3hac047137 001

ROBOTICS
Product manual
IRC5 Panel Mounted Controller
Trace back information:
Workspace 21B version a6
Checked in 2021-05-31
Skribenta version 5.4.005
Product manual
IRC5 Panel Mounted Controller
Design 14
Document ID: 3HAC047137-001

Revision: R
© Copyright 2007-2021 ABB. All rights reserved.

Specifications subject to change without notice.
The information in this manual is subject to change without notice and should not
be construed as a commitment by ABB. ABB assumes no responsibility for any errors
that may appear in this manual.
Except as may be expressly stated anywhere in this manual, nothing herein shall be
construed as any kind of guarantee or warranty by ABB for losses, damage to persons
or property, fitness for a specific purpose or the like.
In no event shall ABB be liable for incidental or consequential damages arising from
use of this manual and products described herein.
This manual and parts thereof must not be reproduced or copied without ABB's
written permission.
Keep for future reference.
Additional copies of this manual may be obtained from ABB.
Original instructions.

Table of contents
Table of contents
Overview of this manual ................................................................................................................... 9
Product documentation .................................................................................................................... 13
Network security ............................................................................................................................... 15
1 Safety 17
1.1 Safety information ............................................................................................. 17
1.1.1 Limitation of liability ................................................................................. 17
1.1.2 Safety data ............................................................................................. 18
1.1.3 Requirements on personnel ...................................................................... 21
1.2 Safety signals and symbols ................................................................................. 22
1.2.1 Safety signals in the manual ...................................................................... 22
1.2.2 Safety symbols on controller labels ............................................................ 24
1.3 Robot stopping functions .................................................................................... 27
1.3.1 Protective stop and emergency stop ........................................................... 27
1.3.2 About emergency stops ............................................................................ 29
1.3.3 Enabling device and hold-to-run functionality ............................................... 30
1.4 Robot operating modes ...................................................................................... 31
1.4.1 About the manual mode ........................................................................... 31
1.4.2 About the automatic mode ........................................................................ 33
1.5 Installation and commissioning ............................................................................ 34
1.6 Operation ........................................................................................................ 37
1.7 Maintenance and repair ...................................................................................... 38
1.8 Troubleshooting ................................................................................................ 39
1.9 Decommissioning .............................................................................................. 40
2 Installation and commissioning 41

2.1 Overview ......................................................................................................... 41
2.2 Installation activities .......................................................................................... 44
2.3 Transporting and handling .................................................................................. 45
2.3.1 Unpacking the controller ........................................................................... 45
2.3.2 The unit is sensitive to ESD ....................................................................... 48
2.4 On-site installation ............................................................................................ 49
2.4.1 Air channel for PMC large ......................................................................... 49
2.4.2 Installation, IRC5 Panel Mounted Controller ................................................. 50
2.5 Connections ..................................................................................................... 57
2.5.1 Connecting cables to the controller ............................................................. 57
2.5.2 Power supply system requirements ............................................................ 62
2.5.3 Connecting power supply to PMC small ....................................................... 65
2.5.4 Connecting power supply to PMC large ....................................................... 67
2.5.5 Connecting power supply to the control module ............................................ 71
2.5.6 Connecting communication cables between IRC5 Panel Mounted Drive Module
and control module .................................................................................. 73
2.5.7 Connecting fan unit to IRC5 Panel Mounted Drive Module .............................. 76
2.5.8 Connecting a FlexPendant ........................................................................ 78
2.5.9 Connectors on the computer unit ............................................................... 79
2.5.10 Connecting a serial channel to the controller ................................................ 82
2.5.11 Closing the Automatic Stop circuit .............................................................. 84
2.5.12 Connection of the MOTORS ON/MOTORS OFF circuit .................................. 85
2.5.13 Programmable stop functions .................................................................... 91
2.5.14 Connection of external safety relay ............................................................. 94
2.5.15 Connection of Drive Module Disconnect, by limit switch ................................. 95
2.5.16 Connecting a Limit switch override push button ............................................ 99
2.6 Drive system .................................................................................................... 101
2.6.1 Drive functions, general ............................................................................ 101
2.7 Memory functions .............................................................................................. 103
2.7.1 Memory functions .................................................................................... 103
Product manual - IRC5 Panel Mounted Controller 5

3HAC047137-001 Revision: R
Table of contents
2.7.2 Connecting a USB memory ....................................................................... 104

2.8 I/O system ....................................................................................................... 106
2.8.1 Definition of fieldbuses, IRC5 .................................................................... 106
2.8.2 DeviceNet I/O units .................................................................................. 110
2.8.3 Conveyor tracking module ........................................................................ 112
2.9 Installation of add-ons ........................................................................................ 114
2.9.1 Installation of additional Drive Module ......................................................... 114
2.9.2 Installation of external operator's panel, IRC5 ............................................... 115
2.9.3 Installation of external enabling device ........................................................ 118
2.9.4 Installation of DeviceNet I/O, Gateways and encoder interface units, IRC5 ......... 120
2.9.5 Installation of conveyor tracking module ...................................................... 121
2.9.6 Installing the EPS board DSQC 646 for Electronic Position Switches ................ 123
2.9.7 Installing the SafeMove board DSQC 647 .................................................... 130
2.10 Testing ............................................................................................................ 139
3 Maintenance 141
3.1 Maintenance schedule, controller IRC5 ................................................................. 141
3.2 Inspection activities ........................................................................................... 142
3.2.1 Inspection of the controller ........................................................................ 142
3.3 Cleaning activities ............................................................................................. 143
3.3.1 Cleaning of the controller cabinet ............................................................... 143
3.3.2 Cleaning the FlexPendant ......................................................................... 144
3.4 Function tests ................................................................................................... 146
3.4.1 Function test of emergency stop ................................................................ 146
3.4.2 Function test of mode switch ..................................................................... 147
3.4.3 Function test of three-position enabling device ............................................. 148
3.4.4 Function test of motor contactors K42 and K43 ............................................ 149
3.4.5 Function test of brake contactor K44 .......................................................... 150
3.4.6 Function test of auto stop ......................................................................... 151
3.4.7 Function test of general stop .................................................................... 152
3.4.8 Function test of superior stop ................................................................... 153
3.4.9 Function test of limit switch ....................................................................... 154
3.4.10 Function test of reduced speed control ........................................................ 155
4 Repair 157
4.1 Overview ......................................................................................................... 157
4.2 Replacement of panel board ................................................................................ 159
4.3 Replacement of I/O units and Gateways ................................................................ 162
4.4 Replacement of backup energy bank .................................................................... 164
4.5 Replacement of computer unit ............................................................................. 166
4.6 Replacement of PCIexpress boards in the computer unit .......................................... 170
4.7 Replacement of expansion board in the computer unit ............................................. 174
4.8 Replacement of fieldbus adapter in the computer unit .............................................. 177
4.9 Replacement of fan in computer unit ..................................................................... 182
4.10 Replacement of SD-card memory in computer unit .................................................. 185
4.11 Replacement of drive unit for PMC small ............................................................... 188
4.12 Replacement of Main Drive Unit for PMC large ....................................................... 191
4.13 Replacement of Axis computer ............................................................................ 194
4.14 Replacement of EPS board DSQC 646 for Electronic Position Switches ...................... 197
4.15 Replacement of SafeMove board DSQC 647 ........................................................... 202
4.16 Replacement of Contactor Interface Board ............................................................. 207
4.17 Replacement of drive system fans ........................................................................ 211
4.18 Replacement of transformer unit .......................................................................... 213
4.19 Replacement of brake resistor bleeder for PMC small .............................................. 215
4.20 Replacement of brake resistor bleeder for PMC large ............................................... 219
4.21 Replacement of power supply .............................................................................. 224
4.21.1 Replacement of customer I/O power supply ................................................. 224
4.21.2 Replacement of control power supply ......................................................... 227
4.21.3 Replacement of drive system power supply .................................................. 230
6 Product manual - IRC5 Panel Mounted Controller

Table of contents
5 Decommissioning 233
5.1 Introduction ...................................................................................................... 233
5.2 Environmental information .................................................................................. 234
6 Reference information 237

6.1 Introduction ...................................................................................................... 237
6.2 Applicable standards ......................................................................................... 238
6.3 Unit conversion ................................................................................................. 240
6.4 Screw joints ..................................................................................................... 241
6.5 Weight specifications ......................................................................................... 242
6.6 Standard toolkit, IRC5 ........................................................................................ 243
6.7 Lifting accessories and lifting instructions .............................................................. 244
7 Spare parts 245

7.1 Controller parts ................................................................................................. 245
7.2 FlexPendant parts ............................................................................................. 251
7.3 Manipulator cables ............................................................................................ 252
7.3.1 Manipulator cables .................................................................................. 252
7.3.2 Fan cables ............................................................................................. 257
7.3.3 CP/CS Harness ....................................................................................... 258
7.3.4 Cables customer power/customer signal ..................................................... 259
7.3.5 Other customer cables ............................................................................. 262
7.3.6 Additional cables ..................................................................................... 263
8 Circuit diagrams 265

8.1 Circuit diagrams ................................................................................................ 265
Index 267

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Overview of this manual

About this manual
This manual contains instructions for:
• installing the controller, mechanically as well as electrically.
• maintenance of the controller.
• mechanical and electrical repair of the controller.
Usage
This manual should be used during:
• installation and preparation work.
• maintenance work.
• repair work.
Who should read this manual?

This manual is intended for:
• installation personnel.
• maintenance personnel.
• repair personnel.
Prerequisites
Maintenance/repair/installation personnel working with an ABB Robot must:
• be trained by ABB and have the required knowledge of mechanical and
electrical installation/repair/maintenance work.
References
Reference Document ID
Product manual - IRC5 3HAC047136-001
Operating manual - Emergency safety information 3HAC027098-001
Operating manual - IRC5 with FlexPendant 3HAC050941-001
Operating manual - RobotStudio 3HAC032104-001
Operating manual - Getting started, IRC5 and RobotStudio 3HAC027097-001
Operating manual - Troubleshooting IRC5 3HAC020738-001
Application manual - MultiMove 3HAC050961-001
Application manual - Force Control 3HAC050377-001
Application manual - SafeMove1 3HAC050974-001
Application manual - Electronic Position Switches 3HAC050996-001
Application manual - Functional safety and SafeMove2 3HAC052610-001
Technical reference manual - RAPID Instructions, Functions and 3HAC050917-001
Data types
Technical reference manual - System parameters 3HAC050948-001
Product specification - Controller IRC5 3HAC047400-001
Continues on next page

Continued
Reference Document ID
See Circuit diagrams on page 265.
Note
The document numbers that are listed for software documents are valid for
RobotWare 6. Equivalent documents are available for RobotWare 5.
Revisions
Revision Description
- First edition.
Released with the new computer unit, DSQC1000.
A • Added information on how to install an additional drive module, see
Installation of additional Drive Module on page 114.
B • Added the MultiMove switch to the spare parts list, see Controller parts
on page 245.
• Added information on how to route the cables at installation.
C • New computer unit, DSQC1018, with two PCI slots and no knockout
plates. No functional change, but affects illustrations.
• Added new section, Additional cables on page 263, with drive module
cables.
• Clarified the use of the WAN port in section Connectors on the com-
puter unit on page 79.
D • Some changes on how the ports can be configured and used is de-
scribed in section Connectors on the computer unit on page 79.
E Release 15.2.
• Minor corrections.
• Added safety-related information related to mode switch keys, Install-
ation of external enabling device on page 118, Function tests on page 146,
and Refurbish.
• Updates in section Applicable standards on page 238.
• Added section Safety data on page 18.
F Release 16.2.
• Added IRB 1200 and 8700 to lists of robots in different places in the
manual.
• Changed recommended line fusing for some robots at low voltage.
• Simplified procedure in section Replacement of fieldbus adapter in
the computer unit on page 177.
• Added information that function tests should be performed after repla-
cing a component.
• Changes in the article names for some spare parts.
• Updated cable list with revised option numbers in section Cables
customer power/customer signal on page 259.
• Removed section Refurbish.

Continued
G Release 17.1.
• Added sections Function test of reduced speed control on page 155,
and About emergency stops on page 29.
• Updated descriptions of stops in section Protective stop and emergency
stop on page 27.
• Updated section Safety data on page 18.
• Updated list of labels in section Safety symbols on controller labels
on page 24.
• New computer unit DSQC1024 is introduced, see Computer unit parts
on page 249.
• Added limitation about SafeMove in section Connection of Drive
Module Disconnect, by limit switch on page 95.
• Minor corrections.
H Release 17.2.
• Updated list of applicable standards.
• Removed all references to computer unit DSQC1024.
J Release 18.1.
• Added section FlexPendant parts on page 251.
• Safety section restructured.
• Added information about disposal of storage media.
• Clarified the limitations for Isolated Lan 3 in the section Isolated LAN
3 or LAN 3 as part of the private network (only for RobotWare 6.01 and
later) on page 81.
K Release 18.2.
• New computer unit DSQC1024 added, see Computer unit parts on
page 249.
• Added note in section Replacement of SD-card memory in computer
unit on page 185, that SD-card from DSQC1018 cannot be used in
DSQC1024.
L Published in release 19B. The following updates are made in this revision:
• Updated spare parts numbers for manipulator cables.
• Added sections Conveyor tracking module on page 112, Installation of
conveyor tracking module on page 121, and Power supply system re-
quirements on page 62.
• Outer dimensions for local I/O units added in section Scalable I/O
devices on page 248.
• Added information in Connecting cables to the controller on page 57.
• Added information about delays on safety inputs in Protective stop
and emergency stop on page 27.
M Published in release 19C. The following updates are made in this revision:
• Added information about FlexPendant cables, see Handling the Flex-
Pendant cables on page 78.
N Published in release 19D. The following updates are made in this revision:
• Section Installation of additional Drive Module on page 114 updated
with limitations regarding drive unit installations.
P Published in release 20B. The following updates are made in this revision:
• Information regarding power supply system requirements has been
improved in sections Isolation transformer on page 63 and Mains line
filter on page 64.

Continued
Q Published in release 20D. The following updates are made in this revision:
• SD card 3HAC061416-003 that is used with computer DSQC1024 added
in spare part list for Computer unit parts on page 249.
• Article numbers for signal cables updated in Manipulator cables on
page 252.
R Published in release 21A. The following updates are made in this revision:
• Minor corrections in section Connectors on the computer unit on
page 79.
• Local I/O replaced by Scalable I/O in entire manual.
• Information added about China RoHS, see Environmental information
on page 234.
• Spare part numbers corrected for manipulators IRB 1600 and 2400 in
section Manipulator cables on page 252.
S Published in release 21B. The following updates are made in this revision:
• Added a new section on Closing the Automatic Stop circuit, see Closing
the Automatic Stop circuit.

Product documentation
Categories for user documentation from ABB Robotics
The user documentation from ABB Robotics is divided into a number of categories.
This listing is based on the type of information in the documents, regardless of
whether the products are standard or optional.
Tip
All documents can be found via myABB Business Portal, www.abb.com/myABB.
Product manuals
Manipulators, controllers, DressPack/SpotPack, and most other hardware is
delivered with a Product manual that generally contains:
• Safety information.
• Installation and commissioning (descriptions of mechanical installation or
electrical connections).
• Maintenance (descriptions of all required preventive maintenance procedures
including intervals and expected life time of parts).
• Repair (descriptions of all recommended repair procedures including spare
parts).
• Calibration.
• Decommissioning.
• Reference information (safety standards, unit conversions, screw joints, lists
of tools).
• Spare parts list with corresponding figures (or references to separate spare
parts lists).
• References to circuit diagrams.
Technical reference manuals

The technical reference manuals describe reference information for robotics
products, for example lubrication, the RAPID language, and system parameters.
Application manuals
Specific applications (for example software or hardware options) are described in
Application manuals. An application manual can describe one or several
applications.
An application manual generally contains information about:
• The purpose of the application (what it does and when it is useful).
• What is included (for example cables, I/O boards, RAPID instructions, system
parameters, software).
• How to install included or required hardware.
• How to use the application.
• Examples of how to use the application.

Continued
Operating manuals
The operating manuals describe hands-on handling of the products. The manuals
are aimed at those having first-hand operational contact with the product, that is
production cell operators, programmers, and troubleshooters.

Network security
Network security
Network security
This product is designed to be connected to and to communicate information and
data via a network interface. It is your sole responsibility to provide, and
continuously ensure, a secure connection between the product and to your network
or any other network (as the case may be).
You shall establish and maintain any appropriate measures (such as, but not limited
to, the installation of firewalls, application of authentication measures, encryption
of data, installation of anti-virus programs, etc) to protect the product, the network,
its system and the interface against any kind of security breaches, unauthorized
access, interference, intrusion, leakage and/or theft of data or information. ABB
Ltd and its entities are not liable for damage and/or loss related to such security
breaches, any unauthorized access, interference, intrusion, leakage and/or theft
of data or information.

1 Safety
1.1.1 Limitation of liability
1 Safety
1.1 Safety information
1.1.1 Limitation of liability
Limitation of liability
Any information given in this manual regarding safety must not be construed as a
warranty by ABB that the industrial robot will not cause injury or damage even if
all safety instructions are complied with.
The information does not cover how to design, install and operate a robot system,
nor does it cover all peripheral equipment that can influence the safety of the robot
system.
In particular, liability cannot be accepted if injury or damage has been caused for
any of the following reasons:
• Use of the robot in other ways than intended.
• Incorrect operation or maintenance.
• Operation of the robot when the safety devices are defective, not in their
intended location or in any other way not working.
• When instructions for operation and maintenance are not followed.
• Non-authorized design modifications of the robot.
• Repairs on the robot and its spare parts carried out by in-experienced or
non-qualified personnel.
• Foreign objects.
• Force majeure.
Spare parts and equipment

ABB supplies original spare parts and equipment which have been tested and
approved. The installation and/or use of non-original spare parts and equipment
can negatively affect the safety, function, performance, and structural properties
of the robot. ABB is not liable for damages caused by the use of non-original spare
parts and equipment.

1 Safety
1.1.2 Safety data
1.1.2 Safety data
About this section

This chapter describes the necessary safety data required by standard EN ISO
13849-1:2015.
Prevailing directives and standards

For the use of industrial robots and how to protect personnel from being injured,
special regulations must be fulfilled as described in the following directives and
standards:
• Machinery Directive 2006/42/EC
• EN ISO 10218-1:2011
• EN ISO 13849-1:2008 (when explicitly called forth by EN ISO 10218-1:2011
as ISO 13849-1:2006)
• EN ISO 13849-1:2015
Performance level and category

EN ISO 13849-1, which is a B-standard, describes the general concept of
performance level (PL) and category. Each machine or machinery is potentially
dangerous and can cause personal injury. Based on severity of injury and probability
of accident, when using the machine, a certain level of safety performance, so
called required performance level (PLr) can be defined, where level a represents
the lowest risk and level e the highest. According to this, the machine must be
equipped with safety related parts, meeting the required performance level, to
reduce the risk to accepted low level. As specified in EN ISO 10218-1, normally
PL d is required for robots, but depending on the applications a higher requirement
could be needed if a risk analysis will result in PL e.
To comply with a certain PLr, in this case d, the safety related parts of the robots
and controllers must be structurally designed according to specific structure
categories and using reliable components.
In EN ISO 13849-1 it is in detail specified what category and components data,
which must be met, to fulfill PL d. These are:
• Category 3, which is normally fulfilled using double channels
• MTTFD (Mean Time To dangerous Failure) – high
• DC (Diagnostic Coverage) – low or medium
• CCF (Common Cause Failures) – better than 65 scores according to Annex
F
Performance level for ABB IRC5 controller

To verify that robots and controller comply with at least PL d a self assessment
has been carried out and documented in a Technical Report. The essential
conclusions are accounted for below.
The safety related parts of robot and controller are e.g. the following stop circuits:
• Enabling device
• Emergency stop on operator panel
1 Safety
1.1.2 Safety data
Continued
• Emergency stop on FlexPendant

• Limiting robot motion
• Protective stops
• SafeMove
• EPS
• SafeMove2
For the overall design and structure, the category 3 has been verified and meeting
the requirements of CCF.
Each of the stop circuits includes different components like enabling switch, panel
board, contactor board, relays etc. For each of these the MTTFD and DC have been
calculated according to EN ISO 13849-1 Annex C, D and E resulting in the values
as specified in the following table.
See the SISTEMA/ABB FSDT libraries for details of the safety functions.
IRC5 Single and IRC5 Panel Mounted Controller
Safety function Calculated MTTFD DCavg

[years]
Emergency stop inputs 112 Medium
Automatic stop input 120 Medium
General stop input 120 Medium
Superior stop input 120 Medium
Limiting switch input 176 Medium
(without customer connection)
Three-position enabling device inputs 75 Medium
Emergency stop status outputs 263 Medium
lSafeMove (option) (without customer connections) 58 Medium
Electronic Position Switches (option) (without 105 Medium
customer connections)
SafeMove2 functions (option)
Protective stop category 0 93 Medium
Protective stop category 1 370 Low
Emergency stop category 0 93 Medium
Emergency stop category 1 370 Low
Emergency stop safe fieldbus output 370 Low
Speed supervision category 0 93 Medium
Speed supervision category 1 370 Low
Speed supervision safe fieldbus output 370 Low
Position supervision category 0 93 Medium
Position supervision category 1 370 Low
Position supervision safe fieldbus output 370 Low
External power control 88 Low

1 Safety
1.1.2 Safety data
Continued
Based on the values from the previous table of MTTFD values, the corresponding
PFHD can be calculated using the Annex K, table K1 of EN ISO 13849-1:2008.
These are shown in the following table.
IRC5 Single and IRC5 Panel Mounted Controller
Stop circuit Calculated PFHD PL

Emergency stop inputs 4.29x10E-08 e
Automatic stop input 4.29x10E-08 e
General stop input 4.29x10E-08 e
Superior stop input 4.29x10E-08 e
Limiting switch input 4.29x10E-08 e
(without customer connection)
Three-position enabling device inputs 6.62x10E-08 e
Emergency stop status outputs 4.29x10E-08 e
SafeMove (option) (without customer connections) 1.03x10E-07 d
Electronic Position Switches (option) 4.29x10E-08 e
SafeMove2 functions (option)
Protective stop category 0 4.94x10E-08 e
Protective stop category 1 1.01x10E-07 d
Emergency stop category 0 4.94x10E-08 e
Emergency stop category 1 1.01x10E-07 d
Emergency stop safe fieldbus output 1.01x10E-07 d
Speed supervision category 0 4.94x10E-08 e
Speed supervision category 1 1.01x10E-07 d
Speed supervision safe fieldbus output 1.01x10E-07 d
Position supervision category 0 4.94x10E-08 e
Position supervision category 1 1.01x10E-07 d
Position supervision safe fieldbus output 1.01x10E-07 d
External power control 1.35x10E-07 d
Conclusion according to EN ISO 13849-1:2015

The IRC5 controller safety system has a safety category 3 with performance level
PL d according to EN ISO 13849-1 using the simplified method of chapter 4.5.4 of
EN ISO 13849-1 and thus fulfils the safety performance requirement of the robot
safety standard EN ISO 10218-1.
The Common Cause Failure (CCF) is met according to the standard requirements.

