3HAC026871-020 Rev07

1 2 3 4 5 6 7 8
The information in this document is subject to change without notice and should not be construed as a
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© Copyright 2017 ABB ALL right reserved.
ABB AB
SE-721 68 Västerås
Sweden
Latest revision: Lab/Office: Status: Plant: =

DMRO SE/ IRC5 PMC DESIGN 14 Rel 17.2
PRN Approved Location: +
COPYRIGHT page Sublocation:+
Document no. Rev. Ind Page1
Next 2
Prepared by, date:Thomas Stålnacke 2005-05-19 Approved by, date:M Törnros 2017-09-07 3HAC026871-020 07 Total 116
1 2 3 4 5 6 7 8
TABLE OF CONTENTS
PAGE PAGE DESCRIPTION Date Edited by
1 COPYRIGHT page 2017-03-17 Thomas
2 TABLE OF CONTENTS 2017-09-04 Thomas
7 Device list sorted by Location 2017-08-31 Thomas
10 REVISION INFOMATION 2017-08-29 Thomas
11 SYMBOL INFORMATION 2017-08-29 Thomas
12 VIEW OF CONTROL MODULE 2017-08-31 Thomas
12.1 INTERFACE BOARD, ANYBUS 2017-08-29 Thomas
13 VIEW OF CONTACTOR & AXIS COMPUTER UNIT 2017-08-29 Thomas

14 BLOCK DIAGRAM CONTROL UNIT 2017-08-29 Thomas
15 PROCESS POWER SUPPLY 2017-08-29 Thomas
16 OPTION : POWER SUPPLY DEVICENET 2017-08-29 Thomas
16.5 RUN CHAIN block diagram in PANEL BOARD A21 and CONTROL PANEL S21 2017-08-29 Thomas
17 RUN CHAIN and PANEL BOARD A21 Sh. 1 of 3 2017-08-29 Thomas
20 RUN CHAIN, EMERGENCY STOP, EXT. CONTROL PANEL 2 AND 3 MODE SELECTOR 2017-08-29 Thomas
21 RUN CHAIN EXT A21 OPERATING WITH OPT: HOT PLUG rel 11.1 2017-08-29 Thomas
22 FPU, FLEXPENDANT interface XS4 and option HOT PLUG 2017-08-29 Thomas
22.1 FPU, FLEXPENDANT and Opt. HOLD TO RUN DEVICE T10 JOGGING DEVICE 2017-08-29 Thomas
23 MAIN COMPUTER DSQC1000/1018/1024 2017-08-31 Thomas
24 MAIN COMPUTER DSQC1000/1018/1024 2017-08-31 Thomas
25 FIELDBUS ADAPTER: ETHERNET/IP, PROFIBUS and PROFINET IO 2017-08-29 Thomas
26 PROFIBUS DP M 2017-08-29 Thomas
27 DEVICENET ADAPTER 2017-08-29 Thomas
28 DIGITAL PART OF COMBI I/O AND DIGITAL I/O UNIT 2017-08-29 Thomas
29 DIGITAL I/O UNIT 2017-08-29 Thomas
30 COMBI I/O UNIT 2017-08-29 Thomas
31 ANALOGUE I/O UNIT 2017-08-29 Thomas
32 RELAY I/O UNIT 2017-08-29 Thomas
33 RELAY I/O UNIT 2017-08-29 Thomas

TABLE OF CONTENTS Sublocation:+
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TABLE OF CONTENTS
34 REMOTE I/O UNIT 2017-08-29 Thomas
34.2 Local I/O Digital Base 16in/16out 2017-08-31 Thomas
34.4 Local I/O Digital add on 16in/16out 2017-08-31 Thomas
34.6 Local I/O Analog add on 4in/4out 2017-08-31 Thomas
34.8 Local I/O Relay add on 8RO/8DI 2017-08-31 Thomas
35 INTERBUS SLAVE 2017-08-29 Thomas
36 PROFIBUS DP SLAVE 2017-08-29 Thomas
37 ETHERNET SWITCH 2017-08-29 Thomas
37.1 ETHERNET SWITCH A34, option MULTI MOVE 604-1/2 2017-08-29 Thomas
37.2 ETHERNET SWITCH A64/CAMERA 2017-08-29 Thomas
37.3 VISION, INTEGRATED CAMERAS 2017-08-29 Thomas

38 ENCODER UNIT 2017-08-29 Thomas
39 CC-LINK 2017-08-29 Thomas
40 REMOTE SERVICE BOX for Rel. 16.1 and earlier 2017-08-29 Thomas
40.1 REMOTE SERVICE BOX DSQC1016/DSQC1023 from Rel. 16.2 2017-08-29 Thomas
41 BLOCK DIAGRAM DRIVE UNIT 2017-08-29 Thomas
42 VIEW OF DRIVE MODULE LV 2017-08-29 Thomas
43 VIEW OF DRIVE MODULE HV 2017-08-29 Thomas
44 TRANSFORMER UNIT 262V 2017-08-29 Thomas
45 TRANSFORMER UNIT 480V 2017-08-29 Thomas
46 POWER SUPPLY 2017-08-29 Thomas
47 CONTACTOR BOARD 2017-08-29 Thomas
48 CONTACTOR UNIT 2017-08-29 Thomas
49 AXIS COMPUTER and MAIN SERVO DRIVE UNITS 2017-08-29 Thomas
50 CONTACTOR UNIT 2017-08-29 Thomas
51 AXIS COMPUTER BOARD 2017-08-29 Thomas
52 FORCE MEASUREMENT BOX 2017-08-29 Thomas
53 EPS 2017-08-29 Thomas
54 SAFE MOVE 2017-08-29 Thomas
55 SAFE MOVE 2017-08-29 Thomas
56 MAIN DRIVE UNIT 2017-08-29 Thomas
57 OPTION : FAN UNIT 2017-08-29 Thomas
58 SERVO DRIVE SYSTEM IRB 140 2017-08-29 Thomas

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TABLE OF CONTENTS
59 CONTROL CABLE IRB 140 2017-08-29 Thomas
60 CUSTOMER SIGNAL IRB 140 2017-08-29 Thomas
61 SERVO DRIVE UNIT IRB 260 2017-08-29 Thomas
63 CUSTOMER POWER/SIGNAL IRB 260 2017-08-29 Thomas
64 SERVO DRIVE UNITS IRB 360 2017-08-29 Thomas
66 CUSTOMER SIGNAL IRB 360 2017-08-29 Thomas
66.1 CUSTOMER POWER/SIGNAL SINGLE CABINET IRB 360 2017-08-29 Thomas

69 SERVO DRIVE SYSTEM IRB 660, 760 2017-08-29 Thomas
70 CONTROL CABLE IRB 660, 760 2017-08-29 Thomas
71 CUSTOMER POWER/SIGNAL IRB460, 660, 760 2017-08-29 Thomas
72 C-BUS/P-BUS/ to CP/CS IRB460, 660, 760 2017-08-29 Thomas
72.1 SERVO DRIVE SYSTEM IRB 1200 2017-08-29 Thomas
72.2 CONTROL CABLE IRB 1200 2017-08-29 Thomas
72.3 CUSTOMER SIGNAL SINGLE CABINET IRB 1200 2017-08-29 Thomas
73 SERVO DRIVE UNIT IRB 1600/1660 2017-08-29 Thomas
74 CONTROL CABLE IRB 1600/1660 2017-08-29 Thomas
75 CUSTOMER POWER/SIGNAL IRB 1600/1660 2017-08-29 Thomas
76 SERVO DRIVE UNIT IRB 2400 2017-08-29 Thomas
78 CUSTOMER POWER/SIGNAL IRB 2400 2017-08-29 Thomas
81 CUSTOMER POWER/SIGNAL IRB2600 2017-08-29 Thomas
82 CUSTOMER POWER/SIGNAL DEVICE NET IRB2600 2017-08-29 Thomas
83 CUSTOMER POWER/SIGNAL PROFI BUS IRB 2600 2017-08-29 Thomas
83.4 SERVO DRIVE SYSTEM IRB 4400 2017-08-29 Thomas
83.5 CONTROL CABLE IRB 4400 2017-08-29 Thomas
83.6 CUSTOMER POWER/SIGNAL SINGLE CABINET IRB 4400 2017-08-29 Thomas
83.3 DevNet/PofiNet/Ethernet/Profibus addition to CP/CS IRB2600 2017-08-29 Thomas

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TABLE OF CONTENTS
87 CUSTOMER POWER/SIGNAL IRB4600 2017-08-29 Thomas
88 CUSTOMER POWER/SIGNAL DEVICE NET IRB4600 2017-08-29 Thomas
89 CUSTOMER POWER/SIGNAL PROFI BUS IRB 4600 2017-08-29 Thomas
90 DevNet/PofiNet/Ethernet/Profibus additional to CP/CS //IRB4600 2017-08-29 Thomas
93 CUSTOMER POWER/SIGNAL, PARACOM PARAMULTI , PARABUSCOM IRB 6700 2017-08-29 Thomas
94 DevNet//EtherNet//ProfiNet//PBUS ADDITION TO CP/CS IRB 6700 2017-08-29 Thomas
95 SERVO DRIVE SYSTEM IRB 66xx - 76xx 2017-08-29 Thomas

96 CONTROL CABLE IRB 66xx - 76xx 2017-08-29 Thomas
97 COOLING AXES 1/2 IRB 6600 - 7600 2017-08-29 Thomas
98 CUSTOMER POWER/SIGNAL IRB 6600 - 7600 2017-08-29 Thomas
99 DevNet//IBUS//PBUS ADDITION TO CP/CS IRB 6600 - 7600 2017-08-29 Thomas
100 CUSTOMER POWER/SIGNAL PROFI BUS IRB 6600 - 7600 2017-08-29 Thomas
101 CUSTOMER POWER/SIGNAL DEVICE NET IRB 6600 - 7600 2017-08-29 Thomas

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Location name Function name Page Location name Function name Page
-A21 PANEL BOARD 19 -R1.1 BLEEDER for LV 56
-A41.1 MAIN SERVO DRIVE UNIT 61 -T1.1 TRANSFORMER UNIT 45
-A21 PANEL BOARD 17 -T1.2 TRANSFORMER UNIT 44
-A31 MAIN COMPUTER 23 -T1.3 TRANSFORMER UNIT 45
-A31.2 DeviceNet M/S DSQC1006 27 -T10 T10 JOGGING DEVICE 22.1
-A31.3 PROFIBUS M 26 -T10-ETH_FPU FLEXPENDANT 22.1
-A32 OPTION: 232/ Expansion board SERIE DSQC1003 24 -T10.1 HOLD TO RUN DEVICE 22.1
-A32.1 ETHERNET/IP Fieldbus adapter DSQC 669 Slave 25 -Z1 Filter three phase 45
-A32.2 PROFIBUS Fieldbus adapter DSQC 667 Slave 25 -Z2 REAKTOR UNIT 45
-A32.3 PROFINET IO Fieldbus adapter DSQC 688 Slave 25 -A41.1 MAIN SERVO DRIVE UNIT 73
-A32.4 DEVICENET IO Fieldbus adapter DSQC 1004 Slave 25 -EXT-S21 EXT.CONTROL PANEL 20
-A34 opt. MULTI MOVE 604-1/2 ETHERNET SWITCH 37.1 -EXT-S21.XS1 20
-A41.1 MAIN DRIVE UNIT 56 -EXT-S21-S21.1 3-MODE SELECTOR 20
-A41.1-2 MAIN SERVO DRIVE UNIT 49 -EXT-S21-S21.3 EMERGENCY PB 20
-A41.1-6 MAIN SERVO DRIVE UNIT 76 -EXT-S21.2 MOTOR ON PB 20

-A42 AXIS COMPUTER BOARD 49 -EXT-A21-S22-H1 21

-A44 51
-A61 Option: REMOTE SERVICE BOX 40
-A64 Ethernet switch 37.2
-A65 Ethernet switch 37
-C1 CAPACITOR 70
-E1 OPTION : FAN UNIT 57
-ETH_FPU FLEXPENDANT 22.1
-EXT-S21-S22 Opt. HOT PLUG 21
-F1 48
-F2-HV OPTION : AUTOMATIC FUSE 46
-F2-LV OPTION : AUTOMATIC FUSE 46
-FMB Option: 738-1 52
-FMB-A1 DSQC686 VOLTAGE MEASURE BOARD 52
-G1 DRIVE POWER SUPPLY 46
-G2 PROCESS POWER SUPPLY 15
-G3 ENERGY BANK 15
-G6 OPTION : DEVICENET POWER SUPPLY 16
-I/O RELAY I/O UNIT 33
-I/O.X ANALOGUE I/O UNIT 31
-I/Ox DIG. PART OF COMBI I/O AND DIG. I/O UNIT 28
-K42 MOTORS ON CONTACTOR 1 48
-K43 MOTORS ON CONTACTOR 2 48
-K44 BRAKE CONTACTOR 48
-M140-A41.1 MAIN SERVO DRIVE UNIT 58
-Q1 Option Main Switch 45
Latest revision: Lab/Office: Status: Plant:

2017-09-07 =
PRN IRC5 PMC DESIGN 14 Rel 17.2
Approved Location: +
Sublocation:+
3HAC026871-020 Next 10
Prepared by, date: Thomas Stålnacke Approved by, date: M Törnros Device list sorted by the Location name 07 Total 116
1 2 3 4 5 6 7 8
Revison 05 2016 09 Rel16.2 Revison 07 2017 09 Rel17.2

Sh.10 revision page updated. Sh.2-5 Table of contents updated
Sh.12 Any bus and Interface board was moved to sheet 12.1 a new sheet. Sh.7 Device list updated
Sh.10 revision page updated.
Sh.12.1 New sheet Any bus and Interface board moved from sheet 12. Profibus add.
DSQC1005. Sh.12 Main computer DSQC 1024 removed
Sh.23 Main computer DSQC 1024 removed
Sh.40 text added, for Rel. 16.1 and earlier Sh. 23 Fan power line to E22/X19 added
Sh.40.1 New sheet with the ner Remote Service box from Rel.16.2
Sh.44 IRB460 was removed. Sh.24 Main computer DSQC 1024 removed
Sh. 34.2 - 34.8 Internal symbol added.
Sh.45 IRB460 was added.
Sh.66.1 R1_CP, CS terminal exchanged from numbers to letters.
Sh. 72.2 The floor cable for the SMB and the POWER CABLE added.
Sh. 72.3 The customer connection terminal was changed to Alphanumeric
Sh. 73-75 Title page changed to IRB1600/1660 before IRB1600.
Sh. 97 XS/XP58 was removed

Revison 06 2017 03 Rel17.1

Sh. 2-5 Updated Table of contents
Sh. 7 Revised Device list
Sh. 10 new revision information
Sh. 12 New computer board A31 text DSQC 1024 added.
Sh. 12.1 New Com Express module DSQC1022/1026
Sh. 23 DSQC 1024 added
Sh. 24 DSQC 1024 added
Sh. 34.2 New sheet Local I/O Digital Base 16in/16out
Sh. 34.4 New sheet Local I/O Digital add on 16in/16out
Sh. 34.6 New sheet Local I/O Analog add on 4in/4out
Sh. 34.8 New sheet Local I/O Relay add on 8ro/8di
Sh. 83.3 new sheet was before 84, should be implemented with other IRB2600
Sh. 90 TXD/RXD add. to XP9 coordinate 2

REVISION INFOMATION Sublocation:+
Next 11
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Stomme, ramverk/ Filter/

Functional equipotential bonding Slutkontakt/ Filter. Column coordinate number on the drawing
Make contact, general.
Wire/connector one colour code.
Stomme, ramverk/ Handmanövrerad brytare, allmän/ Lampa/ BK = Black, BN = Brown, RD = Red, OG = Orange
Functional equipotential bonding Switch manually operated, general. Lamp. YE = Yellow, GN = Green, BU = Blue, VT = Violet
GY = Grey, WH = White, PK = Pink, TQ = Turquoise
Styrning med spak/
Actuator (operated by lever). Wire/connector two colour code.
Kontakthylsa hona/
Jord, allmän symbol/
Socket outlet female.
Earth , general symbol. Example 1 : WH/RD = White and Red.
Styrning genom vridning/ Example 2 : GNYE = Green and Yellow.
Actuator(operated by turning).
Example: Cable with four colour coded wire,
Kontaktstift hane/
Störningsfri jord/ square area AWG24 and cable number 709.
Pin male.
Functional earthing. Styrning genom tryckning/

Actuator(operated by pushing). 709

AWG24 BK
Strömtransformator/ BN
Nödstopp (svamptryckknapp)/ Current transformer. RD/OG
Skyddsjord/
Protective earthing. Actuator, emergency. BK/OG
Tvinnade ledare/ Translation table square area from AWG to mm2.

Likström, DC /
Twisted conductors. Styrning, elektromagnetisk styrdon/ Direct current, DC.
AWG28 0,093 AWG18 0,93
Actuator, by electromagnetic. AWG26 0,15 AWG16 1,25
AWG24 0,25 AWG14 2,44
Växelström, AC /
Trippel tvinnade ledare/ AWG22 0,34 AWG12 3,02
Alternating current, AC.
Triple twisted conductors.
AWG20 0,56 AWG10 4,65
Fyrdubbelt tvinnade ledare/ Run chain presentation starts at sheet 13.

Quadruple twisted conductors. The Run chain marked as a wider wire.
Example: Run chain marked with a wider wire.

Part A
Tvinnade ledare part A med part B Example: Not Run chain marked with a thin wire.
Twisted conductors part A with part B
Example, showing how to read the information before and after a signal.
Part B
Extra sheet number .1.

Signal name
Wire number Wire data AXIS COMP: BOARD
A42
XP1 = Pin
-W725 AWG20 BK
Skärm/ (92) (92.1) +24V DRIVE;2
Shield. 1
Signal counter XS1 =Socket X1 = PIN or Socket
Target sheet 92
Target sheet 92.1
SYMBOL INFORMATION Sublocation:+
Next 12
1 2 3 4 5 6 7 8
A31 PANEL
CARD PMC top view
Main Computer Unit DSQC1000 Rel. 15.2 and earlier A21
Main Computer Unit DSQC1018 Rel. 16.1
RL1 RL2
X12
PMC open door PANEL X20 X7 X8
X5
CARD
A21 X6
X15 RL3
X11 X14X17
X18
X10 X1
MAIN
COMPUTER RL4
X9 X2
A31
PMC bottom view
FAN
E22
ENERGY X5
BANK
G3 X4
PROCESS X3
POWER X2
SUPPLY
G2
X1
PROCESS
MAIN FAN ENERGY POWER
COMPUTER E22 BANK SUPPLY
A31 G3 G2

VIEW OF CONTROL MODULE Sublocation:+
Next 12.1
1 2 3 4 5 6 7 8
Interface Board
Old: DSQC1001
New: DSQC1017
3HAC050354-001 POWER
Pin no 1 = 0V
Pin no 2 = 24V
PANEL UNIT
10/100/1000
WAN
10/100
LAN 1
10/100/1000
LAN 3
10/100
LAN 2
AXC
A31.1
X1
USB 2/1 X9
X10 AnybusCC/RS232 Expansion Board
X6 X5 X4 X3
X7 DSQC1003 Profibus/S A32.4
USB 4/3
ProfiNet/S A32.3
MS
NS
STATUS
DISC-Act
POWER
X11
Console
X2 Ethernet /IP/S A32.1
SERVICE DeviceNet/S A32.2
10/100 Com1 DSQC1004
2, 4, 6..... ...78, 80
Back side 80,78... ....6, 4, 2
X15 Front side 79,77... ....5, 3, 1
1, 3, 5..... ...77, 79 COM Express module
New DSQC1022/1026 A32
X2
Old DSQC1002 3HAC046408-001
Front side
X16
X1
Battery BT1
DSQC1017
X3
X12 X20
BT1
Old: Battery
in DSQC1001
A31.3 X19 X13

Pin 3 = 0V
Fan power
SD card 2GB
PROFIBUS M PCI Pin 2 = Tacho DSQC1008
DSQC1005 Pin 1 = 24V
A31.4 PROFIBUS M PCI

A31.2 DSQC1005
DeviceNet M/S PCI
DSQC1006
A31.4 Safety board
DSQC1015

INTERFACE BOARD, ANYBUS Sublocation:+
Document no. Rev. Ind Page12.1
Next 13
1 2 3 4 5 6 7 8
A42 Axis computer unit A43 Contactor unit A44 Safe move
X1 DSQC 647
X7 X5 X9 X11 X6 X4
24V Drive
X22
Measurement link 1 X4
X3
X8
X21
Measurement link 2 X5 X12
Out
X24 X11
X23
X10
In X9
X1 X10 X12
Relay output pair 1/2 X13
A44 EPS unit

DSQC 646
Computer module link X2
X1 Drive power supply
Drive link X11

X5
Contactor bord link X6

X6 Control signal
Drive power
X5 X6
supply
X4
link 1 link 1
Console port
X3
Process I/O
link 2 link 2
X9 X9
X1 X7 X8 X4 X3

VIEW OF CONTACTOR & AXIS COMPUTER UNIT Sublocation:+
Next 14
1 2 3 4 5 6 7 8
230V
Customer connection
Option in LV
Standard in HV
XT16
G3 G2
Option
AC Devicenet PS
Ultra cap
G6
DC
AC
DC
A21 A31
Panel Computer
board module
S21 I/Ox
Control I/O
panel
FPU unit
Ethernet service
Field bus
Drive
Drive
USB
LAN

BLOCK DIAGRAM CONTROL UNIT Sublocation:+
Next 15
1 2 3 4 5 6 7 8
230VAC
/ (46)
/ (46)
-230VAC1;1
-230VAC2;1
AWG16 gnye
PROCESS POWER SUPPLY
-G2 -X1 1 5 3
AC -INPUT
24V SYS
24V COOL 24V PC ENERGY BANK USB
-X2 1 2 3 4 -X3 1 2 3 4 -X4 1 2 3 4 5 6 7 8 9 10 -X5 1 2 3 4

