© copyright 2004 abb all right reserved.nfs.gongkong.com/u_files/robot/zl/irb6640电路图.pdf ·...
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ABB
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COPYRIGHT pageTitle page/cover sheet
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Document no.
3HAC025744-001
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Rev. Ind
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Manipulator
02PageNextTotal
1221
APPROVED2007-04-20
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.
Except as may be expressly stated anywhere in this document, nothing herein shall be construed as anykind of guarantee or warranty by ABB for losses, damages to persons or property, fitness for aspecific 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 2004 ABB ALL right reserved.
ABB Automation Technologies ABRobotics
SE-721 68 VästeråsSweden
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ABB
Latest revision:
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Lab/Office:
Table of contents: (1 - 150)Table of contents
Status:
Document no.
3HAC025744-001
Plant:Location:Sublocation:
Rev. Ind
=++
Manipulator
02PageNextTotal
2321
APPROVED2007-04-20
Table of contentsCommentPage Page description
ABB Contents1
1 COPYRIGHT page2 Table of contents: (1 - 150)3 Valid For4 Connection point location IRB 6600 / 6640 / 6650 / 76005 Connection point location IRB 66609 Legend IRB 66XX / 7600
10 Brake Release Unit IRB 66XX / 760020 Serial Measuring Board IRB 66XX / 760030 Axis 1 IRB 66XX / 760040 Axis 2 IRB 66XX / 760050 Axis 3 Incl. optional signal lamp IRB 66XX / 7660 Axis 4 IRB 66XX / 760070 Axis 5 IRB 760080 Axis 5 IRB 66XX90 Axis 5 IRB 66XX ID
100 Axis 6 IRB 7600110 Axis 6 IRB 66XX120 Axis 6 IRB 66XX ID130 Pos. switch Axis 1 Optional IRB 66XX / 7600140 Pos. switch Axis 2 Optional IRB 66XX / 7600150 Pos. switch Axis 3 Optional IRB 66XX / 7600
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ABB
Latest revision:
Prepared by, date: Approved by, date:
Lab/Office:
Valid ForText view
Status:
Document no.
3HAC025744-001
Plant:Location:Sublocation:
Rev. Ind
=++
Manipulator
02PageNextTotal
3421
APPROVED2007-04-20
Valid For:This circuit diagram is valid for the following cable harness assemblies:3HAC 024385-001 Manipulator harness axis 1-6 (IRB 6600 / 6640)3HAC 024386-001 Manipulator harness axis 1-6 (IRB 6640 / 6650 / 6650S)3HAC14940-1 rev 3 and later. Manipulator harness axis 1-4 (IRB 6600 ID / 6640 ID / 7600)3HAC16331-1 rev 1 and later. Manipulator harness axis 1-4 (IRB 6640 ID / 6650 ID)3HAC14139-1 Manipulator harness axis 5 (IRB 6600 / 6640 / 6650 / 6650S)3HAC11440-1 Manipulator harness axis 5-6 (IRB 7600)3HAC023717-001 