irc5-irb1600 prod man 3hac023637-001 references rev- en
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Product manual (part 2 of 2), reference informationArticulated robotIRB 1600 - 5/1.2
IRB 1600 - 5/1.45
IRB 1600 - 7/1.2
IRB 1600 - 7/1.45
M2004
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Product manual (part 2 of 2), reference information
IRB 1600 - 5/1.2
IRB 1600 - 5/1.45
IRB 1600 - 7/1.2
IRB 1600 - 7/1.45M2004
Document ID: 3HAC 023637-001
Revision: -
The information in this manual 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 manual.
Except as may be expressly stated anywhere in this manual, 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 manual and products described herein.
This manual and parts thereof must not be reproduced or copied without ABB’s written permission, and contents thereof must not be imparted to a third party nor be used for any unauthorized purpose. Contravention will be prosecuted.
Additional copies of this manual may be obtained from ABB at its then current charge.
© Copyright 2005 ABB All right reserved.
ABB Automation Technologies ABRobotics
SE-721 68 Västerås Sweden
Table of Contents
Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6Product documentation, M2004 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
1 Reference information 9
1.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91.2 Applicable safety standards . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 101.3 Unit conversion. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111.4 Screw joints . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 121.5 Weight specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 151.6 Standard toolkit. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 161.7 Special tools . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 171.8 Document references . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 181.9 Lifting equipment and lifting instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
2 Spare parts and exploded views 21
2.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 212.2 Spare parts - base . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 222.3 Spare parts - base connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 242.4 Spare parts - frame . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 262.5 Spare parts - lower arm. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 282.6 Spare parts - upper arm. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 302.7 Spare parts - options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
3 Circuit diagram 35
3.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
33HAC 023637-001 Revision: -
Overview
Overview
About This Manual
This manual contains reference information for all procedures in part 1: Product manual,
procedures.
Usage
This manual should be used during
• installation
• maintenance work
• repair work.
Who should read this manual?
This manual is intended for:
• installation personnel
• maintenance personnel
• repair personnel.
Prerequisites
The reader should...
• be a trained maintenance/repair craftsman
• have the required knowledge of mechanical and electrical installation/repair/
maintenance work.
Organization of chapters
The manual is organized in the following chapters:
References
See section Document references.
Revisions
Chapter Contents
Reference information
Useful information when performing installation, maintenance or repair work. Includes lists of necessary tools, additional documents, safety standards, etc.
Spare part / Part list
Complete spare part list and complete list of robot components, shown in the exploded views.
Exploded views Detailed illustrations of the robot with reference numbers to the part list.
Circuit diagram Circuit diagram for the robot.
Revision Description
- First edition
3HAC 023637-001 Revision: -4
Product documentation, M2004
Product documentation, M2004
General
The robot documentation may be divided into a number of categories. This listing is based on
the type of information contained within the documents, regardless of whether the products
are standard or optional. This means that any given delivery of robot products will not contain
all documents listed, only the ones pertaining to the equipment delivered.
However, all documents listed may be ordered from ABB. The documents listed are valid for
M2004 robot systems.
Hardware manuals
All hardware, robots and controller cabinets, will be delivered with a Product manual which
is divided into two parts:
Product manual, procedures
• Safety information
• Installation and commissioning (descriptions of mechanical installation, electrical
connections and loading system software)
• Maintenance (descriptions of all required preventive maintenance procedures
including intervals)
• Repair (descriptions of all recommended repair procedures including spare parts)
• Additional procedures, if any (calibration, decommissioning)
Product manual, reference information
• Reference information (article numbers for documentation referred to in Product
manual, procedures, lists of tools, safety standards)
• Part list
• Foldouts or exploded views
• Circuit diagrams
RobotWare manuals
The following manuals describe the robot software in general and contain relevant reference
information:
• RAPID Overview: An overview of the RAPID programming language.
• RAPID reference manual part 1: Description of all RAPID instructions.
• RAPID reference manual part 2: Description of all RAPID functions and data types.
• Technical reference manual - System parameters: Description of system
parameters and configuration workflows.
53HAC 023637-001 Revision: -
Product documentation, M2004
Application manuals
Specific applications (e.g. software or hardware options) are described in Application manuals. An application manual can describe one or several applications.
