Product specification. Motor unit MU10, MU20, MU30 3HEA Rev. 1 /September 2004

Transcription

1 Product specification Motor unit MU10, MU20, MU30 3HEA Rev. 1 /September 2004

2 The information in this document is subject to alteration without prior notice and should no be regarded as an undertaking from ABB. ABB assumes no responsibility for errors that may occur in this document. ABB bears no responsibility for damage that is a consequence of using this document or the software or hardware described in this document. The document, or parts of it, may not be reproduced or copied without prior permission from ABB. It may neither be imparted to a third pary nor otherwise be used without authorization. Infringement hereof will be subject to action in accordance with applicable laws. Further copies of this document can be obtained from ABB at current prices. ABB Artikelnummer: 3HEA Rev. 1 /September 2004 ABB Automation Technologies AB Arc Welding SE LAXÅ Sweden

3 1 Introduction General Areas of application Motor sizes Description General Serial Measurement Box Brakes General Releasing the brakes Technical specification 2-1 A Motors Motor MU Illustration Technical data Brake Dimensional diagrams Wiring diagram Torque curve Motor MU Illustration Technical data Brake Dimensional diagrams Wiring diagram Torque curve Motor MU Illustration Technical data Brake Dimensional diagrams Wiring diagram Torque curve Torque curve Motor MU30+MU Torque curve Motor MU30+MU B Serial measurement boxes Low voltage One motor Two motors Four motors Six motors High voltage One motor 3-5 3HEA Rev. 1 /September

4 2.5.2 Two motors 3-6 C Brake release box (BRB) High voltage motor Electrical installation Installation of software 4-1 D One external axis General Installation into one cabinet for 1400, 2400, 4400, 6400R Installation into one cabinet for IRB 6600, 7600 with serial measurement box Installation into one cabinet for 6600, 7600 with brake release box4-5 E Several external axes Introduction General Operation Limitation 1: Limitation 2: Installation into one cabinet for 1400, 2400, 4400, 6400R Installation into one cabinet for IRB 6600, Order information Introduction General Ordering cables 5-1 F Motor unit IRB 1400, 2400, 4400, 6400R One motor Motors Serial Measurement Box (SMB) Cables between the SMB and motor Cable for external axis from the robot cabinet to SMB Cable for external axis from the signal cable in the robot cabinet to SMB Cable for external axis from SMB to robot Two to six motors Motors Serial measurement boxes (SMB) Cables (SMB-motor) Cables for external axes and several motors (cabinet-smb) Robot cabinet cable for MS2 5-5 G Motor unit IRB 6600, HEA Rev. 1 /September 2004

5 4.4 One or two motors Motors Serial Measurement Box (SMB) Brake release box (BRB) for one motor Cable between SMB and motor Cable between DDU cabinet and BRB/SMB for one motor Cable between DDU cabinet and SMB for two motors Cable between robot cabinet and SMB for one or two motors Cable between robot and BRB Notes: 5-8 3HEA Rev. 1 /September

6 4 3HEA Rev. 1 /September 2004

7 Introduction General 1 Introduction 1.1 General This description provides a summary of the motor units characteristics and performance Areas of application The motor units are specially designed for ABB s robots and can be used for peripherals requiring power-steered motors that are synchronised with the robot movements. The motor units are designed for optimal performance and to facilitate installation and application Motor sizes Low voltage/ High voltage The motor units are available in the following sizes: MU10, 1.5 Nm, 3300 rpm MU20, 6.8 Nm, 3300 rpm MU30, 19.0 Nm, 3300 rpm 3HEA Rev. 1 /September

8 Introduction Description 1.2 Description General The motor units are power-operated and function as external axes. The motors are controlled by drive units mounted either in the robot s switch box or in a separate housing. A motor can be linked to the robot system as an integrated external axis. An integrated external axis can move synchronously with the robot axes. A complete motor unit comprises a serial measurement box, motors, parameter diskette and a number of standardised cables Serial Measurement Box The serial measurement box contains a serial measurement card (with battery backup) and push-buttons for releasing the brakes. The serial measurement box can, if required, be located up to a recommended maximum of 15 m from the motor. If material handlers (MH), one external axis and option 2204 or 2200 are selected, the serial measurement box can be replaced by a brake release box HEA Rev. 1 /September 2004

