© Copyright 2004 ABB ALL right reserved. · Prepared by, date: 4 e reserve all rights in this...
Transcript of © Copyright 2004 ABB ALL right reserved. · Prepared by, date: 4 e reserve all rights in this...
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3HAC026209-001
APPROVEDDMRO SEPRMP
The information in this document is subject to change without notice and should not be construed as a commitment by ABB. ABB assumes no responsibility for any errors that may appear in this document.
Except as may be expressly stated anywhere in this document, nothing herein shall be construed as anykind of guarantee or warranty by ABB for losses, damages to persons or property, fitness for aspecific purpose or the like.
In no event shall ABB be liable for incidental or consequential damages arising from use of this document.
This document and parts thereof must not be reproduced or copied without ABB's written permission,and contents therof must not be imparted to a third party nor be used for any unauthorized purpose.Contravention will be prosecuted.
Additional copies of this document may be obtained from ABB at its then current charge.
© Copyright 2004 ABB ALL right reserved.
ABB Automation Technologies ABRobotics
SE-721 68 VästeråsSweden
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3HAC026209-001
APPROVEDDMRO SEPRMP
ManufactureType
Control cabinetMains voltageSupplyControl voltageYear of construction
:::
::::
Type of installation
CustomerRobot serial number(s)Drawing numberDrawing version
::::
:
Project startProject managerLast revisionDesigned byDesigned dateNumber of pages
:::::::
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APPROVEDDMRO SEPRMP
Table of contentsPlant Location Page supplementary fieldPage Page description Date Editor
ABB_table_of_contents
SublocationSP
104
1
CUSTOMER SIGNALS, ETHERNET
COPYRIGHT PAGE
APPROVED
APPROVED
2009-12-04
2008-06-30
seermes
semitot
DP
SP
S
2
AX3
TITLE PAGE
105
APPROVED
CUSTOMER SIGNALS, ETHERNET
2008-06-30
APPROVED
semitot
2009-12-04
SP
seermes
3
DP
TABLE OF CONTENTS 1-117
S
APPROVED
AX3
2008-06-30
106
semitot
CUSTOMER SIGNALS, PROFIBUS
SP
APPROVED
4
2008-06-30
TABLE OF CONTENTS 118-228
semitot
DP
APPROVED
S
2008-06-30
AX3
AX3
semitot
AX3
107
SP 5-6
CUSTOMER SIGNALS, PROFIBUS
TABLE OF CONTENTS 229-321; 600-702
APPROVED
APPROVED
2008-06-30 semitot
2013-12-06
DP
seermes
SP
S
S
-
50
108
BLOCK DIAGRAM - TYPE S
CUSTOMER SIGNALS, PARALLEL
APPROVED
APPROVED
2008-06-30
2008-06-30
semitot
semitot
SP
DP
S
S
51
-
BLOCK DIAGRAM TYPE S - IRBDP SW5
109
APPROVED
CUSTOMER SIGNALS, PARALLEL
2008-06-30
APPROVED
semitot
2008-06-30
SP
semitot
Se
DP S
52 BLOCK DIAGRAM - TYPE Se
-
APPROVED
110
2008-06-30
CUSTOMER SIGNALS, CANBUS
semitot
APPROVED
SP
2008-06-30
Se
semitot
53
DP
BLOCK DIAGRAM TYPE Se - IRBDP SW5
S -
APPROVED
111
2008-06-30
CUSTOMER SIGNALS, CANBUS
semitot
APPROVED
SP
2008-06-30
H
semitot
54 BLOCK DIAGRAM - TYPE H APPROVED 2008-06-30 semitot
SP HS 55 BLOCK DIAGRAM - TYPE HS APPROVED 2008-06-30 semitot
SP HSe 56 BLOCK DIAGRAM - TYPE HSe APPROVED 2008-06-30
DP
semitot
S
SP
-
CON
114 CUSTOMER SIGNALS, PROFIBUS
57 CONNECTOR LAYOUT
APPROVED
APPROVED
2008-06-30 semitot
2008-06-30 semitot
DP
DP
DP
SP
S
SS
CON
-
58-59
115
117116
CONNECTOR LAYOUT
CUSTOMER SIGNALS, PARALLEL - SW6
CUSTOMER SIGNALS, PROFIBUS
CUSTOMER SIGNALS, PARALLEL - SW6
APPROVED
APPROVED
APPROVEDAPPROVED
2008-06-30
2012-03-21
2013-12-06
2012-03-21
semitot
seermes
seermesseermes
DP S AX3 100 CUSTOMER SIGNALS, PARALLEL APPROVED 2008-06-30 semitot
DP S AX3 101 CUSTOMER SIGNALS, PARALLEL APPROVED 2008-06-30 semitot
DP S AX3 102 CUSTOMER SIGNALS, CANBUS APPROVED 2008-06-30 seermes
DP S AX3 103 CUSTOMER SIGNALS, CANBUS APPROVED 2008-06-30 semitot
DP S AX3
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APPROVEDDMRO SEPRMP
Table of contentsPlant Location Page supplementary fieldPage Page description Date Editor
ABB_table_of_contents
Sublocation
DP
DP Se
Se
-
AX3
216
200 CUSTOMER SIGNALS, PARALLEL
CUSTOMER SIGNALS, CANBUS APPROVED
APPROVED 2008-06-30
2008-06-30
semitot
semitot
DP
DP
Se
Se -
AX3
217
201 CUSTOMER SIGNALS, PARALLEL
CUSTOMER SIGNALS, CANBUS
APPROVED
APPROVED 2008-06-30
2008-06-30
semitot
semitot
DP Se AX3 202 CUSTOMER SIGNALS, PARALLEL APPROVED 2008-06-30 semitot
AX3
AX3
AX3
AX3
DP Se AX3 203 CUSTOMER SIGNALS, CANBUS APPROVED 2008-06-30 semitot
DP Se AX3 204 CUSTOMER SIGNALS, CANBUS APPROVED 2008-06-30 semitot
DP
DP Se
Se
AX3
- 221
205
CUSTOMER SIGNALS, PROFIBUS
CUSTOMER SIGNALS, CANBUS APPROVED
APPROVED 2008-06-30
2008-06-30
semitot
semitot
DP
DP
DP
DP Se
Se
Se
Se
AX3
AX3
-
AX3
226
206
222
224
CUSTOMER SIGNALS, CANBUS - SW6
CUSTOMER SIGNALS, PROFIBUS
CUSTOMER SIGNALS, ETHERNET
CUSTOMER SIGNALS, PRALLEL - SW6
APPROVED
APPROVED
APPROVED
APPROVED
2012-03-21
2009-12-04
2008-06-30
2012-03-21
semitot
seermes
seermes
seermes
DP
DP
DP
DP
DP
Se
Se
Se
Se
Se
-
AX3
AX3
AX3
AX3
228
227
225
223
207
CUSTOMER SIGNALS, CANBUS - SW6
CUSTOMER SIGNALS, CANBUS - SW6
CUSTOMER SIGNALS, ETHERNET
CUSTOMER SIGNALS, PARALLEL - SW6
CUSTOMER SIGNALS, PROFIBUS APPROVED
APPROVED
APPROVED
APPROVED
APPROVED
2008-06-30
2009-12-04
2012-03-21
2012-03-21
2012-03-21
semitot
seermes
seermes
seermes
seermes
DP Se AX3 208 CUSTOMER SIGNALS, ETHERNET APPROVED 2009-12-04 seermes
DP Se AX3 209 CUSTOMER SIGNALS, PROFIBUS APPROVED 2008-06-30 semitot
DP Se AX3 210 CUSTOMER SIGNALS, PROFIBUS
DP
DP
DP
DP
APPROVED
S
S
S
S
2008-06-30 semitot
118
120
119
121
DP
CUSTOMER SIGNALS, CANBUS - SW6
CUSTOMER SIGNALS, CANBUS - SW6
CUSTOMER SIGNALS, ETHERNET - SW6
CUSTOMER SIGNALS, ETHERNET - SW6
Se
APPROVED
AX3
APPROVED
APPROVED
APPROVED
2012-03-21
2012-03-21
2012-03-21
2012-03-21
211
seermes
seermes
seermes
CUSTOMER SIGNALS, PROFIBUS
seermes
APPROVED 2008-06-30 semitot
DP Se - 212 CUSTOMER SIGNALS, PARALLEL APPROVED 2008-06-30 semitot
DP Se - 213 CUSTOMER SIGNALS, PARALLEL APPROVED 2008-06-30 semitot
DP Se - 214 CUSTOMER SIGNALS, PARALLEL APPROVED 2008-06-30 semitot
DP Se - 215 CUSTOMER SIGNALS, CANBUS APPROVED 2008-06-30 semitot
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APPROVEDDMRO SEPRMP
Table of contentsPlant Location Page supplementary fieldPage Page description Date Editor
ABB_table_of_contents
Sublocation
DP H 306 CUSTOMER SIGNALS, PROFIBUS APPROVED 2008-06-30 semitot
DP H 307 CUSTOMER SIGNALS, PROFIBUS APPROVED 2008-06-30 semitot
DP H.1 308 CUSTOMER SIGNALS, PARALLEL APPROVED 2008-06-30 semitot
DP H.1 309 CUSTOMER SIGNALS, PARALLEL APPROVED 2008-06-30 semitot
DP H.1 310 CUSTOMER SIGNALS, CANBUS APPROVED 2008-06-30 semitot
DP H.1 311 CUSTOMER SIGNALS, CANBUS APPROVED 2008-06-30 semitot
DP H.1 312 CUSTOMER SIGNALS, ETHERNET APPROVED 2009-12-04 seermes
DP H.1 313 CUSTOMER SIGNALS, ETHERNET APPROVED 2009-12-04 seermes
DP
DP
DP
DP Se
Se
Se
H.1
AX3
AX3
AX3
314
230
229
CUSTOMER SIGNALS, PROFIBUS
231
APPROVED
CUSTOMER SIGNALS, ETHERNET - SW6
CUSTOMER SIGNALS, ETHERNET - SW6
CUSTOMER SIGNALS, ETHERNET - SW6
APPROVED
2008-06-30
APPROVED
APPROVED
2012-03-21
2012-03-21
semitot
2012-03-21
seermes
DP
seermes
seermes
DP
H.1DP
H
315H
CUSTOMER SIGNALS, PROFIBUS
300
316
CUSTOMER SIGNALS, PARALLEL
APPROVEDCUSTOMER SIGNALS, PARALLEL - MH6
APPROVED
2008-06-30APPROVED
2008-06-30
semitot2013-12-06
semitot
DP
DP
seermes
ID
ID
DP
DP
AX3
AX3
H
H
400
402
301
317
CUSTOMER SIGNALS, PARALLEL
IRB66xID, ETHERNET (On request)
IRB66xID
CUSTOMER SIGNALS, PARALLEL - MH6
APPROVED
APPROVED
APPROVED
APPROVED
2011-09-23
2013-12-06
2008-06-30
2008-06-30
seermes
semitot
seermes
semitot
DP
DP
DP
DP H
H
ID
ID
AX3
302
AX3
318
CUSTOMER SIGNALS, CANBUS
403
CUSTOMER SIGNALS, CANBUS - MH6
401 IRB66xID
APPROVED
IRB66xID, ETHERNET (On request)
APPROVED
APPROVED
APPROVED
2008-06-30
2013-12-06
semitot
2011-09-23
2008-06-30
seermes
DP
seermes
DP
semitot
DP
H
H
303
PG
319 CUSTOMER SIGNALS, CANBUS - MH6
CUSTOMER SIGNALS, CANBUS
500
APPROVED
APPROVED
PEDESTAL GUN
2013-12-06
2008-06-30
APPROVED 2008-06-30
semitot
seermes
DP
semitot
DP
H
H
304
320
CUSTOMER SIGNALS, ETHERNET
CUSTOMER SIGNALS, ETHERNET - MH6
APPROVED
APPROVED
2009-12-04
2013-12-06
seermes
seermes
DP
DP
H
H
305
321
CUSTOMER SIGNALS, ETHERNET
CUSTOMER SIGNALS, ETHERNET - MH6
APPROVED
APPROVED
2009-12-04
2013-12-06
seermes
seermes
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3HAC026209-001
APPROVEDDMRO SEPRMP
Table of contentsPlant Location Page supplementary fieldPage Page description Date Editor
ABB_table_of_contents
Sublocation
semitot
DP REV 702 Revision Notes APPROVED 2008-06-30 semitot
DP CS B 600 CUSTOMER SIGNAL - IRBDP SW5 APPROVED 2008-06-30 semitot
DP RG 601 ROBOT GUN (RG) - IRBDP SW5 APPROVED 2008-06-30 semitot
DP RG 602 ROBOT GUN (RG) - IRBDP SW5 APPROVED 2008-06-30 semitot
DP REV 700 Revision Notes APPROVED 2008-06-30 semitot
DP REV 701 Revision Notes APPROVED 2008-06-30
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71 843
12
2 5
APPROVED
6
3HAC026209-001
DMRO SEPRMP
Axis 6
Axis 1
Axis 5
Axis 2
Axis 4
Axis 3
BaseR1.WELDR1.CP/CS/CBUSR1.CP/CS
WATER ANDAIR UNIT
XS/XP101
ROBOT SIGNALS, 24VDC SUPPLY
24VDC SUPPLY, PARALLEL INTERFACE, PROP. VALVE
WELD POWER
XP/XS13
XP/XS103
X101
SPOT WELDINGCABINET
SINGLE CABINETCONTROLLER
115/
230V
AC
CA
NB
US
INTE
RFA
CE
XP/XS113
24V
DC
SU
PP
LY, W
ELD
ING
SIG
NA
LS
RS
232/
RS
485
BLOCK DIAGRAM TYPE S (pneumatic gun)IRBDP SW2/SW6Single cabinet controller, IRC5: See circuit diagram, 3HAC024480-004.Dashed cables: See circuit diagram SpotPack, 3HAC026208-001
R1.ETHERNET
R3.ETHERNETR3.WELDR3.CP/CSR3.CBUS
R2.ETHERNETR2.WELDR2.CP/CSR2.CBUS
BUS SIGNALS XP/XS9
Prepared by, date:+Se/52
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3
APPROVED
123HAC026209-001
6 71 82 4 5
DMRO SEPRMP
REGION E
Axis 6
Axis 1
R3.CP/CSR3.WELD
Axis 5
Axis 2
Axis 4
R2.CP/CSAxis 3
Base
CONNECTION BOX
R1.WAR1.CBR1.CBR1.WELD
WATER ANDAIR UNIT
CUSTOMER POWERCUSTOMER SIGNAL
WELD POWER SWC.WELD
SWC.24VSWC.I/O
3HA
C02
9444
-001
C
AN
BU
S IN
TER
FAC
E
3HA
C02
9446
-001
2
4VD
C S
UP
PLY
, WE
LDIN
G S
IGN
ALS
SPOT WELDINGCABINET
SINGLE CABINETCONTROLLER
3HA
C02
9486
-001
R
S23
2/R
S48
5
BLOCK DIAGRAM TYPE S (pneumatic gun)IRBDP SW5Single cabinet controller, IRC5: See circuit diagram, 3HAC024480-004.Dashed cables: See circuit diagram SpotPack, 3HAC026208-001
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SPSe
Document no.Next
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71 843
12
2 5
APPROVED
6
3HAC026209-001
DMRO SEPRMP
XP/XS113
24V
DC
SU
PP
LY, W
ELD
ING
SIG
NA
LS
RS
232/
RS
485
BLOCK DIAGRAM TYPE Se (servo gun)IRBDP SW2/SW6Single cabinet controller, IRC5: See circuit diagram, 3HAC024480-004.Dashed cables: See circuit diagram SpotPack, 3HAC026208-001
R1.ETHERNET BUS SIGNALS XP/XS9
Servo gun( axis 7 )
M
Axis 6
Axis 1
Axis 5
Axis 2
Axis 4
Axis 3
Base
R1.WELD
R1.CP/CS/CBUSR1.CP/CS
R1.SP
WATER ANDAIR UNIT
XS/XP101
24VDC SUPPLY, PARALLEL INTERFACE
WELD POWER
ROBOT SIGNALS, 24VDC SUPPLY
SERVO GUN POWER
XP/XS103
XP/XS7
X101
XP/XS13
115/
230V
AC
R2.CP/CSR2.WELDR2.ETHERNETR2.CBUSR2.SPR3.FB
R3.CP/CSR3.WELDR3.ETHERNETR3.CBUSR3.SPR4.FB
R2.FB
CA
NB
US
INTE
RFA
CE
SPOT WELDINGCABINET
SINGLE CABINETCONTROLLER
Prepared by, date:+H/54
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umen
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BLOCK DIAGRAM TYPE Se - IRBDP SW5Location:Plant: =
++Sublocation:
SPSe
Document no.Next
Rev. Ind
Lab/Office: Status:IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5ECO 70147, WI 7698Page 224-231: Adjusted, "Type Se" was "Type S"Page 316-321: Adjusted, "Type H" was "Type S"
3
APPROVED
123HAC026209-001
6 71 82 4 5
DMRO SEPRMP
REGION E
3HA
C02
9446
-001
2
4VD
C S
UP
PLY
, WE
LDIN
G S
IGN
ALS
SPOT WELDINGCABINET
SINGLE CABINETCONTROLLER
3HA
C02
9486
-001
R
S23
2/R
S48
5
BLOCK DIAGRAM TYPE Se (servo gun)IRBDP SW5Single cabinet controller, IRC5: See circuit diagram, 3HAC024480-004.Dashed cables: See circuit diagram SpotPack, 3HAC026208-001
Servo gun( axis 7 )
M
R3.CP/CSR3.WELD
Axis 6
Axis 1
Axis 5
Axis 2
Axis 4
Axis 3
Base
R2.CP/CSR2.WELD
CONNECTION BOX
R1.SP
R1.WELD
R1.CBR1.CBR1.CB
WATER ANDAIR UNIT
SERVO GUN POWER
CUSTOMER POWERCUSTOMER SIGNAL
WELD POWER SWC.WELD
XP/XS7
SWC.24VSWC.I/O
3HA
C02
9444
-001
C
AN
BU
S IN
TER
FAC
E
Prepared by, date:+HS/55
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umen
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BLOCK DIAGRAM - TYPE HLocation:Plant: =
++Sublocation:
SPH
Document no.Next
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71 843
12
2 5
APPROVED
6
3HAC026209-001
DMRO SEPRMP
Axis 1
R3.CP/CS
Axis 5
Axis 6
Axis 2
Axis 4
R2.CP/CS
Axis 3
Base R1.CP/CS/CBUS ROBOT SIGNALS, 24VDC SUPPLY XP/XS13SINGLE CABINET
CONTROLLER
BLOCK DIAGRAM TYPE HIRBDP SW2Single cabinet controller, IRC5: See circuit diagram, 3HAC024480-004.
R1.ETHERNET BUS SIGNALS XP/XS9
R2.ETHERNET
R3.ETHERNET
Prepared by, date:+HSe/56
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umen
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ird p
artie
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BLOCK DIAGRAM - TYPE HSLocation:Plant: =
++Sublocation:
SPHS
Document no.Next
Rev. Ind
Lab/Office: Status:IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5ECO 70147, WI 7698Page 224-231: Adjusted, "Type Se" was "Type S"Page 316-321: Adjusted, "Type H" was "Type S"
71 843
12
2 5
APPROVED
6
3HAC026209-001
DMRO SEPRMP
WELDING SIGNALS, 24VDC SUPPLY
R1.CP/CS/CBUS
WATER ANDAIR UNIT
ROBOT SIGNALS, 24VDC SUPPLY
XS/XP101
24VDC SUPPLY, PARALLEL INTERFACE, PROP. VALVE
X104
XP/XS13
XP/XS103
X101
SPOT WELDINGCABINET
SINGLE CABINETCONTROLLER
115/
230V
AC
CA
NB
US
INTE
RFA
CE
XP/XS113
24V
DC
SU
PP
LY, W
ELD
ING
SIG
NA
LS
RS
232/
RS
485
BLOCK DIAGRAM TYPE HS (material handling and pneumatic gun)IRBDP SW2Single cabinet controller, IRC5: See circuit diagram, 3HAC024480-004.Dashed cables: See circuit diagram SpotPack, 3HAC026208-001
R1.ETHERNET BUS SIGNALS XP/XS9
PEDESTAL
GUN
Axis 1
R3.CP/CS
SG.WELDSG.CP/CS
Axis 5
Axis 6
Axis 2
Axis 4
R2.CP/CS
Axis 3
Base
R2.ETHERNET
R3.ETHERNET
WELD POWER
Prepared by, date:+CON/57
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umen
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BLOCK DIAGRAM - TYPE HSeLocation:Plant: =
++Sublocation:
SPHSe
Document no.Next
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Lab/Office: Status:IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5ECO 70147, WI 7698Page 224-231: Adjusted, "Type Se" was "Type S"Page 316-321: Adjusted, "Type H" was "Type S"
71 843
12
2 5
APPROVED
6
3HAC026209-001
DMRO SEPRMP
Base
R2.CP/CSR2.WELD
R1.CP/CS/CBUS
R3.
FB7
WATER ANDAIR UNIT
XS/XP101
WELDING SIGNALS, 24VDC SUPPLY
ROBOT SIGNALS, 24VDC SUPPLY
POWER SERVOGUN
WELD POWER
24VDC SUPPLY, PARALLEL INTERFACE, PROP. VALVE XP/XS103
X101
M
Servo gunXP/XS13
XP/XS7
( axis 7 )
X104
115/
230V
AC
CA
NB
US
INTE
RFA
CE
SPOT WELDINGCABINET
SINGLE CABINETCONTROLLER
XP/XS113
24V
DC
SU
PP
LY, W
ELD
ING
SIG
NA
LS
RS
232/
RS
485
BLOCK DIAGRAM TYPE HSe (material handling and servo gun)IRBDP SW2Single cabinet controller, IRC5: See circuit diagram, 3HAC024480-004.Dashed cables: See circuit diagram SpotPack, 3HAC026208-001
PEDESTAL
R1.ETHERNET
GUN
BUS SIGNALS XP/XS9
FB.M7
R1.SP
Axis 1
Axis 5
Axis 6
SG.CP/CS
SG.WELD
R3.CP/CSR3.WELD
Axis 2
Axis 4
RESOLVER/SMB SIGNALS
Axis 3
R2.ETHERNETR2.ETHERNET
Prepared by, date:58
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umen
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Latest revision:
Approved by, date:
CONNECTOR LAYOUTLocation:Plant: =
++Sublocation:
SPCON
Document no.Next
Rev. Ind
Lab/Office: Status:IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5ECO 70147, WI 7698Page 224-231: Adjusted, "Type Se" was "Type S"Page 316-321: Adjusted, "Type H" was "Type S"
71 843
12
2 5
APPROVED
6
3HAC026209-001
DMRO SEPRMP
HARTING HAN MODULE/
18
HARTING HAN MODULE/
d
18
25
1225
18
8
EE
1
25
7
625
8
51
6
1
BLOCK DIAGRAM TYPE S/ Se/ H/ HS/ HSe
4
Cb
1 18
HD
1
DD
HD
1
48
1
9
4
25
Female (R3.CP/CS)
Male (R1.CP/CS)
1
417
8
B
c
18 7
HD
12
7
12
A
1
D A
11
8
EE
6
a A
HD
5
DD
DD
Female (R2.CP/CS)
D
9
178
1
17
6
9
8
8
5
HD
25
EE
9 5
17
1
8
DD
C
17
9
Female (R3.CP/CS)only for IRB66X0ID
C
17
9
B
HD
18
B
7
12
1
EE
8
Prepared by, date:59
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umen
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Approved by, date:
CONNECTOR LAYOUTLocation:Plant: =
++Sublocation:
SPCON
Document no.Next
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Lab/Office: Status:IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5ECO 70147, WI 7698Page 224-231: Adjusted, "Type Se" was "Type S"Page 316-321: Adjusted, "Type H" was "Type S"
71 843
12
2 5
APPROVED
6
3HAC026209-001
DMRO SEPRMP
A
3
2
Female 4pR1.ETHERNETR2.ETHERNET
Male 4pR2.ETHERNETR3.ETHERNET
A
Female 23p (R1.SP)
1
Female 8p (R2.FB7 & FB.M7)
4
1
4
Male 8p (R3.FB7)
AAA
BLOCK DIAGRAM TYPE Se/HSe
2
3
Female 19p (R3.CBUS) Female 32p (R3.CP/CS)
BLOCK DIAGRAM TYPE H/HS/HSe model (IRBDP MH3)
SOURIAU UTOWOR COMPATIBLE
SOURIAU UTOWOR COMPATIBLE
SOURIAU UTOWOR COMPATIBLE
SOURIAU UTOWOR COMPATIBLE
SOURIAU UTOWOR COMPATIBLE
Prepared by, date:=DP+S.AX3/100
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umen
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Approved by, date:
CONNECTOR LAYOUTLocation:Plant: =
++Sublocation:
SPCON
Document no.Next
Rev. Ind
Lab/Office: Status:IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5ECO 70147, WI 7698Page 224-231: Adjusted, "Type Se" was "Type S"Page 316-321: Adjusted, "Type H" was "Type S"
71 843
12
2 5
APPROVED
6
3HAC026209-001
DMRO SEPRMP
AA A
A A A
M23M23
Male 17p (R3.FB7) Female 17p (R3.FB7 & R4.FB7)
Female 8p R2.SPR3.SP
Male 8p R2.SPR3.SP
Female 10p (R3.CBUS)Male 10p (R2.CBUS)Female 10p (R2.CBUS)
Female 26p (R3.CPS)Female 26p (R2.CP/CS) Male 26p (R2.CPS)
BLOCK DIAGRAM TYPE H, S, Se (Unique on SW6, MH6)
SOURIAU UTOWOR COMPATIBLE
SOURIAU UTOWOR COMPATIBLE
SOURIAU UTOWOR COMPATIBLE
SOURIAU UTOWOR COMPATIBLE
SOURIAU UTOWOR COMPATIBLE
SOURIAU UTOWOR COMPATIBLE
SOURIAU UTOWOR COMPATIBLE
SOURIAU UTOWOR COMPATIBLE
Prepared by, date:101
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umen
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Rep
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sclo
sure
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n. ©
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2015-03-04
Page100
98TotalTYPE S
Latest revision:
Approved by, date:
CUSTOMER SIGNALS, PARALLELLocation:Plant: =
++Sublocation:
DPSAX3
Document no.Next
Rev. Ind
Lab/Office: Status:IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5ECO 70147, WI 7698Page 224-231: Adjusted, "Type Se" was "Type S"Page 316-321: Adjusted, "Type H" was "Type S"
12APPROVED
3HAC026209-001
1 2 74 53 6 8
DMRO SEPRMP
TYPE SCUSTOMER SIGNALSPARALLELCOMMUNICATIONVALID FORHARNESS IN CABINET3HAC022852-001 (Dual)3HAC024371-001 (Single)FLOOR HARNESS3HAC022957-001,002,003,006
ORANGE LINELOWER ARM HARNESS3HAC022478-001UPPER ARM HARNESS3HAC023170-001,002
SILVER LINELOWER ARM HARNESS3HAC022135-0013HAC022136-001UPPER ARM HARNESS3HAC022474-0013HAC022474-0023HAC022474-003
FOR IRB66x0IDCONNECTION BETWEENR2.CP/CS AND R3.CP/CSSEE PAGE IRB66x0IDLOWER ARM HARNESS3HAC022478-001UPPER ARM HARNESS3HAC025532-001
* Circuitdiagram shows marking on wires for both dual and single cabinet
BK
670
BN
671
RD
672
OG
673
YE
677
GN
678
4
GY
WH/GN
5
WH
GN
6
WH/BK
7
WH/BN
WH/BN
BN
GN/YE
WH/RD
WH/BU
WH/BK
WH/OG
BU
BK
GY
WH/OG
WH
WH/BN
OG
DUAL
BN
679
WH/RD
SINGLE
680
RD
GN/YE
681
WH/OG
-
682
OG
-
-
693
WH/YE
694
YE
-
*
695
WH/GNGN
*
696697
WH/BUBU
WH/GN
698
685
GN
WH/VT
686
VT
WH/BN
GN/YE
WH/GY
BN
101/
3
GY
WH/BU
WH/BK
BU
BK
WH/OG
OG
WH/OGOG
Note 1.1 on Page 700
101/
6
Note 1.3 on Page 700
Note 1.5 on Page 701
101/
7
12
34
GN/YE
WH
-AXIS 3 -AXIS 6-MANIPULATOR BASE-ROBOTCABINET
-XS13
D1 d1-R2CP/CS
D6 d6
D3 d3
D4 d4
B1 b1
B2 b2
B3 b3
B4 b4
B5 b5
B6 b6
B7 b7
B8 b8
B9 b9
B10 b10
B11 b11
B12 b12
B13 b13
B14 b14
B15 b15
B16 b16
B18 b18
B19 b19
B20 b20
B21 b21
C16 c16
C17 c17
C4-R3.CP/CS
C5 c5
C6 c6
C7 c7
B18
B19
B20
B21
B22
B23
B24
B25
B16
B17
B1
B2
B3
B4
B5
B6
B7
B8
B9
B10
B11
B12
D1 d1-R1.CP/CS
D6 d6
D3 d3
D4 d4
B1 B1
B2 b2
B3 b3
B4 b4
B5 b5
B6 b6
B7 b7
B8 b8
B9 b9
B10 b10
B11 b11
B12 b12
B13 b13
B14 b14
B15 b15
B16 b16
B18 b18
B19 b19
B20 b20
B21 b21
C16 c16
C17 c17
1 1-XP5.1
2 2
9 9-XP5.1
10 10
11 11
12 12
3 3
4 4
5 5
6 6
1 1-XP5.2
2 2
3 3
4 4
5 5-XP5.2
6
1 1-XP5.3
2 2
3 3
4 4
5 5
6 6
1 1-XP6
3 3
4 4
2 2
A1 a1
A2 a2
A3 a3
A4 a4
B1 b1
B2 b2
B3 b3
B4 b4
B5 b5
B6 b6
B7 b7
B8 b8
B9 b9
B10 b10
B11 b11
B12 b12
B13 b13
B14 b14
B15 b15
B16 b16
B18 b18
B19 b19
B20 b20
B21 b21
C16 c16
C17 c17
BU
WH/GNGN
WH/BNBN
WH/BUBU
WH/OGOG
WHOGWH
4
GN
5
WH
6
BN
7
WH
GN/YE
GY
WH/OG
RD
OG
BU
WH/BK
RDOG
BK
WH/BNBN
WH/RDRD
101/
4
WH/OGOG
WH/YE
101/
5
YE
WH/GNGNWH/BUBU
WH/VTVTWH/GYGYWH/BKBK
101/
8
24V0V
24V0V
KSRKSR
PE
BKBNRDOGYEGNBUVT
Prepared by, date:102
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umen
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rodu
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Page101
98TotalTYPE S
Latest revision:
Approved by, date:
CUSTOMER SIGNALS, PARALLELLocation:Plant: =
++Sublocation:
DPSAX3
Document no.Next
Rev. Ind
Lab/Office: Status:IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5ECO 70147, WI 7698Page 224-231: Adjusted, "Type Se" was "Type S"Page 316-321: Adjusted, "Type H" was "Type S"
12APPROVED
3HAC026209-001
1 2 74 53 6 8
DMRO SEPRMP
TYPE SCUSTOMER SIGNALSPARALLELCOMMUNICATIONVALID FORHARNESS IN CABINET3HAC022852-001 (Dual)3HAC024371-001 (Single)FLOOR HARNESS3HAC022957-001,002,003,006
ORANGE LINELOWER ARM HARNESS3HAC022478-001UPPER ARM HARNESS3HAC023170-001,002
SILVER LINELOWER ARM HARNESS3HAC022135-0013HAC022136-001UPPER ARM HARNESS3HAC022474-0013HAC022474-0023HAC022474-003
FOR IRB66x0IDCONNECTION BETWEENR2.CP/CS AND R3.CP/CSSEE PAGE IRB66x0IDLOWER ARM HARNESS3HAC022478-001UPPER ARM HARNESS3HAC025532-001
* Circuitdiagram shows markingon wires for both dual andsingle cabinet
687
683
688
684
689690691692
699700666667668669
100/
3
RD
GN
RD
BN
RDGYBKBU
100/
4
100/
5
WH/YEYEWH
B25 b25
-AXIS 3 -AXIS 6-MANIPULATOR BASE-ROBOTCABINET-XS13
C18 c18-R2.CP/CS
C19 c19
C20 c20
C21 c21
B22 b22
B23 b23
B24 b24
B25 b25
B13-R3.CP/CS
B14
B15
C8
B22 b22
B23 b23
B24 b24
c18 c18-R1.CP/CS
C19 c19
C20 c20
C21 c21
A1
A2
A3
A4
7 7-XP5.1
8 8-XP5.1
9 9-XP5.2
10 10
11 11
12 12
7 7-XP5.2
8 8-XP5.2
7 7-XP5.3
8 8
9 9
10 10
11 11
12 12
B22 b22
B23 b23
B24 b24
B25 b25
C10
C11
C12
C13
C14
C15
C18 c18
C19 c19
C20 c20
C21 c21
GN
WH/BN
BN
WH/RD
RD
100/
6
100/
7
WH/RD
YEWH/GNGN
WH/BN
BN
RD
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Note 1.6 on Page 701
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12APPROVED
3HAC026209-001
1 2 74 53 6 8
DMRO SEPRMP
TYPE SCUSTOMER SIGNALSCANBUSCOMMUNICATIONVALID FORHARNESS IN CABINET3HAC022852-001 (Dual)3HAC024371-001 (Single)3HAC022866-001FLOOR HARNESS3HAC022978-001,002,003,006
ORANGE LINELOWER ARM HARNESS3HAC022480-001UPPER ARM HARNESS3HAC023172-001,002
SILVER LINELOWER ARM HARNESS3HAC022470-0013HAC022471-001UPPER ARM HARNESS3HAC022476-0013HAC022476-0023HAC022476-003
FOR IRB66x0IDCONNECTION BETWEENR2.CP/CS AND R3.CP/CSSEE PAGE IRB66x0IDLOWER ARM HARNESS3HAC022480-001UPPER ARM HARNESS3HAC025532-001
* Circuitdiagram shows marking on wires for both dual and single cabinet
WH/YE
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677678
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24V
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0V
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Note 1.3 on Page 700
103/
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-AXIS 3 -AXIS 6-MANIPULATOR BASE-ROBOTCABINET-XS13
D1 d1-R2.CP/CS
D6 d6
D3 d3
D4 d4
B1 b1
B2 b2
B3 b3
B4 b4
B5 b5
B6 b6
B7 b7
B8 b8
B9 b9
B10 b10
C4-R3.CP/CS
C5
C6
C7
B18
B19
B20
B21
B22
B23
B24
B25
B16
B17
D1 d1-R1.CP/CS
D6 d6
D3 d3
D4 d4
B1 b1
B2 b2
B3 b3
B4 b4
B5 b5
B6 b6
B7 b7
B8 b8
B9 b9
B10 b10
1 1-XP5.1
9 9-XP5.1
1 1-XP5.2
1 1-XP6
2 2
3 3
4 4
2 2
10 10
11 11
12 12
2 2
3 3
4 4
A1 a1
A2 a2
A3 a3
A4 a4
B1 b1
B2 b2
B3 b3
B4 b4
B5 b5
B6 b6
B7 b7
B8 b8
B9 b9
B10 b10
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WH/BNBN
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45
67
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103/
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45
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WH/BNBN
WH/RDRD
WH/OGOG
Prepared by, date:104
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++Sublocation:
