© Copyright 2004 ABB ALL right reserved.isa.uniovi.es/~jalvarez/abb/en/3HAC043446-005_rev00.pdf · IRB6X0 Any number i.e. 66X0 can be 6600, 6640, 6660 or 6650. ... e reserve all

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Erik Mesaros Johan Moraeus

2013-06-03

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Lab/Office: Status:IRB 6700

2 5

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3HAC043446-005

APPROVED

1

DMRO SEPRMP

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 anykind of guarantee or warranty by ABB for losses, damages to persons or property, fitness for aspecific 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 AB

SE-721 68 VästeråsSweden

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IRB6700Manipulator

Document no.Next

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3HAC043446-005

APPROVED

1

DMRO SEPRMP

Table of contentsCommentPage Page description

ABB Contents1

1 COPYRIGHT page

2 Table of contents: (1 - 80)

3 Valid For

4 Location of connection points

5 Legend

10 Brake Release Unit

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

30 Axis 1

40 Axis 2

50 Axis 3 Incl. external lamp (optional)

60 Axis 4

70 Axis 5

80 Axis 6

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Valid For

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IRB6700Manipulator

Document no.Next

Rev. Ind


2 5

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4 63 7 8

3HAC043446-005

APPROVED

1

DMRO SEPRMP

Valid For:This circuit diagram is valid for the following cable harness assemblies:3HAC042840-001: Manipulator harness axis 1-63HAC046642-001: Brake release unit3HAC043904-001: SMB unit3HAC15619-2: Cable, FB7-SMB 1.73HAC044075-001: Battery unit3HAC046287-001: Cable, battery-SMB3HAC047052 -001 UL signal lamp

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2013-06-03

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Location of connection points

Location:Plant: =

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IRB6700Manipulator

Document no.Next

Rev. Ind


2 5

00

4 63 7 8

3HAC043446-005

APPROVED

1

DMRO SEPRMP

A

R1.MPR1.SMB

R2.MP1R2.FB1

R1.MP

R2.MP4R2.FB4

R2.MP6R2.FB6

R2.MP3R2.FB3R2.H1R2.H2

R1.GR2.GR1.SMB1.7R2.FB7R2.SMBR1.SMB1-3R1.SMB4-6X8X9X10

R2.MP5R2.FB5

R1.SMB

R2.MP2R2.FB2

Prepared by, date:+BU/10

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umen

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in th

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form

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Legend

Location:Plant: =

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IRB6700Manipulator

Document no.Next

Rev. Ind


2 5

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4 63 7 8

3HAC043446-005

APPROVED

1

DMRO SEPRMP

M

B

PTC

R

G

BU

FB

SMB

FAN

SW

Keypin

Motor

Brake

Temp sensor (PTC- resistor)

Resolver

Battery Pack

Brake Release Unit

Feedback unit

Serial Measurment Board

Fan

Position switch

Location pin to avoid mismatch

Protective Earth

Twisted wires

Screened wires

IRB6X0 Any number i.e. 66X0 can be 6600, 6640, 6660 or 6650

Prepared by, date:+SMB/20

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Brake Release Unit

Location:Plant: =

++Sublocation:

IRB6700BU

Document no.Next

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3HAC043446-005

APPROVED

1

DMRO SEPRMP

Key Pin

Key Pin

-BU Brake Release (Simplified)

Brake Release

Brake PB

2

1R1.MP

R1.MP

R1.MP

R1.MP

R1.MP

R1.MP

5

6

7

8

9

10

(SP20B)

(SP20A)

(SP20A)

(SP21A)

(SP21A)

0V

(SP12)(SP22A)

(SP22A)

(SP10)

(SP11)

(SP13)

(SP14)

(SP15)

4

7

10

10

7

7

10

-R1.MP13

11

12

4

3

5

2

-X81

-X81

5

3

-X94

-X94

8

10

4

6

2

-X101

3

5

-X101

3

5

5

8

9

10

11

9

1

Brake Bleed Circuit

Brake Bleed Circuit

Brake Bleed Circuit

Brake Bleed Circuit

Brake Bleed Circuit

Brake Bleed Circuit

KA

KA

KA

KA

KA

KA

-BUM1

-BUM2

-BUM3

-BUM4

-BUM5

-BUM6

-BU0VM1

-BU0VM2

-BU0VM3

-BU0VM4

-BU0VM5

-BU0VM6

Prepared by, date:+Axis1/30

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SMB, incl optional 7th axis connection

Location:Plant: =

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IRB6700SMB

Document no.Next

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2 5

00

4 63 7 8

3HAC043446-005

APPROVED

1

DMRO SEPRMP

-R1.SMB -R2.SMB

7th axis connection (optional)

