irc5-irc5 product reference manual 3hac021313-001_part2_reva_en

7/26/2019 IRC5-IRC5 Product Reference Manual 3HAC021313-001_part2_revA_en

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Product manual (part 2 of 2), reference information

Robot Controller

IRC5

M2004


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Product manual (part 2 of 2), reference information

IRC5

M2004

Document ID: 3HAC021313-001

Revision: A


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The information in this manual is subject to change without notice andshould not be construed as a commitment by ABB. ABB assumes noresponsibility for any errors that may appear in this manual.

Except as may be expressly stated anywhere in this manual, nothing

herein shall be construed as any kind of guarantee or warranty by ABBfor losses, damages to persons or property, fitness for a specific purposeor the like.

In no event shall ABB be liable for incidental or consequential damagesarising from use of this manual and products described herein.

This manual and parts thereof must not be reproduced or copied without

ABBs written permission, and contents thereof must not be imparted toa third party nor be used for any unauthorized purpose. Contraventionwill be prosecuted.

Additional copies of this manual may be obtained from ABB at its thencurrent charge.

Copyright 2004 ABB All right reserved.

ABB Automation Technologies AB

RoboticsSE-721 68 Vsters

Sweden


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Table of Contents

33HAC021313-001

Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4

Product documentation, M2004 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5

1 Reference information, IRC5 7

1.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7

1.2 Applicable Safety Standards. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8

1.3 Unit conversion. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9

1.4 Screw joints . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10

1.5 Weight specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11

1.6 Standard toolkit, IRC5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12

1.7 Document references . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13

1.8 Lifting equipment and lifting instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15

2 Spare Parts 17

2.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17

2.2 Spare Parts IRC5, Control module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18

2.3 Spare Parts IRC5, Drive module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21

3 Circuit Diagram 23

3.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
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Overview

A 3HAC021313-0014

Overview

About This Manual

This manual contains reference information for all procedures described in the Product

manual procedures.

Usage

This manual should be used during: operation, installation...

installation

maintenance work

repair work.

Who Should Read This Manual?

This manual is intended for:

installation personnel

maintenance personnel

repair personnel.

Prerequisites

The reader should...

be a trained maintenance/repair craftsman

have the required knowledge of mechanical and electrical installation/maintenance/

repair work.

Organization of Chapters

The manual is organized in the following chapters:

References

See section document references.

Revisions

Chapter Contents

Reference information Useful information when performing

installation, maintenance or repair work (listsof necessary tools, reference documents,safety standards).

Spare part list List of controller spare parts.

Circuit diagram Circuit Diagram of the controller.

Revision Description

- First edition


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Product documentation, M2004

A 53HAC021313-001


General

The robot documentation may be divided into a number of categories. This listing is based on

the type of information contained within the documents, regardless of whether the products

are standard or optional. This means that any given delivery of robot products will not contain

alldocuments listed, only the ones pertaining to the equipment delivered.

However, all documents listed may be ordered from ABB. The documents listed are valid for

M2004 robot systems.

Hardware manuals

All hardware, robots and controller cabinets, will be delivered with a Product manualwhich

is divided into two parts:

Product manual, procedures

Safety information

Installation and commissioning (descriptions of mechanical installation, electrical

connections and loading system software)

Maintenance (descriptions of all required preventive maintenance procedures

including intervals)

Repair (descriptions of all recommended repair procedures including spare parts)

Additional procedures, if any (calibration, decommissioning)

Product manual, reference information

Reference information (article numbers for documentation referred to in Productmanual, procedures, lists of tools, safety standards)

Part list

Foldouts or exploded views

Circuit diagrams

RobotWare manuals

The following manuals describe the robot software in general and contain relevant reference

information:

RAPID Overview: An overview of the RAPID programming language.

RAPID reference manual part 1: Description of all RAPID instructions.

RAPID reference manual part 2: Description of all RAPID functions and data types.

Technical reference manual - System parameters: Description of system

parameters and configuration workflows.

Application manuals

Specific applications (e.g. software or hardware options) are described in Application

manuals. An application manual can describe one or several applications.

An application manual generally contains information about:

The purpose of the application (what it does and when it is useful) What is included (e.g. cables, I/O boards, RAPID instructions, system parameters)


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A 3HAC021313-0016

How to use the application

Examples of how to use the application

Operators manualsThis group of manuals is aimed at those having first hand operational contact with the robot,

i.e. production cell operators, programmers and trouble shooters. The group of manuals

include:

Operators manual - IRC5 with FlexPendant

Operators manual - RobotStudioOnline

Trouble shooting Manualfor the controller and robot

Miscellaneous

A number of manuals provide generic descriptions of the robot and robot system. These

include:

Robot fundamentals(describing the fundamental aspects, functions, concept and

similar, of a robot system to provide a basic understanding of the robot system)


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1 Reference information, IRC5

1.1. Introduction

A 73HAC021313-001


1.1. Introduction

General

This chapter includes general information, complementing the more specific information in

the following chapters.


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1.2. Applicable Safety Standards

A 3HAC021313-0018

1.2. Applicable Safety Standards

Standards, general

The robot is designed in accordance with the requirements of:

ISO10218, Jan. 1992, Industrial Robot Safety

ANSI/RIA 15.06-1999

ISO/DIS 11161, Industrial automation systems - safety of integrated manufacturing

systems - Basic requirements

DIN 19258 - Interbus-S, International Standard

Standards, safety fence

The following standards are applicable to the safety fence surrounding the robot cell:

ISO/DIS 11161, Industrial automation systems -safety of integrated manufacturingsystems - Basic requirements

prEN 999:1995

Standards, robot cell

The following standards are applicable when the robot is part of a robot cell:

IEN 294, Safety of machinery - Safety distance to prevent danger zones being reached

by the upper limbs.

EN 349, Safety of machinery - Minimum gaps to avoid crushing of parts of the human

body.

EN 811 Safety of machinery - Safety distance to prevent danger zones being reachedby the lower limbs.

Pr EN 999 Safety of machinery - The positioning of protective equipment in respect

of approach speeds of the human body.

EN 1088 Safety of machinery - Interlocking device associated with guards principles

for design and selection.


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1.3. Unit conversion

A 93HAC021313-001

1.3. Unit conversion

Converter table

Use the table below to convert units used in this manual.

Quantity Units

Length 1 m 3.28 ft 39.37 in

Weight 1 kg 2.21 lb

Pressure 1 bar 100 kPa 14.5 psi

Force 1 N 0.738 lbf

Moment 1 Nm 0.738 lbf-tn

Volume 1 L 0.264 US gal


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1.4. Screw joints

A 3HAC021313-00110

1.4. Screw joints

General

This section details how to tighten the various types of screw joints on the controller.

The instructions and torque values are valid for screw joints comprised of metallic materials

and do not apply to soft or brittle materials.

Tightening torque

Before tightening any screw, note the following:

Determine whether a standard tightening torque or special torque is to be applied. The

standard torques are specified in the tables below. Any special torques are specified in

the Repair, Maintenance or Installation procedure description. Any special torque

specified overrides the standard value.

Use the correct tightening torquefor each type of screw joint.

Only use correctly calibratedtorque keys.

Always tighten the joint by hand,and never use pneumatical tools

Use the correct tightening technique, i.e. do notjerk. Tighten the screw in a slow,

flowing motion.

Maximum allowed total deviation from the specified value is 10%!

The table below specify the recommended standard tightening torque for oil-lubricated

screwswith slotted or cross-recess head screws.

DimensionTightening torque (Nm)Class 4.8, oil-lubricated

M2.5 0.25

M3 0.5

M4 1.2

M5 2.5

M6 5.0


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1.5. Weight specifications

A 113HAC021313-001

1.5. Weight specifications

Definition

In all repair and maintenance instructions, weights of the components handled are sometimes

specified. All components exceeding 22 kg (50 lbs) are high-lighted in this way.