DPSAX3
Document no.Next
Rev. Ind
Lab/Office: Status:IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5ECO 70147, WI 7698Page 224-231: Adjusted, "Type Se" was "Type S"Page 316-321: Adjusted, "Type H" was "Type S"
12APPROVED
3HAC026209-001
1 2 74 53 6 8
DMRO SEPRMP
TYPE SCUSTOMER SIGNALSCANBUSCOMMUNICATIONVALID FORHARNESS IN CABINET3HAC022852-001 (Dual)3HAC024371-001 (Single)3HAC022866-001FLOOR HARNESS3HAC022978-001,002,003,006
ORANGE LINELOWER ARM HARNESS3HAC022480-001UPPER ARM HARNESS3HAC023172-001,002
SILVER LINELOWER ARM HARNESS3HAC022470-0013HAC022471-001UPPER ARM HARNESS3HAC022476-0013HAC022476-0023HAC022476-003
FOR IRB66x0IDCONNECTION BETWEENR2.CP/CS AND R3.CP/CSSEE PAGE IRB66x0IDLOWER ARM HARNESS3HAC022480-001UPPER ARM HARNESS3HAC025532-001
* Circuitdiagram shows markingon wires for both dual andsingle cabinet
8
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3
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-AXIS 3 -AXIS 6-MANIPULATOR BASE-ROBOTCABINET-XS13
B11 b11-R2.CP/CS
B12 b12
B13 b13
B14 b14
B15 b15
B16 b16
B18 b18
B19 b19
B20 b20
B21 b21
C18 c18
C19 c19
C20 c20
C21 c21
C16 c16
C17 c17
B22 b22
B23 b23
B24 b24
B25 b25
A3 a3
A4 a4
A5 a5
A6 a6
A9 a9
A10 a10
A11 a11
A12 a12
B1-R3.CP/CS
B2
B3
B4
B5
B6
B7
B8
B9
B10
B11
B12
B13
B14
B15
C8
A7
A8
A9
A10
A5
A6
A11
A12
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B12 b12
B13 b13
B14 b14
B15 b15
B16 b16
B18 b18
B19 b19
B20 b20
B21 b21
C16 c16
C17 c17
C18 c18
C19 c19
C20 c20
C21 c21
B22 b22
B23 b23
B24 b24
B25 b25
A3 a3
A4 a4
A5 a5
A6 a6
A9 a9
A10 a10
A11 a11
A12 a12
A1
A2
A3
A4
5 5-A35.X2
1 1
4 4-A35.X2
2 2
3 3
3 3-XP5.1
4 4
5 5
6 6
7 7-XP5.1
8 8-XP5.1
11 11-XP5.2
12 12
9 9
10 10
5 5-XP5.2
8 8-XP5.2
7 7-XP5.3
8 8
9 9
10 10
11 11
12 12
1 1-XP5.3
6 6
6 6
7 7
2 2
3 3
4 4
5 5
B11 b11
B12 b12
B13 b13
B14 b14
B15 b15
B16 b16
B18 b18
B19 b19
B20 b20
B21 b21
C16 c16
C17 c17
C18 c18
C19 c19
C20 c20
C21 c21
F1 F1
F2 F2
B24 B24
B25 B25
B22
B23
F3 F3
F4 F4
C10 c10
C11 c11
C12 c12
C13 c13
C14 c14
C15 c15
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BN
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56
7
Prepared by, date:105
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Latest revision:
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CUSTOMER SIGNALS, ETHERNETLocation:Plant: =
++Sublocation:
DPSAX3
Document no.Next
Rev. Ind
Lab/Office: Status:IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5ECO 70147, WI 7698Page 224-231: Adjusted, "Type Se" was "Type S"Page 316-321: Adjusted, "Type H" was "Type S"
12APPROVED
3HAC026209-001
1 2 74 53 6 8
DMRO SEPRMP
TYPE SCUSTOMER SIGNALSETHERNETCOMMUNICATIONVALID FOR HARNESS IN CABINET3HAC022852-001 (Dual)3HAC024371-001 (Single)3HAC022867-001FLOOR HARNESS3HAC023024-001,002,003,006
ORANGE LINELOWER ARM HARNESS3HAC034334-001UPPER ARM HARNESS3HAC023170-001,002
FOR IRB66X0IDCONNECTION BETWEENR2.CP/CS AND R3.CP/CSSEE PAGE IRB66X00IDLOWER ARM HARNESS3HAC034334-001
* Circuit diagram shows marking on wires for both dual and single cabinet
BN
670
WH/RD
671
RD
672
WH/OG
673
OG
677
WH/YE
678
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WH/GN
GN
WH/BN
BN
WH/BU
BU
105/
8
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OG
GN/YE
24V
105/
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0V
24V0V
KSRKSR
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1
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2
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Note 1.1 on Page 700
Note 1.3 on Page 700
YE
WH
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BU
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WH
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BU
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-XS9
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-AXIS 3 -AXIS 6-MANIPULATOR BASE-ROBOTCABINET
-XS13
D1 d1-R2.CP/CS
D6 d6
D3 d3
D4 d4
B1 b1
B2 b2
B3 b3
B4 b4
B5 b5
B6 b6
B7 b7
B8 b8
B9 b9
B10 b10
C4-R3.CP/CS
C5
C6
C7
B18
B19
B20
B21
B22
B23
B24
B25
B16
B17
D1 d1-R1.CP/CS
D6 d6
D3 d3
D4 d4
B1 b1
B2 b2
B3 b3
B4 b4
B5 b5
B6 b6
B7 b7
B8 b8
B9 b9
B10 b10
1 1-R1.ETHERNET
2 2
3 3
4 4
1 1-R2.ETHERNET
2 2
3 3
4 4
1-R3.ETHERNET
2
3
4
1 1-XP5.1
2 2
9 9-XP5.1
10 10
11 11
12 12
1 1-XP5.2
3 3
4 4
1 1-XP6
2 2
3 3
4 4
2 2
1 1
2 2
3 3
4 4
A1 a1
A2 a2
A3 a3
A4 a4
B1 b1
B2 b2
B3 b3
B4
b4B5
b5B6
b6B7
b7B8
b8B9
b9B10
b10
BU
GN/YE
45
67
WH/BKBK
WH/BNBN
WH/RDRD
WH/OGOG
WH/YEYE
105/
6
105/
7
45
67
GN/YE
WH/BKBK
WH/BN
Prepared by, date:106
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++Sublocation:
DPSAX3
Document no.Next
Rev. Ind
Lab/Office: Status:IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5ECO 70147, WI 7698Page 224-231: Adjusted, "Type Se" was "Type S"Page 316-321: Adjusted, "Type H" was "Type S"
12APPROVED
3HAC026209-001
1 2 74 53 6 8
DMRO SEPRMP
TYPE SCUSTOMER SIGNALSETHERNETCOMMUNICATIONVALID FOR HARNESS IN CABINET3HAC022852-001 (Dual)3HAC024371-001 (Single)3HAC022867-001FLOOR HARNESS3HAC023024-001,002,003,006
ORANGE LINELOWER ARM HARNESS3HAC034334-001UPPER ARM HARNESS3HAC023170-001,002
FOR IRB66X0IDCONNECTION BETWEENR2.CP/CS AND R3.CP/CSSEE PAGE IRB66X00IDLOWER ARM HARNESS3HAC034334-001
* Circuit diagram shows marking on wires for both dual and single cabinet
679
680681
104/
8
682
693694695696697
689
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685
686
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688
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684
WH/BKWH/BNWH/RD
690
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WH
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WH/BK
667668
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669
WH/BN
WH/GN
699
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700
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691
*DUAL *SINGLE
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C12
B13 b13
-AXIS 3 -AXIS 6-MANIPULATOR BASE-ROBOTCABINET-XS13
B11 b11-R2.CP/CS
B12 b12
B13 b13
B14 b14
B15 b15
B16 b16
B18 b18
B19 b19
B20 b20
B21 b21
C18 c18
C19 c19
C20 c20
C21 c21
C16 c16
C17 c17
B22 b22
B23 b23
B24 b24
B25 b25
B1-R3.CP/CS
B2
B3
B4
B5
B6
B7
B8
B9
B10
B11
B12
B13
B14
B15
C8
A1
A2
A3
A4
B11 b11-R1.CP/CS
B12 b12
B14 b14
B15 b15
B16 b16
B18 b18
B19 b19
B20 b20
B21 b21
C16 c16
C17 c17
C18 c18
C19 c19
C20 c20
C21 c21
B22 b22
B23 b23
B24 b24
B25 b25
3 3-XP5.1
4 4
5 5
6 6
7 7-XP5.1
8 8-XP5.1
5 5-XP5.2
8 8-XP5.2
10 10
12 12
9 9-XP5.2
1 1-XP5.3
2 2
3 3
4 4
9 9-XP5.3
10 10
11 11
12 12
7 7
8 8
6 6
7 7
11 11
5 5
6 6
B11 b11
B12 b12
B13 b13
B14 b14
B15 b15
B16 b16
B18 b18
B19 b19
B20 b20
B21 b21
C16 c16
C17 c17
C18 c18
C19 c19
C20 c20
C21 c21
B23 b23
B24 b24
B25 b25
C13
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C11
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104/
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Prepared by, date:107
We
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umen
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idde
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EM 2015-02-17 JEN 2015-03-04
2015-03-04
Page106
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Latest revision:
Approved by, date:
CUSTOMER SIGNALS, PROFIBUSLocation:Plant: =
++Sublocation:
DPSAX3
Document no.Next
Rev. Ind
Lab/Office: Status:IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5ECO 70147, WI 7698Page 224-231: Adjusted, "Type Se" was "Type S"Page 316-321: Adjusted, "Type H" was "Type S"
12APPROVED
3HAC026209-001
1 2 74 53 6 8
DMRO SEPRMP
TYPE SCUSTOMER SIGNALSPROFIBUSCOMMUNICATIONVALID FORHARNESS IN CABINET3HAC022852-001 (Dual)3HAC024371-001 (Single)3HAC022868-001FLOOR HARNESS3HAC022988-001,002,003,006
ORANGE LINELOWER ARM HARNESS3HAC022480-001UPPER ARM HARNESS3HAC023172-001,002
SILVER LINELOWER ARM HARNESS3HAC022470-0013HAC022471-001UPPER ARM HARNESS3HAC022476-0013HAC022476-0023HAC022476-003
FOR IRB66x0IDCONNECTION BETWEENR2.CP/CS AND R3.CP/CSSEE PAGE IRB66x0IDLOWER ARM HARNESS3HAC022480-001UPPER ARM HARNESS3HAC025532-001
* Circuitdiagram shows markingon wires for both dual andsingle cabinet
WH/YE
670
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673
677678
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Note 1.3 on Page 700
107/
5
-AXIS 3 -AXIS 6-MANIPULATOR BASE-ROBOTCABINET
-XS13
D1 d1-R2.CP/CS
D6 d6
D3 d3
D4 d4
B1 b1
B2 b2
B3 b3
B4 b4
B5 b5
B6 b6
B7 b7
B8 b8
B9 b9
B10 b10
C4-R3.CP/CS
C5
C6
C7
B18
B19
B20
B21
B22
B23
B24
B25
B16
B17
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D6 D6
D3 D3
D4 D4
B1 B1
B2 B2
B3 B3
B4 B4
B5 B5
B6 B6
B7 B7
B8 B8
B9 B9
B10 B10
1 1-XP5.1
2 2
9 9-XP5.1
10 10
11 11
12 12
1 1-XP5.2
2 2
3 3
4 4
1 1-XP6
2 2
3 3
4 4
A1 a1
A2 a2
A3 a3
A4 a4
B1 b1
B2 b2
B3 b2
B4 b4
B5 b5
B6 b6
B7 b7
B8 b8
B9 b9
B10 b10
12
34
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WH/YEYE
107/
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107/
7
45
67
GN/YE
WH/BKBK
WH/BNBN
WH/RDRD
WH/OGOG
Prepared by, date:+.(-)/108
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12APPROVED
3HAC026209-001
1 2 74 53 6 8
DMRO SEPRMP
TYPE SCUSTOMER SIGNALSPROFIBUSCOMMUNICATIONVALID FORHARNESS IN CABINET3HAC022852-001 (Dual)3HAC024371-001 (Single)3HAC022868-001FLOOR HARNESS3HAC022988-001,002,003,006
ORANGE LINELOWER ARM HARNESS3HAC022480-001UPPER ARM HARNESS3HAC023172-001,002
SILVER LINELOWER ARM HARNESS3HAC022470-0013HAC022471-001UPPER ARM HARNESS3HAC022476-0013HAC022476-0023HAC022476-003
FOR IRB66x0IDCONNECTION BETWEENR2.CP/CS AND R3.CP/CSSEE PAGE IRB66x0IDLOWER ARM HARNESS3HAC022480-001UPPER ARM HARNESS3HAC025532-001
* Circuitdiagram shows markingon wires for both dual andsingle cabinet
78
12
689
3
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4
691
YE
692
YE699
VT
700
VTRD
GN
GN
GN666
GN
667
GN668
106/
8
669
RXD/TXD-P
679
RXD/TXD-N
680681
RD
682
OG
693694
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695
GN
696
GY
697
WH
698
WH/BK
685
WH/BN
686
WH/RD
687
WH/OG
683
GY
BU
688
684
WH/BK
WH/GN
WH/BN
106/
3
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WH
WH/BU
VT
WH/RD
BU
WH/OG
WH/VTVT
WH/YE
WH/GY
WH/GN
WH/YE
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WH/BK
RD
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WH/OG
GN
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WH/BU
WH/BN
WH/VT
WH/GY
BN
WH/RD
*
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WH/BK
*
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SINGLE
WH/BNBN
BN/BK
56
78
12
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VTVT
GN
-AXIS 3 -AXIS 6-MANIPULATOR BASE-ROBOTCABINET
B25 b25
-XS13
B11 b11-R2.CP/CS
B12 b12
B13 b13
B14 b14
B15 b15
B16 b16
B18 b18
B19 b19
B20 b20
B21 b21
C18 c18
C19 c19
C20 c20
C21 c21
C16 c16
C17 c17
B22 b22
B23 b23
B24 b24
B25 b25
A3 a3
A4 a4
A5 a5
A6 a6
A9 a9
A10 a10
A11 a11
A12 a12
B1-R3.CP/CS
B2
B3
B4
B5
B6
B7
B8
B9
B10
B11
B12
B13
B14
B15
C8
A1
A2
A3
A4
A7
A8
A9
A10
A5
A6
A11
A12
B11 c11-R1.CP/CS
B12 b12
B13 b13
B14 b14
B15 b15
B16 b16
B18 b18
B19 b19
B20 b20
B21 b21
C16 c16
C17 c17
C18 c18
C19 c19
C20 c20
C21 c21
B22 b22
B23 b23
B24 b24
A3 a3
A4 a4
A5 a5
A6 a6
A9 a9
A10 a10
A11 a11
A12 a12
1B 1B-DP-M
1A 1A
3 3-XP5.1
4 4
5 5
6 6
7 7-XP5.1
8 8-XP5.1
5 5-XP5.2
6 6
7 7
8 8-XP5.2
9 9-XP5.2
10 10
11 11
12 12
1 1-XP5.3
2 2
3 3
4 4
5 5
6 6
7 7-XP5.3
8 8
9 9-XP5.3
10 10
11 11
12 12
B11 B11
B12 B12
B13 B13
B14 B14
B15 B15
B16 B16
B18 B18
B19 B19
B20 B20
B21 B21
C16 C16
C17 C17
C18 C18
C19 C19
C20 C20
C21 C21
B22 b22
B23 b23
B24 b24
B25 b25
C10 c10
C11 c11
F5 f5
F6 f6
C12 c12
C13 c13
C14 c14
C15 c15
GN
GNGN
106/
6
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7
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WHBNWHGYRDBU
RD
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GN
RD
BN
RDGYBKBU
BKOG
RDGN
BKGN
BKBN
106/
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WH/VT
106/
5
VTWH/GYGYWH/BKBK
WH/OG
OGWH/BN
BN
WH/RD
RD
WH/BKBKWH/BNBN
56
Prepared by, date:109
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++Sublocation:
DPS(-)
Document no.Next
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Lab/Office: Status:IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5ECO 70147, WI 7698Page 224-231: Adjusted, "Type Se" was "Type S"Page 316-321: Adjusted, "Type H" was "Type S"
12APPROVED
3HAC026209-001
1 2 74 53 6 8
DMRO SEPRMP
TYPE SCUSTOMER SIGNALSPARALLELCOMMUNICATIONVALID FORHARNESS IN CABINET3HAC022852-001 (Dual)3HAC024371-001 (Single)FLOOR HARNESS3HAC022957-001,002,003,006
ORANGE LINELOWER/UPPER ARM HARNESS3HAC22486-001,002
* Circuitdiagram shows marking on wires for both dual and single cabinet
670
671
672
673
677678
4
WH/GN
5
GN
6
WH/BN
7
BN
GN/YE
WH/BU
WH/BK
BU
BK
WH/OG
WH/BN
OG
BN
679
WH/RD
680
RD
681
WH/OG
682
OG
693
WH/YE
694
YE
695
WH/GN
696
GN
697
WH/BU
698
BU
685
WH/VT
686
VT
GN/YE
WH/GY
109/
3
GYWH/BKBK
109/
8
24V
0V
24V
0V
KSR
KSR
PE
BKBNRDOGYEGNBUVTGN/YE
BKBN
RD
1
OGYE
2
GN
3
GY
4
WH
GN/YE
WH/BK
WH
WH/BN
-AXIS 6-MANIPULATOR BASE-ROBOTCABINET
-XS13
C4-R3.CP/CS
C5
C6
C7
B18
B19
B20
B21
B22
B23
B24
B25
B16
B17
B1
B2
B3
B4
B5
B6
B7
B8
B9
B10
B11
B12
D1 d1-R1.CP/CS
D6 d6
D3 d3
D4 d4
B1 b1
B2 b2
B3 b3
B4 b4
B5 b5
B6 b6
B7 b7
B8 b8
B9 b9
B10 b10
B11 b11
B12 b12
B13 b13
B14 b14
B15 b15
B16 b16
B18 b18
B19 b19
B20 b20
B21 b21
C16 c16
C17 c17
1 1-XP5.1
2 2
9 9-XP5.1
10 10
11 11
12 12
3 3
4 4
5 5
6 6
1 1-XP5.2
2 2
3 3
4 4
5 5-XP5.2
6 6
1 1-XP5.3
2 2
3 3
4 4
5 5
6 6
1 1-XP6
3 3
4 4
2 2
A1 a1
A2 a2
A3 a3
A4 a4
B1 b1
B2 b2
B3 b3
B4 b4
B5 b5
B6 b6
B7 b7
B8 b8
B9 b9
B10 b10
B11 b11
B12 b12
B13 b13
B14 b14
B15 b15
B16 b16
B18 b18
B19 b19
B20 b20
B21 b21
C16 c16
C17 c17
BU
WH/RD
WH/GN
WH/OG
GN
GY
WH/BN
WH
BN
*
WH/BU
DUAL
BU
*
WH/OG
SINGLE
OG
WH
-
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-
WH
-
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-
WH
WH/GN
BN
GN
WH
WH/BN
GY
BN
RD
WH/BU
BU
BU
RD
WH/OG
OG
OG
WH/OG
109/
4
OG
Note 1.2 on Page 700
Note 1.4 on Page 700
109/
5 Note 1.7 on Page 701
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++Sublocation:
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Document no.Next
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Lab/Office: Status:IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5ECO 70147, WI 7698Page 224-231: Adjusted, "Type Se" was "Type S"Page 316-321: Adjusted, "Type H" was "Type S"
12APPROVED
3HAC026209-001
1 2 74 53 6 8
DMRO SEPRMP
TYPE SCUSTOMER SIGNALSPARALLELCOMMUNICATIONVALID FORHARNESS IN CABINET3HAC022852-001 (Dual)3HAC024371-001 (Single)FLOOR HARNESS3HAC022957-001,002,003,006
ORANGE LINELOWER/UPPER ARM HARNESS3HAC22486-001,002
* Circuitdiagram shows markingon wires for both dual andsingle cabinet
687
683
688
684
689690691692
699700666667668669
108/
3
RD
GN
RD
BN
RDGYBKBU
108/
4
108/
5
WH/BN
BN
WH/RD
C18 c18-R1.CP/CS
-AXIS 6-MANIPULATOR BASE-ROBOTCABINET-XS13
B13-R3CP/CS
B14
B15
C8
B22 b22
B23 b23
B24 b24
B25 b25
C19 c19
C20 c20
C21 c21
A1
A2
A3
A4
7 7-XP5.1
8 8-XP5.1
9 9-XP5.2
10 10
11 11
12 12
7 7-XP5.2
8 8-XP5.2
7 7-XP5.3
8 8
9 9
10 10
11 11
12 12
B22 b22
B23 b23
B24 b24
B25 b5
C10
C11
C12
C13
C14
C15
C18 c18
C19 c19
C20 c20
C21 c21 RD
WH/YEYEWHGN
108/
8
WH/BK
BU
WH/BN
VT
WH/RDWH/OGWH/YEWH/GN
WH/YEWH/GNWH/BUWH/VTWH/GY
*DUAL
*SINGLE
BN/BK
Note 1.8 on Page 701
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Latest revision:
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++Sublocation:
DPS(-)
Document no.Next
Rev. Ind
Lab/Office: Status:IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5ECO 70147, WI 7698Page 224-231: Adjusted, "Type Se" was "Type S"Page 316-321: Adjusted, "Type H" was "Type S"
12APPROVED
3HAC026209-001
1 2 74 53 6 8
DMRO SEPRMP
TYPE SCUSTOMER SIGNALSCANBUSCOMMUNICATIONVALID FORHARNESS IN CABINET3HAC022852-001 (Dual)3HAC024371-001 (Single)3HAC022866-001FLOOR HARNESS3HAC022978-001,002,003,006
ORANGE LINELOWER/UPPER ARM HARNESS3HAC022488-001,002
* Circuitdiagram shows marking on wires for both dual and single cabinet
Note 1.4 on Page 700
670
671
672
673
677678
WH/GN
GN
WH/BN
BN
WH/BU
BU
WH/OG
OG
GN/YE
111/
3
WHBU
WH/GNGN
WH/BNBN
WH/BUBU
WH/OGOG
GN/YE
12
34
111/
4
111/
5
-AXIS 6-MANIPULATOR BASE-ROBOTCABINET-XS13
C4-R3.CP/CS
C5
C6
C7
B18
B19
B20
B21
B22
B23
B24
B25
B16
B17
D1 d1-R1.CP/CS
D6 d6
D3 d3
D4 d4
B1 b1
B2 b2
B3 b3
B4 b4
B5 b5
B6 b6
B7 b7
B8 b8
B9 b9
B10 b10
1 1-XP5.1
9 9-XP5.1
1 1-XP5.2
1 1-XP6
2 2
3 3
4 4
2 2
10 10
11 11
12 12
2 2
3 3
4 4
A1 a1
A2 a2
A3 a3
A4 a4
B1 b1
B2 b2
B3 b3
B4 b4
B5 b5
B6 b6
B7 b7
B8 b8
B9 b9
B10 b10
WH/BKBK
WH/BNBN
WH/RDRD
WH/OGOG
WH/YEYE
45
67
GN/YE
111/
8
24V0V
24V0V
KSRKSR
PE
BKBNRDOGYEGNBUVTGN/YE
BKBN
*DUAL
*SINGLE
-
-
-
-
WH/GN
GN
WH/BN
BN
WH/BU
BU
WH/OG
OG
Note 1.2 on Page 700
Prepared by, date:114
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Document no.Next
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Lab/Office: Status:IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5ECO 70147, WI 7698Page 224-231: Adjusted, "Type Se" was "Type S"Page 316-321: Adjusted, "Type H" was "Type S"
12APPROVED
3HAC026209-001
1 2 74 53 6 8
DMRO SEPRMP
TYPE SCUSTOMER SIGNALSCANBUSCOMMUNICATIONVALID FORHARNESS IN CABINET3HAC022852-001 (Dual)3HAC024371-001 (Single)3HAC022866-001FLOOR HARNESS3HAC022978-001,002,003,006
ORANGE LINELOWER/UPPER ARM HARNESS3HAC022488-001,002
* Circuitdiagram shows markingon wires for both dual andsingle cabinet
679680681682
693694695696697698
685686687
683
688
684
RDBK
691692689690
WHBU
699700
666667
668669
WH/GN110/
3
GNWH/BUBU
WH/VTVTWH/GYGYWH/BKBK
WH/OGOGWH/BN
BN
WH/RD
RD
WH/BKBK
WH/BNBN
56
78
12
34
YEYE
VTVT
GN
-AXIS 6-MANIPULATOR BASE-ROBOTCABINET
-XS13
B1-R3.CP/CS
B2
B3
B4
B5
B6
B7
B8
B9
B10
B11
B12
B13
B14
B15
C8
A7
A8
A9
A10
A5
A6
A11
A12
B11 b11-R1.CP/CS
B12 b12
B13 b13
B14 b14
B15 b15
B16 b16
B18 b18
B19 b19
B20 b20
B21 b21
C16 c16
C17 c17
C18 c18
C19 c19
C20 c20
C21 c21
B22 b22
B23 b23
B24 b24
B25 b25
A3 a3
A4 a4
A5 a5
A6 a6
A9 a9
A10 a10
A11 a11
A12 a12
A1
A2
A3
A4
5 5-A35.X2
1 1
4 4-A35.X2
2 2
3 3
3 3-XP5.1
4 4
5 5
6 6
7 7-XP5.1
8 8-XP5.1
11 11-XP5.2
12 12
9 9
10 10
5 5-XP5.2
8 8-XP5.2
7 7-XP5.3
8 8
9 9
10 10
11 11
12 12
1 1-XP5.3
6 6
6 6
7 7
2 2
3 3
4 4
5 5
B11 b11
B12 b12
B13 b13
B14 b14
B15 b15
B16 b16
B18 b18
B19 b19
B20 b20
B21 b21
C16 c16
C17 c17
C18 c18
C19 c19
C20 c20
C21 c21
F1 f1
F2 f2
B24 b24
B25 b25
B22
B23
F3 f3
F4 f4
C10 c10
C11 c11
C12 c12
C13 c13
C14 c14
C15 c15
GN
GNGN
110/
8
+24V CAN
0V CAN
CAN_H
CAN_L
YE
WHRDOGOGWH
GN GN
GYWH
WH
WH/BKBN
WH/BNWH
WH/RDGY
WH/OGRD
GY
BU
RDWH OGWH/BK RD
BU GN
WH/BN RD
VT BN
RD RDBK BK
WH/YE BKWH/GNWH/RD
BU
WH/OG
WHWHBUBU
BKWH/YEOGWH/GN
BKGN
WH/BU
BK
WH/VT
WH/GYBN
*DUAL
110/
4*SINGLE
BN/BK
110/
5
Prepared by, date:115
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Document no.Next
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Lab/Office: Status:IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5ECO 70147, WI 7698Page 224-231: Adjusted, "Type Se" was "Type S"Page 316-321: Adjusted, "Type H" was "Type S"
12APPROVED
3HAC026209-001
1 2 74 53 6 8
DMRO SEPRMP
TYPE SCUSTOMER SIGNALSPROFIBUSCOMMUNICATIONVALID FORHARNESS IN CABINET3HAC022852-001 (Dual)3HAC024371-001 (Single)3HAC022868-001FLOOR HARNESS3HAC022988-001,002,003,006
ORANGE LINELOWER/UPPER ARM HARNESS3HAC022488-001,002
* Circuitdiagram shows markingon wires for both dual andsingle cabinet
Note 1.4 on Page 700
670
671
672
673
677678
WH/GN
GN
WH/BN
BN
WH/BU
BU
WH/OG
OG
GN/YE
115/
3
GN/YE
12
34
WH/GNGN
WH/BNBN
WH/BUBU
WH/OGOG
WHBU
115/
4
115/
5
-AXIS 6-MANIPULATOR BASE-ROBOTCABINET
-XS13
C4-R3.CP/CS
C5
C6
C7
B18
B19
B20
B21
B22
B23
B24
B25
B16
B17
D1 d1-R1.CP/CS
D6 d6
D3 d3
D4 d4
B1 b1
B2 b2
B3 b3
B4 b4
B5 b5
B6 b6
B7 b7
B8 b8
B9 b9
B10 b10
1 1-XP5.1
2 2
9 9-XP5.1
10 10
11 11
12 12
1 1-XP5.2
2 2
3 3
4 4
1 1-XP6
2 2
3 3
4 4
A1 a1
A2 a2
A3 a3
A4 a4
B1 b1
B2 b2
B3 b3
B4 b4
B5 b5
B6 b6
B7 b7
B8 b8
B9 b9
B10 b10
45
67
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WH/BKBK
WH/BNBN
WH/RDRD
WH/OGOG
WH/YEYE
115/
8
KSRKSR
24V0V
24V0V
PE
BKBNRDOGYEGNBUVTGN/YE
BKBN
*DUAL
*SINGLE
-
-
-
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WH/GN
GN
WH/BN
BN
WH/BU
BU
WH/OG
OG
Note 1.2 on Page 700
Prepared by, date:+.AX3/116
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horit
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ctly
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idde
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yrig
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AB
B
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Page115
98TotalTYPE S
Latest revision:
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++Sublocation:
DPS(-)
Document no.Next
Rev. Ind
Lab/Office: Status:IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5ECO 70147, WI 7698Page 224-231: Adjusted, "Type Se" was "Type S"Page 316-321: Adjusted, "Type H" was "Type S"
12APPROVED
3HAC026209-001
1 2 74 53 6 8
DMRO SEPRMP
TYPE SCUSTOMER SIGNALSPROFIBUSCOMMUNICATIONVALID FORHARNESS IN CABINET3HAC022852-001 (Dual)3HAC024371-001 (Single)3HAC022868-001FLOOR HARNESS3HAC022988-001,002,003,006
ORANGE LINELOWER/UPPER ARM HARNESS3HAC022488-001,002
* Circuitdiagram shows markingon wires for both dual andsingle cabinet
679680681682
693694695696697698
685
686687
683
688
684
689690691692
699700
RDGN
666667
668669
WH/GN
114/
3
GNWH/BUBU
WH/VTVTWH/GYGYWH/BKBK
WH/OG
OGWH/BN
BN
WH/RD
RD
WH/BKBKWH/BNBN
56
78
12
34
YEYE
VTVT
GN
-AXIS 6-MANIPULATOR BASE-ROBOTCABINET-XS13
B1-R3.CP/CS
B2
B3
B4
B5
B6
B7
B8
B9
B10
B11
B12
B13
B14
B15
C8
A1
A2
A3
A4
A7
A8
A9
A10
A5
A6
A11
A12
B11 b11R1.CP/CS
B12 b12
B13 b13
B14 b14
B15 b15
B16 b16
B18 b18
B19 b19
B20 b20
B21 b21
C16 c16
C17 c17
C18 c18
C19 c19
C20 c20
C21 c21
B22 b22
B23 b23
B24 b24
B25 b25
A3 a3
A4 a4
A5 a5
A6 a6
A9 a9
A10 a10
A11 a11
A12 a12
1B 1B-DP-M
1A 1A
3 3-XP5.1
4 4
5 5
6 6
7 7-XP5.1
8 8-XP5.1
5 5-XP5.2
6 6
7 7
8 8-XP5.2
9 9-XP5.2
10 10
11 11
12 12
1 1-XP5.3
2 2
3 3
4 4
5 5
6 6
7 7-XP5.3
8 8
9 9-XP5.3
10 10
11 11
12 12
B11 b11
B12 b12
B13 b13
B14 b14
B15 b15
B16 b16
B18 b18
B19 b19
B20 b20
B21 b21
C16 c16
C17 c17
C18 c18
C19 c19
C20 c20
C21 c21
B22 b22
B23 b23
B24 b24
B25 b25
C10 c10
C11 c11
F5 f5
F6 f6
C12 c12
C13 c13
C14 c14
C15 c15
GN
GNGN
114/
8
RXD/TXD-P
RXD/TXD-N
RDOGYEGN
WH
GY
OG
WH
WH
WH/BK
GN
WH/BN
WH
WH/RDWH/OG
BN
GY
WH
WH
GY
WH/BK
RD
WH/BN
BU
VT
RD
OG
BU
RD
WH/RD
GN
WH/OG
RD
WH/YE
BN
WH/GN
WH/YE
RD
WH/GN
GY
RD
BK
GN
BU
WH/BU
BKOG
WH/VT
WH/GY
RD
DUAL
GN
*
BKGN
SINGLE
BK
*
BNBN/BK
114/
4
114/
5
Prepared by, date:117
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all r
ight
s in
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umen
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atio
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yrig
ht 2
003
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B
EM 2015-02-17 JEN 2015-03-04
2015-03-04
Page116
98TotalTYPE S
Latest revision:
Approved by, date:
CUSTOMER SIGNALS, PARALLEL Location:Plant: =
++Sublocation:
DPSAX3
Document no.Next
Rev. Ind
Lab/Office: Status:IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5ECO 70147, WI 7698Page 224-231: Adjusted, "Type Se" was "Type S"Page 316-321: Adjusted, "Type H" was "Type S"
12APPROVED
3HAC026209-001
1 2 74 53 6 8
DMRO SEPRMP
TYPE SCUSTOMER SIGNALSPARALLELCOMMUNICATIONVALID FORHARNESS IN CABINET3HAC022852-001 (Dual)3HAC024371-001 (Single)FLOOR HARNESS3HAC022957-001,002,003,006
SW6LOWER ARM HARNESS3HAC042381-001UPPER ARM HARNESS3HAC042384-001
* Circuitdiagram shows marking on wires for both dual and single cabinet
N.C.=Not Connected
BK
670
BN
671
RD
672
OG
673
YE
677
GN
4
GY
678
WH/GN
WH
5
GN
6
WH/BK
WH/BN
7
WH/BN
BN
GN/YE
WH/RD
WH/BU
WH/BK
WH/OG
BU
BK
BU
WH/OG
WH/BN
WH/BK
OG
BN
DUAL SINGLE
679
WH/RD
GN/YE
RD
680681
WH/OG
-
682
-
OG
693
-
WH/YE
694
YE
-
695
*
WH/GN
696
*
GN
697
WH/BU
698
WH/GN
BU
683
GN
WH/VT
686
WH/BN
VT
GN/YE
BN
WH/GY
101/
3WH/BU
GY
BU
WH/BK
WH/OG
BK
OG
WH/OG
OG
Note 1.1 on Page 700
101/
6
Note 1.3 on Page 700
Note 1.5 on Page 701
101/
7
12
34
GN/YE
WH
G G G G
-ROBOTCABINET
1 1-XP6
2 2
3 3
4 4
1 1-XP5.1
2 2
1 1-XP5.2
2 2
3 3
4 4
9 9-XP5.1
10 10
11 11
12 12
3 3
4 4
5 5
6 6
1 1-XP5.3
2 2
3 3
4 4
5 5
6 6
7 7-XP5.1
7 7-XP5.2
-XS13
A1 a1
A2 a2
A3 a3
A4 a4
B1 b1
B2 b2
B3 b3
B4 b4
B5 b5
B6 b6
B7 b7
B8 b8
B9 b9
B10 b10
B11 b11
B12 b12
B13 b13
B14 b14
B15 b15
B16 b16
B18 b18
B19 b19
B20 b20
B21 b21
C19 c19
C18 c18
-MANIPULATOR BASE
D1 d1-R1.CP/CS
D6 d6
D3 d3
D4 d4
B1 B1
B2 b2
B3 b3
B4 b4
B5 b5
B6 b6
B7 b7
B8 b8
B9 b9
B10 b10
B11 b11
B12 b12
B13 b13
B14 b14
B15 b15
B16 b16
B18 b18
B19 b19
B20 b20
B21 b21
C19 c19
C18 N.C.
