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Product ManualMotor Unit

MU10/20/30 IRC5, M2004

3HEA 800 973-001 Rev. A September 2005

The information in this document is subject to alteration without prior notice and should not be regarded as an undertaking from ABB Automation Technologies AB. ABB Automation Technologies AB assumes no responsibility for errors that may occur in this document.

ABB Automation Technologies AB bears no responsibility for damage that is a consequence of using this document or the software or hardware described in this document.

The document, or parts of it, may not be reproduced or copied without prior permission from ABB Auto-mation Technologies AB. It may neither be imparted to a third party nor otherwise be used without autho-rization. Infringement hereof will be subject to action in accordance with applicable laws.

Further copies of this document can be obtained from ABB Automation Technologies AB at current prices.

© 2005 ABB Automation Technologies AB

ABB Automation Technologies ABRobotics & Manufacturing

SE-69582 LaxåSweden

3HEA 800 973-001 Rev. A September 2005 i

Content

Motor Unit3HEA 800 973-001 Rev. A September 2005

1 Introduction 1

1.1 General 11.1.1 Areas of application 11.1.2 Motor sizes 1

1.2 Terms and concepts 21.2.1 Definitions 21.2.2 Key to symbols 2

1.3 Description 31.3.1 General 31.3.2 Serial measurement box 3

1.4 Brakes 41.4.1 General 4

2 Technical specification 5

2.1 Motors 52.1.1 Motor MU10 52.1.2 Motor MU20 82.1.3 Motor MU30 12

2.2 Serial measurement box 172.2.1 One motor 172.2.2 Two motors 182.2.3 Up to four motors 19

2.3 Brake release box 202.3.1 Standard 202.3.2 Foundry 20

3 Electrical installation 21

3.1 Installation of software 21

ii 3HEA 800 973-001 Rev. A September 2005

4 Order information 23

4.1 General 234.1.1 IRB 140/IRB 1400/IRB 4400 234.1.2 IRB 6600/IRB 7600 23

4.2 Motors 24

4.3 Drive units 24

4.4 Cables 24

4.5 Motor unit with 1 external axis 254.5.1 IRB 140 254.5.2 IRB 1400, IRB 2400, IRB 4400 264.5.3 IRB 6600 och IRB 7600 med BRB 274.5.4 IRB 6600 och IRB 7600 28

4.6 Motor unit with 2 external axes 294.6.1 IRB 140, 1400, 2400, 4400, 6600, 7600 29

4.7 Motor unit with 3 external axes 304.7.1 IRB 140, IRB 1400, IRB 2400 304.7.2 IRB 4400 314.7.3 IRB 6600, IRB 7600 32

4.8 Motor unit with 4 external axes 334.8.1 IRB 140, IRB 1400, IRB 2400, IRB 4400 334.8.2 IRB 6600, IRB 7600 34

IntroductionGeneral

3HEA 800 973-001 Rev. A September 2005 1

1 Introduction

1.1 General

This manual provides a summary of the motor units.

1.1.1 Areas of application

The motor units are specially designed for ABB’s robots and can be used for phe-ripherals requiring servo-steered motors that are synchronized with the robot move-ments.The motor units are designed for optimal performance and to facilitate installation and application.

1.1.2 Motor sizes

Low voltage / High voltage

The motor units are available in the following sizes:

MU10 1,5 Nm 3300 rpm

MU20 6,8 Nm 3300 rpm

MU30 19 Nm 3300 rpm

Introduction

Terms and concepts

2 3HEA 800 973-001 Rev. A September 2005

1.2 Terms and concepts

1.2.1 Definitions

The table below lists terms and concepts used in the documentation.

1.2.2 Key to symbols

The different types of warnings are set out with symbols according to the table below:

Name Definition

Robot Manipulator and control equipment together

Manipulator The mechanical, moving part of the robot.

Robot Controller Control equipment of the type IRC5.