AWG18
AWG18
AWG18
AWG18
AWG18
AWG18
2/RD 1/WH 1/GN 2/BK

-250
-251
-252
-253
-301
-303
AWG24
AWG28
AWG28
AWG24
-G3
-X1 1 2 3 4 5 6 7 8 9 10
1 2
+Sense
-XS49 + + NC NC NC - - NC NC
ENERGY BANK
-(USB2+5V).1
-(USB2D-).1
-(USB2D+).1
-(USB2GND).1
-24VSYS
-0VSYS
-24VCOOL
-0VCOOL
24VPC.1
0VPC.1
X49.1
X49.2
(23) /
(19) /
(37.1) /
(37.1) /
(23) /
(19) /
(19) /
(24) /
(24) /
(19) /
(24) /
(24) /
COMPUTER POWER SUPPLY MAIN
PANEL BOARD UNIT ETHERNET SWITCH A34 COMPUTER
PROCESS POWER SUPPLY Sublocation:+
Next 16
-G6
1
Latest revision:
POWER
SUPPLY
OPTION :
Prepared by, date:Thomas Stålnacke

DEVICENET
-X2
-X1
-230VAC1;1 / (46)
AC
L
+
-230VAC2;1 / (46)
DC
230VAC
-
N
2
+
-
2005-05-19 Approved by, date:M Törnros

(28) / -+24Vdevicenet;2 AWG16
gnye
(28) / -0Vdevicenet;2
GND
(32) / -+24Vdevicenet;3
2017-09-07
3
(31) / -+24Vdevicenet.4
(31) / -0Vdevicenet.4
4
PRN
Lab/Office:
DMRO SE/
5
IRC5 PMC DESIGN 14 Rel 17.2

6
OPTION : POWER SUPPLY DEVICENET

Status:
7
Approved
Document no.
3HAC026871-020
Plant:
Sublocation:+
Location: +
=
8
Rev. Ind Page16

07 Total 116
Next 16.5
1 2 3 4 5 6 7 8
Block diagram for the Run chain in A21 Panel board and S21 Control Panel with Options.
2Cross reference / (16.5) 3Cross reference to S.21 / (16.5)
CONTROL MODULE CABINET CONTROL PANEL OPTION

-S21.1 (2 OR 3-MODE SELECTOR) OPTION TERMINAL
A21 PANEL BOARD S21.1-XS1 S21.1-XP1
Customer connection
X9
3Cross reference to S.21 / (16.5)
S21.2 MOTOR ON PB
3Cross reference to S.21 /

6Cross reference to XS.4 / (22)
S21.3 EMERGENCY STOP PB
FLEX PENDANT
XS4
4Cross reference to DP.1 / (22)
5Cross reference hot plug S.22 / (22)
DP1-DP2 double press
Option Hot plug
X10
9Cross reference to A31.X3 / (23)
MAIN COMPUTER
A31.X3
Block diagram for the Run chain and External Control Panel with Options.
2Cross reference / (16.5) 1Cross reference to EXT S21 / (16.5)
CONTROL MODULE CABINET EXTERNAL CONTROL PANEL

OPTION
EXT-S21.1 (2 OR 3-MODE SELECTOR) OPTION TERMINAL
A21 PANEL BOARD EXT.S21.1-X1 EXT-S21.1-XP1
Customer connection
X9
1Cross reference to EXT S21 / (16.5)
EXT.S21.2 MOTOR ON PB
1Cross reference to EXT S21 /

6Cross reference to XS.4 / (22)
EXT.S21.3 EMERGENCY STOP PB
FLEX PENDANT
XS4
7Cross reference to DP.3-4 /
DP3-DP4 double press
8Cross reference to Ext Hot Plug S.22 / (21)
X10
9Cross reference to A31.X3 / (23)
MAIN COMPUTER
A31.X3
RUN CHAIN block diagram in PANEL BOARD A21 Sublocation:+
and CONTROL PANEL S21 Document no. Rev. Ind Page16.5
Next 17
1 2 3 4 5 6 7 8
PANEL BOARD
-A21
-X1
ES1 top RCH1.2 / (19)
3
FPU
-X2
JUMPER
ES2 top RCH2.2 / (19)
3
JUMPER
EXTERNAL 0V 0V
4
EMERGENCY 24V Panel 24V PANEL
4
STOP PB
Run CH1 top

5
Run CH2 top
5
EMERGENCY ES1OUT:A
1
STOP OUTPUT 1 ES2 OUT:A
1
EMERGENCY ES2 OUT:B

2
STOP OUTPUT 2 ES1OUT:B EXTERNAL
2
CONTROL
Sep ES2:A / RunCh_0V.1 (19) PANEL
9
Sep ES1:A RunCh+.1 / (19) EM. PB
9
-ES1 -ES2
JUMPER
JUMPER
U U
Sep ES1:B
10
Sep ES2:B
10
ES2 bottom
JUMPER
7
EXTERNAL ES1 bottom
JUMPER
7
SUPPLY 0V
8 RunCh+
24V Panel RunCh+
8
SOFT_ESO
24V PANEL
SOFT_ESI
0V
ES1:int
EMERGENCY STOP 6
(18) / -RunCh+
(18) / -RunCh_0V
(18) / -RCH2
(18) / -RCH1
RELAY SIGNALS ES2:int
6
ES1 ES2

RUN CHAIN and PANEL BOARD A21 Sh. 1 of 3 Sublocation:+
Next 18
1 2 3 4 5 6 7 8
CONTROL
PANEL BOARD MODULE
(17.3)
-A21
(19) / -SPEED
-X7
RUN CH1 -RUN_CH1 / (47)
/ (17)
1
0V RUN CH1Ret -RUN_CH1Ret / (47)
24V PANEL
A43.X1
Drive module1
2
/ (19)
/ (19)
/ (17)
/ (17)
-X5
/ (17)
-RunCh_0V
RUN CH2Ret -RUN_CH2Ret / (47)
/ (19)
/ (19)
JUMPER 24V PANEL
12 4
JUMPER 24V PANEL 24V PANEL RUN CH2 -RUN_CH2 / (47)
-MAN2
-MAN1
-RCH2
-RCH1
-RunCh+
6 3
JUMPER 0V SPEED -SPEED.1 / (47)
-EN2
-EN1
7 5
JUMPER 0V 0V -0V / (37.2)
1 6
AUTO STOP
ENABLE2_1 -ENABLE2_1 / (47)

7
AS1+ ENABLE2_1Ret -ENABLE2_1Ret / (47)
11 8
AS1 AC_ON1
9
AS1 0V
& 10
AS1-
AS2+ 9 AS2 SOFT AS

5 -X8
RUN CH1
1
AS2 0V RUN CH1Ret
2
RUN CH2Ret
4
AS2- 24V PANEL RUN CH2 BU
GENERAL STOP
3 3
GS1+ GS1 SPEED
10 5
0V if not used Drive
6
GS1 ENABLE2_2 module2
7
& ENABLE2_2Ret BU
A43.X1
8
AC_ON1 if not used
9
GS1- SOFT GS 0V
8 10
GS2+ GS2
4
-X14
GS2 RUN CH1
1
0V RUN CH1Ret
2
GS2- CH1 RUN CH2Ret

4
2 24V PANEL RUN CH2 BU
3
CH2 SPEED Drive
-X6 5
JUMPER 24V PANEL 0V if not used module3
6
6 0V ENABLE2_3
SUPERIOR STOP
JUMPER
7 A43.X1
SS1+ 1 SS1 ENABLE2_3Ret BU
8
4 AC_ON1 if not used
9
SS1 0V
10
-X17
SS1- SOFT SS RUN CH1
1
SS2+ 2 SS2 0V RUN CH1Ret
5 2
SS2 RUN CH2Ret

4
24V PANEL RUN CH2 BU
3
SPEED Drive
5
SS2- 0V if not used module4
6
ENABLE DEVICE
EN1_1A 3
EN1_1A.1 / (19) ENABLE2_4 A43.X1
7
EXTERNAL
EN1_1B 7 ENABLE2_4Ret BU
8
EN2_1B 8 AC_ON1 if not used
9
EN2_1A 9
EN2_1A.1 / (19) 0V
10 10

Next 19
1 2 3 4 5 6 7 8
CONTROL MODULE X9 and X10 2Cross reference / to board A21 blockdiagram.

PANEL BOARD
A21
>1 36xAWG20
(18) / -SPEED
-X9
BK 24V PANEL
A21X9:1 / (20)
(18) / -EN2
1 BN AUTO2
A21X9:2 / (20)
(18) / -MAN2
2 RD MAN2
A21X9:3 / (20)
3 OG MAN FS2
A21X9:4 / (20)
4 YE 0V
A21X9:5 / (20)
(18) / -EN1
5 GN AUTO1
A21X9:6 / (20)
(18) / -MAN1
6 BU MAN1
A21X9:7 / (20)
7 VT MAN FS1
A21X9:8 / (20)
8 GY 24V PANEL
A21X9:9 / (20)
9 WH MOTON
A21X9:10 / (20)
10 WH/BN ES PANEL 2B
A21X9:11 / (20)
11 WH/RD ES PANEL 2B
(17) / RunCh_0V.1 A21X9:12 / (20)
12 WH/OG ES FPU2A Connected when
A21X9:13 / (21)
13 WH/YE ES FPU2A
A21X9:14 / (21) internal Control Panel
14 WH/GN ES PANEL 1B
A21X9:15 / (20)
15 WH/BU ES PANEL 1B
(17) RunCh+.1 / A21X9:16 / (20)

16 WH/VT ES FPU1A Connected when
A21X9:17 / (21)
17 WH/GY ES FPU1A
A21X9:18 / (21) internal Control Panel
18 WH/BK MONLMP
-X12 24V SYS A21X9:19 / (20)
(15) / -24VSYS 24V FPU POWER 19
(15) / -0VSYS
1
0V SYS GN/YE GN/BN EARTH GN/YE
(15) / -24VCOOL
2
24V PANEL GN/WH EARTH
3
(15) / -0VCOOL
4
-X10 BN/BK 24V FPU
24VFPUPOWER / (21) (22)
1 BN/RD 0V
0VPANELB / (21) (22)
(18) / EN1_1A.1
2 BN/OG EN1_1
EN1_1 / (21) (22)
(18) / EN2_1A.1
3 BN/YE EN2_1
EN2_1 / (21) (22)
(17) RCH1.2 /
4 YE
-ESFPU1:A / (22) (22)
5 Jumper removed GN Connected only with
when option -ESFPU1:B / (22) (22)
(17) RCH2.2 /
6
External Control BU option External Control Panel.
-ESFPU2:A / (22) (22)
7 Panel VT
-ESFPU2:B / (22) (22)
8
9
AWG 20 Bu
24V PANEL AWG24
-X11
OP_COM -X15 1
Not connected
1 2
OP_MAN 24V PANEL WHGN 24V_Sig.ref.1 / (23)
3 3 BU -RS485+.1 / (23)
4 WHBU -RS485-.1 / (23) MAIN
OP_AUTO 5
COMPUTER
2 6
OP_MAN_FS WHBN -0V_Sig.ref.1 / (23)
4 7
8
-X20 -S21.1-X1
-X18 EXT.MAN FS2 (20)
1
24V COOL 2 1 / Only in 3 mode selector
2 2 3 / EXT.MAN2 (20) (20)
RS485+
4 Customer 4 / EXT.AUTO2 (20) (20)
RS485- TACHO EXTERNAL EXT.COMMON2 (20) (20)
5 3 connection 5 /
24V DC COMPUTER EXT.MAN FS1 (20) Only in 3 mode selector
3 6 /
FAN
6 7 / EXT.MAN1 (20) (20)
0V FAN 0V
7 1 8 / EXT.AUTO1 (20) (20)
8 EXT.COMMON1
/ (20) (20)

Next 20
1 2 3 4 5 6 7 8
EXT.CONTROL PANEL
-EXT-S21
Option:Run chain Ext Operating, 2 Mode Selector
-S21.XS1 -S21.XP1
RD -222 AWG20 -241 EXT.AUTO1 GN/GY
(19) / A21X9:3 7 EXT.AUTO1 / (19)
BN -221 AWG20 -240 EXT.MAN1 7 BN/VT
(19) / A21X9:2 EXT.MAN1 / (19)
BU -226 AWG20 -245 EXT.AUTO2 6 6 GN/OG
(19) / A21X9:7 EXT.AUTO2 / (19)
GN -225 AWG20 -244 EXT.MAN2 3 3 GN/RD
(19) / A21X9:6 2 2 EXT.MAN2 / (19)
2-MODE SELECTOR
1 3 5 7 9 11 13 15
-S21.1 OPTION
2 6 10 14
-246 EXT.COMMON2 GN/BU

EXT.COMMON2 / (19)
YE -224 AWG20 -242 EXT.COMMON1 4 4 BN/WH
(19) / A21X9:5 EXT.COMMON1 / (19)
BK -220 AWG20 8 8
(19) / A21X9:1
Option:Run chain Ext Operating, 3 Mode Selector

-S21.XS1 -S21.XP1
VT -227AWG20 -245 EXT.AUTO2 GN/OG
(19) / A21X9:8 EXT.AUTO2 / (19)
-244 EXT.MAN2 3 3 GN/RD
EXT.MAN2 / (19)
-243 EXT MAN FS2 2 2 GN/BK
EXT.MAN FS2 / (19)
OG -223AWG20 -241 EXT.AUTO1 1 1 GN/GY
(19) / A21X9:4 EXT.AUTO1 / (19)
-240 EXT.MAN1 7 7 BN/VT
EXT.MAN1 / (19)
-239 EXT MAN FS1 6 6 BN/BU
3-MODE SELECTOR 5 5
EXT.MAN FS1 / (19)
6 12 10 2 4 8 18 22 24 14 16 20
-S21.1
OPTION
5 1 17 13
-242 EXT.COMMON1 BN/WH

EXT.COMMON1 / (19)
-246 EXT.COMMON2 8 8 GN/BU
4 4
EXT.COMMON2 / (19)
-S21.2
WH -229 AWG20 14 13
(19) / A21X9:10
(19) / A21X9:19
WH/BK -230 AWG20 X2 X1
(19) / A21X9:9
GY -228 AWG20
-S21.3
-DP6 S21-501 1) -237 ES panel 1:A 21 22
1 S21-502 1) -238 ES panel 1:A
(21) / DP6 S21-498 1)
-DP5 -233 ES panel 2:A 11 12
1 S21-499 1) -234 ES panel 2:A
(21) / DP5
WH/BN -231 ES panel 2:B
(19) / A21X9:11
WH/RD -232 ES panel 2:B
(19) / A21X9:12
WH/GN -235 ES panel 1:B
(19) / A21X9:15
WH/BU -236 ES panel 1:B
(19) / A21X9:16
GN/YE GN/YE -PE1

RUN CHAIN, EMERGENCY STOP, Sublocation:+
EXT. CONTROL PANEL 2 AND 3 MODE SELECTOR Document no. Rev. Ind Page20
Next 21
1 2 3 4 5 6 7 8
8Cross reference to Ext Hot Plug S.22 / (16.5)

EXT.CONTROL PANEL
Option:Hot plug from Rel.11.1
-EXT-S21
Option:Hot plug
-S22
W529
64 63 X1 X2 213
W525/BU 14 13 W526
W527/BU 53 54 W528
W521 22 21 W522
W523 42 41 W524
521 AWG20 BU Without hot plug

523 AWG20 BU
XP100 7 1 3 4 2 8 6
-XP100 1 3 4 2
XS100 7 1 3 4 2 8 6
-495 AWG20 BU
-500 AWG20 BU
-497 AWG20 BU
-496 AWG20 BU
AWG20
-XS4
BN/BK -DP1 24V FPU_POWER 205 BU
(19) / 24VFPUPOWER 2.24VFPUPOWER / (22.1)
1
205 BU
AWG20 12
BN/RD -DP2 0V 206 BU
(19) / 0VPANELB 2.0VPANELB / (22.1)
2
0V AWG20 206 BU
AWG20 8
A21 PANEL BOARD
(19) / EN1_1
BN/OG EN 1_1 -214 2.EN1.1 / (22.1)
(19) / EN2_1
BN/YE EN 2_1 -215 7
2.EN2.1 / (22.1)
(19) / A21X9:17
WH/VT -DP4 17
(19) / A21X9:18
WH/GY 1 ES FPU 1:A -216 2.ESFPU1.A / (22.1)
ES FPU 1:B -217 BU 3
2.ESFPU1.B / (22.1)
WH/OG DP3 4
(19) / A21X9:13 DP6 / (20)
WH/YE 1 ES FPU 2:A -218
(19) / A21X9:14 2.ESFPU2.A / (22.1)
ES FPU 2:B -219 BU 5
2.ESFPU2.B / (22.1)
6
DP5 / (20)
MAIN COMPUTER
A31.X3
AWG24 4x2 SFTP

(23) / TD+ BN TD+ 2.TD+ / (22.1)
(23) / TD- WHOG TD- 13
2.TD- / (22.1)
(23) / RD+
GN RD+ 14
2.RD+ / (22.1)
(23) / RD-
BNWH RD- 15
2.RD- / (22.1)
16

RUN CHAIN EXT A21 OPERATING WITH Sublocation:+
OPT: HOT PLUG rel 11.1 Document no. Rev. Ind Page21
Next 22
1 2 3 4 5 6 7 8
4Cross reference to DP.1 / (16.5)

Option with Hot plug 702-2 CONTROLLER
5Cross reference hot plug S.22 / (16.5)
6Cross reference to XS.4 / (16.5) (16.5)
-S22-
BU1
64 63 X1 X2 -213
14 13
53 54
YE -209 BU
(19) / -ESFPU1:A
BU -211 BU
(19) / -ESFPU2:A
VT -212 BU
(19) / -ESFPU2:B
GN -210 BU
(19) / -ESFPU1:B -XP4
(19) / -EN1_1 RD 21 22 -207 BU RunCh1
3
(19) / -EN2_1 OG 41 42 -208 BU RunCh0V

Without hot plug. -XS4

YE 3
(19) / -ESFPU1:A 2.ESFPU1.A / (22.1)
BU 5
(19) / -ESFPU2:A 2.ESFPU2.A / (22.1)
VT 6
(19) / -ESFPU2:B 2.ESFPU2.B / (22.1)
GN 4
(19) / -ESFPU1:B 2.ESFPU1.B / (22.1)
(19) / -EN1_1 RD 7
2.EN1.1 / (22.1)
(19) / -EN2_1 OG 17
2.EN2.1 / (22.1)
205 1 AWG20 BU
-Y.1 2.24VFPUPOWER / (22.1)
(19) / -24VFPUPOWER BK 2
PANEL 205 12 AWG20 BU
BOARD
A21-X10 206 2 AWG20 BU
-Y.2 2.0VPANELB / (22.1)
(19) / -0VPANELB BN 2
206 8 AWG20 BU
(23) / -TD+ AWG24 4x2 SFTP OG 13

2.TD+ / (22.1)
MAIN (23) / -TD- WHOG 14

2.TD- / (22.1)
COMPUTER
-RD+ 15
A31.X3 (23) / GN
2.RD+ / (22.1)
(23) / -RD- WHGN 16

2.RD- / (22.1)

Location: +
PRN
FPU, FLEXPENDANT interface XS4 and option HOT PLUGApproved Sublocation:+
Next 22.1
1 2 3 4 5 6 7 8
EMERGENCY-STOP
-T10.1
-K1
A
D
Option: 983-1 Hold to run device
E
EN-DEVICE
-K2
G
FLEXPENDANT
I
EMERGENCY-STOP
-XP4 A B C D E F G H I J (.4)
-K1
(21) 3 -ETH_FPU
(22)
/ 2.ESFPU1.A
(21) 5
/ 2.ESFPU2.A
(22)
(21) 6
(22)
/ 2.ESFPU2.B
(21) 4
(22)
/ 2.ESFPU1.B
(21) 7
(22)
/ 2.EN1.1
(21) 17
(22)
/ 2.EN2.1 -T10
EMERGENCY-STOP
(21) 1
(22)
/ 2.24VFPUPOWER EN-DEVICE -K1
-K2 A
12 B
(21) 2 C
(22)
/ 2.0VPANELB
D
8
(21) 13 ETH_FPU USB Option: 976-1 T10 Jogging device

(22)
/ 2.TD+
E
(21) 14 F
(22)
/ 2.TD-
(21) 15 G
/ 2.RD+ EN-DEVICE
(22)
-K2
(21) 16 H
(22)
/ 2.RD-
I
ETH_FPU

Location: +
PRN
FPU, FLEXPENDANT and Opt. HOLD TO RUN DEVICE Approved Sublocation:+
T10 JOGGING DEVICE Document no. Rev. Ind Page22.1
Next 23
1 2 3 4 5 6 7 8
(16.5)
9Cross reference to A31.X3 /
(16.5) M.Computer: DSQC 1000 15.2 and erlier
MAIN COMPUTER M.Computer: DSQC1018 16.1
A31 opt. 901-1
-X2 A62.X1
TX+ 1.TXRX+ / (34.2)
TX- 1
1.TXRX- / (34.2) or
-X1 YELLOW LABEL RX+ 2 A61:X10
3 1.RXTX+ / (34.2) REMOTE SERVICE
PROCESS (15) / 24VPC.1
POWER 2 ETH_SERVICE or
SUPPLY (15) / -0VPC.1 RX- A64.X1
6 1.RXTX- / (34.2)
1
POWER (GREEN)
DISC-ACT (YELLOW)
STATUS (GREEN-RED)
GREEN LABEL -X3

1 RD+ / (21) (22)
2 RD- / (21) (22)
TPU TD+ / (21) (22) FLEXPENDANT
3
NS (GREEN-RED) 4
5
6 TD- / (21) (22)
7
8
MS (GREEN/RED)
-X7 AWG24
1
2 WHGN 24V_Sig.ref.1 / (19)
BLUE LABEL 3 BU -RS485+.1 / (19)
4
PANEL UNIT WHBU -RS485-.1 / (19) PANEL BOARD
5
RS 485
-0V_Sig.ref.1 / (19)
7
CHASSIS BLOWER
-E22
M -X9
-TXRX+.2 / (49) DRIVE
-X19 AWG24 TX+ 1
-TXRX-.2 / (49) MODULE
+
RED LABEL TX- 2

