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.

Except as may be expressly stated anywhere in this document, nothing herein shall be construed as any
We reserve all rights in this document and in the information contained therein.Reproduction, use or

kind of guarantee or warranty by ABB for losses, damages to persons or property, fitness for a
disclosure to third parties without express authority is strictly forbidden. © Copyright 2003 ABB

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 2015 ABB ALL right reserved.

ABB AB

SE-721 68 Västerås
Sweden

Latest revision: ECO 77348, WI 109538 Lab/Office: Status: 2016-01-14 Plant: = IRB6620
Page 10: Wire no 3 added. DMRO SE IRB 6620 + Manipulator
PRIM Location:
APPROVED Sublocation: +
COPYRIGHT page Document no. Rev. Ind Page 1
Next 2
Prepared by, date: EM 151217 Approved by, date: JM 160114 3HAC025090-001 04 Total 14
 1 2 3 4 5 6 7 8

Table of contents ABB Contents1

Page Page description Comment

1 COPYRIGHT page

2 Table of contents: (1 - 150)

3 Valid For

4 Connection point location

5 Legend

10 Brake Release Unit

20 Serial Measuring Board, incl. 7th axis connection (optional)

30 Axis 1

31 IRB 6620 LX Axis 1

40 Axis 2
We reserve all rights in this document and in the information contained therein.Reproduction, use or

50 Axis 3, incl. external lamp (optional)

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

60 Axis 4

70 Axis 5

80 Axis 6

Latest revision: ECO 77348, WI 109538 Lab/Office: Status: 2016-01-14 Plant: = IRB6620
Page 10: Wire no 3 added. DMRO SE IRB 6620 + Manipulator
PRIM Location:
APPROVED Sublocation: +
Table of contents: (1 - 80) Document no. Rev. Ind Page 2
Next 3
Prepared by, date: EM 151217 Approved by, date: JM 160114 3HAC025090-001 04 Total 14
 1 2 3 4 5 6 7 8

Valid for:
This circuit diagram is valid for the following cable harness assemblies:
3HAC025054-001 Manipulator harness axis 1-6
3HAC033434-001 Manipulator harness axis 1-6 LX
3HAC15930-1 UL signal lamp
3HAC15619-1 Cable FB7-SMB1.7
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

Latest revision: ECO 77348, WI 109538 Lab/Office: Status: 2016-01-14 Plant: = IRB6620
Page 10: Wire no 3 added. DMRO SE IRB 6620 + Manipulator
PRIM Location:
APPROVED Sublocation: +
Valid For Document no. Rev. Ind Page 3
Next 4
Prepared by, date: EM 151217 Approved by, date: JM 160114 3HAC025090-001 04 Total 14
 1 2 3 4 5 6 7 8

R2.MP4
R2.FB4
R1.MP

1 10 17 24
R2.MP6
R2.FB6
2 25
11 18
3 26
12 19
R2.MP5 4 27
R2.FB5
5 13 20 28

6 29
14 21
7 30
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.MP3 15 22
R2.FB3 8 31
R2.H1
R2.H2 9 16 23 32

R2.MP1
R2.FB1
R2.MP2
R2.FB2

R1.G
R1.SMB1.7
R2.FB7
R2.SMB
R1.SMB1-3
R1.SMB4-6
X8
X9
X10

R1.MP
R1.SMB

Latest revision: ECO 77348, WI 109538 Lab/Office: Status: 2016-01-14 Plant: = IRB6620
Page 10: Wire no 3 added. DMRO SE IRB 6620 + Manipulator
PRIM Location:
APPROVED Sublocation: +
Connection point location Document no. Rev. Ind Page 4
Next 5
Prepared by, date: EM 151217 Approved by, date: JM 160114 3HAC025090-001 04 Total 14
 1 2 3 4 5 6 7 8

M Motor Protective Earth

R Resolver

Twisted wires
G Battery Pack

BU Brake Release Unit

Screened wires

FB Feedback unit

SMB Serial Measurment Board

Keypin Location pin to avoid mismatch

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: ECO 77348, WI 109538 Lab/Office: Status: 2016-01-14 Plant: = IRB6620
Page 10: Wire no 3 added. DMRO SE IRB 6620 + Manipulator
PRIM Location:
APPROVED Sublocation: +
Legend Document no. Rev. Ind Page 5
Next +BU/10
Prepared by, date: EM 151217 Approved by, date: JM 160114 3HAC025090-001 04 Total 14
 1 2 3 4 5 6 7 8

