© copyright 2014 abb all right reserved. · 3hac036724-001 harn-gtpu conn. 3hac047612-001 harness...

52
Prepared by, date: 2 We reserve all rights in this document and in the information contained therein.Reproduction, use or disclosure to third parties without express authority is strictly forbidden. © Copyright 2003 ABB Page 1 52 Total Latest revision: Approved by, date: COPYRIGHT PAGE Location: Plant: = + + Sublocation: Document no. Next Rev. Ind Lab/Office: Status: IRB 14000 04 3HAC050778-003 CNQILI2 CNDRTU 6/8/2016 Approved 5 7 4 3 2 1 6 8 The information in this document is subject to change without notice and should not be construed as a commitment by ABB. ABB assumes no responsibility for any errors that may appear in this document. Except as may be expressly stated anywhere in this document, nothing herein shall be construed as any kind of guarantee or warranty by ABB for losses, damages to persons or property, fitness for a specific purpose or the like. In no event shall ABB be liable for incidental or consequential damages arising from use of this document. This document and parts thereof must not be reproduced or copied without ABB's written permission, and contents therof must not be imparted to a third party nor be used for any unauthorized purpose. Contravention will be prosecuted. Additional copies of this document may be obtained from ABB at its then current charge. © Copyright 2014 ABB ALL right reserved. ABB Engineering (Shanghai) Ltd No.4528, Kangxin Highway,Kangqiao Town Pudong New District, Shanghai, 201319 P.R.China

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Page 1: © Copyright 2014 ABB ALL right reserved. · 3HAC036724-001 Harn-GTPU conn. 3HAC047612-001 Harness digital IO 3HAC047971-001 Harn-ProfiBUS. panel link 3HAC039244-001 Harn-Eth. panel

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The information in this document is subject to change without notice and should not be construed as a commitment by ABB. ABB assumes no responsibility for any errors that may appear in this document.

Except as may be expressly stated anywhere in this document, nothing herein shall be construed as anykind of guarantee or warranty by ABB for losses, damages to persons or property, fitness for aspecific purpose or the like.

In no event shall ABB be liable for incidental or consequential damages arising from use of this document.

This document and parts thereof must not be reproduced or copied without ABB's written permission,and contents therof must not be imparted to a third party nor be used for any unauthorized purpose.Contravention will be prosecuted.

Additional copies of this document may be obtained from ABB at its then current charge.

© Copyright 2014 ABB ALL right reserved.

ABB Engineering (Shanghai) LtdNo.4528, Kangxin Highway,Kangqiao Town

Pudong New District, Shanghai, 201319P.R.China

Page 2: © Copyright 2014 ABB ALL right reserved. · 3HAC036724-001 Harn-GTPU conn. 3HAC047612-001 Harness digital IO 3HAC047971-001 Harn-ProfiBUS. panel link 3HAC039244-001 Harn-Eth. panel

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CustomerYear of construction

:::

::::

DescriptionDrawing number

DateDrawing version

::

::

:

Drawn byNumber of pages

::::::

52

3HAC050778-003IRB 14000

04

CNQILI2

Page 3: © Copyright 2014 ABB ALL right reserved. · 3HAC036724-001 Harn-GTPU conn. 3HAC047612-001 Harness digital IO 3HAC047971-001 Harn-ProfiBUS. panel link 3HAC039244-001 Harn-Eth. panel

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TABLE OF CONTENTSDatePAGE DESCRIPTIONPAGE Edited by

1 6/3/2016 CNQILI2

2 TITLE PAGE 6/3/2016 CNQILI2

3 TABLE OF CONTENTS 6/3/2016 CNQILI2

4 TABLE OF CONTENTS 6/3/2016 CNQILI2

5 SYMBOL INFORMATION 6/3/2016 CNQILI2

6 VALID FOR 6/3/2016 CNQILI2

7 REVISION INFORMATION 6/3/2016 CNQILI2

8 BLOCK DIAGRAM 6/3/2016 CNQILI2

9 VIEW OF POWER UNIT 6/3/2016 CNQILI2

10 VIEW OF DRIVE UNIT 6/3/2016 CNQILI2

11 VIEW OF SMB UNIT 6/3/2016 CNQILI2

12 VIEW OF ETHERNET SWTICH UNIT 6/3/2016 CNQILI2

13 VIEW OF AXIS COMPUTER UNIT 6/3/2016 CNQILI2

14 VIEW OF DSQC652 IO UNIT 6/3/2016 CNQILI2

15 VIEW OF NEW MAIN COMPUTER 6/3/2016 CNQILI2

16 SIDE VIEW OF CONTROLLER 6/3/2016 CNQILI2

17 SYSTEM OVERVIEW 6/3/2016 CNQILI2

18 Main Power Supply 6/3/2016 CNQILI2

19 DSQC 662 Power distribution unit 6/3/2016 CNQILI2

20 Fan unit 6/3/2016 CNQILI2

21 DSQC 1000 Main computer 6/3/2016 CNQILI2

22 DSQC 1000 Main computer 6/3/2016 CNQILI2

23 FIELDBUS ADAPTER A32: ETHERNET/IP, PROFIBUS and PROFINET 6/3/2016 CNQILI2

24 DSQC1006 DEVICENET A31.2 m/s 6/3/2016 CNQILI2

25 Customer interface 6/3/2016 CNQILI2

26 Customer interface 6/3/2016 CNQILI2

26.1 Customer interface (Safety Relay Option) 6/3/2016 CNQILI2

27 Ethernet switch 6/3/2016 CNQILI2

28 DSQC1013 Axis computer 6/3/2016 CNQILI2

29 DSQC1013 Axis computer 6/3/2016 CNQILI2

30 DSQC 652 INPUT 6/3/2016 CNQILI2

31 DSQC 652 OUTPUT 6/3/2016 CNQILI2

32 DSQC462 Drive board right arm 6/3/2016 CNQILI2

COPYRIGHT PAGE

Page 4: © Copyright 2014 ABB ALL right reserved. · 3HAC036724-001 Harn-GTPU conn. 3HAC047612-001 Harness digital IO 3HAC047971-001 Harn-ProfiBUS. panel link 3HAC039244-001 Harn-Eth. panel

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TABLE OF CONTENTSDatePAGE DESCRIPTIONPAGE Edited by

33 DSQC462 Drive board right arm 6/3/2016 CNQILI2

34 DSQC462 Drive board left arm 6/3/2016 CNQILI2

35 DSQC462 Drive board left arm 6/3/2016 CNQILI2

36 DSQC633D SMB right arm 6/3/2016 CNQILI2

37 DSQC633D SMB left arm 6/3/2016 CNQILI2

38 Right arm_Axis1 6/3/2016 CNQILI2

39 Right arm_Axis2 6/3/2016 CNQILI2

40 Right arm_Axis7 6/3/2016 CNQILI2

41 Right arm_Axis3 6/3/2016 CNQILI2

42 Right arm_Axis4 6/3/2016 CNQILI2

43 Right arm_Axis5 6/3/2016 CNQILI2

44 Right arm_Axis6 6/3/2016 CNQILI2

45 Left arm_Axis1 6/3/2016 CNQILI2

46 Left arm_Axis2 6/3/2016 CNQILI2

47 Left arm_Axis7 6/3/2016 CNQILI2

48 Left arm_Axis3 6/3/2016 CNQILI2

49 Left arm_Axis4 6/3/2016 CNQILI2

50 Left arm_Axis5 6/3/2016 CNQILI2

51 Left arm_Axis6 6/3/2016 CNQILI2

Page 5: © Copyright 2014 ABB ALL right reserved. · 3HAC036724-001 Harn-GTPU conn. 3HAC047612-001 Harness digital IO 3HAC047971-001 Harn-ProfiBUS. panel link 3HAC039244-001 Harn-Eth. panel

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-W725 AWG20 BK(92) (92.1) +24V DRIVE;2

Example, showing how to read the information before and after a signal.

Signal nameWire number

Signal counter

Wire dataA42

XS1 =Socket

XP1 = Pin

1

AXIS COMP: BOARD

X1 = PIN or Socket

Target sheet 92.1

Extra sheet number .1.

Target sheet 92

Skyddsjord/Protective earthing.

Skärm/Shield.

Stomme, ramverk/Functional equipotential bonding

Functional equipotential bondingStomme, ramverk/

Earth , general symbol.Jord, allmän symbol/

Styrning med spak/Actuator (operated by lever).

Styrning genom vridning/Actuator(operated by turning).

Styrning genom tryckning/Actuator(operated by pushing).

Slutkontakt/Make contact, general.

Handmanövrerad brytare, allmän/Switch manually operated, general.

Störningsfri jord/Functional earthing.

Filter/Filter.

Lampa/Lamp.

Current transformer.

Kontaktstift hane/Pin male.

Strömtransformator/

Kontakthylsa hona/Socket outlet female.

Styrning, elektromagnetisk styrdon/

Växelström, AC /

Likström, DC /Direct current, DC.

Alternating current, AC.

Actuator, by electromagnetic.

Nödstopp (svamptryckknapp)/Actuator, emergency.

AWG26 0,15AWG24 0,25

AWG20 0,56

AWG18 0,93

AWG14 2,44

Example 2 : GNYE = Green and Yellow.

AWG16 1,25

AWG12 3,02AWG10 4,65

AWG22 0,34

AWG28 0,093

Translation table square area from AWG to mm2.

BK/OGRD/OG BN BK

709AWG24

square area AWG24 and cable number 709.Example: Cable with four colour coded wire,

Example 1 : WH/RD = White and Red.

Wire/connector two colour code.

Wire/connector one colour code.

GY = Grey, WH = White, PK = Pink, TQ = Turquoise

BK = Black, BN = Brown, RD = Red, OG = OrangeYE = Yellow, GN = Green, BU = Blue, VT = Violet

Column coordinate number on the drawing

Twisted conductors.Tvinnade ledare/

Triple twisted conductors.Trippel tvinnade ledare/

Quadruple twisted conductors.Fyrdubbelt tvinnade ledare/

Tvinnade ledare part A med part BTwisted conductors part A with part B

Part A

Part B

Through jointSkarvhylsa

Ethernet signal:1. Transmit TX+ or TX- and receive RX+ or RX- 2. Unit possible to transmit or recieve TX+/RX+ or TX-/RX-

3. Ethernet Gigabit signal, transmit pair one MX1+ , MX1- and receive the MX2+ , MX2-If Gigabit transmit pair MX3+ , MX3- and receive pair MX4+ , MX4-

Run chain presentation starts at sheet 26.The Run chain marked as a wider wire.

Example: Run chain marked with a wider wire.

Example: Not Run chain marked with a thin wire.

Page 6: © Copyright 2014 ABB ALL right reserved. · 3HAC036724-001 Harn-GTPU conn. 3HAC047612-001 Harness digital IO 3HAC047971-001 Harn-ProfiBUS. panel link 3HAC039244-001 Harn-Eth. panel

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Valid for:This circuit diagram is valid for the following cable harness assemblies:

Harness for Controller:3HAC050414-001 Harness XP0 - Q13HAC047354-001 Harness Q1 - G13HAC047355-001 Harness G1 - G23HAC050886-001 Harness PS_AC_OK3HAC047356-001 Harn-24V distribution3HAC035979-001 Harn-Measure link3HAC038361-001 Harn-Brake release3HAC047611-001 Harness DeviceNet3HAC036724-001 Harn-GTPU conn.3HAC047612-001 Harness digital IO3HAC047971-001 Harn-ProfiBUS. panel link3HAC039244-001 Harn-Eth. panel link3HAC050513-001 Harn-EtherNet to IO3HAC051176-001 Harn-Emergecy stop3HAC051991-001 Earth cable3HAC039336-001 Harn-USB panel adapter3HAC026525-001 Fan with receptacle3HAC021975-001 Harness-DSQC604/Computer unit USB3HAC024254-00* Ethernet cable straight con3HAC052545-001 Basic Wire Markiing Set_IRB140003HAC050887-001 Hall Sensor Interface Board

Harness for Arm:3HAC047242-001 Cable harness_IRB140003HAC048879-001 Hall Sensor Signal Cable(3Pin)

Page 7: © Copyright 2014 ABB ALL right reserved. · 3HAC036724-001 Harn-GTPU conn. 3HAC047612-001 Harness digital IO 3HAC047971-001 Harn-ProfiBUS. panel link 3HAC039244-001 Harn-Eth. panel

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2015-02-09 First version Ver00

2015-03-25 Ver01 "UL Lamp" changed to "Singnal Lamp". Controller side view updated.

