Description IRB L6E 6397 012-303 Ah DED October 1989 PADDED Acca shown BOVERThe information in this document is subject to change without notice and should not be construed as a commitment by ABB Robotics AS. ABB Robotics AB assumes no responsibility for any errors that may appear in this document. In ny event shall ABB Robotics AB be liable for incidental or consequential damages arising from use of this document or of the software and hardware described in this document. This document and parte thereof muet not be reproduced or copicd without ABB Robotice AB's written permission, and the contents thereof must not be imparted to a third party nor be used for any unauthorized purpose. Contravention will be prosacuted. Additional copies of this dacument may be obtained fram ARR Robotics AR at its then current charge. ©ABB Robotics AB 1989 Article number: 6397 012-303 Issued: October 1989 ADO Robotics AD S-721 68 Vasteras Sweden 6397 012-303 Oct 1989 a DescriptionContents: Page 1 INTRODUCTION 2 2 PRINCIPAL FEATURES 3 3 SYSTEM STRUCTURE 6 3.1 Control cabinet 7 3.2. Mechanical robot, IRB LéE ° 4 OPERATION AND PROGRAMMING lo 41 Controls lo 4.2 Safety features u 4.3. Programming 12 $ TECHNICAL SPECIFICATION uM 1 General 14 5.2 Basic version uw 5.2.1 Design a 5.2.2 Funetions 4 5.2.3 Technical data 18 5.3. Variants af the hasic versinn 2 5.4 Accessories cy 5.4.1 Control Equipment 24 5.4.2 Mechanical robot 2% 5.4.3 Servive 25 5.5 Dimensioned drawings 26 5.6 Loading diagram 29 6 SPECIFICATION FORM 31 ABB reserves the right to alter design, technical data and dimensions without prior notice. 6397 012-303 Oct 1989 1 Description1 INTRODUCTION 6397 012-303 The ABB industrial robot system is a versatile aid in the automation of industrial manufacturing processes, and is perticularly applicable in situations which are dangerous or difficult for the human operator. IRB L6E is a further development of the IRB 6, which was first delivered in 1973 and is mainly used for arc welding and material handling. It is also suitable for grinding, deburring, polishing and tending machine groups. The robot system provides a wide range of control functions, which allow it to be used for specialized purposes, while keeping the cost of planning and peripheral equipment at a low level. The robot can also contribute to improved utilization of capital already Invested In machines. Oct 1989 2 Description2 PRINCIPAL FEATURES. 6397 012-303 Separate electrical and mechanical sections The ABB Industrial Robot System is divided into two main units - the free-standing mechanical robot and the control equipment. This separation permits the location of the mechanical robot in limited working spaces. The control equipment can be placed separately, if this Is demanded by space or environmental conditions. Robust mechanical robot The mechanical robot is compact and sturdy, the main structural components being of cast aluminium, All bearings are either roller or ball bearings. The result is a mechanical robot which is resistent to hard wear and designed to withstand severe industrial conditions. The IRB L6E is intended to be mounted standing up, but it can without modificatione be mounted in an inverted position. Fully jectric operations The robot system is fully electric, with axes driven by DC motors, giving low maintenance costs, low noise level, low power consumption and high precision. Modular design; Fault diagnosis ‘The control system is built up from modular units and includes advanced fault diagnosis facilities. This permits rapid fault tracing and simple replacement of defective components. Dialogue programming Programming is carried out by means of a digalogue between the operator and the control equipment, in 2 simple non-coded language using a portable programming unit. The use of the dialogue principle saves time and less documentation is required to operate the machine. The language used for communication via the programming unit is optional. Choose from English, German, French, Dutch, Italian, Spanish, Portugese, Japanese, Finnish or Swedish. Defined work point (TCP) The movements of the robot are programmed in such a way that a specific point, known as the work point or Tool Center Point (TCP), moves, relative to the robot, in a well defined manner. The TCP can be defined in any selected position, and the system can store nine different, TCPs in its memory. Joystick; Co-ordinate systems A joystick on the programming unit is used to control movements of the TCP in rectangular or cylindrical robet-orionted coordinates, or in rectangular hand-oriented co-ordinates. This simplifies the work of programming and enables the robot to be moved quickly to the desired positions. Oct 1989 3 Description6397 012-303 Program structure and subprograms The program structure may contain a large number of separate subprograms. In these, the movements, conditions, patterns and “weaving” movements of the TCP of the robot can be defined and a refined and logical pragram structure built up. Programs Instructions; Editing functions A wide range of program instructions and editing functions are available (see Chapter 5). These include: - Movement between two points, at selected speed, programmed in mm/s and with en optional degree of accuracy, This provides opportunities for optimization of cycle times. = Program control through inputs and outputs or from an internal register, providing jump, wait or interrupt in programe, or in the control of peripheral equipment. = A programmed pattern of movement can be transposed in any desired direction, during both pragramming and execution, This feature is particularly useful if, for example, a fixture must be altered, ar when a similar pattern of movements is needed several times during a process. - A robot program can be corrected, erased, copied, renumbered, test-run, etc. Inputs and outputs There is wide flexibility in choice of digital or analog inputs and outputs: In its standard form, the system is equipped with 7 digital outputs and 6 inputs intended for customer use. This can be extended to a maximum of approx. 140 digital inputs or outputs. Analog inputs and outputs can be used as well. The maximum number is 64 analog inputs or 16 outputs. Floppy disk unit The control system is prepared tor the addition of a floppy disk unit with 3 }" floppy disks. This unit is used to store user programs on floppy disks and for mass storage and recall of programs during operation of tne robot. Program print-out A printer can be connected to the robot system for print-out of the program un paper, an alphanumeric keyboard for entry of commentarys in the program or a printing terminal for both of these purposes as above. Computer link The robot system can be equipped with a computer link for communi- cation with a superior computer. Oct 1989 4 Description6397 012-303 Adaptive control Sensors can be connected to the robot, for adaptive control. Possible functions include searching, contour following and speed control. Bath digital and analog sensors can be used. Emergency stop with self-supervision The emergency stop circuits in the robot system are self-supervisory. This means that an emergency stop follows the occurrence of a fault in the circuits concerned. Safety functions The safety circuits in the robot system are designed with self-supervising components or with a two-channel principle with self-supervision. Self- supervision means that a fault causes the robot system to enter the STANDBY mode. All types of system stops (emergency stop, work hold and safety hold) result in the system going to the STANOBY mode. Oct 1989 5 Description3 SYSTEM STRUCTURE The Industrial Robot System consits of a basic version and a variety of optional accessories, see below. The basic version, the mechanical robot together with # control cabinet, can be supplied in'@ number of variants. if aao0 4-3 extra input and output units Process inpute and ee =) 280-475 FJ 50 or 60Hz Accessories to control equipment Field servicing Extended Documentation read /wrte memory 6397 012-303 Oct 1989 6 DescriptionBa Control cabinet The control cabinet contains the electronics and the drive equipment required to control the mechanical robot and the peripheral equipment. The robot is linked to the control cabinet by means of a cable, which may be up to 10 m in length. Communication between the operator and the control system takes place through the control panel and the programming unit. The control system communicates with the peripheral equipment through input/output units of different types depending on the needs of the particular installation. The status of the inputs and outputs (I/O) is indicated by LEDs on the front of the 1/O-units. —— -staoano SS Fortonat. * SMOVABLE BETWEEN ROBOT SYSTEMS. ---- cUBCLEWALL {16 BIT DATABUS = = =e |) = a ( ae ANALOG [BOARDS = oe [PRINTER L_compurea 6397 012-303 Oct 1989 7 Description6397 012-303 The control program for the robot is stored in the permanent memory of the control system (EPROM), while the user program is stored in the read/write memory (RWM), which is provided with battery back-up to protect the contents in case of power failure. The capacity of the user memory can be easily increased with additional memory boards, or by the use of a floppy disk unit for mass storage. The electronic units in the control system are connected to a common data bus through which all information is passed between units, and through which the system is monitored by the main computer. The servo system is served by its own computer; this contributes to the good performance of the system. The control system carries out continuous tests on the most important functions of the robot system, and more extensive tests are performed after start-up. If a fault is detected, pragram execution is immediately interrupted, the FAULT lamp illuminates and a messaye showing Une type of fault is displayed in plain language on the pragramming unit. To assist in fault tracing, the various units of the control system are fitted with test points and LEDs which indicate the atetus of the input and output signals of the system, the servo system and the interlocking chains. LEDs are provided to’ indicate the supply voltages to tho electronic units and to indicate the communication of the electronics unit with the central unit. Separate test equipment is also available in the form of a test adapter. Oct 1989 8 Description3.2 Mechanical robot, IRB L6E 6397 012-303 The arm movements are made by means of ball screws which actuate the arms through levers. The wrist axes, d:th (E) and S:th (P) axes, are driven by link rod aystems inside the lower and upper arma. The wrist is 90 designed that the bending movement (4:th (E) axis) is always in the plane of the arm. The motor units and mechanical transmissions far all enhnt axes, excant for the l:st (C) axis which is mounted inside the body, are located on the outside of the ratating body of the robot. The motor units consist of a OC motor, a tachometer for speed control and a resolver for indication of position. Brakes on all axes are standard. As an option, the remaining axes can be fitted with brakes. The transmissions are of two types; gearboxes of "Harmonic Drive” type and ball screws. The servo amplifiers are located in the control cabinet, adjacent to the other electronic equipment. The cables to user connections are routed through the arm sections to the wrist. Connections are made through the underside of the forward end of the upper arm. 4th, E, Bend Motorunit, 44h, € = axis Oct 1989 9 Description4 OPERATION AND PROGRAMMING. 4 Controls 6397 012-303 The control panel carries the controls and switches needed for starting up the system, loading and storage of programs from floppy disks, start/stop of the robot and actuation and reset of the emergency stop system. Indicator lamps on the panel show the current status of the system. The indicator lamps on the control panel and programming unit can be checked by means of a test button. It is possible to lock the programming unit to prevent access to the robot program by unauthorized persons. The programming unit is connected to the control system by a 10m cable. When not in use, it is placed in a compartment on the door of the control cabinet or removed from the robot system. The compartment also contains the connection for the cable. For safety reasons a contact must be present at all times in the connection (either the programming unit contact or the supplied dummy contact). The pragramming unit is provided with membrane huttans, which give tactile feedback, and LED displays. The emergency stop button and the safety pad for the function of the joystick are placed on each side of the horizontal joystick and protects it. The programming unit withstands 2 hostile industrial environment. “2 me @ |1| eg * 020 |O| © 1 x 600 /0|\0 mle & & Figure 4-1 Control panel Oct 1989 10 Description42 Safety features 6397 012-303 Eb 8S Boo || no A SOR Figure 4-2 Programming unit All operator cammunicatinns, with the exception of selection of the operational mode for the robot system, are available on the portable programming unit. The programming unit is provided with the following facilities for this purpos © A two-row alphanumeric display for messages in plain language. The system can display: - texts in any of four languages; English + three other languages, = numerical values in international (metric) or inches. © Five multi-function buttons below the panel. ‘The text on the lower row of the display defines the use of the multi-function buttons, © Six to eight menus for most of the system functions. Each menu contains @ particular type of function, for instance for program editing. © Joystick. The robot, or external axes, are positioned by using the joystick, together with the safety pad and the switches on the upper right- hand corner. The robot system has a number of built-in safety features. Some of these aret = Emergency stop, which can be activated from the programming unit, from the control panel, ar from an external emergency stop device, as well as automatic triggering caused by motor overcurrent. The emergency stop circuits are self-supervisory, i.e. an emergency stop is caused by the occurrence of any malfunction in the circuits concerned, - The emergency stop circuits are self-supervisory. This means that an emergency stop is caused by Uhe occurrence of any malfunction in the circuits concerned. - The maximum speed of the robot is limited to 250 mm/s speed when the programming unit ie connected and has been extracted from ite compartment. Oct 1989 cy Description43 Programming 6397 012-303, = The dead man's handle (option) relay unit including self-supervisary circuits for work hold and safety hold. Work stop gives the possibility to stop the robot system, thus allowing entry of the hazardous area with retained personnel safety for service etc. The safety pad at the joystick works asa dead man's handle for the robot movements when work in the hazardous area is carried out. Safety stop prevents obtaining of RUN status before stop circuits were reinetated. = Input from key ewiteh (only with dead man’s handle) allowing 100 % speed with the programming unit extracted from its compartment. = Aprogram can only be started from the programming unit when it is eonnected and has heen extracted fram its eampartment - Immediate program stop controlled by a direct input signal. = Resolver monitoring, which initiates an immediate emergency stop if a resolver signal is not received, or represents an anomalous value. = When a programming unit is not connected, it must be replaced with a dummy contact. If neither of these is connected, an emergency stop is caused. N.B. Not all are included in the basic system, see the specification form on the last page. Programming of a given pattern of movement is performed by the operator who moves the robot, or the external axis, to the desired position in the selected co-ordinate system by use of the joystick. Each Of these positions is registered in the program through the programming unit. The robot can be moved with a high degree of accuracy by manual operation, one increment at a time, to any chosen position In the selected co-ordinate system. Programs can contain instructions for robot movements in either straight-line ur robot coordinates, Instructions for program control, call-up of programs, program adjustment and other instructions which are independent of the position of the robot, can be entered into the program at any time. Complete program blocks are stored, either in the memory of the control system, ready for immediate use, or on a floppy dick for use on a later accacion. Part or the whole of the program can be returned to the user memory when required. One or more program blocks can be stored on a floppy disk. A program block is built up from @ main program and an optional number af subpragrams. An individual pragram step ransists af an instruction and instruction number, either with or without additional information which is known as an "argument". Oct 1989 12 DescriptionExample of praqram: 10 V=500MM/SMAX = 1nn0 MM/S Basie speed and max. speed for caming program section. 