© copyright 2017 abb all right reserved.€¦ · em, 2017-08-22 jn, 2017-09-01 approved 05 eco...

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05ECO 92623 WI 156597Pg 11(2): Contact K44:13 & 14 was contact K44:3 & 4.

RMRO/PRIM

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 2017 ABB ALL right reserved.

ABB AB

SE-721 68 VästeråsSweden

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RMRO/PRIM

CustomerYear of construction

:::

::::

DescriptionDrawing numberDrawing versionDate

::::

:

Drawn byNumber of pages

::::::

3HAC043574-001ROBOT CARRIER IRBT 4004/6004/7004

052017-09-01

RMRO/PRIM23

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RMRO/PRIM

TABLE OF CONTENTSDatePAGE DESCRIPTIONPAGE Edited by

DMRO/PRMPCOPYRIGHT PAGE 2013-02-12

DMRO/PRMPTITLE PAGE 2013-02-12

RMRO/PRIMTABLE OF CONTENTS

DMRO/PRMPBLOCK DIAGRAM IRBT SMB BOX CONNECTION 2013-02-20

DMRO/PRMPBLOCK DIAGRAM IRB SMB CONNECTION 2013-02-20

RMRO/PRIMMOTOR IRBT, IRB2600/4400/4600/ 6xx0/7600 2017-06-16

RMRO/PRIMMOTOR IRBT, OPTION SERVO GUN IRB6xx0/7600 2017-06-16

RMRO/PRIMMOTOR IRBT, OPTION SERVO GUN IRB6xx0/7600 2017-06-16

RMRO/PRIMIRBT SMB BOX CONNECTION, IRB2600/4400/4600/6xx0/7600 2017-06-16

RMRO/PRIMRESOLVER MOTOR IRBT, SMB BOX CONN. IRB2600/4400/4600/6xx0/7600 2017-06-16

RMRO/PRIMRESOLVER MOTOR IRBT, IRB SMB CONN. IRB2600/4400/4600/6xx0/7600 2017-06-16

OPTION LUBRICATION IRBT 2017-09-01

DMRO/PRMPMOTOR CABLE, IRB4400 2015-03-02

DMRO/PRMPMOTOR CABLE, IRB4400 2015-03-02

2017-06-16

RMRO/PRIMMOTOR CABLE, IRB2600/4600/6xx0/7600 2017-06-16

RMRO/PRIMRESOLVER CABLE, IRB2600/4400/4600/6xx0/7600 2017-06-16

DMRO/PRMPOPTION CUSTOMER POWER/SIGNAL, IRB4400 2015-03-02

RMRO/PRIMOPTION CUSTOMER POWER/SIGNAL, IRB2600/4600/6xx0/7600 2017-06-16

RMRO/PRIMOPTION CUSTOMER POWER/SIGNAL DEVICENET, IRB2600/4600/6xx0/7600 2017-06-16

RMRO/PRIMOPTION CUSTOMER POWER/SIGNAL INTERBUS, IRB 6xx0/7600 2017-06-16

RMRO/PRIMOPTION CUSTOMER POWER/SIGNAL PROFIBUS, IRB 6xx0/7600 2017-06-16

RMRO/PRIMOPTION CUSTOMER POWER/SIGNAL PARALLEL, IRB2600/4600/6xx0/7600 2017-06-16

RMRO/PRIMOPTION CUSTOMER POWER/SIGNAL PROFINET, IRB2600/4600/6xx0/7600 2017-06-16

1

2

3 04

4

5

6 04

7 04

7.b 04

8 04

9 04

10 04

11

12

13

14

15

16

17

18

19

20

21

22

05

04

04

04

04

04

04

04

04

RMRO/PRIM

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RMRO/PRIM

ON SINGLE CONTROLLER /DRIVE MODULE

XP41

XP7

XP1

XP2

R1.SMB

R1.MP

X67

X57

*)

A112

R1.SMB

W60

J1.R1.MP

J1.X7

M7

*) SYSTEM CONFIGURATION

MOTOR No.