To avoid injury, ABB recommends the use of lifting equipment when handling components

with a weight exceeding 22 kg.

Example

Below is an example of how a weight specification is presented:

CAUTION!

Caution!

The transformer weighs 55 kg! All lifting equipment used must be sized accordingly!


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1.6. Standard toolkit, IRC5

A 3HAC021313-00112

1.6. Standard toolkit, IRC5

General

All service (repair, maintenance and installation) instructions contain lists of tools required

to perform the specified activity. All special tools, i.e. all tools that are not considered

standard as defined below, are listed in their instructions respectively.

This way, the tools required are the sum of the Standard Toolkit and any tools listed in the

instruction.

Contents

Tool Remark

Screw driver, Torx Tx10

Screw driver, Torx Tx25

Ball tipped screw driver, Torx Tx25

Screw driver, flat blade 4 mm



Screw driver Phillips-1

Box spanner 8 mm


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1.7. Document references

A 133HAC021313-001


General

The contents of this manual may include references to additional documentation necessary to

perform certain procedures. This section specifies the article numbers for the referenced

documentaion.

Product specification, controller

The product specification includes generic technical data. The specification listed below is

the English version.

Operators manual

The operators manual contains instructions for daily operation of robot systems. The

operators manual listed below is the English version.

Application documentation

Product manual, robot

The product manuals include information about installation and service activities. The table

below specifies the article numbers of the product mnauals for all robot models. The part

number -001 is the English version.

Document name Document ID

Product Specification - IRC5 with FlexPendant 3HAC021785-001

Document name Document ID Note

Operators manual - IRC5with FlexPendant

3HAC 16590-1


Trouble shooting manual - IRC5 3HAC 020738-001

Getting started - IRC5 and RobotStudio Online 3HAC 021564-001

Operators manual - RobotStudio Online 3HAC 18236-1


Product manual, IRB 140 -

Product manual, IRB 1400 3HAC 021111-001



Product manual, IRB 6600/6650 type A 3HAC 020938-001

Product manual, IRB 6600/6650 type B 3HAC 023082-001

Product manual, IRB 6650S 3HAC 020993-001


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A 3HAC021313-00114





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1.8. Lifting equipment and lifting instructions

A 153HAC021313-001


General

Many repair and maintenance activities require different pieces of lifting equipment, which

are specified in each procedure.

The use of each piece of lifting equipment is notdetailed in the activity procedure, but in

the instruction delivered with each piece of lifting equipment.

This implies that the instructions delivered with the lifting equipment should be stored for

later reference.


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A 3HAC021313-00116


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2 Spare Parts

2.1. Introduction

A 173HAC021313-001

2 Spare Parts

2.1. Introduction

Definitions

This chapter specifies all spare parts and replacement articles of the IRC5 controller.


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2 Spare Parts

2.2. Spare Parts IRC5, Control module

A 3HAC021313-00118


Control cabinet

xx0400001234

Spare parts

Pos Spare part number Description Note

A21 3HAC020665-001 Panel Board Unit

3HAC020901-001 Control panel 2-pos mode

3HAC020901-002 Control panel 3-pos mode

3HAC14605-1 Junction board DSQC616

3HAC020586-001 Harness,Panel board/ GTPU

3HAC021009-001 Harness-Panel board/Fan u

3HNE01586-1 Queue Tracker

3HAC14944-1 RS-232/422 converter DSQC 615

3HAC11819-1 Interbus slave with Cu

3HAC5579-1 InterBus-S adap.

3HAC5577-1 Profibus-DP adap

3HNE00009-1 Profibus DP Slave unit

3HNE00006-1 Interbus-S Unit

3HAB9715-1 Multipole con. X1-X4 10p

3HAB7342-1 Multipole con.set X7,X8

3HAB9743-1 Multipole con. X1-X4 16p

3HAC1836-1 Multipole con. X3 5p3HAB9664-1 3 Multipole con. X6 6p


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2 Spare Parts


A 193HAC021313-001

3HAC0053-1 Multipole con. X8,X9 4p

3HAB9764-1 Multip. connector female

3HAC17970-1 Dig. 24 VDC I/O DSQC 328A

3HAC12934-1 Customer I/O Power Supply DSQC 608

3HAC17971-1 A D Combi I/O DSQC 327A

3HAC17973-1 Dig. Relay I/O DSQC 332A

3HAC020892-001 Heat exchanger unit

3HAC020890-029 Customer contact plate

3HAC12817-1 DeviceNet M/S DSQC 603

3HAC15639-1 Ethernet board DSQC 612

3HNE00554-1 Analog I/O Unit APIP-02

3HNE00065-1 Circuit board ENC-01

3HNE00025-1 Circuit board RIO

Mains connection and

power supply

3HAC020953-002 Transformer module 1,8kVA

G3 3HAC020150-001 Backup energy bank DSQC624

G2 3HAC12928-1 Control Power Supply DSQC 604

G4-G5 3HAC12934-1 Customer I/O Power supply DSQC 608



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2 Spare Parts


A 3HAC021313-00120

Computer unit

xx0400001236

Spare parts


A3 3HAC020929-001 Computer A, SSD Solid State drive

A3 3HAC020929-002 Computer B, HDD Hard disk drive

3HAC12816-1 Robot com. card DSQC 602

3HAC020464-001 Power supply DSQC 625

3HAC020988-001 Mass memory 1xHDD

3HAC020988-002 Mass memory 2xHDD

3HAC020988-003 Mass memory 1xSSD

3HAC 12814-1 Main computer board DSQC 600

3HAC020079-001 Main computer board DSQC 623

3HAC020988-006 Fans


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2 Spare Parts

2.3. Spare Parts IRC5, Drive module

A 213HAC021313-001


Drive cabinet

xx0400001235

Spare parts

PosSpare partnumber

Description Info

A41.1 3HAC14546-1 Main servo drive unit DSQC 617_3B3A

A41.1 3HAC14546-2 Main servo drive unit DSQC 617_2E2C2B

A41.1 3HAC14546-3 Main servo drive unit DSQC 617_3E1C

A41.1 3HAC14546-4 Main servo drive unit DSQC 617_3G3T

A41.1 3HAC14546-6 Main servo drive unit DSQC 617_3G3W

A41.1.3-5 3HAC14550-1 Single servo drive unit DSQC 619_C

A41.1.3-5 3HAC14550-2 Single servo drive unit DSQC 619_T

A41.1.3-5 3HAC14550-3 Single servo drive unit DSQC 619_U

A41.1.3-5 3HAC14550-4 Single servo drive unit DSQC 619_W

A41.2 3HAC14549-1 Rectifier



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2 Spare Parts


A 3HAC021313-00122


A41.3 3HAC14551-1 Capacitor unit



3HAC17281-1 DC-bus bar DC_L6 long busbarwith six connectorgroups

3HAC17281-3 DC-bus bar DC_S2short busbarwith two connector

groups

G1 3HAC020465-001 Drive system power

supply

DSQC 626

G1 3HAC020466-001 Drive system powersupply

DSQC 627

A42 3HAC020919-001 Axis computer DSQC 601

A43 3HAC13389-2 Contactor Interface board DSQC 611


3HAC020953-004 Transformer module 13kVA


3HAC6647-1 Duty time counter 24VDC

3HAC020900-001 Brake resistor bleeder

3HAC12924-3 Fan

3HAC020953-001 Fan holder with fans3HAC7097-1 Mains line filter

FlexPendant

3HAC12929-1 FlexPendant with cable 10m

3HAC11266-1 FlexPendant Cable 10m

3HAC12929-4 FlexPendant with cable 30m

3HAC11266-4 FlexPendant Cable 30m

PosSpare partnumber

Description Info


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3 Circuit Diagram

3.1. Introduction

A 233HAC021313-001

3 Circuit Diagram

3.1. Introduction

Definitions

This chapter specifies the circuit diagram of the IRC5 controller.