9 Introduction Brakes 1.3 Brakes General All motors described in this manual are equipped with electric brakes that are on when they are not energised. This brake is not an operating brake. This means that with normal operations the p-box or operator's panel are to be used to stop. They can be released in several different ways, and are described in the following section Releasing the brakes The various methods for releasing the brakes manually are specified in the table below. When When the brake release/serial measurement box is connected to the Robot Control Cabinet. 24VDC/1A supply unit is connected between MP.JB1 output c5 (0V) and c4(+24vdc) in the brake release/serial measurement box. 24V is connected, for two external axes, between MP.JB1 output a5 (0V) and a4 (+24V DC) Notes The brake will be released when the button in the box is pressed. The brake will be released when the button in the box is pressed a. The brake for axis 7 will be released when button 7 in the box is pressed. a. For two external axes, the brake is released for axis 8 when button 8 is pressed, see Brake release box (BRB) section C 3HEA Rev. 1 /September

10 Introduction Brakes 1-4 3HEA Rev. 1 /September 2004

11 Technical specification Motors 2 Technical specification A Motors 2.1 Motor MU Illustration The illustration below shows a MU A01_3D.tif Technical data Parameters Values Suitable drive unit C / G / T / U / V / W N nom 3300 rpm (345,57 rad/s) 1 N rms 1650 rpm T Nm 1 T rms 1.4 Nm T nom 1.0 Nm Max. dynamic torque 4.3 Nm Max. current (I max. ) 11 Arms 1 Current at torque T n (I rms ) 2.7 Arms Torque constant (K t ) Nm/A 3HEA Rev. 1 /September

12 Technical specification Motors Parameters Values Voltage constant, (K e (U rms ) Winding resistance/phase (R) 1.09 ohm 1 Winding inductance/phase (L) 3.42 mh 1 Mass torque incl. brake (J) kgm 2 1 Number of pairs of poles 3 1 Weight (M) 4.4 kg Temperature range C Nominal output 0.25 kw Peak output 1.4 kw Degree of protection IP 67 1.Used in the configurationfile Brake Min. torque Max. torque Voltage Power consumption at 20 C 0.9 Nm 1.4 Nm 24 ± 10% V DC 12 W Dimensional diagrams R15(4x) Ø7,5(4x) h7 Ø36,8 h9 16 Ø14j , a HEA Rev. 1 /September 2004

13 Technical specification Motors Wiring diagram Force Resolver A C E G J K L M 23P BURNDY Yellow Green Red Gn/Ye Yellow Yellow Earth W V U M 3 PTC B Brake 8P BURNDY A X B OVX C D E F Y OVY OVEXC EXC S1 S3 S4 S2 R2 R1 Bk Bu Rd Rd/Wh Bk/Wh/ Ye Ye/Wh Torque curve Torque - Drive unit C / G / T / U / V / W 5 4 Torque (Nm) continuously torque Speed (rpm) MP1 C-don.xls 3HEA Rev. 1 /September

14 Technical specification Motors 2.2 Motor MU Illustration The illustration below shows a MU A01_3D.tif Technical data Parameters Values Suitable drive unit G / T / U / V / W N nom 3300 rpm ( rad/s) 1 N rms 1650 rpm T Nm 1 T rms 6.7 Nm T nom 3.3 Nm Max. dynamic torque 19 Nm Max. current (I max. ) 38.5 Arms 1 Current at torque T n (I rms ) 6.2 A Torque constant (K t ) 0.64 Nm/Arms Voltage constant, (K e (U rms ) Winding resistance/phase (R) 0.14 ohm HEA Rev. 1 /September 2004

15 Technical specification Motors Parameters Values Winding inductance/phase (L) 2.76 mh 1 Mass torque incl. brake (J) kgm 2 1 Number of pairs of poles 3 1 Weight (M) 13.5 kg Temperature range C Nominal output 1.2 kw Peak output 4.2 kw Degree of protection IP 67 1.Used in the configurationfile Brake Min. torque Max. torque Voltage Power consumption at 20 C 16 Nm 25.6 Nm 24 ± 10% V DC 20 W Dimensional diagrams Ø45(4x) ,67 R , , h7 Ø130 j6 27 Ø24 j6 124, a01 3HEA Rev. 1 /September

16 Technical specification Motors Wiring diagram Force Resolver A B C D E F G H J K L M 23P BURNDY Yellow Green Red Gn/Ye Yellow Yellow Earth W V U M 3 PTC B Brake 8P BURNDY A X B OVX C D E F Y OVY OVEXC EXC S1 S3 S4 S2 R2 R1 Bk Bu Rd Rd/Wh Bk/Wh/ Ye Ye/Wh Torque curve Torque Drive unit G / V Torque (Nm) continiuously torque Speed (rpm) MP2 G_V-don.xls 2-6 3HEA Rev. 1 /September 2004

