© Copyright 2004 ABB ALL right...
36
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 any kind of guarantee or warranty by ABB for losses, damages to persons or property, fitness for a specific 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 AB Robotics SE-721 68 Västerås Sweden Prepared by, date: 2 We reserve all rights in this document and in the information contained therein.Reproduction, use or disclosure to third parties without express authority is strictly forbidden. © Copyright 2003 ABB Page 1 43 Total DRESS PACK Latest revision: Approved by, date: COPYRIGHT PAGE Location: Plant: = + + Sublocation: SP Document no. Next Rev. Ind Lab/Office: Status: IRB6620 & IRC5 ECO 41031, SPR 1038931 Screen adjustment 2010-05-28 sejomor APPROVED seermes 3HAC026136-001 07 1 2 3 5 6 7 8 4 PRMP
Transcript of © Copyright 2004 ABB ALL right...
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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PRMP
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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PRMP
Table of contentsPlant Location RemarkPage Page description Date Editor
ABB_table_of_contents
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seermes 3HAC026136-001 07
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PRMP
SP
sethsta
1 COPYRIGHT PAGE APPROVED 2009-05-19 sethsta
SP 2 TITLE PAGE
sethsta
APPROVED 2009-05-19 sethsta
SP 3 TABLE OF CONTENTS PAGE 1-206 APPROVED 2009-05-19
sethsta
sethsta
DP
SP
Se -
4 TABLE OF CONTENTS PAGE 207-602
109 CUSTOMER SIGNALS, PROFIBUS
APPROVED
APPROVED
2009-05-19
2009-05-19
sethsta
SP
seermes
S
DP
DP
50
Se
Se
BLOCK DIAGRAM TYPE S - IRBDP SW5
-
-
APPROVED
112
110
2009-05-19
CUSTOMER SIGNALS, ETHERNET
CUSTOMER SIGNALS, PROFIBUS
sethsta
APPROVED
APPROVED
SP
2009-12-04
2009-05-19
Se
sethsta
seermes
51
DP
DP
DP
BLOCK DIAGRAM - TYPE Se
Se
Se
Se -
-
APPROVED
-
114
113
111
2009-12-04
CUSTOMER SIGNALS, ETHERNET
CUSTOMER SIGNALS, PROFIBUS
CUSTOMER SIGNALS, ETHERNET
seermes
APPROVED
APPROVED
APPROVED
SP
2009-05-19
Se
2009-12-04
2009-12-04
52
sethsta
seermes
sethsta
BLOCK DIAGRAM TYPE Se - IRBDP SW5
DP
APPROVED
H.1
2009-05-19
200
sethsta
CUSTOMER SIGNALS, PARALLEL
SP
APPROVED
H
2009-05-19
53
sethsta
DP
BLOCK DIAGRAM - TYPE H
H.1
APPROVED
201
2009-12-04 seerrmes
CUSTOMER SIGNALS, PARALLEL APPROVED
SP HSe
2009-05-19
54 BLOCK DIAGRAM - TYPE HSe
DP
APPROVED
H.1
2009-12-04
202 CUSTOMER SIGNALS, CANBUS
seermes
SP
APPROVED 2009-05-19
CON 55
DP
CONNECTOR LAYOUT
H.1
APPROVED 2009-12-04
203 CUSTOMER SIGNALS, CANBUS
seermes
SP
APPROVED
CON
2009-05-19
56 CONNECTOR LAYOUT APPROVED 2009-05-19 sethsta
DP Se - 100 CUSTOMER SIGNALS, PARALLEL APPROVED 2009-05-19 sethsta
DP Se - 101 CUSTOMER SIGNALS, PARALLEL APPROVED 2009-05-19 sethsta
DP Se - 102 CUSTOMER SIGNALS, PARALLEL APPROVED 2009-05-19 sethsta
DP Se - 103 CUSTOMER SIGNALS, CANBUS APPROVED 2009-05-19 sethsta
DP Se - 104 CUSTOMER SIGNALS, CANBUS APPROVED 2009-05-19 sethsta
DP Se - 105 CUSTOMER SIGNALS, CANBUS APPROVED 2009-05-19 sethsta
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APPROVED
seermes 3HAC026136-001 07
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PRMP
DP
DP
H.1
H.1
207
209
CUSTOMER SIGNALS, PROFIBUS
CUSTOMER SIGNALS, ETHERNET
APPROVED
APPROVED
2009-05-19
2009-12-04
sethsta
seermes
DP HSe 300 CUSTOMER SIGNALS, PARALLEL APPROVED 2009-05-19 sethsta
DP HSe 301 CUSTOMER SIGNALS, PARALLEL APPROVED 2009-05-19 sethsta
DP HSe 302 CUSTOMER SIGNALS, CANBUS APPROVED 2009-05-19 sethsta
DP HSe 303 CUSTOMER SIGNALS, CANBUS APPROVED 2009-05-19 sethsta
DP HSe 306 CUSTOMER SIGNALS, PROFIBUS APPROVED 2009-05-19 sethsta
DP
DP
HSe
HSe
307
309
CUSTOMER SIGNALS, PROFIBUS
CUSTOMER SIGNALS, ETHERNET
CUSTOMER SIGNALS, ETHERNET
APPROVED
APPROVED
2009-05-19
2009-12-04
sethsta
seermes
DP
DP
HSe
HSe
310
308
SERVO PEDESTAL GUN APPROVED
APPROVED
2009-05-19
2009-12-04 seermes
sethsta
DP CS B 600 CUSTOMER SIGNAL - IRBDP SW5 APPROVED 2009-05-19 sethsta
DP RG 601 ROBOT GUN (RG) - IRBDP SW5 APPROVED
DP
DP
2009-05-19
H.1
H.1
sethsta
206
208
DP
CUSTOMER SIGNALS, PROFIBUS
CUSTOMER SIGNALS, ETHERNET
RG
APPROVED
APPROVED
602
2009-12-04
ROBOT GUN (RG) - IRBDP SW5
2009-05-19 sethsta
seermes
APPROVED 2009-05-19 sethsta
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BLOCK DIAGRAM TYPE S - IRBDP SW5Location:Plant: =
++Sublocation:
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APPROVED
seermes 3HAC026136-001 07
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PRMPREGION E
BLOCK DIAGRAM TYPE S (pneumatic gun)IRBDP SW5Single cabinet controller, IRC5: See circuit diagram, 3HAC024480-004.Dashed cables: See circuit diagram SpotPack, 3HAC026208-001
Axis 6
Axis 1
R3.CP/CSAxis 5
Axis 2
Axis 4
R2.CP/CSAxis 3
Base
CONNECTION BOX
R1.WAR1.CBR1.CBR1.WELD
WATER ANDAIR UNIT
CUSTOMER POWERCUSTOMER SIGNAL
WELD POWER SWC.WELD
SWC.24VSWC.I/O
3HA
C02
9444
-001
C
AN
BU
S IN
TER
FAC
E
3HA
C02
9446
-001
2
4VD
C S
UP
PLY
, WE
LDIN
G S
IGN
ALS
SPOT WELDINGCABINET
SINGLE CABINETCONTROLLER
3HA
C02
9486
-001
R
S23
2/R
S48
5
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SPSe
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APPROVED
seermes 3HAC026136-001 07
1 2 3 5 6 7 84
PRMP
BLOCK DIAGRAM TYPE Se (servo gun)IRBDP SW2Single cabinet controller, IRC5: See circuit diagram, 3HAC024480-004.Dashed cables: See circuit diagram SpotPack, 3HAC026208-001
SPOT WELDINGCABINET
SINGLE CABINETCONTROLLER
XP/XS113
24V
DC
SU
PP
LY, W
ELD
ING
SIG
NA
LS
RS
232/
RS
485
Servo gun( axis 7 )
M
R3.CP/CSR3.WELD
Axis 6
Axis 1
Axis 5
Axis 2
Axis 4
Axis 3
Base
R2.CP/CSR2.WELD
R1.WELD
R1.CP/CS/CBUS
R2.ETHERNET
R1.SP
R1.ETHERNET
WATER ANDAIR UNIT
XS/XP101
24VDC SUPPLY, PARALLEL INTERFACE
WELD POWER
ROBOT SIGNALS, 24VDC SUPPLY
BUS SIGNALS
SERVO GUN POWER
XP/XS103
XP/XS9
XP/XS7
X101
XP/XS13
115/
230V
AC
CA
NB
US
INTE
RFA
CE
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BLOCK DIAGRAM TYPE Se - IRBDP SW5Location:Plant: =
++Sublocation:
SPSe
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APPROVED
seermes 3HAC026136-001 07
1 2 3 5 6 7 84
PRMPREGION E
BLOCK DIAGRAM TYPE Se (servo gun)IRBDP SW5Single cabinet controller, IRC5: See circuit diagram, 3HAC024480-004.Dashed cables: See circuit diagram SpotPack, 3HAC026208-001
3HA
C02
9444
-001
C
AN
BU
S IN
TER
FAC
E
3HA
C02
9446
-001
2
4VD
C S
UP
PLY
, WE
LDIN
G S
IGN
ALS
SPOT WELDINGCABINET
SINGLE CABINETCONTROLLER
3HA
C02
9486
-001
R
S23
2/R
S48
5
Servo gun( axis 7 )
M
R3.CP/CSR3.WELD
Axis 6
Axis 1
Axis 5
Axis 2
Axis 4
Axis 3
Base
R2.CP/CSR2.WELD
CONNECTION BOX
R1.SP
R1.WELD
R1.CBR1.CBR1.CB
WATER ANDAIR UNIT
SERVO GUN POWER
CUSTOMER POWERCUSTOMER SIGNAL
WELD POWER SWC.WELD
XP/XS7
SWC.24VSWC.I/O
Prepared by, date:+HSe/54
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SPH
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APPROVED
seermes 3HAC026136-001 07
1 2 3 5 6 7 84
PRMP
BLOCK DIAGRAM TYPE HIRBDP SW2Single cabinet controller, IRC5: See circuit diagram, 3HAC024480-004.