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3 Circuit Diagram

3.1. Introduction

A 3HAC021313-00124


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P

reparedby,date:

2

Wereserveallrightsinthisdocumentandintheinformationcontainedtherein.Reproduction,useor

disclosuretothirdpartieswithoutexpressauthorityisstrictlyforbidden.Copyright2003ABB

EPLAN

Page1 4

2

Total

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Status:

Approved

EPLAN

Theinformationinthisdocumentissubjecttochangewithoutnoticeandshouldnotbeconstruedasa

commitmentbyABB.ABBassume

snoresponsibilityforanyerrorsthatma

yappearinthisdocument.

InnoeventshallABBbeliablefor

incidentalorconsequentialdamagesarisingfromuseofthisdocument

orofthesoftwareandhardwarede

scribedinthisdocument.

Wereserveallrightsinthisdocum

entandintheinformationcontainedthe

rein.Reproduction,useor

disclosuretothirdpartieswithoute

xpressauthorityisstrictlyforbidden.

Additionalcopiesofthisdocument

maybeobtainedfromABBatitsthencurrentcharge.

Copyright2004ABBAllrightreserved.

ABB

AutomationTechnologiesAB

Robotics

SE-72168Vsters

Sweden

1

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Manufacture

Type

Controlcabinet

Mainsvoltage

Supply

Controlvoltage

Yearofconstruction

2004-09-28

: : : : : : :

Typeofinstallation

Customer

Robotserialnumber(s)

Drawingnumber

Drawingversion

3HAC020538-002_

Contro

l

: : : : :EPLAN

Phone:

Projectstart

Projectmanager

Lastrevision

Designedby

Designeddate

Numberofpages

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2004-05-05

jsundin1

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jsundin1

CM

ORT

25

ROBOTCOMMUNICATIONCA

RD

Approved

2004-09-24

jsundin1

CM

ORT

26

PROFIBUSDPM/S

Approved

2004-09-24

jsundin1

CM

ORT

27

INTERBUSM/S

Approved

2004-09-24

jsundin1

CM

ORT

28

DEVICENETADAPTER

Approved

2004-09-24

jsundin1

CM

ORT

29

DEVICENETADAPTER

Approved

2004-09-24

jsundin1

CM

ORT

30

DUALRS232CARD

Approved

2004-09-24

jsundin1

1

2

3

4

5

6

7

8


29/144

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3HAC0

20538-002

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atestrevision:

Approvedby,date:


Location:

Plant:

= + +

Sublocation:

DOKUMENTE

INV

Documentno.

Next

Rev.Ind

02

Lab/Office:

Status:

Approved

Tableofcontents

Plant

Location

Pagesupp

lementaryfield

Page

Pagedescription

Date

Editor

DIN_

INV_

30_

1

CM

ORT

31

ETHERNETCARD

Approved

2004-09-24

jsundin1

CM

ORT

32

DIGITALPARTOFCOMBII/OANDDIGITALI/O

Approved

2004-09-24

jsundin1

CM

ORT

33

DIGITALI/OUNIT

Approved

2004-09-24

jsundin1

CM

ORT

34

COMBII/OUNIT

Approved

2004-09-24

jsundin1

CM

ORT

35

RELAYI/OUNIT

Approved

2004-09-24

jsundin1

CM

ORT

36

RELAYI/OUNIT

Approved

2004-09-24

jsundin1

CM

ORT

37

RELAYI/OUNIT

Approved

2004-09-24

jsundin1

CM

ORT

38

ANALOGUEI/OUNIT

Approved

2004-09-24

jsundin1

CM

ORT

39

REMOTEI/OUNIT

Approved

2004-09-24

jsundin1

CM

ORT

40

INTERBUSSLAVE

Approved

2004-09-24

jsundin1

CM

ORT

41

PROFIBUSDPSLAVE

Approved

2004-09-24

jsundin1

CM

ORT

42

ENCODERUNIT

Approved

2004-09-24

jsundin1

1

2

3

4

5

6

7

8


30/144

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20538-002

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Approvedby,date:

BLOCKDIAGRA

M

Location:

Plant:

= + +

Sublocation:

CMORT

Documentno.

Next

Rev.Ind

02

Lab/Office:

Status:

Approved

T3

F4

X22

Service

outlet

F5

Earth

fault

prot.

S21

G3

Control

panel

A21

Ultracap P

anel

board

Drive

G

2X20

Q2

XT16

F

PUA

CDC23

0V

A3

Drive

Ethernetservice

Computer

module

USB

LANG

6

I/O

x

AC I/

OunitD

C

G4

AC

DC

Customer

connection

G5

AC

DC

Customer

connection

Fieldbus

Option

Serviceoutlet

Option

CustomerPS

Option

CustomerPS

Op

tion

De

vicenetPS

1

2

3

4

5

6

7

8


31/144

Page

+ PageORT

CM

=CM+ORT/7

6

Pg.

42

Approved

3HAC020538-0

02_

Control

Mo

dification

Date

Name

02

Standard

Check.

Edit.

Origin

Date

Crea.for

Crea.by

jsundin1

EPLAN

VIEWO

FCONTROLM

ODULE

CM

2004-09-28

2004-09-24

=C

M+ORT/5

X20

X22

(optserviceoutlet)

Q2

S21.3

(emergencypb)

S21.2

(motoronpb)

S21.1

(modeselector)

XS58 X

S8

XS13

XS5

XS3

XS17

X28A

22.X1

A3

G2

G3

G4

G5

I/O1

I/O2

I/O3

I/O4

XT58

XT8

XT5

XT6

A21(Pa

nelBoard)

X1

X2

X3

X

4

X5 X

6

X7

X18

X14

X17

X10

X9

X11

X20

X18

X12X

15

Epwr

EN1

AS1

AS2

GS1

GS2

SS1

SS2

ES1

ES2

G6ifnotG5

ifG5G6inI/Ounit.

0

1

2

3

4

5

6

7

8

9


32/144

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20538-002

L

atestrevision:

Approvedby,date:

MAINSCONNECTION

Location:

Plant:

= + +

Sublocation:

CMORT

Documentno.

Next

Rev.Ind

02

Lab/Office:

Status:

Approved

181

181

182

182

-Q2

L1

T1

L2

T2

L3

T3

-X2

0

11

/8.3/-230VAC1

22

GND

GND

-F5

CIRCUITBREAKER

1 2

3 4

=CM

+X22

-F4

EARTHFAULT

BREAKER

1 2

3 4

OPTION:

SERVICEOUTLET

-X16

/9.2/-230VAC1

/9.5/-230VAC1

/9.7/-230VAC1

-174AWG16BK-172AWG16BK

-171AWG16BK -173AWG16BK

-308AWG16BK

-309AWG16BK

-X2

5

11

22

GND

GND

CONTROLMODULE

DRIVEMODULE

230VAC1

230VAC2

-183

AWG16BK

-184AWG16BK

-185AWG16BK

-186AWG16BK

-187AWG16BK

-182AWG16BK

-181AWG16BK

-T3

1

2

3

4

230V

115V

0V

/8.3/-230VAC2

/9.2/-230VAC2

/9.5/-230VAC2

/9.7/-230VAC2

1

2

3

4

5

6

7

8


33/144

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3HAC0

20538-002

L

atestrevision:

Approvedby,date:

POWERSUPPL

Y

Location:

Plant:

= + +

Sublocation:

CMORT

Documentno.

