Circuit Diagram

CONTENTS
Page
1 Controller, diagram 3HAB 28214 Rev.8 ..................................................................... 1-27
2 Manipulator, diagram 3HAB 5501-3 ....................................................................... 101-112

Product Manual IRB 2400

SHEET

OPT. NO.

LIST OF CONTENTS

1
2

CONTENTS

111,112

VIEW OF CONTROL

DESIGNATION

BLOCK DIAGRAM

13X,14X,15X,432-433

MAINS CONNECTION

339

POWER SUPPLY

CABINET

MOTOR IIN CHAIN PART 1

MOTOR ON CHAIN PART 2

POWER UNIT

10

DRIVE SYSTEM IRB 1400

11

DRIVE SYSTEM IRB 1400H, 2400 AND 2400/L

12
13

DRIVE SYSTEM IRB 2400110, 3400, 4400, 6400 AND 64OOC

CONTROL CABLES
CONTROL CABLES

13.1
13.2

197

SERIAL MEASUREMENT BOARD, EXTERNAL

13.3

191

INTEGRATED

13.4

32X

CONNECTIONS

13.5

65X

M94A

OPTIONAL

CUSTOMER CONNECTIUNS

MANIPULATOR

13.6

65X

M96

IIPTIIINAL

CUSTOMER CONNECTIONS

MANIPULATOR

POSITION INDICATOR, MANIPULATOR

DRIVE UNIT, EXTERNAL

AXES

AXIS

FOR ABB ESAB EWIPMENT

13.7

7X.8X.9X

OPTIONAL

14

411-413

FLOPPY DISC UNIT, DATA PORTS, BATTERIES

15-17

193

EXTERNAL

AXES BOARD

I/O-BOARD POSITIONS , I/II- SUPPLY

18
19

20X/238

I/O-BOARD,

DIGITAL INPUTS

20

20X/238

I/O-BOARD,

DIGITAL OUTPUTS

21

238

ANALOGUE

OUTPUT PART OF COMB1 I/O-BOARD

22

227

ANALOGUE

I/O-BOARD

23
23.1
24

241
251
406.421-425.439.444

REMOTE I/O-BOARD
INTERBUS-S I/O BOARD
ILLUMINATION, SERVICE OUTLET, COOLING DEVICE

25

5X

OPTIONAL

FAN, AXIS 1 MANIPULATOR

182

EXTERNAL

CONTROL PANEL

26

List of contents

Circuit Diagram 3HAB 2821-5

1

--

Product Manual

I
I
I
I
I
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IF---

I
I
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I
I

11
r7
1
7
)l---A

6SXCLV

Circuit Diagram 3HAB 28214

A
A7: A
A7:0
APl:A
API
AP2
APJ
AP4
AP5
AP6
AP7
AP9
API0
API1
AP12
APl3
API4
APl5
AP16
AP21
AP22
AP23
AP24
AP25
AP26
APSl
AP41
AP51
AP60
AP61
AP6l.W
APB0
APaO.Fl-4
AP8D.X2
AP80.X22
APBO.X5
APBO.XJl
AP80.X32
AP80.X34
AP80.X35

Power unit
ABE
_- ESAB--Connection
ABB ESAB Connection
ABB ESAB Conneclion
Drive unit oxis l/1.3.5
Drive unit oxis 2/2.4.6
Drive unit owis 3
Drive unit oxis 4/4-6
Drive unit oxis 5
Drive unit oxis 6
Drive unit axis 7
DC-link Drive system
Drive unit bock plone
Anologus I/O, Cbmbi l/O. Dig l/O no 1
Remote I/O. Digital I/O no 2
Remote l/O. Digital I/O no 3
Remote I/O. Digital I/O no 4
Remote I/O. Diqitol I/O no 5
Remote l)O. Digit01 l/O no 6
Relay output no 1
Relay output no 2
Reloy output no 3
Relay output no 4
Reloy output no 5
Reloy output no 6
Robot computer
System boord
External axes boord
Vorislor ond diode unit
Serial meosurement boord
SMB boltery
Bock plone
PTC Resistor Fuse
Floppy disc sign01
Floppy disc power
Data ports, SIO l-4
Measurement system
Progromming unit
Control ponel
Syslem boord, customer

Dl
E2
EL
EVl
EV2
EV3
EV4
EV5
EV6
EV7
FSl
FS2
FS3
GBl
Cl32
CSl
KM1
KM2
KM3
KM4
KTl
PT
OS1
Rl. R2
R3
RVl
RV2
RV4
SA
SA.l
SA.2
SA.3
SA.4
SBl
SB2
SE3
TM1
TMl.FUl-3
TMl.ST
TM2
Vl
v3
XBl
XI32