17 Technical specification Motors Torque Drive unit T / U / W Torque (Nm) continuously torque Speed (rpm) MP2 T_U_V-don.xls 3HEA Rev. 1 /September

18 Technical specification Motors 2.3 Motor MU Illustration The illustration below shows a MU A01_3D.tif Technical data Parameters Values Suitable drive unit T / U / V / W N nom 3300 rpm ( rad/s) 1 N rms 1650 rpm T 0 19 Nm 1 T rms 15.5 Nm T nom 10 Nm Max. dynamic torque 30 Nm Max. current (I max. ) 72.5 Arms 1 Current at torque T n (I rms ) 16.1 Arms Torque constant (K t ) 0.69 Nm/Arms Voltage constant, (K e (U rms ) Winding resistance/phase (R) ohm 1 Winding inductance/phase (L) 1.28 mh HEA Rev. 1 /September 2004

19 Technical specification Motors Parameters Values Mass torque incl. brake (J) kgm 2 1 Number of pairs of poles 3 1 Weight (M) 23.5 kg Temperature range C Nominal output 2.7 kw Peak output 12.1 kw Degree of protection IP 67 1.Used in the configurationfile Brake Min. torque Max. torque Voltage Power consumption at 20 C 21 Nm 33.6 Nm 24 ± 10% V DC 28 W Dimensional diagrams ,5 Ø12(4x) Ø130 j6 27 Ø24j ,67 116, R95 8h , a01 3HEA Rev. 1 /September

20 Technical specification Motors Wiring diagram Force Resolver A B N C D S E F U G H V J K 23P BURNDY Yellow Green Red Gn/Ye Earth W V U M 3 PTC 8P BURNDY A X B OVX C D E F Y OVY OVEXC EXC S1 S3 S4 S2 R2 R1 Bk Bu Rd Rd/Wh Bk/Wh/ Ye Ye/Wh L M Yellow Yellow B Brake Torque curve Torque Drive unit T Torque (Nm) continuously torque Speed (rpm) MP3 T-don.xls HEA Rev. 1 /September 2004

21 Technical specification Motors Torque Drive unit U / W Torque (Nm) continuously torque Speed (rpm) MP3 U_W-don.xls Torque curve Motor MU30+MU20 Torque Drive unit GT (continuously available torque 0 rpm) Nm Large -T Torque Drive unit GT Medium -G Nm 3HEA Rev. 1 /September

22 Technical specification Motors Torque curve Motor MU30+MU30 Torque Drive unit GT (continuously available torque 0 rpm) Nm Large 1 -T Large 2 -G Nm Torque Drive unit GT HEA Rev. 1 /September 2004

23 Technical Specification Serial measurement boxes B Serial measurement boxes 2.4 Low voltage One motor (4x) 3HXD Part Quantity Name Part number Remarks 1 1 Serial measurement card 3HEA Connecting limit switches 3HXD HEA Rev. 1 /September

24 Technical Specification Serial measurement boxes Two motors HXD (4x) Part Quantity Name Part number Remarks 1 1 Serial measurement card 3HEA Connecting limit switches 3HXD HEA Rev. 1 /September 2004

25 Technical Specification Serial measurement boxes Four motors (4x) 3HXD Part Quantity Name Part number Remarks 1 1 Serial measurement card 3HEA Connecting switch limit 3HXD Connecting motor PTC 3HXD HEA Rev. 1 /September

26 Technical Specification Serial measurement boxes Six motors (4x) 3HXD Part Quantity Name Part number Remarks 1 1 Serial measurement card 3HEA Connecting switch limit 3HXD Connecting motor PTC 3HXD HEA Rev. 1 /September 2004

27 Technical Specification Serial measurement boxes 2.5 High voltage One motor (4x) 3HXD Part Quantity Name Part number Remarks 1 1 Serial measurement card 3HEA Connecting limit switches 3HXD HEA Rev. 1 /September

28 Technical Specification Serial measurement boxes Two motors (4x) 3HXD Part Quantity Name Part number Remarks 1 1 Serial measurement card 3HEA Connecting limit switches 3HXD HEA Rev. 1 /September 2004