Manipulator harness axis 5-6 (IRB 6600 ID / 6640 ID / 6650 ID)3HAC15930-1 UL signal lamp (IRB 6600 / 6640 / 6650 / 6600 ID / 6640 ID / 6650 ID / 6650S / 7600)3HAC12498-1 Pos SW 3 functions (IRB 6600 / 6640 / 6650 / 6600 ID / 6640 ID / 6650 ID / 6650S / 7600)3HAC12587-1 Pos SW 2 functions (IRB 6600 / 6650 / 6600 ID / 6650 ID / 6650S / 7600)3HAC15374-1 Fan (IRB 6600 / 6640 / 6650 / 6600 ID / 6640 ID / 6650 ID / 6650S /6660 / 7600)3HAC15390-1 Pos Sw/ Fan cable harness (IRB 6600 / 6600 ID / 7600)3HAC16659-1 Pos Sw/ Fan cable harness (IRB 6650 / 6650 ID / 6650S)3HAC023599-001 Fan cable harness (IRB 6600 / 6640 / 6650 / 6600 ID / 6640 ID / 6650 ID / 6650S /6660 / 7600)3HAC026733-001 Manipulator harness axis 1-6 (IRB 6660)3HAC028206-001 UL signal lamp (IRB 6660)
See circuit diagram 3HAC13347-1 in the following cases:- If IRB6600, 6650 or 6650S with 3HAC14940-1, 3HAC16331-1- If cable harness 3HAC14940-1 rev 2 or earlier- If cable harness 3HAC16331-1 rev 0
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ABB
Page 4
21TotalIRB 6600 / 6640 / 6650 / 7600 3HAC025744-001
Latest revision:
Approved by, date:
Connection point location Location:Plant: =
++Sublocation:
6600/6640-50/7600Manipulator
Document no.Next
Rev. Ind
02
Lab/Office: Status:APPROVED
2005-10-17
1 2 3 4 5 6 7 8
R1.GR1.SMB1.7R3.FAN2R2.FB7R2.GR2.SMBR1.SMB1-3R1.SMB4-6R2.SW2X8X9X10
R2.MP2R2.FB2
R2.MP4R2.FB4
R3.FAN3R2.FB3R2.MP3R2.H1R2.H2
R2.M5/6 (IRB7600, 6600 ID, 6640 ID, 6650 ID)
R2.MP1R2.FB1
R3.MP5 (IRB 7600, 6600 ID, 6640 ID, 6650 ID)R3.FB5 (IRB 7600, 6600 ID, 6640 ID, 6650 ID)
R3.MP6R3.FB6 R3.MP5 (IRB 6600, 6640, 6650, 6650S)
R3.FB5 (IRB 6600, 6640, 6650, 6650S)R4.MP5 (IRB 6600, 6640, 6650, 6650S)R4.FB5 (IRB 6600, 6640, 6650, 6650S)
R2.SW3
R1.MPR1.SMBR1.SW1R1.SW2/3
6
12
12
6
6
5
11
11
5
5
R2.M5/6(On IRB7600, 6600 ID,
6640 ID, 6650 ID)
4
10
10
4
4
3
9
9
3
3
2
8
8
2
2
1
A
7
1
7
1
B
C
4
9
1
5
6
7
8
2
3
R1.MP
11
14
15
10
12
13
16
18
21
22
17
19
20
23
24
25
27
28
29
30
31
32
26
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Page 5
21TotalIRB 6660 3HAC025744-001
Latest revision:
Approved by, date:
Connection point location Location:Plant: =
++Sublocation:
IRB6660Manipulator
Document no.Next
Rev. Ind
02
Lab/Office: Status:APPROVED
1 2 3 4 5 6 7 8
R3.MP6R3.FB6 R3.MP5
R3.FB5
R2.MP3R2.FB3R2.H1R2.H2
R2.MP1R2.FB1
R1.MPR1.SMBR1.CP/CS
R2.MP4R2.FB4
R2.MP2R2.FB2
R1.SMB1-3R1.SMB4-6
R2.SMBX8X9
X10
R2.CP/CS
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Page 9
21TotalIRB 66XX / 7600 3HAC025744-001
Latest revision:
Approved by, date:
Legend Location:Plant: =
++Sublocation:
IRB66XX/7600Manipulator
Document no.Next
Rev. Ind
02
Lab/Office: Status:APPROVED
2005-10-17
1 2 3 4 5 6 7 8
M
B
PTC
R
G
BU
FB
SMB
FAN
SW
Keypin