Floppy disc unit

Eorth fault breoker
llluminotion
FAN, Drive system IRE 240/1400H/2400/3400/6400/6400C
FAN, Drive srlem IRB 1400/6400/64OOC
FAN, Drive srlem IRB 1400-6400/64OOC
Cooling device
Moin transformer Ion, IRB 6400
Bock fan. Small cabinet 9ize
FAN, Drive system IRB 6400C
Automatic Fuse, drive system
Aulomotic Fuse, Moins voltage
Automatic Fuse, Service outlet
Battery
Battery
Power supply
Motor on contoctor 1
Motor on contoctor 2
Supervision contoctor
Broke contoctor
Time delay. contoctor
Duty time counter
Moins switch
Resistors. DC-link
Broke resistor IRE 6400
Voristor. Motor on contoctor 1
Vorirtor, Motor on contoctor 2
Voristor. Broke contactor
Control ponel
Mode switch
Motor on. PB
Motor off PB
Emergency stop PB
Door switch drive @em fon
Door switch, Heot exchanger. Air
Door switch illumination
Transformer, Moins
Fuse
Temperature sensor, Ironsformer
Transformer. Service outlet
Diode duly time counter
Diode supervision contoctor
Computer link
Print out

XPO
XP5
XP6
XPl7
xPla
XPl9
XP22
XSl
xs2
xs3
xs4
xs5
XS6
xs7
xsa
XSlO
XSl I
xs12
xs13
xs14
xs15
XS16
xs17
xsla
xs19
xs20
xs21
xs22
XS23
XT3
XT5
XT6
XTB
XT10
XT11
XT12
XT13
XT14
XT15
XT16
XT17
XTla
XT19
XT21
XT26
::

Designation

Moins Plug
Customer sign01 connection
Customer power connection
Mode switch customer extension
PTC. Broke extension
External control panel connection
Externol axes. control signals extension
Outlet control cable power
Oullet control cable signal
Customer connection
External axes signal connection, Axes board
Customer signal connection
Customer power connection
External oxis power connection
Position indicator
Anologus I/O. Combi I/O Analog port
Digit01 l/O no 1
Digital l/O no 2
Digit01 l/O no 3
Digital I/O no 4
Digital I/O no 5
Digital l/O no 6
Mode switch customer extension
PTC. Broke extension
External control ponel connection
Progromming unit outlet
Service 230V outlet
External axes, control signal extension
External oxes signal connection, SMB
Customer connection
Customer sign01 connection
Customer power connection
Position indicolor
Anologus I/O, Combi I/O onoloq port
Digit01 I/O no 1
Digit01 l/O no 2
Digit01 l/O no 3
Digital I/O no 4
Digitol I/O no 5
Digital l/O no 6
Remote I/O boord
I/O supply
INTERBUS-S
Service outlet connection
Direct supply connection
Moins Filter
Filter Lim. Switch robot

SH. 7,8
TEACH
PENDANT

SH. 6

MAINS SWTCH

POWER
SUPPLY

II-SH. 7.8
CONTROL
PANEL
cl--

SH. 15-17
I-------1
I EXTERNAL 1
1 AXES
,
BOARD
;
l-------l

SH. 6.7.8,13

(EXT. AXES

!SH. 9
POWER
UNIT

SH. 14
SYSTEM
BOARD

/CUSTOMER
L CONNECTIONS

SH. 6,7,8.10,13,14
2

m
BACK
PLANE
DATA
PORTS

:,

12.13.3

RS 232/485
\4

>

SH. 19-23
I/O
BOARDS

( CUSTOMER I/O

JA le.-21!
1
r

l SERIAL
I
I
MEASUREMENT1
I
BOARD
I EXTERNAL
;

I-A_xEs----A
I
iVME
I
; BACK PLANE1
I
I
L------J

MEMORY
;
; EXPANSION I
1
BOARD
1
L-----J

Block diagram

I
1

MANIPULATOR

I
1

I-------J

..
TM2 SERVICE OUTLET
TRANSFORMER (OPT.433)

i
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tJl
51
61
WI
>I
2
I

MAINS SWTCH

\J

I
1
I
I
r. ov i i
t
I 1
I
L----------------------------.------+,
I 1
L--------~----------------.---------------- --- . I I
L--------------- ___,____

II
RJ

6
POWER SUPPLY

24
SERVICE OUTLET
COOLING OEWE

Mains connection

/ IRE 4400. 6400 / IRE 6400C

Circuit Diagram 3HAB 2821-5

.-

I :
P

3lWN3 APZ
L)1 3)IVM8/31d A0
A$.?+
t12
-1
A0

A0

lo8

s
A0 AOtZ 1dX

Product Manual

EXT. AXES
13.3
I
)(

SYSTEM BOARD

AP41

-XPl:A22

PTC
-Al2

AUTO
STOP

03
I-- A3
t -
A4
, - >B4
L-

MSTOPl

0
24VSYS
ASTOPl
ASTOP

ASTOPl
BACK

EXT
MODE COMMON2
---S-W--E_XL _Mo_D_E. COMMONL

--

--I
-i-

I
I-

I
I
L

lxx?4 +

< -XPl:Al4$S;;;

PLANE

---t

I-1

%FRA

-X2:
A31

24VSYS

ENDEV-N
ENOEVB
MSTOPl
MSTOPZ

M7

) ~i~ov
i
(I_ci9

STANDBnAMP

CSTOPlB
I

XPl: A15, CSTOP

2
.1

1
6

MOTOR ON CHAIN PART 2

1) External Control Panel

connections on sheet 26

WI

1
( ant
r-

MOTOR ON- chain part 1

:-I-

EM3TOPI
1
1

I
I
I

IL- I?
-L!ef
1 :
EXTERNAJ ! L-rIiAio
EMZJOP!