29 MP.M7 LS1.JB1 LP.JB1 LS2.JB1 BR.BF7 FB.M7 MP.JB1 Technical Specification Brake release box (BRB) C Brake release box (BRB) 2.6 High voltage motor 2 1 Part Quantity Name Part number Remarks 1 1 Brake release buttons 2 2 Connecting limit switches 3HXD HEA Rev. 1 /September

30 Technical Specification Brake release box (BRB) 3-8 3HEA Rev. 1 /September 2004

31 Electrical installation One external axis 3 Electrical installation 3.1 Installation of software D One external axis 3.2 General The system parameters for the motor package are on the diskette included in the delivery. There are files on this diskette that suit the most fequently occurring combinations of drive and measuring systems that can be loaded via RobInstall. The parameters can be loaded either via: The programming box: System parameters / Load - replace parameters or when booting using RobInstall: Additional Data / Additional Parameters. The files on the diskette are in a tree structure and you select the file required depending on the location of the drive unit and then depending on the size of motor. The parameters are a basis for continued work. It is therefore always necessary to change either the name or the acceleration data, transmission (gear ratio), etc. See also the User s Guide 3HAC 9299 Hardware option / External Axes. One external axis is normally connected to the robot s serial measurement system, one (MS1) in series with the robot. 3.3 Installation into one cabinet for 1400, 2400, 4400, 6400R Connect the motor unit as follows: Cable The external axis serial measurement cable The resolver cable The motor cable The external axis motor cable The robot s motor cable Connections is connected between the serial measurement box (SMB.I) and the robot foot (R1.SMB). is connected between the serial measurement box (FB.M7) and the motor. is connected between the serial measurement box (MP.M7) and the motor. is connected between the serial measurement box (MP.JB1) and the control cabinet (XS.7). is connected between the robot foot (R1.MP) and the control cabinet (XS.1). 3HEA Rev. 1 /September

32 Electrical installation One external axis Cable The robot s measurement cable The extension for the robot s measurement cable Connections is connected between the serial measurement box (SMB.I) and the control cabinet (XS.2). is connected between the robot s serial measurement cable (if it requires extension) and the serial measurement box (SMB.I) One external axis Part Name 1 Robot 2 Control cabinet S4C 3 The robot s motor cable (supplied together with the robot) 4 The robot s serial measurement cable (supplied together with the robot) 5 Motor 6 Serial Measurement Box 7 Motor cable 8 Resolver cable 9 Serial measurement cable 10 Motor cable for several motors 11 Extension for the robot s serial measurement cable 4-2 3HEA Rev. 1 /September 2004

33 Electrical installation One external axis 3.4 Installation into one cabinet for IRB 6600, 7600 with serial measurement box Connect the motor unit as follows: Cable The external axis serial measurement cable The motor cable The resolver cable The external axis motor cable The robot s motor cable Connections is connected between the serial measurement box (SMB.I) and the control cabinet, (XS.42). is connected between the serial measurement box (MP.M8) and the motor. is connected between the serial measurement box (FB.M8) and the motor. is connected between the serial measurement box (MP.JB1) and the DDU cabinet (XS.78). is connected between the robot foot (R1.MP) and the control cabinet (XS.1). The robot s measurement cable is connected between the robot foot (R1.SMB) and the control cabinet (XS.2) DDU 9 One external axis Part Name 1 Robot 2 Control cabinet S4C 3 The robot s motor cable (supplied together with the robot) 4 The robot s serial measurement cable (supplied together with the robot) 5 Motor 3HEA Rev. 1 /September

34 Electrical installation One external axis Part Name 6 Serial Measurement Box 7 Motor cable 8 Resolver cable 9 Motor cable (external axis) 10 Serial measurement cable (external axis) 11 Signal cable (supplied with DDU cabinet) 12 Power cable (supplied with DDU cabinet) 4-4 3HEA Rev. 1 /September 2004

35 Electrical installation One external axis 3.5 Installation into one cabinet for 6600, 7600 with brake release box The brake release box can only be used if option 2204 or 2200 is selected. Connect the motor unit as follows: Cable External axis resolver cable The motor cable The resolver cable The external axis motor cable The robot s motor cable Connections is connected between the brake release box (BRB.FB7) and the robot foot, (R3.FB7) is connected between the serial measurement box (MP.M7) and the motor. is connected between the serial measurement box (FB.M7) and the motor. is connected between the brake release box (MP.JB1) and the DDU cabinet (XS.78). is connected between the robot foot (R1.MP) and the control cabinet (XS.1). The robot s measurement cable is connected between the robot foot (R1.SMB) and the control cabinet (XS.2) DDU One external axis Part Name 1 Robot 2 Control cabinet S4C 3 The robot s motor cable (supplied together with the robot) 4 The robot s serial measurement cable (supplied together with the robot) 5 Motor 3HEA Rev. 1 /September

