Cableado Irc5 Compact

1 2 3 4 5 6 7 8
The information in this document is subject to change without notice and should not be construed as a
commitment by ABB. ABB assumes no responsibility for any errors that may appear in this document.
We reserve all rights in this document and in the information contained therein.Reproduction, use or
disclosure to third parties without express authority is strictly forbidden. © Copyright 2003 ABB
Except as may be expressly stated anywhere in this document, nothing herein shall be construed as any
kind of guarantee or warranty by ABB for losses, damages to persons or property, fitness for a
specific purpose or the like.
In no event shall ABB be liable for incidental or consequential damages arising from use of this document.
This document and parts thereof must not be reproduced or copied without ABB's written permission,
and contents therof must not be imparted to a third party nor be used for any unauthorized purpose.
Contravention will be prosecuted.
Additional copies of this document may be obtained from ABB at its then current charge.
© Copyright 2016 ABB ALL right reserved.
ABB Engineering (Shanghai)

No.4528, Kangxin Highway, Kangqiao Town
Nanhui District, Shanghai, 201319
P.R.China
Latest revision: Lab/Office: Status: Plant: =

Approved Location: +
COPYRIGHT Sublocation:+
Document no. Rev. Ind Page 1
3HAC049406-003 Next 2
Prepared by, date: CNSHLIN8 Approved by, date: 02 Total 52
1 2 3 4 5 6 7 8
Customer :
:
Drawing number :
Drawing version :
Manufacture :
Type :
Type of installation :
Control cabinet :
Mains voltage :
Supply :
Control voltage :
Year of construction :
Project start :
Project manager :
Last revision :
Designed by :
Designed date :
Number of pages :
:

TITLE PAGE Sublocation:+
3HAC049406-003 Next 3
1 2 3 4 5 6 7 8
Table of contents ABB_table_of_contents
Plant Location Page Page description Page supplementary fieldDate Editor

1 COPYRIGHT 4/1/2016 CNWILIU5
2 TITLE PAGE 4/1/2016 CNWILIU5
3 Table of contents: 3/31/2016 CNYIHU2
4 Table of contents: 3/31/2016 CNYIHU2
5 REVISION INFORMATION 3/31/2016 CNYIHU2
6 Front View 4/1/2016 CNWILIU5
7 Top View 4/1/2016 CNWILIU5
8 Side View 4/1/2016 CNWILIU5
9 BLOCK DIAGRAM 3/31/2016 CNYIHU2
10 MAIN POWER INPUT 3/31/2016 CNYIHU2
11 POWER SUPPLY DSQC 661 AND 662 3/31/2016 CNYIHU2

12 SAFETY INPUT & OUTPUT 3/31/2016 CNYIHU2
13 RUN CHAIN OPERATING MODE SELECTOR, 2 MODES 3/31/2016 CNYIHU2
14 PROTECTIVE STOP 3/31/2016 CNYIHU2
15 POWER UNIT SERVO DISCONNECTOR 3/31/2016 CNYIHU2
16 RUN CHAIN EXT OPERATING MODE SELECTOR, 2MODES 3/31/2016 CNYIHU2
17 FPU, FLEXPENDANT 3/31/2016 CNYIHU2
18 Main Computer/AnybusCC/RS232 Exp./Interface Board/ 4/1/2016 CNWILIU5
19 MAIN COMPUTER A31 DSQC1000 / DSQC1018 3/31/2016 CNYIHU2
20 MAIN COMPUTER A31 DSQC1000 / DSQC1018 ; A32 DSQC1003 3/31/2016 CNYIHU2
21 FIELDBUS ADAPTER A32: 3/31/2016 CNYIHU2
22 DEVICENET A31.2 DSQC1006 / PROFITBUS DP A31.3 DSQC1005 3/31/2016 CNYIHU2
23 DIGITAL I/O UNIT INPUT 3/31/2016 CNYIHU2
24 DIGITAL I/O UNIT OUTPUT 3/31/2016 CNYIHU2
25 DIGITAL PART OF COMBI I/O AND 3/31/2016 CNYIHU2
26 DIGITAL I/O UNIT DSQC652 3/31/2016 CNYIHU2
27 COMBI I/O UNIT DSQC651 3/31/2016 CNYIHU2
28 RELAY I/O UNIT DSQC653 3/31/2016 CNYIHU2
29 RELAY I/O UNIT DSQC653 3/31/2016 CNYIHU2
30 REMOTE I/O UNIT DSQC350A 3/31/2016 CNYIHU2

Table of contents: Sublocation:+
3HAC049406-003 Next 4
1 2 3 4 5 6 7 8
Table of contents ABB_table_of_contents
Plant Location Page Page description Page supplementary fieldDate Editor

31 ANALOGUE I/O UNIT DSQC355B 3/31/2016 CNYIHU2
32 ENCODER UNIT DSQC377 3/31/2016 CNYIHU2
33 CC-LINK 3/31/2016 CNYIHU2
34 VISION, INTEGRATED CAMERAS 3/31/2016 CNYIHU2
35 ETHERNET SWITCH A64/CAMERA 3/31/2016 CNYIHU2
36 AXIS COMPUTER UNIT 3/31/2016 CNYIHU2
37 AXIS COMPUTER UNIT 3/31/2016 CNYIHU2
38 RECTIFIER AND BLEEDER 3/31/2016 CNYIHU2
39 FAN UNIT 3/31/2016 CNYIHU2
40 REMOTE SERVICE BOX DSQC680 3/31/2016 CNYIHU2
41 SERVO DRIVE SYSTEM IRB 120 3/31/2016 CNYIHU2

42 CONTROL CABLE 3/31/2016 CNYIHU2
44 CONTROL CABLE IRB 140 3/31/2016 CNYIHU2
49 SERVO DRIVE SYSTEM IRB 1410, 1600, 260 3/31/2016 CNYIHU2
50 CONTROL CABLE IRB 1410, 1600, 260 3/31/2016 CNYIHU2

Table of contents: Sublocation:+
3HAC049406-003 Next 5
1 2 3 4 5 6 7 8
Rev 00 2014 10
- Initial Revision
Rev 01 2016 02
- Update for NGAC SafeMove
Rev 02 2016 09
- XS16 updated to 4pin
- S21.1 pin number updated

REVISION INFORMATION Sublocation:+
3HAC049406-003 Next 6
1 2 3 4 5 6 7 8
XS41 XS1 XS4

XS7 XS8 XS9 S21.1 S21.3
Signal cable for force control Power cable Flex Pendant
ES1 ES2 Safety Stop Mode switch Emergency stop
A
XS12
Digital input 1
XS13 S21.2
Digital input 2
Motor on
XS14
Digital output 1
XS15
Digital output 2 XS2

XS16 Signal cable S21.4

Power supply Brake release
Only for IRB120
XS18 EtherNet Switch

Profibus A64
XS0
Power input Remote service
XS17
DeviceNet A61
Q1
Power switch
SECTION A-A A
SCALE 1 : 2.5

Front View Sublocation:+
3HAC049406-003 Next 7
1 2 3 4 5 6 7 8
Bleeder
R1.1
Fan
Fan cover
E41, E42
Drive unit
System power supply

A41
G1
Digital I/O
Contactor Unit A35
K42, K43, K44
Safety board
DSQC400 for Normal
DSQC400E for NGAC
A21

Top View Sublocation:+
3HAC049406-003 Next 8
1 2 3 4 5 6 7 8
Leftside View Rightside View

Filter Main computer Axis computer Ultra cap bank Power distribution
Z1 A31 A42 G3 G2

Side View Sublocation:+
3HAC049406-003 Next 9
1 2 3 4 5 6 7 8
Z1 Q1
K43 K42
220V~230V
A41 G3 G1&G2
AC
Drive unit Ultra cap
DC
A42 A21 A31

Main
Axis Safety Computer
computer board
NGAC Safety
board
A35 I/Ox
A31.4
Digital I/O I/O
unit
Manipulator
Customer
S21 connection
Control panel
TPU
Ethernet service
Field bus
USB
Latest revision: Lab/Office:

LAN Status: Plant: =
BLOCK DIAGRAM Sublocation:+
3HAC049406-003 Next 10
1
Latest revision:
Prepared by, date: CNSHLIN8