Motor
Brake
Temp sensor (PTC- resistor)
Resolver
Battery Pack
Brake Release Unit
Feedback unit
Serial Measurment Board
Fan
Position switch
Location pin to avoid mismatch
Protective Earth
Twisted wires
Screened wires
XX Any number i.e. 66XX can be 6600, 6640, 6660 or 6650
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Page 10
21TotalIRB 66XX / 7600 3HAC025744-001
Latest revision:
Approved by, date:
Brake Release Unit Location:Plant: =
++Sublocation:
66XX/7600BU
Document no.Next
Rev. Ind
02
Lab/Office: Status:APPROVED
2005-10-17
1 2 3 4 5 6 7 8
2
Brake Release
KA
KA
KA
KA
KA
KA
2
4
6
5
9
11
Brake Bleed Circuit
Brake Bleed Circuit
Brake Bleed Circuit
Brake Bleed Circuit
Brake Bleed Circuit
Brake Bleed Circuit
9
1
Key Pin
Key Pin
BU Brake Release (Simplified)
-R1.MP13
4
3
5
2
-X81
-X81
5
3
11
12
-X101
3
5
-X94
8
10
-X101
3
5
-X94
8
10
Brake Release
Brake PB
2
1R1.MP
R1.MP
R1.MP
R1.MP
R1.MP
R1.MP
5
6
7
8
9
10
0V 4
-BU M1 / +Axis 1/30;2
-BU M2 / +Axis 2/40;2
-BU M3 / +Axis 3/50;2
-BU M4 / +Axis 4/60;2
-BU M5 / =7600+Axis 5/70;2=66XX+Axis 5/80;2=66XX ID+Axis 5/90;2
-BU M6 / =7600+Axis 6/100;2=66XX+Axis 6/110;2=66XX ID+Axis 6/120;2
-BU 0V M1 / +Axis 1/30;2
-BU 0V M2 / +Axis 2/40;2
-BU 0V M3 / +Axis 3/50;2
-BU 0V M4 / +Axis 4/60;2
-BU 0V M5 / =7600+Axis 5/70;2=66XX+Axis 5/80;2=66XX ID+Axis 5/90;2
-BU 0V M6 / =7600+Axis 6/100;2=66XX+Axis 6/110;2
Prepared by, date:30
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Page 20
21TotalIRB 66XX / 7600 3HAC025744-001
Latest revision:
Approved by, date:
Serial Measuring Board Location:Plant: =
++Sublocation:
66XX/7600SMB
Document no.Next
Rev. Ind
02
Lab/Office: Status:APPROVED
2005-10-17
1 2 3 4 5 6 7 8
A
B
C
D
E
F
L
KEYPINM
R1.SMB9
5
8
4
3
7
R2.SMBSDI
SDI-N
SDO
SDO-N
0V
24V
BK
WHBK
BN
WHBN
RD
WHRD
OG
SMB
9
5
8
4
3
7
2
1
R2.SMB
2
1
R1.G(X3)R1.G(X3)+ -+ -+ -
G0V
+
+Axis 3/50;3 / -0V EXT.LAMP
+Axis 3/50;3 / -24V EXT.LAMP
2
1
R2.G2
1
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Page 30
21TotalIRB 66XX / 7600 3HAC025744-001
Latest revision:
Approved by, date:
Axis 1 Location:Plant: =
++Sublocation:
66XX/7600Axis 1
Document no.Next
Rev. Ind
02
Lab/Office: Status:APPROVED
2005-10-17
1 2 3 4 5 6 7 8
M3 ~
S (V)
T (W)
R (U) PE-R2.MP1
1
6
7
9
2
5Brake
MU1
RD
WH
BK
GNYE
BU +
BU -
-R2.MP11
6
7
9
12
2
17
18
19
R1.MPM1R
M1S
M1T
BU M1
BU 0V M1
1
3
5
GNYE
9
10
-R2.FB16
1
7
2
8
3
Resolver
FB1
RD
BK
BU
YE
WHBK (WHYE)
WHRD
-R2.FB16
1
7
2
8
3
2
14
3
15
6
18
R1.SMB1-3BK
WHBK
BN
WHBN
RD
WHRD
X1
0V X1
Y1
0V Y1
0V EXC1
EXC1
2
14
3
15
6
18
R1.SMB1-3
SMB
PE
4
3
10
12
RD
WH
BK
GNYE
-PTC11 28
11
4
3
10
5
8
11
24
25
26
27
PE GNYE
M1R 2
4
6
M1S
M1T
PTC M
PTC M2
7
8
+BU/10;7 / -BU M1
+BU/10;2 / -BU 0V M1
+Axis 2/40;2 / -PTC M2