1 Safety
1.1.3 Requirements on personnel
1.1.3 Requirements on personnel
General
Only personnel with appropriate training are allowed to install, maintain, service,
repair, and use the robot. This includes electrical, mechanical, hydraulics,
pneumatics, and other hazards identified in the risk assessment.
Persons who are under the influence of alcohol, drugs or any other intoxicating
substances are not allowed to install, maintain, service, repair, or use the robot.
The plant liable must make sure that the personnel is trained on the robot, and on
responding to emergency or abnormal situations.
Personal protective equipment

Use personal protective equipment, as stated in the instructions.

1 Safety
1.2.1 Safety signals in the manual
1.2 Safety signals and symbols
Introduction to safety signals

This section specifies all safety signals used in the user manuals. Each signal
consists of:
• A caption specifying the hazard level (DANGER, WARNING, or CAUTION)
and the type of hazard.
• Instruction about how to reduce the hazard to an acceptable level.
• A brief description of remaining hazards, if not adequately reduced.
Hazard levels
The table below defines the captions specifying the hazard levels used throughout
this manual.
For more information, see standard ISO 13849.
Symbol Designation Significance
DANGER Signal word used to indicate an imminently hazard-
ous situation which, if not avoided, will result in ser-
ious injury.
WARNING Signal word used to indicate a potentially hazardous

situation which, if not avoided, could result in serious
injury.
ELECTRICAL Signal word used to indicate a potentially hazardous

SHOCK situation related to electrical hazards which, if not
avoided, could result in serious injury.
CAUTION Signal word used to indicate a potentially hazardous

situation which, if not avoided, could result in slight
injury.
ELECTROSTATIC Signal word used to indicate a potentially hazardous

DISCHARGE (ESD) situation which, if not avoided, could result in severe
damage to the product.
NOTE Signal word used to indicate important facts and

conditions.

1 Safety
Continued
Symbol Designation Significance

TIP Signal word used to indicate where to find additional
information or how to do an operation in an easier
way.

1 Safety
1.2.2 Safety symbols on controller labels
Introduction to symbols
This section describes safety symbols used on labels (stickers) on the controller.
Symbols are used in combinations on the labels, describing each specific warning.
The descriptions in this section are generic, the labels can contain additional
information such as values.
Note
The symbols on the labels on the product must be observed. Additional symbols
added by the integrator must also be observed.
Types of symbols
Both the manipulator and the controller are marked with symbols, containing
important information about the product. This is important for all personnel handling
the robot, for example during installation, service, or operation.
The safety labels are language independent, they only use graphics. See Symbols
on safety labels on page 24.
The information labels can contain information in text.
Symbols on safety labels
Label Description
Read the user manual before use.
xx1400001152
CE label
xx1800000835

1 Safety
Continued
Label Description
UR certified (component)
xx1400002060
UL certified (robot with controller)
xx1400002061
Rating label (example)
xx1400001163
Lifting instruction for the IRC5 controller.
xx1400001157
Required installation space.
xx1400001155

1 Safety
Continued
Label Description
Electrical shock
xx1400001151
Disconnect incoming mains before servicing the controller.
xx1400001161
Disconnect incoming mains before servicing the controller

(only for welding equipment).
xx1400001160
Disconnect incoming mains before servicing the controller (for

controllers without UL mains switch).
xx1700000354
High voltage inside the module even if the main switch is in

the OFF position.
xx1400001156
ESD sensitive components inside the controller.
xx1400001162

1 Safety
1.3.1 Protective stop and emergency stop
1.3 Robot stopping functions
Robot stopping functions

The robot has an emergency stop function and at least one protective stop function.
These functions have provision for the connection of external emergency stops
and protective devices.
The emergency stop function is a complementary protective measure and shall
not be applied as a substitute for safeguarding measures or safety functions.
The stop categories can be re-configured as defined by standards EN ISO
10218-1:2011 and IEC 60204-1:2016.
Emergency stop and protective stop functions are activated through dedicated
safety inputs or safety protocols.
For example, an output from a safety rated presence sensing device output can
be connected to a safety input on the robot controller. This is to initiate a protective
stop of the robot.
Stop categories
Stop category 0 As defined in IEC 60204-1, stopping by immediate removal of

power to the machine actuators.
Stop category 1 As defined in IEC 60204-1, a controlled stop with power avail-
able to the machine actuators to achieve the stop and then re-
moval of power when the stop is achieved.
Safety inputs to initiate a protective stop or an emergency stop

Protective stop and emergency stop inputs will initiate a stop, selectable of category
0 or category 1.
Safety inputs to initiate a Description
stop
Emergency stop (ES) The Emergency Stop is operational in both automatic and
manual mode.
The default configuration is stop category 0. For deviations,
see the product manual for the manipulator.
Automatic stop (AS) The safety input Automatic Stop is only operational in automatic
mode.
The default configuration is stop category 1.
General stop (GS) The safety input General Stop is operational in both manual
mode and automatic mode.
Superior stop (SS) The safety input Superior Stop is operational in both manual
mode and automatic mode.

1 Safety
Continued
Note
For IRC5, a safety input on the panel board that is initiated, must remain active
for at least 1.5 s.
Stop category configuration for IRC5

The stop category for the safety input can be configured, see Technical reference
manual - System parameters.
Safety inputs System paramet- Description
er Function
Emergency Stop SoftES SoftES is used to configure the emergency stop in
automatic and manual mode. The default configuration
is FALSE (stop category 0).
Automatic Stop SoftAS SoftAS can be used to configure the protective stop
in automatic mode either as stop category 0 or cat-
egory 1. The default configuration is TRUE (stop cat-
egory 1).
General Stop SoftGS SoftGS can be used to configure the protective stop
in automatic and manual mode, either as stop category
0 or category 1. The default configuration is TRUE
(stop category 1).
Superior Stop SoftSS SoftSS can be used to configure the protective stop
in automatic and manual mode, either as stop category
0 or category 1. The default configuration is TRUE
(stop category 1).

1 Safety
1.3.2 About emergency stops
1.3.2 About emergency stops
The emergency stops

The purpose of the emergency stop function is to avert actual or impending
emergency situations arising from the behavior of persons or from an unexpected
hazardous event.
The emergency stop function is to be initiated by a single human action.
The emergency stop function is a complementary protective measure and shall
not be applied as a substitute for safeguarding measures and other functions or
safety functions.
The effect of an activated emergency stop device is sustained until the actuator
of the emergency stop device has been disengaged. This disengagement is only
possible by an intentional human action on the device where the command has
been initiated. The disengagement of the device shall not restart the machinery
but only permit restarting.
After actuation and before disengaging the emergency stop device, the machinery
shall be inspected in order to detect the reason for actuation.
Recover from emergency stops

1 Make sure the hazardous situation that resulted in the emergency stop
condition no longer exists.
2 Locate and reset the device or devices that initiated the emergency stop
condition.
3 Press the Motors On button to recover from the emergency stop condition.

1 Safety
1.3.3 Enabling device and hold-to-run functionality
1.3.3 Enabling device and hold-to-run functionality
Three-position enabling device
CAUTION
The person using the three-position enabling device is responsible to observe

the safeguarded area for hazards due to robot motion and any other hazards
controlled by the robot.
The three-position enabling device will when continuously held in center-enabled
position permit robot motion and any hazards controlled by the robot. Release of
or compression past the center-enabled position will stop the hazard, for example,
robot motion.
CAUTION
For safe use of the three-position enabling device, the following must be
implemented:
• The three-position enabling device must never be rendered inoperational
in any way.
• If there is a need to enter safeguarded space, always bring the three-position
enabling device. This is to enforce single point of control.
Hold-to-run function in manual full speed mode

The hold-to-run function for manual full speed allows movement in conjunction
with the three-position enabling device when the button connected to the function
is actuated manually. This hold-to-run function can only be used in manual full
speed mode. In case of hazard, release or compress the three-position enabling
device.
How to use the hold-to-run function for manual full speed mode is described in the
operating manual for the controller.
Note
The manual full speed mode is not available in all markets.

1 Safety
1.4.1 About the manual mode
1.4 Robot operating modes
The manual mode

Manual mode is a control state that allows for the direct control by an operator.
The operator will through positioning the three-position enabling switch to the
center-position allow for movement of the manipulator.
There are two manual modes:
• Manual reduced speed mode
• Manual high speed mode (optional)
Safeguard mechanisms
• Protective stops through
- Three-position enabling switch
- General Stop, GS
The manual reduced speed mode

In manual reduced speed mode the movement of the TCP is limited to 250 mm/s.
In addition, there is a limitation on the maximum allowed speed for each axis.
This mode is used for jogging, teaching, programming and program verification of
the robot; it may be the mode selected when performing some maintenance tasks.
Manual control of the robot from inside the safeguarded space shall be performed
at the reduced speed in conjunction with the TPU consisting of the three position
enabling switch.
WARNING
Wherever possible, the manual mode of operation shall be performed with all
persons outside the safeguarded space.
Tasks normally performed in manual reduced speed mode

The following tasks are normally performed in manual reduced speed mode.
• Set or reset I/O signals
• Creating and editing RAPID programs
• Modify system parameter values
• Starting, stepping, and stopping program execution
• Jog the manipulator.
• Teach or tune programmed manipulator positions

1 Safety
Continued
The manual high speed mode

In manual high speed, speeds up to programmed speeds can be achieved e.g. a
speed greater than 250 mm/s. The initial speed limit is up to, but not exceeding,
250 mm/s. This is achieved by limiting the speed to 3% of the programmed speed.
Through manual control the speed can be increased up to 100% of the programmed
speed.
This mode is used for program verification only.
The three-position enabling switch must be pressed to the center-position and the
hold-to-run button must be pressed to allow start of program execution.
WARNING
Wherever possible, the manual mode of operation shall be performed with all
persons outside the safeguarded space.
Note
• When the three-position enabling switch is released or fully compressed,

the speed is reset to 3% of programmed speed but not exceeding 250 mm/s.
• Editing RAPID programs and jogging the manipulator are disabled.
Tasks normally performed in manual high speed mode

The following tasks can be performed in the manual high speed mode.
• Starting and stopping program execution for program verification
• Stepping program execution
• Setting speed (0–100%)
• Setting program pointer (to Main, to routine, to cursor, to service routine,
etc.

1 Safety
1.4.2 About the automatic mode
1.4.2 About the automatic mode
The automatic mode

Automatic mode is an operating mode in which the robot control system operates
in accordance with the task program(s) and therefore not in direct control by an
operator.
Tasks performed in automatic mode which might affect safety

The following tasks are typically performed in automatic mode:
• Remote clients can load, start, stop, and modify RAPID programs.
• Increase or decrease the speed in the interval zero to programmed speed
of the manipulator.
• Restore backups. Only possible when robot is at stop.
• Return to operation after protective stops or emergency stop, including regain
to path.
Limitations in automatic mode

See the integrator's documentation for the machinery/robot system for details on
which tasks are to be performed in automatic mode.
Safeguard mechanisms
• Protective stop through
- Automatic Stop, AS
- General Stop, GS
- Superior Stop, SS

1 Safety
1.5 Installation and commissioning
National or regional regulations

The integrator of the robot system is responsible for the safety of the robot system.
The integrator is responsible that the robot system is designed and installed in
accordance with the safety requirements set forth in the applicable national and
regional standards and regulations.
The integrator of the robot system is required to perform an assessment of the
hazards and risks.
Layout
The robot integrated to a robot system shall be designed to allow safe access to
all areas during installation, operation, maintenance, and repair.
If robot movement can be initiated from an external control panel then an emergency
stop must also be available.
If the manipulator is delivered with mechanical stops, these can be used for reducing
the working area.
A perimeter safeguarding, for example a fence, shall be dimensioned to withstand
the following:
• The force of the manipulator.
• The force of the load handled by the robot if dropped or released at maximum
speed.
• The maximum possible impact caused by a breaking or malfunctioning
rotating tool or other device fitted to the robot.
The maximum TCP speed and the maximum velocity of the robot axes are detailed
in the section Robot motion in the product specification for the respective
manipulator.
Consider exposure to hazards, such as slipping, tripping, and falling.
Hazards due to the working position and posture for a person working with or near
the robot shall be considered.
Consider hazards from other equipment in the robot system, for example, that
guards remain active until identified hazards are reduced to an acceptable level.
Allergenic material
See Environmental information on page 234 for specification of allergenic materials
in the product, if any.
Securing the robot to the foundation

The robot must be properly fixed to its foundation/support, as described in the
product manual.
When the robot is installed at a height, hanging, or other than mounted directly on
the floor, there will be additional hazards.

1 Safety
Continued
Electrical safety
The mains power must be installed to fulfill national regulations.
The power supply wiring to the robot must be sufficiently fused and if necessary,
it must be possible to disconnect it manually from the mains power.
The power to the robot must be turned off with the main switch and the mains
power disconnected when performing work inside the controller cabinet. Lock and
tag shall be considered.
Hazards due to stored electrical energy in the controller must be considered.
Harnesses between controller and manipulator shall be fixed and protected to
avoid tripping and wear.
Wherever possible, power on/off or rebooting the robot controller shall be performed
with all persons outside the safeguarded space.
Note
Use a CARBON DIOXIDE (CO2) extinguisher in the event of a fire in the robot.
Safety devices
The integrator is responsible for that the safety devices necessary to protect people
working with the robot system are designed and installed correctly.
When integrating the robot with external devices to a robot system:
• The integrator of the robot system must ensure that emergency stop functions
are interlocked in accordance with applicable standards.
• The integrator of the robot system must ensure that safety functions are
interlocked in accordance with applicable standards.
Other hazards
WARNING
Hazards due to the use of brake release devices and/or gravity beneath the
manipulator shall be considered.
A robot may perform unexpected limited movement.
WARNING
Manipulator movements can cause serious injuries on users and may damage
equipment.
The risk assessment should also consider other hazards arising from the
application, such as, but not limited to:
• Water
• Compressed air
• Hydraulics

1 Safety
Continued
Verify the safety functions

Before the robot system is put into operation, verify that the safety functions are
working as intended and that any remaining hazards identified in the risk
assessment are mitigated to an acceptable level.

1 Safety
1.6 Operation
1.6 Operation
Lock and change of operating mode

To prevent hazard, it is the responsibility of the integrator to make sure that keys
used to lock or change the operating mode are handled only by authorized
personnel.
An IRC5 controller with a physical key for the mode selector, is designed so that
the key fits on all IRC5 controllers, unless unique keys are ordered.
Safety actuators not in use

Devices with safety actuators that are not connected to the robot or robot system
cannot initiate emergency stops or protective stops. These must be stored out of
reach and sight so that they cannot be mistaken for being in use.

1 Safety
1.7 Maintenance and repair
1.7 Maintenance and repair
General
Corrective maintenance must only be carried out by personnel trained on the robot.
Maintenance or repair must be done with all electrical, pneumatic, and hydraulic
power switched off, that is, no remaining hazards.
Never use the robot as a ladder, which means, do not climb on the controller,
manipulator, including motors, or other parts. There are hazards of slipping and
falling. The robot might be damaged.
Make sure that there are no loose screws, turnings, or other unexpected parts
remaining after work on the robot has been performed.
When the work is completed, verify that the safety functions are working as
intended.
Hot surfaces
Surfaces can be hot after running the robot. Touching the surfaces may result in
burns.
Allow the parts to cool down before maintenance or repair.
Hazards related to batteries

Under rated conditions, the electrode materials and liquid electrolyte in the batteries
are sealed and not exposed to the outside.
There is a hazard in case of abuse (mechanical, thermal, electrical) which leads
to the activation of safety valves and/or the rupture of the battery container. As a
result under certain circumstances, electrolyte leakage, electrode materials reaction
with moisture/water or battery vent/explosion/fire may follow.
Do not short circuit, recharge, puncture, incinerate, crush, immerse, force discharge
or expose to temperatures above the declared operating temperature range of the
product. Risk of fire or explosion.
Operating temperatures are listed in Operating conditions on page 45.
See safety instructions for the batteries in Material/product safety data
sheet - Battery pack (3HAC043118-001).
Related information
See also the safety information related to installation and operation.

1 Safety
1.8 Troubleshooting
1.8 Troubleshooting
General
When troubleshooting requires work with power switched on, special considerations
must be taken:
• Safety circuits might be muted or disconnected.
• Electrical parts must be considered as live.
• The manipulator can move unexpectedly at any time.
DANGER
Troubleshooting on the controller while powered on must be performed by

personnel trained by ABB or by ABB field engineers.
A risk assessment must be done to address both robot and robot system specific
hazards.
Related information
See also the safety information related to installation, operation, maintenance, and
repair.

1 Safety
1.9 Decommissioning
1.9 Decommissioning
General
See section Decommissioning on page 233.

2 Installation and commissioning
2.1 Overview

2.1 Overview
General
There are two versions of the IRC5 Panel Mounted Controller(PMC). PMC small is
used for small robots and PMC large is used for large robots. The controller always
consists of one control module and one drive module.
PMC small PMC large
A
xx1300001963 xx1300001964
xx1300001961
C xx1300001965
xx1300001962
A Control module (with air channel for PMC large).

B Drive module (different design for PMC small and PMC large).
C Fan unit (for PMC large this is a part of the drive module.

