+ / _TX- / _RX+ /

_RX- /

-TX+ / 36;2-TX- / 36;2-RX+ / 36;2

-RX- / 36;2


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Page 20

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Latest revision:

Approved by, date:

MAIN COMPUTER A31 DSQC1018 / DSQC1024; A32 DSQC1003 Location:Plant: =

++Sublocation:

Document no.Next

Rev. Ind

Lab/Office: Status:

Beginner 06

7 8

3HAC049406-003

Approved

41 2 3 5 6

MX1+

MX2-MX2+

MX2-

MX1-

MX1-MX2+

TX+

MX1+

A31.X6

TX-RX+RX-

AWG28 WHAWG28 GN

AWG24 RDAWG24 BK

PRO

CESS

PO

WER

SU

PPLY

OPTION:EXTERNAL

WAN

Ethe

rnetCONSOLE_RXD

CONSOLE_TXDCONSOLE_DTRGNDCONSOLE_DSRCONSOLE_RTS-NCONSOLE_CTS-N

COM1_RXDCOM1_TXDCOM1_DTR0VCOM1_DSRCOM1_RTS-NCOM1_CTS-N

CONSOLE_DCD

CONSOLE_RI

COM1_DCD

COM1_RI

WHITE LABELA31


-A32

OPTION:232/ Expansion board SERIE DSQC1003

/21;1

1

-X15

23

45

7677

7879

80

1

-X6WAN

236

4

3

-X10.USB 1

2

1

4

3-X10.USB 2

2

1

1

-X2

23

1

-X4LAN

23

4

3

-X11.USB 3

2

1

4

3-X11.USB4

2

1

6

1

-X5LAN

23

7

45

6

8

45

7677

7879

80

1

-232

23

7

456

89

1

-232

23

7

456

89

-USB2 +5V / 11;8

-USB2 D+ / 11;8-USB2 D- / 11;8-USB2_GND / 11;8

2.BI_DA+ / 20;7

2.BI_DA- / 20;7

2.BI_DB+ / 20;7

2.BI_DB- / 20;7

2.BI_DA+ / 20;7

2.BI_DA- / 20;7

2.BI_DB+ / 20;7

2.BI_DB- / 20;7


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FIELDBUS ADAPTER A32:ETHERNET/IP, PROFIBUS and PROFINET IO

Location:Plant: =

++Sublocation:

Document no.Next

Rev. Ind

Lab/Office: Status:

Beginner 06

7 8

3HAC049406-003

Approved

41 2 3 5 6

CompactCom

CompactCom

CompactCom

CompactCom

RX-

SLAVE

SLAVE

SLAVE

SLAVE

SHIELDRXD/TXD-pCONTROL-PGND+5VDCRXD/TXD-N

TX+TX-RX+

OPT

ION

& H

ARN

ESS

TO C

UST

OM

ER I

/O

TX+TX-RX+

TX+TX-RX+

RX-

RX-

-A32.1

ETHERNET/IP Fieldbus adapter DSQC 669Slave

-A32.2

PROFIBUS Fieldbus adapter DSQC 667Slave

-A32.3

PROFINET IO Fieldbus adapter DSQC 688Slave

-X1

12

34

56

78

-Z1

1

-X1

34

56

8

1

-X1

23

6

-Z1

-Z1

-A32.4

DEVICENET IO Fieldbus adapter DSQC 1004Slave

1

-X1

23

6

-Z1

-A32

Expansion BoardDSQC 1003

/20;2

1

-X1

23

45

67

8

1-X2

79

77

3

80

2

4

78


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Page 22

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Latest revision:

Approved by, date:

DEVICENET A31.2 DSQC1006 / PROFIBUS A31.3 DSQC1005Location:Plant: =

++Sublocation:

Document no.Next

Rev. Ind

Lab/Office: Status:

Beginner 06

7 8

3HAC049406-003

Approved

41 2 3 5 6

X12

X12

PCIe

PCIe

OPTION: TO CUSTOMER I/O

OPTION: TO CUSTOMER I/O

DSQC652 or DSQC651

V+

V-

CAN_H

DRAIN

CAN_L

GND

CNTR-P

B-Line

VP

A-Line

2

3

4

5

DeviceNet M/S DSQC1006-A31.2

-CHA

-R11

1

-XS17

2

3

4

5

2

3

4

5

PROFIBUS M PCIDSQC1005

-A31.3

16

7

8

9

1

-XS18

3

5

7

9

2

4

6

8

-V- / 23.a;1 24.a;1 33;1

-V+ / 23.a;1 24.a;1 33;1

-DRAIN / 23.a;1 24.a;1 33;1-CAN_L / 23.a;1 24.a;1 33;1

-CAN_H / 23.a;1 24.a;1 33;1

-XS17_V- / 25;1 28;2 31;1 30;1 32;1

-XS17_CAN_L / 25;1 28;2 31;1 30;1 32;1

-XS17_CAN_H / 25;1 28;2 31;1 30;1 32;1

-XS17_V+ / 25;1 28;2 31;1 30;1 32;1

-XS17_DRAIN / 25;1 28;2 31;1 30;1 32;1

-XS18 / 22;6

-XS18 / 22;6

-XS18_CNTR-P /

-XS18_GND /

-XS18_B_LINE /

-XS18_VP /

-XS18_A_LINE /

-XS18 / 22;6

-XS18 / 22;6 22;6 22;6


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ht 2

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Page 23.a

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Approved by, date:

DIGITAL I/O UNIT INPUTLocation:Plant: =

++Sublocation:

Document no.Next

Rev. Ind

Lab/Office: Status:

Beginner 06

7 8

3HAC049406-003

Approved

41 2 3 5 6

CUSTOMER DI

CUSTOMER DI

1) THE DEFAULT NODE ADDRESS IS 10.

1)

0VNA0NA1NA2NA3NA4NA5

-V- / 22;7

-0Vdevicenet / 11;2

-+24Vdevicenet / 11;2

0V

1

-X3

23

45

67

89

10

1

-X4

23

45

67

89

10

1

-X5

2

3

45

67

89

1011

12

DIGITAL I/O UNITDSQC652

I/O4

10

1-XS12

23456789

10

1-XS13

23456789

-CAN_H / 22;7-CAN_L / 22;7

-DRAIN / 22;7

-V+ / 22;7

XTXX.X3

XTXX.X4

INPUT CH.12345678

0V

INPUT CH.9101112131415160V

4)


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Page 23.b

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++Sublocation:

Document no.Next

Rev. Ind

Lab/Office: Status:

Beginner 06

7 8

3HAC049406-003

Approved

41 2 3 5 6

CUSTOMER DO

CUSTOMER DO

OUTPUT CH 1-8

OUTPUT CH 9-16

<1

<1

XTXX.X1

XTXX.X2

OUTPUT CH.1234

678910

2345678910

1-XS15

5

INPU

T 24

V D

C

0V

DIGITAL I/O UNITDSQC652

I/O3

1

-X1

23

45

67

89

10

1

-X2

23

45

67

89

10

1-XS14

2345

678

0V24V DC

OUTPUT CH.9101112131415160V

24V DC


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Cop

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ht 2

003

ABB

Page 24.a

61Total

Latest revision:

Approved by, date:

COMBI I/O UNIT INPUTLocation:Plant: =

++Sublocation:

Document no.Next

Rev. Ind

Lab/Office: Status:

Beginner 06

7 8

3HAC049406-003

Approved

41 2 3 5 6

CUSTOMER DI

1) THE DEFAULT NODE ADDRESS IS 10.

1)


1

-X3

23

45

67

89

10

1

-X4

23

45

67

89

10

1

-X5

2

3

45

67

89

1011

12

COMBI I/O UNITDSQC651

I/O4

10

1-XS13

23456798

-V- / 22;7

-0Vdevicenet / 11;2

-+24Vdevicenet / 11;2

-CAN_H / 22;7-CAN_L / 22;7

-DRAIN / 22;7

-V+ / 22;7

0V

XTXX.X3

INPUT CH.12345678

0VNC


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ht 2

003

ABB

Page 24.b

61Total

Latest revision:

Approved by, date:

COMBI I/O UNIT OUTPUTLocation:Plant: =

++Sublocation:

Document no.Next

Rev. Ind

Lab/Office: Status:

Beginner 06

7 8

3HAC049406-003

Approved

41 2 3 5 6

CUSTOMER DO

CUSTOMER AO

CPU

DCDC

DAC

OUTPUT CH 1-8

3

4

5

6

1

-X1

DSQC651COMBI I/O UNITI/O3

23

45

67

89

10

1

-X6

2

678910

1-XS12

2345

2

3

4

5

6

1-XS14

0V

<1

REF

0VA-15V

+15V

0V

INPUT CH.1INPUT CH.2

XTXX.X1

AO.NCAO.NC

AO.NC

AO.A1

AO.0V

AO.A2

OUTPUT CH.12345678

0V24V DC


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tion,

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Page 25

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Latest revision:

Approved by, date:

DIGITAL PART OF COMBI I/O AND DIGITAL I/O UNIT DSQC651&652

Location:Plant: =

++Sublocation:

Document no.Next

Rev. Ind

Lab/Office: Status:

Beginner 06

7 8

3HAC049406-003

Approved

41 2 3 5 6

OR PREVIOUSI/O UNIT

1) JUMPERS PLACED ACCORDING TO THE ACTUAL NODE ADDRESS.