GND BK
RX+ -RXTX+.2 / (49) AXIS
1 3
+24V RD AXC1 COMPUTER
2 4
FAN_TACH YE ETH_DRIVE
3 5
RX- 6 -RXTX-.2 / (49)
7
8
8.TXRX+ / (37.1)
8.TXRX- / (37.1)
8.RXTX+ / (37.1)
8.RXTX- / (37.1)

MAIN COMPUTER DSQC1000/1018 Sublocation:+
Next 24
1 2 3 4 5 6 7 8
MAIN COMPUTER DSQC 1000 15.2 and erlier

MAIN COMPUTER DSQC 1018 16.1
A31 WAN -X6

WHITE LABEL MX1+
1
MX1-
2
A31.X6 MX2+
3
MX2-
OPTION: 6
232/ Expansion board SERIE DSQC1003
-A32
-232 -X2 -X15

COM1_DCD LAN -X4
1
COM1_RXD 1 1 TX+ 2.BI_DA+ /
2 1
COM1_TXD 2 2 TX- 2.BI_DA- /
3 2
COM1_DTR 3 3 RX+ 2.BI_DB+ /
4 3
0V 4 4 RX- 2.BI_DB- /
5 6
COM1_DSR 5 5
6
COM1_RTS-N
7
COM1_CTS-N
8
COM1_RI
-232 LAN -X5

CONSOLE_DCD 76 76 MX1+ (BI_DA+).2 /
1 1
Ethernet
CONSOLE_RXD 77 77 MX1- (BI_DA-).2 /
2 2
CONSOLE_TXD 78 78 MX2+ (BI_DB+).2 /
3 3
CONSOLE_DTR 79 79 MX2- (BI_DB-).2 /
4 6
GND 80 80
5
CONSOLE_DSR
6 4
CONSOLE_RTS-N
7 5
CONSOLE_CTS-N 1.MX1.RX+ / (37)
8 7
CONSOLE_RI 1.MX1.RX- / (37) if opt 941-1
9 8
1.RXMX2.+ / (37) A65.X5
1.RXMX2.- / (37)
-X10.USB 1
3
2
4
1
PROCESS
-X10.USB 2
SUPPLY
POWER
AWG28 GN -(USB2D+).1 / (15)
3
AWG28 WH -(USB2D-).1 / (15)
2
AWG24 BK -(USB2GND).1 / (15)
4
AWG24 RD -(USB2+5V).1 / (15)
1
-X11.USB 3
3
2
4
1
-X11.USB4
3
2
4
1

MAIN COMPUTER DSQC1000/1018 Sublocation:+
Next 25
1 2 3 4 5 6 7 8
ETHERNET/IP Fieldbus adapter DSQC 669

Slave
-A32.1
-Z1 -X1
TX+
TX- 1
2
RX+
SLAVE 3
4
CompactCom RX- 5
6
7
8
Expansion Board PROFIBUS Fieldbus adapter DSQC 667

DSQC 1003 Slave
-A32 -A32.2
-Z1
-X1
X2 SHIELD
-X1 1
OPTION & HARNESS TO CUSTOMER I/O

1 SLAVE RXD/TXD-p
2 3
CONTROL-P
3 1 CompactCom GND 4
4 2 5
+5VDC
3 6
4
RXD/TXD-N 8
5
6
7
77 8
78
79 PROFINET IO Fieldbus adapter DSQC 688
80 Slave
-A32.3 -X1
-Z1
TX+
TX- 1
SLAVE 2
RX+
3
CompactCom
RX-
6
DEVICENET IO Fieldbus adapter DSQC 1004

Slave
-A32.4 -X1
-Z1
TX+
TX- 1
SLAVE 2
RX+
3
CompactCom
RX-
6

FIELDBUS ADAPTER: Sublocation:+
ETHERNET/IP, PROFIBUS and Document no. Rev. Ind Page25
PROFINET IO Next 26
1 2 3 4 5 6 7 8
PROFIBUS M DSQC1005
-A31.3
Customer
Connection
X12
PCIe
SHIELD
RXD/TXD-P 1 1B
MASTER CONTROL-P 3
GND 4 OPTION & HARNESS TO CUSTOMER I/O / A31.3 (94)
+5VDC 5
RXD/TXD-N 6 1A
8

PROFIBUS DP M Sublocation:+
Next 27
1 2 3 4 5 6 7 8
DeviceNet M/S DSQC1006

-A31.2 (83.3)
X12 -CHA -A35-X1 1) Termination OPTION Devicenet connections/ A35 (90)
V- (94)
BK -XS17.3 / (99)
1
CAN_L BU -XS17.5 /
2 2
DRAIN SC OPTION
-XS17.1 /
3 3
PCIe CAN_H WH 1) Termination resistor
-XS17.4 /
should be used,
4 4
V+ RD when the optional
-XS17.2 /
5 5
harness is not connected.
BK V- / (28)
BU CAN_L / (28)
WH CAN_H / (28) Digital I/O unit
RD V+ / (28)
SC DRAIN / (28)
BK V- / (32)
BU
CAN_L / (27)
WH CAN_H / (27) Relay I/O unit
RD V+ / (27)
SC DRAIN / (27)
BK V- / (31)
BU CAN_L / (27)
WH CAN_H / (27) Analogue I/O unit
RD V+ / (27)
SC DRAIN / (27)
EXTERNAL I/O
TO CUSTOMER
OPTION: HARNESS
BK V- / (34)
BU CAN_L / (34)
WH CAN_H / (34) Remote I/O unit
RD V+ / (34)
SC DRAIN / (34)
BK V- / (35)
BU CAN_L / (35)
WH CAN_H / (35) Interbus slave
RD V+ / (35)
SC DRAIN / (35)
BK V- / (36)
BU CAN_L / (36)
WH CAN_H / (36) Profibus DP slave
RD V+ / (36)
SC DRAIN / (36)
BK V- / (38)
BU CAN_L / (38)
WH CAN_H / (38) Encoder unit
RD V+ / (38)
SC DRAIN / (38)
BK V- / (39)
BU CAN_L / (39)
WH CAN_H / (39) CC-LINK
RD V+ / (39)
SC DRAIN / (39)

DEVICENET ADAPTER Sublocation:+
Next 28
1 2 3 4 5 6 7 8
3)
(16) / -+24Vdevicenet;2 DIG. PART OF COMBI I/O AND DIG. I/O UNIT
-I/Ox
(16) / -0Vdevicenet;2 4)
XTXX.X3
-X3
INPUT CH.1
1 2
2 3
3 4
-X5
(27) / -V- 4 5
(27) / -CAN_L 1 5 6
(27) / -CAN_H 2
6 7
(27) / -V+ 4
7 8
5
8 0V
(27) / -DRAIN 9
0V 3
10
OR PREVIOUS NA0 6
I/O UNIT NA1 7
1) NA2 8 0V
NA3 9
NA4 10 XTXX.X4
NA5 11 -X4
12 INPUT CH.9
1 10
2 11
3 12
4 13
5 14
6 15
1) JUMPERS PLACED ACCORDING TO 7 16
THE ACTUAL NODE ADDRESS. 8 0V
9
2) RESISTANS 120 OHM SHALL ALWAYS 10
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) FOR COMBI I/O DSQC 651, 8 INPUT, NO X4.

FOR DIGITAL I/O DSQC 652, 16 INPUT, X3 AND X4.

DIGITAL PART OF COMBI I/O AND Sublocation:+
DIGITAL I/O UNIT Document no. Rev. Ind Page28
Next 29
1 2 3 4 5 6 7 8
DIGITAL I/O UNIT

-I/Ox
OUTPUT CH 1-8
XTXX.X1
<1 -X1 OUTPUT CH.1
1 2
2 3
3 4
4 5
5 6
6 7
7 8
8 0V
0V
9 24V DC
10
OUTPUT CH 9-16
XTXX.X2
<1 -X2 OUTPUT CH.9

0V
1 10
2 11
3 12
4 13
5 14
6 15
7 16
8 0V
9 24V DC
10

DIGITAL I/O UNIT Sublocation:+
Next 30
1 2 3 4 5 6 7 8
COMBI I/O UNIT

-I/Ox
OUTPUT CH 1-8
XTXX.X1
<1 -X1 OUTPUT CH.1
1
2
2 3
3 4
4 5
5 6
6 7
7 8
0V
8 0V
9 24V DC
10
-X6
INPUT CH.1
CPU INPUT CH.2 1
2
0V
3
DAC
OUTPUT CH.1
5
REF 0VA
4
OUTPUT CH.2
6
+15V
DC
0VA
DC
-15V

COMBI I/O UNIT Sublocation:+
Next 31
1 2 3 4 5 6 7 8
opt. 719/819
ANALOGUE I/O UNIT DSQC 355B
I/O.X
3)
-X7
ANOUT_1
(16) / -+24Vdevicenet.4 1 ANOUT_2
2 ANOUT_3
ADC MUX 3
(16) / -0Vdevicenet.4 ANOUT_4
4 0V
19 0V
0V 20 0V
21 0V
-X5
-V-
(27) / 22
(32) / -CAN_L 1
(32) / -CAN_H 2
(32) / -V+ 4
5
(32) / DRAIN
0V 3 REF
6 DAC
OR PREVIOUS NA0
7 -X8
I/O UNIT NA1 ANIN_1
1) NA2 8 1 ANIN_2
NA3 9 2 ANIN_3
NA4 10 3 ANIN_4
NA5 11 4
12 24V
17
18
19
20
21
0V 22
1) JUMPERS PLACED ACCORDING TO 23
THE ACTUAL NODE ADDRESS. 24 0V
25 0V
26 0V
2) RESISTANS 120 OHM SHALL ALWAYS
27 0V
28

CAN-BUS CIRCUIT.

ANALOGUE I/O UNIT Sublocation:+
Next 32
1 2 3 4 5 6 7 8
3) DIG. PART OF RELAY I/O UNIT

-I/Ox
XTXX.X3
-X3 INPUT CH.1
1 2
2 3
3 4
-X5
(27) /-V- 4 5
(31) / -CAN_L 1 5 6
(31) / -CAN_H 2 6 7
(31) / -V+ 4 7 8
5 8 0V
(31) / -DRAIN 9
0V 3
OR PREVIOUS NA0 6
I/O UNIT NA1 7 0V
1) NA2 8
NA3 9
NA4 10
NA5 11
12
1) JUMPERS PLACED ACCORDING TO

THE ACTUAL NODE ADDRESS.


CAN-BUS CIRCUIT.

RELAY I/O UNIT Sublocation:+
Next 33
1 2 3 4 5 6 7 8
RELAY I/O UNIT

-I/O
XTXX.X1
-X1
OUT CH.1A
1
OUT CH.1B
2
OUT CH.2A
3
OUT CH.2B
4
OUT CH.3A
5
OUT CH.3B
6
OUT CH.4A
7
OUT CH.4B
8
OUT CH.5A
9
OUT CH.5B
10
OUT CH.6A
11
OUT CH.6B
12
OUT CH.7A
13
OUT CH.7B
14
OUT CH.8A
15
OUT CH.8B
16

RELAY I/O UNIT Sublocation:+
Next 34
1 2 3 4 5 6 7 8
3)
REMOTE I/O UNIT
-I/Ox
-X5
(27) /-V-
(27) / -CAN_L 1 NAC

(27) / -CAN_H 2
4 -X8
(27) / -V+ LINE 1 (BLUE)
5 1 REMOTE I/O IN
(27) / -DRAIN
3 -X8
0V LINE 2 (CLEAR)
OR PREVIOUS NA0 6 1 2
I/O UNIT NA1 7
8 -X9
1) NA2 (BLUE)
NA3 9 1 REMOTE I/O OUT
NA4 10
11 -X9
NA5 (CLEAR)
12 2
-X9
3
-X8
3
1 1
THE ACTUAL NODE ADDRESS. 2 2
2) RESISTANS 120 OHM SHALL ALWAYS -X8

4
LAST CONNECTOR IN THE CAN-BUS CIRCUIT. -X9
4
CAN-BUS CIRCUIT.

REMOTE I/O UNIT Sublocation:+
Next 34.2
1 2 3 4 5 6 7 8
Opt 1541-1
opt 1541-2
Digital I/O Base module DSQC1030
-I/Ox
-X4 -X4
703 1 1 GND 0V GND
/ XT31:1
704 2 2 PWR +24V PWR
/ XT31:5
3 GND
4 PWR DC/DC XTXX.X1

-X1
ISO. test voltage 500VAC DO_8
1 7
2 6
3 5
DO_ 1-16 4 4
5 3
6 2
<1 7 1 DO 0-24VDC
8 GND DO 0V
9 PWR DO
-X3 10
+24VDC
(23) / -1.TXRX+ DO_16
1 RX+ 11 15
12 14
(23) / -1.TXRX- 2 RX-
A31.X4 Main computer 13 13
14 12
(23) / -1.RXTX+ 3 TX+ 15 11
16 10
(23) / -1.RXTX- 6 TX- 17 9
18 GND DO
19 PWR DO
20
-X5
1 RX+
XTXX.X2
RX- -X2
2
DI_8
+24V PWR
1 7
TX+
0V GND
3 2 6
3 5
6 TX- 4 4
5 3
+24V PWR
DI_ 1-16 6 2
7 1 0-24VDC
0V GND
8 GND DI
9 DI_16
10 15
11 14
12 13
Internal serial
13 12
14 11
15 10
bus
16 9
17 GND_DI
18
0V
Optical connection
/electrical insulated

Local I/O Digital Base 16in/16out Sublocation:+
Next 34.4
1 2 3 4 5 6 7 8
Opt 1542-1
Opt 1542-2
Digital I/O Add on module DSQC1031
-I/Ox
DC/DC
XTXX.X1
-X1
DO_8
0V GND
+24V PWR
1 7
2 6
3 5
DO_ 1-16 4 4
5 3
6 2
<1 7 1 DO 0-24V
8 GND DO
9
GND
PWR DO PWR +24V DC
10 DO_16
11 15
12 14
13 13
14 12
15 11
16 10
17 9
18 GND DO
19
GND
PWR DO PWR
20
ISO. test voltage 500VAC

XTXX.X2
-X2
DI_8
+24V PWR
1 7
0V GND
2 6
3 5
4 4
5 3
DI_ 1-16 6 2
7 1
8
DI 0-24V
GND DI GND DI
0V GND
9 DI_16
10 15
11 14
12 13
13 12
Internal serial
14 11
15 10
16 9
17 GND_DI
bus
18
Optical connection

Local I/O Digital add on 16in/16out Sublocation:+
Next 34.6
1 2 3 4 5 6 7 8
Opt 1543-1
Opt 1543-2
Analog I/O Add on module DSQC1032
-I/Ox
-X2
0V GND 1 GND
+24V PWR 2 PWR DC/DC 0V GND
3 GND +24V PWR
4 PWR
+24V PWR
0V GND
XTXX.X1
-X1
GND
1 AI_2
AI_1-4 2 GND
3
GND
AI_1 0-10V
4 GND
5 AI_4
10 GND
11 AI_3
12
+24V PWR
0V GND
+24V PWR
0V GND
AO_1-4 AO_2
6 GND
7
GND
AO_1 0-10V
8 GND
9 GND
Internal serial
13 AO_4
14 GND
15 AO_3
bus
16
Optical connection

Local I/O Analog add on 4in/4out Sublocation:+
Next 34.8
1 2 3 4 5 6 7 8
Opt 1544-1
Opt 1544-2
Relay I/O Add on module DSQC1033
-I/Ox
-X3
0V GND 1 GND
DC/DC 0V GND
+24V PWR 2 PWR +24V PWR
3 GND
4 PWR
XTXX.X1
+24V PWR
-X1
0V GND
RLY_4
1 RLY_4
2 RLY_3
3 RLY_3
RLY_ 1-8 4 RLY_2
5 RLY_2
OUT CH.1A 6 RLY_1 RO
7 RLY_1
8
RO
RLY_8
OUT CH.1B 9 RLY_8
10 RLY_7
11 RLY_7
12 RLY_6
13 RLY_6
14 RLY_5
15 RLY_5
16
+24V PWR
+24V PWR
0V GND
0V GND
XTXX.X2
-X2
DI_4
1 3
Internal serial
DI_ 1-8 2 2
3 1 PWR DI
4 GND_DI GND DI
bus
5 DI_8
6 7
7 6
8 5
Optical connection 9 GND_DI
/electrical insulated 10

Local I/O Relay add on 8RO/8DI Sublocation:+
Next 35
1 2 3 4 5 6 7 8
3)
INTERBUS SLAVE
-I/Ox
-X5
-V-
(27) /
-X21
(27) / -CAN_L 1 TPDO2

(27) / -CAN_H 2 1 TPDI2

(27) / -V+ 4 2 GND
5 3 +5VDC IB-S OUT
(27) / -DRAIN 5 TPDO2-N
0V 3 6 TPDI2-N
OR PREVIOUS NA0 6 7 RBST
I/O UNIT NA1 7 9
1) NA2 8
NA3 9
NA4 10
NA5 11
12
-X20
TPDO1
1 TPDI1
2 GND IB-S IN
3 TPDO1-N
6 TPDI1-N
-X3 7
GND
4) 24V DC EXT. SUPPLY 1
+24VDC 3
5


CAN-BUS CIRCUIT.
4) IT IS IMPORTANT THAT 24V DC EXT SUPPLY

ALWAYS IS AVAILABLE. OTHERWISE THE
INTERBUS CAN NOT WORK IF THE CONTROLLER
IS TURNED OFF.

INTERBUS SLAVE Sublocation:+
Next 36
1 2 3 4 5 6 7 8
PROFIBUS DP SLAVE
3) -I/Ox
(16) (39) / -+24Vdevicenet;7

Customer
(16) (39) / -0Vdevicenet;7 Connection
-X5
(27) /-V-
-X20
(27) / -CAN_L 1 SHIELD

(27) / -CAN_H 2 1
(27) / -V+ 4 RXD/TXD-P
5 3 CONTROL-P
(27) / -DRAIN 4 GND
0V 3 5 +5VDC
OR PREVIOUS NA0 6 6 RXD/TXD-N
I/O UNIT NA1 7 8
1) NA2 8
NA3 9
NA4 10
NA5 11
12
-X3
0V DC
External supply GND 1
+24VDC 3
5



CAN-BUS CIRCUIT.

PROFIBUS DP SLAVE Sublocation:+
Next 37
1 2 3 4 5 6 7 8
Opt. if 941-1
Ethernet switch
-A65
-X2
TX+/RX+
-X6 US 24V 1
Customer power
TX-/RX- 2
GND 0V
RX+/TX+ 3
RX-/RX+ 6
-X3
TX+/RX+ 1
TX-/RX- 2
-X1 Supplied harness, connection acc. to the Customer
1 TX+/RX+ RX+/TX+ 3 TX+/RX+ 1.MX1.RX+ / (24)
2 TX-/RX- RX-/RX+ 6 TX-/RX- 1.MX1.RX- / (24)

A31.X5
3 RX+/TX+ RX+/TX+ 1.RXMX2.+ / (24)
-X4
6 RX-/RX+ TX+/RX+ 1 RX-/RX+ 1.RXMX2.- / (24)
TX-/RX- 2
RX+/TX+ 3
RX-/RX+ 6
-X5
TX+/RX+ 1
TX-/RX- 2
RX+/TX+ 3
RX-/RX+ 6

ETHERNET SWITCH Sublocation:+
Next 37.1
1 2 3 4 5 6 7 8
PROCESS POWER SUPPLY G2
opt. MULTI MOVE 604-1/2

ETHERNET SWITCH
-A34
-XP49 -X2
1 717 -X6 24V Pwr1+ 1

(15) / X49.1
2 718 0V Pwr1- 2 Drive module 2
(15) / X49.2
719 3
Pwr2+
Pwr2- -X3
1
2
-X1 Drive module 3
(49) / -9.TXRX+ 1 RX+ 3
A42.X2
(49) / -9.TXRX- 2 RX- 6
(49) / -9.RXTX+ 3 TX+

-X4
(49) / -9.RXTX- 6 TX- TX+ 1
TX- 2 Drive module 4

RX+ 3
RX- 6
-X5
TX+ 1 8.TXRX+ / (23)
TX- 2 8.TXRX- / (23)

A31.X9
RX+ 3 8.RXTX+ / (23)
RX- 6 8.RXTX- / (23)

ETHERNET SWITCH A34, option MULTI MOVE Sublocation:+
604-1/2 Document no. Rev. Ind Page37.1
Next 37.2
1 2 3 4 5 6 7 8
Camera 1
-XS45.1 -XP45.1
1 1
Power
(37.2) / +24V +24V.REDwire /
2 2
(18) / 0V 0V.GroundBLACKwire /
3 3
4 4
(37.2) / +24V
5 5
(47) / 0V
6 6
Ethernet switch
7 7
-A64 8 8
9 9
-X2 Customer connection 10 10
US 24V 1 11 11
12 12
GND 0V 2
Camera 1
3
Camera 2
-XS45.2 -XP45.2
6 1 1
Power
2 2
.+24V.REDwire /
.0V.GroundBLACKwire /
3 3
4 4
5 5
1 7 7
8 8
2 Camera 2 9 9
-X1
1 RX+ 10 10
3 11 11
2 RX- 12 12
6
A31.X2 3 TX+
Camera 3
-XS45.3 -XP45.3
6
TX-
Power
1 2 2
+24V.REDwire. /
3 3
0V.GroundBLACKwire. /
2 Camera 3 4 4
5 5
3 6 6
7 7
6 8 8
9 9
-X5 10 10
1 11 11
TX+ 12 12
2 A61.X10
TX-
if option Remote service
3
RX+
6
RX-

ETHERNET SWITCH A64/CAMERA Sublocation:+
Next 37.3
1 2 3 4 5 6 7 8
Robot controller
Main computer Customer

power supply (96W)
Yellow label
Ethernet Service 24V
Ethernet
Cam 1
24V and I/O External
I/O
Ethernet switch Ethernet Camera lighting
Cam 2
24V and I/O External
I/O Camera
Ethernet lighting
Cam 3
Ethernet External
I/O 24V and I/O Camera lighting
24V I/O
Power supply

VISION, INTEGRATED CAMERAS Sublocation:+
Next 38
1 2 3 4 5 6 7 8
ENCODER UNIT
3) -I/Ox
(16) / -+24Vdevicenet;8 Encoder

Connection
-X20
24 VDC
-X5
1
(27) / -V- 0V
(27) / -CAN_L 1
2
(27) / -CAN_H 2 ENC +24V
(27) / -V+ 4
3
5 ENC 0V
(27) / -DRAIN 4
Encoder
0V 3 2 1 ENC_A
OR PREVIOUS NA0 6
A 5
I/O UNIT NA1 7 ENC_B
1) NA2 8
1 6
NA3 9 +24V
NA4 10
7
NA5 11 0V Synch switch
12 2 1
8
DIGIN
A
9
1
2 1
A
1

CAN-BUS CIRCUIT.

