1 2 3 4 5 6 7 8

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.
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

Except as may be expressly stated anywhere in this document, 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 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 Automation Technologies AB

Robotics
SE-721 68 Västerås
Sweden

Latest revision: Lab/Office: Status: Plant:

2015-09-25 = SP
DMRO SE IRB6650S, IRB7600 LeanID
ECO 74237, WI 93585 Location: +
New drawing
PRIM Approved Sublocation:+
COPYRIGHT PAGE Document no. Rev. Ind Page1

Prepared by, date: EF 2015-09-03 Approved by, date: JN 2015-09-25 DRESS PACK 3HAC022327-002 00 Next 2
Total 31
 1 2 3 4 5 6 7 8

Table of contents ABB_table_of_contents

Plant Location Sublocation Page Page description Page supplementary field Date Editor
SP 1 COPYRIGHT PAGE APPROVED 2015-09-03 SEEMFJA

SP 2 TABLE OF CONTENTS 1-271 APPROVED 2015-09-03 SEEMFJA

SP 3 LEGEND APPROVED 2015-09-03 SEEMFJA
SP S 50 BLOCK DIAGRAM - TYPE S APPROVED 2015-09-03 SEEMFJA
SP Se 51 BLOCK DIAGRAM - TYPE Se APPROVED 2015-09-03 SEEMFJA
SP H 52 BLOCK DIAGRAM - TYPE H APPROVED 2015-09-03 SEEMFJA
SP HS 53 BLOCK DIAGRAM - TYPE HS APPROVED 2015-09-03 SEEMFJA
SP HSe 54 BLOCK DIAGRAM - TYPE HSe APPROVED 2015-09-03 SEEMFJA
SP CON 55 CONNECTOR LAYOUT APPROVED 2015-09-03 SEEMFJA
SP CON 56 CONNECTOR LAYOUT APPROVED 2015-09-03 SEEMFJA
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

DP S AX3 100-101 PARACOM SW6 APPROVED 2015-09-03 SEEMFJA

DP S AX3 102-103 PARABUSCOM SW6 APPROVED 2015-09-03 SEEMFJA
DP S AX3 104-105 PARAMULTI SW6 APPROVED 2015-09-03 SEEMFJA
DP Se AX3 150-151 PARACOM, SERVOGUN SW6 APPROVED 2015-09-03 SEEMFJA
DP Se AX3 152-154 PARABUSCOM, SERVOGUN SW6 APPROVED 2015-09-03 SEEMFJA
DP Se AX3 156-157 PARAMULTI, SERVOGUN SW6 APPROVED 2015-09-03 SEEMFJA
DP H AX3 200-201 PARACOM MH3 & 6 APPROVED 2015-09-03 SEEMFJA
DP H AX3 202-203 PARABUSCOM MH3 & 6 APPROVED 2015-09-03 SEEMFJA
DP H AX3 204-205 PARAMULTI MH3 & 6 APPROVED 2015-09-03 SEEMFJA
DP PG 250 PEDISTAL GUN APPROVED 2015-09-03 SEEMFJA

Latest revision: Lab/Office: Status: Plant:

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TABLE OF CONTENTS 1-271 Document no. Rev. Ind Page2

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Next 3
Total 31
 1 2 3 4 5 6 7 8

Paracom Parallel Communication

Protective Earth

Parabuscom Parallel and Bus Communication

(CANBUS, PROFIBUS and DEVICENET)
Twisted wires
Paramulti Parallel and Ethernet Communication

S Welding

Quad twined wires

Se Weld with Servogun

H Material Handling
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

FB Motor Feedback Signal (7th axis) Screened wires

SMB Serial Measurment Board

CP/CS Customer Power/Customer Signal Screen is connected to earth

CBUS Bus Signal

SP Servo Gun Signal Screen connection continues on the next page

MH3 Harness between axis 3 to axis 6

MH6 Harness between Manipulator base to axis 6

Latest revision: Lab/Office: Status: Plant:

2015-09-25 = SP
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LEGEND Document no. Rev. Ind Page3

Prepared by, date: EF 2015-09-03 Approved by, date: JN 2015-09-25 3HAC022327-002 00 Next +S/50
Total 31
 1 2 3 4 5 6 7 8

BLOCK DIAGRAM TYPE S (pneumatic gun)

IRBDP SW6
Single cabinet controller, IRC5: See circuit diagram, 3HAC024480-011
and 3HAC026871-020 for Panel mounted controller.
Dashed cables: See circuit diagram SpotPack, 3HAC026208-001

SPOT WELDING
24VDC SUPPLY, PARALLEL INTERFACE, PROP. VALVE XP/XS103 CABINET

WELD POWER X101

Axis 3
We reserve all rights in this document and in the information contained therein.Reproduction, use or

R2.ETHERNET
disclosure to third parties without express authority is strictly forbidden. © Copyright 2003 ABB

R2.WELD
R2.CPS
Axis 5 R2.CBUS

WATER AND XP/XS113

AIR UNIT
Axis 6 Axis 4

24VDC SUPPLY, WELDING SIGNALS

R3.ETHERNET

BUS INTERFACE
R3.WELD

RS232/RS485
R3.CPS XS/XP101

115/230VAC
R3.CBUS

Axis 2

Axis 1
R1.WELD
Base R1.CP/CS/CBUS ROBOT SIGNALS, 24VDC SUPPLY XP/XS13 SINGLE CABINET
CONTROLLER
R1.ETHERNET BUS SIGNALS XP/XS9

Latest revision: Lab/Office: Status: Plant: = SP

2015-09-25
DMRO SE IRB6650S, IRB7600 LeanID
ECO 74237, WI 93585 Location: + S
New drawing
PRIM Approved Sublocation:+
BLOCK DIAGRAM - TYPE S Document no. Rev. Ind Page50

Prepared by, date: EF 2015-09-03 Approved by, date: JN 2015-09-25 DRESS PACK 3HAC022327-002 Next +Se/51
Total 31 00
 1 2 3 4 5 6 7 8

BLOCK DIAGRAM TYPE Se (servo gun)

IRBDP SW6
Single cabinet controller, IRC5: See circuit diagram, 3HAC024480-011
and 3HAC026871-020 for Panel mounted controller.
Dashed cables: See circuit diagram SpotPack, 3HAC026208-001

Axis 3
R2.ETHERNET
R2.WELD SPOT WELDING
R2.CPS 24VDC SUPPLY, PARALLEL INTERFACE XP/XS103 CABINET
R2.CBUS
R2.SP WELD POWER X101
Servo gun Axis 5 R3.FB7
( axis 7 )
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