SMB Serial measurement box

BRB Brake release box

Symbol Name Meaning

!Danger Warning that serious or life-threatening personal injury and/or serious

damage to the product will occur if the instructions are not followed.

Warning! Warns of the risk of personal injury or serious damage to the product. Always follow the instructions that accompany the use of this symbol.

Electric shock Warns that electric shock can cause life-threatening or serious per-sonal injury. Always follow the instructions that accompany the use of this symbol.

Caution Draws your attention to the fact that damage to the product can occur if an action is not performed or is performed incorrectly.

Static electricity ESD

The ESD symbol indicates a risk of static electricity that may cause serious damage to the product.

Note Information about important parts.

Tip The Tip symbol refers to an instruction offering further information on a particular step.

IntroductionDescription


1.3 Description

1.3.1 General

The motor units are servo-operated and function as external axes. The motors are controlled by drive units mounted in the control equipment drive modules.

• A motor can be linked to the robot system as an integrated external axis

• An integrated external axis can move synchronously with the robot axes.

• A complete motor unit comprises a serial measurement box/brake release box, motors, parameter diskette and a number of standardized cables.

1.3.2 Serial measurement box

The serial measurement box contains a serial measurement card (with battery backup) and push buttons for releasing the brakes. The serial measurement box can, if required, be located up to a recommended maximum of 15m from the motor.

Kom

pone

nter

.eps

Figure 1 Components

Item Description Item Description

1 MU10 4 Cables

2 MU20 5 Serial measurement box

3 MU30 6 Brake release box

1 23

4 56

Introduction

Brakes


1.4 Brakes

1.4.1 General

All motors described in this manual are equipped with electric brakes that are “on” when they are not energized.

This means that with normal operations the FlexPendant or operator´s panel are to be used to stop.The brakes can be released in several different ways, and are described in the fol-lowing section.

Releasing the brakes

The various methods for releasing the brakes manually are specified in the table below:

SMB

BRB

This brake is not an operating brake!

When ... the brake ...

The serial measurement box is connected to the robot controller

will be released when the button on the box is pressed.

24V feeding device is connected between MP.SMB output d9 (0V) and d8 (+24VDC) in the serial measurement box

for the specific motor will be released when the button on the box is pressed.

Number of external axes Push button for releasing the brake

Axis 1 Axis 2 Axis 3 Axis 4

1 M7

2 M7 M8

3 M7 M8 M9

4 M7 M8 M9 M10

When ... the brake ...

the brake release box is connected to the robot controller


24V feeding device is connected between MP.BRB output M (0V) and L (+24VDC) in the brake release box


Technical specificationMotors


2 Technical specification

2.1 Motors

2.1.1 Motor MU10

Illustration

The illustration below shows a MU10.

Technical data

5062

60A

01_3

D.ti

f

Figure 2 MU10

Parameters Values

Suitable drive unit C / G / T / U / V / W

Nnom 3300 rpm, (345,54 rad/s) 1

1. Used in the configurationfile

Nrms 1650 rpm

T0 1,5 Nm 1

Trms 1,4 Nm

Tnom 1,0 Nm

Max. dynamic torque 4,3 Nm

Max. current (Imax.) 11 Arms 1

Current at torque Tn (Irms) 2,7 Arms

Torque constant (Kt) 0,453 Nm/A

Voltage constant (Ke(Urms) 0,262 1

Winding resistance/phase (R) 1,09 ohm 1

Winding resistance/phase (L) 3,42 mH 1

Mass torque incl. brake (J) 0,00008 kgm2 1

Number of pairs of poles 3 1

Weight (M) 4,4 kg

Temperature range +5° - +45°C

Nominal output 0,25 kW

Peak output 1,4 kW

Degree of protection IP 67

Technical specification

Motor MU10


Brake

Dimensional drawing

Parameters Value

Min. torque 0,9 Nm

Max. torque 1,4 Nm

Voltage 24 ± 10% V DC

Power consumption at 20° C 8 W

5062

76a0

1 Figure 3 Dimensional drawing MU10

7458

74 5890

R15(4x)

