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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


1

SHEET OPT. NO. CONTENTS


1 LIST OF CONTENTS
2 111,112 VIEW OF CONTROL CABINET
3 DESIGNATION
4 BLOCK DIAGRAM
5 13X,14X,15X,432-433 MAINS CONNECTION
6 339 POWER SUPPLY
7 MOTOR IIN CHAIN PART 1
e MOTOR ON CHAIN PART 2
9 POWER UNIT
10 DRIVE SYSTEM IRB 1400
11 DRIVE SYSTEM IRB 1400H, 2400 AND 2400/L
12 DRIVE SYSTEM IRB 2400110, 3400, 4400, 6400 AND 64OOC
13 CONTROL CABLES
13.1 CONTROL CABLES
13.2 197 SERIAL MEASUREMENT BOARD, EXTERNAL AXES
13.3 191 INTEGRATED DRIVE UNIT, EXTERNAL AXIS
13.4 32X CONNECTIONS FOR ABB ESAB EWIPMENT
13.5 65X M94A OPTIONAL CUSTOMER CONNECTIUNS MANIPULATOR
13.6 65X M96 IIPTIIINAL CUSTOMER CONNECTIONS MANIPULATOR

13.7 7X.8X.9X OPTIONAL POSITION INDICATOR, MANIPULATOR


14 411-413 FLOPPY DISC UNIT, DATA PORTS, BATTERIES
15-17 193 EXTERNAL AXES BOARD
18 I/O-BOARD POSITIONS , I/II- SUPPLY
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
23 241 REMOTE I/O-BOARD
23.1 251 INTERBUS-S I/O BOARD
24 406.421-425.439.444 ILLUMINATION, SERVICE OUTLET, COOLING DEVICE
25 5X OPTIONAL FAN, AXIS 1 MANIPULATOR
26 182 EXTERNAL CONTROL PANEL

List of contents
Circuit Diagram 3HAB 2821-5
1

--
Circuit Diagram 3HAB 28214
1
I I
I I
I I
5 I I
I I
I I
IF---
11 r7 71
)l---A
6SXCLV I I I
Product Manual
Dl Floppy disc unit XPO Moins Plug
A Power unit
A7: A _- ESAB--Connection
ABE E2 Eorth fault breoker XP5 Customer sign01 connection
A7:0 ABB ESAB Connection EL llluminotion XP6 Customer power connection
APl:A ABB ESAB Conneclion EVl FAN, Drive system IRE 240/1400H/2400/3400/6400/6400C XPl7 Mode switch customer extension
API Drive unit oxis l/1.3.5 EV2 FAN, Drive srlem IRB 1400/6400/64OOC xPla PTC. Broke extension
AP2 Drive unit oxis 2/2.4.6 EV3 FAN, Drive srlem IRB 1400-6400/64OOC XPl9 External control panel connection
APJ Drive unit owis 3 EV4 Cooling device XP22 Externol axes. control signals extension
AP4 Drive unit oxis 4/4-6 EV5 Moin transformer Ion, IRB 6400 XSl Outlet control cable power
AP5 Drive unit oxis 5 EV6 Bock fan. Small cabinet 9ize xs2 Oullet control cable signal
AP6 Drive unit oxis 6 EV7 FAN, Drive system IRB 6400C xs3 Customer connection
AP7 Drive unit axis 7 FSl Automatic Fuse, drive system xs4 External axes signal connection, Axes board
AP9 DC-link Drive system FS2 Aulomotic Fuse, Moins voltage xs5 Customer signal connection
API0 Drive unit bock plone FS3 Automatic Fuse, Service outlet XS6 Customer power connection
API1 Anologus I/O, Cbmbi l/O. Dig l/O no 1 GBl Battery xs7 External oxis power connection
AP12 Remote I/O. Digital I/O no 2 Cl32 Battery xsa Position indicator
APl3 Remote l/O. Digital I/O no 3 CSl Power supply XSlO Anologus I/O. Combi I/O Analog port
API4 Remote I/O. Digital I/O no 4 KM1 Motor on contoctor 1 XSl I Digit01 l/O no 1
APl5 Remote I/O. Diqitol I/O no 5 KM2 Motor on contoctor 2 xs12 Digital l/O no 2
AP16 Remote l)O. Digit01 l/O no 6 KM3 Supervision contoctor xs13 Digit01 l/O no 3
AP21 Relay output no 1 KM4 Broke contoctor xs14 Digital I/O no 4
Relay output no 2 KTl Time delay. contoctor xs15 Digital I/O no 5
AP22
PT Duty time counter XS16 Digital l/O no 6
AP23 Reloy output no 3
OS1 Moins switch xs17 Mode switch customer extension
AP24 Relay output no 4
Rl. R2 Resistors. DC-link xsla PTC. Broke extension
AP25 Reloy output no 5 R3 Broke resistor IRE 6400 External control ponel connection
xs19
AP26 Reloy output no 6 RVl Voristor. Motor on contoctor 1 xs20 Progromming unit outlet
APSl Robot computer RV2 Vorirtor, Motor on contoctor 2 xs21 Service 230V outlet
AP41 System boord RV4 Voristor. Broke contactor xs22 External axes, control signal extension
AP51 External axes boord SA Control ponel XS23 External oxes signal connection, SMB
AP60 Vorislor ond diode unit SA.l Mode switch XT3 Customer connection
AP61 Serial meosurement boord SA.2 Motor on. PB XT5 Customer sign01 connection
AP6l.W SMB boltery SA.3 Motor off PB XT6 Customer power connection
APB0 Bock plone SA.4 Emergency stop PB XTB Position indicolor
APaO.Fl-4 PTC Resistor Fuse SBl Door switch drive @em fon XT10 Anologus I/O, Combi I/O onoloq port
AP8D.X2 Floppy disc sign01 SB2 Door switch, Heot exchanger. Air XT11 Digit01 I/O no 1
AP80.X22 Floppy disc power SE3 Door switch illumination XT12 Digit01 l/O no 2
APBO.X5 Data ports, SIO l-4 TM1 Transformer, Moins XT13 Digit01 l/O no 3
APBO.XJl Measurement system TMl.FUl-3 Fuse XT14 Digital I/O no 4
AP80.X32 Progromming unit TMl.ST Temperature sensor, Ironsformer XT15 Digitol I/O no 5
AP80.X34 Control ponel TM2 Transformer. Service outlet XT16 Digital l/O no 6
AP80.X35 Syslem boord, customer Vl Diode duly time counter XT17 Remote I/O boord
v3 Diode supervision contoctor XTla I/O supply
XBl Computer link XT19 INTERBUS-S
XI32 Print out Service outlet connection
XT21
XT26 Direct supply connection
Moins Filter
:: Filter Lim. Switch robot