Axis 6 Axis 4
R3.ETHERNET WATER AND XP/XS113
R3.WELD AIR UNIT
R3.CPS

24VDC SUPPLY, WELDING SIGNALS

R3.CBUS
R3.SP

BUS INTERFACE
R4.FB7 XS/XP101

RS232/RS485
Axis 2

230VAC
R2.FB7

Axis 1
R1.WELD

Base

R1.CP/CS/CBUS ROBOT SIGNALS, 24VDC SUPPLY XP/XS13

SINGLE CABINET
R1.SP SERVO GUN POWER XP/XS7 CONTROLLER

R1.ETHERNET BUS SIGNALS XP/XS9

Latest revision: Lab/Office: Status: Plant:

2015-09-25 = SP
DMRO SE IRB6650S, IRB7600 LeanID
ECO 74237, WI 93585 Location: + Se
New drawing
PRIM Approved Sublocation:+
BLOCK DIAGRAM - TYPE Se Document no. Rev. Ind Page51

Prepared by, date: EF 2015-09-03 Approved by, date: JN 2015-09-25 DRESS PACK 3HAC022327-002 Next +H/52
Total 31 00
 1 2 3 4 5 6 7 8

BLOCK DIAGRAM TYPE H

IRBDP SW6
Single cabinet controller, IRC5: See circuit diagram, 3HAC024480-011
and 3HAC026871-020 for Panel mounted controller.

Axis 3
R2.ETHERNET
Axis 5 R2.CPS
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

Axis 4
Axis 6
R3.ETHERNET
R3.CPS

Axis 2

Axis 1

R1.CP/CS/CBUS ROBOT SIGNALS, 24VDC SUPPLY XP/XS13

Base BUS SIGNALS XP/XS9 SINGLE CABINET
R1.ETHERNET
CONTROLLER

Latest revision: Lab/Office: Status: Plant:

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New drawing
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BLOCK DIAGRAM - TYPE H Document no. Rev. Ind Page52

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Total 31
 1 2 3 4 5 6 7 8

BLOCK DIAGRAM TYPE HS (material handling and pneumatic gun)

IRBDP SW6
Single cabinet controller, IRC5: See circuit diagram, 3HAC024480-011
and 3HAC026871-020 for Panel mounted controller.
Dashed cables: See circuit diagram SpotPack, 3HAC026208-001

SPOT WELDING
24VDC SUPPLY, PARALLEL INTERFACE, PROP. VALVE XP/XS103 CABINET

Axis 3
R2.ETHERNET
Axis 5 R2.CPS X101
We reserve all rights in this document and in the information contained therein.Reproduction, use or

X104
disclosure to third parties without express authority is strictly forbidden. © Copyright 2003 ABB

WATER AND XP/XS113

AIR UNIT
Axis 6 Axis 4

24VDC SUPPLY, WELDING SIGNALS

R3.ETHERNET

BUS INTERFACE
R3.CPS
XS/XP101

RS232/RS485
230VAC
Axis 2

Axis 1

R1.CP/CS/CBUS ROBOT SIGNALS, 24VDC SUPPLY XP/XS13

Base SINGLE CABINET
R1.ETHERNET BUS SIGNALS XP/XS9
CONTROLLER

PEDESTAL
GUN

SG.WELD WELD POWER

SG.CP/CS WELDING SIGNALS, 24VDC SUPPLY

Latest revision: Lab/Office: Status: Plant:

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New drawing
PRIM Approved Sublocation:+
BLOCK DIAGRAM - TYPE HS Document no. Rev. Ind Page53

Prepared by, date: EF 2015-09-03 Approved by, date: JN 2015-09-25 DRESS PACK 3HAC022327-002 Next +HSe/54
Total 31 00
 1 2 3 4 5 6 7 8

BLOCK DIAGRAM TYPE HSe (material handling and servo gun)

IRBDP SW6
Single cabinet controller, IRC5: See circuit diagram, 3HAC024480-011
and 3HAC026871-020 for Panel mounted controller.
Dashed cables: See circuit diagram SpotPack, 3HAC026208-001

24VDC SUPPLY, PARALLEL INTERFACE, PROP. VALVE XP/XS103 SPOT WELDING

CABINET

Axis 3
R2.ETHERNET
Axis 5 R2.CPS X101
We reserve all rights in this document and in the information contained therein.Reproduction, use or

X104
disclosure to third parties without express authority is strictly forbidden. © Copyright 2003 ABB

WATER AND XP/XS113

AIR UNIT
Axis 6 Axis 4

24VDC SUPPLY, WELDING SIGNALS

R3.ETHERNET

BUS INTERFACE
R3.CPS
XS/XP101

RS232/RS485
230VAC
Axis 2

Axis 1

R1.CP/CS/CBUS ROBOT SIGNALS, 24VDC SUPPLY XP/XS13

Base
Servo gun R1.ETHERNET BUS SIGNALS XP/XS9 SINGLE CABINET
( axis 7 ) CONTROLLER
R3.FB7

M PEDESTAL FB.M7 RESOLVER/SMB SIGNALS

GUN

R1.SP POWER SERVOGUN XP/XS7

SG.WELD WELD POWER

SG.CP/CS WELDING SIGNALS, 24VDC SUPPLY

Latest revision: Lab/Office: Status: Plant:

2015-09-25 = SP
DMRO SE IRB6650S, IRB7600 LeanID
ECO 74237, WI 93585 Location: + HSe
New drawing
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BLOCK DIAGRAM - TYPE HSe Document no. Rev. Ind Page54

Prepared by, date: EF 2015-09-03 Approved by, date: JN 2015-09-25 DRESS PACK 3HAC022327-002 Next +CON/5
Total 31 00
 1 2 3 4 5 6 7 8

BLOCK DIAGRAM TYPE S/H

Male (R1.CP/CS) Female 26p (R2.CP/CS) Female 26p (R3.CPS)

Male 26p (R2.CPS)
a b c d
A A
5 1
9 9
18 1 18 1
7 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

SOURIAU SOURIAU
12 6 25 8 25 8
17 17
8 4

Male 10p (R2.CBUS)

HARTING HAN MODULE/ DD HD HD EE Female 10p (R2.CBUS) Female 10p (R3.CBUS)

A A

Male 4p Female 4p
R2.ETHERNET R1.ETHERNET
R3.ETHERNET R2.ETHERNET

2 1 1 2 SOURIAU SOURIAU

3 4 4 3

Latest revision: Lab/Office: Status: Plant:

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ECO 74237, WI 93585 Location: + CON
New drawing
PRIM Approved Sublocation:+
CONNECTOR LAYOUT Document no. Rev. Ind Page55

Prepared by, date: EF 2015-09-03 Approved by, date: JN 2015-09-25 DRESS PACK 3HAC022327-002 00
Next 56
Total 31
 1 2 3 4 5 6 7 8

BLOCK DIAGRAM TYPE Se

Female 23p (R1.SP) Male 8p Female 8p

R2.SP R2.SP
R3.SP

A
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

SOURIAU HUMMEL HUMMEL

Female 8p (R2.FB7) Male 8p (R2.FB7) Male 17p (R3.FB7) Female 17p (R3.FB7 & R4.FB7)