2.1 Overview
Continued
The control module contains the computer unit, communication interfaces,

FlexPendant connection, service ports and also the system software which includes
all basic functions for operation and programming.
The drive module contains the drive system.
Note
When replacing a unit in the controller, report to ABB:

• the serial number
• article number
• revision
of both the replaced unit and the replacement unit.
This is particularly important for the safety equipment to maintain the safety
integrity of the installation.
Equipment
The following parts can be delivered with the IRC5 Panel Mounted Controller:
Part. no. Description Note
3HAC024244-005 Ethernet cable Standard
3HAC027818-001 Connection Power supply Standard
3HAC037824-001 Mains line filter (PMC small) Standard for PMC small
3HAC024322-001 Mains line filter (PMC large) Standard for PMC large
3HAC027201-001 Transformer unit Standard
3HAC028357-001 GTPU 3, 10m cable Option 701-1 and 701-3
3HAC031683-004 TPU cable, 30m Option 701-3
3HAC021914-001 Harness - TPU jumper plug Option 702-1
3HAC14178-1 Customer I/O power supply DSQC 609 Option 727-1
3HAC13398-2 Power supply Option 728-1
3HAC025600-005 Harness - Drive/Control 4m Option 761-1
3HAC038406-001 Fan unit Standard for PMC large
Option 882-1 for PMC
small
3HAC026486-001 Additional module Digital 24V Option 816-1
3HAC2588-2 Additional unit Que TRack unit Option 826-1
3HAC038403-001 EPS board Option 810-1
3HAC038402-001 SafeMove board Option 810-2
3HAC024180-001 Multi volt transformer Option 931-1

2.1 Overview
Continued
Note
Because the parts of the IRC5 Panel Mounted Controller can be mounted with
varying space apart, there is no guarantee that the standard cables are long
enough. In some cases there may be a need to create your own customized
cables.
Wrist strap button

The location of the wrist strap button is shown in the following illustration.
A A
A Wrist strap button

2.2 Installation activities
2.2 Installation activities
Prerequisites
The following section details the main steps on how to unload, transport, install
and connect the IRC5 Panel Mounted Controller modules.
Overview of the installation
Action Detailed in
1 Unpack the delivered IRC5 Panel Mounted Unpacking the controller on page 45
Controller.
2 Install the IRC5 Panel Mounted Controller. Installation, IRC5 Panel Mounted Controller
on page 50
3 Connect the manipulator to IRC5 Panel
Mounted Controller.
4 Connect power supply to the IRC5 Panel Connecting power supply to PMC small on
Mounted Controller. page 65
Connecting power supply to PMC large on
page 67
5 Connect the FlexPendant to the IRC5 Connecting a FlexPendant on page 78.
Panel Mounted Controller.
6 Install the safety functions, for example, Connection of the MOTORS ON/MOTORS
the emergency stop. OFF circuit on page 85
Connection of external safety relay on
page 94
Closing the Automatic Stop circuit on
page 84
7 Miscellaneous connections. How to connect buses, for example Devi-
ceNet, is detailed in the respective applic-
ation manual.
How to connect to a network is detailed in
section Connectors on the computer unit
on page 79.
8 If used, install add-ons. How to install add-ons is detailed in section
Installation of add-ons on page 114
9 When the installation is complete, perform
the function tests in section Function tests
on page 146 to verify that the safety fea-
tures work properly.

2.3.1 Unpacking the controller
2.3 Transporting and handling
General
Read the safety regulations and other instructions before unpacking the controller,
see Safety on page 17.
The installation must be done by qualified installation personnel and should conform
to all national and local codes.
When unpacking the cabinet, inspect that it was not damaged during transport.
Note
If the controller is going to be stored before unpacking and installation, read the
following information regarding storage conditions.
Storage conditions
The table below shows the recommended storage conditions for the IRC5 controller:
Parameter Value
Min. ambient temperature -25°C (-13°F)
Max. ambient temperature +55°C (+131°F)
Max. ambient temperature (short periods, +70°C (+158°F)
max 24 h)
Max. ambient humidity Maximum 95% at constant temperature.
After storage, the operating conditions must be met for at least 4 hours before
switching on the controller (see Operating conditions on page 45).
Operating conditions
The table below shows the allowed operating conditions for the IRC5 controller:
Parameter Value
Min. ambient temperature 0°C (32°F)
Max. ambient temperature +45°C (113°F)
Max. ambient humidity Maximum 95% at constant temperature.
Weight of controller
The table below shows the weight for the IRC5 controller:
Controller Part Weight
PMC small Complete controller max. 40 kg
Control module 12 kg
Drive module 22.5 kg

Continued
Controller Part Weight

PMC large Complete controller max. 60 kg
Control module 14 kg
Drive module 40 kg
Weight of additional equipment

The table below shows the weight for equipment used with the IRC5 Panel Mounted
Controller:
Equipment Weight
Transformer 13 - 51 kg
Inductor 5.2 kg
Protection class
The table below shows the protection classes for the IRC5 controller and the
FlexPendant:
Equipment Protection class
IRC5 Panel Mounted Controller IP20
FlexPendant IP54
The Panel Mounted Controller modules must be mounted in a water-proof and

air-proof cabinet. Internal cooling is recommended but if that is not possible, a
filter shall be used. When used in industrial environment, the cabinet should fulfill
IP54. When used in foundry environment, the cabinet should fulfill IP67.
Cabinet cooling
If the cabinet where the IRC5 Panel Mounted Controller is mounted needs cooling
depends on the power dissipation and the surface area of the cabinet. A heat test
is necessary to get any exact answers. A rough estimation can be made using the
following calculations.
The drive system efficiency is roughly 90%, so the power loss in the drive system
is at least near 10%. Note that the power loss in the drive system will increase
significantly if the motion cycle contains many frequent and sharp decelerations,
which cause very high bleeder power loss. Other equipment in the PMC typically
generates another 240W power loss.
For example, a customer RAPID program that creates 2000W output power may
generate a power loss of 220W in the drive system. Total power loss is then
approximately 460W.
The natural convection from a sheet metal cabinet is calculated as:
Qs=A*k* T
Qs = Heat emitted by the enclosure surface (W)
A = Enclosure area (m 2 )
k = Heat transfer coefficient (W/m 2 K), where k is approximately 5.5 for a metal
sheet cabinet
ΔT=Ti-Tu = Temperature difference (K)

Continued
If the natural convection of the enclosure is to small, cooling equipment is needed

with cooling capacity according to following formula:
Qe = Qv - Qs
Qe = Required cooling output from the cooling unit
Qv = Installed heat loss

2.3.2 The unit is sensitive to ESD
2.3.2 The unit is sensitive to ESD
Description
ESD (electrostatic discharge) is the transfer of electrical static charge between two
bodies at different potentials, either through direct contact or through an induced
electrical field. When handling parts or their containers, personnel not grounded
may potentially transfer high static charges. This discharge may destroy sensitive
electronics.
Safe handling
Use one of the following alternatives:
• Use a wrist strap. The wrist strap button is located inside the controller.
Wrist straps must be tested frequently to ensure that they are not damaged
and are operating correctly.
• Use an ESD protective floor mat.
The mat must be grounded through a current-limiting resistor.
• Use a dissipative table mat.
The mat should provide a controlled discharge of static voltages and must
be grounded.

2.4.1 Air channel for PMC large
2.4 On-site installation
2.4.1 Air channel for PMC large
Mount PMC large on the air channel

For PMC large, there is an air channel that must be mounted behind the controller.
Make sure that the air can flow freely in the air channel behind the controller as
well as through the controller.
If the control module is mounted separately, it can be mounted without the air
channel. If it is mounted on top of the drive module, it must be mounted on the air
channel so it does not obstruct the air flow.
The air flow

The fan to the right creates an air flow though the air channel behind the controller,
where the brake resistor bleeder is located. The two fans to the left creates an air
flow though the controller modules.
xx1100000537

2.4.2 Installation, IRC5 Panel Mounted Controller
Dimensions for PMC small

The illustration below shows the required installation space for the PMC small.
290 498
275
374
100
907
275
374
75
75
159
47
25 (6x)
475
xx0600003314
xx0700000031

Continued
Dimensions for PMC large

The illustration below shows the required installation space for the PMC large.
498
475
M5 (8x)
275
375
100
1060
425
685
210
300
425
xx1100000533

Continued
782
xx1100000534
Dimensions for transformers
17
5-
42
5
258 - 384
5
16
xx0900000952

Continued
Dimensions for inductor
14
9
209
5
16
xx1100000561
Dimensions for line filter
110
16
0
65
20
0
xx1100000563

Continued
Dimensions for external operator's panel
128 200
288,4
250
170
xx1100000562
Installation conditions
For the air flow to function properly, the Control Module and the Drive Module of
PMC small must be mounted according to following figure.
xx1300001944

Continued
For the air flow to function properly, the Drive Module of PMC large must be
mounted in an upright position according to following figure.
xx1100000538
Note
Do not mount the Control Module or Drive Module on a painted surface. The
frame of the modules must be connected to earth.
Note
The Control Module and Drive Module must be mounted and connected to the
same earth.

Continued
Installing the modules in a cabinet

The IRC5 Panel Mounted Controller modules should be mounted on a rack system
in a cabinet. The recommended minimum depth of the cabinet is 400 mm for PMC
small and 500 mm for PMC large. The cabinet must fulfill the requirements specified
in Protection class on page 46.
The following procedure details how to install the IRC5 Panel Mounted modules.
Action Note/Illustration
1 Fit the module on pre-mounted M5 screws (4 pcs).
xx0600003452
• A: M5 screws (4 pcs)
2 Secure the module with new M5 screws (4 pcs).
xx0600003453
• B: M5 screws (4 pcs)
3 Fasten the module (M5 screw, 8 pcs) Tightening torque 4,5 Nm.

2.5.1 Connecting cables to the controller
2.5 Connections
General
A good and proper electrical installation of the robot system is necessary to ensure
the best performance and prolong the lifetime of the whole robot system.
This section includes important information on how to connect cables and signals
to the controller.
Signal classes
Different rules apply to the different classes when selecting and laying cables.
Signals from different classes must not be mixed.
Signal class Description
Power signals Supplies external motors and brakes.
Class 4 (noisy) Applies to the cables associated with the power inputs and outputs
of variable speed drives. Cables carrying strongly interfering signals
such as motor cables, DC-link load sharing, unsuppressed inductive
loads, DC motors, welding equipment, etc.
Control signals Digital operating and data signals (digital I/O, protective stop, etc.).
Class 3 (slightly Applies to cables carrying slightly interfering signals: AC power
noisy) supply (<1 kV), DC power (24 V), power to equipment with RFI/EMI
filters, control circuits with resistive or suppressed inductive loads
(such as contactors and solenoids), direct-on-line induction motors,
etc.
Measurement signals Analog measurement and control signals (resolver and analog I/O).
Class 2 (slightly sens- This class covers ordinary analogue signals such as analogue sig-
itive) nals (4-20 mA, 0-10V, or signals below 1 MHz), low-speed digital
signals (RS232, RS485), digital (on/off) signals, limit switches, en-
coders, etc.
Data communication Gateway (fieldbus) connection, computer link.
signals Applies to cables carrying very sensitive signals. Signals with a full-
Class 1 (sensitive) scale range less than 1 V or 1 mA, and/or a source impedance >1
kOhm, and/or a signal frequency >1 Mhz. For example high-speed
digital communication (Ethernet), thermocouples, thermistors, strain
gauges and flowmeters.
Selecting cables
All cables laid in the control cabinet must be capable of withstanding 70°C. In
addition, the following rules apply to the cables of certain signal classes:
Signal class Cable type
Power signals Shielded cable with an area of at least 0.75 mm² or AWG 18.
Control signals Shielded cable.
Measurement signals Shielded cable with twisted pair conductors.
Data communication Shielded cable with twisted pair conductors. A specific cable
signals should be used for field bus connections and Ethernet, according
to the standard specification of the respective bus.

Continued
Note
Any local standards and regulations concerning insulation and area must always
be complied with.
Route the cables

Routing of cables shall be done in a professional way.
• Cables of different classes, such as signal cables and power cables, must
not be routed together as the power cables may introduce noise in the signal
cables. The greater the separation distance, the lesser the risk for interference
between the cables.
• Robot controller mains supply input cable and robot power cable should be
separated even though they belong to the same class.
• If crossing cables from different classes, cables should cross at an angle
close to 90 degrees.
• All external cables that are to be connected inside the controller must be
shielded in the chassis before entering the cabinet.
Separation distances can be reduced if e.g. dividers are used between cables
classes. Manufacturers of cable duct systems can provide information on how
reduced separation distances can be achieved using their specific products.
Signal class Cable type
Power signals • These signals generate a lot of interference and must be
laid separate from control, measurement, and communica-
tion signals.
• The shielding must be connected to a paint-free part of the
panel chassis of the cabinet at both ends of the cable. Any
unshielded cable must be as short as possible.
• The manipulator power cables are routed on the floor and
along the left side of the controller cabinet.
• Cables should not be wound up like coils. This could cause
an magnetic field disturbing the signals. There will also be
a risk of overheating depending on the load.
Control signals • These signals are very sensitive to interference. To protect
these signals they should not be laid along with the power
Measurement signals signals.
Data communication • In the cable, each signal must be twisted with a neutral wire.
signals • The shielding must be connected directly to the chassis at
both ends of the cable.
Shielding cables
When peripheral devices are connected to the robot system, a shielded cable is
necessary to reduce coupling of the inner cable conductors to the environment
they pass through.
Shielding cable requirements

• The best method for shielding is to ground the shield at both ends of the
cable, provided the ends grounding are at the same potential.
• If the grounding points have different electric potentials - grounding both
ends will create a ground loop allowing unwanted current to flow in the shield.

Continued
In such cases one end grounding may be used. The grounding point should
then be at the robot controller side.
• Cables carrying analog low-level signals is another exception where the
shield should be grounded at only one end.
• Most data network and field bus types have defined grounding topologies.
If such grounding schemes exist, they should be followed.
• In complex interference environments, two-layer shielding may be required.
The inner shield should be grounded at the controller side only end and the
outer shield should be grounded at both ends. The optimum shielding is a
combination of foil and braid screens.
• The best connection is one in which the shielding is extended up to and
makes a solid 360° connection (shown below) with the ground plane or
chassis.
Shielding example
The below example shows the shielding of a d-type connector:
xx1700001320
A A dimpled connector body makes multiple bonds to the mating connector

body all around its periphery, 360° bonding.
B Metal, or metallized, back shell makes 360° bond to the connector body.
C The cable shield is exposed and 360° clamped to the back shell. A tight fit
is a must.
Many other 360° bonding methods and types of 360° shielded connectors are also
acceptable.
Shield pigtail termination

Shield pigtail termination, as shown below, shall be avoided. If a pigtail connection
cannot be avoided, make it as short as possible.
xx1700001321

Continued
Ground and screen connections

The task of the grounding system is twofold - protective and functional. The primary
task is to serve as protective earth (PE) for personal and equipment safety. The
secondary task is to serve as a return path for common mode current.
For further information refer to EN 60204-1 and UL 1740.
Grounding requirements
The controller cabinet ground must come from the mains power supply PE.
• The grounding cable color shall be green-yellow.
• The ground for the controller cabinet, robot manipulator and peripheral
devices must be the same, preferably an equipotential ground grid (mesh).
• Ground connection points must have stable inter-metallic bonding, like screw
fixation. Paint, dirt, rust, and other insulating material must be removed from
the contacting surfaces.
For requirements on the marking of the supply ground connection inside the control
cabinet refer to UL 508C. For further details on how grounding systems should be
designed refer to IEC 61000-5-2. For details of cross-sectional area of PE refer to
IEC 60204-1.
Grounding installation
For information on how to install the ground for the manipulator, see the
corresponding product manual.
Examples
The following figure shows 2 examples on how the ground and the signal cable
screens can be connected:
Control cabinet External unit
Example 1
Example 2
xx1200000960

Continued
Example 1:
• Where a good ground is available on all units, the best shielding is obtained
by grounding all screens at both ends on all units.
Example 2:
• If the cable is terminated where a good ground is not available a noise
suppression capacitor can be used. The screens of the 2 cables must be
connected as shown in the figure, but not connected to the chassis of the
unit.
Interference elimination
Internal relay coils and other units that can generate interference inside the control
cabinet are neutralized. External relay coils, solenoids and other units must be
clamped in a similar way. The illustration below shows how this can be done.
Note that the turn-off time for DC relays increases after neutralization, especially
if a diode is connected across the coil. Varistors give shorter turn-off times.
Neutralizing the coils lengthens the life of the switches that control them.
+24 V DC 0V
1)
2)
+24 V AC/DC 0V
3)
xx1200000961
1 The diode should be dimensioned for the same current as the relay coil, and
a voltage of twice the supply voltage.
2 The varistor should be dimensioned for the same energy as the relay coil,
and a voltage of twice the supply voltage.
3 When AC voltage is used, the components needs to be dimensioned for >500
V max voltage and 125 V nominal voltage.
The resistor should be 100 Ω, and the capacitor should be 1W 0.1 - 1 µF
(typically 0.47 µF).

2.5.2 Power supply system requirements
Definition of the power supply system

IEC 60364 defines three different types of mains grounding using the two-letter
codes. These are TN, TT, and IT.
First letter Type of ground connection
T Direct connection of one point to ground.
I Not connected to ground or connected to ground via a high impedance.
Second letter Connection between ground and the device being supplied
T Direct connection of one point to ground.
N Direct connection to neutral at the origin of installation, which is connec-
ted to the ground
In the following section the transformer configuration refers to the transformer

secondary side. Configuration of the transformer primary side is not discussed in
this context.
Recommended power supply systems

The following systems are recommended by ABB:
TN−S system TN−C system
PE and N are separate conductors that are A combined PEN conductor is used as both
connected together only near the transformer. a PE and an N conductor.
L1 L1
L2 L2
L3 L3
N PEN
PE
xx1700001311
xx1700001310
Not recommended power supply systems

The following systems are not recommended by ABB:
TT system (separate ground rods) Resistance grounded secondary system
If this kind of system must be used, the If this kind of system must be used, the
grounding path resistance between ground voltage variations between any line and PE
1 and 2 shall not exceed 0.1 Ohm, for more should not exceed ±10% of the nominal line
information refer to UL1740. voltage, for more information refer to EN
50160.

Continued
TT system (separate ground rods) Resistance grounded secondary system

L1 L1
L2 L2
L3 L3
N N
xx1700001312 xx1700001313
Not allowed power supply systems

The following systems are not allowed by ABB:
Un-symmetric system IT system (ungrounded secondary)
These transformers provide un-symmetric The voltage between phases and ground is
phase voltages with respect to ground. Inher- undefined and may cause damage to both
ent phase imbalances with respect to ground drive system and mains line filter (if installed).
would put the drive system and mains line
filter (if installed) under unacceptable stress.
L1
L2
L3
xx1700001316
xx1700001317
xx1700001315
xx1700001314
Isolation transformer
A three-phase isolation transformer between the mains supply and the control
cabinet is required for any of the below conditions:
• Not allowed power supply system used, as mentioned in Not allowed power
supply systems on page 63.
• When the mains supply is shared with a pressing machine, frequency
converter, or other large industry equipment that may cause the power supply
characteristics out of standard limits. To some extent, isolation transformers
will filter out harmonics, spikes and surges.

Continued
For further information refer to regional power supply standards.
Allowed isolation transformer types

The following isolation transformer types are allowed by ABB:
Delta-Wye isolation transformer (△/Y) Wye-Wye isolation transformer (Y /Y)
xx1700001318 xx1700001319
A Primary/input
B Secondary/output
Mains line filter

A mains line filter is included in the IRC5 Panel Mounted controller, ensuring
compliance with EN/IEC 61000-6-4.
Additional types of external filters may be used, provided they are approved by
regional standards. For further information refer to regional power supply standards.

2.5.3 Connecting power supply to PMC small
Location
E A
B
D
C
xx0600003295
A Incoming power (3 phase)

B Line filter
C Transformer
D Power supply 3x262V
E Power supply 230V (2 phase)
F Power supply 230V from the drive module to the control module
Required equipment
Equipment Note
Incoming power cable
Line filter See Miscellaneous parts on page 250.
Mini-Fit Jr Handcrimp tool Recommendation:
16-24AWG Molex art. no. 063819090
(www.molex.com)
Standard toolkit The contents are defined in section
Standard toolkit, IRC5 on page 243.
Circuit diagram See Circuit diagrams on page 265.

Continued
Connecting incoming power to the Drive Module

Use this procedure to connect power supply to the drive module.
Action Note/illustration
1 Place the line filter and transformer
near to the drive module and they
must be on the same ground.
2 Connect the incoming power to the
Line filter (LINE).
xx0600003315
3 Route, strap and connect the three

phase wires to XT16:1, 2 and 3.
D
C B A
xx0600003316
• A: incoming power 3x262V 10A wires

• B: incoming 230V wires
• C: incoming earth cable
• D: outgoing 230V to the Control Module
4 Route, strap and connect the two
phase wires to XT16:4 and 5. CAUTION
Separate the power supply 2-phase wires from

the 3-phase wires. These are disturbing on the
Line filter LOAD side.
5 Route, strap and connect the earth

cable to PE.