Axis 1
R3.CP/CS
Axis 5
Axis 6
Axis 2
Axis 4
R2.CP/CS
Axis 3
Base R1.CP/CS/CBUSR1.ETHERNET
ROBOT SIGNALS, 24VDC SUPPLYBUS SIGNALS
XP/XS13XP/XS9 SINGLE CABINET
CONTROLLER
R2.ETHERNETR3.ETHERNET
Prepared by, date:+CON/55
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BLOCK DIAGRAM - TYPE HSeLocation:Plant: =
++Sublocation:
SPHSe
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2010-05-28
sejomor
APPROVED
seermes 3HAC026136-001 07
1 2 3 5 6 7 84
PRMP
BLOCK DIAGRAM TYPE HSe (material handling and servo gun)IRBDP SW2Single cabinet controller, IRC5: See circuit diagram, 3HAC024480-004.Dashed cables: See circuit diagram SpotPack, 3HAC026208-001
Base
R2.CP/CSR2.WELD
R1.CP/CS/CBUSR1.ETHERNET
R3.
FB7
WATER ANDAIR UNIT
XS/XP101
WELDING SIGNALS, 24VDC SUPPLY
ROBOT SIGNALS, 24VDC SUPPLYBUS SIGNALS
POWER SERVOGUN
WELD POWER
24VDC SUPPLY, PARALLEL INTERFACE, PROP. VALVE XP/XS103
X101
M
XP/XS9XP/XS13
Servo gun( axis 7 )
XP/XS7
X104
115/
230V
AC
CA
NB
US
INTE
RFA
CE
SPOT WELDINGCABINET
SINGLE CABINETCONTROLLER
XP/XS113
24V
DC
SU
PP
LY, W
ELD
ING
SIG
NA
LS
RS
232/
RS
485
PEDESTAL
GUN
FB.M7
R1.SP
Axis 1
Axis 5
Axis 6
SG.WELD
SG.CP/CS
R3.CP/CSR3.WELD
Axis 2
R2.ETHERNET
Axis 4
Axis 3
RESOLVER/SMB SIGNALS
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SPCON
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APPROVED
seermes 3HAC026136-001 07
1 2 3 5 6 7 84
PRMP
HARTING HAN MODULE/
5
HARTING HAN MODULE/
8
3
b
2
HD
HD
BLOCK DIAGRAM TYPE Se/HSe (on the robot)
17
7
9
12
DD
d
18
EE
A
9
1
25
B
c
4
1
417
HD
9
D
17
EE
1
4
Female (R2.CP/CS)
Male (R1.CP/CS)Male 4p
R2.ETHERNETR3.ETHERNET
1
Female 4PR1.ETHERNETR2.ETHERNET
EE
4
CC
8
5
18
25
8
18
HD
8
5
8
1
25 17
Female (R3.CP/CS)
9
1
1
8
7
12
1
A
6
1
8
a
B
2
1
8
3
18
HD
25
18 1
617
9
4
12
7
DD
1
25
1
6
DD
Prepared by, date:=DP+Se.(-)/100
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SPCON
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2010-05-28
sejomor
APPROVED
seermes 3HAC026136-001 07
1 2 3 5 6 7 84
PRMP
BLOCK DIAGRAM TYPE Se/HSe
A
BLOCK DIAGRAM TYPE H/HS/HSe model (DP-UE-MH3)
A
Female 23p (R3.CP/CS)
Female 8p (FB.M7)
SOURIAU UTOW
A
Male 8p (R3.FB7)
A
A
BLOCK DIAGRAM TYPE HSe
SOURIAU
Female 23p (R1.SP)
Female 19p (R3.CBUS)
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Latest revision:
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++Sublocation:
DPSe(-)
Document no.Next
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APPROVED
seermes 3HAC026136-001 07
1 2 3 5 6 7 84
PRMP
TYPE SECUSTOMER SIGNALSPARALLELCOMMUNICATIONVALID FORHARNESS IN CABINET3HAC022852-001 (Dual)3HAC024371-001 (Single)3HAC021791-001FLOOR HARNESS3HAC022957-001,002,003,0063HEA800736-001,002,003,004LOWER/UPPER ARM HARNESS3HAC024649-001
* 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
BLBU
BR
GN/YE
PKRD
OGGN
YE
113/
5
123
GN/YE
4
5
6
7
45
67
GN/YE
113/
8
24V
0V
24V
-XS13
-ROBOTCABINET
1 1-XP6
2 2
3 3
4 4
3 3-A41.1.3.X21
5 5
1 1
1 1-A43.X24
2 2
5 5-XS40
6 6
1 1-A43.X22
3 3
4 4
2 2
G G
-XS7
A1 a1
A2 a2
A3 a3
A4 a4
A3 a3
A5 a5
A1 a1
E1 e1
E2 e2
F7 f7
F9 f9
F8 f8
F1 f1
F2 f2
F3 f3
F4 f4
-MANIPULATOR BASE
E E-R1.SP
C C
A A
J J
K K
L L
M M
R
D1 d1-R1.CP/CS
D6 d6
D3 d3
D4 d4
C4-R3.CP/CS
C5
C6
C7
-AXIS 6
C1-R3.CP/CS
C2
C3
B11
B12
B13
B15
0V
W/T
V/S
U/R
PTC
0V PTC
24V BRAKE REL
0V BRAKE REL
PE
PE
BKBNRDOGYEGNBUVTGN/YE
-
-
-
-
*DUAL *SINGLE
40134014
40104012
4011
40064008
GN/YE
40094007
400240044000
Prepared by, date:102
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APPROVED
seermes 3HAC026136-001 07
1 2 3 5 6 7 84
PRMP
915/
4
X7/S1
TYPE SECUSTOMER SIGNALSPARALLELCOMMUNICATIONVALID FORHARNESS IN CABINET3HAC022852-001 (Dual)3HAC024371-001 (Single)3HAC021791-001FLOOR HARNESS3HAC022957-001,002,003,0063HEA800736-001,002,003,004LOWER/UPPER ARM HARNESS3HAC024649-001
* Circuitdiagramshows markingon wires for bothdual and singlecabinet
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
DUAL11
4/3
*SINGLE
WH/GN
GN
WH/BN
BN
WH/BU
BU
WH/OG
OG
WH
BU
WH/GN
GN
WH/BN
BN
WH/BUBU
WH/OGOG
114/
4
112/
511
4/5
2 2
-ROBOTCABINET
1 1-XP5.1
1 1-XP5.2
2 2
3 3
4 4
9 9-XP5.1
10 10
11 11
12 12
-XS13
B1 b1
B2 b2
B3 b3
B4 b4
B5 b5
B6 b6
B7 b7
B8 b8
B9 b9
B10 b10
-MANIPULATOR BASE
B1 b1-R1.CP/CS
B2 b2
B3 b3
B4 b4
B5 b5
B6 b6
B7 b7
B8 b8
B9 b9
B10 b10
SP1
SP2
SP3
SP4
SP5
SP6
F F-R2.FB7
E E
D D
C C
B B
A A
9 9-R1.SMB1
2 2
11 11
4 4
12 12
5 5
1 1
-SMB
-AXIS 6
B18-R3.CP/CS
B19
B20
B21
B22
B23
B24
B25
B16
B17
WH/RD
WH/BNBKWH/BK
RD
BN
WH/BK
BK
WH/BN
BN
WH/RD
RD
WH/OGOG
WHBU
WH/RD
WH/BNBKWH/BK
RD
BN
112/
811
4/8
Prepared by, date:103
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umen
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se o
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sure
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APPROVED
seermes 3HAC026136-001 07
1 2 3 5 6 7 84
PRMP
TYPE SECUSTOMER SIGNALSPARALLELCOMMUNICATIONVALID FORHARNESS IN CABINET3HAC022852-001 (Dual)3HAC024371-001 (Single)3HAC021791-001FLOOR HARNESS3HAC022957-001,002,003,0063HEA800736-001,002,003,004LOWER/UPPER ARM HARNESS3HAC024649-001
* Circuitdiagram shows markingon wires for both dual andsingle cabinet
GN
679
GY
680
WH
681
WH/BK
682
WH/BN
693
WH/RD
694
WH/OG
695
GY
696
WH
697
WH/BK
698
BU
685
WH/BN
686
VT
687
WH/RD
683
WH/OG
688
WH/YE
684
WH/GN
689
WH/YE
690
WH/GN
691
WH/BU
692
WH/VT
699
WH/GY
700
*
666
DUAL
667
*
668
SINGLE
669
113/
3
BN/BK
WHOGWHGN
WH
6 6
-ROBOTCABINET
3 3-XP5.1
4 4
5 5
6 6
1 1-XP5.3
2 2
3 3
4 4
5 5
6 6
5 5-XP5.2
C15
7 7
7 7-XP5.1
8 8-XP5.2
8 8-XP5.1
9 9-XP5.2
10 10
11 11
12 12
7 7-XP5.3
8 8
9 9
10 10
11 11
12 12
-XS13
B11 b11
B12 b12
B13 b13
B14 b14
B15 b15
B16 b16
B18 b18
B19 b19
B20 b20
B21 b21
C16 c16
C17 c17
C18 c18
C19 c19
C20 c20
C21 c21
B22 b22
B23 b23
B24 b24
B25 b25
C10
C11
C12
C13
C14