ENCODER UNIT Sublocation:+
Next 39
1 2 3 4 5 6 7 8
CC-LINK DSQC378B
3) -I/Ox
Customer
(36) / -0Vdevicenet;7 Connection
-X5
(27) /-V-
-X20
(27) / -CAN_L 1 SHIELD

(27) / -CAN_H 2
1
(27) / -V+ 4 Signal line A
5 2 GND
(27) / -DRAIN 3 Signal line B
0V 3 4
OR PREVIOUS NA0 6
I/O UNIT NA1 7
1) NA2 8
NA3 9
NA4 10
NA5 11
12
-X3
0V DC
External supply GND 1
+24VDC 3
5



CAN-BUS CIRCUIT.

CC-LINK Sublocation:+
Next 40
1 2 3 4 5 6 7 8
Only if opt. 890-1
Option: REMOTE SERVICE BOX 890-x

-A61
-X1 -X2 =IRC5++PMC-X18
0V 746
Customer power
1 1 1
supply +24V 745
2
-X10 -X11
Connection to 1 1
Computer
2 2
3 3
6 6
-X15
1
2
3
4
5
6
7
8
9

REMOTE SERVICE BOX for Rel. 16.1 and earlier Sublocation:+
Next 40.1
1 2 3 4 5 6 7 8
Option:
REMOTE SERVICE BOX opt. 890-4
DSQC1016/DSQC1023 opt. 890-5
-A61
-X2 -A61-X2
-A61-X1 -X1 1
7 7
XS18 /
745
Customer
Power supply 8 (.3)
8
746
GND 9 9
-P2
1
2
-A61-P1 -P1 3
1 1
RX+ 6
2 2
RX-
Connection to 3 3
main computer TX+
6 6
TX-
LAN3 8/ -P3
-P4
LAN4/WAN 8/

REMOTE SERVICE BOX DSQC1016/DSQC1023 Sublocation:+
from Rel. 16.2 Document no. Rev. Ind Page40.1
Next 41
1 2 3 4 5 6 7 8
230VAC 3 x 200 - 600VAC

Customer connection Customer connection
-Q1
Z1
Not included in PMC
F2
T1
G1 Option in LV
Standard in HV
AC
LV: 3 x 262 VAC
DC
HV: 3 x 400 - 480 VAC
Z2
A42
F1
AXC Option
A43
A31
CB K42
A21
K43
A41
DRIVE
X1 X2 X1

BLOCK DIAGRAM DRIVE UNIT Sublocation:+
Next 42
1 2 3 4 5 6 7 8
K43 X9
24V Drive DSQC 627
X1 AC Input
X16 X15 X14 X1 Measurement link 1
X2 X4
K42
MAIN SERVO DRIVE UNIT A41.1 Measurement link 2

X5
AXIS
COMPUTER
K44
BOARD
A42
X6 UPPER SIDE
X4 X8 Computer module link
Ethernet diode X2 DRIVE
X9
12 3 4 5
POWER
X6 X7 UPPER SIDE SUPPLY
Drive link
X11 G1
XT16
X11 Contactor board link
X6
X9
X4 AXC-Signals
X5 Console port
X7
X13 X11 X12 DC OK
X9 X2 24V Drive out
Sh 46.5 XS41
X3 24V Brake and Cool out
XS2
X7 X5 X9 X11 X6 X4
XS1
CONTACTOR
UNIT
A43
X22
X3
X21 X8 FAN
UNIT
E1
X24
X23
X1 X10 X12
E42 E43 E44

VIEW OF DRIVE MODULE LV Sublocation:+
Next 43
1 2 3 4 5 6 7 8
DSQC 627 X9
X13 X23 X12 X22 X11 X21
24V Brake and Cool out X3
MAIN SERVO DRIVE UNIT A41.1 24V Drive out X2 Console port
X6 Contactor board link

DC OK
AXIS
AXC-Signals X4 X11 Drive link COMPUTER
BOARD
A42
X9 Out Ethernet diode
X2 Computer module link
X8 In Ethernet diode
DRIVE
POWER
SUPPLY
G1 Measurement link 2
X5
X1 X16 X2 X8, X9 X15 X14
X7 X6
X4 Measurement link 1
K42 K43 K44 24V Drive

X12 X10 X1
F1 F2
X23 X1
XT16
AC Input X1
PE
Sh 46.5 XS41
X7 X5 X9 X11 X6 X4
CONTACTOR
BOARD
A43
X22
XS2
X3
XS1
X21 X8
FAN
X24 UNIT
X23 E1
X1 X10 X12
E42 E43 E44

VIEW OF DRIVE MODULE HV Sublocation:+
Next 44
1 2 3 4 5 6 7 8
MAINS CONNECTION Option: Transformer T1.2 L1-L2-L3 = 262V

if IRB120 - 360, 14x0 - 44x0, 6400R
T1.2 (4,2kVA) (4,2kVA) (4,2kVA) (6,0kVA)
/ (45)
/ (45)
/ (45)
Terminal 3HAC037016-001 3HAC037017-001 3HAC037018-001 3HAC024180-001
-L1
-L2
-L3
1) 200V 400V 440V 200V
2) 220V 480V 220V

-X10 1 2 3
3) 500V 400V
4) 600V 440V
113 AWG 10 BN
114 AWG 10 BN
115 AWG 10 BN
5) 480V
6) 500V
TRANSFORMER UNIT 7) 600V
T1.2
-X1
1) 2) 3) 4) 5) 6) 7) 1) 2) 3) 4) 5) 6) 7) 1) 2) 3) 4) 5) 6) 7)
1 2 3
GNYE
262VAC
262VAC
262VAC
230VAC
115VAC
AWG10
230V
230V
-X2
N
-230VAC1
-230VAC2
-T1_L1
-T1_L2
-T1_L3
(48) /
(48) /
(48) /
(46) /
(46) /
CONTACTOR
UNITS
1), 2)

TRANSFORMER UNIT 262V Sublocation:+
Next 45
1 2 3 4 5 6 7 8
MAINS CONNECTION
-XP0 1 2 3
101
102
103
AWG10 AWG10 GNYE
1 3 5
Option:Main switch
-Q1 2 4 6 106 AWG10 BK Option: Mains line filter Transformer
105 AWG10 BK T1.3 USED FOR DIRECT POWER SUPPLY:
104 AWG10 BK IRB460, 660, 760, 4600, 66x0, 6700 .400-480V
IRB7600 ...................................480V
3HAC 037015-001 1,2 kVA
3
-Z1
110 BK
112 BK
111 BK
-X10 1 2 3
Transformer
113
114
115
Option T1.2 L1-L2-L3 = 262VAC
113 AWG10 BN
114 AWG10 BN
115 AWG10 BN
AWG12 BK
if IRB140-2600
Transformer L1 L2 L3 AWG10 BK
150
T1.1 3HAC 024138-001 (13kVA) (44) (44) (44)

151
IRB460, 660, 760, 4600, 66x0, 6700, 7600

TRANSFORMER UNIT
TRANSFORMER UNIT T1.3 -X1 -Z2
L1IN L2IN L3IN
REAKTOR UNIT
T1.1 -X1 -X1
IN
F1 F3 F5
480V
200V
220V
400V
440V
500V
600V
200V
220V
400V
440V
500V
600V
200V
220V
400V
440V
480V
500V
600V
480V
230V
400V
440V
480V
F2 F4 F6
1 2 3 -X2
GNYE
GNYE
1 2 3 L1UT L2UT L3UT
480VAC
480VAC
480VAC
230VAC
115VAC
230V
230V
OUT
-X2
AWG10
AWG10
N
230VAC
230VAC
230VAC
115VAC
-X2
N
116 117 118
-Z2
REAKTOR UNIT
INL1 INL2 INL3

-X1
F1 F3 F5 1 2
-L1
119
120
121
F2 F4 F6
1 2 -X2
OUTL1
OUTL2
OUTL3
-230VAC1
-230VAC2
-230VAC1
-230VAC2
-T1_L1
-T1_L2
-T1_L3
119 120 121
/ -T1_L1 / -T1_L2 / -T1_L3
(48) /
(48) /
(48) /
(48)
(48)
(48)
(46) /
(46) /
(46) /
(46) /
CONTACTOR 230VAC
POWER SUPPLY UNITS POWER SUPPLY CONTACTOR
1), 2)
UNITS
TRANSFORMER UNIT 480V Sublocation:+
Next 46
1
Latest revision:
-G1

-X2
461 AWG18 BU
UNIT
(49) -+24V DRIVE
1
(49) -0V DRIVE 462 AWG18 BU
AXIS COMP.
DRIVE POWER SUPPLY
(49) / -+24V Drive sys -516 AWG18 BU
2
2
(49) / -0VDrive sys -517 AWG18 BU
DRIVE UNIT
MAIN SERVO

(47) -+24VDRIVE;1 -463 AWG18 BU
3
-464 AWG18 BU
-F2-HV
(47) -0VDRIVE;1
BOARD
Standard in HV
CONTACTOR
2017-09-07
3
Automatic fuse
230VAC1
-X3
1
(47) / -+24VBRAKE;1 -465 AWG16 BU

173
1
230VAC2
3
BU
4
(47) / -+24VBRAKE;2 -466 AWG16

174
2
(47) / -+24VCOOL;1 -469 AWG16 BU
BOARD
Customer connection
(47) / -0VBRAKE;1 -467 AWG16 BU 3

AWG16
CONTACTOR
5
-XT16
(47) / -0VBRAKE;2 -468 AWG16 BU

-X1
GNYE
6
3
-470 AWG16 BU
4
(47) / -0VCOOL;1
7
-152 AWG16 BK -230VAC1 /

4
(57) / -510 AWG20 BU (44) (45) (45)

1/BK
-+24VCOOL;3
4
-153 AWG16 BK -230VAC2 /

5
(57) / -511 AWG20 BU (44) (45) (45)

2/BK
-+24VCOOL;2
(57) / -0VCOOL;3 -512 AWG20 BU
PRN
8
AWG16
DRIVE UNIT
MAIN SERVO
(57) / -0VCOOL;2 -513 AWG20 BU
Lab/Office:
DMRO SE/
5
Option: in LV
-F2-LV
-X4
(49) / -+5V_OUT BK
1
POWER SUPPLY
(49) /
UNIT
-ACOK BN
2
Automatic fuse
1
3
2
AXIS COMP.
AWG 26
4
3

-181
-182
6
AWG16
AWG16
Status:
7
Approved
Document no.
-230VAC1;1
-230VAC2;1
3HAC026871-020
Plant:
/ (15) (16)
/ (15) (16)
230VAC
Sublocation:+
Location: +
=
8
MODULE
CONTROL
Next 47
Rev. Ind Page46
07 Total 116
1 2 3 4 5 6 7 8
CONTACTOR BOARD
DRIVE MODULE
-A43
-X6 -X5
DRIVE (46) -0VDRIVE;1 PTC1 PTC1 / (59) (62) (65) (70) (72.2) (74) (77) (83.5) (96)
POWER 1 1
SUPPLY (46) -+24VDRIVE;1
24VDrive
2 PTC1 ret PTC1ret / (62) (70) (74) (77) (96)
1 2
24V 2
-X1 0V BRAKE
(18) / -RUN_CH1 0VBRAKE;3 / (62) (70) (74) (77) (80) (86) (96)
CONTROL (18) / -RUN_CH1Ret 1
3
MODULE (18) / -RUN_CH2 2
A21.X7 (18) / -RUN_CH2Ret 3 0V BRAKE

4
0VBRAKE;4 / (62) (70) (74) (77) (96)
4
-X22
/ LIM2ch1 LIM2 ch1 24VDrive
LIMIT LIM2 ch2 1 -X10
/ LIM2ch2 3
RunCh2
SWITCH 2
EXTERNAL / LIM2ch2ret LIM2 ch2 ret 1
LIM2 ch1 ret 4
AXIS / LIM2ch1ret 2 EXTERNAL
24VDrive 2
No jumper If Jumper if FAN
external axes no external axes

3
LIMIT 1
OVERRIDE -A43.X23
3
4
4 -X11
2
-X21 1
LIMIT (54) (62) (74) (77) / -A43-X21:1 LIM1 ch1
SWITCH 1 (54) (62) (74) (77) / -A43-X21:3 LIM1 ch2 1 EXTERNAL
2
3 RunCh1 FAN
CONTROL
CABLE (54) (62) (74) (77) / -A43-X21:4 LIM1 ch2 ret LIM2 3
(54) (62) (74) (77) / -A43-X21:2 LIM1 ch1 ret 4 LIM1
2
4
-X1
CONTROL (18) / -ENABLE2_1
5 -X12
MODULE (18) / -ENABLE2_1Ret INTERLOCKING DUTY
(18) / -SPEED.1 6 TIME
A21.X7 1
(37.2) / -0V 7
AXC
COUNTER
8
24V COOL
0V COOL
-X4 2
PAN_CH1
(49) / -RS485+ BU
BRAKE CTRL
AXIS (49) / -RS485- 4 K2
24V COOL
WHBU
COMPUTER (49) / -0V ENABLE2 OG 5 K1

RunCh1
(49) / -ENABLE2 WHOG 7

8
RunCh2
24V COOL
0V COOL
-X7
PAN_CH2
(46) / -+24VBRAKE;2
1
(46) / -0VCOOL;1
0V COOL
DRIVE 2
POWER (46) / -+24VCOOL;1
-LOCK1A
-LOCK2B
-SELF1
-SELF2
-0VCOOL;6
-RCH1
SUPPLY 3
(46) / -+24VBRAKE;1
-0VCOOL;6
(48) / -0VCOOL;6
(48) / -BRAKE
4
-RCH2
-0VBRAKE;2
(48) /
(46) /
(48) /
(48) /
(48) /
(48) /
5
(46) / -0VBRAKE;1
(48) /
(48) /
6
(48) /
-X24
/PTC2 1
/ PTC2 0V CONTINUATION NEXT PAGE
2

CONTACTOR BOARD Sublocation:+
Next 48
1 2 3 4 5 6 7 8
(44) (44) (45)

Option LV (45) (45) (44) Option HV
(45) (45) (45)
T1_L1
T1_L2
T1_L3
CONTACTOR BOARD
-A43
EXTCONT
/ (47)
/ (47)
L2
L3
L1
L1
L2
L3
-LOCK1A
-LOCK2B
/ (47)
/ (47)
/ (47)
Customer
BK
BK
BK
24V BRAKE
BRAKE PB
/ (47)
connection
/ (47)
/ (47)
-119
-120
-121
/ (47)
/ (47)
-0VCOOL;6
-0VCOOL;6
-0VCOOL;6
&
BRAKE_FB
24V 24V
PTC2 0V
24V
-BRAKE
-SELF1
-SELF2
1 3 5
-RCH1
-RCH2
0V
PTC2
F1
0V
OPTION :
LOCK1B
LOCK2A
AUTOMATIC
FUSE I> I> I>
2 4 6 1
-X8 2 1 6 5 4 3 -X3 1 6 5 4 10 9 3 2 7 8 -X24 3 4 5 6 1 2 -X9 1 2 3

Customer -F1
AWG20 connection I> I> I>
BU BU BU 2
AWG16 AWG16 AWG16
BU BU BU BU BU BU BU BU BU BU BU BU BU BU BU BU
AWG10
1 2 3
XT16
-471
-472
-473
-474
-475
-476
-451
-452
-479
-480
-481
-482
-483
-484
-485
-486
-487
-477
-488
AWG16 BK BK BK
BK BK BK
-w122
-w123
-w124
122 123 124
Contactor unit
K42, K43, K44
A1 33 21 14 1 3 5 1 3 5
-K42
A2 34 22 13 2 4 6 2 4 6
AWG16 AWG10
BU
AWG16 BK BK BK
BK BK BK
-W142
-W143
-W144
-489
142 143 144
A1 33 21 13 1 3 5 1 3 5
-K43
A2 34 22 14 2 4 6 2 4 6
BU
AWG16
BU
-J100 AWG16
-490
AWG16
A1 2 3 5 21
AWG10
-K44 BK BK BK BK BK BK
A2 1 4 6 22
Only one connection,

option LV or option HV
-w128
-w129
-w130
128
129
130
BU BU BU BU BU BU
AWG16 AWG16 AWG16 AWG16 AWG16 AWG16
-w447 -w448 -w445 -W449 -w446 -W450
-XP40.2
-XP40.3
-XP40.1
-XP40.4
-L21
-L22
-L23
XP40.5
XP40.6
(56) /
(56) /
(56) /
(50) (50) (50) (50)
(50) (50)
CONTROL CABLE RECTIFIER LV or HV

CONTACTOR UNIT Sublocation:+
Next 49
1 2 3 4 5 6 7 8
DRIVE (53) (54) / -+24V DRIVE;2 -726 AWG20 BK
POWER
SUPPLY (53) (54) / 0V DRIVE;2 -725 AWG20
AXIS COMPUTER BOARD MAIN SERVO DRIVE UNIT
EPS/SAFE MOVE
A44-X1 -A42 -A41.1-2
1
2
-XS1
DRIVE (46) -+24V DRIVE
POWER 1
SUPPLY (46) -0V DRIVE
2
-XP11 AWG26 4x2 SFTP
(46) ACOK
BN
-XP8
3
(46) -+5V_OUT 1 1
4 BNWH
2 2
OG
1) 3 3
AWG24 -XP2
(23) / TXRX+.2 OGWH
CONTROL 1 6 6
MODULE (23) / TXRX-.2
A31.X9
2
MAIN (23) / RXTX+.2
COMPUTER 3
(23) / -RXTX-.2
6
OPTION : (53) (54) / TX+.2

EPS OR (53) (54) / TX-.2
SAFE MOVE (53) (54) / RX+.2
A44-X4 (53) (54) / RX-.2
(37.1) / -9.TXRX+
OPTION : (37.1) / -9.TXRX-
AXC SWITCH (37.1) / -9.RXTX+
A34 (37.1) / -9.RXTX-
-XP6
(47) / -RS485+
4
CONTACTOR (47) / -RS485-
UNIT 5
-XS6
(47) / -0V ENABLE2 (46) / +24V Drive sys -519AWG16 BU
7 1
(47) / -ENABLE2
8 (46) / -0VDrive sys -518AWG16 BU
2
XS9
RXD
2
1) No connection to main computer if EPS or SAFE MOVE is connected TXD
3
0V
5

AXIS COMPUTER and MAIN SERVO DRIVE UNITS Sublocation:+
Next 50
1 2 3 4 5 6 7 8
XP40.1
XP40.2
XP40.3
XP40.4
XP40.5
XP40.6
(48)
(48)
(48)
(48)
(48)
(48)
-XP40 1 2 3 4 5 6
2 3 4 5 6
-XS40 1
-EXT. LAMP -BRAKEREL1 -BRAKEREL2 -BRAKEPB

(59) (59) (59) (59)
(62) (62) (62) (62)
(65) (65) (65) (65)
(68) (68) (68) (68)
(70) (70) (70) (70)
(72.2) (72.2) (72.2) (72.2)
(74) (74) (74) (74)
(77) (77) (77) (77)
(80) (80) (80) (80)
(83.5) (83.5) (83.5) (83.5)
(86) (86) (86) (86)
(92) (92) (92) (92)
(96) (96) (96) (96)
CONTROL CABLE
CONTACTOR UNIT Sublocation:+
Next 51
1 2 3 4 5 6 7 8
A44
Option: EPS
connect to
A44-X5
3.See pages / (53)
AXIS COMPUTER BOARD -A44 Option: Safe Move connect

A42 to A44-x5 and x7
(54)
4.See pages / (54)
-XP4
MRCO1 -MRCO1 / (59) (62) (65) (68) (70)
1 (72.2) (74) (77) (80) (83.5)
(86) (92) (96)
MRCO1_N -MRCO 1_N / (59) (62) (65) (68) (70)

2 (72.2) (74) (77) (80) (83.5)
(86) (92) (96)
(59) (62) (65) (68) (70)
MRCI1 -MRCI1 / (72.2) (74) (77) (80) (83.5)
4 (86) (92) (96)
(59) (62) (65) (68) (70)

MRCI1_N CONTROL
-MRCI 1_N / (72.2) (74) (77) (80) (83.5)

5 (86) (92) (96) SIGNAL XS2
0V -MRC_0V1 / (59) (62) (65) (68) (70)

6 (72.2) (74) (77) (80) (83.5)
(86) (92) (96)
24V_SMB1 +24V_SMB1 / (59) (62) (65) (68) (70)

7 (72.2) (74) (77) (80) (83.5)
(86) (92) (96)
0V -MRC_0V2 / (59) (62) (65) (70) (74)

3 (77) (80) (83.5) (86) (92)
(96)
0V -MRC_0V3 / (59) (62) (65) (70) (74)

