© copyright 2004 abb all right reserved.isa.uniovi.es/~jalvarez/abb/en/3hac025744-001_rev05.pdf ·...

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 AB

SE-721 68 VästeråsSweden

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Erik Mesaros Johan Moraeus

2011-10-19

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IRB66x0/7600Manipulator

Document no.Next

Rev. Ind

Lab/Office: Status:IRB 66x0 / 7600ECO 48113, WI 37057ID connection adjusted on page 90 and 120 due to an error.

3HAC025744-001

8

04

APPROVED

1 2 3 4 5 6 7

DMRO SEPRMP

Table of contentsCommentPage Page description

ABB Contents1

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3HAC025744-001

8

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APPROVED

1 2 3 4 5 6 7

DMRO SEPRMP

1 COPYRIGHT page

2 Table of contents: (1 - 150)

3 Valid For

4 Connection point location IRB 6600 / 6640 / 6650 / 7600

5 Connection point location IRB 6660

9 Legend IRB 66X0 / 7600

10 Brake Release Unit IRB 66X0 / 7600

20 Serial Measuring Board, incl. 7th axis connection (optional) IRB 66X0 / 7600

30 Axis 1 IRB 66X0 / 7600

40 Axis 2 IRB 66X0 / 7600

50 Axis 3, incl. external lamp (optional) IRB 66X0 / 7600

60 Axis 4 IRB 66X0 / 7600

70 Axis 5 IRB 7600

80 Axis 5 IRB 66X0

90 Axis 5 IRB 66X0 ID

100 Axis 6 IRB 7600

110 Axis 6 IRB 66X0

120 Axis 6 IRB 66X0 ID

130 Pos. switch Axis 1 (optional) IRB 66X0 / 7600

140 Pos. switch Axis 2 (optional), incl. fan Axis 1 and 2 (optional) IRB 66X0 / 7600

150 Pos. switch Axis 3 (optional), incl. fan Axis 3 (optional) IRB 66X0 / 7600

Prepared by, date:4

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Valid For

Location:Plant: =

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Document no.Next

Rev. Ind


3HAC025744-001

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APPROVED

1 2 3 4 5 6 7

DMRO SEPRMP

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

Prepared by, date:=IRB6660/5

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Latest revision:

Approved by, date:

Connection point location of IRB 6600 / 6640 / 6650 / 7600

Location:Plant: =

++Sublocation:


Document no.Next

Rev. Ind


3HAC025744-001

8

04

APPROVED

1 2 3 4 5 6 7

DMRO SEPRMP

3

R1.G

3

R1.SMB1.7R3.FAN2

2

R3.MP5 (IRB 7600, 6600 ID, 6640 ID, 6650 ID)

R2.FB7

R3.FB5 (IRB 7600, 6600 ID, 6640 ID, 6650 ID)

R2.G

R3.MP6

R2.SMB

R3.FB6

R1.SMB1-3R1.SMB4-6R2.SW2

8

X8

8

X9

R2.M5/6 (IRB7600, 6600 ID, 6640 ID, 6650 ID)

2

X10

2

R2.MP2

1

R2.FB2

R2.MP4

R2.FB4

R3.FAN3R2.FB3

A

R2.MP3

7

R2.H1

R2.H2

1

7

1

B

R2.MP1

R2.FB1

C

4

9

R2.SW3

1

5

6

7

8

2

3

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)

R1.MP

R1.MP

R1.SMBR1.SW1

11

R1.SW2/3

14

15

10

12

6

13

16

12

12

18

21

22

17

19

6

20

23

6

5

11

11

5

5

R2.M5/6(On IRB7600, 6600 ID,

6640 ID, 6650 ID)

24

25

4

2710

28

10 29

4

30

31

4

32

26

3

9

9

Prepared by, date:=IRB66X0/7600/9

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2011-10-19

21Total

Latest revision:

Approved by, date:

Connection point location of IRB 6660

Location:Plant: =

++Sublocation:

IRB6660Manipulator

Document no.Next

Rev. Ind


3HAC025744-001

8

04

APPROVED

1 2 3 4 5 6 7

DMRO SEPRMP

R3.MP6R3.FB6

R3.MP5R3.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/CSR2.CP/CS

Prepared by, date:+BU/10

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Legend

Location:Plant: =

++Sublocation:

