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Product ManualMotor unitMU10, MU20, MU30S4Cplus, M2001

3HEA 506 200-102 Rev.A 2005-09

The information in this document is subject to alteration without prior notice and should not be regarded as an undertaking from ABB Automation Technologies AB. ABB Automation Technologies AB assumes no responsibility for errors that may occur in this document.

ABB Automation Technologies AB bears no responsibility for damage that is a consequence of using this document or the software or hardware described in this document.

The document, or parts of it, may not be reproduced or copied without prior permission from ABB Auto-mation Technologies AB. It may neither be imparted to a third party nor otherwise be used without autho-rization. Infringement hereof will be subject to action in accordance with applicable laws.

Further copies of this document can be obtained from ABB Automation Technologies AB at current prices.

2005 ABB Automation Technologies AB

ABB Automation Technologies ABRobotics & Manufacturing

SE-69582 LaxåSweden

1 Introduction 1 - 1

1.1 General 1-11.1.1 Areas of application 1-11.1.2 Motor sizes 1-1

1.2 Description 1-21.2.1 General 1-21.2.2 Serial Measurement Box 1-2

1.3 Brakes 1-31.3.1 General 1-31.3.2 Releasing the brakes 1-3

2 Technical specification 2 - 5

A Motors 2 - 5

2.1 Motor MU10 2-52.1.1 Illustration 2-52.1.2 Technical data 2-52.1.3 Brake 2-62.1.4 Dimensional diagrams 2-62.1.5 Wiring diagram 2-72.1.6 Torque curve 2-7

2.2 Motor MU20 2-82.2.1 Illustration 2-82.2.2 Technical data 2-82.2.3 Brake 2-92.2.4 Dimensional diagrams 2-92.2.5 Wiring diagram 2-102.2.6 Torque curve 2-10

2.3 Motor MU30 2-122.3.1 Illustration 2-122.3.2 Technical data 2-122.3.3 Brake 2-132.3.4 Dimensional diagrams 2-132.3.5 Wiring diagram 2-142.3.6 Torque curve 2-142.3.7 Torque curve Motor MU30+MU20 2-152.3.8 Torque curve Motor MU30+MU30 2-16

B Serial measurement boxes 3 - 17

2.4 Low voltage 3-172.4.1 One motor 3-172.4.2 Two motors 3-182.4.3 Four motors 3-192.4.4 Six motors 3-20

2.5 High voltage 3-212.5.1 One motor 3-21

3HEA 506 200-102 Rev.A 2005-09 i

2.5.2 Two motors 3-22

C Brake release box (BRB) 3 - 23

2.6 High voltage motor 3-23

3 Electrical installation 4 - 25

3.1 Installation of software 4-25

D One external axis 4 - 25

3.2 General 4-25

3.3 Installation into one cabinet for 1400, 2400, 4400, 6400R 4-25

3.4 Installation into one cabinet for IRB 6600, 7600 with serial measure-

ment box 4-27

3.5 Installation into one cabinet for 6600, 7600 with brake release box4-29

E Several external axes 4 - 31

3.6 Introduction 4-313.6.1 General 4-313.6.2 Operation 4-313.6.3 Limitation 1: 4-313.6.4 Limitation 2: 4-32

3.7 Installation into one cabinet for 1400, 2400, 4400, 6400R 4-33

3.8 Installation into one cabinet for IRB 6600, 7600 4-35

4 Order information 5 - 37

4.1 Introduction 5-374.1.1 General 5-374.1.2 Ordering cables 5-37

F Motor unit IRB 1400, 2400, 4400, 6400R 5 - 37

4.2 One motor 5-374.2.1 Motors 5-374.2.2 Serial Measurement Box (SMB) 5-384.2.3 Cables between the SMB and motor 5-384.2.4 Cable for external axis from the robot cabinet to SMB 5-384.2.5 Cable for external axis from the signal cable in the robot cabinet to SMB

5-384.2.6 Cable for external axis from SMB to robot 5-39

4.3 Two to six motors 5-404.3.1 Motors 5-404.3.2 Serial measurement boxes (SMB) 5-404.3.3 Cables (SMB-motor) 5-404.3.4 Cables for external axes and several motors (cabinet-SMB) 5-414.3.5 Robot cabinet cable for MS2 5-41