Designation
SH. 7,8 SH. 6
MAINS SWTCH

TEACH POWER
PENDANT SUPPLY

II--
SH. 15-17
SH. 7.8 I--------
1 (EXT. AXES
I EXTERNAL 1 /
CONTROL
1 AXES
PANEL , BOARD ; !SH. 9
l-------l
cl--
SH. 6.7.8,13 \ POWER
SH. 14 UNIT
SYSTEM
/CUSTOMER I
BOARD
\ L CONNECTIONS

SH. 6,7,8.10,13,14

2
m
:, 12.13.3
BACK
PLANE

DATA RS 232/485
PORTS > \4

SH. 19-23

I/O
BOARDS ( CUSTOMER I/O

JA le.-21! I
I MANIPU- I
r 1 1 LATOR 1
l SERIAL I
I MEASUREMENT1 I-------J
BOARD I
I EXTERNAL ;
I-A_xEs----A
iVME I MEMORY
I ;
; BACK PLANE1 ; EXPANSION I
I I 1 BOARD 1
L------J L-----J

Block diagram
..
I TM2 SERVICE OUTLET
i TRANSFORMER (OPT.433)
I
I
I
I
I
I
tJl
51
61
WI
>I
2
I MAINS SWTCH

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

II
z RJ 24 / IRE 4400. 6400 / IRE 6400C
6 SERVICE OUTLET
POWER SUPPLY COOLING OEWE

Mains connection
Circuit Diagram 3HAB 2821-5
.-
I :
P
3lWN3 APZ
L)1 3)IVM8/31d A0
A$.?+ t12
lo8
-1
A0 A0
s
A0 -
AOtZ -
1dX
Product Manual
r
EXT. AXES
AP41 SYSTEM BOARD

1
13.3

)( -XPl:A22 PTC M7 ,

-Al2 lxx?4 +

24VSYS -X2:
A31

ENDEV-N
ENOEVB
MSTOPl MSTOPl < -XPl:Al4$S;;;
MSTOPZ
03 0
I-- A3 24VSYS
AUTO ASTOPl
t -
A4 ASTOPl
STOP , - >B4
L- ASTOP
BACK PLANE 1

EXT MODE COMMON2


---S-W---
--
E_XL _Mo_D_E. COMMONL
--I-i- II- I - ---t
I
I-
%FRA -1
I
) ~i~ov i
(I_ci9 STANDBnAMP 1
I CSTOPlB
L
I
XPl: A15, CSTOP
2 1
.1 1) External Control Panel
6
MOTOR ON CHAIN PART 2
connections on sheet 26 I WI
7
1
( ant
r-

MOTOR ON- chain part 1


:--
I-

EM3TOPI I
1 I
1 I

IL- I? I CSTOP2B I
-L!ef1 : CSTOPlB I
EXTERNAJ ! L-rIiAio
EMZJOP! - ESTOPl

CONTROL

CABLE
XS/XPlEl

EXT BRAKE A
___--- ------ --.---

UNIT
CUSTOMER -1% -___
Jjel3
CONNECllON
-1:P4 I
1 EXT MON 28 I POWER UNIT .yy.