2015-10-15 Ver02 Page38,45 add PE5, PE6

2016-01-28 Ver03 Page26,27 change description about hand IO Page18, 19, 25, 26, 30, 31, 32, 34 add cable number labels.

2016-06-06 Ver04 Page26.1 added. (For option of safety relay)

Page 8: © Copyright 2014 ABB ALL right reserved. · 3HAC036724-001 Harn-GTPU conn. 3HAC047612-001 Harness digital IO 3HAC047971-001 Harn-ProfiBUS. panel link 3HAC039244-001 Harn-Eth. panel

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A62

EtherNetSwitch

G3

Ultra cap

To Arm_L

A52

To Arm_R

A51.3

A51

To Arm_R

A21

A52.3

To arm (Hall Sensor)

To Arm_L Hand

To Arm_L

To Arm_R Hand SERVICEVISION

SAFETY

To Arm Hand (Power)

Drive unitLeft arm

SMB Left arm

Drive unitRight arm

SMB Right arm

Axiscomputer

G2

G1 G2.1

TPU

AC

PDB

PDB ext. unit

DC

Fiel

d B

US

110~230VAC

A31

Computermodule

US

B

LAN

2

1

2-Q1

3

4

WA

N

DI/D

O

LAN

3

Dev

iceN

et

I/Ox

I/Ounit

Z1

Page 9: © Copyright 2014 ABB ALL right reserved. · 3HAC036724-001 Harn-GTPU conn. 3HAC047612-001 Harness digital IO 3HAC047971-001 Harn-ProfiBUS. panel link 3HAC039244-001 Harn-Eth. panel

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X4X9

X7

X6X5

X3X1X2X1

X8

STATUSLED

AC INPUT

PE N L

DC OUTPUT

SK2 POS(+)NEG(-)

SIGNAL CONNECTOR

AC OK DC OK/FAIL

LABEL

G1 POWER SUPPLY

G2.1 PDB EXTENSION BOARD G2 POWER DISTRIBUTION BOARD

Page 10: © Copyright 2014 ABB ALL right reserved. · 3HAC036724-001 Harn-GTPU conn. 3HAC047612-001 Harness digital IO 3HAC047971-001 Harn-ProfiBUS. panel link 3HAC039244-001 Harn-Eth. panel

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X9

X1

X13

X17

X12

X14

X15

X16

X6

X11

X3X2X8

A51/A52 DRIVE UNIT

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X3X5

X2

X4

X1

A51.3/A52.3 SMB UNIT

Page 12: © Copyright 2014 ABB ALL right reserved. · 3HAC036724-001 Harn-GTPU conn. 3HAC047612-001 Harness digital IO 3HAC047971-001 Harn-ProfiBUS. panel link 3HAC039244-001 Harn-Eth. panel

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X1X2X3X4

X5

X6

A33 ETHERNET SWITCH UNIT

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A42 AXIS COMPUTER UNIT

24V Drive

Measurement link 2

X6Contactor bord link

Drive link

Console port

X9

X11

X2

X5

Computer module link

X1

X4

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Prepared by, date:15

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rese

rve

all r

ight

s in

this

doc

umen

t and

in th

e in

form

atio

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ntai

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5 74321 6 8

DSQC652 IO UNIT

X2

CA

N D

ATA

/ NO

DE

AD

DR

ES

S

X1

X2

X4

X3

DIGITAL OUTPUT

DIGITAL INPUT

Page 15: © Copyright 2014 ABB ALL right reserved. · 3HAC036724-001 Harn-GTPU conn. 3HAC047612-001 Harness digital IO 3HAC047971-001 Harn-ProfiBUS. panel link 3HAC039244-001 Harn-Eth. panel

Prepared by, date:16

We

rese

rve

all r

ight

s in

this

doc

umen

t and

in th

e in

form

atio

n co

ntai

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ein.

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rodu

ctio

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stri

ctly

forb

idde

n. ©

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5 74321 6 8

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

X2

X1

X3

AnybusCC/RS232 Expansion BoardDSQC1003

X1 X2

X3

X4

X5

X6

X7

X9

X10 X11

X16

X12

X13

Pin no 1 = 0VPin no 2 = 24V

Interface BoardDSQC1001

X15

...78

, 80

2, 4

, 6...

..

...77

, 79

1, 3

, 5...

..

Front side

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

POWERDISC-ActSTATUSNS MS

3HAC046408-001

3HAC042827-001

Profibus/S

ProfiNet/SEthernet /IP/S

Main Computer UnitDSQC1000

COM Express moduleDSQC1002

DeviceNet M/S PCIDSQC1006 DeviceNet M/S

SD card 2GBDSQC1008

Console

Com1LAN 1 10/100

LAN 210/100

LAN 310/100/1000

WAN10/100/1000

PANEL UNIT

AXC

USB 4/3USB 2/1

POWER

SERVICE 10/100

X19 Fan power

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

Battery

BT1

A32

A31

A32.2

A32.3 A31.1

A31.2 (Default)

A32.1

Page 16: © Copyright 2014 ABB ALL right reserved. · 3HAC036724-001 Harn-GTPU conn. 3HAC047612-001 Harness digital IO 3HAC047971-001 Harn-ProfiBUS. panel link 3HAC039244-001 Harn-Eth. panel

Prepared by, date:17

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rese

rve

all r

ight

s in

this

doc

umen

t and

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form

atio

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ntai

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6/8/2016

Approved

5 74321 6 8

SMB A52.3Left Arm

G4Left SMB Battery

IO UNIT

Main Computer A31

Power SwtichQ1

Axis Computer A42

G4Right SMB Battery

Fan UnitE1

Power SupplyG1

Drive Unit A52Left Arm

Drive Unit A51Right Arm

EtherNet Switch A33

SMB A51.3Right Arm

PDB Extension BoardG2.1

Power Distribution BoardG2(Upper)Ultra Cap BankG3(Below)

DIXS8

FAXP11

SafetyXS9

PROFIBUSXS10

LAN3XP26

DOXS7

ServiceXP23

WANXP28

LAN2XP25

Tool IO L/RXS12

Power InputXP0

DeviceNetXS17

L

R

USBXP24

AIR

FlexPendantXS4

Page 17: © Copyright 2014 ABB ALL right reserved. · 3HAC036724-001 Harn-GTPU conn. 3HAC047612-001 Harness digital IO 3HAC047971-001 Harn-ProfiBUS. panel link 3HAC039244-001 Harn-Eth. panel

Prepared by, date:18

We

rese

rve

all r

ight

s in

this

doc

umen

t and

in th

e in

form

atio

n co

ntai

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Rep

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5 74321 6 8

Right Arm

Left Arm

Controller

Controller Interface

Brake release (Left arm)

Brake release (Right arm)

Hand Flange(Right Arm)

Hand Flange(Left Arm)

Signal Lamp(Option)

Page 18: © Copyright 2014 ABB ALL right reserved. · 3HAC036724-001 Harn-GTPU conn. 3HAC047612-001 Harness digital IO 3HAC047971-001 Harn-ProfiBUS. panel link 3HAC039244-001 Harn-Eth. panel

Prepared by, date:19

We

rese

rve

all r

ight

s in

this

doc

umen

t and

in th

e in

form

atio

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ntai

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Approved

5 74321 6 8

+24V

DC

0VD

C

200

201

202

203

1516

1

2

3

4

PS_G_ACOK

PS_5V_SB

HA

ND

_PW

R_G

ND

HA

ND

_EN

_R24V

_HA

ND

_IN24V

_HA

ND

_R_O

UT

HA

ND

_EN

_L24V

_HA

ND

_IN24V

_HA

ND

_L_OU

TP

S_G

_AC

OK

PS

_5V_S

BP

DB

_AC

-OK

PD

B_A

CO

K_G

ND

0V E

nable Right&

Left

200

201

202

203

+24V

DC

0VD

C375376378

395396397398

379

409410411

412413403406

401402403404407408

414

415

416

270

271

217216219218291292

-G1Main Power Supply

EAC_100-240V N L

+Output -

PE

Q1

GND

1SK2 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20

1G2.1.X1 2 3 4 5 6 7 8 9 10 11 13 1412

-G2.1DSQC461 PDB ext unit

6

G2.1.XS21

2

3

4

5

5

4

3

2

G2.1.XS11

6

7

8

1

2

3

4

-Z1MAINS LINE FILTER

+ -

PDB_AC-OK / (19)

0V DC1 / (19)

0V DC2 / (19)

+24V DC1 / (19)

+24V DC2 / (19)

GND /

PDB_GND / (19)

IO.X2.3 / (31)

IO.X2.4 / (31)

IO.X3.9 / (30)

0v Hand_L / (19)

Arm2 +24V I/O / (45)

Arm1 +24V I/O / (38)

24V Hand_R / (19)

24V Hand_L / (19)

0v Hand_R / (19)

Arm1 0V I/O / (38)

Arm2 0V I/O / (45)

XP

0 L

(25)

XP

0 P

E(2

5)

XP

0 N

(25)

Page 19: © Copyright 2014 ABB ALL right reserved. · 3HAC036724-001 Harn-GTPU conn. 3HAC047612-001 Harness digital IO 3HAC047971-001 Harn-ProfiBUS. panel link 3HAC039244-001 Harn-Eth. panel

Prepared by, date:20

We

rese

rve

all r

ight

s in

this

doc

umen

t and

in th

e in

form

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ntai

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Cop

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5 74321 6 8

201

200

202

203

210

211

212

213

214

215

216

219

222

225

237

238

241

242

220

221

230

231

232 25

0

239

240

243

244

AWG

16

AWG16

AWG

18

AWG

18

AWG

18

AWG

18

AWG

20

AWG

20

234

235

AWG

18

220

221

AWG

20

AWG

20

AWG

16

251

252

253

254

AC

OK

0V

233

AWG

18

AWG

18

AWG

20

AWG

20AW

G20

AWG

20

247

248

217

245

218

246

290

291

292

290

292

109

87

65

43

21-X1

43

21

-X9

43

21

-X8

109

87

65

43

21

-X7

121110987654321

-X6

87654321

-X5

4321

-X4

635241

-X3

43-X24321-X1

-G3

DSQC 655 Ultra capbank

-G2DSQC 662 Power distribution unit

-G3.X11 2 6 7 8 -U

SB

1_G

ND

/ (2

2)

-US

B1

D-

/ (2

2)-U

SB

1 D

+ /

(22)

-US

B1

+5V

/ (2

2)+24V

sys.

Inv1

/ (3

4)

+24V

sys.

Ax

/ (2

8) +24V

DC

BU

S11

/ (3

2)

+24V

DC

BU

S1

/ (3

2)

24V

PC

2 /

(21)

24V

PC

1 /

(21)

24V

Han

d_L

/ (1

8)

+24V

sys.

Sw

/ (2

7)

+24V

TP

U /

(26)

0V P

C2

/ (2

1)

0V P

C1

/ (2

1)

0v H

and_

L /

(18)

0Vsy

s.In

v1 /

(34)

0Vsy

s.S

w /

(27)

0Vsy

s.A

x /

(28)

0V T

PU

1 /

(26)

0V D

CB

US

11 /

(32)

0V D

CB

US

1 /

(32)

+24V

DC

1(1

8)

+24V

DC

2(1

8)

0V D

C1

(18)

0V D

C2

(18)

PD

B_A

C-O

K(18

)

+24V

BR

AK

E /

(34)

+24V

FA

N /

(20)

0V B

RA

KE

/ (3

4)

0V F

AN

/ (2

0)

+24V

DC

BU

S2

/ (3

4)

+24V

DC

BU

S22

/ (3

4)

0V D

CB

US

2 /

(34)

0V D

CB

US

22 /

(34)

+24V

TP

U2

/ (2

6)

0V T

PU

2 /

(26)

24V

I/O

/ (2

4)

0V I/

O /

(24)

PD

B_G

ND

(18)

24V

Han

d_R

/ (1

8)

0v H

and_

R /

(18)

+24V

sys.