G Motor unit IRB 6600, 7600 5 - 41

ii 3HEA 506 200-102 Rev.A 2005-09

4.4 One or two motors 5-414.4.1 Motors 5-414.4.2 Serial Measurement Box (SMB) 5-424.4.3 Brake release box (BRB) for one motor 5-424.4.4 Cable between SMB and motor 5-424.4.5 Cable between DDU cabinet and BRB/SMB for one motor 5-424.4.6 Cable between DDU cabinet and SMB for two motors 5-434.4.7 Cable between robot cabinet and SMB for one or two motors 5-434.4.8 Cable between robot and BRB 5-43

4.5 Notes: 5-44

3HEA 506 200-102 Rev.A 2005-09 iii

iv 3HEA 506 200-102 Rev.A 2005-09

IntroductionGeneral

1 Introduction

1.1 General

This description provides a summary of the motor units’ characteristics and performance.

1.1.1 Areas of application

The motor units are specially designed for ABB’s robots and can be used for peripherals requiring power-steered motors that are synchronised with the robot movements. The motor units are designed for optimal performance and to facilitate installation and application.

1.1.2 Motor sizes

Low voltage/ High voltage

The motor units are available in the following sizes:• MU10, 1.5 Nm, 3300 rpm• MU20, 6.8 Nm, 3300 rpm• MU30, 19.0 Nm, 3300 rpm

3HEA 506 200-102 Rev.A 2005-09 1-1

IntroductionDescription

1.2 Description

1.2.1 General

The motor units are power-operated and function as external axes. The motors are controlled by drive units mounted either in the robot’s switch box or in a separate housing.

• A motor can be linked to the robot system as an integrated external axis. • An integrated external axis can move synchronously with the robot axes.• A complete motor unit comprises a serial measurement box, motors, parameter

diskette and a number of standardised cables.

1.2.2 Serial Measurement Box

The serial measurement box contains a serial measurement card (with battery backup) and push-buttons for releasing the brakes. The serial measurement box can, if required, be located up to a recommended maximum of 15 m from the motor.

If material handlers (MH), one external axis and option 2204 or 2200 are selected, the serial measurement box can be replaced by a brake release box.

1-2 3HEA 506 200-102 Rev.A 2005-09

IntroductionBrakes

1.3 Brakes

1.3.1 General

All motors described in this manual are equipped with electric brakes that are “on” when they are not energised. This brake is not an operating brake.This means that with normal operations the p-box or operator's panel are to be used to stop. They can be released in several different ways, and are described in the following section.

1.3.2 Releasing the brakes

The various methods for releasing the brakes manually are specified in the table below.

When Notes

When the brake release/serial measurement box is connected to the Robot Control Cabinet.

The brake will be released when the button in the box is pressed.

24VDC/1A supply unit is connected between MP.JB1 output c5 (0V) and c4(+24VDC) in the brake release/serial measurement box.

The brake will be released when the button in the box is presseda.

a. For two external axes, the brake is released for axis 8 when button 8 is pressed,see Brake release box (BRB) section C

24V is connected, for two external axes, between MP.JB1 output a5 (0V) and a4 (+24V DC)

The brake for axis 7 will be released when button 7 in the box is pressed.

3HEA 506 200-102 Rev.A 2005-09 1-3

IntroductionBrakes

1-4 3HEA 506 200-102 Rev.A 2005-09

Technical specificationMotors

2 Technical specification

A Motors

2.1 Motor MU10

2.1.1 Illustration

The illustration below shows a “MU10”.

506260A01_3D.tif

2.1.2 Technical data

Parameters Values

Suitable drive unit C / G / T / U / V / WNnom 3300 rpm (345,57 rad/s) 1

Nrms 1650 rpmT0 1.5 Nm 1

Trms 1.4 NmTnom 1.0 NmMax. dynamic torque 4.3 Nm Max. current (Imax.) 11 Arms 1

Current at torque Tn (Irms) 2.7 ArmsTorque constant (Kt) 0.453 Nm/A

3HEA 506 200-102 Rev.A 2005-09 2-5


2.1.3 Brake

2.1.4 Dimensional diagrams

506276a01

Voltage constant, (Ke(Urms) 0.262 1

Winding resistance/phase (R) 1.09 ohm 1

Winding inductance/phase (L) 3.42 mH 1

Mass torque incl. brake (J) 0.00008 kgm2 1

Number of pairs of poles 3 1

Weight (M) 4.4 kgTemperature range +5° - +45°CNominal output 0.25 kWPeak output 1.4 kWDegree of protection IP 67