-AXIS 3
E E-R2CP/CS
F F
V V
W W
A A
B B
C C
D D
H H
J J
K K
L L
M M
N N
P P
R R
S S
T T
U U
X X
Y Y
Z Z
a a
b b
c c
N.C. N.C.
-AXIS 6
E E-R3.CP/CS
F F
V V
W W
A
B
C
D
H
J
K
L
M
N
P
R
S
T
U
X
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WH/BNBN
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4
WH
5
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6
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7
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WH/BK
RD
BK
WH/BNBN
WH/RDRD
WH/OG
101/
4
OG
WH/YE
101/
5
YE
WH/GNGNWH/BUBU
WH/VTVTWH/GYGYWH/BKBK
101/
8
24V
0V
24V
0V
CS6/KSR
CS8/KSR
CS15
CS16
CS17
CS18
CS19
CS20
PE
CS21
CS12
CS1
CS2
CS3
CS4
CS5
CS6
CS9
CS10
CS11
CS13
CS14
BKBNRDOGYEGNBUVT
Prepared by, date:118
We
rese
rve
all r
ight
s in
this
doc
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t and
in th
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form
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ein.
Rep
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forb
idde
n. ©
Cop
yrig
ht 2
003
AB
B
EM 2015-02-17 JEN 2015-03-04
2015-03-04
Page117
98TotalTYPE S
Latest revision:
Approved by, date:
CUSTOMER SIGNALS, PARALLEL Location:Plant: =
++Sublocation:
DPSAX3
Document no.Next
Rev. Ind
Lab/Office: Status:IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5ECO 70147, WI 7698Page 224-231: Adjusted, "Type Se" was "Type S"Page 316-321: Adjusted, "Type H" was "Type S"
12APPROVED
3HAC026209-001
1 2 74 53 6 8
DMRO SEPRMP
TYPE SCUSTOMER SIGNALSPARALLELCOMMUNICATIONVALID FORHARNESS IN CABINET3HAC022852-001 (Dual)3HAC024371-001 (Single)FLOOR HARNESS3HAC022957-001,002,003,006
SW6LOWER ARM HARNESS3HAC042381-001UPPER ARM HARNESS3HAC042384-001
* Circuitdiagram shows markingon wires for both dual andsingle cabinet
N.C.=Not Connected
685
686
688
684
689690691692
699700666667668669
100/
3
RD
OG
RD
BN
RDGYBKBU
100/
4
100/
5
WH/YEYEWH
9 9
-ROBOTCABINET
9 9-XP5.2
10 10
11 11
12 12
7 7-XP5.3
8 8
-MANIPULATOR BASE
10 10
11 11
12 12
5 5-XP5.2
6 6
8 8
8 8-XP5.1
-XS13
B22 b22
B23 b23
B24 b24
B25 b25
C10
C11
C12
C13
C14
C15
C16 c16
C17 c17
C20 c20
C21 c21
B22 N.C.
B23 N.C.
B24 N.C.
B25 N.C.
c16 N.C.-R1.CP/CS
C17 N.C.
C20 N.C.
C21 N.C.
-AXIS 3
N.C. N.C.
N.C. N.C.
N.C. N.C.
N.C. N.C.
N.C. N.C.-R2.CP/CS
N.C. N.C.
N.C. N.C.
N.C. N.C.
N.C.
N.C.
N.C.
N.C.
-AXIS 6
N.C.-R3.CP/CS
N.C.
N.C.
N.C.
GN
WH/BN
BN
WH/RD
RD
100/
6
100/
7
WH/RD
YEWH/GNGN
WH/BN
BN
RD
WH/YE
100/
8
GY
WH
WH/BN
VT
WH/RDWH/OGWH/YEWH/GN
WH/YEWH/GNWH/BUWH/VTWH/GY
*DUAL
*SINGLE
BN/BK
Note 1.6 on Page 701
Prepared by, date:119
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umen
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forb
idde
n. ©
Cop
yrig
ht 2
003
AB
B
EM 2015-02-17 JEN 2015-03-04
2015-03-04
Page118
98TotalTYPE S
Latest revision:
Approved by, date:
CUSTOMER SIGNALS, CANBUS Location:Plant: =
++Sublocation:
DPSAX3
Document no.Next
Rev. Ind
Lab/Office: Status:IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5ECO 70147, WI 7698Page 224-231: Adjusted, "Type Se" was "Type S"Page 316-321: Adjusted, "Type H" was "Type S"
12APPROVED
3HAC026209-001
1 2 74 53 6 8
DMRO SEPRMP
TYPE SCUSTOMER SIGNALSPARALLELCOMMUNICATIONVALID FORHARNESS IN CABINET3HAC022852-001 (Dual)3HAC024371-001 (Single)FLOOR HARNESS3HAC022957-001,002,003,006
SW6LOWER ARM HARNESS3HAC042382-001UPPER ARM HARNESS3HAC042385-001
* Circuitdiagram shows marking on wires for both dual and single cabinet
N.C.=Not Connected
BK
670
BN
671
RD
672
OG
673
YE
677
GN
678
4
GY
WH/GN
5
WH
GN
6
WH/BK
WH/BN
7
WH/BN
BN
WH/RD
GN/YE
WH/BU
WH/OG
WH/BK
BU
BK
BU
WH/OG
WH/BK
WH/BN
OG
DUAL
BN
SINGLE
WH/RD
679
GN/YE
RD
680
WH/OG
-
681
-
OG
682
-
693
WH/YEYE
694
-
WH/GN
695
*
696
GN
*
697
WH/BU
698
BU
WH/GN
683
WH/VT
GN
WH/BN
VT
686
BN
GN/YE
WH/GY
WH/BU
101/
3
GY
BU
WH/BKBK
WH/OG
OG
WH/OG
OG
Note 1.1 on Page 700
101/
6
Note 1.3 on Page 700
101/
7
Note 1.5 on Page 701
12
34
GN/YE
WH
G G G G
3 3
4 4
5 5
6 6
1 1-XP5.3
2 2
3 3
4 4
5 5
6 6
7 7-XP5.1
7 7-XP5.2
B11 b11
B12 b12
B13 b13
B14 b14
B15 b15
B16 b16
B18 b18
B19 b19
B20 b20
B21 b21
C19 c19
C18 c18
B11 b11
B12 b12
B13 b13
B14 b14
B15 b15
B16 b16
B18 b18
B19 b19
B20 b20
B21 b21
C19 c19
C18 N.C.
P P
R R
S S
T T
U U
X X
Y Y
Z Z
a a
b b
c c
N.C. N.C.
P
R
S
T
U
X
Y
Z
a
b
c
N.C.
-ROBOTCABINET
1 1-XP6
2 2
3 3
4 4
1 1-XP5.1
2 2
1 1-XP5.2
2 2
3 3
4 4
9 9-XP5.1
10 10
11 11
12 12
-XS13
A1 a1
A2 a2
A3 a3
A4 a4
B1 b1
B2 b2
B3 b3
B4 b4
B5 b5
B6 b6
B7 b7
B8 b8
B9 b9
B10 b10
-MANIPULATOR BASE
D1 d1-R1.CP/CS
D6 d6
D3 d3
D4 d4
B1 B1
B2 b2
B3 b3
B4 b4
B5 b5
B6 b6
B7 b7
B8 b8
B9 b9
B10 b10
-AXIS 3
E E-R2CP/CS
F F
V V
W W
A A
B B
C C
D D
H H
J J
K K
L L
M M
N N
-AXIS 6
E E-R3.CP/CS
F F
V V
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A
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C
D
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BU
WH/GNGN
WH/BNBN
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6
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7
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WH/OG
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WH/BK
GN
BK
RD
WH/BNBN
WH/RDRD
101/
4
WH/OGOG
WH/YEYE
101/
5
WH/GNGNWH/BUBU
WH/VTVTWH/GYGYWH/BKBK
101/
8
24V
0V
24V
0V
CS6/KSR
CS8/KSR
CS10
CS9
CS19
CS20
CS21
CS12
PE
CS5
CS13
CS14
CS11
CS1
CS2
CS3
CS4
CS6
CS15
CS16
CS17
CS18
BKBNRDOGYEGNBUVT
Prepared by, date:120
We
rese
rve
all r
ight
s in
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umen
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e in
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atio
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idde
n. ©
Cop
yrig
ht 2
003
AB
B
EM 2015-02-17 JEN 2015-03-04
2015-03-04
Page119
98TotalTYPE S
Latest revision:
Approved by, date:
CUSTOMER SIGNALS, CANBUS Location:Plant: =
++Sublocation:
DPSAX3
Document no.Next
Rev. Ind
Lab/Office: Status:IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5ECO 70147, WI 7698Page 224-231: Adjusted, "Type Se" was "Type S"Page 316-321: Adjusted, "Type H" was "Type S"
12APPROVED
3HAC026209-001
1 2 74 53 6 8
DMRO SEPRMP
TYPE SCUSTOMER SIGNALSPARALLELCOMMUNICATIONVALID FORHARNESS IN CABINET3HAC022852-001 (Dual)3HAC024371-001 (Single)FLOOR HARNESS3HAC022957-001,002,003,006
SW6LOWER ARM HARNESS3HAC042382-001UPPER ARM HARNESS3HAC042385-001
* Circuitdiagram shows markingon wires for both dual andsingle cabinet
N.C.=Not Connected
8
RD
685
1
BK
2
686
3
688
691
684
692
4
689
689
YEYE
690
690
VT
WH
691
BU
692
VT
699
699
GN
700
700
GN
666
666
GN
667
667
GN668
668669
669
100/
3
+24V BUS
0V BUS
C-BUS
C-BUS
P-BUS
P-BUS
RD
OG
RD
RD
BN
BK
RD
WH/YE
GY
WH/GN
BK
WH/RD
BU
100/
4
WH/OG
WHBU
100/
5
WH/YEWH/GN
WH/BUWH/VT
WH/BKBK
WH/GY
WH/BNBN
56
7
BN/BK
8
12
34
YEYE
WH/YE
VT
YE
VT
GN
9 9-XP5.2
10 10
11 11
12 12
5 5-XP5.2
6 6
8 8
8 8-XP5.1
B22 b22
B23 b23
B24 b24
B25 b25
C16 c16
C17 c17
C20 c20
C21 c21
B22 N.C.
B23 N.C.
B24 N.C.
B25 N.C.
c16 N.C.-R1.CP/CS
C17 N.C.
C20 N.C.
C21 N.C.
WH
N.C. N.C.
N.C. N.C.
N.C. N.C.
N.C. N.C.
N.C. N.C.-R2.CP/CS
N.C. N.C.
N.C. N.C.
N.C. N.C.
N.C.
N.C.
N.C.
N.C.
N.C.-R3.CP/CS
N.C.
N.C.
N.C.
-ROBOTCABINET
7 7-XP5.3
8 8
9 9
10 10
11 11
12 12
-XS13
C10
C11
C12
C13
C14
C15
-MANIPULATOR BASE -AXIS 3 -AXIS 6
5 5-A35.X2
1 1
11 11-XP5.2
12 12
9 9
10 10
4 4-A35.X2
2 2
3 3
7 7-XP5.3
8 8
9 9
10 10
11 11
12 12
F1 F1
F2 F2
B24 B24
B25 B25
B22
B23
F3 F3
F4 F4
C10 c10
C11 c11
C12 c12
C13 c13
C14 c14
C15 c15
B22 b22
B23 b23
B24 b24
B25 b25
A3 a3
A4 a4
A5 a5
A6 a6
A9 N.C.
A10 N.C.
A11 N.C.
A12 N.C.
C C-R2.CBUS
D D
N.C. N.C.
N.C. N.C.
A A
B B
E E
J J
N.C. N.C.
N.C. N.C.
N.C. N.C.
N.C. N.C.
C-R3.CBUS
D
N.C.
N.C.
A
B
E
J
N.C.
N.C.
N.C.
N.C.
GN
GN
WH/BN
GNGN
BN
WH/RD
RD
100/
6
100/
7
WH/RD
YEWH/GNGN
WH/BN
BN
RD
WH/YE
100/
8
GY
WH
WH/BN
RD
VT
BK
WH/RD
BK
WH/OG
BU
WH/YE
WH
WH/GN
WH/YE
BU
WH/GN
BK
WH/BU
OG
WH/VT
BKGN
WH/GY
*
BKBN
DUAL*SINGLE
BN/BK
Note 1.6 on Page 701
WH/BKBK
WH/BNBN
56
7
Prepared by, date:121
We
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umen
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Rep
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12APPROVED
3HAC026209-001
1 2 74 53 6 8
DMRO SEPRMP
TYPE SCUSTOMER SIGNALSPARALLELCOMMUNICATIONVALID FORHARNESS IN CABINET3HAC022852-001 (Dual)3HAC024371-001 (Single)FLOOR HARNESS3HAC022957-001,002,003,006
SW6LOWER ARM HARNESS3HAC042383-001UPPER ARM HARNESS3HAC042386-001
* Circuitdiagram shows marking on wires for both dual and single cabinet
N.C.=Not Connected
BK
670
BN
671
RD
672
OG
673
YE
677
GN
678
GY
4
WH/GN
WH
5
GN
WH/BK
6
WH/BN
WH/BN
7
BN
WH/RD
GN/YE
WH/BK
WH/BU
WH/OG
BU
BU
BK
WH/OG
WH/BN
WH/BK
OG
BN
DUAL
WH/RD
SINGLE
679
RD
GN/YE
680
WH/OG
-
681
-
OG
682
-
WH/YE
693
-
YE
694
*
695
WH/GNGN
696
*
697
WH/BU
698
BU
WH/GN
683
WH/VT
GN
WH/BN
686
VT
GN/YE
BN
WH/GYGY
101/
3WH/BU
BU
WH/BKBK
WH/OG
OG
WH/OG
OG
101/
6
Note 1.1 on Page 700
Note 1.3 on Page 700
Note 1.5 on Page 701
101/
7
12
34
GN/YE
WH
G G G G
3 3
4 4
5 5
6 6
1 1-XP5.3
2 2
3 3
4 4
5 5
6 6
7 7-XP5.1
7 7-XP5.2
B11 b11
B12 b12
B13 b13
B14 b14
B15 b15
B16 b16
B18 b18
B19 b19
B20 b20
B21 b21
C19 c19
C18 c18
B11 b11
B12 b12
B13 b13
B14 b14
B15 b15
B16 b16
B18 b18
B19 b19
B20 b20
B21 b21
C19 c19
C18 N.C.
P P
R R
S S
T T
U U
X X
Y Y
Z Z
a a
b b
c c
N.C. N.C.
P
R
S
T
U
X
Y
Z
a
b
c
N.C.
-ROBOTCABINET
1 1-XP6
2 2
3 3
4 4
1 1-XP5.1
2 2
1 1-XP5.2
2 2
3 3
4 4
9 9-XP5.1
10 10
11 11
12 12
-XS13
A1 a1
A2 a2
A3 a3
A4 a4
B1 b1
B2 b2
B3 b3
B4 b4
B5 b5
B6 b6
B7 b7
B8 b8
B9 b9
B10 b10
-MANIPULATOR BASE
D1 d1-R1.CP/CS
D6 d6
D3 d3
D4 d4
B1 B1
B2 b2
B3 b3
B4 b4
B5 b5
B6 b6
B7 b7
B8 b8
B9 b9
B10 b10
-AXIS 3
E E-R2CP/CS
F F
V V
W W
A A
B B
C C
D D
H H
J J
K K
L L
M M
N N
-AXIS 6
E E-R3.CP/CS
F F
V V
W W
A
B
C
D
H
J
K
L
M
N
BU
WH/GNGN
WH/BNBN
WH/BUBU
WH/OGOG
WHOGWH
4
GN
WH
5
BN
6
WH
7
GN/YE
GY
WH/OG
RD
OG
BU
WH/BK
GN
RD
BK
WH/BNBN
WH/RDRD
WH/OG
101/
4
OG
WH/YE
101/
5
YE
WH/GNGNWH/BUBU
WH/VTVTWH/GYGYWH/BKBK
101/
8
24V
0V
24V
0V
CS6/KSR
CS8/KSR
CS4
CS5
CS6
CS9
CS10
PE
CS1
CS2
CS3
CS15
CS16
CS17
CS18
CS19
CS20
CS21
CS12
CS11
CS13
CS14
BKBNRDOGYEGNBUVT
Prepared by, date:+Se.AX3/200
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12APPROVED
3HAC026209-001
1 2 74 53 6 8
DMRO SEPRMP
TYPE SCUSTOMER SIGNALSPARALLELCOMMUNICATIONVALID FORHARNESS IN CABINET3HAC022852-001 (Dual)3HAC024371-001 (Single)FLOOR HARNESS3HAC022957-001,002,003,006
SW6LOWER ARM HARNESS3HAC042383-001UPPER ARM HARNESS3HAC042386-001
* Circuitdiagram shows markingon wires for both dual andsingle cabinet
N.C.=Not Connected
685
686
688
684
689690691692
699700666667668669
100/
3
RD
OG
RD
BN
RDGYBKBU
100/
4
100/
5
YE
WH
OG
BU
YE
WH
OG
BU
WH/YE
YE
YE
WH
C17 c17
C20 c20
C21 c21
B22 N.C.
B23 N.C.
B24 N.C.
B25 N.C.
c16 N.C.-R1.CP/CS
C17 N.C.
C20 N.C.
C21 N.C.
OG
WH
N.C. N.C.
N.C. N.C.
N.C. N.C.
N.C. N.C.
N.C. N.C.-R2.CP/CS
N.C. N.C.
N.C. N.C.
N.C. N.C.
N.C.
N.C.
N.C.
N.C.
N.C.-R3.CP/CS
N.C.
N.C.
N.C.
-ROBOTCABINET
7 7-XP5.3
8 8
9 9
10 10
11 11
12 12
-XS13
C10
C11
C12
C13
C14
C15
-MANIPULATOR BASE -AXIS 3 -AXIS 6
-XS9
1 1
2 2
3 3
4 4
1 1-R1.ETHERNET
2 2
3 3
4 4
1 1-R2.ETHERNET
2 2
3 3
4 4
1-R3.ETHERNET
2
3
4
9 9-XP5.2
10 10
11 11
12 12
5 5-XP5.2
6 6
8 8
8 8-XP5.1
B22 b22
B23 b23
B24 b24
B25 b25
C16 c16
BU
GN
WH/BN
BN
WH/RD
RD
100/
6
100/
7
WH/RD
YEWH/GNGN
WH/BN
BN
RD
WH/YE
100/
8
GY
WH
WH/BN
VT
WH/RDWH/OGWH/YEWH/GN
WH/YEWH/GNWH/BUWH/VTWH/GY
*DUAL
*SINGLE
BN/BK
Note 1.6 on Page 701
Prepared by, date:201
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umen
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Lab/Office: Status:IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5ECO 70147, WI 7698Page 224-231: Adjusted, "Type Se" was "Type S"Page 316-321: Adjusted, "Type H" was "Type S"
12APPROVED
3HAC026209-001
1 2 74 53 6 8
DMRO SEPRMP
TYPE SECUSTOMER SIGNALSPARALLELCOMMUNICATIONVALID FORHARNESS IN CABINET3HAC022852-001 (Dual)3HAC024371-001 (Single)3HAC021791-001FLOOR HARNESS3HAC022957-001,002,003,0063HEA800736-001,002,003,004
ORANGE LINELOWER ARM HARNESS3HAC022479-001UPPER ARM HARNESS3HAC023171-001,002
SILVER LINELOWER ARM HARNESS3HAC022137-0013HAC022138-001UPPER ARM HARNESS3HAC022475-0013HAC022475-0023HAC022475-003
FOR IRB66x0IDCONNECTION BETWEENR2.CP/CS AND R3.CP/CSSEE PAGE IRB66x0IDLOWER ARM HARNESS3HAC022479-001UPPER ARM HARNESS3HAC025532-001
* Circuitdiagram shows markingon wires for both dual andsingle cabinet
670
671
672
673
400240044000
40134014
40104012
4011
4006400840094007
GN/YE
GN/YE
12
34
GN/YE
BLBUBR
GN/YE
PKRD
OGGN
YE
201/
5
123
GN/YE
4
5
67
45
67
GN/YE
201/
6
201/
7
45
67
GN/YE
1
D6 d6
-AXIS 3 -AXIS 6-MANIPULATOR BASE-ROBOTCABINET
-XS7
-XS13
D1 d1-R2.CP/CS
2 2
D3 d3
D4 d4
D5 d5-R2.CP/CS
D2 d2
D7 d7
C1 c1
C2 c2
C3 c3
C5 c5
B11
B12
B13
B15
C1-R3.CP/CS
C2
C3
D1 d1-R1.CP/CS
D6 d6
D3 d3
D4 d4
E E-R1.SP
C C
A A
G G
J J
K K
L L
M M
R
C4-R3.CP/CS
C5
C6
C7
3 3-A41.1.3.X21
5 5
1 1
1 1-A43.X22
3 3
4 4
2 2
1 1-A43.X24
1 1-XP6
2 2
3 3
4 4
5 5-XS40
6 6
A3 a3
A5 a5
A1 a1
E1 e1
E2 e2
F7 f7
F9 f9
F8 f8
F1 f1
F2 f2
F3 f3
F4 f4
A1 a1
A2 a2
A3 a3
A4 a4
23
GN/YE
45
67
201/
8
24V0V
24V0V
W/TV/SU/R
PTC
0V PTC
24V BRAKE REL
0V BRAKE REL
PE
PE
BKBNRDOGYEGNBUVTGN/YE
-
-
-
-
*DUAL
*SINGLE
400240044000
40134014
40104012
4011
GN/YE
4006400840094007
Note 1.1 on Page 700
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Lab/Office: Status:IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5ECO 70147, WI 7698Page 224-231: Adjusted, "Type Se" was "Type S"Page 316-321: Adjusted, "Type H" was "Type S"
12APPROVED
3HAC026209-001
1 2 74 53 6 8
DMRO SEPRMP
TYPE SECUSTOMER SIGNALSPARALLELCOMMUNICATIONVALID FORHARNESS IN CABINET3HAC022852-001 (Dual)3HAC024371-001 (Single)3HAC021791-001FLOOR HARNESS3HAC022957-001,002,003,0063HEA800736-001,002,003,004
ORANGE LINELOWER ARM HARNESS3HAC022479-001UPPER ARM HARNESS3HAC023171-001,002
SILVER LINELOWER ARM HARNESS3HAC022137-0013HAC022138-001UPPER ARM HARNESS3HAC022475-0013HAC022475-0023HAC022475-003
FOR IRB66x0IDCONNECTION BETWEENR2.CP/CS AND R3.CP/CSSEE PAGE IRB66x0IDLOWER ARM HARNESS3HAC022479-001UPPER ARM HARNESS3HAC025532-001
* Circuitdiagram showsmarking on wires for both dual and single cabinet
677
678
WH/RD
WH/GN
WH/BN
GN
BK
WH/BN
WH/BK
BN
RD
WH/BU
BN
BU
WH/OG
OG
202/
3
WH/BKWH
BKBU
WH/BNWH/GN
BNGN
WH/BN WH/RD
BN RD
WH/BU WH/OGBU OG
WH/OG WH/YEOG YE
202/
4
200/
820
2/8
X7/S1
200/
5
0V X7/S3
202/
5
Y7/S4
0V Y7/S2
0V EXC2/R2
EXC2/R1
KSR
KSR
BK
BN
*DUAL
*SINGLE
WH/GN
GN
WH/BN
B18-R3.CP/CS
-AXIS 3 -AXIS 6-MANIPULATOR BASE
-ROBOTCABINET
-SMB
-XS13
B1 b1-R2.CP/CS
B2 b2
B3 b3
B4 b4
B5 b5
B6 b6
B7 b7
B8 b8
B9 b9
B10 b10
B19
B20
B21
B22
B23
B24
B25
B16
B17
B1 b1-R1.CP/CS
B2 b2
B3 b3
B4 b4
B5 b5
B6 b6
B7 b7
B8 b8
B9 b9
B10 b10
SP1
SP2
SP3
SP4
SP5
SP6
9-R1.SMB
2
11
4
12
5
1
F F-R2.FB7
E E
D D
C C
B B
A A
1 1-XP5.1
2 2
9 9-XP5.1
10 10
11 11
12 12
1 1-XP5.2
2 2
3 3
4 4
B1 b1
B2 b2
B3 b3
B4 b4
B5 b5
B6 b6
B7 b7
B8 b8
B9 b9
B10 b10
BN
WH/BU
BU
WH/OG
OG
Note 1.9 on Page 702
WH/BK
BK
WH/BN
BN
WH/RD
RD
WH/OGOG
WH/YEYE
WH/RD
WH/BNBKWH/BK
RD
BN
200/
620
2/6
200/
720
2/7
Prepared by, date:203
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Page202
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++Sublocation:
DPSeAX3
Document no.Next
Rev. Ind
Lab/Office: Status:IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5ECO 70147, WI 7698Page 224-231: Adjusted, "Type Se" was "Type S"Page 316-321: Adjusted, "Type H" was "Type S"
12APPROVED
3HAC026209-001
1 2 74 53 6 8
DMRO SEPRMP
TYPE SECUSTOMER SIGNALSPARALLELCOMMUNICATIONVALID FORHARNESS IN CABINET3HAC022852-001 (Dual)3HAC024371-001 (Single)3HAC021791-001FLOOR HARNESS3HAC022957-001,002,003,0063HEA800736-001,002,003,004
ORANGE LINELOWER ARM HARNESS3HAC022479-001UPPER ARM HARNESS3HAC023171-001,002
SILVER LINELOWER ARM HARNESS3HAC022137-0013HAC022138-001UPPER ARM HARNESS3HAC022475-0013HAC022475-0023HAC022475-003
FOR IRB66x0IDCONNECTION BETWEENR2.CP/CS AND R3.CP/CSSEE PAGE IRB66x0IDLOWER ARM HARNESS3HAC022479-001UPPER ARM HARNESS3HAC025532-001
* Circuitdiagram shows markingon wires for both dual andsingle cabinet
YE
679
WH/GN
680
GN
681
201/
6
682
693
201/
7
694695696697698
685686
687
683
688
684
689690691692
699700666
WH/GN
667
GN
668
WH/BU
669
BU
201/
3
WH/VTVTWH/GYGYWH/BKBK
WH/YEYEWH/GNGN
BN
RD
201/
8
RDOGYEGN
GYWHWH/BKWH/BNWH/RDWH/OG
GYWH
WH/BK
BU
WH/BN
VT
WH/RDWH/OGWH/YE
WH
WH/GN
OG
WH/YE
WH
WH/GN
GN
WH/BU
WH
WH/VT
-AXIS 3 -AXIS 6-MANIPULATOR BASE-ROBOTCABINET
-XS13
B11 b11-R2.CP/CS
B12 b12
B13 b13
B14 b14
B15 b15
B16 b16
B18 b18
B19 b19
B20 b20
B21 b21
C20
C21 c21
B22 b22
B23 b23
B24 b24
B25 b25
C18
C16
C17
C19 c19
B1-R3.CP/CS
B2
B3
B4
B5
B6
B7
B8
B9
B10
B14
C8
A1
A2
A3
A4
B11 b11-R1.CP/CS
B12 b12
B13 b13
B14 b14
B15 b15
B16 b16
B18 b18
B19 b19
B20 b20
B21 b21
C16 c16
C17 c17
C18 c18
C19 c19
C20 c20
C21 c21
B22 b22
B23 b23
B24 b24
B25 b25
3 3-XP5.1
4 4
5 5
6 6
7 7-XP5.1
8 8-XP5.1
5 5-XP5.2
6 6
7 7
8 8-XP5.2
9 9-XP5.2
10 10
11 11
12 12
1 1-XP5.3
2 2
3 3
4 4
5 5
6 6
7 7-XP5.3
8 8
9 9
10 10
11 11
12 12
B11 b11
B12 b12
B13 b13
B14 b14
B15 b15
B16 b16
B18 b18
B19 b19
B20 b20
B21 b21
C16 c16
C17 c17
C18 c18
C19 c19
C20 c20
C21 c21
B22 b22
B23 b23
B24 b24
B25 b25
C10
C11
C12
C13
C14
C15
BN
WH/GY
WH
*
GY
DUAL
RD
*
BU
SINGLE
RDOG
BN/BK
RD
GN
RD
BN
WH/OG
RD
OG
GY
Note 1.10 on Page 702
BKBU
201/
4
201/
5
WH/GNGNWH/BUBU
WH/VTVTWH/GYGYWH/BKBK
WH/BN
BN
WH/RD
RD
WH/YE
Prepared by, date:204
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Latest revision:
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DPSeAX3
Document no.Next
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Lab/Office: Status:IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5ECO 70147, WI 7698Page 224-231: Adjusted, "Type Se" was "Type S"Page 316-321: Adjusted, "Type H" was "Type S"
12APPROVED
3HAC026209-001
1 2 74 53 6 8
DMRO SEPRMP
TYPE SECUSTOMER SIGNALSCANBUSCOMMUNICATIONVALID FORHARNESS IN CABINET3HAC022852-001 (Dual)3HAC024371-001 (Single)3HAC021791-0013HAC022866-001FLOOR HARNESS3HAC022978-001,002,003,0063HEA800736-001,002,003,004
ORANGE LINELOWER ARM HARNESS3HAC022481-001UPPER ARM HARNESS3HAC023173-001,002
SILVER LINELOWER ARM HARNESS3HAC022472-0013HAC022473-001UPPER ARM HARNESS3HAC022477-0013HAC022477-0023HAC022477-003
FOR IRB66x0IDCONNECTION BETWEENR2.CP/CS AND R3.CP/CSSEE PAGE IRB66x0IDLOWER ARM HARNESS3HAC022481-001UPPER ARM HARNESS3HAC025532-001
IRB6660LOWER ARM HARNESS3HAC027105-001
* Circuitdiagram shows marking on wires for both dual and single cabinet
670
671
672
673
400240044000
40134014
40104012
4011
4006400840094007
GN/YE
GN/YE
12
34
GN/YE
BLBU
BN
GN/YE
PKRD
OGGN
YE
204/
5
45
67
GN/YE
123
GN/YE
45
67
204/
6
204/
7
123
GN/YE
45
6
D1 d1-R2.CP/CS
-AXIS 3 -AXIS 6-MANIPULATOR BASE-ROBOTCABINET
-XS7
-XS13
2 2
D6 d6
D3 d3
D4 d4
D5 d5-R2.CP/CS
D2 d2
D7 d7
C1 c1
C2 c2
C3 c3
C5 c5
B11
B12
B13
B15
C1-R3.CP/CS
C2
C3
D1 d1-R1.CP/CS
D6 d6
D3 d3
D4 d4
E E-R1.SP
C C
A A
G G
J J
K K
L L
M M
R R
C4-R3.CP/CS
C5
C6
C7
3 3-A41.1.3.X21
5 5
1 1
1 1-A43.X22
3 3
4 4
2 2
1 1-A43.X24
1 1-XP6
2 2
3 3
4 4
6 6
5 5-XS40
A3 c3
A5 c5
A1 c1
E1 e1
E2 e2
F7 f7
F9 f9
F8 f8
F1 f1
F2 f2
F3 f3
F4 f4
A1 a1
A2 a2
A3 a3
A4 a4
7
45
67
GN/YE
204/
8
24V BRAKE REL
0V BRAKE REL
24V0V
24V0V
PE
W/T
V/S
U/R
PE
PTC
0V PTC
BKBNRDOGYEGNBUVT
672
GN/YE
-
-
-
-
*DUAL *SINGLE
4014
40104012
4011
4006400840094007
40044000
4013
GN/YE
4002
Note 1.1 on Page 700
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12APPROVED
3HAC026209-001
1 2 74 53 6 8
DMRO SEPRMP
TYPE SECUSTOMER SIGNALSCANBUSCOMMUNICATIONVALID FORHARNESS IN CABINET3HAC022852-001 (Dual)3HAC024371-001 (Single)3HAC021791-0013HAC022866-001FLOOR HARNESS3HAC022978-001,002,003,0063HEA800736-001,002,003,004
ORANGE LINELOWER ARM HARNESS3HAC022481-001UPPER ARM HARNESS3HAC023173-001,002
SILVER LINELOWER ARM HARNESS3HAC022472-0013HAC022473-001UPPER ARM HARNESS3HAC022477-0013HAC022477-0023HAC022477-003
FOR IRB66x0IDCONNECTION BETWEENR2.CP/CS AND R3.CP/CSSEE PAGE IRB66x0IDLOWER ARM HARNESS3HAC022481-001UPPER ARM HARNESS3HAC025532-001
IRB6660LOWER ARM HARNESS3HAC027105-001
* Circuitdiagram showsmarking on wires for bothdual and single cabinet
677
WH/RD
678
WH/BN
WH/GN
BK
GN
WH/BK
WH/BN
RD
BN
BN
WH/BUBU
WH/OGOG
205/
3
WH/BKWH
BKBU
WH/BNWH/GN
BNGN
WH/RD
RD
WH/BN
BN
WH/OGWH/BUOGBU
WH/YEYE
WH/OGOG
205/
4
203/
820
5/8
0V EXC2/R2
203/
5
X7/S1
205/
5
0V X7/S3
Y7/S4
0V Y7/S2
EXC2/R1
KSR
KSR
BK
BN
*DUAL
*SINGLE
WH/GN
GN
WH/BN
BN
B18-R3.CP/CS
-AXIS 3 -AXIS 6-MANIPULATOR BASE-ROBOTCABINET
-SMB
-XS13
B1 b1-R2.CP/CS
B2 b2
B3 b3
B4 b4
B5 b5
B6 b6
B7 b7
B8 b8
B9 b9
B10 b10
B19
B20
B21
B22
B23
B24
B25
B16
B17
B1 b1-R1.CP/CS
B2 b2
B3 b3
B4 b4
B5 b5
B6 b6
B7 b7
B8 b8
B9 b9
B10 b10
SP1
SP2
SP3
SP4
SP5
SP6
9 9-R1.SMB1
2 2
11 11
4 4
12 12
5 5
1 1
F F-R2.FB7
E E
D D
C C
B B
A A
1 1-XP5.1
2 2
9 9-XP5.1
10 10
11 11
12 12
1 1-XP5.2
2 2
3 3
4 4
B1 b1
B2 b2
B3 b3
B4 b4
B5 b5
B6 b6
B7 b7
B8 b8
B9 b9
B10 b10
WH/BUBU
WH/OGOG
Note 1.9 on Page 702
WH/RD
WH/BNBKWH/BK
WH/BK
BK
WH/BN
BN
WH/RD
RD
WH/OGOG
WH/YEYE
RD
BN
203/
620
5/6
203/
720
5/7
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Latest revision:
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Document no.Next
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8765321
APPROVED
12
4
DMRO SEPRMP
TYPE SECUSTOMER SIGNALSCANBUSCOMMUNICATIONVALID FORHARNESS IN CABINET3HAC022852-001 (Dual)3HAC024371-001 (Single)3HAC021791-0013HAC022866-001FLOOR HARNESS3HAC022978-001,002,003,0063HEA800736-001,002,003,004
ORANGE LINELOWER ARM HARNESS3HAC022481-001UPPER ARM HARNESS3HAC023173-001,002
SILVER LINELOWER ARM HARNESS3HAC022472-0013HAC022473-001UPPER ARM HARNESS3HAC022477-0013HAC022477-0023HAC022477-003
FOR IRB66x0IDCONNECTION BETWEENR2.CP/CS AND R3.CP/CSSEE PAGE IRB66x0IDLOWER ARM HARNESS3HAC022481-001UPPER ARM HARNESS3HAC025532-001
IRB6660LOWER ARM HARNESS3HAC027105-001
* Circuitdiagram shows markingon wires for both dual andsingle cabinet
WH/BN
679
BN
680
5
681
6
682
7
693
8
694
1
