© copyright 2004 abb all right reserved.isa.uniovi.es/~jalvarez/abb/en/3hac043446-005_rev00.pdf ·...
TRANSCRIPT
Prepared by, date:2
We
rese
rve
all r
ight
s in
this
doc
umen
t and
in th
e in
form
atio
n co
ntai
ned
ther
ein.
Rep
rodu
ctio
n, u
se o
r di
sclo
sure
to th
ird p
artie
s w
ithou
t exp
ress
aut
horit
y is
stri
ctly
forb
idde
n. ©
Cop
yrig
ht 2
003
AB
B
Erik Mesaros Johan Moraeus
2013-06-03
Page 1
13Total
Latest revision:
Approved by, date:
COPYRIGHT page
Location:Plant: =
++Sublocation:
IRB6700Manipulator
Document no.Next
Rev. Ind
Lab/Office: Status:IRB 6700
2 5
00
4 63 7 8
3HAC043446-005
APPROVED
1
DMRO SEPRMP
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 2004 ABB ALL right reserved.
ABB AB
SE-721 68 VästeråsSweden
Prepared by, date:3
We
rese
rve
all r
ight
s in
this
doc
umen
t and
in th
e in
form
atio
n co
ntai
ned
ther
ein.
Rep
rodu
ctio
n, u
se o
r di
sclo
sure
to th
ird p
artie
s w
ithou
t exp
ress
aut
horit
y is
stri
ctly
forb
idde
n. ©
Cop
yrig
ht 2
003
AB
B
Erik Mesaros Johan Moraeus
2013-06-03
Page 2
13Total
Latest revision:
Approved by, date:
Table of contents: (1 - 150)
Location:Plant: =
++Sublocation:
IRB6700Manipulator
Document no.Next
Rev. Ind
Lab/Office: Status:IRB 6700
2 5
00
4 63 7 8
3HAC043446-005
APPROVED
1
DMRO SEPRMP
Table of contentsCommentPage Page description
ABB Contents1
1 COPYRIGHT page
2 Table of contents: (1 - 80)
3 Valid For
4 Location of connection points
5 Legend
10 Brake Release Unit
20 Serial Measuring Board Incl. 7th axis connection (optional)
30 Axis 1
40 Axis 2
50 Axis 3 Incl. external lamp (optional)
60 Axis 4
70 Axis 5
80 Axis 6
Prepared by, date:4
We
rese
rve
all r
ight
s in
this
doc
umen
t and
in th
e in
form
atio
n co
ntai
ned
ther
ein.
Rep
rodu
ctio
n, u
se o
r di
sclo
sure
to th
ird p
artie
s w
ithou
t exp
ress
aut
horit
y is
stri
ctly
forb
idde
n. ©
Cop
yrig
ht 2
003
AB
B
Erik Mesaros Johan Moraeus
2013-06-03
Page 3
13Total
Latest revision:
Approved by, date:
Valid For
Location:Plant: =
++Sublocation:
IRB6700Manipulator
Document no.Next
Rev. Ind
Lab/Office: Status:IRB 6700
2 5
00
4 63 7 8
3HAC043446-005
APPROVED
1
DMRO SEPRMP
Valid For:This circuit diagram is valid for the following cable harness assemblies:3HAC042840-001: Manipulator harness axis 1-63HAC046642-001: Brake release unit3HAC043904-001: SMB unit3HAC15619-2: Cable, FB7-SMB 1.73HAC044075-001: Battery unit3HAC046287-001: Cable, battery-SMB3HAC047052 -001 UL signal lamp
Prepared by, date:5
We
rese
rve
all r
ight
s in
this
doc
umen
t and
in th
e in
form
atio
n co
ntai
ned
ther
ein.