1.Used in the configurationfile

Parameters Values

Min. torque 0.9 NmMax. torque 1.4 NmVoltage 24 ± 10% V DCPower consumption at 20° C 12 W

7458

74 5890

R15(4x)

Ø7,5(4x)45140

260203

155

9 7,7

34

Ø36

,8 h

916

Ø14

j65h

7

2-6 3HEA 506 200-102 Rev.A 2005-09


2.1.5 Wiring diagram

2.1.6 Torque curve

Torque - Drive unit C / G / T / U / V / W

MP1 C-don.xls

ResolverForce

Yellow8P BURNDY23P BURNDY

Green

Red

PTC

YellowYellow Brake

Gn/Ye

A

G

JK

L

A

M

M

C

EW

X

C

B

V U

3

OVX

YOVY

BkOVEXCEXC

Earth

S1S3

S4S2

Rd

Rd/Wh

Bk/Wh/Bu Ye Ye/Wh

R2R1

B

D

EF

0

1

2

3

4

5

0 500 1000 1500 2000 2500 3000 3500

Speed (rpm)

Torq

ue (N

m)

continuously torque

3HEA 506 200-102 Rev.A 2005-09 2-7


2.2 Motor MU20

2.2.1 Illustration


506261A01_3D.tif


Parameters Values

Suitable drive unit G / T / U / V / WNnom 3300 rpm (345.57 rad/s) 1

Nrms 1650 rpmT0 6.8 Nm 1

Trms 6.7 NmTnom 3.3 NmMax. dynamic torque 19 NmMax. current (Imax.) 38.5 Arms 1

Current at torque Tn (Irms) 6.2 ATorque constant (Kt) 0.64 Nm/ArmsVoltage constant, (Ke(Urms) 0.37 1


2-8 3HEA 506 200-102 Rev.A 2005-09


2.2.3 Brake


Dim_Ritn_MU20.wmf






Parameters Values

Min. torque 16 NmMax. torque 25.6 NmVoltage 24 ± 10% V DCPower consumption at 20° C 20 W

3HEA 506 200-102 Rev.A 2005-09 2-9



2.2.6 Torque curve

Torque – Drive unit G / V

MP2 G_V-don.xls

ResolverForce


Green

Red

PTC

YellowYellow Brake

Gn/Ye

A

G

JK

L

A

M

M

C

EW

X

C

B

V U

3

OVX

YOVY

BkOVEXCEXC

Earth

S1S3

S4S2

Rd

Rd/Wh

Bk/Wh/Bu Ye Ye/Wh

R2R1

B

D

EF

B

D

F

H

0

2

4

6

8

10

12

14

16

18

20

0 500 1000 1500 2000 2500 3000 3500

Speed (rpm)

Torq

ue (N

m)

continiuously torque

2-10 3HEA 506 200-102 Rev.A 2005-09


Torque – Drive unit T / U / W

MP2 T_U_V-don.xls

0

2

4

6

8

10

12

14

16

18

20

0 500 1000 1500 2000 2500 3000 3500

Speed (rpm)

Torq

ue (N

m)

continuously torque

3HEA 506 200-102 Rev.A 2005-09 2-11


2.3 Motor MU30

2.3.1 Illustration


506262A01_3D.tif


Parameters Values

Suitable drive unit T / U / V / W

Nnom 3300 rpm (345.57 rad/s) 1

Nrms 1650 rpmT0 19 Nm 1

Trms 15.5 NmTnom 10 NmMax. dynamic torque 30 NmMax. current (Imax.) 72.5 Arms 1

Current at torque Tn (Irms) 16.1 ArmsTorque constant (Kt) 0.69 Nm/ArmsVoltage constant, (Ke(Urms) 0.398 1



2-12 3HEA 506 200-102 Rev.A 2005-09


2.3.3 Brake


Dim_Ritn_MU30.wmf





Parameters Values

Min. torque 21 NmMax. torque 33.6 NmVoltage 24 ± 10% V DCPower consumption at 20° C 28 W

