Product manual (part 2 of 2), reference information

Articulated robot
IRB 1400 M2000, M2004

Product manual (part 2 of 2) Reference information

3HAC 021111-001
Revision -

Articulated robot
IRB 1400 M2000 M2004

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 ABBs 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 2004 ABB All right reserved. ABB Automation Technologies AB Robotics SE-721 68 Vsters Sweden

Table of Contents

1: Reference information, IRB 1400

1.0.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5 1.0.2 Applicable Safety Standards . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6 1.0.3 Unit conversion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7 1.0.4 Screw joints . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8 1.0.5 Weight specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .11 1.0.6 Document references . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .12 1.0.7 Standard toolkit, IRB 1400 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .13 1.0.8 Performing a leak-down test . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .14 1.0.9 Lifting equipment and lifting instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .15 2: Spare part list 17

2.0.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .17 2.0.2 Manipulator complete . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .18 2.0.3 Arm housing, complete . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .22 2.0.4 Drive unit, axes 5-6 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .23 2.0.5 Serial measurement unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .24 3: Foldouts 25

3.0.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .25 4: Circuit diagram 47

4.0.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .47

3HAC 021111-001

Table of Contents

3HAC 021111-001

1 Reference information, IRB 1400

1.0.1 Introduction

1: Reference information, IRB 1400

1.0.1 Introduction

General

This chapter includes general information, complementing the more specific information in the following chapters.

1 Reference information, IRB 1400

1.0.2 Applicable Safety Standards

1.0.2 Applicable Safety Standards

Standards, general

The robot is designed in accordance with the requirements of: ISO10218, Jan. 1992, Industrial Robot Safety ANSI/RIA 15.06-1999 ISO/DIS 11161, Industrial automation systems - safety of integrated manufacturing systems - Basic requirements DIN 19258 - Interbus-S, International Standard

Standards, safety fence

The following standards are applicable to the safety fence surrounding the robot cell: ISO/DIS 11161, Industrial automation systems -safety of integrated manufacturing systems - Basic requirements prEN 999:1995

Standards, robot cell

The following standards are applicable when the robot is part of a robot cell: IEN 294, Safety of machinery - Safety distance to prevent danger zones being reached by the upper limbs. EN 349, Safety of machinery - Minimum gaps to avoid crushing of parts of the human body. EN 811 Safety of machinery - Safety distance to prevent danger zones being reached by the lower limbs. Pr EN 999 Safety of machinery - The positioning of protective equipment in respect of approach speeds of the human body. EN 1088 Safety of machinery - Interlocking device associated with guards principles for design and selection.

1 Reference information, IRB 1400

1.0.3 Unit conversion

1.0.3 Unit conversion

Converter table

Use the table below to convert units used in this manual.

Quantity
Length Weight Pressure Force Moment Volume

Units
1m 1 kg 1 bar 1N 1 Nm 1L 3.28 ft 2.21 lb 100 kPa 0.738 lbf 0.738 lbf-tn 0.264 US gal 14.5 psi 39.37 in

1 Reference information, IRB 1400

1.0.4 Screw joints

1.0.4 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
Molycote 1000 (molybdenum disulphide grease)

Art. no.
1171 2016-618

1 Reference information, IRB 1400

1.0.4 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 specify the recommended standard tightening torque for oil-lubricated screws with slotted or cross-recess head screws.

Dimension
M2.5 M3 M4 M5 M6

Tightening torque (Nm) Class 4.8, oil-lubricated

0.25 0.5 1.2 2.5 5.0

The table below specify the recommended standard tightening torque for oil-lubricated screws with Allen head screws.

Dimension

Tightening torque (Nm) Class 8.8, oillubricated

6 10 24 47 82 200

Tightening torque (Nm) Class 10.9, oillubricated

34 67 115 290

Tightening torque (Nm) Class 12.9, oillubricated

40 80 140 340

M5 M6 M8 M10 M12 M16

1 Reference information, IRB 1400

1.0.4 Screw joints

The table below specify the recommended standard tightening torque for Molycote-lubricated screws with Allen head screws.

Dimension
M8 M10 M12 M16

Tightening torque (Nm) Tightening torque (Nm) Class 10.9, Molycote-lubricated Class 12.9, Molycote-lubricated
28 55 96 235 34 66 115 280

The table below specify the recommended standard tightening torque for water and air connectors when one or both connectors are made of brass.

Dimension
1/8 1/4 3/8 1/2 3/4

Tightening torque Nm - Nominal

12 15 20 40 70

Tightening torque Nm - Min.

8 10 15 30 55

Tightening torque Nm - Max.