-MANIPULATOR BASE
B11 b11-R1.CP/CS
B12 b12
B13 b13
B14 b14
B15 b15
B16 b16
B18 b18
B19 b19
B20 b20
B21 b21
C16
C17
C18
C19 c19
C20 c20
C21 c21
B22 b22
B23 b23
B24 b24
B25 b25
-AXIS 6
B1-R3.CP/CS
B2
B3
B4
B5
B6
B7
B8
B9
B10
B14
C8
A1
A2
A3
A4
BNWHGYRDBU
RDOG
RD
GN
RD
BN
RDGYBKBU
113/
4
113/
4
WH/GNGNWH/BUBU
WH/VTVTWH/GYGYWH/BKBK
OG
BN
WH/RDRDWH/YEYE
113/
8
RDOGYE
Prepared by, date:104
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umen
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se o
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sure
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s w
ithou
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APPROVED
seermes 3HAC026136-001 07
1 2 3 5 6 7 84
PRMP
TYPE SECUSTOMER SIGNALSCANBUSCOMMUNICATIONVALID FORHARNESS IN CABINET3HAC022852-001 (Dual)3HAC024371-001 (Single)3HAC021791-0013HAC022866-001FLOOR HARNESS3HAC022978-001,002,003,0063HEA800736-001,002,003,004LOWER/UPPER ARM HARNESS 3HAC024651-001
* Circuitdiagram shows markingon wires for both dual andsingle cabinet
670
672
673
400240044000
40134014
40104012
4011
4006400840094007
GN/YE
GN/YE
12
34
GN/YE
BLBUBR
GN/YE
PK
RD
OGGN
YE
116/
7
45
67
GN/YE
123
GN/YE
45
67
116/
8
24V
0V
-ROBOTCABINET
1 1-XP6
2 2
3 3
4 4
6 6
3 3-A41.1.3.X21
5 5
1 1
1 1-A43.X24
2 2
5 5-XS40
1 1-A43.X22
3 3
4 4
2 2
-XS13
C C
-XS7
A1 a1
A2 a2
A3 a3
A4 a4
A3 a3
A5 a5
A1 a1
E1 e1
E2 e2
F7 f7
F9 f9
F8 f8
F1 f1
F2 f2
F3 f3
F4 f4
-MANIPULATOR BASE
D1 d1-R1.CP/CS
D6 d6
D3 d3
D4 d4
E E-R1.SP
A A
G G
J J
K K
L L
M M
R R
C4-R3.CP/CS
C5
C6
C7
-AXIS 6
C1-R3.CP/CS
C2
C3
B11
B12
B13
B15
24V
0V
W/T
V/S
U/R
PTC
0V PTC
24V BRAKE REL
0V BRAKE REL
PE
PE
671
BKBNRDOG
-
-
-
-
YEGNBUVTGN/YE
*DUAL *SINGLE
40134014
40104012
4011
40064008
GN/YE
40094007
400240044000
Prepared by, date:105
We
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ight
s in
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umen
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e in
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ein.
Rep
rodu
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se o
r di
sclo
sure
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ird p
artie
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ithou
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horit
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2010-05-28
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APPROVED
seermes 3HAC026136-001 07
1 2 3 5 6 7 84
PRMP
TYPE SECUSTOMER SIGNALSCANBUSCOMMUNICATIONVALID FORHARNESS IN CABINET3HAC022852-001 (Dual)3HAC024371-001 (Single)3HAC021791-0013HAC022866-001FLOOR HARNESS3HAC022978-001,002,003,0063HEA800736-001,002,003,004LOWER/UPPER ARM HARNESS3HAC024651-001
* Circuitdiagram shows marking 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
117/
3
*SINGLE
WH/GN
GN
WH/BN
BN
WH/BU
BU
WH/OG
OG
WH
BU
WH/GN
GN
WH/BN
BN
WH/BUBU
WH/OGOG
117/
4
115/
511
7/5
2 2
-ROBOTCABINET
1 1-XP5.1
1 1-XP5.2
2 2
3 3
4 4
9 9-XP5.1
10 10
11 11
12 12
-XS13
B1 b1
B2 b2
B3 b3
B4 b4
B5 b5
B6 b6
B7 b7
B8 b8
B9 b9
B10 b10
-MANIPULATOR BASE
B1 b1-R1.CP/CS
B2 b2
B3 b3
B4 b4
B5 b5
B6 b6
B7 b7
B8 b8
B9 b9
B10 b10
SP1
SP2
SP3
SP4
SP5
SP6
F F-R2.FB7
E E
D D
C C
B B
A A
9 9-R1.SMB1
2 2
11 11
4 4
12 12
5 5
1 1
-SMB
-AXIS 6
B18-R3.CP/CS
B19
B20
B21
B22
B23
B24
B25
B16
B17
WH/RD
WH/BNBKWH/BK
RD
BN
WH/BK
BK
WH/BN
BN
WH/RD
RD
WH/OGOG
WHBU
WH/RD
WH/BNBKWH/BK
RD
BN
115/
811
7/8
X7/S1
Prepared by, date:109
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ight
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umen
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se o
r di
sclo
sure
to th
ird p
artie
s w
ithou
t exp
ress
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horit
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idde
n. ©
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Page105
43TotalTYPE Se
Latest revision:
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2010-05-28
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APPROVED
seermes 3HAC026136-001 07
1 2 3 5 6 7 84
PRMP
TYPE SECUSTOMER SIGNALSCANBUSCOMMUNICATIONVALID FORHARNESS IN CABINET3HAC022852-001 (Dual)3HAC024371-001 (Single)3HAC021791-0013HAC022866-001FLOOR HARNESS3HAC022978-001,002,003,0063HEA800736-001,002,003,004LOWER/UPPER ARM HARNESS3HAC024651-001
* Circuitdiagram shows markingon wires for both dual andsingle cabinet
679680681682
693694695696697698
685686687
683
688
684
RDBK
691692689690
WH/GN
WH
GN
BU
699
WH/BU
700
BU
666
WH/VT
667
VT
668
WH/GY
669
GYWH/BKBK
116/
3
BN
RD
WH/BKBK
WH/BNBN
56
78
12
34
YEYE
VTVT
GNGN
GNGN
116/
8
+24V CAN
0V CAN
CAN_H
CAN_L
RDOG
-ROBOTCABINET
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
3 3-XP5.1
4 4
5 5
6 6
1 1-XP5.3
2 2
3 3
4 4
5 5
6 6
5 5-XP5.2
6 6
7 7
7 7-XP5.1
8 8-XP5.2
8 8-XP5.1
-XS13
B11 b11
B12 b12
B13 b13
B14 b14
B15 b15
B16 b16
B18 b18
B19 b19
B20 b20
B21 b21
C16 c16
C17 c17
C18 c18
C19 c19
C20 c20
C21 c21
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
-MANIPULATOR BASE
B11 b11-R1.CP/CS
B12 b12
B13 b13
B14 b14
B15 b15
B16 b16
B18 b18
B19 b19
B20 b20
B21 b21
C16
C17
C18
C19 c19
C20
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
-AXIS 6
B1-R3.CP/CS
B2
B3
B4
B5
B6
B7
B8
B9
B10
B14
C8
A7
A8
A9
A10
A5
A6
A11
A12
YEGN
GYWHWH/BKWH/BNWH/RDWH/OG
GYWHWH/BK
BU
WH/BN
WH
VT
OG
WH/YE
WH
WH/GN
GN
WH/RD
WH
WH/OG
BN
WH/YE
WH
WH/GN
GY
WH/BU
RD
WH/VT
BU
WH/GY
RD
DUAL
OG
*SINGLE
RD
*
GN
RD
BN/BK
BN
RD RDBK BK
BK
WH
BU
BUWHBU
BKOG
BKGN
BKBN
116/
4
116/
4
Prepared by, date:110
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umen
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se o
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sclo
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ird p