CSTOP2B
CSTOPlB

I
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- ESTOPl

CONTROL
CABLE

XS/XPlEl

EXT BRAKE A
___--CUSTOMER
CONNECllON

-1%
Jjel3
1 EXT MON 28
-1:

P4 I

UNIT

------ --.---___

POWER

MOTOR ON - chain part 2

UNIT

.yy.

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Product Manual

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Diagram

B 2821-5

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Product Manual

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Circuit Diagram 3HAB 2821-5

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Product Manual

Circuit Diagram 3HAB 28214

Product Manual

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Circuit Diagram 3HAB 2821-5

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Product Manual

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Circuit Diagram 3HAB 2821-5

Product Manual

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Circuit Diagram 3HAB 2821-5

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LSZW ? I

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Product Manual

Circuit Diagram 3HAB 2821-5

CONTROL CABLE

MANIPULATOR

SERIAL
--I
MEASUREMENT
BOARD

I
SYSTEM
MOTOR TEMP.
SUPERVlSlON

BOAR\
XPl
3 -

PTC M

LJ

MOTOR ON CHAIN
B
PART 2

LIMIT
LIMIT
LIM 2
LIM 1

1 MANIPgLATOR
2 MANIPULATOR
M7
M7

-!

iaxs XPlB

1) Only IRB2400 M94-M94A

/3400

2) Not IRB2400 M94-M94A

/3400
3) Only IRB 2400
4) Only IRB 6400

ij grm 311 LIMIT SWTCH MANIPULATOR

(

Control cable

(OPT.197)
APE0

BACK PLANE

AP61

AXES

AP61 .GB

WY5
1T+r

xs2

t
h
I,

I,
I,
1, ,
,,
A.

1)

Only IRE 2400

Not IRB 2400 M94494A/3400

CONTROL
CABLE

MANIPULATOR
CONNECTION
--

A
BC
CC
O(
SERIAL
MEASUREM.
BOAR0
MANIP.

E
F
G(
H(
4
<

<

I
&L---J
1
I I

1
I I

L.-l

Serial measurement board, external axes

(OPT.197.C2)
xs23

Alddr-lS tl3MOd (D

AlddflS tl%Od
n3lsAs MltlO
LlNn &ElMOd
otlvoa RUSAS
AlddllS UMOd
1lNt-l kE!MOd

Product Manual

3lRVN3 htZ

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Circuit Diagram 3HAB 2821-S

I
I

-----

z 63
_ 04

ov
A STOP

A5

G STOP 1A

05
: 86

G STOP 2A
G STOP 28

A7

G STOP 18

APl: A

XT3

A7: B

XT3

2 1

010

SENSOR

_ .- , --..--.. nl3 1 CFNSIX?

013 1 OV SENSOR
I

APl:A
L
I

z Al5
- Cl4

+24V l/O
ov I/O

I
1

,gs
x2
-

ESlA
: A9
- Al0 E STOP

ES2A
- 69
_ 810 E STOP

--PE.-+24\11/~--+24V I/O
.C16
_ 016 OV I/O
-._O??. -ovl42---_ Cl5 ov I/O
+24V I/O
L
: Al6

HOLD
1
_------HOLD 11
_------HOLD
12
_------HOLD
2
-------HOLD
21
_------HOLD
22
--------

Connections for ABB ESAB equipment

20.5
19,4 DG

I/O

2)

(oPT.~~x)

CUSTOMER POWER CONNECTION

-

L
I
L

L 1
I,1

CPA
CPB
CPC
CPD
CPE
CPF
CPJ
CPK
CPI.
CPM

Rl .CP:
t
f
t
f

t
t
t
f
f
f
t

MANIPULATOR CONNECTION

CABLE

t
t
a

A
d
cc
I#
EC

CPA
-------- CPB
)--------CPC
------CPO
------CPE
)-----ACPF
m-----e
CPJ
------ CPK
-----em
--CPl.
----m-s
CPM
c-----uCPG

--------_

----_----

m----r-

b
2)
CUSTOMER SIGNAL CONNECTION

CABLE

MANIPULATOR CONNECTION

-E%----iL-----_cse_----9 ____ -_
-Et----lL-----_cs_o_----1) ______
-E-----1) ______
-ix-----!I ____ -_
-_CS.-----1)______
-szz-----i______
---- ____ ______
-E-----I) ____ -_
-G&---I;:____ -_
--------______
CSN
Ic--------------CSP
)--------------CSR
c--------------css
------_______
- ------CST
____ -__
- -------_-_---_
csu
- csv
----------.----csw
--------------csx ___________
--- CSY
--------______
csz ___________
----