SDI

SDI-N

SDO

SDO-N

0V

BK

WH/BK X7

WHBK

BK 0V X7

Y7WH/BN

BN

WHBN

BN 0V Y7

RD

WH/RD 0V EXC2

WHRD

RD EXC2

-R2.SMB

SCREEN

-R1.G(X3)-G0V

+

-SMB

9

5

8

4

3

7

2

1

A

B

C

D

E

F

KEYPIN

M

9

5

8

4

3

7

2

1

+ -+ -+ -

-R1.SMB1.75

12

4

11

2

9

1

-R2.FB7A

B

C

D

E

F

-SMB1.75

12

4

11

2

9

1

-R2.G2

1

-R1.G(X3)2

1


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Axis 1

Location:Plant: =

++Sublocation:

IRB6700Axis1

Document no.Next

Rev. Ind


2 5

00

4 63 7 8

3HAC043446-005

APPROVED

1

DMRO SEPRMP

Brake

-MU1

RD

WH

BK

GNYE

BU +

BU -

M1R

M1S

M1T

BU M1

BU 0V M1

1

3

5

GNYE

9

(SP60A)

(SP30A)

(SP30A)

(SP20A)

(SP10)

10

Resolver

-FB1

RD

BK

BU

YE

WHBK (WHYE)

WHRD

BK

WHBK

BN

WHBN

RD

WHRD

X1

0V X1

Y1

0V Y1

0V EXC1

EXC1

-BUM1

-BU0VM1 5

-R2.FB16

1

7

2

8

3

6

7

9

12

2

S (V)

T (W)

R (U) PE

3~M

-R1.MP17

18

19

24

25

26

7

9

12

-R1.SMB1-32

14

3

15

6

18

14

3

15

6

18

-R2.FB16

1

7

2

8

3

-R2.MP11

-R2.MP11

3

10

44

3

10

5

6

2

-R1.SMB1-32

-SMB

PE

RD

WH

BK

GNYEPE GNYE

M1R 2

4

6

M1S

M1T


We

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all r

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Rep

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n. ©

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Axis 2

Location:Plant: =

++Sublocation:

IRB6700Axis2

Document no.Next

Rev. Ind


2 5

00

4 63 7 8

3HAC043446-005

APPROVED

1

DMRO SEPRMP

-SMB

BK

WHBK

BN

WHBN

RD

WHRD

M2R

M2S

M2T

BU M2

BU 0V M2

1

2

4

GNYE

9

(SP20A)

(SP34A)

(SP11)

(SP62A)

(SP33A)

10

X2

0V X2

Y2

0V Y2

0V EXC1

EXC1

-FB2

-MU2

RD

BK

BU

YE

WHBK (WHYE)

WHRD

RD

WH

BK

GNYE

BU +

BU -Brake

-BUM2

-BU0VM2

1

7

2

8

3

-R2.FB26

5

-R1.SMB1-34

16

5

17

7

19

16

5

17

7

19

1

7

2

8

3

32

31

30

6

7

9

2

5

-R1.MP23

22

21

S (V)

T (W)

R (U) PE

3~M

-R2.FB26

-R2.MP21

6

7

9

2

-R2.MP21

4

3

10

12

4

3

10

12

-R1.SMB1-34

Resolver

RD

WH

BK

GNYE

M2S

M2R

M2T

3

5

6

GNYEPE

PE


We

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all r

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Latest revision:

Approved by, date:

Axis 3, incl. optional signal lamp

Location:Plant: =

++Sublocation:

IRB6700Axis3

Document no.Next

Rev. Ind


2 5

00

43 6 7 8

3HAC043446-005

APPROVED

1

DMRO SEPRMP

-SMB

BK

WHBK

BN

WHBN

RD

WHRD

M3R

M3S

M3T

PE

PE

BU M3

1

2

3

GNYE(SP32A)

(SP32A)

(SP12)

(SP21A)

(SP64A)

GNYE

9

X3

0V X3

Y3

0V Y3

0V EXC1

EXC1

-FB3

-MU3

RD

BK

BU

YE

WHBK (WHYE)

WHRD

RD

WH

BK

GNYE

BU +

BU -

2

27

15

-BUM3

-BU0VM3

-R2.FB36

1

7

5

8

3

6

7

9

12

2

5

-R2.H1

-R2.H2

10

3

4

1

7

2

8

3

-R1.MP3

5

7

4

6

14

6

7

9

KEYPIN

B

12

2

KEYPIN

A

-R1.SMB1-39

21

10

22

8

20

-R1.SMB1-39

21

10

22

8

20

-R2.H1

-R2.H2

A K

S (V)