Ø7,5(4x)45140

260203

155

9 7,7

34

Ø36

,8 h

916

Ø14

j65h

7

Technical specificationMotor MU10


Wiring diagram

Torque curve

Torque - Drive unit C / G / T / U / V / W:

Kra

ft M

U10

.eps

, Res

olve

r M

U10

.eps

Figure 4 Wiring diagram MU10

Cable Color Cable Color

S1 Red S4 Blue

S2 Yellow R1 Red/White

S3 Black R2 Black/WhiteYellow/White

ResolverForce

Yellow23P BUR NDY, bajonett

Green

R ed

PTC

YellowYellow

Green/Yellow

A

G

JK

LM

C

EW

B

V U

Ea rth M3~

Brake

8P BURNDY, bajonett

A X

C

OVX

YOVY

OVEXCEXC

S1S3

S4S2

R2R1

B

D

EF

MP

1 C

-don

.xls

Figure 5 Torque curve MU10

0

1

2

3

4

5

0 500 1000 1500 2000 2500 3000 3500

Speed (rpm)

To

rqu

e (N

m)

Continuously torque


Motor MU20


2.1.2 Motor MU20

Illustration


Technical data

5062

61A

01_3

D.ti

f

Figure 6 MU20

Parameters Value

Suitable drive unit G / T / U / V / W

Nnom 3300 rpm, (345,57 rad/s)1


Nrms 1650 rpm

T0 6,8 Nm 1

Trms 6,7 Nm

Tnom 3,3 Nm

Max. dynamic torque 19 Nm

Max. current (Imax.) 38,5 Arms 1

Current at torque Tn (Irms) 6,2A

Torque constant (Kt) 0,64 Nm/Arms






Weight (M) 13,5 kg



Peak output 4,2 kW




Brake

Dimensional drawing

Parameters Value

Min. torque 16 Nm

Max. torque 25,6 Nm



Dim

_Ritn

_MU

20.w

mf

Figure 7 Dimensional drawing MU20


Motor MU20


Wiring diagram

Kra

ft R

esol

ver

MU

20.e

ps



S1 Red S4 Blue



Yellow8P BURNDY, bajonett23P BURNDY, bajonett

Green

Red

PTC

YellowYellow Brake

Green/Yellow

A

G

JK

L

A

M

M3~

C

EW

X

C

B

V U

OVX

YOVY

OVEXCEXC

Earth

S1S3

S4S2

R2R1

B

D

EF

B

D

F

H

Force Resolver



Torque curve

G/V Torque - Drive unit G/V

T/U/W Torque - Drive unit T/U/W

MP

2 G

_V-d

on.x

ls

Figure 9 Torque curve G/V MU20

0

2

4

6

8

10

12

14

16

18

20

0 500 1000 1500 2000 2500 3000 3500

Speed (rpm)

To

rqu

e (N

m)

Continuously torque

MP

2 T

_U_V

-don

.xls

Figure 10 Torque curve T/U/W MU20

0

2

4

6

8

10

12

14

16

18

20

0 500 1000 1500 2000 2500 3000 3500

Speed (rpm)

To

rqu

e (N

m)