LE.IN

/ (2

6)

0Vsy

s.LE

.IN /

(26)

Page 20: © Copyright 2014 ABB ALL right reserved. · 3HAC036724-001 Harn-GTPU conn. 3HAC047612-001 Harness digital IO 3HAC047971-001 Harn-ProfiBUS. panel link 3HAC039244-001 Harn-Eth. panel

Prepared by, date:21

We

rese

rve

all r

ight

s in

this

doc

umen

t and

in th

e in

form

atio

n co

ntai

ned

ther

ein.

Rep

rodu

ctio

n, u

se o

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ithou

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aut

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stri

ctly

forb

idde

n. ©

Cop

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ht 2

003

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++Sublocation:

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Approved

5 74321 6 8

234

235

AWG20

M

+

-

3

E1.X11

E1Fan unit

+24V FAN / (19)

0V FAN / (19)

Page 21: © Copyright 2014 ABB ALL right reserved. · 3HAC036724-001 Harn-GTPU conn. 3HAC047612-001 Harness digital IO 3HAC047971-001 Harn-ProfiBUS. panel link 3HAC039244-001 Harn-Eth. panel

Prepared by, date:22

We

rese

rve

all r

ight

s in

this

doc

umen

t and

in th

e in

form

atio

n co

ntai

ned

ther

ein.

Rep

rodu

ctio

n, u

se o

r di

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to th

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artie

s w

ithou

t exp

ress

aut

horit

y is

stri

ctly

forb

idde

n. ©

Cop

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5 74321 6 8

POWERSUPPLY

GND+24V

FAN_TACH

AXIS COMPUTERAXC1

ETH_DRIVE

LAN110/100

ETH_SERVICE

PANEL UNITRS 485

TPU

SPARE

INTERFACEFLEXPENDANT XS4

INTERFACESERVICE XP23230

231

232

233

AWG20

RED LABEL

BLUE LABEL

GREEN LABEL

YELLOW LABEL

-A31MAIN COMPUTER DSQC 1000

6

5

2

8

3-X3

4

1

7

2

65

8

1-X9

34

7

1-X1

2

2

4

6

8

1-X7

3

5

7

DISC-ACT (YELLOW)

MS (GREEN/RED)

STATUS (GREEN-RED)

POWER (GREEN)

NS (GREEN-RED)

AWG24

-E22CHASSIS BLOWER

M

+

-

21

-X19

3

BK

RD

YE

2

4

6

8

1-X2

3

5

7

0V PC1 / (19)

0V PC2 / (19)

24V PC2 / (19)

TPU.TD- / (26)

TPU.RD+ / (26)

AXC.RX+ / (28)

AXC.RX- / (28)

TPU.TD+ / (26)

TPU.RD- / (26)

AXC.TX+ / (28)AXC.TX- / (28)

24V PC1 / (19)

ETH. X2.6 / (25)

ETH. X2.3 / (25)ETH. X2.2 / (25)ETH. X2.1 / (25)

Page 22: © Copyright 2014 ABB ALL right reserved. · 3HAC036724-001 Harn-GTPU conn. 3HAC047612-001 Harness digital IO 3HAC047971-001 Harn-ProfiBUS. panel link 3HAC039244-001 Harn-Eth. panel

Prepared by, date:23

We

rese

rve

all r

ight

s in

this

doc

umen

t and

in th

e in

form

atio

n co

ntai

ned

ther

ein.

Rep

rodu

ctio

n, u

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artie

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stri

ctly

forb

idde

n. ©

Cop

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ht 2

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5 74321 6 8

INTERFACEWAN XP28

EthernetSwitch

INTERFACELAN3 XP26

PDB

INTERFACEUSB XP24

LAN210/100

LAN310/100

A31.X6

AWG28 WH

AWG28 WH

AWG28 GN

AWG28 GN

AWG24 RD

AWG24 RD

AWG24 BK

AWG24 BK

CONSOLE_RXDCONSOLE_TXDCONSOLE_DTRGNDCONSOLE_DSRCONSOLE_RTS-NCONSOLE_CTS-N

COM1_RXDCOM1_TXDCOM1_DTR0VCOM1_DSRCOM1_RTS-NCOM1_CTS-N

CONSOLE_DCD

CONSOLE_RI

COM1_DCD

COM1_RI

WHITE LABEL

-A31 MAIN COMPUTER DSQC 1000

1-X6

23

6

1-X4

23

6

-A32

OPTION:232/ Expansion board SERIE DSQC1003

(23.1)

1-X15

23

45

7677

7879

80

1-X2

23

45

7677

7879

80

1-232

23

7

456

89

1-232

23

7

456

89

4

3-X10.USB 1

2

1

4

3-X10.USB 2

2

1

4

3-X11.USB 3

2

1

4

3-X11.USB4

2

1

1-X5

23

6

-USB1 +5V / (19)

-USB1 D+ / (19)-USB1 D- / (19)-USB1_GND / (19)

ETH. X4.1 / (27)ETH. X4.2 / (27)ETH. X4.3 / (27)ETH. X4.6 / (27)

-USB2 D+ / (25)-USB2 D- / (25)-USB2_GND / (25)-USB2 +5V / (25)

ETH. X6.2 / (25)ETH. X6.3 / (25)ETH. X6.6 / (25)

ETH. X6.1 / (25)

ETH. X5.1 / (25)ETH. X5.2 / (25)ETH. X5.3 / (25)ETH. X5.6 / (25)

Page 23: © Copyright 2014 ABB ALL right reserved. · 3HAC036724-001 Harn-GTPU conn. 3HAC047612-001 Harness digital IO 3HAC047971-001 Harn-ProfiBUS. panel link 3HAC039244-001 Harn-Eth. panel

Prepared by, date:24

We

rese

rve

all r

ight

s in

this

doc

umen

t and

in th

e in

form

atio

n co

ntai

ned

ther

ein.

Rep

rodu

ctio

n, u

se o

r di

sclo

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to th

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artie

s w

ithou

t exp

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aut

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y is

stri

ctly

forb

idde

n. ©

Cop

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FIELDBUS ADAPTER A32:ETHERNET/IP, PROFIBUS and PROFINET

Location:Plant: =

++Sublocation:

Document no.Next

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043HAC050778-003CNQILI2 CNDRTU

6/8/2016

Approved

5 74321 6 8

CompactCom

CompactCom

COM1

CompactCom

Console

RX-

Option board for AnybusCC

SLAVE

SLAVE

SLAVE

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

TX+TX-RX+

INTERFACEFA XP11

INTERFACEPROFIBUS XS10

INTERFACEFA XP11

OP

TIO

N &

HA

RN

ES

S T

O C

US

TOM

ER

I/O

TX+TX-RX+

RX-

-A32.1

ETHERNET/IP Fieldbus adapter DSQC 669Slave

-A32.2

PROFIBUS Fieldbus adapter DSQC 667Slave

-A32.3

PROFINET IO Fieldbus adapter DSQC 688Slave

-X1

12

34

56

78

-Z1

1

-X1

34

56

8

-Z1

-Z1

-A32

Expansion BoardDSQC 1003

(22.2)

1-X1

23

45

67

8

1X2

79

77

3

80

2

4

78-X3

78

-X1

12

34

56

-1.XP11.1 / (25)-1.XP11.2 / (25)-1.XP11.3 / (25)-1.XP11.4 / (25)-1.XP11.5 / (25)-1.XP11.6 / (25)

-1.XP11.8 / (25)-1.XP11.7 / (25)

-1.XP11.1 / (25)-1.XP11.2 / (25)-1.XP11.3 / (25)-1.XP11.4 / (25)-1.XP11.5 / (25)-1.XP11.6 / (25)-1.XP11.7 / (25)-1.XP11.8 / (25)

-1.XP10.1 / (25)-1.XP10.3 / (25)-1.XP10.4 / (25)-1.XP10.5 / (25)-1.XP10.6 / (25)-1.XP10.8 / (25)

Page 24: © Copyright 2014 ABB ALL right reserved. · 3HAC036724-001 Harn-GTPU conn. 3HAC047612-001 Harness digital IO 3HAC047971-001 Harn-ProfiBUS. panel link 3HAC039244-001 Harn-Eth. panel

Prepared by, date:25

We

rese

rve

all r

ight

s in

this

doc

umen

t and

in th

e in

form

atio

n co

ntai

ned

ther

ein.

Rep

rodu

ctio

n, u

se o

r di

sclo

sure

to th

ird p

artie

s w

ithou

t exp

ress

aut

horit

y is

stri

ctly

forb

idde

n. ©

Cop

yrig

ht 2

003

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B

Page24

52Total

Latest revision:

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DSQC1006 DEVICENET A31.2 m/s Location:Plant: =

++Sublocation:

Document no.Next

Rev. Ind

Lab/Office: Status:IRB 14000

043HAC050778-003CNQILI2 CNDRTU

6/8/2016

Approved

5 74321 6 8

BKX12

442

436

444

BU 437

WHPCIe 439

BU

RD 440

432

BK

SC 438

431

SC 433

I/O unit

WH 434INTERFACEDeviceNet XS17

RD 435

V+

V-

CAN_H

DRAIN

CAN_L

441

443

-IO.SEN 1 3

2

3

4

5

DeviceNet M/S DSQC1006-A31.2

1-CHA

0V I/

O /

(19)

24V

I/O

/ (1

9)

IO.24V / (31)

IO.0V / (31)

-V-,1 / (30)

-CAN_L,1 / (30)

-DRAIN,1 / (30)

-CAN_H,1 / (30)

-V / (30)

-XS17.3 / (25)

-XS17.2 / (25)

-XS17.4 / (25)

-XS17.1 / (25)

-XS17.5 / (25)

Page 25: © Copyright 2014 ABB ALL right reserved. · 3HAC036724-001 Harn-GTPU conn. 3HAC047612-001 Harness digital IO 3HAC047971-001 Harn-ProfiBUS. panel link 3HAC039244-001 Harn-Eth. panel

Prepared by, date:26

We

rese

rve

all r

ight

s in

this

doc

umen

t and

in th

e in

form

atio

n co

ntai

ned

ther

ein.

Rep

rodu

ctio

n, u

se o

r di

sclo

sure

to th

ird p

artie

s w

ithou

t exp

ress

aut

horit

y is

stri

ctly

forb

idde

n. ©

Cop

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ht 2

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52Total

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++Sublocation:

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Lab/Office: Status:IRB 14000

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6/8/2016

Approved

5 74321 6 8

BU 432

BK 431

SC 433

WH

TX+

TX+

TX+

434

TX+

RD

TX-

TX-

TX-

TX-

435

RX+

RX+

RX+

RX+

RX-

RX-

RX-

RX-

USB

LAN2

WAN

Service

LAN3

AWG28 WHAWG28 GN

AWG24 RDAWG24 BK

Customer interface Customer interface

Option: Fieldbus (ProfiNet/EtherNet IP)

XP0100~240VAC 50~60HzShielded Power Inlet FilterLine Inlet: IEC 60320-1 C 14

Option: PROFIBUS

-XP0

DeviceNet

Termination resistorshould be connected, when the customerharness is not connected.