Optional customer connections, manipulator

1) IRB 1400 is only equipped with

12 sign01 connections
2)

M94A

1)

(0PT.65X)
MANIPULATOR

CUSTOMER POWER CONNECTION CABLE

CPA
CPB
CPC
CPD
CPE
CPF
CPJ
CPK
CPL
CPM

L
A
L
L
L

T
t
T
I\
I,
I,

Rl.CP/CS
T
T
T
T
T
T
T
T

Al
ec(
Cl(
d
AZ
d
c2(
02
AS

---- ----- ----_--- ------ ----- -_--- -r--- ---- --

I-

&

CUSTOMER SIGNAL CONNECTION CABLE

CSA

CONNECTION

CPA
-----CPB
-----CPC
z--CPD
--CPE
--CPF
--CPJ
--CPK
--CPL
--CPM
--_--CPG .---

2) IRE 6400 M96

MANIPULATOR

CONNECTION

CSA
Rl.CS/CS B5
---------------T cd m---s---------CSB
csc
-------_______
CSD
---------------CSE
)-------_______
CSF
-------__-____
csc
Ic---------------CSH
)-------_______
CSJ
I)--------------CSK
Ic------_______
CSL
-__--_________
CSM
----------____
CSN
-_---_-_______
CSP
--------------CSR
-__--_________
css
Ice--------____
CST
-------_______
csu
---------------csv
---__________
csw
Ic------_______
csx
Ic-------_______
CSY
-------------.--csz
Ic--------------

Optional position switches on manipulator

1) IRE 2400.6400 M96

(OPT.7X)
XS/XP6

XT8

POSITION INDICATOR CONNECTION

I
-

MANIPULATOR

CABLE
RIG: A

T
6

CONNECTION

IRB 1400/ 24001./to/16 AND 4400

- - - - - - - - - - - - - - - - - - ---

Ed - - - - - - - - - - - - - - - - - - --r. - - - - - - - - - - - - - - - - - - ---

)----------------------------------m.-------------------s------_
-----------------I)------------------

------------------

)------------------

?=-I

-1

POSITION SWTCHES CONNECTION

I----- I

i
2

---

--_
e-m
- - -

CABLE
AND IRB 6400C

l.
5

-------------------___---___---__-----_
------------_------_
--------------------------------_-------------------------------_-----------_
-------------_--------------------------------------------------------------_

I$
L

Optional position switches on manipulator, IRB 1400, 24OOL/

16,6400,64OOC

(OPT. 411-413)

+x61
I

TXDl

14
2
1p
17
14
18
19

BACK PLANE

APB0
I

MGY
BN
GYPK
EN-
CN
GN
RDBU

l-ii---I

x5
3h I

TX03

2q - 7 CTSS
RS232 3% - t DSf?J
q I
DTRS
RlC3
m DCDS
2%
3% z ov

T
1% - T

T
m

YEBU

RDGN T
1
eu
m
I
BNYE
BKWH

ROM I

32
3:
32
,-30

RS485

SIO 4

RS232

GBl BATTERY

PRINT
OUT

Dl
[f=
F
GE2 BATTERY

Floppy disc unit, data ports, batteries

FLOPPY

DISC UNI

xs4

AP51

EXC
-----OV EXC
--_--X FINE 7
-----Y FINE 7
-----OV F7
-----X COARSE 7
_----Y COARSE 7
)---- - _----ov c7
I)------ ------SYNC 7
--- -----ov SYNC
--- -----VREF 7
--- -----OV VREF 7
--- -----(TACH~ 7)
--- -------)--)---

c3L >X FINE 8

02L
Y FINE 8
c2& OV F8
c29
;X
COARSE
02x >Y COARSE

8
I3

- _ -(!JL rACo 7)
EXC
- -----OV EXC
- ------

_
_

c3
>sYNc 8
Cl= >VREF 8

_ _ _ -A,
- -- - - -_

xs7
LIM 1 M7
LIM 2 M7
LIMIT 2
LIMIT 1

SHIELD IS COMMON
FOR ALL AXES

LIM SW 7

-----

Sheer
IS
(ml
I6

External axes 7 - 8

AP51

-AXES
XPl :

1 (OPT.193)

xs4
INE 9
- Y t-INE 9
=!;O F9
-1 )X COARSE 9
>Y COARSE 9

- X- FINE
- - -9
Y
FINE
- - - - -9
OV F9
_---X COARSE 9
----9
- Y- COARSE
- - ov c9

A
A
A

SYNC 9
+EF 9
>OV VREF 9

SYNC 9
---mm

- VREF
- - -9OV
- - - VREF
- - 9

Cl3
013(
012(
A13(
s13(
Cl2(
01 (
c4 (
04 5

,X F I N E 10
Y FINE 10
OV FlO
X C O A R S E 10 a
;Y C O A R S E 10 d
S Y N C 10
$REF l o

External axes 9

10

Ir
-

- X- F-I N-E - 10
- Y- F-I N-E - 10
- OV
- -FlO
- 10
- X- COARSE
- - 10
- Y- COARSE
- - ov Cl0
,----S Y N C 10
.----a
VREF 10
,----OV
VREF 10
.-----

t-1
__------e-v--

SHIELD IS COMMON
FOR ALL AXES

AP51
I

AXES BOARD

xs4

(OPT.193)