IRB66X0/7600Manipulator

Document no.Next

Rev. Ind


3HAC025744-001

8

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APPROVED

1 2 3 4 5 6 7

DMRO SEPRMP

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

IRB6X0 Any number i.e. 66X0 can be 6600, 6640, 6660 or 6650

Prepared by, date:+SMB/20

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Brake Release Unit

Location:Plant: =

++Sublocation:

IRB66X0/7600BU

Document no.Next

Rev. Ind


3HAC025744-001

8

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APPROVED

1 2 3 4 5 6 7

DMRO SEPRMP

Key Pin

Key Pin

-BU Brake Release (Simplified)

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

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

-R1.MP13

4

3

5

2

-X81

-X81

5

3

11

12

-X101

3

5

-X94

8

10

-X101

3

5

-X94

8

10

-BUM1

-BUM2

-BUM3

-BUM4

-BUM5

-BUM6

-BU0VM1

-BU0VM2

-BU0VM3

-BU0VM4

-BU0VM5

-BU0VM6

Prepared by, date:+Axis1/30

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2011-10-19

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Serial Measuring Board, incl. optional 7th axis connection

Location:Plant: =

++Sublocation:

IRB66X0/7600SMB

Document no.Next

Rev. Ind


3HAC025744-001

8

04

APPROVED

1 2 3 4 5 6 7

DMRO SEPRMP

-R1.SMB -R2.SMB

7th axis connection (optional)

SDI

SDI-N

SDO

SDO-N

24V EXT.LAMP

0V

0V EXT.LAMP

24V

BK

WH/BK X7

WHBK

BK 0V X7

Y7WH/BN

BN

0V Y7

WHBN

BN

RD

WH/RD 0V EXC2

WHRD

RD EXC2

OG

-R2.SMB

SCREEN

-R1.G(X3)-G0V

+

WHOG

-SMB

9

5

8

4

3

7

2

1

A

B

C

D

E

F

L

KEYPIN

M

9

5

8

4

3

7

2

1

+ -+ -+ -

-R1.SMB1.75

12

4

11

2

9

1

-R2.FB7A

B

C

D

E

F

-SMB1.75

12

4

11

2

9

1

-R2.G2

1

-R1.G(X3)2

1

-24VEXT.LAMP

-0VEXT.LAMP


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Axis 1

Location:Plant: =

++Sublocation:

IRB66X0/7600Axis1

Document no.Next

Rev. Ind


3HAC025744-001

8

04

APPROVED

1 2 3 4 5 6 7

DMRO SEPRMP

Brake

-MU1

RD

WH

BK

GNYE

BU +

BU -

M1R

M1S

M1T

BU M1

BU 0V M1

1

3

5

GNYE

9

10

Resolver

-FB1

RD

BK

BU

YE

WHBK (WHYE)

WHRD

BK

WHBK

BN

WHBN

RD

WHRD

X1

0V X1

Y1

0V Y1

0V EXC1

EXC1

-BUM1

-BU0VM1

-PTCM2

S (V)

T (W)

R (U) PE

3~M

-R2.MP11

6

7

9

2

5

-R2.MP11

6

7

9

12

2

-R1.MP17

18

19

-R2.FB16

1

7

2

8

3

-R2.FB16

1

7

2

8

3

-R1.SMB1-32

14

3

15

6

18

-R1.SMB1-32

14

3

15

6

18

4

3

10

12

1 2 -PTC1Θ

8

11

4

3

10

5

8

11

24

25

26

27

-SMB

PE

RD

WH

BK

GNYEPE GNYE

M1R 2

4

6

M1S

M1T

PTC M

PTC M2

7

8


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Latest revision:

Approved by, date:

Axis 2

Location:Plant: =

++Sublocation:

IRB66X0/7600Axis2

Document no.Next

Rev. Ind


3HAC025744-001

8

04

APPROVED

1 2 3 4 5 6 7

DMRO SEPRMP

-SMB

BK

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

-FB2

-MU2

RD

BK

BU

YE

WHBK (WHYE)