2
Approved by, date:

15.a;8 / -L1 -21AWG14 BK
15.b;8
3
11;7 / -LP1
-Q1
BK
-Z1
15.a;8 / -L2 -22 AWG14

-XS0
15.b;8 -15 AWG14 BK -11 AWG14 BK

2
1
L1
1
L1'
3
-16 AWG14 BK -12 AWG14 BK

4
11;7 / -LP2
4
3
L2
2
L2'
6
5
L3
L3'
AWG14 GNYE
Lab/Office:
5
MAIN POWER INPUT

6
22
21
16
15
12
11
Status:
7
P
P
P
N
N
N
Approved
Document no.
Wire No. Single phase
3HAC049406-003
Plant:
Sublocation:+
Location: +
=
8
02 Total 52
Next 11
Rev. Ind Page 10
-G2
36;2 / -+24V DRIVE -241 AWG20 BU
1
DSQC662
36;2 / -0V DRIVE -242 AWG20 BU
1
Latest revision:
4
38;2 / -24V Drive sys -243 AWG20 BU
2
-X3
38;2 / -0V Drive sys -244 AWG20 BU

3
AXIS COMPUTER / DRIVE

6
-G1
40;2 35;2 / -24V_OUT -254 AWG20 BU
1
2
23;1 / -+24Vdevicenet 247 AWG18 RD
-X1
-X2
-X4
AWG12 BU
2
-PE1
DSQC661
35;2 40;2 / -0V_OUT -255 AWG20 BU
3
1
1
BK
Approved by, date:

23;1 / -0Vdevicenet 248 AWG18
4
2
2
24V Devicenet/ I/O

3
4
15.a;6 15.b;6 / -+24V BRAKE;1 -250 AWG16 BU
1
-X1
-252 AWG16
4
3
42;2 44;2 46;2 48;2 50;2 / -BRAKEPB BU
2
AWG14 GNYE
3
3
3
4
-X5
5
42;2 44;2 46;2 48;2 50;2 / -0V BRAKE;1 -251 AWG16 BU
BRAKE
5
-X3
AWG20 BU
-X2
42;2 44;2 46;2 48;2 50;2 / -0V BRAKE;2 -253 AWG16 BU

6
3
3
7
4
4
12;3 / -24V SYS -465 AWG20 BU

1
4
-153 AWG16
-152 AWG16
12;3 / -24V COOL -466 AWG20 BU

BK
BK
2
3
4
5
Lab/Office:
19;2 / -24V PC;1 -302 AWG20 BU
6
-X6
12;3 / -0V SYS -467 AWG20 BU

7
5
12;3 / -0V COOL -468 AWG20 BU

8
PC/SAFETY BOARD
9
10
11
19;2 / -0V PC;1 -304 AWG20 BU

12
POWER SUPPLY DSQC 661 AND 662

6
-G3
-X1
24V CHARGE
1
1
24V CHARGE
2
2
N.C.
3
3
N.C.
4
4
N.C.
-X7
5
5
6
6
7
7
+SENSE
Status:
8
8
N.C.
7
9
9
Approved
N.C.
-LP1 / 10;3
10
10
Document no.
-LP2 / 10;4
20;7 / -USB2 +5V 2/RD

3HAC049406-003
1
20;7 / -USB2 D- 1/WH

Plant:
-X8
20;7 / -USB2 D+ 1/GN

MAIN
3
20;7 / -USB2_GND 2/BK

COMPUTER
4
Sublocation:+
Location: +
=
8
39;3 / -+24V COOL;3 AWG20 BK

1
39;3 / -+24V COOL;2 RD

-X9
39;3 / -0V COOL;3 BN

UNIT
3
39;3 / -0V COOL;2 OG

MAIN FAN
4
02 Total 52
Next 12
Rev. Ind Page 11
1 2 3 4 5 6 7 8
Option: DSQC1015 safety Board

-A21
-A31.4 -X1
1 AWG20 BU -X13
-Y1 -LIM_2B / 42;2 44;3 46;3 48;3 50;3
2 AWG20 BU -X12 24V FPU POWER
11;4 / -24V SYS 1 24V SYS 1
-LIM_2A / 42;2 44;3 46;3 48;3 50;3
24V PANEL
1269 -Y2 1 2
11;5 / -0V SYS 1 0V SYS -LIM_1B / 42;2 44;3 46;3 48;3 50;3
1270 2 3
-LIM_1A / 42;2 44;3 46;3 48;3 50;3
24V PANEL
Power distribution11;4 / -24V COOL 4
board 3
11;5 / -0V COOL
4
ES1 top -XS7/X1 -X10 -209 AWG20 BU -ES FPU 1:A / 16;2 17;2
1 -XS8/X2 5
ES2 top -211 AWG20 BU -ES FPU 2:A / 16;2 17;2 FPU
1 7
-212 AWG20 BU -ES FPU 2:B / 16;2 17;2
EXTERNAL 8
EMERGENCY 0V 0V -210 AWG20 BU -ES FPU 1:B / 16;2 17;2
24V Panel 24V PANEL
STOP PB 2 6
2
RunCh0V
RunCh+
Run CH1 top

Run CH2 top 3
-S21.3
-X9
3
Option: DSQC1015 safety board -237 AWG20 21 22
-A31.4 3 -238 AWG20
-X7 9 -233 AWG20 11 12
3 5 -234 AWG20
9 11 -231 AWG20
4 6 -232 AWG20
RunCh0V 12 -235
1 Sep ES2:A AWG20
7 RunCh+ 4 -236
2 Sep ES1:A AWG20
JUMPER
5 7 10
JUMPER
Not available on CDU U U

6
Sep ES1:B
8
Sep ES2:B
8
ES2 bottom
JUMPER
JUMPER
EXTERNAL ES1 bottom 5 -X11

SUPPLY 0V 5
24V Panel 6
1
6 2
AWG24 -24V_Sig.ref. / 19;7
24V PANEL 3
BU -RS485+ / 19;7
4
WHBU -RS485- / 19;7 MAIN
0V 5
COMPUTER
ES1:int WHBN -0V_Sig.ref. / 19;7
6
Option: DSQC1015 safety Board 4
ES2:int 7
14;6 / -RunCh+
14;6 / -RunCh_0V
14;7 / -RCH2
14;7 / -RCH1
-A31.4 4 ES1 ES2 8
-X6 -X14
10 1265 AWG24 BU ES1OUT:A
14 1268 AWG24 BU ES2 OUT:A 1
3
9 1266 AWG24 BU ES2 OUT:B
4
5 1267 AWG24 BU ES1OUT:B
2

SAFETY INPUT & OUTPUT Sublocation:+
3HAC049406-003 Next 13.a
1 2 3 4 5 6 7 8
Option: DSQC1015 safety Board

-A21 -A31.4
-X6
6
-X10 8
24V SYS 24V FPU POWER -205 AWG24 x 2 BU -24V FPU POWER / 13.b;5 16;2 17;2
24V PANEL FPU 3
1
0V SYS -206 AWG24 x 2 BU -0V PANELB / 13.b;5 16;2 17;2 4
2
-207 AWG24 x 2 BU -EN1_1 / 13.b;5 16;2 17;2
3
-208 AWG24 x 2 BU -EN1_2 / 13.b;5 16;2 17;2
4
Option:Run chain Ext Operating, 2 Mode Selector

-X6
DSQC1015 safety board

-A31.4
6 -260 AWG20 BU -S21.1.XS1 EXT S21.1.XP1 -X6
5 -261 AWG20 BU -1241 EXT.AUTO1 1254 AWG24 BU 23
4 -1240 EXT.MAN1 1 1 1250 AWG24 BU 21
3 -262 AWG20 BU -1245 EXT.AUTO2 2 2 1246 AWG24 BU 17
2 -263 AWG20 BU -1244 EXT.MAN2 3 3 1255 AWG24 BU 15
1 4 4
AUTO
AUTO
MAN
MAN
-S21.1
1 3 5 7 9 11 13 15
2-MODE SELECTOR
>1 2 6 10 14
-1246 EXT.COMMON2 1248 AWG24 BU 20

-264 AWG20 BU -1242 6 6
EXT.COMMON1 1247 AWG24 BU 18
10 -265 AWG20 BU 5 5
11
13.b;2 / -EN1
13.b;2 / -EN2
13.b;2 / -MAN1
13.b;2 / -MAN2
13.b;2 / -SPEED
-S21.2
/13.b;5 Option:
-229 AWG20 BU 14 13
7 -228 AWG20 BU Motor-on switch
13
-230 AWG20 BU X2 X1
14
-S21.4
Option:
-300 AWG20 BU 14 13
Brake release button
8 /13.b;5
/16;4 Only for IRB120
-299 AWG20 BU
9

Location: +
RUN CHAIN OPERATING HW MODE SELECTOR, 2 MODES Approved Sublocation:+
Document no. Rev. Ind Page 13.a
3HAC049406-003 Next 13.b
1 2 3 4 5 6 7 8
-A21
-X10 Option: DSQC1015 safety Board