695
2
696
3
697
4
698
YE
685
YE
686
VT
687
VT
683
GN
688
GN
684
GN
RD
GN
BK
204/
8
691692689
+24V CAN
690
0V CAN
WHCAN_H
BUCAN_L
699
RD
700
OG
666667
YE
668
GN
669
GYWHWH/BK
WH/GN
204/
3
WH/BN
GN
WH/RD
WH/BU
WH/OG
BU
GY
WH/VT
WHWH/BK
VTWH/GY
BU
WH/BN
GY
VT
WH/BK
RD
BK
BK
WH/OG
WH/YE
OG
WH/GN
WH/BN
WH/RD
BN
WH/OG
WH/RD
WH
RD
BU
WH/BKBK
WH/YE
WH/BN
WH/GN
BN
WH/BU
5
WH/VT
6
WH/GY
7
*
8
DUAL
1
*
2
SINGLE
34BN/BK
YEYE
VTVT
-AXIS 3 -AXIS 6-MANIPULATOR BASE-ROBOTCABINET-XS13
B11 b11-R2.CP/CS
B12 b12
B13 b13
B14 b14
B15 b15
B16 b16
B18 b18
B19 b19
B20 b20
B21 b21
C18 c18
C19 c19
C20 c20
C21 c21
C16 c16
C17 c17
B22 b22
B23 b23
B24 b24
B25 b25
A3 a3
A4 a4
A5 a5
A6 a6
A9 a9
A10 a10
A11 a11
A12 a12
B1-R3.CP/CS
B2
B3
B4
B5
B6
B7
B8
B9
B10
B14
C8
A7
A8
A9
A10
A5
A6
A11
A12
B11 b11-R1.CP/CS
B12 b12
B13 b13
B14 b14
B15 b15
B16 b16
B18 b18
B19 b19
B20 b20
B21 b21
C16 c16
C17 c17
C18 c18
C19 c19
C20 c20
C21 c21
B22 b22
B23 b23
B24 b24
B25 b25
A3 a3
A4 a4
A5 a5
A6 a6
A9 a9
A10 a10
A11 a11
A12 a12
A1
A2
A3
A4
5 5-A35.X2
1 1
4 4-A35.X2
2 2
3 3
3 3-XP5.1
4 4
5 5
6 6
7 7-XP5.1
8 8-XP5.1
11 11-XP5.2
12 12
9 9
10 10
5 5-XP5.2
8 8-XP5.2
7 7-XP5.3
8 8
9 9
10 10
11 11
12 12
1 1-XP5.3
6 6
6 6
7 7
2 2
3 3
4 4
5 5
B11 b11
B12 b12
B13 b13
B14 b14
B15 b15
B16 b16
B18 b18
B19 b19
B20 b20
B21 b21
C16 c16
C17 c17
C18 c18
C19 c19
C20 c20
C21 c21
F1 f1
F2 f2
B24 b24
B25 b25
B22
B23
F3 f3
F4 f4
C10 c10
C11 c11
C12 c12
C13 c13
C14 c14
C15 c15
GNGN
GNGN
204/
6
204/
7
WHOGWHGN
WHBNWHGYRDBU
RD
OGRD
GN
RD
BN
RDBK
BKBU
WHBU
BKOG
BKGN
BKBN
204/
4
WH/GNGNWH/BUBU
WH/VT
204/
5
VTWH/GYGYWH/BKBK
WH/OG
OGWH/BN
BN
WH/RD
RD
WH/BKBK
Prepared by, date:207
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8765321
APPROVED
12
4
DMRO SEPRMP
TYPE SCUSTOMER SIGNALSETHERNETCOMMUNICATIONVALID FOR HARNESS IN CABINET3HAC022852-001 (Dual)3HAC024371-001 (Single)3HAC021791-0013HAC022867-001FLOOR HARNESS3HAC023024-001,002,003,0063HEA800736-001,002,003,004
ORANGE LINELOWER ARM HARNESS3HAC034335-001UPPER ARM HARNESS3HAC023171-001,002
FOR IRB66X0IDCONNECTION BETWEENR2.CP/CS AND R3.CP/CSSEE PAGE IRB66X00IDLOWER ARM HARNESS3HAC034335-001
* Circuit diagram shows marking on wires for both dual and single cabinet
670
671
672
673
400240044000
40134014
40104012
4011
4006400840094007
GN/YE
GN/YE
12
34
GN/YE
BLBUBR
GN/YE
PKRD
OGGN
YE
207/
5
123
GN/YE
45
67
45
67
GN/YE
207/
6
207/
7
45
67
GN/YE
GN/YE
45
67
-AXIS 3 -AXIS 6-MANIPULATOR BASE-ROBOTCABINET
-XS9
-XS7
-XS13
D1 d1-R3.CP/CS
D4 d4
D6 d6
D3 d3
D5 d5-R2.CP/CS
D2 d2
D7 d7
C1 c1
C2 c2
C3 c3
C5 c5
B11
B12
B13
B15
C4-R3.CP/CS
C5
C6
C7
C1-R3.CP/CS
C2
C3
D1 c1-R1.CP/CS
D6 c6
D3 c3
D4 c4
E E-R1.SP
C C
A A
G G
J J
K K
L L
M M
R R
1 1-R1.ETHERNET
2 2
3 3
4 4
1 1-R2.ETHERNET
2 2
3 3
4 4
1-R3.ETHERNET
2
3
4
3 3-A41.1.3.X21
5 5
1 1
1 1-A43.X22
3 3
4 4
2 2
1 1-A43.X24
2 2
1 1-XP6
2 2
3 3
4 4
6 6
5 5-XS40
1 1
2 2
3 3
4 4
A3 a3
A5 a5
A1 a1
E1 e1
E2 e2
F7 f7
F9 f9
F8 f8
F1 f1
F2 f2
F3 f3
F4 f4
A1 A1
A2 A2
A3 A3
A4 A4
123
207/
8
24V0V
24V0V
PE
W/T
V/S
U/R
PE
PTC
0V PTC
24V BRAKE REL
0V BRAKE REL
BK
RDBN
OGYEGNBUVTGN/YE
*DUAL *SINGLE
-
-
-
-
400240044000
40134014
40104012
4011
GN/YE
4006400840094007
Note 1.1 on Page 700
YE
WH
OG
BU
YE
WH
OG
BU
YE
WH
OG
BU
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DPSeAX3
Document no.Next
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Lab/Office: Status:IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5ECO 70147, WI 7698Page 224-231: Adjusted, "Type Se" was "Type S"Page 316-321: Adjusted, "Type H" was "Type S"
12APPROVED
3HAC026209-001
1 2 74 53 6 8
DMRO SEPRMP
TYPE SCUSTOMER SIGNALSETHERNETCOMMUNICATIONVALID FOR HARNESS IN CABINET3HAC022852-001 (Dual)3HAC024371-001 (Single)3HAC021791-0013HAC022867-001FLOOR HARNESS3HAC023024-001,002,003,0063HEA800736-001,002,003,004
ORANGE LINELOWER ARM HARNESS3HAC034335-001UPPER ARM HARNESS3HAC023171-001,002
FOR IRB66X0IDCONNECTION BETWEENR2.CP/CS AND R3.CP/CSSEE PAGE IRB66X00IDLOWER ARM HARNESS3HAC034335-001
* Circuit diagram shows marking on wires for both dual and single cabinet
RD
WH/GN
GN
BN
WH/BN
BN
677
678
WH/BU
BU
WH/OG
OG
208/
3
WH/BNWH/GN
BNGN
WH/BN WH/RD
RDBN
WH/BU WH/OGBU OG
WH/YEWH/OGOG YE
WH/BKWH
BKBU
208/
4
206/
820
8/8
Y7/S4
206/
5
0V Y7/S2
208/
5
0V EXC2/R2
EXC2/R1
KSR
KSR
X7/S1
0V X7/S3
BK
BN
*DUAL
*SINGLE
WH/GN
GN
WH/BN
5 5-XP5.1
-AXIS 3 -AXIS 6-MANIPULATOR BASE-ROBOTCABINET
-SMB
-XS13
B1 b1-R2.CP/CS
B2 b2
B3 b3
B4 b4
B5 b5
B6 b6
B7 b7
B8 b8
B9 b9
B10 b10
B18-R3.CP/CS
B19
B3 b3
B4 b4
B5 b5
B6 b6
B1 b1-R1.CP/CS
B2 b2
B7 b7
B8 b8
B9 b9
B10 b10
SP3
SP4
SP5
SP6
SP1
SP2
9 9-R1.SMB1
2 2
11 11
4 4
12 12
5 5
1 1
F F-R2.FB7
E E
D D
C C
B B
A A
B20
B21
B22
B23
B24
B25
B16
B17
1 1-XP5.1
2 2
10 10
11 11
12 12
1 1-XP5.2
2 2
3 3
4 4
B3 b3
B4 b4
B5 b5
B6 b6
B7 b7
B8 b8
B9 b9
B10 b10
B1 b1
B2 b2
BN
WH/BU
BU
WH/OG
OG
Note 1.9 on Page 702
WH/BN
BN
WH/RD
RD
WH/OGOG
WH/YEYE
WH/BK
BK
WH/RD
WH/BNBKWH/BK
RD
BN
206/
620
8/6
206/
720
8/7
WH/RD
WH/BNBKWH/BK
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Latest revision:
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++Sublocation:
DPSeAX3
Document no.Next
Rev. Ind
Lab/Office: Status:IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5ECO 70147, WI 7698Page 224-231: Adjusted, "Type Se" was "Type S"Page 316-321: Adjusted, "Type H" was "Type S"
12APPROVED
3HAC026209-001
1 2 74 53 6 8
DMRO SEPRMP
TYPE SCUSTOMER SIGNALSETHERNETCOMMUNICATIONVALID FOR HARNESS IN CABINET3HAC022852-001 (Dual)3HAC024371-001 (Single)3HAC021791-0013HAC022867-001FLOOR HARNESS3HAC023024-001,002,003,0063HEA800736-001,002,003,004
ORANGE LINELOWER ARM HARNESS3HAC034335-001UPPER ARM HARNESS3HAC023171-001,002
FOR IRB66X0IDCONNECTION BETWEENR2.CP/CS AND R3.CP/CSSEE PAGE IRB66X00IDLOWER ARM HARNESS3HAC034335-001
* Circuit diagram shows marking on wires for both dual and single cabinet
679680681682
693694
207/
8
695696697698
685
686687
RD
683
OG
688
YE
684
GY
GN
WH
689
WH/BK
690
WH/BNWH/RD
691
WH/OG
692
GY
666667
WH
WH/GN
668
WH/BK
GN
669
BU
WH/BU
699
WH/BN
BU
700
VT
WH/VTVTWH/GY
WH/RD
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WH/OG
BK
WH/YE
WH/OG
WH/GN
OG
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207/
3
WH/BN
WH/VT
BN
WH/GY
WH/RD
WH/YE
RD
WH/GN
WH/YE
YEWH/GNGN
*DUAL *SINGLE
BN/BK
-AXIS 3 -AXIS 6-MANIPULATOR BASE-ROBOTCABINET
-XS13
B11 b11-R2.CP/CS
B12 b12
B13 b13
B14 b14
B15 b15
B16 b16
B18 b18
B19 b19
B20 b20
B21 b21
C18 c18
C19 c19
C20 c20
C21 c21
C16 c16
C17 c17
B22 b22
B23 b23
B24 b24
B25 b25
B1-R3.CP/CS
B2
B3
B4
B5
B6
B7
B8
B9
B10
B14
C8
A1
A2
A3
A4
B11 b11-R1.CP/CS
B12 b12
B13 b13
B14 b14
B15 b15
B16 b16
B18 b18
B19 b19
B20 b20
B21 b21
C16 c16
C17 c17
C18 c18
C19 c19
C20 c20
C21 c21
B22 b22
B23 b23
B24 b24
B25 b25
3 3-XP5.1
4 4
5 5
6 6
7 7-XP5.1
8 8-XP5.1
5 5-XP5.2
8 8-XP5.2
9 9-XP5.2
10 10
12 12
1 1-XP5.3
2 2
3 3
4 4
9 9-XP5.3
10 10
11 11
12 12
7 7
8 8
6 6
7 7
11 11
5 5
6 6
B11 b11
B12 b12
B13 b13
B14 b14
B15 b15
B16 b16
B18 b18
B19 b19
B20 b20
B21 b21
C16 c16
C17 c17
C18 c18
C19 c19
C20 c20
C21 c21
B22 b22
B23 b23
B24 b24
B25 b25
C12
C13
C14
C15
C10
C11
207/
6
207/
7
WHOGWHGN
WHBNWHGYRDBU
RD
OGRD
GN
RD
BN
RD
GYBKBU
WH/GNGNWH/BUBU
WH/VTVT
207/
4
WH/GYGYWH/BK
207/
5
BK
WH/OG
OGWH/BN
BN
WH/RD
RD
WH/BK
BKWH/GNGN
Prepared by, date:210
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12APPROVED
3HAC026209-001
1 2 74 53 6 8
DMRO SEPRMP
TYPE SECUSTOMER SIGNALSPROFIBUSCOMMUNICATIONVALID FORHARNESS IN CABINET3HAC022852-001 (Dual)3HAC024371-001 (Single)3HAC021791-0013HAC022868-001FLOOR HARNESS3HAC022988-001,002,003,0063HEA800736-001,002,003,004
ORANGE LINELOWER ARM HARNESS3HAC022481-001UPPER ARM HARNESS3HAC023173-001,002
SILVER LINELOWER ARM HARNESS3HAC022472-0013HAC022473-001UPPER ARM HARNESS3HAC022477-0013HAC022477-0023HAC022477-003
FOR IRB66x0IDCONNECTION BETWEENR2.CP/CS AND R3.CP/CSSEE PAGE IRB66x0IDLOWER ARM HARNESS3HAC022481-001UPPER ARM HARNESS3HAC025532-001
IRB6660LOWER ARM HARNESS3HAC027105-001
* Circuitdiagram showsmarking on wires for bothdual and single cabinet
670
671
672
673
400240044000
40134014
40104012
4011
4006400840094007
GN/YE
GN/YE
12
34
GN/YE
BLBUBR
GN/YE
PK
RD
OGGN
YE
210/
5
45
67
GN/YE
123
GN/YE
45
67
210/
6
210/
7
45
67
GN/YE
123
GN/YE
4
D7 d7
-AXIS 3 -AXIS 6-MANIPULATOR BASE-ROBOTCABINET
-XS7
-XS13
D5 d5-R2.CP/CS
D2 d2
C1 c1
C2 c2
C3 c3
C5 c5
D1 d1-R2.CP/CS
D6 d6
D4 d4
D3 d3
D1 d1-R1.CP/CS
D6 d6
D3 d3
D4 d4
E E-R1.SP
C C
A A
G G
J J
K K
L L
M M
R R
B11
B12
B13
B15
C4-R3.CP/CS
C5
C6
C7
C1-R3.CP/CS
C2
C3
3 3-A41.1.3.X21
5 5
1 1
1 1-A43.X22
3 3
4 4
2 2
1 1-A43.X24
2 2
1 1-XP6
2 2
3 3
4 4
6 6
5 5-XS40
A3 a3
A5 a5
A1 a1
E1 e1
E2 e2
F7 f7
F9 f9
F8 f8
F1 f1
F2 f2
F3 f3
F4 f4
A1 a1
A2 a2
A3 a3
A4 a4
56
7
210/
8
24V
0V
24V
0V
W/T
V/S
U/R
PE
PTC
0V PTC
24V BRAKE REL
0V BRAKE REL
PE
BKBNRDOGYEGNBUVTGN/YE
*DUAL
*SINGLE
-
-
-
- VT
40134014
40104012
4011
4006400840094007
GN/YE
400240044000
Note 1.1 on Page 700
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Lab/Office: Status:IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5ECO 70147, WI 7698Page 224-231: Adjusted, "Type Se" was "Type S"Page 316-321: Adjusted, "Type H" was "Type S"
12APPROVED
3HAC026209-001
1 2 74 53 6 8
DMRO SEPRMP
TYPE SECUSTOMER SIGNALSPROFIBUSCOMMUNICATIONVALID FORHARNESS IN CABINET3HAC022852-001 (Dual)3HAC024371-001 (Single)3HAC021791-0013HAC022868-001FLOOR HARNESS3HAC022988-001,002,003,0063HEA800736-001,002,003,004
ORANGE LINELOWER ARM HARNESS3HAC022481-001UPPER ARM HARNESS3HAC023173-001,002
SILVER LINELOWER ARM HARNESS3HAC022472-0013HAC022473-001UPPER ARM HARNESS3HAC022477-0013HAC022477-0023HAC022477-003
FOR IRB66x0IDCONNECTION BETWEENR2.CP/CS AND R3.CP/CSSEE PAGE IRB66x0IDLOWER ARM HARNESS3HAC022481-001UPPER ARM HARNESS3HAC025532-001
IRB6660LOWER ARM HARNESS3HAC027105-001
* Circuitdiagram showsmarking on wires for bothdual and single cabinet
WH/GN
RD
GN
BN
WH/BN
BN
677
678
WH/BU
BU
WH/OG
OG
211/
3
WH/GN WH/BN
GN BN
WH/BN WH/RD
BN RD
WH/BU WH/OGBU OG
WH/YEWH/OGOG YE
WH WH/BK
BU BK
211/
4
209/
821
1/8
Y7/S4
209/
5
0V Y7/S2
211/
5
0V EXC2/R2
EXC2/R1
KSR
KSR
X7/S1
0V X7/S3
BK
BN
*DUAL
*SINGLE
WH/GN
GN
WH/BN
B18-R3.CP/CS
-AXIS 3 -AXIS 6-MANIPULATOR BASE-ROBOTCABINET
-SMB
-XS13
B1 b1-R2.CP/CS
B2 b2
B3 b3
B4 b4
B5 b5
B6 b6
B7 b7
B8 b8
B9 b9
B10 b10
B19
B3 b3
B4 b4
B5 b5
B6 b6
B1 b1-R1.CP/CS
B2 b2
B7 b7
B8 b8
B9 b9
B10 b10
SP3
SP4
SP5
SP6
SP1
SP2
9-R1.SMB1
2
11
4
12
5
1
F F-R2.FB7
E E
D D
C C
B B
A A
B20
B21
B22
B23
B24
B25
B16
B17
1 1-XP5.1
2 2
9 9-XP5.1
10 10
11 11
12 12
1 1-XP5.2
2 2
3 3
4 4
B3 b3
B4 b4
B5 b5
B6 b6
B7 b7
B8 b8
B9 b9
B10 b10
B1 b1
B2 b2
BN
WH/BU
BU
WH/OG
OG
Note 1.9 on Page 702
WH/BN
BN
WH/RD
RD
WH/OGOG
WH/YEYE
WH/BK
BK
WH/RD
WH/BNBKWH/BK
RD
BN
209/
621
1/6
209/
721
1/7
WH/RD
WH/BNBKWH/BK
Prepared by, date:+.(-)/212
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++Sublocation:
DPSeAX3
Document no.Next
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Lab/Office: Status:IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5ECO 70147, WI 7698Page 224-231: Adjusted, "Type Se" was "Type S"Page 316-321: Adjusted, "Type H" was "Type S"
12APPROVED
3HAC026209-001
1 2 74 53 6 8
DMRO SEPRMP
TYPE SECUSTOMER SIGNALSPROFIBUSCOMMUNICATIONVALID FORHARNESS IN CABINET3HAC022852-001 (Dual)3HAC024371-001 (Single)3HAC021791-0013HAC022868-001FLOOR HARNESS3HAC022988-001,002,003,0063HEA800736-001,002,003,004
ORANGE LINELOWER ARM HARNESS3HAC022481-001UPPER ARM HARNESS3HAC023173-001,002
SILVER LINELOWER ARM HARNESS3HAC022472-0013HAC022473-001UPPER ARM HARNESS3HAC022477-0013HAC022477-0023HAC022477-003
FOR IRB66x0IDCONNECTION BETWEENR2.CP/CS AND R3.CP/CSSEE PAGE IRB66x0IDLOWER ARM HARNESS3HAC022481-001UPPER ARM HARNESS3HAC025532-001
IRB6660LOWER ARM HARNESS3HAC027105-001
* Circuitdiagram showsmarking on wires for bothdual and single cabinet
GN
679
210/
8
680681
RXD/TXD-P
682
RXD/TXD-N
693
RD
694
OG
695
YE
696
GN
697
GY
698
WH
685
WH/BK
686
WH/BNWH/RD
687
WH/OG
683
GY
688
WH
684
WH/BK
689690
BU
WH/GN
691
WH/BN
GN
VT
692
WH/BU
WH/RD
699
BU
WH/OG
700
WH/YE
RD
WH/VT
GN
WH/GN
VT
666
WH/YE
WH/GY
667
WH/GN
GY
RD
668
WH/BK
669
GN
BK
210/
3
WH/BU
WH/OG
WH/VT
OG
WH/GY
WH/BN
*
BN
DUAL
WH/RD
RD
*
WH/BK
SINGLE
BK
BN/BK
WH/BN
BN
56
78
12
34
YEYE
VTVT
GNGN
GNGN
210/
6
201/
7
B14 b14
-AXIS 3 -AXIS 6-MANIPULATOR BASE-ROBOTCABINET
-XS13
B11 b11-R2.CP/CS
B12 b12
B13 b13
B15 b15
B16 b16
B18 b18
B19 b19
B20 b20
B21 b21
C20 c20
C21 c21
C16 c16
C17 c17
C18 c18
C19 c19
B22 b22
B23 b23
B24 b24
B25 b25
A3 a3
A4 a4
A5 a5
A6 a6
A9 a9
A10 a10
A11 a11
A12 a12
B1-R3.CP/CS
B2
B3
B4
B5
B6
B7
B8
B9
B10
A1
A2
A3
A4
A7
A8
A9
A10
A5
A6
A11
A12
B11 b11-R1.CP/CS
B12 b12
B13 b13
B14 b14
B15 b15
B16 b16
B18 b18
B19 b19
B20 b20
B21 b21
C16 c16
C17 c17
C18 c18
C19 c19
C20 c20
C21 c21
B22 b22
B23 b23
B24 b24
B25 b25
A3 a3
A4 a4
A5 a5
A6 a6
A9 a9
A10 a10
A11 a11
A12 a12
B14
C8
1B 1B-DP-M
1A 1A
3 3-XP5.1
4 4
5 5
6 6
7 7-XP5.1
8 8-XP5.1
5 5-XP5.2
6 6
7 7
8 8-XP5.2
9 9-XP5.2
10 10
11 11
12 12
1 1-XP5.3
2 2
3 3
4 4
5 5
6 6
7 7-XP5.3
8 8
9 9-XP5.3
10 10
11 11
12 12
B11 b11
B12 b12
B13 b13
B14 b14
B15 b15
B16 b16
B18 b18
B19 b19
B20 b20
B21 b21
C16 c16
C17 c17
C18 c18
C19 c19
C20 c20
C21 c21
B22 b22
B23 b23
B24 b24
B25 b25
C10 c10
C11 c11
F5 f5
F6 f6
C12 c12
C13 c13
C14 c14
C15 c15
WHOGWHGN
WHBNWHGYRDBU
RDOG
RD
GN
RD
BN
RDGY
BKBU
BKOG
WH/GN
RDGN
GN
BK
WH/BU
GN
BU
BK
WH/VT
BN
VT
201/
4
WH/GYGYWH/BK
210/
5
BK
WH/OG
OG
WH/BN
BN
WH/RD
RD
WH/BKBK
WH/BNBN
56
78
12
34
YEYE
VTVT
GNGN
GN
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++Sublocation:
DPSe(-)
Document no.Next
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Lab/Office: Status:IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5ECO 70147, WI 7698Page 224-231: Adjusted, "Type Se" was "Type S"Page 316-321: Adjusted, "Type H" was "Type S"
12APPROVED
3HAC026209-001
1 2 74 53 6 8
DMRO SEPRMP
TYPE SECUSTOMER SIGNALSPARALLELCOMMUNICATIONVALID FORHARNESS IN CABINET3HAC022852-001 (Dual)3HAC024371-001 (Single)3HAC021791-001FLOOR HARNESS3HAC022957-001,002,003,0063HEA800736-001,002,003,004
ORANGE LINELOWER/UPPER ARM HARNESS3HAC022487-001,002
* Circuitdiagram showsmarking on wires for bothdual and single cabinet
670
671
672
673
400240044000
40134014
40104012
4011
4006400840094007
GN/YE
GN/YE
12
34
GN/YE
BLBU
BR
GN/YE
PKRD
OGGN
YE
213/
5
123
GN/YE
4
5
6
7
45
67
GN/YE
213/
8
24V BRAKE REL
0V BRAKE REL
24V
0V
24V
0V
PE
W/T
V/S
U/R
PE
PTC
-XS13
-AXIS 6-MANIPULATOR BASE-ROBOTCABINET
-XS7
1 1
B11
B12
B13
B15
C1-R3.CP/CS
C2
C3
D1 d1-R1.CP/CS
D6 d6
D3 d3
D4 d4
E ER1.SP
C C
A A
G G
J J
K K
L L
M M
R R
C4-R3.CP/CS
C5
C6
C7
3 3-A41.1.3.X21
5 5
1 1-A43.X22
3 3
4 4
2 2
1 1-A43.X24
2 2
1 1-XP6
2 2
3 3
4 4
5 5-XS40
6 6
A3 a3
A5 a5
A1 a1
E1 e1
E2 e2
F7 f7
F9 f9
F8 f8
F1 f1
F2 f2
F3 f3
F4 f4
A1 a1
A2 a2
A3 a3
A4 a4
0V PTC
BKBNRDOGYEGNBUVTGN/YE
*DUAL
*SINGLE
-
-
-
-
40134014
40104012
4011
4006400840094007
GN/YE
400240044000
Note 1.2 on Page 700
Prepared by, date:214
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Document no.Next
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Lab/Office: Status:IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5ECO 70147, WI 7698Page 224-231: Adjusted, "Type Se" was "Type S"Page 316-321: Adjusted, "Type H" was "Type S"
12APPROVED
3HAC026209-001
1 2 74 53 6 8
DMRO SEPRMP
X7/S1
TYPE SECUSTOMER SIGNALSPARALLELCOMMUNICATIONVALID FORHARNESS IN CABINET3HAC022852-001 (Dual)3HAC024371-001 (Single)3HAC021791-001FLOOR HARNESS3HAC022957-001,002,003,0063HEA800736-001,002,003,004
ORANGE LINELOWER/UPPER ARM HARNESS3HAC022487-001,002
* Circuitdiagram showsmarking on wires for bothdual and single cabinet
0V X7/S3
677
Y7/S4
678
0V Y7/S2
WH/GN
0V EXC2/R2
GN
EXC2/R1
WH/BN
KSR
KSR
BN
WH/BU
BK
BU
BN
WH/OG
*
OG
DUAL
214/
3
*SINGLE
WH/GN
GN
WH/BN
BN
WH/BU
BU
WH/OG
OG
Note 1.11 on Page 702
WH
BU
WH/GN
GN
WH/BN
BN
WH/BUBU
WH/OGOG
214/
4
212/
521
4/5
-AXIS 6-MANIPULATOR BASE-ROBOTCABINET
-SMB
-XS13
B18-R3.CP/CS
B19
B20
B21
B22
B23
B24
B25
B16
B17
B1 b1-R1.CP/CS
B2 b2
B3 b3
B4 b4
B5 b5
B6 b6
B7 b7
B8 b8
B9 b9
B10 b10
SP1
SP2
SP3
SP4
SP5
SP6
9-R1.SMB1
2
11
4
12
5
1
F F-R2.FB7
E E
D D
C C
B B
A A
1 1-XP5.1
2 2
9 9-XP5.1
10 10
11 11
12 12
1 1-XP5.2
2 2
3 3
4 4
B1 b1
B2 b2
B3 b3
B4 b4
B5 b5
B6 b6
B7 b7
B8 b8
B9 b9
B10 b10
WH/RD
WH/BNBKWH/BK
RD
BN
WH/BK
BK
WH/BN
BN
WH/RD
RD
WH/OGOG
WH/YEYE
WH/RD
WH/BNBKWH/BK
RD
BN
212/
821
4/8
Prepared by, date:215
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++Sublocation:
DPSe(-)
Document no.Next
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Lab/Office: Status:IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5ECO 70147, WI 7698Page 224-231: Adjusted, "Type Se" was "Type S"Page 316-321: Adjusted, "Type H" was "Type S"
12APPROVED
3HAC026209-001
1 2 74 53 6 8
DMRO SEPRMP
TYPE SECUSTOMER SIGNALSPARALLELCOMMUNICATIONVALID FORHARNESS IN CABINET3HAC022852-001 (Dual)3HAC024371-001 (Single)3HAC021791-001FLOOR HARNESS3HAC022957-001,002,003,0063HEA800736-001,002,003,004
ORANGE LINELOWER/UPPER ARM HARNESS3HAC022487-001,002
* Circuitdiagram showsmarking on wires for bothdual and single cabinet
GN
679
GY
680
WH
681
WH/BK
682
WH/BN
693
WH/RD
694
WH/OG
695
GY
696
WH
697
WH/BK
698
BU
685
WH/BN
686
VT
687
WH/RD
683
WH/OG
688
WH/YE
684
WH/GN
689
WH/YE
690
WH/GN
691
WH/BU
692
WH/VT
699
WH/GY
700
*
666
DUAL
667
*
668
SINGLE
669 BN/BK
213/
3
Note 1.12 on Page 702
WHOGWHGN
WH
-AXIS 6-MANIPULATOR BASE-ROBOTCABINET
6 6
-XS13
B1R3.CP/CS
B2
B3
B4
B5
B6
B7
B8
B9
B10
B14
C8
A1
A2
A3
A4
B11 b11-R1.CP/CS
B12 b12
B13 b13
B14 b14
B15 b15
B16 b16
B18 b18
B19 b19
B20 b20
B21 b21
C16
C17
C18
C19 c19
C20
C21
B22
B23
B24
B25
3 3-XP5.1
4 4
5 5
7 7-XP5.15
8 8-XP5.1
5 5-XP5.2
6 6
7 7
8 8-XP5.2
9 9-XP5.2
10 10
11 11
12 12
1 1-XP5.3
2 2
3 3
4 4
5 5
6 6
7 7-XP5.3
8 8
9 9
10 10
11 11
12 12
B11 b11
B12 b12
B13 b13
B14 b14
B15 b15
B16 b16
B18 b18
B19 b19
B20 b20
B21 b21
C16 c16
C17 c17
C18 c18
C19 c19
C20 c20
C21 c21
B22 b22
B23 b23
B24 b24
B25 b25
C10
C11
C12
C13
C14
C15
BNWHGYRDBU
RDOG
RD
GN
RD
BN
RDGYBKBU
213/
4
213/
4
WH/GNGNWH/BUBU
WH/VTVTWH/GYGYWH/BKBK
BN
RD
WH/YEYEWHGN
213/
8
RDOGYE
Prepared by, date:216
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ight
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umen
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Latest revision:
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++Sublocation:
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Document no.Next
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Lab/Office: Status:IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5ECO 70147, WI 7698Page 224-231: Adjusted, "Type Se" was "Type S"Page 316-321: Adjusted, "Type H" was "Type S"
12APPROVED
3HAC026209-001
1 2 74 53 6 8
DMRO SEPRMP
TYPE SECUSTOMER SIGNALSCANBUSCOMMUNICATIONVALID FORHARNESS IN CABINET3HAC022852-001 (Dual)3HAC024371-001 (Single)3HAC021791-0013HAC022866-001FLOOR HARNESS3HAC022978-001,002,003,0063HEA800736-001,002,003,004
ORANGE LINELOWER/UPPER ARM HARNESS3HAC022491-001,002
* Circuitdiagram showsmarking on wires for bothdual and single cabinet
670
671
672
673
400240044000
40134014
40104012
4011
4006400840094007
GN/YE
GN/YE
12
34
GN/YE
BLBUBR
GN/YE
PK
RD
OGGN
YE
216/
7
45
67
GN/YE
123
GN/YE
45
67
216/
8
24V BRAKE REL
0V BRAKE REL
24V
0V
24V
0V
PE
W/T
V/S
U/R
PE
-AXIS 6-MANIPULATOR BASE-ROBOTCABINET
-XS7
-XS13
2 2
B11
B12
B13
B15
C1-R3.CP/CS
C2
C3
D1 d1-R1.CP/CS
D6 d6
D3 d3
D4 d4
E E-R1.SP
C C
A A
G G
J J
K K
L L
M M
R
C4-R3.CP/CS
C5
C6
C7
3 3-A41.1.3.X21
5 5
1 1
1 1-A43.X22
3 3
4 4
1 1-A43.X24
2 2
1 1-XP6
2 2
3 3
4 4
6 6
5 5-XS40
A3 a3
A5 a5
A1 a1
E1 e1
E2 e2
F7 f7
F9 f9
F8 f8
F1 f1
F2 f2
F3 f3
F4 f4
A1 a1
A2 a2
A3 a3
A4 a4
PTC
0V PTC
BKBNRDOGYEGNBUVTGN/YE
*DUAL
*SINGLE
-
-
-
-
40044000
40134014
40104012
4011
4006400840094007
GN/YE
4002
Note 1.2 on Page 700
Prepared by, date:217
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umen
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se o
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horit
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B
EM 2015-02-17 JEN 2015-03-04
2015-03-04
Page216
98TotalTYPE Se
Latest revision:
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++Sublocation:
DPSe(-)
Document no.Next
Rev. Ind
Lab/Office: Status:IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5ECO 70147, WI 7698Page 224-231: Adjusted, "Type Se" was "Type S"Page 316-321: Adjusted, "Type H" was "Type S"
12APPROVED
3HAC026209-001
1 2 74 53 6 8
DMRO SEPRMP
TYPE SECUSTOMER SIGNALSCANBUSCOMMUNICATIONVALID FORHARNESS IN CABINET3HAC022852-001 (Dual)3HAC024371-001 (Single)3HAC021791-0013HAC022866-001FLOOR HARNESS3HAC022978-001,002,003,0063HEA800736-001,002,003,004
ORANGE LINELOWER/UPPER ARM HARNESS3HAC022491-001,002
* Circuitdiagram showsmarking on wires for bothdual and single cabinet
0V X7/S3
677
Y7/S4
678
0V Y7/S2
WH/GN
0V EXC2/R2
GN
EXC2/R1
WH/BN
KSR
BN
KSR
WH/BU
BK
BU
BN
WH/OG
*
OG
DUAL
217/
3
*SINGLE
WH/GN
GN
WH/BN
BN
WH/BU
BU
WH/OG
OG
Note 1.11 on Page 702
WH
BU
WH/GN
GN
WH/BN
BN
WH/BUBU
WH/OGOG
217/
4
215/
521
7/5
B17
-AXIS 6-MANIPULATOR BASE-ROBOTCABINET
-SMB
-XS13
B18-R3.CP/CS
B19
B20
B21
B22
B23
B24
B25
B16
B1 b1-R1.CP/CS
B2 b2
B3 b3
B4 b4
B5 b5
B6 b6
B7 b7
B8 b8
B9 b9
B10 b10
SP1
SP2
SP3
SP4
SP5
SP6
9-R1.SMB1
2
11
4
12
5
1
F F-R2.FB7
E E
D D
C C
B B
A A
1 1-XP5.1
2 2
9 9-XP5.1
10 10
11 11
12 12
1 1-XP5.2
2 2
3 3
4 4
B1 b1
B2 b2
B3 b3
B4 b4
B5 b5
B6 b6
B7 b7
B8 b8
B9 b9
B10 b10
WH/RD
WH/BNBKWH/BK
RD
BN
WH/BK
BK
WH/BN
BN
WH/RD
RD
WH/OGOG
WH/YEYE
WH/RD
WH/BNBKWH/BK
RD
BN
215/
821
7/8
X7/S1
Prepared by, date:221
We
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rve
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ight
s in
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doc
umen
t and
in th
e in
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atio
n co
ntai
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ein.