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Page 40
21TotalIRB 66XX / 7600 3HAC025744-001
Latest revision:
Approved by, date:
Axis 2 Location:Plant: =
++Sublocation:
66XX/7600Axis 2
Document no.Next
Rev. Ind
02
Lab/Office: Status:APPROVED
2005-10-17
1 2 3 4 5 6 7 8
SMB
R1.SMB1-34
16
5
17
7
19
R1.MP
32
31
30
4
16
5
17
7
19
R1.SMB1-3BK
WHBK
BN
WHBN
RD
WHRD
M2R
M2S
M2T
BU M2
BU 0V M2
1
2
4
GNYE
9
10
X2
0V X2
Y2
0V Y2
0V EXC1
EXC1
-R2.MP21
6
7
9
2
5
-R2.FB26
1
7
2
8
3
FB2
MU2-R2.MP2
1
6
7
9
2
5
-R2.FB26
1
7
2
8
3
RD
BK
BU
YE
WHBK (WHYE)
WHRD
RD
WH
BK
GNYE
BU +
BU -
M3 ~
S (V)
T (W)
R (U) PE
Brake
Resolver
4
3
10
12
RD
WH
BK
GNYE
4
3
10
12
23
22
21
M2S
M2R
M2T
3
5
6
GNYEPE
PE
-PTC21 28
11
8
11
PTC M2
PTC M3
7
8
BU
BK
+BU/10;7 / -BU M2
+BU/10;2 / -BU 0V M2
+Axis 1/30;2 / -PTC M2
+Axis 3/50;2 / -PTC M3
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Page 50
21TotalIncl. optional signal lamp IRB 66XX / 7600 3HAC025744-001
Latest revision:
Approved by, date:
Axis 3 Location:Plant: =
++Sublocation:
66XX/7600Axis 3
Document no.Next
Rev. Ind
02
Lab/Office: Status:APPROVED
2005-10-17
1 2 3 4 5 6 7 8
SMB
R1.SMB1-39
21
10
22
8
20
R1.MP3
5
7
9
21
10
22
8
20
R1.SMB1-3BK
WHBK
BN
WHBN
RD
WHRD
M3R
M3S
M3T
PE
PE
BU M3
1
2
3
GNYE
GNYE
9
X3
0V X3
Y3
0V Y3
0V EXC1
EXC1
-R2.MP31
6
7
9
12
2
-R2.FB36
1
7
2
8
3
FB3
MU3-R2.MP3
1
6
7
9
2
5
-R2.FB36
1
7
2
8
3
RD
BK
BU
YE
WHBK (WHYE)
WHRD
RD
WH
BK
GNYE
BU +
BU -
M3 ~
S (V)
T (W)
R (U) PE
Brake
Resolver
KEYPINB
KEYPINA
A K
1
2
R2.H1
R2.H2
R2.H1
R2.H2
OGR3.H
SIGNAL LAMP (OPTIONAL)
4
3
10
RD
WH
BK
12 GNYE
-PTC31 28
11
5
8
11
10
3
4
BU
BK
4
6
14
M3R
M3S
M3T
BU 0V M3
PTC M3
PTC M4
4
5
6
10
7
8
+BU/10;7 / -BU M3
+BU/10;2 / -BU 0V M3
+Axis 2/40;2 / -PTC M3
+Axis 4/60;2 / -PTC M4
+SMB/20;4 / -24V EXT.LAMP
+SMB/20;4 / -0V EXT.LAMP
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ABB
Page 60
21TotalIRB 66XX / 7600 3HAC025744-001
Latest revision:
Approved by, date:
Axis 4 Location:Plant: =
++Sublocation:
66XX/7600Axis 4
Document no.Next
Rev. Ind
02
Lab/Office: Status:APPROVED
2005-10-17
1 2 3 4 5 6 7 8
SMB
R1.SMB4-62
14
3
15
6
18
R1.MP1
2
10
2
14
3
15
6
18
R1.SMB4-6BK
WHBK
BN
WHBN
RD
WHRD
M4R
M4S
M4T
PE
BU M4
BU 0V M4
1
2
3
GNYE
6
7
X4
0V X4
Y4
0V Y4
0V EXC2
EXC2
-R2.MP4-1
3
7
9
2
5
-R2.FB46
1
7
2
8
3
FB4
MU4-R2.MP4-
1
3
7
9
2
5
-R2.FB4-6
1
7
2
8
3
RD
BK
BU
YE
WHBK (WHYE)
WHRD
RD
WH
BK
GNYE
BU +
BU -
M3 ~
S (V)
T (W)
R (U) PE
Brake
Resolver
-PTC4128
11
BU
BK
8
11
A KeypinKeypin B
PTC M4
PTC M5
4
5
+BU/10;7 / -BU M4
+BU/10;2 / -BU 0V M4
+Axis 3/50;2 / -PTC M4
=7600+Axis 5/70;2=66XX+Axis 5/80;2
=66XX ID+Axis 5/90;2 / -PTC M5
Prepared by, date:80
We
rese
rve
all r
ight
s in
this
doc
umen
t and
in th
e in
form
atio
n co
ntai
ned
ther
ein.