15 20 25 50 90

10

1 Reference information, IRB 1400

1.0.5 Weight specifications

1.0.5 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! The motor weighs 32 kg! All lifting equipment used must be sized accordingly!

11

1 Reference information, IRB 1400

1.0.6 Document references

1.0.6 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.

Document name
Product specification

Document ID
3HAC 9376-1

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.

Document name
Product manual, S4Cplus M2000 Product manual, S4Cplus M2000A Product manual, IRC5 M2004

Document ID
3HAC 021333-001 3HAC 021128-001 3HAC 021313-001

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.

Document name
Users guide (S4Cplus) Operators manual (IRC5)

Document ID
3HAC 7793-1 3HAC 16590-1

Note
Contains instructions for daily operation of S4Cplus based robot systems.

Additional documentaion Document name

Calibration Pendulum Instruction External axes

Document ID
3HAC 16578-1 3HAC 9299-1

Note
Enclosed with the Calibration Pendulum Toolkit.

12

1 Reference information, IRB 1400

1.0.7 Standard toolkit, IRB 1400

1.0.7 Standard toolkit, IRB 1400

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.

Contents Tool Rem.

13

1 Reference information, IRB 1400

1.0.8 Performing a leak-down test

1.0.8 Performing a leak-down test

General

After refitting any motor and any gearbox, the integrity of all seals enclosing the gearbox oil must be tested. This is done in a leak-down test.

Required equipment Equipment, etc.

Leakdown tester Leak detection spray

Art. no.
3HAC 0207-1 -

Note

Procedure Step
1. 2.

Action
Finish the refitting procedure of the motor or gear in question. Remove the topmost oil plug on the gear in question, and replace it with the leakdown tester . Adapters may be required, which are included in the leakdown tester kit.

Note/Illustration

Art. no. is specified above!

3.

Apply compressed air, and raise the pressure with the Recommended value: 0.2 knob until the correct value is shown on the manom- 0.25 bar (20 - 25 kPa) eter. Disconnect the compressed air supply. Wait for approx. 8-10 minutes. No pressure loss must If the compressed air is sigbe detected. nificantly colder or warmer than the gearbox to be tested, a slight pressure increase or decrease respectively may occur. This is quite normal. Was any pressure drop evident? Localize the leak as detailed below. Remove the leakdown tester, and refit the oil plug. The test is complete. Spray suspected leak areas with leak detection spray . Bubbles indicate a leak. When the leak has been localized: take the necessary measures to correct the leak. Art. no. is specified above!

4. 5.

6.

7.

8.

14

1 Reference information, IRB 1400

1.0.9 Lifting equipment and lifting instructions

1.0.9 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.

15

1 Reference information, IRB 1400

1.0.9 Lifting equipment and lifting instructions

16

2 Spare part list

2.0.1 Introduction

2: Spare part list

2.0.1 Introduction
Item number refers to item number on the foldouts. Article numbers marked with bold text are specially designed as spare parts (painted etc.).

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2 Spare part list

2.0.2 Manipulator complete

2.0.2 Manipulator complete

Manipulator complete

See foldouts 1, 2, 3, 4 and 5 to locate the item numbers.

Item Qty
1 2 3 4 5 6 7 8 9 10 11 11 12 13 14 15 15 16 17 18 23 26 27 28 29 29 30 31 32 34 35 36 38 1 1 6 6 1 1 4 3 3 2 12 1 1 2 16 6 1 1 1 8 1 2 2 1 2 5400 ml 6100 ml 1g 1 ml 1 ml 1 ml 6 1 1

Name
Foot Gears, axes 1-3 Plain washer Screw Bottom plate Gasket, bott. plate Screw O-ring Motor and pinion Motor and pinion Screw Lower arm Lower arm Damper Spring washer Screw Parallel arm Parallel arm Ball bearing Screw Motor unit axis 2 2 Lifting eye Sync.marker Stop pin Cushion axis 3 Oil Oil Grease Grease Loctite 243 Loctite 601 Protective hood Sealing strip Loctite 577
1 1

Art. no.
3HAB 3443-1 3HAB 3272-1 9ADA 312-9 3HAB 3402-67 3HAB 9418-1 3HAB 3347-1 2121 2172-228 2152 2012-428 3HAB 3309-1 3HAB 3309-1 3HAB 3402-24 3HAB 3682-1 3HAB 3281-1 3HAB 3257-1 2154 2033-10 3HAB 3409-51 3HAB 3126-1 3HAB 3282-1 2213 253-12 3HAB 3409-57 3HAB 3378-1 2179 090-25 3HAB 3296-1 3HAB 3258-1 3HAB 3254-1 1171 2016-604 1171 2016-604 3HAB 3537-1 3HAB 1001-294 3HAB 7116-1 1269 0014-407 2522 2101-9 1854 1909-4 1269 1907-1