Next

Rev.Ind

02

Lab/Office:

Status:

Approved

=CM+G2

PROCESSPOWERSUPPLY

-X1

11-230VAC1//7.1

-X2

11/10.2/-24VSYS

33

22/10.2/-0VSYS

33/10.2/-24VCOOL

55

44

/10.2/-0VCOOL

-X3

11/20.2/-24VPC

22/20.2/-24VPC

33/20.2/-0VPC

44/20.2/-0VPC

=CM+G3

-X4

11

-X1

11

22 22

33 33

44 44

55 55

66 66

77 77

88 88

99 99

1010

1010

-X5

11/23.6/-USB+5V

22/23.6/-USB-BP2

33/23.6/-USB-BP2

44/23.6/-USB_GND

-181AWG16BK

-182AWG16BK

-250BU

-251BU

-252BU

-253BU

-301BU

-302BU

-303BU

-304BU

AC-INPUT

USB

ULTRACAP

24VPC

24VSYS

24VCOOL

AWG24RD

AWG24BK

AWG28WH

AWG28GN

-230VAC2//7.3

ULTRACAP

PANELBOARD

COMPUTER

UNIT

MAIN

COMPUTER

+

+

+

-

-

-

NC

NC

NC

+Sense

1

2

3

4

5

6

7

8


34/144

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3HAC0

20538-002

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atestrevision:

Approvedby,date:

OPTION:POWE

RSUPPLY

Location:

Plant:

= + +

Sublocation:

CMORT

Documentno.

Next

Rev.Ind

02

Lab/Office:

Status:

Approved181

181

182

182

=CM+G6

DEVICENET

POWERSUPPLY -X1

LL

-X2

++-230VAC1//7.2 /29.1/-+24Vdevicenet

AC

NN --

DC

++

-- /29.1/-0Vdevicenet

GND

GND

/32.1/-+24Vdevicenet/32.1/-0Vdevicenet






=CM+G4

CUSTOMER

POWER

SUPPLY

-X1

11

-X2

11-230VAC1//7.2

AC

55 33

DC

33

Cus

tomer

Con

nection

22

44

=CM+G5

CUSTOMER

POWER

SUPPLY

-X1

11

-X2

11-230VAC1//7.2

AC

55 33

DC

33

Customer

Connection

22

44

24VI/O

24VI/O

24VI/O

24VI/O

0VI/O

0VI/O

0VI/O

0VI/O

-308AWG16BK

-309AWG16BK

/42.1/-0Vdevicenet

/42.1/-+24Vdevicenet

-230VAC2//7.3

-230VAC2//7.3

-230VAC2//7.3

1

2

3

4

5

6

7

8


35/144

P

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42

Total

3HAC0

20538-002

L

atestrevision:

Approvedby,date:

EMERGENCYS

TOP

Location:

Plant:

= + +

Sublocation:

CMORT

Documentno.

Next

Rev.Ind

02

Lab/Office:

Status:

Approved

/8.2/-24VSYS

/8.2/-0VSYS

/8.2/-24VCOOL

/8.2/-0VCOOL E

MERGENCY

STOPOUTPUT2

EXTERNAL

SUPPLY

EXTERNAL

EMERGENCY

STOPPB

EMERGENCY

STOPOUTPUT1

ES1top

ES2top

24VPanel

RunCH1top

RunCH2top

ES1OUT:A

ES2OUT:A

ES2OUT:B

ES1OUT:B

SepES2:A

SepES1:A

SepES1:B

SepES2:B

ES2bottom

ES1bottom

0V24VPanel

ES1:int

ES2:int

0V

=CM

+A21

PANELBOARD

-X12

11 33-X1

33 44 55 11 22 99 1010 77 88 6622 44

-X2

33 44 55 11 22 99 1010 77 88 66

0V

24VPANEL

-ES1

U

A1

A2

24VPANEL

-ES2

0V

U

ES1

A1

A2

ES2

SOFT_

ESI

SOFT_

ESO

+ORT/12.5/-RunCh_0V+ORT/12.6/-RunCh+

+ORT/12.6/-RCH2+ORT/12.7/-RCH1

1818

1414

1212

1616 -X

11

11

22

33

44

55

66

77

88-X9

1717

1313

1111

1515

-ESFPU1:A//17.2

-ESFPU2:A//17.2

-RS485+//24.5

-RS485-//24.5

-0V_

Sig.ref.//24.5

-S21.3

EMERGENCYPB

21

22

11

12

-X10

55

77

88

66

AWG24

WHBN

BU

WHBU

OG

-209

AWG20

-211

AWG20

-212

AWG20

-210

AWG20

-250

BU

-251

BU

-252

BU

-253

BU

-231

ESpanel2

:B

-232

ESpanel2

:B

-233

ESpanel2

:A

-234

ESpanel2

:A

-235

ESpanel1

:B

-236

ESpanel1

:B

-237

ESpanel1

:A

-238

ESpanel1

:A

JUNCTION

BOARD

EMERGENCYSTOP

RELAYSIGNALS

PROCESS

POWER

SUPPLY

ROBOTCOMM.

CARD

-24V_

Sig.ref.//24.5

-ESFPU2:B//17.2

-ESFPU1:B//17.2

RunCh_0V

RunCh+

RunCh_

0V

RunCh+

1

2

3

4

5

6

7

8


36/144

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42

Total

3HAC0

20538-002

L

atestrevision:

Approvedby,date:

RUNCHAINOPERATING

MODESELECT

OR,3MODES

Location:

Plant:

= + +

Sublocation:

CMORT

Documentno.

Next

Rev.Ind

02

Lab/Office:

Status:

Approved

OP_C

OM

OP_M

AN

OP_A

UTO

OP_M

AN_

FS

=CM

+A21

PANELBOARD

-X3

11 33 55 77 99-X4

11 33 55 77 99-X15

11 22

22 44 66 88 1010 22 44 66 88 33 44

Generalin1

Generalin2

Generalin3

Generalin4

Generalin5

Generalin6

Generalin7

Generalin8

0V

+24V

Generalout1

Generalout2

Generalout3

Generalout4

Generalout5

Generalout6

Generalout7

Generalout8

0V

+ORT/13.3/-SPEED

+ORT/12.5/-EN2+ORT/12.5/-EN1

+ORT/12.5/-MAN1+ORT/12.4/-MAN2

>1

24VPANEL

22 44 88 1010-X

10

11 33 99-X6

77 99

-X18

22 33 11

EN

2_

1A

EN

2_

1B

EN

2_

2A

EN

2_

2B =

CM+E3

OPTION:

DOORFAN52

-X1

22M1~+

-

11

-24VFPU_

POWER//17.2

-0V//17.2

-EN1_

1//17.2

-EN1_

2//17.2

X1

X2

-S21.1

MODE

SELECTOR

561210

-S21.2

MOTORONPB

13

14

=CM+E2

EXTCOMPUTERFAN

-X1

11 22 33

1248

M+ -

-S21.1.X1

3317

182224

22

11

44

7713

141620

66

OPTION

55

88

11

22

33

44 55

66

77-X9

88

99

1010

1919

-220

A

WG20

24Vpanel

-221

A

WG20

AUTO2

-222

A

WG20

MAN2

-223

A

WG20

MANFS2

-224

A

WG20

0V

-225

A

WG20

AUTO1

-226

A

WG20

MAN1

-227

A

WG20

MANFS1

-228

A

WG20

24VPANEL

-229

A

WG20

MOTON

-230

A

WG20

MONLMP

22

44

66 88-X20

11 33

55

77

=CM

+A23

OPTION:STATUS

LEDONFRONT

22

44

66 88-X2

11 33

55

77

-SUP_

ST2

-SUP_

ST1

-GS2

-GS1

-AS2

-AS1

-ENABLE1

-ES2

-ES1

AWG

26

BN

GN

WHBU

OG

WHBN

WHGN

BU

WHOG

RS485+

RS485-

24VDC

0V

-2

05

AWG20

-2

06

AWG20

-2

07

AWG20

-2

08

AWG20

-2

13

AWG20

-245 EXT.AUTO2-244 EXT.MAN2

-243 EXTMANFS2

-241 EXT.AUTO1

-240 EXT.MAN1

-246 EXT.COMMON2

-239 EXTMANFS1-242 EXT.COMMON1

11

-X18

22 33

-360

AWG20

-361

AWG20

-362

AWG20BU

-363

AWG20BU;BU

-364

AWG20BU;BU

FAN0V

TACHO

24VCOOL

RD

BN

BK

EXTERNAL

ENABLEDEVICE

JUNCTION

BOARD

-FPUSTART//17.2

1

2

3

4

5

6

7

8


37/144

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Total

3HAC0

20538-002

L

atestrevision:

Approvedby,date:

EMERGENCYS

TOP

Location:

Plant:

= + +

Sublocation:

CMORT

Documentno.