MOTOR ON - chain part 2


Diagram B 2821-5
BLOlOH jjow
ZNIVH3
I
I- I-7 _
3SV3138 3m%l8 zz- LZ LVIJZV
twn
s
a
aI -u--
Product Manual
Circuit Diagram 3HAB 2821-5
3j- I--
Li= IC,E-1
x
--
ZZl
ZLl
ClN3 dWLtl -
Product Manual
Circuit Diagram 3HAB 28214
Product Manual
Circuit Diagram 3HAB 2821-5
L&-l - -
L
Product Manual
Circuit Diagram 3HAB 2821-5
Y<
ii
:: il ,
2 PXI /*9 <-
6SX
6dX
n
ZdX
t
2 ctl LSX 89
v)
LdX In
ii!
a, ! I I
L
Product Manual
Circuit Diagram 3HAB 2821-5
,
I I I _--. .
=N ; ZSZW t i
ZS ZdX Yv,
-- c, f LSZW ? I
1 -. I
Product Manual
Circuit Diagram 3HAB 2821-5
I I I I I I I I
L-l-+
_. I- -J
gz I I I I &1---, I I
h-0 I I I I I I IP
IzI IZI I I I 31 n
9;;s
u -l~lol~l I>1 IPd
a 2 01010101 >I *I >, al al
2 5 9 WI 9 9 019 0, ml 9
= Illlll Ill
Product Manual
MANIPULATOR
CONTROL CABLE

SERIAL --I
MEASUREMENT
BOARD

-!
I
SYSTEM
MOTOR TEMP.
SUPERVlSlON
BOAR\

XPl
3 -
PTC M

ia-
xs XPlB

1
1) Only IRB2400 M94-M94A
/3400

2) Not IRB2400 M94-M94A


/3400

LJ
3) Only IRB 2400

4) Only IRB 6400

LIMIT 1 MANIPgLATOR
LIMIT 2 MANIPULATOR ij grm 311 LIMIT SWTCH MANIPULATOR
MOTOR ON CHAIN LIM 2 M7
B
PART 2
LIM 1 M7 (

Control cable
(OPT.197) (OPT.197.C2)
APE0 BACK PLANE AP61 xs23

AXES

AP61 .GB

WY5

1T+r

CONTROL MANIPULATOR
xs2 CABLE CONNECTION

1
I --
A I
- t BC
CC
h O(
I, SERIAL
, E MEASUREM.
I,
BOAR0
F MANIP.
I,
G(
1, , H(
,,
4
A. <
1) Only IRE 2400 I
&L---J <
L.-l
a Not IRB 2400 M94494A/3400 1
I I
1
I I

Serial measurement board, external axes


Circuit Diagram 3HAB 2821-S
Alddr-lS tl3MOd (D
3lRVN3 htZ
AlddflS tl%Od
n3lsAs MltlO
LlNn &ElMOd
otlvoa RUSAS
AlddllS UMOd
1lNt-l kE!MOd
I I
I I
-----
L
Product Manual
i i

1
A7: B XT3 APl: A
XT3

a z 63 ov
_ 04 A STOP 2 1

A5 G STOP 1A
010 SENSOR 1
L :

05 G STOP 2A
I _ .- , --..--.. -
nl3 1 CFNSIX? 1
013 1 OV SENSOR
L : 86 G STOP 28
APl:A I
A7 G STOP 18 L z Al5 +24V l/O I
I - Cl4 ov I/O
1
--PE.-+24\11/~---
,gs - .C16 +24V I/O
20.5
x2 _ 016 OV I/O 19,4 DG I/O
ESlA -._O??. -ovl42----
- : A9 _ Cl5 ov I/O
- - Al0 E STOP 1
+24V I/O
L : Al6
L - 69 ES2A
_ 810 E STOP 2

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

Connections for ABB ESAB equipment


i

2) (oPT.~~x)