2.5.4 Connecting power supply to PMC large
Location
The controller is shown lying down in order to show the cables. Please note that
the PMC large must be mounted in an upright position.
G D
F
A
B
C
xx1100000506
A Incoming power (3 phase)

B Line filter
C Transformer
(can be left out for 3-phase if using incoming 3-phase of 400-480V)
(can be left out for 2-phase if using incoming single phase of 230V)
D Inductor
E Power supply 3 x 400-480V
F Power supply 230V (2 phase)
G Power supply 230V from the Drive Module to the Control Module

Continued
Rated voltage and current

To find the rated voltage, rated current and interrupting capacity of the IRC5 Panel
Mounted Controller, see the name plates on the side of the control module and
drive module.
xx1300001945
A Controller name plates
Required equipment
Equipment Note
Incoming power cable
Line filter See Miscellaneous parts on page 250.
Mini-Fit Jr Handcrimp tool Recommendation:
16-24AWG Molex art. no. 063819090
(www.molex.com)
Recommended cables
Cable Dimensions
230V 1.5-4 mm 2 (AWG 16-12)
400-480V 4-10 mm 2 (AWG 12-7)

Continued
Connecting incoming power to the Drive Module

Use this procedure to connect power supply to the drive module.
1 Place the line filter and transformer
near to the drive module and they
must be on the same ground.
2 Connect the incoming power to the
Line filter (LINE).
xx0600003315

Continued
3 Route, strap and connect the three
phase wires to the 3-phase automatic
fuse (F1).
A B C
xx1100000513
A C
B
xx1100000514
• A: incoming power 3x400V 16A wires

• B: incoming 230V wires
• C: incoming earth cable
• D: outgoing 230V to the Control Module
4 Route, strap and connect the two
phase wires to the 2-phase automatic CAUTION
fuse (F2).
Separate the power supply 2-phase wires from
the 3-phase wires. These are disturbing on the
Line filter LOAD side.
5 Route, strap and connect the earth

cable to PE.

2.5.5 Connecting power supply to the control module
Connecting power supply 230V to the control module

The power to the control module can be provided from the drive module with cable
3HAC038835-001 (rolled up inside the drive module at delivery) or from an external
source.
Use this procedure to connect power supply to the control module.
1 If using the power supply from the drive PMC small:
module, roll out the power cable from
the drive module.
D
C B A
xx0600003316
PMC large:
A B C
xx1100000513
• D: 230V power supply from the drive

module to the control module

Continued
2 Route and strap the power supply 230V Control module:
10A cable as the illustration to the right A B
shows.
xx1300001946
A Incoming earth
B Power supply 230V 10A
3 Connect the power supply 230V 10A
cable to the control power supply con-
nector X1.
• phase 1 to G2.X1:1
• earth to G2.X1:3
• phase 2 (N) to G2.X1:5
4 Connect incoming earth to PE.

2.5.6 Connecting communication cables between IRC5 Panel Mounted Drive Module and control module
2.5.6 Connecting communication cables between IRC5 Panel Mounted Drive Module
and control module
Location
PMC small:
xx0600003294

Continued
PMC large:
xx1100000486
A Ethernet cable
B Panel board/Contactor interface board cable
Required equipment
Equipment Art. no. Note

Ethernet cable 3HAC024244-005

Continued

Panel board/Contactor interface 3HAC024201-001
board cable
Standard toolkit Described in section Standard
toolkit.
Connecting the Ethernet cable

Use this procedure details connect the Ethernet cable between the drive module
and control module.
1 Connect the cable to the Axis computer board con-
nector A42.X2, route and strap the cable as shown
in the illustration above.
2 Connect the cable to the Main computer connector
A32.A9.
Connecting the Panel board/Contactor interface board cable

Use this procedure to connect the panel board/contactor interface board cable
between the drive module and control module.
1 Connect the cable to the Contactor interface board
connector A43.X1, route and strap the cable as
shown in the illustration above.
2 Connect the cable to the Panel board connector
A21.X7.

2.5.7 Connecting fan unit to IRC5 Panel Mounted Drive Module
Note
For PMC large, the fan unit is already connected at delivery.
Location
xx0600003323
A Control module
B Drive module
C Fan cable
D Fan unit

Continued
Connecting fan unit to drive module

Use this procedure to connect the fan unit to the drive module.
1 Connect fan unit to drive module
E1.XP1
xx0600003324
2
WARNING
The fan unit must not be covered.

Check that nothing covers or block the
fan unit.
3 Temporarily turn the power supply to

the modules on.
Inspect all fans to make sure they
function correctly.
Turn the power supply back off.

2.5.8 Connecting a FlexPendant
2.5.8 Connecting a FlexPendant
Location of FlexPendant connector

The FlexPendant connector on the Panel Mounted Controller is located on the front
of the controller.
CAUTION
Always inspect the connector for dirt or damage before connecting it to the
controller. Clean or replace any damaged parts.
xx1300001947
A FlexPendant connector
Connecting a FlexPendant
Action Information
1 Locate the FlexPendant socket connector The controller must be in manual mode.
on the controller or operator’s panel.
2 Plug in the FlexPendant cable connector.
3 Screw the connector lock ring firmly by
turning it clockwise.
Handling the FlexPendant cables

FlexPendant cables are allowed to be rolled up by hand with a minimum bending
radius of 10 times the cable diameter. This also applies to the extension cable. For
example, if the cable is 9.5 mm then it is allowed to roll it with a radius of 95 mm.
Extension cables are not allowed to be used in chains.

2.5.9 Connectors on the computer unit
Overview of the computer unit

The following illustration shows an overview of the computer unit.
xx1300000608
X1 Power supply
X2 (yellow) Service (connection of PC).
X3 (green) LAN1 (connection of FlexPendant).
X4 LAN2 (connection of Ethernet based options).
X5 LAN3 (connection of Ethernet based options).
X6 WAN (connection to factory WAN).
X7 (blue) Panel unit
X9 (red) Axis computer
X10, X11 USB ports (4 ports)
Note
It is not supported to connect multiple ports of the main computer (X2 - X6) to
the same external switch, unless static VLAN isolation is applied on the external
switch.
Service port test middle

The service port is intended for service engineers and programmers connecting
directly to the controller with a PC.

Continued
The service port is configured with a fixed IP-address, which is the same for all
controllers and cannot be changed, and has a DHCP server that automatically
assigns an IP-address to the connected PC.
Note
For more information about connecting a PC to the service port, see section
Connecting a PC to the controller in Operating manual - RobotStudio.
WAN port
The WAN port is a public network interface to the controller, typically connected
to the factory network with a public IP address provided by the network
administrator.
The WAN port can be configured with fixed IP-address, or DCHP, from the Boot
application on the FlexPendant. By default the IP-address is blank.
Some network services, like FTP and RobotStudio, are enabled by default. Other
services are enabled by the respective RobotWare application.
Note
The WAN port cannot use any of the following IP-addresses which are allocated
for other functions on the IRC5 controller:
• 192.168.125.0 - 255
• 192.168.126.0 - 255
• 192.168.127.0 - 255
• 192.168.128.0 - 255
• 192.168.129.0 - 255
• 192.168.130.0 - 255
The WAN port cannot be on a subnet which overlaps with any of the above
reserved IP-addresses. If a subnet mask in the class B range has to be used,
then a private address of class B must be used to avoid any overlapping. Please
contact your local network administrator regarding network overlapping.
See the section about topic Communication in Technical reference
manual - System parameters.
Note
For more information about connecting a PC to the WAN port, see section
Connecting a PC to the controller in Operating manual - RobotStudio.
LAN ports
The LAN 1 port is dedicated for connecting the FlexPendant.
The LAN 2 and LAN 3 ports are intended for connecting network based process
equipment to the controller. For example field buses, cameras, and welding
equipment.

Continued
LAN 2 can only be used as private network to the IRC5 controller.
Isolated LAN 3 or LAN 3 as part of the private network (only for RobotWare 6.01 and later)
The default configuration is that LAN 3 is configured as an isolated network. This
allows LAN 3 to be connected to an external network, including other robot
controllers. The isolated LAN 3 network has the same address limitations as the
WAN network.
Note
The isolated LAN 3 cannot be used to connect to any HMI device (RobotStudio,
Robot Web Services, or PC SDK client) since it does not support the protocol
needed for communication.
Robot Controller
Private Isolated Public

LAN 3
Service LAN 1 LAN 2 LAN 3 WAN
xx1500000393
An alternative configuration is that LAN 3 is part of the private network. The ports
Service, LAN 1, LAN 2, and LAN 3 then belong to the same network and act just
as different ports on the same switch. This is configured by changing the system
parameter Interface, in topic Communication and type Static VLAN, from "LAN 3"
to "LAN". See Technical reference manual - System parameters.
Robot Controller
Private Public
Service LAN 1 LAN 2 LAN 3 WAN
xx1500000394
Note
For more information and examples of connecting to different networks, see

Application manual - EtherNet/IP Scanner/Adapter or Application
manual - PROFINET Controller/Device.
USB ports
The USB ports are intended for connecting USB memory devices.
Note
It is recommended to use the USB ports USB 1 and USB 2 on the X10 connector
for connecting USB memory devices.
The USB ports on the X11 connector are intended for internal use.

2.5.10 Connecting a serial channel to the controller
General
The serial channel is an option. To be able to connect a serial channel to the
controller, the main computer needs to be equipped with the expansion board
DSQC1003.
The expansion board has one RS232 serial channel, COM1, which can be used to
communicate with process equipment.
The expansion board also enables the connection of a fieldbus adapter. For more
information on how to connect a fieldbus adapter, see Definition of fieldbuses,
IRC5 on page 106.
Location
The serial channel connector is located on the expansion board in the computer
unit as shown below.
A B
xx1300000610
A COM1
B CONSOLE
Note
The CONSOLE connector is used for debugging purposes only.

Continued
Conversion of the RS232 channel

The RS232 channel can be converted to RS422 full duplex with an optional adapter,
DSQC 615.
The RS422 enables a more reliable point to point communication (differential) over
longer distances, from RS232 = 15m to RS422 = 120m.
Action Info/Illustration
1 Connect the adapter to the serial channel A cable is needed between the serial
connector. channel connector and the adapter.
xx1300000854
A cable
B adapter

2.5.11 Closing the Automatic Stop circuit
2.5.11 Closing the Automatic Stop circuit
Closing the Automatic Stop circuit

The controller is shipped with a default configuration so that the automatic stop
circuit is open and the general/superior stop circuit is bypassed (short-circuited).
The system can only work in manual mode.
To enable the controller without any additional/external safety equipment, connect
the safety circuit. To bypass Automatic stop circuit, 3-pole jumpers are enclosed
in bag 3HAC078549-001 with corresponding instruction 3HAC078652-001. See the
circuit diagram, 3HAC026871-020.

2.5.12 Connection of the MOTORS ON/MOTORS OFF circuit
Outline diagram
The MOTORS ON/MOTORS OFF circuit is made up of two identical chains of
switches.
The diagram shows one of the chains with the available customer connections,
AS, GS, SS, and ES.
A
E
B C C
D
G F
J &
P S
R T
K
M N
xx0100000174
A ES (emergency stop)
B LS (Limit switch)
C Solid state switches
D Contactor
E Mains
F Drive unit
G Second chain interlock
H GS (general mode safeguarded space stop)
J SS (superior stop, same function as GS)
K AS (Automatic mode safeguarded space stop)
L ED (FlexPendant three-position enabling device)
M Manual mode
N Automatic mode
O Operating mode selector
P RUN

Continued
R EN1
S EN2
T Motor
Note
Make sure the polarity is correct and that the voltage is not more than 24 V.
Function of the MOTORS ON/MOTORS OFF circuit

The circuit monitors all safety related equipment and switches. If any of the switches
is opened, the MOTORS ON/MOTORS OFF circuit switches the power to the motors
off.
As long as the two channels of AS, GS, SS, and ES are not in identical state, the
robot will remain in protective stop and MOTORS OFF mode.

Continued
Connection of safety chains

The diagram below shows the dual channel safety chain.
The supply from internal 24V and 0 V is displayed. For external supply of GS and
AS check the circuit diagram.
Terminal Location
X5, X6 Control Module

X22, X24 Drive Module
xx0100000166
Technical data per chain

Limit switch Load: 300 mV
Max. voltage drop: 1 V
External connectors Load: 10 mA
Max. voltage drop: 4 V
GS/AS/SS load at 24 V 25 mA
GS/AS/SS closed "1" >18 V
GS/AS/SS open "0" <5V
External supply of GS/AS/SS Max. + 35 VDC
Min. - 35 VDC
GS/AS/SS Filter time 2.0 ms i

Continued
Technical data per chain

Max. potential in relation to the 300 V
cabinet earthing and other signal
groups.
Signal class Control signals
i When connecting for example a safety PLC to a safety stop, make sure that the safety check pulses
not exceeds 2.0 ms, otherwise a safety relay must be connected in between. See the following
illustration.
xx0800000130

Continued
Connection of ES1/ES2 on panel unit

The diagram below shows the terminals for the emergency circuits.
The supply from internal 24V (X1:4/X2:8) and 0V (X1:8/X2:4) is displayed. For an
ext. supply, X1:3 / X2:7 is connected to ext. 24V, and X1:7 / X2:3 is connected to
ext. 0V.
24V 0V
B C D
X1:4 X1:3
X1:9
X1:10
X1:8 X1:7
X1:1
ES1
X1:2
24V
X1:6
E
24V
X1:4
X1:5
G
0V 24V
F
B C D
X2:4 X2:3
X2:9
X2:10
X2:8 X2:7
X2:1
ES2
X2:2 0V
X2:6
H
0V
X2:4
X2:5
J
xx0100000191
A Internal
B Ext stop
C FlexPendant
D Cabinet
E ES1 internal
F Run chain 1 top
G Internal
H ES2 internal
J Run chain 2 top
ES1 Emergency stop output 1
ES2 Emergency stop output 2

Continued
Technical data
ES1 and ES2 max output voltage 120 VAC or 48 VDC
ES1 and ES2 max output current 120 VAC: 4 A
48 VDC L/R: 50 mA
24 VDC L/R: 2 A
24 VDC R load: 8 A
External supply of ES relay 24 VDC ± 10% between terminals X1:3,
7 and X2:7, 3 respectively.
Note
In case of interference, the external sup-

ply must be properly filtered.
Rated current per chain 40 mA

Max. potential in relation to the cabinet earthing 300 V
and other signal groups.
Connection to operating mode selector

The illustration below shows the connection of terminals for customer use.
xx0500002092
A Mode selector
Technical data
Max. voltage 48 VDC
Max. current 4A
Max. potential in relation to the cabinet earthing 300 V
and other signal groups.

2.5.13 Programmable stop functions
Stopping functions
There are different methods to stop the robot, in addition to manually initiated
stops.
• Stop with system input signals
• Stop with RAPID instructions
• Other stops
Stop with system input signals

In the control system, it is possible to define system input signals to be set/reset
through different interactions, for example, through I/O signals. See Application
manual - Controller software IRC5.
The RAPID program cannot be started when any of the system input signals is
high.
Pre-defined system input Description
Stop The RAPID program execution is stopped, and the manipulator
is stopped on path with no deviation. This stop is similar to a
normal program stop using stop button on the FlexPendant.
SoftStop This is a faster stop of the manipulator than Stop. This stop is
more stressing for the mechanics than normal stop, therefore
there might be a minor deviation on path.
QuickStop This is a faster stop of the manipulator than Stop and SoftStop.
This stop is more stressing for the mechanics than normal stop
or SoftStop, therefore there might be a deviation on path.
Stop at End of Cycle Stops the RAPID program when the complete program is ex-
ecuted, that means when the last instruction in the main routine
has been completed.
Stop at End of Instruction Stops program execution after the current instruction is com-
pleted.
All of these stops are performed without using the brakes, and the power is never
disconnected. The program execution can be continued directly, for example by
activating a start signal if the stop signal is set low.
Note
Only safety rated input signals are allowed to be used for safety.

Continued
Stop with RAPID instructions

There are several RAPID instructions available that stops the robot.
Instruction Description Arguments
SystemStopAction Stops all robots in all tasks imme- \Stop: similar to a normal pro-
diately. gram stop with stop button.
\StopBlock: as above, but to re-
start the PP has to be moved.
\Halt: this is like a category 0
stop, i.e. it will result in motors off
state, stop of program execution
and robot movements in all motion
tasks. The Motors on button must
be pressed before the program
execution can be restarted.
Stop The current move instruction will \NoRegain: the robot will not re-
be finished before the robot stops. turn to the stop point when restar-
A restart will continue the program ted, e.g. after having been jogged
execution. away.
\AllMoveTasks: all robots will be
stopped.
StopMove The current move instruction will \Quick: the stop will be a soft
be stopped immediately as a nor- stop on path, as described for
mal program stop but the program system input SoftStop, otherwise
execution will continue with the similar to a normal program stop.
next instruction. StartMove must \AllMotionTasks: all robots will
be executed to get the robot mov- be stopped.
ing again.
DebugBreak The current move instruction and
the program execution will be
stopped immediately as a normal
program stop. A restart of the pro-
gram will continue the program
execution.
EXIT The current move instruction and
the program execution will be
stopped immediately as a normal
program stop. After stop the Pro-
gram Pointer is lost and has to be
reset to Main.
EXITCYCLE The current move instruction and
program execution will be stopped
immediately. The Program Pointer
will be moved to Main and if run-
ning mode is continuous, the pro-
gram will be restarted.

Continued
Instruction Description Arguments

SearchX Search instructions can be pro- \Stop: the robot will stop as fast
grammed with arguments to stop as possible. This stop is per-
the robot movement close to the formed by ramping down motion
point where a search hit was no- in each motor separate from each
ticed. The program execution will other, and as fast as possible.
continue with the next instruction. Since it will be without any coordin-
ation, the robot may slide off path
fairly much.
\PStop: the robot will stop like
after a normal program stop.
\SStop: the robot will stop on path
but quicker than a normal program
stop. This is similar to a system
input SoftStop.
\Sup: the robot will continue to the
ToPoint. If more than one search
hit is found, an error will be repor-
ted.
RAPID instructions are described in Technical reference manual - RAPID

Instructions, Functions and Data types.
Other unexpected stops
Type of stop Description

SysFail In the control system there is a surveillance and monitoring
function that can detect abnormal situations. In such cases a
stop will be initiated. The robot controller must be restarted.
Power fail In the control system there is a monitoring function that can
detect power failure. In such cases a stop will be initiated.
Stop at collision In the control system there is a monitoring function that can
detect collisions. In such cases a stop will be initiated.
WARNING
Special care must be taken when restarting a machine that is

stopped due to a collision. The robot might make a limited
move when restarted.
WARNING
The revolution counters might need to be updated after a colli-

sion to ensure path accuracy.

2.5.14 Connection of external safety relay
2.5.14 Connection of external safety relay
Description
The motor contactors K42 and K43 in the controller can operate with external
equipment if external relays are used.
Connection example
The following figure shows an example of how to connect an external safety relay.
xx0100000246
C Robot 1
D Robot 2
F ES (emergency stop) relay
G External Safety relay
H To other equipment
J Safety gate
K Cell ES (emergency stop)

2.5.15 Connection of Drive Module Disconnect, by limit switch
General
This function enables you to temporarily disconnect a drive module and deactivate
any robot or additional mechanical units connected to this module. The procedures
are detailed below.
It is also possible to connect a remote switch to enable a Drive Module Disconnect.
The required equipment and procedure for connection of a switch are specified
below.
Note
The system diagnostics monitors the connection and disconnection of drive

modules, and event log messages regarding these events will be stored in the
event log when required. These messages are accessible using the FlexPendant
or RobotStudio.
Note
This functionality cannot be used together with SafeMove, option 810-2.
Location
The contactor interface board unit is located in the Panel Mounted Drive Module
as shown below.
PMC small:
xx0600003241
A Contactor interface board

Continued
PMC large:
xx1100000481
Required equipment
The table below details the required equipment.
Equipment Note
Wire AWG20
Switch 24V 0.5A
Operating manual - RobotStudio
Operating manual - IRC5 with FlexPendant
Standard toolkit
Enabling Drive Module Disconnect in RobotStudio

The following procedures details how to enable the system for Drive Module
Disconnect.
Action
1 In the Configuration editor in RobotStudio, select the topic Motion.
2 Select the type Drive Module User Data.
3 Set the parameter for selected drive module to YES.
4 Restart the system.

Continued
Enabling Drive Module Disconnect with the FlexPendant

The following procedures details how to enable the system for Drive Module
Disconnect.
Action
1 In the Control panel on the FlexPendant, tap Topics, and select Motion.
2 Tap the type Drive Module User Data, and then tap to select the drive module.
3 Set the parameter for selected drive module to YES.
4 Restart the system.
Disconnecting the drive module

Use this procedure to disconnect a drive module.
1 Make sure that the system is in the MO-
TORS_OFF state.
2 Disconnect the connector X22. It is also possible to use connector X21,
but this is typically used for limit switches
on the robot.
xx0600003250
Reconnecting the drive module

Use this procedure to reconnect the drive module.
TORS_OFF state.
2 Reconnect the X22 connector.
xx0600003250
3 Move the program pointer to main in the

RAPID-program where the disconnected
mechanical units are active.
Connect a remote switch

The following procedures details how to connect a remote switch.
TORS_OFF state.