Remark

13x24x2.5 Gleitmo 610 M12x40 8.8

M5x12 79.5x3 Hanging Gleitmo 610 M6x16 8.8 Standard Hanging 10.5x23x2.5 FZM Gleitmo 610 M10x30 12.9 Standard Hanging 61821-2RS1 Gleitmo 610 M10x60 12.9

Kit Floor mounted Hanging Optimol

D=12-13.9 Hanging L=1.3 m Hanging

18

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2 Spare part list

2.0.2 Manipulator complete

Item Qty
50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 1 1 1 6 6 2 2 2 4 2 2 3 3 3 2 2

Name
Sync. marker Upper arm Wrist Screw Washer Cover Protection plug Spring Rod end bearing Shaft Ball bearing Shims Shims Spacer Lock nut Screw

Art. no.
3HAB 3747-1 3HAB 3379-1 3HAB 3388-1 3HAB 3402-25 9ADA 312-6 3HAA 2362-1 2522 2101-5 3HAB 3263-1 3HAA 2301-12 3HAB 3265-1 2213 6950-206 2159 167-70 2159 167-71 3HAB 3262-1 2126 2851-105 3HAB 3409-61

Remark
See 1.2 Gleitmo 610 MC6S, M6x20 6.4x12x1.6

KM-10 6206-2RS1 T=0.3 T=0.1 KM-5, M25x1.5 Gleitmo 610M10x90 12.9 Stand. Gleitmo 610 M10x80 12.9 Hanging Standard Hanging 22205 L=1200 SKRF, M8x16 M5x140 MC6S, M8x20 M10

65

Screw

3HAB 3409-60

66 66 67 68 69 70 71 72 73 74 75 76 101 102 103 104 105 106 107 107

1 1 2 3 1 1 1 1 1 1 1 2 1 1 1 1 2 1 1 1

Parallel bar Parallel bar Spherical roller bear. Sealing washer Washer Screw Shaft Spacer Washer Screw Sealing washer Nut Bracket Bracket Spring Cable guide Holder for cable guide Cable unit axes 1-3 Cable unit axes 4-6 Cable unit axes 4-6

3HAB 3031-1 3HAB 3283-1 3HAA 2167-13 3HAB 3768-1 3HAB 3260-1 2121 2852-449 3HAB 3256-1 3HAB 3264-1 3HAA 2355-11 9ADA 183-36 3HAB 3767-1 9ADA 267-8 3HAB 3225-1 3HAB 9387-1 3HAB 3291-1 3HAB 3298-1 3HAB 3299-1 3HAB 8440-1 3HAC 1855-1 3HAC 1856-1

Option 040 + standard Option 041 + standard

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2 Spare part list

2.0.2 Manipulator complete

Item Qty
107 107 107 109 110 111 117 119 122 122 124 127 130 135 136 137 138 139 140 144 145 147 148 149 150 151 152 154 156 159 160 161 162 163 164 165 167 170 171 1 1 1 2 1 1 3 3 1 1 3 1 1 1 1 1 1 1 2 12 4 6 4 8 4 1 1 1 1 11 46 1 1 1 1 1 7 2 12

Name
Cable unit axes 4-6 Cable unit axes 4-6 Cable unit axes 4-6 Bracket, axes 5-6 Clamp Clamp Cover, axes 1-3 Gasket Cover, axis 4 Lamp unit Gasket Cover, axes 5-6 Battery unit SMB with bracket Signal cable SMB Gasket Bracket Earth symbol Clamp Straps (outdoor) Straps (outdoor) Tapping screw Screw Screw Tapping screw Bracket Actuator Protective cover Sealing Straps (outdoor) Tapping screw Dust cap Gasket Cable guide Profile Tape Screw Protective hood Nut

Art. no.
3HAC 1857-1 3HAC 1858-1 3HAC 2072-1 3HAB 3230-1 2166 2018-2 2166 2018-8 3HAC 4337-1 3HAC 4419-1 3HAC 4350-1 3HAC 2743-1 3HAC 4429-1 3HAC 4405-1 4944 026-4 3HAB3700-1 3HAB 3774-1 3HAB 3348-1 3HAC 2037-1 3HAB 5617-1 2166 2018-7 2166 2055-3 2166 2055-6 9ADA 624-47 9ADA 183-22 9ADA 183-11 2121 2477-291 SK 616 013-F 1SFA616100R1006 1SFA616920R8010 3HAB 3293-1 2166 2055-1 9ADA 624-44 5217 649-9 2152 0363-3 3HAB 3328-1 1866 1903-1 1169 9198-301 9ADA 129-45 2522 2101-8 9ADA 290-1

