1 2 3 4 5 6 7 8

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.
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

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 2016 ABB ALL right reserved.

ABB Engineering (Shanghai)

No.4528, Kangxin Highway, Kangqiao Town
Nanhui District, Shanghai, 201319
P.R.China

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 1 2 3 4 5 6 7 8

Customer :
:
Drawing number :
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disclosure to third parties without express authority is strictly forbidden. © Copyright 2003 ABB

Drawing version :
Manufacture :
Type :
Type of installation :
Control cabinet :
Mains voltage :
Supply :
Control voltage :
Year of construction :

Project start :
Project manager :
Last revision :
Designed by :
Designed date :
Number of pages :
:

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 1 2 3 4 5 6 7 8

Table of contents ABB_table_of_contents

Plant Location Page Page description Page supplementary fieldDate Editor

1 COPYRIGHT 10/18/2017 Beginner
2 TITLE PAGE 10/8/2014 CNYAWU2
3 Table of contents: 3/8/2021 CNCLCHE3
4 Table of contents: 3/8/2021 CNCLCHE3
5 REVISION INFORMATION 3/8/2021 CNCLCHE3
6 Front View 10/18/2017 Beginner
7 Top View 3/31/2016 CNWILIU5
8 Side View 3/31/2016 CNWILIU5
9 BLOCK DIAGRAM 3/30/2016 CNYIHU2
10 MAIN POWER INPUT 8/14/2019 Beginner
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

11 POWER SUPPLY DSQC 661 AND 662 8/14/2019 Beginner

12 SAFETY INPUT & OUTPUT 8/14/2019 Beginner
13.a RUN CHAIN OPERATING HW MODE SELECTOR, 2 MODES 9/8/2016 CNSHLIN8
14 PROTECTIVE STOP 3/28/2016 CNYIHU2
15.a POWER UNIT 6/12/2018 Beginner
15.b POWER UNIT SERVO DISCONNECTOR, Option-Safemove 6/12/2018 Beginner
16 CONTROL PANEL 8/13/2019 Beginner
17 FPU, FLEXPENDANT 8/13/2019 Beginner
18 Main Computer/AnybusCC/RS232 Exp./Interface Board/ 1/18/2017 CNSHLIN8
19 MAIN COMPUTER A31 DSQC1018 / DSQC1024 8/13/2019 Beginner
20 MAIN COMPUTER A31 DSQC1018 / DSQC1024; A32 DSQC1003 1/18/2017 CNSHLIN8
21 FIELDBUS ADAPTER A32: 10/8/2014 CNYAWU2
22 DEVICENET A31.2 DSQC1006 / PROFIBUS A31.3 DSQC1005 10/18/2017 Beginner
23.a DIGITAL I/O UNIT INPUT 10/17/2017 Beginner
23.b DIGITAL I/O UNIT OUTPUT 10/17/2017 Beginner
24.a COMBI I/O UNIT INPUT 10/17/2017 Beginner
24.b COMBI I/O UNIT OUTPUT 10/17/2017 Beginner
25 DIGITAL PART OF COMBI I/O AND 10/8/2014 CNYAWU2
26 DIGITAL I/O UNIT DSQC652 12/26/2016 CNSHLIN8
27 COMBI I/O UNIT DSQC651 10/8/2014 CNYAWU2

Latest revision: Lab/Office: Status: Plant: =

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 1 2 3 4 5 6 7 8

Table of contents ABB_table_of_contents

Plant Location Page Page description Page supplementary fieldDate Editor

28 RELAY I/O UNIT DSQC653 10/8/2014 CNYAWU2
29 RELAY I/O UNIT DSQC653 10/8/2014 CNYAWU2
30 REMOTE I/O UNIT DSQC350A 10/8/2014 CNYAWU2
31 ANALOGUE I/O UNIT DSQC355B 10/8/2014 CNYAWU2
32 ENCODER UNIT DSQC377 3/30/2016 CNYIHU2
33 CC-LINK 10/17/2017 Beginner
34 VISION, INTEGRATED CAMERAS 10/8/2014 CNYAWU2
35 ETHERNET SWITCH A64/CAMERA 3/21/2017 CNSHLIN8
36 AXIS COMPUTER UNIT 3/21/2017 CNSHLIN8
37 AXIS COMPUTER UNIT 3/23/2017 CNSHLIN8
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

38 RECTIFIER AND BLEEDER 9/8/2016 CNSHLIN8

39 FAN UNIT 10/8/2014 CNYAWU2
40 REMOTE SERVICE BOX DSQC680 3/21/2017 CNSHLIN8
41 SERVO DRIVE SYSTEM IRB 120 9/8/2016 CNSHLIN8
42 CONTROL CABLE IRB 120 8/13/2019 Beginner
42.a CUSTOMER POWER/SIGNAL IRB 120 3/23/2017 CNSHLIN8
43 SERVO DRIVE SYSTEM IRB 140 10/8/2014 CNYAWU2
44 CONTROL CABLE IRB 140 8/13/2019 Beginner
45 SERVO DRIVE SYSTEM IRB 360 10/8/2014 CNYAWU2
46 CONTROL CABLE IRB 360 8/13/2019 Beginner
47 SERVO DRIVE SYSTEM IRB 1200 3/28/2016 CNYIHU2
48 CONTROL CABLE IRB 1200 8/13/2019 Beginner
48.a CUSTOMER POWER/SIGNAL IRB 1200 3/23/2017 CNSHLIN8
49 SERVO DRIVE SYSTEM IRB 1410, 1600, 260 9/8/2016 CNSHLIN8
50 CONTROL CABLE IRB 1410, 1600, 260 8/13/2019 Beginner
51 CUSTOMER POWER/SIGNAL IRB 1410 3/23/2017 CNSHLIN8
52 CUSTOMER POWER/SIGNAL IRB 1600 3/22/2017 CNSHLIN8
53 SERVO DRIVE SYSTEM IRB 910 3/23/2017 CNSHLIN8
54 CONTROL CABLE IRB 910 8/13/2019 Beginner
55 CUSTOMER POWER/SIGNAL IRB 910 3/23/2017 CNSHLIN8

Latest revision: Lab/Office: Status: Plant: =

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 1 2 3 4 5 6 7 8

Rev 00 2014 10
- Initial Revision
Rev 01 2016 02
- Update for NGAC SafeMove
Rev 02 2016 09
- XS16 updated to 4pin
- S21.1 pin number updated
Rev 03 2017 01
- Update CP/CS for IRB120 IRB1200 IRB1600
- Remove output terminals of DSQC652 and mark two wires : input 24VDC and 0V
- Update Main computer from DSQC1018 to DSQC1024
Rev 04 2017 03
- Add CP/CS for IRB910 IRB1410
- Add floor cable for IRB910
Rev 05 2017 10
-Add page 24.a COMBI I/O UNIT INPUT (DSQC651)
We reserve all rights in this document and in the information contained therein.Reproduction, use or

-Add page 24.b COMBI I/O UNIT OUTPUT (DSQC651)

disclosure to third parties without express authority is strictly forbidden. © Copyright 2003 ABB

Rev 06 2018 06 12
- Add wire number 371 - K42.4NC , 372 - K42.3NC , 373 - K43.4NC , and 374 - K43.3NC (page 15.b)
Rev 07 2019 08 14
- Correct the A21 inner connection for X9, X10, X1 and X2.
Rev 08 2021 03 08
-Removed page 13.b RUN CHAIN OPERATING SW MODE SELECTOR, 2 MODES
Rev 09 2021 04 30
-Change the interface of remote service box(A61) in Page 40.
-Add the adapter X103 in Page 40.
Rev 10 2022 05 26
Change the code of Device net and Profinet in Page 18.

Latest revision: Lab/Office: Status: Plant: =

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 1 2 3 4 5 6 7 8

XS12
Digtial output (DSQC651) XS41 XS1 XS4
Digital input 1 (DSQC652) XS7 XS8 XS9 S21.1 S21.3
Signal cable for force control Power cable Flex Pendant
ES1 ES2 Safety Stop Mode switch Emergency stop
XS13 A
Digtal input (DSQC651)
Digital input 2(DSQC652)

XS14
Analog output (DSQC651)
Digital output 1(DSQC652) S21.2
Motor on
XS15
Digital output 2
(DSQC652)
We reserve all rights in this document and in the information contained therein.Reproduction, use or

XS2
disclosure to third parties without express authority is strictly forbidden. © Copyright 2003 ABB

XS16 Signal cable S21.4

Power supply Brake release
Only for IRB120

XS18 EtherNet Switch

Profibus A64
XS0
Power input Remote service
XS17
DeviceNet A61

Q1
Power switch

SECTION A-A A
SCALE 1 : 2.5

Latest revision: Lab/Office: Status: Plant: =

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Front View Sublocation:+
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 1 2 3 4 5 6 7 8

Bleeder
R1.1

Fan
Fan cover
E41, E42
We reserve all rights in this document and in the information contained therein.Reproduction, use or

Drive unit
disclosure to third parties without express authority is strictly forbidden. © Copyright 2003 ABB

System power supply

A41
G1

Digital I/O

Contactor Unit A35

K42, K43, K44

Safety board
DSQC400 for Normal
DSQC400E for NGAC
A21

Latest revision: Lab/Office: Status: Plant: =

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Top View Sublocation:+
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 1 2 3 4 5 6 7 8

Leftside View Rightside View

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

Filter Main computer Axis computer Ultra cap bank Power distribution
Z1 A31 A42 G3 G2

Latest revision: Lab/Office: Status: Plant: =

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 1 2 3 4 5 6 7 8

Z1 Q1
K43 K42

220V~230V

A41 G3 G1&G2

AC
Drive unit Ultra cap
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

DC

A42 A21 A31

Main
Axis Safety Computer
computer board
NGAC Safety
board
A35 I/Ox
A31.4
Digital I/O I/O

unit

Manipulator
Customer
S21 connection

Control panel
TPU

Ethernet service
Field bus

USB

Latest revision: Lab/Office:

LAN Status: Plant: =
Approved Location: +
BLOCK DIAGRAM Sublocation:+
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Prepared by, date: CNALWAN22 Approved by, date: 10 Total 60
 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
1

Latest revision:

Prepared by, date: CNALWAN22

2

Approved by, date:

15.a;8 / -L1 -21AWG14 BK
15.b;8
3

11;7 / -LP1
-Q1

BK
-Z1

15.a;8 / -L2 -22 AWG14

-XS0

15.b;8 -15 AWG14 BK -11 AWG14 BK

2
1

L1
1

L1'
3

-16 AWG14 BK -12 AWG14 BK

4

11;7 / -LP2
4
3

L2
2

L2'
6
5

L3

L3'

AWG14 GNYE

Lab/Office:
5

MAIN POWER INPUT

6

22
21
16
15
12
11

Status:
7

P
P
P

N
N
N

Approved
Document no.
Wire No. Single phase

3HAC049406-003
Plant:

Sublocation:+
Location: +
=
8

10 Total 60
Next 11
Rev. Ind Page 10
 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

-G2
36;2 / -+24V DRIVE -241 AWG20 BU

1
DSQC662
36;2 / -0V DRIVE -242 AWG20 BU
1

Latest revision:
4
38;2 / -24V Drive sys -243 AWG20 BU

2
-X3
38;2 / -0V Drive sys -244 AWG20 BU

5
3

Prepared by, date: CNALWAN22

AXIS COMPUTER / DRIVE
6
-G1

40;1 35;2 / -24V_OUT -254 AWG20 BU

1
2

23.a;1 24.a;1 / -+24Vdevicenet 247 AWG18 RD

-X1
-X2

-X4
AWG12 BU

2
-PE1

DSQC661

35;2 40;1 / -0V_OUT -255 AWG20 BU

3
1
1
BK

Approved by, date:

