1 2 3 4 5 6 7 8

LEGEND
SYMBOLER
M Motor R3.H1
3
Motor R3.H2
R3.MP4
Brake R3.MP5
B Broms R3.MP6
R3.FB4
PTC Temp. sensor (PTC-resistor) R3.FB5
Temp. givare (PTC-motstånd) R3.FB6
R2.CP
R Resolver R2.CS
Resolver AIR
Protective earth
Skyddsjord
Twisted cables
Tvinnade ledare
We reserve all rights in this document and in the information contained therein.Reproduction, use or

R1.MP
disclosure to third parties without express authority is strictly forbidden. © Copyright 2003 ABB

Screened cables A A
Skärmade ledare R1.SMB

Location pin to avoid mismatch

KEY PIN/STIFT of connector R1.CP/CS
Nyckelstift för att förhindra felanslutning. R3.MP1
R3.FB1

SHEET CONTENT AIR

BLAD INNEHÅLL
Brake release unit, R3.MP2
102 Serial measuring board R3.FB2
R1.LS1
Bromslossningsenhet,
Seriemätkort A-A
Motor axis 1-3 OPPOSITE SIDE/ R2.MP4-6
103 Motor axel 1-3 ANDRA SIDAN R2.BU
R3.MP3 R2.BU1-3
Feed-back axis 1-3 R3.FB2 R2.BU4-6
104 Återföringsdon axel 1-3 R3.LS1 R2.SMB
R3.LS2 R2.FB1-3
Motor axis 4-6 R2.FB4-6
105
Motor axel 4-6
Feed-back axis 4-6
106 Återföringsdon axel 4-6
Customer connection
107 Kundanslutning

Position indicator axis 1; OPTION

108
Lägesindikering axel 1; OPTION

Latest revision: Lab/Office: Status: 2009-03-26 Plant: =

PRMP Manipulator IRB 4400 circuit diagram
Location: +
ECO 40059, SPR 1038405
Sh103: GY wire to R3.LS1 was BK.
APPROVED Sublocation:+
Legend/Table of contents/Location of connection points Document no.
Rev. Ind 101

Prepared by, date: Erik Mesaros Approved by, date: Johan Moraeus 3HAC9821-1 01 Next 102
Total 8
 1 2 3 4 5 6 7 8

BU
R1.MP R2.BU
B16 BRAKE PB BU 5
R2.BU1-3
B12 BRAKE RELEASE BU 1 1
B13 BRAKE RELEASE BU 2
B14 0V BRAKE BU 3
B15 0V BRAKE BU 4 2
6 3

103
4
G 5
0V

+7.2V
We reserve all rights in this document and in the information contained therein.Reproduction, use or

6
disclosure to third parties without express authority is strictly forbidden. © Copyright 2003 ABB

9
KEY PIN/STIFT
R2.BU4-6
KEY PIN/STIFT 1
SMB
4
R2.G
1
2 DC/DC 5 105
BATTERY 8
CHARGER

A/D 9
R1.SMB R2.SMB
A SDI WH CONVERTER
9 SDI 10
B SDI-N BU 5 SDI-N
C SDO WH 8 SDO 105
D SDO-N OG 4 SDO-N 11

E 0V WH 3 0V
R2.BU1-3
F +24V GN 7 +24V 7
K +BATSUP GY 6 +BATSUP 8 103
L 0VBATLD RD 2 0VBATLD SERIAL
R2.BU4-6
J COMMUNICA- 2
TION 105
M KEY PIN/
STIFT

Sh.104, 106

Latest revision: Lab/Office: Status: 2009-03-26 Plant: =

PRMP Manipulator IRB 4400 circuit diagram
Location: +
ECO 40059, SPR 1038405
Sh103: GY wire to R3.LS1 was BK.
APPROVED Sublocation:+
Brake release unit and serial measuring board Document no. Rev. Ind 102

Prepared by, date: Erik Mesaros Approved by, date: Johan Moraeus 3HAC9821-1 01 Next 103
Total 8
 1 2 3 4 5 6 7 8

MU1
R1.MP R3.MP1
A1 15 M1R 1
A2 15 M1R 10 R (U)
A3 16 M1S 2 S (V) M
A4 16 M1S 11 T (W) 3
A5 17 M1T 3
A6 17 M1T 12
GNYE PE
R2.BU1-3
1 13 BRAKE REL.1 7
102 2 14 0V BRAKE 8 B
C2 PTC M 5 PTC
6 MU 2
R3.MP2
A7 1 M2R 1
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