15 TCP 1 TCP for coming program sequence. 16 RECT COORD Calls for movements in rectangular co- ordinates (straight-line running) in coming program sequence. 20 POS V = 100 Position at 100 % of basic speed. 30 WAIT TIME 3.5 5 Wait for 3.5 s. Then proceed with next instruction. 40 POS V = 50 FINE S Position at fine point, small zero-zone, at 50 % of basic speed. 50 CALL PROG 7 Call-up subprogram 7. 60 SET OUT 5 Set output 5. 70 RETURN End uf program anu return to 10. 6397 012-303 One instruction at @ time is shown on the display of the programming unit, as in the example above; this applies both to actual programming and checking of programe. Editing and correction can be carried out on a complete program, part of a program or an instruction. A program can be test-run without movement of the robot or activation of any of the outputs. The conditions stated in Ingic instructinns can he simulated. Program operation is possible either continuously or manually, one instruction at a time, either forward or backwards (positioning instructions only). The speed is selected, for each positioning instruction, as a percentage (0.1-800 %) of the basic speed stored in the program. This speed percentage can be adjusted, for the complete program block (0-400 %), in steps of 5 %, even during operation. For a description of the instructions and functions included in the system, see Chapter 5, Technical Specification, Oct 1989 3B Deseription5 TECHNICAL SPECIFICATION Sel General 5.2 Basic veraion 5.2.1 Design 5.2.2 Functions 6397 012-303 The ABB Robot System is fully electric, computer-controlled and programmable, and has up to nine servo-controlled axes. The industrial robot system consists of a basic system and various accessories. A basic version is supplied as standard, and additional functions are obtainable in variants uf Un basic system, and by the addition of accessories, These are selected on the "Specification form". The robot consists of two free-standing units, the mechanical robot and the control cabinet, linked by a cable. Control cabinet (see section 5.5), contains all the electronic components of the robot system, together with the electrical drive equipment needed fo control the rahat. The control cabinet is cooled by internal air circulation; a thermal sensor monitors the temperature in the cabinet. The control panel is located on the control cabinet, together with compartments with plug-in connections, for a programming unit and a floppy disk unit. Electrical connections, including power supply, signals to robot, process signals and signals to peripheral equipment, are located at the lower left side of the cabinet. The door of the control cabinet is provided with a vision panel 1086 x 660 mm. The programming unit (standard) is used for manual operation and programming of the system. The programming unit is fitted with a 10m cable. Mechanical robot (see section 5.5). The main structural components of the robot are of cast aluminium. All bearings are of the rolling type. Mechanical transmissions are gearboxes of Harmonic Drive type or ball screws, Resolvers or tachometers are used tor position indication and speed control. The axes are powered by servo-controlled OC motors. The electrical connections are made to the rear of the base of the robot. Brake on robot axls. The robot system Is provided with holding brakes on all robot axes. When a brake is installed on an axis, this axis remains in its position when the voltage disappears from its motor, This avoids the risk of a tool or work piece lodging in a position in which it can cause damage. The mechanical robot is controlled and monitored from the control cabinet; the movements of the robot arc described in scction 5.5. Pragramming and manual operation are performed with @ programming unit. The program is stored in the memory of the control system, or on floppy disks by means of a floppy disk unit. Oct 1989 14 Description6397 012-303 The following principal functions are provided in the basic version: 0 Co-ordinate systems for definition of the movements of the robot. Manual operation © Rectangular co-ordinate system. © Cylindrical co-ordinate system. 0 Hand-oriented, rectangular co-ordinate system. Continuous operation 0 Rectangular co-ordinate system. © Robot co-ordinate system. 0 Synchronization of the robot system need normally only be carried out when the voltage is first switched on, When synchronization is needed, this is indicated by the flashing sync. pushbutton on the contro! panel. It can be carrled out Irrespective of the initial position of the robot at the start of synchronization, and need normally not be repeated after an emergency stop. © Function parameters are provided fur definition uf certain functions in the system, The parameters are programmable and are stored in a memory with bettery beck-up. These parameters are normally decided at the time of installation of the system and can be stored ona floppy disk. The parameters assume standard values if not otherwise defined. TCP and FRAME values are also processed as system parameters land can be stored on a floppy disk together with these. The following parameters may he established: = Access level for the programming innit, i.e. the degree of acress to all or some of the programming functions, controlled by @ lock on the cantrol panel. - Synchronization positions; choice of three different positions around the I:st (C) axi - Maximum time for limited conditional WAIT, up to 320 s. = Type and number of 1/O-u = Memory size. - Three different zero zones for accurate positioning and one zero zone for coarse positioning. = Metric or US units for displaying and entering values for speeds and distances. = Limitations of the working range of robot axes. = Activation of "HOLD-TO-RUN" cuntrol. © Instructions (see also additional instructions in section 5.3) = Movement between two points, at optionel constant specd in mm/s and three optional degrees of accuracy of positioning. Can be programmed in straight-line or robot co-ordinates. Oct 1989 15 Description6397 012-303 Oct 1989 TCP can be programmed for nine different positions, relative to the centre of the turning disc. TCP locations are defined with a special program function by means of manual running of the robot. Co-ordinate transtormation by means of programmed reference points; the subsequent part of the program is carried out relative to the actual position (not relative to its actual orientation) when the reference point instruction is executed. Weaving movement; defined in a subprogram and superimposed un a straight-line positioning, Program control of, or by, peripheral equipment, through inputs and outputs, or with the assistance of an internal register. Outputs can be act at "0" or "1" and can be inverted end pulsed. Positive and negative numbers can be entered in the register. Logical instructions: * Jumps can be made, conditionally or unconditionally, to optional instruction addresses within 2 program. * Wait in a program sequence can be generated can- ditionally or unconditionally. The conditional wait time ean he limited ta a maximum (see Function parameters). Unconditional wait can be generated from 0 to 100s. * Instructions can be interrupted for immediate execution of the next subprogram or one of five subprograms, depending on which direct digital signal input is activated. (See section 5.3, Digital input/output capacity.) Pattern handling (e.g. picking and placing of parts). Each pattern is programmed in the form of an individual subpragram and is treated independently of the others. Call-up of subprograms linked in ten levels. The subprogram called can be repeated up to 99 times. Reading of optional program blocks trom floppy disks during continuous operation (mass storage facility). An optional umber of subprograms in the user memory can be erased at the same time. Position register for program controlled storage of the position of a point. A displacement in any desired direction cats be added to the stored position. Control of gripper. Circular interpolation defined as three points on a circular arc in space. For circular arcs approaching 360 degrees or greater, five points are required. Co-ordinate transformation by moving the origin of the co- ardinate system in a straight line and rotation of the system around any axis in the basic co-ordinate system. Up to five differant co-nrdinate transformations can be programmed. Optional transformations can be called at any point in the program. 16 Description6397 012-303 o Editi If the robot system is provided with "Adaptive control", automatic definition of the transformation can be performed during program execution, by means of sensor controlled searching. Programming of temporary connections between a numerical register and inputs/outputs (ports) of both analog and digital type. Numerical values can be transmitted between number registers and inputs and outputs for program control and control of peripneral equipment. ng functions Erasing end editing of a complete program ur part uf # pruyrain or instruction. Copying of a program, to a different program number. Copying of instructions. Re-numbering of Instructions In a program to even tens. Alteration of position, with or without movement of the robot, even while a program is being run (max. 10 mm). Test-running of program, with or without movement of the robot. Simulation of conditions in logic instructions. Listing via the display of program numbers used. © Adaptive control The Oct 1989 following functions are provided: Searching with up to three sensors. The search stop can be delayed hy 0.5 s. Searching is carried out as: * Linear search between two points. * Directional search commenced by linear scanning fol- lowed by free search (max. 5 cm), in accordance with pre- programmed correction movements. Control of speed (by one sensor) of programmed movement. Time lag is automatically compensated for, if the required speed change is more than 25% of the programmed speed within 50 ms. Contour following, in accordance with pre-programmed cor- rection movements. Up to three sensors can be used simul- taneously. Up to 16 sensors can be addressed. Sensors may be of digital type, with up to 7 bits + 1 sign bit, or they may be of the analog type. Connections are made to the digital or analog Input uf the robot system (see Variants of the basic version). N.B. If sensors are to be mounted on the robot, the leads for user connections must be connected to the wrist vie the arm system (19). W Description5.2.3 Technical data Performance Number of servo-driven degrees of freedom Type of movement Axis Working range Rotational movement list (C) 360° Radial arm movement 2nd (8) Vertical arm movement 3:rd (A) Tilting wrist movement 4:th (F) 90° Turning wrist movement 5:th (P) + 180° Handling capacity See Chapter 6 for diagram which for different loading cases speci Max. speed 114%s 1.3 m/s 13 m/e 138% 236s ies the maximum distance of the centre of gravity of the load from the support. Incremental movement Repetition accuracy at wrist center Maximum moment of inertia Maximum static load Power consumption ‘Operation Stand-by Environmental factors Physical data 6397 012-303 Enclosure class Control cabinet Environmental temperature Control equipment, operation Mechanical robot and motors Upper arm and wrist Relative humidity Weight Mechanical robot Control cabinet Dimensions Mechanical robot H x B xD (transpart position) Control cabinet Oct 1989 18 Approx. 0.1 mm <£0.2 mm 0.24 kgm? 12Nm 0.6 - 2.0 kW Approx. 0.5 kW IP 54 (IEC) $5 = 445 8C +5- 450°C +5 = +80 °C Max. 90 % 145 kg 350 kg 1325 x 728 x 965 mm. 1900 x 800 x 600 mm DescriptionElectrical connections Mains connection Main voltage 3 phase, 380 V (Other voltages are available 412%, “15 % as options, see specific. form.) Frequency 50 Hz + Hz Voltage supply Available for optional connection Nom. 24V DC, max 24 Digital connections (Can be galvanically isolated from the robot system.) Inputs 4 Rated voltage 24 V DC Impedance 3.5 kahm Outputs 4 (+2 for gripper) Current-soureing Rated voltage 24 V DC Load capacity 150 ma Signal connections Input signals = Opening contact to give emergency stop. Supply 24 V - Opening relay contact to give emergency stop (ex- ternally supplied relay coil). Supply 24 V. Output signals = Contact open when emergency stop activated = Closing contact when emergency stop activated Load capacity 60 V/1 A. - Contact closed when front door is open. Supply 220 v/270 mA = Contact closed in “operation mode. Supply 220 V/135 mA. 6397 012-303 Oct 1989 19 DescriptionProgram capacity Number of programs in user memory Main program 1 Subprograms (number definable) £9999 Memory Capacity Approx. 8 kword Number of positioning only instructions Approx. 860 (Estimated with 5U 4 POS-instructions and 50 % other instructions.) Battery back-up Typical 1500 h Re-charging time Approx. 24 hours External memory back-up Nom. 24 VDC, 10 mA Top Number definable 9 Definition range 0-575 mm Position register Number definable 100 Register ‘Number definable 1200-119) Permissible values 0432767 Sensors, connection possibilities Number addressable 16 The sensors can be of digital type with up to 7 bits + sign bit, or of analog type. Connections are made to the digital or analog inputs of the system. (See Variants of the basic version.) 6397 012-303 Oct 1989 20 Description53 Variants of the basic version 6397 012-303 (Numbers In brackets refer to the specification form.) Mains voltage ” In addition to the 380 V, 3-phase supply, the robot system can be adapted for the following 3-phase supplies: 415 V, 440 V and 475 V. Maine frequency/fuses @ In addition to the standard form suitable for 50 Hz, the robot system can also be supplied for 60 Hz mains supply. 