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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 2014 ABB ALL right reserved.
ABB Engineering (Shanghai) LtdNo.4528, Kangxin Highway,Kangqiao Town
Pudong New District, Shanghai, 201319P.R.China
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CustomerYear of construction
:::
::::
DescriptionDrawing number
DateDrawing version
::
::
:
Drawn byNumber of pages
::::::
52
3HAC050778-003IRB 14000
04
CNQILI2
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TABLE OF CONTENTSDatePAGE DESCRIPTIONPAGE Edited by
1 6/3/2016 CNQILI2
2 TITLE PAGE 6/3/2016 CNQILI2
3 TABLE OF CONTENTS 6/3/2016 CNQILI2
4 TABLE OF CONTENTS 6/3/2016 CNQILI2
5 SYMBOL INFORMATION 6/3/2016 CNQILI2
6 VALID FOR 6/3/2016 CNQILI2
7 REVISION INFORMATION 6/3/2016 CNQILI2
8 BLOCK DIAGRAM 6/3/2016 CNQILI2
9 VIEW OF POWER UNIT 6/3/2016 CNQILI2
10 VIEW OF DRIVE UNIT 6/3/2016 CNQILI2
11 VIEW OF SMB UNIT 6/3/2016 CNQILI2
12 VIEW OF ETHERNET SWTICH UNIT 6/3/2016 CNQILI2
13 VIEW OF AXIS COMPUTER UNIT 6/3/2016 CNQILI2
14 VIEW OF DSQC652 IO UNIT 6/3/2016 CNQILI2
15 VIEW OF NEW MAIN COMPUTER 6/3/2016 CNQILI2
16 SIDE VIEW OF CONTROLLER 6/3/2016 CNQILI2
17 SYSTEM OVERVIEW 6/3/2016 CNQILI2
18 Main Power Supply 6/3/2016 CNQILI2
19 DSQC 662 Power distribution unit 6/3/2016 CNQILI2
20 Fan unit 6/3/2016 CNQILI2
21 DSQC 1000 Main computer 6/3/2016 CNQILI2
22 DSQC 1000 Main computer 6/3/2016 CNQILI2
23 FIELDBUS ADAPTER A32: ETHERNET/IP, PROFIBUS and PROFINET 6/3/2016 CNQILI2
24 DSQC1006 DEVICENET A31.2 m/s 6/3/2016 CNQILI2
25 Customer interface 6/3/2016 CNQILI2
26 Customer interface 6/3/2016 CNQILI2
26.1 Customer interface (Safety Relay Option) 6/3/2016 CNQILI2
27 Ethernet switch 6/3/2016 CNQILI2
28 DSQC1013 Axis computer 6/3/2016 CNQILI2
29 DSQC1013 Axis computer 6/3/2016 CNQILI2
30 DSQC 652 INPUT 6/3/2016 CNQILI2
31 DSQC 652 OUTPUT 6/3/2016 CNQILI2
32 DSQC462 Drive board right arm 6/3/2016 CNQILI2
COPYRIGHT PAGE
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TABLE OF CONTENTSDatePAGE DESCRIPTIONPAGE Edited by
33 DSQC462 Drive board right arm 6/3/2016 CNQILI2
34 DSQC462 Drive board left arm 6/3/2016 CNQILI2
35 DSQC462 Drive board left arm 6/3/2016 CNQILI2
36 DSQC633D SMB right arm 6/3/2016 CNQILI2
37 DSQC633D SMB left arm 6/3/2016 CNQILI2
38 Right arm_Axis1 6/3/2016 CNQILI2
39 Right arm_Axis2 6/3/2016 CNQILI2
40 Right arm_Axis7 6/3/2016 CNQILI2
41 Right arm_Axis3 6/3/2016 CNQILI2
42 Right arm_Axis4 6/3/2016 CNQILI2
43 Right arm_Axis5 6/3/2016 CNQILI2
44 Right arm_Axis6 6/3/2016 CNQILI2
45 Left arm_Axis1 6/3/2016 CNQILI2
46 Left arm_Axis2 6/3/2016 CNQILI2
47 Left arm_Axis7 6/3/2016 CNQILI2
48 Left arm_Axis3 6/3/2016 CNQILI2
49 Left arm_Axis4 6/3/2016 CNQILI2
50 Left arm_Axis5 6/3/2016 CNQILI2
51 Left arm_Axis6 6/3/2016 CNQILI2
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-W725 AWG20 BK(92) (92.1) +24V DRIVE;2
Example, showing how to read the information before and after a signal.
Signal nameWire number
Signal counter
Wire dataA42
XS1 =Socket
XP1 = Pin
1
AXIS COMP: BOARD
X1 = PIN or Socket
Target sheet 92.1
Extra sheet number .1.
Target sheet 92
Skyddsjord/Protective earthing.
Skärm/Shield.
Stomme, ramverk/Functional equipotential bonding
Functional equipotential bondingStomme, ramverk/
Earth , general symbol.Jord, allmän symbol/
Styrning med spak/Actuator (operated by lever).
Styrning genom vridning/Actuator(operated by turning).
Styrning genom tryckning/Actuator(operated by pushing).
Slutkontakt/Make contact, general.
Handmanövrerad brytare, allmän/Switch manually operated, general.
Störningsfri jord/Functional earthing.
Filter/Filter.
Lampa/Lamp.
Current transformer.
Kontaktstift hane/Pin male.
Strömtransformator/
Kontakthylsa hona/Socket outlet female.
Styrning, elektromagnetisk styrdon/
Växelström, AC /
Likström, DC /Direct current, DC.
Alternating current, AC.
Actuator, by electromagnetic.
Nödstopp (svamptryckknapp)/Actuator, emergency.
AWG26 0,15AWG24 0,25
AWG20 0,56
AWG18 0,93
AWG14 2,44
Example 2 : GNYE = Green and Yellow.
AWG16 1,25
AWG12 3,02AWG10 4,65
AWG22 0,34
AWG28 0,093
Translation table square area from AWG to mm2.
BK/OGRD/OG BN BK
709AWG24
square area AWG24 and cable number 709.Example: Cable with four colour coded wire,
Example 1 : WH/RD = White and Red.
Wire/connector two colour code.
Wire/connector one colour code.
GY = Grey, WH = White, PK = Pink, TQ = Turquoise
BK = Black, BN = Brown, RD = Red, OG = OrangeYE = Yellow, GN = Green, BU = Blue, VT = Violet
Column coordinate number on the drawing
Twisted conductors.Tvinnade ledare/
Triple twisted conductors.Trippel tvinnade ledare/
Quadruple twisted conductors.Fyrdubbelt tvinnade ledare/
Tvinnade ledare part A med part BTwisted conductors part A with part B
Part A
Part B
Through jointSkarvhylsa
Ethernet signal:1. Transmit TX+ or TX- and receive RX+ or RX- 2. Unit possible to transmit or recieve TX+/RX+ or TX-/RX-
3. Ethernet Gigabit signal, transmit pair one MX1+ , MX1- and receive the MX2+ , MX2-If Gigabit transmit pair MX3+ , MX3- and receive pair MX4+ , MX4-
Run chain presentation starts at sheet 26.The Run chain marked as a wider wire.
Example: Run chain marked with a wider wire.
Example: Not Run chain marked with a thin wire.
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Valid for:This circuit diagram is valid for the following cable harness assemblies:
Harness for Controller:3HAC050414-001 Harness XP0 - Q13HAC047354-001 Harness Q1 - G13HAC047355-001 Harness G1 - G23HAC050886-001 Harness PS_AC_OK3HAC047356-001 Harn-24V distribution3HAC035979-001 Harn-Measure link3HAC038361-001 Harn-Brake release3HAC047611-001 Harness DeviceNet3HAC036724-001 Harn-GTPU conn.3HAC047612-001 Harness digital IO3HAC047971-001 Harn-ProfiBUS. panel link3HAC039244-001 Harn-Eth. panel link3HAC050513-001 Harn-EtherNet to IO3HAC051176-001 Harn-Emergecy stop3HAC051991-001 Earth cable3HAC039336-001 Harn-USB panel adapter3HAC026525-001 Fan with receptacle3HAC021975-001 Harness-DSQC604/Computer unit USB3HAC024254-00* Ethernet cable straight con3HAC052545-001 Basic Wire Markiing Set_IRB140003HAC050887-001 Hall Sensor Interface Board
Harness for Arm:3HAC047242-001 Cable harness_IRB140003HAC048879-001 Hall Sensor Signal Cable(3Pin)
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2015-02-09 First version Ver00
2015-03-25 Ver01 "UL Lamp" changed to "Singnal Lamp". Controller side view updated.
2015-10-15 Ver02 Page38,45 add PE5, PE6
2016-01-28 Ver03 Page26,27 change description about hand IO Page18, 19, 25, 26, 30, 31, 32, 34 add cable number labels.