CUSTOMER POWER CONNECTION CABLE MANIPULATOR CONNECTION


CPA Rl .CP: A CPA
------ --- -----
-
1 CPB t t d - CPB
)------- --- ----_
CPC t f cc CPC
-------
CPD t t I# CPO
-------
L
CPE f f EC CPE
)-----A-
I
CPF f CPF
m-----e
L
CPJ f CPJ
------ -----
CPK t - CPK
-----em --- _----
CPl.
L 1 CPI. t ----m-s
CPM
I,1 CPM t
a
c-----u-
CPG
b m----r-

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 1) IRB 1400 is only equipped with
)---------------
CSR 12 sign01 connections
c---------------
css
------- _______ 2) M94A
- -------
CST ____ -__
- -------_-_---_
csu
- csv
----------.-----
csw
---------------
csx ___________
---
- CSY
--------- ______
csz ___________
----

Optional customer connections, manipulator


i i /
1

1) (0PT.65X)

CUSTOMER POWER CONNECTION CABLE MANIPULATOR CONNECTION


CPA Rl.CP/CS Al CPA
--- ----
---- --
CPB T T ec( CPB
--- ---- --
----
L
CPC T Cl( CPC
z--- --
A
CPD t T d CPD
--- --
-
CPE T T AZ CPE
--- --
L
CPF T d CPF
--- _--- --
- I\
CPJ T c2( CPJ
--- --
I, T 02 CPK
-
CPK
I,
--- ---- --
CPL T AS CPL
--- ---- --
L
L
CPM T CPM
---I- _---
_--- --
CPG .-
--- r--- ---- --

&
5

T 2) IRE 6400 M96

CUSTOMER SIGNAL CONNECTION CABLE MANIPULATOR CONNECTION


1 CSA Rl.CS/CS B5 CSA
----------------
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-------------- 1) IRE 2400.6400 M96

Optional position switches on manipulator


(OPT.7X)

XT8 XS/XP6
POSITION INDICATOR CONNECTION CABLE MANIPULATOR CONNECTION IRB 1400/ 24001./to/16 AND 4400
I
RIG: A - - - - - - - - - - - - - - - - - - ---
-
- T T Ed - - - - - - - - - - - - - - - - - - ---
6 r. - - - - - - - - - - - - - - - - - - ---
)---------------------
--------------m.------
--------------s------_
------------------ ---
I)------------------ --_
------------------ e-m
)------------------ - - -

?=-I POSITION SWTCHES CONNECTION CABLE


AND IRB 6400C
--------------------
___---___---__-----_
------------_------_
--------------------
-------------_------
--------------------
-------_-----------_
-------------_------
--------------------
--------------------
-------------------_
-1 I----- I l.
i 2 5
I$

L Optional position switches on manipulator, IRB 1400, 24OOL/ 16,6400,64OOC


(OPT. 411-413)

APB0 BACK PLANE


+x61
I I l-ii-- -
x5
TXDl --I 3h I TX03 YEBU 3 I

14 MGY T 2q - 7 CTSS
2 BN RS232 3% - t DSf?J RDGN T 1 32
1p GYPK T q I T
DTRS eu m I 3:
17 EN- m 1% - T
RlC3 BNYE 32
m DCDS BKWH ,--
14 CN 2%
3% z ov ROM I 30
18 GN
19 RDBU
I

RS485

RS232 SIO 4

GBl BATTERY

PRINT Dl FLOPPY DISC UNI


OUT [f= F
GE2 BATTERY

Floppy disc unit, data ports, batteries


i

AP51 xs4
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)
- ------
--- - _ -(!JL rACo 7)
)--- EXC
- ------
)--- OV EXC
- ------

c3L >X FINE 8


02L Y FINE 8
c2& OV F8
c29 ;X COARSE 8 _
02x >Y COARSE I3 _

c3 >sYNc 8
Cl= >VREF 8

_ _ _ -A,
- -- - - -_ SHIELD IS COMMON
FOR ALL AXES

xs7 LIM SW 7
LIM 1 M7
LIM 2 M7
LIMIT 2 -----
LIMIT 1

Sheer
IS
(ml
I6
External axes 7 - 8
xs4
AP51 -AXES
-
XPl : INE 9 - X- FINE
- - -9
- Y t-INE 9 A - - - - -9
Y FINE
1 (OPT.193) OV F9
_----
=!;O F9
X COARSE 9
-1 )X COARSE 9 A -----
>Y COARSE 9 A - Y- COARSE
- - - 9
ov c9
SYNC 9 SYNC 9
---mm
+EF 9 - VREF
- - -9-
>OV VREF 9 - - - VREF
OV - - 9
T