Continuously torque


Motor MU30


2.1.3 Motor MU30

Illustration


Technical data

5062

62A

01_3

D.ti

f

Figure 11 MU30

Parameters Value

Suitable drive unit T / U / V / W

Nnom 3300 rpm, (345,57 rad/s)1


Nrms 1650 rpm

T0 19 Nm 1

Trms 15,5 Nm

Tnom 10 Nm

Max. dynamic torque 30 Nm

Max. current (Imax.) 72,5 Arms 1

Current at torque Tn (Irms) 16,1 Arms

Torque constant (Kt) 0,69 Nm/Arms






Weight (M) 23,5 kg



Peak output 12,1 kW




Brake

Dimensional drawing

Parameters value

Min. torque 21 Nm

Max. torque 33,6 Nm



Dim

_Ritn

_MU

30.w

mf

Figure 12 Dimensional drawing MU30


Motor MU30


Wiring diagram

Kra

ft R

esol

ver

MU

30.e

ps



S1 Red S4 Blue



Yellow8P BURNDY, bajonett23P BURNDY, bajonett

Green

Red

PTC

YellowYellow Brake

Gn/Ye

A

G

JK

L

A

M

M3~

C

EW

X

C

B

V U

OVX

YOVY

OVEXCEXC

Earth

S1S3

S4S2

R2R1

B

D

EF

B

D

F

H

N

V

U

S

Force Resolver



Torque curve

T Torque - Drive unit T

U/W Torque - Drive unit U/W

MP

3 T

-don

.xls

Figure 14 Torque curve T MU30

0

2

4

6

8

10

12

14

16

18

20

22

24

26

28

30

32

0 500 1000 1500 2000 2500 3000 3500

Speed (rpm)

To

rqu

e (N

m)

Continuously torque

MP

3 U

_W-d

on.x

ls

Figure 15 Torque curve U/W MU30

0

2

4

6

8

10

12

14

16

18

20

22

24

26

28

30

32

0 500 1000 1500 2000 2500 3000 3500

Speed (rpm)

To

rqu

e (N

m)

Continuously torque


Motor MU30


Torque curve motor MU30 + MU20

Torque - Drive unit GT (continuously available torque 0 rpm).

Torque curve motor MU30 + MU30

Torque - Drive unit GT (continuously available torque 0 rpm)

Mom

ent -

Driv

enhe

t GT

Figure 16 Torque curve motor MU30 + MU20

Large -T

Medium -G

Nm

Nm

Mom

ent -

Driv

enhe

t GT

Figure 17 Torque curve MU30 + MU30

Large1 -T

Large2 Nm

Nm

Technical specificationSerial measurement box


2.2 Serial measurement box

2.2.1 One motor

SM

U_1

mot

or.w

mf

Figure 18 SMB 1 axis

Item Qty Art. no Description Remark

3HXD 0100-89 SMB for one motor IRB 1400, IRB 2400, IRB 4400

3HXD 1616-1 SMB for one motor IRB 6600, IRB 7600

1 1 3HEA 800 975-001 Push button

2 2 3HEA 801 138-001 Jumper plug

3 1 505 966-001 Serial measurement card

MP.SM

U

SMU.O

BRAKERELEASE

M7

LP.SMU MP.M7

LS2.SMU

SMU.I

FB.M7

LS1.SMU

Vy B-B

B

0,047µF

B

120

139.

5

1716

0

130

Ø 7 (4x)300

320

340

10

3

1

2


Two motors


2.2.2 Two motors

SM

U_2

mot

orer

.wm

f

Figure 19 SMB 2 axes


3HXD 0100-90 SMB for two motors IRB 1400, IRB 2400, IRB 4400

3HXD 1616-2 SMB for two motors IRB 6600, IRB 7600




RELEASE

M7

BRAKE

MP.SM

U

FB.M8

FB.M7

SMU.I

LP.SMU

LS1.SMU

LS2.SMU

M8

4

3

2

1

MP.M7

MP.M8

B

0,047µF

B

Vy B-B

3

120

17

139.

5

300

320

340

130

160

10

Ø 7 (4x)

1

2

Technical specificationUp to four motors


2.2.3 Up to four motors

SM

U_4

mot

orer

.wm

f

Figure 20 SMB 4 axes


3HXD 0100-92 SMB for up to four motors IRB 1400, IRB 2400, IRB 4400





MP.SM

U

FB.M8

FB.M7FB.M9

SMU.I FB.M10

LP.SMU MP.M9

LS1.SMU

LS2.SMU

MP.M10

MP.M7

MP.M8

RELEASE

M9

M7

BRAKE

M10

M8

8

6

7

4

5

3

2

1

0,047µF

Vy B-B

BB 139.