23.a;1 24.a;1 / -0Vdevicenet 248 AWG18

4
2
2

24V Devicenet/ I/O

3
4

15.a;6 15.b;6 / -+24V BRAKE;1 -250 AWG16 BU

1
-X1

-252 AWG16
4
3

42;2 44;2 46;2 48;2 50;2 54;2 / -BRAKEPB BU

2
AWG14 GNYE
3

3
3

4
-X5
5

42;2 44;2 46;2 48;2 50;2 54;2 / -0V BRAKE;1 -251 AWG16 BU

BRAKE
5
-X3

AWG20 BU
-X2

42;2 44;2 46;2 48;2 50;2 54;2 / -0V BRAKE;2 -253 AWG16 BU
6
3
3

7
4
4

12;3 / -24V SYS -465 AWG20 BU

1
4

-153 AWG16
-152 AWG16

12;3 / -24V COOL -466 AWG20 BU

BK
BK

2
3
4
5

Lab/Office:
19;2 / -24V PC;1 -302 AWG20 BU
6
-X6

12;3 / -0V SYS -467 AWG20 BU

7
5

12;3 / -0V COOL -468 AWG20 BU

8

PC/SAFETY BOARD
9
10
11

19;2 / -0V PC;1 -304 AWG20 BU

12

POWER SUPPLY DSQC 661 AND 662

6

-G3
-X1

24V CHARGE
1
1

24V CHARGE
2
2

N.C.
3
3

N.C.
4
4

N.C.
-X7

5
5

6
6

7
7

+SENSE
Status:
8
8

N.C.
7

9
9

Approved

N.C.
-LP1 / 10;3
10
10

Document no.

-LP2 / 10;4

20;7 / -USB2 +5V 2/RD

3HAC049406-003
1

20;7 / -USB2 D- 1/WH

Plant:
-X8

20;7 / -USB2 D+ 1/GN

MAIN
3

20;7 / -USB2_GND 2/BK

COMPUTER
4

Sublocation:+
Location: +
=
8

39;3 / -+24V COOL;3 AWG20 BK

1

39;3 / -+24V COOL;2 RD

-X9

39;3 / -0V COOL;3 BN

UNIT
3

39;3 / -0V COOL;2 OG

MAIN FAN
4

10 Total 60
Next 12
Rev. Ind Page 11
 1 2 3 4 5 6 7 8

Option: DSQC1015 safety Board

-A21
-A31.4 -X1
1 AWG20 BU -X13
-Y1 -LIM_2B / 42;2 44;3 46;3 48;3 50;3 54;3
2 AWG20 BU -X12 24V FPU POWER
11;4 / -24V SYS 1 24V SYS 1
-LIM_2A / 42;2 44;3 46;3 48;3 50;3 54;3
24V PANEL
1269 -Y2 1 2
11;5 / -0V SYS 1 0V SYS -LIM_1B / 42;2 44;3 46;3 48;3 50;3 54;3
1270 2 3
-LIM_1A / 42;2 44;3 46;3 48;3 50;3 54;3

24V PANEL
Power distribution11;4 / -24V COOL 4
board 3
11;5 / -0V COOL
4

ES1 top -XS7/X1 -X10 -209 AWG20 BU -ES FPU 1:A / 16;2 17;2
1 -XS8/X2 5
ES2 top -211 AWG20 BU -ES FPU 2:A / 16;2 17;2 FPU
1 7
-212 AWG20 BU -ES FPU 2:B / 16;2 17;2
EXTERNAL 8
EMERGENCY 0V 0V -210 AWG20 BU -ES FPU 1:B / 16;2 17;2
24V Panel 24V PANEL
STOP PB 2 6
2
We reserve all rights in this document and in the information contained therein.Reproduction, use or

RunCh0V
RunCh+
disclosure to third parties without express authority is strictly forbidden. © Copyright 2003 ABB

Run CH1 top

Run CH2 top 3
-S21.3
-X9
3
Option: DSQC1015 safety board -237 AWG20 21 22
-A31.4 3 -238 AWG20
-X7 9 -233 AWG20 11 12
3 5 -234 AWG20
9 11 -231 AWG20
4 6 -232 AWG20
1 Sep ES2:A RunCh0V 12 -235 AWG20
2 Sep ES1:A 7 RunCh+ 4 -236 AWG20
JUMPER

5 7 10
JUMPER

Not available on CDU U U

6

Sep ES1:B
8
Sep ES2:B
8
ES2 bottom
JUMPER
JUMPER

EXTERNAL ES1 bottom 5 -X11

SUPPLY 0V 5
24V Panel 6
1
6 2
AWG24 -24V_Sig.ref. / 19;7
24V PANEL 3
BU -RS485+ / 19;7
4
WHBU -RS485- / 19;7 MAIN
0V 5
COMPUTER
ES1:int WHBN -0V_Sig.ref. / 19;7
6
Option: DSQC1015 safety Board 4
ES2:int 7

14;6 / -RunCh+
14;6 / -RunCh_0V
14;7 / -RCH2
14;7 / -RCH1
-A31.4 4 ES1 ES2 8

-X6 -X14
10 1265 AWG24 BU ES1OUT:A
14 1268 AWG24 BU ES2 OUT:A 1
3
9 1266 AWG24 BU ES2 OUT:B
4
5 1267 AWG24 BU ES1OUT:B
2

Latest revision: Lab/Office: Status: Plant: =

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SAFETY INPUT & OUTPUT Sublocation:+
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3HAC049406-003 Next 13.a
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 1 2 3 4 5 6 7 8

Option: DSQC1015 safety Board

-A21 -A31.4
-X6
6
-X10 8
24V SYS 24V FPU POWER -205 AWG24 x 2 BU -24V FPU POWER / 16;2 17;2
24V PANEL FPU 3
1
0V SYS -206 AWG24 x 2 BU -0V PANELB / 16;2 17;2 4
2
-207 AWG24 x 2 BU -EN1_1 / 16;2 17;2
3
-208 AWG24 x 2 BU -EN1_2 / 16;2 17;2
4

Option:Run chain Ext Operating, 2 Mode Selector

We reserve all rights in this document and in the information contained therein.Reproduction, use or

-X6
disclosure to third parties without express authority is strictly forbidden. © Copyright 2003 ABB

DSQC1015 safety board

-A31.4
6 -260 AWG20 BU -S21.1.XS1 EXT S21.1.XP1 -X6
5 -261 AWG20 BU -1241 EXT.AUTO1 1254 AWG24 BU 23
4 -1240 EXT.MAN1 1 1 1250 AWG24 BU 21
3 -262 AWG20 BU -1245 EXT.AUTO2 2 2 1246 AWG24 BU 17
2 -263 AWG20 BU -1244 EXT.MAN2 3 3 1255 AWG24 BU 15
1 4 4

AUTO

AUTO
MAN

MAN
-S21.1
1 3 5 7 9 11 13 15
2-MODE SELECTOR
>1 2 6 10 14

-1246 EXT.COMMON2 1248 AWG24 BU 20

-264 AWG20 BU -1242 6 6
EXT.COMMON1 1247 AWG24 BU 18
10 -265 AWG20 BU 5 5
11
14;6 / -EN1
14;6 / -EN2
14;5 / -MAN1
14;5 / -MAN2
/ -SPEED

-S21.2
-229 AWG20 BU 14 13 Option:
7 -228 AWG20 BU Motor-on switch
13
-230 AWG20 BU X2 X1
14

-S21.4
Option:
-300 AWG20 BU 14 13
Brake release button
8 /16;4
Only for IRB120
-299 AWG20 BU
9

Latest revision: Lab/Office: Status: Plant: =

Location: +
RUN CHAIN OPERATING HW MODE SELECTOR, 2 MODES Approved Sublocation:+
Document no. Rev. Ind Page 13.a
3HAC049406-003 Next 14
Prepared by, date: CNALWAN22 Approved by, date: 10 Total 60
 1 2 3 4 5 6 7 8

-A21
24V SYS 24V FPU POWER
24V PANEL
0V SYS

12;6

/ 12;5
/ 13.a;2

/ 13.a;2

-RunCh_0V /
-XS9/X5

-EN2 / 13.a;2
-EN1 / 13.a;2

/ 12;6

/ 12;6
24V PANEL
24V PANEL

-RunCh+
12 24V PANEL

-MAN2

-MAN1

-RCH2

-RCH1
6 0V
7 0V
1
AS1+
11 AS1
AUTO
STOP &

AS1-
AS2+ 9 AS2 SOFT AS
5
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

AS2-
GS1+ 3 GS1
10

GENERAL &
STOP
GS1- SOFT GS
GS2+ 8 GS2 CH2 CH1
4

GS2- INTERLOCKING
2

Option: DSQC1015 safety board -X15

24V PANEL
-A31.4 -X6 6 0V
24 1263 AWG24 BU SS1+ 1 SS1
4
SS1

22 1264 AWG24 BU SS1- SOFT SS

1 1262 AWG24 BU SS2+ 2 SS2

-LOCK1A
-LOCK2B
5

-SELF1
-SELF2
SS2

-CH1

-CH2
15.a;2 /

15.a;3 /

15.a;5
15.a;5

15.a;4
15.a;4
2 1261 AWG24 BU SS2-
3

Latest revision: Lab/Office: Status: Plant: =

Approved Location: +
PROTECTIVE STOP Sublocation:+
Document no. Rev. Ind Page 14
3HAC049406-003 Next 15.a
Prepared by, date: CNALWAN22 Approved by, date: 10 Total 60
 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
1

Latest revision:
-A21

4
2
28
27
25
24

Prepared by, date: CNALWAN22

P
P
P

N
N
N
-X8

-K42
-471 AWG20 BU -0V COOL;6 / 15.b;2
2

Wire No. Single phase

-472 AWG20 BU -CH1 / 14;6
1

A2
A1

Approved by, date:

-K44
-473 AWG20 BU -0V_COOL / 15.b;2
6

-474 AWG20 BU -BRAKE / 15.b;2

5

A2
A1
-K43
-475 AWG20 BU -CH2 / 14;7
4
3

-476 AWG20 BU -24V_PANEL / 15.b;3

3

A2
A1
-X3

-451 AWG20 BU
24V

-452 AWG20 BU -BRAKE_FB 15.b;3

1
2
5

-479 AWG20 BU
0V

-480 AWG20 BU -SELF1 14;7

3
4

3NO
4NO

-481 AWG20 BU
24V

AWG20
-485

-482 AWG20 BU -SELF2 14;7

7

3NO
4NO
-483
AWG20

1NC
2NC

-484 AWG20 BU -LOCK1A 14;7

2

Lab/Office:
1NC
2NC

-486 AWG20 BU -LOCK2B 14;7

6
5

POWER UNIT
AWG20
-448
PTC1

15.b;5 / -EXT.LAMP
42;2
BRK REL RET
BRK REL OUT
-X7

PTC1 ret

44;2
4
3
2
1

46;2
48;2

SERVO DISCONNECTOR
50;2 -447 AWG20 BU
54;2
-487
AWG20BU

15.b;6 / -BRAKEREL1 -443 AWG16 BU AWG16 BU AWG16 BU

4
3
13
14
14
13

42;2
CONTROL CABLE

-490 -489
6

44;2
46;2
48;2
50;2
-PTC

54;2
15.b;6 / -BRAKEREL2 -444 AWG16 BU
-PTC_RET

42;2
44;2
46;2
48;2
-+24V BRAKE;1

50;2
54;2
/ 11;3

Status:
7

Approved
Document no.
/ 15.b;6 42;1 44;2 46;2 48;2 50;2 54;2

/ 15.b;6 42;1 44;2 46;2 48;2 50;2 54;2

3HAC049406-003
Plant:

BK
Sublocation:+
Location: +
=

15.b;8 / -L12 -27 AWG14 BK -24AWG14 -L1 / 10;3

2
1
2
1

BK
8

15.b;8 / -L22 -28 AWG14 BK -25AWG14 -L2 / 10;4

4
3
4
3

DRIVE UNIT

10 Total 60
Rev. Ind Page 15.a
Next 15.b
 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
1

Latest revision:
-A21

4
2
28
27
25
24

Prepared by, date: CNALWAN22

P
P
P

N
N
N
-X8

-K42
-471 AWG20 BU 2 -0V COOL;6 / 15.a;2

Wire No. Single phase

-472 AWG20 BU -CH1 /
2

A2
A1

-K44
-473 AWG20 BU -0V_COOL / 15.a;2
6

Approved by, date:

-474 AWG20 BU -BRAKE / 15.a;3
5

A2
A1
-K43
-475 AWG20 BU -CH2 /
4

-476 AWG20 BU -24V_PANEL / 15.a;3

3

A2
A1
3

-X3

-451 AWG20 BU
24V

-452 AWG20 BU -BRAKE_FB 15.a;4

1
2
5

-479 AWG20 BU
0V

-480 AWG20 BU -SELF1

6
5
3

-481 AWG20 BU
24V

8
4

AWG20
-485

-482 AWG20 BU -SELF2

6
5
7

-483
AWG20

1NC
2NC

-484 AWG20 BU -LOCK1A

2

1NC
2NC

Lab/Office:
-486 AWG20 BU -LOCK2B
6
5

AWG20
-448
PTC1

15.a;5 / -EXT.LAMP
BRK REL RET
BRK REL OUT
-X7

PTC1 ret

4
3
2
1

-447 AWG20 BU
-487
AWG20BU

15.a;6 / -BRAKEREL1 -443 AWG16 BU AWG16 BU AWG16 BU

4
3
13
14
14
13

-490 -489

15.a;6 / -BRAKEREL2 -444 AWG16 BU

6

-PTC

-PTC_RET
/ 15.a;6

-+24V BRAKE;1
/ 15.a;6

Option: DSQC1015 safety board

-A31.4
/ 11;3

-X6

-371 AWG24 BU
7

Status:
7

-372 AWG24 BU
POWER UNIT SERVO DISCONNECTOR, Option-Safemove Approved

-373 AWG24 BU
3NC
4NC

12 11

Document no.

-374 AWG24 BU
16
3NC
4NC

3HAC049406-003
Plant:

BK
15.a;8 / -L12 -27 AWG14 BK -24AWG14 -L1 / 10;3
2
1
2
1

BK
Sublocation:+
Location: +
=

15.a;8 / -L22 -28 AWG14 BK -25AWG14 -L2 / 10;4

4
3
4
3
8

DRIVE UNIT

10 Total 60
Next 16
Rev. Ind Page 15.b
 1 2 3 4 5 6 7 8

SAFETY BOARD Cabinet EXT.CONTROL PANEL

-A21 +EXT-A21
-X6 -X6
-260 AWG20
5 5 -261 AWG20
4 4 -262 AWG20
2 2 -263 AWG20
1 1 2-MODE SELECTOR

=CAB-S21.1 1 3 5 7

2 6

-264 AWG20
10 10 -265 AWG20
11 11
-PE1 -PE1 MOTOR ON PB
-S21.2
-229 AWG20 14 13
7 7
-230 AWG20 X2 X1
We reserve all rights in this document and in the information contained therein.Reproduction, use or

14 14 -228 AWG20
disclosure to third parties without express authority is strictly forbidden. © Copyright 2003 ABB

13 13
-S21.4
-300 AWG20 BU 14 13
8 /13.a;5
-299 AWG20 BU
9
Option: Brake release button EMERGENCY PB

-X9 Only for IRB120 -X9 -S21.3

-237 ES panel 1:A 21 22
-238 ES panel 1:A
3 3
9 9 -233 ES panel 2:A 11 12
5 5 -234 ES panel 2:A
11 11 -231 ES panel 2:B
6 6 -232 ES panel 2:B
12 12 -235 ES panel 1:B
4 4 -236 ES panel 1:B
10 10

-XS4 -XS4
24V TPU 24V FPU_POWER
13.a;5 / -24V FPU POWER
1 EN2 1
0V 0V 12
13.a;5 / -0V PANELB 12
SAFETY
2 0V 2
BOARD 8
13.a;5 / -EN1_1 8 EN1 EN 1_1
A21-X10
13.a;5 / -EN1_2 7 EN2 EN 1_2 7
12;7 / -ES FPU 1:A ES FPU 1:A 17
17
12;7 / -ES FPU 1:B 3 ES FPU 1:B 3
12;7 / -ES FPU 2:A ES FPU 2:A 4
4 FPU
12;7 / -ES FPU 2:B 5 ES FPU 2:B 5
TPU_START FPU_START 6
6
11 11
MAIN AWG24 OG AWG24
19;7 / -TD+ TD+ TD+
COMPUTER 19;7 / -TD- WHOG TD- TD-
13 13
A31-A8 19;7 / -RD+ GN RD+ RD+ 14
14
19;7 / -RD- WHGN 15 RD- RD- 15
16
16

Latest revision: Lab/Office: Status: Plant: =

Approved Location: +
CONTROL PANEL Sublocation:+
Document no. Rev. Ind Page 16
3HAC049406-003 Next 17
Prepared by, date: CNALWAN22 Approved by, date: 10 Total 60
 1 2 3 4 5 6 7 8

RunCh1
-XP4 3
RunCh0V
5

-FPU1

1)
-XS4 -K1
12;7 / -ES FPU 1:A
3
12;7 / -ES FPU 2:A
5
12;7 / -ES FPU 2:B
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

6
12;7 / -ES FPU 1:B
4
SAFETY EN-DEVICE
BOARD 13.a;5 / -24V FPU POWER 1 -K2
A21-X10
12

13.a;5 / -0V PANELB 2 ;7

8
13.a;5 / -EN1_1
7
13.a;5 / -EN1_2
17

-ETH_FPU
USB
19;7 / -TD+ AWG24 OG
13
MAIN 19;7 / -TD- WHOG
COMPUTER 14
A31-A8 19;7 / -RD+ GN
15
19;7 / -RD- WHGN
16

Latest revision: Lab/Office: Status: Plant: =

Approved Location: +
FPU, FLEXPENDANT Sublocation:+
Document no. Rev. Ind Page 17
3HAC049406-003 Next 18
Prepared by, date: CNALWAN22 Approved by, date: 10 Total 60
 1 2 3 4 5 6 7 8

A31
Old Main Computer Unit DSQC1018
New main Computer Unit DSQC1024

Safety board
A31.4 DSQC1015
PROFIBUS M PCI DeviceNet M/S
A31.3 DSQC1005
AnybusCC/RS232 Expansion Board
DSQC1003 Profibus/S A32.2
POWER PROFIBUS M
ProfiNet/S A32.3 Pin no 2 = 24V
Console Ethernet /IP/S A32.1 Pin no 1 = 0V
DeviceNet/S DSQC1004 A32.4 A31.1 SERVICE 10/100
X20 Battery BT1 in
Old:
X1 X2 New: DSQC1001 Interface Board
Com1 Interface Board
Battery BT1 in DSQC1001
We reserve all rights in this document and in the information contained therein.Reproduction, use or

LAN 1 DSQC1017 DSQC1017 BT1

disclosure to third parties without express authority is strictly forbidden. © Copyright 2003 ABB

3HAC050354-001 3HAC042827-001
Back side 80,78... ....6, 4, 2 10/100 X3
Front side 79,77... ....5, 3, 1
LAN 2 X4
POWER COM Express module
A32 10/100 DISC-Act
DSQC1002
STATUS SD card 2GB
3HAC046408-001
X2 NS X13 DSQC1008
LAN 3 MS
X5
Front side 10/100/1000 X15

1, 3, 5..... ...77, 79
2, 4, 6..... ...78, 80
WAN X19 Fan power
X6 X16
X1 10/100/1000
Pin 1 = 24V
Pin 2 = Tacho
X7 Pin 3 = 0V
PANEL UNIT

X9
X3 AXC

X10 X11 X12

USB 2/1 USB 4/3

Safety board
A31.4-X1
A31.4-X6
Safety board
A31.4 DSQC1015 A31.4-X7
DeviceNet M/S PCI
A31.2 DSQC1006
PROFIBUS M

Latest revision: Lab/Office: Status: Plant: =

Approved Location: +
Main Computer/AnybusCC/RS232 Exp./Interface Board/ Sublocation:+
Document no. Rev. Ind Page 18
3HAC049406-003 Next 19
Prepared by, date: CNALWAN22 Approved by, date: 10 Total 60
 1 2 3 4 5 6 7 8

Old Main Computer Unit DSQC1018

MAIN COMPUTER New main Computer Unit DSQC1024
A31
-X2 AWG24
TX+ WHOG _TX+ /
1
TX- OG _TX- /
-X1 YELLOW LABEL RX+ 2 WHGN _RX+ /
3
11;5 / -24V PC;1 SERVICE
2 ETH_SERVICE PORT
11;6 / -0V PC;1 RX- GN _RX- /
6
PROCESS 1
POWER
SUPPLY
POWER (GREEN)

1.TXRX+ / 35;2 40;2 A61:X10

1.TXRX- / 35;2 40;2
REMOTE SERVICE
1.RXTX+ / 35;2 40;2 or
DISC-ACT (YELLOW) 1.RXTX- / 35;2 40;2 A64.X1
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

STATUS (GREEN-RED)

GREEN LABEL -X3

-TD+ / 16;2 17;2
3
6
TPU -TD- / 16;2 17;2 FLEXPENDANT
4
NS (GREEN-RED) 5
-RD+ / 16;2 17;2
1
-RD- / 16;2 17;2
2
7
8
MS (GREEN/RED)

-X7 AWG24
1
2 WHGN -24V_Sig.ref. / 12;7
BLUE LABEL 3 BU -RS485+ / 12;7
4
PANEL UNIT WHBU -RS485- / 12;7 SAFETY BOARD
5
RS 485
WHBN -0V_Sig.ref. / 12;7
7

-X9
-TX+ / 36;2 DRIVE
-X19 AWG24 TX+ 1
-TX- / 36;2 MODULE
RED LABEL TX- 2
GND BK -RX+ / 36;2 AXIS
1 RX+ 3
+24V RD AXC1 COMPUTER
2 4
FAN_TACH YE
ETH_DRIVE
3 5
-RX- / 36;2
RX- 6
7
8

Latest revision: Lab/Office: Status: Plant: =

Approved Location: +
MAIN COMPUTER A31 DSQC1018 / DSQC1024 Sublocation:+
Document no. Rev. Ind Page 19
3HAC049406-003 Next 20
Prepared by, date: CNALWAN22 Approved by, date: 10 Total 60
 1 2 3 4 5 6 7 8

Old Main Computer Unit DSQC1018

New main Computer Unit DSQC1024
A31 WAN -X6
WHITE LABEL MX1+ OPTION:
1
MX1- EXTERNAL
2
A31.X6 MX2+ WAN
3
MX2-
OPTION: 6
232/ Expansion board SERIE DSQC1003
-A32
/21;1