2016-06-06 Ver04 Page26.1 added. (For option of safety relay)
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A62
EtherNetSwitch
G3
Ultra cap
To Arm_L
A52
To Arm_R
A51.3
A51
To Arm_R
A21
A52.3
To arm (Hall Sensor)
To Arm_L Hand
To Arm_L
To Arm_R Hand SERVICEVISION
SAFETY
To Arm Hand (Power)
Drive unitLeft arm
SMB Left arm
Drive unitRight arm
SMB Right arm
Axiscomputer
G2
G1 G2.1
TPU
AC
PDB
PDB ext. unit
DC
Fiel
d B
US
110~230VAC
A31
Computermodule
US
B
LAN
2
1
2-Q1
3
4
WA
N
DI/D
O
LAN
3
Dev
iceN
et
I/Ox
I/Ounit
Z1
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X4X9
X7
X6X5
X3X1X2X1
X8
STATUSLED
AC INPUT
PE N L
DC OUTPUT
SK2 POS(+)NEG(-)
SIGNAL CONNECTOR
AC OK DC OK/FAIL
LABEL
G1 POWER SUPPLY
G2.1 PDB EXTENSION BOARD G2 POWER DISTRIBUTION BOARD
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X9
X1
X13
X17
X12
X14
X15
X16
X6
X11
X3X2X8
A51/A52 DRIVE UNIT
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X3X5
X2
X4
X1
A51.3/A52.3 SMB UNIT
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X1X2X3X4
X5
X6
A33 ETHERNET SWITCH UNIT
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A42 AXIS COMPUTER UNIT
24V Drive
Measurement link 2
X6Contactor bord link
Drive link
Console port
X9
X11
X2
X5
Computer module link
X1
X4
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DSQC652 IO UNIT
X2
CA
N D
ATA
/ NO
DE
AD
DR
ES
S
X1
X2
X4
X3
DIGITAL OUTPUT
DIGITAL INPUT
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Front side 79,77... ....5, 3, 1
X2
X1
X3
AnybusCC/RS232 Expansion BoardDSQC1003
X1 X2
X3
X4
X5
X6
X7
X9
X10 X11
X16
X12
X13
Pin no 1 = 0VPin no 2 = 24V
Interface BoardDSQC1001
X15
...78
, 80
2, 4
, 6...
..
...77
, 79
1, 3
, 5...
..
Front side
....6, 4, 2Back side 80,78...
POWERDISC-ActSTATUSNS MS
3HAC046408-001
3HAC042827-001
Profibus/S
ProfiNet/SEthernet /IP/S
Main Computer UnitDSQC1000
COM Express moduleDSQC1002
DeviceNet M/S PCIDSQC1006 DeviceNet M/S
SD card 2GBDSQC1008
Console
Com1LAN 1 10/100
LAN 210/100
LAN 310/100/1000
WAN10/100/1000
PANEL UNIT
AXC
USB 4/3USB 2/1
POWER
SERVICE 10/100
X19 Fan power
Pin 1 = 24VPin 2 = TachoPin 3 = 0V
Battery
BT1
A32
A31
A32.2
A32.3 A31.1
A31.2 (Default)
A32.1
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5 74321 6 8
SMB A52.3Left Arm
G4Left SMB Battery
IO UNIT
Main Computer A31
Power SwtichQ1
Axis Computer A42
G4Right SMB Battery
Fan UnitE1
Power SupplyG1
Drive Unit A52Left Arm
Drive Unit A51Right Arm
EtherNet Switch A33
SMB A51.3Right Arm
PDB Extension BoardG2.1
Power Distribution BoardG2(Upper)Ultra Cap BankG3(Below)
DIXS8
FAXP11
SafetyXS9
PROFIBUSXS10
LAN3XP26
DOXS7
ServiceXP23
WANXP28
LAN2XP25
Tool IO L/RXS12
Power InputXP0
DeviceNetXS17
L
R
USBXP24
AIR
FlexPendantXS4
Prepared by, date:18
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. ©
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yrig
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003
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B
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5 74321 6 8
Right Arm
Left Arm
Controller
Controller Interface
Brake release (Left arm)
Brake release (Right arm)
Hand Flange(Right Arm)
Hand Flange(Left Arm)
Signal Lamp(Option)
Prepared by, date:19
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. ©
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5 74321 6 8
+24V
DC
0VD
C
200
201
202
203
1516
1
2
3
4
PS_G_ACOK
PS_5V_SB
HA
ND
_PW
R_G
ND
HA
ND
_EN
_R24V
_HA
ND
_IN24V
_HA
ND
_R_O
UT
HA
ND
_EN
_L24V
_HA
ND
_IN24V
_HA
ND
_L_OU
TP
S_G
_AC
OK
PS
_5V_S
BP
DB
_AC
-OK
PD
B_A
CO
K_G
ND
0V E
nable Right&
Left
200
201
202
203
+24V
DC
0VD
C375376378
395396397398
379
409410411
412413403406
401402403404407408
414
415
416
270
271
217216219218291292
-G1Main Power Supply
EAC_100-240V N L
+Output -
PE
Q1
GND
1SK2 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20
1G2.1.X1 2 3 4 5 6 7 8 9 10 11 13 1412
-G2.1DSQC461 PDB ext unit
6
G2.1.XS21
2
3
4
5
5
4
3
2
G2.1.XS11
6
7
8
1
2
3
4
-Z1MAINS LINE FILTER
+ -
PDB_AC-OK / (19)
0V DC1 / (19)
0V DC2 / (19)
+24V DC1 / (19)
+24V DC2 / (19)
GND /
PDB_GND / (19)
IO.X2.3 / (31)
IO.X2.4 / (31)
IO.X3.9 / (30)
0v Hand_L / (19)
Arm2 +24V I/O / (45)
Arm1 +24V I/O / (38)
24V Hand_R / (19)
24V Hand_L / (19)
0v Hand_R / (19)
Arm1 0V I/O / (38)
Arm2 0V I/O / (45)
XP
0 L
(25)
XP
0 P
E(2
5)
XP
0 N
(25)
Prepared by, date:20
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. ©
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yrig
ht 2
003
AB
B
Page19
52Total
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5 74321 6 8
201
200
202
203
210
211
212
213
214
215
216
219
222
225
237
238
241
242
220
221
230
231
232 25
0
239
240
243
244
AWG
16
AWG16
AWG
18
AWG
18
AWG
18
AWG
18
AWG
20
AWG
20
234
235
AWG
18
220
221
AWG
20
AWG
20
AWG
16
251
252
253
254
AC
OK
0V
233
AWG
18
AWG
18
AWG
20
AWG
20AW
G20
AWG
20
247
248
217
245
218
246
290
291
292
290
292
109
87
65
43
21-X1
43
21
-X9
43
21
-X8
109
87
65
43
21
-X7
121110987654321
-X6
87654321
-X5
4321
-X4
635241
-X3
43-X24321-X1
-G3
DSQC 655 Ultra capbank
-G2DSQC 662 Power distribution unit
-G3.X11 2 6 7 8 -U
SB
1_G
ND
/ (2
2)
-US
B1
D-
/ (2
2)-U
SB
1 D
+ /
(22)
-US
B1
+5V
/ (2
2)+24V
sys.
Inv1
/ (3
4)
+24V
sys.
Ax
/ (2
8) +24V
DC
BU
S11
/ (3
2)
+24V
DC
BU
S1
/ (3
2)
24V
PC
2 /
(21)
24V
PC
1 /
(21)
24V
Han
d_L
/ (1
8)
+24V
sys.
Sw
/ (2
7)
+24V
TP
U /
(26)
0V P
C2
/ (2
1)
0V P
C1
/ (2
1)
0v H
and_
L /
(18)
0Vsy
s.In
v1 /
(34)
0Vsy
s.S
w /
(27)
0Vsy
s.A
x /
(28)
0V T
PU
1 /
(26)
0V D
CB
US
11 /
(32)
0V D
CB
US
1 /
(32)
+24V
DC
1(1
8)
+24V
DC
2(1
8)
0V D
C1
(18)
0V D
C2
(18)
PD
B_A
C-O
K(18
)
+24V
BR
AK
E /
(34)
+24V
FA
N /
(20)
0V B
RA
KE
/ (3
4)
0V F
AN
/ (2
0)
+24V
DC
BU
S2
/ (3
4)
+24V
DC
BU
S22
/ (3
4)
0V D
CB
US
2 /
(34)
0V D
CB
US
22 /
(34)
+24V
TP
U2
/ (2
6)
0V T
PU
2 /
(26)
24V
I/O
/ (2
4)
0V I/
O /
(24)
PD
B_G
ND
(18)
24V
Han
d_R
/ (1
8)
0v H
and_
R /
(18)
+24V
sys.