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Document no.Next
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2010-05-28
sejomor
APPROVED
seermes 3HAC026136-001 07
1 2 3 5 6 7 84
PRMP
TYPE SECUSTOMER SIGNALSPROFIBUSCOMMUNICATIONVALID FORHARNESS IN CABINET3HAC022852-001 (Dual)3HAC024371-001 (Single)3HAC021791-0013HAC022868-001FLOOR HARNESS3HAC022988-001,002,003,0063HEA800736-001,002,003,004LOWER/UPPER ARM HARNESS3HAC024651-001
* Circuitdiagram shows markingon wires for both dual andsingle cabinet
670
671
672
673
400240044000
40134014
40104012
4011
4006400840094007
GN/YE
GN/YE
BLBU
BR
GN/YE
PKRD
OGGN
YE
12
34
GN/YE
122/
5
45
67
GN/YE
123
GN/YE
45
6
7
122/
8
24V
0V
-ROBOTCABINET
1 1-XP6
2 2
3 3
4 4
6 6
3 3-A41.1.3.X21
5 5
1 1
1 1-A43.X24
2 2
5 5-XS40
1 1-A43.X22
3 3
4 4
2 2
-XS13
C C
-XS7
A1 a1
A2 a2
A3 a3
A4 a4
A3 a3
A5 a5
A1 a1
E1 e1
E2 e2
F7 f7
F9 f9
F8 f8
F1 f1
F2 f2
F3 f3
F4 f4
-MANIPULATOR BASE
D1 d1-R1.CP/CS
D6 d6
D3 d3
D4 d4
E E-R1.SP
A A
G G
J J
K K
L L
M M
R
C4-R3.CP/CS
C5
C6
C7
C1-R3.CP/CS
C2
C3
B11
B12
B13
B15
-AXIS 6
24V
0V
W/T
V/S
U/R
PTC
0V PTC
24V BRAKE REL
0V BRAKE REL
PE
PE
BKBNRDOGYEGNBUVTGN/YE
*DUAL *SINGLE
4000
40134014
40104012
4011
4006400840094007
GN/YE
40024004
-
-
-
-
Prepared by, date:111
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ird p
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2010-05-28
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APPROVED
seermes 3HAC026136-001 07
1 2 3 5 6 7 84
PRMP
TYPE SECUSTOMER SIGNALSPROFIBUSCOMMUNICATIONVALID FORHARNESS IN CABINET3HAC022852-001 (Dual)3HAC024371-001 (Single)3HAC021791-0013HAC022868-001FLOOR HARNESS3HAC022988-001,002,003,0063HEA800736-001,002,003,004LOWER/UPPER ARM HARNESS3HAC024651-001
* Circuitdiagram shows marking 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
DUAL12
3/3
*SINGLE
WH/GN
GN
WH/BN
BN
WH/BU
BU
WH/OG
OG
WH/GN
GN
WH/BN
BN
WH/BUBU
WH/OGOG
WH
BU
123/
4
121/
512
3/5
2 2
-ROBOTCABINET
1 1-XP5.1
1 1-XP5.2
2 2
3 3
4 4
9 9-XP5.1
10 10
11 11
12 12
-XS13
B3 b3
B4 b4
B5 b5
B6 b6
B7 b7
B8 b8
B9 b9
B10 b10
B1 b1
B2 b2
-MANIPULATOR BASE
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
F F-R2.FB7
E E
D D
C C
B B
A A
9 9-R1.SMB1
2 2
11 11
4 4
12 12
5 5
1 1
-SMB
B20
B21
B22
B23
B24
B25
B16
B17
-AXIS 6
B18-R3.CP/CS
B19
WH/RD
WH/BNBKWH/BK
RD
BN
WH/BN
BN
WH/RD
RD
WH/OGOG
WHBU
WH/BK
BK
WH/RD
WH/BNBKWH/BK
RD
BN
121/
812
3/8
Y7/S4
Prepared by, date:112
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umen
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Page111
43TotalTYPE Se
Latest revision:
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APPROVED
seermes 3HAC026136-001 07
1 2 3 5 6 7 84
PRMP
TYPE SECUSTOMER SIGNALSPROFIBUSCOMMUNICATIONVALID FORHARNESS IN CABINET3HAC022852-001 (Dual)3HAC024371-001 (Single)3HAC021791-0013HAC022868-001FLOOR HARNESS3HAC022988-001,002,003,0063HEA800736-001,002,003,004LOWER/UPPER ARM HARNESS3HAC024651-001
* Circuitdiagram shows markingon wires for both dual andsingle cabinet
679680681682
693694695696697698
WH/GN
685
GN
686
WH/BU
687
BU
WH/VT
683
VT
688
WH/GY
684
GY
689690
WH/BKBK
691
BN
692
699
RD
700
WH/BK
RD
BK
GN
WH/BN
666
BN
667
5
668
6
669
7
122/
2
8
12
34
YEYE
VTVT
GNGN
GNGN
122/
8
RXD/TXD-P
RXD/TXD-N
RDOGYEGN
GYWHWH/BKWH/BNWH/RDWH/OG
GYGH
WH/BK
BU
WH/BN
VT
WH/RDWH/OG
WH/YE
-ROBOTCABINET
3 3-XP5.1
4 4
5 5
6 6
5 5-XP5.2
6 6
7 7
7 7-XP5.1
8 8-XP5.2
8 8-XP5.1
1 1-XP5.3
2 2
3 3
4 4
5 5
6 6
9 9-XP5.2
10 10
11 11
12 12
7 7-XP5.3
8 8
1B 1B-DP-M
1A 1A
9 9-XP5.3
10 10
11 11
12 12
-XS13
B11 b11
B12 b12
B13 b13
B14 b14
B15 b15
B16 b16
B18 b18
B19 b19
B20 b20
B21 b21
C16 c16
C17 c17
C18 c18
C19 c19
C20 c20
C21 c21
B22 b22
B23 b23
B24 b24
B25 b25
C10 c10
C11 c11
F5 f5
F6 f6
C12 c12
C13 c13
C14 c14
C15 c15
-MANIPULATOR BASE
B11 b11-R1.CP/CS
B12 b12
B13 b13
B14 b14
B15 b15
B16 b16
B18 b18
B19 b19
B20 b20
B21 b21
C16
C17
C18
C19 c19
C20
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
-AXIS 6
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
WH/GN
WH/YEWH/GN
RDGN
WH/BU
RD
WH/VT
OG
WH/GY
RD
DUAL
GN
SINGLE
RD
*
BN
*WHOG
BN/BK
WHGN
WHBNWHGYRDBU
RDGY
BKBU
BKOG
RDGN
BKGN
BKBN
122/
4
122/
4
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umen
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AB
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Page200
43TotalTYPE H, HS AND HSe
Latest revision:
Approved by, date:
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APPROVED
seermes 3HAC026136-001 07
1 2 3 5 6 7 84
PRMP
TYPE H, HS AND HSeCUSTOMER SIGNALSPARALLELCOMMUNICATIONVALID FORHARNESS IN CABINET3HAC022852-001 (Dual)3HAC024371-001 (Single)FLOOR HARNESS3HAC022957-001,002,003,006
IRBDP MH3LOWER ARM HARNESS3HAC029704-001UPPER ARM HARNESS3HAC026813-001
* Circuitdiagram showsmarking on wires for bothdual and single cabinet
WH/BNBN
201/
4
670
WH/RD
671
RD
672
WH/OGOG
201/
5
673
WH/YE
677
YE
678
WH/GN
WH/GN
GN
GN
WH/BN
WH/BU
BN
BU
WH/BU
WH/VT
BU
VTWH/GY
WH/OG
GY
OG
679680681682
693694695
201/
8
696697698
24V
685
0V
686
24V
-
0V
-
PE
-
GN/YE
-
GN/YE
*DUAL
GN/YE
WH/GN
GN
WH/BN
BN
WH/BU
BU
WH/OG
OG
*SINGLEBKBNRDOG
YE
4
GN
5
6
BUVT
7
GN/YEGN/YE
WH/BKBKBKBN
WH/BN
RD
BN
OG
WH/RD
YEGN
RD
GY
WH/OG
WH
OG
WH/YE
WH/BKWH/BN
YE
WH/RD
WH/GN
-XS13
-ROBOTCABINET
1 1-XP6
2 2
3 3
4 4
1 1-XP5.1
2 2
1 1-XP5.2
2 2
3 3
4 4
9 9-XP5.1
10 10
11 11
12 12
3 3
4 4
5 5
6 6
1 1-XP5.3
2 2
3 3
4 4
5 5
6 6
5 5-XP5.2
6 6
B2 b2
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
-MANIPULATOR BASE
D1 d1-R1.CP/CS
D6 d6
D3 d3
D4 d4
B1 b1
B2 b2
B3 b3
B4 b4
B5 b5
B6 b6
B7 b7
B8 b8
B9 b9
B10 b10
B11 b11
B12 b12
B13 b13
B14 b14
B15 b15
B16 b16
B18 b18
B19 b19
B20 b20
B21 b21
C16 c16
C17 c17
-AXIS 3
D1 d1-R2.CP/CS
D6 d6
D3 d3
D4 d4
B1 b1
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
-AXIS 6
f-R3.CP/CS
g
h
j
A
B
C
D
E
F
G
H
J
