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1

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:
ECO 40059, SPR 1038405 Sh104: GY wire to R3.LS1 was BK.

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Manipulator IRB 2400 circuit diagram Legend/Table of contents

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2009-03-03

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Johan Moraeus

3HAC6670-3

02

101 Next 102 Total 13

R2.CP R2.CS
Option: integrated wirefeed cabling

R3.H1 R3.H2 R3.MP4 R3.FB4 1,8-5


AIR

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

R2.CP R2.CS 1,5-10/16 R1.LS

R3.MP1 R3.FB1

R3.MP2 R3.FB2

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R2.CP R2.CS

R1.MP R1.SMB R1.CP/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

R3.MP3 R3.FB3 R3.LS1 R3.LS2

R1.LS2 R1.LS1 (OPPOSITE SIDE)

Latest revision:
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Manipulator IRB 2400 circuit diagram Location of connection points

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2009-03-03

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102 Next 103 Total 13

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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+7.2V 6 KEY PIN/STIFT 9

SMB R2.G 1 2

R2.BU4-6 KEY PIN/STIFT 1 4

BK BU

DC/DC BATTERY CHARGER A/D CONVERTER

5 8 106, 108

R2.SMB SDI SDI-N SD0 SD0-N 113 0V +24V +BATSUP 0VBATLD


SERIAL COMMUNICATION

9 10

11 R2.BU1-3 7 8 R2.BU4-6 2

104

106, 108

Sh.105, 107, 109

Latest revision:
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Manipulator IRB 2400 circuit diagram Brake release unit

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103 Next 104 Total 13

R1.MP1-3 1 5 113 3

2 2 2

14/17 13/16 12/15 GNYE

M1R M1S M1T PE BRAKE REL.1 0V BRAKE PTC M

MU1 R3.MP1 1 2 3

R S T

(U) M (V) (W) 3

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

1/6 3/7 5/8 GNYE 2

M2R M2S M2T PE BRAKE REL.2 10 9 PTC 12

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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

LIM2 LIM2 LIM1 LIM1

B A A B

R3.LS2 R3.LS1

R3.LS2 R3.LS1

Latest revision:
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Manipulator IRB 2400 circuit diagram Motor axis 1-3

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104 Next 105 Total 13

SMB R2.FB1-3 9 21 10 22 8 20
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FB3 R3.FB3 6 1 7 2 8 3 FB1 R3.FB1 6 1 7 2 8 3

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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Manipulator IRB 2400 circuit diagram Feed back axis 1-3

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105 Next 106 Total 13

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

EXT. LAMP MU 5 BU R3.MP5 1 2 3 7 8 5 6

R1.MP4-6 113 4 7 10 R2.BU4-6 8

6 7 8 9

M5R M5S M5T BRAKE REL.5

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

M 3

B
PTC

103 2 11 PTC 35

MU 6 R1.MP4-6 6 9 12 113 R2.BU4-6 10 103 11 R3.MP6 1 2 3 7 8 5 6

13 14 15 16 17

M6R M6S M6T BRAKE REL.6 0V BRAKE

R S T

(U) M (V) (W) 3

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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Manipulator IRB 2400 circuit diagram Motor axis 4-6, 1,5-10/16

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106 Next 107 Total 13

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.

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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.

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Prepared by, date:

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3HAC6670-3

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107 Next 108 Total 13

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

M4R M4S M4T

R3.MP4 1 2 3

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

M 3

B
PTC

MU6
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R1.MP4-6 6 9 113 12 R2.BU4-6 10 103 11

8 7 6 10 9

M6R M6S M6T BRAKE REL. 6 0V BRAKE PTC 46


R3.H2:1

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

MU5 R4.MP5 1 2 3 7 8 R (U) S (V ) T (W)

R1.MP4-6 4 7 113 10 R2.BU4-6 8 103

5 4 3 1

M5R M5S M5T BRAKE REL. 5

M 3

B
PTC

R1.MP4-6 11 113 PE

2 GNYE

PTC

5 6

Latest revision:
ECO 40059, SPR 1038405 Sh104: GY wire to R3.LS1 was BK.

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Manipulator IRB 2400 circuit diagram Motor axis 4-6, 1,8-5

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108 Next 109 Total 13

FB4 SMB R2.FB4-6 2 14 3 15 6 18 X4 0V X4 Y4 0V Y4 0V EXC EXC


OG WH RD WH WH BN

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:

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Manipulator IRB 2400 circuit diagram Feed back axis 4-6, 1,8-5

Status:

2009-03-03

APPROVED
Document no.

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109 Next 110 Total 13

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

CUSTOMER CONNECTION POWER KUNDANSLUTNING KRAFT

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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

CUSTOMER CONNECTION SIGNAL KUNDANSLUTNING SIGNAL

Latest revision:
ECO 40059, SPR 1038405 Sh104: GY wire to R3.LS1 was BK.

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Manipulator IRB 2400 circuit diagram Customer connection

Status:

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Document no.

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Prepared by, date:

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3HAC6670-3

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110 Next 111 Total 13

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

CUSTOMER CONNECTION SIGNAL KUNDANSLUTNING SIGNAL

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

CUSTOMER CONNECTION POWER KUNDANSLUTNING KRAFT

D A

Latest revision:
ECO 40059, SPR 1038405 Sh104: GY wire to R3.LS1 was BK.

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Manipulator IRB 2400 circuit diagram Integrated wirefeed cabling; OPTION

Status:

2009-03-03

APPROVED
Document no.

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Prepared by, date:

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111 Next 112 Total 13

R2.LS1 R1.LS A B BK BK POSITION INDICATOR COMMON 13/23 21/11 14/24 22/12 BK BK

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

MANIPULATOR AT STATION 1 MANIPULATOR AT STATION 2

BU BN

R2.LS1-1 GNYE
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PE PE PE

A B

BK BN

One switch En brytare.

D C

BU BK

R2.LS1-2 GNYE E F BK BN

Two switches Tv brytare.

H G

BU BK

Three switches R2.LS1-3 Tre brytare.

GNYE J K BK BN

M L

BU BK

Z KEY PIN/ STIFT

Latest revision:
ECO 40059, SPR 1038405 Sh104: GY wire to R3.LS1 was BK.

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Manipulator IRB 2400 circuit diagram Position indicator axis 1; OPTION

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2009-03-03

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Document no.

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112 Next 113 Total 13

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

A10 A9 A8 A7 D10 D9 D8 D7 B10 C9 C8 C10 B9 B7 B8 C7 GNYE


PE R1.SMB A B C D E F K L J M

1 2 3 4 7 10 6 9 12 8 5 13 11 14 15 R1.H1 1

R1.CP/CS A1 B1 C1 D1 A2 B2 C2 D2 A3 B3 B5 C5 D5 A6 B6 C6 D6 A7 B7 C7 D7 A8 B8 C8 D8 A9 B9 C9 D9 A10 B10 C10 D10

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

103 106, 108 103 110

SDI SDI-N SDO SDO-N 0V +24V +BATSUP 0VBATLD

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

Manipulator IRB 2400 circuit diagram External connections; OPTION

Status:

2009-03-03

APPROVED
Document no.

= Plant: Location: + Sublocation:+ Rev. Ind

Prepared by, date:

Erik Mesaros

Approved by, date:

Johan Moraeus

3HAC6670-3

02

113 Next Total 13