A
A

SOURIAU SOURIAU SOURIAU SOURIAU

Latest revision: Lab/Office: Status: Plant:

2015-09-25 = SP
DMRO SE IRB6650S, IRB7600 LeanID
ECO 74237, WI 93585 Location: + CON
New drawing
PRIM Approved Sublocation:+
CONNECTOR LAYOUT Document no. Rev. Ind Page56

Prepared by, date: EF 2015-09-03 Approved by, date: JN 2015-09-25 DRESS PACK 3HAC022327-002 00 Next =DP+S.
Total 31
 1 2 3 4 5 6 7 8
-MANIPULATOR BASE -AXIS 3 -AXIS 6
SW6
LOWER ARM HARNESS
3HAC046476-001 -R1.CP/CS -R2CP/CS -R3.CP/CS
UPPER ARM HARNESS d1 4 E E 4 E E
3HAC046482-001 24V
d6 5 F F 5 F F
3HAC046482-002 0V

N.C.=Not Connected
d3 6 V V 6 V V
24V
d4 7 W W 7 W W
0V

GN/YE G G GN/YE G G
PE

b1 WH/BK A A WH/BK A
CS1
IRC5 3HAC024480-011 & PMC 3HAC026871-020

b2 BK B B BK B
CS2
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

b3 WH/BN C C WH/BN C
CS3
b4 BN D D BN D
CS4

b5 WH/RD H H WH/RD H
CS5
b6 RD J J RD J
CS6

b7 WH/OG K K WH/OG K
CS7/KSR
b8 OG L L OG L
CS8/KSR

b9 WH/YE M M WH/YE M
CS9
b10 YE N N YE N
CS10

b11 WH/GN P P WH/GN P CS11

b12 GN R R GN R CS12
b13 WH/BU S S WH/BU S CS13
b14 BU T T BU T CS14

b15 WH/VT U U WH/VT U

CS15
b16 VT X X VT X
CS16
b18 WH/GY Y Y WH/GY Y
CS17
b19 GY Z Z GY Z
CS18
b20 WH/BK a a WH/BK a
CS19
b21 BK b b BK b
CS20

c19 WH/OG c c WH/OG c

CS21
N.C. OG N.C. N.C. OG N.C.

Latest revision: Lab/Office: Status: Plant:

2015-09-25 = DP
DMRO SE IRB6650S, IRB7600 LeanID
ECO 74237, WI 93585 Location: + S
New drawing
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PARACOM SW6 Document no. Rev. Ind Page100

Prepared by, date: EF 2015-09-03 Approved by, date: JN 2015-09-25 TYPE S 3HAC022327-002 00 Next 101
Total 31
 1 2 3 4 5 6 7 8
SW6 -MANIPULATOR BASE -AXIS 3 -AXIS 6
LOWER ARM HARNESS
3HAC046476-001
UPPER ARM HARNESS -R1.CP/CS -R2.CP/CS -R3.CP/CS
3HAC046482-001 N.C. WH/BN N.C. N.C. WH/BN N.C.
3HAC046482-002
N.C. BN N.C. N.C. BN N.C.
N.C.=Not Connected
N.C. WH/RD N.C. N.C. WH/RD N.C.

N.C. RD N.C. N.C. RD N.C.

N.C. WH/YE N.C. N.C. WH/YE N.C.

N.C. YE N.C. N.C. YE N.C.

N.C. WH N.C. N.C. WH/GN N.C.

N.C. GN N.C. N.C. GN N.C.

IRC5 3HAC024480-011 & PMC 3HAC026871-020
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

Latest revision: Lab/Office: Status: Plant:

2015-09-25 = DP
DMRO SE IRB6650S, IRB7600 LeanID
ECO 74237, WI 93585 Location: + S
New drawing
PRIM Approved Sublocation:+ AX3
PARACOM SW6 Document no. Rev. Ind Page101

Prepared by, date: EF 2015-09-03 Approved by, date: JN 2015-09-25 TYPE S 3HAC022327-002 00 Next 102
Total 31
 1 2 3 4 5 6 7 8
-MANIPULATOR BASE -AXIS 3 -AXIS 6
SW6
LOWER ARM HARNESS
3HAC046477-001 -R1.CP/CS -R2CP/CS -R3.CP/CS
UPPER ARM HARNESS d1 4 E E 4 E E
24V
3HAC046483-001 d6 5 F F 5 F F
3HAC046483-002 0V

N.C.=Not Connected
d3 6 V V 6 V V
24V
d4 7 W W 7 W W
0V

GN/YE G G GN/YE G G
PE

b1 WH/BK A A WH/BK A CS1

IRC5 3HAC024480-011 & PMC 3HAC026871-020

b2 BK B B BK B CS2
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

b3 WH/BN C C WH/BN C CS3

b4 BN D D BN D CS4

b5 WH/RD H H WH/RD H CS5

b6 RD J J RD J CS6

b7 WH/OG K K WH/OG K
CS7/KSR
b8 OG L L OG L
CS8/KSR

b9 WH/YE M M WH/YE M CS9

b10 YE N N YE N CS10

b11 WH/GN P P WH/GN P CS11

b12 GN R R GN R CS12

b13 WH/BU S S WH/BU S CS13

b14 BU T T BU T CS14

b15 WH/VT U U WH/VT U CS15

b16 VT X X VT X CS16
b18 WH/GY Y Y WH/GY Y CS17
b19 GY Z Z GY Z CS18
b20 WH/BK a a WH/BK a CS19
b21 BK b b BK b CS20

c19 WH/OG c c WH/OG c CS21

N.C. OG N.C. N.C. OG N.C.

Latest revision: Lab/Office: Status: Plant:

2015-09-25 = DP
DMRO SE IRB6650S, IRB7600 LeanID
ECO 74237, WI 93585 Location: + S
New drawing
PRIM Approved Sublocation:+ AX3
PARABUSCOM SW6 Document no. Rev. Ind Page102

Prepared by, date: EF 2015-09-03 Approved by, date: JN 2015-09-25 TYPE S 3HAC022327-002 00 Next 103
Total 31
 1 2 3 4 5 6 7 8
SW6 -MANIPULATOR BASE -AXIS 3 -AXIS 6
LOWER ARM HARNESS
3HAC046477-001
UPPER ARM HARNESS -R1.CP/CS -R2.CP/CS -R3.CP/CS
3HAC046483-001 N.C. WH/BN N.C. N.C. WH/BN N.C.
3HAC046483-002
N.C. BN N.C. N.C. BN N.C.
* Circuitdiagram shows marking
on wires for single cabinet N.C. N.C. N.C. WH/RD N.C.
WH/RD
N.C.=Not Connected N.C. N.C. N.C. RD N.C.
RD
N.C. WH/YE N.C. N.C. WH/YE N.C.

N.C. YE N.C. N.C. YE N.C.

N.C. WH N.C. N.C. WH/GN N.C.

