LEGEND SYMBOLER
M 3
SHEET BLAD 101 Motor Motor Brake Broms Temp. sensor (PTC-resistor) Temp. givare (PTC-motstnd) Resolver Resolver Protective earth Skyddsjord Twisted cables Tvinnade kablar Screened cables Skrmade kablar
Location pin to avoid mismatch of connector Nyckelstift fr att frhindra felanslutning
CONTENT INNEHLL List of contents Innehllsfrteckning Location of connection points versikt ver delningspunkter Breake release unit, Serial measuring board Bromslossningsenhet, seriemtkort Motor axis 1-3 Motor axel 1-3 Feed-back axis 1-3 terfringsdon axel 1-3 Motor axis 4-6, 1,5-10/16 Motor axel 4-6, 1,5-10/16 Feed-back axis 4-6, 1,5-10/16 terfringsdon axel 4-6, 1,5-10/16 Motor axis 4-6, 1,8-5 Motor axel 4-6, 1,8-5 Feed-back axis 4-6, 1,8-5 terfringsdon axel 4-6, 1,8-5 Customer connection Kundanslutning Integrated wirefeed cabling; OPTION Integrerat kablage F. trdmatarverk; OPTION Position indicator axis 1; OPTION Lgesindikering axel 1; OPTION External connections; OPTION Yttre anslutningar; OPTION
102 103
B PTC
104 105 106 107 108 109 110 111 112 113
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KEY PIN/STIFT
Latest revision:
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Status:
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APPROVED
Document no.
Erik Mesaros
Johan Moraeus
3HAC6670-3
02
R2.CP R2.CS
Option: integrated wirefeed cabling
R3.MP5 R3.MP6 R3.FB5 R3.FB6 R3.MP4 R3.MP5 R3.MP6 R3.FB4 R3.FB5 R3.FB6 R3.H1 R3.H2
AIR
R3.MP1 R3.FB1
R3.MP2 R3.FB2
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R2.CP R2.CS
AIR
R1.MP1-3 R1.MP4-6 R1.CP R1.CS R1.H1 R2.SMB R2.G R2.BU R2.BU1-3 R2.BU4-6 R2.FB1-3 R2.FB4-6
A-A
Latest revision:
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Document no.
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3HAC6670-3
02
BU R1.MP4-6 15 5 8 13 14 BRAKE PB BRAKE RELEASE BRAKE RELEASE 0V BRAKE 0V BRAKE BU BU BU BU BU R2.BU 5 1 2 3 4 6 R2.BU1-3 1
113
2 3 104 4 5
0V
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SMB R2.G 1 2
BK BU
5 8 106, 108
9 10
11 R2.BU1-3 7 8 R2.BU4-6 2
104
106, 108
Latest revision:
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Lab/Office:
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APPROVED
Document no.
Erik Mesaros
Johan Moraeus
3HAC6670-3
02
R1.MP1-3 1 5 113 3
2 2 2
MU1 R3.MP1 1 2 3
R S T
R2.BU1-3 1 103 2 2
11 10 9
7 8 5 6
B
PTC MU 2 R3.MP2 1 2 3 R S T (U) M (V) 3 (W)
113
7 11 9
2 2 2 GNYE 103 3
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7 8 5 6
B
PTC
PTC 23
MU 3 113 13 17 15 2 2 2 14/17 13/16 12/15 GNYE 5 6 103 7 18 16 10 12 11 10 9 8 1 3 4 2 M3R M3S M3T PE BRAKE REL.3 0V BRAKE PTC 23 7 8 5 6 R3.MP3 1 2 3 R S T (U) M (V) (W) 3
B
PTC OPTION: Limit switch axis 3 Grnslgesbrytare axel 3 BN BU BK GY 22 12 21 11
113
B A A B
R3.LS2 R3.LS1
R3.LS2 R3.LS1
Latest revision:
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02
SMB R2.FB1-3 9 21 10 22 8 20
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RD WH OG WH WH BN
X3 0V X3 Y3 0V Y3 0V EXC EXC
2 14 3 15 6 18
GY WH VT WH WH BU
X1 0V X1 Y1 0V Y1 0V EXC EXC
FB2 R3.FB2 6 1 7 2 WH BN 8 3
4 16 5 17
GN WH YE WH
X2 0V X2 Y2 0V Y2
SH.103
Latest revision:
ECO 40059, SPR 1038405 Sh104: GY wire to R3.LS1 was BK.
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3HAC6670-3
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MU 4 R1.MP4-6 113 1 2 3 R2.BU4-6 103 4 5 2 4 BRAKE REL.4 0V BRAKE 7 8 5 6 1 3 5 M4R M4S M4T R3.MP4 1 2 3 ) R (U M S (V) ) 3 T (W
B
PTC
OPTION; LED-LAMP BU
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113
R1.H1 1
R3.H2:1
R3.H1:1 R
10
6 7 8 9
M 3
B
PTC
103 2 11 PTC 35
13 14 15 16 17
R S T
B
PTC
11
12 GNYE
PTC PE
Latest revision:
ECO 40059, SPR 1038405 Sh104: GY wire to R3.LS1 was BK.
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3HAC6670-3
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SMB R2.FB4-6 2 14 3 15 6 18
FB4 R3.FB4 6 1 7 2 8 3
OG WH RD WH WH BN
X4 0V X4 Y4 0V Y4 0V EXC EXC
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BU FB5 R3.FB5 6 1 7 2 8 3
4 16 5 17
GN WH YE WH
X5 0V X5 Y5 0V Y5
FB6 R3.FB6 6 1 7 2 8 3
9 21 10 22 8 20
BU WH VT WH WH GY
X6 0V X6 Y6 0V Y6 0V EXC EXC
SH.103
Latest revision:
ECO 40059, SPR 1038405 Sh104: GY wire to R3.LS1 was BK.