32

-XP111

2

4

-XP171

5

3

-XP101

23

4

4

LN

PE

7

5

3

-XP231

8

6

4

2AWG24

WHGN

WHOG

GN

OG

7

5

3

-XP251

8

6

4

2AWG24

WHGN

WHOG

GN

OG

7

5

3

-XP281

8

6

4

2AWG24

WHGN

WHOG

GN

OG

3

-XP24

2

41

120 Ohm

56

78

9

56

78

3

5

-XS171

4

2

7

5

3

-XP261

8

6

4

2AWG24

WHGN

WHOG

GN

OG

-1.XP11.2 / (23) (23)-1.XP11.1 / (23) (23)

XS17.1 / (24)

XS17.5 / (24)

XS17.3 / (24)

XS17.2 / (24)

XS17.4 / (24)

-1.XP10.5 / (23)-1.XP10.4 / (23)-1.XP10.3 / (23)

-1.XP10.1 / (23)

XP0 L / (18)XP0 N / (18)

XP0 PE / (18)

ETH. X2.6 / (21)

ETH. X2.3 / (21)ETH. X2.2 / (21)ETH. X2.1 / (21)

-USB2 +5V / (22)-USB2_GND / (22)

-USB2 D- / (22)-USB2 D+ / (22)

-1.XP10.8 / (23)

-1.XP10.6 / (23)

-1.XP11.3 / (23) (23)-1.XP11.4 / (23) (23)-1.XP11.5 / (23) (23)-1.XP11.6 / (23) (23)-1.XP11.7 / (23) (23)-1.XP11.8 / (23) (23)

ETH.SW. X1.6 / (27)

ETH.SW. X1.3 / (27)ETH.SW. X1.2 / (27)ETH.SW. X1.1 / (27)

ETH. X6.6 / (22)

ETH. X6.3 / (22)ETH. X6.2 / (22)ETH. X6.1 / (22)

ETH. X5.1 / (22)

ETH. X5.3 / (22)

ETH. X5.6 / (22)

ETH. X5.2 / (22)

Page 26: © Copyright 2014 ABB ALL right reserved. · 3HAC036724-001 Harn-GTPU conn. 3HAC047612-001 Harness digital IO 3HAC047971-001 Harn-ProfiBUS. panel link 3HAC039244-001 Harn-Eth. panel

Prepared by, date:26.1

We

rese

rve

all r

ight

s in

this

doc

umen

t and

in th

e in

form

atio

n co

ntai

ned

ther

ein.

Rep

rodu

ctio

n, u

se o

r di

sclo

sure

to th

ird p

artie

s w

ithou

t exp

ress

aut

horit

y is

stri

ctly

forb

idde

n. ©

Cop

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++Sublocation:

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Approved

5 74321 6 8

248

369

340

344

350

247

346

359

349

341342343

348

345

351

345

344

347

346347

352353

356357

354355

368366

358

360361362363364365367

FlexPendant

Customer interface Customer interface

DI

DO

Safety

DC0VDC24V

DC0VDC24V

Tool IO L/R (Alternative to Ethernet to Tool)

CP/CS_L 8#CP/CS_L 5#CP/CS_L 7#

CP/CS_L 6#

CP/CS_R 6#

CP/CS_R 5#CP/CS_R 7#

CP/CS_R 8#

Jumper cable need be removed if the external safety device is connected.

Pin7&Pin8 is not used for external device.

220

220221221

257

258260259

261

264263262

266265

ES.FPU.1AES.FPU.1BES.FPU.2AES.FPU.2BEN1.1EN2.1

2

4

-XP71

5

3 3

5

-XS71

4

2

6 67 78 89 9

10 10

-XP81

5

3 3

5

-XS81

4

2

6 678 89 9

1010

4

7

2

7

6

3

54

2

7

6

2

45

3

-XP121

-XS121

876

3

54

2

876

2

43

5

X9.11

CAT 5e

GN/WH

OG/WH

GN

OG

OG

GN

CAT 5e OG/WH

GN/WH

-XS41

2

8

12

13

14

15

16

X4.11

2

4

3

4

5

6

X4.21

2

3

4

3

7

17

5

6

-XP91

-XS91

8 82

IO.X1.1 / (31)

IO.X1.5 / (31)

IO.X1.3 / (31)IO.X1.2 / (31)

IO.X1.4 / (31)

IO.X1.6 / (31)IO.X1.7 / (31)IO.X1.8 / (31)IO.X2.10 / (31)IO.X2.9 / (31)

IO.X3.1 / (30)IO.X3.2 / (30)IO.X3.3 / (30)IO.X3.4 / (30)

IO.X3.6 / (30)IO.X3.7 / (30)

IO.X2.9 / (31)

IO.X3.5 / (30)

IO.X2.10 / (31)IO.X3.8 / (30)

XP4.2.2 / (26)XP4.2.3 / (26)XP4.2.4 / (26)

+24Vsys.LE.A51 / (32)

0Vsys.LE.A51 / (32)

0Vsys.LE.IN / (19)

XP12.1 / (27)XP12.2 / (27)XP12.3 / (27)XP12.4 / (27)XP12.5 / (27)XP12.6 / (27)XP12.7 / (27)XP12.8 / (27)

+24Vsys.LE.A52 / (34)

0Vsys.LE.A52 / (34)

+24V TPU / (19)

0V TPU1 / (19)

0V TPU2 / (19)

TPU.TD- / (21)

TPU.RD- / (21)

+24V TPU2 / (19)

TPU.TD+ / (21)

TPU.RD+ / (21)

XP4.2.2 / (26)

XP4.2.1 / (26)

XP4.2.3 / (26)

XP4.2.4 / (26)

XP4.2.1 / (26)

+24Vsys.LE.IN / (19)

Page 27: © Copyright 2014 ABB ALL right reserved. · 3HAC036724-001 Harn-GTPU conn. 3HAC047612-001 Harness digital IO 3HAC047971-001 Harn-ProfiBUS. panel link 3HAC039244-001 Harn-Eth. panel

Prepared by, date:27

We

rese

rve

all r

ight

s in

this

doc

umen

t and

in th

e in

form

atio

n co

ntai

ned

ther

ein.

Rep

rodu

ctio

n, u

se o

r di

sclo

sure

to th

ird p

artie

s w

ithou

t exp

ress

aut

horit

y is

stri

ctly

forb

idde

n. ©

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6/8/2016

Approved

5 74321 6 8

RT6 (Safety Relay)

IRB14000 Controller

FlexPendant

100~240VAC 50~60Hz

Note1Jumper cable need be removed if the external safety relay is connected.

Note1)

A12313

14 24A2

33

34

0V 24V+

S34 S14S13 S23 S24 S53 X1 X4

J1 XP43456

XP9 1 2 3 4 5 6 7 8 XP0 L PEN

-A52DSQC462 Drive board_Left arm (2#)

-A51DSQC462 Drive board_Right arm (1#)

X2 1 2 3 4 X2 1 2 3 4

TPU_E-stop

L PEN

Mains.

Protective stop

K1

K2

K3

K4

K5

K6

Page 28: © Copyright 2014 ABB ALL right reserved. · 3HAC036724-001 Harn-GTPU conn. 3HAC047612-001 Harness digital IO 3HAC047971-001 Harn-ProfiBUS. panel link 3HAC039244-001 Harn-Eth. panel

Prepared by, date:28

We

rese

rve

all r

ight

s in

this

doc

umen

t and

in th

e in

form

atio

n co

ntai

ned

ther

ein.

Rep

rodu

ctio

n, u

se o

r di

sclo

sure

to th

ird p

artie

s w

ithou

t exp

ress

aut

horit

y is

stri

ctly

forb

idde

n. ©

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6/8/2016

Approved

5 74321 6 8

TX-

RX+

RX-

24V

0V

TX+

TX-

RX+

RX-

TX+

212

213

CP/CS_L 8#

CP/CS_L 5#

CP/CS_L 7#

CP/CS_L 6#

CP/CS_R 6#

CP/CS_R 8#

CP/CS_R 5#

Rig

ht H

and

1): Alternative connection for customer Tool IO instead of Ethernet on the tool flange

1)

1)

Left

Han

dR

ight

Han

d IO

(Alte

rnat

ive)

Left

Han

d IO

(Alte

rnat

ive)

TX-

RX+

RX-

TX+

INTE

RFA

CE

LAN

2 X

P25

Mai

n C

ompu

ter

LAN

2

CP/CS_R 7#

6

3

2

1-X5

2

1-X6

6

3

2

1-X4

6

3

2

1-X1

6

3

2

1-X3

6

3

2

1-X2

Ethernet switch-A33

-J1.A33.R1

2

3

6

-J1.A33.L1

2

3

6

+24Vsys.Sw / (19)

0Vsys.Sw / (19)

Arm1.ETH.1 / (38)

Arm1.ETH.2 / (38)

Arm1.ETH.3 / (38)

Arm1.ETH.6 / (38)

Arm2.ETH.1 / (45)

Arm2.ETH.2 / (45)

Arm2.ETH.3 / (45)

Arm2.ETH.6 / (45)

ETH. X4.1 / (22)

ETH. X4.2 / (22)

ETH. X4.3 / (22)

ETH. X4.6 / (22)

XP12.5 / (26)

XP12.6 / (26)

XP12.7 / (26)

XP12.8 / (26)

XP12.1 / (26)

XP12.2 / (26)

XP12.3 / (26)

XP12.4 / (26)

ETH.SW. X1.1 / (25)

ETH.SW. X1.2 / (25)

ETH.SW. X1.3 / (25)

ETH.SW. X1.6 / (25)

Page 29: © Copyright 2014 ABB ALL right reserved. · 3HAC036724-001 Harn-GTPU conn. 3HAC047612-001 Harness digital IO 3HAC047971-001 Harn-ProfiBUS. panel link 3HAC039244-001 Harn-Eth. panel

Prepared by, date:29

We

rese

rve

all r

ight

s in

this

doc

umen

t and

in th

e in

form

atio

n co

ntai

ned

ther

ein.

Rep

rodu

ctio

n, u

se o

r di

sclo

sure

to th

ird p

artie

s w

ithou

t exp

ress

aut

horit

y is

stri

ctly

forb

idde

n. ©

Cop

yrig

ht 2

003

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Page28

52Total

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++Sublocation:

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6/8/2016

Approved

5 74321 6 8

RXD

TXD

0V

211

210

3

4

-A42DSQC1013 Axis computer

6

3

2

1

-XP11

5

3

2XS9

8

7

5

4-XP6

6

3

2

1-XP2

2

1-XS1

+24Vsys.Ax(19) /

AXC.RX+ / (21)

AXC.RX- / (21)

AXC.TX+ / (21)

AXC.TX- / (21)

0Vsys.Ax(19) /

TX+.Cont.unit1 / (33)

TX-.Cont.unit1 / (33)

RX+.Cont.unit1 / (33)

RX-.Cont.unit1 / (33)

Page 30: © Copyright 2014 ABB ALL right reserved. · 3HAC036724-001 Harn-GTPU conn. 3HAC047612-001 Harness digital IO 3HAC047971-001 Harn-ProfiBUS. panel link 3HAC039244-001 Harn-Eth. panel

Prepared by, date:30

We

rese

rve

all r

ight

s in

this

doc

umen

t and

in th

e in

form

atio

n co

ntai

ned

ther

ein.

Rep

rodu

ctio

n, u

se o

r di

sclo

sure

to th

ird p

artie

s w

ithou

t exp

ress

aut

horit

y is

stri

ctly

forb

idde

n. ©

Cop

yrig

ht 2

003

AB

B

Page29

52Total

Latest revision:

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++Sublocation:

Document no.Next

Rev. Ind

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6/8/2016

Approved

5 74321 6 8

Left ArmSMB

Right ArmSMB

MRCO2

MRCO1

MRCO2_N

MRCO1_N

MRCI2

MRCI1

MRCI2_N

MRCI1_N

0V

0V

24V_SMB2

24V_SMB1

0V

0V

0V

0V

9

7

6

5

4

3

2

-XP51

9

7

6

5

4

3

2

-XP41

-A42DSQC1013 Axis computer

MRCO1 / (36)

MRCO1_N / (36)

MRCI1 / (36)

MRCI1_N / (36)

MRC_0V.1 / (36)

24V_SMB1 / (36)

MRCO2 / (37)

MRCO2_N / (37)

MRCI2 / (37)

MRCI2_N / (37)

MRC_0V.2 / (37)

24V_SMB2 / (37)

Page 31: © Copyright 2014 ABB ALL right reserved. · 3HAC036724-001 Harn-GTPU conn. 3HAC047612-001 Harness digital IO 3HAC047971-001 Harn-ProfiBUS. panel link 3HAC039244-001 Harn-Eth. panel

Prepared by, date:31

We

rese

rve

all r

ight

s in

this

doc

umen

t and

in th

e in

form

atio

n co

ntai

ned

ther

ein.