N.C. GN N.C. N.C. GN N.C.

IRC5 3HAC024480-011 & PMC 3HAC026871-020

-R2.CBUS -R3.CBUS
We reserve all rights in this document and in the information contained therein.Reproduction, use or

WH/BK WH/BK
disclosure to third parties without express authority is strictly forbidden. © Copyright 2003 ABB

b22 C C C
+24V BUS
b23 BK D D BK D
0V BUS

b24 WH/BN N.C. N.C. WH/BN N.C.

b25 BN N.C. N.C. BN N.C.

a3 5 YE A A 5 YE A
C-BUS
a4 6 YE B B 6 YE B
C-BUS

a5 7 VT E E 7 VT E
P-BUS
a6 8 VT J J 8 VT J
P-BUS

N.C. 1 GN N.C. N.C. 1 GN N.C.

N.C. 2 GN N.C. N.C. 2 GN N.C.

N.C. 3 GN N.C. N.C. 3 GN N.C.

N.C. 4 GN N.C. N.C. 4 GN N.C.

Latest revision: Lab/Office: Status: Plant:

2015-09-25 = DP
DMRO SE IRB6650S, IRB7600 LeanID
ECO 74237, WI 93585 Location: + S
New drawing
PRIM Approved Sublocation:+ AX3
PARABUSCOM SW6 Document no. Rev. Ind Page103

Prepared by, date: EF 2015-09-03 Approved by, date: JN 2015-09-25 TYPE S 3HAC022327-002 00 Next 104
Total 31
 1 2 3 4 5 6 7 8
-MANIPULATOR BASE -AXIS 3 -AXIS 6
SW6
LOWER ARM HARNESS
3HAC046478-001 -R1.CP/CS -R2CP/CS -R3.CP/CS
UPPER ARM HARNESS 4
d1 4 E E E E
3HAC046482-001 5 24V
d6 5 F F F F
3HAC046482-002 0V

N.C.=Not Connected 6
d3 6 V V V V
7 24V
d4 7 W W W W
0V

GN/YE
GN/YE G G G G
PE

WH/BK
b1 WH/BK A A A
CS1
BK
b2 BK B B B
IRC5 3HAC024480-011 & PMC 3HAC026871-020

CS2
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

WH/BN
b3 WH/BN C C C
CS3
BN
b4 BN D D D
CS4

WH/RD
b5 WH/RD H H H
CS5
RD
b6 RD J J J
CS6

WH/OG
b7 WH/OG K K K
OG CS7/KSR
b8 OG L L L
CS8/KSR

b9 WH/YE WH/YE
M M M
CS9
b10 YE YE
N N N
CS10

WH/GN
b11 WH/GN P P P CS11
GN
b12 GN R R R CS12
WH/BU
b13 WH/BU S S S CS13
BU
b14 BU T T T CS14

WH/VT
b15 WH/VT U U U
CS15
VT
b16 VT X X X
CS16
WH/GY
b18 WH/GY Y Y Y
CS17
GY
b19 GY Z Z Z
CS18
WH/BK
b20 WH/BK a a a
CS19
BK
b21 BK b b b
CS20

WH/OG
c19 WH/OG c c c
CS21
OG
N.C. OG N.C. N.C. N.C.

Latest revision: Lab/Office: Status: Plant:

2015-09-25 = DP
DMRO SE IRB6650S, IRB7600 LeanID
ECO 74237, WI 93585 Location: + S
New drawing
PRIM Approved Sublocation:+ AX3
PARAMULTI SW6 Document no. Rev. Ind Page104

Prepared by, date: EF 2015-09-03 Approved by, date: JN 2015-09-25 TYPE S 3HAC022327-002 00 Next 105
Total 31
 1 2 3 4 5 6 7 8
SW6 -MANIPULATOR BASE -AXIS 3 -AXIS 6
LOWER ARM HARNESS
3HAC046478-001
UPPER ARM HARNESS -R1.CP/CS -R2.CP/CS -R3.CP/CS
3HAC046482-001 N.C. WH/BN N.C. N.C. WH/BN N.C.
3HAC046482-002
N.C. BN N.C. N.C. BN N.C.
N.C.=Not Connected
N.C. WH/RD N.C. N.C. WH/RD N.C.

N.C. RD N.C. N.C. RD N.C.

N.C. WH/YE N.C. N.C. WH/YE N.C.

N.C. YE N.C. N.C. YE N.C.

N.C. WH N.C. N.C. WH/GN N.C.

N.C. GN N.C. N.C. GN N.C.

IRC5 3HAC024480-011 & PMC 3HAC026871-020
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.ETHERNET -R2.ETHERNET -R3.ETHERNET

1 YE 1 1 YE 1

2 WH 2 2 WH 2

3 OG 3 3 OG 3

4 BU 4 4 BU 4

Latest revision: Lab/Office: Status: Plant:

2015-09-25 = DP
DMRO SE IRB6650S, IRB7600 LeanID
ECO 74237, WI 93585 Location: + S
New drawing
PRIM Approved Sublocation:+ AX3
PARAMULTI SW6 Document no. Rev. Ind Page105

Prepared by, date: EF 2015-09-03 Approved by, date: JN 2015-09-25 TYPE S 3HAC022327-002 00 Next +Se.AX3
Total 31
 1 2 3 4 5 6 7 8
-MANIPULATOR BASE -AXIS 3 -AXIS 6
SW6
LOWER ARM HARNESS
3HAC046476-002 -R1.CP/CS -R2CP/CS -R3.CP/CS
UPPER ARM HARNESS d1 4 E E 4 E E
3HAC046482-003 24V
d6 5 F F 5 F F
3HAC046482-004 0V

N.C.=Not Connected
d3 6 V V 6 V V
24V
d4 7 W W 7 W W
0V

GN/YE G G GN/YE G G
PE

b1 WH/BK A A WH/BK A
CS1
b2 BK B B BK B
IRC5 3HAC024480-011 & PMC 3HAC026871-020

CS2
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

b3 WH/BN C C WH/BN C
CS3
b4 BN D D BN D
CS4

b5 WH/RD H H WH/RD H
CS5
b6 RD J J RD J
CS6

b7 WH/OG K K WH/OG K
CS7/KSR
b8 OG L L OG L
CS8/KSR

b9 WH/YE M M WH/YE M
CS9
b10 YE N N YE N
CS10

b11 WH/GN P P WH/GN P CS11

b12 GN R R GN R CS12
b13 WH/BU S S WH/BU S CS13
b14 BU T T BU T CS14

b15 WH/VT U U WH/VT U

CS15
b16 VT X X VT X
CS16
b18 WH/GY Y Y WH/GY Y
CS17
b19 GY Z Z GY Z
CS18
b20 WH/BK a a WH/BK a
CS19
b21 BK b b BK b
CS20

c19 WH/OG c c WH/OG c

CS21
N.C. OG N.C. N.C. OG N.C.