24V SYS 24V FPU POWER -205 AWG24 x 2 BU -24V FPU POWER / 13.a;5
24V PANEL -A31.4
1 FPU -X6
0V SYS -206 AWG24 x 2 BU -0V PANELB / 13.a;5 6
2 8
-207 AWG24 x 2 BU -EN1_1 / 13.a;5
3 3
-208 AWG24 x 2 BU -EN1_2 / 13.a;5 4
4
9
-X6
6 -260 AWG20 BU
5 -261 AWG20 BU Option: DSQC1015 safety board
4
-A31.4
3 -262 AWG20 BU -X6
2 -263 AWG20 BU AWG24 BU 23
1 AWG24 BU 21
AWG24 BU 17
AWG24 BU 15
>1
10
11 20
18
13.a;2 / -EN1
13.a;2 / -EN2
13.a;2 / -MAN1
13.a;2 / -MAN2
13.a;2 / -SPEED
-S21.2
/13.a;5
-229 AWG20 BU 14 13
7 -228 AWG20 BU
13
-230 AWG20 BU X2 X1
14
-S21.4
Option:
-300 AWG20 BU 14 13
Brake release button
8 /13.a;5
/16;4 Only for IRB120
-299 AWG20 BU
9

Location: +
RUN CHAIN OPERATING SW MODE SELECTOR, 2 MODES Approved Sublocation:+
Document no. Rev. Ind Page 13.b
3HAC049406-003 Next 14
1 2 3 4 5 6 7 8
-A21
24V SYS 24V FPU POWER
24V PANEL
0V SYS
/ 12;6
/ 12;5
-XS9/X5
/ 12;6
/ 12;6
24V PANEL
-RunCh_0V
24V PANEL
-RunCh+
12 24V PANEL
/
-MAN2
-MAN1
-EN2 /
-EN1 /
6 0V
-RCH2
-RCH1
7 0V
1
AS1+
11 AS1
AUTO
STOP &
AS1-
AS2+ 9 AS2 SOFT AS
5
AS2-
GS1+ 3 GS1
10
GENERAL &
STOP
GS1- SOFT GS
GS2+ 8 GS2 CH2 CH1
4
GS2- INTERLOCKING
2
Option: DSQC1015 safety board -X15

24V PANEL
-A31.4 -X6 6 0V
24 1263 AWG24 BU SS1+ 1 SS1
4
SS1
22 1264 AWG24 BU SS1- SOFT SS

1 1262 AWG24 BU SS2+ 2 SS2
-LOCK1A
-LOCK2B
5
-SELF1
-SELF2
SS2
-CH1
-CH2
15.a;2 /
15.a;3 /
15.a;5
15.a;5
15.a;4
15.a;4
2 1261 AWG24 BU SS2-
3

PROTECTIVE STOP Sublocation:+
3HAC049406-003 Next 15.a
1
Latest revision:
-A21
4
2
28
27
25
24

P
P
P
N
N
N
-X8
-K42
-471 AWG20 BU -0V COOL;6 / 15.b;2
2

-472 AWG20 BU -CH1 / 14;6
1
A2
A1
Approved by, date:

-K44
-473 AWG20 BU -0V_COOL / 15.b;2
6
-474 AWG20 BU -BRAKE / 15.b;2

5
A2
A1
-K43
-475 AWG20 BU -CH2 / 14;7
4
3
-476 AWG20 BU -24V_PANEL / 15.b;3

3
A2
A1
-X3
-451 AWG20 BU
24V
-452 AWG20 BU -BRAKE_FB 15.b;3

1
2
5
-479 AWG20 BU
0V
-480 AWG20 BU -SELF1 14;7

3
4
3NO
4NO
-481 AWG20 BU
24V
AWG20
-485
-482 AWG20 BU -SELF2 14;7

7
3NO
4NO
-483
AWG20
1NC
2NC
-484 AWG20 BU -LOCK1A 14;7

2
Lab/Office:
1NC
2NC
-486 AWG20 BU -LOCK2B 14;7

6
5
POWER UNIT
AWG20
PTC1
-448
15.b;5 / -EXT.LAMP
42;2
BRK REL RET
BRK REL OUT
-X7
PTC1 ret
44;2
4
3
2
1
46;2
48;2
SERVO DISCONNECTOR
50;2 -447 AWG20 BU
-487
AWG20BU
15.b;6 / -BRAKEREL1 -443 AWG16 BU AWG16 BU AWG16 BU

4
3
13
14
14
13
42;2
CONTROL CABLE
-490 -489
6
44;2
46;2
48;2
50;2
-PTC
15.b;6 / -BRAKEREL2 -444 AWG16 BU

42;2
-PTC_RET
44;2
46;2
48;2
50;2
-+24V BRAKE;1
/ 11;3
Status:
7
Approved
/ 15.b;6 42;1 44;2 46;2 48;2 50;2
Document no.
/ 15.b;6 42;1 44;2 46;2 48;2 50;2
3HAC049406-003
Plant:
BK
Sublocation:+
Location: +
=
15.b;8 / -L12 -27 AWG14 BK -24AWG14 -L1 / 10;3

2
1
2
1
BK
8
15.b;8 / -L22 -28 AWG14 BK -25AWG14 -L2 / 10;4

4
3
4
3
DRIVE UNIT
02 Total 52
Rev. Ind Page 15.a
Next 15.b
1
Latest revision:
-A21
4
2
28
27
25
24

P
P
P
N
N
N
-X8
-K42
-471 AWG20 BU 2 -0V COOL;6 / 15.a;2

-472 AWG20 BU -CH1 /
2
A2
A1
-K44
-473 AWG20 BU -0V_COOL / 15.a;2
6
Approved by, date:

-474 AWG20 BU -BRAKE / 15.a;3
5
A2
A1
-K43
-475 AWG20 BU -CH2 /
4
-476 AWG20 BU -24V_PANEL / 15.a;3

3
A2
A1
3
-X3
-451 AWG20 BU
24V
-452 AWG20 BU -BRAKE_FB 15.a;4
1
2
5
-479 AWG20 BU
0V
-480 AWG20 BU -SELF1

6
5
3
-481 AWG20 BU
24V
8
4
AWG20
-485
-482 AWG20 BU -SELF2

6
5
7
-483
AWG20
1NC
2NC
-484 AWG20 BU -LOCK1A

2
1NC
2NC
Lab/Office:
-486 AWG20 BU -LOCK2B
6
5
AWG20
PTC1
-448
15.a;5 / -EXT.LAMP
BRK REL RET
BRK REL OUT
-X7
PTC1 ret
4
3
2
1
-447 AWG20 BU
-487
AWG20BU
15.a;6 / -BRAKEREL1 -443 AWG16 BU AWG16 BU AWG16 BU

4
3
13
14
14
13
-490 -489
15.a;6 / -BRAKEREL2 -444 AWG16 BU

6
-PTC
-PTC_RET
/ 15.a;6
-+24V BRAKE;1
/ 15.a;6
Option: DSQC1015 safety board

-A31.4
/ 11;3
POWER UNIT SERVO DISCONNECTOR, Option-Safemove

-X6
1244 AWG24 BU
7
Status:
1242 AWG24 BU
7
Approved
1243 AWG24 BU
3NC
4NC
12 11
Document no.
1241 AWG24 BU
16
3NC
4NC
3HAC049406-003
Plant:
BK
15.a;8 / -L12 -27 AWG14 BK -24AWG14 -L1 / 10;3
2
1
2
1
BK
Sublocation:+
Location: +
=
15.a;8 / -L22 -28 AWG14 BK -25AWG14 -L2 / 10;4

4
3
4
3
8
DRIVE UNIT
02 Total 52
Next 16
Rev. Ind Page 15.b
1 2 3 4 5 6 7 8
SAFETY BOARD Cabinet EXT.CONTROL PANEL

-A21 +EXT-A21
-X6 -X6
-260 AWG20
5 5 -261 AWG20
4 4 -262 AWG20
2 2 -263 AWG20
1 1 2-MODE SELECTOR
=CAB-S21.1 1 3 5 7
2 6
-264 AWG20
10 10 -265 AWG20
11 11
-PE1 -PE1 MOTOR ON PB
-S21.2
-229 AWG20 14 13
7 7
-230 AWG20 X2 X1
14 14 -228 AWG20
13 13
-S21.4
-300 AWG20 BU 14 13
8 /13.a;5
-299 AWG20 BU /13.b;5
9
Option: Brake release button EMERGENCY PB
-X9 Only for IRB120 -X9 -S21.3