,X F I N E 10 Cl3 Ir - X- F-I N-E - 10


Y FINE 10 013( - - Y- F-I N-E - 10
OV FlO 012( - - OV- -FlO- -
X C O A R S E 10 a A13( - X- COARSE
- - - 10
;Y C O A R S E 10 d s13( - Y- COARSE
- - - 10
Cl2( ov Cl0
,-----
S Y N C 10 01 ( S Y N C 10
.----a
$REF l o c4 ( VREF 10
,-----

t-1
__------e-v--
I 1 04 5 OV
.----- VREF 10
I I
SHIELD IS COMMON
FOR ALL AXES

I
External axes 9 10
r

AP51 AXES BOARD xs4


I - - 1
I X F I N E 11

(OPT.193) I- - - ----LLLZ-

--- t ------- X COARSE 11


- - - - - - Y- COARSE
- - - 11
I - - ov
- - - - - - - -Cl1
01 SYNC11 AZ< - - - _ - - S -Y N- C- 11-
017 I: VREF 11 A5 - - - - - - VREF
- - - 11-
c l ? -, OVVREFll 85 I - - - i - - - - -VREF
OV - - 11
--I T I
c2L - X- F-I N-E - 12
al9 - Y- F-I N-E - 12
Clii- OV F12
_----
CG- - - X- COARSE
- - - 12
0lC -
Y COARSE 12
---em
- - ov
- -Cl2 - -
cl L - - - - 12
S Y N C -
Cl3 - -Y!?E-2
-O!-Y!?z 1 2

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


FOR ALL AXES

External axes 11 - 12
OPTIONAL I/O BOARDS IN CONTROL SYSTEM S4

INTERNAL
CUSTOMER CONNECTIONS I/O-SUPPLY
l/O-BOARD l/O-BOARD
POSITION DESIGNATION l/O TYPE OPT.339
EXTERNAL SCREW TERMINALS RELAY UNIT 120V AC I/C ABE ESAB
24V I/O ov
OPT.SlXJBX OPT.34X OPT.37X OPT.35X OPT.32X

1 APll COMBI I/O

ANALOGUE PART XSlO XT10 A7: A


DIGITAL PART XSll XT11 AP21 AP21 A7: A.A7: B.APl: A XTl6.13 XT18.5

1 APll ANALOGUE XSlO XT10

1 APll DIGITAL XSll XT1 1 AP21 AP21 XTlB.13 XT18.5

2 AP12 OIGITAL xs12 XT1 2 AP22 AP22 A7: A. API: A XTlB.14 XT18.6

3 AP13 DIGITAL xs13 XT13 AP23 AP23 XT18.15 XTlB.7


4 AP14 DIGITAL xs14 XT14 AP24 AP24 XT18.16 XT18.8
5 AP15 DIGITAL xs15 XT15 AP25 AP25 XT16.29 XT18.21
6 AP16 DIGITAL XSl6 XT16 AP26 AP26 XTlB.30 XT16.22

2-6 AP12-16 REMOTE l/O-BOARD - XT1 7


1-6 APll-16 INTERBUS-S XT19
CSl.xgP1.814 CSl.XPl.B24 CUSTOMER
GSl.XPl.El6 6 cs1.xP1.826
CONNECTION

--
6

+24V 7) 8)

+24V 1: )2), 9)

\I

l/O-SUPPLY s44J- l ) Link 1) 2)


opt 339 l ) D5=Cl3)
XT16
-

+24V
ov
+24V
SCREW TERMINALS

7) I) $ 2)4) 6) 2) 4) 6) 9)12OV AC 9)12OV AC


RELAY UNIT ;
>
opt 34x C
Opt 36X E>:ii I opt 37x 6
<

-
i L
20.1 19.1 20.v19.1 20.2 20.2 20.4

1) INT SUPPLY WlTH OPT 339 2) INT SUPPLY WlTH OPT 339 3) EXT SUPPLY WITH/HIITHOUT OPT 339 4) EXT SUPPLY WITH/WITHOUT OPT 339
FROM XTS/CSl TO OPT 34X/36X FROM XTJ/GSl TO OPT 37X FROM XPll-16 TO OPT 37X

J
7) INT SUPPLY WTHOUT OPT 339
5) INT SUPPLY WlTHOUT OPT 339 6) INT SUPPLY WlTHOUT OPT 339 6) INT SUPPLY WITHOUT OPT 339
FROM GSl TO OPT 34X/36X
FROM XT3 TO OPT 34X/36X FROM XT3 TO OPT 37X FROM XPll-16 TO OPT 34X/36X FROM GSl TO OPT 37X