Latest revision: Lab/Office: Status: Plant:

2015-09-25 = DP
DMRO SE IRB6650S, IRB7600 LeanID
ECO 74237, WI 93585 Location: + Se
New drawing
PRIM Approved Sublocation:+ AX3
PARACOM, SERVOGUN SW6 Document no. Rev. Ind Page150

Prepared by, date: EF 2015-09-03 Approved by, date: JN 2015-09-25 TYPE Se 3HAC022327-002 00 Next 151
Total 31
 1 2 3 4 5 6 7 8
SW6 -MANIPULATOR BASE -AXIS 3 -AXIS 6
LOWER ARM HARNESS
3HAC046476-002
UPPER ARM HARNESS -R1.CP/CS -R2.CP/CS -R3.CP/CS
3HAC046482-003 N.C. WH/BN N.C. N.C. WH/BN N.C.
3HAC046482-004
N.C. BN N.C. N.C. BN N.C.
N.C.=Not Connected
N.C. WH/RD N.C. N.C. WH/RD N.C.

N.C. RD N.C. N.C. RD N.C.

N.C. WH/YE N.C. N.C. WH/YE N.C.

N.C. YE N.C. N.C. YE N.C.

N.C. WH N.C. N.C. WH/GN N.C.

N.C. GN N.C. N.C. GN N.C.

IRC5 3HAC024480-011 & PMC 3HAC026871-020
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

-SMB
-R1.SMB1.7 -R2.FB7 -R3.FB7 -R4.FB7
5 A A WH/BK 1 1 WH/BK 1
X7
12 B B BK 3 3 BK 3
0V X7
4 C C WH/BN 4 4 WH/BN 4
Y7
11 D D BN 2 2 BN 2
0V Y7
2 E E WH/RD 8 8 WH/RD 8
0V EXC 2
9 F F RD 7 7 RD 7
EXC 2
1

-R1.SP -R2.SP -R3.SP

A 1 3 3 1 3
R (U)
C 2 1 1 2 1
S (V)
E 3 4 4 3 4
T (W)

G GN/YE PE PE GN/YE PE
PE
J 4 C C 4 C
PTC
K 5 D D 5 D
0V PTC

L 6 A A 6 A
24V BRAKE REL
M 7 B B 7 B
0V BRAKE REL

Latest revision: Lab/Office: Status: Plant:

2015-09-25 = DP
DMRO SE IRB6650S, IRB7600 LeanID
ECO 74237, WI 93585 Location: + Se
New drawing
PRIM Approved Sublocation:+ AX3
PARACOM, SERVOGUN SW6 Document no. Rev. Ind Page151

Prepared by, date: EF 2015-09-03 Approved by, date: JN 2015-09-25 TYPE Se 3HAC022327-002 00 Next 152
Total 31
 1 2 3 4 5 6 7 8
-MANIPULATOR BASE -AXIS 3 -AXIS 6
SW6
LOWER ARM HARNESS
3HAC046477-002 -R1.CP/CS -R2CP/CS -R3.CP/CS
UPPER ARM HARNESS d1 4 E E 4 E E
24V
3HAC046483-003 d6 5 F F 5 F F
3HAC046483-004 0V

N.C.=Not Connected
d3 6 V V 6 V V
24V
d4 7 W W 7 W W
0V

GN/YE G G GN/YE G G
PE

b1 WH/BK A A WH/BK A CS1

b2 BK B B BK B
IRC5 3HAC024480-011 & PMC 3HAC026871-020

CS2
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

b3 WH/BN C C WH/BN C CS3

b4 BN D D BN D CS4

b5 WH/RD H H WH/RD H CS5

b6 RD J J RD J CS6

b7 WH/OG K K WH/OG K
CS7/KSR
b8 OG L L OG L
CS8/KSR

b9 WH/YE M M WH/YE M CS9

b10 YE N N YE N CS10

b11 WH/GN P P WH/GN P CS11

b12 GN R R GN R CS12

b13 WH/BU S S WH/BU S CS13

b14 BU T T BU T CS14

b15 WH/VT U U WH/VT U CS15

b16 VT X X VT X CS16
b18 WH/GY Y Y WH/GY Y CS17
b19 GY Z Z GY Z CS18
b20 WH/BK a a WH/BK a CS19
b21 BK b b BK b CS20

c19 WH/OG c c WH/OG c CS21

N.C. OG N.C. N.C. OG N.C.

Latest revision: Lab/Office: Status: Plant:

2015-09-25 = DP
DMRO SE IRB6650S, IRB7600 LeanID
ECO 74237, WI 93585 Location: + Se
New drawing
PRIM Approved Sublocation:+ AX3
PARABUSCOM, SERVOGUN SW6 Document no. Rev. Ind Page152

Prepared by, date: EF 2015-09-03 Approved by, date: JN 2015-09-25 TYPE Se 3HAC022327-002 00 Next 153
Total 31
 1 2 3 4 5 6 7 8
SW6 -MANIPULATOR BASE -AXIS 3 -AXIS 6
LOWER ARM HARNESS
3HAC046477-002
UPPER ARM HARNESS -R1.CP/CS -R2.CP/CS -R3.CP/CS
3HAC046483-003 N.C. WH/BN N.C. N.C. WH/BN N.C.
3HAC046483-004
N.C. BN N.C. N.C. BN N.C.
N.C.=Not Connected
N.C. WH/RD N.C. N.C. WH/RD N.C.

N.C. RD N.C. N.C. RD N.C.

N.C. WH/YE N.C. N.C. WH/YE N.C.

N.C. YE N.C. N.C. YE N.C.

N.C. WH N.C. N.C. WH/GN N.C.

N.C. GN N.C. N.C. GN N.C.

-R2.CBUS -R3.CBUS
IRC5 3HAC024480-011 & PMC 3HAC026871-020
We reserve all rights in this document and in the information contained therein.Reproduction, use or

b22 WH/BK C C WH/BK C

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

+24V BUS
b23 BK D D BK D
0V BUS

b24 WH/BN N.C. N.C. WH/BN N.C.

b25 BN N.C. N.C. BN N.C.

a3 5 YE A A 5 YE A
C-BUS
a4 6 YE B B 6 YE B
C-BUS

a5 7 VT E E 7 VT E
P-BUS
a6 8 VT J J 8 VT J
P-BUS

N.C. 1 GN N.C. N.C. 1 GN N.C.

N.C. 2 GN N.C. N.C. 2 GN N.C.

N.C. 3 GN N.C. N.C. 3 GN N.C.

N.C. 4 GN N.C. N.C. 4 GN N.C.