Rep
rodu
ctio
n, u
se o
r di
sclo
sure
to th
ird p
artie
s w
ithou
t exp
ress
aut
horit
y is
stri
ctly
forb
idde
n. ©
Cop
yrig
ht 2
003
AB
B
Erik Mesaros Johan Moraeus
2013-06-03
Page 4
13Total
Latest revision:
Approved by, date:
Location of connection points
Location:Plant: =
++Sublocation:
IRB6700Manipulator
Document no.Next
Rev. Ind
Lab/Office: Status:IRB 6700
2 5
00
4 63 7 8
3HAC043446-005
APPROVED
1
DMRO SEPRMP
A
R1.MPR1.SMB
R2.MP1R2.FB1
R1.MP
R2.MP4R2.FB4
R2.MP6R2.FB6
R2.MP3R2.FB3R2.H1R2.H2
R1.GR2.GR1.SMB1.7R2.FB7R2.SMBR1.SMB1-3R1.SMB4-6X8X9X10
R2.MP5R2.FB5
R1.SMB
R2.MP2R2.FB2
Prepared by, date:+BU/10
We
rese
rve
all r
ight
s in
this
doc
umen
t and
in th
e in
form
atio
n co
ntai
ned
ther
ein.
Rep
rodu
ctio
n, u
se o
r di
sclo
sure
to th
ird p
artie
s w
ithou
t exp
ress
aut
horit
y is
stri
ctly
forb
idde
n. ©
Cop
yrig
ht 2
003
AB
B
Erik Mesaros Johan Moraeus
2013-06-03
Page 5
13Total
Latest revision:
Approved by, date:
Legend
Location:Plant: =
++Sublocation:
IRB6700Manipulator
Document no.Next
Rev. Ind
Lab/Office: Status:IRB 6700
2 5
00
4 63 7 8
3HAC043446-005
APPROVED
1
DMRO SEPRMP
M
B
PTC
R
G
BU
FB
SMB
FAN
SW
Keypin
Motor
Brake
Temp sensor (PTC- resistor)
Resolver
Battery Pack
Brake Release Unit
Feedback unit
Serial Measurment Board
Fan
Position switch
Location pin to avoid mismatch
Protective Earth
Twisted wires
Screened wires
IRB6X0 Any number i.e. 66X0 can be 6600, 6640, 6660 or 6650
Prepared by, date:+SMB/20
We
rese
rve
all r
ight
s in
this
doc
umen
t and
in th
e in
form
atio
n co
ntai
ned
ther
ein.
Rep
rodu
ctio
n, u
se o
r di
sclo
sure
to th
ird p
artie
s w
ithou
t exp
ress
aut
horit
y is
stri
ctly
forb
idde
n. ©
Cop
yrig
ht 2
003
AB
B
Erik Mesaros Johan Moraeus
2013-06-03
Page 10
13Total
Latest revision:
Approved by, date:
Brake Release Unit
Location:Plant: =
++Sublocation:
IRB6700BU
Document no.Next
Rev. Ind
Lab/Office: Status:IRB 6700
2 5
00
4 63 7 8
3HAC043446-005
APPROVED
1
DMRO SEPRMP
Key Pin
Key Pin
-BU Brake Release (Simplified)
Brake Release
Brake PB
2
1R1.MP
R1.MP
R1.MP
R1.MP
R1.MP
R1.MP
5
6
7
8
9
10
(SP20B)
(SP20A)
(SP20A)
(SP21A)
(SP21A)
0V
(SP12)(SP22A)
(SP22A)
(SP10)
(SP11)
(SP13)
(SP14)
(SP15)
4
7
10
10
7
7
10
-R1.MP13
11
12
4
3
5
2
-X81
-X81
5
3
-X94
-X94
8
10
4
6
2
-X101
3
5
-X101
3
5
5
8
9
10
11
9
1
Brake Bleed Circuit
Brake Bleed Circuit
Brake Bleed Circuit
Brake Bleed Circuit
Brake Bleed Circuit
Brake Bleed Circuit
KA
KA
KA
KA
KA
KA
-BUM1
-BUM2
-BUM3
-BUM4
-BUM5
-BUM6
-BU0VM1
-BU0VM2
-BU0VM3
-BU0VM4
-BU0VM5
-BU0VM6
Prepared by, date:+Axis1/30
We
rese
rve
all r
ight
s in
this
doc
umen
t and
in th
e in
form
atio
n co
ntai
ned
ther
ein.