A8 6 M2R 10 R (U)
A9 3 M2S 2 S (V) M
A10 7 M2S 11 T (W) 3
A11 5 M2T 3
A12 8 M2T 12
GNYE PE
3 2 BRAKE REL.2 7
4 4 0V BRAKE 8 B
102 5 PTC
8 11 PTC 25 6

MU 3
R3.MP3
A13 1 M3R 1
A14 6 M3R 10 R (U)
A15 3 M3S 2 S (V) M
A16 7 M3S 11 T (W) 3
B1 5 M3T 3
B2 8 M3T 12
GNYE PE
5 2 BRAKE REL.3 7
102 6 4 0V BRAKE 8 B
10 PTC 13 5 PTC OPTION:
9 PTC 32 6 Limit switch axis 3
Gränslägesbrytare axel 3

D1 11 LIM2 A R3.LS2 BN 22 21
D3 13 LIM2 B R3.LS2 BU
D4 14 LIM1 B R3.LS1 BK 12 11
D2 12 LIM1 A R3.LS1 GY

Latest revision: Lab/Office: Status: 2009-03-26 Plant: =

PRMP Manipulator IRB 4400 circuit diagram
Location: +
ECO 40059, SPR 1038405
Sh103: GY wire to R3.LS1 was BK.
APPROVED Sublocation:+
Motor axis 1-3 Document no. Rev. Ind 103

Prepared by, date: Erik Mesaros Approved by, date: Johan Moraeus 3HAC9821-1 01 Next 104
Total 8
 1 2 3 4 5 6 7 8

SMB FB3

R2.FB1-3 R3.FB3
9 X3 RD 6
21 0V X3 WH 1

10 Y3 OG 7
22 0V Y3 WH 2 R
8 0V EXC WH 8
20 EXC BN 3
We reserve all rights in this document and in the information contained therein.Reproduction, use or

FB2
disclosure to third parties without express authority is strictly forbidden. © Copyright 2003 ABB

R3.FB2
4 X2 GN 6
16 0V X2 WH 1

5 Y2 YE 7
17 0V Y2 WH 2 R
6 0V EXC WH 8
18 EXC BU 3

FB1

R3.FB1
2 X1 GY 6
14 0V X1 WH 1
3 Y1 VT 7
15 0V Y1 WH 2 R
WH 8
BN 3
SH.102

Latest revision: Lab/Office: Status: 2009-03-26 Plant: =

PRMP Manipulator IRB 4400 circuit diagram
Location: +
ECO 40059, SPR 1038405
Sh103: GY wire to R3.LS1 was BK.
APPROVED Sublocation:+
Feed back axis 1-3 Document no. Rev. Ind 104

Prepared by, date: Erik Mesaros Approved by, date: Johan Moraeus 3HAC9821-1 01 Next 105
Total 8
 1 2 3 4 5 6 7 8

MU 4

R1.MP R2.MP4-6 R3.MP4

B3 BK 1 M4R 1 1 R (U)
B4 BK 2 M4S 3 2 S (V) M
B5 BK 3 M4T 5 3 T (W) 3
R2.BU4-6
4 BRAKE REL.4 2 7
102 5 0V BRAKE 4 8 B
OPTION:
BU PTC
5 LED-lamp
6
R3.H2
1
R1.MP R2.MP4-6 BU
10 R3.H1 R
C16 BU 5 EXT. LAMP
We reserve all rights in this document and in the information contained therein.Reproduction, use or

1
disclosure to third parties without express authority is strictly forbidden. © Copyright 2003 ABB

MU 5
R3.MP5
B6 BK 4 M5R 6 1 R (U)
B7 BK 7 M5S 7 2 S (V) M
3
B8 BK 10 M5T 8 3 T (W)
R2.BU4-6
8 BRAKE REL.5 9 7
8 B
102
PTC
2 PTC 25 11 5
6

MU 6
R1.MP R2.MP4-6 R3.MP6
B9 BK 6 M6R 13 1 R (U)
B10 BK 9 M6S 14 2 S (V) M
B11 BK 12 M6T 15 3 T (W) 3
R2.BU4-6
10 BRAKE REL.6 16 7
102 11 0V BRAKE 17 8 B
PTC
5
C1 BU 11 0V PTC 12 6

