© copyright 2016 abb all right reserved. · 2019-02-26 · single cabinet controller, irc5: see...
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DMRO SEPRIM
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 2016 ABB ALL right reserved.
ABB AB
SE-721 68 VästeråsSweden
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3HAC026136-001
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DMRO SEPRIM
ManufactureType
Control cabinetMains voltageSupplyControl voltageYear of construction
:::
::::
Type of installation
CustomerRobot serial number(s)Drawing numberDrawing version
::::
:
Project startProject managerLast revisionDesigned byDesigned dateNumber of pages
:::::::
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TABLE OF CONTENTS PAGE 1-206Location:Plant: =
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3HAC026136-001
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09APPROVED
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DMRO SEPRIM
Table of contentsPlant Location RemarkPage Page description Date Editor
ABB_table_of_contents
SP
sethsta
1 COPYRIGHT PAGE APPROVED 2009-05-19 sethsta
SP 2 TITLE PAGE
sethsta
APPROVED 2009-05-19 sethsta
SP 3 TABLE OF CONTENTS PAGE 1-206 APPROVED 2009-05-19
sethsta
sethsta
DP
SP
Se -
4 TABLE OF CONTENTS PAGE 207-602
109 CUSTOMER SIGNALS, PROFIBUS
APPROVED
APPROVED
2009-05-19
2009-05-19
sethsta
SP
seermes
S
DP
DP
50
Se
Se
BLOCK DIAGRAM TYPE S - IRBDP SW5
-
-
APPROVED
112
110
2009-05-19
CUSTOMER SIGNALS, ETHERNET
CUSTOMER SIGNALS, PROFIBUS
sethsta
APPROVED
APPROVED
SP
2016-05-27
2009-05-19
Se
sethsta
seermes
51
DP
DP
DP
BLOCK DIAGRAM - TYPE Se
Se
Se
Se -
-
APPROVED
-
114
113
111
2009-12-04
CUSTOMER SIGNALS, ETHERNET
CUSTOMER SIGNALS, PROFIBUS
CUSTOMER SIGNALS, ETHERNET
seermes
APPROVED
APPROVED
APPROVED
SP
2009-05-19
Se
2016-05-27
2016-05-27
52
sethsta
seermes
sethsta
BLOCK DIAGRAM TYPE Se - IRBDP SW5
DP
APPROVED
H.1
2009-05-19
200
sethsta
CUSTOMER SIGNALS, PARALLEL
SP
APPROVED
H
2009-05-19
53
sethsta
DP
BLOCK DIAGRAM - TYPE H
H.1
APPROVED
201
2016-11-08 seermes
CUSTOMER SIGNALS, PARALLEL APPROVED
SP HSe
2009-05-19
54 BLOCK DIAGRAM - TYPE HSe
DP
APPROVED
H.1
2009-12-04
202 CUSTOMER SIGNALS, CANBUS
seermes
SP
APPROVED 2009-05-19
CON 55
DP
CONNECTOR LAYOUT
H.1
APPROVED 2009-12-04
203 CUSTOMER SIGNALS, CANBUS
seermes
SP
APPROVED
CON
2009-05-19
56 CONNECTOR LAYOUT APPROVED 2016-11-08 seermes
DP Se - 100 CUSTOMER SIGNALS, PARALLEL APPROVED 2009-05-19 sethsta
DP Se - 101 CUSTOMER SIGNALS, PARALLEL APPROVED 2009-05-19 sethsta
DP Se - 102 CUSTOMER SIGNALS, PARALLEL APPROVED 2009-05-19 sethsta
DP Se - 103 CUSTOMER SIGNALS, CANBUS APPROVED 2009-05-19 sethsta
DP Se - 104 CUSTOMER SIGNALS, CANBUS APPROVED 2009-05-19 sethsta
DP Se - 105 CUSTOMER SIGNALS, CANBUS APPROVED 2009-05-19 sethsta
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3HAC026136-001
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DMRO SEPRIM
Table of contentsPlant Location RemarkPage Page description Date Editor
ABB_table_of_contents
DP
¹=LX stands for Linear axis unit from Güdel
DP
DP
H.1
H.1
H.1
207
251
209
CUSTOMER SIGNALS, PROFIBUS
LX¹ CUSTOMER SIGNALS, ALL
CUSTOMER SIGNALS, ETHERNET
APPROVED
APPROVED
APPROVED
2009-05-19
2016-11-08
2016-05-27
sethsta
seermes
seermes
DP HSe 300 CUSTOMER SIGNALS, PARALLEL APPROVED 2009-05-19 sethsta
DP HSe 301 CUSTOMER SIGNALS, PARALLEL APPROVED 2009-05-19 sethsta
DP HSe 302 CUSTOMER SIGNALS, CANBUS APPROVED 2009-05-19 sethsta
DP HSe 303 CUSTOMER SIGNALS, CANBUS APPROVED 2009-05-19 sethsta
DP HSe 306 CUSTOMER SIGNALS, PROFIBUS APPROVED 2009-05-19 sethsta
DP
DP HSe
HSe
309
307
CUSTOMER SIGNALS, ETHERNET
CUSTOMER SIGNALS, ETHERNET
CUSTOMER SIGNALS, PROFIBUS
APPROVED
APPROVED 2009-05-19
2016-05-27
sethsta
seermes
DP
DP
HSe
HSe
308
310 SERVO PEDESTAL GUN
APPROVED
APPROVED
2016-05-27
2009-05-19
seermes
sethsta
DP CS Sublocation: B 600 CUSTOMER SIGNAL - IRBDP SW5 APPROVED 2009-05-19 sethsta
DP RG 601 ROBOT GUN (RG) - IRBDP SW5 APPROVED
DP
2009-05-19
DP
DP
H.1
sethsta
H.1
H.1
208
DP
206
250
CUSTOMER SIGNALS, ETHERNET
CUSTOMER SIGNALS, PROFIBUS
RG
LX¹ CUSTOMER SIGNALS, ALL
602
APPROVED
APPROVED
APPROVED
2016-05-27
ROBOT GUN (RG) - IRBDP SW5
2016-11-08
2009-05-19
seermes
APPROVED
sethsta
seermes
2009-05-19 sethsta
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++Sublocation:
SPS
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3HAC026136-001
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09APPROVED
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DMRO SEPRIM
REGION E
BLOCK DIAGRAM TYPE S (pneumatic gun)IRBDP SW5Single cabinet controller, IRC5: See circuit diagram, 3HAC024480-004.Dashed cables: See circuit diagram SpotPack, 3HAC026208-001
Axis 6
Axis 1
R3.CP/CSAxis 5
Axis 2
Axis 4
R2.CP/CSAxis 3
Base
CONNECTION BOX
R1.WAR1.CBR1.CBR1.WELD
WATER ANDAIR UNIT
CUSTOMER POWERCUSTOMER SIGNAL
WELD POWER SWC.WELD
SWC.24VSWC.I/O
3HA
C02
9444
-001
C
AN
BU
S IN
TER
FAC
E
3HA
C02
9446
-001
2
4VD
C S
UP
PLY
, WE
LDIN
G S
IGN
ALS
SPOT WELDINGCABINET
SINGLE CABINETCONTROLLER
3HA
C02
9486
-001
R
S23
2/R
S48
5
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SPSe
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3HAC026136-001
8
09APPROVED
1 2 3 4 5 6 7
DMRO SEPRIM
BLOCK DIAGRAM TYPE Se (servo gun)IRBDP SW2Single cabinet controller, IRC5: See circuit diagram, 3HAC024480-004.Dashed cables: See circuit diagram SpotPack, 3HAC026208-001
SPOT WELDINGCABINET
SINGLE CABINETCONTROLLER
XP/XS113
24V
DC
SU
PP
LY, W
ELD
ING
SIG
NA
LS
RS
232/
RS
485
Servo gun( axis 7 )
M
R3.CP/CSR3.WELD
Axis 6
Axis 1
Axis 5
Axis 2
Axis 4
Axis 3
Base
R2.CP/CSR2.WELD
R1.WELD
R1.CP/CS/CBUS
R2.ETHERNET
R1.SP
R1.ETHERNET
WATER ANDAIR UNIT
XS/XP101
24VDC SUPPLY, PARALLEL INTERFACE
WELD POWER
ROBOT SIGNALS, 24VDC SUPPLY
BUS SIGNALS
SERVO GUN POWER
XP/XS103
XP/XS9
XP/XS7
X101
XP/XS13
115/
230V
AC
CA
NB
US
INTE
RFA
CE
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++Sublocation:
SPSe
Document no.Next
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3HAC026136-001
8
09APPROVED
1 2 3 4 5 6 7
DMRO SEPRIM
REGION E
BLOCK DIAGRAM TYPE Se (servo gun)IRBDP SW5Single cabinet controller, IRC5: See circuit diagram, 3HAC024480-004.Dashed cables: See circuit diagram SpotPack, 3HAC026208-001
3HA
C02
9444
-001
C
AN
BU
S IN
TER
FAC
E
3HA
C02
9446
-001
2
4VD
C S
UP
PLY
, WE
LDIN
G S
IGN
ALS
SPOT WELDINGCABINET
SINGLE CABINETCONTROLLER
3HA
C02
9486
-001
R
S23
2/R
S48
5
Servo gun( axis 7 )
M
R3.CP/CSR3.WELD
Axis 6
Axis 1
Axis 5
Axis 2
Axis 4
Axis 3
Base
R2.CP/CSR2.WELD
CONNECTION BOX
R1.SP
R1.WELD
R1.CBR1.CBR1.CB
WATER ANDAIR UNIT
SERVO GUN POWER
CUSTOMER POWERCUSTOMER SIGNAL
WELD POWER SWC.WELD
XP/XS7
SWC.24VSWC.I/O
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++Sublocation:
SPH
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3HAC026136-001
8
09APPROVED
1 2 3 4 5 6 7
DMRO SEPRIM
BLOCK DIAGRAM TYPE HIRB6620 / IRB6620LX¹Single cabinet controller, IRC5: See circuit diagram, 3HAC024480-004 & xxx
¹=LX stands for Linear axis unit from Güdel
Axis 1
R3.CP/CS
R3.CP/CS
Axis 5
Axis 5
Axis 6
Axis 6
Axis 2
Axis 2
Axis 4
Axis 4
R2.CP/CS
R2.CP/CS
Axis 3
Axis 3
Base
R1.ETHERNET
R1.CP/CS/CBUSR1.ETHERNET
R1.CPSR1.CBUS
ROBOT SIGNALS, 24VDC SUPPLYBUS SIGNALS
ROBOT SIGNALS, 24VDC SUPPLY
BUS SIGNALS
XP/XS13
XP
/XS
9
XP/XS9
XP
/XS
13
SINGLE CABINETCONTROLLER
SINGLE CABINETCONTROLLER
R3.ETHERNET
R2.ETHERNETR3.ETHERNET
R2.ETHERNET
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BLOCK DIAGRAM - TYPE HSeLocation:Plant: =
++Sublocation:
SPHSe
Document no.Next
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3HAC026136-001
8
09APPROVED
1 2 3 4 5 6 7
DMRO SEPRIM
BLOCK DIAGRAM TYPE HSe (material handling and servo gun)IRBDP SW2Single cabinet controller, IRC5: See circuit diagram, 3HAC024480-004.Dashed cables: See circuit diagram SpotPack, 3HAC026208-001
Base
R2.CP/CSR2.WELD
R1.CP/CS/CBUSR1.ETHERNET
R3.