LE.IN
/ (2
6)
0Vsy
s.LE
.IN /
(26)
Prepared by, date:21
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. ©
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ht 2
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AB
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Approved
5 74321 6 8
234
235
AWG20
M
+
-
3
E1.X11
E1Fan unit
+24V FAN / (19)
0V FAN / (19)
Prepared by, date:22
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. ©
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yrig
ht 2
003
AB
B
Page21
52Total
Latest revision:
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5 74321 6 8
POWERSUPPLY
GND+24V
FAN_TACH
AXIS COMPUTERAXC1
ETH_DRIVE
LAN110/100
ETH_SERVICE
PANEL UNITRS 485
TPU
SPARE
INTERFACEFLEXPENDANT XS4
INTERFACESERVICE XP23230
231
232
233
AWG20
RED LABEL
BLUE LABEL
GREEN LABEL
YELLOW LABEL
-A31MAIN COMPUTER DSQC 1000
6
5
2
8
3-X3
4
1
7
2
65
8
1-X9
34
7
1-X1
2
2
4
6
8
1-X7
3
5
7
DISC-ACT (YELLOW)
MS (GREEN/RED)
STATUS (GREEN-RED)
POWER (GREEN)
NS (GREEN-RED)
AWG24
-E22CHASSIS BLOWER
M
+
-
21
-X19
3
BK
RD
YE
2
4
6
8
1-X2
3
5
7
0V PC1 / (19)
0V PC2 / (19)
24V PC2 / (19)
TPU.TD- / (26)
TPU.RD+ / (26)
AXC.RX+ / (28)
AXC.RX- / (28)
TPU.TD+ / (26)
TPU.RD- / (26)
AXC.TX+ / (28)AXC.TX- / (28)
24V PC1 / (19)
ETH. X2.6 / (25)
ETH. X2.3 / (25)ETH. X2.2 / (25)ETH. X2.1 / (25)
Prepared by, date:23
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. ©
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yrig
ht 2
003
AB
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5 74321 6 8
INTERFACEWAN XP28
EthernetSwitch
INTERFACELAN3 XP26
PDB
INTERFACEUSB XP24
LAN210/100
LAN310/100
A31.X6
AWG28 WH
AWG28 WH
AWG28 GN
AWG28 GN
AWG24 RD
AWG24 RD
AWG24 BK
AWG24 BK
CONSOLE_RXDCONSOLE_TXDCONSOLE_DTRGNDCONSOLE_DSRCONSOLE_RTS-NCONSOLE_CTS-N
COM1_RXDCOM1_TXDCOM1_DTR0VCOM1_DSRCOM1_RTS-NCOM1_CTS-N
CONSOLE_DCD
CONSOLE_RI
COM1_DCD
COM1_RI
WHITE LABEL
-A31 MAIN COMPUTER DSQC 1000
1-X6
23
6
1-X4
23
6
-A32
OPTION:232/ Expansion board SERIE DSQC1003
(23.1)
1-X15
23
45
7677
7879
80
1-X2
23
45
7677
7879
80
1-232
23
7
456
89
1-232
23
7
456
89
4
3-X10.USB 1
2
1
4
3-X10.USB 2
2
1
4
3-X11.USB 3
2
1
4
3-X11.USB4
2
1
1-X5
23
6
-USB1 +5V / (19)
-USB1 D+ / (19)-USB1 D- / (19)-USB1_GND / (19)
ETH. X4.1 / (27)ETH. X4.2 / (27)ETH. X4.3 / (27)ETH. X4.6 / (27)
-USB2 D+ / (25)-USB2 D- / (25)-USB2_GND / (25)-USB2 +5V / (25)
ETH. X6.2 / (25)ETH. X6.3 / (25)ETH. X6.6 / (25)
ETH. X6.1 / (25)
ETH. X5.1 / (25)ETH. X5.2 / (25)ETH. X5.3 / (25)ETH. X5.6 / (25)
Prepared by, date:24
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. ©
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ht 2
003
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FIELDBUS ADAPTER A32:ETHERNET/IP, PROFIBUS and PROFINET
Location:Plant: =
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CompactCom
CompactCom
COM1
CompactCom
Console
RX-
Option board for AnybusCC
SLAVE
SLAVE
SLAVE
SHIELDRXD/TXD-pCONTROL-PGND+5VDCRXD/TXD-N
TX+TX-RX+
INTERFACEFA XP11
INTERFACEPROFIBUS XS10
INTERFACEFA XP11
OP
TIO
N &
HA
RN
ES
S T
O C
US
TOM
ER
I/O
TX+TX-RX+
RX-
-A32.1
ETHERNET/IP Fieldbus adapter DSQC 669Slave
-A32.2
PROFIBUS Fieldbus adapter DSQC 667Slave
-A32.3
PROFINET IO Fieldbus adapter DSQC 688Slave
-X1
12
34
56
78
-Z1
1
-X1
34
56
8
-Z1
-Z1
-A32
Expansion BoardDSQC 1003
(22.2)
1-X1
23
45
67
8
1X2
79
77
3
80
2
4
78-X3
78
-X1
12
34
56
-1.XP11.1 / (25)-1.XP11.2 / (25)-1.XP11.3 / (25)-1.XP11.4 / (25)-1.XP11.5 / (25)-1.XP11.6 / (25)
-1.XP11.8 / (25)-1.XP11.7 / (25)
-1.XP11.1 / (25)-1.XP11.2 / (25)-1.XP11.3 / (25)-1.XP11.4 / (25)-1.XP11.5 / (25)-1.XP11.6 / (25)-1.XP11.7 / (25)-1.XP11.8 / (25)
-1.XP10.1 / (25)-1.XP10.3 / (25)-1.XP10.4 / (25)-1.XP10.5 / (25)-1.XP10.6 / (25)-1.XP10.8 / (25)
Prepared by, date:25
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. ©
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yrig
ht 2
003
AB
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Latest revision:
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DSQC1006 DEVICENET A31.2 m/s Location:Plant: =
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Approved
5 74321 6 8
BKX12
442
436
444
BU 437
WHPCIe 439
BU
RD 440
432
BK
SC 438
431
SC 433
I/O unit
WH 434INTERFACEDeviceNet XS17
RD 435
V+
V-
CAN_H
DRAIN
CAN_L
441
443
-IO.SEN 1 3
2
3
4
5
DeviceNet M/S DSQC1006-A31.2
1-CHA
0V I/
O /
(19)
24V
I/O
/ (1
9)
IO.24V / (31)
IO.0V / (31)
-V-,1 / (30)
-CAN_L,1 / (30)
-DRAIN,1 / (30)
-CAN_H,1 / (30)
-V / (30)
-XS17.3 / (25)
-XS17.2 / (25)
-XS17.4 / (25)
-XS17.1 / (25)
-XS17.5 / (25)
Prepared by, date:26
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. ©
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yrig
ht 2
003
AB
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Page25
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Latest revision:
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5 74321 6 8
BU 432
BK 431
SC 433
WH
TX+
TX+
TX+
434
TX+
RD
TX-
TX-
TX-
TX-
435
RX+
RX+
RX+
RX+
RX-
RX-
RX-
RX-
USB
LAN2
WAN
Service
LAN3
AWG28 WHAWG28 GN
AWG24 RDAWG24 BK
Customer interface Customer interface
Option: Fieldbus (ProfiNet/EtherNet IP)
XP0100~240VAC 50~60HzShielded Power Inlet FilterLine Inlet: IEC 60320-1 C 14
Option: PROFIBUS
-XP0
DeviceNet
Termination resistorshould be connected, when the customerharness is not connected.
32
-XP111
2
4
-XP171
5
3
-XP101
23
4
4
LN
PE
7
5
3
-XP231
8
6
4
2AWG24
WHGN
WHOG
GN
OG
7
5
3
-XP251
8
6
4
2AWG24
WHGN
WHOG
GN
OG
7
5
3
-XP281
8
6
4
2AWG24
WHGN
WHOG
GN
OG
3
-XP24
2
41
120 Ohm
56
78
9
56
78
3
5
-XS171
4
2
7
5
3
-XP261
8
6
4
2AWG24
WHGN
WHOG
GN
OG
-1.XP11.2 / (23) (23)-1.XP11.1 / (23) (23)
XS17.1 / (24)
XS17.5 / (24)
XS17.3 / (24)
XS17.2 / (24)
XS17.4 / (24)
-1.XP10.5 / (23)-1.XP10.4 / (23)-1.XP10.3 / (23)
-1.XP10.1 / (23)
XP0 L / (18)XP0 N / (18)
XP0 PE / (18)
ETH. X2.6 / (21)
ETH. X2.3 / (21)ETH. X2.2 / (21)ETH. X2.1 / (21)
-USB2 +5V / (22)-USB2_GND / (22)
-USB2 D- / (22)-USB2 D+ / (22)
-1.XP10.8 / (23)
-1.XP10.6 / (23)
-1.XP11.3 / (23) (23)-1.XP11.4 / (23) (23)-1.XP11.5 / (23) (23)-1.XP11.6 / (23) (23)-1.XP11.7 / (23) (23)-1.XP11.8 / (23) (23)
ETH.SW. X1.6 / (27)
ETH.SW. X1.3 / (27)ETH.SW. X1.2 / (27)ETH.SW. X1.1 / (27)
ETH. X6.6 / (22)
ETH. X6.3 / (22)ETH. X6.2 / (22)ETH. X6.1 / (22)
ETH. X5.1 / (22)
ETH. X5.3 / (22)
ETH. X5.6 / (22)
ETH. X5.2 / (22)
Prepared by, date:26.1
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. ©
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Customer interfaceLocation:Plant: =
++Sublocation:
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Approved
5 74321 6 8
248
369
340
344
350
247
346
359
349
341342343
348
345
351
345
344
347
346347
352353
356357
354355
368366
358
360361362363364365367
FlexPendant
Customer interface Customer interface
DI
DO
Safety
DC0VDC24V
DC0VDC24V
Tool IO L/R (Alternative to Ethernet to Tool)
CP/CS_L 8#CP/CS_L 5#CP/CS_L 7#
CP/CS_L 6#
CP/CS_R 6#
CP/CS_R 5#CP/CS_R 7#
CP/CS_R 8#
Jumper cable need be removed if the external safety device is connected.