-BU Brake Release (Simplified)

-R1.MP -X8 -X8
13 Brake Release 2 1 1

Brake Release 3 2 2 -X10 -X10 R1.MP

A K 1 1 5 -BUM1
11 Brake PB 1 5 5

Brake Bleed Circuit

12 0V 4 3 3 2

-BU0VM1 4
A K 6 R1.MP
3 3 -BUM2

-BU0VM2
Brake Bleed Circuit
-BU0VM3 4

-BU0VM4
A K 7 R1.MP
5 5 -BUM3
-BU0VM5
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

-BU0VM6 Brake Bleed Circuit

6

Key Pin 9

-X9 -X9 R1.MP

A K 4 4 8 -BUM4

15 PTC JUMPER
Brake Bleed Circuit
5
27

A K 9 R1.MP
8 8 -BUM5

Brake Bleed Circuit

9

A K 10 R1.MP
10 10 -BUM6

Brake Bleed Circuit

11

Key Pin 1

Latest revision: ECO 77348, WI 109538 Lab/Office: Status: 2016-01-14 Plant: = IRB6620
Page 10: Wire no 3 added. DMRO SE IRB 6620 + BU
PRIM Location:
APPROVED Sublocation: +
Brake Release Unit Document no. Rev. Ind Page 10
Next +SMB/20
2
Prepared by, date: EM 151217 Approved by, date: JM 160114 3HAC025090-001 04 Total 14
 1 2 3 4 5 6 7 8

-SMB

7th axis connection (optional)

-R2.FB7 -R1.SMB1.7 -SMB1.7
A WH/BK X7 5 5

B BK 0V X7 12 12

C WH/BN Y7 4 4

D BN 0V Y7 11 11

E WH/RD 0V EXC2 2 2

F RD EXC2 9 9

SCREEN 1 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

-R1.SMB -R2.SMB -R2.SMB

A BK SDI 9 9

B WHBK SDI-N 5 5

C BN SDO 8 8

D WHBN SDO-N 4 4

E RD 0V 3 3

F WHRD 24V 7 7

L OG 24V EXT.LAMP

WHOG 0V EXT.LAMP

M
KEYPIN

-0VEXT.LAMP

-24VEXT.LAMP

-G -R1.G(X3) -R1.G(X3)
+ -+ -+ - 0V 2 2

+ 1 1

Latest revision: ECO 77348, WI 109538 Lab/Office: Status: 2016-01-14 Plant: = IRB6620
Page 10: Wire no 3 added. DMRO SE IRB 6620 + SMB
PRIM Location:
APPROVED Sublocation: +
Serial Measuring Board Document no. Rev. Ind Page 20
Next +Axis1/3
Prepared by, date: EM 151217 Approved by, date: JM 160114 3HAC025090-001 04 Total 14
 1 2 3 4 5 6 7 8

-MU1
-R1.MP -R2.MP1 -R2.MP1
17 M1R 1 1 1 RD R (U) PE

M T (W)
3~
18 M1S 2 3 3 WH S (V)

19 M1T 3 7 7 BK

PE GNYE 9 9 GNYE

-BUM1 BU M1 6 2 2 BU +
Brake
-BU0VM1 BU 0V M1 7 5 5 BU -
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 -FB1

-R1.SMB1-3 -R1.SMB1-3 -R2.FB1 -R2.FB1

2 2 BK X1 6 6 RD

14 14 WHBK 0V X1 1 1 BK

Resolver

3 3 BN Y1 7 7 BU

15 15 WHBN 0V Y1 2 2 YE

6 6 RD 0V EXC1 8 8 WHBK (WHYE)

18 18 WHRD EXC1 3 3 WHRD

Latest revision: ECO 77348, WI 109538 Lab/Office: Status: 2016-01-14 Plant: = IRB6620
Page 10: Wire no 3 added. DMRO SE IRB 6620 + Axis1
PRIM Location:
APPROVED Sublocation: +
Axis 1 Document no. Rev. Ind Page 30
Next =IRB662
Prepared by, date: EM 151217 Approved by, date: JM 160114 3HAC025090-001 04 Total 14
 1 2 3 4 5 6 7 8