-232 -X2 -X15

COM1_DCD LAN -X4
1
COM1_RXD 1 1 TX+ 2.BI_DA+ / 20;7
2 1
COM1_TXD 2 2 TX- 2.BI_DA- / 20;7
3 2
COM1_DTR 3 3 RX+ 2.BI_DB+ / 20;7
4 3
0V 4 4 RX- 2.BI_DB- / 20;7
5 6
COM1_DSR 5 5
6
COM1_RTS-N
7
COM1_CTS-N
We reserve all rights in this document and in the information contained therein.Reproduction, use or

8
COM1_RI
disclosure to third parties without express authority is strictly forbidden. © Copyright 2003 ABB

-232 LAN -X5

CONSOLE_DCD 76 76 MX1+ 2.BI_DA+ / 20;7
1 1

Ethernet
CONSOLE_RXD 77 77 MX1- 2.BI_DA- / 20;7
2 2
CONSOLE_TXD 78 78 MX2+ 2.BI_DB+ / 20;7
3 3
CONSOLE_DTR 79 79 MX2- 2.BI_DB- / 20;7
4 6
GND 80 80
5
CONSOLE_DSR
6 4
CONSOLE_RTS-N
7 5
CONSOLE_CTS-N
8 7
CONSOLE_RI
9 8

-X10.USB 1
3
2
4
1

-X10.USB 2

PROCESS

SUPPLY
AWG28 GN -USB2 D+ / 11;8

POWER
3
AWG28 WH -USB2 D- / 11;8
2
AWG24 BK -USB2_GND / 11;8
4
AWG24 RD -USB2 +5V / 11;8
1

-X11.USB 3
3
2
4
1

-X11.USB4
3
2
4
1

Latest revision: Lab/Office: Status: Plant: =

Approved Location: +
MAIN COMPUTER A31 DSQC1018 / DSQC1024; A32 DSQC1003 Sublocation:+
Document no. Rev. Ind Page 20
3HAC049406-003 Next 21
Prepared by, date: CNALWAN22 Approved by, date: 10 Total 60
 1 2 3 4 5 6 7 8

ETHERNET/IP Fieldbus adapter DSQC 669

Slave
-A32.1
-Z1 -X1
TX+
TX- 1
2
RX+
SLAVE 3
4
CompactCom RX- 5
6
7
8

Expansion Board PROFIBUS Fieldbus adapter DSQC 667

DSQC 1003 Slave
-A32 -A32.2
/20;2 -Z1
-X1
-X2 SHIELD
-X1 SLAVE 1

OPTION & HARNESS TO CUSTOMER I/O

1 RXD/TXD-p
We reserve all rights in this document and in the information contained therein.Reproduction, use or

2 3
disclosure to third parties without express authority is strictly forbidden. © Copyright 2003 ABB

CONTROL-P
3 1 CompactCom 4
2
GND 5
4
3 +5VDC 6
4 RXD/TXD-N 8
5
6
7
77 8
78 PROFINET IO Fieldbus adapter DSQC 688
79
Slave
80
-A32.3 -X1
-Z1
TX+
1
TX-
SLAVE 2
RX+
3
CompactCom
RX-
6

DEVICENET IO Fieldbus adapter DSQC 1004

Slave
-A32.4 -X1
-Z1
TX+
1
TX-
SLAVE 2
RX+
3
CompactCom
RX-
6

Latest revision: Lab/Office: Status: Plant: =

Approved Location: +
FIELDBUS ADAPTER A32: Sublocation:+
ETHERNET/IP, PROFIBUS and Document no. Rev. Ind Page 21
PROFINET IO 3HAC049406-003 Next 22
Prepared by, date: CNALWAN22 Approved by, date: 10 Total 60
 1 2 3 4 5 6 7 8

DeviceNet M/S DSQC1006

-A31.2
X12 -CHA
V- -XS17
-XS17_V- / 25;1 28;2 31;1 30;1 32;1
1
CAN_L -XS17_CAN_L /25;1 28;2 31;1 30;1 32;1
2 2 OPTION:
DRAIN -R11 -XS17_DRAIN / 25;1 28;2 31;1 30;1 32;1 TO CUSTOMER I/O
3 3
PCIe CAN_H -XS17_CAN_H / 25;1 28;2 31;1 30;1 32;1
4 4
V+ -XS17_V+ / 25;1 28;2 31;1 30;1 32;1
5 5

-V- / 23.a;1 24.a;1 33;1

We reserve all rights in this document and in the information contained therein.Reproduction, use or

-CAN_L / 23.a;1 24.a;1 33;1

disclosure to third parties without express authority is strictly forbidden. © Copyright 2003 ABB

DSQC652 or DSQC651
-DRAIN / 23.a;1 24.a;1 33;1
-CAN_H / 23.a;1 24.a;1 33;1
-V+ / 23.a;1 24.a;1 33;1

PROFIBUS M PCI
DSQC1005
-A31.3
X12
-XS18
-XS18 / 22;6
1
VP 1 -XS18_VP /
6 2 -XS18 / 22;6
2 3 -XS18 / 22;6 22;6 22;6 OPTION:
7
B-Line 4 -XS18_B_LINE / TO CUSTOMER I/O
3
A-Line 5 -XS18_A_LINE /
PCIe 8
CNTR-P 6 -XS18_CNTR-P /
4 7 -XS18 / 22;6
9
GND 8 -XS18_GND /
5 9

Latest revision: Lab/Office: Status: Plant: =

Location: +
DEVICENET A31.2 DSQC1006 / PROFIBUS A31.3 DSQC1005 Approved Sublocation:+
Document no. Rev. Ind Page 22
3HAC049406-003 Next 23.a
Prepared by, date: CNALWAN22 Approved by, date: 10 Total 60
 1 2 3 4 5 6 7 8

DIGITAL I/O UNIT

11;2 / -+24Vdevicenet DSQC652
I/O4
11;2 / -0Vdevicenet

XTXX.X3
-X3 -XS12
INPUT CH.1 1
1 2 2
2 3 3
3 4 4
We reserve all rights in this document and in the information contained therein.Reproduction, use or

-X5 4
22;7 / -V- 5
disclosure to third parties without express authority is strictly forbidden. © Copyright 2003 ABB

5
22;7 / -CAN_L 1 5 6 CUSTOMER DI
6
22;7 / -CAN_H 2 6 7 7
22;7 / -V+ 4 7 8 8
5 8 0V 9
22;7 / -DRAIN 9
10
0V 3 10
NA0 6
NA1 7
1) NA2 8
0V
NA3 9 4)
NA4 10 XTXX.X4
NA5 11
-X4 -XS13
12 INPUT CH.9 1
1 10 2
2 11 3
3 12 4
4 13 5
5 14 CUSTOMER DI
6
6 15 7
1) THE DEFAULT NODE ADDRESS IS 10. 7 16 8
8 0V 9
9
10
10

Latest revision: Lab/Office: Status: Plant: =

Approved Location: +
DIGITAL I/O UNIT INPUT Sublocation:+
Document no. Rev. Ind Page 23.a
3HAC049406-003 Next 23.b
Prepared by, date: CNALWAN22 Approved by, date: 10 Total 60
 1 2 3 4 5 6 7 8

DIGITAL I/O UNIT

DSQC652
I/O3

OUTPUT CH 1-8

XTXX.X1

<1 -X1 -XS14

OUTPUT CH.1 1
1 2 2
We reserve all rights in this document and in the information contained therein.Reproduction, use or

2 3
disclosure to third parties without express authority is strictly forbidden. © Copyright 2003 ABB

3
3 4 4
4 5 5
5 6 CUSTOMER DO
6
6 7 7
7 8 8
8 0V 9
9 24V DC 10
10

OUTPUT CH 9-16
XTXX.X2

<1 -X2 -XS15

INPUT 24V DC

OUTPUT CH.9 1
1 10 2
0V

2 11 3
3 12 4
4 13 5
5 14 CUSTOMER DO
6
6 15 7
7 16 8
8 0V 9
9 24V DC 10
10

Latest revision: Lab/Office: Status: Plant: =

Approved Location: +
DIGITAL I/O UNIT OUTPUT Sublocation:+
Document no. Rev. Ind Page 23.b
3HAC049406-003 Next 24.a
Prepared by, date: CNALWAN22 Approved by, date: 10 Total 60
 1 2 3 4 5 6 7 8

COMBI I/O UNIT

11;2 / -+24Vdevicenet DSQC651
I/O4
11;2 / -0Vdevicenet

XTXX.X3
-X3 -XS13
INPUT CH.1 1
1 2 2
2 3 3
3 4
-X5 4
22;7 / -V- 4 5 5
22;7 / -CAN_L 1 5 6 CUSTOMER DI
6
We reserve all rights in this document and in the information contained therein.Reproduction, use or

22;7 / -CAN_H 2 6 7
disclosure to third parties without express authority is strictly forbidden. © Copyright 2003 ABB

7
22;7 / -V+ 4 7 8 9
5 8 0V 8
22;7 / -DRAIN 9 NC 10
0V 3 10
NA0 6
NA1 7
1) NA2 8
0V
NA3 9
NA4 10
NA5 11
-X4
12
1
2
3
4
5
6
1) THE DEFAULT NODE ADDRESS IS 10. 7
8
9
10

Latest revision: Lab/Office: Status: Plant: =

Approved Location: +
COMBI I/O UNIT INPUT Sublocation:+
Document no. Rev. Ind Page 24.a
3HAC049406-003 Next 24.b
Prepared by, date: CNALWAN22 Approved by, date: 10 Total 60
 1 2 3 4 5 6 7 8

DSQC651
I/O3 COMBI I/O UNIT
OUTPUT CH 1-8

XTXX.X1
-X1 -XS12
<1 OUTPUT CH.1 1
1 2 2
2 3 3
3 4 4
4 5 5 CUSTOMER DO
5 6 6
6 7 7
7 8 8
8 0V
0V 9
9
24V DC 10
10
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

-X6 AO.NC -XS14

INPUT CH.1 1
CPU INPUT CH.2 1 AO.NC 2
2

0V AO.NC 3
3

DAC CUSTOMER AO
AO.A1 5
5

REF AO.0V 4
4
AO.A2 6
6

+15V
DC
0VA
DC
-15V

Latest revision: Lab/Office: Status: Plant: =

Approved Location: +
COMBI I/O UNIT OUTPUT Sublocation:+
Document no. Rev. Ind Page 24.b
3HAC049406-003 Next 25
Prepared by, date: CNALWAN22 Approved by, date: 10 Total 60
 1 2 3 4 5 6 7 8

opt. 816
opt. 817
DIG. PART OF COMBI I/O AND DIG. I/O UNIT DSQC 651& 652
-I/Ox4

XTXX.X3
-X3
INPUT CH.1
1 2
3) 2 3
3 4
-X5 4
22;7 / -XS17_V- 5
We reserve all rights in this document and in the information contained therein.Reproduction, use or

22;7 / -XS17_CAN_L 1 5 6
disclosure to third parties without express authority is strictly forbidden. © Copyright 2003 ABB

22;7 / -XS17_CAN_H 2 6 7
22;7 / -XS17_V+ 4 7 8
5 8 0V
22;7 / -XS17_DRAIN 9
0V 3 10
OR PREVIOUS NA0 6
NA1 7
I/O UNIT
1) NA2 8
0V
NA3 9 4)
NA4 10 XTXX.X4
NA5 11
-X4
12 INPUT CH.9
1 10
2 11
3 12
4 13
5 14
6 15
1) JUMPERS PLACED ACCORDING TO 7 16
8 0V
THE ACTUAL NODE ADDRESS.
9
10
2) RESISTANS 120 OHM SHALL ALWAYS
BE CONNECTED IN THE FIRST AND THE
LAST CONNECTOR IN THE CAN-BUS CIRCUIT.

