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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 Latest revision: Prepared by, date: Approved by, date: Lab/Office: COPYRIGHT page Title page/cover sheet Status: Document no. 3HAC025744-001 Plant: Location: Sublocation: Rev. Ind = + + Manipulator 02 Page Next Total 1 2 21 APPROVED 2007-04-20 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 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 2004 ABB ALL right reserved. ABB Automation Technologies AB Robotics SE-721 68 Västerås Sweden

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Page 1: © Copyright 2004 ABB ALL right reserved.nfs.gongkong.com/u_files/robot/zl/IRB6640电路图.pdf · 3HAC 024386-001 Manipulator harness axis 1-6 (IRB 6640 / 6650 / 6650S) 3HAC14940-1

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Cop

yrig

ht 2

003

ABB

Latest revision:

Prepared by, date: Approved by, date:

Lab/Office:

COPYRIGHT pageTitle page/cover sheet

Status:

Document no.

3HAC025744-001

Plant:Location:Sublocation:

Rev. Ind

=++

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

Page 2: © Copyright 2004 ABB ALL right reserved.nfs.gongkong.com/u_files/robot/zl/IRB6640电路图.pdf · 3HAC 024386-001 Manipulator harness axis 1-6 (IRB 6640 / 6650 / 6650S) 3HAC14940-1

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ABB

Latest revision:

Prepared by, date: Approved by, date:

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

Page 3: © Copyright 2004 ABB ALL right reserved.nfs.gongkong.com/u_files/robot/zl/IRB6640电路图.pdf · 3HAC 024386-001 Manipulator harness axis 1-6 (IRB 6640 / 6650 / 6650S) 3HAC14940-1

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idde

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Cop

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ht 2

003

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

Page 4: © Copyright 2004 ABB ALL right reserved.nfs.gongkong.com/u_files/robot/zl/IRB6640电路图.pdf · 3HAC 024386-001 Manipulator harness axis 1-6 (IRB 6640 / 6650 / 6650S) 3HAC14940-1

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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

Page 5: © Copyright 2004 ABB ALL right reserved.nfs.gongkong.com/u_files/robot/zl/IRB6640电路图.pdf · 3HAC 024386-001 Manipulator harness axis 1-6 (IRB 6640 / 6650 / 6650S) 3HAC14940-1

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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

Page 6: © Copyright 2004 ABB ALL right reserved.nfs.gongkong.com/u_files/robot/zl/IRB6640电路图.pdf · 3HAC 024386-001 Manipulator harness axis 1-6 (IRB 6640 / 6650 / 6650S) 3HAC14940-1

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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

Page 7: © Copyright 2004 ABB ALL right reserved.nfs.gongkong.com/u_files/robot/zl/IRB6640电路图.pdf · 3HAC 024386-001 Manipulator harness axis 1-6 (IRB 6640 / 6650 / 6650S) 3HAC14940-1

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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

Page 8: © Copyright 2004 ABB ALL right reserved.nfs.gongkong.com/u_files/robot/zl/IRB6640电路图.pdf · 3HAC 024386-001 Manipulator harness axis 1-6 (IRB 6640 / 6650 / 6650S) 3HAC14940-1

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ABB

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

Page 9: © Copyright 2004 ABB ALL right reserved.nfs.gongkong.com/u_files/robot/zl/IRB6640电路图.pdf · 3HAC 024386-001 Manipulator harness axis 1-6 (IRB 6640 / 6650 / 6650S) 3HAC14940-1

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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

Page 10: © Copyright 2004 ABB ALL right reserved.nfs.gongkong.com/u_files/robot/zl/IRB6640电路图.pdf · 3HAC 024386-001 Manipulator harness axis 1-6 (IRB 6640 / 6650 / 6650S) 3HAC14940-1

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ABB

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

Page 11: © Copyright 2004 ABB ALL right reserved.nfs.gongkong.com/u_files/robot/zl/IRB6640电路图.pdf · 3HAC 024386-001 Manipulator harness axis 1-6 (IRB 6640 / 6650 / 6650S) 3HAC14940-1

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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

Page 12: © Copyright 2004 ABB ALL right reserved.nfs.gongkong.com/u_files/robot/zl/IRB6640电路图.pdf · 3HAC 024386-001 Manipulator harness axis 1-6 (IRB 6640 / 6650 / 6650S) 3HAC14940-1

Prepared by, date:70

We

rese

rve

all r

ight

s in

this

doc

umen

t and

in th

e in

form

atio

n co

ntai

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ein.