50 Hz/D-type Standard 60 H7/US-type Standard in USA and Japan Digital input/output capacity (ao) The I/O units of the basic version can be supplemented with extra input or output units, as described below. - When extra digital input or output units are delivered, a number of inputs and outputs are reserved for fixed signal functions as follows: A. If one or more extra digital input units are delivered, there are 9 direct-action inputs. Direct signal input: Interrupt instruction Interrupt program Jump to program 1, 2,3, 4or 5 Program start Program stop B. If one or more extra digital output units are delivered, there are 7 status outputs. Status signal outputs: Operation Cycle on Fault Programming unit removed = Gripper device 1, on/off Gripper device 2, on/off = Stop scarch = All extra inputs and outputs (but not the basic version inputs and outputs) are galvanically isolated from the robot system, if external power supply is used. If internal power supply is desired, this can be nbtained from the 24 V DC, 2 A supply available in the control cabinet. The inputs/out- puts which are supplied internally are not, however, galvanically isolated from the robot system. = The following input and output units may be selected, up to a total of three(including analog units, see analog input capacity). Oct 1989 aL Description6397 012-303, * — Tnput/output unit, Type OSDX 110 Inputs: 16, opto-coupled Rated voltage 24 V OC Input impedance 3.5 kohm Outputs: 16, opto-coupled current-sourcing traneistor smplifier Rated voltage 24 VOC Load capacity 150 mA Dead man's handle (a) The option contain: - Safety pad on programming unit as dead man's handle. = Work hold. - Safety hold and a key switch program test run at 100% of programmed speed. The option "Dead man's handle" requires brakes on all axes (standard on IRB L6E). Hardware for this function includes a relay unit and a "100 %"-key switch, To obtain high safety, the relay unit has double circuits for detection if the programming unit is in its compartment and if the safety pad is depressed. Relay logic is used to compare the input signals. A work hold can be tripped in three different ways: + A programming unit connected to the robot system is extracted from its compartment. - The key switch for running at 100 % speed Is set in the “on” position. = Work stop circuit connected by the user is opened. The RUN status can be obtained temporarily during 2 work stop by pressing the safety pad on the programming unit. The system returns to STANDBY when the pad is released. The safety pad works as a dead man's handle using the relay unit hardware to switch between RUN and STANDBY status. The follo 1g funetions are blocked during a work hold: ~ Program loading from floppy dis = Synchronization. During work hold, program start is possible only from the programming unit. The safety pad must be pressed. Safety hold can only be caused by opening of external safety circuits connected to run chain inputs of the relay unit. The opened safety circuit must be closed before it is possible to run the robot again. The relay unit has an input for the "100 %'"-key switch in the programming unit compartment. When this switch is "on", the robot will run with the programmed speed, otherwise work hold will cause speed limitation to 250 mm/s. Oct 1989 2 Description6397 012-303 Documentation a7 Documentation supplied with the robot includes: - Programming manual - Product manual The Product manual contains: © Descriptions o Installation manuals 0 Maintenance manuals 0 Circuit diagrams © Descriptions of accessories and add-on kits Programming Lanyuaye (ca) The robot system is available in different versions with the text presented on the programming unit display in different groups of languages. The following groups ere available: = English, Cerman, French and Dutch - English, Italian, Spanish and Portugese English, Japanese, Finnich and Swedish Local requirements (22) For adaption to local requirements (22.2) the control cabinet can be provided with: - Plastic spiral protection around all loose cables between racks and door. - Extra protection against touch of live parts of contactors in the power unit, NA version (22.3) = US-approved main switch according to local requirements. = The option "program print" lacks mains connection. Additional functions (23) Program print-out (23.2.1) In addition to the functions made available by the standard program it is additionally possible to connect: = Aprinter for pragram print-out on paper. - An alphanumeric keyboard for entry of comments into the program with, or without, program stops cunnected tu Len. = Aprinting terminal cumbining both of the preceding functions. For easy connection of either of the units mentioned above there is, on the right side of the cabinet: = A220 V outlet = A 25-pole socket connector for signal transmission to and from the robot system. Oct 1989 23 Description5.4 Accessories 5.1 In addition to this, an adapter lead is delivered, which is provided with a pin connector fitting the signal outlet. In the other end there Is a 25-pole "D"-connector (socket). N.B. The software is only included in the additional program functions. Cables, upper arm (23.2.50) If required, leads for user-adapted connections can be routed via the arm system to the wrist. This is necessary if: - Sensors for adaptive control are to be installed on the robot. - One or two solensid valves are to be installed on the robot. The leads are connected on the underside of the forward end of the upper Computer link (24,8) In addition to the functions offered by the standard program, this permits asynchronous communication between the robot system and a supervisory computer. This permits: - Anexternal computer to be used as @ program bank. - An external computer to automatically control program entry and storage, and to control and monitor program execution. - An external computer to directly control the movements of the robot. Separate descriptions at some of the accessories are available. Control Equipment 5.2 Extended program memory qs) The capacity of the user memory can be extended with an extra memory bard in Ue electronics rack. The total capacity will then become 32 kword, This corresponds to 3120 instructions - whereof 50 % are positioning instructions and 50 % ere logicel instructions. Mechanical robot 6397 012-303 Work range limitation (250) The add-on kit gives a possibility to reduce the working range of the main rabot axes. Mounting of the kit is dane hy the custamer in conjunction with robot installation. Mounting instructions are included. For axis 1, the kit includes mechanical stops and an electrical switch. The switch is to be mounted on the robot base exterior. For axes 2 and 3, the programmed limitations of the working range are moved to the required positions, and the mechanical stops are fitted just beyond these. Oct 1989 24 Description5.4.3 Service 6397 012-303 Test adapter for fault tracing in system (500) The test adapter can be of assistance when a fault in the system has been confirmed, but has not been localized with the help of the error messages displayed, the test points or the LEDs, The test adapter is inserted in the electronics rack and contains a number of test programs which the operator, in a dialogue with the program, can activate from the programming unit. The input and output boards and the whole of the measuring and servo systems can be tested with the test adapter to determine which input/output or module in the measurement/servo system is faulty. The computer and memory boards cen also be tested. Extension board (530, 531) Meacurements can be carried out on boards, even when they are mounted in the electronics rack, by means of an extension board outside the rack. This board is available in two farms; with a 6l-pole pracess signal connector, and with a 28-pole connector. Oct 1989 25 Description55 Dimensioned drawings Dimensions in millimetres. pany | aCe 1489 6397 012-303 Oct 1989 26 DescriptionWorking range with robot axes in extreme positions. 1114 95 Lip oy UI 700 6397 012-303 Oct 1989 27 DescriptionControl cabinet Corer sa =|] 1900 100 800 602 35 Robot connection 6397 012-303 Oct 1989 28 Description5.6 Loading diagram Loading diagram IRB 6 Permitted load as a function of the location of the mass centre of gravity, relative to robot mounting flange. 6397 012-303 Oct 1989 29 Description6397 012-303 Oct 1989 30 DescriptionABB ROBOTICS AB no-se1 42% SEROBIBPM 89.09. Appleengennn Location 2 SPECIFICATION FORM FOR INDUSTRIAL ROBOT SYSTEM IRB L6E, PAGE lof 1 7 MAINS VOLTAGE, 22 SPECIALREQUIREMENTS §—Farseruice Oo soV O zi ‘Ne Bo asy Go 3 Naverson D1 s00 Test ADAPTER a “ov Go asv ADDITIONAL FUNCTIONS $99 EXTENSION BOARD, 64 POLE Ba Ne 3 MAINS FREQUENCY/FUSES 22 0 Yexoneor D531 EXTENSION BOARD, 28 POLE D 81 S0HaDaype ‘acombination of D8 conaus-Tpe Q B21 Frog pnntoat 23250 Cablerupperamm 10 DIGITALINPUTIOUTPUT CAPACITY. 24 ADDITIONAL PROGRAM 01 Basiccapscty only 1 FUNCTIONS C102, Eended capaci. 2 12h Computertink, 4 OD 1023 TypeDSDXTlOqy us EXTENDED MEMORY 14 DEADMAN'S HANDLE C41 Yestrecommended) = «280 KIT FOR LIMITED D142 Ne WORKINGRANGE 17 DOCUMENTATION D2 Swedish GC 73 eg 21 PROGRAMMING LANGUAGE, ( "908.21.1- Eng, Ger, Fr, Du G 905.212 EngsIe Sp, Po G 905213 Ene Jep. Fin. Swe Pre specified for IRBLSE Cable length berween Robot-Contol Cabinet is 10m. CConuro Pane! is located in Control Cabinet. ‘Compartment for programming unk i located in Consol Cabinet Cable connection to Control Cabinet t left side ofthe Cabinet Brakes on all axis ‘Added program function include, ‘Adaptive contol included. °3 Length of cable for programming uit is 10m Floppy dise unit included. window on Contel Cabinet. 2 digital UO incinded ‘2 analog outputs included (system 10). 91) Accessible inputsourputs 8 general ouputs 4 general inputs, 2 gripper outputs, | Guys and inpusspreserine for AW or comnon ave Funcuons. 5 ours ‘and T inputs ofthe predefined AWicommen dive LO's can also be used a general 10's 12) Upto three inpuvoutpat unis can be selected (102), 13) Requires cables upper arm (23.2 50) if sensors ae be mount on robo. Includes 3D frame funcion. 4) Requires Program print out 232.) 6397 012-303 Oct 1989 31 DescriptionInstallation IRB L6E 6397 014-304 AL ED ED October 1989 PADDED ASea BROWN 2OVEAThe information in this document is subject to change without notice and should not be construed as a commitment hy ARR Robotics AR. ARR Robotics AB assumes no responsibility for any errors that may appear in this document. In no event shall ABB Robotics AB be liable for incidental or consequential damages arising from use of this document or of the software and hardware described in this document. This document and parts thereof must not be reproduced or copied without ABB Robotics AB's written permission, and the contents thereof 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 Robotics AB at its then current charge. ©ABB Robotics AB 1989 Article number: 6397 014-304 Issued: October 1989 ABB Robotics AB $-721 68 Vasteras Sweden 6397 014-304 Oct 1989 O:16397 014-304 CONTENTS 1 INTRODUCTION 2 SAFETY PRECAUTIONS 21 General 2.2 Personnel eafety 2.2.1 Integrated functions 2.2.2 Safety procedures during installation 2.2.3. Procedures during operations 2.3 Operational safety 2.3.1 Integrated supervision function 2.3.2 Procedures at installation 2.3.3 Procedures when operating 3 > UNPACKING AND HANDLING 3.1 Lifting details 3.1.1 Lifting the robot with hoisting crane 3.1.2 Lifting a suspended robot 3.1.3 Lifting the control cabinet: 3.2 Robot and control cabinet environment 4 EQUIPMENT INSTALLATION 4.11 Mechanical robot 4.3 Control cabinet 5 RECOMMENDED CABLE TYPES 6 INTERFERENCE SUPPRESSION 61 General 6.2 Interference protection 7 CONNECTIONS AND SIGNAL DESCRIPTION 7.1 Connections and routing of cables Tl General 7.1.2 Routing 7.1.3. Cable glands 7.2 Digital inputs/outputs 7.2.1 General 7.2.2 Basic set of digital inputs/outputs 7.2.3 Extra digital inputs/outputs 7.2.4 Terminal unit for power supply 7.3 Analog inputs and outputs Oct 1989 a2 41 a2 Sel7.4 Various signal connections in the contro! cabinet 76 1 General 7:6 2 Emergency stop connections 77 3 Voltage supply for optional connections 7:19 4 Emergency voltage for memory back-up 7:20 5 Contact output, operational status 7:20 6 Contact output, open cabinet door 721 7 Service socket 721 7.5 Signal connections to robot 7:22 7.9 Safety unit 7:23 7.11 Ports 7:28 7.12. Serial communication unit (OSCA 114), 7:30 prograrn printout 8 CONNECTION OF SENSORS AND EXTERNAL AXES 8:1 8.1 Grippers 8:1 8.2 Sensors al 9 MAINS VOLTAGE CONNECTION 9:1 10 APPLICATION OF VOLTAGE AND START UP 10:1 11 FUNCTION PARAMETERS AND SENSOR DATA, dL 1.1 General un 11.2 Entry of function parameters lal IL2.1 Amendment of tunction dis 11,3. TCP and sensor data qn 11.3.1 Entry of sensor data qa 12 RUNNING THE ROBOT 12:1 12.1 Cheek on working manual 12:1 12.2 Check on the operation functions 12:1 6397 014-304 ct 1989 0:36397 014-304 Oct 1989 On,1 INTRODUCTION IMPORTANT. 6397 014-304 This manual describes the installation and prenaratinn far aparatinn of the robot system and includes the following information: 0 Safety precautions © Electrical connection of all signals to and from the control equipment, 0 Mechanical installation of equipment. 9 Connection methods and cable selection © Reference to the following drawings/dacuments (not Included): Circuit diagrams IRB LE 6397 015-120 Description IRB LéE 6397 012-303 Service manual IRB L6E 6397 020-127 Programming manual $2 6397 013-115 Prior to start of unpacking/installation, please read the safety precautions and follow instructions given in Chapter 2. Oct 1989 al6397 014-304 Oct 1989 122 SAFETY PRECAUTIONS 21 General 2.2 Personnel safety 2.2.1 The industrial robot is a practical and versatile aid in different kinds of production. With respect ta personnal safety the robot must be treated with the same respect as other machines and tools. Observe that: = The maximum range of robot movements is often larger than the range in which it normally works. = Even slow robot motions are performed with considerable force. - The robot can be programmed to give an irregular movement pattern including pauses, rapid acceleration and braking. Integrated functions 2.2.2 - Emergency stop buttons on control cabinet and programming unit. = "Safety pad" when operating with the joystick. = Limitation of positioning speed with programmed running if the programming unit is used outside of its compartment. = Synchronisation impossible if the programming unit is removed from its compartment. = Overspeed supervision (Only when the programming unit is not in its compartment). - Resolver supervision. = Connection terminals for coordination of the emergency stop systems of the robot and the peripheral eq Safety procedures during installation 6397 014-304 Follow the procedures listed below when installing a robot system, to minimize the risk of injury to personnel. = Surround the working range of the robot with a guard rail and install gates with limit switches in series with the emergency stop to stop the robot and the peripheral equipment when a gate is opened (see Chapter 7. = Locate extra emergency stops at suitable places. Connect all of the emergency stops in series so that both robot and_peripheral equipment _stop when any optional emergency stop is tripped (see Chester a2 Oct 1989 212.2.3 If the guard rail around the robot enters the robot working range anywhere, ensure Ural this area is protected. Stretuh # line as a trip wire or install a tramp-mat and connect this to a contact to trip the emergency stop (see Chapter 7.4.2.) Remember that the robot requires a certain braking distance. - If an operator is to serve the robot manually, ensure that the robot cannot move before the operator has removed his hands. Use, for example, a photocell to control a programmed conditional WAIT function via a digital input to the control system (see Programming Manual). Procedures during operations 23 When running or programming the robot system always obey the following instructions: = Ensure that no person is inside the guard rail and remain as far as possible outside yourself. - If it is essential to go in to the robot: a) Stop programmed running! b) If the robot is not to run, switch to the Stand By mode. cc) Take the programming unit with you, if one is connected. 