-237 ES panel 1:A 21 22
-238 ES panel 1:A
3 3
9 9 -233 ES panel 2:A 11 12
5 5 -234 ES panel 2:A
11 11 -231 ES panel 2:B
6 6 -232 ES panel 2:B
12 12 -235 ES panel 1:B
4 4 -236 ES panel 1:B
10 10
-XS4 -XS4
24V TPU 24V FPU_POWER
13.a;5 / -24V FPU POWER
1 EN2 1
0V 0V 12
13.a;5 / -0V PANELB 12
SAFETY
2 0V 2
BOARD 8
13.a;5 / -EN1_1 8 EN1 EN 1_1
A21-X10
13.a;5 / -EN1_2 7 EN2 EN 1_2 7
12;7 / -ES FPU 1:A ES FPU 1:A 17
17
12;7 / -ES FPU 1:B 3 ES FPU 1:B 3
12;7 / -ES FPU 2:A ES FPU 2:A 4
4 FPU
12;7 / -ES FPU 2:B 5 ES FPU 2:B 5
TPU_START FPU_START 6
6
11 11
MAIN AWG24 OG AWG24
19;7 / -TD+ TD+ TD+
COMPUTER 19;7 / -TD- WHOG TD- TD-
13 13
A31-A8 19;7 / -RD+ GN RD+ RD+ 14
14
19;7 / -RD- WHGN 15 RD- RD- 15
16
16

CONTROL PANEL Sublocation:+
3HAC049406-003 Next 17
1 2 3 4 5 6 7 8
RunCh1
-XP4 3
RunCh0V
5
-FPU1
1)
-XS4 -K1
12;7 / -ES FPU 1:A
3
12;7 / -ES FPU 2:A
5
12;7 / -ES FPU 2:B
6
12;7 / -ES FPU 1:B
4
SAFETY EN-DEVICE
BOARD 13.a;5 / -24V FPU POWER 1 -K2
A21-X10
12
13.a;5 / -0V PANELB 2 ;7
8
13.a;5 / -EN1_1
7
13.a;5 / -EN1_2
17
-ETH_FPU
USB
19;7 / -TD+ AWG24 OG
13
MAIN 19;7 / -TD- WHOG
COMPUTER 14
A31-A8 19;7 / -RD+ GN
15
19;7 / -RD- WHGN
16

FPU, FLEXPENDANT Sublocation:+
3HAC049406-003 Next 18
1 2 3 4 5 6 7 8
A31
Old Main Computer Unit DSQC1000
New main Computer Unit DSQC1018
A31.4 Safety board

DSQC1015
PROFIBUS M PCI DeviceNet M/S
A31.3 DSQC1005
AnybusCC/RS232 Expansion Board
DSQC1003 Profibus/S A32.4
POWER PROFIBUS M
ProfiNet/S A32.3 Pin no 2 = 24V
Console Ethernet /IP/S A32.1 Pin no 1 = 0V
DeviceNet/S DSQC1004 A32.2 A31.1 SERVICE 10/100
X20 Battery BT1 in Old:
X1 X2 New: DSQC1001 Interface Board
Com1 Interface Board Battery BT1 in DSQC1001
LAN 1 DSQC1017 DSQC1017 BT1

3HAC050354-001 3HAC042827-001
Back side 80,78... ....6, 4, 2 10/100 X3
Front side 79,77... ....5, 3, 1
LAN 2 X4 POWER COM Express module
A32 10/100 DISC-Act
DSQC1002
X2
STATUS SD card 2GB
3HAC046408-001 NS X13 DSQC1008
LAN 3 MS
X5
Front side 10/100/1000 X15
1, 3, 5..... ...77, 79
2, 4, 6..... ...78, 80
WAN X19 Fan power
X6 X16
X1 10/100/1000
Pin 1 = 24V
Pin 2 = Tacho
X7 Pin 3 = 0V
PANEL UNIT
X9
X3 AXC
X10 X11 X12

USB 2/1 USB 4/3
Safety board
A31.4-X1
A31.4-X6
A31.4 Safety board
DSQC1015 A31.4-X7
DeviceNet M/S PCI
A31.2 DSQC1006
PROFIBUS M

Main Computer/AnybusCC/RS232 Exp./Interface Board/ Sublocation:+
3HAC049406-003 Next 19
1 2 3 4 5 6 7 8

MAIN COMPUTER New main Computer Unit DSQC1018
A31
-X2 AWG24
TX+ WHOG _TX+ /
1
TX- OG _TX- /
-X1 YELLOW LABEL RX+ 2 WHGN _RX+ /
3
11;5 / -24V PC;1 SERVICE
2 ETH_SERVICE PORT
11;6 / -0V PC;1 RX- GN _RX- /
6
PROCESS 1
POWER
SUPPLY
POWER (GREEN)
1.TXRX+ / 35;2 40;2 A61:X10

1.TXRX- / 35;2 40;2
REMOTE SERVICE
1.RXTX+ / 35;2 40;2 or
DISC-ACT (YELLOW) 1.RXTX- / 35;2 40;2
A64.X1
STATUS (GREEN-RED)
GREEN LABEL -X3

-TD+ / 16;2 17;2
3
6
TPU -TD- / 16;2 17;2 FLEXPENDANT
4
NS (GREEN-RED) 5
-RD+ / 16;2 17;2
1
-RD- / 16;2 17;2
2
7
8
MS (GREEN/RED)
-X7 AWG24
1
2 WHGN -24V_Sig.ref. / 12;7
BLUE LABEL 3 BU -RS485+ / 12;7
4
PANEL UNIT WHBU -RS485- / 12;7 SAFETY BOARD
5
RS 485
WHBN -0V_Sig.ref. / 12;7
7
-X9
-TX+ / 36;2 DRIVE
-X19 AWG24 TX+ 1
-TX- / 36;2 MODULE
RED LABEL TX- 2
GND BK -RX+ / 36;2 AXIS
1 RX+ 3
+24V RD AXC1 COMPUTER
2 4
FAN_TACH YE
ETH_DRIVE
3 5
-RX- / 36;2
RX- 6
7
8

MAIN COMPUTER A31 DSQC1000 / DSQC1018 Sublocation:+
3HAC049406-003 Next 20
1 2 3 4 5 6 7 8

New main Computer Unit DSQC1018
A31 WAN -X6
WHITE LABEL MX1+ OPTION:
1
MX1- EXTERNAL
2
A31.X6 MX2+ WAN
3
MX2-
OPTION: 6
232/ Expansion board SERIE DSQC1003
-A32
/21;1
-232 -X2 -X15

COM1_DCD LAN -X4
1
COM1_RXD 1 1 TX+ 2.BI_DA+ / 20;7
2 1
COM1_TXD 2 2 TX- 2.BI_DA- / 20;7
3 2
COM1_DTR 3 3 RX+ 2.BI_DB+ / 20;7
4 3
0V 4 4 RX- 2.BI_DB- / 20;7
5 6
COM1_DSR 5 5
6
COM1_RTS-N
7
COM1_CTS-N
8
COM1_RI
-232 LAN -X5

CONSOLE_DCD 76 76 MX1+ 2.BI_DA+ / 20;7
1 1
Ethernet
CONSOLE_RXD 77 77 MX1- 2.BI_DA- / 20;7
2 2
CONSOLE_TXD 78 78 MX2+ 2.BI_DB+ / 20;7
3 3
CONSOLE_DTR 79 79 MX2- 2.BI_DB- / 20;7
4 6
GND 80 80
5
CONSOLE_DSR
6 4
CONSOLE_RTS-N
7 5
CONSOLE_CTS-N
8 7
CONSOLE_RI
9 8
-X10.USB 1
3
2
4
1
-X10.USB 2
PROCESS
AWG28 GN -USB2 D+ / 11;8
SUPPLY
POWER
3
AWG28 WH -USB2 D- / 11;8
2
AWG24 BK -USB2_GND / 11;8
4
AWG24 RD -USB2 +5V / 11;8
1
-X11.USB 3
3
2
4
1
-X11.USB4
3
2
4
1

MAIN COMPUTER A31 DSQC1000 / DSQC1018; A32 DSQC1003 Sublocation:+
3HAC049406-003 Next 21
1 2 3 4 5 6 7 8
ETHERNET/IP Fieldbus adapter DSQC 669

Slave
-A32.1
-Z1 -X1
TX+
TX- 1
2
RX+
SLAVE 3
4
CompactCom RX- 5
6
7
8
Expansion Board PROFIBUS Fieldbus adapter DSQC 667