Next

Rev.Ind

02

Lab/Office:

Status:

Approved

AUTO

STOP

GENERAL

STOP

SUPERIOR

STOP

=CM

+A21

PANELBOARD

-X

51

2

1

2

66

77

11

1

1

1

1 99

55

33

1010

88

44

22

0V0V

0V

24VPANEL

24VPANEL

24VPANEL

SS1

SS2

AS1

AS2 G

S1

GS2

SS1

SS2

SOFTSS

AS1

AS2

GS1

GS2

SOFTGSS

OFTAS

-MAN2/+ORT/11.4

-MAN1/+ORT/11.4

-EN2/+ORT/11.4

-EN1/+ORT/11.4

-RunCh_0V/+ORT/10.5

&

-RunCh+/+ORT/10.5

&

CH2

CH1

11

22 3344

55

-X

666

-RCH2/+ORT/10.6

-RCH1/+ORT/10.6

+ORT/13.4/-RCH2

+ORT/13.4/-RCH1

AS1+

AS1-

AS2+

AS2-

GS1+

GS1-

GS2+

GS2-

SS1+

SS1-

SS2+

SS2-

+ORT/13.3/-ENABLE2_1

+ORT/13.3/-ENABLE2_2+ORT/13.3/-ENABLE2_3

+ORT/13.3/-ENABLE2_4

1

2

3

4

5

6

7

8


38/144

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42

Total

3HAC0

20538-002

L

atestrevision:

Approvedby,date:

RUNCHAIN

Location:

Plant:

= + +

Sublocation:

CMORT

Documentno.

Next

Rev.Ind

02

Lab/Office:

Status:

Approved

=CM

+A21

PANE

LBOARD

-X7

11

22

44

33

55

66

77

88-X8

11

22

44

33

55

66

77

88 -X14

11

22

44

33

55

66

77

88 -X17

11

22

44

33

55

66

77

88

+ORT/12.6/-RCH2

+ORT/12.7/-RCH1

+ORT/11.4/-SPEED

SPEED0V

ENABLE2_

1Ret

ENABLE2_

1

ifnotused

Drive

module1

A43.X1

Drive

module2

A43.X1

Drive

module3

A43.X1

Drive

module4

A43.X1

ifnotused

ifnotused

RUNCH1

RUNCH1Ret

RUNCH2Ret

RUNCH2

AC_

ON10V

99

1

0

1

0

ifnotused

99

1

0

1

0

ifnotused

99

1

0

1

0

ifnotused

99

1

0

1

0

CONTROL

MODULE

+ORT/12.5/-ENABLE2_

1

+ORT/12.5/-ENABLE2_

2

+ORT/12.5/-ENABLE2_

3

+ORT/12.5/-ENABLE2_

4

RUNCH1

RUNCH1Ret

RUNCH2Ret

RUNCH2

SPEED0V

ENABLE2_

2

ENABLE2_

2Ret

AC_

ON10V

RUNCH1

RUNCH1Ret

RUNCH2Ret

RUNCH2

SPEED0V

ENABLE2_

3

ENABLE2_

3Ret

AC_

ON10V

RUNCH1

RUNCH1Ret

RUNCH2Ret

RUNCH2

SPEED0V

ENABLE2_

4

ENABLE2_

4Ret

AC_

ON10V

0V

24VPANEL

0V

24VPANEL

0V

24VPANEL

0V

24VPANEL

1

2

3

4

5

6

7

8


39/144

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EPLAN

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42

Total

3HAC0

20538-002

L

atestrevision:

Approvedby,date:

RUNCHAINOPERATING

MODESELECT

OR,2MODES

Location:

Plant:

= + +

Sublocation:

CMORT

Documentno.

Next

Rev.Ind

02

Lab/Office:

Status:

Approved

=CM

+A21

PANELBOARD

-X9

33 22 77 66 55 11 1010

1919 99

X

1

X2

-S21.2

MOTORONPB 1

3

14

-S21.1

MODESELECTOR

1

23

.5

5

67

.5

9

10

11

.5

13

14

15

-S21.1.X1

77 66 33 22 11 55 44 88

OPTION

-220

AWG20

24Vpanel

BU

-221

AWG20

AUTO2

BU

-222

AWG20

MAN2

BU

-224

AWG20

0V

BU

-225

AWG20

AUTO1

BU

-226

AWG20

MAN1

BU

-2

29

AWG20

MOTON

BU

-2

30

AWG20

MONLMP

BU

-2

28

AWG20

24VPANEL

BU

-240

EXT.MAN1

OG

-241

EXT.AUTO1

OG

-242

E

XT.COMMON1

OG

-244

EXT.MAN2

OG

-245

EXT.AUTO2

OG

-246

E

XT.COMMON2

OG

1

2

3

4

5

6

7

8


40/144

P

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EPLAN

Page15

42

Total

3HAC0

20538-002

L

atestrevision:

Approvedby,date:


MODESELECT

OR,2MODES

Location:

Plant:

= + +

Sublocation:

CMORT

Documentno.

Next

Rev.Ind

02

Lab/Office:

Status:

Approved

=CM

+A21

PANELBOARD

-X9

33

22

77

66

55

11

1010

1919

99

1717

1818

1313

1414

1111

1212

1515

1616

X1

X2

-S21.2

MOTORONPB 1

3

14

-S21.3

21

22

EMER

GENCYPB

11

12

-S21.1

MODE

SELECTOR

1

23

.6

5

67

.6

9

10

11

.6

13

14

15

-S21.1.X1

77

66

33

22

44

88

OPTION

1122

-Ext.A21.X9

33 55

66

77

99

1010

1111

1212

1313

1414

1515

1616

1717

1818

1919

=CM

+A22

JUNCT

IONBOARD

-X3 11

22

33

44

55

66

77

88

-X10

11

22

33

44

55

66

77

88

99

99

CONTROL

MODULE

EXT.CONTROLPANEL

=CM

+A32

ROBOTCOMMUNICATIONCARD

-X2 11

22

33

44

-A8 33

66

11

22

AWG24

GN

OG

WHGN

WHOG

TD+TD-

RD+RD-

-221

AWG

20

AUTO2

-222

AWG

20

MAN2

-224

AWG

20

0V

-220

AWG

20

24Vpanel

-225

AWG

20

AUTO1

-226

AWG

20

MAN1

-241

EXT.AUTO1

-240

EXT.MAN1

-245

EXT.AUTO2

-244

EXT.MAN2

-246

EXT.COMMON2

-242

EXT.COMMON1

-229

A

WG20

MOTON

-230

A

WG20

MONLMP

-228

A

WG20

24VPANEL

-237

ESpanel1:A

-236

ESpanel1:B

-235

ESpanel1:B

-232

ESpanel2:B

-231

ESpanel2:B

-234

ESpanel2:A

-233

ESpanel2:A

-238

ESpanel1:A

BN/BK

BN/RD

BN/OG

BN/YE

BN/GN

24VTPU

0VEN1_

1

EN1_

2

TPU_

START

1

2

3

4

5

6

7

8


41/144

P

reparedby,date:

17



EPLAN

Page16

42

Total

3HAC0

20538-002

L

atestrevision:

Approvedby,date:


MODESELECT

OR,3MODES

Location:

Plant:

= + +

Sublocation:

CMORT

Documentno.