4) If possible, have an assistant located outside the guard rail, prepared to stap the equipment in the avent af an accident. e) Be prepared for your own mistakes during wark inside the guard Operational safety 2.3.1 Integrated supervision functions 2.3.2 The following supervision tunctions are built into the system: = Automatic emergency stop If the computer stalls, or for any software or hardware faults, for instance fault in program memory, cuntrul program or break in a resolver conductor. = Immediate error print-out in plain language and error codes following operation or system error. Procedures at installation 6397 014-304 For the rabot system to operate satisfactorily: = Ensure that the environmental requirements of the robot system are satisfied, particularly when a floppy-disk unit is to be used constantly (see Chapter 3). Oct 1989 2:22.3.3 = Read in all function parameters and remember particularly data for any sensors or external axes (see Chapter 11). - Test the aystem properly. Check particularly the battery back-up of the robot memory and the floppy-disk unit if used. - Make use of all possibilities for supervising the robot system operatinn. = Check limit switches. Remember in particular that an alarm should be generated if the emergency stop is activated. Utilize if possible, the ERROR output for alarm and the direct inputs for jump to subprogram 1-5 (see Chapter 7.2.3.) Procedures when operating 6397 014-304 Remember the following when operating the robot to ensure maximum operational safety: = Include supervision of the robot operation in all programs where malfunction can cause injury to personnel or damage to the robot or ite peripheral equipment. - Never neglect the service and maintenance specified and ensure that the recommended set of spare parts is always readily available. = Operate the complete robot system with care and judgement. Finally: Always ensure before start-up that: = The robot installation is undamaged = No person or irrelevant object is within the working range of the robot. Oct 1989 2:36397 014-304 Oct 1989 R3 UNPACKING AND HANDI ING After the robot and auxiliary equipment has been unpacked, check that no external damage has been caused to the equipment during transit/un- packing. Ensure that all electrical contacts and circuit boards are properly inserted, check that all the function units in the control cabinet are fixed securely. If the field connections cannot be started immediately, all the equipment should be stored in a weather-proof, dust free environment within a temperature range of +0° C to +50° C. Bal Lifting details 3.11 Lifting the robot with hoisting crane Total weight of the robot is 145 kg. Brakes on all axes is standard. Use two straps. Wind them around the 4:th and 5:th axes motors as close as possible ta the hndy. N.B. Mind the motor cables! (See Figure 3-1) = Figure 3-1 6397 014-304 Oct 1989 Bl3.12 Lifting a suspended robot 6397 014-304 For suspending the robot upside down, three lifting devices are required; one fork lift, for moving the robot to the suspension point and two cranes to enable turning the rahat araund. Proceed as follows: 1, Raise the robot a bit with straps wound around the motors, see Figure 3-1 above. 2. Wind another strap around the body. 3. Raise the body slowly with the lower strap only to start the turning of the robot (see Figure 3-2), 4, Keep on raising the body slowly until the robot hangs upside down in the strap around the body. 5. Move the fork lift into position under the robot and raise the fork until the robot base leans on the fork. Figure 3-2 6. Lower the robot with the straps around the motors only until the straps hang loose. Remove the straps around the motors. N.B. Never try to remove tightened straps! You can hurt your fingers badly if they get stuck between strap and motor. Oct 1989 2Figure 3-3 A. Lower the rohot ar raise the fork lift until the rahat hase is suspended on the fork and the strap hangs loose. The fork can either fit on the rabot bady (Figure 3-4) or the robot base (Figure 3-5). Figure 3-4 Figure 3-5 Remove the strap around the robot base. N.B. Never try to remove 3 ightened strap! You can hurt your fingers badly if they get stuck between the strap and the robot. 10. Move the robot to the position for suspension. NB. Care must be taken, when moving the robot on the fork lift, to ensure that it will not slide out trom the tork, e.g. when stopping the fork lift. 6397 014-304 Oct 1989 333.13 Lifting the control cabinet The control cabinet can be lifted with @ fork lift, see Figure 3-6. Fork it arms — ~ Figure 3-6 32 Robot and control cabinet environment Welght: 350 kg The robot has been designed and built to withstand normal environmental conditions, but its mechanical parts should be protected fram corrosive fluids (e.g. coolant) and abrasive dust particles. Temperature table Control equipment * Ambient temperature Control cabinet Programming unit Floppy disk unit Relative humidity Protection class Mechanical robot: Ambient temperature Motors Upper arm and wrist Relative humidity 459. C - +450. C 459. C - 4509S +100 C - 445°C 20 - 80% P54 459 C - +509C 4506 = 4800 C 20-80 % ) Applies Lo floppy disk only when installed in its compartenent with hatch closed. The contents of the floppy disk may be destroyed if the temperature limit is exceeded. A thermal sensor in the cabinet disconnects voltage to the control system if the temperature limit is exceeded. 6397 014-304 Oct 1989 Bet6397 014-304 Oct 1989 354 EQUIPMENT INS" ALL Mechanical robot 5 Y 6397 014-304 STALLATION The surface on which the robot is to be mounted is to be in level. The robot is to be fixed to prevent displacement relative to its base. The details of the fixing with four bolts, type Socket head cap screws M16 x 140. Their location, size and spacing are shown in Figure 4-1. N.B. Expander bolts are suitable for this purpose. Bushing 2185 536-1 lors Iga7 Figure 4-1 The required space and the working range of the mechanical robot are shown in Figure 4-2. Three different synchronization positions are possible for axis 1(C). These along with the synchronization positions of the other axes are shown in section 1U.2. Figure 4-2 Oct 1989 a143 Control cabinet Check that the control cabinet and the robot have the same serial number. Prior to installing the control cabinet, ensure thet at least 10 cm free space will be left around the cabinet in its final installed position to allow good heat dissipation. Provision must also be made to allow the front door of the cabinet to open at least 909, to allow for access during servicing, see Figure 4:3. The control cabinet is delivered with access for external wiring lacated on the bottom left hand side. Programming unit compartment and control panel Progr: au ne .P These are installed in the front door of the control cabinet. Connections iF [eal Ss i FA pee Figure 4:3 6397 014-304 ct 1989 425 RECOMMENDED CABLE TYPES All mains voltage and signal cables in the cabinet should remain unaffected with a temperature range up to 70° C. Mains voltage cable Signal cables 6397 014-304 The mains voltage wiring must comply with the standards issued by the relevant authorities in the country in which the equipment is to be installed. The connection to the terminal block in the control cabinet permits the use of conductors with an area up to 6mm%, Power consumption max 6.3 KVA. The signal cables should normally be of screened type, this is especially valid for measurement transducer signals for external axis and analog signals. Signals for digital inputs/outputs, emergency stop etc. need not be screened unless routed near wiring generating considerable interference. The signal cables must have conductor areas greater than 0.25 mm?2, The maximum conductor area for terminal block connections is 2.9 mm?, Recommended cables: Number Con- External Screen Cat. Noe Recommended of con- ductor diameter function ductors area. mm min. mm? 4 2.50 11.0 - 1686 0022-31 Mains voltage 4 4,00 13.0 - 320" 3x2 025 7.5 Yes 16830062-1 Signal cable 6x20" 9.5 Yes 2" wox2 " 12 Yes 3 lei c ae 14.0 Yes So 5 150 13.0 - 1686 0039-01 Motor cable Maximum cable lengths between control cabinet and Mechanical robot 10m Digital and analog inputs/outputs 30m Oct 1989 Sil6397 014-304 ct 1989 5:2.6 INTERFERENCE SUPPRESSION 61 General 6.2 The wiring should be divided into two groups. 1) Those that generate interference: Operating signals > 60 V. Power and motor signals. 2) Those that are sensitive to interference: Operating signals < 60 V. Measurement transducer signals, digital signals, etc. These cables should not be routed parallel with interference generating cables with less separation than 30 cm. Certain measurement transducer signals are to be provided with a screened conductor as described in chapter 5. Interference protection 6397 014-304 Relay coile and other elemente in the control system are suppressed co that their operation does not cause interference in the electronics. Relay coils, solenoid coils and motors autside the cabinet should be suppressed in a corresponding manner. Figure 6:1 illustrates examples af this. Note that the switch-off time of a relay increases when a diode is connected across the coil. Diodes and RC-filters can be replaced with metal oxide varistors. Suppression of coils also increases the service life of the contacts which control the coils. Oct 1989 6:1a24y ov The diode is dimensioned for the same current as the relay coil and double the —_ operation voltage. R 100 onm, 1 W ee © O.l-1 uF > 300 V max voltage +. 125 V rated voltage R 100 chm, 2 W C05 uF > 1000 V max voltage 3x380V 5 420 V rated voltage R 100 ohm, 1 W Cc 0.5 uF > 1000 V max voltage > 250 V rated voltage ax3eov { Interference protection Figure 6:1 6397 014-304 Oct 1989 6:27 CONNECTIONS AND SIGNAL DESCRIPTION Wa Connections and routing of cables TL General Lett side Robot cables F2: User's cables Ft 6397 014-304 The control cabinet is provided with a compartment for the programming unit. See Figure 7:1. The programming unit is connected to the control unit via a pluq. The programming unit must not be connected or disconnected if the control system is in standby or operation. At the lower left side of the control cabinet, two outputs Fl and FZ are provided for external wiring. See Figure 7:1. The control cable to the mechanical robot is connected to F2 via cable glands. _-Main switch _-7 Compartment for floppy-disc unit Control panel ‘Connection for programming unit ‘Compartment for programming unit Right side Figure 7:1 A cover plate is fixed at Fl for access through cable glands of other cables including the mains connections. See chapter 7. The cables are connected to terminal blocks in the control cabinet with the exception of those for robot control, for which multi-pole contacts are used. Oct 1989 ThThe locations of the terminal blocks and contacts are indicated on the inside of the door. See also Figure 7:2. Fig + —=_ i irHs F16 4 | HB Fret (Les i mea & Th Len 020. fa | = H22 | es bee: Figure 7:2 The control cable is connected at the foot of the robot as shown in Figure 7:3. All connections to the mechanical robot, including customer connections, are transmitted via the contral cables from the control cabinet. 6397 014-304 Oct 1989 727.1.2 Cable routing Cables from the exterior must be located in the cable duct at the right hand side of the cabinet. Connections te the power unit (| 124) must be routed in the cable duct. See Figure 7.4. When installing cables, the recommendations for interference protection ae described in chapter 6 are to be followed. 713 Cable glands The external cables are to be connected via cable glands on the cover plates at Fl and F2. It is important that the cable glands are tight to prevent dust entering the control cabinet. Terminal unit _7—Cable ducts | Power unit Figure 7:4 The following cable glands are available: Cover plate Fl: 1 of 0 16mm Mains connections Cover plate F2 2of 016mm (14.5-17.5 mm) 6397 014-304 ct 1989 7312 Digital inputs/outputs V2. General 1.2.2 The control system contains a basic set of 4 digital inputs and 4 digital outputs on 24 V DC channels. The in- and outputs are connected to a terminal unit. At delivery, the terninal unit is provided with two jumpers, W1 and W2. The digital in- an outputs are then supplied with internal 24 V supply. The in- and outputs ere then not galvanically separated fram the robot system. If the jumpers W1 and W2 are removed the digital in- and outputs becomes galvanically separated from the robot system and require an external 24 V supply. The system can be provided types, see chapter 7.2.3. h extra digital inputs/outputs of different Basic set of digital inputs/outputs 6397 014-304 Basic inputs/outputs (see Figure 7:5) are connected at the terminal unit 14,153 in the rear wall of the control cabinet H14. (Note the terminal unit has the same item designation as the associated digital board in the rack D14, GRIP/RELEASE 1 and 2 are outputs intended for two grippers and are controlled manually from the programming unit or automatically by the program. The outputs can be I or 0. For signal connection to the mechanical robot, see chapter 7.5. GRIP/RELEASE 3 - 8 NB! When a multiple gripper is used, more GRIP/RELEASE-positions are supplied from the outputs. This is done by programming the function parameters, see section 11.2.1. Certain outputs are then reserved for the grippers as follow: GRIP/RELEASE QUTPUT aueune pune If there are extra I/O-boards with outputs, the GRIP/RELEASE 3-8 have outputs 7 - 1? instead. Hence, if an output is to be used, always check that it is not reserved for grippers. A check is also to be done at the programming of an output. DIGITAL OUTPUTS 1-4 are controlled from the program and can be set to 1 or 0, inverted or pulsed. The outputs can be used as a four bit port. The value (0-15) in a register is transmitted in binary form to the outputs. Port! output 1 least significant bit output 2 output 3 output & most significant bit Oct 1989 74+V ov% 6397 014-304 If the outputs are to control relays, these are to be suppressed as described in chapter 6 DIGITAL INPLITS 1-4 are detected by the program and a test is performed to determine if the input is 0 or 1. ‘The inputs can be used as a four bit port. The status of the inputs is then interpretated as a binary value (0-15) which is transmitted to a reaister. Port If input 1 least significant input 2 input 3 input 4 most significant It the inputs are to be controlled via contacts or transistors, these are to be dimensioned for 32 V and 10 mA. Outputs number 5 and 6 and inputs number 5, 6 and 7 are reserved for internal sigirals. 04.53990 ---g0--0veT - 465 -—-eV0Kr NESERVED RESERVED cH DICrTAL TePUT > AESERVED RESERVED RESERVED Sourun= Figure 7:5 When the straps W1 and W2 have been disconnected, the terminsls ere used for external 24 V supply of the basic set of in/outputs. The emergency atop chain or extra digital in/outpute can alco be cupplied from here (see 7.2.3 resp. 7.4.2) in this case. External 24 V-supply can not be used when the robot system is equipped ith automatic restart. ois eRA ----- 4? 6 ET e = overt Cot Input datas Voltage 21-32 VOC Rated voltage 24 VDC Fusing max 2A Ripple 2Vp-p Data See board type OSDX 119, Table 7-1. Oct 1989 nS7.23 Extra digital inputs/outputs Reference drawings System circuit diagram for: 1) Terminal numbers for connection unit 2) Fusing on the connection unit 3) Connection of supply on the connection unit The control system can be provided with up to four extra input/output units, each consisting of a connection unit located in the rear plane of the control cabinet, H14-H5, and an input/output board located in the rack D14, (Note that the connection unit has the same item designation as the associated digital board.) The number of channels and technical data for the different board types are shown in Table 7-1. The type of input/output board fitted (sce table 7-1) at the different places in the Figure 7:6 must be defined with according to chapter 11. 