-MU1
-R1.MP -R2.MP1 -R2.MP1
17 M1R 1 1 1 RD

24 M1R 2 4 4 RD R (U) PE

25 M1S 4 3 3 WH M T (W)
3~
18 M1S 3 6 6 WH S (V)

19 M1T 5 7 7 BK

26 M1T 6 10 10 BK

PE GNYE 9 9 GNYE

PE GNYE 12 12 GNYE

-BUM1 BU M1 6 2 2 BU +
Brake
-BU0VM1 BU 0V M1 7 5 5 BU -
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 -FB1

-R1.SMB1-3 -R1.SMB1-3 -R2.FB1 -R2.FB1

2 2 BK X1 6 6 RD

14 14 WHBK 0V X1 1 1 BK

Resolver

3 3 BN Y1 7 7 BU

15 15 WHBN 0V Y1 2 2 YE

6 6 RD 0V EXC1 8 8 WHBK (WHYE)

18 18 WHRD EXC1 3 3 WHRD

Latest revision: ECO 77348, WI 109538 Lab/Office: Status: 2016-01-14 Plant: = IRB6620LX
Page 10: Wire no 3 added. DMRO SE IRB 6620 + Axis1
PRIM Location:
APPROVED Sublocation: +
IRB 6620 LX Axis 1 Document no. Rev. Ind Page 31
Next =IRB662
Prepared by, date: EM 151217 Approved by, date: JM 160114 3HAC025090-001 04 Total 14
 1 2 3 4 5 6 7 8

-MU2
-R1.MP -R2.MP2 -R2.MP2
23 M2R 1 1 1 RD

32 M2R 2 4 4 RD R (U) PE

22 M2S 3 3 3 WH M T (W)
3~
31 M2S 4 6 6 WH S (V)

21 M2T 5 7 7 BK

30 M2T 6 10 10 BK

PE GNYE 9 9 GNYE

PE GNYE 12 12 GNYE

-BUM2 BU M2 9 2 2 BU +
Brake
-BU0VM2 BU 0V M2 10 5 5 BU -
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 -FB2

-R1.SMB1-3 -R1.SMB1-3 -R2.FB2 -R2.FB2

4 4 BK X2 6 6 RD

16 16 WHBK 0V X2 1 1 BK

Resolver

5 5 BN Y2 7 7 BU

17 17 WHBN 0V Y2 2 2 YE

7 7 RD 0V EXC1 8 8 WHBK (WHYE)

19 19 WHRD EXC1 3 3 WHRD

Latest revision: ECO 77348, WI 109538 Lab/Office: Status: 2016-01-14 Plant: = IRB6620
Page 10: Wire no 3 added. DMRO SE IRB 6620 + Axis2
PRIM Location:
APPROVED Sublocation: +
Axis 2 Document no. Rev. Ind Page 40
Next +Axis3/5
Prepared by, date: EM 151217 Approved by, date: JM 160114 3HAC025090-001 04 Total 14
 1 2 3 4 5 6 7 8

-MU3
-R1.MP -R2.MP3 -R2.MP3
3 M3R 1 1 1 RD R (U) PE

M T (W)
3~
5 M3S 2 3 3 WH S (V)

7 M3T 3 7 7 BK

PE GNYE 9 9 GNYE

-BUM3 BU M3 6 2 2 BU +
Brake
-BU0VM3 BU 0V M3 7 5 5 BU -
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

-SIGNAL LAMP (OPTIONAL)

-R3.H A K
-SMB-24VEXT.LAMP OG R2.H1 R2.H1
1
-SMB-0VEXT.LAMP WHOG R2.H2 R2.H2
2

-SMB -FB3

-R1.SMB1-3 -R1.SMB1-3 -R2.FB3 -R2.FB3

9 9 BK X3 6 6 RD

21 21 WHBK 0V X3 1 1 BK

Resolver

10 10 BN Y3 7 7 BU

22 22 WHBN 0V Y3 2 2 YE

8 8 RD 0V EXC1 8 8 WHBK (WHYE)