Rep

rodu

ctio

n, u

se o

r di

sclo

sure

to th

ird p

artie

s w

ithou

t exp

ress

aut

horit

y is

stri

ctly

forb

idde

n. ©

Cop

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++Sublocation:

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6/8/2016

Approved

5 74321 6 8

1)

1) THE DEFAULT NODE ADDRESS IS 10.

INTERFACECUSTOMER DI XS8

HALL SENSOR DI

(Option)

0V

437439

358

365

NA0

364

362

440

359

436361360

438

363

378/379

NA1NA2NA3NA4NA5

INPUT CH.1INPUT CH.2INPUT CH.3INPUT CH.4INPUT CH.5INPUT CH.6

X3

INPUT CH.7

X4

INPUT CH.8

INPUT CH.9INPUT CH.10INPUT CH.11INPUT CH.12INPUT CH.13INPUT CH.14INPUT CH.15

377

380

381383385387389391

393/394

371/372INPUT CH.16

-I/O Unit DSQC 652

1-I/O

23

45

67

89

10

1-I/O

23

45

67

89

10

1-I/O.X5

2

3

45

67

89

1011

12

R3.H2

R3.H1

-

+Signal Lamp

-V-,1 / (24)-CAN_L,1 / (24)-CAN_H,1 / (24)

-V / (24)

-DRAIN,1 / (24)

IO.X4.8 /

IO.X4.1 / (31)IO.X4.2 / (31)IO.X4.3 / (31)IO.X4.4 / (31)IO.X4.5 / (31)IO.X4.6 / (31)IO.X4.7 / (31)

IO.X3.1 / (26)IO.X3.2 / (26)IO.X3.3 / (26)IO.X3.4 / (26)IO.X3.5 / (26)IO.X3.6 / (26)IO.X3.7 / (26)IO.X3.8 / (26)

IO.X4.9 / (31)

IO.X3.9 / (18)

IO.X2.5 / (31)0V

Page 32: © Copyright 2014 ABB ALL right reserved. · 3HAC036724-001 Harn-GTPU conn. 3HAC047612-001 Harness digital IO 3HAC047971-001 Harn-ProfiBUS. panel link 3HAC039244-001 Harn-Eth. panel

Prepared by, date:32

We

rese

rve

all r

ight

s in

this

doc

umen

t and

in th

e in

form

atio

n co

ntai

ned

ther

ein.

Rep

rodu

ctio

n, u

se o

r di

sclo

sure

to th

ird p

artie

s w

ithou

t exp

ress

aut

horit

y is

stri

ctly

forb

idde

n. ©

Cop

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6/8/2016

Approved

5 74321 6 8

HALL SENSOR&HAND DO

INTERFACECUSTOMER DO XS7

354

378373

375

350

366/367368/369

377376

444

355

351352

442

353

357356

OUTPUT CH 1-8

OUTPUT CH 9-16

<1

<1

X1

X2

OUTPUT CH.1OUTPUT CH.2OUTPUT CH.3OUTPUT CH.4OUTPUT CH.5OUTPUT CH.6OUTPUT CH.7OUTPUT CH.8

OUTPUT CH.9OUTPUT CH.10OUTPUT CH.11OUTPUT CH.12OUTPUT CH.13

24V Hall Sensor Right 0V Hall Sensor RightAx1 Hall Sensor RightAx2 Hall Sensor RightAx7 Hall Sensor RightAx3 Hall Sensor RightAx4 Hall Sensor RightAx5 Hall Sensor RightAx6 Hall Sensor Right

24V Hall Sensor Left 0V Hall Sensor LeftAx1 Hall Sensor LeftAx2 Hall Sensor LeftAx7 Hall Sensor LeftAx3 Hall Sensor LeftAx4 Hall Sensor LeftAx5 Hall Sensor LeftAx6 Hall Sensor Left

24V Hall Sensor Right arm24V Hall Sensor Left arm24V Hand IO Right arm relay24V Hand IO Left arm relay24V UL Lamp (Option)

378

393391389387385

373

383381

394392390388386384382372

371

-I/O UnitDSQC 652

1-I/O

23

45

67

89

10

1-I/O

23

45

67

89

10

1-A1.XSEN

2345789

10

1-A2.XSEN

2345789

10

IO.0V / (24)IO.24V / (24)

IO.X2.9 / (26)(26)

IO.X1.1 / (26)IO.X1.2 / (26)IO.X1.3 / (26)IO.X1.4 / (26)IO.X1.5 / (26)IO.X1.6 / (26)IO.X1.7 / (26)IO.X1.8 / (26)

IO.X2.1 / (31)IO.X2.2 / (31)IO.X2.3 / (18)IO.X2.4 / (18)IO.X2.5 / (30)

A1.XSEN.1 / (38)(41)

A1.XSEN.2 / (38)(41)

A1.XSEN.3 / (38)A1.XSEN.4 / (38)A1.XSEN.5 / (38)A1.XSEN.7 / (41)A1.XSEN.8 / (41)A1.XSEN.9 / (41)

A2.XSEN.1 / (45)(48)A2.XSEN.2 / (45)

(48)A2.XSEN.3 / (45)A2.XSEN.4 / (45)A2.XSEN.5 / (45)A2.XSEN.7 / (48)A2.XSEN.8 / (48)A2.XSEN.9 / (48)

A1.XSEN.10 / (41)

A2.XSEN.10 / (48)

IO.X2.1 / (31)

IO.X2.2 / (31)

IO.X4.1 / (30)IO.X4.2 / (30)IO.X4.3 / (30)IO.X4.4 / (30)IO.X4.5 / (30)IO.X4.6 / (30)IO.X4.7 / (30)

IO.X4.9 / (30)

IO.X2.10 / (26)(26)

0V

0V

24V

Page 33: © Copyright 2014 ABB ALL right reserved. · 3HAC036724-001 Harn-GTPU conn. 3HAC047612-001 Harness digital IO 3HAC047971-001 Harn-ProfiBUS. panel link 3HAC039244-001 Harn-Eth. panel

Prepared by, date:33

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ight

s in

this

doc

umen

t and

in th

e in

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atio

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ein.

Rep

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DSQC462 Drive board right armLocation:Plant: =

++Sublocation:

Document no.Next

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Lab/Office: Status:IRB 14000

043HAC050778-003CNQILI2 CNDRTU

6/8/2016

Approved

5 74321 6 8

24V Sys

0V Sys

24V Brake

Brake_rel PB

Brake rel. PB ret

24V

0V

0V Brake

Brake out

DC Bus

24V

0V

Right Arm Axis 3

Right Arm Axis 7

Right Arm Axis 2

Right Arm Axis 1

Right Arm Axis 4

Right Arm Axis 5

Right Arm Axis 6

238

241

214

215

226

229

YE

BU

RD

WH

BK

RD

WH

BK

RD

WH

BK

RD

WH

BK

RD

WH

BK

RD

WH

BK

RD

WH

BK

237

242

AWG16

AWG18

AWG20

Emergency input

223

224

340

342

3

2

4

1-X6

6

2

5

3

2

1-X3

1-X1

4

-X11

1

-X12

1

-X17

1

2

3

2

3

2

3

-X13

1

2

3

-X14

1

2

3

-X15

1

2

3

-X16

1

2

3

S221

S2.X11

3

-A51DSQC462 Drive board_Right arm (1#)

2

1-X2

3

4

0V DCBUS1 / (19)

+24V DCBUS1 / (19)

+24Vsys.Inv2 / (34)

0Vsys.Inv2 / (34)

+24V BRAKE Arm1 / (34)

0Vsys.LE.A51 / (26)

0V Brake out R / (38)

U right3 / (41)

V right3 / (41)

W right3 / (41)

+24V DCBUS11 / (19)

0V DCBUS11 / (19)

24V Brake out R / (38)

U right1 / (38)

V right1 / (38)

W right1 / (38)

U right2 / (39)

V right2 / (39)

W right2 / (39)

U right7 / (40)

V right7 / (40)

W right7 / (40)

U right4 / (42)

V right4 / (42)

W right4 / (42)

U right5 / (43)

V right5 / (43)

W right5 / (43)

U right6 / (44)

V right6 / (44)

W right6 / (44)

+24Vsys.LE.A51 / (26)

0V BRAKE Arm1 / (34)

Page 34: © Copyright 2014 ABB ALL right reserved. · 3HAC036724-001 Harn-GTPU conn. 3HAC047612-001 Harness digital IO 3HAC047971-001 Harn-ProfiBUS. panel link 3HAC039244-001 Harn-Eth. panel

Prepared by, date:34

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rese

rve

all r

ight

s in

this

doc

umen

t and

in th

e in

form

atio

n co

ntai

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ther

ein.

Rep

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ctly

forb

idde

n. ©

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ht 2

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++Sublocation:

Document no.Next

Rev. Ind

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043HAC050778-003CNQILI2 CNDRTU

6/8/2016

Approved

5 74321 6 8

-A51DSQC462 Drive board_Right arm (1#)

6

3

2

1-X8

AWG24

6

3

2

1-X9

AWG24

RX+.Cont.unit1 / (28)

RX-.Cont.unit1 / (28)

TX+.Cont.unit1 / (28)

TX-.Cont.unit1 / (28)

TX+.Cont.unit2 / (35)

TX-.Cont.unit2 / (35)

RX+.Cont.unit2 / (35)

RX-.Cont.unit2 / (35)

Page 35: © Copyright 2014 ABB ALL right reserved. · 3HAC036724-001 Harn-GTPU conn. 3HAC047612-001 Harness digital IO 3HAC047971-001 Harn-ProfiBUS. panel link 3HAC039244-001 Harn-Eth. panel

Prepared by, date:35

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rve

all r

ight

s in

this

doc

umen

t and

in th

e in

form

atio

n co

ntai

ned

ther

ein.

Rep

rodu

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se o

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ctly

forb

idde

n. ©

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DSQC462 Drive board left armLocation:Plant: =

++Sublocation:

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Rev. Ind

Lab/Office: Status:IRB 14000

043HAC050778-003CNQILI2 CNDRTU

6/8/2016

Approved

5 74321 6 8

24V Sys

0V Sys

24V Brake

Brake_rel PB

Brake rel. PB ret

24V

0V

0V Brake

Brake out

DC Bus

24V

0V

Left Arm Axis 3

Left Arm Axis 7

Left Arm Axis 2

Left Arm Axis 1

Left Arm Axis 4

Left Arm Axis 5

Left Arm Axis 6

240

243

215

214

222

225

YE

BU

215

214

RD

WH

BK

RD

WH

BK

RD

WH

BK

RD

WH

BK

RD

WH

BK

RD

WH

BK

RD

WH

BK

239

244

AWG16

AWG18

226

229

AWG18

AWG18

AWG20

AWG20

AWG20

AWG20

Emergency input

227

228

341

343

3

2

4

1-X6

6

2

5

3

2

1-X3

3

-X11

1

2

2-X12

1

3

2-X17

1

3

2

3

-X13

1

2

3

-X14

1

2

3

-X15

1

2

3

-X16

1

1-X1

4

S121

S1.X11

3

-A52DSQC462 Drive board_Left arm (2#)

1-X2

2

3

4

0V DCBUS2 / (19)

+24V DCBUS22 / (19)

+24Vsys.Inv1 / (19)

0Vsys.Inv1 / (19)

+24V BRAKE / (19)

0V BRAKE / (19)

24V Brake out L / (45)

0V Brake out L / (45)

+24Vsys.Inv2 / (32)

0Vsys.Inv2 / (32)

U left3 / (48)

V left3 / (48)

W left3 / (48)

+24V DCBUS2 / (19)

0V DCBUS22 / (19)

+24V BRAKE Arm1 / (32)

0V BRAKE Arm1 / (32)

U left1 / (45)

V left1 / (45)

W left1 / (45)

U left2 / (46)

V left2 / (46)

W left2 / (46)

U left7 / (47)

V left7 / (47)

W left7 / (47)

U left4 / (49)

V left4 / (49)

W left4 / (49)

U left5 / (50)

V left5 / (50)

W left5 / (50)

U left6 / (51)

V left6 / (51)

W left6 / (51)

0Vsys.LE.A52 / (26)

+24Vsys.LE.A52 / (26)

Page 36: © Copyright 2014 ABB ALL right reserved. · 3HAC036724-001 Harn-GTPU conn. 3HAC047612-001 Harness digital IO 3HAC047971-001 Harn-ProfiBUS. panel link 3HAC039244-001 Harn-Eth. panel

Prepared by, date:36

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rese

rve

all r

ight

s in

this

doc

umen

t and

in th

e in

form

atio

n co

ntai

ned

ther

ein.