Rep
rodu
ctio
n, u
se o
r di
sclo
sure
to th
ird p
artie
s w
ithou
t exp
ress
aut
horit
y is
stri
ctly
forb
idde
n. ©
Cop
yrig
ht 2
003
AB
B
Erik Mesaros Johan Moraeus
2013-06-03
Page 20
13Total
Latest revision:
Approved by, date:
SMB, incl optional 7th axis connection
Location:Plant: =
++Sublocation:
IRB6700SMB
Document no.Next
Rev. Ind
Lab/Office: Status:IRB 6700
2 5
00
4 63 7 8
3HAC043446-005
APPROVED
1
DMRO SEPRMP
-R1.SMB -R2.SMB
7th axis connection (optional)
SDI
SDI-N
SDO
SDO-N
0V
BK
WH/BK X7
WHBK
BK 0V X7
Y7WH/BN
BN
WHBN
BN 0V Y7
RD
WH/RD 0V EXC2
WHRD
RD EXC2
-R2.SMB
SCREEN
-R1.G(X3)-G0V
+
-SMB
9
5
8
4
3
7
2
1
A
B
C
D
E
F
KEYPIN
M
9
5
8
4
3
7
2
1
+ -+ -+ -
-R1.SMB1.75
12
4
11
2
9
1
-R2.FB7A
B
C
D
E
F
-SMB1.75
12
4
11
2
9
1
-R2.G2
1
-R1.G(X3)2
1
Prepared by, date:+Axis2/40
We
rese
rve
all r
ight
s in
this
doc
umen
t and
in th
e in
form
atio
n co
ntai
ned
ther
ein.
Rep
rodu
ctio
n, u
se o
r di
sclo
sure
to th
ird p
artie
s w
ithou
t exp
ress
aut
horit
y is
stri
ctly
forb
idde
n. ©
Cop
yrig
ht 2
003
AB
B
Erik Mesaros Johan Moraeus
2013-06-03
Page 30
13Total
Latest revision:
Approved by, date:
Axis 1
Location:Plant: =
++Sublocation:
IRB6700Axis1
Document no.Next
Rev. Ind
Lab/Office: Status:IRB 6700
2 5
00
4 63 7 8
3HAC043446-005
APPROVED
1
DMRO SEPRMP
Brake
-MU1
RD
WH
BK
GNYE
BU +
BU -
M1R
M1S
M1T
BU M1
BU 0V M1
1
3
5
GNYE
9
(SP60A)
(SP30A)
(SP30A)
(SP20A)
(SP10)
10
Resolver
-FB1
RD
BK
BU
YE
WHBK (WHYE)
WHRD
BK
WHBK
BN
WHBN
RD
WHRD
X1
0V X1
Y1
0V Y1
0V EXC1
EXC1
-BUM1
-BU0VM1 5
-R2.FB16
1
7
2
8
3
6
7
9
12
2
S (V)
T (W)
R (U) PE
3~M
-R1.MP17
18
19
24
25
26
7
9
12
-R1.SMB1-32
14
3
15
6
18
14
3
15
6
18
-R2.FB16
1
7
2
8
3
-R2.MP11
-R2.MP11
3
10
44
3
10
5
6
2
-R1.SMB1-32
-SMB
PE
RD
WH
BK
GNYEPE GNYE
M1R 2
4
6
M1S
M1T
Prepared by, date:+Axis3/50
We
rese
rve
all r
ight
s in
this
doc
umen
t and
in th
e in
form
atio
n co
ntai
ned
ther
ein.
