© copyright 2007 abb all right reserved. · we reserve all rights in this document and in the...

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Rev. Ind

=++

IRB1600Manipulator

01PageNextTotal

1215

Approved2007-03-19

The information in this document is subject to change without notice and should not be construed as a commitment by ABB. ABB assumes no responsibility for any errors that may appear in this document.

Except as may be expressly stated anywhere in this document, nothing herein shall be construed as anykind of guarantee or warranty by ABB for losses, damages to persons or property, fitness for aspecific purpose or the like.

In no event shall ABB be liable for incidental or consequential damages arising from use of this document.

This document and parts thereof must not be reproduced or copied without ABB's written permission,and contents therof must not be imparted to a third party nor be used for any unauthorized purpose.Contravention will be prosecuted.

Additional copies of this document may be obtained from ABB at its then current charge.

© Copyright 2007 ABB ALL right reserved.

ABB Automation Technologies ABRobotics

SE-721 68 VästeråsSweden

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TITLE PAGETitle page/cover sheet

Status:

Document no.

3HAC021351-003

Plant:Location:Sublocation:

Rev. Ind

=++

IRB1600Manipulator

01PageNextTotal

21115

Approved2007-03-19

ManufactureType

Control cabinetMains voltageSupplyControl voltageYear of construction

2007-03-22:::

::::

Type of installation

CustomerRobot serial number(s)Drawing numberDrawing version

Manipulator

::::

:

Project startProject managerLast revisionDesigned byDesigned dateNumber of pages

:::::::

sestper2007-03-2215

Prepared by, date:20

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Page 11

15Total3HAC021351-003

Latest revision:

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Manipulator Connection Points

Location:Plant: =

++Sublocation:

Connection PointsManipulator

Document no.Next

Rev. Ind

01

Lab/Office: Status:

1 2 3 4 5 6 7 8

R3.MP1R3.MP2R3.FB1R3.FB2

R4.MP1

R4.FB1

R4.MP2R4.FB2

Air R2.CPR2.CBUS

R2.CS

R3.MP3R3.MP4R3.MP5R3.MP6R3.H1R3.H2

R3.MP3R3.MP4R3.MP5R3.MP6R3.H1R3.H2

R3.FB3R3.FB4R3.FB5R3.FB6

R3.FB3R3.FB4R3.FB5R3.FB6

R4.MP6R4.FB6

R4.MP5R4.FB5

IRB 1600 ID

AirR1.SMBR1.MP R1.FB1-2 R2.G

R1.FB3-6 R2.BUR2.SMB R2.BU1-6

R1.CP/CSR1.CBUSR1.CPR1.CS

R1.LS


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Page 20

15Total3HAC021351-003

Latest revision:

Approved by, date:

Brake Release Unit Location:Plant: =

++Sublocation:

IRB1600BU

Document no.Next

Rev. Ind

01

Lab/Office: Status:Approved

2007-03-19

1 2 3 4 5 6 7 8

Brake Bleed Circuit

Brake Bleed Circuit

Brake Bleed Circuit

Brake Bleed Circuit

Brake Bleed Circuit

Brake Bleed Circuit

-BU Brake Release (Simplified)1

3

2

1

2

3

1

KA

KA

KA

KA

KA

KA

B8

-R1.MPC8

C9

C10

B7

BRAKE PB

BRAKE REL

0V BRAKE

BRAKE REL

0V BRAKE

B4

B3

C2

C1

BU

BU

BU

BU

BU

EXT LIM 2 BU

EXT LIM 1

LIM 2

LIM 1

BU

BU

BU

-2

-PE

-PE

-4

-1

-3

-8

-7

-10

-9

-14

-13

-16

-15

-5

-6

-11

-12

-1

-2

-3

-4

-5

-6

-7

-8

-9

-10

-11

-12

-13

-14

-15

-16

-BRAKE REL 1 / +AXIS 1/22.1

-0V BRAKE 1 / +AXIS 1/22.1


-0V BRAKE 2 / +AXIS 2/23.2



-PTC2 / +AXIS 2/23.2

-BRAKE REL 5 / +AXIS 5/26.2+AXIS 5 IRB1600ID/28.2

-BRAKE REL 6 / +AXIS 6/27.2+AXIS 6 IRB1600ID/29.2

-0V BRAKE 5 / +AXIS 5/26.2+AXIS 5 IRB1600ID/28.2

-0V BRAKE 6 / +AXIS 6/27.2

R2.BUR2.BU1-6

-PTC6 / +AXIS 6/27.2+AXIS 6 IRB1600ID/29.2

GNYE


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Page 21

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Latest revision:

Approved by, date:

Serial Measuring Board Location:Plant: =

++Sublocation:

IRB1600SMB

Document no.Next

Rev. Ind

01


2007-03-19

1 2 3 4 5 6 7 8

A

B

C

D

E

F

K

KEYPINM

R1.SMBSDI

SDI-N

SDO

SDO-N

0V

+24V

+BATSUP

0V BATLD

WH

BU

WH

OG

WH

GN

GY

RD

G+ - + - + - 0V

+

9

5

8

4

3

7

2

1

R2.SMB

R2.G(X3)

SMB

9

5

8

4

3

7

2

1

R2.SMB

R2.G(X3)

6

2L

J

6

2

9

2

11

4

12

5 A

B

C

D

E

F

5

12

4

11

2

9

R1.SMB1.7 R2.FB7

X7

0V X7

Y7

0V Y7

0V EXC 2

EXC 2

SIGNAL CABLE AXIS 7 (OPTION)

R1.SMB1.7

BU

WH

WH

OG

WH

GN


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Page 22

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Latest revision:

Approved by, date:

Axis 1 Location:Plant: =

++Sublocation:

IRB1600AXIS 1

Document no.Next

Rev. Ind

01


2007-03-19

1 2 3 4 5 6 7 8

-R1.MPA1

A2

A3

1

2

3

2

3

2

3

GNYE

M3 ~

S (V)

T (W)

R (U) PE

Brake

1

2

3

PE

7

8

-PE PE

7

8

5B2 5

4

1

5

2

6

3

Resolver

-R4.FB1-4

1

5

2

6

3

-SMB

+AXIS 2/23.1+AXIS 3/24.1+AXIS 4/25.1+AXIS 5/26.1+AXIS 6/27.1

+AXIS 5 IRB1600ID/28.1+AXIS 6 IRB1600ID/29.1

2

14

3

15

6

18

14

3

15

6

18

1.1

1.2

1.3

M1R

M1S

M1T

M1R

M1S

M1T

GNYEPE

BRAKE REL.1

0V BRAKE.1

PTC1

WHBU

BU

WHOG

OG

GN

WHGN

X1

0V X1

Y1

0V Y1

0V EXC

EXC

1.10

1.12

1.11

M1R

M1S

M1T

BRAKE REL.1

0V BRAKE.1

9 9

6 6

7 7

8 8

1.4

1.5

1.6

6

1

7

2

3

8

6

1

7

2

8

3

GY

WH

VT

WH

WH

BU

X1

0V X1

Y1

0V Y1

0V EXC

EXC

-R4.MP1

-MU1

-R3.FB1

1

-R3.MP1

2

-R2.FB1-2

-FB1

+BU/20.7 / +BU-BRAKE REL 1

+BU/20.7 / +BU-0V BRAKE 1

A5-PTC12 / +AXIS 2/23.4

-PE12 / +AXIS 2/23.4

1

PE 1.8

1

2

3

4

5


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Page 23

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Latest revision:

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++Sublocation:

IRB1600AXIS 2

Document no.Next

Rev. Ind

01


2007-03-19

1 2 3 4 5 6 7 8

-SMB

+AXIS 1/22.1

4

16

5

17

7

19

-PE

D1

D2

16

5

17

7

19

1.14

1.19

M2R

M2R

M2S

M2S

M2T

M2T

GN

WH

YE

WH

WH

OG

0V BRAKE.2

BRAKE REL.2

1.13

1.18

1.15

1.20

1.16

1.17

X2

0V X2

Y2

0V Y2

0V EXC

EXC

1

3

9

5

6

7

8

6

1

7

2

8

3

1

2

3

9

5

6

7

8

6

1

7

2

8

3

M2R

M2S

M2T

PE

BRAKE REL.2

0V BRAKE.2

BU

OG

GN

WHBU

WHOG

WHGN

X2

0V X2

Y2

0V Y2

0V EXC

EXC

-4

1

5

2

6

3

2

3

PE

7

8

1

2

3

PE

7

8

4

1

5

2

6

3

GNYE

M3 ~

S (V)

T (W)