3HEA 506 200-102 Rev.A 2005-09 2-13



2.3.6 Torque curve

Torque – Drive unit T

MP3 T-don.xls

ResolverForce


Green

Red

PTC

YellowYellow Brake

Gn/Ye

A

G

JK

L

A

M

M

C

EW

X

C

B

V U

3

OVX

YOVY

BkOVEXCEXC

Earth

S1S3

S4S2

Rd

Rd/Wh

Bk/Wh/Bu Ye Ye/Wh

R2R1

B

D

EF

B

D

F

H

N

V

U

S

02468

101214161820222426283032

0 500 1000 1500 2000 2500 3000 3500

Speed (rpm)

Torq

ue (N

m)

continuously torque

2-14 3HEA 506 200-102 Rev.A 2005-09


Torque – Drive unit U / W

MP3 U_W-don.xls

2.3.7 Torque curve Motor MU30+MU20

Torque – Drive unit GT (continuously available torque 0 rpm)

Torque – Drive unit GT

02468

101214161820222426283032

0 500 1000 1500 2000 2500 3000 3500

Speed (rpm)

Torq

ue (N

m)

continuously torque

Large -T

Medium -G

Nm

Nm

3HEA 506 200-102 Rev.A 2005-09 2-15


2.3.8 Torque curve Motor MU30+MU30

Torque – Drive unit GT (continuously available torque 0 rpm)

Torque – Drive unit GT

Large1 -T

Large2 -GNm

Nm

2-16 3HEA 506 200-102 Rev.A 2005-09

Technical SpecificationSerial measurement boxes

B Serial measurement boxes

2.4 Low voltage

2.4.1 One motor

3HXD 0100-89

Part Quantity Name Part number Remarks

1 1 Serial measurement card 3HEA 505 966-8802 1 Connecting limit switches 3HXD 0100-122

1

∅ 6.5 (4x)10

350

330300

180

200

166

150

29.5

2

3HEA 506 200-102 Rev.A 2005-09 3-17


2.4.2 Two motors

3HXD 0100-90



∅ 6.5 (4x)

10

350330300

180

200

166

150

29.5

2

1

3-18 3HEA 506 200-102 Rev.A 2005-09


2.4.3 Four motors

3HXD 0100-92


1 1 Serial measurement card 3HEA 505 966-8802 1 Connecting switch limit 3HXD 0100-1223 1 Connecting motor PTC 3HXD 0100-124

∅ 6.5 (4x)

10

350330300

180

200

166

150

29.5

1

2

3

3HEA 506 200-102 Rev.A 2005-09 3-19


2.4.4 Six motors

3HXD 0100-93


1 1 Serial measurement card 3HEA 505 966-8802 1 Connecting switch limit 3HXD 0100-1223 1 Connecting motor PTC 3HXD 0100-124

∅ 6.5 (4x)10

350330300

180

200

166

150

29.5

1

2

3

3-20 3HEA 506 200-102 Rev.A 2005-09


2.5 High voltage

2.5.1 One motor

3HXD 1616-1



2

∅ 6.5 (4x)10

350330300

180

200

166

150

29.5

1

3HEA 506 200-102 Rev.A 2005-09 3-21


2.5.2 Two motors

3HXD 1616-2



2

∅ 6.5 (4x)10

350330300

180

200

166

150

29.5

1

3-22 3HEA 506 200-102 Rev.A 2005-09

Technical SpecificationBrake release box (BRB)

C Brake release box (BRB)

2.6 High voltage motor


1 1 Brake release buttons2 2 Connecting limit switches 3HXD 0100-363

MP.JB1

LP.JB1LP.JB1

MP.M7

LS1.JB1

FB.M7LS2.JB1

BR.BF7

2

1

3HEA 506 200-102 Rev.A 2005-09 3-23

Technical SpecificationBrake release box (BRB)

3-24 3HEA 506 200-102 Rev.A 2005-09

Electrical installationOne external axis

3 Electrical installation

3.1 Installation of software

The system parameters for the motor package are on the diskette included in the delivery. There are files on this diskette that suit the most fequently occurring combinations of drive and measuring systems that can be loaded via RobInstall.The parameters can be loaded either via:

• The programming box:“System parameters / Load - replace parameters”

• or when booting using RobInstall:“Additional Data / Additional Parameters”.

The files on the diskette are in a tree structure and you select the file required depending on the location of the drive unit and then depending on the size of motor.The parameters are a basis for continued work. It is therefore always necessary to change either the name or the acceleration data, transmission (gear ratio), etc.See also the User’s Guide 3HAC 9299 “Hardware option / External Axes”.