Remark
Option 040 + hanging Option 041 + hanging Option 042 + standard D=11 D=6

Not option 691 Option 691

D=5 L=186 mm L=386 mm M5x25 M6x10 M5x8 M4x12 Black

L=92 mm M5x12 12p. FCI 12p. FCI L=100 L=200 M5x16 D=11.1 - 13 Option 041 M5

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2 Spare part list

2.0.2 Manipulator complete

Item Qty
172 173 174 175 176 177 179 180 181 182 184 186 187 188 189 190 192 193 194 196 197 1 2 2 1 2 1 1 1 2 2 1 1 2 1 3 16 4 4 1 1 1

Name

Art. no.

Remark
Option 075 Option 075 Option 075 Option 042 Option 041 or 042 Option 075 Loctite 542, option 041 Option 041 Pr 18.6, option 075 Pr 18.6, option 075 D=7.6-9.3, option 059 D=12-13.9 D=12-13.9

Cable pos. indicator axis HAB 3310-1 1 Bushing Limit switch Protective hood Dust cap Dust cap Sealing liquid Coupling Cable gland Rubber washer Protective hood Protective hood Protective hood Cover Adaptor power cabling Screw Screw Nut Gasket Cover plate Dust cap 2166 2421-2 3HAA 2496-1 3HAB 9344-1 5217 649-9 5217 649-9 1269 0014-412 3HAB 3333-20 2672 063-3 2452 398-2 2522 726-3 2522 2101-9 2522 2101-9 3HAB 9343-1 3HAC 2809-1 9ADA 629-22 9ADA 629-22 9ADA 267-6 3HAB 7195-1 3HAC 2056-1 3HAA 1001-630

M3x6 M3x6 M6 Option 041 Option 042

1.Axes 1 - 3 for IRB 1400 and axes 1 and 3 for IRB 1400H 2.Only for IRB 1400H.

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2 Spare part list

2.0.3 Arm housing, complete

2.0.3 Arm housing, complete

Arm housing, complete

See foldout 6 to locate the item numbers. Item

1 2 3 4 5 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 28 29 32 33 35 36 37

Qty
1 1 2 1 1 2 2 2 4 1 1 6 2 7 1 1 4 1 1 7 1 4 2 1 1 1 1

Name
Tubular shaft Back-up ring Ball bearing Housing axis 4 Intermediate gear Screw Washer Spacer Spacer Spacer Gear wheel Screw Screw Plain washer O-ring Motor complete axis 4 Screw Nut Cover Screw Drive unit axes 5-6 Screw Plug Grease Loctite 243 Oil Loctite 638

Art. no.
3HAB 3270-1 3HAB 6354-1 2213 253-12 3HAB 3201-1 3HAB 3380-1 3HAB 3402-38 9ADA 312-7 2159 167-61 2159 167-62 2159 167-63 3HAB 3210-1 3HAB 3402-24 9ADA 183-22 9ADA 312-6 2152 2011-414 3HAC 11864-1 9ADA 183-14 9ADA 267-6 3HAB 3266-1 9ADA 183-13 3HAC 6082-2 3HAB 3402-30 2216 264-14 3HAB 3532-1 1269 0014-410 1171 2016-604 1269 0014-413

Remark

61821-2RS1

MC6S, M8x30 8.4x16x1.6 T=0.05 T=0.1 T=0.5 Gleitmo 610 MC6S, M6x16 MC6S, M6x10 6.4x12x1.6 D=44,2x3 With pinion MC6S, M5x16 M6 MC6S, M5x12 See foldout 9 Gleitmo 610 MC6S, M6x45 1g 1 ml 1 ml 1 ml

22

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2 Spare part list

2.0.4 Drive unit, axes 5-6

2.0.4 Drive unit, axes 5-6

Drive unit, axes 56

See foldouts 7, 8 and 9 to locate the item numbers. Item

1 2 3 4 5 6 7

Qty
1 2 1 8 10 10 2

Name
Driving shaft, 5-6 Motor unit, axes 5 - 6 Motor end barrier Nut Screw Plain washer Timing belt