WHRD

RD

WH

BK

GNYE

BU +

BU -Brake

-BUM2

-BU0VM2

PTCM2

-PTCM3

-R1.SMB1-34

16

5

17

7

19

32

31

30

-R1.SMB1-34

16

5

17

7

19

-R2.MP21

6

7

9

2

5

-R2.FB26

1

7

2

8

3

-R2.MP21

6

7

9

2

5

-R2.FB26

1

7

2

8

3

S (V)

T (W)

R (U) PE

3~M

4

3

10

12

4

3

10

12

-R1.MP23

22

21

1 2 -PTC2Θ

8

11

8

11

Resolver

RD

WH

BK

GNYE

M2S

M2R

M2T

3

5

6

GNYEPE

PE

PTC M2

PTC M3

7

8

BU

BK


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2011-10-19

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Latest revision:

Approved by, date:

Axis 3, incl. optional signal lamp

Location:Plant: =

++Sublocation:

IRB66X0/7600Axis3

Document no.Next

Rev. Ind


3HAC025744-001

8

04

APPROVED

1 2 3 4 5 6 7

DMRO SEPRMP

-SMB

BK

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

-FB3

-MU3

RD

BK

BU

YE

WHBK (WHYE)

WHRD

RD

WH

BK

GNYE

BU +

BU -

-BUM3

-BU0VM3

-PTCM3

-PTCM4

-24VEXT.LAMP

-0VEXT.LAMP

-R1.SMB1-39

21

10

22

8

20

-R1.MP3

5

7

-R1.SMB1-39

21

10

22

8

20

-R2.MP31

6

7

9

12

2

-R2.FB36

1

7

2

8

3

-R2.MP31

6

7

9

2

5

-R2.FB36

1

7

2

8

3

S (V)

T (W)

R (U) PE

3~M

KEYPIN

B

KEYPIN

A

A K

1

-R3.H

2

R2.H1

R2.H2

R2.H1

R2.H2

4

3

10

12

1 2 -PTC3Θ

8

11

5

8

11

10

3

44

6

14

Brake

Resolver

OG

WHOG

-SIGNAL LAMP (OPTIONAL)

RD

WH

BK

GNYE

BU

BK

M3R

M3S

M3T

BU 0V M3

PTC M3

PTC M4

4

5

6

10

7

8

Prepared by, date:=IRB7600+Axis 5/70

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Axis 4

Location:Plant: =

++Sublocation:

IRB66X0/7600Axis4

Document no.Next

Rev. Ind


3HAC025744-001

8

04

APPROVED

1 2 3 4 5 6 7

DMRO SEPRMP

-SMB

BK

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

-FB4

-MU4

RD

BK

BU

YE

WHBK (WHYE)

WHRD

RD

WH

BK

GNYE

BU +

BU -

-BUM4

-BU0VM4

-PTCM4

-PTCM5

-R1.SMB4-62

14

3

15

6

18

-R1.MP1

2

10

-R1.SMB4-62

14

3

15

6

18

-R2.MP41

3

7

9

2

5

-R2.FB46

1

7

2

8

3

1-R2.MP3

3

7

9

2

5

-R2.FB46

1

7

2

8

3

S (V)

T (W)

R (U) PE

3~M

12 -PTC4Θ8

11

8

11

A KeypinKeypin B

Brake

Resolver

BU

BK

PTC M4

PTC M5

4

5

Prepared by, date:=IRB66X0/80

We

rese

rve

all r

ight

s in

this

doc

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2011-10-19

Page 70

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Latest revision:

Approved by, date:

Axis 5, IRB 7600

Location:Plant: =

++Sublocation:

IRB7600Axis 5

Document no.Next

Rev. Ind


3HAC025744-001

8

04

APPROVED

1 2 3 4 5 6 7

DMRO SEPRMP

-SMB

BK

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

-FB5

-MU5

RD

BK

BU

YE

WHBK (WHYE)

WHRD

RD

WH

BK

GNYE

BU +

BU -

5

-BUM5

-BU0VM5

-PTCM5

-PTC0V

-PTCM6

-R1.SMB4-64

16

5

17

7

19

-R1.MP20

28

29

-R1.SMB4-64

16

17

7

19

-R3.MP51

3

7

9

2

5

-R3.FB56

1

7

2

8

3

-R3.MP51

3

7

9

2

5

-R3.FB56

1

7

2

8

3

S (V)