20 20 WHRD EXC1 3 3 WHRD

Latest revision: ECO 77348, WI 109538 Lab/Office: Status: 2016-01-14 Plant: = IRB6620
Page 10: Wire no 3 added. DMRO SE IRB 6620 + Axis3
PRIM Location:
APPROVED Sublocation: +
Axis 3 Document no. Rev. Ind Page 50
Next +Axis4/6
Prepared by, date: EM 151217 Approved by, date: JM 160114 3HAC025090-001 04 Total 14
 1 2 3 4 5 6 7 8

-MU4
-R1.MP -R2.MP4 -R2.MP4
1 M4R 1 1 1 RD R (U) PE

M T (W)
3~
2 M4S 2 3 3 WH S (V)

10 M4T 3 7 7 BK

PE GNYE 9 9 GNYE

-BUM4 BU M4 6 2 2 BU +
Brake
-BU0VM4 BU 0V M4 7 5 5 BU -
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 -FB4

-R1.SMB4-6 -R1.SMB4-6 -R2.FB4 -R2.FB4

2 2 BK X4 6 6 RD

14 14 WHBK 0V X4 1 1 BK

Resolver

3 3 BN Y4 7 7 BU

15 15 WHBN 0V Y4 2 2 YE

6 6 RD 0V EXC2 8 8 WHBK (WHYE)

18 18 WHRD EXC2 3 3 WHRD

Latest revision: ECO 77348, WI 109538 Lab/Office: Status: 2016-01-14 Plant: = IRB6620
Page 10: Wire no 3 added. DMRO SE IRB 6620 + Axis4
PRIM Location:
APPROVED Sublocation: +
Axis 4 Document no. Rev. Ind Page 60
Next +Axis5/7
Prepared by, date: EM 151217 Approved by, date: JM 160114 3HAC025090-001 04 Total 14
 1 2 3 4 5 6 7 8

-MU5
-R1.MP -R2.MP5 -R2.MP5
20 M5R 1 1 1 RD R (U) PE

M T (W)
3~
28 M5S 2 3 3 WH S (V)

29 M5T 3 7 7 BK

PE GNYE 9 9 GNYE

-BUM5 BU M5 6 2 2 BU +
Brake
-BU0VM5 BU 0V M5 7 5 5 BU -
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 -FB5

-R1.SMB4-6 -R1.SMB4-6 -R2.FB5 -R2.FB5

4 4 BK X5 6 6 RD

16 16 WHBK 0V X5 1 1 BK

Resolver

5 5 BN Y5 7 7 BU

17 17 WHBN 0V Y5 2 2 YE

7 7 RD 0V EXC2 8 8 WHBK (WHYE)

19 19 WHRD EXC2 3 3 WHRD

Latest revision: ECO 77348, WI 109538 Lab/Office: Status: 2016-01-14 Plant: = IRB6620
Page 10: Wire no 3 added. DMRO SE IRB 6620 + Axis5
PRIM Location:
APPROVED Sublocation: +
Axis 5 Document no. Rev. Ind Page 70
Next +Axis6/8
Prepared by, date: EM 151217 Approved by, date: JM 160114 3HAC025090-001 04 Total 14
 1 2 3 4 5 6 7 8

-MU6
-R1.MP -R2.MP6 -R2.MP6
9 M6R 1 1 1 RD R (U) PE

M T (W)
3~
8 M6S 2 3 3 WH S (V)

16 M6T 3 7 7 BK

PE GNYE 9 9 GNYE

-BUM6 BU M6 6 2 2 BU +
Brake
-BU0VM6 BU 0V M6 7 5 5 BU -
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 -FB6

-R1.SMB4-6 -R1.SMB4-6 -R2.FB6 -R2.FB6

9 9 BK X6 6 6 RD

21 21 WHBK 0V X6 1 1 BK

Resolver

10 10 BN Y6 7 7 BU

22 22 WHBN 0V Y6 2 2 YE

8 8 RD 0V EXC2 8 8 WHBK (WHYE)

20 20 WHRD EXC2 3 3 WHRD

Latest revision: ECO 77348, WI 109538 Lab/Office: Status: 2016-01-14 Plant: = IRB6620
Page 10: Wire no 3 added. DMRO SE IRB 6620 + Axis6
PRIM Location:
APPROVED Sublocation: +
Axis 6 Document no. Rev. Ind Page 80
Next
Prepared by, date: EM 151217 Approved by, date: JM 160114 3HAC025090-001 04 Total 14