FB7
WATER ANDAIR UNIT
XS/XP101
WELDING SIGNALS, 24VDC SUPPLY
ROBOT SIGNALS, 24VDC SUPPLYBUS SIGNALS
POWER SERVOGUN
WELD POWER
24VDC SUPPLY, PARALLEL INTERFACE, PROP. VALVE XP/XS103
X101
M
XP/XS9XP/XS13
Servo gun( axis 7 )
XP/XS7
X104
115/
230V
AC
CA
NB
US
INTE
RFA
CE
SPOT WELDINGCABINET
SINGLE CABINETCONTROLLER
XP/XS113
24V
DC
SU
PP
LY, W
ELD
ING
SIG
NA
LS
RS
232/
RS
485
PEDESTAL
GUN
FB.M7
R1.SP
Axis 1
Axis 5
Axis 6
SG.WELD
SG.CP/CS
R3.CP/CSR3.WELD
Axis 2
R2.ETHERNET
Axis 4
Axis 3
RESOLVER/SMB SIGNALS
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CONNECTOR LAYOUTLocation:Plant: =
++Sublocation:
SPCON
Document no.Next
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3HAC026136-001
8
09APPROVED
1 2 3 4 5 6 7
DMRO SEPRIM
HARTING HAN MODULE/
5
HARTING HAN MODULE/
8
3
b
2
HD
HD
BLOCK DIAGRAM TYPE Se/HSe (on the robot)
17
7
9
12
DD
d
18
EE
A
9
1
25
B
c
4
1
417
HD
9
D
17
EE
1
4
Female (R2.CP/CS)
Male (R1.CP/CS)Male 4p
R2.ETHERNETR3.ETHERNET
1
Female 4PR1.ETHERNETR2.ETHERNET
EE
4
CC
8
5
18
25
8
18
HD
8
5
8
1
25 17
Female (R3.CP/CS)
9
1
1
8
7
12
1
A
6
1
8
a
B
2
1
8
3
18
HD
25
18 1
617
9
4
12
7
DD
1
25
1
6
DD
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++Sublocation:
SPCON
Document no.Next
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3HAC026136-001
8
09APPROVED
1 2 3 4 5 6 7
DMRO SEPRIM
BLOCK DIAGRAM TYPE Se/HSe
A
BLOCK DIAGRAM TYPE H/HS/HSe model (DP-UE-MH3) IRB6620LX
A
Female 32p (R3.CP/CS) Male 32p (R1.CBUS) Male 32p (R1.CPS)
Female 8p (FB.M7)
SOURIAU UTOW
A
Male 8p (R3.FB7)
A AA
A
BLOCK DIAGRAM TYPE HSe
SOURIAUSOURIAU SOURIAU
Female 23p (R1.SP)
Female 19p (R3.CBUS)
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3HAC026136-001
8
09APPROVED
1 2 3 4 5 6 7
DMRO SEPRIM
TYPE SECUSTOMER SIGNALSPARALLELCOMMUNICATIONVALID FORHARNESS IN CABINET3HAC022852-001 (Dual)3HAC024371-001 (Single)3HAC021791-001FLOOR HARNESS3HAC022957-001,002,003,0063HEA800736-001,002,003,004LOWER/UPPER ARM HARNESS3HAC024649-001
* Circuit diagram shows markingon wires for both dual andsingle cabinet
670
671
672
673
400240044000
40134014
40104012
4011
4006400840094007
GN/YE
GN/YE
12
34
GN/YE
BLBU
BR
GN/YE
PKRD
OGGN
YE
113/
5
123
GN/YE
4
5
6
7
45
67
GN/YE
113/
8
24V
0V
24V
-AXIS 6-MANIPULATOR BASE-ROBOTCABINET
-XS7
-XS13
4 4
B11
B12
B13
B15
C1-R3.CP/CS
C2
C3
D1 d1-R1.CP/CS
D6 d6
D3 d3
D4 d4
E E-R1.SP
C C
A A
G G
J J
K K
L L
M M
R
C4-R3.CP/CS
C5
C6
C7
3 3-A41.1.3.X21
5 5
1 1
1 1-A43.X22
3 3
2 2
1 1-A43.X24
2 2
1 1-XP6
2 2
3 3
4 4
5 5-XS40
6 6
A3 a3
A5 a5
A1 a1
E1 e1
E2 e2
F7 f7
F9 f9
F8 f8
F1 f1
F2 f2
F3 f3
F4 f4
A1 a1
A2 a2
A3 a3
A4 a40V
W/T
V/S
U/R
PTC
0V PTC
24V BRAKE REL
0V BRAKE REL
PE
PE
BKBNRDOGYEGNBUVTGN/YE
-
-
-
-
*DUAL *SINGLE
40134014
40104012
4011
40064008
GN/YE
40094007
400240044000
Prepared by, date:102
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3HAC026136-001
8
09APPROVED
1 2 3 4 5 6 7
DMRO SEPRIM
915/
4
0V Y7
X7/S1
0V X7
Y7
X7
0V EXC 2
EXC 2
TYPE SECUSTOMER SIGNALSPARALLELCOMMUNICATIONVALID FORHARNESS IN CABINET3HAC022852-001 (Dual)3HAC024371-001 (Single)3HAC021791-001FLOOR HARNESS3HAC022957-001,002,003,0063HEA800736-001,002,003,004LOWER/UPPER ARM HARNESS3HAC024649-001
* Circuit diagram shows marking on wires for both dual and single cabinet
0V X7/S3
677
Y7/S4
678
0V Y7/S2
WH/GN
0V EXC2/R2
GN
EXC2/R1
WH/BN
KSR
BN
KSR
WH/BU
BK
BU
BN
*
WH/OG
DUAL
OG
*11
4/3
SINGLE
WH/GN
GN
WH/BN
BN
WH/BU
BU
WH/OG
OG
WH
BU
WH/GN
GN
WH/BN
BN
WH/BUBU
WH/OGOG
114/
4
112/
511
4/5
B16
-AXIS 6-MANIPULATOR BASE-ROBOTCABINET
-SMB
-XS13
B18-R3.CP/CS
B19
B20
B21
B22
B23
B24
B25
B17
B1 b1-R1.CP/CS
B2 b2
B3 b3
B4 b4
B5 b5
B6 b6
B7 b7
B8 b8
B9 b9
B10 b10
SP1
SP2
SP3
SP4
SP5
SP6
9 9-R1.SMB1
2 2
11 11
4 4
12 12
5 5
1 1
F F-R2.FB7
E E
D D
C C
B B
A A
1 1-XP5.1
2 2
9 9-XP5.1
10 10
11 11
12 12
1 1-XP5.2
2 2
3 3
4 4
B1 b1
B2 b2
B3 b3
B4 b4
B5 b5
B6 b6
B7 b7
B8 b8
B9 b9
B10 b10
WH/RD
WH/BNBKWH/BK
RD
BN
WH/BK
BK
WH/BN
BN
WH/RD
RD
WH/OGOG
WH/YEYE
WH/RD
WH/BNBKWH/BK
RD
BN
112/
811
4/8
Prepared by, date:103
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ight
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umen
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e in
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atio
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ein.
Rep
rodu
ctio
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se o
r di
sclo
sure
to th
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artie
s w
ithou
t exp
ress
aut
horit
y is
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ctly
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2016-11-11
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++Sublocation:
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3HAC026136-001
8
09APPROVED
1 2 3 4 5 6 7
DMRO SEPRIM
TYPE SECUSTOMER SIGNALSPARALLELCOMMUNICATIONVALID FORHARNESS IN CABINET3HAC022852-001 (Dual)3HAC024371-001 (Single)3HAC021791-001FLOOR HARNESS3HAC022957-001,002,003,0063HEA800736-001,002,003,004LOWER/UPPER ARM HARNESS3HAC024649-001
* Circuit diagram shows markingon wires for both dual andsingle cabinet
GN
679
GY
680
WH
681
WH/BK
682
WH/BN
693
WH/RD
694
WH/OG
695
GY
696
WH
697
WH/BK
698
BU
685
WH/BN
686
VT
687
WH/RD
683
WH/OG
688
WH/YE
684
WH/GN
689
WH/YE
690
WH/GN
691
WH/BU
692
WH/VT
699
WH/GY
700
*
666
DUAL
667
*
668
SINGLE
669
113/
3
BN/BK
WHOGWHGN
WH
-AXIS 6-MANIPULATOR BASE-ROBOTCABINET
-XS13
B1-R3.CP/CS
B2
B3
B4
B5
B6
B7
B8
B9
B10
B14
C8
A1
A2
A3
A4
B11 b11-R1.CP/CS
B12 b12
B13 b13
B14 b14
B15 b15
B16 b16
B18 b18
B19 b19
B20 b20
B21 b21
C16
C17
C18
C19 c19
C20 c20
C21 c21
B22 b22
B23 b23
B24 b24
B25 b25
3 3-XP5.1
4 4
5 5
6 6
7 7-XP5.1
8 8-XP5.1
5 5-XP5.2
6 6
7 7
8 8-XP5.2
9 9-XP5.2
10 10
11 11
12 12
1 1-XP5.3
2 2
3 3
4 4
5 5
6 6
7 7-XP5.3
8 8
9 9
10 10
11 11
12 12
B11 b11
B12 b12
B13 b13
B14 b14
B15 b15
B16 b16
B18 b18
B19 b19
B20 b20
B21 b21
C16 c16
C17 c17
C18 c18
C19 c19
C20 c20
C21 c21
B22 b22
B23 b23
B24 b24
B25 b25
C10
C11
C12
C13
C14
C15
BNWHGYRDBU
RDOG
RD
GN
RD
BN
RDGYBKBU
113/
4
113/
4
WH/GNGNWH/BUBU
WH/VTVTWH/GYGYWH/BKBK
BN
RD
WH/YEYEWHGN
113/
8
RDOGYE
Prepared by, date:104
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umen
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3HAC026136-001
8
09APPROVED
1 2 3 4 5 6 7
DMRO SEPRIM
TYPE SECUSTOMER SIGNALSCANBUSCOMMUNICATIONVALID FORHARNESS IN CABINET3HAC022852-001 (Dual)3HAC024371-001 (Single)3HAC021791-0013HAC022866-001FLOOR HARNESS3HAC022978-001,002,003,0063HEA800736-001,002,003,004LOWER/UPPER ARM HARNESS 3HAC024651-001
* Circuit diagram shows markingon wires for both dual andsingle cabinet
670
672
673
400240044000
40134014
40104012
4011
4006400840094007
GN/YE
GN/YE
12
34
GN/YE
BLBUBR
GN/YE
PK
RD
OGGN
YE
116/
7
45
67
GN/YE
123
GN/YE
45
67
116/
8
24V
0V
-AXIS 6-MANIPULATOR BASE-ROBOTCABINET
-XS7
-XS13
3 3
B11
B12
B13
B15
C1-R3.CP/CS
C2
C3
D1 d1-R1.CP/CS
D6 d6
D3 d3
D4 d4
E E-R1.SP
C C
A A
G G
J J
K K
L L
M M
R R
C4-R3.CP/CS
C5
C6
C7
3 3-A41.1.3.X21
5 5
1 1
1 1-A43.X22
4 4
2 2
1 1-A43.X24
2 2
1 1-XP6
2 2
3 3
4 4
6 6
5 5-XS40
A3 a3
A5 a5
A1 a1
E1 e1
E2 e2
F7 f7
F9 f9
F8 f8
F1 f1
F2 f2
F3 f3
F4 f4
A1 a1
A2 a2
A3 a3
A4 a424V
0V
W/T
V/S
U/R
PTC
0V PTC
24V BRAKE REL
0V BRAKE REL
PE
PE
671
BKBNRDOG
-
-
-
-
YEGNBUVTGN/YE
*DUAL *SINGLE
40134014
40104012
4011
40064008
GN/YE
40094007
400240044000
Prepared by, date:105
We
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ight
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umen
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3HAC026136-001
8
09APPROVED
1 2 3 4 5 6 7
DMRO SEPRIM
TYPE SECUSTOMER SIGNALSCANBUSCOMMUNICATIONVALID FORHARNESS IN CABINET3HAC022852-001 (Dual)3HAC024371-001 (Single)3HAC021791-0013HAC022866-001FLOOR HARNESS3HAC022978-001,002,003,0063HEA800736-001,002,003,004LOWER/UPPER ARM HARNESS3HAC024651-001
* Circuit diagram shows marking on wires for bothdual and single cabinet
0V Y7
X7
0V EXC 2
Y7
0V X7
EXC 2
0V X7/S3
677
Y7/S4
678
0V Y7/S2
WH/GN
0V EXC2/R2
GN
EXC2/R1
WH/BN
KSR
BN
KSR
WH/BU
BK
BU
BN
WH/OG
*
OG
DUAL
117/
3
*SINGLE
WH/GN
GN
WH/BN
BN
WH/BU
BU
WH/OG
OG
WH
BU
WH/GN
GN
WH/BN
BN
WH/BUBU
WH/OGOG
117/
4
115/
511
7/5
B25
-AXIS 6-MANIPULATOR BASE-ROBOTCABINET
-SMB
-XS13
B18-R3.CP/CS
B19
B20
B21
B22
B23
B24
B16
B17
B1 b1-R1.CP/CS
B2 b2
B3 b3
B4 b4
B5 b5
B6 b6
B7 b7
B8 b8
B9 b9
B10 b10
SP1
SP2
SP3
SP4
SP5
SP6
9 9-R1.SMB1
2 2
11 11
4 4
12 12
5 5
1 1
F F-R2.FB7
E E
D D
C C
B B
A A
1 1-XP5.1
2 2
9 9-XP5.1
10 10
11 11
12 12
1 1-XP5.2
2 2
3 3
4 4
B1 b1
B2 b2
B3 b3
B4 b4
B5 b5
B6 b6
B7 b7
B8 b8
B9 b9
B10 b10
WH/RD
WH/BNBKWH/BK
RD
BN
WH/BK
BK
WH/BN
BN
WH/RD
RD
WH/OGOG
WHBU
WH/RD
WH/BNBKWH/BK
RD
BN
115/
811
7/8
X7/S1
Prepared by, date:109
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ight
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umen
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e in
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atio
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ein.
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se o
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horit
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2016-11-11
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3HAC026136-001
8
09APPROVED
1 2 3 4 5 6 7
DMRO SEPRIM
TYPE SECUSTOMER SIGNALSCANBUSCOMMUNICATIONVALID FORHARNESS IN CABINET3HAC022852-001 (Dual)3HAC024371-001 (Single)3HAC021791-0013HAC022866-001FLOOR HARNESS3HAC022978-001,002,003,0063HEA800736-001,002,003,004LOWER/UPPER ARM HARNESS3HAC024651-001
* Circuit diagram shows markingon wires for both dual andsingle cabinet
679680681682
693694695696697698
685686687
683
688
684
RDBK
691692689690
WH
WH/GN
BU
GN
699
WH/BU
700
BU
666
WH/VT
667
VT
668
WH/GY
669
GYWH/BKBK
116/
3
BN
RD
WH/BKBK
WH/BNBN
56
78
12
34
YEYE
VTVT
GNGN
GNGN
116/
8
+24V CAN
0V CAN
CAN_H
CAN_L
RDOG
-AXIS 6-MANIPULATOR BASE-ROBOTCABINET
-XS13
B1-R3.CP/CS
B2
B3
B4
B5
B6
B7
B8
B9
B10
B14
C8
A7
A8
A9
A10
A5
A6
A11
A12
B11 b11-R1.CP/CS
B12 b12
B13 b13
B14 b14
B15 b15
B16 b16
B18 b18
B19 b19
B20 b20
B21 b21
C16
C17
C18
C19 c19
C20
C21 c21
B22 b22
B23 b23
B24 b24
B25 b25
A3 a3
A4 a4
A5 a5
A6 a6
A9 a9
A10 a10
A11 a11
A12 a12
A1
A2
A3
A4
5 5-A35.X2
1 1
4 4-A35.X2
2 2
3 3
3 3-XP5.1
4 4
5 5
6 6
7 7-XP5.1
8 8-XP5.1
11 11-XP5.2
12 12
9 9
10 10
5 5-XP5.2
8 8-XP5.2
7 7-XP5.3
8 8
9 9
10 10
11 11
12 12
1 1-XP5.3
6 6
6 6
7 7
2 2
3 3
4 4
5 5
B11 b11
B12 b12
B13 b13
B14 b14
B15 b15
B16 b16
B18 b18
B19 b19
B20 b20
B21 b21
C16 c16
C17 c17
C18 c18
C19 c19
C20 c20
C21 c21
F1 f1
F2 f2
B24 b24
B25 b25
B22
B23
F3 f3
F4 f4
C10 c10
C11 c11
C12 c12
C13 c13
C14 c14
C15 c15
YEGN
GYWHWH/BKWH/BNWH/RDWH/OG
GYWHWH/BK
BU
WH/BN
VT
WH
WH/YE
OGWH
WH/GNWH/RD
GN
WH
WH/OG
BN
WH/YE
WH
WH/GN
GY
WH/BU
RD
WH/VT
BU
WH/GY
RD
DUAL
OG
*
RD
SINGLE*
GN
RD
BN/BK
BN
RD RDBK BK
WH
BKBU
BUWHBU
BKOG
BKGN
BKBN
116/
4
116/
4
Prepared by, date:110
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umen
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horit
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Lab/Office: Status:IRB6620/IRB6620LX & IRC5ECO 85155, WI 132120Pg 53: Variant LX added.Pg 56: Variant LX added.Pg 250-251: Pages added.