PE GNYE

Latest revision: Lab/Office: Status: 2009-03-26 Plant: =

PRMP Manipulator IRB 4400 circuit diagram
Location: +
ECO 40059, SPR 1038405
Sh103: GY wire to R3.LS1 was BK.
APPROVED Sublocation:+
Motor axis 4-6 Document no. Rev. Ind 105

Prepared by, date: Erik Mesaros Approved by, date: Johan Moraeus 3HAC9821-1 01 Next 106
Total 8
 1 2 3 4 5 6 7 8

SMB FB4

R2.FB4-6 R3.FB4
2 X4 OG 6
14 0V X4 WH 1

3 Y4 RD 7
15 0V Y4 WH 2 R
6 0V EXC WH 8
18 EXC BN 3
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

BU FB5

R3.FB5
4 X5 GN 6
16 0V X5 WH 1

5 Y5 YE 7
17 0V Y5 WH 2 R
8
3

FB6

R3.FB6
9 X6 BU 6
21 0V X6 WH 1

10 Y6 VT 7
22 0V Y6 WH 2 R
8 0V EXC WH 8
20 EXC GY 3

SH.102

Latest revision: Lab/Office: Status: 2009-03-26 Plant: =

PRMP Manipulator IRB 4400 circuit diagram
Location: +
ECO 40059, SPR 1038405
Sh103: GY wire to R3.LS1 was BK.
APPROVED Sublocation:+
Feed back axis 4-6 Document no. Rev. Ind 106

Prepared by, date: Erik Mesaros Approved by, date: Johan Moraeus 3HAC9821-1 01 Next 107
Total 8
 1 2 3 4 5 6 7 8

R1.CP/CS R2.CP
A1 BK CPA A
B1 BN CPB B
C1 RD CPC C
D1 OG CPD D CUSTOMER CONNECTION
A2 YE CPE E POWER
B2 GN CPF F
C2 BU CPJ J
KUNDANSLUTNING
D2 VT CPK K KRAFT
A3 GY CPL L
B3 WH CPM M
GNYE PE G
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

R2.CS
B5 WHBN CSA A
C5 WHRD CSB B
D5 WHOG CSC C
A6 WHYE CSD D
B6 WHGN CSE E
C6 WHBU CSF F
D6 WHVT CSG G
A7 WHGY CSH H
B7 GYBK CSJ J
C7 GYBN CSK K
D7 GYRD CSL L
A8 GYOG CSM M CUSTOMER CONNECTION
B8 GYYE CSN N SIGNAL
C8 GYGN CSP P KUNDANSLUTNING
D8 GYBU CSR R SIGNAL
A9 GYVT CSS S
B9 GYWH CST T
C9 GNBK CSU U
D9 GNBN CSV V
A10 GNRD CSW W
B10 GNOG CSX X
C10 GNBU CSY Y
D10 GNVT CSZ Z

Latest revision: Lab/Office: Status: 2009-03-26 Plant: =

PRMP Manipulator IRB 4400 circuit diagram
Location: +
ECO 40059, SPR 1038405
Sh103: GY wire to R3.LS1 was BK.
APPROVED Sublocation:+
Customer connection Document no. Rev. Ind 107

Prepared by, date: Erik Mesaros Approved by, date: Johan Moraeus 3HAC9821-1 01 Next 108
Total 8
 1 2 3 4 5 6 7 8

R2.LS1-1
PE GNYE
R1.LS
A BK
B BN One
switch

D BU En
C BK brytare.
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

Two
R2.LS1-2
PE switches
GNYE

E BK Två
brytare.
F BN

H BU
G BK
Three
switches

Tre
R2.LS1-3 brytare.
PE GNYE

J BK
K BN

M BU
L BK

Z KEY PIN/
STIFT

Latest revision: Lab/Office: Status: 2009-03-26 Plant: =

PRMP Manipulator IRB 4400 circuit diagram
Location: +
ECO 40059, SPR 1038405
Sh103: GY wire to R3.LS1 was BK.
APPROVED Sublocation:+
Position indicator axis 1; OPTION Document no. Rev. Ind 108

Prepared by, date: Erik Mesaros Approved by, date: Johan Moraeus 3HAC9821-1 01 Next
Total 8