Rep
rodu
ctio
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horit
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ctly
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idde
n. ©
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21TotalIRB 7600 3HAC025744-001
Latest revision:
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++Sublocation:
7600Axis 5
Document no.Next
Rev. Ind
02
Lab/Office: Status:APPROVED
2005-10-17
1 2 3 4 5 6 7 8
SMB
R1.SMB4-64
16
5
17
7
19
R1.MP20
28
29
4
16
5
17
7
19
R1.SMB4-6BK
WHBK
BN
WHBN
RD
WHRD
M5R
M5S
M5T
PE
BU M5
BU 0V M5
1
2
3
GNYE
6
7
X5
0V X5
Y5
0V Y5
0V EXC2
EXC2
-R3.MP51
3
7
9
2
5
-R3.FB5-6
1
7
2
8
3
FB5
MU5-R3.MP5-
1
3
7
9
2
5
-R3.FB5-6
1
7
2
8
3
RD
BK
BU
YE
WHBK (WHYE)
WHRD
RD
WH
BK
GNYE
BU +
BU -
M3 ~
S (V)
T (W)
R (U) PE
Brake
Resolver
C1
C2
C3
GND
B9
B1
B7
B8
8
11
C1
C2
C3
GND
B9
B1
B7 8
11
-PTC512BU
BK
M5R
M5S
M5T
PE
BU M5
BU 0V M5
1
2
3
GNYE
6
7
PTC M5
PTC M6
4
5
R2.M5/6
15
PTC M5 4
PTC 0V 5
BK
WHBK
BN
WHBN
RD
WHRD
X5
0V X5
Y5
0V Y5
0V EXC2
EXC2
A1
A7
A2
A8
A3
A9
A1
A7
A2
A8
A3
A9
R2.M5/6
=66XX/7600+BU/10;7 / -BU M5
=66XX/7600+BU/10;2 / -BU 0V M5
=66XX/7600+Axis 4/60;2 / -PTC M5
-PTC 0V / +Axis 6/100;3
-PTC M6 / +Axis 6/100;5
Prepared by, date:90
We
rese
rve
all r
ight
s in
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doc
umen
t and
in th
e in
form
atio
n co
ntai
ned
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ein.
Rep
rodu
ctio
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se o
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sure
to th
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t exp
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aut
horit
y is
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ctly
forb
idde
n. ©
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yrig
ht 2
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Page 80
21TotalIRB 66XX 3HAC025744-001
Latest revision:
Approved by, date:
Axis 5 Location:Plant: =
++Sublocation:
66XXAxis 5
Document no.Next
Rev. Ind
02
Lab/Office: Status:APPROVED
2005-10-17
1 2 3 4 5 6 7 8
SMB
R1.SMB4-64
16
5
17
7
19
4
16
5
17
7
19
20
28
29
R1.SMB4-6
R1.MP
BK
WHBK
BN
WHBN
RD
WHRD
M5R
M5S
M5T
PE
BU M5
BU 0V M5
PTC M5
5
1
2
3
GNYE
6
7
4
X5
0V X5
Y5
0V Y5
0V EXC2
EXC2
A
B
C
D
E
F
A
B
C
D
E
F
R3.FB5
R3.MP51
2
3
GND
C
D
A
B
BK
WHBK
BN
WHBN
RD
WHRD
1
2
3
GND
C
D
A
B
M5R
M5S
M5T
PE
BU M5
BU 0V M5
PTC M5
PTC M6
X5
0V X5
Y5
0V Y5
0V EXC2
EXC2
1
2
3
GNYE
6
7
4
5
-R4.FB5-6
1
7
2
8
3
-R4.MP5-1
3
7
9
2
5
8
11
FB5
-R4.FB5-6
1
7
2
8
3
RD
BK
BU
YE
-R4.MP5-1
3
7
9
2
5
8
11
A Keypin
MU5
BU
BK
RD
WH
BK
GNYE
BU +
BU -
WHBK (WHYE)
WHRD
-PTC512
M3 ~
S (V)
T (W)
R (U) PE
Resolver
Brake
PTC M6
=66XX/7600+BU/10;7 / -BU M5
=66XX/7600+BU/10;2 / -BU 0V M5
=66XX/7600+Axis 4/60;2 / -PTC M5
+Axis 6/110;2 / -PTC M6.1
Prepared by, date:100
We
rese
rve
all r
ight
s in
this
doc
umen
t and
in th
e in
form
atio
n co
ntai
ned
ther
ein.