3HAC026136-001
8
09APPROVED
1 2 3 4 5 6 7
DMRO SEPRIM
TYPE SECUSTOMER SIGNALSPROFIBUSCOMMUNICATIONVALID FORHARNESS IN CABINET3HAC022852-001 (Dual)3HAC024371-001 (Single)3HAC021791-0013HAC022868-001FLOOR HARNESS3HAC022988-001,002,003,0063HEA800736-001,002,003,004LOWER/UPPER ARM HARNESS3HAC024651-001
* Circuit diagram shows markingon wires for both dual andsingle cabinet
670
671
672
673
400240044000
40134014
40104012
4011
4006400840094007
GN/YE
GN/YE
BLBU
BR
GN/YE
PKRD
OGGN
YE
12
34
GN/YE
122/
5
45
67
GN/YE
123
GN/YE
45
6
7
122/
8
24V
0V
-AXIS 6-MANIPULATOR BASE-ROBOTCABINET
-XS7
-XS13
4 4
D1 d1-R1.CP/CS
D6 d6
D3 d3
D4 d4
E E-R1.SP
C C
A A
G G
J J
K K
L L
M M
R
B11
B12
B13
B15
C4-R3.CP/CS
C5
C6
C7
C1-R3.CP/CS
C2
C3
3 3-A41.1.3.X21
5 5
1 1
1 1-A43.X22
3 3
2 2
1 1-A43.X24
2 2
1 1-XP6
2 2
3 3
4 4
6 6
5 5-XS40
A3 a3
A5 a5
A1 a1
E1 e1
E2 e2
F7 f7
F9 f9
F8 f8
F1 f1
F2 f2
F3 f3
F4 f4
A1 a1
A2 a2
A3 a3
A4 a424V
0V
W/T
V/S
U/R
PTC
0V PTC
24V BRAKE REL
0V BRAKE REL
PE
PE
BKBNRDOGYEGNBUVTGN/YE
*DUAL *SINGLE
4000
40134014
40104012
4011
4006400840094007
GN/YE
40024004
-
-
-
-
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3HAC026136-001
8
09APPROVED
1 2 3 4 5 6 7
DMRO SEPRIM
TYPE SECUSTOMER SIGNALSPROFIBUSCOMMUNICATIONVALID FORHARNESS IN CABINET3HAC022852-001 (Dual)3HAC024371-001 (Single)3HAC021791-0013HAC022868-001FLOOR HARNESS3HAC022988-001,002,003,0063HEA800736-001,002,003,004LOWER/UPPER ARM HARNESS3HAC024651-001
* Circuit diagram shows marking on wires for bothdual and single cabinet
X7
0V Y7
Y7
0V EXC 2
0V Y7/S2
0V X7
EXC 2
WH/GN
0V EXC2/R2
GN
EXC2/R1
WH/BN
KSR
BN
KSR
677X7/S1
678 0V X7/S3
WH/BU
BK
BU
BN
WH/OG
*DUAL
OG
123/
3*SINGLE
WH/GN
GN
WH/BN
BN
WH/BU
BU
WH/OG
OG
WH/GN
GN
WH/BN
BN
WH/BUBU
WH/OGOG
WH
BU
123/
4
121/
512
3/5
B7 b7
-AXIS 6-MANIPULATOR BASE-ROBOTCABINET
-SMB
-XS13
B18-R3.CP/CS
B19
B3 b3
B4 b4
B5 b5
B6 b6
B1 b1-R1.CP/CS
B2 b2
B8 b8
B9 b9
B10 b10
SP3
SP4
SP5
SP6
SP1
SP2
9 9-R1.SMB1
2 2
11 11
4 4
12 12
5 5
1 1
F F-R2.FB7
E E
D D
C C
B B
A A
B20
B21
B22
B23
B24
B25
B16
B17
1 1-XP5.1
2 2
9 9-XP5.1
10 10
11 11
12 12
1 1-XP5.2
2 2
3 3
4 4
B3 b3
B4 b4
B5 b5
B6 b6
B7 b7
B8 b8
B9 b9
B10 b10
B1 b1
B2 b2
WH/RD
WH/BNBKWH/BK
RD
BN
WH/BN
BN
WH/RD
RD
WH/OGOG
WHBU
WH/BK
BK
WH/RD
WH/BNBKWH/BK
RD
BN
121/
812
3/8
Y7/S4
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3HAC026136-001
8
09APPROVED
1 2 3 4 5 6 7
DMRO SEPRIM
TYPE SECUSTOMER SIGNALSPROFIBUSCOMMUNICATIONVALID FORHARNESS IN CABINET3HAC022852-001 (Dual)3HAC024371-001 (Single)3HAC021791-0013HAC022868-001FLOOR HARNESS3HAC022988-001,002,003,0063HEA800736-001,002,003,004LOWER/UPPER ARM HARNESS3HAC024651-001
* Circuit diagram shows markingon wires for both dual andsingle cabinet
679680681682
693694695696697698
WH/GN
685
GN
686
WH/BU
687
BU
683
WH/VT
688
VTWH/GY
684
689
GY
690
WH/BK
691
BK
692
BN
699
RD
700
WH/BK
RD
BK
GN
WH/BN
666
BN
667
5
668
6
669
7
122/
2
8
12
34
YEYE
VTVT
GNGN
GNGN
122/
8
RXD/TXD-P
RXD/TXD-N
RDOGYEGN
GYWHWH/BKWH/BNWH/RDWH/OG
GYGH
WH/BK
BU
WH/BN
VT
WH/RDWH/OG
WH/YE
-AXIS 6-MANIPULATOR BASE-ROBOTCABINET
-XS13
B1-R3.CP/CS
B2
B3
B4
B5
B6
B7
B8
B9
B10
A1
A2
A3
A4
A7
A8
A9
A10
A5
A6
A11
A12
B11 b11-R1.CP/CS
B12 b12
B13 b13
B14 b14
B15 b15
B16 b16
B18 b18
B19 b19
B20 b20
B21 b21
C16
C17
C18
C19 c19
C20
C21 c21
B22 b22
B23 b23
B24 b24
B25 b25
A3 a3
A4 a4
A5 a5
A6 a6
A9 a9
A10 a10
A11 a11
A12 a12
B14
C8
1B 1B-DP-M
1A 1A
3 3-XP5.1
4 4
5 5
6 6
7 7-XP5.1
8 8-XP5.1
5 5-XP5.2
6 6
7 7
8 8-XP5.2
9 9-XP5.2
10 10
11 11
12 12
1 1-XP5.3
2 2
3 3
4 4
5 5
6 6
7 7-XP5.3
8 8
9 9-XP5.3
10 10
11 11
12 12
B11 b11
B12 b12
B13 b13
B14 b14
B15 b15
B16 b16
B18 b18
B19 b19
B20 b20
B21 b21
C16 c16
C17 c17
C18 c18
C19 c19
C20 c20
C21 c21
B22 b22
B23 b23
B24 b24
B25 b25
C10 c10
C11 c11
F5 f5
F6 f6
C12 c12
C13 c13
C14 c14
C15 c15
WH/GN
WH/YEWH/GN
RDGN
WH/BU
RD
WH/VT
OG
WH/GY
RD
DUAL
GN
SINGLE
RD
*
BN
*WHOG
BN/BK
WHGN
WHBNWHGYRDBU
RDGY
BKBU
BKOG
RDGN
BKGN
BKBN
122/
4
122/
4
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3HAC026136-001
8
09APPROVED
1 2 3 4 5 6 7
DMRO SEPRIM
TYPE SeCUSTOMER SIGNALSETHERNET COMMUNICATIONVALID FOR HARNESSIN CABINET3HAC022852-001 (Dual)3HAC024371-001 (Single)3HAC021791-001FLOOR HARNESS3HAC022957-001, 002, 003, 0063HEA800736-001, 002, 003, 006LOWER/UPPER ARM HARNESS3HAC038557-001
* Circuit diagram showsmarking on the wires for bothdual and single cabinet
670
671
672
673
400240044000
40134014
40104012
4011
4006400840094007
GN/YE
GN/YE
12
34
GN/YE
BLBU
BR
GN/YE
PKRD
OGGN
YE
113/
5
123
GN/YE
4
5
6
7
45
67
GN/YE
113/
8
24V
0V
24V
2 2
-ROBOTCABINET
1 1-XP6
2 2
3 3
4 4
3 3-A41.1.3.X21
5 5
1 1
1 1-A43.X24
2 2
5 5-XS40
6 6
1 1-A43.X22
3 3
4 4
A A
-XS13
-XS7
A1 a1
A2 a2
A3 a3
A4 a4
A3 a3
A5 a5
A1 a1
E1 e1
E2 e2
F7 f7
F9 f9
F8 f8
F1 f1
F2 f2
F3 f3
F4 f4
-MANIPULATOR BASE
E E-R1.SP
C C
G G
J J
K K
L L
M M
R
D1 d1-R1.CP/CS
D6 d6
D3 d3
D4 d4
C4-R3.CP/CS
C5
C6
C7
-AXIS 6
C1-R3.CP/CS
C2
C3
B11
B12
B13
B15
0V
W/T
V/S
U/R
PTC
0V PTC
24V BRAKE REL
0V BRAKE REL
PE
PE
BKBNRDOGYEGNBUVTGN/YE
-
-
-
-
*DUAL *SINGLE
40134014
40104012
4011
40064008
GN/YE
40094007
400240044000
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3HAC026136-001
8
09APPROVED
1 2 3 4 5 6 7
DMRO SEPRIM
915/
4
EXC 2
Y7
0V X7
X7
0V Y7
TYPE SeCUSTOMER SIGNALSETHERNET COMMUNICATIONVALID FOR HARNESSIN CABINET3HAC022852-001 (Dual)3HAC024371-001 (Single)3HAC021791-001FLOOR HARNESS3HAC022957-001, 002, 003, 0063HEA800736-001, 002, 003, 006LOWER/UPPER ARM HARNESS3HAC038557-001
* Circuit diagram showsmarking on the wires for bothdual and single cabinet
0V EXC 2
X7/S1
0V X7/S3
677
Y7/S4
678
0V Y7/S2
WH/GN
0V EXC2/R2
GN
EXC2/R1
WH/BN
KSR
BN
KSR
WH/BU
BK
BU
BN
WH/OG
*
OG
DUAL*
114/
3SINGLE
WH/GN
GN
WH/BN
BN
WH/BU
BU
WH/OG
OG
WH
BU
WH/GN
GN
WH/BN
BN
WH/BUBU
WH/OGOG
114/
4
112/
511
4/5
SP5
-ROBOTCABINET
1 1-XP5.1
2 2
1 1-XP5.2
2 2
3 3
4 4
9 9-XP5.1
10 10
11 11
12 12
-XS13
B1 b1
B2 b2
B3 b3
B4 b4
B5 b5
B6 b6
B7 b7
B8 b8
B9 b9
B10 b10
-MANIPULATOR BASE
B1 b1-R1.CP/CS
B2 b2
B3 b3
B4 b4
B5 b5
B6 b6
B7 b7
B8 b8
B9 b9
B10 b10
SP1
SP2
SP3
SP4
SP6
F F-R2.FB7
E E
D D
C C
B B
A A
9 9-R1.SMB1
2 2
11 11
4 4
12 12
5 5
1 1
-SMB
-AXIS 6
B18-R3.CP/CS
B19
B20
B21
B22
B23
B24
B25
B16
B17
WH/RD
WH/BNBKWH/BK
RD
BN
WH/BK
BK
WH/BN
BN
WH/RD
RD
WH/OGOG
WH/YEYE
WH/RD
WH/BNBKWH/BK
RD
BN
112/
811
4/8
Prepared by, date:+H.1/200
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Page114
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3HAC026136-001
8
09APPROVED
1 2 3 4 5 6 7
DMRO SEPRIM
GN
TYPE SeCUSTOMER SIGNALSETHERNET COMMUNICATIONVALID FOR HARNESSIN CABINET3HAC022852-001 (Dual)3HAC024371-001 (Single)3HAC021791-001FLOOR HARNESS3HAC022957-001, 002, 003, 0063HEA800736-001, 002, 003, 006LOWER/UPPER ARM HARNESS3HAC038557-001
* Circuit diagram showsmarking on the wires for bothdual and single cabinet
679
GY
680
WH
681
WH/BK
682
WH/BN
693
WH/RD
694
WH/OG
695
GY
696
WH
697
WH/BK
698
BU
685
WH/BN
686
VT
687
WH/RD
683
WH/OG
688
WH/YE
684
WH/GN
689
WH/YE
690
WH/GN
691
WH/BU
692
WH/VT
699
WH/GY
700
*
666
DUAL
667
*
668
SINGLE
669
113/
3
BN/BK
YE
WH
OG
BU
YE
WH
OG
WH
BU
OGWHGN
WH
-XS9
1 1
2 2
3 3
4 4
1 1-R1.ETHERNET
2 2
3 3
4 4
1-R2.ETHERNET
2
3
4
-ROBOTCABINET
3 3-XP5.1
4 4
5 5
6 6
1 1-XP5.3
2 2
3 3
4 4
5 5
6 6
5 5-XP5.2
6 6
7 7
7 7-XP5.1
8 8-XP5.2
8 8-XP5.1
9 9-XP5.2
10 10
11 11
12 12
7 7-XP5.3
8 8
9 9
10 10
11 11
12 12
-XS13
B11 b11
B12 b12
B13 b13
B14 b14
B15 b15
B16 b16
B18 b18
B19 b19
B20 b20
B21 b21
C16 c16
C17 c17
C18 c18
C19 c19
C20 c20
C21 c21
B22 b22
B23 b23
B24 b24
B25 b25
C10
C11
C12
C13
C14
C15
-MANIPULATOR BASE
B11 b11-R1.CP/CS
B12 b12
B13 b13
B14 b14
B15 b15
B16 b16
B18 b18
B19 b19
B20 b20
B21 b21
C16
C17
C18
C19 c19
C20 c20
C21 c21
B22 b22
B23 b23
B24 b24
B25 b25
-AXIS 6
B1-R3.CP/CS
B2
B3
B4
B5
B6
B7
B8
B9
B10
B14
C8