14.165 vw board 014.169 2nd vo board 014.173 sa vo. board 014.177 4h board 6397 014-304 ct 1989 nl D14.165x00 014.169x90 014.173x90 014.177x90 Figure 7:6 1:6 function parametersTable 7-1 6397 014-304 Data, digital input/output board Board type Number Rated voltage Input impedance I-level O-level Rated voltage Load capacity Breaking power Leakage current at O-level External supply Voltage, nom. Voltage, max. Voltage, min. 1) The outputs are not short-circuit protected. Oct 1989 DsDx 110 16 2avoc 3.5 kahm +18 - +35 -21-42V 16 2aV DE max 150 ma D max 0.2 mA 24a 0c 35 voc 20 VOC nT DsDO 131 16 24-240 V OC/AC max 3A imax 44 W DC max 720 VA AC 24-240 V OC/AC 250 V OC/AC 20 VDC6397 014-304 The extra inputs/outputs are normally supplied from an external voltage source. Internal 24 V DC-supply can also be used (see chapter 7.4.3). For connection uf supply, see systein circuit diagram and lable 7-1. Descriptions of signal functions et all input/output channels obtained at the extra input/output units are as follows. For plint numbering, see the system circuit diagram. First extra digital board with output channels CHI CH2 CH3 CH4 CHS cHe CH7 cHe CH9 CH 10 CHL CHi2 cH13 CH 14 CH1s CH 16/32 Oct 1989 RUN Active signal indicates that the system is in an operational status. CYCLE ON Active signal indicates program execution Progress. Follows the indication lamp in the button START on the programming unit. ERROR Active signal indicates that a program run error or servo error has developed in the system. PROGR. UNIT EXTRACTED Active signal when the Programming unit is extracted from the programming unit compartment. GRIP/RELEASE_1 Duplicated function according to basic 1/0. GRIP/RELEASE 2 Duplicated function according to basic I/O. SEARCH STOP The signal is active when search stop Becta with adaptive searching, Tt ia deactivated when @ new search instruction is programmed. DIGITAL OUTPUT _7 or GRIP/RELEASE 3 DIGITAL OUTPUT 8 or GRIP/RELEASE 4 DIGITAL OUTPUT 9 or GRIP/RELEASE 5 DIGITAL OUTPUT 10 or GRIP/RELEASE 6 DIGITAL OUTPUT 11 or GRIP/RELEASE 7 DIGITAL OUTPUT 12 or GRIP/RELEASE 8 DIGITAL OUTPUT 13 DIGITAL OUTPUT 14 DIGITAL OUTPUT 15/31 78First extra digital board with input channels CH1 INTERRUPT INSTR *) If the input is activated, the current instruction ia interrupted, The sub-sequant pragram execution is in accordance with one of the following alternatives: 1 If the input INTERRUPT PROGR is activated simul- taneously or has been activated previously, program execution is also interrupted. 2 If the input JUMP PROG 1, 2 .. is activated simul- taneously or has been activated previously, a jump is made to the first instruction of the subprogram selected. 3 If neither of the inputs INTERRUPT PROGR or JUMP PROGR 1, 2 w. is activated, proyrain execution continues with the next instruction. CH2 INTERRUPT PROGR *) If the input is activated, program execution ie interrupted when execution of the current instruction is completed. If, in addition, the input INTERRUPT INSTR is activated simultaneously or during the time up ta the end of the execution of the current instruction, the execution of the current instruction is interrupted. CH3 JUMP PROG 1 *) If the input is activated, a jump is made to the first instruction in subpragram 1 when execution of the current instruction is completed. When execution of the subprogram is completed, the execution of the next instruction in the program is begun. If the input INTERRUPT INSTR is activated simultaneously or during the remainder of the execution of the current instruc- tion, this execution is interrupted and a jump is made directly to the subprogram. In this case, on return, the execution of Ure instruction interrupted is continued if this is a positioning instruction. In the case of a wait instruction, this is repeated. *) N.B. The system detects only transition to active status. This means that when an activated input has generated the associated function it must be reactivated to repeat the function. The functions operate only when the program instruction PERMIT INTERRUPT has been executed. cH4 JUMP PROG 2 According to the above but subprogram 2. CHS JUMP PROG 3 According to the above but subprogram 3. CHE JUMP PROG 4 According to the above but Subprogram 6397 014-304 Oct 1989 7:96397 014-304 CH7 JUMP _PROG 5 According to the above but subprogrem cHe ROG START If the programming unit ie in its compartment, the execution of the program begins when the input goes tn an active status. A duplication of the program start of the control panel. cH9 PROG STOP The execution of the program is interrupted when the input goes to an active status. A duplication of the control panel program stop. CHA DIGITAL INPUT 8 cH DIGITAL INPUT 9 CH 16/32 DIGITAL INPUT 14/30 Second, Third xtra digital board with output channel: CH1 DIGITAL OUTPUT 16/32 CH2 DIGITAL OUTPUT 17/33 CH 16/32 The number of robot outputs is increased with 16 or 32 channels in consecutive order for each further module. Second, T! extra digital board with output channel: CH1 DIGITAL INPUT 15/31 CHz DIGITAL INPUT 16/32 CH 16/32 The number of inputs is increased with 16 or 32 channels for each further module. Oct 1989 7:10Example: If the first input/output unit is of the DSDX 110-type, the signal configuration and terminal connections to be in accordance with the figure below. (See also System Circuit Diagram). ° [osox we Dein micas Power supply in groups of 2 x 16 inputs/outputs 6397 014-304 Oct 1989 7M[osed iat weAT OAT PRIDE Brera auc meu SiGrAL APU 2 Power supply in groups of 4 x 8 inputs/outputs 6397 014-304 Oct 1989 727.28 Terminal unit for power supply Figure 7:7a 13 If the control cabinet has been delivered with extra terminal units tor up to 220 V, these are located in the top right hand corner of the cabinet, on the side wall, see Fig. 7:7a. The terminal unit is divided in groups of 10 terminals as shown in Fig. 7:7b. BE EH BE CUBICLE BE EXTERNAL CONNECTIONS: Bi CONNECTIONS Figure 7:7 No wires are connected to the terminals on delivery. Each terminal group can be supplied with any voltage up to 220 V, obtained from an internal or external voltage source. N.B. External components should never be supplied with 24 V from the internal supply to avoid the introduction of interference which might cause component malfunction. Analog inputs and outputs 6397 014-304 References: System circuit diagram for 1) Connection unit terminal numbering 2) Connection unit terminal fusing The control system can be provided with: = 32 analog inputs there of. = 16 analog inputs for adaptive control af the robot by means of analog sensors. See section 8.1. - 4 analog outputs for control of external equipment from internal numerical registers. See section 7.11. Oct 1989 736397 014-304 The analog boards are located in rack D1 and the associated connection units are located in the rear plane (H11 or H8) of the contral cubicle. The following alternative locatians can be used: 1) Without analog output board 14.165 014.165x90 In addition, up to 3 digital input/output boards can be included. 2) Without analog input board 14.165 014.165X90 AO-board| In addition, up to 3 digital input/output boards can be used. 3) Both analog boards are used 014.165 014.165x90 014.169 014.169x90 Aboard O-boare Inad ion, up to 2 digital input/output boards can be included. The type of analog board at the different places must be defined with the function parameters as shown in Chapter 10. The numbering of the analog inputs and channel numbers are given below. CHL ANALOG INPUT 1 (PORT 31) CH2 ANALOG INPUT 2 (PORT 32) CH 16 ANALOG INPUT 16 (PORT 46) CH 32 ANALOG PORT 62 Oct 1989 TelsFront side 6397 014-304 Data: Board type: DSAI 120 Inputs: 32 analog Input type: Single Input voltags Oto+10V Resolution: 10 mv Input recictance: > 108 kohm voltage input The analog output and channel numbering are specified below. CH1 ANALOG QUTPUT 1 (PORT 21) CHa ANALOG OUTPUT 4 (PORT 24) Data: Board type: DsAO 110 Outputs: 4 analog Output type: Single Alternative signal range: Voltage signal 0 - + 10 v. Resolution 5 mV. (R > 500 ohm) Current signal 0- + 20 ma. Resolution 10 PAAR £450 ohm) On delivery, the board is strapped for voltage signals on all channels. A change to current signal is performed by restrapping the circuit beard for the channel concerned. See the System circuit diagram. A third signal range is available: Current signal 0 - + 10 mA. Resolution 5 uA. (R < 900 ohm). For this: 1) The channel concerned must be restrapped as a current signal. See the System circuit diagram. 2) Remove the straps, as necessary, using a soldering iron. Contact side Solder Solder Solder Solder strap strap strap strap channel 4 channel 3 channel 2 channel 1 Oct 1989 715Tol Various signal connections in the control cabinet TL General The terminals available to the user in the contral cabinet, in addition to digital and aralug signal connections are shown in Fiyure 7:8. FOXL Mains voltage External emergency stop Indication emergency stop EXT voltage supply Indication operation “247 svemory back-up voltage Door open ure 7:8 6397 014-304 Oct 1989 7167.4.2 Emergency stop connections 6397 014-304 A contact input to trigger an emergency stop and a contact output to indicate that the system is in an emergency stop status are provided for external emergency stop function. These are located on the distribution unit 014.153. Contact input Data: Voltage 21-32 VDC Rated voltage 24V DC Current max 100 mA fovot | customer av LL 014152490 oma irr eme Tr > +2 a Figure 7:98 The input is nurimally clused. If Ue input is opened, en emergency stop is triggered in the control cabinet. To reset the emergency stop, it is necessary that the input be closed and that resetting is performed with the OPERATION or STANDBY buttons. Standard (not potential free) emergency stop from the emergency stop pushbutton in the control cabinet must be connected to the distribution unit D 14.153 as shown in Figure 7:9. Connect jumpers according to figure 7:9b. eames 016.153x81 Bie) Jumoer 29-30 oy +26V- Figure 7:9b igure Robot | Customer \ EmstopP8 EmstopPB | 014,153x81 Control panel prog.unit) | Jumper 29°30 Figure 7:9¢ Alternative (potential free) connection of external emergency stop and emergency stop pushbutton in the control cabinet. Oct 1989 7:17If there are safety requirements which state that two or more robots, e.g in a process line, must be able to be stopped from one emergency stop pushbutton, a potential-free emergency stop scheme must be used, as shown in Figure 7:9c. (This is because the 24 V OC control voltages may not be interconnected between robots.) Robot | Cutomer Emap PB Emstoo PB Cont panel progun 014 153x81 Bie, f 016.153x90 35 136} Figure 7:94 Internal 24 V supply 014.153.X90 ov 19 — TH ---B} 4 fA. ¢ u--0 at) +2V WO--ES TE L.-J External 24 V supply (if the strops W1 and W2 are disconnected) 04.183x90 3 ov exT - Tt a by aL J u Lead ¥ F2A a = +26V EXT 6397 014-304 Oct 1989 7:18Contact output 1: Emergency stop relay 01415390 eae | ————~ Indication emergency stop Figure 7:10a The contact is normally closed and opens when an emergency stop is triggered. Data: Voltage (external) Max 60 V Load capacity Continuously max 1A At ewitch on/off, max § A Contact output 2: 7.43 The contact is narmally opened and clases when an emergency stop is triggered. Data; equal to data for output 1. 016.153 x30 Indication emergency stop Figure 7:10b Voltage supply for optional connection 6397 014-304 +24 V OC unregulated voltage is available in the control cabinet at the distribution unit 014.155. The connection can be used either fur external use or to supply extra digital inputs/outputs (see chapter 7.2.3). Data: Voltage 21-32 V DC, not galvanically isolated Rated voltage 24 VDC Current max 2a Ripple 2Vp-p “287 ext yoltege supply Figure 7:11. Oct 1989Toth Cmergency voltage for memory back-up 7.8.5 When the main or eafety ewitch of the control system is switched off, separate voltage is required for the read/write memory. The system contains battery back-up of the read/write memory for normally 1500 hours after a power failure. 26 A s2LV 4, OV FAV — femory back-up voltage ov Figure 7:12 An reserve voltage supply is to be connected for memory back-up during longer power interruptions. This voltage is used to maintain the charge of the system batteries. Date: Voltage 18-32 VOC Rated voltage 2 VDC Rated current 10 mA Contact output, operational status 6397 014-304 A 220 V AC contact output is provided which is active when the system is in RUN status. The output is normally used for connection of an operational timer but can also be used for ather purposes. The RUN signal is also available at the digital status output, see chapter 7.23. Duty time counter Run H26.X1 pa -- 3 ~2MV_ Figure 7:13 Data: Voltage 220 V AC Loading max 30 VA Oct 1989 7:2014.6 Contact output, open cabinet door 14.7 Service socket 6397 014-304 A 220 V AC contact output which is activated when the control cabinet door is open is located on the fan unit F3. The output is primarily used for connection to a lamp and/or flashing alarm in the contral cabinet. Door open gy #220V>— 0 =-HH {I ® Figure 7:14 Data: Voltage 220.V AC: Loading max 60 VA A double 220 V service socket with a separate switch is located inside the control cabinet for supplying test and service equipment. The maximum power output is 600 VA and the output is fused with a 6 A fuse. The voltage is normally available at the service socket when the main switch and safety switch are "ON". If this service socket is to be connected externaly so that voltage is available independently of the main switch, the existing cable to the fuse/main switch must be disconnected and 220 V is to be connected from an external supply. Alternative connections ere possible, sce Figure rls. External connection -nev { eaRTH Figure 7:15 Note: The zero conductor in the external supply must have the same potential as the control cabinet earth. The zero conductor must be connected to the 0 V in the service socket. Oct 1989 7:2115 Signal connections to robot 6397 014-304 Signal cables which can be utilized by the user tor transmission of various control signals are provided between the contral cabinet and the robot, see Circuit diagram, sheet 6. Such signals can be for example, signals to and from grippers, or from sensors on the robot. Eight of these signal cables are accessible in the control cabinet at the terminal unit (014.153) terminal blocks and they may be connected to the control equipment with leads to the I/O terminal block required. Load capacity 60 V, 700 mA. The location of the contact on the robot is shown in Circuit diagram, sheet 2. If the leads are used to connect relays, coils or other components generating interference, these must be suppressed in accordance with the instructions in Chapter 6. Oct 1989 7:2219 Safety unit 6397 014-304 Customer connections for the working stop and safety stop functions are Included in the SZ system. These are located on safety unit DSUL 136 at position F12 (left-hand side wall of cabinet). The functions are intended to cover the working range of a robot with peripherals. Cuntacts connected in series in the operating loop can be used to control the power supply to all machines and equipment in the working area. Any of the contacts cuts off loop, and: - pute the robot eyetem in the STANDBY mode with no electrical supply to the robot motors. = cuts off the electrical supply to the motors of the peripheral equipment. DSGC 136 is supplied internally from the robot system and has connections for the following signal functions: = Work hald Open loop gives STANDBY. The safety pad of the programming unit works as a halding device. When the safety pad is pressed, this gives RUN temporarily, but when the pad is released the system returns to STANDBY. = Safety hold Open loop gives STANDBY. The safety pad of the programming unit cannot yive RUN. = Connection to control peripherals ‘The connection is floating and has one make and one break contact. = Remote control of RUN Switching of the robot system fram STANDBY to RLIN can he initiated by means of an external signal. Work hold and safety hold are used to increase personal safety in normal operation, An example is when work is being done on the robot system within the risk area, and when it is not desirable to initiate an emergency stop. Permanent resetting to RUN is made by pushing the RUN pushbutton on the control panel of the control cabinet or from a centrally located control panel. The control panel of the robot system must therefore always be located outside the risk area ot the robot. Ihe sections below deal with the above functions in detail. Oct 1989 7:23Work hold Peripheral equipment can be connected to the internal operating loop of the robul system tu initiate work hold in the robot system. When the connection is open, the RUN contactor of the robot system drops out and the electrical supply to the motors is disconnected. Connection can be direct or indirect via a relay (giving DC isolation). In the case of direct connection, the contact must be duplicated to ensure that both connections in the system (X4.7-8 and X4.9-19) are operated. In the case of indirect connection, the input is connected in series with the customer's loop. See diagram below. Work hold Control cabinet, Customer connections FIz (@sac 136) x4.10 Customer satety switch, tramp-mat ete. (direct’ connection) Work hold circuit 1 customer satety switch, tramp-mat etc. (direet’ connection) Work noid circuit 2 +24. VOC ‘Customer safety switch, tramp-mat ec. (indirect connection) OV Technical data Supply voltage, direct circuit 24 V DC from control cabinet Supply voltage, indirect circuit 24 V DC external supply Max permitted resistance in con- nected direct working stop loop 50 chm Consumption, coil in idirect circuit 15 mA Connection table Loop 1, direct circuit Loop 2, direct circuit Loops 1 and 2, indirect circuit The connections above are made directly at the plug that is fitted in the relevant connector on delivery. Remove Uwe strap and comect te cable. 