K
L
M
N
P
R
S
T
U
v
WH/OG
GN
GY
WH/BU
WH
BU
201/
3
WH/VTVTWH/GYGYWH/BKBK
WH/OGOG
201/
6
201/
7
12
34
GN/YE
WHBU
WH/GNGN
WH/BNBN
WH/BUBU
WH/OGOG
WHOGWHGN
WH
WH/BK
BN
BK
WH
WH/OG
GY
OG
RD
WH/BN
BU
BN
RD
WH/RD
OG
RD
WH/BKBK
Prepared by, date:202
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umen
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Page201
43TotalTYPE H, HS AND HSe
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DPH1
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2010-05-28
sejomor
APPROVED
seermes 3HAC026136-001 07
1 2 3 5 6 7 84
PRMP
TYPE H, HS AND HSECUSTOMER SIGNALSPARALLELCOMMUNICATIONVALID FORHARNESS IN CABINET3HAC022852-001 (Dual)3HAC024371-001 (Single)FLOOR HARNESS3HAC022957-001,002,003,006
IRBDP MH3LOWER ARM HARNESS3HAC029704-001UPPER ARM HARNESS3HAC026813-001
* Circuitdiagram showsmarking on wires for bothdual and single cabinet
687
683
688
684
689690691692
699700666667668669
*DUAL
WH/BK
BU
WH/BN
VT
WH/RDWH/OGWH/YEWH/GN
WH/YEWH/GNWH/BUWH/VTWH/GYWH/BK
*SINGLE 20
0/3
RD
GN
RD
BN
RDGYBKBU
200/
4
200/
5
12 12
-ROBOTCABINET
9 9-XP5.2
10 10
11 11
C15
7 7-XP5.3
8 8
9 9
10 10
11 11
12 12
7 7-XP5.2
7 7-XP5.1
8 8-XP5.2
8 8-XP5.1
-XS13
B22 b22
B23 b23
B24 b24
B25 b25
C10
C11
C12
C13
C14
C18 c18
C19 c19
C20 c20
C21 c21
-MANIPULATOR BASE
B22 b22
B23 b23
B24 b24
B25 b25
C18 c18-R1.CP/CS
C19 c19
C20 c20
C21 c21
-AXIS 3
B22 b22
B23 b23
B24 b24
B25 b25
C18 c18-R2.CP/CS
C19 c19
C20 c20
C21 c21
-AXIS 6
WH/YEYEWHGN
WH/BN
BN
WH/RD
RD
200/
6
Prepared by, date:203
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ight
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umen
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atio
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n. ©
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AB
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Page202
43TotalTYPE H, HS AND HSe
Latest revision:
Approved by, date:
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++Sublocation:
DPH1
Document no.Next
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2010-05-28
sejomor
APPROVED
seermes 3HAC026136-001 07
1 2 3 5 6 7 84
PRMP
TYPE H, HS AND HSeCUSTOMER SIGNALSCANBUSCOMMUNICATIONVALID FORHARNESS IN CABINET3HAC022852-001(Dual)3HAC024371-001 (Single)3HAC022866-001FLOOR HARNESS3HAC022978-001,002,003,006
IRBDP MH3LOWER ARM HARNESS3HAC029705-001UPPER ARM HARNESS3HAC026813-002
* Circuitdiagram showsmarking on wires for bothdual and single cabine
677678
WH/GN
GN
WH/BN
BN
WH/BU
BU
WH/OG
OG
670
671
672
673
WH/BK- BK
-WH/OG
-
OG
-
WH/BN
*
BN
DUAL
WH/RDRD
GN/YE
WH/BKBKBKBN
WH/GN WH/BNGN BN
WH/BN WH/RDBN RD
WH/BU WH/OGBU OG
WH/OG WH/YEOG YE
*SINGLEBKBNRDOG
203/
8
YE
24V
GNBU
0V
24V
VT0V
GN/YE
PE
203/
3
GN/YEGN/YE
WHBU
WH/GNGN
WH/BNBN
WH/BUBU
WH/OGOG
GN/YE
1
v
-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
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
-AXIS 6
f-R3.CP/CS
g
h
j
A
B
C
D
E
F
G
H
J
K
2
3
4
203/
4
203/
5
WH/BKBK
WH/BNBN
WH/RDRD
WH/OGOG
WH/YEYE
4
5
6
7
GN/YE
203/
6
203/
7
Prepared by, date:206
We
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ight
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umen
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e in
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atio
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ein.
Rep
rodu
ctio
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stri
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idde
n. ©
Cop
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ht 2
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AB
B
Page203
43TotalTYPE H, HS AND HSe
Latest revision:
Approved by, date:
CUSTOMER SIGNALS, CANBUSLocation:Plant: =
++Sublocation:
DPH1
Document no.Next
Rev. Ind
Lab/Office: Status:IRB6620 & IRC5ECO 41031, SPR 1038931Screen adjustment
2010-05-28
sejomor
APPROVED
seermes 3HAC026136-001 07
1 2 3 5 6 7 84
PRMP
TYPE H, HS AND HSeCUSTOMER SIGNALSCANBUSCOMMUNICATIONVALID FORHARNESS IN CABINET3HAC022852-001 (Dual)3HAC024371-001 (Single)3HAC022866-001FLOOR HARNESS3HAC022978-001,002,003,006
IRBDP MH3LOWER ARM HARNESS3HAC029705-001UPPER ARM HARNESS3HAC026813-002
* Circuitdiagram showsmarking on wires for bothdual and single cabine
RDBK
679
BK
680
BU
681
WH
682
BU
693
WH/GN
BK
694
GN
OG
695
WH/BU
BK
696
BU
GN
697
WH/VT
BK
698
VT
BN
685
WH/GY
686
GY
687
WH/BK
202/
4
BK
683
688
WH/BN
684
BN
RD
5
BK
6
691
78
202/
5
692689
1
690
2
WH
3
BU
4
699
YE
700
YE
666
VT
667
VT
668
GN
669
GN
*
GN
DUAL
GN
RD
202/
8
OGYEGN
GYWH
+24V CAN
WH/BK
0V CAN
WH/BN
CAN_H
CAN_L
WH/RDWH/OG
GYWHWH/BK
BU
WH/BN
VT
RDBK
WH/YEWH/GNWH/RDWH/OG
WHBU
WH/YEWH/GN
WH/BUWH/VT
WH/GYBN/BK
*
B16 b16
-ROBOTCABINET
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
3 3-XP5.1
4 4
5 5
6 6
1 1-XP5.3
2 2
3 3
4 4
5 5
6 6
5 5-XP5.2
6 6
7 7
7 7-XP5.1
8 8-XP5.2
8 8-XP5.1
-XS13
B11 b11
B12 b12
B13 b13
B14 b14
B15 b15
B18 b18
B19 b19
B20 b20
B21 b21
C16 c16
C17 c17
C18 c18
C19 c19
C20 c20
C21 c21
F1 f1
F2 f2
B24 b24
B25 b25
B22 b22
B23 b23
F3 f3
F4 f4
C10 c10
C11 c11
C12 c12
C13 c13
C14 c14
C15 c15
-MANIPULATOR BASE
B11 b11-R1.CP/CS
B12 b12
B13 b13
B14 b14
B15 b15
B16 b16
B18 b18
B19 b19
B20 b20
B21 b21
C16 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
-AXIS 3
B11 b11-R2.CP/CS
B12 b12
B13 b13
B14 b14
B15 b15
B16 b16
B18 b18
B19 b19
B20
B21
C16
C17
C18
C19
C20
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
-AXIS 6
A-R3.CBUS
B
C
D
L-R3.CP/CS
M
N
P
R
S
T
U
E
F
G
H
J
K
L
M
SINGLEWH/GN20
2/3
GNWH/BUBU
WH/VT
VTWH/GYGYWH/BKBK
WH/OGOGWH/BN
BN
WH/RD
RD
WH/BKBK
WH/BNBN
56
78
12
34
YEYE
VTVT
GNGN
GNGN
202/
6
202/
7
WHOGWHGN
WHBNWHGYRDBU
RD
OGRD
GN
RD
BN
Prepared by, date:207
We
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umen
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Rep