3) CONNECTED IN THE LAST CONNECTOR IN THE

CAN-BUS CIRCUIT.

4) ONLY FOR DIGITAL I/O DSQC 652.

Latest revision: Lab/Office: Status: Plant: =

Approved Location: +
DIGITAL PART OF COMBI I/O AND Sublocation:+
DIGITAL I/O UNIT DSQC651&652 Document no. Rev. Ind Page 25
3HAC049406-003 Next 26
Prepared by, date: CNALWAN22 Approved by, date: 10 Total 60
 1 2 3 4 5 6 7 8

opt. 816
DIGITAL I/O UNIT DSQC 652
I/O1

OUTPUT CH 1-8

XTXX.X1
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

<1 -X1
OUTPUT CH.1
1 2
2 3
3 4
4 5
5 6
6 7
7 8
8 0V
9 24V DC
10

OUTPUT CH 9-16
XTXX.X2

<1 -X2
OUTPUT CH.9
INPUT 24V DC

1 10
2 11
0V

3 12
4 13
5 14
6 15
7 16
8 0V
9 24V DC
10

Latest revision: Lab/Office: Status: Plant: =

Approved Location: +
DIGITAL I/O UNIT DSQC652 Sublocation:+
Document no. Rev. Ind Page 26
3HAC049406-003 Next 27
Prepared by, date: CNALWAN22 Approved by, date: 10 Total 60
 1 2 3 4 5 6 7 8

opt. 817
COMBI I/O UNIT DSQC 651
I/O1
OUTPUT CH 1-8

XTXX.X1
-X1
<1 OUTPUT CH.1
1 2
2 3
3 4
4 5
5 6
6 7
7 8
8 0V
0V 9 24V DC
10
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

-X6
INPUT CH.1
CPU INPUT CH.2 1
2

0V
3

DAC
OUTPUT CH.1
5

REF 0VA
4
OUTPUT CH.2
6

+15V
DC
0VA
DC
-15V

Latest revision: Lab/Office: Status: Plant: =

Approved Location: +
COMBI I/O UNIT DSQC651 Sublocation:+
Document no. Rev. Ind Page 27
3HAC049406-003 Next 28
Prepared by, date: CNALWAN22 Approved by, date: 10 Total 60
 1 2 3 4 5 6 7 8

opt. 818
DIG. PART OF RELAY I/O UNIT DSQC 653
I/O1

XTXX.X3
-X3
INPUT CH.1
1 2
3) 2 3
-X5 3 4
22;7 / -XS17_V- 4 5
We reserve all rights in this document and in the information contained therein.Reproduction, use or

22;7 / -XS17_CAN_L 1 5 6
disclosure to third parties without express authority is strictly forbidden. © Copyright 2003 ABB

22;7 / -XS17_CAN_H 2 6 7
22;7 / -XS17_V+ 4 7 8
5 8 0V
22;7 / -XS17_DRAIN 9
0V 3
OR PREVIOUS NA0 6
NA1 7
I/O UNIT 0V
1) NA2 8
NA3 9
NA4 10
NA5 11
12

1) JUMPERS PLACED ACCORDING TO

THE ACTUAL NODE ADDRESS.

2) RESISTANS 120 OHM SHALL ALWAYS

BE CONNECTED IN THE FIRST AND THE
LAST CONNECTOR IN THE CAN-BUS CIRCUIT.

3) CONNECTED IN THE LAST CONNECTOR IN THE

CAN-BUS CIRCUIT.

Latest revision: Lab/Office: Status: Plant: =

Approved Location: +
RELAY I/O UNIT DSQC653 Sublocation:+
Document no. Rev. Ind Page 28
3HAC049406-003 Next 29
Prepared by, date: CNALWAN22 Approved by, date: 10 Total 60
 1 2 3 4 5 6 7 8

opt. 818
RELAY I/O UNIT DSQC 653
RELAY I/O1

XTXX.X1
-X1
OUT CH.1A
1

OUT CH.1B
2

OUT CH.2A
3

OUT CH.2B
4
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

OUT CH.3A
5

OUT CH.3B
6

OUT CH.4A
7

OUT CH.4B
8

OUT CH.5A
9

OUT CH.5B
10

OUT CH.6A
11

OUT CH.6B
12

OUT CH.7A
13

OUT CH.7B
14

OUT CH.8A
15

OUT CH.8B
16

Latest revision: Lab/Office: Status: Plant: =

Approved Location: +
RELAY I/O UNIT DSQC653 Sublocation:+
Document no. Rev. Ind Page 29
3HAC049406-003 Next 30
Prepared by, date: CNALWAN22 Approved by, date: 10 Total 60
 1 2 3 4 5 6 7 8

opt. 821
REMOTE I/O UNIT DSQC 350A
I/O1
3)
-X5
22;7 / -XS17_V-
We reserve all rights in this document and in the information contained therein.Reproduction, use or

22;7 / -XS17_CAN_L 1 NAC

disclosure to third parties without express authority is strictly forbidden. © Copyright 2003 ABB

22;7 / -XS17_CAN_H 2 -X8

22;7 / -XS17_V+ 4 LINE 1 (BLUE)
5 REMOTE I/O IN
1
22;7 / -XS17_DRAIN
0V 3 LINE 2 (CLEAR)
OR PREVIOUS NA0 6 1 2
I/O UNIT NA1 7 -X9
1) NA2 8 (BLUE)
NA3 9 REMOTE I/O OUT
1
NA4 10
NA5 11 (CLEAR)
12
2

1) JUMPERS PLACED ACCORDING TO

THE ACTUAL NODE ADDRESS.

2) RESISTANS 120 OHM SHALL ALWAYS

BE CONNECTED IN THE FIRST AND THE
4
LAST CONNECTOR IN THE CAN-BUS CIRCUIT.
4
3) CONNECTED IN THE LAST CONNECTOR IN THE
CAN-BUS CIRCUIT.

Latest revision: Lab/Office: Status: Plant: =

Approved Location: +
REMOTE I/O UNIT DSQC350A Sublocation:+
Document no. Rev. Ind Page 30
3HAC049406-003 Next 31
Prepared by, date: CNALWAN22 Approved by, date: 10 Total 60
 1 2 3 4 5 6 7 8

opt. 819
ANALOGUE I/O UNIT DSQC 355B
I/O1

-X7
ANOUT_1
1 ANOUT_2
2 ANOUT_3
ADC MUX 3 ANOUT_4
4 0V
19 0V
3) 0V 20 0V
21 0V
We reserve all rights in this document and in the information contained therein.Reproduction, use or

-X5
22;7 / -XS17_V- 22
disclosure to third parties without express authority is strictly forbidden. © Copyright 2003 ABB

22;7 / -XS17_CAN_L 1
22;7 / -XS17_CAN_H 2
22;7 / -XS17_V+ 4
5
22;7 / -XS17_DRAIN
0V 3 REF
DAC
OR PREVIOUS NA0 6
-X8
I/O UNIT NA1 7 ANIN_1
1) NA2 8 1 ANIN_2
NA3 9 2 ANIN_3
NA4 10 3 ANIN_4
NA5 11 4
12 24V
17
18
19
20
21
0V 22
1) JUMPERS PLACED ACCORDING TO 23
THE ACTUAL NODE ADDRESS. 24 0V
25 0V
2) RESISTANS 120 OHM SHALL ALWAYS
26 0V
27 0V
BE CONNECTED IN THE FIRST AND THE 28
LAST CONNECTOR IN THE CAN-BUS CIRCUIT.

3) CONNECTED IN THE LAST CONNECTOR IN THE

CAN-BUS CIRCUIT.

Latest revision: Lab/Office: Status: Plant: =

Approved Location: +
ANALOGUE I/O UNIT DSQC355B Sublocation:+
Document no. Rev. Ind Page 31
3HAC049406-003 Next 32
Prepared by, date: CNALWAN22 Approved by, date: 10 Total 60
 1 2 3 4 5 6 7 8

opt. 826
ENCODER UNIT DSQC 377
I/O1

Encoder
Connection

-X20
3) 24 VDC
-X5 1
22;7 / -XS17_V- 0V
We reserve all rights in this document and in the information contained therein.Reproduction, use or

22;7 / -XS17_CAN_L 1
disclosure to third parties without express authority is strictly forbidden. © Copyright 2003 ABB

2
22;7 / -XS17_CAN_H 2 ENC +24V
22;7 / -XS17_V+ 4
3
5 ENC 0V
22;7 / -XS17_DRAIN 4 Encoder
0V 3 2 1 ENC_A
OR PREVIOUS NA0 6
5
7 A
I/O UNIT NA1 ENC_B
1) NA2 8
6
NA3 9 1 +24V
NA4 10
7
NA5 11 0V Synch switch
12 2 1
8
DIGIN
A
9

2 1
1) JUMPERS PLACED ACCORDING TO
A
THE ACTUAL NODE ADDRESS.
1
2) RESISTANS 120 OHM SHALL ALWAYS
BE CONNECTED IN THE FIRST AND THE
LAST CONNECTOR IN THE CAN-BUS CIRCUIT.

3) CONNECTED IN THE LAST CONNECTOR IN THE

CAN-BUS CIRCUIT.

Latest revision: Lab/Office: Status: Plant: =

Approved Location: +
ENCODER UNIT DSQC377 Sublocation:+
Document no. Rev. Ind Page 32
3HAC049406-003 Next 33
Prepared by, date: CNALWAN22 Approved by, date: 10 Total 60
 1 2 3 4 5 6 7 8

CC-LINK DSQC378B
-I/Ox6

Customer
Connection
3)
-X5
22;7 / -V-
We reserve all rights in this document and in the information contained therein.Reproduction, use or

1 -X8
22;7 / -CAN_L SLD-SHIELD
disclosure to third parties without express authority is strictly forbidden. © Copyright 2003 ABB

22;7 / -CAN_H 2 1
22;7 / -V+ 4 DA-Signal line A
5 2 DG-GND
22;7 / -DRAIN 3 DB-Signal line B
0V 3 4
OR PREVIOUS NA0 6 5 FG-Power GND
NA1 7 6
I/O UNIT
1) NA2 8
NA3 9
NA4 10
NA5 11
12

-X3
0V DC
External supply GND 1
+24VDC 3
5

1) JUMPERS PLACED ACCORDING TO

THE ACTUAL NODE ADDRESS.

2) RESISTANS 120 OHM SHALL ALWAYS

BE CONNECTED IN THE FIRST AND THE
LAST CONNECTOR IN THE CAN-BUS CIRCUIT.

3) CONNECTED IN THE LAST CONNECTOR IN THE

CAN-BUS CIRCUIT.