DSQC 1003 Slave
-A32 -A32.2
/20;2 -Z1
-X1
-X2 SHIELD
-X1 SLAVE 1
OPTION & HARNESS TO CUSTOMER I/O

1 RXD/TXD-p
2 3
CONTROL-P
3 1 CompactCom 4
2
GND 5
4
3 +5VDC 6
4 RXD/TXD-N 8
5
6
7
77 8
78 PROFINET IO Fieldbus adapter DSQC 688
79
Slave
80
-A32.3 -X1
-Z1
TX+
1
TX-
SLAVE 2
RX+
3
CompactCom
RX-
6
DEVICENET IO Fieldbus adapter DSQC 1004

Slave
-A32.4 -X1
-Z1
TX+
1
TX-
SLAVE 2
RX+
3
CompactCom
RX-
6

FIELDBUS ADAPTER A32: Sublocation:+
ETHERNET/IP, PROFIBUS and Document no. Rev. Ind Page 21
PROFINET IO 3HAC049406-003 Next 22
1 2 3 4 5 6 7 8
DeviceNet M/S DSQC1006

-A31.2
X12 -CHA
V- -XS17
-XS17_V- / 25;1 28;2 31;1 30;1 32;1
1
CAN_L -XS17_CAN_L /25;1 28;2 31;1 30;1 32;1
2 2 OPTION:
DRAIN -R11 -XS17_DRAIN / 25;1 28;2 31;1 30;1 32;1 TO CUSTOMER I/O
3 3
PCIe CAN_H -XS17_CAN_H / 25;1 28;2 31;1 30;1 32;1
4 4
V+ -XS17_V+ / 25;1 28;2 31;1 30;1 32;1
5 5
-V- / 23;1
-CAN_L / 23;1
-DRAIN / 23;1
-CAN_H / 23;1
-V+ / 23;1
PROFIBUS M PCI
DSQC1005
-A31.3
X12
-XS18
-XS18 / 22;6
1
VP 1 -XS18_VP /
6 2 -XS18 / 22;6
2 3 -XS18 / 22;6 22;6 22;6 OPTION:
7
B-Line 4 -XS18_B_LINE / TO CUSTOMER I/O
3
A-Line 5 -XS18_A_LINE /
PCIe 8
CNTR-P 6 -XS18_CNTR-P /
4 7 -XS18 / 22;6
9
GND 8 -XS18_GND /
5 9

Location: +
DEVICENET A31.2 DSQC1006 / PROFIBUS A31.3 DSQC1005 Approved Sublocation:+
3HAC049406-003 Next 23
1 2 3 4 5 6 7 8
DIGITAL I/O UNIT

11;2 / -+24Vdevicenet DSQC652
I/O4
11;2 / -0Vdevicenet
XTXX.X3
-X3 -XS12
INPUT CH.1 1
1 2 2
2 3 3
3 4 4
-X5 4
22;7 / -V- 5
5
22;7 / -CAN_L 1 5 6 CUSTOMER DI
6
22;7 / -CAN_H 2 6 7 7
22;7 / -V+ 4 7 8 8
5 8 0V 9
22;7 / -DRAIN 9
10
0V 3 10
NA0 6
NA1 7
1) NA2 8 0V
NA3 9 4)
NA4 10 XTXX.X4
NA5 11
-X4 -XS13
12 INPUT CH.9 1
1 10 2
2 11 3
3 12 4
4 13 5
5 14 CUSTOMER DI
6
6 15 7
1) THE DEFAULT NODE ADDRESS IS 10. 7 16 8
8 0V 9
9
10
10

DIGITAL I/O UNIT INPUT Sublocation:+
3HAC049406-003 Next 24
1 2 3 4 5 6 7 8
DIGITAL I/O UNIT

DSQC652
I/O3
OUTPUT CH 1-8
XTXX.X1
<1 -X1 -XS14

OUTPUT CH.1 1
1 2 2
2 3
3
3 4 4
4 5 5
5 6 CUSTOMER DO
6
6 7 7
7 8 8
8 0V
0V 9
9
24V DC 10
10
24V
OUTPUT CH 9-16
XTXX.X2
<1 -X2 -XS15

OUTPUT CH.9
0V
1
1 10 2
2 11 3
3 12 4
4 13 5
5 14 CUSTOMER DO
6
6 15 7
7 16 8
8 0V 9
9 24V DC 10
10

DIGITAL I/O UNIT OUTPUT Sublocation:+
3HAC049406-003 Next 25
1 2 3 4 5 6 7 8
opt. 816
opt. 817
DIG. PART OF COMBI I/O AND DIG. I/O UNIT DSQC 651& 652
-I/Ox4
XTXX.X3
-X3
INPUT CH.1
1 2
3) 2 3
3 4
-X5 4
22;7 / -XS17_V- 5
22;7 / -XS17_CAN_L 1 5 6
22;7 / -XS17_CAN_H 2 6 7
22;7 / -XS17_V+ 4 7 8
5 8 0V
22;7 / -XS17_DRAIN 9
0V 3 10
OR PREVIOUS NA0 6
NA1 7
I/O UNIT
1) NA2 8 0V
NA3 9 4)
NA4 10 XTXX.X4
NA5 11
-X4
12 INPUT CH.9
1 10
2 11
3 12
4 13
5 14
6 15
1) JUMPERS PLACED ACCORDING TO 7 16
8 0V
THE ACTUAL NODE ADDRESS.
9
10
2) RESISTANS 120 OHM SHALL ALWAYS
BE CONNECTED IN THE FIRST AND THE
LAST CONNECTOR IN THE CAN-BUS CIRCUIT.
3) CONNECTED IN THE LAST CONNECTOR IN THE

CAN-BUS CIRCUIT.
4) ONLY FOR DIGITAL I/O DSQC 652.

DIGITAL PART OF COMBI I/O AND Sublocation:+
DIGITAL I/O UNIT DSQC651&652 Document no. Rev. Ind Page 25
3HAC049406-003 Next 26
1 2 3 4 5 6 7 8
opt. 816
DIGITAL I/O UNIT DSQC 652
I/O1
OUTPUT CH 1-8
XTXX.X1
<1 -X1
OUTPUT CH.1
1 2
2 3
3 4
4 5
5 6
6 7
7 8
8 0V
0V 9 24V DC
10
24V
OUTPUT CH 9-16
XTXX.X2
<1 -X2
OUTPUT CH.9
0V
1 10
2 11
3 12
4 13
5 14
6 15
7 16
8 0V
9 24V DC
10

DIGITAL I/O UNIT DSQC652 Sublocation:+
3HAC049406-003 Next 27
1 2 3 4 5 6 7 8
opt. 817
COMBI I/O UNIT DSQC 651
I/O1
OUTPUT CH 1-8
XTXX.X1
-X1
<1 OUTPUT CH.1
1 2
2 3
3 4
4 5
5 6
6 7
7 8
8 0V
0V 9 24V DC
10
-X6
INPUT CH.1
CPU INPUT CH.2 1
2
0V
3
DAC
OUTPUT CH.1
5
REF 0VA
4
OUTPUT CH.2
6
+15V
DC
0VA
DC
-15V

COMBI I/O UNIT DSQC651 Sublocation:+
3HAC049406-003 Next 28
1 2 3 4 5 6 7 8
opt. 818
DIG. PART OF RELAY I/O UNIT DSQC 653
I/O1
XTXX.X3
-X3
INPUT CH.1
1 2
3) 2 3
-X5 3 4
22;7 / -XS17_V- 4 5
22;7 / -XS17_CAN_L 1 5 6
22;7 / -XS17_CAN_H 2 6 7
22;7 / -XS17_V+ 4 7 8
5 8 0V
22;7 / -XS17_DRAIN 9
0V 3
OR PREVIOUS NA0 6
NA1 7 0V
I/O UNIT
1) NA2 8
NA3 9
NA4 10
NA5 11
12
1) JUMPERS PLACED ACCORDING TO



CAN-BUS CIRCUIT.

RELAY I/O UNIT DSQC653 Sublocation:+
3HAC049406-003 Next 29
1 2 3 4 5 6 7 8
opt. 818
RELAY I/O UNIT DSQC 653
RELAY I/O1
XTXX.X1
-X1
OUT CH.1A
1
OUT CH.1B
2
OUT CH.2A
3
OUT CH.2B
4
OUT CH.3A
5
OUT CH.3B
6
OUT CH.4A
7
OUT CH.4B
8
OUT CH.5A
9
OUT CH.5B
10
OUT CH.6A
11
OUT CH.6B
12
OUT CH.7A
13
OUT CH.7B
14
OUT CH.8A
15
OUT CH.8B
16

RELAY I/O UNIT DSQC653 Sublocation:+
3HAC049406-003 Next 30
1 2 3 4 5 6 7 8
opt. 821
REMOTE I/O UNIT DSQC 350A
I/O1
3)
-X5
22;7 / -XS17_V-
22;7 / -XS17_CAN_L 1 NAC

22;7 / -XS17_CAN_H 2 -X8

22;7 / -XS17_V+ 4 LINE 1 (BLUE)
5 REMOTE I/O IN
1
22;7 / -XS17_DRAIN
0V 3 LINE 2 (CLEAR)
OR PREVIOUS NA0 6 1 2
I/O UNIT NA1 7 -X9
1) NA2 8 (BLUE)
NA3 9 REMOTE I/O OUT
1
NA4 10
NA5 11 (CLEAR)
12
2


4
4
CAN-BUS CIRCUIT.