An application manual generally contains information about:
• The purpose of the application (what it does and when it is useful)
• What is included (e.g. cables, I/O boards, RAPID instructions, system parameters)
• How to use the application
• Examples of how to use the application
Operator’s manuals
This group of manuals is aimed at those having first hand operational contact with the robot,
i.e. production cell operators, programmers and trouble shooters. The group of manuals
include:
• Operator’s manual - IRC5 with FlexPendant
• Operator’s manual - RobotStudio Online
• Trouble shooting manual for the controller and robot
3HAC 023637-001 Revision: -6
1 Reference information
1.1. Introduction
1 Reference information
1.1. Introduction
General
This chapter includes general information, complementing the more specific information in
the Product manual (part 1 of 2), procedures.
73HAC 023637-001 Revision: -
1 Reference information
1.2. Applicable safety standards
1.2. Applicable safety standards
Health and safety standards, robotThe robot, controlled by the IRC5, conforms to the following standards:
Standard Description
EN ISO 12100-1 Safety of machinery, terminology
EN ISO 12100-2 Safety of machinery, technical specifications
EN 954-1 Safety of machinery, safety related parts of control systems
EN 775 Manipulating industrial robots, safety
EN 60204 Electrical equipment of industrial machines
EN 61000-6-4 (option) EMC, Generic emission
EN 61000-6-2 EMC, Generic immunity
Standard Description
IEC 204-1 Electrical equipment of industrial machines
IEC 529 Degrees of protection provided by enclosures
Standard Description
ISO 10218 Manipulating industrial robots, safety
ISO 9787 Manipulating industrial robots, coordinate systems and motions
Standard Description
ANSI/RIA 15.06/1999 Safety Requirements for Industrial Robots and Robot Systems
ANSI/UL 1740-1998 (option)
Safety Standard for Robots and Robotic Equipment (Max. payload 6 kg fulfilment).
CAN/CSA Z 434-03 (option)
Industrial Robots and Robot Systems - General Safety Requirements (Max. payload 6 kg fulfilment).
3HAC 023637-001 Revision: -8
1 Reference information
1.3. Unit conversion
1.3. Unit conversion
Converter table
Use the table below to convert units used in this manual.
Quantity Units
Length 1 m 3.28 ft 39.37 in
Weight 1 kg 2.21 lb
Pressure 1 bar 100 kPa 14.5 psi
Force 1 N 0.738 lbf
Moment 1 Nm 0.738 lbf-tn
Volume 1 L 0.264 US gal
93HAC 023637-001 Revision: -
1 Reference information
1.4. Screw joints
1.4. Screw joints
General
This section details how to tighten the various types of screw joints on the robot and the
controller.
The instructions and torque values are valid for screw joints comprised of metallic materials
and do not apply to soft or brittle materials.
UNBRAKO screws
UNBRAKO is a special type of screw recommended by ABB for certain screw joints. It
features special surface treatment (Gleitmo as described below), and is extremely resistant to
fatigue.
Whenever used, this is specified in the instructions, and in such cases, no other type of
replacement screw is allowed! Using other types of screws will void any warranty and may
potentially cause serious damage or injury!
Gleitmo treated screws
Gleitmo is a special surface treatment to reduce the friction when tightening the screw joint.
Screws treated with Gleitmo may be reused 3-4 times before the coating disappears. After this
the screw must be discarded and replaced with a new one.
When handling screws treated with Gleitmo, protective gloves of nitrile rubber type should
be used.
Screws lubricated in other ways
Screws lubricated with Molycote 1000 should only be used when specified in the repair,
maintenance or installation procedure descriptions.
In such cases, proceed as follows:
1. Apply lubricant to the screw thread.
2. Apply lubricant between the plain washer and screw head.
3. Tighten to the torque specified in section Tightening torque below. Screw dimensions
of M8 or larger must be tightened with a torque wrench. Screw dimensions of M6 or
smaller may be tightened without a torque wrench if this is done by trained and
qualified personnel.
Lubricant Art. no.
Molycote 1000 (molybdenum disulphide grease) 1171 2016-618
3HAC 023637-001 Revision: -10
1 Reference information
1.4. Screw joints
Tightening torque
Before tightening any screw, note the following:
• Determine whether a standard tightening torque or special torque is to be applied. The
standard torques are specified in the tables below. Any special torques are specified in
the Repair, Maintenance or Installation procedure description. Any special torque
specified overrides the standard value.
• Use the correct tightening torque for each type of screw joint.