Latest revision: Lab/Office: Status: Plant: =

Approved Location: +
CC-LINK Sublocation:+
Document no. Rev. Ind Page 33
3HAC049406-003 Next 34
Prepared by, date: CNALWAN22 Approved by, date: 10 Total 60
 1 2 3 4 5 6 7 8

Robot controller

Main computer
Power Supply
Yellow label
Ethernet Service 24V I/O
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

Ethernet
Cam 1
24V External
Ethernet switch Ethernet Camera lighting

Cam 2
24V External
Ethernet Camera lighting

Cam 3
Ethernet External
24V Camera lighting

Latest revision: Lab/Office: Status: Plant: =

Approved Location: +
VISION, INTEGRATED CAMERAS Sublocation:+
Document no. Rev. Ind Page 34
3HAC049406-003 Next 35
Prepared by, date: CNALWAN22 Approved by, date: 10 Total 60
 1 2 3 4 5 6 7 8

-XS16
+24V 1
11;2 / -24V_OUT 0V 2
+24V.REDwire / Power
11;2 / -0V_OUT 3
0V.GroundBLACKwire / Camera 1 Customer
4
.+24V.REDwire / Power connection
.0V.GroundBLACKwire / Camera 2

Ethernet switch
-A64 -X2 Customer connection
-X6 US 24V 1

GND 0V 2
We reserve all rights in this document and in the information contained therein.Reproduction, use or

Camera 1
disclosure to third parties without express authority is strictly forbidden. © Copyright 2003 ABB

-X3 Customer connection

1

A31.X2 2 Camera 2
-X1
19;7 / -1.TXRX+ RX+
1 3

19;7 / -1.TXRX- RX-

2 6

19;7 / -1.RXTX+ TX+

3
-X4 Customer connection
19;7 / -1.RXTX- TX-
6 1

2 Camera 3
3

-X5
TX+ 1 4.TXRX+ / 40;2

TX- 2 4.TXRX- / 40;2

A61.X10
RX+ 4.RXTX+ / 40;2
3 If option Remote service
RX- 6 4.RXTX- / 40;2

Latest revision: Lab/Office: Status: Plant: =

Approved Location: +
ETHERNET SWITCH A64/CAMERA Sublocation:+
Document no. Rev. Ind Page 35
3HAC049406-003 Next 36
Prepared by, date: CNALWAN22 Approved by, date: 10 Total 60
 1 2 3 4 5 6 7 8

DSQC668

-A42

POWER DISTRIBUTION
UNIT -X1
11;1 / -+24V DRIVE -A41
/38;2
1 -X11
11;1 / -0V DRIVE
AWG24 WHOG -X3
2
1 1
3
OG
2 2
4
WHEN
We reserve all rights in this document and in the information contained therein.Reproduction, use or

3 3
disclosure to third parties without express authority is strictly forbidden. © Copyright 2003 ABB

WHBU
6 6

AWG24 WHOG -X2

19;7 / -TX+
1
19;7 / -TX- OG -X4
A31.A9
MAIN COMPUTER 2 1
19;7 / -RX+ WHGN
3 2
19;7 / -RX- GN
6 3

Latest revision: Lab/Office: Status: Plant: =

Approved Location: +
AXIS COMPUTER UNIT Sublocation:+
Document no. Rev. Ind Page 36
3HAC049406-003 Next 37
Prepared by, date: CNALWAN22 Approved by, date: 10 Total 60
 1 2 3 4 5 6 7 8

-A42

-X4
MRCO1 -MRCO1 / 42;3 44;2 46;2 48;2 50;2
54;2
1

MRCO1_N -MRCO1_N / 42;3 44;2 46;2 48;2 50;2

54;2
2

MRCI1 -MRCI1 / 42;3 44;2 46;2 48;2 50;2

54;2
4

MRCI1_N -MRCI1_N / 42;3 44;2 46;2 48;2 50;2 CONTROL

54;2 SIGNAL
5

0V -MRC_0V;1 / 42;3 44;2 46;2 48;2 50;2

54;2
6
We reserve all rights in this document and in the information contained therein.Reproduction, use or

-24V_SMB1
disclosure to third parties without express authority is strictly forbidden. © Copyright 2003 ABB

24V_SMB1 / 42;3 44;2 46;2 48;2 50;2

54;2
7

0V -MRC_0V;2 / 44;2 46;2 50;2

3

0V -MRC_0V;3 / 44;2 46;2 50;2

9

CABINET
WALL

-X5 -XS41
MRCO2
1 1
MRCO2_N
2 2
MRCI2
4 4
MRCI2_N EXT. AXIS
5 5 SIGNAL
0V
6 6
24V_SMB2
7 7
0V
3 3
0V
9 9

Latest revision: Lab/Office: Status: Plant: =

Approved Location: +
AXIS COMPUTER UNIT Sublocation:+
Document no. Rev. Ind Page 37
3HAC049406-003 Next 38
Prepared by, date: CNALWAN22 Approved by, date: 10 Total 60
 1 2 3 4 5 6 7 8

CONTACTOR UNIT

/
-L12

-L22
-27 AWG14 BK

-28 AWG14 BK

AWG14 GNYE
-A41 -CN6 1 2 3 4
We reserve all rights in this document and in the information contained therein.Reproduction, use or

-CN7
disclosure to third parties without express authority is strictly forbidden. © Copyright 2003 ABB

-821 AWG12 BK Adapter -132 AWG12 BK

1 1 -192 GNYE
1 AWG12
-R1.1
2
-822 AWG12 BK -133 AWG12 BK
2
2
-CN4
11;1 / -0V Drive sys
1
11;1 / -24V Drive sys
2

-CN5

Wire No. Single phase

27 P
28 N
29

Latest revision: Lab/Office: Status: Plant: =

Approved Location: +
RECTIFIER AND BLEEDER Sublocation:+
Document no. Rev. Ind Page 38
3HAC049406-003 Next 39
Prepared by, date: CNALWAN22 Approved by, date: 10 Total 60
We reserve all rights in this document and in the information contained therein.Reproduction, use or 1 2 3 4 5 6 7 8

FAN UNIT
disclosure to third parties without express authority is strictly forbidden. © Copyright 2003 ABB

-E1
11;8 / -+24V COOL;2 -354 AWG24 BU

11;8 / -+24V COOL;3 -350 AWG24 BU

=CAB-E41 -X1 1 =CAB-E42

-X1 1

+
-X1 -X1
M M
2 2
- -

-X1 3 -X1 3

11;8 / -0V COOL;3 -351 AWG24 BU

11;8 / -0V COOL;2 -355 AWG24 BU

Latest revision: Lab/Office: Status: Plant: =

Approved Location: +
FAN UNIT Sublocation:+
Document no. Rev. Ind Page 39
3HAC049406-003 Next 40
Prepared by, date: CNALWAN22 Approved by, date: 10 Total 60
 1 2 3 4 5 6 7 8

Option: REMOTE SERVICE BOX DSQC1016/1023 opt. 890-1

-A61

-X103 -X1
3001
1 1
3002 -X2 ANTENNA
2
3003 2 when opt. 890-1
3 3
3004
4 4
3005
5 5
3006
6 6
247 -P2
11;2 / -24V_OUT 3007
7 7 1
11;2 / -0V_OUT 248 3008
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

8 8 2

9 9 3
SERVICE PORT
4
when opt. 890-1

7
AWG24
WHOG
-P1 8
19;7 / -1.TXRX+ RX+
1
19;7 / -1.TXRX- OG
RX-
A31.X2 2
or 19;7 / -1.RXTX+
WHGN
TX+
3
A64.X5 GN
-P3
if opt. 1341-1 19;7 / -1.RXTX- TX- LAN3 only for diagnostic 8/
6

-P4
35;5 / 4.TXRX+ LAN4 for WAN/
35;5 / 4.TXRX-

35;5 / 4.RXTX+

35;5 / 4.RXTX-

Latest revision: Lab/Office: Status: Plant: =

Approved Location: +
REMOTE SERVICE BOX DSQC1016/1023 Sublocation:+
Document no. Rev. Ind Page 40
3HAC049406-003 Next 41
Prepared by, date: CNALWAN22 Approved by, date: 10 Total 60
 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
1

Latest revision:
/38;2
-A41

Prepared by, date: CNALWAN22

2

-XS/XP1
-CN100

M3R -400 AWG14 BK

6
1

A1
M3S -402 AWG14 BK

Approved by, date:

9
3

A3
M3T -404 AWG14 BK
2

10
A5

=MAN+R1.120-(MP 1-)6
-CN200

M1R -406 AWG14 BK

3

1
1

A7
M1S -408 AWG14 BK

2
3

A9
M1T -410 AWG14 BK

5
2

A11
-CN300

M2R -412 AWG14 BK

3
1

A13

M2S -414 AWG14 BK

4
3
4

A15

M2T -416 AWG14 BK

8
2

B1
-CN400

M6R -418 AWG14 BK

1

20
B3

Lab/Office:
M6S -420 AWG14 BK
3

23
B4

M6T -422 AWG14 BK

2

24
B5
5

-CN500

M5R -424 AWG14 BK

1

17
B6

M5S -425 AWG14 BK

3

21
B7

M5T -426 AWG14 BK

2

22
B8

SERVO DRIVE SYSTEM IRB 120

6

-CN600

M4R -428 AWG14 BK

IRB 120 cabinet module

15
B9

M4S -430 AWG14 BK

3

16
B10

M4T -432 AWG14 BK

2

19
B11

AWG10 GNYE
Status:
7

AWG10 GNYE
Approved
Document no.
3HAC049406-003
Plant:

Sublocation:+
Location: +
=
MANIPULATOR 120
CABINET
8

10 Total 60
Next 42
Rev. Ind Page 41
 1 2 3 4 5 6 7 8

DRIVE MANIPULATOR 120

MODULE

=MAN+R2.120-SMB/EIB
-XS/XP2
37;6 / -MRCO1 WH SDI
37;6 / -MRCO1_N A BU A SDI-N
37;6 / -MRCI1 B WH B SDO
37;6 / -MRCI1_N C OG C SDO-N
AXIS COMPUTER BOARD 37;6 / -MRC_0V;1 D WH D 0V ENCODER
E WH E
A42-X4 INTERFACE
37;6 / -24V_SMB1 GN 24V BOARD
F BN F

G
H
J

-495 AWG20 -XS/XP1

12;7 / -LIM_2B BU
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

D1
12;7 / -LIM_2A -496 AWG20 BU

12;7 / -LIM_1B -497 AWG20 BU D3

12;7 / -LIM_1A -498 AWG20 BU D2

D4

-BR.XS/BR.XP1 -433 AWG16

15.a;5 / -EXT.LAMP BU

1 C7
11;3 / -BRAKEPB -434 AWG16 BU
CONTACTOR UNIT
2 -435 AWG16 B16 =MAN+R1.120-(MP 1-)6
15.a;6 / -BRAKEREL1 BU

3 B12 13
15.a;6 / -BRAKEREL2 -436 AWG16 BU

4 B13
-437 AWG16 BU GYBU
11;3 / -0V BRAKE;1
5 B14 12
11;3 / -0V BRAKE;2 -438 AWG16 BU

SAFETY UNIT 6 B15

A21-X5 15.a;6 / -PTC -491 AWG20 BU -439 AWG16 BU

7 C2
-440 AWG16 BU
15.a;6 / -PTC_RET -492 AWG20 BU

8 C1

Latest revision: Lab/Office: Status: Plant: =

Approved Location: +
CONTROL CABLE IRB 120 Sublocation:+
Document no. Rev. Ind Page 42
3HAC049406-003 Next 42.a
Prepared by, date: CNALWAN22 Approved by, date: 10 Total 60
 1 2 3 4 5 6 7 8

MANIPULATOR
IRB120

0,23mm2

According to Manipulator circuit diagram 3HAC031408-003

R1-CP/CS
WH/BU
A
BU
B
WH/OG
We reserve all rights in this document and in the information contained therein.Reproduction, use or

C
disclosure to third parties without express authority is strictly forbidden. © Copyright 2003 ABB