5

1712

016

0

130

340

300

320

Ø7 (4x)

10

3

1

4

2


Brake release box


2.3 Brake release box

2.3.1 Standard

2.3.2 Foundry

Same as above, with additional sealing.

BR

U.w

mf

Figure 21 BRB standard


3HEA 801 009-001 BRB Standard

3HEA 801 021-001 BRB Foundry


2 2 3HEA 800 897-001 Dust cap


BRAKERELEASE

MP.M7 MP.BRU

LS1.BRU LP.BRULS2.BRU LIM.BRU

21

A A

Vy A-A

1

3

2

171

189

120

150

81.5

Electrical installationInstallation of software


3 Electrical installation

3.1 Installation of software

The system parameters for the motor units are on the diskette included in the deliv-ery. There are files on the diskette that suit the most frequent occurring combinations of drive and measuring systems that can be loaded via RobInstall.The parameters can be loaded either via:

• The FlexPendant:“System parameters / Load - replace parameters”

• or when booting using RobInstall:“Additional Data / Additional Parameters”

The files on the diskette are in tree structure and you select the file required depend-ing on the location of the drive unit and then depending on the size of motor.The parameters are a basis for continued work. It is therefore always necessary to change either the name or the acceleration data, transmission (gear ratio), etc.

See also the User´s Guide “Additional axes”, 3HAC 021395-001.

Electrical installation

Installation of software


Order informationGeneral


4 Order information

4.1 General

With delivery of the motor unit comes a diskette with the basic set-up of the system parameters.

4.1.1 IRB 140/IRB 1400/IRB 4400

When IRB 140/IRB 1400/IRB 4400 up to three external axes can be connected to the same drive module as the robot.

One external axis If only one axis is used it can be connected to a SMB that is connected in series with the robot SMB (on the serial measurement system Measurement Link 1) or with a SMB connected to the serial measurement system Measurement Link 2.

Several external axes

If several axes are used they are connected with a SMB to the serial measurement system Measurement Link 2.

4.1.2 IRB 6600/IRB 7600

When IRB 6600/IRB 7600 up to two external axes can be connected to the same drive module as the robot.

One external axis If only one axis is used it can be connected to a SMB that is connected in series with the robot SMB (on the serial measurement system Measurement Link 1) or with a SMB connected to the serial measurement system Measurement Link 2. It is also possible to connect one axis directly to the robot SMB if that option is chosed for the robot.

Several external axes

If several axes are used they are connected with a SMB to the serial measurement system Measurement Link 2.

Important to state control system with order (IRC5). All article numbers below refer to robots with IRC5 control.

Order information

Motors


4.2 Motors

4.3 Drive units

There are following drive units for external axis:

4.4 Cables

“yy” Where the last numbers of the article number are replaced by “yy” in the table, the cable length should be stated in decimetres (-70 for 7 metres, -150 for 15 metres, -220 for 22 metres and -300 for 30 metres).

“#” Where the last numbers of the article number are replaced by “#” it should be stated according to the following table:

Motor Art. no

MU10 3HEA 506 260-880

MU20 3HEA 506 261-880

MU30 3HEA 506 262-880

Type Designation Robot

Low voltage C, T and U IRB 140/IRB 1400/IRB 2400

High voltage W IRB 6600/IRB 7600

The robot must be equipped with drive units for external axes. For a description of the drive units, please refer to the description of the robot.