• Only use correctly calibrated torque keys.
• Always tighten the joint by hand, and never use pneumatical tools.
• Use the correct tightening technique, i.e. do not jerk. Tighten the screw in a slow,
flowing motion.
• Maximum allowed total deviation from the specified value is 10%!
The table below specifies the recommended standard tightening torque for oil-lubricated
screws with slotted or cross-recess head screws.
The table below specifies the recommended standard tightening torque for oil-lubricated
screws with Allen head screws.
The table below specifies the recommended standard tightening torque for Molycote-
lubricated screws with Allen head screws.
Dimension Tightening torque (Nm) Class 4.8, oil-lubricated
M2.5 0.25
M3 0.5
M4 1.2
M5 2.5
M6 5.0
Dimension
Tightening torque (Nm) Class 8.8, oil-lubricated
Tightening torque (Nm) Class 10.9, oil-lubricated
Tightening torque (Nm) Class 12.9, oil-lubricated
M5 6 - -
M6 10 - -
M8 24 34 40
M10 47 67 80
M12 82 115 140
M16 200 290 340
DimensionTightening torque (Nm)Class 10.9, Molycote-lubricated
Tightening torque (Nm)Class 12.9, Molycote-lubricated
M8 28 34
113HAC 023637-001 Revision: -
1 Reference information
1.4. Screw joints
The table below specifies the recommended standard tightening torque for water and air
connectors when one or both connectors are made of brass.
M10 55 66
M12 96 115
M16 235 280
DimensionTightening torque Nm - Nominal
Tightening torque Nm - Min.
Tightening torque Nm - Max.
1/8 12 8 15
1/4 15 10 20
3/8 20 15 25
1/2 40 30 50
3/4 70 55 90
DimensionTightening torque (Nm)Class 10.9, Molycote-lubricated
Tightening torque (Nm)Class 12.9, Molycote-lubricated
3HAC 023637-001 Revision: -12
1 Reference information
1.5. Weight specifications
1.5. Weight specifications
Definition
In all repair and maintenance procedures, weights of the components handled are sometimes
specified. All components exceeding 22 kg (50 lbs) are high-lighted in this way.
To avoid injury, ABB recommends the use of lifting equipment when handling components
with a weight exceeding 22 kg. A wide range of lifting tools and devices are available for each
manipulator model.
Example
Below is an example of how a weight specification is presented:
CAUTION!
Caution!
The motor weighs 32 kg! All lifting equipment used must be sized accordingly!
133HAC 023637-001 Revision: -
1 Reference information
1.6. Standard toolkit
1.6. Standard toolkit
General
All service (repair, maintenance and installation) instructions contain lists of tools required to
perform the specified activity. All special tools, i.e. all tools that are not considered standard
as defined below, are listed in their instructions respectively.
This way, the tools required are the sum of the Standard Toolkit and any tools listed in the
instruction.
Standard toolkit, contents
Qty Art. no. Tool
1 - Ring-open-end spanner 8-19mm
1 - Socket head cap 2,5-17mm
1 - Torx socket no:20-60
1 - Torque wrench 10-100Nm
1 - Small screwdriver
1 - Plastic mallet
1 - Ratchet head for torque wrench 1/2
1 - Socket head cap no:5, socket 1/2"" bit L 20mm
1 - Socket head cap no:6, socket 1/2"" bit L 20mm
1 - Socket head cap no:8, socket 1/2"" bit L 20mm
1 - Small cutting plier
3HAC 023637-001 Revision: -14
1 Reference information
1.7. Special tools
1.7. Special tools
General
All service instructions contain lists of tools required to perform the specified activity. The
required tools are a sum of standard tools, defined in section Standard toolkit on page 14, and
of special tools, listed directly in the instructions and also gathered in this section.
Special toolsThe table below specifies all the tools, not considered standard, used when performing service activities on the robot.
Description Art. no. Note
Rotation tool, motor 3HAC 022266-003 Used to adjust the gear play on all motors.
Dynamometer Salter - Super Samson 100N
- Supplier: Ahlsell
Hook 3HAC 024045-001 Used to tighten the timing belt of axis 6, together with the dynamometer.
Belt tightener 3HAC 024044-001 Used to tighten the timing belt of axis 5, together with the dynamometer.