OG
Customized connection D
WH/GN
E
GN
F
WH/BN
G
BN
H
WH/GY
J
GY
K

Latest revision: Lab/Office: Status: Plant: =

APPROVED Location: +
CUSTOMER POWER/SIGNAL IRB 120 Sublocation:+
Document no. Rev. Ind Page 42.a
3HAC049406-003 Next 43
Prepared by, date: CNALWAN22 Approved by, date: 10 Total 60
 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
1

Latest revision:
-A41

Prepared by, date: CNALWAN22

=MAN+R1.140-(MP 1-)3
-XS/XP1
-CN100

M3R BUGN -400 AWG14 BK

1

13
A1
2

M3S BURD -402 AWG14 BK

3

17
A3
M3T BUWH -404 AWG14 BK
2

15
A5

Approved by, date:

MAIN SERVO DRIVE UNIT

-CN200

M1R BKBU -406 AWG14 BK

1
1

A7
M1S BKGN -408 AWG14 BK

5
3

A9
M1T BKRD -410 AWG14 BK

3
2
3

A11
-CN300

M2R BKWH -412 AWG14 BK

7
1

A13

M2S BK -414 AWG14 BK

3

11
A15

M2T BUBK -416 AWG14 BK

9
2

B1
4

=MAN+R1.140-(MP 4-)6
-CN400

M6R BN -418 AWG14 BK

6
1

B3

Lab/Office:
M6S GNRD -420 AWG14 BK

9
3

B4

M6T GNWH -422 AWG14 BK

2

12
B5
5

-CN500

M5R BNGN -424 AWG14 BK

4
1

B6

M5S BNRD -425 AWG14 BK

7
3

B7

M5T BNWH -426 AWG14 BK

2

10
B8
IRB 140 cabinet module

SERVO DRIVE SYSTEM IRB 140

-CN600

M4R BU -428 AWG14 BK

1
1
6

B9

M4S BNBK -430 AWG14 BK

2
3

M4T BNBU -432 AWG14 BK

3
2

B10 B11

AWG10 GNYE
Status:
7

AWG10 GNYE
Approved
Document no.
3HAC049406-003
Plant:

Sublocation:+
Location: +
=
8

MANIPULATOR
DRIVE MODULE

10 Total 60
Next 44
Rev. Ind Page 43
 1 2 3 4 5 6 7 8

DRIVE MANIPULATOR
MODULE

=MAN+R2.140-SMB
-XS/XP2
37;6 / -MRCO1 WH SDI
37;6 / -MRCO1_N A BU 9 SDI-N
37;6 / -MRCI1 B WH 5 SDO
37;6 / -MRCI1_N C OG 8 SDO-N
AXIS COMPUTER BOARD 37;6 / -MRC_0V;1 D WH 4 0V SERIAL
E WH 3
A42-X4 MEASUREMENT
37;6 / -24V_SMB1 GN 24V BOARD
F BN 7
37;6 / -MRC_0V;2
G
37;6 / -MRC_0V;3 H
J GY BATSUP
K RD 6 BATLD
L 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

=MAN+R1.140-H1
-BR.XS/BR.XP1 -_433 AWG16 BU -XS/XP1 OG
15.a;5 / -EXT.LAMP
=MAN+R1.140-(MP 4-)6
1 C7 1
11;3 / -BRAKEPB -_434 AWG16 BU OGWH
CONTACTOR UNIT 15
2 B16
15.a;6 / -BRAKEREL1 -_435 AWG16 BU GYBK
B12 8
3
15.a;6 / -BRAKEREL2 -_436 AWG16 BU GYBU
B13 5
4

11;3 / -0V BRAKE;1 -_437 AWG16 BU GYGN

B14 13
5
SAFETY UNIT 15.a;6 / -PTC -_439 AWG16 BU OGBU
A21-X5 7 C2 =MAN+R1.140-(MP 1-)3 11
15.a;6 / -PTC_RET -_440 AWG16 BU OGBK
C1 2
8
11;3 / -0V BRAKE;2 -_438 AWG16 BU OGRD
B15 14
6

12;7 / -LIM_1B -497 GYWH

D2 10
12;7 / -LIM_2B -495 GYRD
D1 16
12;7 / -LIM_2A -496 GY
D3 18
12;7 / -LIM_1A -498 OGGN
D4 12

Latest revision: Lab/Office: Status: Plant: =

Approved Location: +
CONTROL CABLE IRB 140 Sublocation:+
Document no. Rev. Ind Page 44
3HAC049406-003 Next 45
Prepared by, date: CNALWAN22 Approved by, date: 10 Total 60
 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
1

Latest revision:

Prepared by, date: CNALWAN22

2

-A41

Approved by, date:

=MAN+R1.340-(MP 1-)3
-XS/XP1
-CN100

M2R BKWH M2R -_400 AWG14 BK

9
1

A11
M2S BK M2S -_402 AWG14 BK
3
3

11
A9
M2T BUBK M2T -_404 AWG14 BK

7
2

A7
MAIN SERVO DRIVE UNIT

=MAN+R1.340-(MP 4-)6
-CN200

M1T BKRD M1R -_406 AWG14 BK

2
1

B4

M1S BKGN M1S -_408 AWG14 BK

1
3

B3

M1R BKBU M1T -_410 AWG14 BK

3
2

A5
4

-CN300

M3R BUGN M3R -_418 AWG14 BK

9
1

B10

M3S BURD M3S -_420 AWG14 BK

6
3

B9

Lab/Office:
M3T BUWH M3T -_422 AWG14 BK
2

10
B8
5

-CN500

M4R BU M4R -_412 AWG14 BK

1

15
B1

M4S BNBK M4S -_414 AWG14 BK

3

17
A15

M4T BNBU M4T -_416 AWG14 BK

2

13
A13

SERVO DRIVE SYSTEM IRB 360

6

AWG10 GNYE
IRB 360 cabinet module

AWG10 GNYE
Status:
7

Approved
Document no.
DRIVE MODULE

3HAC049406-003
MANIPULATOR

Plant:

Sublocation:+
Location: +
=
8

10 Total 60
Next 46
Rev. Ind Page 45
 1 2 3 4 5 6 7 8

DRIVE MANIPULATOR
MODULE

=MAN+R2.340-SMB
-XS/XP2
37;6 / -MRCO1 WH SDI
37;6 / -MRCO1_N A BU 9 SDI-N
37;6 / -MRCI1 B WH 5 SDO
37;6 / -MRCI1_N C OG 8 SDO-N
AXIS COMPUTER BOARD 37;6 / -MRC_0V;1 D WH 4 0V SERIAL
E WH 3
A42-X4 MEASUREMENT
37;6 / -24V_SMB1 GN 24V BOARD
F BN 7
37;6 / -MRC_0V;2
G
37;6 / -MRC_0V;3 H
J GY BATSUP
K RD 6 BATLD
L 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

=MAN+R1.340-H1
-BR.XS/BR.XP1 -_433 AWG16 BU -XS/XP1 OG
15.a;5 / -EXT.LAMP
1 C7 1 =MAN+R1.340-(MP 4-)6
CONTACTOR UNIT 11;3 / -BRAKEPB -_434 AWG16 BU OGWH
2 B16 15
15.a;6 / -BRAKEREL1 -_435 AWG16 BU GYBK
3 B12 8
15.a;6 / -BRAKEREL2 -_436 AWG16 BU GYBU
4 B13 5

11;3 / -0V BRAKE;1 -_437 AWG16 BU GYGN

5 B14 13
SAFETY UNIT 15.a;6 / -PTC -_439 AWG16 BU OGBU
A21-X5 7 C2 =MAN+R1.340-(MP 1-)3 11
15.a;6 / -PTC_RET -_440 AWG16 BU OGBK
8 C1 2
11;3 / -0V BRAKE;2 -_438 AWG16 BU OGRD
6 B15 14

12;7 / -LIM_1B -497 GYWH

D2 10
12;7 / -LIM_2B -495 GYRD
D1 16
12;7 / -LIM_2A -496 GY
D3 18
12;7 / -LIM_1A -498 OGGN
D4 12

Latest revision: Lab/Office: Status: Plant: =

Approved Location: +
CONTROL CABLE IRB 360 Sublocation:+
Document no. Rev. Ind Page 46
3HAC049406-003 Next 47
Prepared by, date: CNALWAN22 Approved by, date: 10 Total 60
 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
1

Latest revision:
-A41

Prepared by, date: CNALWAN22

=MAN+R1.1400-MP
-XS/XP1
-CN100

M1R BKBU -400 AWG14 BK

1
1

A1
2

M1S BKGN -402 AWG14 BK

2
3

A3
M1T BKRD -404 AWG14 BK

5
2

A5

Approved by, date:

MAIN SERVO DRIVE UNIT

-CN200

M2R BKWH -406 AWG14 BK

3
1

A7
M2S BK -408 AWG14 BK

4
3

A9
M2T BUBK -410 AWG14 BK
3

8
2

A11
-CN300

M3R BUGN -412 AWG14 BK

6
1

A13

M3S BURD -414 AWG14 BK

9
3

A15

M3T BUWH -416 AWG14 BK

2

10
B1
4

-CN400

M4R BU -418 AWG14 BK

1

15
B3

M4S BNBK -420 AWG14 BK

3

16
B4

M4T BNBU -422 AWG14 BK

2

19
B5

Lab/Office:
5

-CN500

M5R BNGN -424 AWG14 BK

1
IRB 1200 cabinet module

17
B6

M5S BNRD -425 AWG14 BK

3

21
B7

M5T BNWH -426 AWG14 BK

2

22
B8
-CN600

M6R BN -428 AWG14 BK

SERVO DRIVE SYSTEM IRB 1200
1

20
B9

M6S GNRD -430 AWG14 BK

6

23
B10

M6T GNWH -432 AWG14 BK

2

24
B11

AWG10 GNYE

AWG10 GNYE
Status:
7

Approved
Document no.
3HAC049406-003
Plant:

Sublocation:+
Location: +
=
8

MANIPULATOR
DRIVE MODULE

10 Total 60
Next 48
Rev. Ind Page 47
 1 2 3 4 5 6 7 8

DRIVE MANIPULATOR
MODULE

=MAN+R2.120-SMB/EIB
-XS/XP2
37;6 / -MRCO1 WH SDI
37;6 / -MRCO1_N A BU A SDI-N
37;6 / -MRCI1 B WH B SDO
37;6 / -MRCI1_N C OG C SDO-N
AXIS COMPUTER BOARD D
37;6 / -MRC_0V;1 WH D 0V ENCODER
A42-X4 E WH E INTERFACE
37;6 / -24V_SMB1 GN 24V BOARD
F BN F

G
H
J
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

=MAN+R1.1400-MP
-BR.XS/BR.XP1 -_433 AWG16 BU -XS/XP1 OG
15.a;5 / -EXT.LAMP
1 C7 14
CONTACTOR UNIT 11;3 / -BRAKEPB -_434 AWG16 BU OGWH
2 B16 11
15.a;6 / -BRAKEREL1 -_435 AWG16 BU GYBK
3 B12 13
15.a;6 / -BRAKEREL2 -_436 AWG16 BU GYBU
4 B13 18

11;3 / -0V BRAKE;1 -_437 AWG16 BU GYGN

5 B14 12
SAFETY UNIT 15.a;6 / -PTC -_439 AWG16 BU OGBU
A21-X5 7 C2
15.a;6 / -PTC_RET -_440 AWG16 BU OGBK
8 C1
11;3 / -0V BRAKE;2 -_438 AWG16 BU OGRD
6 B15 7