36 Electrical installation One external axis Part Name 6 Brake release box 7 Motor cable 8 Resolver cable 9 Motor cable (external axis) 10 Serial measurement cable (external axis) 11 Signal cable (supplied with DDU cabinet) 12 Power cable (supplied with DDU cabinet) 4-6 3HEA Rev. 1 /September 2004

37 Electrical installation Several external axes E Several external axes 3.6 Introduction General Several external axes are connected to the robot s serial measurement system two (MS2). All S4C and S4C plus robot system can use up to six external axes, but one extra cabinet is required for the electronics in the following cases: For IRB 4400/6400 for two or more axes For IRB 1400/2400 for four or more axes If four or more MU20 or MU30 motor units are operated from a control cabinet, performance may be reduced somewhat when the motors are run simultaneously, with high outgoing torque. The control cabinet cannot deliver maximum power to more than three MU20 or MU30 motors at the same time Operation For simultaneous operation of four or more Medium or Large motors from the same control system, certain parameters are limited: One S4C and S4C plus control system with external axis cabinet for external axes can as a maximum be equipped with 3 GT drive units, i.e. 3 T units and 3 G units, mounted in pairs in a GT module with common power pack. These are configured in the serial measurement box as follows: 7, 9 and 11, T unit 8, 10 and 12, G unit Limitation 1: Operation of a Motor MU10 with a G drive unit or a Motor MU20 or Motor MU30 with a T drive unit. Performance is shown in the torque curves in chapter and in chapter HEA Rev. 1 /September

38 Electrical installation Several external axes Limitation 2: The GT drive units have their maximum current set to a lower value than a separate G or T unit. Therefore, simultaneous operation of axes 7-8, 9-10 and should be avoided, if the reciprocal cycle makes high use of the motors. Applicable mean torque per motor pair is shown in the torque curves HEA Rev. 1 /September 2004

39 Electrical installation Several external axes 3.7 Installation into one cabinet for 1400, 2400, 4400, 6400R Connect the motor units as follows: Cable The external axis serial measurement cable The resolver cable The motor cable The external axis motor cable The robot s motor cable The robot s measurement cable The robot cabinet s cable to MS2 Connections is connected between the serial measurement box (SMB.1) and the robot foot (XS42). is connected between the serial measurement box (FB.MX) and the motors. is connected between the serial measurement box (MP.MX) and the motors. is connected between the serial measurement box (MP.JB1) and the control cabinet (XS7). is connected between the robot foot (R1.MP) and the control cabinet (XS1). is connected between the serial measurement box (R1.SMB) and the control cabinet (XS2). is connected inside the robot s control cabinet. It connects MS2 from the rear face inside the cabinet to the left side of the cabinet. 1 2, Several external axes 3HEA Rev. 1 /September

40 Electrical installation Several external axes Part Name 1 Robot 2 Control cabinet S4C 3 The robot s motor cable (supplied together with the robot) 4 The robot s serial measurement cable (supplied together with the robot) 5 Motors 6 Serial Measurement Box 7 Motor cables 8 Resolver cables 9 Motor cable for several motors 10 Serial measurement cable, external axis 11 The robot s cable to the cabinet for MS HEA Rev. 1 /September 2004

41 Electrical installation Several external axes 3.8 Installation into one cabinet for IRB 6600, 7600 Connect the motor units as follows: Cable The external axis serial measurement cable The resolver cable The motor cable The external axis motor cable The robot s motor cable The robot s measurement cable Connections is connected between the serial measurement box (SMB.1) and the control cabinet (XS42). is connected between the serial measurement box (FB.MX) and the motors. is connected between the serial measurement box (MP.MX) and the motors. is connected between the serial measurement box (MP.JB1) and DDU cabinet (XS78). is connected between the robot foot (R1.MP) and the control cabinet (XS1). is connected between the serial measurement box (R1.SMB) and the control cabinet (XS2) DDU 9 Several external axes Part Name 1 Robot 2 Control cabinet S4C 3 The robot s motor cable (supplied together with the robot) 4 The robot s serial measurement cable (supplied together with the robot) 5 Motors 6 Serial Measurement Box 3HEA Rev. 1 /September