Rep
rodu
ctio
n, u
se o
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to th
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horit
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ctly
forb
idde
n. ©
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yrig
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003
AB
B
EM 2015-02-17 JEN 2015-03-04
2015-03-04
Page217
98TotalTYPE Se
Latest revision:
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CUSTOMER SIGNALS, CANBUSLocation:Plant: =
++Sublocation:
DPSe(-)
Document no.Next
Rev. Ind
Lab/Office: Status:IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5ECO 70147, WI 7698Page 224-231: Adjusted, "Type Se" was "Type S"Page 316-321: Adjusted, "Type H" was "Type S"
12APPROVED
3HAC026209-001
1 2 74 53 6 8
DMRO SEPRMP
TYPE SECUSTOMER SIGNALSCANBUSCOMMUNICATIONVALID FORHARNESS IN CABINET3HAC022852-001(Dual)3HAC024371-001 (Single)3HAC021791-0013HAC022866-001FLOOR HARNESS3HAC022978-001,002,003,0063HEA800736-001,002,003,004
ORANGE LINELOWER/UPPER ARM HARNESS3HAC022491-001,002
* Circuitdiagram showsmarking on wires for bothdual and single cabinet
679680681682
693694695696697698
685686687
683
688
684
RDBK
691692689690
WH/GN
WHBU
GN
699
WH/BU
700
BU
666
WH/VT
667
VT
668
WH/GY
669
GYWH/BKBK
216/
3
BN
RD
WH/BKBK
WH/BNBN
56
78
12
34
YEYE
VTVT
GNGN
GNGN
216/
8
+24V CAN
0V CAN
CAN_H
CAN_L
RDOG
-AXIS 6-MANIPULATOR BASE-ROBOTCABINET-XS13
B1-R3.CP/CS
B2
B3
B4
B5
B6
B7
B8
B9
B10
B14
C8
A7
A8
A9
A10
A5
A6
A11
A12
B11 b11-R1.CP/CS
B12 b12
B13 b13
B14 b14
B15 b15
B16 b16
B18 b18
B19 b19
B20 b20
B21 b21
C16 c16
C17 c17
C18 c18
C19 c19
C20 c20
C21 c21
B22 b22
B23 b23
B24 b24
B25 b25
A3 a3
A4 a4
A5 a5
A6 a6
A9 a9
A10 a10
A11 a11
A12 a12
A1
A2
A3
A4
5 5-A35.X2
1 1
4 4-A35.X2
2 2
3 3
3 3-XP5.1
4 4
5 5
6 6
7 7-XP5.1
8 8-XP5.1
11 11-XP5.2
12 12
9 9
10 10
5 5-XP5.2
8 8-XP5.2
7 7-XP5.3
8 8
9 9
10 10
11 11
12 12
1 1-XP5.3
6 6
6 6
7 7
2 2
3 3
4 4
5 5
B11 b11
B12 b12
B13 b13
B14 b14
B15 b15
B16 b16
B18 b18
B19 b19
B20 b20
B21 b21
C16 c16
C17 c17
C18 c18
C19 c19
C20 c20
C21 c21
F1 f1
F2 f2
B24 b24
B25 b25
B22
B23
F3 f3
F4 f4
C10 c10
C11 c11
C12 c12
C13 c13
C14 c14
C15 c15
YEGN
GYWHWH/BKWH/BNWH/RDWH/OG
GYWHWH/BK
BU
WH/BN
WH
VT
OG
RD
WH
BK
GN
WH/YE
WH
WH/GN
BN
WH/RD
WH
WH/OG
GY
WH
RD
BU
BU
WH/YE
RD
WH/GN
OG
WH/BU
RD
WH/VT
GN
WH/GY
RD
*
BN
DUAL
RD
*
BK
SINGLE
BKBU
BN/BK
WHBU
BKOG
BKGN
BKBN
216/
4
216/
4
Prepared by, date:222
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umen
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B
EM 2015-02-17 JEN 2015-03-04
2015-03-04
Page221
98TotalTYPE Se
Latest revision:
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CUSTOMER SIGNALS, PROFIBUSLocation:Plant: =
++Sublocation:
DPSe(-)
Document no.Next
Rev. Ind
Lab/Office: Status:IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5ECO 70147, WI 7698Page 224-231: Adjusted, "Type Se" was "Type S"Page 316-321: Adjusted, "Type H" was "Type S"
12APPROVED
3HAC026209-001
1 2 74 53 6 8
DMRO SEPRMP
TYPE SECUSTOMER SIGNALSPROFIBUSCOMMUNICATIONVALID FORHARNESS IN CABINET3HAC022852-001 (Dual)3HAC024371-001 (Single)3HAC021791-0013HAC022868-001FLOOR HARNESS3HAC022988-001,002,003,0063HEA800736-001,002,003,004
ORANGE LINELOWER/UPPER ARM HARNESS3HAC022491-001,002
* Circuitdiagram showsmarking on wires for bothdual and single cabinet
670
671
672
673
400240044000
40134014
40104012
4011
4006400840094007
GN/YE
GN/YE
BLBU
BR
GN/YE
PKRD
OGGN
YE
12
34
GN/YE
222/
5
45
67
GN/YE
123
GN/YE
45
6
7
222/
8
24V BRAKE REL
0V BRAKE REL
24V
0V
24V
0V
W/T
V/S
U/R
PE
PE
PTC
-XS13-AXIS 6-MANIPULATOR BASE-ROBOTCABINET
-XS7
1 1
D1 d1-R1.CP/CS
D6 d6
D3 d3
D4 d4
E E-R1.SP
C C
A A
G G
J J
K K
L L
M M
R
B11
B12
B13
B15
C4-R3.CP/CS
C5
C6
C7
C1-R3.CP/CS
C2
C3
3 3-A41.1.3.X21
5 5
1 1-A43.X22
3 3
4 4
2 2
1 1-A43.X24
2 2
1 1-XP6
2 2
3 3
4 4
6 6
5 5-XS40
A3 a3
A5 a5
A1 a1
E1 e1
E2 e2
F7 f7
F9 f9
F8 f8
F1 f1
F2 f2
F3 f3
F4 f4
A1 a1
A2 a2
A3 a3
A4 a4
0V PTC
BKBNRDOGYEGNBUVT
-
-
-
-GN/YE
*DUAL *SINGLE
40134014
40104012
4011
40064008
GN/YE
40094007
400240044000
Note 1.2 on Page 700
Prepared by, date:223
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EM 2015-02-17 JEN 2015-03-04
2015-03-04
Page222
98TotalTYPE Se
Latest revision:
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++Sublocation:
DPSe(-)
Document no.Next
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Lab/Office: Status:IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5ECO 70147, WI 7698Page 224-231: Adjusted, "Type Se" was "Type S"Page 316-321: Adjusted, "Type H" was "Type S"
12APPROVED
3HAC026209-001
1 2 74 53 6 8
DMRO SEPRMP
TYPE SECUSTOMER SIGNALSPROFIBUSCOMMUNICATIONVALID FORHARNESS IN CABINET3HAC022852-001 (Dual)3HAC024371-001 (Single)3HAC021791-0013HAC022868-001FLOOR HARNESS3HAC022988-001,002,003,0063HEA800736-001,002,003,004
ORANGE LINELOWER/UPPER ARM HARNESS3HAC022491-001,002
* Circuitdiagram showsmarking on wires for bothdual and single cabinet
0V Y7/S2
WH/GN
0V EXC2/R2
GN
EXC2/R1
WH/BN
KSR
BN
KSR
677X7/S1
678 0V X7/S3
WH/BU
BK
BU
BN
WH/OG
*
OG
DUAL
223/
3
*SINGLE
WH/BN
BN
WH/BU
BU
WH/OG
OG
WH/GN
GN
Note 1.11 on Page 702
WH/GN
GN
WH/BN
BN
WH/BUBU
WH/OGOG
WH
BU
223/
4
221/
522
3/5
-MANIPULATOR BASE -AXIS 6
B8 b8
-ROBOTCABINET
-SMB
-XS13
B18-R3.CP/CS
B19
B3 b3
B4 b4
B5 b5
B6 b6
B1 b1-R1.CP/CS
B2 b2
B7 b7
B9 b9
B10 b10
SP3
SP4
SP5
SP6
SP1
SP2
9 9-R1.SMB1
2 2
11 11
4 4
12 12
5 5
1 1
F F-R2.FB7
E E
D D
C C
B B
A A
B20
B21
B22
B23
B24
B25
B16
B17
1 1-XP5.1
2 2
9 9-XP5.1
10 10
11 11
12 12
1 1-XP5.2
2 2
3 3
4 4
B3 b3
B4 b4
B5 b5
B6 b6
B7 b7
B8 b8
B9 b9
B10 b10
B1 b1
B2 b2
WH/RD
WH/BNBKWH/BK
RD
BN
WH/BN
BN
WH/RD
RD
WH/OGOG
WH/YEYE
WH/BK
BK
WH/RD
WH/BNBKWH/BK
RD
BN
221/
822
3/8
Y7/S4
Prepared by, date:+.AX3/224
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ight
s in
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umen
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e in
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atio
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Rep
rodu
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n, u
se o
r di
sclo
sure
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ithou
t exp
ress
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horit
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idde
n. ©
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AB
B
EM 2015-02-17 JEN 2015-03-04
2015-03-04
Page223
98TotalTYPE Se
Latest revision:
Approved by, date:
CUSTOMER SIGNALS, PROFIBUSLocation:Plant: =
++Sublocation:
DPSe(-)
Document no.Next
Rev. Ind
Lab/Office: Status:IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5ECO 70147, WI 7698Page 224-231: Adjusted, "Type Se" was "Type S"Page 316-321: Adjusted, "Type H" was "Type S"
12APPROVED
3HAC026209-001
1 2 74 53 6 8
DMRO SEPRMP
TYPE SECUSTOMER SIGNALSPROFIBUSCOMMUNICATIONVALID FORHARNESS IN CABINET3HAC022852-001 (Dual)3HAC024371-001 (Single)3HAC021791-0013HAC022868-001FLOOR HARNESS3HAC022988-001,002,003,0063HEA800736-001,002,003,004
ORANGE LINELOWER/UPPER ARM HARNESS3HAC022491-001,002
* Circuitdiagram showsmarking on wires for bothdual and single cabinet
679680681682
693694695696697
698
WH/GN
685
GN
686
WH/BU
687
BU
683
WH/VT
688
VTWH/GY
684
GY
689
WH/BK
690
BK
691
BN
692
RD
699
WH/BK
700
RD
BK
GN
WH/BN
666
BN
667
5
668
6
669
7
222/
2
8
12
34
YEYE
VTVT
GNGN
GNGN
222/
8
RXD/TXD-P
RXD/TXD-N
RDOGYEGN
GYWHWH/BKWH/BNWH/RDWH/OG
GYWH
WH/BK
BU
WH/BN
VT
WH/RDWH/OG
WH/YE
-AXIS 6-MANIPULATOR BASE-ROBOTCABINET
-XS13
B1-R3.CP/CS
B2
B3
B4
B5
B6
B7
B8
B9
B10
A1
A2
A3
A4
A7
A8
A9
A10
A5
A6
A11
A12
B11 b11-R1.CP/CS
B12 b12
B13 b13
B14 b14
B15 b15
B16 b16
B18 b18
B19 b19
B20 b20
B21 b21
C16
C17
C18
C19 b19
C20
C21 b21
B22 b22
B23 b23
B24 b24
B25 b25
A3 a3
A4 a4
A5 a5
A6 a6
A9 a7
A10 a10
A11 a11
A12 a12
B14
C8
1B 1B-DP-M
1A 1A
3 3-XP5.1
4 4
5 5
6 6
7 7-XP5.1
8 8-XP5.1
5 5-XP5.2
6 6
7 7
8 8-XP5.2
9 9-XP5.2
10 10
11 11
12 12
1 1-XP5.3
2 2
3 3
4 4
5 5
6 6
7 7-XP5.3
8 8
9 9-XP5.3
10 10
11 11
12 12
B11 b11
B12 b12
B13 b13
B14 b14
B15 b15
B16 b16
B18 b18
B19 b19
B20 b20
B21 b21
C16 c16
C17 c17
C18 c18
C19 c19
C20 c20
C21 c21
B22 b22
B23 b23
B24 b24
B25 b25
C10 c10
C11 c11
F5 f5
F6 f6
C12 c12
C13 c13
C14 c14
C15 c15
WH/GN
WH/YEWH/GN
RDGN
WH/BU
RD
WH/VT
OG
WH/GY
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++Sublocation:
DPSeAX3
Document no.Next
Rev. Ind
Lab/Office: Status:IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5ECO 70147, WI 7698Page 224-231: Adjusted, "Type Se" was "Type S"Page 316-321: Adjusted, "Type H" was "Type S"
12APPROVED
3HAC026209-001
1 2 74 53 6 8
DMRO SEPRMP
TYPE SeCUSTOMER SIGNALSPARALLELCOMMUNICATIONVALID FORHARNESS IN CABINET3HAC022852-001 (Dual)3HAC024371-001 (Single)FLOOR HARNESS3HAC022957-001,002,003,006
SW6LOWER ARM HARNESS3HAC042381-002UPPER ARM HARNESS3HAC042384-002
* Circuitdiagram shows marking on wires for both dual and single cabinet
N.C.=Not Connected
BK
670
BN
671
RD
672
OG
673
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677
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678
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B11 b11
B12 b12
B13 b13
B14 b14
B15 b15
B16 b16
B18 b18
B19 b19
B20 b20
B21 b21
C19 c19
C18 c18
B11 b11
B12 b12
B13 b13
B14 b14
B15 b15
B16 b16
B18 b18
B19 b19
B20 b20
B21 b21
C19 c19
C18 N.C.
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3 3
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9 9-XP5.1
10 10
11 11
12 12
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A2 a2
A3 a3
A4 a4
B1 b1
B2 b2
B3 b3
B4 b4
B5 b5
B6 b6
B7 b7
B8 b8
B9 b9
B10 b10
-MANIPULATOR BASE
D1 d1-R1.CP/CS
D6 d6
D3 d3
D4 d4
B1 B1
B2 b2
B3 b3
B4 b4
B5 b5
B6 b6
B7 b7
B8 b8
B9 b9
B10 b10
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F F
V V
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CS15
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CS18
CS19
CS20
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Prepared by, date:226
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003
AB
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2015-03-04
Page225
98TotalTYPE Se
Latest revision:
Approved by, date:
CUSTOMER SIGNALS, PARALLEL Location:Plant: =
++Sublocation:
DPSeAX3
Document no.Next
Rev. Ind
Lab/Office: Status:IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5ECO 70147, WI 7698Page 224-231: Adjusted, "Type Se" was "Type S"Page 316-321: Adjusted, "Type H" was "Type S"
12APPROVED
3HAC026209-001
1 2 74 53 6 8
DMRO SEPRMP
TYPE SeCUSTOMER SIGNALSPARALLELCOMMUNICATIONVALID FORHARNESS IN CABINET3HAC022852-001 (Dual)3HAC024371-001 (Single)FLOOR HARNESS3HAC022957-001,002,003,006
SW6LOWER ARM HARNESS3HAC042381-002UPPER ARM HARNESS3HAC042384-002
* Circuitdiagram shows markingon wires for both dual andsingle cabinet
N.C.=Not Connected
685
WH/RD
686
WH/BN
688
BK
684
WH/BK
4002
689
RD
690
4004
691
BN
4000
692
4013
699
4014
700
4010
666
4012
667
4011
668
40064008
669
40094007
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3
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PKRD
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OG
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3
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2
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110
0/4
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4
100/
55
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8 82 24 43 31 1
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8 82 24 43 31 1
3
9 9-XP5.2
10 10
11 11
12 12
5 5-XP5.2
6 6
8 8
8 8-XP5.1
B22 b22
B23 b23
B24 b24
B25 b25
C16 c16
C17 c17
C20 c20
C21 c21
B22 N.C.
B23 N.C.
B24 N.C.
B25 N.C.
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C17 N.C.
C20 N.C.
C21 N.C.
WH
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N.C. N.C.
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N.C. N.C.
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7 7-XP5.3
8 8
9 9
10 10
11 11
12 12
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C10
C11
C12
C13
C14
C15
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F8 f8
3 3-A41.1.3.X21
5 5
1 1
1 1-A43.X24
2 2
5 5-XS40
6 6
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A3 a3
A5 a5
A1 a1
E1 e1
E2 e2
F7 f7
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1 1-A43.X22
3 3
4 4
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F2 f2
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E E
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4006400840094007
Prepared by, date:227
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Cop
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B
EM 2015-02-17 JEN 2015-03-04
2015-03-04
Page226
98TotalTYPE Se
Latest revision:
Approved by, date:
CUSTOMER SIGNALS, CANBUS Location:Plant: =
++Sublocation:
DPSeAX3
Document no.Next
Rev. Ind
Lab/Office: Status:IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5ECO 70147, WI 7698Page 224-231: Adjusted, "Type Se" was "Type S"Page 316-321: Adjusted, "Type H" was "Type S"
12APPROVED
3HAC026209-001
1 2 74 53 6 8
DMRO SEPRMP
TYPE SeCUSTOMER SIGNALSPARALLELCOMMUNICATIONVALID FORHARNESS IN CABINET3HAC022852-001 (Dual)3HAC024371-001 (Single)FLOOR HARNESS3HAC022957-001,002,003,006
SW6LOWER ARM HARNESS3HAC042382-002UPPER ARM HARNESS3HAC042385-002
* Circuitdiagram shows marking on wires for both dual and single cabinet
N.C.=Not Connected
BK
670
BN
671
RD
672
OG
673
YE
677
GN
678
GY
4
WH/GN
WH
5
GN
WH/BK
6
WH/BN
WH/BN
7
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BU
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WH/OG
WH/BN
WH/BK
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BN
DUAL
WH/RD
SINGLE
679
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680
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682
WH/YE
693
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694
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697
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698
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683
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WH/VT
686
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WH/BN
WH/GY
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GN/YE
101/
3WH/BU
GY
BU
WH/BK
WH/OG
BK
OG
WH/OG
OG
Note 1.1 on Page 700
101/
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Note 1.3 on Page 700
Note 1.5 on Page 701
101/
7
12
34
GN/YE
WH
G G G G
3 3
4 4
5 5
6 6
1 1-XP5.3
2 2
3 3
4 4
5 5
6 6
7 7-XP5.1
7 7-XP5.2
B11 b11
B12 b12
B13 b13
B14 b14
B15 b15
B16 b16
B18 b18
B19 b19
B20 b20
B21 b21
C19 c19
C18 c18
B11 b11
B12 b12
B13 b13
B14 b14
B15 b15
B16 b16
B18 b18
B19 b19
B20 b20
B21 b21
C19 c19
C18 N.C.
P P
R R
S S
T T
U U
X X
Y Y
Z Z
a a
b b
c c
N.C. N.C.
P
R
S
T
U
X
Y
Z
a
b
c
N.C.
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1 1-XP6
2 2
3 3
4 4
1 1-XP5.1
2 2
1 1-XP5.2
2 2
3 3
4 4
9 9-XP5.1
10 10
11 11
12 12
-XS13
A1 a1
A2 a2
A3 a3
A4 a4
B1 b1
B2 b2
B3 b3
B4 b4
B5 b5
B6 b6
B7 b7
B8 b8
B9 b9
B10 b10
-MANIPULATOR BASE
D1 d1-R1.CP/CS
D6 d6
D3 d3
D4 d4
B1 B1
B2 b2
B3 b3
B4 b4
B5 b5
B6 b6
B7 b7
B8 b8
B9 b9
B10 b10
-AXIS 3
E E-R2CP/CS
F F
V V
W W
A A
B B
C C
D D
H H
J J
K K
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CS8/KSR
CS4
CS5
CS6
CS9
CS10
CS3
PE
CS1
CS2
CS15
CS16
CS17
CS18
CS19
CS20
CS21
CS12
CS11
CS13
CS14
BKBNRDOGYEGNBUVT
Prepared by, date:228
We
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ight
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Cop
yrig
ht 2
003
AB
B
EM 2015-02-17 JEN 2015-03-04
2015-03-04
Page227
98TotalTYPE Se
Latest revision:
Approved by, date:
CUSTOMER SIGNALS, CANBUS Location:Plant: =
++Sublocation:
DPSeAX3
Document no.Next
Rev. Ind
Lab/Office: Status:IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5ECO 70147, WI 7698Page 224-231: Adjusted, "Type Se" was "Type S"Page 316-321: Adjusted, "Type H" was "Type S"
12APPROVED
3HAC026209-001
1 2 74 53 6 8
DMRO SEPRMP
TYPE SeCUSTOMER SIGNALSPARALLELCOMMUNICATIONVALID FORHARNESS IN CABINET3HAC022852-001 (Dual)3HAC024371-001 (Single)FLOOR HARNESS3HAC022957-001,002,003,006
SW6LOWER ARM HARNESS3HAC042382-002UPPER ARM HARNESS3HAC042385-002
* Circuitdiagram shows markingon wires for both dual andsingle cabinet
N.C.=Not Connected
8
RD
685
1
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2
686
3
688
691
684
692
4
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699
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700
700
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666
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668669
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C-BUS
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WH/YE
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YE
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GN
9 9-XP5.2
10 10
11 11
12 12
5 5-XP5.2
6 6
8 8
8 8-XP5.1
B22 b22
B23 b23
B24 b24
B25 b25
C16 c16
C17 c17
C20 c20
C21 c21
B22 N.C.
B23 N.C.
B24 N.C.
B25 N.C.
c16 N.C.-R1.CP/CS
C17 N.C.
C20 N.C.
C21 N.C.
WH
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N.C. N.C.
N.C. N.C.
N.C. N.C.
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N.C. N.C.
N.C. N.C.
N.C.
N.C.
N.C.
N.C.
N.C.-R3.CP/CS
N.C.
N.C.
N.C.
-ROBOTCABINET
7 7-XP5.3
8 8
9 9
10 10
11 11
12 12
-XS13
C10
C11
C12
C13
C14
C15
-MANIPULATOR BASE -AXIS 3 -AXIS 6
5 5-A35.X2
1 1
11 11-XP5.2
12 12
9 9
10 10
4 4-A35.X2
2 2
3 3
7 7-XP5.3
8 8
9 9
10 10
11 11
12 12
F1 F1
F2 F2
B24 B24
B25 B25
B22
B23
F3 F3
F4 F4
C10 c10
C11 c11
C12 c12
C13 c13
C14 c14
C15 c15
B22 b22
B23 b23
B24 b24
B25 b25
A3 a3
A4 a4
A5 a5
A6 a6
A9 N.C.
A10 N.C.
A11 N.C.
A12 N.C.
C C-R2.CBUS
D D
N.C. N.C.
N.C. N.C.
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BN/BK
Note 1.6 on Page 701
WH/BKBK
WH/BNBN
56
7
Prepared by, date:229
We
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umen
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horit
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idde
n. ©
Cop
yrig
ht 2
003
AB
B
EM 2015-02-17 JEN 2015-03-04
2015-03-04
Page228
98TotalTYPE Se
Latest revision:
Approved by, date:
CUSTOMER SIGNALS, CANBUSLocation:Plant: =
++Sublocation:
DPSeAX3
Document no.Next
Rev. Ind
Lab/Office: Status:IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5ECO 70147, WI 7698Page 224-231: Adjusted, "Type Se" was "Type S"Page 316-321: Adjusted, "Type H" was "Type S"
12APPROVED
3HAC026209-001
1 2 74 53 6 8
DMRO SEPRMP
TYPE SeCUSTOMER SIGNALSPARALLELCOMMUNICATIONVALID FORHARNESS IN CABINET3HAC022852-001 (Dual)3HAC024371-001 (Single)FLOOR HARNESS3HAC022957-001,002,003,006
SW6LOWER ARM HARNESS3HAC042382-002UPPER ARM HARNESS3HAC042385-002
* Circuitdiagram shows markingon wires for both dual andsingle cabinet
WH/RD
WH/BN
BK
4002
WH/BK
4004
RD
4000
BN
40134014
40104012
4011
4006400840094007
GN/YE
BLBUBR
GN/YE
PKRD
OGGN
YE
321
GN/YE
4
5
67
3
A A
F F-R2.FB7
E E
D D
C C
B B
A A
9-R1.SMB
2
11
4
12
5
1
7 7-R3.FB
8 82 24 43 31 1
7 7-R4.FB
8 82 24 43 31 1
-SMB
-ROBOTCABINET -MANIPULATOR BASE -AXIS 3 -AXIS 6
F8 f8
3 3-A41.1.3.X21
5 5
1 1
1 1-A43.X24
2 2
5 5-XS40
6 6
-XS7
A3 a3
A5 a5
A1 a1
E1 e1
E2 e2
F7 f7
F9 f9
4 4-R2.SP
E E-R1.SP
C C
G G
J J
K K
L L
M M
R
1 1
3 3
C C
D D
A A
B B
4-R3.SP
1
3
C
D
A
B
PE PE PE
F4 f4
1 1-A43.X22
3 3
4 4
2 2
F1 f1
F2 f2
F3 f3
21
GN/YE
45
67
W/TV/SU/R
PTC
0V PTC
24V BRAKE REL
0V BRAKE REL
PE
0V EXC 2WH/RDWH/RD
Y7WH/BN WH/BN
0V X7BKBK
WH/BK WH/BK X7
RD EXC 2RD
BN BN 0V Y7
400240044000
40134014
40104012
4011
GN/YE
4006400840094007
Prepared by, date:230
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98TotalTYPE Se
Latest revision:
Approved by, date:
CUSTOMER SIGNALS, ETHERNETLocation:Plant: =
++Sublocation:
DPSeAX3
Document no.Next
Rev. Ind
Lab/Office: Status:IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5ECO 70147, WI 7698Page 224-231: Adjusted, "Type Se" was "Type S"Page 316-321: Adjusted, "Type H" was "Type S"
12APPROVED
3HAC026209-001
1 2 74 53 6 8
DMRO SEPRMP
TYPE SeCUSTOMER SIGNALSPARALLELCOMMUNICATIONVALID FORHARNESS IN CABINET3HAC022852-001 (Dual)3HAC024371-001 (Single)FLOOR HARNESS3HAC022957-001,002,003,006
SW6LOWER ARM HARNESS3HAC042383-002UPPER ARM HARNESS3HAC042386-002
* Circuitdiagram shows marking on wires for both dual and single cabinet
N.C.=Not Connected
BK
670
BN
671
RD
672
OG
673
YE
677
GN
678
GY
4
WH/GN
WH
5
GN
WH/BK
6
WH/BN
WH/BN
7
BN
GN/YE
WH/RDWH/OG
WH/BU
WH/BK
BU
BU
BK
WH/OG
WH/BN
WH/BK
OG
BN
DUAL
WH/RD
SINGLE
679
GN/YE
RD
680
WH/OG
-
681
-
OG
682
WH/YE
693
-
-
YE
694
WH/GN
*
695
*
696
GN
697
WH/BU
698
BU
WH/GN
683
GN
WH/VT
686
VT
WH/BN
WH/GY
BN
GN/YE
101/
3WH/BU
GY
BU
WH/BK
WH/OG
BK
OG
WH/OG
OG
Note 1.1 on Page 700
101/
6
Note 1.3 on Page 700
Note 1.5 on Page 701
101/
7
12
34
GN/YE
WH
G G G G
3 3
4 4
5 5
6 6
1 1-XP5.3
2 2
3 3
4 4
5 5
6 6
7 7-XP5.1
7 7-XP5.2
B11 b11
B12 b12
B13 b13
B14 b14
B15 b15
B16 b16
B18 b18
B19 b19
B20 b20
B21 b21
C19 c19
C18 c18
B11 b11
B12 b12
B13 b13
B14 b14
B15 b15
B16 b16
B18 b18
B19 b19
B20 b20
B21 b21
C19 c19
C18 N.C.
P P
R R
S S
T T
U U
X X
Y Y
Z Z
a a
b b
c c
N.C. N.C.
P
R
S
T
U
X
Y
Z
a
b
c
N.C.