Pin7&Pin8 is not used for external device.
220
220221221
257
258260259
261
264263262
266265
ES.FPU.1AES.FPU.1BES.FPU.2AES.FPU.2BEN1.1EN2.1
2
4
-XP71
5
3 3
5
-XS71
4
2
6 67 78 89 9
10 10
-XP81
5
3 3
5
-XS81
4
2
6 678 89 9
1010
4
7
2
7
6
3
54
2
7
6
2
45
3
-XP121
-XS121
876
3
54
2
876
2
43
5
X9.11
CAT 5e
GN/WH
OG/WH
GN
OG
OG
GN
CAT 5e OG/WH
GN/WH
-XS41
2
8
12
13
14
15
16
X4.11
2
4
3
4
5
6
X4.21
2
3
4
3
7
17
5
6
-XP91
-XS91
8 82
IO.X1.1 / (31)
IO.X1.5 / (31)
IO.X1.3 / (31)IO.X1.2 / (31)
IO.X1.4 / (31)
IO.X1.6 / (31)IO.X1.7 / (31)IO.X1.8 / (31)IO.X2.10 / (31)IO.X2.9 / (31)
IO.X3.1 / (30)IO.X3.2 / (30)IO.X3.3 / (30)IO.X3.4 / (30)
IO.X3.6 / (30)IO.X3.7 / (30)
IO.X2.9 / (31)
IO.X3.5 / (30)
IO.X2.10 / (31)IO.X3.8 / (30)
XP4.2.2 / (26)XP4.2.3 / (26)XP4.2.4 / (26)
+24Vsys.LE.A51 / (32)
0Vsys.LE.A51 / (32)
0Vsys.LE.IN / (19)
XP12.1 / (27)XP12.2 / (27)XP12.3 / (27)XP12.4 / (27)XP12.5 / (27)XP12.6 / (27)XP12.7 / (27)XP12.8 / (27)
+24Vsys.LE.A52 / (34)
0Vsys.LE.A52 / (34)
+24V TPU / (19)
0V TPU1 / (19)
0V TPU2 / (19)
TPU.TD- / (21)
TPU.RD- / (21)
+24V TPU2 / (19)
TPU.TD+ / (21)
TPU.RD+ / (21)
XP4.2.2 / (26)
XP4.2.1 / (26)
XP4.2.3 / (26)
XP4.2.4 / (26)
XP4.2.1 / (26)
+24Vsys.LE.IN / (19)
Prepared by, date:27
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
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ctly
forb
idde
n. ©
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RT6 (Safety Relay)
IRB14000 Controller
FlexPendant
100~240VAC 50~60Hz
Note1Jumper cable need be removed if the external safety relay is connected.
Note1)
A12313
14 24A2
33
34
0V 24V+
S34 S14S13 S23 S24 S53 X1 X4
J1 XP43456
XP9 1 2 3 4 5 6 7 8 XP0 L PEN
-A52DSQC462 Drive board_Left arm (2#)
-A51DSQC462 Drive board_Right arm (1#)
X2 1 2 3 4 X2 1 2 3 4
TPU_E-stop
L PEN
Mains.
Protective stop
K1
K2
K3
K4
K5
K6
Prepared by, date:28
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. ©
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5 74321 6 8
TX-
RX+
RX-
24V
0V
TX+
TX-
RX+
RX-
TX+
212
213
CP/CS_L 8#
CP/CS_L 5#
CP/CS_L 7#
CP/CS_L 6#
CP/CS_R 6#
CP/CS_R 8#
CP/CS_R 5#
Rig
ht H
and
1): Alternative connection for customer Tool IO instead of Ethernet on the tool flange
1)
1)
Left
Han
dR
ight
Han
d IO
(Alte
rnat
ive)
Left
Han
d IO
(Alte
rnat
ive)
TX-
RX+
RX-
TX+
INTE
RFA
CE
LAN
2 X
P25
Mai
n C
ompu
ter
LAN
2
CP/CS_R 7#
6
3
2
1-X5
2
1-X6
6
3
2
1-X4
6
3
2
1-X1
6
3
2
1-X3
6
3
2
1-X2
Ethernet switch-A33
-J1.A33.R1
2
3
6
-J1.A33.L1
2
3
6
+24Vsys.Sw / (19)
0Vsys.Sw / (19)
Arm1.ETH.1 / (38)
Arm1.ETH.2 / (38)
Arm1.ETH.3 / (38)
Arm1.ETH.6 / (38)
Arm2.ETH.1 / (45)
Arm2.ETH.2 / (45)
Arm2.ETH.3 / (45)
Arm2.ETH.6 / (45)
ETH. X4.1 / (22)
ETH. X4.2 / (22)
ETH. X4.3 / (22)
ETH. X4.6 / (22)
XP12.5 / (26)
XP12.6 / (26)
XP12.7 / (26)
XP12.8 / (26)
XP12.1 / (26)
XP12.2 / (26)
XP12.3 / (26)
XP12.4 / (26)
ETH.SW. X1.1 / (25)
ETH.SW. X1.2 / (25)
ETH.SW. X1.3 / (25)
ETH.SW. X1.6 / (25)
Prepared by, date:29
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. ©
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003
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Page28
52Total
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RXD
TXD
0V
211
210
3
4
-A42DSQC1013 Axis computer
6
3
2
1
-XP11
5
3
2XS9
8
7
5
4-XP6
6
3
2
1-XP2
2
1-XS1
+24Vsys.Ax(19) /
AXC.RX+ / (21)
AXC.RX- / (21)
AXC.TX+ / (21)
AXC.TX- / (21)
0Vsys.Ax(19) /
TX+.Cont.unit1 / (33)
TX-.Cont.unit1 / (33)
RX+.Cont.unit1 / (33)
RX-.Cont.unit1 / (33)
Prepared by, date:30
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. ©
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yrig
ht 2
003
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Page29
52Total
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5 74321 6 8
Left ArmSMB
Right ArmSMB
MRCO2
MRCO1
MRCO2_N
MRCO1_N
MRCI2
MRCI1
MRCI2_N
MRCI1_N
0V
0V
24V_SMB2
24V_SMB1
0V
0V
0V
0V
9
7
6
5
4
3
2
-XP51
9
7
6
5
4
3
2
-XP41
-A42DSQC1013 Axis computer
MRCO1 / (36)
MRCO1_N / (36)
MRCI1 / (36)
MRCI1_N / (36)
MRC_0V.1 / (36)
24V_SMB1 / (36)
MRCO2 / (37)
MRCO2_N / (37)
MRCI2 / (37)
MRCI2_N / (37)
MRC_0V.2 / (37)
24V_SMB2 / (37)
Prepared by, date:31
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. ©
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5 74321 6 8
1)
1) THE DEFAULT NODE ADDRESS IS 10.