Continued
2 Disconnect the jumpers from the connector
X22.
3 Connect the wires to the connector X22
according to the diagram on the right.
xx0500002091

2.5.16 Connecting a Limit switch override push button
DANGER
The Limit switch override is used to disconnect safety limitations. Make sure the
Limit switch override function is not active longer than absolutely necessary.
If the option SafeMove is implemented, Limit switch override must never be used
at all. The SafeMove safety controller has its own override function.
General
The override circuit enables the possibility to jog an axis out of a forbidden (limited)
zone.
Limitations
The switch has to be placed inside the controller to eliminate the risk of electrical
noise.
Required equipment
Equipment Art. no Note

Contact block (2 pcs) 3SFA 611 610 R1001 ABB CW Control
Push button 1SFA 611 102 R1105 ABB CW Control
Connector X23 3HAC021085-001
Wire Cable AWG 20 Blue
Standard toolkit This is detailed in section
Standard toolkit, IRC5 on
page 243.
Circuit diagram See Circuit diagrams on
page 265.
Note
The parts needs to be ordered separately from ABB and are not part of an option
package.
Procedure
The following procedure details how to connect a Limit switch override circuit in
the controller.
1
DANGER
Before doing any work inside the cabinet,

disconnect the mains power. For more in-
formation, see Electrical safety on page 35.

Continued
2 Attach two additional contact blocks on the
existing push button (Motors on).
A
C
D
xx0500002553
• A: Additional contact blocks

• B: Existing contact, lamp blocks
• C: Holder
• D: Push button
3 Connect wires from the contact blocks to
the connector according to the diagram to
the right.
xx0500002556
4 Fit the connector to the X23 connector on

the contactor interface board.
xx0600003250

2.6.1 Drive functions, general
2.6 Drive system
General
The robot is powered by power electronics found in the IRC5 Panel Mounted
Controller.
Location of drive unit

PMC small:
xx0600003244
A Main Drive Unit

Continued
PMC large:
xx1100000482
A Main Drive Unit
Replacing drive system parts

How to replace the drive unit for PMC small is described in section Replacement
of drive unit for PMC small on page 188.
How to replace the drive unit for PMC large is described in section Replacement
of Main Drive Unit for PMC large on page 191.

2.7.1 Memory functions
2.7 Memory functions
2.7.1 Memory functions
General
The controller is fitted with an SD-card memory containing ABB Boot Application
software. The SD-card memory is located inside the computer unit.
For more information on how to replace the SD-card memory, see Replacement
of SD-card memory in computer unit on page 185.
Note
Only use SD-card memory supplied by ABB.
CAUTION
Reformatting the SD-card or modifying the disk partition can cause irreparable
boot-up problems.

2.7.2 Connecting a USB memory
Handling USB
Handling of USB memory is described in Operating manual - IRC5 with FlexPendant.
Location on FlexPendant
The location of the USB port on the FlexPendant is shown by the following
illustration:
A
xx0900000022
A USB port (located behind rubber cover)
Location on main computer

The location of the USB ports on the main computer is shown by the following
illustration:
A
xx1300000602
A USB ports

Continued
Note
It is recommended to use the USB ports USB 1 and USB 2 on the X10 connector
for connecting USB memory devices.
The USB ports on the X11 connector are intended for internal use.

2.8.1 Definition of fieldbuses, IRC5
2.8 I/O system
General
The IRC5 Controller may be fitted with a number of different fieldbus adapters and
fieldbus master/slave boards.
In the standard form, no fieldbus is mounted to the controller.
Fieldbus master/slave boards

On the main computer unit there are slots available for installing a master/slave
board.
B
xx1600000536
A Slot for PCIexpress boards

B Slot for safety module (option SafeMove Pro or SafeMove Basic)
The following master/slave boards are available:

Description Art. no. Type designation
PROFIBUS Master PCIexpress 3HAC044872-001 DSQC1005
DeviceNet Master/Slave PCIexpress 3HAC043383-001 DSQC1006

Continued
Expansion board for fieldbus adapters

An expansion board needs to be installed to be able to fit a fieldbus adapter. On
top of the main computer unit, there is one slot available for installing the expansion
board.
The expansion board is also equipped with a serial channel. For more information
on how to connect to the serial channel, see Connecting a serial channel to the
controller on page 82.
xx1300000605
A Assembled expansion board for fieldbus adapters, without adapter.

AnybusCC / RS232 expansion 3HAC046408-001 DSQC1003
board

Continued
Fieldbus adapters
The fieldbus adapters are inserted into the expansion board on top of the main
computer unit. There is one slot available for installing a fieldbus adapter.
xx1300000604
A Slot for AnybusCC fieldbus adapters
Following fieldbus adapters are available:

AnybusCC DeviceNet slave 3HAC045973-001 DSQC1004
AnybusCC PROFIBUS slave 3HAC026840-001 DSQC 667
AnybusCC Ethernet/IP slave 3HAC027652-014 DSQC 669
AnybusCC PROFINET slave 3HAC031670-001 DSQC 688
References
For more information on how to install and configure the fieldbuses, see the
respective fieldbus manual:
Manual title Art. no.
Application manual - DeviceNet Master/Slave 3HAC050992-001
Application manual - DeviceNet Anybus Slave 3HAC050993-001
Application manual - EtherNet/IP Anybus Adapter 3HAC050997-001
Application manual - EtherNet/IP Scanner/Adapter 3HAC050998-001
Application manual - PROFIBUS Anybus Device 3HAC050965-001
Application manual - PROFIBUS Controller 3HAC050966-001
Application manual - PROFIenergy Device 3HAC050967-001

Continued
Manual title Art. no.

Application manual - PROFINET Anybus Device 3HAC050968-001
Application manual - PROFINET Controller/Device 3HAC065546-001

2.8.2 DeviceNet I/O units
General
The IRC5 controller may be fitted with DeviceNet I/O or encoder units. These are
configured in an identical way.
A
B
C
xx0600003256
A I/O or encoder units

B Mounting rail
C Connection terminal XT31
Standard configuration
In the standard form, no fieldbus is mounted to the controller.
It is possible to connect any type of DeviceNet compliant I/O unit on the DeviceNet
- master bus. All I/O units should comply with the DeviceNet standard and be
conformance tested by ODVA.
DeviceNet I/O units and parts

The table below specifies the DeviceNet I/O units:
See Spare parts on page 245 for the spare part numbers.
Encoder interface units

The table below specifies the encoder interface units:
Description Art. no. Note
Encoder interface unit for conveyor 3HNE 01586-1 DSQC 377B
tracking
Further information
The table below gives references to additional information:
Information: Found in:
How to install the DeviceNet I/O Fit the expansion board and/or field bus adapter ac-
units mechanically and electrically. cording to Replacement of expansion board in the
computer unit on page 174 and/or Replacement of
fieldbus adapter in the computer unit on page 177.

Continued

Allowed configurations of Devi- Technical reference manual - System parameters
ceNet I/O units and how to setup
the configurations.
How to install the DeviceNet I/O unit The application manual for the different I/O buses re-
software related in a new system. spectively, see listing in Definition of fieldbuses, IRC5
on page 106.
Detailed descriptions of all available The application manual for the different I/O buses re-
DeviceNet I/O units. spectively, see listing in Definition of fieldbuses, IRC5
on page 106.

2.8.3 Conveyor tracking module
RobotWare - OS
General
The conveyor tracking module, DSQC 2000 CTM-01, is a network based conveyor
interface that provides connections for 4 encoders and 8 cameras. The camera
connections can also be used for other sensor types, for example photocells. The
module uses network communication to share conveyor speed and position data
with one or more robot controllers.
xx1800000941
Encoder interface units

The table below specifies the encoder interface units:
Description Art. no. Note
DSQC2000 CTM-01 3HNA027579-001 Conveyor tracking
module
CONNECTOR KIT - DSQC2000 3HNA029345-001 Connector kit
Note
The connector kit in-

cludes contacts for 2
encoders and 4 camer-
as.
Two connector kits
are needed to handle
additional encoders
and cameras.

RobotWare - OS
Continued
Further information
The table below gives references to additional information:
How to install and configure Convey- Application manual - Conveyor tracking,
or Tracking. 3HAC050991-001

2.9.1 Installation of additional Drive Module
2.9 Installation of add-ons
2.9.1 Installation of additional Drive Module
General
To be able to use a MultiMove system, an additional Drive Module is needed. The
Panel Mounted Controller is prepared for up to three additional Drive Modules.
xx0600003253
Note
For PMC, drive units for additional motors cannot be installed.

For more information about installing additional Drive Modules, see Application
manual - MultiMove. For more information about stacking modules and process
modules, see Product specification - Controller IRC5.

2.9.2 Installation of external operator's panel, IRC5
Overview
External operator’s panels can be either simply a panel or a panel box. See
illustrations below.
Note
When ordering the external operator's panel as an add-on, the external operator's
panel is delivered empty together with labels and blanking plugs.
When installing, the following components must be moved from the controller
to the external operator's panel:
• Mode switch
• Motor ON button
• Emergency stop button
External operator’s panel (option 733-3)
C D
B
E
A
F
xx1100000522
A Front panel
B FlexPendant connector
C Blanking plug for actuator red
D Emergency stop button
E Motor ON button
F Mode switch

Continued
External operator’s panel box (option 733-4)

D
C
E
B
F
A
G
I H
xx1000000954
A Wall cabinet
B Front panel
C Blanking plug for FlexPendant
D Blanking plug for actuator red
E Emergency stop button
F Motor ON button
G Mode switch
H External operator's panel harness
I FlexPendant connector
Required equipment

External operator's panel (733-3) 3HAC040643-003
External operator's panel box (733-4) 3HAC040644-003
External operator's panel cable 3HAC038767-001 7 m
3HAC038768-001 15 m
3HAC038769-001 30 m
Standard toolkit The contents are defined in
section, Standard toolkit,
IRC5 on page 243
page 265.

Continued
Procedure
The procedure below details how to install the external control panel.
1
DANGER

2 Disconnect the cable from the ethernet

connector for FlexPendant on the computer
unit.
3 Disconnect signal cabling from the panel
board unit.
Connectors:
• A21.X9
• A21.X10
xx0600003257
4 Connect the ethernet connector A31.X3 for

the FlexPendant to the computer unit.
5 Connect the signal connectors A21.X9 and
A21.X10 to the connector X9 and X10 on
the panel board unit.
6 Strap the cabling to the existing cable
strapping inside the controller.
7 Fit the following components to the correct
positions on the external operator's panel:
• S21.1, Mode switch
• S21.2, Motor ON button
• S21.3, Emergency stop button
8 Fit the cabling to the panel box with the four
attachment screws.
9 Attach the XS4 connector to the external See Circuit diagrams on page 265.
operator's panel, and connect the free ends
of the harness to the components on the
external operator's panel.
10 Connect the earth cable.
11 Strap the cabling on the external operator's
panel.
12 Power on the controller and test the func-
tionality of the Mode switch, Motor ON
button, and the Emergency stop button.

2.9.3 Installation of external enabling device
Overview
IRC5 is delivered with one enabling device but have the possibility to connect one
additional external enabling device (cannot be ordered from ABB Robotics).
When an external enabling device is used together with the three-position enabling
device on the teach pendant, both enabling devices must be enabled to be able
to operate the manipulator in manual mode.
Connecting the external enabling device

The external enabling device must be connected to the panel board connector X6
pin 7-10 as shown in the figure below.
IRC5
Panel board (A21)
Connector X6
External enabling
X6.7 (EN1_1A)
device
X6.9 (EN2_1B)
X6.10 (EN2_1A)
X6.8 (EN1_1B)
xx1500000534
The enabling device chain is enabled if X6 pin 7 is short circuited with X6 pin 8 at
the same time as X6 pin 9 is short circuited with X6 pin 10.
Requirement on the external enabling device

The external enabling device connected to IRC5 must have the following
characteristics:
• Redundant channels.
• Three-position enabling device. When the enabling device is pressed to the
center position the enabling device chain must be enabled. When the enabling
device is released or pressed to third position, the enabling device chain
must be disabled.
• The enabling device must have a B10 value of at least 100000 cycles (less
than 10% chance of failure before 100000 cycles).
• The mean time to dangerous failure (MTTFd) of the external enabling device
must be high enough to ensure that the external enabling device together

Continued
with IRC5’s enabling device chain is above 55 years. See safety related
performance for the enabling device chain below.
Performance of IRC5 original enabling device chain

The safety-related performance of the enabling device chain, without the external
enabling device, is as follows:
• MTTFd for IRC5 enabling device chain is 80 years.
• IRC5’s enabling device chain’s calculated average probability of dangerous
failure per hour (PFHd) is 6.62x10E-08.
• IRC5’s enabling device chain’s design and structure is category 3.
• IRC5’s enabling device chain’s Diagnostic Coverage is medium (90% < DCavg
< 99%).
• The Common Cause Failure (CCF) is met according to the standard
requirements.

2.9.4 Installation of DeviceNet I/O, Gateways and encoder interface units, IRC5
2.9.4 Installation of DeviceNet I/O, Gateways and encoder interface units, IRC5
Location
The DeviceNet I/O units, Gateway or encoder interface units to be installed are
shown in the illustration below.
A
B
C
xx0600003256
A I/O units, Gateways or Encoder interface units

B Mounting rail
Required equipment
Equipment Article number Note

DeviceNet I/O units, Gateways or en-
coder interface units
Application manual - DeviceNet Mas- 3HAC050992-001
ter/Slave
page 265.
Fitting
The procedure below details how to fit the units.
1
DANGER

2 Fit the DeviceNetI/O unit by snapping it

onto the mounting rail.
3 Connect the DC supply to the board.
4 Connect wires to the inputs and output Described in the Application manual for
connectors as required. the respective busses.

2.9.5 Installation of conveyor tracking module
RobotWare - OS
Location
The conveyor tracking module must be powered by a 24V power supply and
connected to the Ethernet.
B
xx1800002638
A X1, Power inlet 24VDC

B X20, Optional camera power inlet 24VDC
C X7 WAN, Ethernet connection
Required equipment

DSQC 2000 CTM-01 3HNA027579-001
CONNECTOR KIT - DSQC 2000 3HNA029345-001
Application manual - Conveyor 3HAC050991-001
tracking
Standard toolkit See Standard toolkit, IRC5
on page 243.

RobotWare - OS
Continued

Circuit diagram - IRC5 Panel 3HAC026871-020
Mounted Controller
Note
The connector kit includes contacts for 2 encoders and 4 cameras. Two connector
kits are needed to handle additional encoders and cameras.
Fitting
The procedure below details how to fit the units.
1
DANGER

2
ELECTROSTATIC DISCHARGE
(ESD)
The unit is sensitive to ESD. Before hand-

ling the unit read the safety information in
section The unit is sensitive to ESD on
page 48.
3 Connect 24VDC power supply to X1 (power External 24VDC power supply is needed
inlet, main functions) and X20 (optional for option 1551-1.
camera power inlet) on the conveyor
tracking module.
4 Connect the Ethernet cable to the connect- The WAN port of the CTM must be con-
or X7 WAN on the conveyor tracking mod- nected to the same Ethernet network as
ule. the robot controllers.
5 Connect wires to the encoder and camera Described in the Application manual - Con-
connectors as required. veyor tracking.

2.9.6 Installing the EPS board DSQC 646 for Electronic Position Switches
General
To use the option Electronic Position Switches you need to install an EPS board
in the robot controller. The procedure below will show how to install this board.
Note
It is not possible to have the options EPS and SafeMove installed at the same
time - that is, only one of these two options can be installed and used.
WARNING
The safety controller has passive monitoring, i.e. it does not stop the robot. If an
axis is outside its configured range, an output signal goes low. It is the
responsibility of the installation personnel to connect the output signals in such
a way that the robot is stopped if there is a risk of a dangerous situation.
Illustration
The EPS board should be mounted behind the axis computer.
PMC small:
A
xx1000000979
A EPS board
B Axis computer

Continued
PMC large:
xx1100000483
A EPS board
B Axis computer
Procedure
The procedure below details how to install an EPS board.
1
DANGER
Before doing any work inside the cabin-

et, disconnect the mains power. For
more information, see Electrical safety
on page 35.
2
(ESD)
The unit is sensitive to ESD. Before

handling the unit read the safety inform-
ation in section The unit is sensitive to
ESD on page 48.

Continued
3 If not already in place, fit the EMC strips
on the EPS board.
xx0700000087
4 Connect the short SMB cable and both

Ethernet cables to the EPS board before
mounting the board. These connections
may be difficult to reach once the board
is mounted.
The two Ethernet connectors on the EPS
board are interchangeable (it does not
matter which is connected to the main
computer and which is connected to the
axis computer).
xx0600003303
5 Remove the attachment screws of the

axis computer. Lift out the axis computer
so that the EPS board can be fitted be-
hind the axis computer.
xx0900000030
• A: axis computer
• B: attachment screws

Continued
6 Only for PMC small:
Attach two mounting brackets on the
drive module, so that the EPS board can
be mounted on these brackets.
xx1000000981
• A: mounting brackets
7 Fit the EPS board in the same place as A
the axis computer was before.
B B
xx0600003204
• A: EPS board

Continued
8 Fit the axis computer on the EPS board.
A
B
C
xx0900000438
• B: EPS board
• C: attachment screws
9 Remove the existing Ethernet cable from
the axis computer and connect it to the
EPS board. Connect the short Ethernet
cable between the EPS board and the
axis computer.
xx0600003218

Continued
10 Remove the SMB cable from the axis
computer and connect it to the EPS
board.
Connect the SMB cable from the EPS
board to the axis computer.
xx0600003207
11 Remove the power cable from the axis

computer and connect it to the split
cable.
Connect the split cable to the EPS board
and the axis computer.
xx0600003208

Continued
12 Connect signal cables to the plug con-
tact, which is then connected to the I/O
connector of the EPS board.
• Connect a power supply, 24 V to
pin 1 and 0 V to pin 2. Check with
a voltmeter that the voltage is 24
V between pin 1 and 2 on the
Phoenix connector. A
• Connect the output signals from C
the EPS board (pin 3-12). B
• Connect the sync switch signals
to pin 13 and 14. If dual channel 1
wiring is not used, connect only
pin 14.
14
E
xx0600003209
• A: I/O Connector
• B: Plug contact
• C: Power supply
• D: 5 safe outputs (10 signals)
• E: Sync switch (dual signal)

2.9.7 Installing the SafeMove board DSQC 647
General
To use the option SafeMove you need to install a SafeMove board DSQC 647 in
the robot controller. The procedure below will show how to install this board.
Note
It is not possible to have the options SafeMove and EPS installed at the same
time - that is, only one of these two options can be installed and used.
Location
The SafeMove board should be mounted behind the axis computer.
PMC small:
A
xx1000000980

Continued
PMC large:
xx1100000499
A SafeMove board
B Axis computer
Procedure
The procedure below details how to install the SafeMove board.
1
DANGER
Before doing any work inside the cabin-

et, disconnect the mains power. For
more information, see Electrical safety
on page 35.
2
(ESD)

ESD on page 48.

Continued
3 If not already in place, fit the EMC strips
on the SafeMove board.
xx0800000204
• A: EMC strips
4 Connect both SMB cables and both
Ethernet cables to the SafeMove board
before mounting the board. These con-
nections may be difficult to reach once
the board is mounted.
The two Ethernet connectors on the
SafeMove board are interchangeable (it
does not matter which is connected to
the main computer and which is connec-
ted to the axis computer).
xx0800000103
• A: SMB1 cable
• B: SMB2 cable
• C: Ethernet cables

Continued
5 Remove the attachment screws of the
axis computer. Lift out the axis computer
so that the SafeMove board can be fitted
behind the axis computer.
xx0900000030
• B: attachment screws (4 pcs)
6 Only for PMC small:
Attach two mounting brackets on the
drive module, so that the SafeMove
board can be mounted on these brack-
ets.
xx1000000981
• A: mounting brackets

Continued
7 Fit the SafeMove board in the same A
place as the axis computer was before.
B
B
xx0800000104
• A: SafeMove board
• B: attachments screws (4 pcs)
8 Fit the axis computer on the SafeMove
board.
xx0900000441
• A: Axis computer
• B: SafeMove board
• C: attachment screws (4 pcs)

Continued
9 Remove the existing Ethernet cable from
the axis computer and connect it to the
EPS board. Connect the short Ethernet
cable between the SafeMove board and
the axis computer.
xx0800000018
10 Disconnect the SMB cables from the

axis computer and connect them to the
SafeMove board.
A
xx0800000031
• A: SMB1 cable (robot)

• B: SMB2 cable (external axes)

Continued
11 Connect the SMB cables from the Safe-
Move board to the axis computer
A
B
xx0800000032
• A: SMB1 cable
• B: SMB2 cable
12 Disconnect the power cable from the
axis computer and connect it to the split
cable.
Connect the split cable to the SafeMove
board and the axis computer.
xx0800000028

Continued
13 Connect the limit switch cable between SafeMove board:
the SafeMove board (X13) and the con-
tactor interface board (X21)
xx0800000033
Contactor interface board:
A
xx0800000105
• A: limit switch cable

Continued
14 Mount the plugs in the limit switch over- The limit switch override contact must be
ride contact (X23) at pin 1 and 4 on the plugged and not used when using SafeMove.
contactor interface board.
xx0800000035
• A: plug (2pcs)
15 Connect signal cables to the plug con- X12 X11 A
tacts, which is then connected to the I/O
connector of the SafeMove board.
B
1 1
B
10 10
1 1
C
12 12
X10 X9
C D
E
xx0700000640
• A: Power supply
• B: 8 safe outputs (16 signals)
• C: 8 safe inputs (16 signals)
• D: Sync switch (dual signal)
• E: Override operation input (dual sig-
nal)

2.10 Testing
2.10 Testing
Function tests
When the installation is complete, perform the function tests in section Function
tests on page 146 to verify that the safety features work properly.