Rep

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stri

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idde

n. ©

Cop

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Approved by, date:

DSQC462 Drive board left armLocation:Plant: =

++Sublocation:

Document no.Next

Rev. Ind

Lab/Office: Status:IRB 14000

043HAC050778-003CNQILI2 CNDRTU

6/8/2016

Approved

5 74321 6 8

-A52DSQC462 Drive board_Left arm (2#)

6

3

2

1-X8

AWG24

6

3

2

1-X9

TX+.Cont.unit2 / (33)

TX-.Cont.unit2 / (33)

RX+.Cont.unit2 / (33)

RX-.Cont.unit2 / (33)

Page 37: © Copyright 2014 ABB ALL right reserved. · 3HAC036724-001 Harn-GTPU conn. 3HAC047612-001 Harness digital IO 3HAC047971-001 Harn-ProfiBUS. panel link 3HAC039244-001 Harn-Eth. panel

Prepared by, date:37

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all r

ight

s in

this

doc

umen

t and

in th

e in

form

atio

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ntai

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Rep

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ctly

forb

idde

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DSQC633D SMB right armLocation:Plant: =

++Sublocation:

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Rev. Ind

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6/8/2016

Approved

5 74321 6 8

SDISDI-NSDO

0V

24V

SDO-N

DSQC633D SMB_Right arm(1#)

BATTERYPACK

A51.3

GN

BKGNRDWHYEVT

Axis 5

Axis 6

Axis 7

Axis 4

Axis 3

Axis 2

Axis 1

BKGNRDWHYEVT

BKGNRDWHYEVT

BKGNRDWHYEVT

BKGNRDWHYEVT

BKGNRDWHYEVT

BKGNRDWHYEVT

(+)

(-)

4

5

7

3

8

9

-XP1

-XP22

143

156

18

-XP31

-G4 + -

2

4165

177

19

-XP45

1241129

92110228

20

-XP52

143

156

18

4165

177

19

92110228

20

3

MRCO1 / (29)MRCO1_N / (29)MRCI1 / (29)MRCI1_N / (29)MRC_0V.1 / (29)

24V_SMB1 / (29)

X1R / (38)

Y1R / (38)0V_X1R / (38)

0V_Y1R / (38)0V EXC1R / (36)EXC1R / (36)

0V_X2R (39)

0V_Y2R (39)0V EXC1R (36)EXC1R (36)

X2R (39)

Y2R (39)

0V_X7R (40)

0V_Y7R (40)

X7R (40)

Y7R (40)

0V EXC2R (36)EXC2R (36)

0V_X3R (41)

0V_Y3R (41)0V EXC1R (38)EXC1R (38)

X3R (41)

Y3R (41)

0V_X4R (42)

0V_Y4R (42)

X4R (42)

Y4R (42)

0V EXC2R (36)EXC2R (36)

0V EXC2R (36)EXC2R (36)

0V EXC2R (36)EXC2R (36)

X5R (43)0V_X5R (43)Y5R (43)0V_Y5R (43)

X6R (44)0V_X6R (44)Y6R (44)0V_Y6R (44)

Page 38: © Copyright 2014 ABB ALL right reserved. · 3HAC036724-001 Harn-GTPU conn. 3HAC047612-001 Harness digital IO 3HAC047971-001 Harn-ProfiBUS. panel link 3HAC039244-001 Harn-Eth. panel

Prepared by, date:38

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rese

rve

all r

ight

s in

this

doc

umen

t and

in th

e in

form

atio

n co

ntai

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ther

ein.

Rep

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stri

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idde

n. ©

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DSQC633D SMB left armLocation:Plant: =

++Sublocation:

Document no.Next

Rev. Ind

Lab/Office: Status:IRB 14000

043HAC050778-003CNQILI2 CNDRTU

6/8/2016

Approved

5 74321 6 8

SDISDI-NSDO

0V

24V

SDO-N

DSQC633D SMB_Left arm(2#)

BATTERYPACK

A52.3

Axis 3

Axis 7

Axis 2

Axis 1

Axis 4

Axis 5

Axis 6

BKGNRDWHYEVT

BKGNRDWHYEVT

BKGNRDWHYEVT

BKGNRDWHYEVT

BKGNRDWHYEVT

BKGNRDWHYEVT

BKGNRDWHYEVT

(+)

(-)

4

5

7

3

8

9

-XP1

-XP31

2

-G4 + -

-XP22

143

156

18

4165

177

19

-XP45

1241129

92110228

20

-XP52

143

156

18

4165

177

19

92110228

20

3

MRCO2 / (29)MRCO2_N / (29)MRCI2 / (29)MRCI2_N / (29)MRC_0V.2 / (29)

24V_SMB2 / (29)

X1L / (45)

Y1L / (45)0V_X1L / (45)

0V_Y1L / (45)0V EXC1L / (37)EXC1L / (37)

0V_X2L (46)

0V_Y2L (46)0V EXC1L (37)EXC1L (37)

X2L (46)

Y2L (46)

0V_X7L (47)

0V_Y7L (47)

X7L (47)

Y7L (47)

0V EXC2L (37)EXC2L (37)

0V_X3L (48)

0V_Y3L (48)0V EXC1L (45)EXC1L (45)

X3L (48)

Y3L (48)

0V_X4L (49)

0V_Y4L (49)

X4L (49)

Y4L (49)

0V EXC2L (37)EXC2L (37)

0V EXC2L (37)EXC2L (37)

0V EXC2L (37)EXC2L (37)

X5L (50)0V_X5L (50)Y5L (50)0V_Y5L (50)

X6L (51)0V_X6L (51)Y6L (51)0V_Y6L (51)

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Prepared by, date:39

We

rese

rve

all r

ight

s in

this

doc

umen

t and

in th

e in

form

atio

n co

ntai

ned

ther

ein.

Rep

rodu

ctio

n, u

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ress

aut

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y is

stri

ctly

forb

idde

n. ©

Cop

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++Sublocation:

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043HAC050778-003CNQILI2 CNDRTU

6/8/2016

Approved

5 74321 6 8

24V Hall Sensor Right

Dummy cable

0V Hall Sensor RightAx1 Hall Sensor Right

Ax2 Hall Sensor RightAx7 Hall Sensor Right

TD-

RD+

RD-

M1

M1

395397

RD

WH

BK

BK

GN

RD

WH

YE

VT

Arm1 GND

TD+

Connect to hand

RD,AWG32

BK,AWG32

VT,AWG32

YE,AWG32

WH,AWG32

GN,AWG32 RD,AWG32

BK,AWG32

VT,AWG32

YE,AWG32

WH,AWG32

GN,AWG32

VoutGNDVCC RD,AWG32

BK,AWG32

WH,AWG32

399

RD

WH

BK

BU

YE

BU

YE

YE

BU

24V IO

0V IO

GND

SPARE

-ARM_R.CPCS6

8

5

7

2

1

-A1.XPCP1

3

2

T

S

R

PE

M1

3M

+

-

Brake

X1

0V X1

Y1

0V Y1

0V EXC

EXC1

3

1

5

4

6

-R1.MP1R2

-R1.FB1R1

5

2

6

7

3

4

3

-SEN1R.P17

6

5

4

3

2

1

-SEN1R.P27

6

5

4

3

2

1

-SEN1R.P43

2

1

-SEN1R.P33

2

1

3

2

1

1-PE4 301

300

315

4

324

323

322

325 326

1-PE5

Arm1.ETH.1 / (27)

Arm1.ETH.2 / (27)

Arm1.ETH.3 / (27)

Arm1.ETH.6 / (27)

Arm1 +24V I/O / (18)

Arm1 0V I/O / (18)

U right1 / (32)

W right1 / (32)

V right1 / (32)

0V Brake out R / (32)

24V Brake out R / (32)

X1R / (36)

0V_X1R / (36)

Y1R / (36)

0V_Y1R / (36)

0V EXC1R / (36)

EXC1R / (36)

A1.XSEN.1 / (31)

A1.XSEN.2 / (31)

A1.XSEN.3 / (31)

A1.XSEN.4 / (31)

A1.XSEN.5 / (31)

A1.XSEN.6 /

SEN1R.P2.7 (39)

SEN1R.P2.6 (39)

SEN1R.P2.5 (39)

SEN1R.P2.3 (39)

SEN1R.P2.2 (39)

SEN1R.P2.1 (39)

Arm2 GND (45)M2R_GND (39)

HANDR_GND / (44)

HANDR_4 / (44)

Page 40: © Copyright 2014 ABB ALL right reserved. · 3HAC036724-001 Harn-GTPU conn. 3HAC047612-001 Harness digital IO 3HAC047971-001 Harn-ProfiBUS. panel link 3HAC039244-001 Harn-Eth. panel

Prepared by, date:40

We

rese

rve

all r

ight

s in

this

doc

umen

t and

in th

e in

form

atio

n co

ntai

ned

ther

ein.

Rep

rodu

ctio

n, u

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ithou

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stri

ctly

forb

idde

n. ©

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Right arm_Axis2Location:Plant: =

++Sublocation:

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Lab/Office: Status:IRB 14000

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6/8/2016

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5 74321 6 8

M2

M2

RD,AWG32

BK,AWG32

VT,AWG32

YE,AWG32

WH,AWG32

GN,AWG32 RD,AWG32

BK,AWG32

VT,AWG32

YE,AWG32

WH,AWG32

GN,AWG32

VoutGNDVCC RD,AWG32

BK,AWG32

WH,AWG32

BK

RD

WH

RD

WH

BK

BK

GN

RD

WH

YE

VT

T

S

R

PE

M2

3M

+

-

Brake

X1

0V X1

Y1

0V Y1

0V EXC

EXC1

3

1

5

4

6

-R1.MP2R2

-R1.FB2R1

5

2

6

7

3

4

-SEN2R.P17

6

5

4

3

2

1

-SEN2R.P27

6

5

4

3

2

1

-SEN2R.P43

2

1

-SEN2R.P33

2

1

3

2

1

303

302

316

326 327

U right2 / (32)

W right2 / (32)

V right2 / (32)

0V Brake out R / (40)

24V Brake out R / (40)

X2R / (36)

0V_X2R / (36)

Y2R / (36)

0V_Y2R / (36)

0V EXC1R / (40)

EXC1R / (40)

SEN1R.P2.1 / (38)

SEN1R.P2.2 / (38)

SEN1R.P2.5 / (38)

SEN1R.P2.3 / (38)

SEN1R.P2.6 / (38)

SEN1R.P2.7 / (38)

SEN2R.P2.7 (40)

SEN2R.P2.6 (40)

SEN2R.P2.5 (40)

SEN2R.P2.3 (40)

SEN2R.P2.2 (40)

SEN2R.P2.1 (40)

M7R_GND (40)

M2R_GND / (38)

Page 41: © Copyright 2014 ABB ALL right reserved. · 3HAC036724-001 Harn-GTPU conn. 3HAC047612-001 Harness digital IO 3HAC047971-001 Harn-ProfiBUS. panel link 3HAC039244-001 Harn-Eth. panel

Prepared by, date:41

We

rese

rve

all r

ight

s in

this

doc

umen

t and

in th

e in

form

atio

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ntai

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ein.