INTERFACECUSTOMER DI XS8
HALL SENSOR DI
(Option)
0V
437439
358
365
NA0
364
362
440
359
436361360
438
363
378/379
NA1NA2NA3NA4NA5
INPUT CH.1INPUT CH.2INPUT CH.3INPUT CH.4INPUT CH.5INPUT CH.6
X3
INPUT CH.7
X4
INPUT CH.8
INPUT CH.9INPUT CH.10INPUT CH.11INPUT CH.12INPUT CH.13INPUT CH.14INPUT CH.15
377
380
381383385387389391
393/394
371/372INPUT CH.16
-I/O Unit DSQC 652
1-I/O
23
45
67
89
10
1-I/O
23
45
67
89
10
1-I/O.X5
2
3
45
67
89
1011
12
R3.H2
R3.H1
-
+Signal Lamp
-V-,1 / (24)-CAN_L,1 / (24)-CAN_H,1 / (24)
-V / (24)
-DRAIN,1 / (24)
IO.X4.8 /
IO.X4.1 / (31)IO.X4.2 / (31)IO.X4.3 / (31)IO.X4.4 / (31)IO.X4.5 / (31)IO.X4.6 / (31)IO.X4.7 / (31)
IO.X3.1 / (26)IO.X3.2 / (26)IO.X3.3 / (26)IO.X3.4 / (26)IO.X3.5 / (26)IO.X3.6 / (26)IO.X3.7 / (26)IO.X3.8 / (26)
IO.X4.9 / (31)
IO.X3.9 / (18)
IO.X2.5 / (31)0V
Prepared by, date:32
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. ©
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ht 2
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5 74321 6 8
HALL SENSOR&HAND DO
INTERFACECUSTOMER DO XS7
354
378373
375
350
366/367368/369
377376
444
355
351352
442
353
357356
OUTPUT CH 1-8
OUTPUT CH 9-16
<1
<1
X1
X2
OUTPUT CH.1OUTPUT CH.2OUTPUT CH.3OUTPUT CH.4OUTPUT CH.5OUTPUT CH.6OUTPUT CH.7OUTPUT CH.8
OUTPUT CH.9OUTPUT CH.10OUTPUT CH.11OUTPUT CH.12OUTPUT CH.13
24V Hall Sensor Right 0V Hall Sensor RightAx1 Hall Sensor RightAx2 Hall Sensor RightAx7 Hall Sensor RightAx3 Hall Sensor RightAx4 Hall Sensor RightAx5 Hall Sensor RightAx6 Hall Sensor Right
24V Hall Sensor Left 0V Hall Sensor LeftAx1 Hall Sensor LeftAx2 Hall Sensor LeftAx7 Hall Sensor LeftAx3 Hall Sensor LeftAx4 Hall Sensor LeftAx5 Hall Sensor LeftAx6 Hall Sensor Left
24V Hall Sensor Right arm24V Hall Sensor Left arm24V Hand IO Right arm relay24V Hand IO Left arm relay24V UL Lamp (Option)
378
393391389387385
373
383381
394392390388386384382372
371
-I/O UnitDSQC 652
1-I/O
23
45
67
89
10
1-I/O
23
45
67
89
10
1-A1.XSEN
2345789
10
1-A2.XSEN
2345789
10
IO.0V / (24)IO.24V / (24)
IO.X2.9 / (26)(26)
IO.X1.1 / (26)IO.X1.2 / (26)IO.X1.3 / (26)IO.X1.4 / (26)IO.X1.5 / (26)IO.X1.6 / (26)IO.X1.7 / (26)IO.X1.8 / (26)
IO.X2.1 / (31)IO.X2.2 / (31)IO.X2.3 / (18)IO.X2.4 / (18)IO.X2.5 / (30)
A1.XSEN.1 / (38)(41)
A1.XSEN.2 / (38)(41)
A1.XSEN.3 / (38)A1.XSEN.4 / (38)A1.XSEN.5 / (38)A1.XSEN.7 / (41)A1.XSEN.8 / (41)A1.XSEN.9 / (41)
A2.XSEN.1 / (45)(48)A2.XSEN.2 / (45)
(48)A2.XSEN.3 / (45)A2.XSEN.4 / (45)A2.XSEN.5 / (45)A2.XSEN.7 / (48)A2.XSEN.8 / (48)A2.XSEN.9 / (48)
A1.XSEN.10 / (41)
A2.XSEN.10 / (48)
IO.X2.1 / (31)
IO.X2.2 / (31)
IO.X4.1 / (30)IO.X4.2 / (30)IO.X4.3 / (30)IO.X4.4 / (30)IO.X4.5 / (30)IO.X4.6 / (30)IO.X4.7 / (30)
IO.X4.9 / (30)
IO.X2.10 / (26)(26)
0V
0V
24V
Prepared by, date:33
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. ©
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ht 2
003
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DSQC462 Drive board right armLocation:Plant: =
++Sublocation:
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24V Sys
0V Sys
24V Brake
Brake_rel PB
Brake rel. PB ret
24V
0V
0V Brake
Brake out
DC Bus
24V
0V
Right Arm Axis 3
Right Arm Axis 7
Right Arm Axis 2
Right Arm Axis 1
Right Arm Axis 4
Right Arm Axis 5
Right Arm Axis 6
238
241
214
215
226
229
YE
BU
RD
WH
BK
RD
WH
BK
RD
WH
BK
RD
WH
BK
RD
WH
BK
RD
WH
BK
RD
WH
BK
237
242
AWG16
AWG18
AWG20
Emergency input
223
224
340
342
3
2
4
1-X6
6
2
5
3
2
1-X3
1-X1
4
-X11
1
-X12
1
-X17
1
2
3
2
3
2
3
-X13
1
2
3
-X14
1
2
3
-X15
1
2
3
-X16
1
2
3
S221
S2.X11
3
-A51DSQC462 Drive board_Right arm (1#)
2
1-X2
3
4
0V DCBUS1 / (19)
+24V DCBUS1 / (19)
+24Vsys.Inv2 / (34)
0Vsys.Inv2 / (34)
+24V BRAKE Arm1 / (34)
0Vsys.LE.A51 / (26)
0V Brake out R / (38)
U right3 / (41)
V right3 / (41)
W right3 / (41)
+24V DCBUS11 / (19)
0V DCBUS11 / (19)
24V Brake out R / (38)
U right1 / (38)
V right1 / (38)
W right1 / (38)
U right2 / (39)
V right2 / (39)
W right2 / (39)
U right7 / (40)
V right7 / (40)
W right7 / (40)
U right4 / (42)
V right4 / (42)
W right4 / (42)
U right5 / (43)
V right5 / (43)
W right5 / (43)
U right6 / (44)
V right6 / (44)
W right6 / (44)
+24Vsys.LE.A51 / (26)
0V BRAKE Arm1 / (34)
Prepared by, date:34
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. ©
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003
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++Sublocation:
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-A51DSQC462 Drive board_Right arm (1#)
6
3
2
1-X8
AWG24
6
3
2
1-X9
AWG24
RX+.Cont.unit1 / (28)
RX-.Cont.unit1 / (28)
TX+.Cont.unit1 / (28)
TX-.Cont.unit1 / (28)
TX+.Cont.unit2 / (35)
TX-.Cont.unit2 / (35)
RX+.Cont.unit2 / (35)
RX-.Cont.unit2 / (35)
Prepared by, date:35
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. ©
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yrig
ht 2
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Page34
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Latest revision:
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++Sublocation:
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24V Sys
0V Sys
24V Brake
Brake_rel PB
Brake rel. PB ret
24V
0V
0V Brake
Brake out
DC Bus
24V
0V
Left Arm Axis 3
Left Arm Axis 7
Left Arm Axis 2
Left Arm Axis 1
Left Arm Axis 4
Left Arm Axis 5
Left Arm Axis 6
240
243
215
214
222
225
YE
BU
215
214
RD
WH
BK
RD
WH
BK
RD
WH
BK
RD
WH
BK
RD
WH
BK
RD
WH
BK
RD
WH
BK
239
244
AWG16
AWG18
226
229
AWG18
AWG18
AWG20
AWG20
AWG20
AWG20
Emergency input
227
228
341
343
3
2
4
1-X6
6
2
5
3
2
1-X3
3
-X11
1
2
2-X12
1
3
2-X17
1
3
2
3
-X13
1
2
3
-X14
1
2
3
-X15
1
2
3
-X16
1
1-X1
4
S121
S1.X11
3
-A52DSQC462 Drive board_Left arm (2#)
1-X2
2
3
4
0V DCBUS2 / (19)
+24V DCBUS22 / (19)
+24Vsys.Inv1 / (19)
0Vsys.Inv1 / (19)
+24V BRAKE / (19)
0V BRAKE / (19)
24V Brake out L / (45)
0V Brake out L / (45)
+24Vsys.Inv2 / (32)
0Vsys.Inv2 / (32)
U left3 / (48)
V left3 / (48)
W left3 / (48)
+24V DCBUS2 / (19)
0V DCBUS22 / (19)
+24V BRAKE Arm1 / (32)
0V BRAKE Arm1 / (32)
U left1 / (45)
V left1 / (45)
W left1 / (45)
U left2 / (46)
V left2 / (46)