Latest revision: Lab/Office: Status: Plant:

2015-09-25 = DP
DMRO SE IRB6650S, IRB7600 LeanID
ECO 74237, WI 93585 Location: + Se
New drawing
PRIM Approved Sublocation:+ AX3
PARABUSCOM, SERVOGUN SW6 Document no. Rev. Ind Page153

Prepared by, date: EF 2015-09-03 Approved by, date: JN 2015-09-25 TYPE Se 3HAC022327-002 00 Next 154
Total 31
 1 2 3 4 5 6 7 8
SW6 -MANIPULATOR BASE -AXIS 3 -AXIS 6
LOWER ARM HARNESS
3HAC046477-002
UPPER ARM HARNESS
3HAC046483-003
3HAC046483-004

N.C.=Not Connected

IRC5 3HAC024480-011 & PMC 3HAC026871-020

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

-SMB
-R1.SMB1.7 -R2.FB7 -R3.FB7 -R4.FB7
5 A A WH/BK 1 1 WH/BK 1
X7
12 B B BK 3 3 BK 3
0V X7
4 C C WH/BN 4 4 WH/BN 4
Y7
11 D D BN 2 2 BN 2
0V Y7
2 E E WH/RD 8 8 WH/RD 8
0V EXC 2
9 F F RD 7 7 RD 7
EXC 2
1

-R1.SP -R2.SP -R3.SP

A 1 3 3 1 3
R (U)
C 2 1 1 2 1
S (V)
E 3 4 4 3 4
T (W)

G GN/YE PE PE GN/YE PE
PE
J 4 C C 4 C
PTC
K 5 D D 5 D
0V PTC

L 6 A A 6 A
24V BRAKE REL
M 7 B B 7 B
0V BRAKE REL

Latest revision: Lab/Office: Status: Plant:

2015-09-25 = DP
DMRO SE IRB6650S, IRB7600 LeanID
ECO 74237, WI 93585 Location: + Se
New drawing
PRIM Approved Sublocation:+ AX3
PARABUSCOM, SERVOGUN SW6 Document no. Rev. Ind Page154

Prepared by, date: EF 2015-09-03 Approved by, date: JN 2015-09-25 TYPE Se 3HAC022327-002 00 Next 155
Total 31
 1 2 3 4 5 6 7 8
-MANIPULATOR BASE -AXIS 3 -AXIS 6
SW6
LOWER ARM HARNESS
3HAC046478-002 -R1.CP/CS -R2CP/CS -R3.CP/CS
UPPER ARM HARNESS d1 4 E E 4 E E
3HAC046484-003 24V
d6 5 F F 5 F F
3HAC046484-004 0V

N.C.=Not Connected
d3 6 V V 6 V V
24V
d4 7 W W 7 W W
0V

GN/YE G G GN/YE G G
PE

b1 WH/BK A A WH/BK A
CS1
b2 BK B B BK B
IRC5 3HAC024480-011 & PMC 3HAC026871-020

CS2
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

b3 WH/BN C C WH/BN C
CS3
b4 BN D D BN D
CS4

b5 WH/RD H H WH/RD H
CS5
b6 RD J J RD J
CS6

b7 WH/OG K K WH/OG K
CS7/KSR
b8 OG L L OG L
CS8/KSR

b9 WH/YE M M WH/YE M
CS9
b10 YE N N YE N
CS10

b11 WH/GN P P WH/GN P CS11

b12 GN R R GN R CS12
b13 WH/BU S S WH/BU S CS13
b14 BU T T BU T CS14

b15 WH/VT U U WH/VT U

CS15
b16 VT X X VT X
CS16
b18 WH/GY Y Y WH/GY Y
CS17
b19 GY Z Z GY Z
CS18
b20 WH/BK a a WH/BK a
CS19
b21 BK b b BK b
CS20

c19 WH/OG c c WH/OG c

CS21
N.C. OG N.C. N.C. OG N.C.

Latest revision: Lab/Office: Status: Plant:

2015-09-25 = DP
DMRO SE IRB6650S, IRB7600 LeanID
ECO 74237, WI 93585 Location: + Se
New drawing
PRIM Approved Sublocation:+ AX3
PARAMULTI, SERVOGUN SW6 Document no. Rev. Ind Page155

Prepared by, date: EF 2015-09-03 Approved by, date: JN 2015-09-25 TYPE Se 3HAC022327-002 00 Next 156
Total 31
 1 2 3 4 5 6 7 8
SW6 -MANIPULATOR BASE -AXIS 3 -AXIS 6
LOWER ARM HARNESS
3HAC046478-002
UPPER ARM HARNESS -R1.CP/CS -R2.CP/CS -R3.CP/CS
3HAC046484-003 N.C. WH/BN N.C. N.C. WH/BN N.C.
3HAC046484-004
N.C. BN N.C. N.C. BN N.C.
N.C.=Not Connected
N.C. WH/RD N.C. N.C. WH/RD N.C.

N.C. RD N.C. N.C. RD N.C.

N.C. WH/YE N.C. N.C. WH/YE N.C.

N.C. YE N.C. N.C. YE N.C.

N.C. WH N.C. N.C. WH/GN N.C.

N.C. GN N.C. N.C. GN N.C.

IRC5 3HAC024480-011 & PMC 3HAC026871-020
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

-SMB
-R1.SMB1.7 -R2.FB7 -R3.FB7 -R4.FB7
5 A A WH/BK 1 1 WH/BK 1
X7
12 B B BK 3 3 BK 3
0V X7
4 C C WH/BN 4 4 WH/BN 4
Y7
11 D D BN 2 2 BN 2
0V Y7
2 E E WH/RD 8 8 WH/RD 8
0V EXC 2
9 F F RD 7 7 RD 7
EXC 2
1

-R1.SP -R2.SP -R3.SP

A 1 3 3 1 3
R (U)
C 2 1 1 2 1
S (V)
E 3 4 4 3 4
T (W)

G GN/YE PE PE GN/YE PE
PE
J 4 C C 4 C
PTC
K 5 D D 5 D
0V PTC

L 6 A A 6 A
24V BRAKE REL
M 7 B B 7 B
0V BRAKE REL

Latest revision: Lab/Office: Status: Plant:

2015-09-25 = DP
DMRO SE IRB6650S, IRB7600 LeanID
ECO 74237, WI 93585 Location: + Se
New drawing
PRIM Approved Sublocation:+ AX3
PARAMULTI, SERVOGUN SW6 Document no. Rev. Ind Page156

Prepared by, date: EF 2015-09-03 Approved by, date: JN 2015-09-25 TYPE Se 3HAC022327-002 00 Next 157
Total 31
 1 2 3 4 5 6 7 8
SW6 -MANIPULATOR BASE -AXIS 3 -AXIS 6
LOWER ARM HARNESS
3HAC046478-002
UPPER ARM HARNESS
3HAC046484-003
3HAC046484-004

N.C.=Not Connected

IRC5 3HAC024480-011 & PMC 3HAC026871-020

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.ETHERNET -R2.ETHERNET -R3.ETHERNET

1 YE 1 1 YE 1

2 WH 2 2 WH 2

3 OG 3 3 OG 3

4 BU 4 4 BU 4

Latest revision: Lab/Office: Status: Plant:

2015-09-25 = DP
DMRO SE IRB6650S, IRB7600 LeanID
ECO 74237, WI 93585 Location: + Se
New drawing
PRIM Approved Sublocation:+ AX3
PARAMULTI, SERVOGUN SW6 Document no. Rev. Ind Page157

Prepared by, date: EF 2015-09-03 Approved by, date: JN 2015-09-25 TYPE Se 3HAC022327-002 00 Next +H.AX3
Total 31
 1 2 3 4 5 6 7 8
-MANIPULATOR BASE -AXIS 3 -AXIS 6
MH3
UPPER ARM HARNESS
3HAC046861-001 -R1.CP/CS -R2CP/CS -R3.CP/CS
3HAC046861-002 d1 4 E E 4 E E
24V
d6 5 F F 5 F F
MH6 0V
LOWER ARM HARNESS
3HAC053922-001
UPPER ARM HARNESS d3 6 V V 6 V V
24V
3HAC046550-001 d4 7 W W 7 W W
3HAC046550-002 0V

N.C.=Not Connected
GN/YE G G GN/YE G G
PE

b1 WH/BK A A WH/BK A
CS1
b2 BK B B BK B
IRC5 3HAC024480-011 & PMC 3HAC026871-020

CS2
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

b3 WH/BN C C WH/BN C
CS3
b4 BN D D BN D
CS4

b5 WH/RD H H WH/RD H
CS5
b6 RD J J RD J
CS6

b7 WH/OG K K WH/OG K
CS7/KSR
b8 OG L L OG L
CS8/KSR

b9 WH/YE M M WH/YE M
CS9
b10 YE N N YE N
CS10

b11 WH/GN P P WH/GN P CS11

b12 GN R R GN R CS12
b13 WH/BU S S WH/BU S CS13
b14 BU T T BU T CS14

b15 WH/VT U U WH/VT U

CS15
b16 VT X X VT X
CS16
b18 WH/GY Y Y WH/GY Y
CS17
b19 GY Z Z GY Z
CS18
b20 WH/BK a a WH/BK a
CS19
b21 BK b b BK b
CS20

c19 WH/OG c c WH/OG c

CS21
N.C. OG N.C. N.C. OG N.C.

Latest revision: Lab/Office: Status: Plant:

2015-09-25 = DP
DMRO SE IRB6650S, IRB7600 LeanID
ECO 74237, WI 93585 Location: + H
New drawing
PRIM Approved Sublocation:+ AX3
PARACOM MH3 & 6 Document no. Rev. Ind Page200

Prepared by, date: EF 2015-09-03 Approved by, date: JN 2015-09-25 TYPE H 3HAC022327-002 00 Next 201
Total 31
 1 2 3 4 5 6 7 8
MH3 -MANIPULATOR BASE -AXIS 3 -AXIS 6
UPPER ARM HARNESS
3HAC046861-001
3HAC046861-002 -R1.CP/CS -R2.CP/CS -R3.CP/CS
N.C. WH/BN N.C. N.C. WH/BN N.C.
MH6
LOWER ARM HARNESS N.C. BN N.C. N.C. BN N.C.
3HAC053922-001
UPPER ARM HARNESS N.C. WH/RD N.C. N.C. WH/RD N.C.
3HAC046550-001
3HAC046550-002 N.C. RD N.C. N.C. RD N.C.

N.C.=Not Connected N.C. WH/YE N.C. N.C. WH/YE N.C.

N.C. YE N.C. N.C. YE N.C.

N.C. WH N.C. N.C. WH/GN N.C.

N.C. GN N.C. N.C. GN N.C.

IRC5 3HAC024480-011 & PMC 3HAC026871-020
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

Latest revision: Lab/Office: Status: Plant:

2015-09-25 = DP
DMRO SE IRB6650S, IRB7600 LeanID
ECO 74237, WI 93585 Location: + H
New drawing
PRIM Approved Sublocation:+ AX3
PARACOM MH3 & 6 Document no. Rev. Ind Page201

Prepared by, date: EF 2015-09-03 Approved by, date: JN 2015-09-25 TYPE H 3HAC022327-002 00 Next 202
Total 31
 1 2 3 4 5 6 7 8
-MANIPULATOR BASE -AXIS 3 -AXIS 6
MH3
UPPER ARM HARNESS
3HAC046862-001 -R1.CP/CS -R2CP/CS -R3.CP/CS
3HAC046862-002 d1 4 E E 4 E E
24V
d6 5 F F 5 F F
MH6 0V
LOWER ARM HARNESS
3HAC053923-001
UPPER ARM HARNESS d3 6 V V 6 V V
24V
3HAC046551-001 d4 7 W W 7 W W
3HAC046551-002 0V

N.C.=Not Connected
GN/YE G G GN/YE G G
PE

b1 WH/BK A A WH/BK A
CS1
b2 BK B B BK B
IRC5 3HAC024480-011 & PMC 3HAC026871-020

CS2
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

b3 WH/BN C C WH/BN C
CS3
b4 BN D D BN D
CS4

b5 WH/RD H H WH/RD H
CS5
b6 RD J J RD J
CS6

b7 WH/OG K K WH/OG K
CS7/KSR
b8 OG L L OG L
CS8/KSR

b9 WH/YE M M WH/YE M
CS9
b10 YE N N YE N
CS10

b11 WH/GN P P WH/GN P CS11

b12 GN R R GN R CS12
b13 WH/BU S S WH/BU S CS13
b14 BU T T BU T CS14

b15 WH/VT U U WH/VT U

CS15
b16 VT X X VT X
CS16
b18 WH/GY Y Y WH/GY Y
CS17
b19 GY Z Z GY Z
CS18
b20 WH/BK a a WH/BK a
CS19
b21 BK b b BK b
CS20

c19 WH/OG c c WH/OG c

CS21
N.C. OG N.C. N.C. OG N.C.

Latest revision: Lab/Office: Status: Plant:

2015-09-25 = DP
DMRO SE IRB6650S, IRB7600 LeanID
ECO 74237, WI 93585 Location: + H
New drawing
PRIM Approved Sublocation:+ AX3
PARABUSCOM MH3 & 6 Document no. Rev. Ind Page202

Prepared by, date: EF 2015-09-03 Approved by, date: JN 2015-09-25 TYPE H 3HAC022327-002 00 Next 203
Total 31
 1 2 3 4 5 6 7 8
MH3 -MANIPULATOR BASE -AXIS 3 -AXIS 6
UPPER ARM HARNESS
3HAC046862-001
3HAC046862-002 -R1.CP/CS -R2.CP/CS -R3.CP/CS
N.C. WH/BN N.C. N.C. WH/BN N.C.
MH6
LOWER ARM HARNESS N.C. BN N.C. N.C. BN N.C.
3HAC053923-001
UPPER ARM HARNESS N.C. WH/RD N.C. N.C. WH/RD N.C.
3HAC046551-001
3HAC046551-002 N.C. RD N.C. N.C. RD N.C.