1
I

X F I N E 11

I- - -

01

SYNC11

017 I:
c l ? -,
--I
c2L
al9
CliiCG0lC

VREF 11
OVVREFll

cl
Cl3

-J

----LLLZ-

X COARSE 11
--- t ------11
- - - - Y- COARSE
- - ov
Cl1
- - - - - - - AZ< - _ - - S -Y N- C- 11A5 - - - - VREF
- - - 11OV
85 I
- - - i - - - - -VREF
- - 11

L
-

- X- F-I N-E - 12
- Y- F-I N-E - 12
OV F12
_---12
- X- COARSE
- - Y COARSE 12
---em
- ov
- -Cl2
- S
Y
N
C
- - - - 12
-Y!?E-2
-O!-Y!?z 1 2

_ _ _ _ e!,,- _ - - - - _ SHIELD IS COMMON

FOR ALL AXES

External axes 11 - 12

OPTIONAL

l/O-BOARD
POSITION

I/O BOARDS IN CONTROL SYSTEM S4

l/O-BOARD
DESIGNATION

OPT.339

l/O TYPE
EXTERNAL
OPT.SlXJBX

APll

APll

SCREW TERMINALS
OPT.34X

RELAY UNIT
OPT.37X

120V AC I/C
OPT.35X

ABE ESAB
OPT.32X

AP21

AP21

A7: A.A7: B.APl: A

24V I/O

ov

COMBI I/O
XSlO

XT10

DIGITAL PART

XSll

XT11

ANALOGUE

XSlO

XT10

ANALOGUE

INTERNAL
I/O-SUPPLY

CUSTOMER CONNECTIONS

PART

A7: A
XTl6.13

XT18.5

XTlB.13

XT18.5

APll

DIGITAL

XSll

XT1 1

AP21

AP21

AP12

OIGITAL

xs12

XT1 2

AP22

AP22

XTlB.14

XT18.6

AP13

DIGITAL

xs13

XT13

AP23

AP23

XT18.15

XTlB.7

AP14

DIGITAL

xs14

XT14

AP24

AP24

XT18.16

XT18.8

AP15

DIGITAL

xs15

XT15

AP25

AP25

XT16.29

XT18.21

AP16

DIGITAL

XSl6

XT16

AP26

AP26

XTlB.30

XT16.22

XT1 7

2-6

AP12-16

REMOTE

1-6

APll-16

INTERBUS-S

l/O-BOARD

XT19

A7: A. API: A

CSl.xgP1.814
GSl.XPl.El6

7)

+24V

CSl.XPl.B24
6

CUSTOMER
CONNECTION

cs1.xP1.826

--

8)

1: )2), 9)

+24V

\I

s44J-

l/O-SUPPLY

l
l

opt 339
XT16

) Link 1) 2)
) D5=Cl3)

+24V
ov
+24V
SCREW TERMINALS
I) $ 2)4) 6)

7)
opt 34x

I
E>:ii
i
L

Opt 36X
20.1
1) INT SUPPLY WlTH OPT 339
FROM XTS/CSl TO OPT 34X/36X
5) INT SUPPLY WlTHOUT OPT 339
FROM XT3 TO OPT 34X/36X

I-

RELAY

19.1

UNIT

2) 4) 6)

9)12OV AC

9)12OV AC

;
>

opt 37x 6
<

20.v19.1
2) INT SUPPLY WlTH OPT 339

20.2
3) EXT SUPPLY WITH/HIITHOUT OPT 339

FROM XT3 TO OPT 37X

7) INT SUPPLY WTHOUT OPT 339

FROM GSl TO OPT 34X/36X
FROM XPll-16 TO OPT 34X/36X

I/O SUPPLY AS BASIC CIRCUIT

20.4

4) EXT SUPPLY WITH/WITHOUT OPT 339

FROM XPll-16 TO OPT 37X

FROM XTJ/GSl TO OPT 37X

6) INT SUPPLY WlTHOUT OPT 339

20.2

6) INT SUPPLY WITHOUT OPT 339

FROM GSl TO OPT 37X

18.1

DIGITAL PART OF COMBI I/O

AND DIGITAL I/O-BOARD

APXX

xsxx
I

2)

XTXX

-l

r-

l)
I

rI

?S/XPXX , 3,

01 INPUT CH. 1 _

1;

(-q-<----(-q- .-(----II! Iii1

06

INPUT CH. 9,
10,
11,
12,
13,
14,
15,
16,

--q--(12
(---q--(--- 13
(-Jq--(--- 14
(---q-4+-----15
(----q--(9----- 163;
(-~<-+-+---17
c=-Jq--(--18
(--(---(-
19
(-S.--q- -(4
$