T (W)

R (U) PE

3~M

-R2.M5/6C1

C2

C3

GND

B9

B1

B7

B8

8

11

C1

C2

C3

GND

B9

B1

B7 8

11

12 -PTC5Θ

15

A1

A7

A2

A8

A3

A9

-R2.M5/6A1

A7

A2

A8

A3

A9

Brake

Resolver

BU

BK

M5R

M5S

M5T

PE

BU M5

BU 0V M5

1

2

3

GNYE

6

7

PTC M5

PTC M6

4

5

PTC M5 4

PTC 0V 5

BK

WHBK

BN

WHBN

RD

WHRD

X5

0V X5

Y5

0V Y5

0V EXC2

EXC2

Prepared by, date:=IRB66X0ID/90

We

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rve

all r

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this

doc

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Cop

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2011-10-19

Page 80

21Total

Latest revision:

Approved by, date:

Axis 5

Location:Plant: =

++Sublocation:

IRB66X0Axis 5

Document no.Next

Rev. Ind


3HAC025744-001

8

04

APPROVED

1 2 3 4 5 6 7

DMRO SEPRMP

-SMB

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

BK

WHBK

BN

WHBN

RD

WHRD

M5R

M5S

M5T

PE

BU M5

BU 0V M5

PTC M5

PTC M6

-BUM5

-BU0VM5

-PTCM5

-PTCM6.1

-R1.SMB4-64

16

5

17

7

19

-R1.SMB4-64

16

5

17

7

19

-R1.MP20

28

29

A

B

C

D

E

F

-R3.FB5A

B

C

D

E

F

1

2

3

GND

C

D

A

B

-R3.MP51

2

3

GND

C

D

A

B

-R4.FB56

1

7

2

8

3

-R4.MP51

3

7

9

2

5

8

11

-R4.FB56

1

7

2

8

3

-R4.MP51

3

7

9

2

5

8

11

A Keypin

12 -PTC5Θ

S (V)

T (W)

R (U) PE

3~M

X5

0V X5

Y5

0V Y5

0V EXC2

EXC2

1

2

3

GNYE

6

7

4

5

-FB5

RD

BK

BU

YE

-MU5

BU

BK

RD

WH

BK

GNYE

BU +

BU -

WHBK (WHYE)

WHRD

Resolver

Brake

PTC M6

Prepared by, date:=IRB7600+Axis6/100

We

rese

rve

all r

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this

doc

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Cop

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2011-10-19

Page 90

21Total

Latest revision:

Approved by, date:

Axis 5, IRB 66X0ID

Location:Plant: =

++Sublocation:

IRB66X0IDAxis 5

Document no.Next

Rev. Ind


3HAC025744-001

8

04

APPROVED

1 2 3 4 5 6 7

DMRO SEPRMP

-SMB

PTC 0V 5

BK

WHBK

BN

WHBN

RD

WHRD

M5R

M5S

M5T

PE

BU M5

PTC M5

X5

0V X5

Y5

0V Y5

0V EXC2

EXC2

1

2

3

GNYE

6

4

BN

WHBN

RD

WHRD

OG

WHOG

M5R

M5S

M5T

PE

BU M5

BU 0V M5/6

PTC M5

PTC M5/615

-BUM5

-PTCM5

Sleeve 2 (PTC M5/6)

-PTC0V.1

Sleeve1 (BU 0V M5/6)

-R1.SMB4-64

16

5

17

7

19

-R1.MP20

28

29

A8

-R1.SMB4-64

16

5

17

7

19

C1

C2

C3

GND

B9

B7

A1

A7

A2

A8

A3

A9

-R2.M5/6C1

C2

C3

GND

B9

B7

-R2.M5/6A1

A7

A2

A3

A9

-R3.MP51

2

3

PE

C

D

A

B

-R3.FB5A

B

C

D

E

F

-R3.MP51

2

3

PE

C

D

A

B

-R3.FB5A

B

C

D

E

F

12 -PTC5Θ

S (V)

T (W)

R (U) PE

3~M

1

2

3

GNYE

9

7A

X5

0V X5

Y5

0V Y5

0V EXC2

EXC2

-FB5

-MU5

RD

BK

BU

YE

WHBK (WHYE)