A1
A2
A3
A4
BNWHGYRDBU
RDOG
RD
GN
RD
BN
RDGYBKBU
113/
4
113/
4
WH/GNGNWH/BUBU
WH/VTVTWH/GYGYWH/BKBK
BN
RD
WH/YEYEWHGN
113/
8
RDOGYE
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Page200
45TotalTYPE H, HS AND HSe
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3HAC026136-001
8
09APPROVED
1 2 3 4 5 6 7
DMRO SEPRIM
TYPE H, HS AND HSeCUSTOMER SIGNALSPARALLELCOMMUNICATIONVALID FORHARNESS IN CABINET3HAC022852-001 (Dual)3HAC024371-001 (Single)FLOOR HARNESS3HAC022957-001,002,003,006
IRBDP MH3LOWER ARM HARNESS3HAC029704-001UPPER ARM HARNESS3HAC026813-001
* Circuit diagram showsmarking on wires for bothdual and single cabinet
WH/BNBN
670
201/
4
WH/RDRD
671
WH/OG
672
OG
673
201/
5
WH/YE
677
YE
678
WH/GN
WH/GN
GN
GN
WH/BU
WH/BN
BN
BU
WH/VT
WH/BU
VT
BU
WH/GY
WH/OG
GY
OG
679680681682
693694695696
201/
8
697698
24V
685
0V
686
24V
-
0V
-
PE
-
GN/YEGN/YE
-
*DUAL
GN/YE
WH/GN
GN
WH/BN
BN
WH/BU
BU
WH/OG
OG
*SINGLEBKBNRDOG
YE
4
GN
5
BU
6
VT7
GN/YE GN/YE
BK WH/BKBN BK
RD
WH/BNBN
OG
WH/RD
YEGN
RD
GY
WH/OGOG
WHWH/BK
WH/YEYE
WH/BNWH/RD
WH/GN
-AXIS 6-AXIS 3-MANIPULATOR BASE-ROBOTCABINET
C17 c17
-XS13
f-R3.CP/CS
D1 d1-R2.CP/CS
D6 d6
D3 d3
D4 d4
B1 b1
B2 b2
B3 b3
B4 b4
B5 b5
B6 b6
B7 b7
B8 b8
B9 b9
B10 b10
B11 b11
B12 b12
B13 b13
B14 b14
B15 b15
B16 b16
B18 b18
B19 b19
B20
B21
C16
C17
g
h
j
A
B
C
D
E
F
G
H
J
K
L
M
N
P
R
S
T
U
v
D1 d1-R1.CP/CS
D6 d6
D3 d3
D4 d4
B1 b1
B2 b2
B3 b3
B4 b4
B5 b5
B6 b6
B7 b7
B8 b8
B9 b9
B10 b10
B11 b11
B12 b12
B13 b13
B14 b14
B15 b15
B16 b16
B18 b18
B19 b19
B20 b20
B21 b21
C16 c16
1 1-XP5.1
2 2
9 9-XP5.1
10 10
11 11
12 12
3 3
4 4
5 5
6 6
1 1-XP5.2
2 2
3 3
4 4
5 5-XP5.2
6 6
1 1-XP5.3
2 2
3 3
4 4
5 5
6 6
1 1-XP6
3 3
4 4
2 2
A1 a1
A2 a2
A3 a3
A4 a4
B1 b1
B2 b2
B3 b3
B4 b4
B5 b5
B6 b6
B7 b7
B8 b8
B9 b9
B10 b10
B11 b11
B12 b12
B13 b13
B14 b14
B15 b15
B16 b16
B18 b18
B19 b19
B20 b20
B21 b21
C16 c16
C17 c17
WH/OG
GN
GY
WH/BU
WH
BU
201/
3
WH/VTVTWH/GYGYWH/BKBK
WH/OGOG
201/
6
201/
7
12
34
GN/YE
WHBU
WH/GNGN
WH/BNBN
WH/BUBU
WH/OGOG
WHOGWHGN
WH
WH/BK
BN
BK
WH
WH/OG
GY
OG
RD
WH/BN
BU
BN
RD
WH/RD
OG
RD
WH/BKBK
Prepared by, date:202
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45TotalTYPE H, HS AND HSe
Latest revision:
Approved by, date:
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++Sublocation:
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Lab/Office: Status:IRB6620/IRB6620LX & IRC5ECO 85155, WI 132120Pg 53: Variant LX added.Pg 56: Variant LX added.Pg 250-251: Pages added.
3HAC026136-001
8
09APPROVED
1 2 3 4 5 6 7
DMRO SEPRIM
TYPE H, HS AND HSECUSTOMER SIGNALSPARALLELCOMMUNICATIONVALID FORHARNESS IN CABINET3HAC022852-001 (Dual)3HAC024371-001 (Single)FLOOR HARNESS3HAC022957-001,002,003,006
IRBDP MH3LOWER ARM HARNESS3HAC029704-001UPPER ARM HARNESS3HAC026813-001
* Circuit diagram showsmarking on wires for bothdual and single cabinet
687
683
688
684
689690691692
699700666667668669
*DUAL
WH/BK
BU
WH/BN
VT
WH/RDWH/OGWH/YEWH/GN
WH/YEWH/GNWH/BUWH/VTWH/GYWH/BK
*SINGLE 20
0/3
RD
GN
RD
BN
RDGYBKBU
200/
4
200/
5
B24 b24
-AXIS 3 -AXIS 6-MANIPULATOR BASE-ROBOTCABINET-XS13
C18 c18-R2.CP/CS
C19 c19
C20 c20
C21 c21
B22 b22
B23 b23
B24 b24
B25 b25
B22 b22
B23 b23
B25 b25
C18 c18-R1.CP/CS
C19 c19
C20 c20
C21 c21
7 7-XP5.1
8 8-XP5.1
9 9-XP5.2
10 10
11 11
12 12
7 7-XP5.2
8 8-XP5.2
7 7-XP5.3
8 8
9 9
10 10
11 11
12 12
B22 b22
B23 b23
B24 b24
B25 b25
C10
C11
C12
C13
C14
C15
C18 c18
C19 c19
C20 c20
C21 c21
WH/YEYEWHGN
WH/BN
BN
WH/RD
RD
200/
6
Prepared by, date:203
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Page202
45TotalTYPE H, HS AND HSe
Latest revision:
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++Sublocation:
DPH1
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3HAC026136-001
8
09APPROVED
1 2 3 4 5 6 7
DMRO SEPRIM
TYPE H, HS AND HSeCUSTOMER SIGNALSCANBUSCOMMUNICATIONVALID FORHARNESS IN CABINET3HAC022852-001(Dual)3HAC024371-001 (Single)3HAC022866-001FLOOR HARNESS3HAC022978-001,002,003,006
IRBDP MH3LOWER ARM HARNESS3HAC029705-001UPPER ARM HARNESS3HAC026813-002
* Circuit diagram showsmarking on wires for bothdual and single cabine
677678
WH/GN
GN
WH/BN
BN
WH/BU
BU
WH/OG
OG
670
671
672
673
WH/BK- BK
-WH/OG
-
OG
-
WH/BN
*
BN
DUAL
WH/RDRD
GN/YE
WH/BKBKBKBN
WH/GN WH/BNGN BN
WH/BN WH/RDBN RD
WH/BU WH/OGBU OG
WH/OG WH/YEOG YE
*SINGLEBKBNRDOG
203/
8
YE
24V
GNBU
0V
24V
VT0V
GN/YE
PE
203/
3
GN/YEGN/YE
WHBU
WH/GNGN
WH/BNBN
WH/BUBU
WH/OGOG
GN/YE
1
v
-AXIS 3 -AXIS 6-MANIPULATOR BASE-ROBOTCABINET-XS13
D1 d1-R2.CP/CS
D6 d6
D3 d3
D4 d4
B1 b1
B2 b2
B3 b3
B4 b4
B5 b5
B6 b6
B7 b7
B8 b8
B9 b9
B10 b10
f-R3.CP/CS
g
h
j
A
B
C
D
E
F
G
H
J
K
D1 d1-R1.CP/CS
D6 d6
D3 d3
D4 d4
B1 b1
B2 b2
B3 b3
B4 b4
B5 b5
B6 b6
B7 b7
B8 b8
B9 b9
B10 b10
1 1-XP5.1
9 9-XP5.1
1 1-XP5.2
1 1-XP6
2 2
3 3
4 4
2 2
10 10
11 11
12 12
2 2
3 3
4 4
A1 a1
A2 a2
A3 a3
A4 a4
B1 b1
B2 b2
B3 b3
B4 b4
B5 b5
B6 b6
B7 b7
B8 b8
B9 b9
B10 b10
2
3
4
203/
4
203/
5
WH/BKBK
WH/BNBN
WH/RDRD
WH/OGOG
WH/YEYE
4
5
6
7
GN/YE
203/
6
203/
7
Prepared by, date:206
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ight
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umen
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2016-11-11
Page203
45TotalTYPE H, HS AND HSe
Latest revision:
Approved by, date:
CUSTOMER SIGNALS, CANBUSLocation:Plant: =
++Sublocation:
DPH1
Document no.Next
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3HAC026136-001
8
09APPROVED
1 2 3 4 5 6 7
DMRO SEPRIM
TYPE H, HS AND HSeCUSTOMER SIGNALSCANBUSCOMMUNICATIONVALID FORHARNESS IN CABINET3HAC022852-001 (Dual)3HAC024371-001 (Single)3HAC022866-001FLOOR HARNESS3HAC022978-001,002,003,006
IRBDP MH3LOWER ARM HARNESS3HAC029705-001UPPER ARM HARNESS3HAC026813-002
* Circuit diagram showsmarking on wires for bothdual and single cabine
RDBK
679
BK
680
BU
681
WH
682
BU
693
BK
WH/GN
694
GN
OG
695
BK
WH/BU
696
GN
BU
BK
697
WH/VT
BN
VT
698
WH/GY
685
GY
686
WH/BK
202/
4
687
683
BK
WH/BN
688
684
BN
RD
56
BK
691
7
692
202/
5
8
689
1
690
2
WH
3
BU
4
699
YE
700
YE
666
VT
667
VT
668
GN
669
GN
*
GN
DUAL
GN
RD
202/
8
OGYEGN
GYWH
+24V CAN
WH/BK
0V CAN
CAN_H
WH/BN
CAN_L
WH/RDWH/OG
GYWHWH/BK
BU
WH/BN
VT
RDBK
WH/YEWH/GNWH/RDWH/OG
WHBU
WH/YEWH/GN
WH/BUWH/VT
WH/GYBN/BK
*-AXIS 3 -AXIS 6-MANIPULATOR BASE
B
D
F
H
K
M
-ROBOTCABINET
6 6
-XS13
A-R3.CBUS
C
E
G
J
L
B11 b11-R2.CP/CS
B12 b12
B13 b13
B14 b14
B15 b15
B16 b16
B18 b18
B19 b19
B20
B21
C18
C19
C20
C21
C16
C17
B22 b22
B23 b23
B24 b24
B25 b25
A3 a3
A4 a4
A5 a5
A6 a6
A9 a9
A10 a10
A11 a11
A12 a12
L-R3.CP/CS
M
N
P
R
S
T
U
B11 b11-R1.CP/CS
B12 b12
B13 b13
B14 b14
B15 b15
B16 b16
B18 b18
B19 b19
B20 b20
B21 b21
C16 c16
C17 c17
C18 c18
C19 c19
C20 c20
C21 c21
B22 b22
B23 b23
B24 b24
B25 b25
A3 a3
A4 a4
A5 a5
A6 a6
A9 a9
A10 a10
A11 a11
A12 a12
5 5-A35.X2
1 1
4 4-A35.X2
2 2
3 3
3 3-XP5.1
4 4
5 5
7 7-XP5.1
8 8-XP5.1
11 11-XP5.2
12 12
9 9
10 10
5 5-XP5.2
8 8-XP5.2
7 7-XP5.3
8 8
9 9
10 10
11 11
12 12
1 1-XP5.3
6 6
6 6
7 7
2 2
3 3
4 4
5 5
B11 b11
B12 b12
B13 b13
B14 b14
B15 b15
B16 b16
B18 b18
B19 b19
B20 b20
B21 b21
C16 c16
C17 c17
C18 c18
C19 c19
C20 c20
C21 c21
F1 f1
F2 f2
B24 b24
B25 b25
B22 b22
B23 b23
F3 f3
F4 f4
C10 c10
C11 c11
C12 c12
C13 c13
C14 c14
C15 c15
SINGLEWH/GN20
2/3
GNWH/BUBU
WH/VT
VTWH/GYGYWH/BKBK
WH/OGOGWH/BN
BN
WH/RD
RD
WH/BKBK
WH/BNBN
56
78
12
34
YEYE
VTVT
GNGN
GNGN
202/
6
202/
7
WHOGWHGN
WHBNWHGYRDBU
RD
OGRD
GN
RD
BN
Prepared by, date:207
We
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umen
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2016-11-11
Page206
45TotalTYPE H, HS AND HSe
Latest revision:
Approved by, date:
CUSTOMER SIGNALS, PROFIBUSLocation:Plant: =
++Sublocation:
DPH1
Document no.Next
Rev. Ind
Lab/Office: Status:IRB6620/IRB6620LX & IRC5ECO 85155, WI 132120Pg 53: Variant LX added.Pg 56: Variant LX added.Pg 250-251: Pages added.