9 (77) (80) (83.5) (86) (92)
(96)
-XP5
-XS41
MRCO2
A
1
MRCO2_N B
2
MRCI2 C
4
MRCI2_N D
5
0V E
6
24V_SMB2 F
7
0V G
3
0V J
9

AXIS COMPUTER BOARD Sublocation:+
Next 52
1 2 3 4 5 6 7 8
-FMB
Option: 738-1
Graphic view at sheet
12 x AWG24 BU UL1569
-X1
SDI_AXC 1005
SDI_AXC_N A 1006
SDO_AXC B 1007 DSQC686 VOLTAGE MEASURE BOARD
Sh.8, 8.5 XS41 SDO_AXC_N 19 x 0,14mm^2 BU
C 1008 =IRC5++PMC+C-FMB-A1
0V D 1011
24V E 1012 -XS1 -X1 -X2 -XP2 -X3
F AIN1_P
2 1 1 AIN1_N
3 2 2 AIN2_P
4 3 3 AIN2_N
5 4 4 AIN3_P
7 5 5 AIN3_N
8 6 6 AIN4_P
9 7 7 AIN4_N
10 8 8 AIN5_P Sensor connection
11 9 9 AIN5_N
12 10 10 AIN6_P
Bridge connector FMB.X2 13 11 11 AIN6_N
14 12 12 AIN7_P
-X2 14 14 AIN7_N
SDO_SMB 1001 15 15 SEN_DET_P
SDO_SMB_N A 1002 16 16 SEN_DET_N
SDI_SMB B 1003 17 17 0V_AI_ANALOG
Customer connection SDI_SMB_N C 1004 23 18 -15V_AI
0V D 1009 24 19 +15V_AI
24V E 1010 25 20
F

FORCE MEASUREMENT BOX Sublocation:+
Next 53
1 2 3 4 5 6 7 8
OPTION : EPS DSQC 646

A44
-X4
AWG24
BU TX+.2 / (49)
-X1 1
DRIVE POWER (49) / 0V DRIVE;2 WHBU TX-.2 / (49) AXIS
SUPPLY 1 2 COMPUTER
(49) / -+24V DRIVE;2 OG RX+.2 / (49) BOARD
2 3 A43-X2
WHOG RX-.2 / (49)
4
-X6
MRCO1
AWG24 -X3 1
(54) / -TX+ WHOG MRCO1-N
CONTROL 1 2
MODULE (54) / -TX- OG MRCI1
A31.X9 2 4
MAIN (54) / -RX+ WHGN MRCI1-N CONTROL
COMPUTER 3 5 SIGNAL
(54) / -RX- GN 0V XS2

6 6
24V-SMB1
7
0V
3
0V
9
-X5 -X9
MRCO1 +24V
1 1
MRCO1-N 0V
2 2
MRCI1 UT1A
AXIS 4 3
COMPUTER MRCI1-N UT1B
BOARD 5 4
A42-X4 0V UT2A
3.See pages / (51) 6 5
24V-SMB1 UT2B PROCESS I/O
7 6
0V UT3A
3 7
0V UT3B
9 8
UT4A
9
UT4B
10
UT5A
11
UT5B
12
IN1A
13
IN1B
14

EPS Sublocation:+
Next 54
1 2 3 4 5 6 7 8
OPTION: SAFE MOVE DSQC647

A44
X13
Relay output RelOut 1A -A43-X21:1 / (47)
XS1
DRIVE POWER (49) / -0V DRIVE;2 pair 1 1
SUPPLY 1 RelOut 1B -A43-X21:2 / (47)
(49) / -+24V DRIVE;2 2 CONTACTOR UNIT
2 Relay output RelOut 2A -A43-X21:3 / (47) X21
pair 2 3
RelOut 2B -A43-X21:4 / (47)
4
-X3 -X4 AWG24

MAIN (53) / -TX+ AWG24 WHOG WHOG -TX+.2 / (49) AXIS
COMPUTER (53) / -TX- OG
1 1 OG -TX-.2 / (49) COMPUTER
A31.X9 (53) / -RX+ WHGN
2 2 WHGN -RX+.2 / (49) BOARD
CONTROL 3 3 A42.X2
MODULE 4 4
(53) / -RX- GN
5 5 GN -RX-.2 / (49)
6
6
7 7
8 8
-X5 -X6
MRCO1 MRCO1
1 1
MRCO1-N MRCO1-N
2 2
AXIS MRCI1 MRCI1
COMPUTER 4 4 CONTROL
BOARD MRCI1-N MRCI1-N SIGNAL
A42-X4 5 5 XS2
4.See pages / (51) 0V 0V
6 6
24V-SMB1 24V-SMB1
7 7
0V 0V
3 3
0V 0V
9 9
-X7 -X8
MRCO2 MRCO2
1 1
MRCO2-N MRCO2-N
AXIS 2 2
COMPUTER MRCI2 MRCI2 EXT. AXIS
BOARD 4 4 SIGNAL
A42-X5 MRCI2-N MRCI2-N XS41
4.See pages / (51) 5 5
0V 0V
6 6
24V-SMB2 24V-SMB2
7 7
0V 0V
3 3
0V 0V
9 9

SAFE MOVE Sublocation:+
Next 55
1 2 3 4 5 6 7 8
SAFE MOVE
A44
+24V I/O
-X9 -X11
IN1A I/O POWER
1 SUPPLY 1
IN1B Equivalent GND
2 configurable 2
IN2A activation OUT1A
3 Inputs 3
IN2B OUT1B
4 4
IN3A Configurable OUT2A
5 Monitor 5
IN3B Outpurs OUT2B
6 6
IN4A OUT3A
7 7
IN4B OUT3B
8 8
IN5A OUT4A
9 Antivalent 9
IN5B configurable OUT4B
10 activation 10
IN6A Inputs
11
PROCESS I/O IN6B PROCESS I/O
12
-X10 -X12
IN7A
1 Antivalent 1
IN7B configurable
2 activation 2
IN8A Inputs OUT5A
3 3
IN8B OUT5B
4 4
CSC INA Antivalent OUT6A
5 Inputs Configurable 5
CSC INB Monitor OUT6B
6 Outpurs 6
OUT7A
7 7
OUT7B
8 8
OVR A Antivalent OUT8A
9 Inputs 9
OVR B OUT8B
10 10
11
12

SAFE MOVE Sublocation:+
Next 56
1 2 3 4 5 6 7 8
POWER UNIT
MAIN DRIVE UNIT
A41.1 -X9
/ (48)
/ (48)
/ (48)
1 TX+
2 TX-
-L21
-L22
-L23
3 RX+
6 RX-
GN/YE
AWG10
GN/YE
-XS7
1 0V DRIVE
X1 2 24V DRIVE
1
If IRB260, 1600 If IRB140, 360,

two bleeder one bleeder
BLEEDER for LV BLEEDER for LV -X2
-1 AWG12 BK Bleeder +
1
1 1
2 2
-2 AWG12 BK Bleeder -
2
GNYE
AWG12
BLEEDER for HV -X2

-1 AWG12 BK Bleeder +
1
1
-2 AWG12 BK Bleeder -
2
GNYE
AWG12

MAIN DRIVE UNIT Sublocation:+
Next 57
1 2 3 4 5 6 7 8
OPTION : FAN UNIT

- -E1
-XS1 -354 AWG24 BU
(46) / -+24VCOOL;2
3 3
(46) / -+24VCOOL;3 -350 AWG24 BU
1 1
-E41 -X1 1
-E42 -X1 1
-E43 -X1 1
FAN UNIT FAN UNIT FAN UNIT
+
-X1 -X1
-X1
DRIVE POWER M M M
SUPPLY 2 2 2
- - -
-X1 3 -X1 3 -X1 3
(46) / -0VCOOL;3 -351 AWG24 BU

2 2
(46) / -0VCOOL;2 -355 AWG24 BU
4 4

OPTION : FAN UNIT Sublocation:+
Next 58
1
Latest revision:
FLOOR CABLE

-XS1
AWG16
-R1.(MP 1-)3
-A41.1
-X11
M3R BUGN -_400 AWG16 BK

1
13
A1
M3S BURD -_402 AWG16 BK
17
3
A3
2
M3T BUWH -_404 AWG16 BK
15
2
A5
MAIN SERVO DRIVE UNIT

-X12
M1T BKRD -_410 AWG16 BK
3
2
A11
M1S BKGN -_408 AWG16 BK
5
3
A9
M1R BKBU -_406 AWG16 BK
1
1
A7
2017-09-07
3
-R1.(MP 4-)6
-X14
M6R BN -_418 AWG16 BK
6
1
B3
M6S GNRD -_420 AWG16 BK
9
3
B4
GNWH -_422 AWG16 BK

4
M6T
12
2
B5
Cabinet module
-X16
M4T BNBU -_432 AWG16 BK
3
2
B11
M4S BNBK -_430 AWG16 BK

2
PRN
3
B10
M4R BU -_428 AWG16 BK
Lab/Office:
DMRO SE/
1
1
B9
5
IRB 140
According to Manipulator circuit diagram 3HAC6816-3
-X13
M2R BKWH -_412 AWG16 BK

7
1
A13
M2S BK -_414 AWG16 BK

11
3
A15
M2T BUBK -_416 AWG16 BK

9
2
B1
SERVO DRIVE SYSTEM

-X15
M5T BNWH -_426 AWG16 BK

2

10
B8
M5S BNRD -_425 AWG16 BK

7
6
B7
M5R BNGN -_424 AWG16 BK

4
1
B6
AWG10 GNYE
AWG10 GNYE
Status:
7
Approved
Document no.
DRIVE MODULE
3HAC026871-020
Plant:
MANIPULATOR
Sublocation:+
Location: +
=
8
Next 59
Rev. Ind Page58
07 Total 116
1 2 3 4 5 6 7 8
FLOOR CABLE
CONTROLLER
MANIPULATOR
DRIVE MODULE 0,23 mm2
R2.SMB
-XS2
(51) / -MRCO1 WH SDI
A 9
(51) / -MRCO 1_N BU SDI-N
(51) / -MRCI1 B WH 5 SDO
(51) / -MRCI 1_N C OG 8 SDO-N
AXIS COMPUTER BOARD (51) / -MRC_0V1 D WH 4 0V SERIAL
A42-X4 E WH 3 MEASUREMENT
(51) / +24V_SMB1 GN 24V BOARD
F BN 7
(51) / -MRC_0V2
G
(51) / -MRC_0V3 H
J GY BATSUP
K RD 6 BATLD
L 2

AWG16
-XS1 R1-H1
(50) / -EXT. LAMP -_433 AWG16 C7 OG
1 R1-.(MP 4-)6
DRIVE MODULE (50) / -BRAKEPB -_434 AWG16 BU B16 OGWH
X40 15
(50) / -BRAKEREL1 -_435 AWG16 BU B12 GYBK
8
(50) / -BRAKEREL2 -_436 AWG16 BU B13 GYBU
(65) / -0V BRAKE4 -_438 AWG16 BU B14 GYGN
13
CONTACTOR UNIT (47) / -PTC1 -_439 AWG16 BU C2 OGBU
A43-X5 11
(65) / -PTC 1 ret -_440 AWG16 BU C1 OGBK
-R1.140-(MP 1-)3
2
(65) / -0V BRAKE3 -_437 AWG16 BU B15 OGRD
14
D2 GYWH
10
D1 GYRD
16
D3 GY
18
D4 OGGN
12

CONTROL CABLE Sublocation:+
IRB 140 Document no. Rev. Ind Page59
Next 60
1 2 3 4 5 6 7 8
MANIPULATOR
CONTROL MODULE IRB 140
-R1.CS
-XP5 AWG24 1/WH CSA
B5 1
1/BU CSB
C5
9
2/WH CSC
D5
2
2/OG CSD
A6
10
3/WH CSE
B6
3
CUSTOMER 3/GN CSF
CONNECTIONS C6
11
4/WH CSG
D6
4
4/BN CSH
A7
12
5/WH CSJ
B7
5
5/GY CSK
C7
13
6/RD CSL
D7
6
6/BU CSM
A8
14

CUSTOMER SIGNAL Sublocation:+
Next 61
1 2 3 4 5 6 7 8
IRB 260 cabinet module

A41.1
-X11 1 3 2 -X12 2 3 1 -X16 2 3 1 -X13 1 3 2

BK
BK
BK
BK
BK
BK
BK
BK
BK
BK
BK
BK
-_400 AWG16
-_402 AWG16
-_404 AWG16
-_410 AWG16
-_408 AWG16
-_406 AWG16
-_432 AWG16
-_430 AWG16
-_428 AWG16
-_412 AWG16
-_414 AWG16
-_416 AWG16
GNYE
GNYE
A3 A5 A11 A9 A7 B11 B10 B9 A13 A15 B1 CONTROLLER
-XS/XP1 A1 DRIVE MODULE
GNWH
BUWH
BKWH
GNRD
BUGN
BKGN
BURD
BKRD
BKBU
BUBK
BN
BK
AWG16
Floor cable
M1W
M2W
M6W
M3W
M1U
M2U
M6U
M3U
M1V
M2V
M6V
M3V
A1 A2 A3 D2 D1 A4 B10 D7 D8 D3 D4 B1 MANIPULATOR
R1-MP

SERVO DRIVE UNIT Sublocation:+
Next 62
1 2 3 4 5 6 7 8
DRIVE MODULE MANIPULATOR
0,23mm2
-XS/XP2 R1-SMB
WH
(51) / -MRCO1 SDI
A A
WH
(51) / -MRCI1 B B SDO
(51) / -MRCI 1_N C OG C SDO-N
WH
AXIS COMPUTER BOARD (51) / -MRC_0V1 D D 0V
WH
A42-X4 E E
(51) / +24V_SMB1 GN 24V
F BN F
(51) / -MRC_0V2 SERIAL
G MEASUREMENT
WH
(51) / -MRC_0V3 H 0V BOARD
J GY J BATT+
RD
K K BATLD
L L
M Keypin
AWG16
-XS1/XP1
-_433 AWG16 -R1.MP
(50) -EXT.LAMP BU OG
C7 C7
(50) -BRAKEPB -_434 AWG16 BU OGWH
DRIVE MODULE B16

B8
X40 (50) -BRAKEREL1 -_435 AWG16 BU GYBK
B12
C9
(50) -BRAKEREL2 -_436 AWG16 BU GYBU
B13
C8
(47) / -0VBRAKE;4 -_438 AWG16 BU GYGN
B14
C10
CONTACTOR UNIT (47) / -PTC1 -_439 AWG16 BU OGBU
A43-X5 C2
B9
(47) / -PTC1ret -_440 AWG16 BU OGBK
C1
B2
(47) / -0VBRAKE;3 -_437 AWG16 BU OGRD
B15
B7
(47) / -A43-X21:2 441 AWG16 BU GYWH
D2
B3
CONTACTOR UNIT (47) / -A43-X21:4 442 AWG16 BU GYRD
A43-X21 D1
B4
(47) / -A43-X21:3 443 AWG16 BU GY
D3
C2
(47) / -A43-X21:1 444 AWG16 BU OGGN
D4
C1

Next 63
1 2 3 4 5 6 7 8
CONTROL MODULE MANIPULATOR
Customer
Connection -XS/XP5 -R1.CS
AWG18 BU CPA
A1 A1
RD CPB
B1 GN B1 CPC
C1 YE C1 CPD
D1 WH D1 CPE
A2 BK A2 CPF
B2 BN B2 CPJ
C2 VT C2 CPK
D2 OG D2 CPL
A3 PK A3
B3 TQ B3
C3 GY C3
D3 D3
AWG24 1/WH CSA

B5 1/BU B5 CSB
C5 2/WH C5 CSC
D5 2/OG D5 CSD
A6 3/WH A6 CSE
B6 3/GN B6 CSF
C6 4/WH C6 CSG
D6 4/BN D6 CSH
A7 5/WH A7 CSJ
B7 5/GY B7 CSK
C7 6/RD C7 CSL
D7 6/BU D7 CSM
A8 A8
7/RD CSN
B8 7/OG B8 CSP
C8 8/RD C8 CSR
D8 8/GN D8 CSS
A9 9/RD A9 CST
B9 9/BN B9 CSU
C9 10/RD C9 CSV
D9 10/GY D9 CSW
A10 11/BK A10 CSX
B10 11/BU B10 CSY
C10 12/BK C10 CSZ
D10 D10

CUSTOMER POWER/SIGNAL Sublocation:+
Next 64
1 2 3 4 5 6 7 8

A41.1
-X11 1 3 2 -X12 2 3 1 -X13 1 3 2 -X15 2 3 1
BK
BK
BK
BK
BK
BK
BK
BK
BK
BK
BK
BK
AWG16
AWG16
AWG16
AWG16
AWG16
AWG16
AWG16
AWG16
AWG16
AWG16
AWG16
AWG16
-_400
-_402
-_404
-_410
-_408
-_406
-_418
-_420
-_422
-_416
-_414
-_412
M2U
M2V
M2W
M1W
M1V
M1U
M3U
M3V
M3W
M4W
M4V
M4U
GNYE
GNYE
AWG10
AWG10
DRIVE MODULE
-XS1 A11 A9 A7 A5 B3 B4 B10 B9 B8 A13 A15 B1
FLOOR CABLE
MANIPULATOR

SERVO DRIVE UNITS Sublocation:+
Next 65
1 2 3 4 5 6 7 8
FLOOR CABLE
CONTROLLER
MANIPULATOR
DRIVE MODULE IRB360
-XS2
(51) / -MRCO1 A
(51) / -MRCO 1_N B
(51) / -MRCI1 C
(51) / -MRCI 1_N D
AXIS COMPUTER BOARD (51) / -MRC_0V1 E
A42-X4
(51) / +24V_SMB1 F
(51) / -MRC_0V2 G
H
(51) / -MRC_0V3 J
K
L

-XS1
(50) / -EXT. LAMP -_433 AWG16 BU C7
(50) / -BRAKEPB -_434 AWG16 BU B16

DRIVE MODULE
X40 (50) / -BRAKEREL1 -_435 AWG16 BU B12
(50) / -BRAKEREL2 -_436 AWG16 BU B13
(59) / -0V BRAKE4 -_438 AWG16 BU B14
CONTACTOR UNIT (47) / -PTC1 -_439 AWG16 BU C2

A43-X5
(59) / -PTC 1 ret -_440 AWG16 BU C1
(59) / -0V BRAKE3 -_437 AWG16 BU B15
D2
D1
D3
D4

Next 66
1 2 3 4 5 6 7 8
FLOOR CABLE
CONTROL MODULE
MANIPULATOR
Customer
Connection

0,23mm2
-XP/XT5 -XS/XP5
R1-CS
BK WH CSA
1 B5
A
BN BU CSB
2 C5 B
RD WH CSC
3 D5 C
OG OG CSD
4 A6 D
YE WH CSE
5 B6 E
GN GN CSF
6 C6 F
BU WH CSG
7 D6 G
VT BN CSH
8 A7 H
GY WH CSJ
9 B7 J
WH GY CSK
10 C7 K
WH/BK RD CSL
11 D7 L
WH/BN BU CSM
12 A8 M

Next 66.1
1 2 3 4 5 6 7 8
CONTROLLER
FLOOR CABLE MANIPULATOR
CONTROL MODULE
Customer
Connection 0,23mm2
-XP/XT5.1 AWG24 OG -XS/XP5
625 WH 1
1 626 B5 BU 2
2 627 C5 WH 3
3 628 D5 OG 4
4 629 A6 WH 5
5 630 B6 GN 6
6 631 C6 WH 7 +R1 -CS
7 632 D6 BN 8 A 1
8 633 A7 WH 9 B 2
9 634 B7 GY 10 C 3
10 635 C7 RD 11 D 4
11 636 D7 BU 12 E 5
12 A8 F 6
G 7
XP/XT5.2 H 8
637 RD 13 J 9
13 638 B8 OG 14 K 10
14 639 C8 RD 15 L 11
15 640 D8 GN 16 M 12
16 641 A9 RD 17 N 13
17 642 B9 BN 18 P 14
18 643 C9 RD 19 R 15
19 644 D9 GY 20 S 16
20 645 A10 BK 21 T 17
21 646 B10 BU 22 U 18
22 647 C10 BK 23 V 19
23 D10 W 20
X 21
Y 22
Z 23
XP6 AWG18 OG AWG18
648 RD 1
1 649 A1 BU 2
2 650 B1 GN 3
3 651 C1 YE 4
4 652 D1 WH 5
5 563 A2 BK 6
6 654 B2 BN 8
7 655 C2 VT 9
8 656 D2 OG 10
9 657 A3 PK 11
10 658 B3 +R1 -CP
11 659 C3 GNYE 12 A 1
12 D3 B 2
C 3
D 4
E 5
F 6
AWG16 GNYE H 8
J 9
K 10
L 11
M 12

SINGLE CABINET Document no. Rev. Ind Page66.1
IRB 360 Next 67
1
Latest revision:
M R1.MP
A41.1
2,5mm2

-XS/XP1
-X11
17 GNRD M1U -_400 AWG12 BK
17
17
27 OGGN M1U -_401 AWG12 BK 4
24
24
16 BN M1W -_402 AWG12 BK
3
19
19
26 OGBU M1W -_403 AWG12 BK
2
26
26
Main servo drive unit 460
18 GNWH M1V -_404 AWG12 BK