Lifting tool, gearbox 3HAC 023364-001
Lifting tool, upper arm 3HAC 023386-001
153HAC 023637-001 Revision: -
1 Reference information
1.8. Document references
1.8. Document references
General
The contents of this manual may include references to additional documentation necessary to
perform certain procedures. This section specifies the article numbers for the referenced
documentation.
Product specification, robot
The product specification includes generic technical data. The specification listed below is
the English version.
Product manuals, controller
The product manuals include information about installation and service activities. The table
below specifies the article numbers of the product manuals for all controller models. The part
number -001 is the English version.
Operators manual
The operators manual contains instructions for daily operation of robot systems. The table
below specifies the article numbers of the operators manuals for different robot systems.
Calibration manuals
Additional documentation
Document name Document ID
Product specification 3HAC 023604-001 (M2004)
Document name Document ID
Product manual, IRC5 M2004 3HAC 021313-001
Document name Document ID Note
Operator’s manual (IRC5) 3HAC 16590-1
Document name Document ID Note
Calibration Pendulum Instruction
3HAC 16578-1 Enclosed with the Calibration Pendulum Toolkit.
Instructions for Levelmeter calibration (alternative method)
3HAC 022907-001
Enclosed with the Levelmeter 2000.
CalibWare 2.0 Users Guide 3HAC 16090-1 Manual for Absolute Accuracy calibration.
Document name Document ID Note
Additional axes 3HAC 021395-001 IRC5 based robot systems.
3HAC 023637-001 Revision: -16
1 Reference information
1.9. Lifting equipment and lifting instructions
1.9. Lifting equipment and lifting instructions
General
Many repair and maintenance activities require different pieces of lifting equipment, which
are specified in each procedure.
The use of each piece of lifting equipment is not detailed in the activity procedure, but in the
instruction delivered with each piece of lifting equipment.
This implies that the instructions delivered with the lifting equipment should be stored for
later reference.
173HAC 023637-001 Revision: -
1 Reference information
1.9. Lifting equipment and lifting instructions
3HAC 023637-001 Revision: -18
2 Spare parts and exploded views
2.1. Introduction
2 Spare parts and exploded views
2.1. Introduction
Overview
This section specifies all articles considered spare parts of the robot. The spare parts are also
specified as required equipment directly in the repair instruction of the current spare part. The
list of required equipment in each instruction also specifies necessary replacement articles
and all required service tools.
193HAC 023637-001 Revision: -
2 Spare parts and exploded views
2.2. Spare parts - base
2.2. Spare parts - base
Base, spare part list
The spare parts for the base are listed below and shown in the following figure.
Item no. Description Spare part no. Dimension
1 Base, spare 3HAC 023552-001
2 Stop pin 3HAB 3258-1
3 Cover base, spare 3HAC 023554-001
4 Gasket, base cover 3HAC 022047-001
6 VK-cover 3HAA 2166-26 D=180, B=12
7 Serial measurement unit 3HAC 023424-001
8 Push button unit 3HAC 020967-001
9 Battery pack 3HAC 16831-1 Lithium
34x102x63
11 Push button guard 3HAC 6499-1
12 Signal cable SMB 3HAC 4050-1
13 Torx pan head screw 9ADA 618-56 Steel 8.8-A2F
M6 x 16
100 Cable harness IRB 1600/1.45 3HAC 021827-001
101 Cable harness IRB 1600/1.2 3HAC 021827-008
102 Cable harness IRB 1600/1.45, Customer connections
3HAC 021828-001
103 Cable harness IRB 1600/1.2, Customer connections
3HAC 021828-002
106 Cable harness IRB 1600/1.45, Wire feeder
3HAC 021830-001
107 Cable harness IRB 1600/1.2, Wire feeder 3HAC 021830-002
3HAC 023637-001 Revision: -20
2 Spare parts and exploded views
2.2. Spare parts - base
Base, exploded view
xx0500001382
213HAC 023637-001 Revision: -
2 Spare parts and exploded views
2.3. Spare parts - base connections
2.3. Spare parts - base connections
Base connections, spare part list
The spare parts for connections at the base are listed below and shown in the following figure.