Rep
rodu
ctio
n, u
se o
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sure
to th
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t exp
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aut
horit
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stri
ctly
forb
idde
n. ©
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yrig
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21TotalIRB 66XX ID 3HAC025744-001
Latest revision:
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Axis 5 Location:Plant: =
++Sublocation:
66XX IDAxis 5
Document no.Next
Rev. Ind
02
Lab/Office: Status:APPROVED
2005-10-17
1 2 3 4 5 6 7 8
SMB
R1.SMB4-64
16
5
17
7
19
R1.MP
=66XX/7600+BU/10;7 / -BU M5
=66XX/7600+BU/10;2 / -BU 0V M5
=66XX/7600+Axis 4/60;2 / -PTC M5
20
28
29
15
4
16
5
17
7
19
PTC 0V
R1.SMB4-6
5
BK
WHBK
BN
WHBN
RD
WHRD
M5R
M5S
M5T
PE
BU M5
BU 0V M5
PTC M5
X5
0V X5
Y5
0V Y5
0V EXC2
EXC2
1
2
3
GNYE
6
7
4
R2.M5/6C1
C2
C3
GND
B9
B1
B7
A1
A7
A2
A8
A3
A9
C1
C2
C3
GND
B9
B1
B7
A1
A7
A2
A8
A3
A9
R2.M5/6BN
WHBN
RD
WHRD
OG
WHOG
M5R
M5S
M5T
PE
BU M5
BU 0V M5
PTC M5
PTC M6
1
2
3
GNYE
9
11
7
X5
0V X5
Y5
0V Y5
0V EXC2
EXC2
-R3.MP51
2
3
PE
C
D
A
B
-R3.FB5-A
B
C
D
E
F
FB5
MU5-R3.MP5-
1
2
3
PE
C
D
A
B
-R3.FB5-A
B
C
D
E
F
RD
BK
BU
YE
WHBK (WHYE)
WHRD
BU
BK
RD
WH
BK
GNYE
BU +
BU -
-PTC512
M3 ~
S (V)
T (W)
R (U) PE
Brake
Resolver
BU
BU
-PTC M6.2 / +Axis 6/120;4
-BU 0V M6.1 / +Axis 6/120;4
-PTC 0V.1 / +Axis 6/120;3
Prepared by, date:110
We
rese
rve
all r
ight
s in
this
doc
umen
t and
in th
e in
form
atio
n co
ntai
ned
ther
ein.
Rep
rodu
ctio
n, u
se o
r di
sclo
sure
to th
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s w
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t exp
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aut
horit
y is
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ctly
forb
idde
n. ©
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Page 100
21TotalIRB 7600 3HAC025744-001
Latest revision:
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Axis 6 Location:Plant: =
++Sublocation:
7600Axis 6
Document no.Next
Rev. Ind
02
Lab/Office: Status:APPROVED
2005-10-17
1 2 3 4 5 6 7 8
SMB
R1.SMB4-69
21
10
22
8
20
R1.MP9
8
16
9
21
10
22
8
20
R1.SMB4-6BK
WHBK
BN
WHBN
RD
WHRD
M6R
M6S
M6T
PE
BU M6
BU 0V M6
1
2
3
GNYE
6
7
X6
0V X6
Y6
0V Y6
0V EXC2
EXC2
-R3.MP61
3
7
9
2
5
-R3.FB66
1
7
2
8
3
FB6
MU6-R3.MP6
1
3
7
9
2
5
-R3.FB66
1
7
2
8
3
RD
BK
BU
YE
WHBK (WHYE)
WHRD
RD
WH
BK
GNYE
BU +
BU -
M3 ~
S (V)
T (W)
R (U) PE
Brake
Resolver
8
11
BU
BK
-PTC6128
11
-R2.M5/6-C4
C5
C6
GND
B11
B12
B10
C4
C5
C6
GND
B11
B12
B10
M6R
M6S
M6T
1
2
3
PE GNYE
BU M6
BU 0V M6
6
7
PTC 0V
4
5
PTC M6
BK
WHBK
BN
WHBN
RD
WHRD
X6
0V X6
Y6
0V Y6
0V EXC2
EXC2
A4
A10
A5
A11
A6
A12
A10
A5
A11
A6
A12
A4R2.M5/6
=66XX/7600+BU/10;7 / -BU M6
=66XX/7600+BU/10;2 / -BU 0V M6
+Axis 5/70;3 / -PTC 0V
+Axis 5/70;5 / -PTC M6
Prepared by, date:120
We
rese
rve
all r
ight
s in
this
doc
umen
t and
in th
e in
form
atio
n co
ntai
ned
ther
ein.