Rep

rodu

ctio

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se o

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stri

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forb

idde

n. ©

Cop

yrig

ht 2

003

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

Page 13: © Copyright 2004 ABB ALL right reserved.nfs.gongkong.com/u_files/robot/zl/IRB6640电路图.pdf · 3HAC 024386-001 Manipulator harness axis 1-6 (IRB 6640 / 6650 / 6650S) 3HAC14940-1

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

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ther

ein.

Rep

rodu

ctio

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se o

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forb

idde

n. ©

Cop

yrig

ht 2

003

ABB

Page 70

21TotalIRB 7600 3HAC025744-001

Latest revision:

Approved by, date:

Axis 5 Location:Plant: =

++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

Page 14: © Copyright 2004 ABB ALL right reserved.nfs.gongkong.com/u_files/robot/zl/IRB6640电路图.pdf · 3HAC 024386-001 Manipulator harness axis 1-6 (IRB 6640 / 6650 / 6650S) 3HAC14940-1

Prepared by, date:90

We

rese

rve

all r

ight

s in

this

doc

umen

t and

in th

e in

form

atio

n co

ntai

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ther

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Rep

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aut

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stri

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forb

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Cop

yrig

ht 2

003

ABB

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

Page 15: © Copyright 2004 ABB ALL right reserved.nfs.gongkong.com/u_files/robot/zl/IRB6640电路图.pdf · 3HAC 024386-001 Manipulator harness axis 1-6 (IRB 6640 / 6650 / 6650S) 3HAC14940-1

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

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to th

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aut

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stri

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forb

idde

n. ©

Cop

yrig

ht 2

003

ABB

Page 90

21TotalIRB 66XX ID 3HAC025744-001

Latest revision:

Approved by, date:

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

Page 16: © Copyright 2004 ABB ALL right reserved.nfs.gongkong.com/u_files/robot/zl/IRB6640电路图.pdf · 3HAC 024386-001 Manipulator harness axis 1-6 (IRB 6640 / 6650 / 6650S) 3HAC14940-1

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

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ther

ein.

Rep

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ctio

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stri

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forb

idde

n. ©

Cop

yrig

ht 2

003

ABB

Page 100

21TotalIRB 7600 3HAC025744-001

Latest revision:

Approved by, date:

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

Page 17: © Copyright 2004 ABB ALL right reserved.nfs.gongkong.com/u_files/robot/zl/IRB6640电路图.pdf · 3HAC 024386-001 Manipulator harness axis 1-6 (IRB 6640 / 6650 / 6650S) 3HAC14940-1

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

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stri

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forb

idde

n. ©

Cop

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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

Page 18: © Copyright 2004 ABB ALL right reserved.nfs.gongkong.com/u_files/robot/zl/IRB6640电路图.pdf · 3HAC 024386-001 Manipulator harness axis 1-6 (IRB 6640 / 6650 / 6650S) 3HAC14940-1

Prepared by, date:130

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rese

rve

all r

ight

s in

this

doc

umen

t and

in th

e in

form

atio

n co

ntai

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ther

ein.

Rep

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stri

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forb

idde

n. ©

Cop

yrig

ht 2

003

ABB

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

Page 19: © Copyright 2004 ABB ALL right reserved.nfs.gongkong.com/u_files/robot/zl/IRB6640电路图.pdf · 3HAC 024386-001 Manipulator harness axis 1-6 (IRB 6640 / 6650 / 6650S) 3HAC14940-1

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

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ther

ein.

Rep

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stri

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forb

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n. ©

Cop

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ht 2

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ABB

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

Page 20: © Copyright 2004 ABB ALL right reserved.nfs.gongkong.com/u_files/robot/zl/IRB6640电路图.pdf · 3HAC 024386-001 Manipulator harness axis 1-6 (IRB 6640 / 6650 / 6650S) 3HAC14940-1

Prepared by, date:150

We

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ABB

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

Page 21: © Copyright 2004 ABB ALL right reserved.nfs.gongkong.com/u_files/robot/zl/IRB6640电路图.pdf · 3HAC 024386-001 Manipulator harness axis 1-6 (IRB 6640 / 6650 / 6650S) 3HAC14940-1

Prepared by, date:

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

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ctio

n, u

se o

r di

sclo

sure

to th

ird p

artie

s w

ithou

t exp

ress

aut

horit

y is

stri

ctly

forb

idde

n. ©

Cop

yrig

ht 2

003

ABB

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