I- I/O SUPPLY AS BASIC CIRCUIT


18.1

DIGITAL PART OF COMBI I/O


APXX AND DIGITAL I/O-BOARD xsxx l) XTXX 2) ?S/XPXX , 3,

r- -l n
I I
r-
I 1

01 INPUT CH. 1 _

1;

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

06 INPUT CH. 9,
I--q--(-
I 12
I
10, (---q--(--- 13
11, (-Jq--(--- 14
12, (---q-4+-----15
13, (----q--(9----- 163;
14, (-~<-+-+---17
15, c=-Jq--(--18
16, (--(---(--
19
(-S.--q- -(4
$

J L-l

1) Only if external connections (OPT.31X)

2) Only if internol connections or screw terminols/flonge disconnectors (OPT.34X)


3) Only if external connections and screw terminols (OPT.38X)

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


i I t

20.2

(OPT.37X) (OPT.38X)

r-i
DIGITAL PART OF COMBI l/O APXX RELAY UNIT 2 xs XPXX 1)
APXX AND DIGITAL l/O-BOARD

I - 1 I I
r-l
I I XSl I XPl: XTl: 1 I I I

I
-12 INPUT CH. 9209,
-
-
-

-+=l=1z -

=I

L I

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

L
Relay unit input
APXX 12OV AC I/O (OPT.35X)
I CUSTOMER
1rJ I
l- -\ r CONNECTION
I 2 INPUT MODULE 1 1 33
DIGITAL PART OF COMB I/O
APXX OR DIGITAL I/O-BOARD z:
$

I- 1 I
fq-,;JLf

2
3
4
-I
- +
- )OJ
-02
4,
5A :
5
6 INPUT MODULE 3

- )C4 6, 7
I- 04 7, ( 6
INPUT MODULE 4 I;2 ! 4Om 1
- $5 8, ( 9
05 Ul-
C 10
1 INPUT MODULE 5
I* - nc
L-l-)
4 I q

I I

L 120 VAC input


INPUT MODULE 16

YY4
Circuit Diagram 3HAB 2821-S
1
-5
4..
5 L
-
I
I
Product ManuaI
Circuit Diagram 3HAB 2821-5
7nl -z-I
ti2.E
k , c r?
- r
Li0
a
K
a L
N
F
X [I
3
Product Manual
(

18.1
19.1

(OPT. 20X/238) ;
DIGITAL PART OF COMBI I/O
APXX AND DIGITAL l/O-BOARD ,xsxx
,XTXX ) , I
I
r- CONNECTION
c

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


i I

DIGITAL PART OF COMB I/O


APXX AND DIGITAL l/O-BOARD

(OPT.36X)

-23

A3
I-
- cl3 OUTPUT CH. 4 -25

I I44: OUTPUT CH. 4 A4


- I---
- 013 OUTPUT CH. 5 -26

INPUT OUT CH. 6


-I--

014 OUTPUT CH. 7 -26


1-u I INPUT OUT CH. 7

A7
---------I--
- cl5 OUTPUT CH. 6
-,w,p!

I II II - P

kc

Relay unit, output 1 - 8


(OPT.37X)
z

r
DIGITAL PART OF COMBI I/O APXX 7 2
APXX AND DIGITAL I/O-BOARD
I I t
XPl:
(I 31

-32

INPUT OUT CH. 11

All
I-

INPUT OUT CH. 12

- 018 OUTPUT CH. 13 ( -36

Al3
I--
- cl9 OUTPUT CH. 14 < -37
INPUT OUT CH. 14 141 814
-I--

- 019 OUTPUT CH. 15 < -36

Al5
-F
- c20 OUTPUT CH. 16 ( -39
(L 816
--+- )020 u4- -E

Relay unit, output 9 - 16


(OPT.35X)

1
APXX 12OV AC I/O

DIGITAL PART OF COMBI l/O


r
#-+-A
OUTPUT MODULE 1

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

APXX OR DIGITAL I/O-BOARD


I

I I 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

I 18

120 VAC output


Circuit Diagram AHAB Zclzl-5
u. .
aE L
-1
--I
-1
N

90
0 IA0 s\
1
O/l he+
7
L
Product Manual
Circuit Diagram 3HAB 28214
52% L
a..
5 J
-i r
0
1
a
K
a L -I
iI
!
I I
I
L
Product Manual
(OPT.238)