D One external axis

3.2 General

One external axis is normally connected to the robot’s serial measurement system, one (MS1) in series with the robot.

3.3 Installation into one cabinet for 1400, 2400, 4400, 6400R

Connect the motor unit as follows:

Cable Connections

The external axis’ serial measurement cable

is connected between the serial measurement box (SMB.I) and the robot foot (R1.SMB).

The resolver cable is connected between the serial measurement box (FB.M7) and the motor.

The motor cable is connected between the serial measurement box (MP.M7) and the motor.

The external axis’ motor cable is connected between the serial measurement box (MP.JB1) and the control cabinet (XS.7).

The robot’s motor cable is connected between the robot foot (R1.MP) and the control cabinet (XS.1).

3HEA 506 200-102 Rev.A 2005-09 4-25


One external axis

The robot’s measurement cable is connected between the serial measurement box (SMB.I) and the control cabinet (XS.2).

The extension for the robot’s measurement cable

is connected between the robot’s serial measurement cable (if it requires extension) and the serial measurement box (SMB.I)

Part Name

1 Robot2 Control cabinet S4C3 The robot’s motor cable (supplied together with the robot)4 The robot’s serial measurement cable (supplied together with the robot)5 Motor6 Serial Measurement Box7 Motor cable8 Resolver cable9 Serial measurement cable10 Motor cable for several motors11 Extension for the robot’s serial measurement cable

Cable Connections

21

5

7

8

4

3

10

9

6

11

4-26 3HEA 506 200-102 Rev.A 2005-09


3.4 Installation into one cabinet for IRB 6600, 7600 with serial measurement box


One external axis

Cable Connections


is connected between the serial measurement box (SMB.I) and the control cabinet, (XS.42).



The external axis’ motor cable is connected between the serial measurement box (MP.JB1) and the DDU cabinet (XS.78).


The robot’s measurement cable is connected between the robot foot (R1.SMB) and the control cabinet (XS.2).

Part Name

1 Robot2 Control cabinet S4C3 The robot’s motor cable (supplied together with the robot)4 The robot’s serial measurement cable (supplied together with the robot)5 Motor

21

5

7

9

4

3

11

10

6

DDU

128

3HEA 506 200-102 Rev.A 2005-09 4-27


6 Serial Measurement Box7 Motor cable8 Resolver cable9 Motor cable (external axis)10 Serial measurement cable (external axis)11 Signal cable (supplied with DDU cabinet)12 Power cable (supplied with DDU cabinet)

Part Name

4-28 3HEA 506 200-102 Rev.A 2005-09


3.5 Installation into one cabinet for 6600, 7600 with brake release box


One external axis

The brake release box can only be used if option 2204 or 2200 is selected.

Cable Connections

External axis’ resolver cable is connected between the brake release box (BRB.FB7) and the robot foot, (R3.FB7)



The external axis’ motor cable is connected between the brake release box (MP.JB1) and the DDU cabinet (XS.78).


The robot’s measurement cable is connected between the robot foot (R1.SMB) and the control cabinet (XS.2).

Part Name

1 Robot2 Control cabinet S4C3 The robot’s motor cable (supplied together with the robot)4 The robot’s serial measurement cable (supplied together with the robot)5 Motor

21

58

9

4

3

11

106

DDU

127

3HEA 506 200-102 Rev.A 2005-09 4-29


6 Brake release box7 Motor cable8 Resolver cable9 Motor cable (external axis)10 Serial measurement cable (external axis)11 Signal cable (supplied with DDU cabinet)12 Power cable (supplied with DDU cabinet)

Part Name

4-30 3HEA 506 200-102 Rev.A 2005-09

Electrical installationSeveral external axes

E Several external axes

3.6 Introduction

3.6.1 General

Several external axes are connected to the robot’s serial measurement system two (MS2).All S4C and S4C plus robot system can use up to six external axes, but one extra cabinet is required for the electronics in the following cases:

• For IRB 4400/6400 for two or more axes• For IRB 1400/2400 for four or more axes

3.6.2 Operation

For simultaneous operation of four or more Medium or Large motors from the same control system, certain parameters are limited:One S4C and S4C plus control system with external axis cabinet for external axes can as a maximum be equipped with 3 GT drive units, i.e. 3 T units and 3 G units, mounted in pairs in a GT module with common power pack. These are configured in the serial measurement box as follows:

• 7, 9 and 11, T unit• 8, 10 and 12, G unit

3.6.3 Limitation 1:

Operation of a Motor MU10 with a G drive unit or a Motor MU20 or Motor MU30 with a T drive unit. Performance is shown in the torque curves in chapter 2.3.7 and in chapter 2.3.8.