M7

SMB NODE No.

7

UNIT

IRBT SMB BOX A112

FB

J1.R1.SMB

J1.IRBT.SMB

Prepared by, date:6

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APPROVED


RMRO/PRIM

ON SINGLE CONTROLLER /DRIVE MODULE

XP7

XP1

XP2 R1.SMB

R1.MP

X67

X57

J1.R1.MP

J1.R1.SMB

J1.X7

M7

R2.FB7

*) SYSTEM CONFIGURATION

M7 7

UNIT

IRB

MOTOR No. SMB NODE No.

Prepared by, date:7

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APPROVED


RMRO/PRIM

ROBOT TRACK

BRAKE RELEASETERMISTORBRAKEMOTOR

QUENCHINGCIRCUIT

SEE EL. DRAWINGS FOR THEROBOT CONTROL SYSTEM

XP7

J1.XS7/XP7

a

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1

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U7:1

OG

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2

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BN/G

N13

5

5

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G/BU

8

6

6

V7:2O

G/W

H11

BN/RD

14

3

3

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OG

/GN

9

4

4

W7:2

OG

12

BN/W

H15 G

N/YE

PE/6

PE/6

GN

/YE(16) G

N/YE

(17) GN

/YE

f

F/f

5

5

BRAKE 7BK/BU

1

8

8

BRAKE PBBU

/WH

2

9

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0V BRAKE 7BK/G

N6

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2

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6

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3

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4

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6

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BRAKE 8BK/W

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SPAREBU

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30x1.5+2x6mm²

13

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XP57/XS57A B P C D R E F S G H T L M J K

1,5mm²OG

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1.1

2.1

3.1

1.2

2.2

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1.3

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1.6

1.7

1.4

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8

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3HAC043574-001

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APPROVED


RMRO/PRIM

SEE EL. DRAWINGS FORROBOT SERVO GUN

*) 1-POL CONNECTOR

*)

ROBOT TRACKROBOT TRACK


QUENCHINGCIRCUIT


XP7

J1.XS7/XP7

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13

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APPROVED


RMRO/PRIM


SEE EL. DRAWINGS FORROBOT SERVO GUN

*) 1-POL CONNECTOR

*)

ROBOT TRACK


QUENCHINGCIRCUIT

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J1.XS7/XP7

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8

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4

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12

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f

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5

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1

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2

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1

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3

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PE/2.5

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b

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1

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7

2

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5

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6

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3

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6

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30x1.5+2x6mm²

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13

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1.1

2.1

3.1

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2.4

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APPROVED


RMRO/PRIM

R2.SMB1-4

R2.SMB3-6

X1X3

0V X10V X3

Y1Y3

SPARE

0V Y10V Y3

0V EXC0V EXC

EXC 1EXC 1

X2X4

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0V Y20V Y4

0V EXC0V EXC

EXC 1EXC 2

X3X5

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0V EXC0V EXC

EXC 1EXC 2

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EXC 2EXC 2

R2.SMB1.7

X1

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SDI

Y1

SDI-N

0V Y1

SDO

0V EXC

SDO

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0V +24VSYS

X7

SEE EL. DRAWINGS FOR THE ROBOT CONTROL SYSTEM

CHASSI

0V X7 Y7

0V Y7

0V EXC

EXC 2

SERIALMEASUREMENT BOARD

RESOLVERCONNECTOR BOARD

A112

W60

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Approved by, date:

RESOLVER MOTOR IRBT, SMB BOXCONN. IRB2600/4400/4600/6xx0/7600

Location:Plant: =

++Sublocation:

Document no.Next

Rev. Ind


2 3 4 51 6 7

3HAC043574-001

8

EM, 2017-08-22 JN, 2017-09-01

APPROVED


RMRO/PRIM

IRBT

X7 0V X7

Y7 0V Y7

0V EXC

EXC 2

SMB BOX CONNECTION

SPARE

SPARE

RESOLVER

R7

A112

FB A

BK

B

WH

/BK

C

BN

D

WH

/BN

E

RD

F

WH

/RD

4x2x0.24mm² O

G

WH

/OG

XP67/XS67(FB.M)