Lab/Office:
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Manipulator IRB 2400 circuit diagram Feed back axis 4-6, 1,5-10/16
Status:
2009-03-03
APPROVED
Document no.
Erik Mesaros
Johan Moraeus
3HAC6670-3
02
MU4 R1.MP4-6 1 2 113 3 PE R2.BU4-6 4 5 103 2 15 14 13 GNYE 17 16 12 BRAKE REL. 4 0V BRAKE PTC 34 7 8 5 6
BU
R3.MP4 1 2 3
R (U) S (V ) T ( W)
M 3
B
PTC
MU6
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8 7 6 10 9
R4.MP6 1 2 3 7 8 11 5 6 BU
PTC 65
R ( U) S (V ) M T (W) 3
B
PTC
113
R1.H1 1
11
EXT. LAMP
R3.H1:1
OPTION; LED-LAMP
5 4 3 1
M 3
B
PTC
R1.MP4-6 11 113 PE
2 GNYE
PTC
5 6
Latest revision:
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R3.FB4 6 1 7 2 8 3
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FB6 R4.FB6 6 1 7 2 8 3
9 21 10 22 8 20
X6 0V X6 Y6 0V Y6 0V EXC EXC
BU WH VT WH WH GY
BU FB5 R4.FB5 6 1 7 2 8 3
4 16 5 17
X5 0V X5 Y5 0V Y5
GN WH YE WH
SH.103
Latest revision:
ECO 40059, SPR 1038405 Sh104: GY wire to R3.LS1 was BK.
Lab/Office:
PRMP
Manipulator IRB 2400 circuit diagram Feed back axis 4-6, 1,8-5
Status:
2009-03-03
APPROVED
Document no.
Erik Mesaros
Johan Moraeus
3HAC6670-3
02
R1.CP 1 2 3 4 5 6 8 9 10 11 7
CPA CPB CPC CPD CPE CPF CPJ CPK CPL CPM PE
BK BN RD OG YE GN BU VT GY WH GNYE
R2.CP A B C D E F J K L M G
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113
R1.CS 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23
CSA CSB CSC CSD CSE CSF CSG CSH CSJ CSK CSL CSM CSN CSP CSR CSS CST CSU CSV CSW CSX CSY CSZ
WHBN WHRD WHOG WHYE WHGN WHBU WHVT WHGY GYBK GYBN GYRD GYOG GYYE GYGN GYBU GYVT GYWH GNBK GNBN GNRD GNOD GNBU GNVT
R2.CS A B C D E F G H J K L M N P R S T U V W X Y Z
Latest revision:
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APPROVED
Document no.
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Johan Moraeus
3HAC6670-3
02
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
R1.CS A J B C D E F G H P K L M N R S
CSA CSJ CSB CSC CSD CSE CSF CSG CSH CSP CSK CSL CSM CSN CSR CSS
GY WH VT WH BU WH GN WH YE WH OG WH RD WH BN WH
R2.CS A J B C D E F G H P K L M N R S
R1.CP M L J K F G H C E B
D A
CPM CPL CPJ CPK CPF CPG CPH CPC CPE CPB CPD CPA CPD CPA
4 5 6 7 8 9 10 11 12 13 14 15 16 17
R2.CP M L J K F G H C E B
D A
Latest revision:
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3HAC6670-3
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R2.LS2 13/23 21/11 14/24 22/12 Two switches stationary. Tv brytare fasta lgen.
C D Z
BN BU
KEY PIN/ STIFT
BU BN
R2.LS1-1 GNYE
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PE PE PE
A B
BK BN
D C
BU BK
R2.LS1-2 GNYE E F BK BN
H G
BU BK
GNYE J K BK BN
M L
BU BK
Latest revision:
ECO 40059, SPR 1038405 Sh104: GY wire to R3.LS1 was BK.
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Document no.
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3HAC6670-3
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R1.MP A1 A2 A3 A4 D1 D2 D3 D4 B1 B4 B3 C2 B2 C1
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
M1R M1S M1T M2R M2S M2T M3R M3S M3T EXT LIM 2 EXT LIM 1 LIM 2 0V PTC LIM 1 M4R M4S M4T M5R M5S M5T M6R M6S M6T BRAKE RELEASE BRAKE RELEASE 0V BRAKE PTC M 0V BRAKE BRAKE PB EXT. LAMP
PE
BK BK BK BK BK BK BK BK BK BU BU BU BU BU BK BK BK BK BK BK BK BK BK BU BU BU BU BU BU BU
R1.MP 1-3 1 5 3 7 11 9 13 17 15 16 10 18 2 12
R1.MP 4-6
104
1 2 3 4 7 10 6 9 12 8 5 13 11 14 15 R1.H1 1
CPA CPB CPC CPD CPE CPF CPJ CPK CPL CPM CSA CSB CSC CSD CSE CSF CSG CSH CSJ CSK CSL CSM CSN CSP CSR CSS CST CSU CSV CSW CSX CSY CSZ
OG OG OG OG OG OG OG OG OG OG OG OG OG OG OG OG OG OG OG OG OG OG OG OG OG OG OG OG OG OG OG OG OG
R1.CP 1 2 3 4 5 6 8 9 10 11 R1.CS 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23
106, 108
110
WH BU WH OG WH GN GY RD
R2.SMB 9 5 8 4 3 7 6 2
103
KEY PIN/
Latest revision:
ECO 40059, SPR 1038405 Sh104: GY wire to R3.LS1 was BK.
Lab/Office:
PRMP
Status:
2009-03-03
APPROVED
Document no.
Erik Mesaros
Johan Moraeus
3HAC6670-3
02