Item no. Description Spare part no. Dimension
80 Gasket 3HAB 9040-1 115x46 T=3
81 Housing 40P 3HAB 6411-1
82 Surface mounted housing HIP. 16/40 AG 3HAC 022964-001
84 Cover, cable harness wire feeder 3HAC 022918-002
85 Cover 3HAC 6823-1
86 Key pin 5217687-9
87 Plug 3HAC 11719-1
88 Protective hood 25222101-8 D=11,4-13
89 Dust cap 5217649-9
90 Environmental dust cap 3HAA 1001-727
92 Dust cap 3HAA 1001-630
93 Protection cover 40-p 3HAC 7816-1
3HAC 023637-001 Revision: -22
2 Spare parts and exploded views
2.3. Spare parts - base connections
Base connections, illustrations
xx0500001383
233HAC 023637-001 Revision: -
2 Spare parts and exploded views
2.4. Spare parts - frame
2.4. Spare parts - frame
Frame, spare part list
The spare parts are listed below and shown in the following figure.
Item no. Description Spare part no. Dimension
13 Torx pan head screw 9ADA 618-56 Steel 8.8-A2F
M6 x 16
20 Gearbox axis 1-2, spare 3HAC 023555-001
21 Stop arm 3HAC 022001-001
22 Cover, gearbox axis 1-2 3HAC 023556-001
23 Gasket, gearbox axis 1-2 3HAC 022048-001
24 Damper, axis 2 3HAC 022013-001
25 V-ring (sealing ring) 3HAB 3732-21 V-150A
135x12.8
26 Sealing ring (V-ring) 3HAB 3732-13 V-110-L
99x10.5
27 Rot. ac motor incl. pinion, spare 3HAC 023557-001
28 O-ring 21522012-428 Nitrile rubber
79.5x3
100-107 Cabling See section .
3HAC 023637-001 Revision: -24
2 Spare parts and exploded views
2.4. Spare parts - frame
Frame, exploded view
xx0500001384
253HAC 023637-001 Revision: -
2 Spare parts and exploded views
2.5. Spare parts - lower arm
2.5. Spare parts - lower arm
Lower arm, spare part list
The spare parts are listed below and shown in the following figure.
Item no. Description Spare part no. Dimension
40 Lower arm, spare 3HAC 023558-001
41 Lower arm, short, spare 3HAC 023559-001
42 VK-cover 3HAA 2166-23 D=120, B=12
43 VK-cover 3HAA 2166-21 D=68, B=8
100-107 Cabling See section .
3HAC 023637-001 Revision: -26
2 Spare parts and exploded views
2.5. Spare parts - lower arm
Lower arm, exploded view
xx0500001385
273HAC 023637-001 Revision: -
2 Spare parts and exploded views
2.6. Spare parts - upper arm
2.6. Spare parts - upper arm
Spare part list, upper arm
The spare parts listed below are shown in the exploded views, located on the next two pages.
Item no. Description Spare part no. Dimension
13 Torx pan head screw 9ADA 618-56 Steel 8.8-A2F
M6 x 16
60 Upper arm, spare 3HAC 023630-001
61 Rot. ac motor incl pinion 3HAC 021799-001
62 O-ring 3HAB 3772-81 Nitrile rubber
D1=41, D2=3
63 Rot. ac motor incl pinion 3HAC 021800-001
64 Timing belt 3HAC 6779-1
65 Timing belt 3HAC 021304-001
66 O-ring sealingplate 3HAC 7191-1
67 Wrist, Standard/Foundry 3HAC 10475-1
68 Rot. ac motor incl pinion 3HAC 021798-001
69 O-ring 21522012-426 Nitrile rubber
74.5x3
70 Damper, axis 3 3HAC 022260-001
71 Sealing ring (V-ring) 3HAB 3732-19 Flourinated rubber/V-95A
85x11
72 Damper, axis 5 3HAB 8964-1
73 Arm housing cover, spare 3HAC 023560-001
74 Gasket, upper arm cover 3HAC 022049-001
75 Gasket, customer connections 3HAC 022050-001
73 Contact panel 3HAC 022173-001
77 Connector panel 3HAC 022173-002
79 Contact pane, Wire feeder 3HAC 022173-006
88 Protective hood 25222101-8 D=11,4-13
89 Dust cap 5217649-9
90 Environmental dust cap 3HAA 1001-727
91 Dust cap 5217649-82
94 Plug with o-ring M10 3HAC 022881-003
95 Coupling 3HAB 3333-20
96 Lamp unit 3HAC 022235-001
100-107 Cabling See section .