-ROBOTCABINET
1 1-XP6
2 2
3 3
4 4
1 1-XP5.1
2 2
1 1-XP5.2
2 2
3 3
4 4
9 9-XP5.1
10 10
11 11
12 12
-XS13
A1 a1
A2 a2
A3 a3
A4 a4
B1 b1
B2 b2
B3 b3
B4 b4
B5 b5
B6 b6
B7 b7
B8 b8
B9 b9
B10 b10
-MANIPULATOR BASE
D1 d1-R1.CP/CS
D6 d6
D3 d3
D4 d4
B1 B1
B2 b2
B3 b3
B4 b4
B5 b5
B6 b6
B7 b7
B8 b8
B9 b9
B10 b10
-AXIS 3
E E-R2CP/CS
F F
V V
W W
A A
B B
C C
D D
H H
J J
K K
L L
M M
N N
-AXIS 6
E E-R3.CP/CS
F F
V V
W W
A
B
C
D
H
J
K
L
M
N
BU
WH/GNGN
WH/BNBN
WH/BUBU
WH/OGOG
WHOGWHGN
45
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6
BNWH
7
GN/YE
GYRD
WH/OG
BU
OG
GN
WH/BK
RD
BK
WH/BNBN
WH/RDRD
WH/OG
101/
4
OG
WH/YE
101/
5
YE
WH/GNGNWH/BUBU
WH/VTVTWH/GYGYWH/BKBK
101/
8
24V
0V
24V
0V
CS6/KSR
CS8/KSR
CS4
CS5
CS6
CS9
CS10
CS3
PE
CS1
CS2
CS15
CS16
CS17
CS18
CS19
CS20
CS21
CS12
CS11
CS13
CS14
BKBNRDOGYEGNBUVT
Prepared by, date:231
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umen
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Page230
98TotalTYPE Se
Latest revision:
Approved by, date:
CUSTOMER SIGNALS, ETHERNETLocation:Plant: =
++Sublocation:
DPSeAX3
Document no.Next
Rev. Ind
Lab/Office: Status:IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5ECO 70147, WI 7698Page 224-231: Adjusted, "Type Se" was "Type S"Page 316-321: Adjusted, "Type H" was "Type S"
12APPROVED
3HAC026209-001
1 2 74 53 6 8
DMRO SEPRMP
TYPE SeCUSTOMER SIGNALSPARALLELCOMMUNICATIONVALID FORHARNESS IN CABINET3HAC022852-001 (Dual)3HAC024371-001 (Single)FLOOR HARNESS3HAC022957-001,002,003,006
SW6LOWER ARM HARNESS3HAC042383-002UPPER ARM HARNESS3HAC042386-002
* Circuitdiagram shows markingon wires for both dual andsingle cabinet
N.C.=Not Connected
685
686
WH/RD
688
WH/BN
BK
684
4002
WH/BK
689
4004
RD
690
BN
691
4000
692
4013
699
4014
4010
700666
4012
667
4011
4006
668
4008
669
4009
100/
3
4007
GN/YE
BLBUBR
GN/YE
PKRD
OG
RD
GN
OG
YE
RD
BN
RDGY
3
BK
2
BU
110
0/4
GN/YE
4
100/
5
5
67
WH/YEYE
1
3
C
D
A
B
3
9 9-XP5.2
10 10
11 11
12 12
5 5-XP5.2
6 6
8 8
8 8-XP5.1
B22 b22
B23 b23
B24 b24
B25 b25
C16 c16
C17 c17
C20 c20
C21 c21
B22 N.C.
B23 N.C.
B24 N.C.
B25 N.C.
c16 N.C.-R1.CP/CS
C17 N.C.
C20 N.C.
C21 N.C.
WH
N.C. N.C.
N.C. N.C.
N.C. N.C.
N.C. N.C.
N.C. N.C.-R2.CP/CS
N.C. N.C.
N.C. N.C.
N.C. N.C.
N.C.
N.C.
N.C.
N.C.
N.C.-R3.CP/CS
N.C.
N.C.
N.C.
-ROBOTCABINET-XS13
-MANIPULATOR BASE -AXIS 3 -AXIS 6
PE PE PE
F4 f4
1 1-A43.X22
3 3
4 4
2 2
F1 f1
F2 f2
F3 f3
F F-R2.FB7
E E
D D
C C
B B
A A
-SMB9-R1.SMB
2
11
4
12
5
1
7 7-R3.FB
8 82 24 43 31 1
7 7-R4.FB
8 82 24 43 31 1
7 7-XP5.3
8 8
9 9
10 10
11 11
12 12
C10
C11
C12
C13
C14
C15
F8 f8
3 3-A41.1.3.X21
5 5
1 1
1 1-A43.X24
2 2
5 5-XS40
6 6
-XS7
A3 a3
A5 a5
A1 a1
E1 e1
E2 e2
F7 f7
F9 f9
4 4-R2.SP
E E-R1.SP
C C
A A
G G
J J
K K
L L
M M
R
1 1
3 3
C C
D D
A A
B B
4-R3.SP
2
GN
WH/BN
1
GN/YE
BN
4
WH/RD
5
RD
100/
6
67
100/
7
W/TV/S
WH/RD
U/R
YE
PTC
0V PTC
WH/GN
24V BRAKE REL
GN
WH/BN
0V BRAKE REL
BN
PE
RD
WH/YE
100/
8
GY
WH
0V EXC 2WH/RDWH/RD
WH/BN
WH/BNWH/BN Y7
VT
0V X7BK
WH/RD
BK
X7
WH/OG
WH/BK WH/BK
RD EXC 2RD
WH/YE
BN 0V Y7
WH/GN
BN
WH/YEWH/GNWH/BUWH/VTWH/GY
*DUAL
*
4002
SINGLE
40044000
BN/BK
4013
Note 1.6 on Page 701
4014
40104012
4011
GN/YE
4006400840094007
Prepared by, date:+H/300
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Page231
98TotalTYPE Se
Latest revision:
Approved by, date:
CUSTOMER SIGNALS, ETHERNETLocation:Plant: =
++Sublocation:
DPSeAX3
Document no.Next
Rev. Ind
Lab/Office: Status:IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5ECO 70147, WI 7698Page 224-231: Adjusted, "Type Se" was "Type S"Page 316-321: Adjusted, "Type H" was "Type S"
12APPROVED
3HAC026209-001
1 2 74 53 6 8
DMRO SEPRMP
TYPE SeCUSTOMER SIGNALSPARALLELCOMMUNICATIONVALID FORHARNESS IN CABINET3HAC022852-001 (Dual)3HAC024371-001 (Single)FLOOR HARNESS3HAC022957-001,002,003,006
SW6LOWER ARM HARNESS3HAC042383-002UPPER ARM HARNESS3HAC042386-002
* Circuitdiagram shows markingon wires for both dual andsingle cabinet
YE
WH
OG
BU
YE
WH
OG
BU
YE
WH
OG
-ROBOTCABINET -MANIPULATOR BASE -AXIS 3 -AXIS 6
-XS9
1 1
2 2
3 3
4 4
1 1-R1.ETHERNET
2 2
3 3
4 4
1 1-R2.ETHERNET
2 2
3 3
4 4
1-R3.ETHERNET
2
3
4BU
Prepared by, date:301
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EM 2015-02-17 JEN 2015-03-04
2015-03-04
Page300
98TotalTYPE H, HS AND HSe
Latest revision:
Approved by, date:
CUSTOMER SIGNALS, PARALLELLocation:Plant: =
++Sublocation:
DPH
Document no.Next
Rev. Ind
Lab/Office: Status:IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5ECO 70147, WI 7698Page 224-231: Adjusted, "Type Se" was "Type S"Page 316-321: Adjusted, "Type H" was "Type S"
71 843
12
2 5
APPROVED
6
3HAC026209-001
DMRO SEPRMP
TYPE H, HS AND HSeCUSTOMER SIGNALSPARALLELCOMMUNICATIONVALID FORHARNESS IN CABINET3HAC022852-001 (Dual)3HAC024371-001 (Single)FLOOR HARNESS3HAC022957-001,002,003,006
ORANGE LINELOWER ARM HARNESS3HAC022996-0013HAC022997-0013HAC028811-001UPPER ARM HARNESS3HAC023252-001,002,003,004
SILVER LINELOWER ARM HARNESS3HAC022996-0013HAC022997-001UPPER ARM HARNESS3HAC023057-001,002,003,004,005
FOR IRB66x0IDCONNECTION BETWEENR2.CP/CS AND R3.CP/CSSEE PAGE IRB66x0IDLOWER ARM HARNESS3HAC022996-0013HAC022997-001UPPER ARM HARNESS3HAC025532-001
* Circuitdiagram showsmarking on wires for bothdual and single cabinet
-
670
-
671
BK
672
BN
673
RD
677
4
OG
678
5
YE
WH/GN
GN
6
GN
GY
7
WH/BN
WH
GN/YE
BN
WH/BK
WH/BK
WH/BU
BK
WH/BNWH/RD
BU
WH/BN
WH/OG
BN
WH/OG
OG
WH/RD
GY
679
RD
WH
680
WH/OG
*
681
OG
DUAL
682
*
WH/YE
693
YE
SINGLE
694
WH/GN
695
WH/GN
GN
696
WH/BU
GN
697
BU
WH/BN
698
BN
WH/VTVT
WH/BU
685
WH/GY
BU
686
GY
WH/OG
GN/YE
WH/BK
301/
3
OG
BK
WH/OGOG
Note 1.1 on Page 700
Note 1.3 on Page 700
301/
6Note 1.5 on Page 701
301/
7
12
34
GN/YE
WH
-AXIS 3 -AXIS 6-MANIPULATOR BASE-ROBOTCABINET
-XS13
D1 d1-R2.CP/CS
D6 d6
D3 d3
D4 d4
B1 b1
B2 b2
B3 b3
B4 b4
B5 b5
B6 b6
B7 b7
B8 b8
B9 b9
B10 b10
B11 b11
B12 b12
B13 b13
B14 b14
B15 b15
B16 b16
B18 b18
B19 b19
B20 b20
B21 b21
C16 c16
C17 c17
C4-R3.CP/CS
C5
C6
C7
B18
B19
B20
B21
B22
B23
B24
B25
B16
B17
B1
B2
B3
B4
B5
B6
B7
B8
B9
B10
B11
B12
D1 d1-R1.CP/CS
D6 d6
D3 d3
D4 d4
B1 b1
B2 b2
B3 b3
B4 b4
B5 b5
B6 b6
B7 b7
B8 b8
B9 b9
B10 b10
B11 b11
B12 b12
B13 b13
B14 b14
B15 b15
B16 b16
B18 b18
B19 b19
B20 b20
B21 b21
C16 c16
C17 c17
1 1-XP5.1
2 2
9 9-XP5.1
10 10
11 11
12 12
3 3
4 4
5 5
6 6
1 1-XP5.2
2 2
3 3
4 4
5 5-XP5.2
6 6
1 1-XP5.3
2 2
3 3
4 4
5 5
6 6
1 1-XP6
3 3
4 4
2 2
A1 d1
A2 d2
A3 d3
A4 4
B1 b1
B2 b2
B3 b3
B4 b4
B5 b5
B6 b6
B7 b7
B8 b8
B9 b9
B10 b10
B11 b11
B12 b12
B13 b13
B14 b14
B15 b15
B16 b16
B18 b18
B19 b19
B20 b20
B21 b21
C16 c16
C17 c17
BU
WH/GNGN
WH/BNBN
WH/BUBU
WH/OGOG
WHOGWH
4
GN
5
WH
6
BN
7
WH
GN/YE
GY
WH/OG
RD
OG
BU
WH/BK
RD
BK
OG
WH/BNBN
WH/RDRD
WH/OG
301/
4
OG
WH/YEYE
WH/GNGNWH/BUBU
WH/VTVTWH/GYGYWH/BKBK
301/
8
24V
0V
24V
0V
PE
BKBNRDOGYEGNBUVTGN/YE
-
-
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EM 2015-02-17 JEN 2015-03-04
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Page301
98TotalTYPE H, HS AND HSe
Latest revision:
Approved by, date:
CUSTOMER SIGNALS, PARALLEL Location:Plant: =
++Sublocation:
DPH
Document no.Next
Rev. Ind
Lab/Office: Status:IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5ECO 70147, WI 7698Page 224-231: Adjusted, "Type Se" was "Type S"Page 316-321: Adjusted, "Type H" was "Type S"
71 843
12
2 5
APPROVED
6
3HAC026209-001
DMRO SEPRMP
TYPE H, HS AND HSeCUSTOMER SIGNALSPARALLELCOMMUNICATIONVALID FORHARNESS IN CABINET3HAC022852-001 (Dual)3HAC024371-001 (Single)FLOOR HARNESS3HAC022957-001,002,003,006
ORANGE LINELOWER ARM HARNESS3HAC022996-0013HAC022997-0013HAC028811-001UPPER ARM HARNESS3HAC023252-001,002,003,004
SILVER LINELOWER ARM HARNESS3HAC022996-0013HAC022997-001UPPER ARM HARNESS3HAC023057-001,002,003,004,005
FOR IRB66x0IDCONNECTION BETWEENR2.CP/CS AND R3.CP/CSSEE PAGE IRB66x0IDLOWER ARM HARNESS3HAC022996-0013HAC022997-001UPPER ARM HARNESS3HAC025532-001
* Circuitdiagram showsmarking on wires for bothdual and single cabinet
687
683
688
684
689690691692
699700666667668669
300/
3
RD
GN
RD
BN
RDGYBKBU
300/
4
300/
5
WH/YEYEWH/GN
B25 b25
-AXIS 3 -AXIS 6-MANIPULATOR BASE-ROBOTCABINET
-XS13
C18 c18-R2.CP/CS
C19 c19
C20 c20
C21 c21
B22 b22
B23 b23
B24 b24
B25 b25
B13-R3.CP/CS
B14
B15
C8
B22 b22
B23 b23
B24 b24
C18 c18-R1.CP/CS
C19 c19
C20 c20
C21 c21
A1
A2
A3
A4
7 7-XP5.1
8 8-XP5.1
9 9-XP5.2
10 10
11 11
12 12
7 7-XP5.2
8 8-XP5.2
7 7-XP5.3
8 8
9 9
10 10
11 11
12 12
B22 b22
B23 b23
B24 b24
B25 b25
C10
C11
C12
C13
C14
C15
C18 c18
C19 c19
C20 c20
C21 c21
GN
WH/BN
BN
WH/RD
RD
300/
6
300/
7
WH/RD
YEWH/GNGN
WH/BN
BN
RD
WH/YE
300/
8
WH/BK
BU
WH/BN
VT
WH/RDWH/OGWH/YEWH/GN
WH/YEWH/GNWH/BUWH/VTWH/GY
*DUAL
*SINGLE
BN/BK
Note 1.6 on Page 701
Prepared by, date:303
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Page302
98TotalTYPE H, HS AND HSe
Latest revision:
Approved by, date:
CUSTOMER SIGNALS, PARALLEL Location:Plant: =
++Sublocation:
DPH
Document no.Next
Rev. Ind
Lab/Office: Status:IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5ECO 70147, WI 7698Page 224-231: Adjusted, "Type Se" was "Type S"Page 316-321: Adjusted, "Type H" was "Type S"
71 843
12
2 5
APPROVED
6
3HAC026209-001
DMRO SEPRMP
TYPE H, HS AND HSeCUSTOMER SIGNALSCANBUSCOMMUNICATIONVALID FORHARNESS IN CABINET3HAC022852-001 (Dual)3HAC024371-001 (Single)3HAC022866-001FLOOR HARNESS3HAC022978-001,002,003,006
ORANGE LINELOWER ARM HARNESS3HAC022998-0013HAC022999-0013HAC028811-001UPPER ARM HARNESS3HAC023253-001,002,003,004
SILVER LINELOWER ARM HARNESS3HAC022998-0013HAC022999-001UPPER ARM HARNESS3HAC023058-001,002,003,004,005
FOR IRB66x0IDCONNECTION BETWEENR2.CP/CS AND R3.CP/CSSEE PAGE IRB66x0IDLOWER ARM HARNESS3HAC022998-0013HAC022999-001UPPER ARM HARNESS3HAC025532-001
* Circuitdiagram showsmarking on wires for bothdual and single cabinet
WH/YE
670
YE
671
672
673
677678
WH/GN
303/
8
GN
WH/BN
24V
BN
0V
WH/BU
24V
BU
0V
WH/OG
PE
OG
BK
GN/YE
BN
303/
3
RDOGYEGNBUVT
-
-
-
WH
-GN/YE
BU
WH/GN
BK
GN
BN
WH/BN
*
BN
DUAL
WH/BU
*
BU
SINGLE
WH/OGOG
WH/GN
GN/YE
GN
WH/BN
1
BN
2
WH/BU
34
BU
WH/OGOG
Note 1.1 on Page 700
Note 1.3 on Page 700
303/
4
303/
5
-AXIS 3 -AXIS 6-MANIPULATOR BASE-ROBOTCABINET-XS13
D1 d1-R2.CP/CS
D6 d6
D3 d3
D4 d4
B1 b1
B2 b2
B3 b3
B4 b4
B5 b5
B6 b6
B7 b7
B8 b8
B9 9
B10 b10
C4-R3.CP/CS
C5
C6
C7
B18
B19
B20
B21
B22
B23
B24
B25
B16
B17
D1 d1-R1.CP/CS
D6 d6
D3 d3
D4 d4
B1 b1
B2 b2
B3 b3
B4 b4
B5 b5
B6 b6
B7 b7
B8 b8
B9 b9
B10 b10
1 1-XP5.1
9 9-XP5.1
1 1-XP5.2
1 1-XP6
2 2
3 3
4 4
2 2
10 10
11 11
12 12
2 2
3 3
4 4
A1 a1
A2 a2
A3 a3
A4 a4
B1 b1
B2 b2
B3 b3
B4 b4
B5 b5
B6 b6
B7 b7
B8 b8
B9 b9
B10 b10
WH/BKBK
WH/BNBN
WH/RDRD
WH/OGOG
WH/YEYE
45
67
GN/YE
303/
6
303/
7
GN/YE
45
67
WH/BKBK
WH/BNBN
WH/RDRD
WH/OGOG
Prepared by, date:304
We
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ight
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umen
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EM 2015-02-17 JEN 2015-03-04
2015-03-04
Page303
98TotalTYPE H, HS AND HSe
Latest revision:
Approved by, date:
CUSTOMER SIGNALS, CANBUSLocation:Plant: =
++Sublocation:
DPH
Document no.Next
Rev. Ind
Lab/Office: Status:IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5ECO 70147, WI 7698Page 224-231: Adjusted, "Type Se" was "Type S"Page 316-321: Adjusted, "Type H" was "Type S"
71 843
12
2 5
APPROVED
6
3HAC026209-001
DMRO SEPRMP
TYPE H, HS AND HSeCUSTOMER SIGNALSCANBUSCOMMUNICATIONVALID FORHARNESS IN CABINET3HAC022852-001 (Dual)3HAC024371-001 (Single)3HAC022866-001FLOOR HARNESS3HAC022978-001,002,003,006
ORANGE LINELOWER ARM HARNESS3HAC022998-0013HAC022999-0013HAC028811-001UPPER ARM HARNESS3HAC023253-001,002,003,004
SILVER LINELOWER ARM HARNESS3HAC022998-0013HAC022999-001UPPER ARM HARNESS3HAC023058-001,002,003,004,005
FOR IRB66x0IDCONNECTION BETWEENR2.CP/CS AND R3.CP/CSSEE PAGE IRB66x0IDLOWER ARM HARNESS3HAC022998-0013HAC022999-001UPPER ARM HARNESS3HAC025532-001
* Circuitdiagram showsmarking on wires for bothdual and single cabinet
8
RD
1
BK
2
691
3
692
4
689
YE
690
YEWH
VT
BU
VT699
GN
700
GN666
GN
667
GN668
302/
8
669
679680681
+24V CAN
682
0V CAN
693
CAN_H
694
CAN_L
695
RD
696
OG
697
YE
698
GN
685
GY
686
WH
687
WH/BK
683
WH/BN
688
WH/RD
684
WH/OG
GYWH
WH/GN302/
3
GN
WH/BK
BU
WH/BU
WH/BN
BU
VT
WH/VT
VT
RD
WH/GY
BK
WH/YE
GYWH/BK
WH/GN
BK
WH/RDWH/OG
WH/OGOG
WH
WH/BN
BU
BN
WH/GN
WH/RD
WH/YE
WH/BU
RD
WH/BK
WH/VT
BK
WH/GY
WH/BN
*DUAL
BN
*
5
SINGLE
6
7
BN/BK
8
12
34
YEYE
VTVT
GN
-AXIS 3 -AXIS 6-MANIPULATOR BASE-ROBOTCABINET-XS13
B11 b11-R2.CP/CS
B12 b12
B13 b13
B14 b14
B15 b15
B16 b16
B18 b18
B19 b19
B20 b20
B21 b21
C18 b18
C19 b19
C20 b20
C21 b21
C16 c16
C17 c17
B22 b22
B23 b23
B24 b24
B25 b25
A3 a3
A4 a4
A5 a5
A6 a6
A9 a9
A10 a10
A11 a11
A12 a12
B1-R3.CP/CS
B2
B3
B4
B5
B6
B7
B8
B9
B10
B11
B12
B13
B14
B15
C8
A7
A8
A9
A10
A5
A6
A11
A12
B11 a11-R1.CP/CS
B12 a12
B13 a13
B14 b14
B15 b15
B16 b16
B18 b18
B19 b19
B20 b20
B21 b21
C16 c16
C17 c17
C18 c18
C19 c19
C20 c20
C21 c21
B22 b22
B23 b23
B24 b24
B25 b25
A3 a3
A4 a4
A5 a5
A6 a6
A9 a9
A10 a10
A11 a11
A12 a12
A1
A2
A3
A4
5 5-A35.X2
1 1
4 4-A35.X2
2 2
3 3
3 3-XP5.1
4 4
5 5
6 6
7 7-XP5.1
8 8-XP5.1
11 11-XP5.2
12 12
9 9
10 10
5 5-XP5.2
8 8-XP5.2
7 7-XP5.3
8 8
9 9
10 10
11 11
12 12
1 1-XP5.3
6 6
6 6
7 7
2 2
3 3
4 4
5 5
B11 b11
B12 b12
B13 b13
B14 b14
B15 b15
B16 b16
B18 b18
B19 b19
B20 b20
B21 b21
C16 c16
C17 c17
C18 c18
C19 c19
C20 c20
C21 c21
F1 f1
F2 f2
B24 b24
B25 b25
B22
B23
F3 f3
F4 f4
C10 c10
C11 c11
C12 c12
C13 c13
C14 c14
C15 c15
GN
GNGN
302/
6
302/
7
WHOGWHGN
WHBNWHGYRDBU
RD
OGRD
GN
RD
BN
RDBK
BKBU
WHBU
BKOG
BKGN
BKBN
WH/GNGN
302/
4
WH/BUBU
WH/VTVTWH/GYGYWH/BK
302/
5
BK
WH/OGOG
WH/BN
BN
WH/RD
RD
WH/BKBK
WH/BNBN
56
7
Prepared by, date:305
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ight
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umen
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yrig
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B
EM 2015-02-17 JEN 2015-03-04
2015-03-04
Page304
98TotalTYPE H, HS AND HSe
Latest revision:
Approved by, date:
CUSTOMER SIGNALS, ETHERNETLocation:Plant: =
++Sublocation:
DPH
Document no.Next
Rev. Ind
Lab/Office: Status:IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5ECO 70147, WI 7698Page 224-231: Adjusted, "Type Se" was "Type S"Page 316-321: Adjusted, "Type H" was "Type S"
71 843
12
2 5
APPROVED
6
3HAC026209-001
DMRO SEPRMP
TYPE H, HS AND HSeCUSTOMER SIGNALSETHERNETCOMMUNICATIONVALID FORHARNESS IN CABINET3HAC022852-001 (Dual)3HAC024371-001 (Single)3HAC022867-001FLOOR HARNESS3HAC023024-001,002,003,006
ORANGE LINELOWER ARM HARNESS3HAC034141-001UPPER ARM HARNESS3HAC023252-001,002,004
SILVER LINELOWER ARM HARNESS3HAC034138-0013HAC034139-001UPPER ARM HARNESS3HAC034204-0023HAC026813-002
FOR IRB66X0IDCONNECTION BETWEEN R2.CP/CS AND R3.CP/CSSEE PAGE IRB66X0IDLOWER ARM HARNESS3HAC034138-0013HAC034139-001
* Circuitdiagram showsmarking on wires for both dual and single cabinet
BN
670
WH/RD
671
RD
672
WH/OG
673
OG
677
WH/YE
678
YE
WH/GN
GN
WH/BN
BN
WH/BU
BU
305/
8
WH/OG
OG
24V
GN/YE
0V
305/
3
24V0V
PE
BKBNRDOGYEGN
12
BU
3
VT
4
GN/YE GN/YE
BKBN
WH/GNGN
*
WH/BN
DUAL
BN
*SINGLE
WH/BUBU
-
WH/OGOG
-
-
-
WH
WH/GN
BU
GN
WH/BN
BN
WH/BU
305/
4
BU
WH/OG
OG
305/
5
Note 1.1 on Page 700
Note 1.3 on Page 700
YE
WH
OG
BU
YE
WH
OG
BU
YE
WH
OG
BU
-AXIS 3 -AXIS 6-MANIPULATOR BASE-ROBOTCABINET
-XS13
D1 d1
-R2.CP/CS
D6 d6
D3 d3
D4 d4
B1 b1
B2 b2
B3 b3
B4 b4
B5 b5
B6 b6
B7 b7
B8 b8
B9 b9
B10 b10
C4
-R3.CP/CS
C5
C6
C7
B18
B19
B20
B21
B22
B23
B24
B25
B16
B17
D1 d1
-R1.CP/CS
D6 d6
D3 d3
D4 d4
B1 b1
B2 b2
B3 b3
B4 b4
B5 b5
B6 b6
B7 b7
B8 b8
B9 b9
B10 b10
1 1-XP5.1
2 2
9 9-XP5.1
10 10
11 11
12 12
1 1-XP5.2
3 3
4 4
1 1-XP6
2 2
3 3
4 4
2 2
A1 a1
A2 a2
A3 a3
A4 a4
B1 b1
B2 b2
B3 b3
B4 b4
B5 b5
B6 b6
B7 b7
B8 b8
B9 b9
B10 b10
-XS9
1 1
-R1.ETHERNET
2 2
3 3
4 4
1 1
-R2.ETHERNET
2 2
3 3
4 4
1
-R3.ETHERNET
2
3
4
1 1
2 2
3 3
4 4
GN/YE
45
67
WH/BKBK
WH/BNBN
WH/RDRD
WH/OGOG
WH/YEYE
305/
6
305/
7
45
67
GN/YE
WH/BKBK
WH/BN
Prepared by, date:306
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ight
s in
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umen
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ctly
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idde
n. ©
Cop
yrig
ht 2
003
AB
B
EM 2015-02-17 JEN 2015-03-04
2015-03-04
Page305
98TotalTYPE H, HS AND HSe
Latest revision:
Approved by, date:
CUSTOMER SIGNALS, ETHERNETLocation:Plant: =
++Sublocation:
DPH
Document no.Next
Rev. Ind
Lab/Office: Status:IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5ECO 70147, WI 7698Page 224-231: Adjusted, "Type Se" was "Type S"Page 316-321: Adjusted, "Type H" was "Type S"
71 843
12
2 5
APPROVED
6
3HAC026209-001
DMRO SEPRMP
TYPE H, HS AND HSeCUSTOMER SIGNALSETHERNETCOMMUNICATIONVALID FORHARNESS IN CABINET3HAC022852-001 (Dual)3HAC024371-001 (Single)3HAC022867-001FLOOR HARNESS3HAC023024-001,002,003,006
ORANGE LINELOWER ARM HARNESS3HAC034141-001UPPER ARM HARNESS3HAC023252-001,002,004
SILVER LINELOWER ARM HARNESS3HAC034138-0013HAC034139-001UPPER ARM HARNESS3HAC034204-0023HAC026813-002
FOR IRB66X0IDCONNECTION BETWEEN R2.CP/CS AND R3.CP/CSSEE PAGE IRB66X0IDLOWER ARM HARNESS3HAC034138-0013HAC034139-001
* Circuitdiagram showsmarking on wires for both dual and single cabinet
679680681
304/
8
682
693694695696697698
689
685
RD
686
OG
687
YE
683
GN
688
GY
684
WHWH/BKWH/BN
690
WH/RD
691
WH/OG
GY
692
WH
666
WH/BK
667
BU
668
WH/BN
WH/GN
669
GN
VT
699
WH/BU
700
BU
WH/VT
WH/RD
VT
WH/OG
WH/GY
WH/YE
GY
WH/YE
WH/BK
WH/GN
BK
WH/BUWH/VT
WH/OG
WH/GY
OG
304/
3
WH/YE
WH/BN
WH/GN
BN
WH/RD
RD
WH/YEWH/YEYEYE
*
WH/GNWH/GNGN
DUAL
GN
*SINGLE
BN/BK
B7
-AXIS 3 -AXIS 6-MANIPULATOR BASE-ROBOTCABINET-XS13
B11 b11-R2.CP/CS
B12 b12
B13 b13
B14 b14
B15 b15
B16 b16
B18 b18
B19 b19
B20 b20
B21 b21
C18 c18
C19 c19
C20 c20
C21 c21
C16 c16
C17 c17
B22 b22
B23 b23
B24 b24
B25 b25
B1-R3.CP/CS
B2
B3
B4
B5
B6
B8
B9
B10
B11
B12
B13
B14
B15
C8
A1
A2
A3
A4
B11 b11-R1.CP/CS
B12 b12
B13 b13
B14 b14
B15 b15
B16 b16
B18 b18
B19 b19
B20 b20
B21 b21
C16 c16
C17 c17
C18 c18
C19 c19
C20 c20
C21 c21
B22 b22
B23 b23
B24 b24
B25 b25
3 3-XP5.1
4 4
5 5
6 6
7 7-XP5.1
8 8-XP5.1
5 5-XP5.2
8 8-XP5.2
10 10
12 12
9 9-XP5.2
1 1-XP5.3
2 2
3 3
4 4
9 9-XP5.3
10 10
11 11
12 12
7 7
8 8
6 6
7 7
11 11
5 5
6 6
B11 b11
B12 b12
B13 b13
B14 b14
B15 b15
B16 b16
B18 b18
B19 b19
B20 b20
B21 b21
C16 c16
C17 c17
C18 c18
C19 c19
C20 c20
C21 c21
B23 b23
B24 b24
B25 b25
C12
C13
C14
C15
C10
C11
B22 B22
304/
6
304/
7
RD
WHOGWHGN
WHBNWHGYRDBU
RD
OG
RD
GN
RD
WH/GN
BN
GN
GY
WH/BU
BK
BU
BU
WH/VTVTWH/GYGYWH/BK
304/
4
BK
WH/OG
OGWH/BN
304/
5
BN
WH/RD
RD
Prepared by, date:307
We
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ight
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umen
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Cop
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AB
B
EM 2015-02-17 JEN 2015-03-04
2015-03-04
Page306
98TotalTYPE H, HS AND HSe
Latest revision:
Approved by, date:
CUSTOMER SIGNALS, PROFIBUSLocation:Plant: =
++Sublocation:
DPH
Document no.Next
Rev. Ind
Lab/Office: Status:IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5ECO 70147, WI 7698Page 224-231: Adjusted, "Type Se" was "Type S"Page 316-321: Adjusted, "Type H" was "Type S"
71 843
12
2 5
APPROVED
6
3HAC026209-001
DMRO SEPRMP
TYPE H, HS AND HSeCUSTOMER SIGNALSPROFIBUSCOMMUNICATIONVALID FORHARNESS IN CABINET3HAC022852-001 (Dual)3HAC024371-001 (Single)3HAC022868-001FLOOR HARNESS3HAC022988-001,002,003,006
ORANGE LINELOWER ARM HARNESS3HAC022998-0013HAC022999-0013HAC028811-001UPPER ARM HARNESS3HAC023253-001,002,003,004
SILVER LINELOWER ARM HARNESS3HAC022998-0013HAC022999-001UPPER ARM HARNESS3HAC023058-001,002,003,004,005
FOR IRB66x0IDCONNECTION BETWEENR2.CP/CS AND R3.CP/CSSEE PAGE IRB66x0IDLOWER ARM HARNESS3HAC022998-0013HAC022999-001UPPER ARM HARNESS3HAC025532-001
* Circuitdiagram showsmarking on wires for bothdual and single cabinet
WH/YE
670
YE
671
672
673
677678
WH/GN
307/
8
GN
WH/BN
24V
BN
0V
WH/BU
24V
BU
0V
PE
WH/OGOG
BK
GN/YE
BN
307/
3
RDOGYEGNBUVTGN/YE
BK
GN/YE
BN
WH/GN
*
GN
DUAL
WH/BN
*
BN
SINGLE
WH/BUBU
-
WH/OG
-
OG
-
1
-
2
WH/GN
3
GN
4
WH/BNBN
WH
WH/BU
BU
BU
WH/OGOG
Note 1.1 on Page 700
Note 1.3 on Page 700
307/
4
307/
5
-AXIS 3 -AXIS 6-MANIPULATOR BASE-ROBOTCABINET
-XS13
D1 d1-R2.CP/CS
D6 d6
D3 d3
D4 d4
B1 b1
B2 b2
B3 b3
B4 b4
B5 b5
B6 b6
B7 b7
B8 b8
B9 b9
B10 b10
C4-R3.CP/CS
C5
C6
C7
B18
B19
B20
B21
B22
B23
B24
B25
B16
B17
D1 d1-R1.CP/CS
D6 d6
D3 d3
D4 d4
B1 b1
B2 b2
B3 b3
B4 b4
B5 b5
B6 b6
B7 b7
B8 b8
B9 b9
B10 b10
1 1-XP5.1
2 2
9 9-XP5.1
10 10
11 11
12 12
1 1-XP5.2
2 2
3 3
4 4
1 1-XP6
2 2
3 3
4 4
A1 a1
A2 a2
A3 a3
A4 a4
B1 b1
B2 b2
B3 b3
B4 b4
B5 b5
B6 b6
B7 b7
B8 b8
B9 b9
B10 b10
45
67
GN/YE
WH/BKBK
WH/BNBN
WH/RDRD
WH/OGOG
WH/YEYE
307/
6
307/
7
45
67
GN/YE
WH/BKBK
WH/BNBN
WH/RDRD
WH/OGOG
Prepared by, date:+.1/308
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idde
n. ©
Cop
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ht 2
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AB
B
EM 2015-02-17 JEN 2015-03-04