W left2 / (46)
U left7 / (47)
V left7 / (47)
W left7 / (47)
U left4 / (49)
V left4 / (49)
W left4 / (49)
U left5 / (50)
V left5 / (50)
W left5 / (50)
U left6 / (51)
V left6 / (51)
W left6 / (51)
0Vsys.LE.A52 / (26)
+24Vsys.LE.A52 / (26)
Prepared by, date:36
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. ©
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ht 2
003
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B
Page35
52Total
Latest revision:
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++Sublocation:
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-A52DSQC462 Drive board_Left arm (2#)
6
3
2
1-X8
AWG24
6
3
2
1-X9
TX+.Cont.unit2 / (33)
TX-.Cont.unit2 / (33)
RX+.Cont.unit2 / (33)
RX-.Cont.unit2 / (33)
Prepared by, date:37
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
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B
Page36
52Total
Latest revision:
Approved by, date:
DSQC633D SMB right armLocation:Plant: =
++Sublocation:
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SDISDI-NSDO
0V
24V
SDO-N
DSQC633D SMB_Right arm(1#)
BATTERYPACK
A51.3
GN
BKGNRDWHYEVT
Axis 5
Axis 6
Axis 7
Axis 4
Axis 3
Axis 2
Axis 1
BKGNRDWHYEVT
BKGNRDWHYEVT
BKGNRDWHYEVT
BKGNRDWHYEVT
BKGNRDWHYEVT
BKGNRDWHYEVT
(+)
(-)
4
5
7
3
8
9
-XP1
-XP22
143
156
18
-XP31
-G4 + -
2
4165
177
19
-XP45
1241129
92110228
20
-XP52
143
156
18
4165
177
19
92110228
20
3
MRCO1 / (29)MRCO1_N / (29)MRCI1 / (29)MRCI1_N / (29)MRC_0V.1 / (29)
24V_SMB1 / (29)
X1R / (38)
Y1R / (38)0V_X1R / (38)
0V_Y1R / (38)0V EXC1R / (36)EXC1R / (36)
0V_X2R (39)
0V_Y2R (39)0V EXC1R (36)EXC1R (36)
X2R (39)
Y2R (39)
0V_X7R (40)
0V_Y7R (40)
X7R (40)
Y7R (40)
0V EXC2R (36)EXC2R (36)
0V_X3R (41)
0V_Y3R (41)0V EXC1R (38)EXC1R (38)
X3R (41)
Y3R (41)
0V_X4R (42)
0V_Y4R (42)
X4R (42)
Y4R (42)
0V EXC2R (36)EXC2R (36)
0V EXC2R (36)EXC2R (36)
0V EXC2R (36)EXC2R (36)
X5R (43)0V_X5R (43)Y5R (43)0V_Y5R (43)
X6R (44)0V_X6R (44)Y6R (44)0V_Y6R (44)
Prepared by, date:38
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. ©
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003
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Page37
52Total
Latest revision:
Approved by, date:
DSQC633D SMB left armLocation:Plant: =
++Sublocation:
Document no.Next
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Approved
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SDISDI-NSDO
0V
24V
SDO-N
DSQC633D SMB_Left arm(2#)
BATTERYPACK
A52.3
Axis 3
Axis 7
Axis 2
Axis 1
Axis 4
Axis 5
Axis 6
BKGNRDWHYEVT
BKGNRDWHYEVT
BKGNRDWHYEVT
BKGNRDWHYEVT
BKGNRDWHYEVT
BKGNRDWHYEVT
BKGNRDWHYEVT
(+)
(-)
4
5
7
3
8
9
-XP1
-XP31
2
-G4 + -
-XP22
143
156
18
4165
177
19
-XP45
1241129
92110228
20
-XP52
143
156
18
4165
177
19
92110228
20
3
MRCO2 / (29)MRCO2_N / (29)MRCI2 / (29)MRCI2_N / (29)MRC_0V.2 / (29)
24V_SMB2 / (29)
X1L / (45)
Y1L / (45)0V_X1L / (45)
0V_Y1L / (45)0V EXC1L / (37)EXC1L / (37)
0V_X2L (46)
0V_Y2L (46)0V EXC1L (37)EXC1L (37)
X2L (46)
Y2L (46)
0V_X7L (47)
0V_Y7L (47)
X7L (47)
Y7L (47)
0V EXC2L (37)EXC2L (37)
0V_X3L (48)
0V_Y3L (48)0V EXC1L (45)EXC1L (45)
X3L (48)
Y3L (48)
0V_X4L (49)
0V_Y4L (49)
X4L (49)
Y4L (49)
0V EXC2L (37)EXC2L (37)
0V EXC2L (37)EXC2L (37)
0V EXC2L (37)EXC2L (37)
X5L (50)0V_X5L (50)Y5L (50)0V_Y5L (50)
X6L (51)0V_X6L (51)Y6L (51)0V_Y6L (51)
Prepared by, date:39
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
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Page38
52Total
Latest revision:
Approved by, date:
Right arm_Axis1Location:Plant: =
++Sublocation:
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24V Hall Sensor Right
Dummy cable
0V Hall Sensor RightAx1 Hall Sensor Right
Ax2 Hall Sensor RightAx7 Hall Sensor Right
TD-
RD+
RD-
M1
M1
395397
RD
WH
BK
BK
GN
RD
WH
YE
VT
Arm1 GND
TD+
Connect to hand
RD,AWG32
BK,AWG32
VT,AWG32
YE,AWG32
WH,AWG32
GN,AWG32 RD,AWG32
BK,AWG32
VT,AWG32
YE,AWG32
WH,AWG32
GN,AWG32
VoutGNDVCC RD,AWG32
BK,AWG32
WH,AWG32
399
RD
WH
BK
BU
YE
BU
YE
YE
BU
24V IO
0V IO
GND
SPARE
-ARM_R.CPCS6
8
5
7
2
1
-A1.XPCP1
3
2
T
S
R
PE
M1
3M
+
-
Brake
X1
0V X1
Y1
0V Y1
0V EXC
EXC1
3
1
5
4
6
-R1.MP1R2
-R1.FB1R1
5
2
6
7
3
4
3
-SEN1R.P17
6
5
4
3
2
1
-SEN1R.P27
6
5
4
3
2
1
-SEN1R.P43
2
1
-SEN1R.P33
2
1
3
2
1
1-PE4 301
300
315
4
324
323
322
325 326
1-PE5
Arm1.ETH.1 / (27)
Arm1.ETH.2 / (27)
Arm1.ETH.3 / (27)
Arm1.ETH.6 / (27)
Arm1 +24V I/O / (18)
Arm1 0V I/O / (18)
U right1 / (32)
W right1 / (32)
V right1 / (32)
0V Brake out R / (32)
24V Brake out R / (32)
X1R / (36)
0V_X1R / (36)
Y1R / (36)
0V_Y1R / (36)
0V EXC1R / (36)
EXC1R / (36)
A1.XSEN.1 / (31)
A1.XSEN.2 / (31)
A1.XSEN.3 / (31)
A1.XSEN.4 / (31)
A1.XSEN.5 / (31)
A1.XSEN.6 /
SEN1R.P2.7 (39)
SEN1R.P2.6 (39)
SEN1R.P2.5 (39)
SEN1R.P2.3 (39)
SEN1R.P2.2 (39)
SEN1R.P2.1 (39)
Arm2 GND (45)M2R_GND (39)
HANDR_GND / (44)
HANDR_4 / (44)
Prepared by, date:40
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. ©
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ht 2
003
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Page39
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Latest revision:
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Right arm_Axis2Location:Plant: =
++Sublocation:
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M2
M2
RD,AWG32
BK,AWG32
VT,AWG32
YE,AWG32
WH,AWG32
GN,AWG32 RD,AWG32
BK,AWG32
VT,AWG32
YE,AWG32
WH,AWG32
GN,AWG32
VoutGNDVCC RD,AWG32
BK,AWG32
WH,AWG32
BK
RD
WH
RD
WH
BK
BK
GN
RD
WH
YE
VT
T
S
R
PE
M2
3M
+
-
Brake
X1
0V X1
Y1
0V Y1
0V EXC
EXC1
3
1
5
4
6
-R1.MP2R2
-R1.FB2R1
5
2
6
7
3
4
-SEN2R.P17
6
5
4
3
2
1
-SEN2R.P27
6
5
4
3
2
1
-SEN2R.P43
2
1
-SEN2R.P33
2
1
3
2
1
303
302
316
326 327
U right2 / (32)
W right2 / (32)
V right2 / (32)
0V Brake out R / (40)
24V Brake out R / (40)
X2R / (36)
0V_X2R / (36)
Y2R / (36)
0V_Y2R / (36)
0V EXC1R / (40)
EXC1R / (40)
SEN1R.P2.1 / (38)
SEN1R.P2.2 / (38)
SEN1R.P2.5 / (38)
SEN1R.P2.3 / (38)
SEN1R.P2.6 / (38)
SEN1R.P2.7 / (38)
SEN2R.P2.7 (40)
SEN2R.P2.6 (40)
SEN2R.P2.5 (40)
SEN2R.P2.3 (40)
SEN2R.P2.2 (40)
SEN2R.P2.1 (40)
M7R_GND (40)
M2R_GND / (38)
Prepared by, date:41