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horit
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Page206
43TotalTYPE H, HS AND HSe
Latest revision:
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2010-05-28
sejomor
APPROVED
seermes 3HAC026136-001 07
1 2 3 5 6 7 84
PRMP
TYPE H, HS AND HSeCUSTOMER SIGNALSPROFIBUSCOMMUNICATIONVALID FORHARNESS IN CABINET3HAC022852-001 (Dual)3HAC024371-001 (Single)3HAC022868-001FLOOR HARNESS3HAC022988-001,002,003,006
IRBDP MH3LOWER ARM HARNESS3HAC029705-001UPPER ARM HARNESS3HAC026813-002
* Circuitdiagram showsmarking on wires for bothdual and single cabine
670
671
672
673
677678
WH/GN
GN
WH/BN
BN
WH/BU
BU
WH/OG
OG
WH/BK- BK
WH/OG- OG
-
-
WH/BNBN
*
WH/RD
DUAL
GN/YE
RD
BK
WH/BK
BN
BK
RD
WH/BN
OG
BN
YE
WH/RD
GN
RD
BU
WH/OG
VT
OG
BK
WH/YE
BN
YE
WH/GN
GN
WH/BN
BN
WH/BU
BU
207/
8
WH/OG
OG
24V
*
0V
SINGLE
24V0V
GN/YE
207/
3
GN/YEGN/YE PE
GN/YE
WH/GNGN
WH/BNBN
WH/BUBU
WH/OGOG
1
2
3
4
v v
-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
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
-AXIS 6
f f-R3.CP/CS
g g
h h
j j
A A
B B
C C
D D
E E
F F
G G
H H
J J
K K
WH
BU
207/
4
207/
5
4
5
6
7
GN/YE
WH/BKBK
WH/BNBN
WH/RDRD
WH/OGOG
WH/YEYE
207/
6
207/
7
Prepared by, date:208
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umen
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Page207
43TotalTYPE H, HS AND HSe
Latest revision:
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++Sublocation:
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2010-05-28
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APPROVED
seermes 3HAC026136-001 07
1 2 3 5 6 7 84
PRMP
TYPE H, HS AND HSeCUSTOMER SIGNALSPROFIBUSCOMMUNICATIONVALID FORHARNESS IN CABINET3HAC022852-001 (Dual)3HAC024371-001 (Single)3HAC022868-001FLOOR HARNESS3HAC022988-001,002,003,006
IRBDP MH3LOWER ARM HARNESS3HAC029705-001UPPER ARM HARNESS3HAC026813-002
* Circuitdiagram showsmarking on wires for bothdual and single cabine
BKBU
BKOG
RD
*
WH/GN
GN
679GN
BK
WH/BU680
GN
BK
681BU682
WH/VT
BN
VT693
WH/GY694
206/
4
GY695
WH/BK
696
BK
697698
WH/BN
685
206/
5
BN
686
5
687
6
683
7
688
8
684
1
689
2
690
3
691
4
YE
692
YE699
VT
700
VTRD
GN
GN
GN666
GN
667
GN668
206/
8
669
DUAL
RDOG
RXD/TXD-P
YE
RXD/TXD-N
GN
GYWHWH/BKWH/BNWH/RDWH/OG
GY
WHWH/BK
BU
WH/BN
VT
WH/RDWH/OGWH/YEWH/GN
WH/YEWH/GN
RDGN
WH/BUWH/VT
WH/GYBN/BK
*SINGLE
9 9-XP5.3
-ROBOTCABINET
3 3-XP5.1
4 4
5 5
6 6
1 1-XP5.3
2 2
3 3
4 4
5 5
6 6
5 5-XP5.2
6 6
7 7
7 7-XP5.1
8 8-XP5.2
8 8-XP5.1
9 9-XP5.2
10 10
11 11
12 12
7 7-XP5.3
8 8
1B 1B-DP-M
1A 1A
10 10
11 11
12 12
-XS13
B11 b11
B12 b12
B13 b13
B14 b14
B15 b15
B16 b16
B18 b18
B19 b19
B20 b20
B21 b21
C16 c16
C17 c17
C18 c18
C19 c19
C20 c20
C21 c21
B22 b22
B23 b23
B24 b24
B25 b25
C10 c10
C11 c11
F5 f5
F6 f6
C12 c12
C13 c13
C14 c14
C15 c15
-MANIPULATOR BASE
B11 b11-R1.CP/CS
B12 b12
B13 b13
B14 b14
B15 b15
B16 b16
B18 b18
B19 b19
B20 b20
B21 b21
C16 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
-AXIS 3
B11 b11-R2.CP/CS
B12 b12
B13 b13
B14 b14
B15 b15
B16 b16
B18 b18
B19 b19
B20
B21
C16
C17
C18
C19
C20
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
-AXIS 6
L-R3.CP/CS
M
N
P
R
S
T
U
A-R3.CBUS
B
C
D
E
F
G
H
J
K
L
M
WH/GN
206/
3
GNWH/BUBU
WH/VTVTWH/GYGYWH/BKBK
WH/OG
OGWH/BN
BN
WH/RD
RD
WH/BKBKWH/BNBN
56
78
12
34
YEYE
VTVT
GNGN
GNGN
206/
6
206/
7
WHOGWHGN
WHBNWHGYRDBU
RD
OGRD
GN
RD
BN
RDGY
Prepared by, date:301
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ight
s in
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umen
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Page300
43TotalTYPE H and HSe
Latest revision:
Approved by, date:
CUSTOMER SIGNALS, PARALLELLocation:Plant: =
++Sublocation:
DPHSe
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2010-05-28
sejomor
APPROVED
seermes 3HAC026136-001 07
1 2 3 5 6 7 84
PRMP
TYPE H and HSeCUSTOMER SIGNALSPARALLELCOMMUNICATIONVALID FORHARNESS IN CABINET3HAC022852-001 (Dual)3HAC024371-001 (Single)FLOOR HARNESS3HAC022957-001,002,003,006LOWER/UPPER ARM HARNESS3HAC024654-001
* Circuitdiagram shows markingon wires for both dual andsingle cabinet
670
671
672
673
677678
WH/GN
GN
WH/BN
BN
WH/BU
BU
WH/OG
45
OG
679680
67
681
GN/YE
682
WH/BK
693694
BK
695
WH/BN
696
BN
697
WH/RD
698
RD
685
WH/OG
686
OG
GN/YE
WH
201/
3
BU
WH/GNGNWH/BUBU
WH/VTVTWH/GYGYWH/BKBK
201/
8
24V
0V
24V
0V
PE
BKBNRDOGYEGN
12
BU
3
VT
4
GN/YE GN/YE
RDOG
WH
5 5
YE
-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
6 6
5 5-XP5.2
6 6
-XS13
A1 a1
A2 a2
A3 a3
A4 a4
B1 b1
B2 b2
B3 b3
B4 b4
B5 b5
B6 b6
B7 b7
B8 b8
B9 b9
B10 b10
B11 b11
B12 12
B13 b13
B14 b14
B15 b15
B16 b16
B18 b18
B19 b19
B20 b20
B21 b21
C16 c16
C17 c17
-MANIPULATOR BASE
D1 d1-R1.CP/CS
D6 d6
D3 d3
D4 d4
B1 b1
B2 b2
B3 b3
B4 b4
B5 b5
B6 b6
B7 b7
B8 b8
B9 b9
B10 b10
B11 b11
B12 b12
B13 b13
B14 b14
B15 b15
B16 b16
B18 b18
B19 b19
B20 b20
B21 b21
C16
C17
-AXIS 6
C4-R3.CP/CS
C5
C6
C7
B18
B19
B20
B21
B22
B23
B24
B25
B16
B17
B1
B2
B3
B4
B5
B6
B7
B8
B9
B10
BU
GN
WH/GN
GY
GN
WH
WH/BN
WH/BK
BN
WH/BN
WH/BU
WH/RD
BU
WH/OG
WH/OG
GY
OG
WH
WH
*
OG
DUAL *
WHGN
SINGLE
WHBN
-
WH
-
GY
-
RD
-
BU
677
RD
678
OG
WH/GN
GN
WH/BN
BN
WH/BU
BU
201/
4
WH/OG
OG
201/
5
Prepared by, date:302
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n. ©
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Page301
43TotalTYPE H and HSe
Latest revision:
Approved by, date:
CUSTOMER SIGNALS, PARALLELLocation:Plant: =
++Sublocation:
DPHSe
Document no.Next
Rev. Ind
Lab/Office: Status:IRB6620 & IRC5ECO 41031, SPR 1038931Screen adjustment
2010-05-28
sejomor
APPROVED
seermes 3HAC026136-001 07
1 2 3 5 6 7 84
PRMP
TYPE H and HSeCUSTOMER SIGNALSPARALLELCOMMUNICATIONVALID FORHARNESS IN CABINET3HAC022852-001 (Dual)3HAC024371-001 (Single)FLOOR HARNESS3HAC022957-001,002,003,006LOWER/UPPER ARM HARNESS3HAC024654-001