3 Maintenance
3.1 Maintenance schedule, controller IRC5
3 Maintenance
3.1 Maintenance schedule, controller IRC5
General
The controller must be maintained at regular intervals to ensure its function. The
maintenance activities and their respective intervals are specified below:
Certain activities to be performed as specified in the Maintenance Schedule are
not all detailed in this chapter, but in the Repair chapter.
Please refer to the Repair chapter of the equipment in question.
Intervals
Equipment Maintenance Interval Note

activity
Complete controller modules Inspection 12 months * Inspection of the controller on
page 142.
FlexPendant Cleaning When needed Cleaning the FlexPendant on
page 144.
Emergency stop (operating Function test 12 months Function test of emergency
panel) stop on page 146
Emergency stop (FlexPend- Function test 12 months Function test of emergency
ant) stop on page 146
Mode switch Function test 12 months Function test of mode switch
on page 147
Enable device Function test 12 months Function test of three-position
enabling device on page 148
Motor contactors K42, K43 Function test 12 months Function test of motor contact-
ors K42 and K43 on page 149
Brake contactor K44 Function test 12 months Function test of brake contact-
or K44 on page 150
Auto stop (tested if used) Function test 12 months Function test of auto stop on
page 151
General stop (tested if used) Function test 12 months Function test of general stop
on page 152
Superior stop (tested if used) Function test 12 months Function test of superior stop
on page 153
Limit switch (tested if used) Function test 12 months Function test of limit switch
on page 154
Reduced speed control Function test During com- Function test of reduced
missioning speed control on page 155.
*) The time interval depends on the working environment of the equipment: a

cleaner environment may extend the maintenance interval and vice versa.
Function test after replacement of component

In addition to performing the function tests according to the intervals, function tests
should be performed after replacing a component in the controller.

3 Maintenance
3.2.1 Inspection of the controller
3.2 Inspection activities
3.2.1 Inspection of the controller
Inspection
The procedure below describes how to inspect the IRC5 controller.
WARNING
Please observe the following before commencing any repair work on the IRC5
controller, or units connected to the controller:
• Switch off all electric power supplies with the power switch!
• Before handling, make sure you are grounded through a special ESD wrist
bracelet or similar. Many components inside the module are sensitive to
ESD (ElectroStatic Discharge) and can be destroyed if exposed to discharge.
See the Safety chapter, The unit is sensitive to ESD on page 48
1 Inspect all sealing joints and cable
glands to make sure they are airtight
in order to prevent dust and dirt from
penetrating into the controller cabinet.
2 Inspect connectors and cabling to
make sure they are securely fastened
and cabling not damaged.
3 Inspect the drive system fans and air
channels in the controller to make sure
they are clean.
4
WARNING
The fan unit must not be covered.

Check that nothing covers or block the
fan unit.
5 After cleaning:
• Temporarily turn the power sup-
ply to the modules on.
• Inspect all fans to make sure
they function correctly.
• Turn the power supply back off.
6 Replace any malfunctioning fans as
described in Replacement of drive
system fans on page 211.

3 Maintenance
3.3.1 Cleaning of the controller cabinet
3.3 Cleaning activities
3.3.1 Cleaning of the controller cabinet
Required equipment
Equipment, etc. Note

Vacuum cleaner ESD protected
Internal cleaning
1 Clean the cabinet interior with a vacuum cleaner if
necessary.
Cleaning considerations
This section specifies some special considerations when cleaning the controller.
• Always use ESD protection.
• Always use cleaning equipment as specified above. Any other cleaning
equipment may shorten the life of paint work, rust inhibitors, signs, or labels.
• Always make sure that all protective covers are fitted to the controller before
cleaning.
• Never use compressed air or spray with a high pressure cleaner.
• Never leave the door open when cleaning the exterior.

3 Maintenance
3.3.2 Cleaning the FlexPendant
Location
The surfaces to clean are shown in the illustration below.
xx0400000973
A Touch screen
B Hard buttons
Required equipment
Equipment, etc. Note

Soft cloth ESD protected
Water/Mild cleaning agent
Clean the touch screen

This section describes how to clean the touch screen.
1 Lock the screen.
en0400001221

3 Maintenance
Continued
2 It is safe to clean the FlexPendant
when the Lock screen appears.
en0400000658
3 Clean the touch screen and hard-

ware buttons using a soft cloth and
water or a mild cleaning agent.
4 Unlock the screen, by tapping the
buttons.
en0400000658
Cleaning considerations
The section below specifies some special considerations when cleaning the
FlexPendant:
• Use ESD Protection
• Use cleaning equipment as specified above. Any other cleaning equipment
may shorten the life time of the touch screen.
• Check that all protective covers are fitted to the device before cleaning.
• Make sure that no foreign objects or liquids can penetrate into the device.
• Do not remove any covers before cleaning the FlexPendant.
• Do not spray with a high pressure cleaner.
• Do not clean the device, operating panel and operating elements with
compressed air, solvents, scouring agent or scrubbing sponges.

3 Maintenance
3.4.1 Function test of emergency stop
3.4 Function tests
3.4.1 Function test of emergency stop
Overview
Perform this test on the emergency stop button both on the operating panel and
on the FlexPendant.
Performing the function test
Action Note
1 Make a visual inspection of the emergency If any damage is found on the emergency
stop button to make sure it is not physically stop button, it must be replaced.
damaged.
2 Start the robot system.
3 Press the emergency stop button. The test is passed if the event message
10013 Emergency stop state appears on
the FlexPendant.
If the event message 10013 Emergency
stop state does not appear, or if the event
message 20223 Emergency stop conflict
appears on the FlexPendant, the test is
failed and the root cause of the failure must
be found.
4 After the test, release the emergency stop
button and press the motors on button to
reset the emergency stop state.

3 Maintenance
3.4.2 Function test of mode switch
3.4.2 Function test of mode switch
2-position mode switch
Action Note
2 Start with the mode switch in manual mode This test is passed if it is possible to run
and then switch the mode switch to auto the robot in auto mode.
mode. Run the robot in auto mode. If it is not possible to run the robot in auto
mode, this test is failed and the root cause
of the failure must be found.
3 Switch the mode switch to manual mode. This test is passed if the event message
“10015 Manual mode selected” appears in
the FlexPendant log.
If the event message “10015 Manual mode
selected” is not shown in the FlexPendant
log, the test failed and the root cause of
the failure must be found.
3-position mode switch
Action Note
2 Start with the mode switch in manual mode This test is passed if it is possible to run
and then switch the mode switch to auto the robot in auto mode.
mode. Run the robot in auto mode. If it is not possible to run the robot in auto
mode, this test is failed and the root cause
of the failure must be found.
3 Switch the mode switch to manual full This test is passed if it is possible to run
speed mode. Run the program in manual the program in manual full speed mode.
full speed mode. If it is not possible to run the program in
manual full speed mode, this test is failed
and the root cause of the failure must be
found.
4 Switch the mode switch to manual mode. This test is passed if the event message
“10015 Manual mode selected” appears in
the FlexPendant log.
If the event message “10015 Manual mode
selected” is not shown in the FlexPendant
log, the test failed and the root cause of

3 Maintenance
3.4.3 Function test of three-position enabling device
3.4.3 Function test of three-position enabling device
Action Note
1 Start the robot system and turn the mode
switch to manual mode.
2 Press the three-position enabling device This test is passed if the event message
to the middle position and then hold the 10011 Motors ON state appears in the
enabling device in this position. event log.
If the event message 10011 Motors ON
state does not appear, or if the event
message 20224 Enabling device conflict
appears in the event log, then the test has
be found.
3 While still holding the three-position en- This test is passed if the event message
abling device pressed, press the enabling 10012 safety guard stop state appears in
device harder to the enable the device's the event log.
third position. If the event message 10012 Safety guard
stop state does not appear, or if the event
message 20224 Enabling device conflict
appears in the event log, then the test has
be found.

3 Maintenance
3.4.4 Function test of motor contactors K42 and K43
3.4.4 Function test of motor contactors K42 and K43
Action Note
2 Press the three-position enabling device This test is passed if the event message
to the middle position and then hold the "10011 Motors ON state" appears in the
enabling device in this position. FlexPendant log.
If the event message "37001 Motor on ac-
tivation error" appears on the FlexPendant
log, the test is failed and the root cause of
3 Release the three-position enabling device. This test is passed if the event message
"10012 safety guard stop state" appears
in the FlexPendant log.
If the event message "20227 Motor contact-
or conflict" appears in the FlexPendant
log, the test is failed and the root cause of

3 Maintenance
3.4.5 Function test of brake contactor K44
3.4.5 Function test of brake contactor K44
Action Note
2 Press the three-position enabling device This test is passed if the brakes is disen-
to the middle position and then hold the gaged and the manipulator can be moved.
enabling device in this position. If the Event message "50056 Joint colli-
While having eye contact with the manipu- sion" appears in the FlexPendant log, the
lator, move the joystick slightly in any dir- test is failed and the root cause of the fail-
ection to disengage the brakes. ure must be found.
3 Release the three-position enabling device This test is passed if the event message
to engage the brakes. "10012 safety guard stop state" appears
in the FlexPendant log.
If the event message "37101 Brake failure"
appears in the FlexPendant log, the test is
be found.

3 Maintenance
3.4.6 Function test of auto stop
3.4.6 Function test of auto stop
Action Note
1 Start the robot system and change the op-
erating mode to auto mode.
2 Activate the auto stop, for example by The test is passed if the event message
opening the connected robot cell door, 20205 Auto stop open appears in the event
which has interlock connection with auto log.
stop. If the event message 20205 Auto stop
open does not appear or if the event mes-
sage 20225 Auto stop conflict appears in
the event log, then the test has failed and
the root cause of the failure must be found.

3 Maintenance
3.4.7 Function test of general stop
3.4.7 Function test of general stop
Action Note
2 Activate the general stop. The test is passed if the event message
“20206 General stop open” appears in the
FlexPendant log.
If the event message “20206 General stop
open” does not appear or if the event
message “20226 General stop conflict”
appears in the Flexpendant log, the test is
be found.

3 Maintenance
3.4.8 Function test of superior stop
3.4.8 Function test of superior stop
Action Note
2 Activate the superior stop. The test is passed if the event message
“20215 Superior stop open” appears in the
FlexPendant log.
If the event message “20215 Superior stop
message “20220 Superior stop conflict”
appears in the Flexpendant log, the test is
be found.

3 Maintenance
3.4.9 Function test of limit switch
3.4.9 Function test of limit switch
Testing limit switches on manipulator

This must be tested on all the axes that has mounted limit switches.
Action Note
2 Jog the axis under test to the limit switch The test is passed if the event message
activation position. ”20214 Limit switch open” appears in the
FlexPendant log when the axis reaches the
limit switch activation position.
If the event message ”20214 Limit switch
message “20222 Limit switch conflict” ap-
pears in the FlexPendant log, the test is
be found.
3 After the test the robot must be jogged out
of the limit switch activation position again.
This is done by jogging the robot after
pressing the limit switch override push
button. See Connecting a Limit switch
override push button on page 99.
Testing limit switches for a SafeMove system

Perform validation of the function Safe Axis Speed. See Application
manual - SafeMove1. If this test is passed the limit switch works as intended.

3 Maintenance
3.4.10 Function test of reduced speed control
3.4.10 Function test of reduced speed control
Action Note
1 Start the robot system and change the op-
erating mode to manual.
2 Create a test program where the robot The distance and speed must be adapted
moves along a known distance with a pro- to the current installation and robot model.
grammed speed higher than 250 mm/s.
3 Start the program in manual mode and This test is passed if the speed of the robot
measure the time it takes for the robot to does not exceed 250 mm/s, otherwise the
travel the distance. test is failed and the root cause of the fail-
ure must be found.
Tip
To get accurate results, use sensors or I/O

signals to measure the time.

4 Repair
4.1 Overview
4 Repair
4.1 Overview
General
There are two versions of the IRC5 Panel Mounted Controller. PMC small is used
for small robots and PMC large is used for large robots. The controller always
consists of one control module and one drive module.
The control module contains the computer unit, communication interfaces,
FlexPendant connection, service ports and also the system software which includes
all basic functions for operation and programming.
The drive module contains the drive system.
PMC small PMC large
A
xx1300001963 xx1300001964
xx1300001961
C xx1300001965
xx1300001962

4 Repair
4.1 Overview
Continued
A Control module (with air channel for PMC large).

B Drive module (different design for PMC small and PMC large).
C Fan unit (for PMC large this is a part of the drive module).
Note
When replacing a unit in the controller, report to ABB:

• the serial number
• article number
• revision
of both the replaced unit and the replacement unit.
This is particularly important for the safety equipment to maintain the safety
integrity of the installation.
Note
When replacing a part on the IRC5 Panel Mounted Controller, report to your local
ABB the serial number, the article number, and the revision of both the replaced
unit and the replacement unit.
This is particularly important for safety equipment to maintain the safety integrity
of the installation.

4 Repair
4.2 Replacement of panel board
Location
The panel board unit, DSQC 643, is located as shown in the illustration below.
xx1300001948
A Panel board unit
Required equipment
Equipment Note
Panel board unit DSQC 643
See Spare parts on page 245.
Standard toolkit The contents are defined in section Standard
toolkit!
Other tools and procedures may be required. These procedures include references to the
See references to these procedures in the tools required.
step-by-step instructions below.
Removal
The procedure below details how to remove the panel board unit.
1
DANGER
Before doing any work inside the cabinet, discon-

nect the mains power. For more information, see
Electrical safety on page 35.

4 Repair
Continued
2
ELECTROSTATIC DISCHARGE (ESD)
The unit is sensitive to ESD. Before handling the

unit read the safety information in section The unit
is sensitive to ESD on page 48.
3 Disconnect all connectors.

Note
Make a note of any connections.
4 Remove the lower attachment screws, and remove

the Panel Unit.
xx0600003227
• A: fixed attachments
• B: hole for attachment
screw
Refitting
The procedure below details how to refit the panel board unit.
1
DANGER

2

unit read the safety information in section The unit
is sensitive to ESD on page 48.
3 Refit the panel board unit.

4 Repair
Continued
4 Refit the lower attachment screws.
xx0600003227
• A: fixed attachments
• B: hole for attachment
screw
5 Reconnect all connectors.
6 Perform the function tests in section Function tests
on page 146 to verify that the safety features work
properly.

4 Repair
4.3 Replacement of I/O units and Gateways
General
A number of I/O units and gateway units may be installed in the controller. These
are specified in DeviceNet I/O units on page 110.
How to configure the I/O units is detailed in Operating manual - RobotStudio.
Location
The location of the I/O units, gateway units, or encoder interface units are shown
in the illustration below.
A
B
C
xx0600003256
A I/O units, Gateways or Encoder interface units

B Mounting rail
Required equipment
Equipment Note
A number of units are available. Specified in section DeviceNet I/O units on
page 110.
toolkit!

4 Repair
Continued
Removal
The procedure below details how to remove the I/O units or gateway units.
1
DANGER

disconnect the mains power. For more inform-
ation, see Electrical safety on page 35.
2
(ESD)
The unit is sensitive to ESD. Before handling

the unit read the safety information in section
The unit is sensitive to ESD on page 48.
3 Identify the I/O unit or gateway unit to be re-

placed.
4 Disconnect the connectors from the unit. Note which connector goes where, to
facilitate reassembly.
5 Tip the unit away from the mounting rail and
remove it.
Refitting
The procedure below details how to refit the I/O units or gateway units.
Action
1
DANGER
Before doing any work inside the cabinet, disconnect the mains power. For more in-
2
The unit is sensitive to ESD. Before handling the unit read the safety information in
section The unit is sensitive to ESD on page 48.
3 Hook the unit back onto the mounting rail and snap it gently in position.
4 Reconnect all connectors disconnected during removal.
5 Perform the function tests in section Function tests on page 146 to verify that the safety
features work properly.

4 Repair
4.4 Replacement of backup energy bank
Location
The illustration below shows the location of the backup energy bank in the IRC5
controller.
xx1300001949
A Backup energy bank
Required equipment
Equipment Note
Backup energy bank DSQC 655
See Control module parts on page 245.
toolkit.

4 Repair
Continued
Removal
The procedure below details how to remove the backup energy bank.
1
DANGER

2 Remove the attachment screws and pull the

front with the Panel Board Unit in the arrow
direction.
xx1300001950
A attachment screws
3 Disconnect the connector X4 from the distri-
bution board.
4 Remove the attachment screw.
5 Pull the backup energy bank out.
Refitting
The procedure below details how to refit the backup energy bank.
Action
1
DANGER
2 Refit the new backup energy bank.

3 Refit and tighten the attachment screw.
4 Reconnect the connector to the control power supply connector X4.
5 Refit the front with the Panel Board Unit.

4 Repair
4.5 Replacement of computer unit
Location
The computer unit is located as shown in the illustration below.
xx1300001951
A Computer unit
Required equipment
Equipment Note
Computer unit See Spare parts on page 245.
toolkit.

4 Repair
Continued
Removal
The procedure below details how to remove the computer unit.
Note
If possible, do a backup of the system before removing the computer unit. For
information on how to do a backup see Operating manual - IRC5 with
FlexPendant.
1
DANGER

2
(ESD)

3 Disconnect all connectors from the computer

unit.
direction.
xx1300001950
A attachment screws
5 The computer unit is suspended by latches
and attachment screws.
xx1300001952
A Latches
B Attachment screws

4 Repair
Continued
6 Support the computer unit beneath by hand
and loosen the attachment screws.
xx1300001953
A Attachment screws
7 Pull the computer unit in the arrow direction.
xx1300001954
WARNING
Prevent the computer unit from falling

down due to gravity by supporting the
computer unit from beneath by hand.
Refitting
The procedure below describes how to refit the computer unit.
Note
After replacing the main computer, the RobotWare system can be reset. It is then
necessary to restore a backup. For information on how to restore a backup see
Operating manual - IRC5 with FlexPendant.
1
DANGER

disconnect the mains power. For more
information, see Electrical safety on
page 35.

4 Repair
Continued
2
(ESD)

handling the unit read the safety informa-
tion in section The unit is sensitive to ESD
on page 48.
3 Fit the computer unit in position

4 Tighten the attachment screws.
5 Reconnect all connectors to the computer
unit.
7 Perform the function tests in section
Function tests on page 146 to verify that
the safety features work properly.

4 Repair
4.6 Replacement of PCIexpress boards in the computer unit
Location
The following PCIexpress boards may be fitted in the slots in the computer unit as
shown in the figure below:
• DeviceNet Master/Slave
• PROFIBUS-DP Master
• Safety module (second generation SafeMove safety controller)
xx1500001760
A Safety module DSQC1015

B PCIexpress slot for other devices.
Required equipment

Profibus-DP Master 3HAC044872-001 DSQC1005
Profibus communication is de-
scribed in Application manu-
al - PROFIBUS Controller.
DeviceNet Master/Slave 3HAC043383-001 DSQC1006
DeviceNet communication is de-
scribed in Application manual - Devi-
ceNet Master/Slave.
Safety module 3HAC048858-001 DSQC1015
SafeMove (2nd generation) is de-
scribed in Application manual - Func-
tional safety and SafeMove2.
Standard toolkit The contents are described in sec-
tion Standard toolkit, IRC5 on
page 243.

4 Repair
Continued

Other tools and procedures may These procedures include refer-
be required. See references to ences to tools required.
these procedures in the step-by-
step instructions below.
References

Application manual - PROFIBUS 3HAC050966-001 Contains information on how to
Controller configure the system for PROFIBUS
devices.
Application manual - DeviceNet 3HAC050992-001 Contains information on how to
Master/Slave configure the system for DeviceNet
devices.
Circuit diagram See Circuit dia-
grams on page 265.
Removal
The procedure below details how to remove a PCIexpress board.
1
DANGER

2
(ESD)

page 48.
3 Disconnect any cables to/from the PCIex-

press board. Tip
Make a note of which cables are disconnec-

ted.
4 Open the computer unit by removing the

attachment screws and lift off the upper
cover. Disconnect the fan connector.
CAUTION
Be careful with the fan cable when opening

A
and removing the upper cover. The fan
B
cable must not be stretched.
xx1300000684
A Attachment screws (4 pcs.)