2
18
18
25 OGBK M1V -_405 AWG12 BK
5
25
25

2017-09-07
3
-X12
23 GYWH M2U -_406 AWG12 BK

1
23
23
15 BNWH M2U -_407 AWG12 BK

4
32
32
24 GY M2W -_408 AWG12 BK

3
21
21
13 BNGN M2W -_409 AWG12 BK

6
4
30
30
22 GYRD M2V -_410 AWG12 BK

2
22
22
14 BNRD M2V -_411 AWG12 BK

5
31
31
PRN
Lab/Office:
DMRO SE/
5
IRB 460
-X13
10 BU M3U -_412 AWG12 BK

1
3
3
SERVO DRIVE SYSTEM 4 BKWH M3U -_413 AWG12 BK

4
4
4
12 BNBU M3W -_414 AWG12 BK

3
7
7
6
5 BK M3W -_415 AWG12 BK

6
14
14
11 BNBK M3V -_416 AWG12 BK

2
5
5
6 BUBK M3V -_417 AWG12 BK

5
6
6
-X16
9 BUWH M6U -_428 AWG12 BK

1
9
9
Status:
7 BUGN M6W -_430 AWG12 BK

7
Approved
16
16
8 BURD M6V -_432 AWG12 BK

Document no.
2
8
8
AWG10 GNYE
AWG10 GNYE
3HAC026871-020
Plant:
Sublocation:+
Location: +
=
8
DRIVE MODULE
CONTROLLER
MANIPULATOR
FLOOR CABLE
Next 68
Rev. Ind Page67
07 Total 116
1 2 3 4 5 6 7 8
FLOOR CABLE
CONTROLLER MANIPULATOR
DRIVE MODULE
0,23 mm2
-XS/XP2 -R1.SMB
A A
B B
(51) / -MRCI1 WH SDO SERIAL
C C MEASUREMENT
AXIS COMPUTER BOARD (51) / -MRCI 1_N OG SDO-N BOARD
A42-X4 D D
(51) / -MRC_0V1 WH 0V
E WH E
(51) / +24V_SMB1 GN 24V

F BN F
Key pin
M
(50) / -EXT. LAMP -_433 AWG16 BU
-_434 AWG16 -XS/XP1 0,75 mm2 -R1.MP

DRIVE MODULE (50) / -BRAKEPB BU 28 OG BRAKE PB
XS40 11 11
(50) / -BRAKEREL1 -_435 AWG16 BU 30 OGRD 4mm2 BRAKE RELEASE
13 13 BRAKE RELEASE
(50) / -BRAKEREL2 -_436 AWG16
(59) (65) (72.2) (80) (83.5) (86) (92) / -0V BRAKE4 -_437 AWG16 BU 29 OGWH 4mm2 0V BRAKE
12 12 0V BRAKE
-_438 AWG16 BU 31 PKBK 0,75mm2 24V EXT.LAMP
27 27
CONTACTOR UNIT -_439 AWG16 BU
A43-X5
32 PKBU 0,75mm2 0V EXT.LAMP
15 15
(59) (65) (72.2) (83.5) (92) / -0V BRAKE3 -_440 AWG16 BU

Next 69
FLOOR CABLE
1
Latest revision:
A41.1
2,5mm2

-XS/XP1
-X11
-R1.MP
1
17
17
27 OGGN M1U -_401 AWG12 BK
4
24
24
16 BN M1W -_402 AWG12 BK
3
19
19
2

6
26
26
2
18
18

5
25
25
-X14
M4U -_418 AWG12 BK
1
1
2017-09-07
M4U -_420 AWG12 BK
3
3
10
M4V -_422 AWG12 BK
2
2
-X12

1
23
23

4
32
32
24 GY M2W -_408 AWG12 BK

3
21
21
M2W -_409 AWG12 BK

4
13 BNGN
6
30
30

2
22
22

5
31
31
PRN
Lab/Office:
DMRO SE/
-X15
M5U -_424 AWG12 BK

1
20
M5W -_425 AWG12 BK

5
29
M5V -_426 AWG12 BK

2
28
IRB 660, 760

According to Manipulator IRB660 circuit diagram 3HAC025691-001
-X13
BK
SERVO DRIVE SYSTEM

10 BU M3U -_412 AWG12
3
3
1
4 BKWH M3U -_413 AWG12 BK

4
4
4

6
7
7
3
5 BK M3W -_415 AWG12 BK

6
14
14

5
5
2

6
6
5
-X16

Status:
9
9
1
7
BUGN BK
Approved
7 M6W -_430 AWG12

3
16
16
Document no.

8
8
2
AWG10 GNYE
AWG10 GNYE
3HAC026871-020
Plant:
Sublocation:+
Location: +
=
8
MANIPULATOR
DRIVE MODULE
Next 70
Rev. Ind Page69
07 Total 116
1 2 3 4 5 6 7 8
FLOOR CABLE
0,23 mm2
-XS/XP2 -SMB
A A
B B
C C MEASUREMENT
A42-X4 D D
(51) / -MRC_0V1 WH 0V
E WH E
(51) / +24V_SMB1 GN 24V

F BN F
(51) / -MRC_0V2
G
H
(51) / -MRC_0V3
J
AWG16 BU 1 BU EXT.LAMP RD EXT.LAMP

-DP1 AWG16 L L
1
M
2
BU
AWG16
(50) / -EXT. LAMP -_433 AWG16 BU
-_434 AWG16 -XS/XP1 -MP

DRIVE MODULE (50) / -BRAKEPB BU 30 OGRD 0,75 mm2 BRAKE PB
XP40 11 11
(50) / -BRAKEREL1 -_435 AWG16 BU 28 OG 4,0 mm2 BRAKE RELEASE
13 13 BRAKE RELEASE
(50) / -BRAKEREL2 -_436 AWG16 BU
(47) / -0VBRAKE;4 -_437 AWG16 BU 29 OGWH 4,0 mm2 0V BRAKE

12 12 0V BRAKE
CONTACTOR UNIT (47) / -PTC1 -_439 AWG16 BU 31 PKBK 0,75 mm2 PTC
A43-X5 27 27
(47) / -PTC1ret -_440 AWG16 BU 32 PKWH 0,75 mm2 0V PTC
15 15
(47) / -0VBRAKE;3 -_438 AWG16 BU

IRB 660, 760 Document no. Rev. Ind Page70
Next 71
1 2 3 4 5 6 7 8
FLOOR CABLE
Customer
Connection Single cabinet w26 1mm2
-XP/XT6 -713
-XS/XP13 -R1.SMB
AWG20 BK 1 24V
1 BN A1 D1
RD 2 0V
2 OG A2 D6
YE 3 24V
3 GN A3 D3
BU 4 0V
4 VT A4 GNYE D4
PE
SH
-XP/XT5.1 -711 W27 -R1.MP
AWG24 BK BKog 0,23mm2 CS
1 BN B1 bu 0,23mm2 B1 CS
2 RD B2 WHog 0,23mm2 B2 CS
3 OG B11 og 0,23mm2 B11 CS
4 YE B12 WHgn 0,23mm2 B12 CS
5 GN B13 gn 0,23mm2 B13 CS

6 BU B14 GN AWG24 B14 CS

7 VT C19 BN AWG24 C19 CS
8 -712 1/WH C21 WH AWG24 C21 CS
9 AWG24 1/BU B7 BU AWG24 B7 CS
10 2/WH B8 WH AWG24 B8 CS
11 2/OG B9 OG AWG24 B9 CS
12 B10 W28 B10
-XP/XT5.2
3/WH WH AWG24 CS
1 3/GN B3 GN AWG24 B3 CS
3 4/BN B5 BN AWG24 B5 CS
4 -711 GY B6 RD AWG24 B6 CS
5 AWG24 WH C16 OG AWG24 C16 CS
6 WH/BK C17 RD AWG24 C17 CS
7 WH/BN C18 RD AWG24 C18 CS
8 WH/RD C20 C20
9 WH/OG B22
10 WH/YE or PK B23
11 WH/GN or Light GN B24
12 B25
-XP/XT5.3 -713 W27

AWG20 GY WHbn 0,23mm2 CS
1 WH B15 bn 0,23mm2 B15 CS
2 WH/BK B16 WHgy 0,23mm2 B16 CS
3 WH/BN B18 gy 0,23mm2 B18 CS
4 WH/RD B19 RDbu 0,23mm2 B19 CS
5 WH/OG B20 bu 0,23mm2 B20 CS
6 WH/YE B21 B21
7 WH/GN C10
8 WH/BU C11
9 WH/VT C12
10 WH/GY or Light GN C13
11 BN/BK or RD/BK C14
12 AWG16 C15

IRB460, 660, 760 Document no. Rev. Ind Page71
Next 72
1 2 3 4 5 6 7 8
FLOOR CABLE
Customer
Connection
A35
OPTION : DEVICENET -X2 AWG22 AWG24 R1 CP/CS
-707
(82.1) -XS/XP13 BK
2/BK V- 0V
1 F2 B23
1/BU CAN_L BU CAN_L
2 F4 A4
Bare wire SHIELD
3
1/WH CAN_H WH CAN_H
4 F3 A3
2/RD V+ RD +24V CAN
5 F1 B22
A33 AWG22
OPTION : PROFIBUS +R1 CP/CS
-709
Option: 803-4 (83.1) -(DP-M)1 1/RD RXD/TXD-P
-XS/XP13 RD RXD/TXD-P
(89.1) 2
1B F5 A5
(100.1)
(101.1) 1/GN RXD/TXD-N GN RXD/TXD-N
(26.4) 1A F6 A6
(26.4)
(26.4)
(26.4)
(26.4)

C-BUS/P-BUS/ to CP/CS Sublocation:+
IRB460, 660, 760 Document no. Rev. Ind Page72
Next 72.1
1 2 3 4 5 6 7 8
Cabinet module
A41.1
-X11 1 3 2 -X12 1 3 2 -X13 1 3 2 -X14 1 3 2 -X15 1 3 2 -X16 1 3 2

BK
BK
BK
BK
BK
BK
BK
BK
BK
BK
BK
BK
BK
BK
BK
BK
BK
BK
AWG16
AWG16
AWG16
AWG16
AWG16
AWG16
AWG16
AWG16
AWG16
AWG16
AWG16
AWG16
AWG16
AWG16
AWG16
AWG16
AWG16
AWG16
-_400
-_402
-_404
-_406
-_408
-_410
-_412
-_414
-_416
-_418
-_420
-_422
-_424
-_425
-_426
-_428
-_430
-_432
AWG16 GNYE
AWG16 GNYE
A1 A3 A5 A7 A9 A11 A13 A15 B1 B3 B4 B5 B6 B7 B8 B9 B10 B11
XS/XP1
DRIVE MODULE
FLOOR CABLE
AWG16
MW1
MW2
MW3
MW4
MW5
MW6
MU1
MU2
MU3
MU4
MU5
MU6
MV1
MV2
MV3
MV4
MV5
MV6
MANIPULATOR
-MP1+R1 1 2 5 3 4 8 6 9 10 15 16 19 17 21 22 20 23 24

SERVO DRIVE SYSTEM Sublocation:+
IRB 1200 Document no. Rev. Ind Page72.1
Next 72.2
1 2 3 4 5 6 7 8
FLOOR CABLE
CONTROLLER
MANIPULATOR
DRIVE MODULE 0,23 mm2
-XS2 -XP2 R1-SMB

(51) / -MRCO1 A A WH SDI
(51) / -MRCO 1_N B B BU A SDI-N
(51) / -MRCI1 C C WH B SDO
(51) / -MRCI 1_N D D OG C SDO-N
AXIS COMPUTER BOARD (51) / -MRC_0V1 E E WH D 0V
A42-X4 WH E
(51) / +24V_SMB1 F F GN 24V
BN F
G ENCODER
H
INTERFACE
J
BOARD

AWG16
-_433 AWG16 -XS1 -XP1

C7
R1-MP
(50) / -EXT. LAMP OG
C7 14 EXT LAMP
DRIVE MODULE (50) / -BRAKEPB -_434 AWG16 BU B16 B16 OGWH
X40 11 BRAKE PB
(50) / -BRAKEREL1 -_435 AWG16 BU B12 B12 GYBK
13 24V BRAKE REL

(50) / -BRAKEREL2 -_436 AWG16 BU B13 B13 GYBU
18 24V BRAKE REL
(68) / -0V BRAKE4 -_438 AWG16 BU B14 B14 GYGN
12 0V BRAKE
CONTACTOR UNIT (47) / -PTC1 -_439 AWG16 BU C2 C2
A43-X5
(83.5) / -PTC 1 ret -_440 AWG16 BU C1 C1
(68) / -0V BRAKE3 -_437 AWG16 BU B15 B15 OGRD
7 0V BRAKE
D2 D2
D1 D1
D3 D3
AWG16 BK
D4 D4

Next 72.3
1 2 3 4 5 6 7 8
FLOOR CABLE
CONTROLLER
MANIPULATOR
CONTROL MODULE
Customer
Connection

-708 0,23mm2
-XS/XP5 +R1 -CS
-XP/XT5 AWG24
BK WH CSA
1 B5
A
BN BU CSB
2 C5 B
RD WH CSC
3 D5 C
OG OG CSD
4 A6 D
YE WH CSE
5 B6 E
GN GN CSF
6 C6 F
BU WH CSG
7 D6 G
VT BN CSH
8 A7 H
GY WH CSJ
9 B7 J
WH GY CSK
10 C7 K
WH/BK
11 D7
WH/BN
12 A8

IRB 1200 Next 73
1 2 3 4 5 6 7 8
A41.1
-X11 1 3 2 -X12 2 3 1 -X14 1 3 2 -X16 2 3 1 -X13 1 3 2 -X15 2 3 1
BK
BK
BK
BK
BK
BK
BK
BK
BK
BK
BK
BK
BK
BK
BK
BK
BK
BK
GNYE
GNYE
-XS/XP1 A3 A5 A11 A9 A7 B3 B4 B5 B11 B10 B9 A13 A15 B1 B8 B7 B6
A1 DRIVE MODULE
GNWH
BUWH
BNWH
BKWH
GNRD
BUGN
BNGN
BKGN
BURD
BNRD
BKRD
BNBU
BKBU
BUBK
BNBK
BU
BN
BK
AWG16
Floor cable
M1W
M2W
M4W
M6W
M3W
M5W
M1U
M2U
M4U
M6U
M3U
M5U
M1V
M2V
M4V
M6V
M3V
M5V
A1 A2 A3 D2 D1 A4 A10 A9 A8 B10 D7 D8 D3 D4 B1 D9 D10 A7 MANIPULATOR
R1-MP

SERVO DRIVE UNIT Sublocation:+
IRB 1600/1660 Document no. Rev. Ind Page73
Next 74
1 2 3 4 5 6 7 8

0,23mm2
R1-SMB
-XS/XP2 WH
(51) / -MRCO1 SDI
A A
WH
(51) / -MRCI1 B B SDO
WH
AXIS COMPUTER BOARD (51) / -MRC_0V1 D D 0V
WH
A42-X4 E F
(51) / +24V_SMB1 GN 24V
F BN 7
(51) / -MRC_0V2 SERIAL
G MEASUREMENT
WH
(51) / -MRC_0V3 H BOARD
J GY BATSUP
RD
K 6 BATLD
L 2
AWG16
-XS1/XP1 -R1.MP
(50) -EXT.LAMP -_433 AWG16 BU OG
C7 C7
(50) -BRAKEPB -_434 AWG16 BU OGWH
DRIVE MODULE B16

B8
X40 (50) -BRAKEREL1 -_435 AWG16 BU GYBK
B12
C9
(50) -BRAKEREL2 -_436 AWG16 BU GYBU
B13
C8
(47) / -0VBRAKE;4 -_438 AWG16 BU GYGN
B14
C10
CONTACTOR UNIT (47) / -PTC1 -_439 AWG16 BU OGBU
A43-X5 C2
B9
(47) / -PTC1ret -_440 AWG16 BU OGBK
C1
B2
(47) / -0VBRAKE;3 -_437 AWG16 BU OGRD
B15
B7
(47) / -A43-X21:2 441 AWG16 BU GYWH
D2
B3
CONTACTOR UNIT (47) / -A43-X21:4 442 AWG16 BU GYRD
A43-X21 D1
B4
(47) / -A43-X21:3 443 AWG16 BU GY
D3
C2
(47) / -A43-X21:1 444 AWG16 BU OGGN
D4
C1

Next 75
1 2 3 4 5 6 7 8
Customer
Connection -709 Customer
-XP/XT6 AWG24 Connection -XS5 -XP5 -R1.CP/CS
BK A1 AWG18 BU CPA
1 A1 A1
2 BN B1 RD CPB
3 RD C1 B1 GN B1 CPC
4 OG D1 C1 YE C1 CPD
5 YE A2 D1 WH D1 CPE
6 GN B2 A2 BK A2 CPF
7 BU C2 B2 BN B2 CPJ
8 VT D2 C2 VT C2 CPK
9 GY A3 D2 OG D2 CPL
10 WH B3 A3 PK A3
11 WH/BK C3 B3 TQ B3
12 WH/BN D3 C3 GY C3
D3 D3
-XP/XT5.1 -710
AWG24 BK B5 AWG24 1/WH CSA
1 B5
2 BN C5 B5 1/BU CSB
3 RD D5 C5 2/WH C5 CSC
4 OG A6 D5 2/OG D5 CSD
5 YE B6 A6 3/WH A6 CSE
6 GN C6 B6 3/GN B6 CSF
7 BU D6 C6 4/WH C6 CSG
8 VT A7 D6 4/BN D6 CSH
9 GY B7 A7 5/WH A7 CSJ
10 WH C7 B7 5/GY B7 CSK
11 WH/BK D7 C7 6/RD C7 CSL
12 WH/BN A8 D7 6/BU D7 CSM
A8 A8
-XP/XT5.2
WH/RD B8 7/RD CSN
13 B8
14 WH/OG C8 B8 7/OG CSP
15 WH/YE or PK D8 C8 8/RD C8 CSR
16 WH/GN A9 D8 8/GN D8 CSS
17 WH/BU B9 A9 9/RD A9 CST
18 WH/VT C9 B9 9/BN B9 CSU
19 WH/GY or Light GN D9 C9 10/RD C9 CSV
20 BN/BK or RD/BK A10 D9 10/GY D9 CSW
21 BN/RD or GN/BK B10 A10 11/BK A10 CSX
22 BN/OG or OG/BK C10 B10 11/BU B10 CSY
23 BN/YE or YE/BK D10 C10 12/BK C10 CSZ
D10 D10

Next 76
1
Latest revision:

FLOOR CABLE
A41.1-6
AWG16
R1 MP
2
-XS/XP1
-X11
M1U BKBU -400 AWG14 BK

1
A1
A1
M1V BKGN -402 AWG14 BK
2
A2
A3

M1W BKRD -404 AWG14 BK
3
A3
A5
-X12
M2W BUBK -410 AWG14 BK

3
D2
A11
2017-09-07
M2V BK -408 AWG14 BK
2
3
A9
D1
M2U BKWH -406 AWG14 BK
1
A4
A7
-X14
M4U BU -418 AWG14 BK

1
4
B3
A10
M4V BNBK -420 AWG14 BK
2
A9
B4
M4W BNBU -422 AWG14 BK

3
A8
B5
X16
PRN
M6W GNWH -432 AWG14 BK
3
Lab/Office:
DMRO SE/
B11
B10
M6V GNRD -430 AWG14 BK
2
D7
B10
M6U BN -428 AWG14 BK

1
B9
D8
5
IRB 2400
-X13
M3U BUGN -412 AWG14 BK

1
SERVO DRIVE UNIT

D3
A13
M3V BURD -414 AWG14 BK

2
D4
A15
M3W BUWH -416 AWG14 BK

3
B1
B1

X15
6
M5W BNWH -426 AWG14 BK

3
B8
D9
M5V BNRD -425 AWG14 BK

2
B7
D10
M5U -424 AWG14 BK

1
A7
B6
AWG10 GNYE
AWG10 GNYE
Status:
7
Approved
Document no.
3HAC026871-020
Plant:
Sublocation:+
Location: +
=
8
MANIPULATOR
DRIVE MODULE
Next 77
Rev. Ind Page76
07 Total 116
1 2 3 4 5 6 7 8
FLOOR CABLE
0,23 mm2
R1 SMB
-XS/XP2
A A
(51) / -MRCI1 B WH B SDO
AXIS COMPUTER BOARD (51) / -MRC_0V1 D WH D 0V SERIAL
A42-X4 E WH E MEASUREMENT
F BN F
(51) / -MRC_0V2
G G
(51) / -MRC_0V3 H WH H 0V
J GY J BATSUP
K RD K BATLD
L L
KEYPIN
M
AWG16
R1 MP
-433 AWG16 -XS/XP1
(50) / -EXT. LAMP BU OG
C7
DRIVE MODULE C7
X40 (50) / -BRAKEPB -434 AWG16 BU OGWH
B16 B8
(50) / -BRAKEREL1 -435 AWG16 BU GYBK
B12 C9
(50) / -BRAKEREL2 -436 AWG16 BU GYBU
B13 C8
(47) / -0VBRAKE;4 -438 AWG16 BU GYGN
B14 C10
CONTACTOR UNIT (47) / -PTC1 -439 AWG16 BU OGBU
A43-X5 C2 B9
(47) / -PTC1ret -440 AWG16 BU OGBK
C1 B2
(47) / -0VBRAKE;3 -437 AWG16 BU OGRD
B15 B7
(47) / -A43-X21:2 LIM 1A -441 AWG16 BU GYWH
D2 B3
CONTACTOR UNIT (47) / -A43-X21:4 LIM 2A -442 AWG16 BU GYRD
A43-X21 D1 B4
(47) / -A43-X21:3 LIM 2B -443 AWG16 BU GY
D3 C2
(47) / -A43-X21:1 LIM 1B -444 AWG16 BU OGGN
D4 C1

Next 78
1 2 3 4 5 6 7 8
Customer
Connection -709 -XS/XP5 AWG18
-XP/XT6 AWG24 R1-CP/CS
BK RD M CPA
1 A1
2 BN BU A1 CPB
3 RD B1 GN B1 CPC
4 OG C1 YE C1 CPD
5 YE D1 WH D1 CPE
6 GN A2 BK A2 CPF
7 BU B2 BN B2 CPJ
8 VT C2 VT C2 CPK
9 GY D2 OG D2 CPL
10 WH A3 PK A3 CPM
11 WH/BK B3 TQ B3
12 WH/BN C3 GY C3
D3 D3
-XP/XT5.1 -710 0,23mm2