REMOTE I/O UNIT DSQC350A Sublocation:+
3HAC049406-003 Next 31
1 2 3 4 5 6 7 8
opt. 819
ANALOGUE I/O UNIT DSQC 355B
I/O1
-X7
ANOUT_1
1 ANOUT_2
2 ANOUT_3
ADC MUX 3 ANOUT_4
4 0V
19 0V
3) 0V 20 0V
21 0V
-X5
22;7 / -XS17_V- 22
22;7 / -XS17_CAN_L 1
22;7 / -XS17_CAN_H 2
22;7 / -XS17_V+ 4
5
22;7 / -XS17_DRAIN
0V 3 REF
DAC
OR PREVIOUS NA0 6
-X8
I/O UNIT NA1 7 ANIN_1
1) NA2 8 1 ANIN_2
NA3 9 2 ANIN_3
NA4 10 3 ANIN_4
NA5 11 4
12 24V
17
18
19
20
21
0V 22
1) JUMPERS PLACED ACCORDING TO 23
THE ACTUAL NODE ADDRESS. 24 0V
25 0V
26 0V
27 0V
BE CONNECTED IN THE FIRST AND THE 28

CAN-BUS CIRCUIT.

ANALOGUE I/O UNIT DSQC355B Sublocation:+
3HAC049406-003 Next 32
1 2 3 4 5 6 7 8
opt. 826
ENCODER UNIT DSQC 377
I/O1
Encoder
Connection
-X20
3) 24 VDC
-X5 1
22;7 / -XS17_V- 0V
22;7 / -XS17_CAN_L 1
2
22;7 / -XS17_CAN_H 2 ENC +24V
22;7 / -XS17_V+ 4
3
5 ENC 0V
22;7 / -XS17_DRAIN 4 Encoder
0V 3 2 1 ENC_A
OR PREVIOUS NA0 6
5
7 A
I/O UNIT NA1 ENC_B
1) NA2 8
6
9 1
NA3 +24V
NA4 10
7
NA5 11 0V Synch switch
12 2 1
8
DIGIN
A
9
2 1
A
1

CAN-BUS CIRCUIT.

ENCODER UNIT DSQC377 Sublocation:+
3HAC049406-003 Next 33
1 2 3 4 5 6 7 8
CC-LINK DSQC378B
-I/Ox6
Customer
Connection
3)
-X5
/ -V-
1 -X8
/ -CAN_L SLD-SHIELD
/ -CAN_H 2 1
/ -V+ 4 DA-Signal line A
5 2 DG-GND
/ -DRAIN 3 DB-Signal line B
0V 3 4
OR PREVIOUS NA0 6 5 FG-Power GND
NA1 7 6
I/O UNIT
1) NA2 8
NA3 9
NA4 10
NA5 11
12
-X3
0V DC
External supply GND 1
+24VDC 3
5



CAN-BUS CIRCUIT.

CC-LINK Sublocation:+
3HAC049406-003 Next 34
1 2 3 4 5 6 7 8
Robot controller
Main computer
Power Supply
Yellow label
Ethernet Service 24V I/O
Ethernet
Cam 1
24V External
Ethernet switch Ethernet Camera lighting
Cam 2
24V External
Ethernet Camera lighting
Cam 3
Ethernet External
24V Camera lighting

VISION, INTEGRATED CAMERAS Sublocation:+
3HAC049406-003 Next 35
1 2 3 4 5 6 7 8
-XS16
+24V 1
11;2 / -24V_OUT +24V.REDwire / Power
0V 2
11;2 / -0V_OUT 0V.GroundBLACKwire / Customer
3 Camera 1
4
.+24V.REDwire / Power connection
.0V.GroundBLACKwire /
Camera 2
Ethernet switch
-A64 -X2 Customer connection
-X6 US 24V 1
GND 0V 2
Camera 1
-X3 Customer connection

1
A31.X2 2 Camera 2
-X1
19;7 / -1.TXRX+ RX+
1 3
19;7 / -1.TXRX- RX-

2 6
19;7 / -1.RXTX+ TX+

3
-X4 Customer connection
19;7 / -1.RXTX- TX-
6 1
2 Camera 3
3
-X5
TX+ 1 4.TXRX+ / 40;2
TX- 2 4.TXRX- / 40;2
A61.X10
RX+ 4.RXTX+ / 40;2
3 If option Remote service
RX- 6 4.RXTX- / 40;2

ETHERNET SWITCH A64/CAMERA Sublocation:+
3HAC049406-003 Next 36
1 2 3 4 5 6 7 8
DSQC668
-A42
POWER DISTRIBUTION
UNIT -X1
11;1 / -+24V DRIVE
-A41
/38;2
1 -X11
11;1 / -0V DRIVE
AWG24 WHOG -X3
2
1 1
3
OG
2 2
4
WHEN
3 3
WHBU
6 6
AWG24 WHOG -X2

19;7 / -TX+
1
19;7 / -TX- OG -X4
A31.A9
MAIN COMPUTER 2 1
19;7 / -RX+ WHGN
3 2
19;7 / -RX- GN
6 3

AXIS COMPUTER UNIT Sublocation:+
3HAC049406-003 Next 37
1 2 3 4 5 6 7 8
-A42
-X4
MRCO1 -MRCO1 / 42;3 44;2 46;2 48;2 50;2
1
MRCO1_N -MRCO1_N / 42;3 44;2 46;2 48;2 50;2

2
MRCI1 -MRCI1 / 42;3 44;2 46;2 48;2 50;2

4
MRCI1_N -MRCI1_N / 42;3 44;2 46;2 48;2 50;2 CONTROL

5 SIGNAL
0V -MRC_0V;1 / 42;3 44;2 46;2 48;2 50;2

6
-24V_SMB1
24V_SMB1 / 42;3 44;2 46;2 48;2 50;2

7
0V -MRC_0V;2 / 44;2 46;2 50;2

3
0V -MRC_0V;3 / 44;2 46;2 50;2

9
CABINET
WALL
-X5 -XS41
MRCO2
1 1
MRCO2_N
2 2
MRCI2
4 4
MRCI2_N EXT. AXIS
5 5 SIGNAL
0V
6 6
24V_SMB2
7 7
0V
3 3
0V
9 9

AXIS COMPUTER UNIT Sublocation:+
3HAC049406-003 Next 38
1 2 3 4 5 6 7 8
CONTACTOR UNIT
/
-L12
-L22
-27 AWG14 BK
-28 AWG14 BK
AWG14 GNYE
-A41 -CN6 1 2 3 4
-CN7
-821 AWG12 BK Adapter -132 AWG12 BK

1 1 -192 GNYE
1 AWG12
-R1.1
2
-822 AWG12 BK -133 AWG12 BK
2
2
-CN4
11;1 / -0V Drive sys
1
11;1 / -24V Drive sys
2
-CN5
1

27 P
28 N
29

RECTIFIER AND BLEEDER Sublocation:+
3HAC049406-003 Next 39
We reserve all rights in this document and in the information contained therein.Reproduction, use or 1 2 3 4 5 6 7 8
FAN UNIT
-E1
11;8 / -+24V COOL;2 -354 AWG24 BU
11;8 / -+24V COOL;3 -350 AWG24 BU
=CAB-E41 -X1 1
=CAB-E42
-X1 1
+
-X1 -X1
M M
2 2
- -
-X1 3 -X1 3
11;8 / -0V COOL;3 -351 AWG24 BU
11;8 / -0V COOL;2 -355 AWG24 BU

FAN UNIT Sublocation:+
3HAC049406-003 Next 40
1 2 3 4 5 6 7 8
Option: REMOTE SERVICE BOX DSQC680 opt. 890-1