6397 014-304 Oct 1989 7:26Safety hold 6397 014-304 Peripheral equipment can be connected to the internal operating loap, where it can initiate safety stops in the enbot system. When the contact is open, the RUN contactor of the robot system drops out and the electrical supply to the motors is disconnected. Both connections in the system (X4.1-2 and X4.3-4) must be operated. See diagram below. Safety hold Contro!_ eating Customer connections Fiz (DSac 136) xa Safety hold circuit 1 Customer satety x43 awiteh, tramp-mat etc, x42 foty held circuit Safety hold circuit 2 Customer safety X44 switch, tramp-mat etc. Technical data Supply voltage, direct circuit 24 V DC from control cabinet Max permitted resistance in con nected direct working stop loop 50 ohm Connection table Loop 1 F12.X4,3-4 Loop 2 112.X4.1-2 The connections above are made directly at the plug that is fitted in the relevant connector on delivery. Remove the strap and connect the cable. Oct 1989 7:25External operating loop 6397 014-304 An external operating loop power by the customer can be controlled by a contact on board DS@C 136. This means that the robot system can switch equipment outside it on and off. See diagram below. Ext. control of peripheral equipment Controt cabinet, Customer connections F12 (DSQC 136) Technical data Max. external eupply voltage 150 voc 125 V AC Max. continuous current 2A Connection table Break contact (NC) F12.X3.1-3 Make contact (NO) F12.X3.1-2 The connections above are made directly at the plug that is fitted in the relevant connector on delivery. Oct 1989 7:26Remote control if RUN With an external signal connected to unit OSQC 136, the robot system can be operated from STANDBY mode to RUN mods. See diagram below. Remote controlled RUN Control cabinet, Customer connections F12 (DSQC 136) x39 +24 V0C External switch ‘ x38 ov Technical data Futernal pawer supply 24 V das Current, relay coil 10 mA Connection table External contact F12.X3.8-9 The connections above are made directly at the plug that is titted in the relevant connector on delivery. Test run with dead man's handle When a connected programming unit is removed from its compartment (or on any other type of work hold), the robot can only be run if the safety plate on the programming unit ie held down. The speed of the robot TCP is now normaily reduced to 250 mm/s (or max. 25 % of max. speed). In systems equipped with unit OSGC 136, there is a Keyswitch marked 100 % in the programming unit holder. If this switch is set to "On", the speed reduction is cancelled so that robot programs can be test run at full speed even though the programming units is removed from its compartment. 6397 014-304 Oct 1989 7:27TU Ports Port 1 Port 2 Port 5 Port 4 6397 014-304 Reference: Programming manual It is possible, by programming, to arrange a temporary connection between the robot system number register and external equipment. Such connections go via ports in the system. The following types of ports can be used: - Agroup of digital inputs (4 or 8) - A group of digital outputo (4 or 8) = Ananalog output = An analog input Using the instructions in the program it is possible tor Decode an inport, binary or analog, and set the numerical value in a register. = Code the numerical value in a register, binary or analog, and set an outport. The following figures show which inputs and outputs are included in the ifferent ports. Note that the digital inputs and outputs can also be used in the usual manner. See section 7.2. Digital outputs T” First bit CSB) 4 bits (value 0 - 15) Last bit (MsB) wWaraueun 10 ul IZ First bit er) aa 4 bits (value 0 - 15) 15 _Last bit (mse) I6—First bit CSB) 17 18 ay 8 bits (value U - 255) 20 2 2 25_Last bit (5B) 2a First bit CSB 25 26 27 @ bits (value 0 - 255) 28 29 30 31_Last bit (se) Oct 1989 7:28Port LL Port 12 Port 13 Port 14 Port 21 Port 22 Port 23 Port 24 Port 31 Port 32 Port 62 6397 014-304 For connection to the different outputs, see section 7.2. Digital inputs T 3 Bi CSB) 2 3 4 Last bit (mse. 5 6 7 8 9 10 rst Bit SB) 12 43 14_Last bit (msB) IS First bit LSB 16 7 18 19 20 2 22_Last bit (msB) 23 First bit cr) 24 25 26 27 28 29 30_Last bit (msB) 4 bits (value 0 - 15) 4 hits (value M - 15) 8 bits (value 0 - 255) 8 bits (value 0 - 255) For connection to the different inputs, see section 7.2. Analog outputs CH1 CH2 CH3 CH4 Analog inputs CHI CH2 CH 32 (value 0 - + 1000) (value 0 - + 1000) (value 0 - + 1000) (value 0 - + 1000) (value 0 - + 1009) (value 0 - + 1000) (value 0 - + 1000) (value 0 - + 1000) For connection to the different outputs, see section 7.3. Oct 1989 7:29712 Serial communication unit (OSCA 114) for program printout Reference: System circuit diagram fur: 1) Terminal numbering on the connection unit 2) Fusing on the connection unit 3) Connection of supply on the connection unit The contral system can be provided with a serial communication unit for program printout. The unit consists of a connection unit located in the rear plane, H, of the control cubicle and a serial communication board located in the rack, D14. (Note that the connection unit has the same item designation as the board.) The serial communication board is always placed before any input/output board as shown in the figure. owe, ousae.xse — — a rt { come | | — i ' 1 L | boerd | I cc L i | t 014.165.x90 The serial communication boerd must be defined with the function parameters es described in Chapter 11. 1 V24/RS232 | Bhort range modem — Program 1 print-out cHO 6397 014-304 Oct 1989 7:30CONNECTION OF SENSORS AND EXTERNAL AXIS al Grippers a2 Sensors 6397 014-304 A gripper can be connected to the turning disk on the wrist. The fixing dimensions are shawn in Figure 8-1. To permit easy change of gripper, they are located with the outer circumference of the turn disk and a guide hole @ 6 Ha. M6 (4x) pos Figure 8-1 Up to 16 sensors can be connected to the control equipment for adaptive control af the robot. (See the Operator's Manual.) For use af such sensors, the control system must also be provided with an adaptive control program. The sensors are to be defined with sensor data as described in section 11.3.1, Connections, as described in section 7.5, are provided on the mechanical robot for the sensors. The sensors can be of analog or digital type; a) Analog sensors The system must have available an appropriate analog input if an analug sensur is tu be connected, The analug signals can be affected by interference and are to be protected as described in Chapter 5. ‘An analog sensor is to be connected to the analog input with the same number. The number of the sensor is defined with sensor data. See section 13.1, b) Digital sensors Existing digital inputs are used for connection of digital sensors. Digital sensors can be of three different types: Y) on/oft 2) Three level 3) Multi-level Oct 1989 alSensors of the on/off type are connected to a digital input, three level sensors to two digital inputs and multi-level sensors can be connected to a maximum of 8 digital inputs corresponding to several level sensors with 8 bits, one bit constituting a sign bit. Thus each tal input represents one bit. The number of bits for each sensor and at which input the last bit (MSB) is to be connected are specified with sensor data (see section 1L.3.D. The succeeding bits are connected to the preceding inputs as shown below: INPUT 1 Sensor (n bits) INPUT X INPUT X +N. X= Input for connection of the last bit of the sensor (LSB). If n > 2 this constitutes the sign bit. X +N Input for connection of the first sensor bit (MSB). N.B. Inputs X and X +N must both be included in the same group, see table below. Group Input nr. Number of bits 1 1-7 2 8-14 3 15-22 4 23 - 30 5 31-38 etc. etc. All following groups contain 8 bits. 6397 014-304 Oct 1989 8:2Examples: Sensor of multi-level type with 3 bits. The characteristic of the sensor then becomes: A sensor signe! Level _.3 Max. signal _ so Sensor Jat full sensor Ce reaction | reaction am Level + 2 is given by O10 wheret 1 Q i I ! Bit 1 (LSB) Sensors of 3 level with 2 bits. The characteristic becomes the following: Status 1 1 constitutes stop status Sensor signal on oto. Sensor reaction 10 (stop) 6397 014-304 Oct 1989 8:36397 014-304 Oct 1989 Bd9 MAINS VOLTAGE CONNECTION 6397 014-304 Mains voitage is normally connected to the terminal block F4.X1. This is located on the left hand side of the control cabinet. Protective earth is connected to the earth bar located on the floor ot the cabinet, connections are made via the cable gland @ 16 mm in cover plate Fl. If the control cabinet is supplied with a safely swiich, then mains connection is made directly to this. See Chapter $ for the recommended mains cable. Note that the conductors between terminal blocke and transformer are 4 mm2, The fuses on the primary side are to be installed outside the control cabinet. See the appropriate safety regulations. Primary fuse: max 16 A Rated power: 6.3 kVA (complete system) F4LX1 as 7 aan» Figure 9:1 N.B. Connection in correct phase eequence is ecsential! Protective earths are to be connected ta the central earth. The centro! cabinet must be earthed for interference protection purposes with a heavy copper conductor, at least 10 mm? connected to the earthing bar of the cabinet as shown in Figure 9:1. To develop the maximum possible resistance to interference effects in the total installation, all of its units should be connected to a common earth, The mains voltage and frequency for which the system is intended are specified on the rating plate on the control cabinet. The system is provided with a transtormer switchable for four different voltages; 58U, 415, 440 or 475 V. See table 9- Table 9-1 380 V +12% 15% ais Vv +10% 440 V -15% 475 The system circuit diagram shows how alternative locations of jumpers are used for transformers in aroups 3 and 4. Oct 1989 9216397 014-304 Oct 1989 93219 APPLICATION VOLTAGE AND START-UP Moment 1 Moment 2 6397 014-304 Reference: Programming Manual Before switching on voltage, check that: - Strap $1 and $2 on the rectifier 028.1.4 is set correctly. No strapping 50 Hz Sl:1-2 and $2:1-2 60 Hz = The mains voltage available is correct (by measurement) and that the phase sequence is correctly connected, see chapter 9. = The fuse on the primary side is installed correctly, see chapter 9. - The necessary safety measures according to chapter 2 have been taken. The programming unit must be connected before switching the mains switch on. 1 Check that the lamp STANDBY is lit, and that the cooling fans are rotating, If the ERROR lamp is illuminated, continue with point 2. Otherwise, continue directly with point 3. 2 If the system has been inactive more than 1500 hours, the function parameters might have been lost from the memory. After the language selection, "PARAMETER MEMORY FAULT, RELOAD!" is presented on the programming unit display. See chapter 11, Function Parameters for detailed information regarding this status. 3 If it is necessary to change language, continue with point 3.1. Otherwise, continue directly with point 4. Jl Select the MANUAL menu (the button with an engraved hand) on the programming unit. 3.2 Depress the button at the extreme right of those immediately under the programming unit dieplay- 3.3 Check then at the left an the Inwer line af the programming unit display if a text with an asterisk is presented. If such text is presented, continue with point 3.4. Otherwise repeat the points 3.2 and 3.3 until the text with an asterisk appears. 3.4 Press the button directly under the text with the asterisk. 3.5 Depress the button directly under the text printed in the language required. Oct 1989 10:16397 014-304 4 Press RUN, check that the RUN lamp illuminates and that the STANDBY lamp extinguishes. The robot is now uneynchranized and the SYNCH lamp is to flash. 5 Synchronize the robot by pressing SYNCH. The automatic synchron- ization of the robot then begins and the SYNCH lamp illuminates steadily. If the programming unit is connected, this must be inserted in its compartment and the operation status AUTO is to be selected. When re-synchronizing an already synchronized robot, press SYNCH twice. (The first time the SYNCH lamp starts flashing only, while the synchronization mavement starts after pressing the second time.) When the synchronization is completed, the SYNCH lamp extinguishes. The synchronization can be interrupted at any time with the stop button on the programming unit or on the control panel. The SYNCH lamp should then resume flashing. The process can be resumed by pressing SYNCH ao before. Oct 1989 10:2ul FUNCTION PARAMETERS AND SENSOR DATA iL. General 112 Reference document: Programming Manual Certain system-specific parameters are stored for the robot system as programmable functinn parameters. The function parameters are normally determined when the robot system is installed by programming via the programming unit. The parameters are stored in a function parameter memory backed up by 2 battery (approx. 1500 hours). If the system has reserve voltage for memory back- up (see section 7.4.4), this includes the function parameter memory. The following are stored in the function parameter memory: 1) Function parameters 2) TCP and sensor data (see section 11.3) 3) Any displacement of the base co-ordinate system (see Programming Manual) Data under points 2 and 3 ere interpreted as program data and therefore need not be defined to obtain an operational system. The normal values for the function parameters are stored in the fixed memery of the system (PROM). The contents of the function parameter memory can be transferred to a floppy disk at any time (see Chapter 11.2). This is always recommended if the contents vary from normal values. The programmer can then restart the system quickly after any extended supply failure. Note: All handling of function parameters and sensor data requires that 2 programming unit is connected to the system. After the entry of the function parameters is complete, the system is restarted, this means that the robot must be synchronized and that all outputs and registers are cleared. Entry of function parameters 6397 014-304 A. The function parameter memory has lost its information content after an extended voltage failure (a2 normally happens when the system is installed). Function parameters that are entered but are to be changed, complemented or stared an a flappy disk. Oct 1989 A:6397 014-304 ‘Type case A: 1. Start the system as described in Chapter 10. 