Rep
rodu
ctio
n, u
se o
r di
sclo
sure
to th
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s w
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t exp
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horit
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stri
ctly
forb
idde
n. ©
Cop
yrig
ht 2
003
ABB
Page 110
21TotalIRB 66XX 3HAC025744-001
Latest revision:
Approved by, date:
Axis 6 Location:Plant: =
++Sublocation:
66XXAxis 6
Document no.Next
Rev. Ind
02
Lab/Office: Status:APPROVED
2005-10-17
1 2 3 4 5 6 7 8
SMB
R1.SMB4-69
21
10
22
8
20
R1.MP9
8
16
9
21
10
22
8
20
R1.SMB4-6BK
WHBK
BN
WHBN
RD
WHRD
M6R
M6S
M6T
PE
BU M6
BU 0V M6
1
2
3
GNYE
6
7
X6
0V X6
Y6
0V Y6
0V EXC2
EXC2
-R3.MP6-1
3
7
9
2
5
-R3.FB66
1
7
2
8
3
FB6
MU6-R3.MP6-
1
3
7
9
2
5
-R3.FB66
1
7
2
8
3
RD
BK
BU
YE
WHBK (WHYE)
WHRD
RD
WH
BK
GNYE
BU +
BU -
M3 ~
S (V)
T (W)
R (U) PE
Brake
Resolver
15 PTC 0V 5
PTC M6 4 8
11
8
11
BU
BK
-PTC612
=66XX/7600+BU/10;7 / -BU M6
=66XX/7600+BU/10;2 / -BU 0V M6
+Axis 5/80;2 / -PTC M6.1
Prepared by, date:130
We
rese
rve
all r
ight
s in
this
doc
umen
t and
in th
e in
form
atio
n co
ntai
ned
ther
ein.
Rep
rodu
ctio
n, u
se o
r di
sclo
sure
to th
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s w
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t exp
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aut
horit
y is
stri
ctly
forb
idde
n. ©
Cop
yrig
ht 2
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Page 120
21TotalIRB 66XX ID 3HAC025744-001
Latest revision:
Approved by, date:
Axis 6 Location:Plant: =
++Sublocation:
66XX IDAxis 6
Document no.Next
Rev. Ind
02
Lab/Office: Status:APPROVED
2005-10-17
1 2 3 4 5 6 7 8
SMB
R1.SMB4-69
21
10
22
8
20
9
21
10
22
8
20
R1.MP
=66XX/7600+BU/10;7 / -BU M6
9
8
16
R1.SMB4-6BK
WHBK
BN
WHBN
RD
WHRD
M6R
M6S
M6T
PE
BU M6
X6
0V X6
Y6
0V Y6
0V EXC2
EXC2
1
2
3
GNYE
6
-R2.M5/6-C4
C5
C6
GND
B11
B10
R2.M5/6A4
A10
A5
A11
A6
A12
C4
C5
C6
GND
B11
B10
A4
A10
A5
A11
A6
A12
M6R
M6S
M6T
PE
BU M6
BU 0V M6
PTC 0V
BK
WHBK
BN
WHBN
RD
WHRD
1
2
3
GNYE
6
7
5
X6
0V X6
Y6
0V Y6
0V EXC2
EXC2
PTC M6 4
-R3.FB66
1
7
2
8
3
-R3.MP61
3
7
9
2
5
8
11
FB6
MU6-R3.MP6
1
3
7
9
2
5
8
11
-R3.FB66
1
7
2
8
3
RD
BK
BU
YE
WHBK (WHYE)
WHRD
BU
BK
RD
WH
BK
GNYE
BU +
BU -
-PTC612
M3 ~
S (V)
T (W)
R (U) PE
Brake
Resolver
+Axis 5/90;3 / -PTC 0V.1
+Axis 5/90;5 / -PTC M6.2
+Axis 5/90;5 / -BU 0V M6.1
Prepared by, date:140
We
rese
rve
all r
ight
s in
this
doc
umen
t and
in th
e in
form
atio
n co
ntai
ned
ther
ein.
Rep
rodu
ctio
n, u
se o
r di
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sure
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s w
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t exp
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horit
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stri
ctly
forb
idde
n. ©
Cop
yrig
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Page 130
21TotalOptional IRB 66XX / 7600 3HAC025744-001
Latest revision:
Approved by, date:
Pos. switch Axis 1 Location:Plant: =
++Sublocation:
66XX/7600Option
Document no.Next
Rev. Ind
02
Lab/Office: Status:APPROVED
2005-10-17
1 2 3 4 5 6 7 8
-SW1.1
2221
1413
-SW1.2
2221
1413
-SW1.3
2221
1413
-SW1.4
2221
1413
-SW1.5
2221
1413
-SW1.6
2221
1413
A
B
D
C
E
F
H
G
J
K
M
L
N
P
S
R
T
U
W
V
X
Y
a
Z
Position switchesAxis 1
Power 1.1.1
Power 1.1.2
Signal 1.1.1
Signal 1.1.2
Power 1.2.1
Power 1.2.2
Signal 1.2.2
Signal 1.2.1
Power 1.3.1
Power 1.3.2
Signal 1.3.2
Signal 1.3.1
Power 1.4.1
Power 1.4.2
Signal 1.4.2
Signal 1.4.1
Power 1.5.1
Power 1.5.2
Signal 1.5.2
Signal 1.5.1
Power 1.6.1
Power 1.6.2
Signal 1.6.2
Signal 1.6.1
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
SW1.6
SW1.5
SW1.4
SW1.3
SW1.2
SW1.1
Location of position switches
Prepared by, date:150
We
rese
rve
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ight
s in
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umen
t and
in th
e in
form
atio
n co
ntai
ned
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ein.