2015-03-04
Page307
98TotalTYPE H, HS AND HSe
Latest revision:
Approved by, date:
CUSTOMER SIGNALS, PROFIBUSLocation:Plant: =
++Sublocation:
DPH
Document no.Next
Rev. Ind
Lab/Office: Status:IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5ECO 70147, WI 7698Page 224-231: Adjusted, "Type Se" was "Type S"Page 316-321: Adjusted, "Type H" was "Type S"
71 843
12
2 5
APPROVED
6
3HAC026209-001
DMRO SEPRMP
TYPE H, HS AND HSeCUSTOMER SIGNALSPROFIBUSCOMMUNICATIONVALID FORHARNESS IN CABINET3HAC022852-001 (Dual)3HAC024371-001 (Single)3HAC022868-001FLOOR HARNESS3HAC022988-001,002,003,006
ORANGE LINELOWER ARM HARNESS3HAC022998-0013HAC022999-0013HAC028811-001UPPER ARM HARNESS3HAC023253-001,002,003,004
SILVER LINELOWER ARM HARNESS3HAC022998-0013HAC022999-001UPPER ARM HARNESS3HAC023058-001,002,003,004,005
FOR IRB66x0IDCONNECTION BETWEENR2.CP/CS AND R3.CP/CSSEE PAGE IRB66x0IDLOWER ARM HARNESS3HAC022998-0013HAC022999-001UPPER ARM HARNESS3HAC025532-001
* Circuitdiagram showsmarking on wires for bothdual and single cabinet
78
12
689
3
690
4
691
YE
692
YE699
VT
700
VTRD
GN
GN
GN666
GN
667
GN668
306/
8
669
RXD/TXD-P
679680
RXD/TXD-N
RD
681682
OGYE
693694
GN
GY
695696
WH
697
WH/BK
698
WH/BN
685
WH/RD
686
WH/OG
687
GY
WH
683
688
WH/BK
684
BU
WH/BN
WH/GN
306/
3
VT
GN
WH/RD
WH/BU
WH/OG
BU
WH/YE
WH/VT
WH/GN
VT
WH/YE
WH/GY
WH/GN
GYWH/BK
RD
BK
GN
WH/OG
WH/BUWH/VT
OG
WH/GY
WH/BN
BN
*
WH/RD
DUAL
RD
*
WH/BK
SINGLE
BK
BN/BK
WH/BNBN
56
78
12
34
YEYE
VTVT
GN
-AXIS 3 -AXIS 6-MANIPULATOR BASE-ROBOTCABINET
A3 a3
-XS13
B11 b11-R2.CP/CS
B12 b12
B13 b13
B14 b14
B15 b15
B16 b16
B18 b18
B19 b19
B20 b20
B21 b21
C18 c18
C19 c19
C20 c20
C21 c21
C16 c16
C17 c17
B22 b22
B23 b23
B24 b24
B25 b25
A3 a3
A4 a4
A5 a5
A6 a6
A9 a9
A10 a10
A11 a11
A12 a12
B1-R3.CP/CS
B2
B3
B4
B5
B6
B7
B8
B9
B10
B11
B12
B13
B14
B15
C8
A1
A2
A3
A4
A7
A8
A9
A10
A5
A6
A11
A12
B11 b11-R1.CP/CS
B12 b12
B13 b13
B14 b14
B15 b15
B16 b16
B18 b18
B19 b19
B20 b20
B21 b21
C16 c16
C17 c17
C18 c18
C19 c19
C20 c20
C21 c21
B22 b22
B23 b23
B24 b24
B25 b25
A4 a4
A5 a5
A6 a6
A9 a9
A10 a10
A11 a11
A12 a12
1B 1B-DP-M
1A 1A
3 3-XP5.1
4 4
5 5
6 6
7 7-XP5.1
8 8-XP5.1
5 5-XP5.2
6 6
7 7
8 8-XP5.2
9 9-XP5.2
10 10
11 11
12 12
1 1-XP5.3
2 2
3 3
4 4
5 5
6 6
7 7-XP5.3
8 8
9 9-XP5.3
10 10
11 11
12 12
B11 b11
B12 b23
B13 b13
B14 b14
B15 b15
B16 b16
B18 b18
B19 b19
B20 b20
B21 b21
C16 c16
C17 c17
C18 c18
C19 c19
C20 c20
C21 c21
B22 b22
B23 b23
B24 b24
B25 b25
C10 c10
C11 c11
F5 f5
F6 f6
C12 c12
C13 c13
C14 c14
C15 c15
GN
GNGN
306/
6
306/
7
WHOGWHGN
WHBNWHGYRDBU
RD
OGRD
GN
RD
BN
RDGYBKBU
BKOG
RDGN
BKGN
BKBN
306/
4
WH/GNGNWH/BUBU
WH/VT
306/
5
VTWH/GYGYWH/BKBK
WH/OG
OGWH/BN
BN
WH/RD
RD
WH/BKBKWH/BNBN
56
Prepared by, date:309
We
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ight
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umen
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n. ©
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EM 2015-02-17 JEN 2015-03-04
2015-03-04
Page308
98TotalTYPE H, HS AND HSe
Latest revision:
Approved by, date:
CUSTOMER SIGNALS, PARALLELLocation:Plant: =
++Sublocation:
DPH1
Document no.Next
Rev. Ind
Lab/Office: Status:IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5ECO 70147, WI 7698Page 224-231: Adjusted, "Type Se" was "Type S"Page 316-321: Adjusted, "Type H" was "Type S"
12APPROVED
3HAC026209-001
1 2 74 53 6 8
DMRO SEPRMP
TYPE H, HS AND HSeCUSTOMER SIGNALSPARALLELCOMMUNICATIONVALID FORHARNESS IN CABINET3HAC022852-001 (Dual)3HAC024371-001 (Single)FLOOR HARNESS3HAC022957-001,002,003,006
IRBDP MH3LOWER ARM HARNESS3HAC022996-0013HAC022997-001UPPER ARM HARNESS3HAC026813-001
* Circuitdiagram showsmarking on wires for bothdual and single cabinet
OG
670
YE
671
GN
672
GY
673
WH
677
WH/BK
678
WH/BN
45
WH/GN
WH/RD
GN
WH/OG
6
WH/BN
GY
7
BN
WH
GN/YE
WH/BU
WH/BK
*
BU
BK
DUAL
WH/OG
*
WH/BN
OG
SINGLE
BN
679
WH/RD
680
RD
WH/GN
WH/OG
GN
681
OG
WH/BN
682
WH/YE
BN
693
YE
694
WH/BU
695
BU
WH/GN
696
WH/OG
GN
697
OG
WH/BU
698
BU
685
WH/VT
686
VT
GN/YE
WH/GY
WH/OG
301/
3
OG
GY
Note 1.1 on Page 700
WH/BK
Note 1.3 on Page 700
BK
Note 1.5 on Page 701
PEGN/YEGN/YE
301/
6
301/
7
12
34
GN/YE
WH
-AXIS6-AXIS 3-MANIPULATOR BASE+.-ROBOTCABINET
-XS13
f-R3.CP/CS
D1 d1-R2.CP/CS
D6 d6
D3 d3
D4 d4
B1 b1
B2 b2
B3 b3
B4 b4
B5 b5
B6 b6
B7 b7
B8 b8
B9 b9
B10 b10
B11 b11
B12 b12
B13 b13
B14 b14
B15 b15
B16 b16
B18 b18
B19 b19
B20
B21
C16
C17
g
h
j
A
B
C
D
E
F
G
H
J
K
L
M
N
P
R
S
T
U
D1 d1-R1.CP/CS
D6 d6
D3 d3
D4 d4
B1 b1
B2 b2
B3 b3
B4 b4
B5 b5
B6 b6
B7 b7
B8 b8
B9 b9
B10 b10
B11 b11
B12 b12
B13 b13
B14 b14
B15 b15
B16 b16
B18 b18
B19 b19
B20 b20
B21 b21
C16 c16
C17 c17
V
1 1-XP5.1
2 2
9 9-XP5.1
10 10
11 11
12 12
3 3
4 4
5 5
6 6
1 1-XP5.2
2 2
3 3
4 4
5 5-XP5.2
6 6
1 1-XP5.3
2 2
3 3
4 4
5 5
6 6
1 1-XP6
3 3
4 4
2 2
A1 a1
A2 a2
A3 a3
A4 a4
B1 b1
B2 b2
B3 b3
B4 b4
B5 b5
B6 b6
B7 b7
B8 b8
B9 b9
B10 b10
B11 b11
B12 b12
B13 b13
B14 b14
B15 b15
B16 b16
B18 b18
B19 b19
B20 b20
B21 b21
C16 c16
C17 c17
BU
WH/GNGN
WH/BNBN
WH/BUBU
WH/OGOG
WH/BK
WH
WH/OG
OG
WH/BN
WH
WH/RD
GN
WH/BK
WH
BK
BN
WH/BN
WH
BN
GY
WH/RD
RD
RD
BU
WH/OG
RD
OG
OG
WH/YEYE
WH/GNGNWH/BU
301/
4
BU
WH/VTVT
301/
5
WH/GYGY
301/
8
24V
0V
24V
0V
BK
OG
BN
RD
-
-
-
-
GN/YE
BNBK
RDOG
YEGNBUVT
BKBN
RD
Prepared by, date:310
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EM 2015-02-17 JEN 2015-03-04
2015-03-04
Page309
98TotalTYPE H, HS AND HSe
Latest revision:
Approved by, date:
CUSTOMER SIGNALS, PARALLELLocation:Plant: =
++Sublocation:
DPH1
Document no.Next
Rev. Ind
Lab/Office: Status:IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5ECO 70147, WI 7698Page 224-231: Adjusted, "Type Se" was "Type S"Page 316-321: Adjusted, "Type H" was "Type S"
12APPROVED
3HAC026209-001
1 2 74 53 6 8
DMRO SEPRMP
TYPE H, HS AND HSECUSTOMER SIGNALSPARALLELCOMMUNICATIONVALID FORHARNESS IN CABINET3HAC022852-001 (Dual)3HAC024371-001 (Single)FLOOR HARNESS3HAC022957-001,002,003,006
IRBDP MH3LOWER ARM HARNESS3HAC022996-0013HAC022997-001
* Circuitdiagram showsmarking on wires for bothdual and single cabinet
687
683
688
684
689690691692
699700666667668669
300/
3
RD
GN
RD
BN
RDGYBKBU
300/
4
300/
5
WH/YEYEWH
B22 b22
-AXIS 3 -AXIS 6-MANIPULATOR BASE-ROBOTCABINET-XS13
C18-R2.CP/CS
C19
C20
C21
B22
B23
B24
B25
B23 b23
B24 b24
B25 b25
C18 c18-R1.CP/CS
C19 c19
C20 c20
C21 c21
7 7-XP5.1
8 8-XP5.1
9 9-XP5.2
10 10
11 11
12 12
7 7-XP5.2
8 8-XP5.2
7 7-XP5.3
8 8
9 9
10 10
11 11
12 12
B22 b22
B23 b23
B24 b24
B25 b25
C10
C11
C12
C13
C14
C15
C18 c18
C19 c19
C20 c20
C21 c21
GN
WH/BN
BN
WH/RD
RD
300/
6
WH/BK
BU
WH/BN
VT
WH/RDWH/OGWH/YEWH/GN
WH/YEWH/GNWH/BUWH/VTWH/GYWH/BK
*DUAL *SINGLE Note 1.6 on Page 701
Prepared by, date:311
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EM 2015-02-17 JEN 2015-03-04
2015-03-04
Page310
98TotalTYPE H, HS AND HSe
Latest revision:
Approved by, date:
CUSTOMER SIGNALS, CANBUSLocation:Plant: =
++Sublocation:
DPH1
Document no.Next
Rev. Ind
Lab/Office: Status:IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5ECO 70147, WI 7698Page 224-231: Adjusted, "Type Se" was "Type S"Page 316-321: Adjusted, "Type H" was "Type S"
12APPROVED
3HAC026209-001
1 2 74 53 6 8
DMRO SEPRMP
TYPE H, HS AND HSeCUSTOMER SIGNALSCANBUSCOMMUNICATIONVALID FORHARNESS IN CABINET3HAC022852-001(Dual)3HAC024371-001 (Single)3HAC022866-001FLOOR HARNESS3HAC022978-001,002,003,006
IRBDP MH3LOWER ARM HARNESS3HAC022998-0013HAC022999-001UPPER ARM HARNESS3HAC026813-002
* Circuitdiagram showsmarking on wires for bothdual and single cabine
670
671
672
673
677
303/
8
678
WH/GN
24V
GN
0V
WH/BN
24V
BN
0V
WH/OG
WH/BU
BU
OG
WH/OG
WH/RD
OG
RD
GN/YE
-
303/
3
-
-
-
GN/YE
BKBNRDOGYEGN
WH
BU
BU
VT
WH/GN
BK
GN
BN
WH/BNBN
*
WH/BU
DUAL *
BU
WH/OG
SINGLE
OG
GN/YE
WH/GN
1
GN
2
WH/BN
3
BN
4
WH/BU
BU
WH/OG
OG
Note 1.1 on Page 700
303/
4
Note 1.3 on Page 700
303/
5
PE
GN/YEGN/YE
-AXIS 3 -AXIS 6-MANIPULATOR BASE-ROBOTCABINET-XS13
D1 d1-R2.CP/CS
D6 d6
D3 d3
D4 d4
B1 b1
B2 b2
B3 b3
B4 b4
B5 b5
B6 b6
B7 b7
B8 b8
B9 b9
B10 b10
f-R3.CP/CS
g
h
j
A
B
C
D
E
F
G
H
J
K
D1 d1-R1.CP/CS
D6 d6
D3 d3
D4 d4
B1 b1
B2 b2
B3 b3
B4 b4
B5 b5
B6 b6
B7 b7
B8 b8
B9 b9
B10 b10
V
1 1-XP5.1
9 9-XP5.1
1 1-XP5.2
1 1-XP6
2 2
3 3
4 4
2 2
10 10
11 11
12 12
2 2
3 3
4 4
A1 a1
A2 a2
A3 a3
A4 a4
B1 b1
B2 b2
B3 b3
B4 b4
B5 b5
B6 b6
B7 b7
B8 b8
B9 b9
B10 b10
WH/BKBK
WH/BNBN
WH/RDRD
WH/OGOG
WH/YEYE
4
5
6
7
GN/YE
303/
6
303/
7
WH/BKBK
WH/BNBN
WH/BKBK
WH/BNBN
WH/RDRD
WH/OGOG
WH/YEYE
Prepared by, date:312
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idde
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Cop
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EM 2015-02-17 JEN 2015-03-04
2015-03-04
Page311
98TotalTYPE H, HS AND HSe
Latest revision:
Approved by, date:
CUSTOMER SIGNALS, CANBUSLocation:Plant: =
++Sublocation:
DPH1
Document no.Next
Rev. Ind
Lab/Office: Status:IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5ECO 70147, WI 7698Page 224-231: Adjusted, "Type Se" was "Type S"Page 316-321: Adjusted, "Type H" was "Type S"
12APPROVED
3HAC026209-001
1 2 74 53 6 8
DMRO SEPRMP
TYPE H, HS AND HSeCUSTOMER SIGNALSCANBUSCOMMUNICATIONVALID FORHARNESS IN CABINET3HAC022852-001 (Dual)3HAC024371-001 (Single)3HAC022866-001FLOOR HARNESS3HAC022978-001,002,003,006
IRBDP MH3LOWER ARM HARNESS3HAC022998-0013HAC022999-001UPPER ARM HARNESS3HAC026813-002
* Circuitdiagram showsmarking on wires for bothdual and single cabine
666667
668
+24V CAN
669
0V CAN
679
CAN_H
680
CAN_L
681682
RD
693
OG
694
YE
695
GN
696
GY
697
WH
698
WH/BK
685
WH/BN
686
WH/RD
687
WH/OG
GY
683
688
WHWH/BK
684
RD
BU
BK
WH/BN
691
VT
692
RD
689
BK
690
WH/YE
WH
WH/GN
BU
WH/RD
699
WH/OG
700
WHBU
WH/GN
WH/YE
GN
302/
3
WH/GN
WH/BU
WH/BU
BU
WH/VT
WH/GY
WH/VT
VT
BN/BK
WH/GY
*
GY
DUAL *
WH/BKBK
SINGLE
WH/OGOGWH/BN
BN
WH/RD
RD
WH/BKBK
WH/BNBN
56
78
12
34
YEYE
VTVT
GN
M
-AXIS 3 -AXIS 6-MANIPULATOR BASE
A-R3.CBUS
B
C
D
E
F
G
H
J
K
L
-ROBOTCABINET-XS13
B11 b11-R2.CP/CS
B12 b12
B13 b13
B14 b14
B15 b15
B16 b16
B18 b18
B19 b19
B20
B21
C18
C19
C20
C21
C16
C17
B22 b22
B23 b23
B24 b24
B25 b25
A3 a3
A4 a4
A5 a5
A6 a6
A9 a9
A10 a10
A11 a11
A12 a12
L-R3.CP/CS
M
N
P
R
S
T
U
B11 b11-R1.CP/CS
B12 b12
B13 b13
B14 b14
B15 b15
B16 b16
B18 b18
B19 b19
B20 b20
B21 b21
C16 c16
C17 c17
C18 c18
C19 c19
C20 c20
C21 c21
B22 b22
B23 b23
B24 b24
B25 b25
A3 a3
A4 a4
A5 a5
A6 a6
A9 a9
A10 a10
A11 a11
A12 a12
5 5-A35.X2
1 1
4 4-A35.X2
2 2
3 3
3 3-XP5.1
4 4
5 5
6 6
7 7-XP5.1
8 8-XP5.1
11 11-XP5.2
12 12
9 9
10 10
5 5-XP5.2
8 8-XP5.2
7 7-XP5.3
8 8
9 9
10 10
11 11
12 12
1 1-XP5.3
6 6
6 6
7 7
2 2
3 3
4 4
5 5
B11 b11
B12 b12
B13 b13
B14 b14
B15 b15
B16 b16
B18 b18
B19 b19
B20 b20
B21 b21
C16 c16
C17 c17
C18 c18
C19 c19
C20 c20
C21 c21
F1 f1
F2 f2
B24 b24
B25 b25
B22
B23
F3 f3
F4 f4
C10 c10
C11 c11
C12 c12
C13 c13
C14 c14
C15 c15
GN
GNGN
302/
6
302/
7
WHOGWHGN
WHBNWHGYRDBU
RD
OGRD
GN
RD
BN
RDBK
BKBU
WHBU
BK
WH/GN
OG
GN
BK
WH/BU
GN
BU
BK
WH/VT
BN
VTWH/GYGY
302/
4
WH/BKBK
WH/BNBN
56
7
302/
5
8
12
34
YEYE
VTVT
GNGN
GNGN
302/
8
Prepared by, date:313
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Cop
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EM 2015-02-17 JEN 2015-03-04
2015-03-04
Page312
98TotalTYPE H, HS AND HSe
Latest revision:
Approved by, date:
CUSTOMER SIGNALS, ETHERNETLocation:Plant: =
++Sublocation:
DPH1
Document no.Next
Rev. Ind
Lab/Office: Status:IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5ECO 70147, WI 7698Page 224-231: Adjusted, "Type Se" was "Type S"Page 316-321: Adjusted, "Type H" was "Type S"
12APPROVED
3HAC026209-001
1 2 74 53 6 8
DMRO SEPRMP
TYPE H, HS AND HSeCUSTOMER SIGNALSETHERNETCOMMUNICATIONVALID FORHARNESS IN CABINET3HAC022858-001 (Dual)3HAC024371-001 (Single)3HAC022867-001FLOOR HARNESS3HAC023024-001,002,003,006
IRBDP MH3LOWER ARM HARNESS3HAC034138-0013HAC034139-001UPPER ARM HARNESS3HAC026813-0013HAC034204-001
* Circuitdiagram showsmarking on wires for bothdual and single cabine
WH/RD
670
RD
671
WH/OG
672
OG
673
WH/YE
677
YE
678
WH/GN
GN
WH/BN
BN
WH/BU
305/
8
BU
WH/OG
OG
24V
GN/YE
0V
305/
3
24V
0V
WH/OGOG
WH/RDRD
-
-
-
-
1
2
*
3
DUAL
4
BK
GN/YE
BN
WH/GN
RD
GN
OG
WH/BN
YE
BN
GN
WH/BU
BU
BU
VT
*
WH/OG
SINGLE
OG
GN/YE
BK WHBN BU
WH/GN
GN
WH/BN
305/
4
BN
WH/BU
BU
WH/OG
305/
5
OG
Note 1.1 on Page 700
Note 1.3 on Page 700
PEGN/YEGN/YE
YE
WH
OG
BU
YE
WH
OG
BU
YE
WH
-XS9
-AXIS 3 -AXIS 6-MANIPULATOR BASE-ROBOTCABINET
-XS13
D1 d1-R2.CP/CS
D6 d6
D3 d3
D4 d4
B1 b1
B2 b2
B3 b3
B4 b4
B5 b5
B6 b6
B7 b7
B8 b8
B9 b9
B10 b10
f-R3.CP/CS
g
h
j
V
A
B
C
D
E
F
G
H
J
K
D1 d1-R1.CP/CS
D6 d6
D3 d3
D4 d4
B1 b1
B2 b2
B3 b3
B4 b4
B5 b5
B6 b6
B7 b7
B8 b8
B9 b9
B10 b10
1 1-XP5.1
2 2
9 9-XP5.1
10 10
11 11
12 12
1 1-XP5.2
3 3
4 4
1 1-XP6
2 2
3 3
4 4
2 2
A1 a1
A2 a2
A3 a3
A4 a4
B1 b1
B2 b2
B3 b3
B4 b4
B5 b5
B6 b6
B7 b7
B8 b8
B9 b9
B10 b10
1 1-R1.ETHERNET
2 2
3 3
4 4
1 1-R2.ETHERNET
2 2
3 3
4 4
1 1-R3.ETHERNET
2 2
3 3
4 4
1 1
2 2
3 3
4 4
OG
BU
GN/YE
4
5
6
7
WH/BKBK
WH/BNBN
WH/RDRD
WH/OGOG
WH/YEYE
305/
6
305/
7
WH/BKBK
WH/BNBN
WH/BKBK
WH/BNBN
Prepared by, date:314
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2015-03-04
Page313
98TotalTYPE H, HS AND HSe
Latest revision:
Approved by, date:
CUSTOMER SIGNALS, ETHERNETLocation:Plant: =
++Sublocation:
DPH1
Document no.Next
Rev. Ind
Lab/Office: Status:IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5ECO 70147, WI 7698Page 224-231: Adjusted, "Type Se" was "Type S"Page 316-321: Adjusted, "Type H" was "Type S"
12APPROVED
3HAC026209-001
1 2 74 53 6 8
DMRO SEPRMP
TYPE H, HS AND HSeCUSTOMER SIGNALSETHERNETCOMMUNICATIONVALID FORHARNESS IN CABINET3HAC022858-001 (Dual)3HAC024371-001 (Single)3HAC022867-001FLOOR HARNESS3HAC023024-001,002,003,006
IRBDP MH3LOWER ARM HARNESS3HAC034138-0013HAC034139-001UPPER ARM HARNESS3HAC026813-0013HAC034204-001
* Circuitdiagram showsmarking on wires for bothdual and single cabine
WH/BUBU
DUAL
WH/VTVT
RD
WH/GY
OG
GY
YE
WH/BK
GN
BK
GY
WH/OG
WH
304/
3
OG
WH/BK
WH/BN
WH/BN
BN
WH/RD
WH/RD
WH/OG
RD
GY
WH/YE
WH
YE
WH/BK
WH/GN
BU
GN
WH/BN
VT
WH/RDWH/OGWH/YEWH/YEWH/GN
WH/BUWH/VTWH/GYBN/BKWH/YEWH/GN
304/
6
SINGLE
304/
7*
RD
*WHOGWHGN
WHBNWHGYRD
WH/GNGN
BU
RD
WH/BU
-AXIS 3 -AXIS 6-MANIPULATOR BASE-ROBOTCABINET-XS13
B11 b11-R2.CP/CS
B12 b12
B13 b13
B14 b14
B15 b15
B16 b16
B18 b18
B19 b19
B20
B21
C18
C19
C20
C21
C16
C17
B22
B23
B24
B25
L-R3.CP/CS
M
N
P
R
S
T
U
B11 b11-R1.CP/CS
B12 b12
B13 b13
B14 b14
B15 b15
B16 b16
B18 b18
B19 b19
B20 b20
B21 b21
C16 c16
C17 c17
C18 c18
C19 c19
C20 c20
C21 c21
B22 b22
B23 b23
B24 b24
B25 b25
3 3-XP5.1
4 4
5 5
6 6
7 7-XP5.1
8 8-XP5.1
5 5-XP5.2
8 8-XP5.2
10 10
12 12
9 9-XP5.2
1 1-XP5.3
2 2
3 3
4 4
9 9-XP5.3
10 10
11 11
12 12
7 7
8 8
6 6
7 7
11 11
5 5
6 6
B11 b11
B12 b12
B13 b13
B14 b14
B15 b15
B16 b16
B18 b18
B19 b19
B20 b20
B21 b21
C16 c16
C17 c17
C18 c18
C19 c19
C20 c20
C21 c21
B23 b23
B24 b24
B25 b25
C12
C13
C14
C15
C10
C11
B22 b22
OG
BU
RD
WH/VT
GN
VT
RD
WH/GY
BN
GY
GYBKBU
304/
4
304/
5
304/
8
679680681682
693694695696697698
685
686687
683
688
684
689690691692
666667668669699700
WH/GNGN
Prepared by, date:315
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2015-03-04
Page314
98TotalTYPE H, HS AND HSe
Latest revision:
Approved by, date:
CUSTOMER SIGNALS, PROFIBUSLocation:Plant: =
++Sublocation:
DPH1
Document no.Next
Rev. Ind
Lab/Office: Status:IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5ECO 70147, WI 7698Page 224-231: Adjusted, "Type Se" was "Type S"Page 316-321: Adjusted, "Type H" was "Type S"
12APPROVED
3HAC026209-001
1 2 74 53 6 8
DMRO SEPRMP
TYPE H, HS AND HSeCUSTOMER SIGNALSPROFIBUSCOMMUNICATIONVALID FORHARNESS IN CABINET3HAC022852-001 (Dual)3HAC024371-001 (Single)3HAC022868-001FLOOR HARNESS3HAC022988-001,002,003,006
IRBDP MH3LOWER ARM HARNESS3HAC022998-0013HAC022999-001UPPER ARM HARNESS3HAC026813-002
* Circuitdiagram showsmarking on wires for bothdual and single cabine
24V
670
0V
671 WH/OG
672
OG
673 WH/RD
GN/YE
RD
307/
3
-
-
-
-
BKBNRDOG
GN/YE
YE
WH/GN
GN
GN
BUVT
WH/BNBN
GN/YE
WH/BU
677
BU
678
WH/OG
WH/GN
OG
GN
WH/BN
1
2
BN
WH/BU
3
4
BU
WH/OG
OG
WHBKBUBN
*DUAL *SINGLE
307/
4
307/
5
WH/GN
GN
WH/BN
BN
WH/BU
BU
WH/OG
OG
Note 1.1 on Page 700
Note 1.3 on Page 700
PE
GN/YEGN/YE
4
5
6
7
GN/YE
WH/BK
-AXIS 3 -AXIS 6-MANIPULATOR BASE-ROBOTCABINET-XS13
D1 d1-R2.CP/CS
D6 d6
D3 d3
D4 d4
B1 b1
B2 b2
B3 b3
B4 b4
B5 b5
B6 b6
B7 b7
B8 b8
B9 b9
B10 b10
f-R3.CP/CS
g
h
j
V
A
B
C
D
E
F
G
H
J
K
D1 d1-R1.CP/CS
D6 d6
D3 d3
D4 d4
B1 b1
B2 b2
B3 b3
B4 b4
B5 b5
B6 b6
B7 b7
B8 b8
B9 b9
B10 b10
1 1-XP5.1
2 2
9 9-XP5.1
10 10
11 11
12 12
1 1-XP5.2
2 2
3 3
4 4
1 1-XP6
2 2
3 3
4 4
A1 a1
A2 a2
A3 a3
A4 a4
B1 b1
B2 b2
B3 b3
B4 b4
B5 b5
B6 b6
B7 b7
B8 b8
B9 b9
B10 b10
BK
WH/BNBN
WH/RDRD
WH/OGOG
WH/YEYE
307/
6
307/
7
WH/BKBK
WH/BNBN
WH/BKBK
WH/BNBN
WH/RDRD
WH/OGOG
WH/YEYE
307/
8
24V
0V
Prepared by, date:+./316
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EM 2015-02-17 JEN 2015-03-04
2015-03-04
Page315
98TotalTYPE H, HS AND HSe
Latest revision:
Approved by, date:
CUSTOMER SIGNALS, PROFIBUSLocation:Plant: =
++Sublocation:
DPH1
Document no.Next
Rev. Ind
Lab/Office: Status:IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5ECO 70147, WI 7698Page 224-231: Adjusted, "Type Se" was "Type S"Page 316-321: Adjusted, "Type H" was "Type S"
12APPROVED
3HAC026209-001
1 2 74 53 6 8
DMRO SEPRMP
TYPE H, HS AND HSeCUSTOMER SIGNALSPROFIBUSCOMMUNICATIONVALID FORHARNESS IN CABINET3HAC022852-001 (Dual)3HAC024371-001 (Single)3HAC022868-001FLOOR HARNESS3HAC022988-001,002,003,006
IRBDP MH3LOWER ARM HARNESS3HAC022998-0013HAC022999-001UPPER ARM HARNESS3HAC026813-002
* Circuitdiagram showsmarking on wires for bothdual and single cabine
RDGN
666667
WH/GN
668
306/
3
669
GN
DUAL
WH/BUBU
RD
WH/VT
OG
VT
YE
WH/GY
GN
GY
GY
WH/BK
WHWH/BK
BK
WH/OG
WH/BN
OG
WH/RD
WH/BN
WH/OG
BN
GY
WH/RD
WH
RD
WH/BK
WH/BK
BU
WH/BN
BKWH/BN
VT
WH/RD
BN
WH/OG
5
WH/YE
6
7
WH/GN
WH/YE
8
1
WH/GN
2
RD
3
GN
4
WH/BU
YE
WH/VT
WH/GY
YE
VT
BN/BK
VT
*
GN
SINGLE
GN
GNGN
306/
6
306/
7
WHOGWHGN
WHBNWHGYRDBU
RD
OGRD
GN
RD
BN
-AXIS 3 -AXIS 6-MANIPULATOR BASE-ROBOTCABINET
B24 b24
-XS13
A-R3.CBUS
B
C
D
E
F
G
H
J
K
L
M
B11 b11-R2.CP/CS
B12 b12
B13 b13
B14 b14
B15 b15
B16 b16
B18 b18
B19 b19
B20
B21
C18
C19
C20
C21
C16
C17
B22 b22
B23 b23
B24 b24
B25 b25
A3 a3
A4 a4
A5 a5
A6 a6
A9 a9
A10 a10
A11 a11
A12 a12
L-R3.CP/CS
M
N
P
R
S
T
U
B11 b11-R1.CP/CS
B12 b12
B13 b13
B14 b14
B15 b15
B16 b16
B18 b18
B19 b19
B20 b20
B21 b21
C16 c16
C17 c17
C18 c18
C19 c19
C20 c20
C21 c21
B22 b22
B23 b23
B25 b25
A3 a3
A4 a4
A5 a5
A6 a6
A9 a9
A10 a10
A11 a11
A12 a12
1B 1B-DP-M
1A 1A
3 3-XP5.1
4 4
5 5
6 6
7 7-XP5.1
8 8-XP5.1
5 5-XP5.2
6 6
7 7
8 8-XP5.2
9 9-XP5.2
10 10
11 11
12 12
1 1-XP5.3
2 2
3 3
4 4
5 5
6 6
7 7-XP5.3
8 8
9 9-XP5.3
10 10
11 11
12 12
B11 b11
B12 b12
B13 b13
B14 b14
B15 b15
B16 b16
B18 b18
B19 b19
B20 b20
B21 b21
C16 c16
C17 c17
C18 c18
C19 c19
C20 c20
C21 c21
B22 b22
B23 b23
B24 b24
B25 b25
C10 c10
C11 c11
F5 f5
F6 f6
C12 c12
C13 c13
C14 c14
C15 c15
RDGYBKBU
BKOG
RDGN
WH/GN
BK
GN
GN
WH/BU
BK
BU
BN
WH/VTVT
306/
4
WH/GYGY
WH/BKBKWH/BN
306/
5
BN
56
78
12
34
YEYE
VTVT
GNGN
GNGN
306/
8
RXD/TXD-P
RXD/TXD-N
*
679680681682
693694695696697698
685
686687
683
688
684
689690691692
699700
Prepared by, date:317
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EM 2015-02-17 JEN 2015-03-04
2015-03-04
Page316
98TotalTYPE H
Latest revision:
Approved by, date:
CUSTOMER SIGNALS, PARALLEL Location:Plant: =
++Sublocation:
DPH
Document no.Next
Rev. Ind
Lab/Office: Status:IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5ECO 70147, WI 7698Page 224-231: Adjusted, "Type Se" was "Type S"Page 316-321: Adjusted, "Type H" was "Type S"
71 843
12
2 5
APPROVED
6
3HAC026209-001
DMRO SEPRMP
TYPE HCUSTOMER SIGNALSPARALLELCOMMUNICATIONVALID FORHARNESS IN CABINET3HAC022852-001 (Dual)3HAC024371-001 (Single)FLOOR HARNESS3HAC022957-001,002,003,006
MH6LOWER ARM HARNESS3HAC043042-001UPPER ARM HARNESS3HAC043045-001
* Circuitdiagram shows marking on wires for both dual and single cabinet
N.C.=Not Connected
BK
670
BN
671
RD
672
OG
673
YE
677
GN
4
GY
678
WH/GN
WH
5
GN
6
WH/BK
WH/BN
7
WH/BN
BN
GN/YE
WH/RD
WH/BU
WH/BK
WH/OG
BU
BK
BU
WH/OG
WH/BN
WH/BK
OG
BN
DUAL SINGLE
679
WH/RD
GN/YE
RD
680681
WH/OG
-
682
-
OG
693
-
WH/YE
694
YE
-
695
*
WH/GN
696
*
GN
697
WH/BU
698
WH/GN
BU
683
GN
WH/VT
686
WH/BN
VT
GN/YE
BN
WH/GY
101/
3WH/BU
GY
BU
WH/BK
WH/OG
BK
OG
WH/OG
OG
Note 1.1 on Page 700
101/
6
Note 1.3 on Page 700
Note 1.5 on Page 701
101/
7
12
34
GN/YE
WH
G G G G
-ROBOTCABINET
1 1-XP6
2 2
3 3
4 4
1 1-XP5.1
2 2
1 1-XP5.2
2 2
3 3
4 4
9 9-XP5.1
10 10
11 11
12 12
3 3
4 4
5 5
6 6
1 1-XP5.3
2 2
3 3
4 4
5 5
6 6
7 7-XP5.1
7 7-XP5.2
-XS13
A1 a1
A2 a2
A3 a3
A4 a4
B1 b1
B2 b2
B3 b3
B4 b4
B5 b5
B6 b6
B7 b7
B8 b8
B9 b9
B10 b10
B11 b11
B12 b12
B13 b13
B14 b14
B15 b15
B16 b16
B18 b18
B19 b19
B20 b20
B21 b21
C19 c19
C18 c18
-MANIPULATOR BASE
D1 d1-R1.CP/CS
D6 d6
D3 d3
D4 d4
B1 B1
B2 b2
B3 b3
B4 b4
B5 b5
B6 b6
B7 b7
B8 b8
B9 b9
B10 b10
B11 b11
B12 b12
B13 b13
B14 b14
B15 b15
B16 b16
B18 b18
B19 b19
B20 b20
B21 b21
C19 c19
C18 N.C.