2, Read, in status STANDBY, the text display on the programming unit. If the text PARAMETER MEDMORY FAULT, RELOAD is presented on the lower display line and the error lamp indicates, proceed to point 3, otherwice cee Type cace B. 3. Four alternative languages are shown. Each alternative is printed in the language to be selected. One of these must be selected. 4, After the language has been selected, two alternative functions may be shown on thelower line of the display, DISK and PROM. One of these functions must be selected. All other modes are blocked. a) When the function DISK is selected, the function parameters are loaded into the system function parameter memory from a floppy disk. Action: Connect a floppy disk unit, insert a floppy disk containing the function parameters required and press the tunction button tor DISK. b) If the function PROM is selected, normal values of the function paraineters are transferred from the fixed rernory (PROM) to the function parameter memory. Normal values are entered when the function button PROM is depressed. 5. Return to Chapter 10 or proceed to Type case 8. Type case B: If the function parameters as described in Type case A, or function parameters entered previously are to be amended, supplemented or stored on a floppy disk, the following procedure is to be followed: 1 Press STANDBY. If the robot system is prepared for computer link, proceed to point 1.1, otherwise see point 2. 1.1 Press MANUAL button (the button with a hand engraved) on the programming unit. 1.2 Press the button below the display text SCAN and “leaf through" the menu until the text "RB MODE" is presented on Ure lower display lis 1.3 Press the button below the text "RB MODE". 1.4 Press the button below LOCAL. 2 Seek status PARAM by activating: a) Control buttan MAN. b) Function button SCAN cc) Function button PARAM Oct 1989 az12.1 3 The system is then prepared for the following status: a) CHANGE The contents of the function parameter memory can be amended and new parameters can be added by programming. See section 10.2.1. >) FROISK The contents of the function parameter memory can be changed by transferring new parameters from a floppy disk. Insert a floppy disk with the required function parameter in the floppy disk unit and press the function button FR DISK. ©) TOOIsK The contents of the function parameter memory are trans- ferred to the floppy disk. This should always be done when the parameter deviates from the normal system values. Insert a formatted *) floppy disk in the floppy disk unit and press the funetion button TO DISK. *) The floppy disk must be formatted if it is new. This is performed as follows: Press control button MAN. Access the function FORM FS with SCAN and press the function button. Formatting takes approxi- mately 30 seconds. Amendment of function parameters 6397 014-304 When the function CHANGE has been activated (see Type case 8) the function parameters to be changed or added to the function parameter memory can be programmed in. The parameters to be changed are selected individually in the basic menu of which the first part is shown on the lower line of the programming unit when CHANGE is selected. A parameter group or an individual parameter, is selected as follows: 1, Search in the lower line of the programming unit for the text which corresponds to the parameter required. If the required text is not shown, call up the next part of the menu with the button at the extreme right immediately under the display (SCAN) and search for the text again. Repeat this until the required text is presented. 2. Depress the button immediately under the text required. When a parameter is selected incorrectly, the following procedure should be followed: 1. Search for the function BREAK. If this is not shown, press the button below the text ENTER and search for BREAK again. Repeat this until BREAK is presented on the display. 2. Depress the button below BREAK. This returns the system to the basic menu. All values within a parameter must always be checked, irrespective of values to be changed, before a return can be made to the main menu for the group. The following applies for the checking: Oct 1989 36397 014-304 The function parameters which can be defined and the range of permigsible valuee are given in the table 11-1. After changing the parameter "WORK AREA EXTERNAL AXIS" a value must always be entered. Otherwise the system will stall and show errorcode "3 DATA FRROR". To restart the system again the main computer must be initiated. After changing the parameters press ACTIVE to leave the parameter menu. From the table, it can also be seen which normal values are selected by the system if the parameters are supplied from the fixed memory of the system with the function PROM. See section 11.2, Type case A. The function parameter memory can be erased if the voltage to the system Is switched off while parameters are being entered and at least one parameter has been changed. Oct 1989 Ls‘OE-VIO Leeo 6861 WO AIT s Table 11-1 Modification of function parameters MENU. Function Alternative Normal value Notes parameters IN-OUT 1/0 TYPE The value "y" specifies the Type and location of —‘1/O 165 Not equipped = 9 type of board 3) extra input/output W/O 169 1 = DSDX 110 bosrd Vo 173 10 = OSAI 120 0177 11 = DSAO 110 COMM BOARD Yes = No board = 0 Serial communication No = 0 board for computer tink and program printout BAUD RATE CH=0 CH=0 Relevant only when response = 1 Trensmission speed on CH is given to the preceding channel 0 with question. pragram printout 0 = 300 baud 1 = 1200 baud MONITOR No No = 0 Yes AXIS. WORK AREA 180 - a ROBOT AXES +180 - 0 Working area for 41-0 the robot axes 440-0 -25-0 +40- 0 -9- 0 +(90 - 77) * * The working range must (130 - 42) * —AS- = -1800 include the synchronization +180 - Ad+ = 41800 position.WUE" VIO L6E9 6861 HO FIT MENU AXIS ACTIVE Table 11-1 Function parameters WORK AREA EXTERNAL AXIS Working area for external axis KV Entry of position g emplification Ky f external axes AXIS BRAKE Holding brake on ACTIVE Exit from the paramater menu and activation of the function parameters which have been changed. Parameters which have not been cha keep their ear value. Modification of function parameters Alternative Normal value No external axi 2147483648 Deactivated regulator (-1) Al-A5=1 Ab - AD Notes The value "y" specifies the number of increments 1 increment resolver rev. Definition range -232 < y < 231 Resolution 1 Definition range Ky = 0.5 x (2 1) A Axis 1 (C) 330 em? 2 Axis 4 (E) 35 JL oRaN PLus Axis 5 (P) 33 om? OL FILLING a 5 DRAIN PLUG Figure 1B 6397 016-302 Oct 1989 L} » tt tne drain plug 1s located on J one side of the gearbox. Hl GREASE: 1 2) If the drain plug is located on I 3) the intermediate plate. 2 MaintenanceLubrication of ball ecrewe The ball screws shall be lubricated every three months or after 300 hours in operation, Recommended lubricant: ESSO BEACON 2 or similar grade. © The protective bellows over the ball screws must be released to enable lubrication of the ball screws. It might be sufficient to cut only the lower cable tie (Fig. 2A, item 1) of the upper bellow and the upper cable tie (Fia. 2B, item 1) of the lower bellow. 0 Move the ball nut to its lowest position. Press up the upper bellow away from the ball nut. Wipe off old grease with paper or a lint-free cloth, Do not polish and do not use degreasing chemicals! Move the ball nut to its uppermost position. Press the lower bellow downwards away from the ball nut and wipe off old grease from the lower part of the ball screw. © With the ball nut still at its uppermost position, apply new grease with a brush directly on the threads of the ball screw. Move the ball nut up and down @ number of times and if necessary, apply some more grease. CAUTION! Do not apply too much grease because then the mechanical resistance will be too high and might cause emergency stops later when the robot runs. Repeat for the upper part of the ball screw and apply some grease ‘on the upper ball bearing. 0 When replacing the bellows, fit new cable ties. © If any of the bellows are worn, they should be replaced by new ones in order to avoid dust or dirt entering the ball nut. For information on replacing the bellows, see the Service Manual. ~ ballnue ballnut Q&S Ll) Figure 2A Figure 28 6397 016-302 ct 1989 3 Maintenance3 MAINTENANCE OF ELECTRONICS The control system is composed of various electronic units. The electronic components require only visual inspection and accasional vacuum-cleaning. Routine inspection of control cabinet The control cabinet Is completely enclosed and the electronics thus protected from normal factory surroundings. However, in surroundings with much dust the cabinet should be Inspected regularly instde. Any deposits should then be removed by brushing or vacuum-cleaning, for Instance. The power should be disconnected. © Check that the fans are working butt in the control cabinet and in the floppy disk enclosure. © Check that the sealing strip and cable grommets in the cal properly, 90 that dirt ia not sucked into the control system. et seal © Check that the cabling to the programming unit ie not vieibly damaged in any way. Replacing the batteries for the memory back-up The two memory back-up batteries, which are soldered directly to the memory board have a minimum life expectancy of 4 years, and should therefore be changed every 4:th year to ensure secure operation. N.B. It is advisable to store the memory contents into a floppy disk, before removing the memory boards, and then reload the memory after the batteries are replaced. To avoid that the memory contents are destroyed, when the batteries are de-soldered from the boards, you are to exchange one battery at a time as follows: 1, Remove the jumpers $2:9-10 and $2:11-12 2. Exchange the battery G201 3. Reinstate the jumpers $2:9-10 and $2:11-12 4, Remove the jumpers $2:13-14 and $2:15-16 5. Exchange the battery G301 6. Reinstate the jumpers $2:13-14 and $2:15-16 See circuit diagram below. +5 .V Bus voltage Aaa Circuit diagram, batteries for memory back-up 6397 016-302 Oct 1989 4 Maintenance6397 016-302 Indicator lamps. 9 Check that all lamps an the control panel are working by pressing the lamp test button. 0 Defective lamps can be replaced by turning the plastic lens anti- clockwise and then removing the bayonet-fitting lamp by pressing a piece of plastic or rubber tubing over the bulb and turning 1/4 turn anti-clockwise. Replace in reverse order. Floppy disk unit © The protective cover plate shall always been shut. © Floppy disks should always be stored in an office environment and at normal room temperature. Temperatures exceeding +50 °C can permanently damage the information stored on a disk. In areas where magnetic interterence is likely, the disks should be restored ina steel box. © The floppy disk unit can be tested by first recording a program and then reading it back to the control system again, The built-in function tests will then check if the unit is functioning correctly. As long as no errur lights ur ervor imessayes are apparent, Une unit is satisfactory. © If difficulty in reading or writing is experienced, the read and write head can be cleaned by using @ special cleaning disk in conjunction with the Test adapter program for the disk unit (see the Service Manual). Oct 1989 5 MaintenanceCircuit Diagrams IRB L6E CABLE CONNECTION FOR ba EXTERNAL MOUNTING CONTROL PANEL H fearoe TT Fay 2 ears | pe STAND BY PB i F6.X1 Ce ne EMERG | et FEAL | ier | EMRE F6X2 F16.X2 | 3 = 19 EMERG 86 % FSR STOP Pa | F6X1 F16,Xt 8. ae B wre BRAKE rs 8 ee] | DISABLE PB | 5 e | ii EMERG STOP ROB 1 2 | T I EMERG STOP R0B 1 | ror z Lm 6397 015-128 AL ERED October 1989 PADDED ‘ASEA BROWN BOVERISHEET CONTENT BLAD INNEHALL ) E 1 LIST OF CONTENTS | INNEHALLSFORTECKNING 4 2 CONNECTION POINT LOCATICNS IRB L6E } OVERSIKT OVER DELNINGS@UNKTER IRB L6E F 3 axis 1 [ bE AXEL 1 4 AXIS 2-3 AXEL 2-3 7 5 AXIS 4-5 ; AXEL 4-5 FH 6 CUSTOMER CONNECTIONS i KUNDANSLUTNINGAR if 7 SYNC. SWITCHES, LIMIT SWITCH 5 SYNK. BRYTARE, GRANSLAGESBRY"ARE ie i 3 Bi ci PRIMARY PART, IN ARCADE a ~ —[——Jlist oF CONTENTS a ‘CRCUIT SIAGRAM - = i INNEHALLSFORTECKNING i. pe 06 celeted sal es a 6397 003-VS fa a ; I ,SS q ime OOOO) rer [= bl ==+— = i a hasan OOOO) fee MORE] n> [MOCO | [J (aia, xe |] baa? |-ome—] Teeth, eaxes |e] L (2 }— oa wt, swircH 1 _ (a0 _ _ ‘cab, piers al as |Controt_cabte [yo - P| ae 4 — [Ria TC E | Teese caps 18 — [CONN POINT LOS IRB L6E a ‘CIRCUIT DIAGRAM a BB | — JOVERSIKT DELNF IRB L6E IRB LEE 5 ars] Repent seerse=l6597 003—VS a 3 ; Seam 1 7 ; | 3 | -‘ 1. 2 1 ys 1 ‘conTROL EOUPMENT C1 © oe came ROBOT Rt : ee a ci z ———— Als Ft 4) woron 6 “ x ' ore pees 2 | revues 7 ~ 2 2 | ! I ppc? i —— 7 | 2 | | le |e) | ema == J {tse . L “ 4 (au) exo, t | b t lo Ak Se mar mea : | AXEL 1 % =e: = if lavas |BeO8 —$-—————ewrmirarwil 397 OO3—VS safe ne Toe" aa 25 =v 7 t T $ T= 1 1 2 1 3 1 “ 1 s I £ CONTROL EQUIPRENT ci J con came t FopoT et Wee rea a AE) om iz (@) mee I 1 eeso.ver i “posreepan rex ; = | oa i ke it 5 ® oo { #2 ] Test tight dreds on DSA 129 2 Teat light diodes on DSAT 120 82 b2 off 12 off B 3. Mode on DSDX (0, DSDI 10, 129, 130, 40 3. Mode on BSDX IO, DSDI 110,120,'30, 160) 8 3? 37-38, 99-40 1] Normot X93 + 37-38,39-40, {0 Normot “y Be 4, Furelion en BSKO. 110 4 Function on BSAO 10 i SO S218901 SEC pga 50, $201 5301, 5401 a ty 12 345678 1-2, 3-4, 56,78 {| He t 5. Mode on DSAO 110 4) 5 Mode on DSAO 10 1) H 502 $200, $302, sae 102, 8208, 8302, suc2 i 1-2, 5-6 O 0-0 12,5-6 OD o-s wv e 12, 2-8 D o-t Wea 127-6 O 0-t10ma 7 . 12, 5-8 0-22000 127-6 O 0-#20na 16 Mode on VGAD 110 € Mode on DSAD M10 Solder slrop W106, W296 , W306, W406 ‘Solder strap Wb, W206, W 306, W406 comectes §— [] 0-2 wv conectet. (J 0-20V & nat conrected [} 0 - + 10mA net conrected [] 0 - * 10mA +] E connetted == [0 -* 20mA connected = [0-2 20mA q on ¥ Straps on Termunal unit for D6AI 120 should be removed J Step gorp onentatien for moe on DSO bas Hoke sure that the straps dont fall inside the cabinet , : | JUMPERS OR 1/0 BCARD See [encun acu PRIMARY PART IN ARCADE| Cesais _|COnM Ste we 2 6704 600-ARA LE Tae ‘Asea Brown Boveri Jusnc ar Tr 4 5 TDies Dy DSDX 110 1)0- mint DSO 110,120, 130,131,140 Dita! outputs DEDI 110,120,130, 140 Dalal inputs OPNON SAO 119 Analog outpuls 1, 10 aderess SE 12, 4-8, 8-9, 412 $73 13-14, 16-19, 19-20, 23-244 « |2 Mode on DSDX 110, DSTI 10, 120,130,140 3337-38, 39-40 EX) Normot J3 Function on DSA0 0 S101, $201, S30t, S40t 12,34 ,8:67:8 Normol 5 Mode on BSAC NO 1) 8 2, $202, $202,5402 1-2, 5-6 Qo- 12,08 Do- 120-8 Clo- 2000 DSDK No LIC minw ESDO UO, 120, (30,131,140 Digital outputs} cPriow SDI 10! (20, 130,140 Digital inputs 4 TJ0 adcress Sh 12 lS, 1-8, 112 13- ig 16-17, 19-20, 23-26 an 2 Mode on DSDK HO, DSBI U0, 120, 190,40 3: 37-38, 39-40 B® Hormot c 5 Mace on DSAO 10 Solder strop W106, W206, W306, W406 connected [J O- #10V rot connected [] 0 ~ = 10mA L connected [J 0 -=20mA e is . PRIMARY PART IN ARCADE| if JUMPERS ON 1/0 BOARDS TE PYKLEBUST CIRCUIT O1AGRAR = Tharsis, | comme. svster na 6/2 — _—— lela oa Tax ‘Asea Brown Boveri frosts 7 31 6704 600-ARA [a soe ae z ; : 7 |i ) 022.13 Dee 137 7 \ YT IORDIYYT 192 N Conteol coord with facto Anis 1 Yr toed Control bearc with tacho Axio 3 eH YT 1. Overload 1. Overload [ i _ ste B o5a, S78 BW 65a su t-2 & aa B E iL ee. 15 pee tuo He wt 2D Conirot board with acho Aus 2 vr wee Controt boord with tacho Ans & 7 L di 1. Overload {Overload 1 shire | sere Resa fi | He st 1-29 Bea q ¢ Dee 161 —| anevr wre omy ty wilt acho Axi veo Yyr (ee Contret board wilh facho Axis 5: : Tees Dread sbTe PRIMARY PART IN ARCADE|¢ - = JUMPERS ON DRIVE UNITS € PKL EGUST_ CIRCULT DLAGRNN eonteo, sisten ma 672 6704 600-ARA E bali ‘Asea Brown Boveri [aroicy ar ¢ 5 |22 173, YT 102K Cortrot beard with facho. IRB axis 6 _(Optor) "Dat 125 YT 102A Control boord with 4acho, External axis € _[Opton) IWYT 102A Control board with tacho Exlerrat axis 8 (Option) IL Overioad 1. Overlood $1910 112A, RB S178 11 GA External smalt motor A Co sAEaternal enll actor she 1 em Externat tore motor sie 1 A, External large mater D343 Daa 137 WNT 102A Conitol board with Hecho External axis 7 (Option) NYT 102A Conirol board with tacno. External axis 9 (Option) 1 Overload 4 Gueriood 517-8 TGA External small maor si1-8 11 G5, Exterrat smal motor ot be TBA Esternot tame motor ok ee C1 ea. external targe motor PRIMARY PART IN ARCADE, JUMPERS ON DRIVE UNITS [emateus) | cini oracean ‘AND CONVERTER Fi hestaae CONTROL 5YS1EH 1RB 6/2 6704 600-ARA 5 ete [aaa | jit ‘Asea Brawn Boveri faye art w|i ose ; 5 =e t 3 ARBad en L GArETY Sui] en |, toPrions FAX ap Ea On APHASES MAIN rye 7, + tte POWER 720-5004 [SoH on | eV t T art I “+6 + tere agp : ! i GROUNO |GNo GROUND BAR ———— he + F ey . L iH i th rit a Ic [POWER [CONNECTION /OLTAGE Sl [ eov *]a4,B5 0-9 f bisy Ja. 8-4, C40 E E awov | 8-7 CT larsy fans, 8-8, C12 , PRIMARY PART IN ARGADE|’ Pykietust CIRCUIT DIAGRAM EL = MAIN. FOWER CONNECTION : SySTeH IAD Ore ETS eae “ies = ‘Sark Foss os 37. ee ii : ' ° ABEMa rs” = Tu TRANSFORMER [POWER UNIT E 220v pe u o TET ov 7 . | $ 7 | | ote 25 aw pi Gan.si) ey 7 DAT Vike COUNTER t xi] = r0v_puW 1 (oPrvoN n 7 wv Sl 5 | t---4 e | __ te 7 if + (eTiond | W Hi : : Pit rf z [senate varrace ait : 2 SOCKET He]! Sh ane nov S , jie 7 H —r-vev By | r q lw 1 | dt Fae? caste connection nen |c ReCTFER THE TRANSFORKER 22 rsy_¥j, fa pe oPriow) 1S Not Usea —| { 7 TRANSFORMER 32 (OPTION) ama? save v i 1S Nor USED. OTHERWISE . ia 3 THE FUSE IS 2A(RED SPOT) ! _— eo ‘ou wr emioce ‘ont 5 ya ; [Primary PART INARCADE|” t PRESS [arcu onan = i Tet 168 6/2 fio ih ES = : POWER DISTRIBUTION Teer [SOwTROL syste 188 6/2 . S704 600-ARA T 7 T 7 T 7 T 3 T zq i ' i 1 ' ay rie Wy ie ih ai ! : L 1 fl 2 1 1 poy L 5 l 6 “a van c = 7 ‘ ev 1x TaANSFOR AER Poatm Ovi = - —— + Ay ‘re i Dinas v al nav v0 cm [Ds 3x Wo V0 Fin 2 evo ay TERMINAL yan ene v0 | x2 00 * ar tty ity Unie aap % m co Avan pa ERT 2_t Prosor er z 1 mop i swan i eat TE; 7 Pa ov ew . 