Next

Rev.Ind

02

Lab/Office:

Status:

Approved

=CM

+A21

PANELBOARD

=CM

+A22

JU

NCTIONBOARD

22 44 66 8822

66

11 99 1818

1414

1212

1616 -X

10

11 33 55 77 9933

77

55 1010

1919

1717

1313

1111

1515

22 44 66 88-X3

11 33 55 77 99

CONTROL

MODULE

22

66

11 99 1818

1414

1212

1616

33

77

55 1010

1919

1717

1313

1111

1515

EXT.CONTROLPANEL

X1

X2

-S21.2

MOTORONPB

13

14

-S21.3

21

22

E

MERGENCYPB

11

12

77

-S21.1.X1

33

44

66

22

88

OPTION

13

141620

.7

17

182224

.7

1248

-S21.1

.7

MODESELECTOR

561210

44

-Ext.A21..X9

88

11

55

-239

EXTMANFS1

-240

EXT.MAN1

-241

EXT.AUTO1

-242

EXT.COMMON1

-243

EXTMANFS2

-244

EXT.MAN2

-245

EXT.AUTO2

-246

EXT.COMMON2

-220

AWG20

24Vpanel

-221

AWG20

AUTO2

-222

AWG20

MAN2

-223

AWG20

MANFS2

-224

AWG20

0V

-225

AWG20

AUTO1

-226

AWG20

MAN1

-227

AWG20

MANFS1

-228

AWG20

24VPANEL

-229

AWG20

MOTON

-230

AWG20

MONLMP

-231

ESpanel2:B

-232

ESpanel2:B

-233

ESpanel2:A

-234

ESpanel2:A

-235

ESpanel1:B

-236

ESpanel1:B

-237

ESpanel1:A

-238

ESpanel1:A

-X2

11

22

33

66

=CM

+A32

ROBOTCOMMUNICATIONCARD -

A8 3366

11

22

A

WG24

GN

OG

WHGN

WHOG

TD+TD-

RD+RD-

BN/BK

BN/RD

BN/OG

BN/YE

BN/GN

24VTPU

0VEN1_

1

EN1_

2

TPU_

START

-X9

88

44

1

2

3

4

5

6

7

8


42/144

P

reparedby,date:

18



EPLAN

Page17

42

Total

3HAC0

20538-002

L

atestrevision:

Approvedby,date:

FPU,FLEXPENDANT

Location:

Plant:

= + +

Sublocation:

CMORT

Documentno.

Next

Rev.Ind

02

Lab/Office:

Status:

Approved

/10.7/-ESFPU1:A

/10.7/-ESFPU2:A

/10.7/-ESFPU2:B

/10.7/-ESFPU1:B

/11.6/-24VFPU_

POWER

/11.6/-0V

/11.6/-EN1_

1

/11.6/-EN1_

2

/24.6/-TD+

/24.6/-TD-

/24.6/-RD+

/24.6/-RD-

=CM

+A22

JUNC

TIONBOARD

-X

355 77 88 66 11 22 33 44 99

-X

211 22 33 66

-X1

33 55 66 44 11 1212 22 88 77 1

717

1111

1313

1414

1515

1616

=CM

+FPU

FLEXPENDA

NT -

K1

EM

ERGENCY-STOP

-K2

EN-DEVICE

AWG24

WHOG

OG

WHGN

GN

-205

AWG20BU

-206

AWG20BU

-207

AWG20

-208

AWG20

-209

AWG20BU

-210

AWG20BU

-211

AWG20BU

-212

AWG20

-213

AWG20BU

X22.XP1

OPTION:

FPU-PLUG

3 5 6 4

ETH_

FPU

PANEL

BOARD

PANEL

BOARD

ROBOTCOMM.

CARD

/11.6/-FPUSTART

1

2

3

4

5

6

7

8


43/144

P

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19



EPLAN

Page18

42

Total

3HAC0

20538-002

L

atestrevision:

Approvedby,date:

OPTION:EXTERNALCONNECTION

SYSTEMSIGNA

LS

Location:

Plant:

= + +

Sublocation:

CMORT

Documentno.

Next

Rev.Ind

02

Lab/Office:

Status:

Approved

=CM

+A21P

ANELBOARD

ES1bottom

ES2bottom

24VPANEL

0V

24VPANEL

0V

ES2top

ES1top

SepES1:A

SepES2:A

SepES2:B

SepES1:B

ES1OUTA

ES1OUTB

ES2OUTA

ES2OUTB

-X2

77 88 44 33 99 1010 11 22

-X1

77 88 44 33 99 1010 11 22

-XS/XP

3

A1A1

B1B1

B2B2

A2A2

A3A3

B3B3

B4B4

A4A4

A5A5

B5B5

B6B6

A6A6

A7A7

A8A8

B7B7

B8B8

=CM

+A21P

ANELBOARD

24VPANEL

AS1+

AS1-

0V

GS1+

GS1-

24VPANEL

AS2+

AS2-

0V

GS2+

GS2-

0V

SS1-

SS2-

SS1+

SS2+

24VPANEL

-X

51

2

1

2

1

1

1

1 99 771

0

1

0 88 66 55 33 11 44 22

-X

611 22 33 44 55 66

-XS/XP3

C1C1

C2C2

C3C3

C4C4

C5C5

C6C6

C7C7

C8C8

D1D1

D2D2

D3D3

D4D4

D5D5

D6D6

D7D7

D8D8

A10

A10

B10

B10

C10

C10

B9B9

C9C9

A9A9

-260

OG

-261

OG

-262

AWG20BU

-263

AWG20BU

-264

AWG20BU

-265

AWG20BU

-266

OG

-267

OG

-268

OG

-269

OG

-270

OG

-271

OG

-272

AWG20BU

-273

AWG20BU

-274

AWG20BU

-275

AWG20BU

-276

AWG20BU

-277

AWG20BU

-278

AWG20BU

-279

AWG20BU

-280

AWG20BU

-281

AWG20BU

-282

AWG20BU

-283

AWG20BU

-284

OG

-285

OG

-286

OG

-287

OG

-288

AWG20BU

-289

AWG20BU

-290

AWG20BU

-291

AWG20BU

-292

AWG20BU

-293

AWG20BU

AWG20BU

AWG20BU

AWG20BU

AWG20BU

AWG20BU

AWG20BU

AWG20BU

AWG20BU

AWG20BU

AWG20BU

AWG20BU

AWG20BU

AWG20BU

AWG20BU

AWG20BU

AWG20BU

77 88 991

0

1

0

55

55

RunCH1top

RunCH2top

1

2

3

4

5

6

7

8


44/144

Page

+ PageORT

CM

=CM+ORT/20

19Pg.

42

Approved

3HAC020538-0

02_

Control

Mo

dification

Date

Name

02

Standard

Check.

Edit.

Origin

Date

Crea.for

Crea.by

jsundin1

EPLAN

VIEWO

FCOMPUTER

UNIT

CM

2004-09-24

2004-09-24

=C

M+ORT/18

Slot2

Slot3

Slot4

Slot5

Slot1

A32(RCC)

A33ProfibusDPM/S

A37InterbusM/S(opticalfiber)

A38InterbusM/S(copperwire)

A35Devicenet

PW

R

(green)

HDD

(yellow)

X1

SERIALPORTA

USB3,4

USB1,2

LAN

A3Computerunit

0

1

2

3

4

5

6

7

8

9


45/144

P

reparedby,date:

21



EPLAN

Page20

42

Total

3HAC0

20538-002

L

atestrevision:

Approvedby,date:

CABLINGINCO

MPUTERUNIT

Location:

Plant:

= + +

Sublocation:

CMORT

Documentno.