3HAC026136-001
8
09APPROVED
1 2 3 4 5 6 7
DMRO SEPRIM
TYPE H, HS AND HSeCUSTOMER SIGNALSPROFIBUSCOMMUNICATIONVALID FORHARNESS IN CABINET3HAC022852-001 (Dual)3HAC024371-001 (Single)3HAC022868-001FLOOR HARNESS3HAC022988-001,002,003,006
IRBDP MH3LOWER ARM HARNESS3HAC029705-001UPPER ARM HARNESS3HAC026813-002
* Circuit diagram showsmarking on wires for bothdual and single cabine
670
671
672
673
677678
WH/GN
GN
WH/BN
BN
WH/BU
BU
WH/OG
OG
WH/BK- BK
WH/OG- OG
-
-
WH/BNBN
*
WH/RD
DUAL
GN/YE
RD
BK
WH/BK
BN
BK
RD
WH/BN
OG
BN
YE
WH/RD
GN
RD
BU
WH/OG
VT
OG
BK
WH/YE
BN
YE
WH/GN
GN
WH/BN
BN
WH/BU
BU
207/
8
WH/OG
OG
24V
*
0V
SINGLE
24V0V
GN/YE
207/
3
GN/YEGN/YE PE
GN/YE
WH/GNGN
WH/BNBN
WH/BUBU
WH/OGOG
1
2
3
4
v v
-AXIS 3 -AXIS 6-MANIPULATOR BASE-ROBOTCABINET-XS13
D1 d1-R2.CP/CS
D6 d6
D3 d3
D4 d4
B1 b1
B2 b2
B3 b3
B4 b4
B5 b5
B6 b6
B7 b7
B8 b8
B9 b9
B10 b10
f f-R3.CP/CS
g g
h h
j j
A A
B B
C C
D D
E E
F F
G G
H H
J J
K K
D1 d1-R1.CP/CS
D6 d6
D3 d3
D4 d4
B1 b1
B2 b2
B3 b3
B4 b4
B5 b5
B6 b6
B7 b7
B8 b8
B9 b9
B10 b10
1 1-XP5.1
2 2
9 9-XP5.1
10 10
11 11
12 12
1 1-XP5.2
2 2
3 3
4 4
1 1-XP6
2 2
3 3
4 4
A1 a1
A2 a2
A3 a3
A4 a4
B1 b1
B2 b2
B3 b3
B4 b4
B5 b5
B6 b6
B7 b7
B8 b8
B9 b9
B10 b10
WH
BU
207/
4
207/
5
4
5
6
7
GN/YE
WH/BKBK
WH/BNBN
WH/RDRD
WH/OGOG
WH/YEYE
207/
6
207/
7
Prepared by, date:208
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umen
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Erik Mesaros JanErik Nåhls
2016-11-11
Page207
45TotalTYPE H, HS AND HSe
Latest revision:
Approved by, date:
CUSTOMER SIGNALS, PROFIBUSLocation:Plant: =
++Sublocation:
DPH1
Document no.Next
Rev. Ind
Lab/Office: Status:IRB6620/IRB6620LX & IRC5ECO 85155, WI 132120Pg 53: Variant LX added.Pg 56: Variant LX added.Pg 250-251: Pages added.
3HAC026136-001
8
09APPROVED
1 2 3 4 5 6 7
DMRO SEPRIM
TYPE H, HS AND HSeCUSTOMER SIGNALSPROFIBUSCOMMUNICATIONVALID FORHARNESS IN CABINET3HAC022852-001 (Dual)3HAC024371-001 (Single)3HAC022868-001FLOOR HARNESS3HAC022988-001,002,003,006
IRBDP MH3LOWER ARM HARNESS3HAC029705-001UPPER ARM HARNESS3HAC026813-002
* Circuit diagram showsmarking on wires for bothdual and single cabine
BKBU
BKOG
RD
*
WH/GN
GN
679
BK
GN680WH/BU
GN
681BU
BK
682
WH/VT
BN
693VT694
206/
4
WH/GYGY
695
WH/BK
696
BK
697698
WH/BN
685
206/
5
BN
686
5
687
6
683
7
688
8
684
1
689
2
690
3
691
4
692
YE699YE700
VTRDVT
GN
GN
666GN667
GNGN
668
206/
8
669
DUAL
RDOG
RXD/TXD-P
YE
RXD/TXD-N
GN
GYWHWH/BKWH/BNWH/RDWH/OG
GY
WHWH/BK
BU
WH/BN
VT
WH/RDWH/OGWH/YEWH/GN
WH/YEWH/GN
RDGN
WH/BUWH/VT
WH/GYBN/BK
*SINGLE
-AXIS 3 -AXIS 6-MANIPULATOR BASE-ROBOTCABINET
A6 a6
-XS13
A-R3.CBUS
B
C
D
E
F
G
H
J
K
L
M
B11 b11-R2.CP/CS
B12 b12
B13 b13
B14 b14
B15 b15
B16 b16
B18 b18
B19 b19
B20
B21
C18
C19
C20
C21
C16
C17
B22 b22
B23 b23
B24 b24
B25 b25
A3 a3
A4 a4
A5 a5
A6 a6
A9 a9
A10 a10
A11 a11
A12 a12
L-R3.CP/CS
M
N
P
R
S
T
U
B11 b11-R1.CP/CS
B12 b12
B13 b13
B14 b14
B15 b15
B16 b16
B18 b18
B19 b19
B20 b20
B21 b21
C16 c16
C17 c17
C18 c18
C19 c19
C20 c20
C21 c21
B22 b22
B23 b23
B24 b24
B25 b25
A3 a3
A4 a4
A5 a5
A9 a9
A10 a10
A11 a11
A12 a12
1B 1B-DP-M
1A 1A
3 3-XP5.1
4 4
5 5
6 6
7 7-XP5.1
8 8-XP5.1
5 5-XP5.2
6 6
7 7
8 8-XP5.2
9 9-XP5.2
10 10
11 11
12 12
1 1-XP5.3
2 2
3 3
4 4
5 5
6 6
7 7-XP5.3
8 8
9 9-XP5.3
10 10
11 11
12 12
B11 b11
B12 b12
B13 b13
B14 b14
B15 b15
B16 b16
B18 b18
B19 b19
B20 b20
B21 b21
C16 c16
C17 c17
C18 c18
C19 c19
C20 c20
C21 c21
B22 b22
B23 b23
B24 b24
B25 b25
C10 c10
C11 c11
F5 f5
F6 f6
C12 c12
C13 c13
C14 c14
C15 c15
WH/GN
206/
3
GNWH/BUBU
WH/VTVTWH/GYGYWH/BKBK
WH/OG
OGWH/BN
BN
WH/RD
RD
WH/BKBKWH/BNBN
56
78
12
34
YEYE
VTVT
GNGN
GNGN
206/
6
206/
7
WHOGWHGN
WHBNWHGYRDBU
RD
OGRD
GN
RD
BN
RDGY
Prepared by, date:209
We
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Erik Mesaros JanErik Nåhls
2016-11-11
Page208
45TotalTYPE H, HS AND HSe
Latest revision:
Approved by, date:
CUSTOMER SIGNALS, ETHERNETLocation:Plant: =
++Sublocation:
DPH1
Document no.Next
Rev. Ind
Lab/Office: Status:IRB6620/IRB6620LX & IRC5ECO 85155, WI 132120Pg 53: Variant LX added.Pg 56: Variant LX added.Pg 250-251: Pages added.
3HAC026136-001
8
09APPROVED
1 2 3 4 5 6 7
DMRO SEPRIM
TYPE H, HS AND HSeCUSTOMER SIGNALSETHERNET COMMUNICATIONVALID FOR HARNESSIN CABINET3HAC022852-001 (Dual)3HAC024371-001 (Single)FLOOR HARNESS3HAC022957-001, 002, 003, 006
IRBDP MH3LOWER ARM HARNESS3HAC034140-001UPPER ARM HARNESS3HAC026813-0013HAC034204-002
* Circuit diagram showsmarking on the wires for bothdual and signle cabinet
WH/BNBN
209/
4
WH/RD
670
RD
671
672
WH/OGOG
673
209/
5
677
WH/YEYE
678
WH/GN
WH/GN
GN
GN
WH/BN
WH/BUBU
BN
WH/VT
WH/BU
BU
VT
WH/OG
WH/GYGY
OG
679680681682
693694695
209/
8
696697
24V
698
0V
685
24V
686
-
0V
-
PE
-
GN/YEGN/YE
-
*DUAL
GN/YE
WH/GN
GN
WH/BN
BN
WH/BU
BU
WH/OG
OG
*SINGLEBKBNRDOG
YE
45
GNBU
67
VTGN/YEGN/YE
WH/BKBKBKBN
WH/BN
RDOG
BN
YE
WH/RD
GN
RD
GY
WH/OG
WH
OG
WH/YE
WH/BKWH/BN
YE
WH/RD
WH/GN
A3 a3
-ROBOTCABINET
1 1-XP6
2 2
3 3
4 4
1 1-XP5.1
2 2
1 1-XP5.2
2 2
3 3
4 4
9 9-XP5.1
10 10
11 11
12 12
3 3
4 4
5 5
6 6
1 1-XP5.3
2 2
3 3
4 4
5 5
6 6
5 5-XP5.2
6 6
-XS13
A1 a1
A2 a2
B10 b10
A4 a4
B1 b1
B2 b2
B3 b3
B4 b4
B5 b5
B6 b6
B7 b7
B8 b8
B9 b9
B10 b10
B11 b11
B12 b12
B13 b13
B14 b14
B15 b15
B16 b16
B18 b18
B19 b19
B20 b20
B21 b21
C16 c16
C17 c17
-MANIPULATOR BASE
D1 d1-R1.CP/CS
D6 d6
D3 d3
D4 d4
B1 b1
B2 b2
B3 b3
B4 b4
B5 b5
B6 b6
B7 b7
B8 b8
B9 b9
B10 b10
B11 b11
B12 b12
B13 b13
B14 b14
B15 b15
B16 b16
B18 b18
B19 b19
B20 b20
B21 b21
C16 c16
C17 c17
-AXIS 3
D1 d1-R2.CP/CS
D6 d6
D3 d3
D4 d4
B1 b1
B2 b2
B3 b3
B4 b4
B5 b5
B6 b6
B7 b7
B8 b8
B9 b9
B11 b11
B12 b12
B13 b13
B14 b14
B15 b15
B16 b16
B18 b18
B19 b19
B20
B21
C16
C17
-AXIS 6
f-R3.CP/CS
g
h
j
A
B
C
D
E
F
G
H
J
K
L
M
N
P
R
S
T
U
v
WH/OG
GN
GY
WH/BU
WH
BU
209/
3
WH/VTVTWH/GYGYWH/BKBK
WH/OGOG
209/
6
209/
7
12
34
GN/YE
WHBU
WH/GNGN
WH/BNBN
WH/BUBU
WH/OGOG
WHOGWHGN
WH
WH/BK
BN
BK
WH
WH/OG
GY
OG
RD
WH/BN
BU
BN
RD
WH/RD
OG
RD
WH/BKBK
Prepared by, date:250
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Page209
45TotalTYPE H, HS AND HSe
Latest revision:
Approved by, date:
CUSTOMER SIGNALS, ETHERNETLocation:Plant: =
++Sublocation:
DPH1
Document no.Next
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Lab/Office: Status:IRB6620/IRB6620LX & IRC5ECO 85155, WI 132120Pg 53: Variant LX added.Pg 56: Variant LX added.Pg 250-251: Pages added.