-AXIS 3
E E-R2CP/CS
F F
V V
W W
A A
B B
C C
D D
H H
J J
K K
L L
M M
N N
P P
R R
S S
T T
U U
X X
Y Y
Z Z
a a
b b
c c
N.C. N.C.
-AXIS 6
E E-R3.CP/CS
F F
V V
W W
A
B
C
D
H
J
K
L
M
N
P
R
S
T
U
X
Y
Z
a
b
c
N.C.
BU
WH/GNGN
WH/BNBN
WH/BUBU
WH/OGOG
WHOGWHGN
4
WH
5
BN
6
WH
7
GY
GN/YE
RD
WH/OG
BU
OG
GN
WH/BK
RD
BK
WH/BNBN
WH/RDRD
WH/OG
101/
4
OG
WH/YE
101/
5
YE
WH/GNGNWH/BUBU
WH/VTVTWH/GYGYWH/BKBK
101/
8
24V
0V
24V
0V
CS6/KSR
CS8/KSR
CS15
CS16
CS17
CS18
CS19
CS20
PE
CS21
CS12
CS1
CS2
CS3
CS4
CS5
CS6
CS9
CS10
CS11
CS13
CS14
BKBNRDOGYEGNBUVT
Prepared by, date:318
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EM 2015-02-17 JEN 2015-03-04
2015-03-04
Page317
98TotalTYPE H
Latest revision:
Approved by, date:
CUSTOMER SIGNALS, PARALLEL Location:Plant: =
++Sublocation:
DPH
Document no.Next
Rev. Ind
Lab/Office: Status:IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5ECO 70147, WI 7698Page 224-231: Adjusted, "Type Se" was "Type S"Page 316-321: Adjusted, "Type H" was "Type S"
71 843
12
2 5
APPROVED
6
3HAC026209-001
DMRO SEPRMP
TYPE HCUSTOMER SIGNALSPARALLELCOMMUNICATIONVALID FORHARNESS IN CABINET3HAC022852-001 (Dual)3HAC024371-001 (Single)FLOOR HARNESS3HAC022957-001,002,003,006
MH6LOWER ARM HARNESS3HAC043042-001UPPER ARM HARNESS3HAC043045-001
* Circuitdiagram shows markingon wires for both dual andsingle cabinet
N.C.=Not Connected
685
686
688
684
689690691692
699700666667668669
100/
3
RD
OG
RD
BN
RDGYBKBU
100/
4
100/
5
WH/YEYEWH
9 9
-ROBOTCABINET
9 9-XP5.2
10 10
11 11
12 12
7 7-XP5.3
8 8
-MANIPULATOR BASE
10 10
11 11
12 12
5 5-XP5.2
6 6
8 8
8 8-XP5.1
-XS13
B22 b22
B23 b23
B24 b24
B25 b25
C10
C11
C12
C13
C14
C15
C16 c16
C17 c17
C20 c20
C21 c21
B22 N.C.
B23 N.C.
B24 N.C.
B25 N.C.
c16 N.C.-R1.CP/CS
C17 N.C.
C20 N.C.
C21 N.C.
-AXIS 3
N.C. N.C.
N.C. N.C.
N.C. N.C.
N.C. N.C.
N.C. N.C.-R2.CP/CS
N.C. N.C.
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N.C.
N.C.
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N.C.
GN
WH/BN
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100/
6
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7
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YEWH/GNGN
WH/BN
BN
RD
WH/YE
100/
8
GY
WH
WH/BN
VT
WH/RDWH/OGWH/YEWH/GN
WH/YEWH/GNWH/BUWH/VTWH/GY
*DUAL
*SINGLE
BN/BK
Note 1.6 on Page 701
Prepared by, date:319
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71 843
12
2 5
APPROVED
6
3HAC026209-001
DMRO SEPRMP
TYPE HCUSTOMER SIGNALSPARALLELCOMMUNICATIONVALID FORHARNESS IN CABINET3HAC022852-001 (Dual)3HAC024371-001 (Single)FLOOR HARNESS3HAC022957-001,002,003,006
MH6LOWER ARM HARNESS3HAC043043-001UPPER ARM HARNESS3HAC043046-001
* Circuitdiagram shows marking on wires for both dual and single cabinet
N.C.=Not Connected
BK
670
BN
671
RD
672
OG
673
YE
677
GN
678
4
GY
WH/GN
5
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GN
6
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WH/BN
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WH/OG
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WH/BN
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SINGLE
WH/RD
679
GN/YE
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680
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-
681
-
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693
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WH/BN
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686
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3
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BU
WH/BKBK
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WH/OG
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12
34
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3 3
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6 6
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2 2
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4 4
5 5
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7 7-XP5.1
7 7-XP5.2
B11 b11
B12 b12
B13 b13
B14 b14
B15 b15
B16 b16
B18 b18
B19 b19
B20 b20
B21 b21
C19 c19
C18 c18
B11 b11
B12 b12
B13 b13
B14 b14
B15 b15
B16 b16
B18 b18
B19 b19
B20 b20
B21 b21
C19 c19
C18 N.C.
P P
R R
S S
T T
U U
X X
Y Y
Z Z
a a
b b
c c
N.C. N.C.
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1 1-XP6
2 2
3 3
4 4
1 1-XP5.1
2 2
1 1-XP5.2
2 2
3 3
4 4
9 9-XP5.1
10 10
11 11
12 12
-XS13
A1 a1
A2 a2
A3 a3
A4 a4
B1 b1
B2 b2
B3 b3
B4 b4
B5 b5
B6 b6
B7 b7
B8 b8
B9 b9
B10 b10
-MANIPULATOR BASE
D1 d1-R1.CP/CS
D6 d6
D3 d3
D4 d4
B1 B1
B2 b2
B3 b3
B4 b4
B5 b5
B6 b6
B7 b7
B8 b8
B9 b9
B10 b10
-AXIS 3
E E-R2CP/CS
F F
V V
W W
A A
B B
C C
D D
H H
J J
K K
L L
M M
N N
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F F
V V
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WH/BK
GN
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RD
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101/
4
WH/OGOG
WH/YEYE
101/
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WH/GNGNWH/BUBU
WH/VTVTWH/GYGYWH/BKBK
101/
8
24V
0V
24V
0V
CS6/KSR
CS8/KSR
CS10
CS9
CS19
CS20
CS21
CS12
PE
CS5
CS13
CS14
CS11
CS1
CS2
CS3
CS4
CS6
CS15
CS16
CS17
CS18
BKBNRDOGYEGNBUVT
Prepared by, date:320
We
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ight
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Latest revision:
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CUSTOMER SIGNALS, CANBUS Location:Plant: =
++Sublocation:
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Document no.Next
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71 843
12
2 5
APPROVED
6
3HAC026209-001
DMRO SEPRMP
TYPE HCUSTOMER SIGNALSPARALLELCOMMUNICATIONVALID FORHARNESS IN CABINET3HAC022852-001 (Dual)3HAC024371-001 (Single)FLOOR HARNESS3HAC022957-001,002,003,006
MH6LOWER ARM HARNESS3HAC043043-001UPPER ARM HARNESS3HAC043046-001
* Circuitdiagram shows markingon wires for both dual andsingle cabinet
N.C.=Not Connected
8
RD
685
1
BK
2
686
3
688
691
684
692
4
689
689
YEYE
690
690
VT
WH
691
BU
692
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699
699
GN
700
700
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666
666
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667
667
GN668
668669
669
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+24V BUS
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C-BUS
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P-BUS
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OG
RD
RD
BN
BK
RD
WH/YE
GY
WH/GN
BK
WH/RD
BU
100/
4
WH/OG
WHBU
100/
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WH/BUWH/VT
WH/BKBK
WH/GY
WH/BNBN
56
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8
12
34
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WH/YE
VT
YE
VT
GN
9 9-XP5.2
10 10
11 11
12 12
5 5-XP5.2
6 6
8 8
8 8-XP5.1
B22 b22
B23 b23
B24 b24
B25 b25
C16 c16
C17 c17
C20 c20
C21 c21
B22 N.C.
B23 N.C.
B24 N.C.
B25 N.C.
c16 N.C.-R1.CP/CS
C17 N.C.
C20 N.C.
C21 N.C.
WH
N.C. N.C.
N.C. N.C.
N.C. N.C.
N.C. N.C.
N.C. N.C.-R2.CP/CS
N.C. N.C.
N.C. N.C.
N.C. N.C.
N.C.
N.C.
N.C.
N.C.
N.C.-R3.CP/CS
N.C.
N.C.
N.C.
-ROBOTCABINET
7 7-XP5.3
8 8
9 9
10 10
11 11
12 12
-XS13
C10
C11
C12
C13
C14
C15
-MANIPULATOR BASE -AXIS 3 -AXIS 6
5 5-A35.X2
1 1
11 11-XP5.2
12 12
9 9
10 10
4 4-A35.X2
2 2
3 3
7 7-XP5.3
8 8
9 9
10 10
11 11
12 12
F1 F1
F2 F2
B24 B24
B25 B25
B22
B23
F3 F3
F4 F4
C10 c10
C11 c11
C12 c12
C13 c13
C14 c14
C15 c15
B22 b22
B23 b23
B24 b24
B25 b25
A3 a3
A4 a4
A5 a5
A6 a6
A9 N.C.
A10 N.C.
A11 N.C.
A12 N.C.
C C-R2.CBUS
D D
N.C. N.C.
N.C. N.C.
A A
B B
E E
J J
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N.C. N.C.
N.C. N.C.
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D
N.C.
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N.C.
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GN
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WH/RD
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100/
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7
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WH/BN
BN
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WH/YE
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WH/BN
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VT
BK
WH/RD
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WH/OG
BU
WH/YE
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WH/GN
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BKGN
WH/GY
*
BKBN
DUAL*SINGLE
BN/BK
Note 1.6 on Page 701
WH/BKBK
WH/BNBN
56
7
Prepared by, date:321
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umen
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98TotalTYPE H
Latest revision:
Approved by, date:
CUSTOMER SIGNALS, ETHERNETLocation:Plant: =
++Sublocation:
DPH
Document no.Next
Rev. Ind
Lab/Office: Status:IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5ECO 70147, WI 7698Page 224-231: Adjusted, "Type Se" was "Type S"Page 316-321: Adjusted, "Type H" was "Type S"
71 843
12
2 5
APPROVED
6
3HAC026209-001
DMRO SEPRMP
TYPE HCUSTOMER SIGNALSPARALLELCOMMUNICATIONVALID FORHARNESS IN CABINET3HAC022852-001 (Dual)3HAC024371-001 (Single)FLOOR HARNESS3HAC022957-001,002,003,006
MH6LOWER ARM HARNESS3HAC043044-001UPPER ARM HARNESS3HAC043047-001
* Circuitdiagram shows marking on wires for both dual and single cabinet
N.C.=Not Connected
BK
670
BN
671
RD
672
OG
673
YE
677
GN
678
GY
4
WH/GN
WH
5
GN
WH/BK
6
WH/BN
WH/BN
7
BN
WH/RD
GN/YE
WH/BK
WH/BU
WH/OG
BU
BU
BK
WH/OG
WH/BN
WH/BK
OG
BN
DUAL
WH/RD
SINGLE
679
RD
GN/YE
680
WH/OG
-
681
-
OG
682
-
WH/YE
693
-
YE
694
*
695
WH/GNGN
696
*
697
WH/BU
698
BU
WH/GN
683
WH/VT
GN
WH/BN
686
VT
GN/YE
BN
WH/GYGY
101/
3WH/BU
BU
WH/BKBK
WH/OG
OG
WH/OG
OG
101/
6
Note 1.1 on Page 700
Note 1.3 on Page 700
Note 1.5 on Page 701
101/
7
12
34
GN/YE
WH
G G G G
3 3
4 4
5 5
6 6
1 1-XP5.3
2 2
3 3
4 4
5 5
6 6
7 7-XP5.1
7 7-XP5.2
B11 b11
B12 b12
B13 b13
B14 b14
B15 b15
B16 b16
B18 b18
B19 b19
B20 b20
B21 b21
C19 c19
C18 c18
B11 b11
B12 b12
B13 b13
B14 b14
B15 b15
B16 b16
B18 b18
B19 b19
B20 b20
B21 b21
C19 c19
C18 N.C.
P P
R R
S S
T T
U U
X X
Y Y
Z Z
a a
b b
c c
N.C. N.C.
P
R
S
T
U
X
Y
Z
a
b
c
N.C.
-ROBOTCABINET
1 1-XP6
2 2
3 3
4 4
1 1-XP5.1
2 2
1 1-XP5.2
2 2
3 3
4 4
9 9-XP5.1
10 10
11 11
12 12
-XS13
A1 a1
A2 a2
A3 a3
A4 a4
B1 b1
B2 b2
B3 b3
B4 b4
B5 b5
B6 b6
B7 b7
B8 b8
B9 b9
B10 b10
-MANIPULATOR BASE
D1 d1-R1.CP/CS
D6 d6
D3 d3
D4 d4
B1 B1
B2 b2
B3 b3
B4 b4
B5 b5
B6 b6
B7 b7
B8 b8
B9 b9
B10 b10
-AXIS 3
E E-R2CP/CS
F F
V V
W W
A A
B B
C C
D D
H H
J J
K K
L L
M M
N N
-AXIS 6
E E-R3.CP/CS
F F
V V
W W
A
B
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H
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WH/GNGN
WH/BNBN
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4
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5
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6
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7
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WH/OG
101/
4
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WH/YE
101/
5
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WH/GNGNWH/BUBU
WH/VTVTWH/GYGYWH/BKBK
101/
8
24V
0V
24V
0V
CS6/KSR
CS8/KSR
CS4
CS5
CS6
CS9
CS10
PE
CS1
CS2
CS3
CS15
CS16
CS17
CS18
CS19
CS20
CS21
CS12
CS11
CS13
CS14
BKBNRDOGYEGNBUVT
Prepared by, date:+ID.AX3/400
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Lab/Office: Status:IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5ECO 70147, WI 7698Page 224-231: Adjusted, "Type Se" was "Type S"Page 316-321: Adjusted, "Type H" was "Type S"
71 843
12
2 5
APPROVED
6
3HAC026209-001
DMRO SEPRMP
TYPE HCUSTOMER SIGNALSPARALLELCOMMUNICATIONVALID FORHARNESS IN CABINET3HAC022852-001 (Dual)3HAC024371-001 (Single)FLOOR HARNESS3HAC022957-001,002,003,006
MH6LOWER ARM HARNESS3HAC043044-001UPPER ARM HARNESS3HAC043047-001
* Circuitdiagram shows markingon wires for both dual andsingle cabinet
N.C.=Not Connected
685
686
688
684
689690691692
699700666667668669
100/
3
RD
OG
RD
BN
RDGYBKBU
100/
4
100/
5
YE
WH
OG
BU
YE
WH
OG
BU
WH/YE
YE
YE
WH
C17 c17
C20 c20
C21 c21
B22 N.C.
B23 N.C.
B24 N.C.
B25 N.C.
c16 N.C.-R1.CP/CS
C17 N.C.
C20 N.C.
C21 N.C.
OG
WH
N.C. N.C.
N.C. N.C.
N.C. N.C.
N.C. N.C.
N.C. N.C.-R2.CP/CS
N.C. N.C.
N.C. N.C.
N.C. N.C.
N.C.
N.C.
N.C.
N.C.
N.C.-R3.CP/CS
N.C.
N.C.
N.C.
-ROBOTCABINET
7 7-XP5.3
8 8
9 9
10 10
11 11
12 12
-XS13
C10
C11
C12
C13
C14
C15
-MANIPULATOR BASE -AXIS 3 -AXIS 6
-XS9
1 1
2 2
3 3
4 4
1 1-R1.ETHERNET
2 2
3 3
4 4
1 1-R2.ETHERNET
2 2
3 3
4 4
1-R3.ETHERNET
2
3
4
9 9-XP5.2
10 10
11 11
12 12
5 5-XP5.2
6 6
8 8
8 8-XP5.1
B22 b22
B23 b23
B24 b24
B25 b25
C16 c16
BU
GN
WH/BN
BN
WH/RD
RD
100/
6
100/
7
WH/RD
YEWH/GNGN
WH/BN
BN
RD
WH/YE
100/
8
GY
WH
WH/BN
VT
WH/RDWH/OGWH/YEWH/GN
WH/YEWH/GNWH/BUWH/VTWH/GY
*DUAL
*SINGLE
BN/BK
Note 1.6 on Page 701
Prepared by, date:401
We
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umen
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EM 2015-02-17 JEN 2015-03-04
2015-03-04
Page400
98TotalTYPE S, Se, H, HS, HSe
Latest revision:
Approved by, date:
IRB66xIDLocation:Plant: =
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Lab/Office: Status:IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5ECO 70147, WI 7698Page 224-231: Adjusted, "Type Se" was "Type S"Page 316-321: Adjusted, "Type H" was "Type S"
12APPROVED
3HAC026209-001
1 2 74 53 6 8
DMRO SEPRMP
TYPE S, Se, H, HS AND HSeCUSTOMER SIGNALS
UPPER ARM HARNESS3HAC025532-001
POWER
-AXIS 3 -AXIS 6
D1 d1
D6 d6
D3 d3
D4 d4
D5 d5-R2.CP/CS
D2 d2D7 d7C1 c1C2 c2C3 c3C5 c5
B22 b22B23 b23
B24 b24B25 b25
A3 a3A4 a4
A5 a5A6 a6
A9 a9A10 a10
A11 a11A12 a12
C4
C5
C6
C7
C1-R3.CP/CS
C2C3
B11B12B13B15
A1A2
A3A4
A7A8
A9A10
A5A6
A11A12
4
6
5
7
1
2
GNYE
1
2
3
4
5
6
7
GNYE
WHBK
BK
WHBN
BN
WH5
WH6
WH7
WH8
WH1
WH2
WH3
WH4
Prepared by, date:402
We
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EM 2015-02-17 JEN 2015-03-04
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Page401
98TotalTYPE S, Se, H, HS, HSe
Latest revision:
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Document no.Next
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Lab/Office: Status:IRB6600 IRB6640(DP6) IRB66X0ID IRB7600 IRC5ECO 70147, WI 7698Page 224-231: Adjusted, "Type Se" was "Type S"Page 316-321: Adjusted, "Type H" was "Type S"
12APPROVED
3HAC026209-001
1 2 74 53 6 8
DMRO SEPRMP
TYPE S, Se, H, HS AND HSeCUSTOMER SIGNALS
UPPER ARM HARNESS3HAC025532-001
SIGNAL
-AXIS 3 -AXIS 6
B1 b1-R2.CP/CS
B2 b2
B3 b3B4 b4
B5 b5B6 b6
B7 b7B8 b8
B9 b9B10 b10
B11 b11B12 b12
B13 b13B14 b14
B15 b15B16 b16
B18 b18B19 b19
B20 b20B21 b21
C16 b16
C17 c17
C18 c18
C19 c19
C20 c20
C21 c21
B18-R2.CP/CS
B19
B20B21
B22B23
B24B25
B16B17
B1B2
B3B4
B5B6
B7B8
B9B10
B14
C8
WHBK
BK
WHBN
BN
WHRD
RD
WHOG
OG
WHYE
YE
WHGN
GN
WHBU
BU
WHVT
VT
WHGY
GY
WHBK
BK
WHOG
OG
WHBN
BN
WHRD
RD
WHYE
YE
WH
GN
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12APPROVED
3HAC026209-001
1 2 74 53 6 8
DMRO SEPRMP
TYPE S, Se, H, HS AND HSeCUSTOMER SIGNALS
UPPER ARM HARNESS3HAC041028-001
YE
WH
3 3
4 4
-AXIS 3
D1 d1
D6 d6
D3 d3
D4 d4
D5 d5-R2.CP/CS
D2 d2D7 d7C1 c1C2 c2C3 c3C5 c5
C4
C5
C6
C7
C1-R3.CP/CS
C2C3
B11B12B13B15
POWER
4
6
5
7
1
2
GNYE
1
2
3
4
5
6
7
GNYE
-AXIS 6
1 1-R2.ETHERNET
2 2
3 3
4 4
1 1-R3.ETHERNET
2 2
OG
BU
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12APPROVED
3HAC026209-001
1 2 74 53 6 8
DMRO SEPRMP
TYPE S, Se, H, HS AND HSeCUSTOMER SIGNALS
UPPER ARM HARNESS3HAC041028-001
-AXIS 3 -AXIS 6
B1 b1-R2.CP/CS
B2 b2
B3 b3B4 b4
B5 b5B6 b6
B7 b7B8 b8
B9 b9B10 b10
B11 b11B12 b12
B13 b13B14 b14
B15 b15B16 b16
B18 b18B19 b19
B20 b20B21 b21
C16 b16
C17 c17
C18 c18
C19 c19
C20 c20
C21 c21
B18-R2.CP/CS
B19
B20B21
B22B23
B24B25
B16B17
B1B2
B3B4
B5B6
B7B8
B9B10
B14
C8
SIGNAL WHBK
BK
WHBN
BN
WHRD
RD
WHOG
OG
WHYE
YE
WHGN
GN
WHBU
BU
WHVT
VT
WHGY
GY
WHBK
BK
WHOG
OG
WHBN
BN
WHRD
RD
WHYE
YE
WH
GN
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71 843
12
2 5
APPROVED
6
3HAC026209-001
DMRO SEPRMP
TYPE HSeRESOLVER SIGNALSVALID FORFLOOR HARNESS3HXD1250-70LOWER ARM HARNESS3HAC023278-001
SERVO POWERVALID FORHARNESS IN CABINET3HAC021791-001FLOOR HARNESS3HEA800736-001,002,003,004
TYPE HS, HSeSIGNALS TO PEDESTAL GUNSEE PAGE PEDESTAL GUN (PG)IN CIRCUIT DIAGRAM 3HAC026208-001
400240044000
40134014
40104012
4011
4006400840094007
GN/YE
BKBUBN
GN/YE
PKRD
OGGN
YE
GY
GRBNWHBURD
PK
YEWH/RD
WH/BNBKWH/BK
RD
BNWH/RD
WH/BNBKWH/BK
RD
BN
-MANIPULATOR BASE-ROBOTCABINET -SERVO PEDESTAL GUN(AXIS 7) -SMB
-XS7
G G
H H
A A
B B
C C
D D
E E
F F-R3.FB7
9 9-R1.SMB1.7
2 2
11 11
4 4
12 12
5 5
1 1
FF-R2.FB7
E E
D D
C C
B B
A A
3 3-A41.1.3.X21
5 5
1 1
1 1-A43.X22
3 3
4 4
2 2
1 1-A43.X24
2 2
5 5-XS40
6 6
F F
E E
D D
C C
B B
A A
G G
H H
E E-R1.SP
C C
A A
G G
J J
K K
L L
M M
R R
A3 a3
A5 a5
A1 a1
E1 e1
E2 e2
F7 f7
F9 f9
F8 f8
F1 f1
F2 f2
F3 f3
F4 f4
Prepared by, date:+RG/601
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861
3HAC026209-001
APPROVED
12
75432
DMRO SEPRMP
Region E
CONNECTION BOX MANIPULATOR
24 VDC0 VDC
SPARE (KSR)SPARE (KSR)SPARESPARESPARESPAREgun_openhlift_open
temp_okSPAREequalizeclose_gunopen_hliftclose_hliftSPARESPARESPARESPARE
SPARESPARESPARESPARESPARESPARESPARESPARE
SWC
EARTH
-3HAC2360-3
-3HAC2360-3
-3HAC15620-1
-3HAC022454-001-3HAC022454-001 -R2.CP/CS -R3.CP/CS-XS/XP8.1
-XS/XP8.2
-XS/XP8.3
-XT/XP5.1
-XT/XP5.2
-XT/XP5.3
-XT/XP5.2
f f
g g
A A
B B
C C
D D
E E
F F
G G
H H
J J
K K
L L
M M
N N
P P
R R
S S
T T
U U
X XY YZ Za ab bc cd de e
h h
f f
g g
A A
B B
C C
D D
E E
F F
G G
H H
J J
K K
L L
M M
N N
P P
R R
S S
T T
U U
X XY YZ Za ab bc cd de e
h h
1 1
2 2
7 7
8 8
1 1
2 2
3 3
4 4
5 5
6 6
7 7
8 8
9 9
10 10
11 1112 1213 1314 14
9 9
10 10
11 11
12 12
13 13
14 14
7 78 89 9
10 1011 1112 1213 1314 14
1 14 4
1 1
2 2
3 3
4 4
5 5
6 6
7 7
8 8
9 9
10 10
11 11
12 12
13 13
14 14
1 12 23 34 4
1 1
2 2
3 3
4 4
5 56 67 78 89 9
10 1011 1112 12
4,WH
5,WH
1:WHBK
1:BK
2:WHBN
2:BN
3:WHRD
3:RD
4:WHOG
4:OG
5:WHYE
5:YE
6:WHGN
6:GN
6:WHBU
6:BU
7:WHVT
7:VT
7:WHGY
7:GY
8:WHBK
8:BK
8:WHOG
8:OG
7,WH
4,WH
5,WH
1:WHBK
1:BK
2:WHBN
2:BN
3:WHRD
3:RD
4:WHOG
4:OG
5:WHYE
5:YE
6:WHGN
6:GN
6:WHBU
6:BU
7:WHVT
7:VT
7:WHGY
7:GY
8:WHBK
8:BK
8:WHOG
8:OG
9:WHBN
9:BN
9:WHRD
9:RD
7,WH
1:WHBU
1:BU
2:WH/OG
2:OG
3:WH/GN
3:GN
4:WH/BN
4:BN
5:WH/GY
5:GY
6:RD/BU
6:BU
7:RD/OG
7:OG
8:RD/GN
8:GN
9:RD/BN
9:BN
3BK
4BK
1BK
2BK
10:RD/GY
10:GY
11:BK/BU
11:BU
12:BK/OG
12:OG
13:BK/GN
13:GN
0,750,750,75GNYE
0,750,750,75GNYE
TYPECUSTOMER SIGNALS
VALID FORFLOOR HARNESS3HAC029393-001, -005
LOWER ARM HARNESS3HAC029390-001, 005
UPPER ARM HARNESS3HAC029391-001, -005
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3
APPROVED
123HAC026209-001
6 71 82 4 5
DMRO SEPRMP
REGION E
For further information see circuit diagram,
3HAC024480-004 for single cabinet.
DRIVE MODULE CABINET
R
S
T
EARTH
PTC
PTC 0V
BRAKE REL
BRAKE 0V
LIM1
LIM2
LIM2
LIM1
BRAKE PB
6 module
2,5
2,5
2,5
2,5
23p
1,5
1,5
1,5
1,5
MECHANICAL UNIT
8p
R3.SP
FREE END
TYPE7TH AXIS POWER SIGNALS
VALID FORLOWER ARM HARNESS3HAC029579-001, 005
UPPER ARM HARNESS3HAC029580-001, -005
-3HAC3726-4 -3HAC3726-4-3HAC15653-1-R1.SP -R2.SP-XS/XP7
A A
C C
E E
G G
J J
K K
L L
M M
R R
A A
C C
E E
G G
B B
D D
F F
H H
A1 a1
A5 a5
A3 a3
E1 e1
E2 e2
F7 f7
F9 f9
F1 f1
F2 f2
F4 f4
F3 f3
F8 f8
BN
BU
BK
PK
RD
OG
GN
YE
GNYE
1/OG
2/OG
3/OG
GNYE
4/OG
5/OG
6/OG
7/OG
1/OG
2/OG
3/OG
GNYE
4/OG
5/OG
6/OG
7/OG
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3
APPROVED
123HAC026209-001
6 71 82 4 5
DMRO SEPRMP
REGION E
MRCO
MRCO_N
MRCI
MRCI_N
0V
24V
BATT BR
BATT-
BATT+
BATT LOAD
SINGLE CABINET
WHBU
BU
WHOG
OG
WHGN
WHBN
GN
BN
WHGY
GY
RD
KEYPIN
WHBU
BU
WHOG
OG
WHGN
GN
GY
RD
MECHANICAL UNITTYPE Se AND HSe7TH AXIS FEEDBACK SIGNALS
LOWER/UPPER ARM HARNESS3HAC030638-001, 005
FREE END
-3HAA2485-3-3HAA2485-3-A42.X4 -R1.SMB -R1.SMB 1.7 -R2.FB7-R2.SMB
-SMB
-XS/XP2
1 1
2 2
3 3
4 4
5 5
6 6
7 7
9 9
A A
B B
C C
D D
E E
F F
J J
K K
L L
G G
H H
M M
5 5
12 12
4 4
11 11
2 2
9 9
1 1
A A
B B
C C
D D
E E
F F
9 9
5 5
8 8
4 4
3 3
7 7
6 6
2 2
A A
B B
C C
D D
E E
F F
J J
K K
L L
G G
1/WHBK
1/BK
2/WHBN
2/BN
3/WHRD
3/RD
1/WHBK
1/BK
2/WHBN
2/BN
3/WHRD
3/RD
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3 4 5 6
12
7 821
3HAC026209-001
APPROVEDDMRO SEPRMP
Lower Arm Harness Type S3HAC022478-001 Rev. 00, 01, 023HAC022480-001 Rev. 00, 01, 023HAC022135-001 Rev. 003HAC022136-001 Rev. 003HAC022470-001 Rev. 003HAC022471-001 Rev. 00
Note 1.2
Note 1.1
Lower Arm Harness Type S3HAC022486-001 Rev. 00, 013HAC022486-002 Rev. 00, 013HAC022488-001 Rev. 00, 013HAC022488-002 Rev. 00, 01
Note 1.3 Lower Arm Harness Type S3HAC022478-001 Rev. 00, 01, 023HAC022480-001 Rev. 00, 01, 023HAC022135-001 Rev. 003HAC022136-001 Rev. 003HAC022470-001 Rev. 003HAC022471-001 Rev. 00
Lower Arm Harness Type H, HS and HSe3HAC022996-001 Rev. 00, 013HAC022997-001 Rev. 00, 01, 023HAC022998-001 Rev. 00, 013HAC022999-001 Rev. 00, 01, 02
Note 1.4 Lower Arm Harness Type S3HAC022486-001 Rev. 00, 013HAC022486-002 Rev. 00, 013HAC022488-001 Rev. 00, 013HAC022488-002 Rev. 00, 01
Lower Arm Harness Type H, HS and HSe3HAC022996-001 Rev. 00, 013HAC022997-001 Rev. 00, 01, 023HAC022998-001 Rev. 00, 013HAC022999-001 Rev. 00, 01, 02
Lower arm harness IRB66603HAC027105-001 Rev. 00, 01
Lower Arm Harness Type Se3HAC022487-001 Rev. 00, 01, 023HAC022487-002 Rev. 00, 01, 023HAC022491-001 Rev. 00, 01, 023HAC022491-002 Rev. 00, 01, 02
Lower Arm Harness Type Se3HAC022479-001 Rev. 00, 01, 02, 033HAC022481-001 Rev. 00, 01, 02, 033HAC022137-001 Rev. 003HAC022138-001 Rev. 003HAC022472-001 Rev. 003HAC022473-001 Rev. 00
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3 4 5 6
12
7 821
3HAC026209-001
APPROVEDDMRO SEPRMP
Note 1.5 Lower Arm Harness Type S3HAC022478-001 Rev. 00, 01, 023HAC022135-001 Rev. 003HAC022136-001 Rev. 00
Lower Arm Harness Type H, HS and HSe3HAC022996-001 Rev. 00, 013HAC022997-001 Rev. 00, 01, 02
Note 1.6 Lower Arm Harness Type S3HAC022478-001 Rev.00, 01, 023HAC022135-001 Rev. 003HAC022136-001 Rev. 00
Lower Arm Harness Type H, HS and HSe3HAC022996-001 Rev. 00, 013HAC022997-001 Rev. 00, 01, 02
Note 1.7 Lower Arm Harness Type S3HAC022486-001 Rev. 00, 013HAC022486-002 Rev. 00, 01
Note 1.8 Lower Arm Harness Type S3HAC022486-001 Rev. 00, 013HAC022486-002 Rev. 00, 01
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3 4 5 6
12
7 821
3HAC026209-001
APPROVEDDMRO SEPRMP
Note 1.9 Lower Arm Harness Type Se3HAC022479-001 Rev. 00, 01, 02, 033HAC022481-001 Rev. 00, 01, 02, 033HAC022137-001 Rev. 003HAC022138-001 Rev. 003HAC022472-001 Rev. 003HAC022473-001 Rev. 00
Note 1.10 Lower Arm Harness Type Se3HAC022479-001 Rev. 00, 01, 02, 033HAC022137-001 Rev. 003HAC022138-001 Rev. 00
Note 1.11 Lower Arm Harness Type Se3HAC022487-001 Rev. 00, 01, 023HAC022487-002 Rev. 00, 01, 023HAC022491-001 Rev. 00, 01, 023HAC022491-002 Rev. 00, 01, 02
Note 1.12 Lower Arm Harness Type Se3HAC022487-001 Rev. 00, 01, 023HAC022487-002 Rev. 00, 01, 02
Lower Arm Harness IRB66603HAC027105-001 Rev. 00,01