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
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Page40
52Total
Latest revision:
Approved by, date:
Right arm_Axis7Location:Plant: =
++Sublocation:
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M7
M7
RD,AWG32
BK,AWG32
VT,AWG32
YE,AWG32
WH,AWG32
GN,AWG32
VoutGNDVCC RD,AWG32
BK,AWG32
WH,AWG32
BK
RD
WH
RD
WH
BK
BK
GN
RD
WH
YE
VT
T
S
R
PE
M7
3M
+
-
Brake
X1
0V X1
Y1
0V Y1
0V EXC
EXC1
3
1
5
4
6
-R1.MP7R2
-R1.FB7R1
5
2
6
7
3
4
-SEN7R.P17
6
5
4
3
2
1
-SEN7R.P27
6
5
4
3
2
1
-SEN7R.P43
2
1
-SEN7R.P33
2
1
3
2
1
305
304
317
327
U right7 / (32)
W right7 / (32)
V right7 / (32)
0V Brake out R / (39)
24V Brake out R / (39)
X7R / (36)
0V_X7R / (36)
Y7R / (36)
0V_Y7R / (36)
0V EXC1R / (39)
EXC1R / (39)
SEN2R.P2.1 / (39)
SEN2R.P2.2 / (39)
SEN2R.P2.6 / (39)
SEN2R.P2.7 / (39)
SEN2R.P2.5 / (39)
SEN2R.P2.3 / (39)
M7R_GND / (39)
M3R_GND (41)
Prepared by, date:42
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
Page41
52Total
Latest revision:
Approved by, date:
Right arm_Axis3Location:Plant: =
++Sublocation:
Document no.Next
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Ax3 Hall Sensor Right
24V Hall Sensor Right 0V Hall Sensor Right
Ax6 Hall Sensor RightAx5 Hall Sensor RightAx4 Hall Sensor Right
M3
M3
RD,AWG32
BK,AWG32
VT,AWG32
YE,AWG32
WH,AWG32
GN,AWG32 RD,AWG32
BK,AWG32
VT,AWG32
YE,AWG32
WH,AWG32
GN,AWG32
VoutGNDVCC RD,AWG32
BK,AWG32
WH,AWG32
BK
RD
WH
RD
WH
BK
BK
GN
RD
WH
YE
VT
T
S
R
PE
M3
3M
+
-
Brake
X1
0V X1
Y1
0V Y1
0V EXC
EXC1
3
1
5
4
6
-R1.MP3R2
-R1.FB3R1
5
2
6
7
3
4
-SEN3R.P17
6
5
4
3
2
1
-SEN3R.P27
6
5
4
3
2
1
-SEN3R.P43
2
1
-SEN3R.P33
2
1
3
2
1
307
306
318
328 329
U right3 / (32)
W right3 / (32)
V right3 / (32)
0V Brake out R /
24V Brake out R /
X3R / (36)
0V_X3R / (36)
Y3R / (36)
0V_Y3R / (36)
0V EXC1R / (42)
EXC1 R /
SEN3R.P2.7 (42)
SEN3R.P2.6 (42)
SEN3R.P2.5 (42)
SEN3R.P2.3 (42)
SEN3R.P2.2 (42)
SEN3R.P2.1 (42)
A1.XSEN.1 / (31)
A1.XSEN.2 / (31)
A1.XSEN.7 / (31)
A1.XSEN.8 / (31)
A1.XSEN.9 / (31)
A1.XSEN.10 / (31)
M3R_GND / (40)
M4R_GND (42)
Prepared by, date:43
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. ©
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yrig
ht 2
003
AB
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Page42
52Total
Latest revision:
Approved by, date:
Right arm_Axis4Location:Plant: =
++Sublocation:
Document no.Next
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M4
RD,AWG32
BK,AWG32
VT,AWG32
YE,AWG32
WH,AWG32
GN,AWG32 RD,AWG32
BK,AWG32
VT,AWG32
YE,AWG32
WH,AWG32
GN,AWG32
VoutGNDVCC RD,AWG32
BK,AWG32
WH,AWG32
RD
WH
BK
BK
GN
RD
WH
YE
VT
YE
T
S
R
PE
M4
3M
X1
0V X1
Y1
0V Y1
0V EXC
EXC1
2
1
3
-R1.MP4R4
-R1.FB4R1
5
2
6
7
3
4
-SEN4R.P17
6
5
4
3
2
1
-SEN4R.P27
6
5
4
3
2
1
-SEN4R.P43
2
1
-SEN4R.P33
2
1
3
2
1
308
319
309
329 330
U right4 / (32)
W right4 / (32)
V right4 / (32)
X4R / (36)
0V_X4R / (36)
Y4R / (36)
0V_Y4R / (36)
0V EXC1R / (41)
EXC1R / (43)
SEN3R.P2.1 / (41)
SEN3R.P2.2 / (41)
SEN3R.P2.5 / (41)
SEN3R.P2.3 / (41)
SEN3R.P2.6 / (41)
SEN3R.P2.7 / (41)
SEN4R.P2.7 (43)
SEN4R.P2.6 (43)
SEN4R.P2.5 (43)
SEN4R.P2.3 (43)
SEN4R.P2.2 (43)
SEN4R.P2.1 (43)
M4R_GND / (41)
M5R_GND (43)
Prepared by, date:44
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. ©
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Page43
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Latest revision:
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Right arm_Axis5Location:Plant: =
++Sublocation:
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M5
RD,AWG32
BK,AWG32
VT,AWG32
YE,AWG32
WH,AWG32
GN,AWG32
VoutGNDVCC RD,AWG32
BK,AWG32
WH,AWG32 VoutGNDVCC RD,AWG32
BK,AWG32
WH,AWG32
RD
WH
BK
BK
GN
RD
WH
YE
VT
YE
T
S
R
PE
M5
3M
X1
0V X1
Y1
0V Y1
0V EXC
EXC1
2
1
3
-R1.MP5R4
-R1.FB5R1
5
2
6
7
3
4
-SEN5_6R.P17
6
5
4
3
2
1
-SEN5_6R.P27
6
5
4
3
2
1
-SEN5_6R.P43
2
1
-SEN5_6R.P33
2
1
3
2
1
3
2
1
310
320
311
330
U right5 / (32)
W right5 / (32)
V right5 / (32)
X5R / (36)
0V_X5R / (36)
Y5R / (36)
0V_Y5R / (36)
0V EXC1R / (44)
EXC1R / (42)
SEN4R.P2.1 / (42)
SEN4R.P2.2 / (42)
SEN4R.P2.6 / (42)
SEN4R.P2.7 / (42)
SEN4R.P2.5 / (42)
SEN4R.P2.3 / (42)
M5R_GND / (42)
M6R_GND (44)
Prepared by, date:45
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
Page44
52Total
Latest revision:
Approved by, date:
Right arm_Axis6Location:Plant: =
++Sublocation:
Document no.Next
Rev. Ind
Lab/Office: Status:IRB 14000
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6/8/2016
Approved
5 74321 6 8
M6
RD
WH
BK
BK
GN
RD
WH
YE
VT
YE
BU
YEDummy wire
T
S
R
PE
M6
3M
X1
0V X1
Y1
0V Y1
0V EXC
EXC1
2
1
3
-R1.MP6R4
-R1.FB6R1
5
2
6
7
3
4
312
321
313
314
U right6 / (32)
W right6 / (32)
V right6 / (32)
X6R / (36)
0V_X6R / (36)
Y6R / (36)
0V_Y6R / (36)
0V EXC1R / (43)
EXC1R /
M6R_GND / (43)
HANDR_GND (38)
HANDR_4 (38)
Prepared by, date:46
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
Page45
52Total
Latest revision:
Approved by, date:
Left arm_Axis1Location:Plant: =
++Sublocation:
Document no.Next
Rev. Ind
Lab/Office: Status:IRB 14000
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Approved
5 74321 6 8
24V Hall Sensor Left 0V Hall Sensor LeftAx1 Hall Sensor Left
Ax2 Hall Sensor LeftAx7 Hall Sensor LeftDummy cable
M1
396398400
BU
M1
-ARM_L.CPCS
RD,AWG32
BK,AWG32
VT,AWG32
YE,AWG32
WH,AWG32
GN,AWG32 RD,AWG32
BK,AWG32
VT,AWG32
YE,AWG32
WH,AWG32
GN,AWG32
VoutGNDVCC RD,AWG32
BK,AWG32
WH,AWG32
Connect to hand
BK
RD
WH
RD
WH
BK
BK
GN
RD
WH
YE
VT
BU
YE
BU
YE
YE
BU
TD+
TD-
RD+
RD-
24V IO
0V IO
GND
SPARE
6
8
5
7
2
1
T
S
R
PE
M1
3M
+
-
Brake
X1
0V X1
Y1
0V Y1
0V EXC
EXC1
3
1
5
4
6
-R1.MP1L2
-R1.FB1L1
5
2
6
7
3
4
3
-A2.XPCP1
3
2
-SEN1L.P17
6
5
4
3
2
1
-SEN1L.P27
6
5
4
3
2
1
-SEN1L.P43
2
1
-SEN1L.P33
2
1
3
2
1
301
300
315
4
325 326
324
323
322
1-PE6
Arm2.ETH.1 / (27)
Arm2.ETH.2 / (27)
Arm2.ETH.3 / (27)
Arm2.ETH.6 / (27)
U left1 / (34)
W left1 / (34)
V left1 / (34)
0V Brake out L / (34)
24V Brake out L / (34)
X1L / (37)
0V_X1L / (37)
Y1L / (37)
0V_Y1L / (37)
0V EXC1L / (37)
EXC1L / (37)
A2.XSEN.1 / (31)
A2.XSEN.2 / (31)
A2.XSEN.3 / (31)
A2.XSEN.4 / (31)