12;7 / -LIM_1B -497 GYWH

D2
12;7 / -LIM_2B -495 GYRD
D1
12;7 / -LIM_2A -496 GY
D3
12;7 / -LIM_1A -498 OGGN
D4

Latest revision: Lab/Office: Status: Plant: =

Approved Location: +
CONTROL CABLE IRB 1200 Sublocation:+
Document no. Rev. Ind Page 48
3HAC049406-003 Next 48.a
Prepared by, date: CNALWAN22 Approved by, date: 10 Total 60
 1 2 3 4 5 6 7 8

MANIPULATOR
IRB1200

0,23mm2

According to Manipulator circuit diagram 3HAC046307-003

R1-CP/CS
WH/BU
A
BU
B
WH/OG
We reserve all rights in this document and in the information contained therein.Reproduction, use or

C
disclosure to third parties without express authority is strictly forbidden. © Copyright 2003 ABB

OG
D
Customized connection WH/GN
E
GN
F
WH/BN
G
BN
H
WH/GY
J
GY
K

Latest revision: Lab/Office: Status: Plant: =

APPROVED Location: +
CUSTOMER POWER/SIGNAL IRB 1200 Sublocation:+
Document no. Rev. Ind Page 48.a
3HAC049406-003 Next 49
Prepared by, date: CNALWAN22 Approved by, date: 10 Total 60
 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
1

Latest revision:
-A41

Prepared by, date: CNALWAN22

=MAN+R1.1400-MP
-XS/XP1
-CN100

M1R BKBU -400 AWG14 BK

1

A1
A1
M1S BKGN -402 AWG14 BK
3

A2
A3
2

M1T BKRD -404 AWG14 BK

2

A3
A5
MAIN SERVO DRIVE UNIT

Approved by, date:

-CN200

M2R BKWH -406 AWG14 BK

1

A4
A7
M2S BK -408 AWG14 BK
3

A9

D1
M2T BUBK -410 AWG14 BK
2

D2
A11
3

-CN300

M3R BUGN -412 AWG14 BK

1

D3
A13

M3S BURD -414 AWG14 BK

3

D4
A15

M3T BUWH -416 AWG14 BK

2

B1
B1
4

-CN400

M4R BU -418 AWG14 BK

1

B3

A10
M4S BNBK -420 AWG14 BK
3

B4

A9
M4T BNBU -422 AWG14 BK
2

B5

A8

Lab/Office:
-CN500

M5R BNGN -424 AWG14 BK

1
5

B6

A7

M5S BNRD -425 AWG14 BK

3

B7

D10

M5T BNWH -426 AWG14 BK

2

B8

D9
-CN600

M6R BN -428 AWG14 BK

1

B9

D8

M6S GNRD -430 AWG14 BK

3

D7
B10
6

M6T GNWH -432 AWG14 BK

2

B10
B11

SERVO DRIVE SYSTEM IRB 1410, 1600, 260

AWG10 GNYE

AWG10 GNYE
IRB 1410, 1600, 260 cabinet module

Status:
7

Approved
Document no.
3HAC049406-003
Plant:

Sublocation:+
Location: +
=
8

MANIPULATOR
DRIVE MODULE

10 Total 60
Next 50
Rev. Ind Page 49
 1 2 3 4 5 6 7 8

DRIVE MANIPULATOR
MODULE

=MAN+R1.1400-SMB
-XS/XP2
37;6 / -MRCO1 WH SDI
37;6 / -MRCO1_N A BU A SDI-N
37;6 / -MRCI1 B WH B SDO
37;6 / -MRCI1_N C OG C SDO-N
AXIS COMPUTER BOARD 37;6 / -MRC_0V;1 D WH D 0V SERIAL
E WH E
A42-X4 MEASUREMENT
37;6 / -24V_SMB1 GN 24V BOARD
F BN F
37;6 / -MRC_0V;2
G G
37;6 / -MRC_0V;3 H H 0V
J GY J BATSUP
K RD K BATLD
L L
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

=MAN+R1.1400-MP
-BR.XS/BR.XP1 -_433 AWG16 BU -XS/XP1 OG
15.a;5 / -EXT.LAMP
1 C7 C7
CONTACTOR UNIT 11;3 / -BRAKEPB -_434 AWG16 BU OGWH
2 B16 B8
15.a;6 / -BRAKEREL1 -_435 AWG16 BU GYBK
3 B12 C9
15.a;6 / -BRAKEREL2 -_436 AWG16 BU GYBU
4 B13 C8

11;3 / -0V BRAKE;1 -_437 AWG16 BU GYGN

5 B14 C10
SAFETY UNIT 15.a;6 / -PTC -_439 AWG16 BU OGBU
A21-X5 7 C2 B9
15.a;6 / -PTC_RET -_440 AWG16 BU OGBK
8 C1 B2
11;3 / -0V BRAKE;2 -_438 AWG16 BU OGRD
6 B15 B7

12;7 / -LIM_1B -497 GYWH

D2 B3
12;7 / -LIM_2B -495 GYRD
D1 B4
12;7 / -LIM_2A -496 GY
D3 C2
12;7 / -LIM_1A -498 OGGN
D4 C1

Latest revision: Lab/Office: Status: Plant: =

Approved Location: +
CONTROL CABLE IRB 1410, 1600, 260 Sublocation:+
Document no. Rev. Ind Page 50
3HAC049406-003 Next 51
Prepared by, date: CNALWAN22 Approved by, date: 10 Total 60
 1 2 3 4 5 6 7 8

MANIPULATOR
IRB1410

0,23mm2
R1-CP/CS

According to Manipulator circuit diagram 3HAC02800-3

WH/BU
A
BU
B
WH/OG
We reserve all rights in this document and in the information contained therein.Reproduction, use or

C
disclosure to third parties without express authority is strictly forbidden. © Copyright 2003 ABB

OG
D
WH/GN
E
Customized connection GN
F
WH/BN
G
BN
H
WH/GY
J
GY
K
RD
L
BU
M

Latest revision: Lab/Office: Status: Plant: =

APPROVED Location: +
CUSTOMER POWER/SIGNAL IRB 1410 Sublocation:+
Document no. Rev. Ind Page 51
3HAC049406-003 Next 52
Prepared by, date: CNALWAN22 Approved by, date: 10 Total 60
 1 2 3 4 5 6 7 8

MANIPULATOR
IRB1600

AWG18 R1-CP/CS
RD CPA
BU A1 CPB
GN B1 CPC
YE C1 CPD
WH D1 CPE
BK A2 CPF
BN B2 CPJ
Customized connection VT C2 CPK
OG D2 CPH
PK A3
TQ B3
GY C3
D3

According to Manipulator circuit diagram 3HAC021351-003

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

0.23mm2
WH CSA
BU B5 CSB
WH C5 CSC
OG D5 CSD
WH A6 CSE
GN B6 CSF
WH C6 CSG
BN D6 CSH
WH A7 CSJ
GY B7 CSK
RD C7 CSL
BU D7 CSM
A8
Customized connection

RD CSN
OG B8 CSP
RD C8 CSR
GN D8 CSS
RD A9 CST
BN B9 CSU
RD C9 CSV
GY D9 CSW
BK A10 CSX
BU B10 CSY
WH C10 CSZ
D10

Latest revision: Lab/Office: Status: Plant: =

Approved Location: +
CUSTOMER POWER/SIGNAL IRB 1600 Sublocation:+
Document no. Rev. Ind Page 52
3HAC049406-003 Next 53
Prepared by, date: CNALWAN22 Approved by, date: 10 Total 60
 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
1

Latest revision:
-A41

Prepared by, date: CNALWAN22

=MAN+R1.910-MP
-XS/XP1
-CN100

M3R BK 400 AWG14 BK

9
1

A1
2

M3S BK 402 AWG14 BK

3

10
A3
M3T BK 404 AWG14 BK
2

11
A5

Approved by, date:

MAIN SERVO DRIVE UNIT

-CN200

M1R BK 406 AWG14 BK

1
1

A7
M1S BK 408 AWG14 BK

2
3

A9
M1T BK 410 AWG14 BK
3

3
2

A11
-CN300

M2R BK 412 AWG14 BK

4
1

A13

M2S BK 414 AWG14 BK

5
3

A15

M2T BK 416 AWG14 BK

6
2

B1
4

-CN600

M4R BK 428 AWG14 BK

1

12
B9

M4S BK 430 AWG14 BK

3

13
B10

M4T BK 432 AWG14 BK

2

14

Lab/Office:
B11
IRB 910 cabinet module
5

SERVO DRIVE SYSTEM IRB 910

6

AWG16 GNYE

AWG16 GNYE
Status:
7

Approved
Document no.
3HAC049406-003
Plant:

Sublocation:+
Location: +
=
8

MANIPULATOR
DRIVE MODULE

10 Total 60
Next 54
Rev. Ind Page 53
 1 2 3 4 5 6 7 8

DRIVE MANIPULATOR
MODULE

=MAN+R2.910-SMB/EIB
-XS/XP2
37;6 / -MRCO1 WH SDI
37;6 / -MRCO1_N A BU 1 SDI-N
37;6 / -MRCI1 B WH 5 SDO
37;6 / -MRCI1_N C OG 2 SDO-N
AXIS COMPUTER BOARD D
37;6 / -MRC_0V;1 WH 6 0V ENCODER
A42-X4 E WH SP1A INTERFACE
37;6 / -24V_SMB1 GN 24V BOARD
F BN SP2A
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

=MAN+R1.910-MP
-BR.XS/BR.XP1 433 AWG16 BU -XS/XP1 BK
15.a;5 / -EXT.LAMP
1 C7 16
CONTACTOR UNIT 11;3 / -BRAKEPB 434 AWG16 BU BK
2 B16 15
15.a;6 / -BRAKEREL1 435 AWG16 BU BK
3 B12 7
15.a;6 / -BRAKEREL2 436 AWG16 BU
4 B13

11;3 / -0V BRAKE;1 437 AWG16 BU BK

5 B14 8
SAFETY UNIT 15.a;6 / -PTC 439 AWG16 BU BK
A21-X5 7 C2
15.a;6 / -PTC_RET 440 AWG16 BU BK
8 C1
11;3 / -0V BRAKE;2 438 AWG16 BU
6 B15

12;7 / -LIM_1B 497 BK

D2
12;7 / -LIM_2B 495 BK
D1
12;7 / -LIM_2A 496 BK
D3
12;7 / -LIM_1A 498 BK
D4

Latest revision: Lab/Office: Status: Plant: =

Approved Location: +
CONTROL CABLE IRB 910 Sublocation:+
Document no. Rev. Ind Page 54
3HAC049406-003 Next 55
Prepared by, date: CNALWAN22 Approved by, date: 10 Total 60
 1 2 3 4 5 6 7 8

MANIPULATOR
IRB910

0,23mm2

According to Manipulator circuit diagram 3HAC056159-002

R1-CP/CS
WH/BU
A
BU
B
WH/OG
We reserve all rights in this document and in the information contained therein.Reproduction, use or

C
disclosure to third parties without express authority is strictly forbidden. © Copyright 2003 ABB

OG
D
Customized connection WH/GN
E
GN
F
WH/BN
G
BN
H
WH/GY
J
GY
K

Latest revision: Lab/Office: Status: Plant: =

APPROVED Location: +
CUSTOMER POWER/SIGNAL IRB 910 Sublocation:+
Document no. Rev. Ind Page 55
3HAC049406-003 Next
Prepared by, date: CNALWAN22 Approved by, date: 10 Total 60