WHRD

BU

BK

RD

WH

BK

GNYE

BU +

BU -Brake

Resolver

BU

BU

Prepared by, date:=IRB66X0/110

We

rese

rve

all r

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this

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Cop

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2011-10-19

Page 100

21Total

Latest revision:

Approved by, date:

Axis 6, IRB 7600

Location:Plant: =

++Sublocation:

IRB7600Axis6

Document no.Next

Rev. Ind


3HAC025744-001

8

04

APPROVED

1 2 3 4 5 6 7

DMRO SEPRMP

-SMB

BK

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

-FB6

-MU6

RD

BK

BU

YE

WHBK (WHYE)

WHRD

RD

WH

BK

GNYE

BU +

BU -

22

-BUM6

-BU0VM6

-PTC0V

-PTCM6

-R1.SMB4-69

21

10

22

8

20

-R1.MP9

8

16

-R1.SMB4-69

21

10

8

20

-R3.MP61

3

7

9

2

5

-R3.FB66

1

7

2

8

3

1-R3.MP6

3

7

9

2

5

-R3.FB66

1

7

2

8

3

S (V)

T (W)

R (U) PE

3~M

8

11

12 -PTC6Θ8

11

C4

C5

C6

GND

B11

B12

B10

-R2.M5/6C4

C5

C6

GND

B11

B12

B10

-R2.M5/6A4

A10

A5

A11

A6

A12

A10

A5

A11

A6

A12

A4

Brake

Resolver

BU

BK

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

Prepared by, date:=IRB66X0ID/120

We

rese

rve

all r

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s in

this

doc

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t and

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Cop

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ht 2

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2011-10-19

Page 110

21Total

Latest revision:

Approved by, date:

Axis 6, IRB 66x0

Location:Plant: =

++Sublocation:

IRB66X0Axis6

Document no.Next

Rev. Ind


3HAC025744-001

8

04

APPROVED

1 2 3 4 5 6 7

DMRO SEPRMP

-SMB

BK

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

-FB6

-MU6

RD

BK

BU

YE

WHBK (WHYE)

WHRD

RD

WH

BK

GNYE

BU +

BU -

-BUM6

-BU0VM6

-PTCM6.1

-R1.SMB4-69

21

10

22

8

20

-R1.MP9

8

16

-R1.SMB4-69

21

10

22

8

20

-R3.MP61

3

7

9

2

5

-R3.FB66

1

7

2

8

3

-R3.MP61

3

7

9

2

5

-R3.FB66

1

7

2

8

3

S (V)

T (W)

R (U) PE

3~M

15

8

11

8

11

12 -PTC6Θ

Brake

Resolver

PTC 0V 5

PTC M6 4 BU

BK

Prepared by, date:=IRB66X0/7600+Option/130

We

rese

rve

all r

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s in

this

doc

umen

t and

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Rep

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ctly

forb

idde

n. ©

Cop

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ht 2

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AB

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2011-10-19

Page 120

21Total

Latest revision:

Approved by, date:

Axis 6, IRB 66X0ID

Location:Plant: =

++Sublocation:

IRB66X0IDAxis6

Document no.Next

Rev. Ind


3HAC025744-001

8

04

APPROVED

1 2 3 4 5 6 7

DMRO SEPRMP

-SMB

BK

WHBK

BN

WHBN

RD

WHRD

M6R

M6S

M6T

PE

BU M6

X6

0V X6

Y6

0V Y6

0V EXC2

EXC2

1

2

BU 0V M5

3

GNYE

6

M6R

M6S

M6T

PE

7

BU M6

BU 0V M6

PTC 0V

BK

WHBK

BN

WHBN

RD

WHRD

4

5

6

GNYE

10

11A

BU

BU

11B

8

X6

PTC M5/6

0V X6

Y6

0V Y6

0V EXC2

EXC2

B1B1

-BUM6

-PTC0V.1

Sleeve 2 (PTC M5/6)

Sleeve1 (BU 0V M5/6)