7 CONTATT FANT = L | ov 1 w}e le “oa? ve wa aa. 15V-2¢69LATOR a x m ‘os? | > ree OSH 5 ASOT é L pe sy 2 7 ra rev pacn eouumnon is i i Ke r WaT a ay — 2 au He si ir ttre for oxreewa | 24 r ountints 10P1) w 2 (OSH aT 7 2uy alt fxr MEMORY BOARD j EXTERNAL vouAGE =} ov i BATTERY S4CK- UP T 21 hy ‘went 7 isa wT r os 2 nenoRy saaeo ‘Ser theron 2 - ——— = wo 7 PRIMARY PART IN ARCADE||” C ean ‘cRcuiT vaca " ma 7 ELECTRONIC POWER cant | On : - = — =| DISTRIBUTION Pecos cerevans| 6704 600-ARA ya Asea Brown Boveri [row/acs er 3 eS1 | 2 | 3 | ‘ | 5 | ‘ r i w 7 % ——— fee —— oven sree DOPC 157 cove 7 oe staan bz ‘ ser fe 3 | Oe » sal Arun a L =| st at 7 1 a is. 103 = i 7 fassr v5 /msac ve Ov acevearen a na | | a Se rea es 8 ETT) penne »| GH | Fy eh Ta | dione o a ro ————— ao err Lp q = ; IT | 2 CTIFIER _OVERVOUE. GROUND "AIRE (CPTY re Nese ceewe renee, s sats | 9 gene | pe seus ar cane? : = a mint on Ban 6 abt oy puis, xtinene A | alata oxase fsx Wo 1/6- Hm 86 v 1 wv ouren eles, “aw t i x -26y 0 rx, | |_| [een eae TS Sera ae wepeme eT = cure te ' : ms 7 8 1 E ie eee ! © f [evel Yo se alate Cn SS eer | se lo aa aaa wet ee $a macs eae smo comecron wien Ox, LL mocmtng orn) (Se ov mnaxe_ yy b EMERGENCY STOP LOOP T Timcesusr | CIRCUIT OIAGRAR T j; | PRIMARY-PART IN ARCADE| |» mPa | [mci 7 lo a Be STANDEY PB F Te vownt — <20_x99 [as wt AAC aro eas 05 a 26 L bow mat ae 281 fhe CABLE CONNECTION FoR 5a 2 ourruTs EXTERNAL MOUNTING ‘AIS our cue +e | (eT ouron 5 1” pesinver ants - REstRVED yr oo . Ko re c 89 —ncw3 38 Fuss? Ants i (eae sé “Tenement 7 = RestRvED ere 2x3 [ear xs 1 Stata, te fi * in a7 mors [ee 7 | 6000 r 7 | osor | w. ropor ) >Hi] Fe] | ROBOT ays wa) wt ar B saver apr 7 [swan 2 [er] TAT 7 Be 8 kJ — PRIMARY PART IN ARCADE| Lew i f CONTROL PANEL AND BASIC IN/ OUTPUTS ent EUST ‘CLinastaie CIRCUIT Braco OMTROL SYSTEN IRE 6/2 [Asea Brown Boveri “wa Ed 6704 600-ARA tianboa I 20, 1 3 yo I 5 I 6 [ ‘ 7 ae f : algyt wearer ern ° rate : ne qe [EYE cones son our . (2 yy ast sector wr 7 EH . eeor ‘as $3 [we LL ; i 7 t i. m1 apt | 7 je ‘08 sem [pt 070 amen om T ‘2 x en 8) [ncnnse 7 e 1” 5 er HL — ite i » ut | us = | 2 a i ih os v lo . i ea ue ot a. Hi Be s - a i ey 7 i | uy Hil | F ua: | : FIRE = 13+ sao (3 nt | | — ‘22 4 i W ONLY FoR Mus HOTOR = [v1ex230-8 cae a) = Se BAe acc mee E 1 Bi BA ons le a eoeaa es : weg |. k ss ” aft a i { no 7 , ————— ] p f ORIVE UNITS AND REACTORS [mp [enCTT nor iE FOR AXIS 12,3 CONTROL SYSTEM IRB 6/2 } LPRIMARY PART IN ARCADE] ‘CLINOS TRON 6704 600-ARA * oer [tia ‘Asea Brown Boveri [rsuyncs, Eat eee T = T : i a = Ttwee wr Fosac ize ma) [Yee 109A 5v-eeauaToR ‘8/0 AND D/A CONVERTER = x2|__pum Ee] ans 2.3 dW Be aq on 4 2 loa a sy i aes a z es ze zit “over 23 Fe le 8 cu : : BeseT | ERABLE iE IF ! ie posse 8 i m1 H 34 7 H 2 He c jira | | soweconin | | hee He 4—\,, 7 lec : . rontees8 ta gk | aww 1 ze et a i bk mor | ap ray oe emt or 9 E (On er wt 1 ONLY IF ou 2 15 rowTED ‘OPTION roseeeee 34 E = 35] Ys aes 3 a ee a PRIMARY PART IN ARCADE| RIO AND D/A CONVERTER FOR AXIS 1.2.3 EFrattausr CIRCUTT OTAG CONTROL SYSTEH IRB 4/2 Asea Brown Boveri [pays at 6704 600-ARA T 6i a 2s ‘17 : eae [ \ in To | mee na tor ya % é see pte ce “p22 ler ot otf cones 8 Toile as 3 tse 26 7 ia sovor Hh . zu Hd “020” eae HF) je ra a i evap eee uy lu as o m : ie o es = aad 7 Ly Lg of use | us. —— = | 1) ONLY FoR Axis MOTOR WITH BRAKE HOVE CONN=CTION D4, TC 26 we 2 OMY #0147 #5 MOUNTED. LOPHICA PRIMARY PART IN ARCADE| DRIVE UNITS AND REACTORS le txt epust CURCULT DIASRAN FOR AXIS 45 [Eee | conaot system 198 472 IE heal a itizar ‘Asea Brown Boveri ronnie ey ot 6704 600-ARA ily T 3 T 4 T 5 T 6 Aer1 - A 1 3 1 y L 5 1 - °° ‘bens? “en 1? = : Fosacies YE 109A Sv REGULATOR | RID Ano C/A z|__seeoLM xe | CONVERTER Ze 8O ! mses sun 4 ie | x $ st a s L ere | re asf —$ 5 {coe oad e ae ees = oC... . : 2g eee ie ae 8 ay bool " POSTEEDB SA = iif. 5] if ih | r itl — Hi . ‘be = : 1 ONO HF Ore 2 HounTeD Fosac 103 Resouver Feeo teen ee DiAC as Hesaen Foto 2s {IND TWO D/A ; os pronCT ts orem) | —__@s_____- ry] Se PRIMARY PART IN ARCADE| RID AND D/A CONVERTER E MYELEBUST CORCUIT DIAGRAM FOR AXIS 4,5 RESOLVER FEEO CONTROL SYSTEM 1Rt i = = 6704 600-ARA T 6Ss 6 1 1 2, 3 Joy 4 ! “cae ns! “a ’ fwttes = b 2G, CONTROL BOARD. A F8 * (ePrion vosor {4B | — ow —_ Me 3s 7 i a ee 117 226 — YTEA 250-6 pcaree 1 rot oo 6 i, ae Sa es PtH gy 3 [wean 7 7 | SA : 7 \ conor POSFLED BSA 2) a ay 59 # if fl by ‘022 107 8 i us 2 10 = He eH —— 4 7" at 1H cams (35 rin mess 2 oe oe 210 ane D/A, ISV- REGULATOR, Lc LE HH ip roseeeoe 6A. CONTERTOR salsa ea 7 : 68 me el - be Hy foto (2 ce ere | al bs — St c Peso tea wl sw fies e sso Fern ft} = 7 see 48 a e fever reo = on8 i k - ‘ad = - VWIF SAKES SYSTEM CABLE PLACED ON ~ eet Vromem ont ad asa 2IONLY FOR AXIS FOTOR WITH BRAKE | a 7 Wve Como br 10 ae | = 1 WON IF O16 2 15 MOUNTED. (OPT) OND | | we D AXIS CONTROL FOR AXIS 6 ¢ tM eowsT CiROOTT OLAce ‘ohn cont srs 8 6/2 ; RESOLYER SUPPLY SOR EXTERNAL ADIs 4 [CLINDSTRO 6704 600-ARA i —| a ‘Asea Brown Boveri [notin ' fT ? T 7 T T T- a = A 1 : 1 y 7 1 ul | “313 W Tver wan, 7 Preacton usir forriony | ra once sown ane fore £ ne me be oreo 28 uot fs x SSS — 317 oes = os ‘Shaya ie | == was pe wl uw. —= | pe fal ue 031.25 ST ad etd ah pt cewrnos sont | Ca fe mespon => w fo Je esee{ TF ee ase | = — oe yO 3. ng" —— YTEN 250.8 Pout ate sans 8 fron = .——— anne con 2 — 7 ———————— muse. | Ga wi ow ts [vr Kea Cone. tonto | — eA a (orriond Ree Teowectin armed -x2-26 et ew 1000 zr] -X2. 79° 03) Vel a seacime | “72 210 cr | fewer BeaR persion) 1 omy HF 01.3 15 ROUNIED.(CPTION for sx | mae z 7 Jee nye * pence PRIMARY PART IN ARCADE FOR AXIS 78,9 (CPTION! Ee ORIVE UNITS ANO REACTORS — [ermcegusr TRCUTT DiAGRAT CONTROL SYSTER 1R6 6/2 ‘Asea Brown Boveri [ros 6704 600-ARA I 4i ‘ ‘ \ 7 foation _ —— fe Ios ivRecuLATOR 1, [ye 1096 BUS EOARD a oe ‘SPEEDLIA-N Joa Gerrony Sete” eveue le a s[—neser iss [uunrea 9 ag! aisy ns i 20 ovo owt yo I out ou L “O44” sac 129 ala eR] Ano GA 2 se et coment zs[ ov Bt AKI3 7.8.9 (OPTION) Bs! ci B x “{ ; | fee txremuat) V8 se once | 3 ones a POSFEED B 921 87 3 f— wry ff a SS 7 aan 3 | exreennt | 725 3 Axis | sem 9 2 > a= \c ‘wis? ==: Ds0: 103 reson reco ee op a ee | SO kt | (cron ss L aS LL _ | | 1) ory af alo ann oa 2 OMLY IF C143 15 MOUNTED, FOPTION ] evncatet ane et cE same |o . | RID AND OTA CONVERTER FO2 [mmepay [ct onan 1 [| AXIS 78,9 (OPTION) CONTROL SYSTEM 1RB 6/2 | [Lerman pan WARCABE] | Arscusen ceo 6704 600-ARA | Asea Brown Boveri |nos/acs 69 37 4 T 5 T T 2 T 32 a 3 y ATTENTION! “TE BOARD « FLACED On THE ACTUAL SYSTEH 03 0 4 SD% HO DIGITAL WouTeUTs | x2) ue "OW xKX” [058 Tara awe] «i “SGNAL FUNCT ONS Fasy Grponac Boat ann | OUTPUT SENATE 1 RN 2 | crcueon > | error 4 | Peoe UNir exteac pe] RELEASE 4 oupr] RELEASE 2 (our SGHALS sun Poe 1 SUNP PROS 2 une PROS 5, B-Beeveurun- pant! oureur 1s maleREUPT PROGR PRIMARY PART IN ARCADE| Li DIGITAL IN/OUTPUTS 24V DC fT mceoust CIRCUIT DIAG . i DSDX 110 (CPTION! STTaSTaey | CONTHOL SYSTO IRE 4/2 = Kee eal vl as Asea Brown Bove RERTis| 6704 600-ARA — bafea | 90 am a a z T 3 Try T T 6 ee1 1 2 L 3 {iy 4 ! § ! 6 "pier "ea Os ‘ OMX dy a NO oarmcwrurs | sac 2 veannm uur |] | A | = wat a af “hot a “ 7 | Lt 3 : | 1 ey 5 | i = = —_— : oon lee | i t leout[ouroaais | B { a 7 1 [amenrurt wave iB : ' 2 ee n 2 |rwrenury Prose ny | Atemies ' cal H 7 3 [ain oe HiLL | tue comm is piace on ' 3 a 2 [some pros 2 Bp | tonne accorome ro ! 7 6 fee 3 [sme reas 5 it] Esse" | : a eS jueatiow = She ros 3 i a : ite I ay LE 19 eet monn @ die | [ou eo az | mora ‘eur 3 hi : ae 7 ried hit a vat i oo c ds I e 7 ar c { oa o co 1 ; cai x se ah | 2 ler > I 2 ar Fa k | T a a is $I | ‘ or a ae a - aT 35 IK ai p i m er a H 30 oo | t ro) 3 sr me L a] 32 ae 5 ee Ld PRIMARY PART IN ARCADE]|° f DIGITAL INPUTS 24¥ DC. € WyKL pus (CemenT LAMAN =} DSO! 110 (OPTION) PernoraT | conteou systen ina 4/2 Cinostntr 7 ze Ee [aes var wo] [tar ‘Asea Brown Boveri fsvxs 531 6704 600-ARA vs 5 T 7 { t 1 5 T a4 4x Dll XX [sol Go Gana: mews DSTO ie Tema or | eS | ce” 2 eae = [sant Funcrions WF Fast Sonera. mt 6OARD 2 /rarereurr rv0se 3 | hi ree + & [ame rac ATTENTION! [ae rc We BOARD 15 PLACED . (oo > “ToTie nevus sxSTeM ‘ | commesenron Zane bee & to | matte nar 8 ve [aman owe a PRIMARY PART IN ARCADE sr DIGITAL INPUTS T10V AC. "Einareust | CuRCUIT DVAGaAn SDI 130 (OPTION) TNETRET | COMTRDL SYSTEN 1 6/2 6704 600-ARA I Kees 1 5 < |1 I 2 | 3 4 I 5 I be ‘Bie xxi a DLO t T “pso0 11¢ DeitAL outeuTs OS3C 127 TERMINAL UNIT x2) loo f ci isto Bo A uw Fe) at ee a 7 aus io q & Ao SHOT Gar ia : 7 ea 7 ‘a D 7 { @, 3 on 4 | a — : =) | a a << SPS FUSD ILE women 1 ; Jenne] auteur sianas zt 7 . tun = J o 2 | cxcteon 3 ERROR, 1B 4 | ra une exteacen ATTENTION S| Gere freuase 1° rue eoaee 1s aLaceo ow © | cner/eeunse = PosiTion Accattone + | sexeew sor ue actuar sxsten DIGHTAL owtFuT 7 conFicuention aia ante | z a i 7 | ‘aol OF Pu Ca 1 = ai] fe a ! : Fi c [ 3 I 3 | | = a I a a a a a a PRIMARY PART IN ARCADE]|C DIGITAL OUTPUTS 24v OC EMME BUST cece La Contmou swt 19 62 S00 110 (OPTION) CLS = 6704 600-ARA le = [pews] vom wma Asea Brown Boveri fis /ics 09 314 4. i ATTENTION! f, | Mesouw a nee ON Poartion neconDivs ro me mctuat svsten coumavertion “Dia ESTO 130 Teron unl 22 8 2 oy rs ca e ar ov Y RC-NETWORK acess eveer ovreur ‘SianaL FuNcTIENS IF RST OorioMAL OUTPUT SOARD wat | OUTPUT SIGNALS 4 3 | Enea | Paogk unt exrencten, S| seu /aeuease « 6 | see Jeeuense & 7 | sexta sto" | bettas oureur 7 [— carat fourrur 1S. PRIMARY PART IN ARCADE it = DIGITAL OUTPUTS RELAYS, 2-2h0V AC/DC S00 131 (OPTION) Tinicesest __| CIRCUIT O1AGRA CONTROL SYSTEM IRE 6/2 6704 600-ARA Pe ve | 3 I 4 5 ‘Asea Brown Boveri |rosvecs 19 37 | 6i = 3 L y & l s L ot j "Di so0e ( ( STA i TERNAL wu F ‘el_wnpur ews bso 7% a F ; al A a 7 ee Oo a as =a ‘ a : as T r | la z [— a 7 Sa a ATTENTION! 5 x be oI? 7 “TNE BOARG 15 PLACED ON |_¢ 5 Fost Tiow Acco20ING TO = . =e tod] 8 ‘ Couneueanien “| eS i its 7 2 <—| =| ue 7 fo EEL x re EE ily a} = fod T Fit 4 ; | i [at ™ c Food c ! [ot |) Nhoven sears rox : al MeLINGe SIGNAL : to i = 3 L i ror ar P a : Ot %, SSS = PRIMARY PART IN ARCADE| |° =—| ANALCG INPUTS 0-+10V Emeapusr | CIRCUTT DIAG DSAI 120 (OPTION) ‘CtTiestaie_—_| COMTROL SYSTEM UR 4/2 6704 600-ARA =o Issacs wa a ‘Asea Brown Baveri [rosa T 7 T 3 7 Li t T 5 T 6A (Bd we Aad oor Fain eoomccvon] ieee eurear_ cue few sol fF Ine : i : f L on 7 | ae ee i i : | | i | i x | | ! % lar [= 8 | : ™ ——— | [Eien Pee, : wv + BL a hs 5 ie | i ue : 2S ab L Hr | | ! 7 an { a i z ae mF Hi = oP f #0 Hit 2 Hie) i | ATTENTION! : se E c =e is p 4 “We Can 1s PACED on ! ow boston neon 6 10 i 7a fs We ec ant oer ; tw = i | — — | : PRIMARY PART IN ARCADE|° f ‘ANALDG OUTPUTS :10V EWmenst | CIncUIT o1AceAn DSAO 110 (OPTION) 10m Crivwsrab_| CONTROL SYSTEM IRD 6/2 6704 600-ARA | fea? = 120mA TAK ‘Asea Brown Boveri aswecs 39 17 T 3 oA I 5 | oAi [0506 115 7 [psx 113 CONNECTION UNIT eescaven reco ano seron ovacnon | | a oon oe — tas et z i i fd Bz [pz f ft = bs | 8 ssw ou 2 a a an ce ¢ 4 PRIMARY PART IN ARCADE| ‘ANALOG OUTPUTS = ov ean onan re (OPTION) CONTROL SYSTEM IRB 6/2 E - ms = lia lia Asea Brown Bove RENTS] 679% SO0-ARA fated T 3 ‘ I 7 5per . [bust DSCA II ASYNCRONOUS CoFUNIcATION iat] Proweg wait ——- = ; 6A ‘0 ul [omer DSTC 120 reRMIAL UT esau uo e_cramnero fis ur OY PF] a bio svt * a o cs “a ee « of = x Cm j200_sour 5 1 DATA TERMINAL 1 toot. coun vee 1 [is - 232) DATA TERMINAL AND COMPUTER | Frnceaust CT oven LINK CONNECTION (OPTION) estan CONTROL SYSTEN IRB 6/2 t x eeeremt 6704 600-ARA eatin Sco fd ‘Asea Brown Boveri roses a1 I 2 a + 5 6remeat unt vernon EU UN ‘Ww fre Secuoum an sea wit joriOn DEAD HANS. HAKOLE seecoum ar Mig 7. sateno a SArAD 91 0%. % 44 Seecoumn x1 PROGOUT f RUN OW A, Ov RARE = 70V- 10 é ft ROW Pa 5 ir nun Sseceoum sUHPERS REROVE F STANOSY INPUT 3X6 1S USED ‘RTO CONNECT USEF CONTACTS Un CHAIN AMPERS REMOVE TO CONNECT USER CONTACTS vin 1, custom 2 P= P connections , runcanat USE } caster us PRIMARY PART INARCADE| 0 a TCIRCUTT OTAGRAR conrmoL Systen 1RB 6/2 fered Asea Brown Boveri frossars 3 6704 600-ARA W = ' I q 3 ‘ T | © ABR“on 157° Tris) DSCC I21 HOMTERBOAFD xt HowITOR (orriow) &— =" ninte_ 0Pt10m) w {—> ——,——, w 2 Sew x] 4 mew Fs tovow asv | | ‘ozz 101" YE 109A 15V-RESULATOR an ang PROGRAM DISPLAY (oPrion) k= faret CONTRO! La CIRCUTT TAG CONTROL SYSTEM 1R@ 6,2 ‘Asea Brown Boveri oa PRIMARY PART IN ARCADE| 6704 600-ARA ‘ I; ar ¥ 7 er ar Br Pe 7 sm ores » t er x + { fe z es 1 Vv 8 aw 35 13 to le x ous, j lar —T a if 3) fF! —— 35 | < 36 | 7 > a1sv | } | sv " si sa ‘ i Lt. Saas ne a 7 le] p> o——— as b spas pm [ O12 wastes k 7 19 Jou xs¢. 2Strop removed it 7 DNS 9 os mnstetted on = a PRIMARY PART IN ARCADE] E SUPERVISION BOARD fe menteous! THRCUIT OvaGRaet E AXES 1-3 [Prnastai | common srsten ime 6/2 ss ra wt tak | Asea Brown Boveri fronacs sy 6704 600-ARA 3 I 4 T $ ] é5 i 6 oud = C 1 JOSCC 162 SWPERVISIN BOAADIOPTION , ! POsFeEO Ga x 2 t it ; t 5 tr Hw ie i ry a at t — ie | o ¢ “8 Ee | _e bs it 7 | vil z | | 3b 7 ar 7 —— : 8 t le » oc x 5 i bo B 36 1 v I pe us [>| > >] 18 se 7 0 ws c ra 4} \ 11 corwctions IF ony | aces Use si 4 2 PRIMARY PART IM ARCADE| E ‘SUPERVISION. BOAR: Temas | orCur omen AXES 4-6 [OP TION) Corastite ConTRO. SYSTEN IRB 6/2 5 arava} 6704 600- Katie seals os ited sea Brown Bove RN] 6704 600-ARA [ies oa 7 7 7 5 T ABR4 4 = 4 ¥ Bi fi (Dee CS ' [0SOC 1%? SLPERVISION” BOARD (OPTION) osteo : ” EE n 44 — n rm FH-—1 Mote:Tacho ond Resolver zec-back m1 a —l signals must always be connected 28 . 1 ayo as they are included in the | te safely supervision circuits tayo | Vi[eziiz] ls 1 +) Connections, if only ax 7 is used | i — or 44 . 7 7 ter 7] 2) Connections, if only ax 7 and @ 7— 7 Bare used u wZ B oc ox 2 3 ue av ouxs a7 $ at sev z 3h Se 7 ue z 7 pe ks i a | 7 rs | 1% =) i 3 PRIMARY PART IN ARCADE, SUPERVISION BOARD cinco ian AXES 7-9 (OPTION) Citastai | CONTROL SYSTEM Re 6/2 7s weed neem [es rem wm | an, Asea Brown Bover i Tease 97 6704 600-ARA 3 T Lars l : |