T (W)

R (U) PE

3~M

-R2.FB36

-R2.MP31

-R2.MP31

4

3

10

1(+)

-R3.H

2(-)

Brake

Resolver

-SIGNAL LAMP (OPTIONAL)

RD

WH

BK

GNYE

M3R

M3S

M3T

BU 0V M3

24V EXT. LAMP

0V EXT. LAMP

4

5

6

10

7

8

RD

BK

Prepared by, date:+Axis 5/70

We

rese

rve

all r

ight

s in

this

doc

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t and

in th

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form

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n. ©

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Axis 4

Location:Plant: =

++Sublocation:

IRB6700Axis4

Document no.Next

Rev. Ind


2 5

00

4 63 7 8

3HAC043446-005

APPROVED

1

DMRO SEPRMP

-SMB

BK

WHBK

BN

WHBN

RD

WHRD

M4R

M4S

M4T

PE

BU M4

BU 0V M4

1

2

3

GNYE(SP31A)

(SP13)

(SP65A)

(SP21A)

6

7

X4

0V X4

Y4

0V Y4

0V EXC2

EXC2

-FB4

-MU4

RD

BK

BU

YE

WHBK (WHYE)

WHRD

RD

WH

BK

GNYE

BU +

BU -

-BUM4

-BU0VM4 5

A KeypinKeypin B

1

7

2

8

3

-R2.FB46

-R2.FB46

-R2.MP41

3

7

9

2

5

1-R2.MP3

S (V)

T (W)

R (U) PE

3~M

7

9

-R1.SMB4-62

14

3

15

6

18

14

3

15

6

18

1

7

2

8

3

3

2

-R1.SMB4-62

-R1.MP1

2

10

Brake

Resolver


We

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all r

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s in

this

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umen

t and

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form

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Axis 5

Location:Plant: =

++Sublocation:

IRB6700Axis 5

Document no.Next

Rev. Ind


2 5

00

4 63 7 8

3HAC043446-005

APPROVED

1

DMRO SEPRMP

-SMB

BK

WHBK

BN

WHBN

RD

WHRD

M5R

M5S

M5T

PE

BU M5

BU 0V M5

(SP34A)

(SP61A)

(SP14)

(SP22A)

1

2

3

GNYE

6

7

-BUM5

-BU0VM5

28 3

7

9

2

5

-R2.FB56

-R2.FB56

1

7

2

8

3

-R2.MP51

-R2.MP51

1

7

2

8

3

-R1.MP20

29

A Keypin

3

7

9

2

5

-R1.SMB4-64

16

5

17

7

19

-R1.SMB4-64

16

5

17

7

19

S (V)

T (W)

R (U) PE

3~M

X5

0V X5

Y5

0V Y5

0V EXC2

EXC2

-FB5

RD

BK

BU

YE

-MU5

RD

WH

BK

GNYE

BU +

BU -

WHBK (WHYE)

WHRD

Resolver

Brake

Prepared by, date:

We

rese

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all r

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s in

this

doc

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t and

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form

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Axis 6

Location:Plant: =

++Sublocation:

IRB6700Axis6

Document no.Next

Rev. Ind

Lab/Office: Status:IRB 6700APPROVED

6 7 82

3HAC043446-005

51

00

3 4

DMRO SEPRMP

-SMB

BK

WHBK

BN

WHBN

RD

WHRD

M6R

M6S

M6T

PE

BU M6

BU 0V M6

1

2

3

GNYE(SP33A)

(SP15)

(SP22A)

(SP63A)

6

7

X6

0V X6

Y6

0V Y6

0V EXC2

EXC2

-FB6

-MU6

RD

BK

BU

YE

WHBK (WHYE)

WHRD

RD

WH

BK

GNYE

BU +

BU -

-BUM6

-BU0VM6

1

7

2

8

3

-R2.FB66

-R2.FB66

-R2.MP61

-R2.MP61

S (V)

T (W)

R (U) PE

3~M

1

7

2

8

3

16

8

-R1.MP9

20

8

22

10

21

-R1.SMB4-69

-R1.SMB4-69

21

10

22

8

20

3

7

9

2

5

3

7

9

2

5Brake

Resolver

Documents

© Copyright 2004 ABB ALL right reserved.isa.uniovi.es/~jalvarez/abb/en/3HAC043446-005_rev00.pdf · IRB6X0 Any number i.e. 66X0 can be 6600, 6640, 6660 or 6650. ... e reserve all