Rep

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stri

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idde

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Cop

yrig

ht 2

003

AB

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Page40

52Total

Latest revision:

Approved by, date:

Right arm_Axis7Location:Plant: =

++Sublocation:

Document no.Next

Rev. Ind

Lab/Office: Status:IRB 14000

043HAC050778-003CNQILI2 CNDRTU

6/8/2016

Approved

5 74321 6 8

M7

M7

RD,AWG32

BK,AWG32

VT,AWG32

YE,AWG32

WH,AWG32

GN,AWG32

VoutGNDVCC RD,AWG32

BK,AWG32

WH,AWG32

BK

RD

WH

RD

WH

BK

BK

GN

RD

WH

YE

VT

T

S

R

PE

M7

3M

+

-

Brake

X1

0V X1

Y1

0V Y1

0V EXC

EXC1

3

1

5

4

6

-R1.MP7R2

-R1.FB7R1

5

2

6

7

3

4

-SEN7R.P17

6

5

4

3

2

1

-SEN7R.P27

6

5

4

3

2

1

-SEN7R.P43

2

1

-SEN7R.P33

2

1

3

2

1

305

304

317

327

U right7 / (32)

W right7 / (32)

V right7 / (32)

0V Brake out R / (39)

24V Brake out R / (39)

X7R / (36)

0V_X7R / (36)

Y7R / (36)

0V_Y7R / (36)

0V EXC1R / (39)

EXC1R / (39)

SEN2R.P2.1 / (39)

SEN2R.P2.2 / (39)

SEN2R.P2.6 / (39)

SEN2R.P2.7 / (39)

SEN2R.P2.5 / (39)

SEN2R.P2.3 / (39)

M7R_GND / (39)

M3R_GND (41)

Page 42: © Copyright 2014 ABB ALL right reserved. · 3HAC036724-001 Harn-GTPU conn. 3HAC047612-001 Harness digital IO 3HAC047971-001 Harn-ProfiBUS. panel link 3HAC039244-001 Harn-Eth. panel

Prepared by, date:42

We

rese

rve

all r

ight

s in

this

doc

umen

t and

in th

e in

form

atio

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ntai

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ein.

Rep

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stri

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forb

idde

n. ©

Cop

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ht 2

003

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Page41

52Total

Latest revision:

Approved by, date:

Right arm_Axis3Location:Plant: =

++Sublocation:

Document no.Next

Rev. Ind

Lab/Office: Status:IRB 14000

043HAC050778-003CNQILI2 CNDRTU

6/8/2016

Approved

5 74321 6 8

Ax3 Hall Sensor Right

24V Hall Sensor Right 0V Hall Sensor Right

Ax6 Hall Sensor RightAx5 Hall Sensor RightAx4 Hall Sensor Right

M3

M3

RD,AWG32

BK,AWG32

VT,AWG32

YE,AWG32

WH,AWG32

GN,AWG32 RD,AWG32

BK,AWG32

VT,AWG32

YE,AWG32

WH,AWG32

GN,AWG32

VoutGNDVCC RD,AWG32

BK,AWG32

WH,AWG32

BK

RD

WH

RD

WH

BK

BK

GN

RD

WH

YE

VT

T

S

R

PE

M3

3M

+

-

Brake

X1

0V X1

Y1

0V Y1

0V EXC

EXC1

3

1

5

4

6

-R1.MP3R2

-R1.FB3R1

5

2

6

7

3

4

-SEN3R.P17

6

5

4

3

2

1

-SEN3R.P27

6

5

4

3

2

1

-SEN3R.P43

2

1

-SEN3R.P33

2

1

3

2

1

307

306

318

328 329

U right3 / (32)

W right3 / (32)

V right3 / (32)

0V Brake out R /

24V Brake out R /

X3R / (36)

0V_X3R / (36)

Y3R / (36)

0V_Y3R / (36)

0V EXC1R / (42)

EXC1 R /

SEN3R.P2.7 (42)

SEN3R.P2.6 (42)

SEN3R.P2.5 (42)

SEN3R.P2.3 (42)

SEN3R.P2.2 (42)

SEN3R.P2.1 (42)

A1.XSEN.1 / (31)

A1.XSEN.2 / (31)

A1.XSEN.7 / (31)

A1.XSEN.8 / (31)

A1.XSEN.9 / (31)

A1.XSEN.10 / (31)

M3R_GND / (40)

M4R_GND (42)

Page 43: © Copyright 2014 ABB ALL right reserved. · 3HAC036724-001 Harn-GTPU conn. 3HAC047612-001 Harness digital IO 3HAC047971-001 Harn-ProfiBUS. panel link 3HAC039244-001 Harn-Eth. panel

Prepared by, date:43

We

rese

rve

all r

ight

s in

this

doc

umen

t and

in th

e in

form

atio

n co

ntai

ned

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ein.

Rep

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stri

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Cop

yrig

ht 2

003

AB

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Page42

52Total

Latest revision:

Approved by, date:

Right arm_Axis4Location:Plant: =

++Sublocation:

Document no.Next

Rev. Ind

Lab/Office: Status:IRB 14000

043HAC050778-003CNQILI2 CNDRTU

6/8/2016

Approved

5 74321 6 8

M4

RD,AWG32

BK,AWG32

VT,AWG32

YE,AWG32

WH,AWG32

GN,AWG32 RD,AWG32

BK,AWG32

VT,AWG32

YE,AWG32

WH,AWG32

GN,AWG32

VoutGNDVCC RD,AWG32

BK,AWG32

WH,AWG32

RD

WH

BK

BK

GN

RD

WH

YE

VT

YE

T

S

R

PE

M4

3M

X1

0V X1

Y1

0V Y1

0V EXC

EXC1

2

1

3

-R1.MP4R4

-R1.FB4R1

5

2

6

7

3

4

-SEN4R.P17

6

5

4

3

2

1

-SEN4R.P27

6

5

4

3

2

1

-SEN4R.P43

2

1

-SEN4R.P33

2

1

3

2

1

308

319

309

329 330

U right4 / (32)

W right4 / (32)

V right4 / (32)

X4R / (36)

0V_X4R / (36)

Y4R / (36)

0V_Y4R / (36)

0V EXC1R / (41)

EXC1R / (43)

SEN3R.P2.1 / (41)

SEN3R.P2.2 / (41)

SEN3R.P2.5 / (41)

SEN3R.P2.3 / (41)

SEN3R.P2.6 / (41)

SEN3R.P2.7 / (41)

SEN4R.P2.7 (43)

SEN4R.P2.6 (43)

SEN4R.P2.5 (43)

SEN4R.P2.3 (43)

SEN4R.P2.2 (43)

SEN4R.P2.1 (43)

M4R_GND / (41)

M5R_GND (43)

Page 44: © Copyright 2014 ABB ALL right reserved. · 3HAC036724-001 Harn-GTPU conn. 3HAC047612-001 Harness digital IO 3HAC047971-001 Harn-ProfiBUS. panel link 3HAC039244-001 Harn-Eth. panel

Prepared by, date:44

We

rese

rve

all r

ight

s in

this

doc

umen

t and

in th

e in

form

atio

n co

ntai

ned

ther

ein.

Rep

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ctio

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aut

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y is

stri

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Cop

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ht 2

003

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Page43

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Latest revision:

Approved by, date:

Right arm_Axis5Location:Plant: =

++Sublocation:

Document no.Next

Rev. Ind

Lab/Office: Status:IRB 14000

043HAC050778-003CNQILI2 CNDRTU

6/8/2016

Approved

5 74321 6 8

M5

RD,AWG32

BK,AWG32

VT,AWG32

YE,AWG32

WH,AWG32

GN,AWG32

VoutGNDVCC RD,AWG32

BK,AWG32

WH,AWG32 VoutGNDVCC RD,AWG32

BK,AWG32

WH,AWG32

RD

WH

BK

BK

GN

RD

WH

YE

VT

YE

T

S

R

PE

M5

3M

X1

0V X1

Y1

0V Y1

0V EXC

EXC1

2

1

3

-R1.MP5R4

-R1.FB5R1

5

2

6

7

3

4

-SEN5_6R.P17

6

5

4

3

2

1

-SEN5_6R.P27

6

5

4

3

2

1

-SEN5_6R.P43

2

1

-SEN5_6R.P33

2

1

3

2

1

3

2

1

310

320

311

330

U right5 / (32)

W right5 / (32)

V right5 / (32)

X5R / (36)

0V_X5R / (36)

Y5R / (36)

0V_Y5R / (36)

0V EXC1R / (44)

EXC1R / (42)

SEN4R.P2.1 / (42)

SEN4R.P2.2 / (42)

SEN4R.P2.6 / (42)

SEN4R.P2.7 / (42)

SEN4R.P2.5 / (42)

SEN4R.P2.3 / (42)

M5R_GND / (42)

M6R_GND (44)

Page 45: © Copyright 2014 ABB ALL right reserved. · 3HAC036724-001 Harn-GTPU conn. 3HAC047612-001 Harness digital IO 3HAC047971-001 Harn-ProfiBUS. panel link 3HAC039244-001 Harn-Eth. panel

Prepared by, date:45

We

rese

rve

all r

ight

s in

this

doc

umen

t and

in th

e in

form

atio

n co

ntai

ned

ther

ein.

Rep

rodu

ctio

n, u

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to th

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artie

s w

ithou

t exp

ress

aut

horit

y is

stri

ctly

forb

idde

n. ©

Cop

yrig

ht 2

003

AB

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Page44

52Total

Latest revision:

Approved by, date:

Right arm_Axis6Location:Plant: =

++Sublocation:

Document no.Next

Rev. Ind

Lab/Office: Status:IRB 14000

043HAC050778-003CNQILI2 CNDRTU

6/8/2016

Approved

5 74321 6 8

M6

RD

WH

BK

BK

GN

RD

WH

YE

VT

YE

BU

YEDummy wire

T

S

R

PE

M6

3M

X1

0V X1

Y1

0V Y1

0V EXC

EXC1

2

1

3

-R1.MP6R4

-R1.FB6R1

5

2

6

7

3

4

312

321

313

314

U right6 / (32)

W right6 / (32)

V right6 / (32)

X6R / (36)

0V_X6R / (36)

Y6R / (36)

0V_Y6R / (36)

0V EXC1R / (43)

EXC1R /

M6R_GND / (43)

HANDR_GND (38)

HANDR_4 (38)

Page 46: © Copyright 2014 ABB ALL right reserved. · 3HAC036724-001 Harn-GTPU conn. 3HAC047612-001 Harness digital IO 3HAC047971-001 Harn-ProfiBUS. panel link 3HAC039244-001 Harn-Eth. panel

Prepared by, date:46

We

rese

rve

all r

ight

s in

this

doc

umen

t and

in th

e in

form

atio

n co

ntai

ned

ther

ein.

Rep

rodu

ctio

n, u

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to th

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artie

s w

ithou

t exp

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aut

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y is

stri

ctly

forb

idde

n. ©

Cop

yrig

ht 2

003

AB

B

Page45

52Total

Latest revision:

Approved by, date:

Left arm_Axis1Location:Plant: =

++Sublocation:

Document no.Next

Rev. Ind

Lab/Office: Status:IRB 14000

043HAC050778-003CNQILI2 CNDRTU

6/8/2016

Approved

5 74321 6 8

24V Hall Sensor Left 0V Hall Sensor LeftAx1 Hall Sensor Left

Ax2 Hall Sensor LeftAx7 Hall Sensor LeftDummy cable

M1

396398400

BU

M1

-ARM_L.CPCS

RD,AWG32

BK,AWG32

VT,AWG32

YE,AWG32

WH,AWG32

GN,AWG32 RD,AWG32

BK,AWG32

VT,AWG32

YE,AWG32

WH,AWG32

GN,AWG32

VoutGNDVCC RD,AWG32

BK,AWG32

WH,AWG32

Connect to hand

BK

RD

WH

RD

WH

BK

BK

GN

RD

WH

YE

VT

BU

YE

BU

YE

YE

BU

TD+

TD-

RD+

RD-

24V IO

0V IO

GND

SPARE

6

8

5

7

2

1

T

S

R

PE

M1

3M

+

-

Brake

X1

0V X1

Y1

0V Y1

0V EXC

EXC1

3

1

5

4

6

-R1.MP1L2

-R1.FB1L1

5

2

6

7

3

4

3

-A2.XPCP1

3

2

-SEN1L.P17

6

5

4

3

2

1

-SEN1L.P27

6

5

4

3

2

1

-SEN1L.P43

2

1

-SEN1L.P33

2

1

3

2

1

301

300

315

4

325 326

324

323

322

1-PE6

Arm2.ETH.1 / (27)

Arm2.ETH.2 / (27)

Arm2.ETH.3 / (27)

Arm2.ETH.6 / (27)

U left1 / (34)

W left1 / (34)

V left1 / (34)

0V Brake out L / (34)

24V Brake out L / (34)

X1L / (37)

0V_X1L / (37)

Y1L / (37)

0V_Y1L / (37)

0V EXC1L / (37)

EXC1L / (37)

A2.XSEN.1 / (31)

A2.XSEN.2 / (31)

A2.XSEN.3 / (31)

A2.XSEN.4 / (31)

A2.XSEN.5 / (31)

A2.XSEN.6 /

SEN1L.P2.7 (46)

SEN1L.P2.6 (46)

SEN1L.P2.5 (46)

SEN1L.P2.3 (46)

SEN1L.P2.2 (46)

SEN1L.P2.1 (46)

Arm2 +24V I/O / (18)

Arm2 0V I/O / (18)

Arm2 GND / (38)

M2L_GND (46)

HANDL_GND / (51)

HANDL_4 / (51)

Page 47: © Copyright 2014 ABB ALL right reserved. · 3HAC036724-001 Harn-GTPU conn. 3HAC047612-001 Harness digital IO 3HAC047971-001 Harn-ProfiBUS. panel link 3HAC039244-001 Harn-Eth. panel

Prepared by, date:47

We

rese

rve

all r

ight

s in

this

doc

umen

t and

in th

e in

form

atio

n co

ntai

ned

ther

ein.