1) Only

if external connections

L-l

(OPT.31X)

2) Only if internol connections or screw

terminols/flonge

3) Only if external connections and screw terminols

disconnectors (OPT.34X)

(OPT.38X)

Digital part of combi I/O and digital I/O-board input part

20.2
(OPT.38X)

(OPT.37X)

APXX
I

XSl

r-i
APXX

DIGITAL PART OF COMBI l/O

AND DIGITAL l/O-BOARD

I XPl:

-12

-+=l=1z

=I

1) Only if relay unit and internal l/D-supply

Relay unit input

RELAY

XTl:

UNIT

1)

xs XPXX

I
I

r-l
I

INPUT CH. 9209,

(OPT.35X)

APXX 12OV AC I/O

1rJ

APXX
I-

-\

lI

DIGITAL PART OF COMB I/O

OR DIGITAL I/O-BOARD

INPUT

CUSTOMER
CONNECTION

I
I

MODULE

33

$
z:

fq-,;JLf

-I

-02

- +

4,

- )OJ

5A

- )C4

6,

04

I-

- $5
05 UlI*
L-l-)
4
I

7,
8,

2
3
4
5
6
:
7
6
(
9
(
10
1
- nc
q

INPUT MODULE 3

INPUT MODULE 4

I;2

4Om

INPUT MODULE 5

INPUT MODULE 16
YY4

120 VAC input

Product ManuaI

4..
5

L
I

-5
-

Circuit Diagram 3HAB 2821-S

1

Li0

- r
a
K
a

N
F
X [I

Product Manual

Circuit Diagram 3HAB 2821-5

7nl -z-I
ti2.E
, c r?
k

18.1
19.1
(OPT. 20X/238)

APXX

DIGITAL PART OF COMBI I/O

AND DIGITAL l/O-BOARD

,xsxx
,XTXX

I
CONNECTION

r-

OUTPUT CH. 9

1) Only if erternol

connections

(OPT.SlX)

2) Only If lnternol connections or screw termlnols/flonge

disconnectors (OPT.34X)

3) Only if external connections ond screw terminals (OPT.38X)

Digital part of combi I/O and digital I/O-board, output part

APXX

DIGITAL PART OF COMB I/O

AND DIGITAL l/O-BOARD
(OPT.36X)

-23

A3
- cl3 OUTPUT CH. 4
I

I44:
- 013 OUTPUT CH. 5

I-

-25

OUTPUT CH. 4

A4
- I---

-26

INPUT OUT CH. 6

-26
014 OUTPUT CH. 7
1-u I

-I--

INPUT OUT CH. 7

A7
---------I--

- cl5 OUTPUT CH. 6

-,w,p!

II

II

P
kc

Relay unit, output 1 - 8

APXX

DIGITAL PART OF COMBI I/O

AND DIGITAL I/O-BOARD

APXX

(OPT.37X)

z
7

XPl:
31
(I
-32

INPUT OUT CH. 11

All

I-

INPUT OUT CH. 12

018 OUTPUT CH. 13

( -36

Al3
-

cl9

OUTPUT CH. 14

I--

< -37
INPUT OUT CH. 14

019 OUTPUT CH. 15

< -36

c20 OUTPUT CH. 16

141

814
-I--

Al5
-F

--+- )020 u4-

-39

(L

Relay unit, output 9 - 16

816
-E

APXX

12OV

AC I/O

(OPT.35X)

OUTPUT MODULE 1

#-+-A
APXX

DIGITAL PART OF COMBI l/O

OR DIGITAL I/O-BOARD
I

=x+--j-~,.::

XSl

OUTPUT MODULE 2
OUTPUT MODULE 3
OUTPUT MODULE 4
OUTPUT MODULE 5
OUTPUT MODULE 6
OUTPUT MODULE 7
OUTPUT MODULE 8
OUTPUT MODULE 9

OUTPUT MODULE 10
OUTPUT MODULE 11

OUTPUT MODULE 12
OUTPUT MODULE 13

?O u4-

OUTPUT MODULE 14

OUTPUT MODULE 15
OUTPUT MODULE 16

18

120 VAC output

Product Manual

u. .
aE L

IA0

O/l he+

90
s\

Circuit Diagram AHAB Zclzl-5

-1
--I
-1

a..
5

52% L
0

a
K
a

-i r

Product Manual

iI
!