AWG24 BK WH CSA
1
2 BN B5 BU B5 CSB
3 RD C5 WH C5 CSC
4 OG D5 OG D5 CSD
5 YE A6 WH A6 CSE
6 GN B6 GN B6 CSF
7 BU C6 WH C6 CSG
8 VT D6 BN D6 CSH
9 GY A7 WH A7 CSJ
10 WH B7 GY B7 CSK
11 WH/BK C7 RD C7 CSL
12 WH/BN D7 BU D7 CSM
A8 A8
-XP/XT5.2
WH/RD RD CSN
13
14 WH/OG B8 OG B8 CSP
15 WH/YE or PK C8 RD C8 CSR
16 WH/GN D8 GN D8 CSS
17 WH/BU A9 RD A9 CST
18 WH/VT B9 BN B9 CSU
19 WH/GY or Light GN C9 RD C9 CSV
20 BN/BK or RD/BK D9 GY D9 CSW
21 BN/RD or GN/BK A10 BK A10 CSX
22 BN/OG or OG/BK B10 BU B10 CSY
23 BN/YE or YE/BK C10 WH C10 CSZ
D10 D10

Next 79
Floor cable
1
Latest revision:
A41.1
2,5mm2

-XS/XP1
-X11
M R1.MP
17
17
4
24
24
16 BN M1W -_402 AWG12 BK
3
19
19
6
26
26
2
Main servo drive unit

2
18
18
5
25
25

-X14
1 BKBU M4U -_418 AWG12 BK

1
1
1
3 BKRD M4W -_420 AWG12 BK
3
10
10
2017-09-07
2 BKGN M4V -_422 AWG12 BK
2
2
2
3
-X12

1
23
23

4
32
32
24 GY M2W -_408 AWG12 BK

3
21
21

6
30
30
M2V -_410 AWG12 BK

4
22 GYRD
2
22
22

5
31
31
PRN
-X15
20 GYBU M5U -_424 AWG12 BK
Lab/Office:
DMRO SE/
1
20
20
21 GYGN M5W -_425 AWG12 BK

3
29
29
19 GYBK M5V -_426 AWG12 BK

2
5
28
28
IRB 2600
-X13
10 BU M3U -_412 AWG12 BK

1
3
3
BKWH BK
SERVO DRIVE SYSTEM

4 M3U -_413 AWG12
4
4

3

7
7
5 BK M3W -_415 AWG12 BK

6
6
14
14

2
5
5

6
5
6
-X16

1
9
9

Status:
3
16
16
7
BURD BK
Approved
8 M6V -_432 AWG12

2
8
8
Document no.
AWG10 GNYE
AWG10 GNYE
3HAC026871-020
Plant:
Sublocation:+
Location: +
=
8
MANIPULATOR
DRIVE MODULE
Next 80
Rev. Ind Page79
07 Total 116
1 2 3 4 5 6 7 8
FLOOR CABLE
0,23 mm2
-R1.SMB
-XS/XP2
A A
B B
C C MEASUREMENT
A42-X4 D D
(51) / -MRC_0V1 WH 0V
E WH E
(51) / +24V_SMB1 GN 24V

F BN F
(51) / -MRC_0V2
G G
H H
(51) / -MRC_0V3 WH BATT-
J J
GY BATT+
K K
RD BATT LOAD
L L
M Key pin
(50) / -EXT. LAMP -_433 AWG16 BU

R1.MP
-_434 AWG16 -XS/XP1 0,75mm2
DRIVE MODULE (50) / -BRAKEPB BU 30 OG BRAKE PB
11 11
XS40
13 13 BRAKE RELEASE
(50) / -BRAKEREL2 -_436 AWG16
(59) (65) (68) (72.2) (83.5) (86) (92) / -0V BRAKE4 -_437 AWG16 BU 29 OGWH 4mm2 0V BRAKE
12 12 0V BRAKE
-_438 AWG16 BU 31 PKBK 0,75mm2 EXT.LAMP
27 27
A43-X5
32 PKBU 0,75mm2 0V BRAKE
15 15
(47) / -0VBRAKE;3 -_440 AWG16 BU

Next 81
1 2 3 4 5 6 7 8
FLOOR CABLE
Customer
Connection Single cabinet w26 1mm2
-XP/XT6 -713
-XS/XP13 1 R1.CP/CS
AWG20 BK CPA_ /
1 A1 D1
BN
CPE_ /
RD 2
CPB_ /
2 OG A2 D6 CPF_ /
YE 3
CPC_ /
3 GN A3 D3 CPJ_ /
BU 4
CPD_ /
4 VT A4 GNYE D4 CPK_ /
CPH
SH D7
-XP/XT5.1 -711 W27
1 B1 B1
BN bu 0,23mm2 CS
3 OG B11 og 0,23mm2 B11 CS
5 GN B13 gn 0,23mm2 B13 CS

6 BU B14 gn 0,23mm2 B14

7 VT C19 bn 0,23mm2 C19
8 -712 1/WH C21 WH AWG24 C21 CS
12 B10 B10
W28
-XP/XT5.2
3/WH WH AWG24 CS
4 -711 GY B6 RDog 0,23mm2 B6
5
AWG24 WH C16 og 0,23mm2 C16
6 WH/BK C17 RDgn 0,23mm2 C17
7 WH/BN C18 RDbn 0,23mm2 C18
8 WH/RD C20 RDgy 0,23mm2 C20 CS
9 WH/OG B22 gy 0,23mm2 B22 CS
10 WH/YE or PK B23 BKbu 0,23mm2 B23 CS
11 WH/GN or Light GN B24 bu 0,23mm2 B24
12 B25 B25
W27
-XP/XT5.3 -713
1 WH B15 bn 0,23mm2 B15 CS
5 B20
WH/OG bu 0,23mm2 B20 CS
6 WH/YE B21 B21
7 WH/GN C10
8 WH/BU C11
9 WH/VT C12
12 AWG16 C15

IRB2600 Document no. Rev. Ind Page81
Next 82
1 2 3 4 5 6 7 8
FLOOR CABLE
Customer
Connection Single cabinet AWG18
-XP/XT6 -713 -XS/XP13
1 R1.CP/CS
AWG20 BK CP/CSE
1 A1 D1
BN
2 RD A2 2 CP/CSF
OG D6
3 YE A3 3 CP/CSV
GN D3
4 BU A4 4
VT GNYE D4
-XP/XT5.1 -711 AWG24 AWG24

AWG24 BK WH CS
1 B1 B1
BN BU CS
2 RD B2 WH B2
3 OG B11 OG B11
4 YE B12 WH B12
5 GN B13 GN B13
6 BU B14 GN B14
7 VT C19 BN C19
8 -712 1/WH C21 WH C21
9 AWG24 1/BU B7 BU B7
10 2/WH B8 WH B8
11 2/OG B9 OG B9
12 B10 B10
-XP/XT5.2
3/WH WH CS
1 B3
3/GN GN B3 CS
2 4/WH B4 WH B4 CS
3 4/BN B5 BN B5 CS
4 -711 GY B6 RD B6
5 AWG24 WH C16 OG C16
6 WH/BK C17 RD C17
7 WH/BN C18 RD C18
8 WH/RD C20 C20
9 WH/OG B22
10 WH/YE or PK B23 BK
11 WH/GN or Light GN B24 BU B24
12 B25 B25
-XP/XT5.3 -713
AWG20 GY WH
1 B15 B15
WH BN
2 WH/BK B16 WH B16
3 WH/BN B18 GY B18
4 WH/RD B19 RD B19
5 WH/OG B20 BU B20
6 WH/YE B21 BK B21
7 WH/GN C10 OG A5
8 WH/BU C11 BK A6
9 WH/VT C12 GN A9
10 WH/GY or Light GN C13 BK A10
11 BN/BK or RD/BK C14 BN A11
12 BN/BK C15 A12
AWG16
OPTION //DEVICENET acc. to page 81 (72.1)

DEVICE NET Document no. Rev. Ind Page82
IRB2600 Next 83
1 2 3 4 5 6 7 8
FLOOR CABLE
Customer
Connection Single controller
XP/XT 6 -713 XS/XP13 AWG18 +R1 CP/CS
AWG20 BK 1 CP4
1 BN A1 D1
RD 2 CP5
2 OG A2 D6
YE 3 CP6
3 GN A3 D3
BU 4 CP7
4 VT A4 GNYE D4
XP/XT5.1 -711 AWG24 AWG24

AWG24 BK WH CS
1 BN B1 BU B1 CS
2 RD B2 WH B2 CS
3 OG B11 OG B11 CS
4 YE B12 WH B12 CS
According to Manipulator diagram 3HAC025744-001 and 3HAC13347-1

5 GN B13 GN B13 CS
6 BU B14 GN B14 CS
7 VT C19 BN C19 CS
8 -712 1/WH C21 WH C21 CS

9 AWG24 1/BU B7 BU B7 CS
10 2/WH B8 WH B8 CS
11 2/OG B9 OG B9 CS
12 B10 B10
XP/XT5.2
3/WH WH CS
1 3/GN B3 GN B3 CS
2 4/WH B4 WH B4 CS
3 4/BN B5 BN B5 CS
4 -711 GY B6 RD B6 CS
5 AWG24 WH C16 OG C16 CS
6 WH/BK C17 RD C17 CS
7 WH/BN C18 RD C18 CS
8 WH/RD C20 RD C20 CS
9 WH/OG B22 GY B22 CS
10 WH/YE or PK B23 BK B23 CS
11 WH/GN or Light GN B24 BU B24 CS
12 B25 B25
XP/XT5.3 -713
AWG20 GY WH CS
1 WH B15 BN B15 CS
2 WH/BK B16 WH B16 CS
3 WH/BN B18 GY B18 CS
4 WH/RD B19 RD B19 CS
5 WH/OG B20 BU B20 CS
6 WH/YE B21 BK B21 CS
7 WH/GN C10 OG A3 CS
8 WH/BU C11 BK A4 CS
9 WH/VT C12 GN A9 CS
10 WH/GY or Light GN C13 BK A10 CS
11 BN/BK or RD/BK C14 BN A11 CS
12 AWG16 BN/BK C15 A12
For more information aboute Option connected to XS13.
SPOTPACK circuit diagram 3HAC026208-001
OPTION //PROFIBUS acc. to page 81 (72.1) DRESSPACK circuit diagram 3HAC026209-001

PROFI BUS Document no. Rev. Ind Page83
IRB 2600 Next 83.4
1 2 3 4 5 6 7 8
-A41.1
1 4 3 6 2 5 1 3 2 1 4 3 6 2 5 1 3 2 1 4 3 6 2 5
1 3 2
-X11 -X14 -X12 -X15 -X13 -X16
BK
BK
BK
BK
BK
BK
BK
BK
BK
A1 A5 A3 A7 A11 A9 A13 B1 A15 DRIVE MODULE

B3 B5 B4 B6 B8 B7 B9 B11 B10
-XS/XP1 A2 A6 A4 A8 A12 A10 A14 B2 A16
CONTROLLER
OGWH
GNWH
GYWH
OGGN
BNWH
BKWH
PKWH
GNRD
GYGN
BUGN
OGBK
BNGN
BKGN
BURD
BNRD
PKGN
GYBU
BNBU
GYBK
PKRD
BKBU
BNBK
PKBK
BU
BN
BK
PK
FLOOR CABLE
AWG16 BK
M1W
M1W
M4W
M2W
M2W
M5W
M3W
M3W
M6W
M1U
M1U
M4U
M2U
M2U
M5U
M3U
M3U
M6U
M1V
M1V
M4V
M2V
M2V
M5V
M3V
M3V
M6V
AWG18 BK
A5 A3 B3 B5 B4 A7 A11 A9 B6 B8 B7 A13 B1 A15 B9 B11 B10 C3 C5 C7 C9 C11
R1 MP A1
A2 A6 A4 A8 A12 A10 A14 B2 A16 C4 C6 C8 C10 C12
MANIPULATOR

SERVO DRIVE SYSTEM Sublocation:+
Next 83.5
1 2 3 4 5 6 7 8
FLOOR CABLE
DRIVE MODULE
0,23 mm2
-XS/XP2 R1 SMB
A A
(51) / -MRCI1 B WH B SDO
AXIS COMPUTER BOARD (51) / -MRC_0V1 D WH D 0V SERIAL
A42-X4 E WH E MEASUREMENT
F BN F
(51) / -MRC_0V2
G G
(51) / -MRC_0V3 H WH H 0V
J GY J BATSUP
K RD K BATLD
L L
KEYPIN
M
AWG16
-XS/XP1
R1 MP
(50) / -EXT. LAMP WH
C16
C16
DRIVE MODULE (50) / -BRAKEPB BU VT
X40 B16 B16

(50) / -BRAKEREL1 BU RDBK
B12 B12
(50) / -BRAKEREL2 BU RDBU
B13 B13
(59) (65) (68) (72.2) (80) (86) (92) / -0V BRAKE4 BU RDGN
B14 B14
CONTACTOR UNIT (47) / -PTC1 BU VTGN
A43-X5 C2 C2
(59) (65) (72.2) / -PTC 1 ret BU VTBU
C1 C1
(59) (65) (68) (72.2) (92) / -0V BRAKE3 BU VTWH
B15 B15
/ -A43-X21.2 BU RD
D2 D2
CONTACTOR UNIT / -A43-X21.4 BU RDWH
A43-X21 D1 D1
/ -A43-X21.3 BU VTBK
D3 D3
/ -A43-X21.1 BU VTRD
D4 D4

Next 83.6
1 2 3 4 5 6 7 8
FLOOR CABLE
CONTROL MODULE
Customer
Connection AWG18
-XP/XT6 -XS/XP5 +R1 CP/CS
thoma RD CPA
1 A1 A1
2 Peter BU CPB
3 RD B1 GN B1 CPC
4 OG C1 YE C1 CPD
5 YE D1 WH D1 CPE
6 GN A2 BK A2 CPF
7 BU B2 BN B2 CPJ
8 VT C2 VT C2 CPK
9 GY D2 OG D2 CPL
10 WH A3 PK A3 CPM
11 WH/BK B3 TQ B3
12 WH/BN C3 GY C3
D3 D3
16x2
32x0,23
-XP/XT5.1 -W20001 0,23mm2

BK WHbu WHbu WH CSA
1
2 BN B5 bu BU B5 CSB
3 RD C5 WHog WH C5 CSC
4 OG D5 og OG D5 CSD
5 YE A6 WHgn WH A6 CSE
6 GN B6 gn GN B6 CSF
7 BU C6 WHbn WH C6 CSG
8 VT D6 bn BN D6 CSH
9 GY A7 WHgy WH A7 CSJ
10 WH B7 gy GY B7 CSK
11 WH/BK C7 RDbu RD C7 CSL
12 WH/BN D7 bu BU D7 CSM
A8 A8
-XP/XT5.2
WH/RD RDog RD CSN
13
14 WH/OG B8 og OG B8 CSP
15 WH/YE or PK C8 RDgn RD C8 CSR
16 WH/GN D8 gn GN D8 CSS
17 WH/BU A9 RDbn RD A9 CST
18 WH/VT B9 bn BN B9 CSU
19 WH/GY or Light GN C9 RDgy RD C9 CSV
20 BN/BK or RD/BK D9 gy GY D9 CSW
21 BN/RD or GN/BK A10 BKbu BK A10 CSX
22 BN/OG or OG/BK B10 bu BU B10 CSY
23 BN/YE or YE/BK C10 BKog WH C10 CSZ
D10 D10

IRB 4400 Next 83.3
1 2 3 4 5 6 7 8
FLOOR CABLE
Customer
Connection
Additinal to page 79 and 80
XP13 AWG22 AWG24 R1 CP/CS
V- F2 BK 0V
B23
CAN_L F4 BU CAN_L
A4
Option: Devicenet connection (27) / A35 SHIELD
CAN_H F3 WH CAN_H
A3
V+ F1 RD +24V CAN
B22
AWG22
XP9 -R1.CBUS
TXD/RXD+ 1 YE
1 1
Option: ProfiNet / Ethernet IP RXD/TXD+ 2 WH
2 2
(90) / ProfiEthernet
TXD/RXD- 3 OG
3 3
RXD/TXD- 4 BU
4 4
AWG22
+R1 CP/CS
XP13
RXD/TXD-P F5 RD RXD/TXD-P
Option: Profibus (90) / A33 A5
RXD/TXD-N F6 GN RXD/TXD-N
A6

DevNet/PofiNet/Ethernet/Profibus addition to CP/CS Sublocation:+
IRB2600 Document no. Rev. Ind Page83.3
Next 85
Floor cable
1
Latest revision:
2,5mm2

-A41.1
-R1.MP
-XS/XP1
-X11
17 GNRD M1U -_400 AWG12 BK 1
17
17
4
24
24
16 BN M1W -_402 AWG12 BK
2
19
19
6
26
26
Main servo drive unit

2
18
18

5
25
25
-X14

1
1
1
2017-09-07
3
10
10
2
2
2
-X12

1
23
23

4
32
32
24 GY M2W -_408 AWG12 BK

3
4
21
21

6
30
30

2
22
22

5
31
31
PRN
Lab/Office:
DMRO SE/
-X15

1
20
20
5

3
29
29
IRB 4600
2
28
28
SERVO DRIVE SYSTEM

-X13
10 BU M3U -_412 AWG12 BK

1
3
3

4
4
4
6

3
7
7
5 BK M3W -_415 AWG12 BK

6
14
14

2
5
5

6
5
Status:
-X16

7
9
9
Approved

Document no.
3
16
16

2
8
8
AWG10 GNYE
GNYE
3HAC026871-020
AWG10
Plant:
Sublocation:+
Location: +
=
8
DRIVE MODULE
Next 86
Rev. Ind Page85
07 Total 116
MANIPULATOR
1 2 3 4 5 6 7 8
FLOOR CABLE
0,23 mm2
-XS/XP2 +R1 SMB
A A
B B
C C MEASUREMENT
A42-X4 D D
(51) / -MRC_0V1 WH 0V
E WH E
(51) / +24V_SMB1 GN 24V

F BN F
(51) / -MRC_0V2
G G
H H
(51) / -MRC_0V3 WH BATT-
J J
GY BATT+
K K
RD BATT LOAD
L L
(50) / -EXT. LAMP -_433 AWG16 BU

-XS/XP1 +R1 MP
DRIVE MODULE (50) / -BRAKEPB -_434 AWG16 BU 30 OG 4,0 mm2 BRAKE PB
11 11
XS40
(50) / -BRAKEREL1 -_435 AWG16 BU 28 OGRD 0,75 mm2 BRAKE RELEASE
13 13 BRAKE RELEASE
(50) / -BRAKEREL2 -_436 AWG16
(59) (65) (68) (72.2) (80) (83.5) (92) / -0V BRAKE4 -_437 AWG16 BU 29 OGWH 0V BRAKE
12 12 0V BRAKE
-_438 AWG16 BU 31 PKBK 4,0 mm2 EXT.LAMP
27 27
CONTACTOR UNIT -_439 AWG16 BU 0,75 mm2
A43-X5
32 PKBU 0,75 mm2 0V BRAKE
15 15
(47) / -0VBRAKE;3 -_440 AWG16 BU

Next 87
1 2 3 4 5 6 7 8
CONTROL MODULE FLOOR CABLE MANIPULATOR
Customer
-XP/XT6 -713 -XS/XP13 +R1 CP/CS
AWG20 BK 1
1 A1 D1
CPA /
BN
CPE /
RD 2
CPB /
2 OG A2 D6 CPF /
YE 3
CPC /
3 GN A3 D3 CPJ /
BU 4
CPD /
4 VT A4 D4 CPK /
CPH
D7
-XP/XT5.1 -711 AWG24 AWG24
AWG24 BK WH CS
1 B1
BN B1 BU CS
2 RD B2 WH B2 CS
3 OG B11 OG B11 CS
4 YE B12 WH B12 CS
5 GN B13 GN B13 CS
6 BU B14 GN B14
7 VT C19 BN C19
8 -712 1/WH C21 WH C21 CS
10 2/WH B8 WH B8 CS
11 2/OG B9 OG B9 CS
12 B10 B10
-XP/XT5.2
3/WH WH CS
1 B3
3/GN B3 GN CS
2 4/WH B4 WH B4 CS
3 4/BN B5 BN B5 CS
4 -711 GY B6 RD B6
5
AWG24 WH C16 OG C16
6 WH/BK C17 RD C17
7 WH/BN C18 RD C18
12 B25 B25
-XP/XT5.3 -713
AWG20 GY WH CS
1
WH B15 BN B15 CS
5
WH/OG B20 BU B20 CS
6 WH/YE B21 B21
7 WH/GN C10
8 WH/BU C11
9 WH/VT C12
12 AWG16 C15

IRB4600 Document no. Rev. Ind Page87
Next 88
1 2 3 4 5 6 7 8

Customer
-XP/XT6 -713 -XS/XP13 -R1.CP/CS
1 AWG20 BK A1 1 CP/CSE
BN D1
2 RD A2 2 CP/CSF
OG D6
3 YE A3 3 CP/CSV
GN D3
4 BU A4 4
VT D4
GNYE
-XP/XT5.1 -711 AWG24 AWG24

1 AWG24 BK WH CS
BN B1 BU B1 CS
2 RD B2 WH B2
3 OG B11 OG B11
4 YE B12 WH B12
5 GN B13 GN B13
6 BU B14 GN B14
7 VT C19 BN C19
8 -712 1/WH C21 WH C21
9 AWG24 1/BU B7 BU B7
10 2/WH B8 WH B8
11 2/OG B9 OG B9
12 B10 B10
-XP/XT5.2
1 3/WH WH CS
3/GN B3 GN B3 CS
2 4/WH B4 WH B4 CS
3 4/BN B5 BN B5 CS
4 -711 GY B6 RD B6
5 AWG24 WH C16 OG C16
6 WH/BK C17 RD C17
7 WH/BN C18 RD C18
8 WH/RD C20 C20
9 WH/OG B22
10 WH/YE or PK B23 BK
12 B25 B25
-XP/XT5.3 -713
1 AWG20 GY WH
WH B15 BN B15
2 WH/BK B16 WH B16
3 WH/BN B18 GY B18
4 WH/RD B19 RD B19
5 WH/OG B20 BU B20
6 WH/YE B21 BK B21
7 WH/GN C10 OG A5
8 WH/BU C11 BK A6
9 WH/VT C12 GN A9
10 WH/GY or Light GN C13 BK A10
11 BN/BK or RD/BK C14 BN A11
OPTION //DEVICENET acc. to page 87