Rep
rodu
ctio
n, u
se o
r di
sclo
sure
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s w
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t exp
ress
aut
horit
y is
stri
ctly
forb
idde
n. ©
Cop
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Page 140
21TotalOptional IRB 66XX / 7600 3HAC025744-001
Latest revision:
Approved by, date:
Pos. switch Axis 2 Location:Plant: =
++Sublocation:
66XX/7600Option
Document no.Next
Rev. Ind
02
Lab/Office: Status:APPROVED
2005-10-17
1 2 3 4 5 6 7 8
A
B
D
C
E
F
H
G
J
K
M
L
Power 2.1.1
Power 2.1.2
Signal 2.1.2
Signal 2.1.1
Power 2.2.1
Power 2.2.2
Signal 2.2.2
Signal 2.2.1
Power 2.3.1
Power 2.3.2
Signal 2.3.2
Signal 2.3.1
1
2
4
3
5
6
8
7
9
10
12
11
-SW2.1
2221
1413
-SW2.2
2221
1413
-SW2.3
2221
1413
Position switchesAxis 2
R1.SW2/3A
B
D
C
E
F
H
G
J
K
M
L
A
B
D
C
E
F
H
G
J
K
M
L
R2.SW2Power 2.1.1
Power 2.1.2
Signal 2.1.2
Signal 2.1.1
Power 2.2.1
Power 2.2.2
Signal 2.2.2
Signal 2.2.1
Power 2.3.1
Power 2.3.2
Signal 2.3.2
Signal 2.3.1
1
2
4
3
5
6
8
7
9
10
12
11
-FAN
M
+-
A
C
B
A
C
B
N
R
P
24V FAN
0V FAN
ALARM FAN
13
14
15Fan axis 1 or 2
SW2.
4
SW2.
3
SW2.
2
SW2.
1
Location of position switches
Prepared by, date:
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rese
rve
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ight
s in
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doc
umen
t and
in th
e in
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atio
n co
ntai
ned
ther
ein.
Rep
rodu
ctio
n, u
se o
r di
sclo
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t exp
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aut
horit
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ctly
forb
idde
n. ©
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Page 150
21TotalOptional IRB 66XX / 7600 3HAC025744-001
Latest revision:
Approved by, date:
Pos. switch Axis 3 Location:Plant: =
++Sublocation:
66XX/7600Option
Document no.Next
Rev. Ind
02
Lab/Office: Status:APPROVED
2005-10-17
1 2 3 4 5 6 7 8
T
U
W
V
X
Y
a
Z
b
c
e
d
f
h
g
R1.SW2/3Power 3.1.1
Power 3.1.2
Signal 3.1.2
Signal 3.1.1
Power 3.2.1
Power 3.2.2
Signal 3.2.2
Signal 3.2.1
Power 3.3.1
Power 3.3.2
Signal 3.3.2
Signal 3.3.1
1
2
4
3
5
6
8
7
9
10
12
11
13
15
14
A
B
D
C
E
F
H
G
J
K
M
L
A
B
D
C
E
F
H
G
J
K
M
L
R2.SW3Power 3.1.1
Power 3.1.2
Signal 3.1.2
Signal 3.1.1
Power 3.2.1
Power 3.2.2
Signal 3.2.2
Signal 3.2.1
Power 3.3.1
Power 3.3.2
Signal 3.3.2
Signal 3.3.1
A
C
B
1
2
4
3
5
6
8
7
9
10
12
11
A
C
B
-SW3.1
2221
1413
-SW3.2
2221
1413
-SW3.3
2221
1413
24V FAN
0V FAN
ALARM FAN
-FAN
M
+-
Position switchesAxis 3
Fan axis 3
SW3.
4
SW3.
3
SW3.
2
SW3.
1
Location of Position switches