* Circuitdiagram shows markingon wires for both dual andsingle cabinet
687
683
688
684
689690691692
699700666667668669
200/
3
RD
GN
RD
BN
RDGYBKBU
200/
4
200/
5
WH/RDRDWH/YE11 11
-ROBOTCABINET
9 9-XP5.2
10 10
C14
12 12
7 7-XP5.3
8 8
9 9
10 10
11 11
12 12
7 7-XP5.2
7 7-XP5.1
8 8-XP5.2
8 8-XP5.1
-XS13
B22 b22
B23 b23
B24 b24
B25 b25
C10
C11
C12
C13
C15
C18 c18
C19 c19
C20 c20
C21 c21
-MANIPULATOR BASE
B22 b22
B23 b23
B24 b24
B25 b25
C18 c18-R1.CP/CS
C19 c19
C20 c20
C21 c21
A1
A2
A3
A4
-AXIS 6
B13-R3.CP/CS
B14
B15
C8
YE
WH/OG
OG
WH/BN
BN
200/
8
WH/BK
BU
WH/BN
VT
WH/RDWH/OGWH/YEWH/GN
WH/YEWH/GNWH/BUWH/VTWH/GY
*DUAL *SINGLE
BN/BK
Prepared by, date:303
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ight
s in
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umen
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e in
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Rep
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se o
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ird p
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ithou
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ress
aut
horit
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ctly
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idde
n. ©
Cop
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Page302
43TotalTYPE H and HSe
Latest revision:
Approved by, date:
CUSTOMER SIGNALS, CANBUSLocation:Plant: =
++Sublocation:
DPHSe
Document no.Next
Rev. Ind
Lab/Office: Status:IRB6620 & IRC5ECO 41031, SPR 1038931Screen adjustment
2010-05-28
sejomor
APPROVED
seermes 3HAC026136-001 07
1 2 3 5 6 7 84
PRMP
TYPE H and HSeCUSTOMER SIGNALSCANBUSCOMMUNICATIONVALID FORHARNESS IN CABINET3HAC022852-001 (Dual)3HAC024371-001 (Single)3HAC022866-001FLOOR HARNESS3HAC022978-001,002,003,006LOWER/UPPER ARM HARNESS3HAC024655-001
* Circuitdiagram shows markingon wires for both dual andsingle cabinet
WH/BU
670
BU
671
WH/OG
672
OG
673
677678
WH/GN
GN
WH/BN
BN
WH/BU
BU
WH/OG
OG
GN/YE
203/
3
WHBU
WH/GNGN
WH/BNBN
WH/BUBU
WH/OGOG
GN/YE
12
34
203/
4
203/
5
-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
B10 b10
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
-AXIS 6
C4-R3.CP/CS
C5
C6
C7
B18
B19
B20
B21
B22
B23
B24
B25
B16
B17
WH/BKBK
WH/BNBN
WH/RDRD
WH/OGOG
WHBU
45
67
GN/YE
203/
8
24V0V
24V0V
PE
-
-
-
-
BKBNRDOGYEGNBUVTGN/YE
BKBN
*DUAL *SINGLE
WH/GN
GN
WH/BN
BN
Prepared by, date:306
We
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umen
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Page303
43TotalTYPE H and HSe
Latest revision:
Approved by, date:
CUSTOMER SIGNALS, CANBUSLocation:Plant: =
++Sublocation:
DPHSe
Document no.Next
Rev. Ind
Lab/Office: Status:IRB6620 & IRC5ECO 41031, SPR 1038931Screen adjustment
2010-05-28
sejomor
APPROVED
seermes 3HAC026136-001 07
1 2 3 5 6 7 84
PRMP
TYPE H and HSeCUSTOMER SIGNALSCANBUSCOMMUNICATIONVALID FORHARNESS IN CABINET3HAC022852-001 (Dual)3HAC024371-001 (Single)3HAC022866-001FLOOR HARNESS3HAC022978-001,002,003,006LOWER/UPPER ARM HARNESS3HAC024655-001
* Circuitdiagram shows markingon wires for both dual andsingle cabinet
RDBK
691692689690
WHBU
699700
666667
668669
679680681682
693694695696697698
685686687
683
688
684
WH/GN202/
3
GNWH/BUBU
WH/VT
VTWH/GYGYWH/BKBK
WH/OGOGWH/BN
BN
WH/RD
RD
WH/BKBK
WH/BNBN
56
78
12
34
YEYE
VTVT
GN
5 5
-ROBOTCABINET
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
3 3-XP5.1
4 4
5 5
6 6
1 1-XP5.3
2 2
3 3
4 4
B21 b216 6
5 5-XP5.2
6 6
7 7
7 7-XP5.1
8 8-XP5.2
8 8-XP5.1
-XS13
B11 b11
B12 b12
B13 b13
B14 b14
B15 b15
B16 b16
B18 b18
B19 b19
B20 b20
B21 b21
C16 c16
C17 c17
C18 c18
C19 c19
C20 c20
C21 c21
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
-MANIPULATOR BASE
B11 b11-R1.CP/CS
B12 b12
B13 b13
B14 b14
B15 b15
B16 b16
B18 b18
B19 b19
B20 b20
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
-AXIS 6
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
GN
GNGN
202/
8
+24V CAN
0V CAN
CAN_H
CAN_L
697
WH
693
OGRD
WHOG
GNYE
WH
GN
BNGY
WHWH
GYWH/BK
RDWH/BN
BUWH/RD
RD
WH/OG
OGGY
RDWH
GN
WH/BK
RD
BU
BN
WH/BN
RD
VT
BK
WH/YE BK
WH/GN BU
WH/RD
WH
WH/OG
BU
WH/YE BK
WH/GN
WH/BU
OG
BK
WH/VT GN
WH/GY BK
*
BN
DUAL *SINGLE
202/
4
BN/BK
RDBK
WHBU
202/
5
Prepared by, date:307
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umen
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Page306
43TotalTYPE H and HSe
Latest revision:
Approved by, date:
CUSTOMER SIGNALS, PROFIBUSLocation:Plant: =
++Sublocation:
DPHSe
Document no.Next
Rev. Ind
Lab/Office: Status:IRB6620 & IRC5ECO 41031, SPR 1038931Screen adjustment
2010-05-28
sejomor
APPROVED
seermes 3HAC026136-001 07
1 2 3 5 6 7 84
PRMP
TYPE H and HSeCUSTOMER SIGNALSPROFIBUSCOMMUNICATIONVALID FORHARNESS IN CABINET3HAC022852-001 (Dual)3HAC024371-001 (Single)3HAC022868-001FLOOR HARNESS3HAC022988-001,002,003,006LOWER/UPPER ARM HARNESS3HAC024655-001
* Circuitdiagram shows markingon wires for both dual andsingle cabinet
WH/BU
670
BU
671
WH/OG
672
OG
673
677678
WH/GN
GN
WH/BN
BN
WH/BU
BU
WH/OG
OG
GN/YE
207/
3
GN/YE
WH/GNGN
WH/BNBN
WH/BUBU
WH/OGOG
12
34
WH
BU
207/
4
207/
5
-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 6
C4-R3.CP/CS
C5
C6
C7
B18
B19
B20
B21
B22
B23
B24
B25
B16
B17
45
67
GN/YE
WH/BKBK
WH/BNBN
WH/RDRD
WH/OGOG
WHBU
207/
8
24V0V
24V0V
PE
-
-
-
-
BKBNRDOGYEGNBUVTGN/YE
BKBN
*DUAL
*SINGLE
WH/GN
GN
WH/BN
BN
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Page307
43TotalTYPE H and HSe
Latest revision:
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++Sublocation:
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seermes 3HAC026136-001 07
1 2 3 5 6 7 84
PRMP
TYPE H and HSeCUSTOMER SIGNALSPROFIBUSCOMMUNICATIONVALID FORHARNESS IN CABINET3HAC022852-001 (Dual)3HAC024371-001 (Single)3HAC022868-001FLOOR HARNESS3HAC022988-001,002,003,006LOWER/UPPER ARM HARNESS3HAC024655-001