J
1
-I

Circuit Diagram 3HAB 28214

(OPT.238)
COMBI l/O-BOARD

API1
1

XSl:

XPl

ADC

DAC

l
RET
b -I---

392 r==

TEST INPUT CH. 1

025.~25
024

-94 I=+-

ANALOCUE OUTPUT PART

OF COMBI l/O-BOARD

connections

2) Only if screw terminols/flonge

OUTPUT CH. 1 , ( -A( -

t
f
T
t
A
,

t
T
t

c32
032
c30
030
c31
031

C5
0
ov:=os:=

I
c27
027
c28
028
c29
029

-I,,

L
1) Only if external

c26
026

II

OUTPUT CH. 2 ,(a,#(-

EXT+lSV
EXT+lSVf ;
EXT 0 t (
EXT 0 t
EXT-15VT ;
EXT-15 m
,, (

A6
3 =
4 D6
a =
-A( -

(OPT.SlX)
disconnectors

(OPT.34X)

3) Only if external connections ond screw terminals (OPT.38X)

Combi I/O-board analogue output part

(OPT.32X)
APll

COMBI I

XT10

A7: A

ri

l-l
TEST INPUT CH. 1
---- INPUT CH. 2

- -10
OUTPUT

CH. 1

-. . . . . - .
FYT n\r

ANALOGUE OUTPUT PART

OF COMBt I/O-BOARD

I
rc

,
+c

A26+$26
I T

-8

.I

INT+lSV
c32
- -23
- 1-4
74

Combi I/O-board analogue output part

t I

II

Ii

I4

Ii

I,

Ii

A24c+24
AZ+$25
C24 (+A24

C32<+32
A170

rZ7

(OPT.227)
ANALOCUE l/O-BOARD

Pll

,XSlO

I),

;TlO

2r

;S/XPIO,

3CLSTOMER
CONNECTION

XSl:ol INPUT CH. 1

INPUT CH. 2

sr
z

INPUT CH. 4

z
37

DAC

04

OUTPUT Cl-l. 1

c4

OUTPUT CH. 2

EE3r

==f

I-lI-

tI-3-

1) Only if extcrnol
2) Only if screw

conneclions

(OPT.JlX)

terminole/f~ongc

disconnectors

I
T

(OPT.34X)

3) Only if external connections ond screw terminals (OPT.38X)

Sheet

22

(OnI

Analogue I/O-board

23

(OPT.2411

I/O-BOARD

APXX

XT17

-I------------1
-_ ----------_-I _----_----- I
- ------

l---l
D
D

k--D
REMOTE Ml FOR
ALLEN BRADLEY PLC

>

I,

a30
c30

D12
Dl2-N
DO2
I)Cl2-N

;31

RBST

a29
c29

Is
9

1Q
11

12
I

CUSTOMER
CONNECTKIN

_--I-----_-----1
------_ 1----- 3
--------

3)
24VDC EXT SUPPLY

IB-S IN
GND
IB-S OUT

I>

-mzi
23
(M&l
23. I

Remote I/O-board for Allen Bradley PLC

POWER SUPPLY
(OPT.251)

CUSTOMER
CONNECTION
3)
------_---- 1 24MC EXT SUPPLY
----------18-S IN
----------- I
-----GND
-_--------ie-s OUT
-----------

III1

1) JUMPER IF THE B-S OUT SIGNALS ARE CONNECTED, OTHERWlSE

NO

JUMPER.
2) THE INTERBUS-S l/O BOARD CAN BE PLACED AT EVERY
POSITION IN THE RACK.
BUT NEVERTHELESS SHOULD IT BE PLACED
TO THE LEFT OF THE LAST I/O BOARD IN THE RACK.
3) IT IS IMPORTANT THAT 24V DC EXT SUPPLY ALWAYS IS AVAILABLE.
OTHERWISE THE INTERBUS-S CAN NOT WORK
IF THE CONTROLLER IS TURNED OFF.

?nGF
23. I
(OIlI
24

MAINS CONNECTION

25

Y 8

8
5

5
5
ITiE
In In

Q
2

Se3 DOOR SWITCH

:g g
NC-l c
/-+

-1

23OV/23OV SERVICE

rh(

tm

1
Y

1
zi
2-1
rb
I,

L1.l

, 120V/230V/SERVICE
; OV/N S E R V I C E
,

r(
*

1
I

EARTH FAULT

h
cl

fi?

( O P T I O N 406)

XS21 SERVICE OUTLET

DOOR SWITCH

EV4

PAA

S82

Ll

OV/N SERVICE

IL
z

EL ILLUMINATION

(OPTION

421-425)

(OPTION 439)

1
I

(OpTiON 444)

Cooling device, service outlet, illumination (options)

nx

sl24lcct
25

(OPTION 5x)
POWER
UNIT
9
CT1

.7

OPTION
FAN AXIS 1

POWER
SUPPLY
6

I -

-.-

:
C

FC.2

TERMINAL XT21
24

FC.1

17

- ~~ -~~~ 230V F

13
/
13.1

CONTROL
CABLE

I
.I

Slleel

25
(on1
2ti

Optiona.l fan, axis 1 manipulator, time delay, concator

TEACH

PENDANT

+AP80.X32
*T/

ON
7 CHAIN
PART1

MOTOR
CDHNAIN
PART2

Teach pendant

EXT.+XP/XS!~

EXT. CONTROL PANEL

+xP/xsls

AUTO

;1El

ESTOPl ESTOPZ
LIMIT2
MONPB
ESlB
ESZB
ESZC
ESlC

MOTOR OFF PB.

MOTOR ON PB.