Next

Rev.Ind

02

Lab/Office:

Status:

Approved

/8.3/-24VPC

/8.3/-0VPC

/8.3/-0VPC

/8.3/-24VPC

=CM+A3

COMPUTERUNIT

-X1

11 332244

=CM

+G31

COMPUTERPOWERSUP

PLY

-X1

V+V+

V-V-

MOTHER

BOARD

POWER

P1

OR

OR

BK

RD

BK

RD

BK

GY

VT

YE

OR

BU

BK

GN

BK

BK

BK

RD

RD

+3.3V

+3.3V

GND

+5V

GND

+5V

GND

PWR_

OK

+5VSB

+12V

+3.3V

-12V

GND

PS_

ON

GND

GND

GND

+5V

+5V

=CM

+

A31

MAINCOMPUTER

-J4H1

11 33 55 77 99 1111

1313

1515

1717

1919

22 44 66 88 1010

1212

1414

1616

1818

2020

-P1

-P1

-P1

-PSU-X

1

11-PSU

-X2

11

-PSU-X

2

22

33

-IDEpwr

-IDEpwr_GND/+ORT/21.2

-IDEpwr_+5V/+ORT/21.2

-301

BU

-302

BU

-303

BU

-304

BU

PROCESS

POWERSUPPLY

1

2

3

4

5

6

7

8


46/144

P

reparedby,date:

22



EPLAN

Page21

42

Total

3HAC0

20538-002

L

atestrevision:

Approvedby,date:

CABLINGINCO

MPUTERUNIT

Location:

Plant:

= + +

Sublocation:

CMORT

Documentno.

Next

Rev.Ind

02

Lab/Office:

Status:

Approved

REMARK:P1&J6H1C

ONNECTSTOEITHERD32ORD31

DEPENDIN

GOFCHOSEDOPTION.

GND+5V

GND+5V

=CM

+D32

SOLIDSTATEDRIVE

=CM

+D31

OP

TION:

HARDDISKDRIVE

-X1 11 22 33 44

-X1 11 22 33 44

-X2

-X2

11

40

40

=CM

+A31

MAINCOMPUTER

-J6H1

-J6H1AT

A/IDE

ATA/IDE

+ORT/20.7/-IDEpwr_GND

=CM+A3

COMPUTERUNIT

+ORT/20.7/-IDEpwr_+5V

1

2

3

4

5

6

7

8


47/144

P

reparedby,date:

23



EPLAN

Page22

42

Total

3HAC0

20538-002

L

atestrevision:

Approvedby,date:

COMPUTERUN

IT

COOLING

Location:

Plant:

= + +

Sublocation:

CMORT

Documentno.

Next

Rev.Ind

02

Lab/Office:

Status:

Approved

=CM

+G31

COMPUTERPOWERSUPPLY

=CM

+A31

MAINCOMPUTER

P1

-J9H1

11

22

33

BK

YE

GND

+12V

-C1

11 22

BK

YE

WH

GND

+12V

FAN2_

TACH

-C2

11 22

BK

RD

AWG24

-E22

CHASSISBLOWER

M +-

-J9H2

11

22

33

-E23

CHASSISBLOWER

M +-

FAN1_

TACH

BK

YE

WH

BK

RD

AWG24

GND

+12V

=CM+A3

COMPUTERUNIT

1

2

3

4

5

6

7

8


48/144

P

reparedby,date:

24



EPLAN

Page23

42

Total

3HAC0

20538-002

L

atestrevision:

Approvedby,date:

MAINCOMPUTER

Location:

Plant:

= + +

Sublocation:

CMORT

Documentno.

Next

Rev.Ind

02

Lab/Office:

Status:

Approved

OPT.EXTERNALPWR

RX-

TX+

TX-

0V

RX+

=CM

+A39

OPTION:

232/485SERIECONVERTER

-X1

11 33 55 77 99

22 44 66 88

22 44 66 88-X2

11 33 55 77 99

TRANSMITOUT

RECEIVEIN

DTR

0V

RTS

=CM

+A31

M

AINCOMPUTER

S

ERIALPORTA

-A

111 33 55 77 99

22 44 66 88

22 66 22 44

-USB1 22

44

-USB2 22

44 22 44-J9H3

22 44 11 33

-LAN1

11 33

-USB4 11 33

11

33

11

33

-USB3 11 33

TX+

TX-

RX+

RX-

+5V

USB-BP1

USB-BP1

GND

-USB+5V//8.6

-USB-BP2//8.7

-USB-BP2//8.7

-USB_

GND//8.7

PWRLED(GREEN)

A

K

HDDLED(YELLOW)

A

K

=CM

+X24

12 3 4

AWG24

RD

AWG28

WH

AWG28

GN

AWG24

BK

AWG28

WH

AWG28

GN

AWG24

RD

AWG24

BK

CONTROL

MODULE

=CM+A3

COMPUTERUNIT

PROCESS

P

OWERSUPPLY

1

2

3

4

5

6

7

8


49/144

P

reparedby,date:

25



EPLAN

Page24

42

Total

3HAC0

20538-002

L

atestrevision:

Approvedby,date:


Location:

Plant:

= + +

Sublocation:

CMORT

Documentno.

Next

Rev.Ind

02

Lab/Office:

Status:

Approved

=CM

+A32

R

OBOTCOMMUNICATIONCARD

-X

1

PCIBUS

RS485

ETH_

FPU

22

55

66 88 66 55 22 88Blue

-X8

11

44

33 77Green

-A8

33 44 11 77

AWG24

WHOG

OG

WHGN

GN

-RS485+//10.7

-RS485-//10.7

-0V_

Sig.ref.//10.7

-TD+//17.2

-TD-//17.2

-RD+//17.2

-RD-//17.2

PANELBOARD

FLEXPENDANT

AWG24

WHBN

BU

WHBU

OG

-24V_

Sig.ref.//10.7

1

2

3

4

5

6

7

8


50/144

P

reparedby,date:

26



EPLAN

Page25

42

Total

3HAC0

20538-002

L

atestrevision:

Approvedby,date:


Location:

Plant:

= + +

Sublocation:

CMORT

Documentno.

Next

Rev.Ind

02

Lab/Office:

Status:

Approved

=CM

+A32


ETH_

DRIVE

ETH_

SERVICE

22 66 55 88 22 44 66 88Red

-A9

11 33 44 77

Yellow

-A7

11 33 55 77

TX+

TX-

RX+

RX-

=CM

+X23

1 2 3 6

DRIVEMODULE

AXISCOMPUTER

TX+

AW

G26

BU

TX-

AW

G26

WHBU

RX+

AW

G26

OG

RX-

AW

G26

WHOG

SERVICE

PORT

CONTROL

MODULE

1

2

3

4

5

6

7

8


51/144

P

reparedby,date:

27



EPLAN

Page26

42

Total

3HAC0

20538-002

L

atestrevision:

Approvedby,date:

PROFIBUSDPM/S

Location:

Plant:

= + +

Sublocation:

CMORT

Documentno.

Next

Rev.Ind

02

Lab/Office:

Status:

Approved

=CM

+A33

PROFIBUSDPM/S

-X1 P

CIBUS

SLAVE

MASTER

SHIELD

RXD/TX

D-P

CONTR

OL-P

GND

+5VDC

RXD/TX

D-N

SHIELD

RXD/TX

D-P

CONTR

OL-P

GND

+5VDC

RXD/TX

D-N

33 55 88 33 55 88-X2

11 44 66-X3

11 44 66

Customer

Connection

OPTION&HARNESSTOCUSTOMERI/O

1

2

3

4

5

6

7

8


52/144

P

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28



EPLAN

Page27

42

Total

3HAC0

20538-002

L

atestrevision:

Approvedby,date:

INTERBUSM/S

Location:

Plant:

= + +

Sublocation:

CMORT

Documentno.

Next

Rev.Ind

02

Lab/Office:

Status:

Approved

=CM

+A37

INTERBUSM/S(OPTICALFIBRE)

-Z1

A37.1

A37.2P

CIBUS

1)

ITISIMPORTANTTHAT24DCEXTSUPPLYALWAYSISAVAILABLE

OTHERWISETHEINTERBUSCANNOTWORK

IFTHECONTROLLERISTURNEDOFF.