42 Electrical installation Several external axes Part Name 7 Motor cables 8 Resolver cables 9 Motor cabling, (external axes) 10 Serial measurement cable, (external axes) 11 Signal cable (supplied with DDU cabinet) 12 Power cable (supplied with DDU cabinet) HEA Rev. 1 /September 2004

43 Order information Motor unit IRB 1400, 2400, 4400, 6400R 4 Order information 4.1 Introduction General With delivery of the motor unit comes a diskette with the basic setup of the system parameters. All part numbers below refer to robots with S4C plus control. For systems with several external axes or where a length of resolver and power cables other than 5 m is required, all units should be ordered separately. Important to state control system with order (S4, S4C or S4C plus) Ordering cables When ordering cables, the -xx in the item number should be replaced by the length code, which is specified in the tables for the various cable types. The robot must be equipped with drive units for external axes. Motor MU10 requires a G or T type drive unit. Motor MU20 and Motor MU30 require a T type drive unit. For a description of the drive units, please refer to the description of the robot itself. A V drive unit can be used for Motor MU30. F Motor unit IRB 1400, 2400, 4400, 6400R 4.2 One motor Motors Part number 3HEA HEA HEA Motor MU10 MU20 MU30 3HEA Rev. 1 /September

44 Order information Motor unit IRB 1400, 2400, 4400, 6400R Serial Measurement Box (SMB) Part number 3HXD Serial Measurement Box SMB for one motor Cables between the SMB and motor Part number Cable Length 3HXD 1250-xx Resolver cable 3HXD 1249-xx Motor cable m m m m m Cable for external axis from the robot cabinet to SMB Part number Cable Length 3HXD 1253-xx Serial measurement cable for external axis m m m m Cable for external axis from the signal cable in the robot cabinet to SMB Part number Cable Length 3HXD Signal cable for external axis 3 m 5-2 3HEA Rev. 1 /September 2004

45 Order information Motor unit IRB 1400, 2400, 4400, 6400R Cable for external axis from SMB to robot Part number Cable Length 3HXD 1432-xx Serial measurement cable for external axis m m m m 3HEA Rev. 1 /September

46 Order information Motor unit IRB 1400, 2400, 4400, 6400R 4.3 Two to six motors Motors Part number 3HEA HEA HEA Motor MU10 MU20 MU Serial measurement boxes (SMB) Part number 3HXD HXD HXD Serial Measurement Box SMB for two motors SMB for up to four motors SMB for up to six motors Cables (SMB-motor) Part number Cable Length 3HXD 1250-xx Resolver cable 3HXD 1249-xx Motor cable m m m m m 5-4 3HEA Rev. 1 /September 2004

47 Order information Motor unit IRB 6600, Cables for external axes and several motors (cabinet-smb) Part number Cable Length 3HXD 1278-xx Motor cable for external axes and several motors 3HXD 1411-xx Serial measurement cable for external axes m m m m Robot cabinet cable for MS2 Cable Remarks 3HXD Robot cabinet cable for MS2 (connects MS2 from the rear face inside the cabinet to the left side of the cabinet.) MS2 is used if more than 1 external axis is connected to S4C or S4C plus robot control system. MS2 is not required if an external axis cabinet is connected to the robot. G Motor unit IRB 6600, One or two motors Motors Part number 3HEA HEA HEA Motor MU10 MU20 MU30 3HEA Rev. 1 /September

48 Order information Motor unit IRB 6600, Serial Measurement Box (SMB) Part number 3HXD HXD Serial Measurement Box SMB for one motor SMB for two motors Brake release box (BRB) for one motor Part number 3HXD Brake release box BRB for one motor Cable between SMB and motor Two cables for two motors Part number Cable Length 3HEA xxx Motor cable 3HEA xxx Resolver cable m m m m m Cable between DDU cabinet and BRB/SMB for one motor Part number Cable Length 3HXD 1601-xx Cable for external axis m m m 5-6 3HEA Rev. 1 /September 2004

49 Order information Motor unit IRB 6600, Cable between DDU cabinet and SMB for two motors For one or two motors Part number Cable Length 3HXD 1619-xx Cable for external axis m m m Cable between robot cabinet and SMB for one or two motors Part number Cable Length 3HXD 1618-xx Serial measurement cable for external axis m m m Cable between robot and BRB Part number Cable Length 3HXD 1640-xx Resolver cable for external axis m m m m m m 3HEA Rev. 1 /September

50 Order information Motor unit IRB 6600, Notes: 5-8 3HEA Rev. 1 /September 2004

51

52 3HEA Rev. 1 /September 2004