A2.XSEN.5 / (31)
A2.XSEN.6 /
SEN1L.P2.7 (46)
SEN1L.P2.6 (46)
SEN1L.P2.5 (46)
SEN1L.P2.3 (46)
SEN1L.P2.2 (46)
SEN1L.P2.1 (46)
Arm2 +24V I/O / (18)
Arm2 0V I/O / (18)
Arm2 GND / (38)
M2L_GND (46)
HANDL_GND / (51)
HANDL_4 / (51)
Prepared by, date:47
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
Page46
52Total
Latest revision:
Approved by, date:
Left arm_Axis2Location:Plant: =
++Sublocation:
Document no.Next
Rev. Ind
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Approved
5 74321 6 8
M2
M2
BU
RD,AWG32
BK,AWG32
VT,AWG32
YE,AWG32
WH,AWG32
GN,AWG32 RD,AWG32
BK,AWG32
VT,AWG32
YE,AWG32
WH,AWG32
GN,AWG32
VoutGNDVCC RD,AWG32
BK,AWG32
WH,AWG32
BK
RD
WH
RD
WH
BK
BK
GN
RD
WH
YE
VT
T
S
R
PE
M2
3M
+
-
Brake
X1
0V X1
Y1
0V Y1
0V EXC
EXC1
3
1
5
4
6
-R1.MP2L2
-R1.FB2L1
5
2
6
7
3
4
-SEN2L.P17
6
5
4
3
2
1
-SEN2L.P27
6
5
4
3
2
1
-SEN2L.P43
2
1
-SEN2L.P33
2
1
3
2
1
303
302
316
326 327
U left2 / (34)
W left2 / (34)
V left2 / (34)
0V Brake out L / (47)
24V Brake out L / (47)
X2L / (37)
0V_X2L / (37)
Y2L / (37)
0V_Y2L / (37)
0V EXC1L / (48)
EXC1L / (48)
SEN1L.P2.1 / (45)
SEN1L.P2.2 / (45)
SEN1L.P2.5 / (45)
SEN1L.P2.3 / (45)
SEN1L.P2.6 / (45)
SEN1L.P2.7 / (45)
SEN2L.P2.7 (47)
SEN2L.P2.6 (47)
SEN2L.P2.5 (47)
SEN2L.P2.3 (47)
SEN2L.P2.2 (47)
SEN2L.P2.1 (47)
M7L_GND (47)
M2L_GND / (45)
Prepared by, date:48
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
Page47
52Total
Latest revision:
Approved by, date:
Left arm_Axis7Location:Plant: =
++Sublocation:
Document no.Next
Rev. Ind
Lab/Office: Status:IRB 14000
043HAC050778-003CNQILI2 CNDRTU
6/8/2016
Approved
5 74321 6 8
M7
M7
BU
RD,AWG32
BK,AWG32
VT,AWG32
YE,AWG32
WH,AWG32
GN,AWG32
VoutGNDVCC RD,AWG32
BK,AWG32
WH,AWG32
BK
RD
WH
BK
GN
RD
WH
YE
VT
RD
WH
BK T
S
R
PE
M7
3M
+
-
Brake
X1
0V X1
Y1
0V Y1
0V EXC
EXC1
3
1
5
4
6
-R1.MP7L2
-R1.FB7L1
5
2
6
7
3
4
-SEN7L.P17
6
5
4
3
2
1
-SEN7L.P27
6
5
4
3
2
1
-SEN7L.P43
2
1
-SEN7L.P33
2
1
3
2
1
305
317
304
327
U left7 / (34)
W left7 / (34)
V left7 / (34)
0V Brake out L / (46)
24V Brake out L / (46)
X7L / (37)
0V_X7L / (37)
Y7L / (37)
0V_Y7L / (37)
0V EXC2L / (49)
EXC2L / (49)
SEN2L.P2.1 / (46)
SEN2L.P2.2 / (46)
SEN2L.P2.6 / (46)
SEN2L.P2.7 / (46)
SEN2L.P2.5 / (46)
SEN2L.P2.3 / (46)
M3L_GND (48)
M7L_GND / (46)
Prepared by, date:49
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
Page48
52Total
Latest revision:
Approved by, date:
Left arm_Axis3Location:Plant: =
++Sublocation:
Document no.Next
Rev. Ind
Lab/Office: Status:IRB 14000
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6/8/2016
Approved
5 74321 6 8
Ax4 Hall Sensor LeftAx5 Hall Sensor Left
24V Hall Sensor Left 0V Hall Sensor Left
Ax6 Hall Sensor Left
Ax3 Hall Sensor Left
M3
M3
BU
RD,AWG32
BK,AWG32
VT,AWG32
YE,AWG32
WH,AWG32
GN,AWG32 RD,AWG32
BK,AWG32
VT,AWG32
YE,AWG32
WH,AWG32
GN,AWG32
VoutGNDVCC RD,AWG32
BK,AWG32
WH,AWG32
BK
RD
WH
BK
GN
RD
WH
YE
VT
RD
WH
BK T
S
R
PE
M3
3M
+
-
Brake
X1
0V X1
Y1
0V Y1
0V EXC
EXC1
3
1
5
4
6
-R1.MP3L2
-R1.FB3L1
5
2
6
7
3
4
-SEN3L.P17
6
5
4
3
2
1
-SEN3L.P27
6
5
4
3
2
1
-SEN3L.P43
2
1
-SEN3L.P33
2
1
3
2
1
307
318
306
328 329
U left3 / (34)
W left3 / (34)
V left3 / (34)
0V Brake out L /
24V Brake out L /
X3L / (37)
0V_X3L / (37)
Y3L / (37)
0V_Y3L / (37)
0V EXC1L / (46)
EXC1L / (46)
SEN3L.P2.7 (49)
SEN3L.P2.6 (49)
SEN3L.P2.5 (49)
SEN3L.P2.3 (49)
SEN3L.P2.2 (49)
SEN3L.P2.1 (49)
A2.XSEN.1 / (31)
A2.XSEN.2 / (31)
A2.XSEN.7 / (31)
A2.XSEN.8 / (31)
A2.XSEN.9 / (31)
A2.XSEN.10 / (31)
M4L_GND (49)
M3L_GND / (47)
Prepared by, date:50
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
Page49
52Total
Latest revision:
Approved by, date:
Left arm_Axis4Location:Plant: =
++Sublocation:
Document no.Next
Rev. Ind
Lab/Office: Status:IRB 14000
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6/8/2016
Approved
5 74321 6 8
M4
BU
RD,AWG32
BK,AWG32
VT,AWG32
YE,AWG32
WH,AWG32
GN,AWG32 RD,AWG32
BK,AWG32
VT,AWG32
YE,AWG32
WH,AWG32
GN,AWG32
VoutGNDVCC RD,AWG32
BK,AWG32
WH,AWG32
RD
WH
BK
BK
GN
RD
WH
YE
VT
YE
T
S
R
PE
M4
3M
X1
0V X1
Y1
0V Y1
0V EXC
EXC1
2
1
3
-R1.MP4L4
-R1.FB4L1
5
2
6
7
3
4
-SEN4L.P17
6
5
4
3
2
1
-SEN4L.P27
6
5
4
3
2
1
-SEN4L.P43
2
1
-SEN4L.P33
2
1
3
2
1
308
319
309
329 330
U left4 / (34)
W left4 / (34)
V left4 / (34)
X4L / (37)
0V_X4L / (37)
Y4L / (37)
0V_Y4L / (37)
0V EXC2L / (47)
EXC2L / (47)
SEN3L.P2.1 / (48)
SEN3L.P2.2 / (48)
SEN3L.P2.5 / (48)
SEN3L.P2.3 / (48)
SEN3L.P2.6 / (48)
SEN3L.P2.7 / (48)
SEN4L.P2.7 (50)
SEN4L.P2.6 (50)
SEN4L.P2.5 (50)
SEN4L.P2.3 (50)
SEN4L.P2.2 (50)
SEN4L.P2.1 (50)
M5L_GND (50)
M4L_GND / (48)
Prepared by, date:51
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
Page50
52Total
Latest revision:
Approved by, date:
Left arm_Axis5Location:Plant: =
++Sublocation:
Document no.Next
Rev. Ind
Lab/Office: Status:IRB 14000
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6/8/2016
Approved
5 74321 6 8
M5
BU
RD,AWG32
BK,AWG32
VT,AWG32
YE,AWG32
WH,AWG32
GN,AWG32
RD,AWG32
BK,AWG32
WH,AWG32
VCCGNDVout Vout
GNDVCC RD,AWG32
BK,AWG32
WH,AWG32
RD
WH
BK
BK
GN
RD
WH
YE
VT
YE
T
S
R
PE
M5
3M
X1
0V X1
Y1
0V Y1
0V EXC
EXC1
2
1
3
-R1.MP5L4
-R1.FB5L1
5
2
6
7
3
4
-SEN5_6L.P17
6
5
4
3
2
1
-SEN5_6L.P27
6
5
4
3
2
1
-SEN5_6L.P43
2
1
-SEN5_6L.P33
2
1
3
2
1
3
2
1
310
320
311
330
U left5 / (34)
W left5 / (34)
V left5 / (34)
X5L / (37)
0V_X5L / (37)
Y5L / (37)
0V_Y5L / (37)
0V EXC2L /
EXC2L / (51)
SEN4L.P2.1 / (49)
SEN4L.P2.2 / (49)
SEN4L.P2.6 / (49)
SEN4L.P2.7 / (49)
SEN4L.P2.5 / (49)
SEN4L.P2.3 / (49)
M6L_GND (51)
M5L_GND / (49)
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
Page51
52Total
Latest revision:
Approved by, date:
Left arm_Axis6Location:Plant: =
++Sublocation:
Document no.Next
Rev. Ind
Lab/Office: Status:IRB 14000
043HAC050778-003CNQILI2 CNDRTU
6/8/2016
Approved
321 4 5 6 7 8
M6
BU
RD
WH
BK
BK
GN
RD
WH
YE
VT
YE
BU
YEDummy wire
T
S
R
PE
M6
3M
X1
0V X1
Y1
0V Y1
0V EXC
EXC1
2
1
3
-R1.MP6L4
-R1.FB6L1
5
2
6
7
3
4
312
321
313
314
U left6 / (34)
W left6 / (34)
V left6 / (34)
X6L / (37)
0V_X6L / (37)
Y6L / (37)
0V_Y6L / (37)
0V EX2L /
EXC2L / (50)
M6L_GND / (50)
HANDL_GND (45)
HANDL_4 (45)