Rep

rodu

ctio

n, u

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t exp

ress

aut

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y is

stri

ctly

forb

idde

n. ©

Cop

yrig

ht 2

003

AB

B

Page46

52Total

Latest revision:

Approved by, date:

Left arm_Axis2Location:Plant: =

++Sublocation:

Document no.Next

Rev. Ind

Lab/Office: Status:IRB 14000

043HAC050778-003CNQILI2 CNDRTU

6/8/2016

Approved

5 74321 6 8

M2

M2

BU

RD,AWG32

BK,AWG32

VT,AWG32

YE,AWG32

WH,AWG32

GN,AWG32 RD,AWG32

BK,AWG32

VT,AWG32

YE,AWG32

WH,AWG32

GN,AWG32

VoutGNDVCC RD,AWG32

BK,AWG32

WH,AWG32

BK

RD

WH

RD

WH

BK

BK

GN

RD

WH

YE

VT

T

S

R

PE

M2

3M

+

-

Brake

X1

0V X1

Y1

0V Y1

0V EXC

EXC1

3

1

5

4

6

-R1.MP2L2

-R1.FB2L1

5

2

6

7

3

4

-SEN2L.P17

6

5

4

3

2

1

-SEN2L.P27

6

5

4

3

2

1

-SEN2L.P43

2

1

-SEN2L.P33

2

1

3

2

1

303

302

316

326 327

U left2 / (34)

W left2 / (34)

V left2 / (34)

0V Brake out L / (47)

24V Brake out L / (47)

X2L / (37)

0V_X2L / (37)

Y2L / (37)

0V_Y2L / (37)

0V EXC1L / (48)

EXC1L / (48)

SEN1L.P2.1 / (45)

SEN1L.P2.2 / (45)

SEN1L.P2.5 / (45)

SEN1L.P2.3 / (45)

SEN1L.P2.6 / (45)

SEN1L.P2.7 / (45)

SEN2L.P2.7 (47)

SEN2L.P2.6 (47)

SEN2L.P2.5 (47)

SEN2L.P2.3 (47)

SEN2L.P2.2 (47)

SEN2L.P2.1 (47)

M7L_GND (47)

M2L_GND / (45)

Page 48: © Copyright 2014 ABB ALL right reserved. · 3HAC036724-001 Harn-GTPU conn. 3HAC047612-001 Harness digital IO 3HAC047971-001 Harn-ProfiBUS. panel link 3HAC039244-001 Harn-Eth. panel

Prepared by, date:48

We

rese

rve

all r

ight

s in

this

doc

umen

t and

in th

e in

form

atio

n co

ntai

ned

ther

ein.

Rep

rodu

ctio

n, u

se o

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to th

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artie

s w

ithou

t exp

ress

aut

horit

y is

stri

ctly

forb

idde

n. ©

Cop

yrig

ht 2

003

AB

B

Page47

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Latest revision:

Approved by, date:

Left arm_Axis7Location:Plant: =

++Sublocation:

Document no.Next

Rev. Ind

Lab/Office: Status:IRB 14000

043HAC050778-003CNQILI2 CNDRTU

6/8/2016

Approved

5 74321 6 8

M7

M7

BU

RD,AWG32

BK,AWG32

VT,AWG32

YE,AWG32

WH,AWG32

GN,AWG32

VoutGNDVCC RD,AWG32

BK,AWG32

WH,AWG32

BK

RD

WH

BK

GN

RD

WH

YE

VT

RD

WH

BK T

S

R

PE

M7

3M

+

-

Brake

X1

0V X1

Y1

0V Y1

0V EXC

EXC1

3

1

5

4

6

-R1.MP7L2

-R1.FB7L1

5

2

6

7

3

4

-SEN7L.P17

6

5

4

3

2

1

-SEN7L.P27

6

5

4

3

2

1

-SEN7L.P43

2

1

-SEN7L.P33

2

1

3

2

1

305

317

304

327

U left7 / (34)

W left7 / (34)

V left7 / (34)

0V Brake out L / (46)

24V Brake out L / (46)

X7L / (37)

0V_X7L / (37)

Y7L / (37)

0V_Y7L / (37)

0V EXC2L / (49)

EXC2L / (49)

SEN2L.P2.1 / (46)

SEN2L.P2.2 / (46)

SEN2L.P2.6 / (46)

SEN2L.P2.7 / (46)

SEN2L.P2.5 / (46)

SEN2L.P2.3 / (46)

M3L_GND (48)

M7L_GND / (46)

Page 49: © Copyright 2014 ABB ALL right reserved. · 3HAC036724-001 Harn-GTPU conn. 3HAC047612-001 Harness digital IO 3HAC047971-001 Harn-ProfiBUS. panel link 3HAC039244-001 Harn-Eth. panel

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5 74321 6 8

Ax4 Hall Sensor LeftAx5 Hall Sensor Left

24V Hall Sensor Left 0V Hall Sensor Left

Ax6 Hall Sensor Left

Ax3 Hall Sensor Left

M3

M3

BU

RD,AWG32

BK,AWG32

VT,AWG32

YE,AWG32

WH,AWG32

GN,AWG32 RD,AWG32

BK,AWG32

VT,AWG32

YE,AWG32

WH,AWG32

GN,AWG32

VoutGNDVCC RD,AWG32

BK,AWG32

WH,AWG32

BK

RD

WH

BK

GN

RD

WH

YE

VT

RD

WH

BK T

S

R

PE

M3

3M

+

-

Brake

X1

0V X1

Y1

0V Y1

0V EXC

EXC1

3

1

5

4

6

-R1.MP3L2

-R1.FB3L1

5

2

6

7

3

4

-SEN3L.P17

6

5

4

3

2

1

-SEN3L.P27

6

5

4

3

2

1

-SEN3L.P43

2

1

-SEN3L.P33

2

1

3

2

1

307

318

306

328 329

U left3 / (34)

W left3 / (34)

V left3 / (34)

0V Brake out L /

24V Brake out L /

X3L / (37)

0V_X3L / (37)

Y3L / (37)

0V_Y3L / (37)

0V EXC1L / (46)

EXC1L / (46)

SEN3L.P2.7 (49)

SEN3L.P2.6 (49)

SEN3L.P2.5 (49)

SEN3L.P2.3 (49)

SEN3L.P2.2 (49)

SEN3L.P2.1 (49)

A2.XSEN.1 / (31)

A2.XSEN.2 / (31)

A2.XSEN.7 / (31)

A2.XSEN.8 / (31)

A2.XSEN.9 / (31)

A2.XSEN.10 / (31)

M4L_GND (49)

M3L_GND / (47)

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Prepared by, date:50

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s in

this

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umen

t and

in th

e in

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M4

BU

RD,AWG32

BK,AWG32

VT,AWG32

YE,AWG32

WH,AWG32

GN,AWG32 RD,AWG32

BK,AWG32

VT,AWG32

YE,AWG32

WH,AWG32

GN,AWG32

VoutGNDVCC RD,AWG32

BK,AWG32

WH,AWG32

RD

WH

BK

BK

GN

RD

WH

YE

VT

YE

T

S

R

PE

M4

3M

X1

0V X1

Y1

0V Y1

0V EXC

EXC1

2

1

3

-R1.MP4L4

-R1.FB4L1

5

2

6

7

3

4

-SEN4L.P17

6

5

4

3

2

1

-SEN4L.P27

6

5

4

3

2

1

-SEN4L.P43

2

1

-SEN4L.P33

2

1

3

2

1

308

319

309

329 330

U left4 / (34)

W left4 / (34)

V left4 / (34)

X4L / (37)

0V_X4L / (37)

Y4L / (37)

0V_Y4L / (37)

0V EXC2L / (47)

EXC2L / (47)

SEN3L.P2.1 / (48)

SEN3L.P2.2 / (48)

SEN3L.P2.5 / (48)

SEN3L.P2.3 / (48)

SEN3L.P2.6 / (48)

SEN3L.P2.7 / (48)

SEN4L.P2.7 (50)

SEN4L.P2.6 (50)

SEN4L.P2.5 (50)

SEN4L.P2.3 (50)

SEN4L.P2.2 (50)

SEN4L.P2.1 (50)

M5L_GND (50)

M4L_GND / (48)

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Prepared by, date:51

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s in

this

doc

umen

t and

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6/8/2016

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5 74321 6 8

M5

BU

RD,AWG32

BK,AWG32

VT,AWG32

YE,AWG32

WH,AWG32

GN,AWG32

RD,AWG32

BK,AWG32

WH,AWG32

VCCGNDVout Vout

GNDVCC RD,AWG32

BK,AWG32

WH,AWG32

RD

WH

BK

BK

GN

RD

WH

YE

VT

YE

T

S

R

PE

M5

3M

X1

0V X1

Y1

0V Y1

0V EXC

EXC1

2

1

3

-R1.MP5L4

-R1.FB5L1

5

2

6

7

3

4

-SEN5_6L.P17

6

5

4

3

2

1

-SEN5_6L.P27

6

5

4

3

2

1

-SEN5_6L.P43

2

1

-SEN5_6L.P33

2

1

3

2

1

3

2

1

310

320

311

330

U left5 / (34)

W left5 / (34)

V left5 / (34)

X5L / (37)

0V_X5L / (37)

Y5L / (37)

0V_Y5L / (37)

0V EXC2L /

EXC2L / (51)

SEN4L.P2.1 / (49)

SEN4L.P2.2 / (49)

SEN4L.P2.6 / (49)

SEN4L.P2.7 / (49)

SEN4L.P2.5 / (49)

SEN4L.P2.3 / (49)

M6L_GND (51)

M5L_GND / (49)

Page 52: © Copyright 2014 ABB ALL right reserved. · 3HAC036724-001 Harn-GTPU conn. 3HAC047612-001 Harness digital IO 3HAC047971-001 Harn-ProfiBUS. panel link 3HAC039244-001 Harn-Eth. panel

Prepared by, date:

We

rese

rve

all r

ight

s in

this

doc

umen

t and

in th

e in

form

atio

n co

ntai

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ein.

Rep

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y is

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forb

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Left arm_Axis6Location:Plant: =

++Sublocation:

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Rev. Ind

Lab/Office: Status:IRB 14000

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6/8/2016

Approved

321 4 5 6 7 8

M6

BU

RD

WH

BK

BK

GN

RD

WH

YE

VT

YE

BU

YEDummy wire

T

S

R

PE

M6

3M

X1

0V X1

Y1

0V Y1

0V EXC

EXC1

2

1

3

-R1.MP6L4

-R1.FB6L1

5

2

6

7

3

4

312

321

313

314

U left6 / (34)

W left6 / (34)

V left6 / (34)

X6L / (37)

0V_X6L / (37)

Y6L / (37)

0V_Y6L / (37)

0V EX2L /

EXC2L / (50)

M6L_GND / (50)

HANDL_GND (45)

HANDL_4 (45)