N.C.=Not Connected N.C. WH/YE N.C. N.C. WH/YE N.C.

N.C. YE N.C. N.C. YE N.C.

N.C. WH N.C. N.C. WH/GN N.C.

N.C. GN N.C. N.C. GN N.C.

-R2.CBUS -R3.CBUS
b22 WH/BK C C WH/BK C
IRC5 3HAC024480-011 & PMC 3HAC026871-020

+24V CAN
We reserve all rights in this document and in the information contained therein.Reproduction, use or

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

b23 D D D
0V CAN

b24 WH/BN N.C. N.C. WH/BN N.C.

b25 BN N.C. N.C. BN N.C.

a3 5 YE A A 5 YE A
C-BUS
a4 6 YE B B 6 YE B
C-BUS

a5 7 VT E E 7 VT E
P-BUS
a6 8 VT J J 8 VT J
P-BUS

N.C. 1 GN N.C. N.C. 1 GN N.C.

N.C. 2 GN N.C. N.C. 2 GN N.C.

N.C. 3 GN N.C. N.C. 3 GN N.C.

N.C. 4 GN N.C. N.C. 4 GN N.C.

Latest revision: Lab/Office: Status: Plant:

2015-09-25 = DP
DMRO SE IRB6650S, IRB7600 LeanID
ECO 74237, WI 93585 Location: + H
New drawing
PRIM Approved Sublocation:+ AX3
PARABUSCOM MH3 & 6 Document no. Rev. Ind Page203

Prepared by, date: EF 2015-09-03 Approved by, date: JN 2015-09-25 TYPE H 3HAC022327-002 00 Next 204
Total 31
 1 2 3 4 5 6 7 8
-MANIPULATOR BASE -AXIS 3 -AXIS 6
MH3
UPPER ARM HARNESS
3HAC046863-001 -R1.CP/CS -R2CP/CS -R3.CP/CS
3HAC046863-002 d1 4 E E 4 E E
24V
d6 5 F F 5 F F
MH6 0V
LOWER ARM HARNESS
3HAC053924-001
UPPER ARM HARNESS d3 6 V V 6 V V
24V
3HAC046552-001 d4 7 W W 7 W W
3HAC046552-002 0V

N.C.=Not Connected
GN/YE G G GN/YE G G
PE

b1 WH/BK A A WH/BK A
CS1
b2 BK B B BK B
IRC5 3HAC024480-011 & PMC 3HAC026871-020

CS2
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

b3 WH/BN C C WH/BN C
CS3
b4 BN D D BN D
CS4

b5 WH/RD H H WH/RD H
CS5
b6 RD J J RD J
CS6

b7 WH/OG K K WH/OG K
CS7/KSR
b8 OG L L OG L
CS8/KSR

b9 WH/YE M M WH/YE M
CS9
b10 YE N N YE N
CS10

b11 WH/GN P P WH/GN P CS11

b12 GN R R GN R CS12
b13 WH/BU S S WH/BU S CS13
b14 BU T T BU T CS14

b15 WH/VT U U WH/VT U

CS15
b16 VT X X VT X
CS16
b18 WH/GY Y Y WH/GY Y
CS17
b19 GY Z Z GY Z
CS18
b20 WH/BK a a WH/BK a
CS19
b21 BK b b BK b
CS20

c19 WH/OG c c WH/OG c

CS21
N.C. OG N.C. N.C. OG N.C.

Latest revision: Lab/Office: Status: Plant:

2015-09-25 = DP
DMRO SE IRB6650S, IRB7600 LeanID
ECO 74237, WI 93585 Location: + H
New drawing
PRIM Approved Sublocation:+ AX3
PARAMULTI MH3 & 6 Document no. Rev. Ind Page204

Prepared by, date: EF 2015-09-03 Approved by, date: JN 2015-09-25 TYPE H 3HAC022327-002 00 Next 205
Total 31
 1 2 3 4 5 6 7 8
MH3 -MANIPULATOR BASE -AXIS 3 -AXIS 6
UPPER ARM HARNESS
3HAC046863-001
3HAC046863-002 -R1.CP/CS -R2.CP/CS -R3.CP/CS
N.C. WH/BN N.C. N.C. WH/BN N.C.

MH6 N.C. BN N.C. N.C. BN N.C.

LOWER ARM HARNESS
3HAC053924-001 N.C. WH/RD N.C. N.C. WH/RD N.C.
UPPER ARM HARNESS
3HAC046552-001 N.C. RD N.C. N.C. RD N.C.
3HAC046552-002
N.C. WH/YE N.C. N.C. WH/YE N.C.
N.C.=Not Connected
N.C. YE N.C. N.C. YE N.C.

N.C. WH N.C. N.C. WH/GN N.C.

N.C. GN N.C. N.C. GN N.C.

IRC5 3HAC024480-011 & PMC 3HAC026871-020
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.ETHERNET -R2.ETHERNET -R3.ETHERNET

1 YE 1 1 YE 1

2 WH 2 2 WH 2

3 OG 3 3 OG 3

4 BU 4 4 BU 4

Latest revision: Lab/Office: Status: Plant:

2015-09-25 = DP
DMRO SE IRB6650S, IRB7600 LeanID
ECO 74237, WI 93585 Location: + H
New drawing
PRIM Approved Sublocation:+ AX3
PARAMULTI MH3 & 6 Document no. Rev. Ind Page205

Prepared by, date: EF 2015-09-03 Approved by, date: JN 2015-09-25 TYPE H 3HAC022327-002 00 Next +PG/250
Total 31
 1 2 3 4 5 6 7 8
TYPE HSe -SERVO PEDESTAL GUN
(AXIS 7) -MANIPULATOR BASE -SMB
RESOLVER SIGNALS
VALID FOR
FLOOR HARNESS -FB.M7 -R3.FB7 -R2.FB7
F -R1.SMB1.7
3HXD1250-70 F PK F F RD F RD 9 9
LOWER ARM HARNESS E GY E E WH/RD E E WH/RD 2 2
3HAC023278-001
D YE D D BN D D BN 11 11

C GR C C WH/BN C C WH/BN 4 4

B BN B B BK B B BK 12 12

A WH A A WH/BK A A WH/BK 5 5
G BU G G 1 1
H RD H H

-R1.SP
E

A
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

3HAC026208-001
G

Latest revision: Lab/Office: Status: Plant:

2015-09-25 = DP
DMRO SE IRB6650S, IRB7600 LeanID
ECO 74237, WI 93585 Location: + PG
New drawing
PRIM Approved Sublocation:+
PEDESTAL GUN Document no. Rev. Ind Page250

Prepared by, date: EF 2015-09-03 Approved by, date: JN 2015-09-25 TYPE HS, HSe 3HAC022327-002 00
Next
Total 31