3HAC026136-001
8
09APPROVED
1 2 3 4 5 6 7
DMRO SEPRIM
TYPE H, HS AND HSeCUSTOMER SIGNALSETHERNET COMMUNICATIONVALID FOR HARNESSIN CABINET3HAC022852-001 (Dual)3HAC024371-001 (Single)FLOOR HARNESS3HAC022957-001, 002, 003, 006
IRBDP MH3LOWER ARM HARNESS3HAC034140-001UPPER ARM HARNESS3HAC026813-0013HAC034204-002
* Circuit diagram showsmarking on the wires for bothdual and signle cabinet
687
683
688
684
689690691692
699700666667668669
*DUAL
WH/BK
BU
WH/BN
VT
WH/RDWH/OGWH/YEWH/GN
WH/YEWH/GNWH/BUWH/VTWH/GYWH/BK
*SINGLE 20
8/3
RD
GN
YE
RD
WH
BN
OG
RD
BU
GY
YEYE
WHWH
BKBU
OGOG
BU
208/
4
BU
208/
54
1 1-R2.ETHERNET
2 2
3 3
4 4
-ROBOTCABINET
9 9-XP5.2
10 10
11 11
12 12
7 7-XP5.3
8 8
9 9
10 10
11 11
12 12
7 7-XP5.2
7 7-XP5.1
8 8-XP5.2
8 8-XP5.1
-XS13
B22 b22
B23 b23
B24 b24
B25 b25
C10
C11
C12
C13
C14
C15
C18 c18
C19 c19
C20 c20
C21 c21
-MANIPULATOR BASE
B22 b22
B23 b23
B24 b24
B25 b25
C18 c18-R1.CP/CS
C19 c19
C20 c20
C21 c21
-AXIS 3
B22 b22
B23 b23
B24 b24
B25 b25
C18 c18-R2.CP/CS
C19 c19
C20 c20
C21 c21
-AXIS 6
-XS9
1 1
2 2
3 3
4 4
1 1-R1.ETHERNET
2 2
3 3
4 4
1-R3.ETHERNET
2
3
WH/YEYEWHGN
WH/BN
BN
WH/RD
RD
208/
6
Prepared by, date:251
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umen
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2016-11-11
Page250
45TotalTYPE H
Latest revision:
Approved by, date:
LX, CUSTOMER SIGNALS, ALLLocation:Plant: =
++Sublocation:
DPH1
Document no.Next
Rev. Ind
Lab/Office: Status:IRB6620/IRB6620LX & IRC5ECO 85155, WI 132120Pg 53: Variant LX added.Pg 56: Variant LX added.Pg 250-251: Pages added.
3HAC026136-001
8
09APPROVED
1 2 3 4 5 6 7
DMRO SEPRIM
WH/BN
TYPE HCUSTOMER SIGNALSETHERNET COMMUNICATIONVALID FOR HARNESSIN CABINET3HAC022852-001 (Dual)3HAC024371-001 (Single)FLOOR HARNESS3HAC022957-001, 002, 003 (Parallel)3HAC022978-001, 002, 003, 006 (Bus com.)3HAC022988-001, 002, 003, 006 (Bus com.)3HAC0313924-001 (Ethernet)
IRB6620LX, MH3LOWER ARM HARNESS3HAC033571-001 (All)UPPER ARM HARNESS3HAC026813-001 (Parallel)3HAC026813-002 (Bus com.)3HAC034204-002 (Ethernet)
* Circuit diagram showsmarking on the wires for bothdual and signle cabinet
**** Part of Güdels Linear axis unit
BN
WH/RD
211/
4
RD
WH/OGOG
WH/YEYE
WH/GNGNWH/BUBU
WH/VTVTWH/GYGY
24V
0V
24V
0V
PEYE/GNYE/GN
WH/BKBK
WH/BNBN
WH/RDRD
WH/OGOG
WH/YEYE
T
WH/GN
D1 d1
-R1.CP/CS
D6 d6
D3 d3
D4 d4
B1 b1
B2 b2
B11 b11
B12 b12
B13 b13
B14 b14
B15 b15
B16 b16
B18 b18
B19 b19
B3 b3
B4 b4
B5 b5
B6 b6
B7 b7
B8 b8
B9 b9
B10 b10
a A
****
-ROBOTCABINET
-XP13
A1 a1
A2 a2
A3 a3
A4 a4
B1 b1
B2 b2
B3 b3
B4 b4
B5 b5
B6 b6
B7 b7
B8 b8
B9 b9
B10 b10
B11 b11
B12 b12
B13 b13
B14 b14
B15 b15
B16 b16
B18 b18
B19 b19
-MANIPULATOR BASE
F f
-R1.CPS
G g
H h
J j
b B
c C
d D
e E
f F
g G
h H
j J
k K
l L
m M
n N
p P
r R
s S
t T
u U
-AXIS 3
D1 d1-R2.CP/CS
D6 d6
D3 d3
D4 d4
B1 b1
B2 b2
B3 b3
B4 b4
B5 b5
B6 b6
B7 b7
B8 b8
B9 b9
B10 b10
B11 b11
B12 b12
B13 b13
B14 b14
B15 b15
B16 b16
B18 b18
B19 b19
-AXIS 6
f-R3.CP/CS
g
h
j
A
B
C
D
E
F
G
H
J
K
L
M
N
P
R
S
U
v
GNWH/BUBU
211/
3
WH/VTVTWH/GYGY
211/
7
211/
6
1
2
3
4
GN/YE
WH
BU
WH/GN
GN
WH/BN
BN
WH/BU
BU
WH/OG
OG
WH
OG
WH
GN
WH/BK
WH
WH/BKBKBK
BN
WH
WH/OGWH/OG
GY
OGOG
WH/BNWH/BNBNBN
WH/RD WH/RDRDRD
WH/BKBK
Prepared by, date:+HSe/300
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umen
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idde
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AB
B
Erik Mesaros JanErik Nåhls
2016-11-11
Page251
45TotalTYPE H
Latest revision:
Approved by, date:
LX, CUSTOMER SIGNALS, ALLLocation:Plant: =
++Sublocation:
DPH1
Document no.Next
Rev. Ind
Lab/Office: Status:IRB6620/IRB6620LX & IRC5ECO 85155, WI 132120Pg 53: Variant LX added.Pg 56: Variant LX added.Pg 250-251: Pages added.
3HAC026136-001
8
09APPROVED
1 2 3 4 5 6 7
DMRO SEPRIM
TYPE H CUSTOMER SIGNALSETHERNET COMMUNICATIONVALID FOR HARNESSIN CABINET3HAC022852-001 (Dual)3HAC024371-001 (Single)FLOOR HARNESS3HAC022957-001, 002, 003 (Parallel)3HAC022978-001, 002, 003, 006 (Bus com.)3HAC022988-001, 002, 003, 006 (Bus com.)3HAC0313924-001 (Ethernet)
IRB6620LX, MH3LOWER ARM HARNESS3HAC033571-001 (All)UPPER ARM HARNESS3HAC026813-001 (Parallel)3HAC026813-002 (Bus com.)3HAC034204-002 (Ethernet)
* Circuit diagram showsmarking on the wires for bothdual and signle cabinet
** Part of 3hac022978-00x
*** Part of 3hac022988-00x
**** Part of Güdels Linear axis unit
WHBU
RDGN
BKGN
BKBN
56
78
12
34
YE
TD+
RD+
YE
VT
TD-
C-BUS
C-BUS
P-BUS
P-BUS
24V C-BUS
0V C-BUS
VT
RD-
GNGN
GNGN
210/
3
YE
WH
OG
BU
RD
YE YE
BK
BK
WH WH
OGOG
BU
BU
210/
4
BU
A-R3.CBUS
B
C
D
B22 b22
-R1.CP/CS**
B23 b23
B24 b24
B25 b25
A9 a9
A10 a10
A11 a11
A12 a12
A3 a3**
A4 a4
A5 a5***
A6 a6
****
1 1-R1.
ETH
ER
NE
T
2 2
3 3
4 4
-ROBOTCABINET-XP13
F1 f1**
F2 f2
B24 b24
B25 b25
-MANIPULATOR BASE
a A
-R1.CBUS
b B
c C
d D
-AXIS 3
B22 b22-R2.CP/CS
B23 b23
B24 b24
B25 b25
-AXIS 6
-XP9
1 1
2 2
3 3
4 4
1 1-R1.
ETH
ER
NE
T
2 2
3 3
4 4
1-R3.ETHERNET
2
3
4
1 1-R2.ETHERNET
2 2
3 3
4 4
h H
E
F
G
H
J
K
L
M
A3 a3
A4 a4
A5 a5
A6 a6
A9 a9
A10 a10
A11 a11
A12 a12
e E
f F
g G
j J
k K
l L
m M
F3 f3**
F4 f4
F5 f5***
F6 f6
C12 c12
C13 c13
C14 c14
C15 c15
WH/BK WH/BKBK BK
WH/BN WH/BNBN BN
56
78
210/
6
1
210/
7
2
34
YEYE
VTVT
GNGN
GNGN
Prepared by, date:301
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umen
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2016-11-11
Page300
45TotalTYPE H and HSe
Latest revision:
Approved by, date:
CUSTOMER SIGNALS, PARALLELLocation:Plant: =
++Sublocation:
DPHSe
Document no.Next
Rev. Ind
Lab/Office: Status:IRB6620/IRB6620LX & IRC5ECO 85155, WI 132120Pg 53: Variant LX added.Pg 56: Variant LX added.Pg 250-251: Pages added.
3HAC026136-001
8
09APPROVED
1 2 3 4 5 6 7
DMRO SEPRIM
TYPE H and HSeCUSTOMER SIGNALSPARALLELCOMMUNICATIONVALID FORHARNESS IN CABINET3HAC022852-001 (Dual)3HAC024371-001 (Single)FLOOR HARNESS3HAC022957-001,002,003,006LOWER/UPPER ARM HARNESS3HAC024654-001
* Circuit diagram shows markingon wires for both dual andsingle cabinet
670
671
672
673
677678
WH/GN
GN
WH/BN
BN
WH/BU
BU
WH/OG
4
OG
5
679680
6
681
7
682
GN/YE
WH/BK
693
BK
694
WH/BN
695696
BN
697
WH/RD
698
RD
685
WH/OGOG
686
WH/YE
GN/YE
201/
3
YE
WH/GNGNWH/BUBU
WH/VTVTWH/GYGYWH/BK
WH/OG
BK
OG
201/
8
24V
0V
24V
0V
KSR
KSR
PE
BKBNRDOGYE
1
GN
2
BU
3
VT
4
GN/YE GN/YE
RDOG
WH
YE
B11
B12
C16 c16
-AXIS 6-MANIPULATOR BASE-ROBOTCABINET
-XS13
C4-R3.CP/CS
C5
C6
C7
B18
B19
B20
B21
B22
B23
B24
B25
B16
B17
B1
B2
B3
B4
B5
B6
B7
B8
B9
B10
D1 d1-R1.CP/CS
D6 d6
D3 d3
D4 d4
B1 b1
B2 b2
B3 b3
B4 b4
B5 b5
B6 b6
B7 b7
B8 b8
B9 b9
B10 b10
B11 b11
B12 b12
B13 b13
B14 b14
B15 b15
B16 b16
B18 b18
B19 b19
B20 b20
B21 b21
C17 c17
1 1-XP5.1
2 2
9 9-XP5.1
10 10
11 11
12 12
3 3
4 4
5 5
6 6
1 1-XP5.2
2 2
3 3
4 4
5 5-XP5.2
6 6
1 1-XP5.3
2 2
3 3
4 4
5 5
6 6
1 1-XP6
3 3
4 4
2 2
A1 a1
A2 a2
A3 a3
A4 a4
B1 b1
B2 b2
B3 b3
B4 b4
B5 b5
B6 b6
B7 b7
B8 b8
B9 b9
B10 b10
B11 b11
B12 12
B13 b13
B14 b14
B15 b15
B16 b16
B18 b18
B19 b19
B20 b20
B21 b21
C16 c16
C17 c17
BU
GN
WH/GN
GY
GN
WH
WH/BN
WH/BK
BN
WH/BN
WH/BU
WH/RD
BU
WH/OG
WH/OG
GY
OG
WH
WH
*
OG
DUAL
WH
*
GN
SINGLE
WHBN
-
WH
-
GY
-
-
RDBU
677
RD
678
OG
WH/GN
GN
WH/BN
BN
WH/BU
201/
4
BU
WH/OG
OG
201/
5
Prepared by, date:302
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Erik Mesaros JanErik Nåhls
2016-11-11
Page301
45TotalTYPE H and HSe
Latest revision:
Approved by, date:
CUSTOMER SIGNALS, PARALLELLocation:Plant: =
++Sublocation:
DPHSe
Document no.Next
Rev. Ind
Lab/Office: Status:IRB6620/IRB6620LX & IRC5ECO 85155, WI 132120Pg 53: Variant LX added.Pg 56: Variant LX added.Pg 250-251: Pages added.
3HAC026136-001
8
09APPROVED
1 2 3 4 5 6 7
DMRO SEPRIM
TYPE H and HSeCUSTOMER SIGNALSPARALLELCOMMUNICATIONVALID FORHARNESS IN CABINET3HAC022852-001 (Dual)3HAC024371-001 (Single)FLOOR HARNESS3HAC022957-001,002,003,006LOWER/UPPER ARM HARNESS3HAC024654-001
* Circuit diagram shows markingon wires for both dual andsingle cabinet
687
683
688
684
689690691692
699700666667668669
200/
3
RD
GN
RD
BN
RDGYBKBU
200/
4
200/
5
WH/YEYEWH
C21 c21
-AXIS 6-MANIPULATOR BASE-ROBOTCABINET-XS13
B13-R3.CP/CS
B14
B15
C8
B22 b22
B23 b23
B24 b24
B25 b25
C18 c18-R1.CP/CS
C19 c19
C20 c20
A1
A2
A3
A4
7 7-XP5.1
8 8-XP5.1
9 9-XP5.2
10 10
11 11
12 12
7 7-XP5.2
8 8-XP5.2
7 7-XP5.3
8 8
9 9
10 10
11 11
12 12
B22 b22
B23 b23
B24 b24
B25 b25
C10
C11
C12
C13
C14
C15
C18 c18
C19 c19
C20 c20
C21 c21
GN
WH/BN
BN
WH/RD
RD
200/
8
WH/BK
BU
WH/BN
VT
WH/RDWH/OGWH/YEWH/GN
WH/YEWH/GNWH/BUWH/VTWH/GY
*DUAL *SINGLE
BN/BK
Prepared by, date:303
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Cop
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Erik Mesaros JanErik Nåhls
2016-11-11
Page302
45TotalTYPE H and HSe
Latest revision:
Approved by, date:
CUSTOMER SIGNALS, CANBUSLocation:Plant: =
++Sublocation:
DPHSe
Document no.Next
Rev. Ind
Lab/Office: Status:IRB6620/IRB6620LX & IRC5ECO 85155, WI 132120Pg 53: Variant LX added.Pg 56: Variant LX added.Pg 250-251: Pages added.