B Upper cover

4 Repair
Continued
5 Remove the attachment screw on top of
the PCIexpress board bracket.
B
A
xx1300000685
A Attachment screw
B PCIexpress board
6 Gently pull the board straight out.
CAUTION
Always grip the board around the edges to

avoid damage to the board or its compon-
ents.
CAUTION
Immediately put the board in an ESD safe

bag or similar.
Refitting
The procedure below details how to refit a PCIexpress board.
1
DANGER

2
(ESD)

page 48.

4 Repair
Continued
3 Fit the PCIexpress board in position by
pushing the PCIexpress board into the
socket on the motherboard.
B
A
xx1300000685
A Attachment screw
B PCIexpress board
CAUTION
Always grip the board around the edges to

avoid damage to the board or its compon-
ents.
4 Refit the attachment screw on top of the

PCIexpress board bracket.
5 Reconnect any additional cables to the
PCIexpress board.
6 Refit the fan connector and close the com-
puter unit.
CAUTION
Be careful with the fan cable when closing

the upper cover. The fan cable must not be
A
squeezed.
B
xx1300000684

B Upper cover
7 Make sure the robot system is configured
to support the installed PCIexpress board.
Function tests on page 146 to verify that the
safety features work properly.

4 Repair
4.7 Replacement of expansion board in the computer unit
Location
To connect a serial channel or a fieldbus adapter to the controller, the main
computer must be equipped with the expansion board DSQC1003.
The expansion board is located in the computer unit as shown below.
xx1300000860
A Expansion board with serial channel and one slot for AnybusCC fieldbus adapter.
Required equipment

Expansion Board 3HAC046408-001 DSQC1003
Standard toolkit The contents are described in
section Standard toolkit, IRC5 on
page 243.
Removal
The following procedure describes how to remove the expansion board from the
computer unit.
1
DANGER


4 Repair
Continued
2
(ESD)

page 48.
3 Disconnect any cables to/from the fieldbus

adapter.
attachment screws and lift off the upper
cover. Disconnect the fan connector.
CAUTION

A
B
xx1300000684

B Upper cover
5 If there is a fieldbus adapter, remove it. See Replacement of fieldbus adapter in
the computer unit on page 177.
6 Remove the attachment screws on the
computer unit.
xx1300000859
A Attachment screws (2 pcs)

7 Grip the expansion board and gently pull
it straight out. CAUTION
Always grip the expansion board around

the edges to avoid damage to the board
or its components.

4 Repair
Continued
Refitting
The following procedure describes how to refit the expansion board in the computer
unit.
Action Note/Illustrator
1
DANGER

page 35.
2
(ESD)

ESD on page 48.
3 Fit the expansion board in position by

pushing the expansion board into the CAUTION
connector on the motherboard.
Always grip the expansion board around the
CAUTION edges to avoid damage to the board or its
components.
Push carefully so no pins are damaged.
Make sure that the expansion board is
pushed straight into the connector.
4 Secure the expansion board in the com-

puter unit with the attachment screws.
5 Refit the fan connector and close the
computer unit.
CAUTION
Be careful with the fan cable when clos-

ing the upper cover. The fan cable must
not be squeezed.
6 Reconnect any cable to the fieldbus ad-

apter.

4 Repair
4.8 Replacement of fieldbus adapter in the computer unit
Location
One of the following fieldbus adapters may be fitted in the slot in the computer unit
as shown in the figure below:
• AnybusCC EtherNet/IP slave
• AnybusCC PROFIBUS slave
• AnybusCC PROFINET slave
• AnybusCC DeviceNet slave
xx1300000604
A Slot for AnybusCC fieldbus adapters
Required equipment

AnybusCC EtherNet/IP slave 3HAC027652-001 DSQC 669
fieldbus adapter Ethernet/IP communication is de-
scribed in Application manual - Eth-
erNet/IP Anybus Adapter
AnybusCC PROFIBUS slave 3HAC026840-001 DSQC 667
fieldbus adapter PROFIBUS communication is de-
al - PROFIBUS Anybus Device
AnybusCC PROFINET slave 3HAC031670-001 DSQC 688
fieldbus adapter PROFINET communication is de-
al - PROFINET Anybus Device

4 Repair
Continued

AnybusCC DeviceNet slave 3HAC045973-001 DSQC1004
fieldbus adapter DeviceNet communication is de-
al - DeviceNet Anybus Slave.
Standard toolkit The contents are described in
section Standard toolkit, IRC5 on
page 243.
References

Application manual - EtherNet/IP 3HAC050997-001 Contains information on how to
Anybus Adapter configure the system for Ether-
net/IP Fieldbus Adapter DSQC 669.
Application manual - PROFIBUS 3HAC050965-001 Contains information on how to
Anybus Device configure the system for PROFIB-
US Fieldbus Adapter DSQC 667.
Application manual - PROFINET 3HAC050968-001 Contains information on how to
Anybus Device configure the system for
PROFINET Fieldbus Adapter
DSQC 688.
Application manual - DeviceNet 3HAC050993-001 Contains information on how to
Anybus Slave configure the system for DeviceNet
Fieldbus Adapter DSQC1004.
Circuit diagram See Circuit diagrams
on page 265.
Removal
The following procedure details how to remove the fieldbus adapter from the
computer unit.
1
DANGER

2
(ESD)

page 48.
3 Disconnect any cables to/from the fieldbus

adapter.

4 Repair
Continued
4 Loosen the attachment screws (2 pcs) on
front of the fieldbus adapter to release the
fastening mechanism.
Note
Only loosen the attachment screws. Do not

remove them.
xx0700000193

B Fastening mechanism
5 Grip the loosened attachment screws and
gently pull the fieldbus adapter straight out.
A
xx1500001755
A Fieldbus adapter

4 Repair
Continued
Refitting
The following procedure details how to refit the fieldbus adapter in the computer
unit.
1
DANGER

page 35.
2
(ESD)

ESD on page 48.
3 Fit the fieldbus adapter in position by

pushing the fieldbus adapter along the
rails on the motherboard.
CAUTION
Push carefully so no pins are damaged.

Make sure that the adapter is pushed
straight onto the rails.
A
xx1500001755
A Fieldbus adapter
CAUTION
Always grip the fieldbus adapter around the

edges to avoid damage to the adapter or its
components.

4 Repair
Continued
4 Secure the fieldbus adapter with its at-
tachment screws (2 pcs).
xx0700000193

B Fastening mechanism
5 Reconnect the cable to the fieldbus ad-
apter.
6 Make sure the robot system is configured
to reflect the fieldbus adapter installed.

4 Repair
4.9 Replacement of fan in computer unit
Location
The computer fan is located under the upper cover as shown in the figure below.
xx1300000687
Required equipment
Equipment Note
Fan See Spare parts on page 245.
Cable straps
toolkit.
Removal
The procedure below details how to remove the fan in the computer unit.
1
DANGER


4 Repair
Continued
2
(ESD)

page 48.
C B A
upper cover attachment screws and lift off
the upper cover.
xx1300000688
A Upper cover attachment screws (4

pcs.)
B Fan attachment screw
C Upper cover
4 Disconnect the fan connector and remove
the cable straps. CAUTION

5 Remove the fan attachment screw.

6 Remove the fan from the upper cover.
xx1300000806
Refitting
The procedure below details how to refit the fan in the computer unit.
1
DANGER


4 Repair
Continued
2
(ESD)

page 48.
3 Refit the fan on the upper cover.

4 Refit the attachment screw.
5 Strap the fan cable to the upper cover.
CAUTION
When strapping the cable make sure that

the cable is not stretched or squeezed, and
that the cable does not get caught in the
fan.
6 Refit the fan connector and close the com-

puter unit. CAUTION
Be careful with the fan cable when closing

the upper cover. The fan cable must not be
squeezed.

Function tests on page 146 to verify that the

4 Repair
4.10 Replacement of SD-card memory in computer unit
Location
The location and orientation of the SD-card memory is shown by the following
illustration.
A B
xx1300000807
A Slot for SD-card memory

B SD-card memory
Note
Only use SD-card memory supplied by ABB.
Note
The SD-card from the computer unit DSQC1018 cannot be used in the computer
unit DSQC1024. Use the backup and restore function to move data from
DSQC1018 to DSQC1024.
CAUTION
Reformatting the SD-card or modifying the disk partition can cause irreparable
boot-up problems.

4 Repair
Continued
Required equipment
Equipment Note
SD-card 2GB See Spare parts on page 245.
Note
Only use SD-card memory supplied by

ABB.
Includes ABB Boot Application software
to correctly reboot the robot controller.
Standard toolkit The content is described in section

Removal
Use the following procedure to remove the SD-card memory.
Action
1
DANGER
Before doing any work inside the cabinet, disconnect the mains power. For more
information, see Electrical safety on page 35.
2
The unit is sensitive to ESD. Before handling the unit read the safety information
in section The unit is sensitive to ESD on page 48.
3 Gently push the SD-card memory with your finger until it clicks, and then pull it
straight out.
Refitting
Use the following procedure to refit the SD-card memory.
Action
1
DANGER
2
The unit is sensitive to ESD. Before handling the unit read the safety information in
section The unit is sensitive to ESD on page 48.
3
CAUTION
Make sure that the SD-card memory is correctly oriented before inserting it. Otherwise
the SD-card memory or the SD-card memory slot may be damaged.

4 Repair
Continued
Action
4 Gently push the SD-card memory with your finger until it clicks into place.

4 Repair
4.11 Replacement of drive unit for PMC small
Location
The illustration below shows the location of the drive unit in PMC small.
xx0600003244
A Main Drive Unit
Required equipment
Equipment Note
Main Drive Unit See Drive module parts for PMC small on
page 246.
Other tools and procedures may be required. These procedures include references to
See references to these procedures in the step- the tools required.
by-step instructions below.

4 Repair
Continued
Removal
The procedure below details how to remove the drive unit from PMC small.
1
DANGER

page 35.
2 Loosen the attachment screws and pull

the front (axis computer/drive system
power supply unit) in the arrow direction.
xx0600003242
• A: attachment screws
3 Disconnect all connectors from the unit
to be replaced.
4 Remove the drive unit after unscrewing
its attachment screws .
xx0600003248
Parts:
• A: drive unit

4 Repair
Continued
Refitting
The procedure below details how to refit the drive unit to PMC small.
Action
1
DANGER
2 Fit the unit in its intended position and orientation. Secure it with its attachment
screws.
3 Reconnect any connectors disconnected at removal.
4 Refit the front (axis computer/drive system power supply unit)

4 Repair
4.12 Replacement of Main Drive Unit for PMC large
Location
The illustration below shows the location of the Main Drive Unit in PMC large.
xx1100000482
A Main Drive Unit
Required equipment
Equipment Note
Main Drive Unit See Drive module parts for PMC large on
page 247.
Other tools and procedures may be required. These procedures include references to
See references to these procedures in the step- the tools required.
by-step instructions below.

4 Repair
Continued
Removal
The procedure below details how to remove the Main Drive Unit from PMC large.
1
DANGER

page 35.
2 Loosen the attachment screws and pull

xx1100000488
3 Disconnect all connectors and remove
all cables from the unit to be replaced. Tip
Loosen the cable from the Main Drive Unit

by turning the cable straps in the arrows
direction.
xx1100000560

4 Repair
Continued
4 Remove the drive unit after unscrewing
its attachment screws .
xx1100000489
Parts:
• A: drive unit
Refitting
The procedure below details how to refit the Main Drive Unit to PMC large.
Action
1
DANGER
2 Fit the unit in its intended position and orientation. Secure it with its attachment screws.
3 Reconnect any connectors disconnected at removal.
4 Refit the front (axis computer/drive system power supply unit)

4 Repair
4.13 Replacement of Axis computer
Location
The illustration below shows the location of the axis computer in the controller.
PMC small:
xx0600003240
PMC large:
A
xx1100000492

4 Repair
Continued
Removal
The procedure below details how to remove the axis computer.
1
DANGER

2

unit read the safety information in section The
unit is sensitive to ESD on page 48.
3 Disconnect all connectors from the axis com-

puter. Tip
Make a note of the connections.
4 Remove the attachment screws.
xx0900000030
5 Remove the axis computer.
Refitting
The procedure below details how to refit the axis computer.
Action
1
DANGER
2 Fit the new axis computer.

4 Repair
Continued
Action
3 Refit the attachment screws.
4 Reconnect all the connectors.

4 Repair
4.14 Replacement of EPS board DSQC 646 for Electronic Position Switches
General
An Electronic Position Switches safety controller, EPS board, is mounted if the
option Electronic Position Switches is used.
Note
After replacement of the safety controller, the Electronic Position Switches

configuration must be downloaded to the new safety controller and then validated.
For more information, see Application manual - Electronic Position Switches.
Location
The EPS board is mounted behind the axis computer.
PMC small:
A
xx1000000979
A EPS board
B Axis computer

4 Repair
Continued
PMC large:
xx1100000483
A EPS board
B Axis computer
Removal
1
DANGER

2
(ESD)

page 48.

4 Repair
Continued
3 Disconnect the following cables connected
to the EPS board and axis computer:
• Plug contact in I/O connector
• Power cables
• SMB cables
• Ethernet cables
C
D
xx0700000101
A: Plug contact in I/O connector

B: Power cables
C: SMB cables
D: Ethernet cables
4 Remove the attachment screws of the axis
computer and remove the axis computer.
xx0900000030

4 Repair
Continued
5 Remove the attachment screws of the EPS A
board and remove the EPS board.
B B
xx0600003204
• A: EPS board
Refitting
1
DANGER

2
(ESD)

the unit read the safety information in sec-
tion The unit is sensitive to ESD on page 48.
3 If not already in place, fit the EMC strips on

the EPS board.
xx0700000087

4 Repair
Continued
4 Connect the short SMB cable and both Eth-
ernet cables to the EPS board before
mounting the board. These connections may
be difficult to reach once the board is
mounted.
The two Ethernet connectors on the EPS
board are interchangeable (it does not mat-
ter which is connected to the main computer
and which is connected to the axis com-
puter).
xx0600003303
5 Refit the EPS board and the axis computer.

6 Refit all the cables.
7 After replacement of the safety controller,
the EPS configuration must be downloaded
to the new safety controller and then valid-
ated. For more information, see Application
manual - Electronic Position Switches.
8 Perform the function tests in section Func-
tion tests on page 146 to verify that the basic
safety features (e.g. emergency stop) work
properly.

4 Repair
4.15 Replacement of SafeMove board DSQC 647
General
A SafeMove safety controller, SafeMove board, is mounted if the option SafeMove
is used.
Note
After replacement of the safety controller, the SafeMove configuration must be

downloaded to the new safety controller and then validated. For more information,
see Application manual - SafeMove1.
Location
The SafeMove board is mounted behind the axis computer.
PMC small:
A
xx1000000980
A SafeMove board
B Axis computer

4 Repair
Continued
PMC large:
xx1100000499
A SafeMove board
B Axis computer
Removal
The procedure below details how to remove the SafeMove board.
1
DANGER

2
(ESD)

page 48.
3 Disconnect the cables connected to the

SafeMove board and the cables between
the SafeMove board and the axis com-
puter.

4 Repair
Continued
4 Remove the attachment screws of the axis
computer and remove the axis computer.
xx0900000030
5 Remove the attachment screws of the A
SafeMove board and remove the SafeMove
board.
B
B
xx0800000104
• A: SafeMove board
Refitting
The procedure below details how to refit the SafeMove board.
1
DANGER


4 Repair
Continued
2
(ESD)

page 48.
3 If not already in place, fit the EMC strips on

the SafeMove board.
xx0800000204
• A: EMC strips
4 Connect both SMB cables and both Ether-
net cables to the SafeMove board before
mounting the board. These connections
may be difficult to reach once the board is
mounted.
The two Ethernet connectors on the Safe-
Move board are interchangeable (it does
not matter which is connected to the main
computer and which is connected to the
axis computer).
xx0800000103
• A: SMB1 cable
• B: SMB2 cable
• C: Ethernet cables
5 Refit the SafeMove board and the axis
computer.
6 Refit all cables.

4 Repair
Continued
7 After replacement of the safety controller,
the SafeMove configuration must be
downloaded to the new safety controller
and then validated. For more information,
see Application manual - SafeMove1.
tion tests on page 146 to verify that the basic
safety features (e.g. emergency stop) work
properly.

4 Repair
4.16 Replacement of Contactor Interface Board
Location
The illustration below shows the location of the contactor interface board in the
controller.
PMC small:
xx0600003241

4 Repair
Continued
PMC large:
xx1100000481
Required equipment
Equipment Note
Contactor Interface board DSQC 611
Standard toolkit.
Other tools and procedures may be required. See These procedures include references
references to these procedures in the step-by-step to the tools required.
instructions below.
Removal
The procedure below details how to remove the contactor board.
1
DANGER


4 Repair
Continued
2
(ESD)

the unit read the safety information in sec-
tion The unit is sensitive to ESD on page 48.
3 Loosen the attachment screws and pull the PMC small:

front (axis computer/drive system power
supply unit) in the arrow direction.
xx0600003242
PMC large:
xx1100000488
4 Disconnect all connectors.
Tip

4 Repair
Continued
5 Remove the attachment screws.
xx0600003243
• A: contactor interface board

6 Remove the contactor interface board.
Refitting
The procedure below details how to refit the contactor board.
1
DANGER

2
(ESD)

3 Refit the contactor interface board.

5 Reconnect all connectors.
6 Refit the front (with axis computer/drive
system power supply unit).
tion tests on page 146 to verify that the safety

4 Repair
4.17 Replacement of drive system fans
Location
The illustration below shows the location of the fan unit in the controller.
PMC small PMC large
A
xx1300001961
B xx1300001965
xx1300001962
A Drive Module (different design for PMC small and PMC large).
B Fan unit (for PMC large this is a part of the Drive Module.
Required equipment
Equipment Note
Fan See Spare parts on page 245.
toolkit.
Other tools and procedures may be re- These procedures include references to the
quired. see references to these procedures tools required.
in the step-by-step instructions below.
Removal
1 Disconnect the fan cable.

4 Repair
Continued
2 Remove the attachment screw.
xx0600003328
• A: attachment screw
• B: fan
3 Push the fan unit upwards and remove
it.
4 Remove attachment screws and re-
move the cover from the fan.
Refitting
Action
1 Refit the fan to the cover.
2 Refit the fan unit.
3 Reconnect the fan cable.

4 Repair
4.18 Replacement of transformer unit
Location
The illustration below shows the transformer unit.
xx0600003259
Required equipment
Equipment Note
Transformer unit 13kVA, 6kVA, 4.2kVA, 1.2kVA
toolkit
Removal
The following procedures details how to remove the transformer unit.
1
DANGER
Before doing any work inside the cabinet, dis-

connect the mains power. For more informa-
tion, see Electrical safety on page 35.
2
WARNING
The transformer weighs between 15 and 40 kg,

use a hoist and lifting slings.

4 Repair
Continued
3 Disconnect the two grounding wires (gnye,
blue).
4 Disconnect the mains power supply wires.
Note
Make a note of the terminal to which

each of the wires are connected. This
will facilitate reconnection to the same
terminal.
5 Remove the two transformer attachment

screws.
xx0600003260
• A: attachment screw (2pcs)

6 Lift the transformer unit out with lifting slings
and a hoist.
Refitting
The following procedure details how to refit the transformer unit.
Action
1
DANGER
2
WARNING
The transformer weighs between 15 and 40 kg, use a hoist and lifting slings.
3 Fit the new transformer in place with a hoist and lifting slings.
5 Reconnect the mains power supply wires and grounding wires.

4 Repair
4.19 Replacement of brake resistor bleeder for PMC small
Location
The illustration below shows the location of the brake resistor bleeder in the PMC
small. Note! The brake resistor bleeder is placed on the back of the drive module.
xx0600003251
A Brake resistor bleeder
Required equipment
Equipment Note
Brake resistor bleeder See Drive module parts for PMC large on
page 247.
Standard toolkit The contents are defined in section Stand-
ard toolkit
Removal
The following procedure details how to remove the brake resistor bleeder.
1
DANGER


4 Repair
Continued
2 Remove the attachment screws and pull
xx0600003242
3 Disconnect all the cables from the drive NOTE! Make a note of any connections.
module.
4 Remove the drive module.
5 Remove the Contactor interface board. See Replacement of Contactor Interface
Board on page 207
6 Disconnect the brake resistor bleeder
cables.
xx0600003291
• A: brake resistor bleeder cable

4 Repair
Continued
7 Remove the attachment screws for the
brake resistor bleeder unit and remove the
unit.
xx0600003252
xx0600003329
8 Remove the attachment nuts.
xx0600003330
• A: bleeder
• B: attachment nut (2 pcs)
9 Remove the bleeder.
Refitting
The following procedure details how to refit the brake resistor bleeder
Action
1 Refit the bleeder and attachment nuts.
2 Refit the brake resistor bleeder unit to the drive module.
3 Refit the attachment screws (10 pcs)
4 Reconnect the brake resistor bleeder cables.