2) RESISTANS 120 OHM SHALL ALWAYS BE CONNECTED IN THE FIRST AND THE LAST CONNECTOR IN THE CAN-BUS CIRCUIT.

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

4) ONLY FOR DIGITAL I/O DSQC 652.

3)

1)


-XS17_V- / 22;7

-XS17_V+ / 22;7

-XS17_DRAIN / 22;7

-XS17_CAN_L / 22;7-XS17_CAN_H / 22;7

0V

opt. 816opt. 817

-I/Ox4DIG. PART OF COMBI I/O AND DIG. I/O UNIT DSQC 651& 652

1

-X3

23

45

67

89

10

1

-X4

23

45

67

89

10

1

-X5

2

3

45

67

89

1011

12

XTXX.X3

XTXX.X4

INPUT CH.12345678

0V

INPUT CH.9101112131415160V

4)


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Repr

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tion,

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ht 2

003

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Page 26

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Approved by, date:

DIGITAL I/O UNIT DSQC652Location:Plant: =

++Sublocation:

Document no.Next

Rev. Ind

Lab/Office: Status:

Beginner 06

7 8

3HAC049406-003

Approved

41 2 3 5 6

OUTPUT CH 1-8

OUTPUT CH 9-16

<1

<1

XTXX.X1

XTXX.X2

OUTPUT CH.12345

10

1

-X2

23

45

67

89

10

opt. 816DSQC 652

0V

INPU

T 24

V D

C

DIGITAL I/O UNIT

I/O1

1

-X1

23

45

67

89

678

0V24V DC

OUTPUT CH.9101112131415160V

24V DC


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tion,

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Cop

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ht 2

003

ABB

Page 27

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Latest revision:

Approved by, date:

COMBI I/O UNIT DSQC651Location:Plant: =

++Sublocation:

Document no.Next

Rev. Ind

Lab/Office: Status:

Beginner 06

7 8

3HAC049406-003

Approved

41 2 3 5 6

CPU

DCDC

DAC

OUTPUT CH 1-8

3

4

5

6

1

-X1

DSQC 651opt. 817

COMBI I/O UNIT

I/O1

0V

23

45

67

89

10

1

-X6

2

<1

REF

0VA-15V

+15V

0V

INPUT CH.1INPUT CH.2

XTXX.X1

OUTPUT CH.1

0VA

OUTPUT CH.2

OUTPUT CH.12345678

0V24V DC


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ht 2

003

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Page 28

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Latest revision:

Approved by, date:

RELAY I/O UNIT DSQC653Location:Plant: =

++Sublocation:

Document no.Next

Rev. Ind

Lab/Office: Status:

Beginner 06

7 8

3HAC049406-003

Approved

41 2 3 5 6

OR PREVIOUSI/O UNIT




3)

1)


XTXX.X3

INPUT CH.12345678

0V

DSQC 653opt. 818

DIG. PART OF RELAY I/O UNITI/O1

1

-X3

23

45

67

89

1

-X5

2

3

45

67

89

1011

12

-XS17_V- / 22;7

-XS17_V+ / 22;7

-XS17_DRAIN / 22;7

-XS17_CAN_L / 22;7-XS17_CAN_H / 22;7

0V


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Page 29

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Approved by, date:

RELAY I/O UNIT DSQC653Location:Plant: =

++Sublocation:

Document no.Next

Rev. Ind

Lab/Office: Status:

Beginner 06

7 8

3HAC049406-003

Approved

41 2 3 5 6

OUT CH.1A

OUT CH.1B

OUT CH.2A

OUT CH.2B

OUT CH.3A

OUT CH.3B

OUT CH.4A

OUT CH.4B

OUT CH.5A9

16

RELAY I/O UNITRELAY I/O1

DSQC 653opt. 818

1

-X1

15

14

13

12

11

10

8

7

6

5

4

3

2

OUT CH.5B

OUT CH.6A

OUT CH.6B

OUT CH.7A

OUT CH.7B

OUT CH.8A

OUT CH.8B

XTXX.X1


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Latest revision:

Approved by, date:

REMOTE I/O UNIT DSQC350ALocation:Plant: =

++Sublocation:

Document no.Next

Rev. Ind

Lab/Office: Status:

Beginner 06

7 8

3HAC049406-003

Approved

41 2 3 5 6

OR PREVIOUSI/O UNIT




3)