DEVICE NET Document no. Rev. Ind Page88
IRB4600 Next 89
1 2 3 4 5 6 7 8

Customer
Connection Single controller XS/XP13
XP/XT 6 AWG18 R1-CP/CS
-713 1 CP4
1 AWG20 BK A1 D1
BN 2 CP5
2 RD A2 D6
OG 3 CP6
3 YE A3 D3
GN 4 CP7
4 BU A4 GNYE D4
VT
XP/XT5.1 AWG24 AWG24
-711 WH CS
1 AWG24 BK B1 BU B1 CS
2 BN B2 WH B2 CS
3 RD B11 OG B11 CS
4 OG B12 WH B12 CS

5 YE B13 GN B13 CS
6 GN B14 GN B14 CS
7 BU C19 BN C19 CS
8 VT -712 1/WH C21 WH C21 CS

10 2/WH B8 WH B8 CS
11 2/OG B9 OG B9 CS
12 B10 B10
XP/XT5.2
3/WH WH CS
1 3/GN B3 GN B3 CS
2 4/WH B4 WH B4 CS
3 4/BN B5 BN B5 CS
4 -711 GY B6 RD B6 CS
9 WH/OG or PK B22 GY B22 CS
10 WH/YE or Light GN B23 BK B23 CS
11 WH/GN B24 BU B24 CS
12 B25 B25
XP/XT5.3 -713
AWG20 GY WH CS
1 WH B15 BN B15 CS
OPTION //PROFIBUS acc. to 87 72 DRESSPACK circuit diagram 3HAC026209-001

PROFI BUS Document no. Rev. Ind Page89
IRB 4600 Next 90
1 2 3 4 5 6 7 8
Customer
Connection
Additinal to page 85 and 86 +R1 CP/CS
AWG22 AWG24
V- F2 BK 0V
B23
CAN_L F4 BU CAN_L
A4
CAN_H F3 WH CAN_H
A3
V+ F1 RD +24V CAN
B22
AWG22
XP9 R1.CBUS
YE 1 ProfiNet//Ethernet
1 1
Option: ProfiNet / Ethernet IP 2 WH 2 2
(83.3) / ProfiEthernet 3 OG 3 3
4 BU 4 4
AWG22
+R1 CP/CS
Option: Profibus (83.3) / A33 A5
A6

DevNet/PofiNet/Ethernet/Profibus additional Sublocation:+
to CP/CS //IRB4600 Document no. Rev. Ind Page90
Next 91
1
Latest revision:
A41.1
2,5mm2

R1.MP
17
-X11
-XS/XP1
1
17
4
24
24
16 BN M1W -_402 AWG12 BK
3
19
19
2

6
26
26
2
18
18

5
25
25
-X14
1
1
1
2017-09-07
3
3
10
10
2
2
2
-X12

1
23
23

4
32
32
24 GY M2W -_408 AWG12 BK

3
21
21
BNGN M2W -_409 AWG12 BK

4
13
6
30
30

2
22
22

5
31
31
PRN
Lab/Office:
DMRO SE/
-X15

1
20
20

5
29
29
IRB 6700
2
28
28
According to manipulator circuit diagram 3HAC043446-005 r00

-X13
BU BK
SERVO DRIVE SYSTEM

10 M3U -_412 AWG12
3
3
1

4
4
4

6
7
7
3
5 BK M3W -_415 AWG12 BK

6
14
14

5
5
2

6
6
5
-X16

Status:
9
9
1
7
BUGN BK
Approved
7 M6W -_430 AWG12

3
16
16
Document no.

8
8
2
AWG10 GNYE
AWG10 GNYE
3HAC026871-020
Plant:
Sublocation:+
Location: +
=
8
FLOOR CABLE
DRIVE MODULE
CONTROLLER
Next 92
Rev. Ind Page91
07 Total 116
MANIPULATOR
1 2 3 4 5 6 7 8
FLOOR CABLE
DRIVE MODULE
0,23 mm2
-XS/XP2 R1.SMB
(51) / -MRCO1 A WH SDI
A
B B
C C MEASUREMENT
A42-X4 D D
(51) / -MRC_0V1 WH 0V
E WH E
(51) / +24V_SMB1 GN 24V

According to manipulator circuit diagram 3HAC043446-005 r00

F BN F
(51) / -MRC_0V2
G G
H H
(51) / -MRC_0V3 WH
J J
GY
K K
RD
L L
Key pin
M
-XS/XP1
(50) / -EXT. LAMP -_433 AWG16 BU
R1.MP
DRIVE MODULE (50) / -BRAKEPB -_434 AWG16 BU 11 30 OG 0,75mm2 BRAKE PB
XS40 11
13 13
(50) / -BRAKEREL2 -_436 AWG16
(59) (65) (68) (72.2) (80) (83.5) (86) / -0V BRAKE4 -_437 AWG16 BU 29 OGWH 4mm2 0V BRAKE
12 12
-_438 AWG16 BU 31 PKBK 0,75mm2 EXT.LAMP
27 27
A43-X5
32 PKBU 0,75mm2 0V EXT.LAMP
15 15
(59) (65) (68) (72.2) (83.5) / -0V BRAKE3 -_440 AWG16 BU

Next 93
1 2 3 4 5 6 7 8
CONTROLLER FLOOR CABLE MANIPULATOR

Customer
Connection
XP/XT 6 -713 XS/XP13 AWG18 R1-CP/CS
AWG20 BK 1 4
1 BN A1 D1
RD 2 5
2 OG A2 D6
According to manipulator diagram 3HAC044246-002 PARABUSCOM or PARAMULTI

YE 3 6
3 GN A3 D3
BU 4 7
4 VT A4 GNYE D4

AWG24 BK WH CS
1 BN B1 BU B1 CS
2 RD B2 WH B2 CS
3 B11 B11
According to Manipulator diagram 3HAC044246-002 PARACOM

OG OG CS
4 YE B12 WH B12 CS
5 GN B13 GN B13 CS
6 BU B14 GN B14 CS
7 VT C19 BN C19 N.C = Not connected

8 -712 1/WH C21 WH C21 CS

10 2/WH B8 WH B8 CS
11 2/OG B9 OG B9 CS
12 B10 B10
XP/XT5.2
3/WH WH CS
1 3/GN B3 GN B3 CS
2 4/WH B4 WH B4 CS
3 4/BN B5 BN B5 CS
4 -711 GY B6 RD B6 N.C
5 AWG24 WH C16 OG C16 N.C
6 WH/BK C17 RD C17 N.C
7 WH/BN C18 RD C18 N.C
8 WH/RD C20 RD C20 CS only in Parabuscom
9 WH/OG B22 GY B22 CS only in Parabuscom
10 WH/YE or PK B23 BK B23 CS only in Parabuscom
11 WH/GN or Light GN B24 BU B24 CS only in Parabuscom
12 B25 B25
XP/XT5.3 -713
AWG20 GY WH CS
1 WH B15 BN B15 CS
6 WH/YE B21 BK B21 CS only in Parabuscom
7 WH/GN C10 OG A3 CS only in Parabuscom
8 WH/BU C11 BK A4 N.C
9 WH/VT C12 GN A9 N.C
10 WH/GY or Light GN C13 BK A10 N.C
11 BN/BK or RD/BK C14 BN A11 N.C
Option: ProfiNet/Ethernet IP sheet / (94) SPOTPACK circuit diagram 3HAC026208-001
OPT.//PROFI BUS, or DEVICE NET acc. to sh. (26.2) DRESSPACK circuit diagram 3HAC026209-001
Only in Parabuscom and Paramulti

CUSTOMER POWER/SIGNAL, PARACOM Sublocation:+
PARAMULTI , PARABUSCOM Document no. Rev. Ind Page93
IRB 6700 Next 94
1 2 3 4 5 6 7 8
FLOOR CABLE
Customer CONTROLLER MANIPULATOR
Connection CONTROL MODULE
A31.3
OPTION : DEVICENET -X2 -707 XS/XP13 AWG22 AWG24 R1.CP/CS
Additional sheet (26.2) (.1) (93.1) 1 BK
2/BK V- 0V
F2 B23
2 1/BU CAN_L BU CAN_L
(27) / A35 F4 A4
3 Bare wire SHIELD
4 1/WH CAN_H WH CAN_H
F3 A3
5 2/RD V+ RD +24V CAN

F1 B22
PARABUSCOM
According to Manipulator diagram 3HAC044246-002 r00

A31.3 AWG22
OPTION : PROFIBUS R1.CP/CS
-709 -XS/XP13
Add. sh. (26.2) (.1) (93.1) -(DP-M)1 RD
1/RD RXD/TXD-P F5 RXD/TXD-P
1B 2 A5
(26) / A31.3
1/GN RXD/TXD-N GN RXD/TXD-N
1A F6 A6
AWG22
R1.ETHERNET
XP9
1 YE 1 1
/ 5.TXRX+ RX+
According to PARAMULTI Option: 2 WH 2 2
/ 5.TXRX- RX-
(93) / ProfiNet/Ethernet IP sheet 3 OG 3 3 ProfiNet//Ethernet
PARAMULTI
/ 5.RXTX+ TX+
4 BU 4 4
/ 5.RXTX- TX-

Location: +
PRN
DevNet//EtherNet//ProfiNet//PBUS ADDITION TO CP/CS Approved Sublocation:+
Next 95
1
Latest revision:
A41.1
2,5mm2

R1.MP
-XS/XP1 17
17 GNRD M1U -_400 AWG12 BK -X11
1
17
4
24
24
16 BN M1W -_402 AWG12 BK
3
19
19
2

6
26
26
2
18
18

5
25
25
-X14
1
1
1
2017-09-07
3
3
10
10
2
2
2
-X12

1
23
23

4
32
32
24 GY M2W -_408 AWG12 BK

3
21
21
M2W -_409 AWG12 BK

4
13 BNGN
6
30
30

2
22
22

5
31
31
PRN
Lab/Office:
DMRO SE/
-X15

1
20
20

5
29
29

2
28
28
IRB 66xx - 76xx

-X13
BK
SERVO DRIVE SYSTEM

10 BU M3U -_412 AWG12
3
3
1

According to Manipulator IRB66XX - 76XX circuit diagram 3HAC025744-001

4
4
4

6
7
7
3
5 BK M3W -_415 AWG12 BK

6
14
14

5
5
2

6
6
5
-X16

Status:
9
9
1
7
BUGN BK
Approved
7 M6W -_430 AWG12

3
16
16
Document no.

8
8
2
AWG10 GNYE
AWG10 GNYE
3HAC026871-020
Plant:
Sublocation:+
Location: +
=
8
FLOOR CABLE
DRIVE MODULE
Next 96
Rev. Ind Page95
07 Total 116
MANIPULATOR
1 2 3 4 5 6 7 8
FLOOR CABLE
0,23 mm2
R1.SMB
-XS/XP2
(51) / -MRCO1 A WH SDI
A
B B
C C MEASUREMENT
A42-X4 D D
(51) / -MRC_0V1 WH 0V
E WH E
(51) / +24V_SMB1 GN 24V

F BN F
(51) / -MRC_0V2 BAT BR
G G
BAT BR
H H
(51) / -MRC_0V3 WH 0V
J J
GY BATSUP
K K
AWG16 BU 1 BU EXT.LAMP RD EXT.LAMP
-DP1 AWG16 L L
1
-C1
2
BU
AWG16
(50) / -EXT. LAMP -_433 AWG16 BU

R1.MP
-XS/XP1
DRIVE MODULE (50) / -BRAKEPB -_434 AWG16 BU 11 30 OGRD 0,75 mm2 BRAKE PB
XP40 11
(50) / -BRAKEREL1 -_435 AWG16 BU 28 OG 4,0 mm2 BRAKE RELEASE
13 13 BRAKE RELEASE
(50) / -BRAKEREL2 -_436 AWG16 BU
(47) / -0VBRAKE;4 -_437 AWG16 BU 29 OGWH 4,0 mm2 0V BRAKE

12 12 0V BRAKE
CONTACTOR UNIT (47) / -PTC1 -_439 AWG16 BU 31 PKBK 0,75 mm2 PTC
A43-X5 27 27
(47) / -PTC1ret -_440 AWG16 BU 32 PKWH 0,75 mm2 0V PTC
15 15
(47) / -0VBRAKE;3 -_438 AWG16 BU

IRB 66xx - 76xx Document no. Rev. Ind Page96
Next 97
1 2 3 4 5 6 7 8
FLOOR CABLE
DRIVE
MODULE
0,23 mm2
-R1-SW23
/ -+24V COOL.4 24V COOL WH 24V FAN1
N
/ -0V COOL.4 0V COOL BU 0V FAN1
P
/ -FAN 1 ret.4 FAN1 ret WH T1
R
/ -+24V COOL.5 24V COOL WH 24V FAN2

f
/ -0V COOL.5 0V COOL OG 0V FAN2
g
/ -FAN 2 ret.5 FAN2 ret GN T2
h
Not in use
i
Not in use
S

COOLING AXES 1/2 Sublocation:+
IRB 6600 - 7600 Document no. Rev. Ind Page97
Next 98
1 2 3 4 5 6 7 8

Customer
Connection w26 1mm2
IRC5 6 -713 IRC513
R1-CP/CS
AWG20 BK 1 CP4
1 BN A1 D1
RD 2 CP5
2 OG A2 D6
YE 3 CP6
3 GN A3 D3
BU 4 CP7
4 VT A4 GNYE D4
IRC55.1 -711 SH
W27
1 BN B1 bu 0,23mm2 B1 CS

3 OG B11 og 0,23mm2 B11 CS
5 GN B13 gn 0,23mm2 B13 CS

6 BU B14 gn 0,23mm2 B14 CS

7 VT C19 bn 0,23mm2 C19 CS
8 -712 1/WH C21 WH AWG24 C21 CS
12 B10 B10
IRC55.2 W28
3/WH WH AWG24 CS
4 -711 GY B6 RDog 0,23mm2 B6 CS
5 AWG24 WH C16 og 0,23mm2 C16 CS
6 WH/BK C17 RDgn 0,23mm2 C17 CS
7 WH/BN C18 RDbn 0,23mm2 C18 CS
8 WH/RD C20 RDgy 0,23mm2 C20 CS
9 WH/OG B22 gy 0,23mm2 B22 CS
10 WH/YE or PK B23 BKbu 0,23mm2 B23 CS
11 WH/GN or Light GN B24 bu 0,23mm2 B24 CS
12 B25 B25
W27
IRC55.3 -713
1 WH B15 bn 0,23mm2 B15 CS
5 WH/OG B20 bu 0,23mm2 B20 CS
6 WH/YE B21 B21
7 WH/GN C10 SH
8 WH/BU C11
9 WH/VT C12
12 AWG16 BN/BK C15
DRESSPACK circuit diagram 3HAC026209-001
Next 99
1 2 3 4 5 6 7 8
FLOOR CABLE
Customer CONTROL MODULE MANIPULATOR
Connection
Additinal to page 93, 94 and 95
AWG22 AWG24 R1.CP/CS
V- F2 BK 0V
B23
CAN_L F4 BU CAN_L
A4
CAN_H F3 WH CAN_H
A3
V+ F1 RD +24V CAN
B22

AWG22
R1.CP/CS
XP13
Option: Profibus / A33 A5
A6
AWG22
-XP9 -R1.CBUS
1 YE
Option: ProfiNet / Ethernet IP 1 1
6600, 6620,6640, 6650s, 7600 2 WH
2 2 ProfiNet//Ethernet
3 OG
/ ProfiEthernet 3 3
4 BU
4 4

DevNet//IBUS//PBUS ADDITION TO CP/CS Sublocation:+
Next 100
1 2 3 4 5 6 7 8

Customer
Connection
XP/XT 6 -713 XS/XP13 AWG18 R1-CP/CS
AWG20 BK 1 CP4
1 BN A1 D1
RD 2 CP5
2 OG A2 D6
YE 3 CP6
3 GN A3 D3
BU 4 CP7
4 VT A4 GNYE D4

AWG24 BK WH CS
1 BN B1 BU B1 CS
2 RD B2 WH B2 CS
3 OG B11 OG B11 CS
4 YE B12 WH B12 CS

5 GN B13 GN B13 CS
6 BU B14 GN B14 CS
7 VT C19 BN C19 CS
8 -712 1/WH C21 WH C21 CS

10 2/WH B8 WH B8 CS
11 2/OG B9 OG B9 CS
12 B10 B10
XP/XT5.2
3/WH WH CS
1 3/GN B3 GN B3 CS
2 4/WH B4 WH B4 CS
3 4/BN B5 BN B5 CS
4 -711 GY B6 RD B6 CS
12 B25 B25
XP/XT5.3 -713
AWG20 GY WH CS
1 WH B15 BN B15 CS
OPTION //PROFIBUS acc. to page 92 (72.1) DRESSPACK circuit diagram 3HAC026209-001

CUSTOMER POWER/SIGNAL PROFI BUS Sublocation:+
Next 101
1 2 3 4 5 6 7 8
FLOOR CABLE
Customer
Connection AWG18
XP/XT 6 -713 XS/XP13
AWG20 BK 1 R1.CP/CS CP4
1 BN A1 D1
RD 2 CP5
2 OG A2 D6
YE 3 CP6
3 GN A3 D3
BU 4 CP7
4 VT A4 GNYE D4

AWG24 BK WH CS
1 BN B1 BU B1 CS
2 RD B2 WH B2 CS
3 OG B11 OG B11 CS

4 YE B12 WH B12 CS
5 GN B13 GN B13 CS
6 BU B14 GN B14 CS
7 VT C19 BN C19 CS
8 -712 1/WH C21 WH C21 CS
10 2/WH B8 WH B8 CS
11 2/OG B9 OG B9 CS
12 B10 B10
XP/XT5.2
3/WH WH CS
1 3/GN B3 GN B3 CS
2 4/WH B4 WH B4 CS
3 4/BN B5 BN B5 CS
4 -711 GY B6 RD B6 CS
8 WH/RD C20 C20
9 WH/OG B22
10 WH/YE or PK B23 BK CS
12 B25 B25
XP/XT5.3 -713
AWG20 GY WH CS
1 WH B15 BN B15 CS
OPTION //DEVICE net acc. to(72.1)
page 92 SPOTPACK circuit diagram 3HAC026208-001
DRESSPACK circuit diagram 3HAC026209-001

CUSTOMER POWER/SIGNAL DEVICE NET Sublocation:+
Next

3HAC026871-020 Rev07

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© Copyright 2017 ABB ALL right reserved.

Latest revision: Lab/Office: Status: Plant: =

13 VIEW OF CONTACTOR & AXIS COMPUTER UNIT 2017-08-29 Thomas

Latest revision: Lab/Office: Status: Plant: =

37.3 VISION, INTEGRATED CAMERAS 2017-08-29 Thomas

Latest revision: Lab/Office: Status: Plant: =

68 CONTROL CABLE IRB 460 2017-08-29 Thomas

Latest revision: Lab/Office: Status: Plant: =

95 SERVO DRIVE SYSTEM IRB 66xx - 76xx 2017-08-29 Thomas

Latest revision: Lab/Office: Status: Plant: =

-A41.1-6 MAIN SERVO DRIVE UNIT 76 -EXT-S21.2 MOTOR ON PB 20

-A42 AXIS COMPUTER BOARD 49 -EXT-A21-S22-H1 21

Latest revision: Lab/Office: Status: Plant:

Revison 05 2016 09 Rel16.2 Revison 07 2017 09 Rel17.2

Sh. 97 XS/XP58 was removed

Revison 06 2017 03 Rel17.1

Latest revision: Lab/Office: Status: Plant: =

Stomme, ramverk/ Filter/

Functional earthing. Styrning genom tryckning/

Actuator(operated by pushing). 709

Tvinnade ledare/ Translation table square area from AWG to mm2.

Fyrdubbelt tvinnade ledare/ Run chain presentation starts at sheet 13.

Example: Run chain marked with a wider wire.

Extra sheet number .1.

PMC bottom view

Latest revision: Lab/Office: Status: Plant: =

A31.3 X19 X13

A31.4 PROFIBUS M PCI

Latest revision: Lab/Office: Status: Plant: =

Relay output pair 1/2 X13

A44 EPS unit

Drive link X11

Contactor bord link X6

Latest revision: Lab/Office: Status: Plant: =

Latest revision: Lab/Office: Status: Plant: =

PROCESS POWER SUPPLY

-X2 1 2 3 4 -X3 1 2 3 4 -X4 1 2 3 4 5 6 7 8 9 10 -X5 1 2 3 4

2/RD 1/WH 1/GN 2/BK

Prepared by, date:Thomas Stålnacke

2005-05-19 Approved by, date:M Törnros

IRC5 PMC DESIGN 14 Rel 17.2

OPTION : POWER SUPPLY DEVICENET

Rev. Ind Page16

CONTROL MODULE CABINET CONTROL PANEL OPTION

3Cross reference to S.21 /

9Cross reference to A31.X3 / (23)

CONTROL MODULE CABINET EXTERNAL CONTROL PANEL

1Cross reference to EXT S21 /

9Cross reference to A31.X3 / (23)

Run CH1 top

EMERGENCY ES2 OUT:B

Latest revision: Lab/Office: Status: Plant: =

ENABLE2_1 -ENABLE2_1 / (47)

AS2+ 9 AS2 SOFT AS

GS2- CH1 RUN CH2Ret

SS2 RUN CH2Ret

Latest revision: Lab/Office: Status: Plant: =

CONTROL MODULE X9 and X10 2Cross reference / to board A21 blockdiagram.

(17) RunCh+.1 / A21X9:16 / (20)

Latest revision: Lab/Office: Status: Plant: =

-246 EXT.COMMON2 GN/BU

Option:Run chain Ext Operating, 3 Mode Selector