3HAC 023637-001 Revision: -28
2 Spare parts and exploded views
2.6. Spare parts - upper arm
Upper arm, exploded view 1
xx0500001386
293HAC 023637-001 Revision: -
2 Spare parts and exploded views
2.6. Spare parts - upper arm
Upper arm, exploded view 2
xx0500001387
3HAC 023637-001 Revision: -30
2 Spare parts and exploded views
2.7. Spare parts - options
2.7. Spare parts - options
General
This section specifies spare parts that are considered options. The items are not shown in any
figure.
Spare parts - options
Option no. Description Spare part no. Note
213-1 Lamp unit 3HAC 022235-001
25-3 Position switch, axis 1 3HAC 023973-001 Includes 3 switches.
28-1 Working range limit axis 1 3HAC 023110-001
32-1 Working range limit axis 2 3HAC 023108-001
34-1 Working range limit axis 3 3HAC 023109-001
313HAC 023637-001 Revision: -
2 Spare parts and exploded views
2.7. Spare parts - options
3HAC 023637-001 Revision: -32
3 Circuit diagram
3.1. Introduction
3 Circuit diagram
3.1. Introduction
Overview
This chapter includes the circuit diagram for the robot.
333HAC 023637-001 Revision: -
Circuit diagram 3HAC 021351-003/Rev. 00
Contents Sheet
List of contents ............................................................................................................. 101 Connection point location............................................................................................. 102 Brake release unit, serial measuring board................................................................... 103 Motor, axes 1-2............................................................................................................. 104 Feedback, axes 1-2 ....................................................................................................... 105 Motor, axes 3-4............................................................................................................. 106 Feedback, axes 3-4 ....................................................................................................... 107 Motor, axes 5-6............................................................................................................. 108 Feedback, axes 5-6 ....................................................................................................... 109 Cable harness, customer connection, options............................................................... 110 Cable harness, customer connection, Wire Feeder, options ......................................... 112 Position indicator, axis 1, options................................................................................. 113
Circuit diagram IRB 1600
Circuit diagram 3HAC 021351-003/Rev. 00
Contents Sheet
2 Circuit diagram IRB 1600
Circuit diagram 3HAC 021351-003
Rev
isio
n00
shee
t10
1Li
st o
f con
tent
s
Circuit diagram 3HAC 021351-003
Rev
isio
n00
shee
t10
2C
onne
ctio
n po
int l
ocat
ion
Circuit diagram 3HAC 021351-003
Rev
isio
n00
shee
t10
3B
rake
rel
ease
uni
t, se
rial m
easu
ring
boar
d
Circuit diagram 3HAC 021351-003
Rev
isio
n00
shee
t10
4M
otor
, axe
s 1-
2
Circuit diagram 3HAC 021351-003
Rev
isio
n00
shee
t10
5F
eedb
ack,
axe
s 1-
2
Circuit diagram 3HAC 021351-003
Rev
isio
n00
shee
t10
6M
otor
, axe
s 3-
4
Circuit diagram 3HAC 021351-003
Rev
isio
n00
shee
t10
7F
eedb
ack,
axe
s 3-
4
Circuit diagram 3HAC 021351-003
Rev
isio
n00
shee
t10
8M
otor
, axe
s 5-
6
Circuit diagram 3HAC 021351-003
Rev
isio
n00
shee
t10
9F
eedb
ack,
axe
s 5-
6
Circuit diagram 3HAC 021351-003
Rev
isio
n00
shee
t11
0C
able
har
ness
, cus
tom
er c
onne
ctio
n, o
ptio
ns
Circuit diagram 3HAC 021351-003
Rev
isio
n00
shee
t11
2C
able
har
ness
, cus
tom
er c
onne
ctio
n, W
ire F
eede
r, op
tions
Circuit diagram 3HAC 021351-003
Rev
isio
n00
shee
t11
3P
ositi
on in
dica
tor,
axis
1, o
ptio
ns
Index
C
calibration manual, article number 16
D
documentationarticle numbers, other manuals 16calibration 16controller 16robot system 16
I
illustrationsbase connections 23base, exploded 21frame, exploded 25lower arm, exploded 27upper arm, exploded 29, 30
O
operators manual, article number 16
P
product manual, controller, article number 16product specification, article number 16
S
spare partsbase 20, 21base connections 22, 23frame 24, 25lower arm 26, 27optional equipment 31upper arm 28, 29, 30
T
tools, article numbers 15
353HAC 023637-001 Revision: -
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