3HAC026136-001
8
09APPROVED
1 2 3 4 5 6 7
DMRO SEPRIM
TYPE H and HSeCUSTOMER SIGNALSCANBUSCOMMUNICATIONVALID FORHARNESS IN CABINET3HAC022852-001 (Dual)3HAC024371-001 (Single)3HAC022866-001FLOOR HARNESS3HAC022978-001,002,003,006LOWER/UPPER ARM HARNESS3HAC024655-001
* Circuit diagram shows markingon wires for both dual andsingle cabinet
WH/BU
670
BU
671
WH/OG
672
OG
673
677678
WH/GN
GN
WH/BN
BN
WH/BU
BU
WH/OG
OG
GN/YE
203/
3
WHBU
WH/GNGN
WH/BNBN
WH/BUBU
WH/OGOG
GN/YE
12
34
203/
4
203/
5
-AXIS 6-MANIPULATOR BASE-ROBOTCABINET-XS13
C4-R3.CP/CS
C5
C6
C7
B18
B19
B20
B21
B22
B23
B24
B25
B16
B17
D1 d1-R1.CP/CS
D6 d6
D3 d3
D4 d4
B1 b1
B2 b2
B3 b3
B4 b4
B5 b5
B6 b6
B7 b7
B8 b8
B9 b9
B10 b10
1 1-XP5.1
9 9-XP5.1
1 1-XP5.2
1 1-XP6
2 2
3 3
4 4
2 2
10 10
11 11
12 12
2 2
3 3
4 4
A1 a1
A2 a2
A3 a3
A4 a4
B1 b1
B2 b2
B3 b3
B4 b4
B5 b5
B6 b6
B7 b7
B8 b8
B9 b9
B10 b10
WH/BKBK
WH/BNBN
WH/RDRD
WH/OGOG
WH/YEYE
45
67
GN/YE
203/
8
24V0V
24V0V
PE
-
-
-
-
BKBNRDOGYEGNBUVTGN/YE
BKBN
*DUAL *SINGLE
WH/GN
GN
WH/BN
BN
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45TotalTYPE H and HSe
Latest revision:
Approved by, date:
CUSTOMER SIGNALS, CANBUSLocation:Plant: =
++Sublocation:
DPHSe
Document no.Next
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3HAC026136-001
8
09APPROVED
1 2 3 4 5 6 7
DMRO SEPRIM
TYPE H and HSeCUSTOMER SIGNALSCANBUSCOMMUNICATIONVALID FORHARNESS IN CABINET3HAC022852-001 (Dual)3HAC024371-001 (Single)3HAC022866-001FLOOR HARNESS3HAC022978-001,002,003,006LOWER/UPPER ARM HARNESS3HAC024655-001
* Circuit diagram shows markingon wires for both dual andsingle cabinet
RDBK
691692689690
WHBU
699700
666667
668669
679680681682
693694695696697698
685686687
683
688
684
WH/GN202/
3
GNWH/BUBU
WH/VT
VTWH/GYGYWH/BKBK
WH/OGOGWH/BN
BN
WH/RD
RD
WH/BKBK
WH/BNBN
56
78
12
34
YEYE
VTVT
GN
B2
-AXIS 6-MANIPULATOR BASE-ROBOTCABINET-XS13
B1-R3.CP/CS
6 6
B3
B4
B5
B6
B7
B8
B9
B10
B11
B12
B13
B14
B15
C8
A7
A8
A9
A10
A5
A6
A11
A12
B11 b11-R1.CP/CS
B12 b12
B13 b13
B14 b14
B15 b15
B16 b16
B18 b18
B19 b19
B20 b20
B21 b21
C16 c16
C17 c17
C18 c18
C19 c19
C20 c20
C21 c21
B22 b22
B23 b23
B24 b24
B25 b25
A3 a3
A4 a4
A5 a5
A6 a6
A9 a9
A10 a10
A11 a11
A12 a12
A1
A2
A3
A4
5 5-A35.X2
1 1
4 4-A35.X2
2 2
3 3
3 3-XP5.1
4 4
5 5
7 7-XP5.1
8 8-XP5.1
11 11-XP5.2
12 12
9 9
10 10
5 5-XP5.2
8 8-XP5.2
7 7-XP5.3
8 8
9 9
10 10
11 11
12 12
1 1-XP5.3
6 6
6 6
7 7
2 2
3 3
4 4
5 5
B11 b11
B12 b12
B13 b13
B14 b14
B15 b15
B16 b16
B18 b18
B19 b19
B20 b20
B21 b21
C16 c16
C17 c17
C18 c18
C19 c19
C20 c20
C21 c21
F1 f1
F2 f2
B24 b24
B25 b25
B22
B23
F3 f3
F4 f4
C10 c10
C11 c11
C12 c12
C13 c13
C14 c14
C15 c15
GN
GNGN
202/
8
+24V CAN
0V CAN
CAN_H
CAN_L
697
WH
693
OGRD
WHOG
GNYE
WH
GN
BNGY
WHWH
GYWH/BK
RDWH/BN
BUWH/RD
RD
WH/OG
OGGY
RDWH
GN
WH/BK
RD
BU
BN
WH/BN
RD
VT
BK
WH/YE BK
WH/GN BU
WH/RD
WH
WH/OG
BU
WH/YE BK
WH/GN
WH/BU
OG
BK
WH/VT
WH/GY
GN
*
BK
DUAL
BN
*SINGLE
202/
4
BN/BK
RDBK
WHBU
202/
5
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Page306
45TotalTYPE H and HSe
Latest revision:
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CUSTOMER SIGNALS, PROFIBUSLocation:Plant: =
++Sublocation:
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3HAC026136-001
8
09APPROVED
1 2 3 4 5 6 7
DMRO SEPRIM
TYPE H and HSeCUSTOMER SIGNALSPROFIBUSCOMMUNICATIONVALID FORHARNESS IN CABINET3HAC022852-001 (Dual)3HAC024371-001 (Single)3HAC022868-001FLOOR HARNESS3HAC022988-001,002,003,006LOWER/UPPER ARM HARNESS3HAC024655-001
* Circuit diagram shows markingon wires for both dual andsingle cabinet
WH/BU
670
BU
671
WH/OG
672
OG
673
677678
WH/GN
GN
WH/BN
BN
WH/BU
BU
WH/OG
OG
GN/YE
207/
3
GN/YE
WH/GNGN
WH/BNBN
WH/BUBU
WH/OGOG
12
34
WH
BU
207/
4
207/
5
-AXIS 6-MANIPULATOR BASE-ROBOTCABINET-XS13
C4-R3.CP/CS
C5
C6
C7
B18
B19
B20
B21
B22
B23
B24
B25
B16
B17
D1 d1-R1.CP/CS
D6 d6
D3 d3
D4 d4
B1 b1
B2 b2
B3 b3
B4 b4
B5 b5
B6 b6
B7 b7
B8 b8
B9 b9
B10 b10
1 1-XP5.1
2 2
9 9-XP5.1
10 10
11 11
12 12
1 1-XP5.2
2 2
3 3
4 4
1 1-XP6
2 2
3 3
4 4
A1 a1
A2 a2
A3 a3
A4 a4
B1 b1
B2 b2
B3 b3
B4 b4
B5 b5
B6 b6
B7 b7
B8 b8
B9 b9
B10 b10
45
67
GN/YE
WH/BKBK
WH/BNBN
WH/RDRD
WH/OGOG
WH/YEYE
207/
8
24V0V
24V0V
PE
-
-
-
-
BKBNRDOGYEGNBUVTGN/YE
BKBN
*DUAL
*SINGLE
WH/GN
GN
WH/BN
BN
Prepared by, date:308
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umen
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2016-11-11
Page307
45TotalTYPE H and HSe
Latest revision:
Approved by, date:
CUSTOMER SIGNALS, PROFIBUSLocation:Plant: =
++Sublocation:
DPHSe
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Lab/Office: Status:IRB6620/IRB6620LX & IRC5ECO 85155, WI 132120Pg 53: Variant LX added.Pg 56: Variant LX added.Pg 250-251: Pages added.
3HAC026136-001
8
09APPROVED
1 2 3 4 5 6 7
DMRO SEPRIM
TYPE H and HSeCUSTOMER SIGNALSPROFIBUSCOMMUNICATIONVALID FORHARNESS IN CABINET3HAC022852-001 (Dual)3HAC024371-001 (Single)3HAC022868-001FLOOR HARNESS3HAC022988-001,002,003,006LOWER/UPPER ARM HARNESS3HAC024655-001
* Circuit diagram shows markingon wires for both dual andsingle cabinet
689690691692
699700
RDGN
666667
668669
679680681682
693694695696697698
685
686687
683
688
684
WH/GN
206/
3
GNWH/BUBU
WH/VTVTWH/GYGYWH/BKBK
WH/OG
OGWH/BN
BN
WH/RD
RD
WH/BKBKWH/BNBN
56
78
12
34
YEYE
VTVT
GN
-AXIS 6-MANIPULATOR BASE-ROBOTCABINET
-XS13
B1-R3.CP/CS
B2
B3
B4
B5
B6
B7
B8
B9
B10
B11
B12
B13
B14
B15
C8
A1
A2
A3
A4
A7
A8
A9
A10
A5
A6
A11
A12
B11 b11-R1.CP/CS
B12 b12
B13 b13
B14 b14
B15 b15
B16 b16
B18 b18
B19 b19
B20 b20
B21 b21
C16 c16
C17 c17
C18 c18
C19 c19
C20 c20
C21 c21
B22 b22
B23 b23
B24 b24
B25 b25
A3 a3
A4 a4
A5 a5
A6 a6
A9 a9
A10 a10
A11 a11
A12 a12
1B 1B-DP-M
1A 1A
3 3-XP5.1
4 4
5 5
6 6
7 7-XP5.1
8 8-XP5.1
5 5-XP5.2
6 6
7 7
8 8-XP5.2
9 9-XP5.2
10 10
11 11
12 12
1 1-XP5.3
2 2
3 3
4 4
5 5
6 6
7 7-XP5.3
8 8
9 9-XP5.3
10 10
11 11
12 12
B11 b11
B12 b12
B13 b13
B14 b14
B15 b15
B16 b16
B18 b18
B19 b19
B20 b20
B21 b21
C16 c16
C17 c17
C18 c18
C19 c19
C20 c20
C21 c21
B22 b22
B23 b23
B24 b24
B25 b25
C10 c10
C11 c11
F5 f5
F6 f6
C12 c12
C13 c13
C14 c14
C15 c15
GN
GNGN
206/
8
RXD/TXD-P
RXD/TXD-N
RDOGYEGN
GY
WH
WH
OG
WH/BK
WH
WH/BN
GN
WH/RDWH/OG
WH
GY
BN
WH
WH
WH/BK
GY
BU
RD
WH/BN
BU
RD
VT
OG
WH/RD
RD
WH/OG
GN
WH/YE
RD
WH/GN
WH/YE
BN
WH/GN
RD
RD
GY
GN
BK
WH/BU
BU
BK
WH/VT
OG
WH/GY
RD
*
GN
DUAL
BK
*
GN
SINGLE
BKBNBN/BK
206/
4
206/
5
Prepared by, date:309
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2016-11-11
Page308
45TotalTYPE H and HSe
Latest revision:
Approved by, date:
CUSTOMER SIGNALS, ETHERNETLocation:Plant: =
++Sublocation:
DPHSe
Document no.Next
Rev. Ind
Lab/Office: Status:IRB6620/IRB6620LX & IRC5ECO 85155, WI 132120Pg 53: Variant LX added.Pg 56: Variant LX added.Pg 250-251: Pages added.