R (U) PE

Brake

Resolver

1

2

-R1.MP -R4.MP2

-R3.FB2

-MU2

-FB2

A4

-R3.MP2

4

-R2.FB1-2



+AXIS 1/22.3 / -PTC12

+BU/20.7 / -PTC2 PTC 2 1.22

A6

+AXIS 1/22.3 / -PE12

1

2

3

4

5

GNYE


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Page 24

15Total3HAC021351-003

Latest revision:

Approved by, date:


++Sublocation:

IRB1600AXIS 3

Document no.Next

Rev. Ind

01


2007-03-19

1 2 3 4 5 6 7 8

-SMB

+AXIS 1/22.1

-25

D4

B1

B5

-23

2.11

M3R

M3S

M3T

RDBN

RDGN

RDYE

RDGY

BKGY

BKYE

BRAKE REL.3

2.10

2.12

2.13

2.6

X3

0V X3

Y3

0V Y3

0V EXC

EXC

-6

1

7

2

8

3

1

2

3

PE

7

8

1

2

3

PE

7

8

6

1

7

2

8

3

GNYE

M3 ~

S (V)

T (W)

R (U) PE

Brake

Resolver

5

6

5

6

-MP3

-FB3

-R1.MP -R3.MP3D3

-11

1

1

SIGNAL LAMP (OPTION)

1

1

R3.H1

R3.H2

A KC7 MONLMP


+AXIS 4/25.5 / -PTC34

-12

-13

-24

-25

-13

-24

-12

-23

-11

+AXIS 4/25.5 / -PE43

-R3.FB3-R3.FB3-6

-0V BRAKE 3 / +AXIS 6/27.6+AXIS 6 IRB1600ID/29.3

-PTC35 / +AXIS 5/26.6+AXIS 5 IRB1600ID/28.4


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Page 25

15Total3HAC021351-003

Latest revision:

Approved by, date:


++Sublocation:

IRB1600AXIS 4

Document no.Next

Rev. Ind

01


2007-03-19

1 2 3 4 5 6 7 8

-SMB

+AXIS 1/22.1

-PE

A9

A8

2.15

M4R

M4S

M4T

RDBU

RD

BKBN

BKGN

BU

BUPK

BRAKE REL.4

2.14

2.16

2.17

X4

0V X4

Y4

0V Y4

0V EXC

EXC

-6

1

7

2

8

3

1

2

3

9

7

8

1

2

3

9

7

6

1

7

2

8

3

PE

M3 ~

S (V)

T (W)

R (U) PE

Brake

Resolver

5

6

5

6

2.9

-R3.MP4

-R3.FB4

-R1.MP-MU4

-FB4

A10

8


-PTC34 / +AXIS 3/24.6B6

-7

-19

-2

-14

-3

-15

-2

-14

-3

-15

-7

-19

-PE43 / +AXIS 3/24.6

-0V BRAKE4 / +AXIS 5/26.6+AXIS 5 IRB1600ID/28.3

-R2.FB3-6

-EXC45 / +AXIS 5/26.6+AXIS 5 IRB1600ID/28.3

-0V EXC45 / +AXIS 5/26.6+AXIS 5 IRB1600ID/28.3

+AXIS 6/27.5+AXIS 6 IRB1600ID/29.4 / -PTC46


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Page 26

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Latest revision:

Approved by, date:


++Sublocation:

IRB1600AXIS 5

Document no.Next

Rev. Ind

01


2007-03-19

1 2 3 4 5 6 7 8

D10

D9

A7

B9

C5

-R1.MP

2.19

M5R

M5S

M5T

0V PTC

0V BRAKE 5

BRAKE REL.5

2.18

2.20

2.23

2.22

2.21

-R3.MP5

-R3.FB5

1

2

3

9

5

6

7

8

-6

1

7

2

8

3

-MU5

+AXIS 5 IRB1600ID/28.7

-FB5


1

2

3

9

7

8

6

1

7

2

8

3

5

6

GNYE

M3 ~

S (V)

T (W)

R (U) PE

Brake

Resolver

-SMB

+AXIS 1/22.1 -4

-16

-5

-17

-16

-5

-17

-4 X5

Y5

0V X5

0V Y5

BKPK

BKBU

BKRD

BK

+AXIS 6/27.6 / -PE65



+AXIS 4/25.5 / +AXIS 4-0V BRAKE4

-R2.FB3-6

+AXIS 4/25.6 / +AXIS 4-EXC45

+AXIS 4/25.6 / +AXIS 4-0V EXC45

-0V EXC56 / +AXIS 6/27.6

-EXC56 / +AXIS 6/27.6

+AXIS 3/24.5 / +AXIS 3-PTC35


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Page 27

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Latest revision:

Approved by, date:


++Sublocation:

IRB1600AXIS 6

Document no.Next

Rev. Ind

01


2007-03-19

1 2 3 4 5 6 7 8

-PE

D8

D7

B10

C6

-R1.MP

2.2

M6R

M6S

M6T

BRAKE REL.6

2.1

2.8

2.4

-R3.MP6

R3.FB6

1

2

3

9

5

6

7

8

-6

1

7

2

8

3

-MU6


-FB6


1

2

3

9

5

6

7

8

6

1

7

2

8

3

GNYE

M3 ~

S (V)

T (W)

R (U) PE

Brake

Resolver

-SMB

+AXIS 1/22.1 -9

-21

-10

-22

-9

-21

-10

-22

-R2.FB3-6

BUBN

BUGN

BUYE

BUGY

X6

Y6

0V Y6

0V X6

-PE65 / +AXIS 5/26.6

2.3

PE

2.5

2.7

PTC

0V BRAKE 6



+AXIS 3/24.5 / +AXIS 3-0V BRAKE 3

+AXIS 5/26.6 / +AXIS 5-0V EXC56

+AXIS 5/26.6 / +AXIS 5-EXC56

+BU/20.7 / +BU-PTC6

+AXIS 4-PTC46 / +AXIS 4/25.6


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Page 28

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Latest revision:

Approved by, date:

Axis 5 IRB1600ID Location:Plant: =

++Sublocation:

IRB1600AXIS 5 IRB1600ID

Document no.Next

Rev. Ind

01


2007-03-19

1 2 3 4 5 6 7 8

-SMB

+AXIS 1/22.1

D10

D9

B9

2.19

M5R

M5S

M5T

0V PTC

0V BRAKE.2

BRAKE REL.5

2.18

2.20

2.22

2.21

2.23

X5

0V X5

Y5

0V Y5

2

3

9

5

6

7

8

6

1

7

2

8

3

1

2

3

9

5

6

7

8

6

1

7

2

8

3

-R3.FB5

M5R

M5S

M5T

PE

BRAKE REL.5

0V BRAKE.5

WH

WH

WH

GN

YE

OG

X5

0V X5

Y5

0V Y5

0V EXC

EXC

24

-6

1

7

2

8

3

1

2

3

9

7

8

1

2

3

9

7

8

6

1

7

2

8

3

GNYE

M3 ~

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C5

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+AXIS 6 IRB1600ID/29.4 / -PE65

BK

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+AXIS 4/25.5 / +AXIS 4-0V BRAKE4

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19

20

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+AXIS 4/25.6 / +AXIS 4-EXC45

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-0V EXC56 / +AXIS 6 IRB1600ID/29.4

+AXIS 3/24.5 / +AXIS 3-PTC35 PTC

PTC


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Axis 6 IRB1600ID Location:Plant: =

++Sublocation:

IRB1600AXIS 6 IRB1600ID

Document no.Next

Rev. Ind

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2007-03-19

1 2 3 4 5 6 7 8

-SMB

+AXIS 1/22.1 -9

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+BU/20.7 / +BU-PTC6

+AXIS 4-PTC46 / +AXIS 4/25.6


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Customer Connections Location:Plant: =

++Sublocation:

IRB1600CC

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2007-03-19

1 2 3 4 5 6 7 8

-

-R2.CPA

B

C

D

E

F

J

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D1

A2

B2

C2

D2

A3

B5

C5

D5

A6

B6

C6

D6

A7

B7

C7

D7

A8

B8

C8

D8

A9

B9

C9

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A10

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CUSTOMER CONNECTIONPOWER (OPTION)KUNDANSLUTNING KRAFT (OPTION)

CUSTOMER CONNECTIONSIGNAL (OPTION)KUNDANSLUTNING SIGNAL (OPTION)

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CUSTOMER CONNECTIONCANBUS (OPTION)KUNDANSLUTNING CANBUS (OPTION)

Prepared by, date:

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Position Indicator Axis 1; Option Location:Plant: =

++Sublocation:

IRB1600LS

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2007-03-19

1 2 3 4 5 6 7 8

A

B

D

C

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F

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G

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M

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BN

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Oneswitch

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Threeswitches

Trebrytare

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-PE

-PE

Z KEY PIN / STIFT

GNYE

GNYE

GNYE

R1.LS

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