Art. no.
3HAC 11305-1 3HAC 11865-1 3HAA 2504-1 9ADA 267-5 3HAB 3402-14 9ADA 312-5 3HAA 2393-1

Remark

M5 Gleitmo 610 MC6S, M5x16 5.3x10x1

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2 Spare part list

2.0.5 Serial measurement unit

2.0.5 Serial measurement unit

Serial measurement unit

See foldout 10 to locate the item numbers. Item

3 4 5 7 8 9

Qty
1 4 1 1 2 1

Name
Battery Straps, outdoor Serial measurement board Signal cable Straps, outdoor Label

Art. no.
4944 026-4 2166 2055-6 3HAB 3700-1 3HAB 3774-1 2166 2055-3 2940 1413-1

Remark
L=368 mm DSQC 313 L=186 mm 38x19

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3HAC 021111-001

3 Foldouts
3.0.1 Introduction

3: Foldouts
3.0.1 Introduction

Overview

This chapter includes foldouts with illustrations of the robot. The item numbers are specified in chapter Spare part list on page 17.

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3 Foldouts
3.0.1 Introduction

26

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3HAC 021111-001

4 Circuit diagram
4.0.1 Introduction

4: Circuit diagram
4.0.1 Introduction

Overview

This chapter includes the complete circuit diagram for the robot.

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4 Circuit diagram
4.0.1 Introduction

48

Revision -

3HAC 021111-001

Circuit diagram 3HAC 2803-3/Rev.01

8.0.1 Introduction

Sheet 101 List of contents

3HAC021111-001

Rev -

Circuit diagram 3HAC 2803-3/Rev.01

8.0.1 Introduction

Sheet 102 Connection point location

3HAC021111-001

Rev -

Circuit diagram 3HAC 2803-3/Rev.01

8.0.1 Introduction

Sheet 103 Serial measurement board

3HAC021111-001

Rev -

Circuit diagram 3HAC 2803-3/Rev.01

8.0.1 Introduction

Sheet 104 Motor axes 1 - 3

3HAC021111-001

Rev -

Circuit diagram 3HAC 2803-3/Rev.01

8.0.1 Introduction

Sheet 105 Feedback axes 1 - 3

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Rev -

MU4 R (U)
M 3

Sheet 106 Motor axes 4 - 6

3HAC021111-001
M4R M4S M4T S (V ) T (W) GNYE BRAKE REL. 0V BRAKE 8 5 6 MU6 8 7 6 2 1 PTC 46
R LED-LAMP; OPTION

R1.MP4-6 1 2 3 15 14 13 R3.MP4 1 2 3

PE 17 16 7

B
PTC

104

R1.BU 3 2 PTC 34 12

111

BU BU BU

BU

M 3

5 6 9 12 M6R M6S M6T BRAKE REL. 0V BRAKE 10

R4.MP6 1 2 3 7 8 5 6 R3.H2:1

R ( U) S (V ) T (W)

Rev 11 5 4 3 R3.H1:1 M5R M5S M5T PTC 9 GNYE

B
PTC

13

14

BU BU

15

BU

S1

112

R1.H1 1

BRPB

BU PTC 65 BU MU5 R ( U)
M 3

R1.MP4-6

7 10

R4.MP5 1 2 3

S (V ) T (W)

111

7 8

B
5 6 PTC

11

Circuit diagram 3HAC 2803-3/Rev.01

8.0.1 Introduction

PE

Circuit diagram 3HAC 2803-3/Rev.01

8.0.1 Introduction

Sheet 107 Feedback axes 4 - 6

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Circuit diagram 3HAC 2803-3/Rev.01

8.0.1 Introduction

Sheet 108 Customer connection (Option)

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Rev -

R1.CS A CSA CSJ CSB CSC CSD CSE CSF CSG CSH CSP WH P K L M N R S OG WH RD WH BN WH CSK CSL CSM CSN CSR CSS YE H WH G GN F WH E BU D WH C VT B WH J GY

R2.CS A

Sheet 109 Integrated wirefeed cabling (Option)

3HAC021111-001
R2.CP CPM CPL 5 6 7 8 9 10 11 12 13 14 15 16 17 D A CPJ CPK CPF CPG CPH CPC CPE CPB CPD CPA CPD CPA 4 M L J K F G H C E B

Rev -

R1.CP

Circuit diagram 3HAC 2803-3/Rev.01

8.0.1 Introduction

Circuit diagram 3HAC 2803-3/Rev.01

8.0.1 Introduction

Sheet 110 Position indicator axis 1

3HAC021111-001

Rev -

Circuit diagram 3HAC 2803-3/Rev.01

8.0.1 Introduction

Sheet 111 External connections (Option)

3HAC021111-001

Rev -

Index

3HAC 021111-001

49

Index

50

3HAC 021111-001