API1 COMBI l/O-BOARD


1
XSl:
ADC XPl TEST INPUT CH. 1

I l I
I RET 025.~25 0
II
(
I DAC b -I---
392 r== 024 OUTPUT CH. 1 , ( -A( -

-94 I=+- OUTPUT CH. 2 ,(a,#(-


5
c26 0 C5
026 ov:=os:=
I I
I -
I I
- c27 EXT+lSV A6
ANALOCUE OUTPUT PART - t 027 EXT+lSVf ; 3 =
OF COMBI l/O-BOARD - f c28 EXT 0 t ( 4 -
- T 028 EXT 0 t D6
- t c29 EXT-15VT ; a =
- A, 029 EXT-15 m
,, ( -A( -

- c32
- 032

L -I,,
c30
t 030
T c31
t 031

1) Only if external connections (OPT.SlX)


2) Only if screw terminols/flonge 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


I

TEST INPUT CH. 1


---- INPUT CH. 2
l-l ri

- -10 A26+$26
I I T t I I
OUTPUT CH. 1 A24c+24
rc - -8 II Ii
AZ+$25
I4 Ii
C24 (+A24
I, Ii

ANALOGUE OUTPUT PART -. . . . . - . ,

OF COMBt I/O-BOARD FYT n\r +c .I i

- c32 INT+lSV - -23 C32<+32


- 1-4 74 A170 _ rZ7

Combi I/O-board analogue output part


(OPT.227)

Pll ANALOCUE l/O-BOARD ,XSlO I), ;TlO 2r ;S/XPIO, 3CLSTOMER

CONNECTION
XSl:ol INPUT CH. 1

INPUT CH. 2 sr

INPUT CH. 4 z

37

DAC 04 OUTPUT Cl-l. 1

E-
c4 OUTPUT CH. 2

E-

3r

==f
z

I--

l-

I-

t-

I--

3-

1) Only if extcrnol conneclions (OPT.JlX) _ I


T
2) Only if screw terminole/f~ongc disconnectors (OPT.34X)
Sheet
3) Only if external connections ond screw terminals (OPT.38X) 22
(OnI
23
Analogue I/O-board
APXX I/O-BOARD (OPT.2411
CUSTOMER
XT17
l---l
-I------
--------
CONNECTKIN

1 3)
D
-_ ------
------
24VDC EXT SUPPLY

D
_-I _-----
_----- I
- ------
b

_--I------
_-----1
IB-S IN

k--D -------- GND

-------
a29 D12 Is
-

_ 1----- 3
> I,
c29 Dl2-N 9
-
DO2 1Q IB-S OUT
REMOTE Ml FOR ) ; a30 I)Cl2-N
c30 11
ALLEN BRADLEY PLC 12
;31 RBST I I>

-mzi
23
(M&l
23. I
Remote I/O-board for Allen Bradley PLC
1

POWER SUPPLY

(OPT.251)

CUSTOMER
CONNECTION

------ 3)
-_---- 1 24MC EXT SUPPLY
------
------
------ 18-S IN
------ I

1
------ GND
-_----
------
------ ie-s OUT
------

III1 1

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
L
MAINS CONNECTION
25
8 Y 8
5 5 5
ITiE
Q In In
Se3 DOOR SWITCH EL ILLUMINATION

-1
:g g
NC-l c
/-+
23OV/23OV SERVICE 2 Ll 1 ( O P T I O N 406)
OV/N SERVICE I N L1.l
IL
PAA
z rh(

L tm

zi 1 XS21 SERVICE OUTLET


2-1 , 120V/230V/SERVICE
rb
I,
J
r(
1 )
Y * ; OV/N S E R V I C E (OPTION 421-425)
, 1 ,
I
I EARTH FAULT I 7
S82 DOOR SWITCH

h
cl (OPTION 439)

EV4
fi?

1 (OpTiON 444)

L I
Cooling device, service outlet, illumination (options)
nx
sl24lcct
25
I i

(OPTION 5x)

POWER
UNIT POWER
9 SUPPLY TERMINAL XT21
6 24

CT1 -.-
I -
.7
OPTION
FAN AXIS 1 E

:
C B
FC.2 17 FC.1 I
I
13 CONTROL
- ~~ -~~~ 230V F A N /

L
13.1 CABLE
I
.I

Slleel
25
(on1
2ti
Optiona.l fan, axis 1 manipulator, time delay, concator
TEACH PENDANT
+AP80.X32

*T/
I ON
7 CHAIN
PART1

MOTOR

CDHNAIN
PART2

Teach pendant
I i

EXT. CONTROL PANEL EXT.+XP/XS!~ +xP/xsls

I I

+APBO.X34 MOTOR
P2 --,6 ,ON
ASTOPZ :12 CHAIN
MSTOPl PART1
ASTOPl
MAN FS <20
1 MAN ,519
AUTO ;1El AUTO -\18
24V -<24
CSTOPl A <7
GSTOPZA :a
:9
ESTOPl - <IS
MOTOR OFF PB. /
ESTOPZ -\16
LIMIT2 <14
MONPB -:13 MOTOR
ON
ESlB -:23 CHAIN
MOTOR ON PB. ESZB :22 PART2
ESZC <3
3 ESlC :4
/
x20 Xl