3HAC026136-001
8
09APPROVED
1 2 3 4 5 6 7
DMRO SEPRIM
TYPE H AND HSeCUSTOMER SIGNALSETHERNET COMMUNICATIONVALID FOR HARNESSIN CABINET3HAC022852-001 (Dual)3HAC024371-001 (Single)FLOOR HARNESS3HAC022957-001, 002, 003, 006LOWER/UPPER ARM HARNESS3HAC038556-001
* Circuit diagram showsmarking on the wires for bothdual and signle cabinet
670
671
672
673
677678
WH/GN
GN
WH/BN
BN
WH/BU
BU
WH/OG
4
OG
5
679680
6
681
7
682
GN/YE
693
WH/BK
694
BK
695
WH/BNBN
696
WH/RD
697698
RD
685
WH/OGOG
686
GN/YE
WH/YE
309/
3
YE
WH/GNGNWH/BUBU
WH/VTVTWH/GYGY
WH/OG
WH/BK
OG
BK
309/
8
24V
0V
24V
0V
PE
KSR
KSR
BKBNRDOGYE
1
GN
2
BU
3
VT
4
GN/YE
RD
GN/YE
OG
WH
6 6
YE
B11
B12
-ROBOTCABINET
1 1-XP6
2 2
3 3
4 4
1 1-XP5.1
2 2
1 1-XP5.2
2 2
3 3
4 4
9 9-XP5.1
10 10
11 11
12 12
3 3
4 4
5 5
6 6
1 1-XP5.3
2 2
3 3
4 4
5 5
5 5-XP5.2
6 6
-XS13
A1 a1
A2 a2
A3 a3
A4 a4
B1 b1
B2 b2
B3 b3
B4 b4
B5 b5
B6 b6
B7 b7
B8 b8
B9 b9
B10 b10
B11 b11
B12 12
B13 b13
B14 b14
B15 b15
B16 b16
B18 b18
B19 b19
B20 b20
B21 b21
C16 c16
C17 c17
-MANIPULATOR BASE
D1 d1-R1.CP/CS
D6 d6
D3 d3
D4 d4
B1 b1
B2 b2
B3 b3
B4 b4
B5 b5
B6 b6
B7 b7
B8 b8
B9 b9
B10 b10
B11 b11
B12 b12
B13 b13
B14 b14
B15 b15
B16 b16
B18 b18
B19 b19
B20 b20
B21 b21
C16 c16
C17 c17
-AXIS 6
C4-R3.CP/CS
C5
C6
C7
B18
B19
B20
B21
B22
B23
B24
B25
B16
B17
B1
B2
B3
B4
B5
B6
B7
B8
B9
B10
GN
BU
WH/GN
GY
GN
WH
WH/BN
WH/BK
BN
WH/BN
WH/BU
WH/RD
BU
WH/OG
WH/OG
GY
OG
WH
WH
*
OG
DUAL
WH
*
GN
SINGLE
WHBN
-
WH
-
GY
-
RD
-
BU
677
RD
678
OG
WH/GN
GN
WH/BN
BN
WH/BU
BU
309/
4
WH/OG
OG
309/
5
Prepared by, date:310
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Erik Mesaros JanErik Nåhls
2016-11-11
Page309
45TotalTYPE H and HSe
Latest revision:
Approved by, date:
CUSTOMER SIGNALS, ETHERNETLocation:Plant: =
++Sublocation:
DPHSe
Document no.Next
Rev. Ind
Lab/Office: Status:IRB6620/IRB6620LX & IRC5ECO 85155, WI 132120Pg 53: Variant LX added.Pg 56: Variant LX added.Pg 250-251: Pages added.
3HAC026136-001
8
09APPROVED
1 2 3 4 5 6 7
DMRO SEPRIM
TYPE H AND HSeCUSTOMER SIGNALSETHERNET COMMUNICATIONVALID FOR HARNESSIN CABINET3HAC022852-001 (Dual)3HAC024371-001 (Single)FLOOR HARNESS3HAC022957-001, 002, 003, 006LOWER/UPPER ARM HARNESS3HAC038556-001
* Circuit diagram showsmarking on the wires for bothdual and signle cabinet
687
683
688
684
689690691692
699700666667668669
308/
3
RD
GN
RD
BN
RDGYBKBU
308/
4
308/
5
YE
WH
OG
BU
YEYE
WH WH
OGOG
BU BU
WH/YEYEWH
-XS9
1 1
2 2
3 3
4 4
1 1-R1.ETHERNET
2 2
3 3
4 4
1-R2.ETHERNET
2
3
4
-ROBOTCABINET
9 9-XP5.2
10 10
11 11
12 12
7 7-XP5.3
8 8
9 9
10 10
11 11
12 12
7 7-XP5.2
7 7-XP5.1
8 8-XP5.2
8 8-XP5.1
-XS13
B22 b22
B23 b23
B24 b24
B25 b25
C10
C11
C12
C13
C14
C15
C18 c18
C19 c19
C20 c20
C21 c21
-MANIPULATOR BASE
B22 b22
B23 b23
B24 b24
B25 b25
C18 c18-R1.CP/CS
C19 c19
C20 c20
C21 c21
A1
A2
A3
A4
-AXIS 6
B13-R3.CP/CS
B14
B15
C8
GN
WH/BN
BN
WH/RD
RD
308/
8
WH/BK
BU
WH/BN
VT
WH/RDWH/OGWH/YEWH/GN
WH/YEWH/GNWH/BUWH/VTWH/GY
*DUAL *SINGLE
BN/BK
Prepared by, date:+CS.B/600
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umen
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Page310
45TotalTYPE HSe
Latest revision:
Approved by, date:
SERVO PEDESTAL GUNLocation:Plant: =
++Sublocation:
DPHSe
Document no.Next
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3HAC026136-001
8
09APPROVED
1 2 3 4 5 6 7
DMRO SEPRIM
TYPE HSeRESOLVER SIGNALSVALID FORFLOOR HARNESS3HAXD1250-70LOWER ARM HARNESS3HAC026414-001 0V EXC 2
X7
0V X7
Y7
EXC 2
0V Y7
SERVO POWERVALID FORHARNESS IN CABINET3HAC021791-001FLOOR HARNESS3HEA800736-001,002,003,004
BKBUBN
GN/YE
PKRD
OGGN
YE
GY
GRBNWH
PK
YEWH/RD
WH/BNBKWH/BK
RD
BNWH/RD
WH/BNBKWH/BK
RD
BN
BURD
Type HSeSignals to pedestal gunSee page pedestalgun (PG)In circuit diagram 3HAC026208-001
400240044000
40134014
40104012
4011
4006400840094007
GN/YE
-MANIPULATOR BASE-ROBOTCABINET -SERVO PEDESTAL GUN(AXIS 7) -SMB
-XS7
G G
H H
A A
B B
C C
D D
E E
F F-R3.FB7
9 9-R1.SMB1.7
2 2
11 11
4 4
12 12
5 5
1 1
F F-R2.FB7
E E
D D
C C
B B
A A
3 3-A41.1.3.X21
5 5
1 1
1 1-A43.X22
3 3
4 4
2 2
1 1-A43.X24
2 2
5 5-XS40
6 6
F F-FB.M7
E E
D D
C C
B B
A A
G G
H H
E E-R1.SP
C C
A A
G G
J J
K K
L L
M M
R R
A3 a3
A5 a5
A1 a1
E1 e1
E2 e2
F7 f7
F9 f9
F8 f8
F1 f1
F2 f2
F3 f3
F4 f4
Prepared by, date:+RG/601
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Page600
45TotalBASE- AX 6
Latest revision:
Approved by, date:
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++Sublocation:
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Document no.Next
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3HAC026136-001
8
09APPROVED
1 2 3 4 5 6 7
DMRO SEPRIM
Region E
TYPECUSTOMER SIGNALS
VALID FORFLOOR HARNESS3HAC029393-001, -005
LOWER ARM HARNESS3HAC029390-001, 005
UPPER ARM HARNESS3HAC029391-001, -005
SWC CONNECTION BOX
GNYE
0,750,750,75
MANIPULATOR
GNYE
0,750,750,75
24 VDC
0 VDC
EARTH
SPARE (KSR)
SPARE (KSR)
SPARE
SPARE
SPARE
SPARE
gun_open
hlift_open
temp_ok
SPARE
equalize
close_gun
open_hlift
close_hlift
SPARE
SPARE
SPARE
-3HAC2360-1
-3HAC2360-3
-3HAC15620-1-3HAC022454-001-3HAC022454-001 -R2.CP/CS -R3.CP/CS
-XS/XP8.1
-XS/XP8.2
-XS/XP8.3
-XT/XP5.1
-XT/XP5.2
-XT/XP5.3
-XT/XP5.2
f f
g g
A A
B B
C C
D D
E E
F F
G G
H H
J J
K K
L L
M M
N N
P P
R R
S S
T T
U U
X XY YZ Za ab bc cd de e
h h
f f
g g
A A
B B
C C
D D
E E
F F
G G
H H
J J
K K
L L
M M
N N
P P
R R
S S
T T
U U
X XY YZ Za ab bc cd de e
h h
1 1
2 2
7 7
8 8
1 1
2 2
3 3
4 4
5 5
6 6
7 7
8 8
9 9
10 10
11 1112 1213 1314 14
7 78 89 9
10 1011 1112 1213 1314 14
1 14 4
9 9
10 10
11 11
12 12
13 13
14 14
1 1
2 2
3 3
4 4
1 1
2 2
3 3
4 4
5 5
6 6
7 7
8 8
9 9
10 10
11 11
12 12
13 13
14 14
1 12 23 34 4
5 56 67 78 89 9
10 1011 1112 12
10:RD/GY
10:GY
11:BK/BU
11:BU
12:BK/OG
12:OG
13:BK/GN
13:GN
3BK
4BK
1BK
2BK
1:WHBU
1:BU
2:WH/OG
2:OG
3:WH/GN
3:GN
4:WH/BN
4:BN
5:WH/GY
5:GY
6:RD/BU
6:BU
7:RD/OG
7:OG
8:RD/GN
8:GN
9:RD/BN
9:BN
4,WH
5,WH
1:WHBK
1:BK
2:WHBN
2:BN
3:WHRD
3:RD
4:WHOG
4:OG
5:WHYE
5:YE
6:WHGN
6:GN
6:WHBU
6:BU
7:WHVT
7:VT
7:WHGY
7:GY
8:WHBK
8:BK
8:WHOG
8:OG
7,WH
4,WH
5,WH
7,WH
1:WHBK
1:BK
2:WHBN
2:BN
3:WHRD
3:RD
4:WHOG
4:OG
5:WHYE
5:YE
6:WHGN
6:GN
6:WHBU
6:BU
7:WHVT
7:VT
7:WHGY
7:GY
8:WHBK
8:BK
8:WHOG
8:OG
9:WHBN
9:BN
9:WHRD
9:RD
SPARE
SPARESPARESPARESPARESPARESPARESPARESPARE
Prepared by, date:602
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
ird p
artie
s w
ithou
t exp
ress
aut
horit
y is
stri
ctly
forb
idde
n. ©
Cop
yrig
ht 2
003
AB
B
Erik Mesaros JanErik Nåhls
2016-11-11
Page601
45TotalPOWER
Latest revision:
Approved by, date:
ROBOT GUN (RG) - IRBDP SW5Location:Plant: =
++Sublocation:
DPRG
Document no.Next
Rev. Ind
Lab/Office: Status:IRB6620/IRB6620LX & IRC5ECO 85155, WI 132120Pg 53: Variant LX added.Pg 56: Variant LX added.Pg 250-251: Pages added.
3HAC026136-001
8
09APPROVED
1 2 3 4 5 6 7
DMRO SEPRIM
REGION E
TYPE7TH AXIS POWER SIGNALS
VALID FORLOWER ARM HARNESS3HAC029579-001, 005
UPPER ARM HARNESS3HAC029580-001, -005
For further information see circuit diagram,
3HAC024480-004 for single cabinet.
DRIVE MODULE CABINET
R
S
T
EARTH
PTC
PTC 0V
BRAKE REL
BRAKE 0V
LIM1
LIM2
LIM2
LIM1
BRAKE PB
6 module
2,5
2,5
2,5
2,5
23p
1,5
1,5
1,5
1,5
MECHANICAL UNIT
8p
R3.SP
FREE END
-3HAC3726-1 -3HAC3726-4-3HAC15653-1-R1.SP -R2.SP-XS/XP1
A A
C C
E E
G G
J J
K K
L L
M M
R R
A A
C C
E E
G G
B B
D D
F F
H H
A1 a1
A5 a5
A3 a3
E1 e1
E2 e2
F7 f7
F9 f9
F1 f1
F2 f2
F4 f4
F3 f3
F8 f8
BN
BU
BK
PK
RD
OG
GN
YE
GNYE
1/OG
2/OG
3/OG
GNYE
4/OG
5/OG
6/OG
7/OG
1/OG
2/OG
3/OG
GNYE
4/OG
5/OG
6/OG
7/OG
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
rodu
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
AB
B
Erik Mesaros JanErik Nåhls
2016-11-11
Page602
45TotalSIGNAL
Latest revision:
Approved by, date:
ROBOT GUN (RG) - IRBDP SW5Location:Plant: =
++Sublocation:
DPRG
Document no.Next
Rev. Ind
Lab/Office: Status:IRB6620/IRB6620LX & IRC5ECO 85155, WI 132120Pg 53: Variant LX added.Pg 56: Variant LX added.Pg 250-251: Pages added.
3HAC026136-001
8
09APPROVED
1 2 3 4 5 6 7
DMRO SEPRIM
REGION E
TYPE Se AND HSe7TH AXIS FEEDBACK SIGNALS
LOWER/UPPER ARM HARNESS3HAC030638-001, 005
BATT LOAD
MRCO
MRCO_N
MRCI
MRCI_N
0V
24V
BATT BR
BATT-
BATT+
SINGLE CABINET
WHBU
BU
WHOG
OG
WHGN
WHBN
GN
BN
WHGY
GY
RD
KEYPIN
WHBU
BU
WHOG
OG
WHGN
GN
GY
RD
MECHANICAL UNIT
FREE END
-3HAA2485-1-3HAA2485-1-A42.X1 -R1.SMB -R1.SMB 1.1 -R2.FB1-R2.SMB
-SMB
-XS/XP2
1 1
2 2
3 3
4 4
5 5
6 6
7 7
9 9
A A
B B
C C
D D
E E
F F
J J
K K
L L
G G
H H
M M
5 5
12 12
4 4
11 11
2 2
9 9
1 1
A A
B B
C C
D D
E E
F F
9 9
5 5
8 8
4 4
3 3
7 7
6 6
2 2
A A
B B
C C
D D
E E
F F
J J
K K
L L
G G
1/WHBK
1/BK
2/WHBN
2/BN
3/WHRD
3/RD
1/WHBK
1/BK
2/WHBN
2/BN
3/WHRD
3/RD