MOTOR OFF LAMP

MOTOR
I

ON

P2
ASTOPZ
MSTOPl
ASTOPl
MAN FS
MAN
AUTO
24V
CSTOPl A
GSTOPZA

3
x20 Xl
WJ

MOFFLAMP

LAMP
I

Externa.l control panel option 182

MOFFLAMP
MONLAMP
ov

+APBO.X34
--,6
:12

MOTOR
,ON
CHAIN
PART1

<20
,519
-\18
-<24
<7
:a
:9
<IS
/

-\16

<14
-:13
-:23
:22
<3
:4
/

MOTOR
ON
CHAIN
PART2

MOTOR
7 ON
CHAIN
PART1

___..- --WEE1
BILAD
LEGEND
SYMBOLER
Motor
Motor
Broke
Broms
Temp. sensor (PTC-resistor)
Temp. givore (PTC-motst6nd)

PTC
9

Resolver
Resolver

R 42

101

List of contents
Inneh6llsfbrtccknirlg

102

Connection point locations

tjversikt Over delninqspunkter

103

Breake release unit,

Serial measuring board
Bromslossningsenhet,
seriemdtkort

101

Protective earth
Skyddsjord

105

Twisted cables
Tvinnode koblor

106

Screened cables
Skclrmade kablor

CONTENT
INNCI-I/!-l

Motor

axis l-3

Motor

axe1 1-3

Feed- back axis 1. -3

AterfUringsdon
Motor

clxel l- 3

axis 4-m6,

1,5-10/16

Motor clxel 4-6, 1,5-- lo/16

Feed --back axis 1

107

AterfOringsdon

6,

CJXCI 1

l,!i

6,

lO/lG
1,5

lO/lC,

108

Motor axis q--6,

Motor axel 4---6,

109

Feed--back axis J--6, 1,&O

AterfUririgsdon oxel 4--G, 1,&T,

110

Customer connection
Kundanslutning

111

Position indicator uxis 1;

OfII ON
LOgesirrdikering axe1 1 ; 01 1 ION

112

External connections; OPTION

Yttre cinslutninq(ir; 01llON

List of contents ---

1,8--F)
l,&li

----yl!!!?

I
R3.MP5
RS.MP6
R3.FB5
RS.FB6

R3.MP4
R3.MP5

R3.MP4
R3.FB4

0
JiE-3
/,

1,8-5

AIR
R2.CP
,R2.CS

ii IIIg

t<J.Mt
L

- tis.t-tJ t-

Fi3.l-t37
r---

1,5-lo/16

Rl LS
-i_

Rl .MP
Rl .SMB
Rl .CP/CS

AIR

Rl.MPl-3
Rl .MP4-6

Rl.CP
Rl.CS /
_---R2.SMB
R2.G

R2.BU
R2.BUl-3
R2.BU+ 6
R2.FBl-3
R2.FB4-6

Connection point location

fi 1 .I~ s 2
Rl .LmSl (0f
m;l 1-1: 3lIf )

R2.SMB
I s_P
-SJ-N
so.
diO112

I ov34V
-imRATSUP

R3fllJl

-7c
-q
R?l1114 6

-I

Sh.105. 107. 109

Brake unit, serial measurement board

L.

------I-

101

--

3-c+-+-

c,
I
,
I

::
c

5;
i;i
f-

c/

Circuit Diagram 3HAB 5501-3

i !

--

Circuit Diagram 3HAB 5501-3

_i
,
-z2; -i
;: E, 9
I
F--i+

Product Manual IRB 2400

l/i

II

Circuit Diagram 3HAB 5501-3

--

r.YY YY YY
Product Manual IRB 2400

yy yu

v
!
i
I

I
!
I
-+

IL

\I 0

vY

4-e
- i

.-Lx
L

I;r5s
-

-5
z.- Iv

Circuit Diagram 3HAB 5501-3

:

i-

YY YY 3 1

k
c

Product Manual IRB 2400

- x2-h

Circuit Diagram 3HAB 5501-3

r
c

1./
I

Product Manual IRB 2400

Circuit Diagram 3HAB 5501-3

-iI,.
- !

C U S T O M E R CONNCCTION
POWER
KUNDANSILU-FNING
I<RAfFl

CUY OMI Ii (:ONNI (: I ION

SIGN/II
KLJNClAN;I IJ INIPJ~;

Sl(;NAlL

.I
1 1
J

I 7

17
T

Customer connection

R2.LS2

R2.LSl
Rl.LS
&~~_~OSITION

1 Iwo

INDICATOR

switchrs
stotiowy

TV6
hrytore
lost0 klqen

-.

l?7.1mS1 - 1

GNYE
@b

RllS
BK
BN

IC
I - D- - - -

Olle
switch

__--

BU
BK

RZ.LSl -2
GNYE

--~.

GNYE

I
-iI M-

!-

BU
BK
- -

Pos. indicator axis 1

--

104

108

108

J
1t.j

1
KIY PINNE/
IJYCKI INGSPINNF

Customer connection