Rep
rodu
ctio
n, u
se o
r di
sclo
sure
to th
ird p
artie
s w
ithou
t exp
ress
aut
horit
y is
stri
ctly
forb
idde
n. ©
Cop
yrig
ht 2
003
AB
B
Erik Mesaros Johan Moraeus
2013-06-03
Page 40
13Total
Latest revision:
Approved by, date:
Axis 2
Location:Plant: =
++Sublocation:
IRB6700Axis2
Document no.Next
Rev. Ind
Lab/Office: Status:IRB 6700
2 5
00
4 63 7 8
3HAC043446-005
APPROVED
1
DMRO SEPRMP
-SMB
BK
WHBK
BN
WHBN
RD
WHRD
M2R
M2S
M2T
BU M2
BU 0V M2
1
2
4
GNYE
9
(SP20A)
(SP34A)
(SP11)
(SP62A)
(SP33A)
10
X2
0V X2
Y2
0V Y2
0V EXC1
EXC1
-FB2
-MU2
RD
BK
BU
YE
WHBK (WHYE)
WHRD
RD
WH
BK
GNYE
BU +
BU -Brake
-BUM2
-BU0VM2
1
7
2
8
3
-R2.FB26
5
-R1.SMB1-34
16
5
17
7
19
16
5
17
7
19
1
7
2
8
3
32
31
30
6
7
9
2
5
-R1.MP23
22
21
S (V)
T (W)
R (U) PE
3~M
-R2.FB26
-R2.MP21
6
7
9
2
-R2.MP21
4
3
10
12
4
3
10
12
-R1.SMB1-34
Resolver
RD
WH
BK
GNYE
M2S
M2R
M2T
3
5
6
GNYEPE
PE
Prepared by, date:+Axis4/60
We
rese
rve
all r
ight
s in
this
doc
umen
t and
in th
e in
form
atio
n co
ntai
ned
ther
ein.
Rep
rodu
ctio
n, u
se o
r di
sclo
sure
to th
ird p
artie
s w
ithou
t exp
ress
aut
horit
y is
stri
ctly
forb
idde
n. ©
Cop
yrig
ht 2
003
AB
B
Erik Mesaros Johan Moraeus
2013-06-03
Page 50
13Total
Latest revision:
Approved by, date:
Axis 3, incl. optional signal lamp
Location:Plant: =
++Sublocation:
IRB6700Axis3
Document no.Next
Rev. Ind
Lab/Office: Status:IRB 6700
2 5
00
43 6 7 8
3HAC043446-005
APPROVED
1
DMRO SEPRMP
-SMB
BK
WHBK
BN
WHBN
RD
WHRD
M3R
M3S
M3T
PE
PE
BU M3
1
2
3
GNYE(SP32A)
(SP32A)
(SP12)
(SP21A)
(SP64A)
GNYE
9
X3
0V X3
Y3
0V Y3
0V EXC1
EXC1
-FB3
-MU3
RD
BK
BU
YE
WHBK (WHYE)
WHRD
RD
WH
BK
GNYE
BU +
BU -
2
27
15
-BUM3
-BU0VM3
-R2.FB36
1
7
5
8
3
6
7
9
12
2
5
-R2.H1
-R2.H2
10
3
4
1
7
2
8
3
-R1.MP3
5
7
4
6
14
6
7
9
KEYPIN
B
12
2
KEYPIN
A
-R1.SMB1-39
21
10
22
8
20
-R1.SMB1-39
21
10
22
8
20
-R2.H1
-R2.H2
A K
S (V)
T (W)
R (U) PE
3~M
-R2.FB36
-R2.MP31
-R2.MP31
4
3
10
1(+)
-R3.H
2(-)
Brake
Resolver
-SIGNAL LAMP (OPTIONAL)
RD
WH
BK
GNYE
M3R
M3S
M3T
BU 0V M3
24V EXT. LAMP
0V EXT. LAMP
4
5
6
10
7
8
RD
BK
Prepared by, date:+Axis 5/70
We
rese
rve
all r
ight
s in
this
doc
umen
t and
in th
e in
form
atio
n co
ntai
ned
ther
ein.