-A61
-X1
11;2 / -0V_OUT 746
-X2 ANTENNA
1
11;2 / -24V_OUT 745 when opt. 890-1
2
AWG24
WHOG
-X10
19;7 / -1.TXRX+ RX+
1
19;7 / -1.TXRX- OG
RX- -X11
2
WHGN
19;7 / -1.RXTX+ TX+ 1
3
2
GN
19;7 / -1.RXTX- TX-
6 3
SERVICE PORT
A31.X2
4
when opt. 890-1
or
A64.X5
35;5 / 4.TXRX+ 5
if opt. 1341-1 35;5 / 4.TXRX- 6
35;5 / 4.RXTX+ 7
35;5 / 4.RXTX- 8
-X15
1 -X12
LAN3 only for diagnostic 8/
2
3
-X13
4
LAN4 only for unit diagnostic 8/
6 -X14
WAN Internet 8/
7

REMOTE SERVICE BOX DSQC680 Sublocation:+
3HAC049406-003 Next 41
1
Latest revision:
/38;2
-A41

2
-XS/XP1
-CN100
M3R -400 AWG14 BK
6
1
A1
M3S -402 AWG14 BK
Approved by, date:

9
3
A3
M3T -404 AWG14 BK
2
10
A5
=MAN+R1.120-(MP 1-)6
-CN200
M1R -406 AWG14 BK

3
1
1
A7
M1S -408 AWG14 BK
2
3
A9
M1T -410 AWG14 BK
5
2
A11
-CN300
M2R -412 AWG14 BK
3
1
A13
M2S -414 AWG14 BK
4
3
4
A15
M2T -416 AWG14 BK
8
2
B1
-CN400
M6R -418 AWG14 BK

1
20
B3
Lab/Office:
M6S -420 AWG14 BK
3
23
B4
M6T -422 AWG14 BK

2
24
B5
5
-CN500
M5R -424 AWG14 BK

1
17
B6
M5S -425 AWG14 BK

3
21
B7
M5T -426 AWG14 BK

2
22
B8
SERVO DRIVE SYSTEM IRB 120

6
-CN600
M4R -428 AWG14 BK

IRB 120 cabinet module
15
B9
M4S -430 AWG14 BK

3
16
B10
M4T -432 AWG14 BK

2
19
B11
AWG10 GNYE
Status:
7
AWG10 GNYE
Approved
Document no.
3HAC049406-003
Plant:
Sublocation:+
Location: +
=
MANIPULATOR 120
CABINET
8
02 Total 52
Next 42
Rev. Ind Page 41
1 2 3 4 5 6 7 8
DRIVE MANIPULATOR 120

MODULE
=MAN+R2.120-SMB/EIB
-XS/XP2
37;6 / -MRCO1 WH SDI
37;6 / -MRCO1_N A BU A SDI-N
37;6 / -MRCI1 B WH B SDO
37;6 / -MRCI1_N C OG C SDO-N
AXIS COMPUTER BOARD 37;6 / -MRC_0V;1 D WH D 0V ENCODER
E WH E
A42-X4 INTERFACE
37;6 / -24V_SMB1 GN 24V BOARD
F BN F
G
H
J
-495 AWG20 -XS/XP1

12;7 / -LIM_2B BU
D1
12;7 / -LIM_2A -496 AWG20 BU
12;7 / -LIM_1B -497 AWG20 BU D3
12;7 / -LIM_1A -498 AWG20 BU D2

D4
-BR.XS/BR.XP1 -433 AWG16

15.a;5 / -EXT.LAMP BU
1 C7
11;3 / -BRAKEPB -434 AWG16 BU
CONTACTOR UNIT
2 -435 AWG16 B16 =MAN+R1.120-(MP 1-)6
15.a;6 / -BRAKEREL1 BU
3 B12 13
15.a;6 / -BRAKEREL2 -436 AWG16 BU
4 B13
-437 AWG16 BU GYBU
11;3 / -0V BRAKE;1
5 B14 12
11;3 / -0V BRAKE;2 -438 AWG16 BU
SAFETY UNIT 6 B15
A21-X5 15.a;6 / -PTC -491 AWG20 BU -439 AWG16 BU
7 C2
-440 AWG16 BU
15.a;6 / -PTC_RET -492 AWG20 BU
8 C1

CONTROL CABLE Sublocation:+
IRB 120 Document no. Rev. Ind Page 42
3HAC049406-003 Next 43
1
Latest revision:

-A41
=MAN+R1.140-(MP 1-)3
-XS/XP1
-CN100
M3R BUGN -400 AWG14 BK

1
13
A1
2
M3S BURD -402 AWG14 BK

3
17
A3
M3T BUWH -404 AWG14 BK
2
15
A5
Approved by, date:

MAIN SERVO DRIVE UNIT
-CN200
M1R BKBU -406 AWG14 BK
1
1
A7
M1S BKGN -408 AWG14 BK
5
3
A9
M1T BKRD -410 AWG14 BK
3
2
3
A11
-CN300
M2R BKWH -412 AWG14 BK
7
1
A13
M2S BK -414 AWG14 BK

3
11
A15
M2T BUBK -416 AWG14 BK
9
2
B1
4
=MAN+R1.140-(MP 4-)6
-CN400
M6R BN -418 AWG14 BK
6
1
B3
Lab/Office:
M6S GNRD -420 AWG14 BK
9
3
B4
M6T GNWH -422 AWG14 BK

2
12
B5
5
-CN500
M5R BNGN -424 AWG14 BK

4
1
B6
M5S BNRD -425 AWG14 BK

7
3
B7
M5T BNWH -426 AWG14 BK

2
10
B8

-CN600
M4R BU -428 AWG14 BK

1
1
6
B9
M4S BNBK -430 AWG14 BK

2
3
M4T BNBU -432 AWG14 BK

3
2
B10 B11
AWG10 GNYE
Status:
7
AWG10 GNYE
Approved
Document no.
3HAC049406-003
Plant:
Sublocation:+
Location: +
=
8
MANIPULATOR
DRIVE MODULE
02 Total 52
Next 44
Rev. Ind Page 43
1 2 3 4 5 6 7 8
DRIVE MANIPULATOR
MODULE
=MAN+R2.140-SMB
-XS/XP2
37;6 / -MRCO1_N A BU 9 SDI-N
37;6 / -MRCI1 B WH 5 SDO
37;6 / -MRCI1_N C OG 8 SDO-N
AXIS COMPUTER BOARD 37;6 / -MRC_0V;1 D WH 4 0V SERIAL
E WH 3
A42-X4 MEASUREMENT
F BN 7
37;6 / -MRC_0V;2
G
37;6 / -MRC_0V;3 H
J GY BATSUP
K RD 6 BATLD
L 2
=MAN+R1.140-H1
-BR.XS/BR.XP1 -_433 AWG16 BU -XS/XP1 OG
15.a;5 / -EXT.LAMP
=MAN+R1.140-(MP 4-)6
1 C7 1
11;3 / -BRAKEPB -_434 AWG16 BU OGWH
CONTACTOR UNIT 15
2 B16
15.a;6 / -BRAKEREL1 -_435 AWG16 BU GYBK
B12 8
3
15.a;6 / -BRAKEREL2 -_436 AWG16 BU GYBU
B13 5
4
11;3 / -0V BRAKE;1 -_437 AWG16 BU GYGN

B14 13
5
SAFETY UNIT 15.a;6 / -PTC -_439 AWG16 BU OGBU
A21-X5 7 C2 =MAN+R1.140-(MP 1-)3 11
15.a;6 / -PTC_RET -_440 AWG16 BU OGBK
C1 2
8
11;3 / -0V BRAKE;2 -_438 AWG16 BU OGRD
B15 14
6
12;7 / -LIM_1B -497 GYWH

D2 10
12;7 / -LIM_2B -495 GYRD
D1 16
12;7 / -LIM_2A -496 GY
D3 18
12;7 / -LIM_1A -498 OGGN
D4 12

CONTROL CABLE IRB 140 Sublocation:+
3HAC049406-003 Next 45
1
Latest revision:

2
Approved by, date:

-A41
=MAN+R1.340-(MP 1-)3
-XS/XP1
-CN100
M2R BKWH M2R -_400 AWG14 BK
9
1
A11
M2S BK M2S -_402 AWG14 BK
3
3
11
A9
M2T BUBK M2T -_404 AWG14 BK
7
2
A7
=MAN+R1.340-(MP 4-)6
-CN200
M1T BKRD M1R -_406 AWG14 BK
2
1
B4
M1S BKGN M1S -_408 AWG14 BK
1
3
B3
M1R BKBU M1T -_410 AWG14 BK
3
2
A5
4
-CN300
M3R BUGN M3R -_418 AWG14 BK
9
1
B10
M3S BURD M3S -_420 AWG14 BK
6
3
B9
Lab/Office:
M3T BUWH M3T -_422 AWG14 BK
2
10
B8
5
-CN500
M4R BU M4R -_412 AWG14 BK