If four or more MU20 or MU30 motor units are operated from a control cabinet, performance may be reduced somewhat when the motors are run simultaneously, with high outgoing torque. The control cabinet cannot deliver maximum power to more than three MU20 or MU30 motors at the same time.

3HEA 506 200-102 Rev.A 2005-09 4-31


3.6.4 Limitation 2:

The GT drive units have their maximum current set to a lower value than a separate G or T unit. Therefore, simultaneous operation of axes 7-8, 9-10 and 11-12 should be avoided, if the reciprocal cycle makes high use of the motors. Applicable mean torque per motor pair is shown in the torque curves.

4-32 3HEA 506 200-102 Rev.A 2005-09


3.7 Installation into one cabinet for 1400, 2400, 4400, 6400R

Connect the motor units as follows:

Several external axes

Cable Connections


is connected between the serial measurement box (SMB.1) and the robot foot (XS42).

The resolver cable is connected between the serial measurement box (FB.MX) and the motors.

The motor cable is connected between the serial measurement box (MP.MX) and the motors.

The external axis’ motor cable is connected between the serial measurement box (MP.JB1) and the control cabinet (XS7).

The robot’s motor cable is connected between the robot foot (R1.MP) and the control cabinet (XS1).

The robot’s measurement cable is connected between the serial measurement box (R1.SMB) and the control cabinet (XS2).

The robot cabinet’s cable to MS2 is connected inside the robot’s control cabinet. It connects MS2 from the rear face inside the cabinet to the left side of the cabinet.

2, 111

5

7

8

4

3

106

9

3HEA 506 200-102 Rev.A 2005-09 4-33


Part Name

1 Robot2 Control cabinet S4C3 The robot’s motor cable (supplied together with the robot)4 The robot’s serial measurement cable (supplied together with the robot)5 Motors6 Serial Measurement Box7 Motor cables8 Resolver cables9 Motor cable for several motors10 Serial measurement cable, external axis11 The robot’s cable to the cabinet for MS2

4-34 3HEA 506 200-102 Rev.A 2005-09


3.8 Installation into one cabinet for IRB 6600, 7600

Connect the motor units as follows:

Several external axes

Cable Connections


is connected between the serial measurement box (SMB.1) and the control cabinet (XS42).

The resolver cable is connected between the serial measurement box (FB.MX) and the motors.

The motor cable is connected between the serial measurement box (MP.MX) and the motors.

The external axis’ motor cable

is connected between the serial measurement box (MP.JB1) and DDU cabinet (XS78).

The robot’s motor cable is connected between the robot foot (R1.MP) and the control cabinet (XS1).

The robot’s measurement cable

is connected between the serial measurement box (R1.SMB) and the control cabinet (XS2).

Part Name

1 Robot2 Control cabinet S4C3 The robot’s motor cable (supplied together with the robot)4 The robot’s serial measurement cable (supplied together with the robot)5 Motors6 Serial Measurement Box

21

5

7

9

4

3

106

DDU8

11 12

3HEA 506 200-102 Rev.A 2005-09 4-35


7 Motor cables8 Resolver cables9 Motor cabling, (external axes)10 Serial measurement cable, (external axes)11 Signal cable (supplied with DDU cabinet)12 Power cable (supplied with DDU cabinet)

Part Name

4-36 3HEA 506 200-102 Rev.A 2005-09

Order informationMotor unit IRB 1400, 2400, 4400, 6400R

4 Order information

4.1 Introduction

4.1.1 General

With delivery of the motor unit comes a diskette with the basic setup of the system parameters. All part numbers below refer to robots with S4C plus control.For systems with several external axes or where a length of resolver and power cables other than 5 m is required, all units should be ordered separately. Important to state control system with order (S4, S4C or S4C plus).

4.1.2 Ordering cables

When ordering cables, the -xx in the item number should be replaced by the length code, which is specified in the tables for the various cable types.

F Motor unit IRB 1400, 2400, 4400, 6400R

4.2 One motor

4.2.1 Motors

The robot must be equipped with drive units for external axes. Motor MU10 requires a G or T type drive unit. Motor MU20 and Motor MU30 require a T type drive unit. For a description of the drive units, please refer to the description of the robot itself. A V drive unit can be used for Motor MU30.

