Professional Documents
Culture Documents
CONTENTS
Page
1 General Information ........................................................................................................ 1-0
Block Diagram.............................................................................................................. 1-1
View of Control Cabinet............................................................................................... 1-2
View of Control Cabinet............................................................................................... 1-3
Designation................................................................................................................... 1-4
Designation................................................................................................................... 1-5
2 Mains Connection and Power Supply ............................................................................ 2-0
Mains Connection......................................................................................................... 2-1
Transformer Unit .......................................................................................................... 2-2
Power Supply................................................................................................................ 2-3
Power Supply................................................................................................................ 2-4
3 Computer Unit and Connector Unit............................................................................... 3-0
Block Diagram / Computer Unit .................................................................................. 3-1
Cabling in Computer Unit ............................................................................................ 3-2
Main Computer and Hard Disk / Flash Disk Drive ...................................................... 3-3
Compute Cooling.......................................................................................................... 3-4
Base Connector Board and I/O Computer.................................................................... 3-5
Connector Board and I/O Computer............................................................................. 3-6
Connector Board and Axis Computer .......................................................................... 3-7
Base Connector Unit..................................................................................................... 3-8
Connector Plate on Controller Panel ............................................................................ 3-9
4 Emergency Stops and Run Chain................................................................................... 4-0
Emergency Stop............................................................................................................ 4-1
Run Chain ..................................................................................................................... 4-2
Run Chain ..................................................................................................................... 4-3
Power Unit.................................................................................................................... 4-4
5 Drive System and Robot Cable ....................................................................................... 5-0
Block Diagram.............................................................................................................. 5-1
Rectifier, Fans and Bleeder .......................................................................................... 5-2
Drive System Signal Connection 2 Drive Units........................................................... 5-3
Drive System Signal Connection 3 Drive Units........................................................... 5-4
Servo Drive Units / IRB 140 ........................................................................................ 5-5
Servo Drive Units / IRB 340 ........................................................................................ 5-6
Servo Drive Units / IRB 640, 840 ................................................................................ 5-7
Servo Drive Units / IRB 1400, 2400 ............................................................................ 5-8
Servo Drive Units / IRB 4400, 6400S/PE .................................................................... 5-9
Servo Drive Units / IRB 6400R.................................................................................... 5-10
Control Cable IRB 140 ................................................................................................. 5-11
Control Cable IRB 340, 1400 and 2400 ....................................................................... 5-12
Control Cable IRB 640, 840, 4400, and 6400S/PE ...................................................... 5-13
Control Cable IRB 6400R ............................................................................................ 5-14
6 External Axes.................................................................................................................... 6-0
External Axes ............................................................................................................... 6-1
Axes Computer 2 and Connector Board....................................................................... 6-2
Expansion Board Axis Connector Board...................................................................... 6-3
Drive System Signal Connection External Axes.......................................................... 6-4
External Axes no. 7th - 9th Control Signal Connection ............................................... 6-5
Product Manual S4Cplus
Circuit Diagram
Page
Axis Computer 2 and Axis Connector Unit if External Axis Cabinet ......................... 6-6
Connection to External Axis Cabinet ........................................................................... 6-7
7 I/O Units and Field Bus Modules ................................................................................... 7-0
I/O Unit Position .......................................................................................................... 7-1
Digital Part of Combi I/O and Digital I/O Unit Input Part........................................... 7-2
Digital I/O Unit Output Part ......................................................................................... 7-3
Combi I/O Unit Digital and Analogue Output Part...................................................... 7-4
Digital Input Part of 120V AC I/O Unit....................................................................... 7-5
Digital Output Part of 120V AC I/O Unit .................................................................... 7-6
Relay I/O Unit Input 1-16 ............................................................................................ 7-7
Digital with Relays I/O Output 1-8 .............................................................................. 7-8
Digital with Relays I/O Output 9-16 ............................................................................ 7-9
Analogue I/O Unit ........................................................................................................ 7-10
Remote I/O Unit For Allen Bradley PLC..................................................................... 7-11
Interbus-S Master/Slave - Interbus-S Master ............................................................... 7-12
Profibus DP Slave ........................................................................................................ 7-13
Encoder Unit................................................................................................................. 7-14
Profibus DP Master/Slave ............................................................................................ 7-15
8 Other Options................................................................................................................... 8-0
Floppy Disk .................................................................................................................. 8-1
Service Equipment Supply ........................................................................................... 8-2
External Connection System Signals ........................................................................... 8-3
Position Switches on Manipulator................................................................................ 8-4
Customer Signals.......................................................................................................... 8-5
Customer Power/Signal IRB 2400, 4400, 6400S/PE ................................................... 8-6
Customer Cable Power/Signal/CAN IRB 6400R......................................................... 8-7
External Control Panel ................................................................................................. 8-8
Extension Cable Teach Pendant ................................................................................... 8-9
Time Relay ................................................................................................................... 8-10
External I/O CAN-Bus Connection.............................................................................. 8-11
9 External Axis Cabinet...................................................................................................... 9-0
Block Diagram ............................................................................................................. 9-1
View of External Axis Cabinet .................................................................................... 9-2
Designation................................................................................................................... 9-3
Mains Connection......................................................................................................... 9-4
Transformer Unit .......................................................................................................... 9-5
Power Supply, I/O Supply............................................................................................ 9-6
Power Unit.................................................................................................................... 9-7
Rectifier, Fans and Bleeder .......................................................................................... 9-8
Drive Unit Signal Connection 1 External Drive Unit .................................................. 9-9
Drive Unit Signal Connection 2 External Drive Units................................................. 9-10
Drive Unit Signal Connection 3 External Drive Units................................................. 9-11
Drive Unit and Control Cable Drive Unit GT.............................................................. 9-12
Drive Unit and Control Cable Drive Unit GT+CCB.................................................... 9-13
Drive Unit and Control Cable ...................................................................................... 9-14
Service Equipment Supply ........................................................................................... 9-15
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Power Unit
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External Axes
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Profibus DP Slave
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Encoder Unit
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Floppy Disk
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Designation
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Mains Connection
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Transformer Unit
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Power Unit
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