1
15
B1
M4S BNBK M4S -_414 AWG14 BK

3
17
A15
M4T BNBU M4T -_416 AWG14 BK

2
13
A13

6
AWG10 GNYE
AWG10 GNYE
Status:
7
Approved
Document no.
DRIVE MODULE
3HAC049406-003
MANIPULATOR
Plant:
Sublocation:+
Location: +
=
8
02 Total 52
Next 46
Rev. Ind Page 45
1 2 3 4 5 6 7 8
DRIVE MANIPULATOR
MODULE
=MAN+R2.340-SMB
-XS/XP2
37;6 / -MRCO1_N A BU 9 SDI-N
37;6 / -MRCI1 B WH 5 SDO
37;6 / -MRCI1_N C OG 8 SDO-N
AXIS COMPUTER BOARD 37;6 / -MRC_0V;1 D WH 4 0V SERIAL
E WH 3
A42-X4 MEASUREMENT
F BN 7
37;6 / -MRC_0V;2
G
37;6 / -MRC_0V;3 H
J GY BATSUP
K RD 6 BATLD
L 2
=MAN+R1.340-H1
15.a;5 / -EXT.LAMP
1 C7 1 =MAN+R1.340-(MP 4-)6
CONTACTOR UNIT 11;3 / -BRAKEPB -_434 AWG16 BU OGWH
2 B16 15
3 B12 8
4 B13 5

5 B14 13
A21-X5 7 C2 =MAN+R1.340-(MP 1-)3 11
8 C1 2
6 B15 14
12;7 / -LIM_1B -497 GYWH

D2 10
12;7 / -LIM_2B -495 GYRD
D1 16
12;7 / -LIM_2A -496 GY
D3 18
12;7 / -LIM_1A -498 OGGN
D4 12

3HAC049406-003 Next 47
1
Latest revision:

-A41
=MAN+R1.1400-MP
-XS/XP1
-CN100
1
1
A1
2
2
3
A3
5
2
A5
Approved by, date:

-CN200
3
1
A7
4
3
A9
3
8
2
A11
-CN300
6
1
A13
9
3
A15

2
10
B1
4
-CN400

1
15
B3

3
16
B4

2
19
B5
Lab/Office:
5
-CN500

1
17
B6

3
21
B7

2
22
B8
-CN600

1
20
B9

6
23
B10

2
24
B11
AWG10 GNYE
AWG10 GNYE
Status:
7
Approved
Document no.
3HAC049406-003
Plant:
Sublocation:+
Location: +
=
8
MANIPULATOR
DRIVE MODULE
02 Total 52
Next 48
Rev. Ind Page 47
1 2 3 4 5 6 7 8
DRIVE MANIPULATOR
MODULE
=MAN+R2.120-SMB/EIB
-XS/XP2
AXIS COMPUTER BOARD D
37;6 / -MRC_0V;1 WH D 0V ENCODER
A42-X4 E WH E INTERFACE
F BN F
G
H
J
=MAN+R1.1400-MP
15.a;5 / -EXT.LAMP
1 C7 14
2 B16 11
3 B12 13
4 B13 18

5 B14 12
A21-X5 7 C2
8 C1
6 B15 7
12;7 / -LIM_1B -497 GYWH

D2
12;7 / -LIM_2B -495 GYRD
D1
12;7 / -LIM_2A -496 GY
D3
12;7 / -LIM_1A -498 OGGN
D4

3HAC049406-003 Next 49
1
Latest revision:
-A41

=MAN+R1.1400-MP
-XS/XP1
-CN100

1
A1
A1
3
A2
A3
2

2
A3
A5
Approved by, date:

-CN200

1
A4
A7
3
A9
D1
2
D2
A11
3
-CN300

1
D3
A13

3
D4
A15

2
B1
B1
4
-CN400

1
B3
A10
3
B4
A9
2
B5
A8
Lab/Office:
-CN500

1
5
B6
A7

3
B7
D10

2
B8
D9
-CN600

1
B9
D8

3
D7
B10
6

2
B10
B11
SERVO DRIVE SYSTEM IRB 1410, 1600, 260
AWG10 GNYE
AWG10 GNYE
IRB 1410, 1600, 260 cabinet module
Status:
7
Approved
Document no.
3HAC049406-003
Plant:
Sublocation:+
Location: +
=
8
MANIPULATOR
DRIVE MODULE
02 Total 52
Next 50
Rev. Ind Page 49
1 2 3 4 5 6 7 8
DRIVE MANIPULATOR
MODULE
=MAN+R1.1400-SMB
-XS/XP2
AXIS COMPUTER BOARD 37;6 / -MRC_0V;1 D WH D 0V SERIAL
E WH E
A42-X4 MEASUREMENT
F BN F
37;6 / -MRC_0V;2
G G
37;6 / -MRC_0V;3 H H 0V
J GY J BATSUP
K RD K BATLD
L L
=MAN+R1.1400-MP
15.a;5 / -EXT.LAMP
1 C7 C7
2 B16 B8
3 B12 C9
4 B13 C8

5 B14 C10
A21-X5 7 C2 B9
8 C1 B2
6 B15 B7
12;7 / -LIM_1B -497 GYWH

D2 B3
12;7 / -LIM_2B -495 GYRD
D1 B4
12;7 / -LIM_2A -496 GY
D3 C2
12;7 / -LIM_1A -498 OGGN
D4 C1

CONTROL CABLE IRB 1410, 1600, 260 Sublocation:+
3HAC049406-003 Next

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© Copyright 2016 ABB ALL right reserved.

ABB Engineering (Shanghai)

Latest revision: Lab/Office: Status: Plant: =

Latest revision: Lab/Office: Status: Plant: =

Table of contents ABB_table_of_contents

Plant Location Page Page description Page supplementary fieldDate Editor

11 POWER SUPPLY DSQC 661 AND 662 3/31/2016 CNYIHU2

Latest revision: Lab/Office: Status: Plant: =

Table of contents ABB_table_of_contents

Plant Location Page Page description Page supplementary fieldDate Editor

41 SERVO DRIVE SYSTEM IRB 120 3/31/2016 CNYIHU2

Latest revision: Lab/Office: Status: Plant: =

Latest revision: Lab/Office: Status: Plant: =

XS41 XS1 XS4

Digital output 2 XS2

XS16 Signal cable S21.4

XS18 EtherNet Switch

Latest revision: Lab/Office: Status: Plant: =

System power supply

Contactor Unit A35

K42, K43, K44

Latest revision: Lab/Office: Status: Plant: =

Leftside View Rightside View

Latest revision: Lab/Office: Status: Plant: =

A42 A21 A31

Latest revision: Lab/Office:

Prepared by, date: CNSHLIN8

Approved by, date:

15.a;8 / -L2 -22 AWG14

15.b;8 -15 AWG14 BK -11 AWG14 BK

-16 AWG14 BK -12 AWG14 BK

MAIN POWER INPUT

Prepared by, date: CNSHLIN8

AXIS COMPUTER / DRIVE

40;2 35;2 / -24V_OUT -254 AWG20 BU

23;1 / -+24Vdevicenet 247 AWG18 RD

35;2 40;2 / -0V_OUT -255 AWG20 BU

Approved by, date:

24V Devicenet/ I/O

15.a;6 15.b;6 / -+24V BRAKE;1 -250 AWG16 BU

42;2 44;2 46;2 48;2 50;2 / -BRAKEPB BU

42;2 44;2 46;2 48;2 50;2 / -0V BRAKE;1 -251 AWG16 BU

42;2 44;2 46;2 48;2 50;2 / -0V BRAKE;2 -253 AWG16 BU

12;3 / -24V SYS -465 AWG20 BU

12;3 / -24V COOL -466 AWG20 BU

12;3 / -0V SYS -467 AWG20 BU

12;3 / -0V COOL -468 AWG20 BU

19;2 / -0V PC;1 -304 AWG20 BU

POWER SUPPLY DSQC 661 AND 662

20;7 / -USB2 +5V 2/RD

20;7 / -USB2 D- 1/WH

20;7 / -USB2 D+ 1/GN

20;7 / -USB2_GND 2/BK

39;3 / -+24V COOL;3 AWG20 BK

39;3 / -+24V COOL;2 RD

39;3 / -0V COOL;3 BN

39;3 / -0V COOL;2 OG

Option: DSQC1015 safety Board

Run CH1 top

Not available on CDU U U

EXTERNAL ES1 bottom 5 -X11

Latest revision: Lab/Office: Status: Plant: =

Option: DSQC1015 safety Board