Part number Motor3HEA 506 260-880 MU103HEA 506 261-880 MU203HEA 506 262-880 MU30

3HEA 506 200-102 Rev.A 2005-09 5-37


4.2.2 Serial Measurement Box (SMB)

4.2.3 Cables between the SMB and motor

4.2.4 Cable for external axis from the robot cabinet to SMB

4.2.5 Cable for external axis from the signal cable in the robot cabinet to SMB

Part number Serial Measurement Box3HXD 0100-89 SMB for one motor

Part number Cable Length3HXD 1250-xx Resolver cable3HXD 1249-xx Motor cable

-15 1.5 m-30 3 m-50 5 m-70 7 m-150 15 m

Part number Cable Length3HXD 1253-xx Serial measurement cable for external

axis-30 3 m-50 5 m-70 7 m-150 15 m

Part number Cable Length3HXD 1443-30 Signal cable for external axis 3 m

5-38 3HEA 506 200-102 Rev.A 2005-09


4.2.6 Cable for external axis from SMB to robot


axis-30 3 m-50 5 m-70 7 m-150 15 m

3HEA 506 200-102 Rev.A 2005-09 5-39


4.3 Two to six motors

4.3.1 Motors

4.3.2 Serial measurement boxes (SMB)

4.3.3 Cables (SMB-motor)


Part number Serial Measurement Box3HXD 0100-90 SMB for two motors3HXD 0100-92 SMB for up to four motors3HXD 0100-93 SMB for up to six motors

Part number Cable Length3HXD 1250-xx Resolver cable3HXD 1249-xx Motor cable

-15 1.5 m-30 3 m-50 5 m-70 7 m-150 15 m

5-40 3HEA 506 200-102 Rev.A 2005-09

Order informationMotor unit IRB 6600, 7600

4.3.4 Cables for external axes and several motors (cabinet-SMB)

4.3.5 Robot cabinet cable for MS2

G Motor unit IRB 6600, 7600

4.4 One or two motors

4.4.1 Motors

Part number Cable Length3HXD 1278-xx Motor cable for external axes and several motors3HXD 1411-xx Serial measurement cable for external axes

-30 3 m-50 5 m-70 7 m-150 15 m

Cable Remarks3HXD 0100-117 Robot cabinet cable for MS2 (connects MS2 from the rear face inside the

cabinet to the left side of the cabinet.)MS2 is used if more than 1 external axis is connected to S4C or S4C plus robot control system.MS2 is not required if an external axis cabinet is connected to the robot.


3HEA 506 200-102 Rev.A 2005-09 5-41


4.4.2 Serial Measurement Box (SMB)

4.4.3 Brake release box (BRB) for one motor

4.4.4 Cable between SMB and motor

Two cables for two motors

4.4.5 Cable between DDU cabinet and BRB/SMB for one motor

Part number Serial Measurement Box3HXD 1616-1 SMB for one motor3HXD 1616-2 SMB for two motors

Part number Brake release box3HXD 0100-363 BRB for one motor

Part number Cable Length3HEA 506 271-xxx Motor cable3HEA 506 272-xxx Resolver cable

-880 1.5 m-881 3 m-882 5 m-883 7 m-884 15 m

Part number Cable Length3HXD 1601-xx Cable for external axis

-70 7 m-150 15 m-220 22 m

5-42 3HEA 506 200-102 Rev.A 2005-09


4.4.6 Cable between DDU cabinet and SMB for two motors

For one or two motors

4.4.7 Cable between robot cabinet and SMB for one or two motors

4.4.8 Cable between robot and BRB

Part number Cable Length3HXD 1619-xx Cable for external axis

-70 7 m-150 15 m-220 22 m


axis-70 7 m-150 15 m-220 22 m

Part number Cable Length3HXD 1640-xx Resolver cable for external axis

-15 1.5 m-30 3 m-50 5 m-70 7 m-150 15 m-220 22 m

3HEA 506 200-102 Rev.A 2005-09 5-43


4.5 Notes:

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5-44 3HEA 506 200-102 Rev.A 2005-09

3HEA 506 200-102 Rev.A 2005-09

motor unit mu10, mu20, mu30 - abb ltd · motor unit mu10, mu20, mu30 s4cplus, m2001 ... 4.2.4 cable...

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