A B C D E F

AWG24

6 7 21MOTOR.FB 8 3

RD BK YEBU WH

/YE

WH

/RD

BK WH

/BK

BN WH

/BN

RD WH

/RD

8.8


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Cop

yrig

ht 2

003

ABB

Page 10

23Total

Latest revision:

Approved by, date:

RESOLVER MOTOR IRBT, IRB SMBCONN. IRB2600/4400/4600/6xx0/7600

Location:Plant: =

++Sublocation:

Document no.Next

Rev. Ind


2 3 4 51 6 7

3HAC043574-001

8

EM, 2017-08-22 JN, 2017-09-01

APPROVED


RMRO/PRIM

SEE EL.DWGS FOR THE IRBMANIPULATOR

IRBT

X7 0V X7

Y7 0V Y7

0V EXC

EXC 2

SPARE

SPARE

RESOLVER

R7

IRB

R2.FB7 A

BK

B

WH

/BK

C

BN

D

WH

/BN

E

RD

F

WH

/RD

4x2x0.24mm² O

G

WH

/OG

XP67/XS67(FB.M)

A B C D E F

AWG24

6 7 21MOTOR.FB 8 3

RD BK YEBU WH

/YE

WH

/RD

BK WH

/BK

BN WH

/BN

RD WH

/RD


We

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in t

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tion,

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Cop

yrig

ht 2

003

ABB

Page 11

23Total

Latest revision:

Approved by, date:

OPTION LUBRICATION IRBTLocation:Plant: =

++Sublocation:

Document no.Next

Rev. Ind


2 3 4 51 6 7

3HAC043574-001

8

EM, 2017-08-22 JN, 2017-09-01

APPROVED


RMRO/PRIM

CONTACTORUNIT

0V

SPARE

24V24V I/O

CUSTOMERPOWER SUPPLY

0V I/O

IRC5 CONTROLLER

0V

24V BRAKE

24V

SEE EL. DRAWINGSFOR TRABON UNIT

INDICATIONLOW LEVEL

RESETLOW LEVEL

FEED

CONNECTED WITH AWG 20 BU,IF NO OTHER NOTATION

SPARE0V

24V BRAKE

24V


A

6xAWG20 RD

13

14K44

6xAWG20 BN

XS/P35

A43

B

GN

GN

C

YEYE

D

RDBN

WH

WH

BKBK

+ -

X2

G4

SC/CM1

E2

3 2

E1

3 2

BK BU BN BK GN

YE

XT1

1 2 3 4 5 6 7

X1

X2S1

2

1S1

4

3S2

A2

A1K1

11.8

24

21

10/111

182 3

BU/17

4

13/17/19

BK/15

BN

1013/14

1516

19 18 1412 11/12

16

CONTROL UNIT

5x0.75mm²

XT31

1 2

5 6

AWG20

BN24V BR.

/11.5

0V/

11.5

SPARE/

11.5

24V/

11.5

24V BR./

11.2

0V/

11.2

SPARE/

11.2

24V/

11.2


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Cop

yrig

ht 2

003

ABB

Page 12

23Total

Latest revision:

Approved by, date:

MOTOR CABLE, IRB4400Location:Plant: =

++Sublocation:

Document no.Next

Rev. Ind


2 3 4 51 6 7

3HAC043574-001

8

EM, 2017-08-22 JN, 2017-09-01

APPROVED


RMRO/PRIM

M1R

M1R

SPARE

M1S

M1S

SPARE

M1T

M1T

SPARE

M2R

M2R

M2S

M2S

M2T

M2T

M3R

M3R

SPARE

M3S

SEE EL. DRAWINGS FOR THE IRB MANIPULATOR

M3S

SPARE

M3T

M3T

SPARE

M4R

SPARE

M4S

SPARE

M4T

SPARE

M5R

SPARE

M5S

SPARE

M5T


J1.X1

R1.MP

A1

61x1.5mm²

A1

1

A2

A2

2 3

A3

A3

4

A4

A4

5 6

A5

A5

7

A6

A6

8 9

A7

A7

10

A8

A8

11

A9

A9

12

A10

A10

13

A11

A11

14

A12

A12

15

A13

A13

16

A14

A14

17 18

A15

A1519

A16

A16

20 21

B1

B1

22

B2

B2

23 24

B3

B3

25 26

B4

B4

27 28

B5

B5

29 30B6

B6

31 32

B7

B7

33 34

B8

B8

35


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Cop

yrig

ht 2

003

ABB

Page 13

23Total

Latest revision:

Approved by, date:

MOTOR CABLE, IRB4400Location:Plant: =

++Sublocation:

Document no.Next

Rev. Ind


2 3 4 51 6 7

3HAC043574-001

8

EM, 2017-08-22 JN, 2017-09-01

APPROVED


RMRO/PRIM

M6R

M6S

M6T

BRAKE REL 1

BRAKE REL 2

0V BRAKE

0V BRAKE

BRAKE PB

PTC 1 ret

PTC 1

LIM 2A

LIM 1A

LIM 2B

LIM1B

SPARE

EXT. LAMP

SEE EL. DRAWINGS FOR THE IRB MANIPULATOR

SPARE

SPARE


J1.X1

R1.MP

B9

B9

36

B10

B10

37

B11

B11

38

B12

B12

39

B13

B13

40

B14

B14

41

B15

B15

42

B16

B16

43

C1

C1

44

C2

C2

45

D1

D1

46

D2

D2

47

D3

D348

D4

D4

49 50

C16

C16

51 52

PE/2.5

53 54 55 56

PE/2.5

57 58 59 GN

YE

60

61x1.5mm²


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Cop

yrig

ht 2

003

ABB

Page 14

23Total

Latest revision:

Approved by, date:

MOTOR CABLE, IRB2600/4600/6xx0/7600

Location:Plant: =

++Sublocation:

Document no.Next

Rev. Ind


2 3 4 51 6 7

3HAC043574-001

8

EM, 2017-08-22 JN, 2017-09-01

APPROVED


RMRO/PRIM

M1R

M1R

M1S

M1S

M1T

M1T

M2R

M2R

M2S

M2S

M2T

M2T

M3R

M3R

M3S

M3S

M3T

M3T

M4R

M4S

SEE EL. DRAWINGS FOR THEIRB MANIPULATOR

M4T

M5R

M5S

M5T

M6R

M6S

M6T

BRAKE PB

0V BRAKE

BRAKE RELEASE

0V PTC

PTC

EARTH

EARTHSEE EL. DRAWINGS FOR THEROBOT CONTROL SYSTEM

J1.R1MP

R1.MP

17

17

1

24

24

2

18

18

3

25

25

4

19

19

5

26

26

6

23

23

7

32

32

8

22

22

9

31

31

10

21

21

11

30

30

12

3

3

13

4

4

14

5

5

15

6

6

16

7

7

17

14

14

18

1

119

2

2

20

10

10

21

20

20

22

28

28

23

29

29

24

9

9

25

8

8

26

16

16

27

11

11

28

12

12

2913

13

30

15

15

31

27

27

32 GN

YE

GN

YE

30x4 +2x0.75mm²2x6mm²

PE

PE


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Cop

yrig

ht 2

003

ABB

Page 15

23Total

Latest revision:

Approved by, date:

RESOLVER CABLE, IRB2600/4400/4600/6xx0/7600

Location:Plant: =

++Sublocation:

Document no.Next

Rev. Ind


2 3 4 51 6 7

3HAC043574-001

8

EM, 2017-08-22 JN, 2017-09-01

APPROVED


RMRO/PRIM

SDI

SDI

SDI-N

SDI-N

SDO

SDO

SDO

-NSD

O-N

0V0V

+24V

+24V

SEE EL.DWGS FOR THEIRB MANIPULATOR

BAT BR0V

BAT BR+

24V

0VO

V

+BATSU

PBATSU

P

OVBATLD

BATLD

SPARE


J1.SMB

R1.SMB

A

A

WH

B

B

BN

C

C

GN

D

D

YE

E

E

GY

F

F

PK

G

GBU

H

H

RD

J

J

BK

K

K

VT

L

L

GY/PK

RD/BU

6x2x0.25mm²

AWG24BU


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Cop

yrig

ht 2

003

ABB

Page 16

23Total

Latest revision:

Approved by, date:

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Location:Plant: =

++Sublocation:

Document no.Next

Rev. Ind


2 3 4 51 6 7

3HAC043574-001

8

EM, 2017-08-22 JN, 2017-09-01

APPROVED


RMRO/PRIM



J1.CP/CS

R1.CP/CS

B5

B5

WH

C5

C5

BN

D5

D5

GN

A6

A6

YE

B6

B6

GY

C6

C6

PK

D6

D6

BU

A7

A7

RD

B7

B7

BK

C7

C7

VT

D7

D7

GY/PK

A8

A8

RD/BU

B8

B8

WH

/GN

C8

C8

BN/G

N

D8

D8

WH

/YE

A9

A9

YE/BN

B9

B9

WH

/GY

C9

C9

GY/BN

D9

D9W

H/PK

A10

A10

PK/BN

B10

B10

WH

/BU

C10

C10

BN/BU

D10

D10

WH

/RD

BN/RD

A1

A1

1

B1

B1

2

C1

C1

3

D1

D1

4

A2

A2

5

B2

B2

6

C2

C2

7

D2

D2

8

A3

A3

9

B3

B3

10

C3

C3

11D3

D3

GN

YE

12x2x0.25 mm²

12x0.75 mm²


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Cop

yrig

ht 2

003

ABB

Page 17

23Total

Latest revision:

Approved by, date:

OPTION CUSTOMER POWER/SIGNAL,IRB2600/4600/6xx0/7600

Location:Plant: =

++Sublocation:

Document no.Next

Rev. Ind


2 3 4 51 6 7

3HAC043574-001

8

EM, 2017-08-22 JN, 2017-09-01

APPROVED


RMRO/PRIM

1) Part OG, WH/OG not connected to b/B.22,23 when Opt. DeviceNet, see sh. 18.

2) Part WH/OG not connected to b/B.22 when Opt. Interbus, see sh. 19.

CUSTOMER SIGNAL


1), 2)

CUSTOMER SIGNAL


J1.CP/CS

R1.CP/CS

b

B

1

1

WH

/BK

2

2

BK

3

3

WH

/BN

4

4

BN

5

5

WH

/RD

6

6

RD

7

7

WH

/OG

8

8

OG

9

9

WH

/YE

10

10

YE

11

11

WH

/GN

12

12

GN

13

13

WH

/BU

14

14

BU

15

15

WH

/VT

16

16

VT

18

18W

H/G

Y

19

19

GY

20

20

WH

/BK

21

21

BK

22

22

WH

/OG

23

23

OG

24

24

WH

/BN

25

25

BN

c

C

16

16

WH

/RD

17

17

RD

18

18

WH

/YE

19

19

YE20

20

WH

21

21

GN

15x2x0.25 mm²


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Cop

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003

ABB

Page 18

23Total

Latest revision:

Approved by, date:

OPTION CUSTOMER POWER/SIGNALDEVICENET, IRB2600/4600/6xx0/7600

Location:Plant: =

++Sublocation:

Document no.Next

Rev. Ind


2 3 4 51 6 7

3HAC043574-001

8

EM, 2017-08-22 JN, 2017-09-01

APPROVED


RMRO/PRIM

CUSTOMER POWER CUSTOMER SIGNAL


+24V CAN

0V CAN

CAN 1XH

CAN 1XL


J1.CP/CS

R1.CP/CS

d

D

1

5x2x0.25mm²+5x1mm²

1

BN

3

3

BK

4

4

BU

6

6

RD

PE

PE

GN

YE

a

A

5

5

BK

6

6

VT

9

9

RD

10

10

BU

11

11

GY

12

12

PK YE GN

BN WH

b

B

22

1x2xAWG22+1x2xAWG24

22

RD

23

23

BK

a

A

3

3

WH

4

4

BU


We

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rve

all r

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Cop

yrig

ht 2

003

ABB

Page 19

23Total

Latest revision:

Approved by, date:

OPTION CUSTOMER POWER/SIGNALINTERBUS, IRB 6xx0/7600

Location:Plant: =

++Sublocation:

Document no.Next

Rev. Ind


2 3 4 51 6 7

3HAC043574-001

8

EM, 2017-08-22 JN, 2017-09-01

APPROVED


RMRO/PRIM



GN

D IM

INT 1 D

0

INT 1 D

0_N

INT 2 D

0

INT 2 D

0_N


J1.CP/CS

R1.CP/CS

d

D

1

1

BN

3

3

BK

4

4

BU

6

6

RD

PE

PE

GN

YE

a

A

3

3

BK

4

4

VT

5

5

RD

6

6

BU GY

PK YE GN

BN WH

b

B

22

3x2x0.25mm²

22

WH

BN

a

A

9

9

GN

10

10

YE11

11

GY

12

12

PK

5x2x0.25mm²+5x1mm²


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all r

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in t

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ntai

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tion,

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Cop

yrig

ht 2

003

ABB

Page 20

23Total

Latest revision:

Approved by, date:

OPTION CUSTOMER POWER/SIGNALPROFIBUS, IRB 6xx0/7600

Location:Plant: =

++Sublocation:

Document no.Next

Rev. Ind


2 3 4 51 6 7

3HAC043574-001

8

EM, 2017-08-22 JN, 2017-09-01

APPROVED


RMRO/PRIM



PROFI

RXD/TXD

-P

PROFI

RXD/TXD

-N


J1.CP/CS

R1.CP/CS

d

D

1

1

BN

3

3

BK

4

4

BU

6

6

RD

PE

PE

GN

YE

a

A

3

3

BK

4

4

VT

9

9

RD

10

10

BU

11

11

GY

12

12

PK YE GN

BN WH

a

A

5

5

RD

6

6

GN

5x2x0.25mm²+5x1mm²

1x2x0.64mm²


We

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rve

all r

ight

s in

thi

s do

cum

ent

and

in t

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form

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ntai

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tion,

use

or

disc

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str

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forb

idde

n. ©

Cop

yrig

ht 2

003

ABB

Page 21

23Total

Latest revision:

Approved by, date:

OPTION CUSTOMER POWER/SIGNALPARALLEL, IRB2600/4600/6xx0/7600

Location:Plant: =

++Sublocation:

Document no.Next

Rev. Ind


2 3 4 51 6 7

3HAC043574-001

8

EM, 2017-08-22 JN, 2017-09-01

APPROVED


RMRO/PRIM


CUSTOMER POWER


J1.CP/CS

R1.CP/CS

d

D

1

5x1 mm²

1

1

6

6

2

3

33

4

4

4

PE

PE

GN

YE

Prepared by, date:

We

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forb

idde

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Cop

yrig

ht 2

003

ABB

Page 22

23Total

Latest revision:

Approved by, date:

OPTION CUSTOMER POWER/SIGNALPROFINET, IRB2600/4600/6xx0/7600

Location:Plant: =

++Sublocation:

Document no.Next

Rev. Ind


2 3 4 51 6 7

3HAC043574-001

8

EM, 2017-08-22 JN, 2017-09-01

APPROVED


RMRO/PRIM

CUSTOMER POWER



J1.CP/CS

R1.CP/CS

d

D

1

1

6

6

3

3

4

4

PE

PE

5x1 mm²

1 2 3 4 GN

YE

J1.PROFINET

R1.PROFINET

1

1

2

2

3

3

4

4

1x4xAWG22

YE WH

OG

BU

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