1)


NAC

1

LINE 1 (BLUE)

(BLUE)

LINE 2 (CLEAR)

(CLEAR)

REMOTE I/O IN

REMOTE I/O OUT

opt. 821DSQC 350AREMOTE I/O UNIT

I/O1

1

-X5

24

5

36

78

910

1112

1

-X8

2

3

4

1

-X9

2

3

4

-XS17_V- / 22;7

-XS17_V+ / 22;7

-XS17_DRAIN / 22;7

-XS17_CAN_L / 22;7-XS17_CAN_H / 22;7


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ANALOGUE I/O UNIT DSQC355BLocation:Plant: =

++Sublocation:

Document no.Next

Rev. Ind

Lab/Office: Status:

Beginner 06

7 8

3HAC049406-003

Approved

41 2 3 5 6

OR PREVIOUSI/O UNIT




3)

1)


DAC

ADC

REF

0V

MUX

-XS17_V- / 22;7

-XS17_V+ / 22;7

-XS17_DRAIN / 22;7

-XS17_CAN_L / 22;7-XS17_CAN_H / 22;7

22

opt. 819DSQC 355BANALOGUE I/O UNIT

I/O1

1

-X5

24

5

36

78

910

1112

1

-X7

23

419

2021

22

1

-X8

23

4

1718

1920

21

23

2526

2728

24

0V

0V0V0V0V0V

24V

0V0V0V0V

ANIN_1ANIN_2ANIN_3ANIN_4

ANOUT_1ANOUT_2ANOUT_3ANOUT_4


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ENCODER UNIT DSQC377Location:Plant: =

++Sublocation:

Document no.Next

Rev. Ind

Lab/Office: Status:

Beginner 06

7 8

3HAC049406-003

Approved

41 2 3 5 6

OR PREVIOUSI/O UNIT




3)

1)


opt. 826DSQC 377ENCODER UNIT

I/O1

12

12

12

A

1

A

1

A

1

1

-X5

24

5

36

78

910

1112

1

-X20

2

3

4

5

6

7

8

9

-XS17_V- / 22;7

-XS17_V+ / 22;7

-XS17_DRAIN / 22;7

-XS17_CAN_L / 22;7-XS17_CAN_H / 22;7

EncoderConnection

24 VDC

0V

ENC +24V

ENC 0V

ENC_A

ENC_B

+24V

0V

DIGIN

Encoder

Synch switch


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Lab/Office: Status:

Beginner 06

7 8

3HAC049406-003

Approved

41 2 3 5 6




OR PREVIOUSI/O UNIT

3)

External supply0V DCGND+24VDC

1)


CustomerConnection

SLD-SHIELD

DA-Signal line ADG-GND

FG-Power GND

DB-Signal line B

DSQC378B

432

1

-X8

1211

-I/Ox6CC-LINK

1

-X3

35

1

-X5

24

5

36

78

910

56

-V- / 22;7

-V+ / 22;7

-DRAIN / 22;7

-CAN_L / 22;7-CAN_H / 22;7


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Lab/Office: Status:

Beginner 06

7 8

3HAC049406-003

Approved

41 2 3 5 6

Robot controller

Main computer

Ethernet switch

Power Supply

CameraExternal lighting

External lighting

External lighting

24V

24V I/O

24V

24V

Ethernet

Ethernet

Ethernet

Ethernet

Camera

Camera

Cam 1

Cam 2

Cam 3

Yellow labelEthernet Service


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Lab/Office: Status:

Beginner 06

7 8

3HAC049406-003

Approved

41 2 3 5 6

TX+

TX-

RX+

RX-

24V

0VCamera 1

Camera 2

Camera 3

Customer connection

Customer connection

Customer connection

+24V0V

A31.X2

PowerCamera 1PowerCamera 2

A61.X10

TX+

TX-

RX+

RX-

If option Remote service

Customerconnection

6

3

2

1

-X1

GND

US-X6

6

3

2

1

-X5

6

3

2

1

-X4

6

3

2

1

-X3

6

3

2

Ethernet switch

-A64

-XS161234

1

-X2

-1.RXTX- / 19;7

-1.RXTX+ / 19;7

-1.TXRX- / 19;7

-1.TXRX+ / 19;7

-24V_OUT / 11;2

-0V_OUT / 11;2+24V.REDwire /

0V.GroundBLACKwire /

.+24V.REDwire /

.0V.GroundBLACKwire /

4.TXRX+ / 40;2

4.TXRX- / 40;2

4.RXTX+ / 40;2

4.RXTX- / 40;2


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Rev. Ind

Lab/Office: Status:

Beginner 06

7 8

3HAC049406-003

Approved

41 2 3 5 6

POWER DISTRIBUTIONUNIT

A31.A9MAIN COMPUTER

AWG24

AWG24

-A42

DSQC668

-A41/38;2

1

-X3

2

3

6

1

-X1

2

3

4

1

-X2

2

3

6

1

-X11

2

3

6

WHOG

OG

WHGN

GN

WHOG

OG

WHBU

WHEN

1

-X4

2

3

6

-0V DRIVE / 11;1

-+24V DRIVE / 11;1

-RX+ / 19;7

-RX- / 19;7

-TX+ / 19;7

-TX- / 19;7


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Rev. Ind

Lab/Office: Status:

Beginner 06

7 8

3HAC049406-003

Approved

41 2 3 5 6

MRCO1

MRCO1_N

MRCI1

MRCI1_N

0V

24V_SMB1

0V

0V

MRCO2

MRCO2_N

MRCI2

MRCI2_N

0V

24V_SMB2

0V

0V

CABINET WALL

CONTROLSIGNAL

EXT. AXISSIGNAL

-A42

1

-XS41

2

4

5

6

7

3

9

1

-X4

2

3

4

5

6

7

9

1

-X5

2

3

4

5

6

7

9

-24V_SMB1 / 42;3 44;2 46;2 48;2 50;254;2

-MRC_0V;1 / 42;3 44;2 46;2 48;2 50;254;2

-MRC_0V;2 / 44;2 46;2 50;2

-MRC_0V;3 / 44;2 46;2 50;2

-MRCI1 / 42;3 44;2 46;2 48;2 50;254;2

-MRCI1_N / 42;3 44;2 46;2 48;2 50;254;2

-MRCO1 / 42;3 44;2 46;2 48;2 50;254;2

-MRCO1_N / 42;3 44;2 46;2 48;2 50;254;2


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Lab/Office: Status:

Beginner 06

7 8

3HAC049406-003

Approved

41 2 3 5 6

CONTACTOR UNIT

Wire No. Single phasePN

272829

-821 AWG12

-822 AWG12

-192AWG12

AWG

14

-A41

1

2

-R1.1

1

-CN4

2

1

-CN5

2

1-CN6 2 3 4

1

-CN7

2

GN

YE

BK

BK

GNYE

-27

AWG

14

-28

AWG

14

BK BK

Adapter

1

2

-132 AWG12

-133 AWG12

BK

BK

-0V Drive sys / 11;1

-24V Drive sys / 11;1-L

12 /

-L22

/


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Lab/Office: Status:

Beginner 06

7 8

3HAC049406-003

Approved

41 2 3 5 6

-350 AWG24 BU

-351 AWG24 BU

-354 AWG24 BU

-355 AWG24 BU

-E1FAN UNIT

=CAB-E41 =CAB-E42

M

+

-

1-X1

2

-X1

3-X1

M

+

-

1-X1

2

-X1

3-X1

-0V COOL;2 / 11;8

-0V COOL;3 / 11;8

-+24V COOL;2 / 11;8

-+24V COOL;3 / 11;8


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++Sublocation:

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Lab/Office: Status:

Beginner 06

7 8

3HAC049406-003

Approved

41 2 3 5 6

TX+

TX-

RX+

RX-

745

746

opt. 890-1

A31.X2or

A64.X5if opt. 1341-1

SERVICE PORTwhen opt. 890-1

ANTENNAwhen opt. 890-1

-A61Option: REMOTE SERVICE BOX DSQC680

AWG24

1

-X1

2

-X2

1

-X10

2

3

6

1

-X11

2

3

4

5

6

7

8

1

-X15

2

3

4

5

6

7

8

9

WHOG

OG

WHGN

GN

-X12LAN3 only for diagnostic 8/

-X13 LAN4 only for unit diagnostic 8/

-X14WAN Internet 8/

-1.TXRX+ / 19;7

-1.TXRX- / 19;7

-1.RXTX+ / 19;7

-1.RXTX- / 19;7

-0V_OUT / 11;2

-24V_OUT / 11;2

4.TXRX- / 35;5

4.TXRX+ / 35;5

4.RXTX+ / 35;5

4.RXTX- / 35;5


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SERVO DRIVE SYSTEM IRB 120Location:Plant: =

++Sublocation:

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Rev. Ind

Lab/Office: Status:

Beginner 06

7 8

3HAC049406-003

Approved

41 2 3 5 6

M3R

M3S

M3T

M1T

M1S

M1R

M6R

M6S

M6T M4T

M4S

M4R

M2R

M2S

M2T

M5T

M5S

M5R

CABINET

MANIPULATOR 120

IRB 120 cabinet module

-400

AWG

14

-402

AWG

14

-404

AWG

14

-410

AWG

14

-408

AWG

14

-406

AWG

14

-424

AWG

14

-425

AWG

14

-426

AWG

14

-412

AWG

14

-414

AWG

14

-416

AWG

14

-432

AWG

14

-430

AWG

14

-428

AWG

14

-422

AWG

14

-420

AWG

14

-418

AWG

14

AWG

10

-A41/38;2

A7 A9 A13 A15A11A1-XS/XP1 B3B1A3 A5 B8 B11B6 B7 B9 B10B4 B5

3 21-CN100 3 21-CN200 3 21-CN300 3 21-CN400 3 21-CN500 3 21-CN600

1

=MAN+R1.120-(MP 1-)62 5 20 15 163 1917410 24 21 22239 86

BK BK BK BK BK BK BK BK BK BK BK BK BK

GN

YE

AWG

10G

NYE

BK BKBK BK BK


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Lab/Office: Status:

Beginner 06

7 8

3HAC049406-003

Approved

41 2 3 5 6

DRIVE MODULE

SDISDI-NSDO

0V

24V

MANIPULATOR 120

SDO-NENCODERINTERFACEBOARD

WH

WH

WHWH

BNGN

BU

OG

SAFETY UNITA21-X5

AXIS COMPUTER BOARDA42-X4

CONTACTOR UNIT

-433 AWG16 BU

-436 AWG16 BU

-437 AWG16 BU

-438 AWG16 BU

-439 AWG16 BU

-440 AWG16 BU

-491 AWG20 BU

-492 AWG20 BU

-495 AWG20 BU

-496 AWG20 BU

-497 AWG20 BU

-498 AWG20 BU

7

8

1

-BR.XS/BR.XP1

3

5

2

C2

C1

B12

B14

B16

C7

D1

-XS/XP1

D3

D2

D4

A

-XS/XP2

BC

DE

F

GH

J

12

13

=MAN+R1.120-(MP 1-)6

A

=MAN+R2.120-SMB/EIB

BC

DE

F

GYBUB134

6 B15

-434 AWG16 BU

-435 AWG16 BU

-0V BRAKE;1 / 11;3

-24V_SMB1 / 37;6

-BRAKEPB / 11;3

-BRAKEREL1 / 15.a;6

-MRC_0V;1 / 37;6

-MRCI1 / 37;6-MRCI1_N / 37;6

-MRCO1 / 37;6-MRCO1_N / 37;6

-PTC / 15.a;6

-PTC_RET / 15.a;6

-EXT.LAMP / 15.a;5

-LIM_2B / 12;7

-LIM_2A / 12;7

-LIM_1B / 12;7

-LIM_1A / 12;7

-BRAKEREL2 / 15.a;6

-0V BRAKE;2 / 11;3


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Lab/Office: Status:

Beginner 06

7 8

3HAC049406-003

APPROVED

41 2 3 5 6

Customized connection

MANIPULATOR

R1-CP/CS

Acco

rdin

g to

Man

ipul

ator

circ

uit

diag

ram

3H

AC03

1408

-0030,23mm2

WH/BU

WH/OG

WH/GN

WH/BN

WH/GY

BU

OG

GN

BN

GY

A

IRB120

C

E

G

J

B

D

F

H

K


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7 8

3HAC049406-003

Approved

41 2 3 5 6

M3R

M3S

M3T

M1T

M1S

M1R

M6R

M6S

M6T

M4T

M4S

M4RM2R

M2S

M2T

M5T

M5S

M5R

DRIVE MODULE

MANIPULATOR

IRB 140 cabinet module-A41

MAIN SERVO DRIVE UNIT

A1-XS/XP1

13=MAN+R1.140-(MP 1-)3

A3

17

A5

15

A7

3

A9

5

A11

1

B3

6=MAN+R1.140-(MP 4-)6

B4

9

B5

12

B11

3

B10

2

B9

1

A13

7

A15

11

B1

9

B6

10

B7

7

B8

4

AWG

10

AWG

10G

NYE

BUG

N

BURD

BUW

H

BKRD

BKG

N

BKBU

BN GN

RD

GN

WH

BNBU

BNBK

BUBKW

H

BK BUBK

BNW

H

BNRD

BNG

N

GN

YE

-400

AWG

14

-402

AWG

14

-404

AWG

14

-410

AWG

14

-408

AWG

14

-406

AWG

14

-426

AWG

14

-425

AWG

14

-424

AWG

14

-412

AWG

14

-414

AWG

14

-416

AWG

14

-432

AWG

14

-430

AWG

14

-428

AWG

14

-422

AWG

14

-420

AWG

14

-418

AWG

14

3 21-CN100 31-CN200 2 3 21-CN3003 21-CN400 31-CN500 2 3 2

BK BK BK BK BK BK BK BK BK BK BK BKBK BK BK BK

1-CN600

BK BK


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Document no.Next

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Beginner 06

7 8

3HAC049406-003

Approved

41 2 3 5 6

DRIVE MODULE

SDISDI-NSDO

0V

24V

BATSUPBATLD

MANIPULATOR

SDO-NSERIALMEASUREMENTBOARD

WH

WH

WHWH

BNGN

BU

OG

GYRD

SAFETY UNITA21-X5

CONTACTOR UNIT


-_433 AWG16 BU

-_434 AWG16

-_435 AWG16

-_436 AWG16

-_437 AWG16

-_439 AWG16

-_440 AWG16

-_438 AWG16

A

-XS/XP2

C

E

F

G

J

L

C7

-XS/XP1

B16

B12

B13

B14

C2

C1

B15

D2

D1

D3

D4

B

D

H

K

9

=MAN+R2.140-SMB

8

3

7

2

5

4

6

1

=MAN+R1.140-H1

2

=MAN+R1.140-(MP 1-)3

10

16

18

12

15

=MAN+R1.140-(MP 4-)6

8

5

13

11

14

BU

BU

BU

BU

BU

BU

BU

OG

OGWH

GYBK

GYBU

GYGN

OGBU

OGBK

OGRD

GYWH

GYRD

GY

OGGN

7

8

1

-BR.XS/BR.XP1

3

5

2

4

6

-497

-495

-496

-498

-EXT.LAMP / 15.a;5

-BRAKEREL1 / 15.a;6

-BRAKEPB / 11;3

-BRAKEREL2 / 15.a;6

-0V BRAKE;2 / 11;3

-0V BRAKE;1 / 11;3

-MRCO1 / 37;6-MRCO1_N / 37;6

-MRCI1 / 37;6-MRCI1_N / 37;6

-MRC_0V;1 / 37;6

-24V_SMB1 / 37;6

-MRC_0V;2 / 37;6

-MRC_0V;3 / 37;6

-PTC_RET / 15.a;6

-LIM_2B / 12;7

-LIM_2A / 12;7

-LIM_1B / 12;7

-PTC / 15.a;6

-LIM_1A / 12;7


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Page 45

61Total

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Lab/Office: Status:

Beginner 06

7 8

3HAC049406-003

Approved

41 2 3 5 6

M3R

M3S

M3T

M1T

DRIVE MODULE

M1S

MANIPULATOR

M1R

M4T

M4S

M4R

M2R

M2S

M2T



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Cop

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Page 46

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Lab/Office: Status:

Beginner 06

7 8

3HAC049406-003

Approved

41 2 3 5 6

DRIVE MODULE

SDISDI-NSDO

0V

24V

BATSUPBATLD

MANIPULATOR


WH

WH

WHWH

BNGN

BU

OG

GYRD

SAFETY UNITA21-X5

CONTACTOR UNIT


9

=MAN+R2.340-SMB

8

3

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-0V BRAKE;2 / 11;3

-0V BRAKE;1 / 11;3

-MRCO1 / 37;6-MRCO1_N / 37;6

-MRCI1 / 37;6-MRCI1_N / 37;6

-MRC_0V;1 / 37;6

-24V_SMB1 / 37;6

-MRC_0V;2 / 37;6

-MRC_0V;3 / 37;6

-PTC / 15.a;6

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Cop

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Latest revision:

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Document no.Next

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Lab/Office: Status:

Beginner 06

7 8

3HAC049406-003

Approved

41 2 3 5 6

M1R

M1S

M1T

M2T

M2S

M2R

M4R

M4T

M4S M6R

M6T

M6S

M3R

M3S

M3T M5T

M5S

DRIVE MODULE

M5R

MANIPULATOR



A1-XS/XP1 A3 A5 A7 A9 A11 B3 B4 B5 B9 B10 B11A13 A15 B1 B6 B7 B8

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10

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3 21-CN100 31-CN200 2 3 21-CN300 3 21-CN400 31-CN500 2 31-CN600 2

BK BK BK BK BK BK BK BK BK BK BK BK BKBKBK BKBKBK

1=MAN+R1.1400-MP

2 5 843 15 16 19 2423206 9 10 222117

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Cop

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003

ABB

Page 48

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Latest revision:

Approved by, date:


++Sublocation:

Document no.Next

Rev. Ind

Lab/Office: Status:

Beginner 06

7 8

3HAC049406-003

Approved

41 2 3 5 6

DRIVE MODULE

SDISDI-NSDO

0V

24V


MANIPULATOR

WH

WH

WHWH

BNGN

BU

OG

SAFETY UNITA21-X5

CONTACTOR UNIT


14

=MAN+R1.1400-MP

11

13

18

12

76

4

2

5

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1

-BR.XS/BR.XP1

8

7

-_433 AWG16 BU

-_434 AWG16

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-_440 AWG16

-_438 AWG16

C7

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B16

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-BRAKEPB / 11;3

-BRAKEREL2 / 15.a;6

-0V BRAKE;2 / 11;3

-0V BRAKE;1 / 11;3

-PTC / 15.a;6

-PTC_RET / 15.a;6

-LIM_2B / 12;7

-LIM_2A / 12;7

-LIM_1B / 12;7

-LIM_1A / 12;7

-24V_SMB1 / 37;6

-MRC_0V;1 / 37;6

-MRCI1 / 37;6-MRCI1_N / 37;6

-MRCO1 / 37;6-MRCO1_N / 37;6


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ABB

Page 48.a

61Total

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Document no.Next

Rev. Ind

Lab/Office: Status:

Beginner 06

7 8

3HAC049406-003

APPROVED

41 2 3 5 6


MANIPULATOR

R1-CP/CS

Acco

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circ

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3H

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SERVO DRIVE SYSTEM IRB 1410, 1600, 260Location:Plant: =

++Sublocation:

Document no.Next

Rev. Ind

Lab/Office: Status:

Beginner 06

7 8

3HAC049406-003

Approved

41 2 3 5 6

M1R

M1S

M1T

M2T

M2S

M2R

M4R

M4T

M4S M6R

M6T

M6S

M3R

M3S

M3T M5T

M5S

DRIVE MODULE

M5R

MANIPULATOR

IRB 1410, 1600, 260 cabinet module-A41


A1-XS/XP1 A3 A5 A7 A9 A11 B3 B4 B5 B9 B10 B11A13 A15 B1 B6 B7 B8

AWG

10

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YE

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14

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14

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14

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14

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14

-430

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14

-422

AWG

14

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AWG

14

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AWG

14

3 21-CN100 31-CN200 2 3 21-CN300 3 21-CN400 31-CN500 2 31-CN600 2

BK BK BK BK BK BK BK BK BK BK BK BK BKBKBK BKBKBK

A1=MAN+R1.1400-MP

A2 A3 D2D1A4 A10 A9 A8 B10D7D8D3 D4 B1 D9D10A7

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Page 50

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CONTROL CABLE IRB 1410, 1600, 260Location:Plant: =

++Sublocation:

Document no.Next

Rev. Ind

Lab/Office: Status:

Beginner 06

7 8

3HAC049406-003

Approved

41 2 3 5 6

DRIVE MODULE

SDISDI-NSDO

0V

24V

0VBATSUPBATLD

MANIPULATOR


WH

WH

WHWH

BNGN

BU

OG

GYRD

SAFETY UNITA21-X5

CONTACTOR UNIT


A

=MAN+R1.1400-SMB

C

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B

D

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-MRCI1 / 37;6-MRCI1_N / 37;6

-MRC_0V;1 / 37;6

-24V_SMB1 / 37;6

-MRC_0V;2 / 37;6

-MRC_0V;3 / 37;6

-PTC / 15.a;6

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Document no.Next

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Lab/Office: Status:

Beginner 06

7 8

3HAC049406-003

APPROVED

41 2 3 5 6


MANIPULATOR

R1-CP/CS

Acco

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ABB

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Beginner 06

7 8

3HAC049406-003

Approved

41 2 3 5 6



CPA

CSK

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Cop

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ABB

Page 53

61Total

Latest revision:

Approved by, date:


++Sublocation:

Document no.Next

Rev. Ind

Lab/Office: Status:

Beginner 06

7 8

3HAC049406-003

Approved

41 2 3 5 6

M3R

M3S

M3T

M1T

M1S

M1R

M4R

M4T

M4S

M2R

M2S

M2T

DRIVE MODULE

MANIPULATOR



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Page 54

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Latest revision:

Approved by, date:


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Document no.Next

Rev. Ind

Lab/Office: Status:

Beginner 06

7 8

3HAC049406-003

Approved

41 2 3 5 6

DRIVE MODULE

SDISDI-NSDO

0V

24V


MANIPULATOR

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-MRC_0V;1 / 37;6

-MRCI1 / 37;6-MRCI1_N / 37;6

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