* Circuitdiagram shows markingon wires for both dual andsingle cabinet
689690691692
699700
RDGN
666667
668669
679680681682
693694695696697698
685
686687
683
688
684
WH/GN
206/
3
GNWH/BUBU
WH/VTVTWH/GYGYWH/BKBK
WH/OG
OGWH/BN
BN
WH/RD
RD
WH/BKBKWH/BNBN
56
78
12
34
YEYE
VTVT
10 10
GN
-ROBOTCABINET
3 3-XP5.1
4 4
5 5
6 6
1 1-XP5.3
2 2
3 3
4 4
5 5
6 6
5 5-XP5.2
6 6
7 7
7 7-XP5.1
8 8-XP5.2
8 8-XP5.1
9 9-XP5.2
11 11
12 12
7 7-XP5.3
8 8
1B 1B-DP-M
1A 1A
9 9-XP5.3
10 10
11 11
12 12
-XS13
B11 b11
B12 b12
B13 b13
B14 b14
B15 b15
B16 b16
B18 b18
B19 b19
B20 b20
B21 b21
C16 c16
C17 c17
C18 c18
C19 c19
C20 c20
C21 c21
B22 b22
B23 b23
B24 b24
B25 b25
C10 c10
C11 c11
F5 f5
F6 f6
C12 c12
C13 c13
C14 c14
C15 c15
-MANIPULATOR BASE
B11 b11-R1.CP/CS
B12 b12
B13 b13
B14 b14
B15 b15
B16 b16
B18 b18
B19 b19
B20 b20
B21 b21
C16 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
-AXIS 6
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
GN
GNGN
206/
8
RXD/TXD-P
RXD/TXD-N
RDOGYEGN
GY
WH
WH
OG
WH/BK
WH
WH/BN
GN
WH/RD
WH
WH/OG
BN
GY
WH
WH
GY
WH/BK
RD
BU
BU
WH/BN
RD
VT
OG
WH/RD
RD
WH/OG
GN
WH/YE
RD
WH/GN
BN
WH/YE
RD
WH/GN
GY
RD
BK
GN
BU
WH/BU
BK
WH/VT
WH/GY
OG
RD
*
GN
DUAL
BK
*
GN
SINGLE
BKBNBN/BK
206/
4
206/
5
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Page310
43TotalTYPE HSe
Latest revision:
Approved by, date:
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APPROVED
seermes 3HAC026136-001 07
1 2 3 5 6 7 84
PRMP
TYPE HSeRESOLVER SIGNALSVALID FORFLOOR HARNESS3HAXD1250-70LOWER ARM HARNESS3HAC023278-001
SERVO POWERVALID FORHARNESS IN CABINET3HAC021791-001FLOOR HARNESS3HEA800736-001,002,003,004
BKBUBN
GN/YE
PKRD
OGGN
YE
GY
GRBNWH
PK
YEWH/RD
WH/BNBKWH/BK
RD
BNWH/RD
WH/BNBKWH/BK
RD
BN
BURD
Type HSeSignals to pedestal gunSee page pedestalgun (PG)In circuit diagram 3HAC026208-001
400240044000
40134014
40104012
4011
4006400840094007
GN/YE
-ROBOTCABINET
3 3-A41.1.3.X21
5 5
1 1
1 1-A43.X24
2 2
5 5-XS40
6 6
1 1-A43.X22
3 3
4 4
2 2
-XS7
A3 a3
A5 a5
A1 a1
E1 e1
E2 e2
F7 f7
F9 f9
F8 f8
F1 f1
F2 f2
F3 f3
F4 f4
-SERVO PEDESTAL GUN(AXIS 7)
F F-FB.M7
E E
D D
C C
B B
A A
E E-R1.SP
C C
A A
G G
J J
K K
L L
M M
R R
F F-R2.FB7
E E
D D
C C
B B
A A
9 9-R1.SMB1.7
2 2
11 11
4 4
12 12
5 5
1 1
-SMB-MANIPULATOR BASE
G G
H H
G G
H H
A A
B B
C C
D D
E E
F F-R3.FB7
Prepared by, date:+RG./601
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Page600
43TotalBASE- AX 6
Latest revision:
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seermes 3HAC026136-001 07
1 2 3 5 6 7 84
PRMPRegion E
TYPECUSTOMER SIGNALS
VALID FORFLOOR HARNESS3HAC029393-001, -005
LOWER ARM HARNESS3HAC029390-001, 005
UPPER ARM HARNESS3HAC029391-001, -005
SWC CONNECTION BOX
GNYE
0,750,750,75
MANIPULATOR
GNYE
0,750,750,75
24 VDC
0 VDC
EARTH
SPARE (KSR)
SPARE (KSR)
SPARE
SPARE
SPARE
SPARE
gun_open
hlift_open
temp_ok
SPARE
equalize
close_gun
open_hlift
close_hlift
SPARE
SPARE
SPARE
-XT/XP5.2
-XT/XP5.1
-XT/XP5.2
-XT/XP5.3
5 56 67 78 89 9
10 1011 1112 12
1 1
2 2
3 3
4 4
1 1
2 2
3 3
4 4
5 5
6 6
7 7
8 8
9 9
10 10
11 11
12 12
13 13
14 14
1 12 23 34 4
-3HAC2360-3
-3HAC15620-1
-3HAC2360-1
-XS/XP8.1
-XS/XP8.2
-XS/XP8.3
7 78 89 9
10 1011 1112 1213 1314 14
1 14 4
1 1
2 2
7 7
8 8
9 9
10 10
11 11
12 12
13 13
14 14
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
-3HAC022454-001 -R2.CP/CSf f
g g
h h
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
-3HAC022454-001 -R3.CP/CSf f
g g
h h
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
10:RD/GY
10:GY
11:BK/BU
11:BU
12:BK/OG
12:OG
13:BK/GN
13:GN
3BK
4BK
1BK
2BK
1:WHBU
1:BU
2:WH/OG
2:OG
3:WH/GN
3:GN
4:WH/BN
4:BN
5:WH/GY
5:GY
6:RD/BU
6:BU
7:RD/OG
7:OG
8:RD/GN
8:GN
9:RD/BN
9:BN
4,WH
5,WH
1:WHBK
1:BK
2:WHBN
2:BN
3:WHRD
3:RD
4:WHOG
4:OG
5:WHYE
5:YE
6:WHGN
6:GN
6:WHBU
6:BU
7:WHVT
7:VT
7:WHGY
7:GY
8:WHBK
8:BK
8:WHOG
8:OG
7,WH
4,WH
5,WH
7,WH
1:WHBK
1:BK
2:WHBN
2:BN
3:WHRD
3:RD
4:WHOG
4:OG
5:WHYE
5:YE
6:WHGN
6:GN
6:WHBU
6:BU
7:WHVT
7:VT
7:WHGY
7:GY
8:WHBK
8:BK
8:WHOG
8:OG
9:WHBN
9:BN
9:WHRD
9:RD
SPARE
SPARESPARESPARESPARESPARESPARESPARESPARE
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Page601
43TotalPOWER
Latest revision:
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APPROVED
seermes 3HAC026136-001 07
1 2 3 5 6 7 84
PRMPREGION E
TYPE7TH AXIS POWER SIGNALS
VALID FORLOWER ARM HARNESS3HAC029579-001, 005
UPPER ARM HARNESS3HAC029580-001, -005
For further information see circuit diagram,
3HAC024480-004 for single cabinet.
DRIVE MODULE CABINET
R
S
T
EARTH
PTC
PTC 0V
BRAKE REL
BRAKE 0V
LIM1
LIM2
LIM2
LIM1
BRAKE PB
6 module
2,5
2,5
2,5
2,5
23p
1,5
1,5
1,5
1,5
MECHANICAL UNIT
8p
R3.SP
FREE END
-XS/XP1
A1 a1
A5 a5
A3 a3
E1 e1
E2 e2
F7 f7
F9 f9
F1 f1
F2 f2
F4 f4
F3 f3
F8 f8
-3HAC15653-1-R1.SP
A A
C C
E E
G G
J J
K K
L L
M M
R R
-3HAC3726-1-R2.SP
A A
C C
E E
G G
B B
D D
F F
H H
-3HAC3726-4BN
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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Page602
43TotalSIGNAL
Latest revision:
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APPROVED
seermes 3HAC026136-001 07
1 2 3 5 6 7 84
PRMPREGION E
TYPE Se AND HSe7TH AXIS FEEDBACK SIGNALS
LOWER/UPPER ARM HARNESS3HAC030638-001, 005
BATT LOAD
MRCO
MRCO_N
MRCI
MRCI_N
0V
24V
BATT BR
BATT-
BATT+
SINGLE CABINET
WHBU
BU
WHOG
OG
WHGN
WHBN
GN
BN
WHGY
GY
RD
KEYPIN
WHBU
BU
WHOG
OG
WHGN
GN
GY
RD
MECHANICAL UNIT
FREE END
-A42.X1
1 1
2 2
4 4
5 5
6 6
7 7
3 3
9 9
-XS/XP2
A A
B B
C C
D D
E E
F F
G G
J J
K K
L L
-R1.SMB
A A
B B
C C
D D
E E
F F
G G
H H
J J
K K
L L
M M
-SMB
-R2.SMB
9 9
5 5
8 8
4 4
3 3
7 7
6 6
2 2
-R1.SMB 1.1
5 5
12 12
4 4
11 11
2 2
9 9
1 1
-3HAA2485-1-R2.FB1
A A
B B
C C
D D
E E
F F
-3HAA2485-11/WHBK
1/BK
2/WHBN
2/BN
3/WHRD
3/RD
1/WHBK
1/BK
2/WHBN
2/BN
3/WHRD
3/RD