Rep
rodu
ctio
n, u
se o
r di
sclo
sure
to th
ird p
artie
s w
ithou
t exp
ress
aut
horit
y is
stri
ctly
forb
idde
n. ©
Cop
yrig
ht 2
003
AB
B
Erik Mesaros Johan Moraeus
2013-06-03
Page 60
13Total
Latest revision:
Approved by, date:
Axis 4
Location:Plant: =
++Sublocation:
IRB6700Axis4
Document no.Next
Rev. Ind
Lab/Office: Status:IRB 6700
2 5
00
4 63 7 8
3HAC043446-005
APPROVED
1
DMRO SEPRMP
-SMB
BK
WHBK
BN
WHBN
RD
WHRD
M4R
M4S
M4T
PE
BU M4
BU 0V M4
1
2
3
GNYE(SP31A)
(SP13)
(SP65A)
(SP21A)
6
7
X4
0V X4
Y4
0V Y4
0V EXC2
EXC2
-FB4
-MU4
RD
BK
BU
YE
WHBK (WHYE)
WHRD
RD
WH
BK
GNYE
BU +
BU -
-BUM4
-BU0VM4 5
A KeypinKeypin B
1
7
2
8
3
-R2.FB46
-R2.FB46
-R2.MP41
3
7
9
2
5
1-R2.MP3
S (V)
T (W)
R (U) PE
3~M
7
9
-R1.SMB4-62
14
3
15
6
18
14
3
15
6
18
1
7
2
8
3
3
2
-R1.SMB4-62
-R1.MP1
2
10
Brake
Resolver
Prepared by, date:+Axis6/80
We
rese
rve
all r
ight
s in
this
doc
umen
t and
in th
e in
form
atio
n co
ntai
ned
ther
ein.
Rep
rodu
ctio
n, u
se o
r di
sclo
sure
to th
ird p
artie
s w
ithou
t exp
ress
aut
horit
y is
stri
ctly
forb
idde
n. ©
Cop
yrig
ht 2
003
AB
B
Erik Mesaros Johan Moraeus
2013-06-03
Page 70
13Total
Latest revision:
Approved by, date:
Axis 5
Location:Plant: =
++Sublocation:
IRB6700Axis 5
Document no.Next
Rev. Ind
Lab/Office: Status:IRB 6700
2 5
00
4 63 7 8
3HAC043446-005
APPROVED
1
DMRO SEPRMP
-SMB
BK
WHBK
BN
WHBN
RD
WHRD
M5R
M5S
M5T
PE
BU M5
BU 0V M5
(SP34A)
(SP61A)
(SP14)
(SP22A)
1
2
3
GNYE
6
7
-BUM5
-BU0VM5
28 3
7
9
2
5
-R2.FB56
-R2.FB56
1
7
2
8
3
-R2.MP51
-R2.MP51
1
7
2
8
3
-R1.MP20
29
A Keypin
3
7
9
2
5
-R1.SMB4-64
16
5
17
7
19
-R1.SMB4-64
16
5
17
7
19
S (V)
T (W)
R (U) PE
3~M
X5
0V X5
Y5
0V Y5
0V EXC2
EXC2
-FB5
RD
BK
BU
YE
-MU5
RD
WH
BK
GNYE
BU +
BU -
WHBK (WHYE)
WHRD
Resolver
Brake
Prepared by, date:
We
rese
rve
all r
ight
s in
this
doc
umen
t and
in th
e in
form
atio
n co
ntai
ned
ther
ein.
Rep
rodu
ctio
n, u
se o
r di
sclo
sure
to th
ird p
artie
s w
ithou
t exp
ress
aut
horit
y is
stri
ctly
forb
idde
n. ©
Cop
yrig
ht 2
003
AB
B
Erik Mesaros Johan Moraeus
2013-06-03
Page 80
13Total
Latest revision:
Approved by, date:
Axis 6
Location:Plant: =
++Sublocation:
IRB6700Axis6
Document no.Next
Rev. Ind
Lab/Office: Status:IRB 6700APPROVED
6 7 82
3HAC043446-005
51
00
3 4
DMRO SEPRMP
-SMB
BK
WHBK
BN
WHBN
RD
WHRD
M6R
M6S
M6T
PE
BU M6
BU 0V M6
1
2
3
GNYE(SP33A)
(SP15)
(SP22A)
(SP63A)
6
7
X6
0V X6
Y6
0V Y6
0V EXC2
EXC2
-FB6
-MU6
RD
BK
BU
YE
WHBK (WHYE)
WHRD
RD
WH
BK
GNYE
BU +
BU -
-BUM6
-BU0VM6
1
7
2
8
3
-R2.FB66
-R2.FB66
-R2.MP61
-R2.MP61
S (V)
T (W)
R (U) PE
3~M
1
7
2
8
3
16
8
-R1.MP9
20
8
22
10
21
-R1.SMB4-69
-R1.SMB4-69
21
10
22
8
20
3
7
9
2
5
3
7
9
2
5Brake
Resolver