Drive unit Max. output Function with

C 12A MU10

T 38A MU10, MU20

U 55A MU10, MU20, MU30

W 55A MU10, MU20, MU30

Cable length #

7 meters 001

15 meters 002

22 meters 003

30 meters 004

Order informationMotor unit with 1 external axis


4.5 Motor unit with 1 external axis

4.5.1 IRB 140

MU

1 a

xis

140.

wm

f

Figure 22 Motor unit with 1 external axis IRB 140

Cable Art. no Item

Power cable, (floor) 3HEA 800 824-00# 1

Serial measurement cable 3HXD 1411-yy 2

Motor cable 3HXD 1249-yy 3

Resolver cable 3HXD 1250-yy 4

Serial measurement box, SMB 3HEA 800 964-001 -

Cable Connection Item

The external axis’ motor cable is connected between the drive module (XS7) and the SMB (MP.SMB)

1

The external axis’ serial mea-surement cable

is connected between the drive module (XS2) and the SMB (SMB.I)

2

Motor cable is connected between the SMB (MP.M7) and the motor 3

Resolver cable is connected between the SMB (FB.M7) and the motor 4

The robot’s motor cable is connected to the drive module (XS1) R

The robot’s serial measurement cable

is connected to the SMB (SMB.0) R

SMB1-axis

DriveModule

ControlModule

Axis 7

1

R

R

3 4

2

XS7

XS1

XS2

Order information

IRB 1400, IRB 2400, IRB 4400


4.5.2 IRB 1400, IRB 2400, IRB 4400

MU

1 a

xis

1400

240

0 44

00.w

mf

Figure 23 Motor unit with 1 external axis IRB 1400, IRB 2400 och IRB 4400

Cable Art. no Item







The external axis’ motor cable is connected between the drive module (XS7) and the SMB (MP.SMB)

1



2

Motor cable is connected between the SMB (MP.M7) and the motor 3

Resolver cable is connected between the SMB (FB.M7) and the motor 4

The robot’s motor cable is connected between the drive module (XS1) and the robot foot (R1.MP)

R

The robot’s serial measurement cable

is connected between the SMB (SMB.0) and the robot foot (R1.SMB)

R

SMB1-axis

DriveModule

ControlModule

Axis 7

1

R

R

3 4

2

XS7

XS1

XS2

Order informationIRB 6600 och IRB 7600 med BRB


4.5.3 IRB 6600 och IRB 7600 med BRB

MU

1 a

xis

6600

760

0 w

ith B

RU

.wm

f

Figure 24 Motor unit with 1 external axis, IRB 6600 and IRB 7600 with BRB

Cable Art. no Item




Brake release box, BRB standard 3HEA 800 805-001 -

Brake release box, BRB foundry 3HEA 800 806-001 -


Motor cable is connected between the BRB (MP.M7) and the motor 1


is connected between the robot foot (R3.FB7) and the motor

2

The external axis’ motor cable

is connected between the drive module (XS7) and the BRB (MP.BRB)

3


R

The robot’s serial measure-ment cable

is connected between the drive module (XS2) and the robot foot (R1.SMB)

R

BRB

DriveModule

ControlModule

Axis 7

3 XS7

XS1

XS2

Order information

IRB 6600 och IRB 7600


4.5.4 IRB 6600 och IRB 7600

MU

1 a

xis

6600

760

0.w

mf

Figure 25 Motor unit with 1 external axis, IRB 6600 and IRB 7600

Cable Art. no Item

Power cable, floor 3HEA 801 461-00# 1



The external axis’ motor cable is connected between the drive module (XS7) and the motor 1


is connected between the robot foot (R3.FB7) and the motor 2


R



R

DriveModule

ControlModule

Axis 7

XS7

XS1

XS2

Order informationMotor unit with 2 external axes


4.6 Motor unit with 2 external axes

4.6.1 IRB 140, 1400, 2400, 4400, 6600, 7600

MU

2 a

xis

140

1400

240

0 44

00 6

600

7600

.wm

f

Figure 26 Motor unit with 2 external axes, IRB 140, 1400, 2400, 4400, 6600, 7600

Cable Art. no Item


Power cable 3HEA 800 824-00# 2



Serial measurement box, SMB standard 3HEA 800 964-003 -




1


is connected between the drive module (XS7) and the SMB (MP.SMB)