1
MOTOR OFF LAMP
WJ MOFFLAMP MOFFLAMP MOTOR
MONLAMP
MOTOR ON LAMP 7 ON
ov CHAIN
I
PART1
I

L Externa.l control panel option 182


I i

___..- ---
1

WEE1 CONTENT
BILAD INNCI-I/!-l
LEGEND
SYMBOLER
List of contents
101
Motor Inneh6llsfbrtccknirlg
Motor
Connection point locations
Broke 102
tjversikt Over delninqspunkter
Broms
Breake release unit,
PTC Temp. sensor (PTC-resistor)
103 Serial measuring board
Temp. givore (PTC-motst6nd)
9 Bromslossningsenhet, seriemdtkort

R - Resolver
42 Motor axis l-3
Resolver 101
Motor axe1 1-3

Protective earth Feed- back axis 1. -3


105
Skyddsjord AterfUringsdon clxel l- 3

Twisted cables Motor axis 4-m6, 1,5-10/16


Tvinnode koblor 106 Motor clxel 4-6, 1,5-- lo/16
Screened cables
Skclrmade kablor Feed --back axis 1 6, l,!i lO/lG
107
AterfOringsdon CJXCI 1 6, 1,5 lO/lC,

Motor axis q--6, 1,8--F)


108
Motor axel 4---6, l,&li

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


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

Customer connection
110 Kundanslutning

Position indicator uxis 1; OfII ON


111
LOgesirrdikering axe1 1 ; 01 1 ION

External connections; OPTION


112
Yttre cinslutninq(ir; 01llON

- List of contents ---


----yl!!!?
R3.MP4
R3.FB4
I
R3.MP5
RS.MP6
R3.FB5
JiE-3
0 1,8-5

RS.FB6 /, AIR
t<J.Mt
L
R2.CP
,R2.CS - tis.t-tJ t- Fi3.l-t37
1 r---
R3.MP4
R3.MP5 ii IIIg 1,5-lo/16

/ Rl LS
-i_

3 AIR
Rl .MP
Rl .SMB
Rl .CP/CS

Rl.MPl-3
Rl .MP4-6
Rl.CP
Rl.CS /
_----

R2.SMB fi 1 .I~ s 2
R2.G Rl .LmSl (0f
m;l 1-1: 3lIf )
R2.BU
R2.BUl-3
R2.BU+ 6
R2.FBl-3
R2.FB4-6

Connection point location


1
r

R2.SMB
I s_P
-SJ-N
so.
diO-
112
I ov-
I R3fllJl 3
34V 1
-imRATSUP - -7c
-- q ) 101
R?l1114 6
------I-

L.
L -I

Sh.105. 107. 109

Brake unit, serial measurement board


Circuit Diagram 3HAB 5501-3
-
3-c+-+-
c,
I
-- ,
I
c-
- /
i
::
c 5; i;i
f-
$
i ! i
Circuit Diagram 3HAB 5501-3
r
--
Circuit Diagram 3HAB 5501-3
j i
l/i II
, _i
-z2; -i
;: E, 9
I I
F--i+
Product Manual IRB 2400
Circuit Diagram 3HAB 5501-3
: I;r- -5
5s z-
- .- -
.-Lx
L Iv
v vY
!
I I
i
I
I
!
I
-+
4-e
- i
--
6 6
IL
yy yu
\I 0
i-
r.YY YY YY YY YY 3 1
u
Product Manual IRB 2400
Circuit Diagram 3HAB 5501-3
I
-
-
- -
k
c
- - - x2-h
- .
i
c
I
I I
L
Product Manual IRB 2400
Circuit Diagram 3HAB 5501-3
r
c
1./ -iI,.
- !
I
1
Product Manual IRB 2400
r

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.LSl R2.LS2

Rl.LS
&~~_~OSITION INDICATOR
1 Iwo
switchrs
stotiowy

TV6
hrytore
lost0 klqen

-. I
l?7.1mS1 - 1
GNYE
@b RllS
BK
BN __-- Olle
switch

BU
IC
BK
I - D- - - -

RZ.LSl -2
GNYE --~.

GNYE

I
-i- BU
I M- - - BK
- - . -

!- Pos. indicator axis 1 - -


-- -

104

108

108

J 1
1t.j KIY PINNE/
IJYCKI INGSPINNF

Customer connection