-BU0VM5

-R1.SMB4-69

21

10

22

8

20

-R1.SMB4-69

21

10

22

8

20

-R1.MP9

8

16

C4

C5

C6

GND

B11

B10

A4

A10

A5

A11

A6

A12

-R2.M5/6C4

C5

C6

GND

B11

B10

-R2.M5/6A4

A10

A5

A11

A6

A12

-R3.FB66

1

7

2

8

3

-R3.MP61

2

3

PE

C

D

A

B

-R3.MP61

2

3

PE

C

D

A

B

-R3.FB66

1

7

2

8

3

12 -PTC6Θ

S (V)

T (W)

R (U) PE

3~M

7B1

1-Sleeve 22

-Sleeve 121

-FB6

-MU6

RD

BK

BU

YE

WHBK (WHYE)

WHRD

BU

BK

RD

WH

BK

GNYE

BU +

BU -Brake

Resolver

Prepared by, date:140

We

rese

rve

all r

ight

s in

this

doc

umen

t and

in th

e in

form

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n co

ntai

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Rep

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forb

idde

n. ©

Cop

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ht 2

003

AB

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2011-10-19

Page 130

21Total

Latest revision:

Approved by, date:

Pos. switch Axis 1, optional IRB 66X0/7600

Location:Plant: =

++Sublocation:

IRB66X0/7600Option

Document no.Next

Rev. Ind


3HAC025744-001

8

04

APPROVED

1 2 3 4 5 6 7

DMRO SEPRMP

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

2221

-SW1.1

1413

2221

-SW1.2

1413

2221

-SW1.3

1413

2221

-SW1.4

1413

2221

-SW1.5

1413

2221

-SW1.6

1413

-R1.SW1A

B

D

C

E

F

H

G

J

K

M

L

N

P

S

R

T

U

W

V

X

Y

a

Z

SW1.4

SW1.3

SW1.2

SW1.1

Location of position switches

Prepared by, date:150

We

rese

rve

all r

ight

s in

this

doc

umen

t and

in th

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form

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Rep

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stri

ctly

forb

idde

n. ©

Cop

yrig

ht 2

003

AB

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2011-10-19

Page 140

21Total

Latest revision:

Approved by, date:

Pos. switch Axis 2, fan Axis 1 and 2, optional IRB 66x0/7600

Location:Plant: =

++Sublocation:

IRB66X0/7600Option

Document no.Next

Rev. Ind


3HAC025744-001

8

04

APPROVED

1 2 3 4 5 6 7

DMRO SEPRMP

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


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

24V FAN

0V FAN

ALARM FAN

13

14

15Fan axis 1 or 2

C

D

B

-R1.SW2/3A 2221

-SW2.1

1413

2221

-SW2.2

1413

2221

-SW2.3

1413

-R2.SW2A

B

D

C

E

F

H

G

J

K

M

L

-FAN

M

+ +

--

-R3.FAN1/2A

C

B

A

C

B

-R1.SW2/3N

R

P

L

M

K

J

G

H

F

E

C

D

B

A

L

M

K

J

G

H

F

E

SW

2.4

SW

2.3

SW

2.2

SW

2.1

Location of position switches

Prepared by, date:

We

rese

rve

all r

ight

s in

this

doc

umen

t and

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Rep

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ctly

forb

idde

n. ©

Cop

yrig

ht 2

003

AB

B


2011-10-19

Page 150

21Total

Latest revision:

Approved by, date:

Pos. switch Axis 3, fan Axis 3, optional IRB 66x0/7600

Location:Plant: =

++Sublocation:

IRB66X0/7600Option

Document no.Next

Rev. Ind


3HAC025744-001

8

04

APPROVED

1 2 3 4 5 6 7

DMRO SEPRMP

Power 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

Power 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

24V FAN

0V FAN

ALARM FAN


Fan axis 3

SW

3.4

J

-R1.SW2/3T

U

W

V

X

Y

a

Z

b

c

e

d

-R1.SW2/3f

h

g

A

B

D

C

E

F

H

G

J

K

M

L

-R2.SW3A

B

D

C

E

F

H

G

K

M

L

A

C

B

-R3.FAN3A

C

B

2221

-SW3.1

1413

2221

-SW3.2

1413

2221

-SW3.3

1413

-FAN

M

+ +

--

SW

3.3

SW

3.2

SW

3.1

Location of Position switches

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