2

Resolver cable is connected between the SMB (FB.Mx) and the motors 3

Motor cable is connected between the SMB (MP.Mx) and the motors 4


R



R

SMB2-axis

DriveModule

ControlModule

Axis 7

1

2

R

3 4

R

Axis 8

3 4

XS7

XS42

XS1

XS2

Order information

Motor unit with 3 external axes



4.7.1 IRB 140, IRB 1400, IRB 2400

MU

3 a

xis

140

1400

240

0.w

mf

Figure 27 Motor unit with 3 external axes, IRB 140, IRB 1400 och IRB 2400

Cable Art. no Item









1


is connected between the drive module (XS7) and the SMB (MP.SMB)

2




R



R

SMB4-axis

DriveModule

ControlModule

Axis 7

1

2

R

3 4

R

4

Axis 8

Axis 93

4

3

XS1

XS2

XS7

XS42

Drive Unit U

Drive Unit U

Drive Unit U

Order informationIRB 4400


4.7.2 IRB 4400

Drive module 1 = Low voltageDrive module 2 = High voltage

MU

3 a

xis

4400

660

0 76

00.w

mf

Figure 28 Motor unit with 3 external axes, IRB 4400

Cable Art. no Item








is connected between drive module 2 (XS2) and the SMB (SMB.I)

1


is connected between drive module 2 (XS1) and the SMB (MP.SMB)

2



The robot’s motor cable is connected between drive module 1 (XS1) and the robot foot (R1.MP)

R


is connected between drive module 1 (XS2) and the robot foot (R1.SMB)

R

SMB4-axis

DriveModule 2Control

Module

Axis 7

1

2

R

3 4

R

4

Axis 8

Axis 93

4

3

XS2

XS1

DriveModule 1

XS1

XS2

Drive Unit W

Drive Unit W

Drive Unit W

Order information

IRB 6600, IRB 7600


4.7.3 IRB 6600, IRB 7600

Drive module 1 = High voltageDrive module 2 = High voltage

MU

3 a

xis

140

1400

240

0.w

mf

Figure 29 Motor unit with 3 external axes, IRB 6600, IRB 7600

Cable Art. no Item





Serial measurement cable, SMB 3HEA 800 964-005 -




1



2




R



R

SMB4-axis

DriveModule 2Control

Module

Axis 7

1

2

R

3 4

R

4

Axis 8

Axis 93

4

3

XS2

XS1

DriveModule 1

XS1

XS2

Drive Unit W

Drive Unit W

Drive Unit W

Order informationMotor unit with 4 external axes



4.8.1 IRB 140, IRB 1400, IRB 2400, IRB 4400

Drive module 1 = Low voltageDrive module 2 = High voltage

MU

4 a

xis

140

1400

240

0 44

00.w

mf

Figure 30 Motor unit with 4 external axes, IRB 140, IRB 1400, IRB 2400, IRB 4400

Cable Art. no Pos


Power cable, floor 3HAC 11818-# 2




Cable Connection Pos



1



2




R



R

SMB4-axis

Axis 7

1

2

R

3 4

R

4

Axis 8

Axis 103

4

Axis 9

3

4

3

XS2

XS1

XS2XS1

Drive unit W

Drive unit W

Drive unit W

Drive unit V

DriveModule 2

ControlModule

DriveModule 1

Order information

IRB 6600, IRB 7600


4.8.2 IRB 6600, IRB 7600

Drive module 1 = High voltageDrive module 2 = High voltage

MU

4 a

xis

140

1400

240

0 44

00.w

mf

Figure 31 Motor unit with 4 external axes, IRB 6600, IRB 7600

Cable Art. no Pos


Power cable, floor 3HAC 11818-# 2




Cable Connection Pos



1



2




R



R

SMB4-axis

Axis 7

1

2

R

3 4

R

4

Axis 8

Axis 103

4

Axis 9

3

4

3

XS2

XS1

XS2XS1

Drive unit W

Drive unit W

Drive unit W

Drive unit V

DriveModule 2

ControlModule

DriveModule 1

3HEA 800 973-001 Rev. A September 2005

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