REMOTEIN

-FO1

BK(IN)

BK(IN)

GY(OUT)

GY(OUT)

REMOTEOUT

-FO2

BK(IN)

BK(IN)

GY(OUT)

GY(OUT)

REMOTE

-FO3

BK(IN)

BK(IN)

GY(OUT)

GY(OUT)

22 55-X2

24V+

24V+

0V0V

-X1

11 44 66

24V

0V

LW/BK

LW/OG

LW/BK

LW/OG

LW/BK

LW/OG

TXD

RXD

GND

RTS

CTS

1)


=CM

+A38

INTERBUSM/S(COPPERWIRE)

-Z1

A38.1

A38.2P

CIBUS

66 77 55 66 77 44 88 22 55-X4

24V+

24V+

0V0V 44 55

REMOTEOUT

-X1

11 22 33 99

REMOTE

-X2

11 22 33 55

RS232

-X3

11 44 66

REMOTEIN

-X5

11 22 33

24V

0V

DODON

DIDINGNDISI

DODON

DIDINGRND

VCCISO

RBST

DODON

DIDINGNDIM

GRND

VCCIM

VCC

TXD

RXD

GND

RTS

CTS

1)


1

2

3

4

5

6

7

8


53/144

P

reparedby,date:

29



EPLAN

Page28

42

Total

3HAC0

20538-002

L

atestrevision:

Approvedby,date:

DEVICENETAD

APTER

Location:

Plant:

= + +

Sublocation:

CMORT

Documentno.

Next

Rev.Ind

02

Lab/Office:

Status:

Approved

=CM

+A35

DEVICENETADAPTER

P1

PCIBUS

-J1 11 22 44 5533

BU

WH

SC

11 22

-XS17

33 4455

BK

RD

OPTION

CONT

ROL

MOD

ULE

-A35.X1

11 22 33 44 55

-V-//29.2

-CAN_L//29.2

-DRAIN

//29.2

-CAN_H//29.2

-V+//2

9.2

1

2

3

4

5

6

7

8


54/144

P

reparedby,date:

30



EPLAN

Page29

42

Total

3HAC0

20538-002

L

atestrevision:

Approvedby,date:

DEVICENETAD

APTER

Location:

Plant:

= + +

Sublocation:

CMORT

Documentno.

Next

Rev.Ind

02

Lab/Office:

Status:

Approved

BKBUWHRDSC

BKBUWHRDSC

BKBUWHRDSC

BKBUWHRDSC

BKBUWHRDSC

BKBUWHRDSC

BKBUWHRDSC

-V-/

/32.1

-CAN

_L//32.1

-CAN

_H//32.1

-V+//32.1

-DRA

IN//32.1

-V-/

/35.1

-CAN

_L//35.1

-CAN

_H//35.1

-V+//35.1

-DRA

IN//35.1

-V-/

/38.1

-CAN

_L//38.1

-CAN

_H//38.1

-V+//38.1

-DRA

IN//38.1

-V-/

/39.1

-CAN

_L//39.1

-CAN

_H//39.1

-V+//39.1

-DRA

IN//39.1

-V-/

/40.2

-CAN

_L//40.2

-CAN

_H//40.2

-V+//40.2

-DRA

IN//40.2

-V-/

/41.1

-CAN

_L//41.1

-CAN

_H//41.1

-V+//41.1

-DRA

IN//41.1

-V-/

/42.1

-CAN

_L//42.1

-CAN

_H//42.1

-V+//42.1

-DRA

IN//42.1

DigitalI/Ounit

RelayI/Ounit

AnalogueI/Ounit

RemoteI/Ounit

Interbusslave

ProfibusDPslave

Encoderunit

OPTION:HARNESS

TOCUSTOM

ERI/O

/28.5/-V-

/28.5/-CAN_

L

/28.5/-CAN_

H

/28.5/-V+

/28.5/-DRAIN

-I/O1

11 22 33 44 55

-I/O2

11 22 33 44 55

-I/O3

11 22 33 44 55

-I/O4

11 22 33 44 55

/9.2/-0Vdevicenet

/9.2/-+24Vdevicenet

-A35.X2

11 22 33 44 55

120OHM

1

2

3

4

5

6

7

8


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20538-002

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atestrevision:

Approvedby,date:

DUALRS232CARD

Location:

Plant:

= + +

Sublocation:

CMORT

Documentno.

Next

Rev.Ind

02

Lab/Office:

Status:

Approved

=CM

+A34

DUALRS232CARD

X5

PCIBUS

MCCONSOLE

RS232

COM1

RS232

22 44 66 88 22 44 66 88-X1

11 33 55 77 99-X2

11 33 55 77 99

CONSOLE_

RXD

CONSOLE_

TXD

CONSOLE_

DTR

0VCONSOLE_

DSR

CONSOLE_

RTS-N

CONSOLE_

CTS-N

COM1_

RXD

COM1_

TXD

COM1_

DTR

0VCOM1_

DSR

COM1_

RTS-N

COM1_

CTS-N

1

2

3

4

5

6

7

8


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atestrevision:

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ETHERNETCARD

Location:

Plant:

= + +

Sublocation:

CMORT

Documentno.

Next

Rev.Ind

02

Lab/Office:

Status:

Approved

=C

M

+A36

ETHERNETCARD

X1

PCIBUS

22 44 66 88 22 44 66 88 22 44 66 88-A1

11 33 55 77

-A2

11 33 55 77

-A3

11 33 55 77

TX+TX-

RX+

RX-

TX+TX-

RX+

RX-

TX+TX-

RX+

RX-

DRIVEMODULE2(OPTION)



1

2

3

4

5

6

7

8


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atestrevision:

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DIGITALPARTOFCOMBII/OAND

DIGITALI/OUN

IT

Location:

Plant:

= + +

Sublocation:

CMORT

Documentno.

Next

Rev.Ind

02

Lab/Office:

Status:

Approved

ORPREVIOUS

I/OUNIT

1)JUMPERSPLACEDACCO

RDINGTO

THEACTUALNODEADD

RESS.

2)RESISTANS120OHMSH

ALLALWAYS

BECONNECTEDINTHE

FIRSTANDTHE

LASTCONNECTORINTH

ECAN-BUSCIRCUIT.

3)CONNECTEDINTHELAS

TCONNECTORINTHE

CAN-BUSCIRCUIT.

/9.3/-+24Vdevicenet

/9.3/-0Vdevicenet

/29.5/-V-

/29.5/-CAN_

L

/29.5/-CAN_

H

/29.5/-V+

/29.5/-DRAIN

120ohm1

22)

TONEXT

I/OUNIT

1)

DIGITALP

ARTOFCOMBII/OANDDIGITALI/OUNIT

-X5

11 44 33 77 99 1111

22 55 66 88 1010

1212

I/Ox

47nF

1

2

47nF

1

2

0V

KA KA

A

K

A

K

22 44 66 88 1010 22 44 66 88 1

010

-X3 11 33 55 77 99

-X4 11 33 55 77 99

XTXX.X3

XTXX.X4

INPUTCH.12 3 4 5 6 7 80

V

INPUTCH.9101112131415160V

0V

NA0

NA1

NA2

NA3

NA4

NA5

3)

1

2

3

4

5

6

7

8


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atestrevision:

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DIGITALI/OUN

IT

Location:

Plant:

= + +

Sublocation:

CMORT

Documentno.

Next

Rev.Ind

02

Lab/Office:

Status:

Approved

DIGITALI/OUNIT

0V

I/Ox

47nF

1

2 47nF

1

2

A K A K

OUTPUTCH1-8

OUTPUTCH9-16

irc5-irc5 product reference manual 3hac021313-001_part2_reva_en

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