4 Repair
Continued
Action
5 Refit the Contactor interface board.
6 Refit the drive module.
7 Reconnect all connectors and cables to the drive module.
8 Refit the front (axis computer/drive system power supply).

4 Repair
4.20 Replacement of brake resistor bleeder for PMC large
Location
The illustration below shows the location of the brake resistor bleeder in the PMC
large. The brake resistor bleeder is located in the air channel behind the drive
module.
A
xx1100000523
A Brake resistor bleeder
Required equipment
Equipment Note
Brake resistor bleeder See Drive module parts for PMC large on
page 247.
Standard toolkit The contents are defined in section Stand-
ard toolkit
Removal
The following procedure details how to remove the brake resistor bleeder.
1
DANGER


4 Repair
Continued
2 Remove the attachment screws and pull
xx1100000488
3 Disconnect all the cables from the drive
module. Note
4 Disconnect the brake resistor bleeder

cables from the connector to let the cables
though the cable gland.
A
B
xx1100000524
• A: brake resistor bleeder cable

connector
• B: cable gland

4 Repair
Continued
5 Remove the drive module from the air
channel.
xx1100000525
• A: attachment screws (4 pcs)

6 Remove the air channel.
xx1100000526
• A: attachment screws (4 pcs)

7 Remove the plate on the back of the air
channel.
A A
xx1100000527

4 Repair
Continued
8 Loosen the attachment screws for the
brake resistor bleeder.
xx1100000529
9 Lift and remove the brake resistor bleeder.
xx1100000530
Refitting
The following procedure details how to refit the brake resistor bleeder
1 Refit the bleeder to the air channel plate.
2 Tighten the attachment screws for the
brake resistor bleeder.

4 Repair
Continued
3 Guide the brake resistor cables though the
cable gland of the air channel.
xx1100000531
Cable gland
4 Refit the plate on the back of the air chan-
nel.
5 Refit the air channel.
6 Guide the brake resistor bleeder cable
through the cable gland into the drive
module.
xx1100000532
Cable gland into drive module

7 Refit the drive module on the air channel.
8 Reconnect all connectors and cables to the
drive module.
tion tests on page 146 to verify that the

4 Repair
4.21.1 Replacement of customer I/O power supply
4.21 Replacement of power supply
Location
The customer I/O power supply is shown in the following illustration.
xx0600003258
Required equipment

Customer I/O power supply 3HAC14178-1 DSQC 609
section Standard toolkit.
Other tools and procedures These procedures include
may be required. See refer- references to the tools re-
ences to these procedures in quired.
the step-by-step instructions
below.
page 265.
Removal
The procedure below details how to remove the customer I/O power supply.
1
DANGER

2 Loosen the terminal screws for each connected

wire. Remove wires from the terminals.

4 Repair
Continued
3 Loosen the DIN-lock fixing screw.
xx0700000124
• A: DIN-lock fixing screw

• B: DIN-lock lever
4 Pull the DIN-lock lever downwards to release the
power supply unit.
5 Remove the power supply unit.
Refitting
The procedure below details how to refit the customer I/O power supply.
1
DANGER

2 Refit the new power supply unit on the DIN-rail.

4 Repair
Continued
3 Fasten the DIN-lock fixing screw.
xx0700000124
• A: DIN-lock fixing screw

• B: DIN-lock lever
4 Refit all wires in the screw terminals.
5 Fasten the screw terminal screws with correct
torque.
6 Perform the function tests in section Function tests
on page 146 to verify that the safety features work
properly.

4 Repair
4.21.2 Replacement of control power supply
Location
The control power supply is located as shown the illustration below.
xx1300001958
A Control power supply
Required equipment
Equipment Spare part no. Note

Control Power Supply 3HAC12928-1 DSQC 604
section Standard toolkit!
Other tools and procedures may These procedures include refer-
be required. See references to ences to the tools required.
these procedures in the step-by-
step instructions below.
page 265.

4 Repair
Continued
Removal
The procedures below details how to remove the control power supply.
1
DANGER
Before doing any work inside the cabinet, dis-

connect the mains power. For more informa-
tion, see Electrical safety on page 35.

direction.
xx1300001950
A attachment screws
3 Disconnect the connectors X1 - X4 on the
control power supply.
4 Loosen the attachment screw and push the
power supply up to release it from the cap nut.
xx0600003229
A cap nut
B attachment screw
5 Remove the power supply unit.
Refitting
The procedures below details how to refit the control power supply.
Action
1
DANGER

4 Repair
Continued
Action
2 Refit the control power supply.
3 Lock the unit in place by tighten the attachment screw.
4 Reconnect the connectors X1 - X4.

4 Repair
4.21.3 Replacement of drive system power supply
Location
The illustration below shows the location of the drive system power supply in the
IRC5 controller.
PMC small:
xx0600003239
PMC large:
xx1100000496

4 Repair
Continued
A Drive system power supply
Required equipment
Equipment Spare part no. Note

Drive system power supply 3HAC026289-001 DSQC 626A
Only for PMC small.
Drive system power supply 3HAC020466-001 DSQC 627
Standard toolkit The contents are defined
in section Standard
toolkit!
Other tools and procedures may be These procedures include
required. See references to these references to the tools
procedures in the step-by-step in- required.
structions below.
page 265.
Removal
The procedure below describes how to remove the drive system power supply.
1
DANGER

2 Disconnect all connectors from the unit.
xx1000000960
A drive system power supply

B cup nut (2 pcs)
C attachment screw (2 pcs)
3 Loosen the attachment screws.

4 Repair
Continued
4 Pull the power supply unit to the side to re-
lease it from the cap nuts, and remove it.
Refitting
The procedure below details how to refit the drive system power supply.
Action
1
DANGER
2 Refit the power supply by sliding the recesses in beneath the cap nuts.
3 Tighten the attachment screws.
4 Reconnect all connectors to the unit.

5 Decommissioning
5.1 Introduction
5 Decommissioning
5.1 Introduction
Introduction
This section contains information to consider when taking a product, robot or
controller, out of operation.
It deals with how to handle potentially dangerous components and potentially
hazardous materials.
General
All used grease/oils and dead batteries must be disposed of in accordance with
the current legislation of the country in which the robot and the control unit are
installed.
If the robot or the control unit is partially or completely disposed of, the various
parts must be grouped together according to their nature (which is all iron together
and all plastic together), and disposed of accordingly. These parts must also be
disposed of in accordance with the current legislation of the country in which the
robot and control unit are installed.
Disposal of storage media

Before disposal of any storage equipment (anything from an SD card to a complete
controller), make sure that all sensitive information has been deleted.
Tip
To remove all data from the SD card, use the Clean Disk function (part of
Recovery Disk function) in RobotStudio. See Operating manual - RobotStudio.

5 Decommissioning
5.2 Environmental information
Symbol
The following symbol indicates that the product must not be disposed of as common
garbage. Handle each product according to local regulations for the respective
content (see table below).
xx1800000058
Hazardous material
The table specifies some of the materials in the product and their respective use
throughout the product.
Dispose components properly according to local regulations to prevent health or
environmental hazards.
Material Example application
Aluminium Heat sinks on power supplies and drive units
Batteries, Lithium Main computer
Brominated flame retardants Electronics
Copper Cables
Lead Electronics
Plastic/rubber Cables, connectors, etc.
Steel Cabinet structure, plates, screws, etc.

5 Decommissioning
Continued
China RoHS symbol

The following symbol shows the information to hazardous substances and the
environmental protection use period of IRC5 Panel Mounted Controller according
to "Management Methods for the Restriction of the Use of Hazardous Substances
in Electrical and Electronic Products (SJ/T 11364-2014) ".
xx1900000803
Green symbol with "e" in it: The product does not contain any hazardous substances
exceeding concentration limits and is a green environmentally friendly product
which can be recycled.

6 Reference information
6.1 Introduction
6.1 Introduction
General
This chapter includes general information, complementing the more specific
information in the different procedures in the manual.

6.2 Applicable standards
Note
The listed standards are valid at the time of the release of this document. Phased
out or replaced standards are removed from the list when needed.
General
The product is designed in accordance with ISO 10218-1:2011, Robots for industrial
environments - Safety requirements -Part 1 Robots, and applicable parts in the
normative references, as referred to from ISO 10218-1:2011. In case of deviations
from ISO 10218-1:2011, these are listed in the declaration of incorporation which
is part of the product delivery.
Normative standards as referred to from ISO 10218-1
Standard Description
ISO 9283:1998 Manipulating industrial robots - Performance criteria and related
test methods
ISO 10218-2 Robots and robotic devices - Safety requirements for industrial
robots - Part 2: Robot systems and integration
ISO 12100 Safety of machinery - General principles for design - Risk as-
sessment and risk reduction
ISO 13849-1:2006 Safety of machinery - Safety related parts of control systems
- Part 1: General principles for design
ISO 13850 Safety of machinery - Emergency stop - Principles for design
IEC 60204-1:2005 Safety of machinery - Electrical equipment of machines - Part
1: General requirements
IEC 62061:2005 Safety of machinery - Functional safety of safety-related elec-
trical, electronic and programmable electronic control systems
Region specific standards and regulations
ANSI/RIA R15.06 Safety requirements for industrial robots and robot systems
ANSI/UL 1740 Safety standard for robots and robotic equipment
CAN/CSA Z 434-14 Industrial robots and robot Systems - General safety require-
ments
Other standards used in design
ISO 9787:2013 Robots and robotic devices -- Coordinate systems and motion
nomenclatures
IEC 61000-6-2 Electromagnetic compatibility (EMC) – Part 6-2: Generic
standards – Immunity standard for industrial environments
IEC 61000-6-4 Electromagnetic compatibility (EMC) – Part 6-4: Generic
(option 129-1) standards – Emission standard for industrial environments

Continued
ISO 13732-1:2008 Ergonomics of the thermal environment - Part 1
IEC 60974-1:2012 i Arc welding equipment - Part 1: Welding power sources
IEC 60974-10:2014 i Arc welding equipment - Part 10: EMC requirements
ISO 14644-1:2015 ii Classification of air cleanliness
IEC 60529:1989 + A2:2013 Degrees of protection provided by enclosures (IP code)
i Only valid for arc welding robots. Replaces IEC 61000-6-4 for arc welding robots.
ii Only robots with protection Clean Room.

6.3 Unit conversion
6.3 Unit conversion
Converter table
Use the following table to convert units used in this manual.
Quantity Units
Length 1m 3.28 ft. 39.37 in
Weight 1 kg 2.21 lb.
Weight 1g 0.035 ounces
Pressure 1 bar 100 kPa 14.5 psi
Force 1N 0.225 lbf
Moment 1 Nm 0.738 lbf-ft
Volume 1L 0.264 US gal

6.4 Screw joints
6.4 Screw joints
General
This section details how to tighten the various types of screw joints on the controller.
The instructions and torque values are valid for screw joints comprised of metallic
materials and do not apply to soft or brittle materials.
Tightening torque
Before tightening any screw, note the following:
• Determine whether a standard tightening torque or special torque is to be
applied. The standard torques are specified in the tables below. Any special
torques are specified in the Repair, Maintenance or Installation procedure
description. Any special torque specified overrides the standard value.
• Use the correct tightening torque for each type of screw joint.
• Only use correctly calibrated torque keys.
• Always tighten the joint by hand, and never use pneumatical tools.
• Use the correct tightening technique, i.e. do not jerk. Tighten the screw in a
slow, flowing motion.
• Maximum allowed total deviation from the specified value is 10%!
The table below specifies the recommended standard tightening torque for
oil-lubricated screws with slotted or cross-recess heads.
Dimension Tightening torque (Nm)
Class 4.8, oil-lubricated
M2.5 0.25
M3 0.5
M4 1.2
M5 2.5
M6 5.0

6.5 Weight specifications
6.5 Weight specifications
Definition
In all repair and maintenance instructions, weights of the components handled are
sometimes specified. All components exceeding 22 kg (50 lbs) are high-lighted in
this way.
To avoid injury, ABB recommends the use of lifting equipment when handling
components with a weight exceeding 22 kg.
Example
Below is an example of how a weight specification is presented:
CAUTION
The transformer weighs 55 kg! All lifting equipment used must be sized
accordingly!

6.6 Standard toolkit, IRC5
6.6 Standard toolkit, IRC5
General
All service (repair, maintenance and installation) instructions contain lists of tools
required to perform the specified activity. All special tools, that is, all tools that are
not considered as standard tools as defined below, are listed in their instructions
respectively.
This way, the tools required are the sum of the Standard Toolkit and any tools
listed in the instructions.
Contents, standard toolkit, IRC5
Tool Remark
Screw driver, Torx Tx10
Ball tipped screw driver, Torx Tx25
Screw driver, flat blade 4 mm
Screw driver Phillips-1
Box spanner 8 mm

6.7 Lifting accessories and lifting instructions
6.7 Lifting accessories and lifting instructions
General
Many repair and maintenance activities require different pieces of lifting accessories,
which are specified in each procedure.
The use of each piece of lifting accessories is not detailed in the activity procedure,
but in the instruction delivered with each piece of lifting accessories.
This implies that the instructions delivered with the lifting accessories should be
stored for later reference.

7 Spare parts
7.1 Controller parts
7 Spare parts
Control module parts

The illustration below shows the placement of the control module parts in the
recommended spare part list.
A E
xx1300001959
Spare part no. Description Note

A 3HAC024488-001 Panel board unit DSQC 643
B 3HAC025562-001 Backup energy bank DSQC 655
C 3HAC12928-1 Control power supply DSQC 604
D See Computer unit parts on page 249.
E 3HAC045976-001 DSQC1007 Eth. switch (MultiMove) DSQC1007
3HAC024244-001 Ethernet cable cross conn
3HAC021377-001 Bridge connector for panel board
3HAC024000-001 Bridge connector for panel board X1

7 Spare parts
Continued
Drive module parts for PMC small

The illustration below shows the placement of the drive module parts in the
B A C
D
xx0600003334

A 3HAC026289-001 Drive system power supply DSQC 626A
3HAC020466-001 Drive system power supply ext. DSQC 627
B 3HAC029157-001 Axis computer unit DSQC 668
C 3HAC035301-001 Main Drive Unit DSQC 618
D 3HAC13389-2 Contactor interface board DSQC 611
3HAC038808-001 Brake resistor bleeder IRB 140, 340,
360
3HAC037753-001 Brake resistor bleeder IRB 260
3HAC038440-001 Harness-Power supply/Drive
3HAC024254-005 Ethernet cable strait con

7 Spare parts
Continued
Drive module parts for PMC large

The illustration below shows the placement of the drive module parts in the
A B C
xx1100000500

A 3HAC020466-001 Drive system power supply ext. DSQC 627
B 3HAC029157-001 Axis computer unit DSQC 668
C 3HAC029818-001 Main Drive Unit DSQC 663
D 3HAC13389-2 Contactor interface board DSQC 611
3HAC032586-001 Brake resistor bleeder
3HAC038440-001 Harness-Power supply/Drive
3HAC024254-007 Ethernet cable strait con
DeviceNet I/O System parts

The table below details parts in the recommended spare part list.
Spare part no. Description Type
A 3HAC025784-001 ADCombi I/O unit DSQC 651
A 3HAC025917-001 Digital I/O unit DSQC 652

7 Spare parts
Continued
Scalable I/O devices

The illustration below shows the base device and connected add-on devices.
xx1600002032

3HAC058663-001 Digital base, 16 digital inputs, 16 di- DSQC1030
gital outputs
3HAC058664-001 Digital add-on, 16 digital inputs, 16 DSQC1031
digital outputs
3HAC058665-001 Analog add-on, 4 analog inputs, 4 DSQC1032
analog outputs
3HAC058666-001 Relay add-on, 8 digital inputs, 8 re- DSQC1033
lay outputs
The main dimensions for the I/O devices are 75x36x101 (Length x Width x Height).
Additional parts
Spare part no. Description
3HAC060919-001 Connectors digital base/add-on
3HAC060925-001 Connectors analog add-on
3HAC060926-001 Connectors relay add-on
3HAC062073-001 DIN bracket
Ext I/O parts

The table below details parts in the recommended spare part list.
3HAC026486-001 Additional Module Dig 24V
3HAC026486-002 Additional Module AD Combi

7 Spare parts
Continued
Computer unit parts

The illustration below shows the placement of the computer unit parts in the
A B
xx1300000851

A 3HAC042766-001 Computer unit (1 PCI slot) DSQC1000
A 3HAC050363-001 Computer unit (2 PCI slots) DSQC1018
A 3HAC058366-001 Computer unit (2 PCI slots) DSQC1024
Recommended for RobotWare 6.08
and later versions.
B 3HAC047184-003 Mass Memory with boot loader 2GB DSQC1008
Used with computer
DSQC1000/1018
B 3HAC061416-003 SD card Used with computer
DSQC1024
C 3HAC046408-001 Expansion Board complete DSQC1003
D 3HAC031670-001 PROFINET Slave Fieldbus Adapter DSQC 688
D 3HAC026840-001 PROFIBUS Slave Fieldbus Adapter DSQC 667
D 3HAC027652-001 Ethernet/IP Slave Fieldbus Adapter DSQC 669
D 3HAC045973-001 DeviceNet Slave Fieldbus Adapter DSQC1004
E 3HAC043383-001 DeviceNet Master/Slave PCIexpress DSQC1006
E 3HAC044872-001 PROFIBUS-DP Master PCIexpress DSQC1005
F 3HAC026525-001 Fan -
- 3HAC14944-1 RS-232/422 Converter DSQC 615

7 Spare parts
Continued
Miscellaneous parts
The table below shows parts in the recommended spare part list.
3HAC029105-001 Fan
3HAC037824-001 Line filter for PMC small
3HAC024322-001 Line filter for PMC large
3HAC037015-001 Transformer unit 400-480V 1.2 kVA
3HAC037017-001 Transformer unit 400V 4.2 kVA
3HAC024180-001 Transformer unit 200-600V 6 kVA
3HAC024138-001 Transformer unit 200-600V 13 kVA
3HAC024144-001 Inductor (Reactor unit)
3HAC024125-001 Harness-XP10/T1
2CDS253001R0104 3-pol automatic fuse
1SCA02235R6610 Switch
3HAC026222-003 Main switch
3HAC026222-003 Handle for 6 mm switch
3HAC021914-001 Harness-TPU Jumper plug
3HAC14178-1 Customer I/O Power supply DSQC 609
3HNE 01586-1 Conveyor Tracking Unit DSQC 377B
3HNA027579-001 CTM-01 Conveyor Tracking Module DSQC2000

7 Spare parts
7.2 FlexPendant parts
7.2 FlexPendant parts
FlexPendant parts
Article number Description

3HAC028357-001 FlexPendant with cable 10 m
3HAC031683-001 Cable 10 m for FlexPendant
3HAC031683-004 Cable 30 m for FlexPendant
3HAC055665-002 FlexPendant extension cable 15 m i
3HAC033498-001 FlexPendant holder
3HAC033596-002 FlexPendant holder upper part
i Cannot be used together with external operator's panel (option 733-3 or 733-4).

7 Spare parts
7.3.1 Manipulator cables
7.3 Manipulator cables
Signal cables, IRB 120
Art. no. Description Option no.

3HAC035320-001 Robot cable, signal 3 m 210-1
Signal cables, IRB 1200, 1410, 1520, 1600, 2600, 460, 4600, 6700, 8700

3HAC2493-1 Control cable signal 7 m 210-2
Signal cables, IRB 260, 660, 760, 2400, 4400, 6600, 6650, 6620, 6640, 6660, 6650S, 7600

Cable packages for IRB 140 (including signal, power and customer cables)

3HAC7996-1 Control cable power 3 m 210-1
Power cables, IRB 1410, 1600 (version A) 1
Art. no. Description Option no. i

3HAC2492-1 Control cable power 7 m Standard: 210-2 and 287-4
1 IRB 1600/1660ID in standard protection has two versions, A and B. For details about the robot version, see product manual
for the robot.

7 Spare parts
Continued

3HAC9038-1 Control cable power 7 m Foundry: 210-2 and 287-3
Wash: 210-2 and 287-5
Wash: 210-3 and 287-5
Wash: 210-4 and 287-5
Wash: 210-5 and 287-5
i The option number depends on the protection type of the manipulator.
Power cables, IRB 1200, 1520

3HAC040503-007 Control cable power 3 m 210-1 (only for IRB 1200)
Power cables, IRB 120
Cable Art. no. Option no.

3HAC032694-001 Robot cable power 3 m 210-1
Power cables, IRB 260, 1600 (version B) 2

Wash: 210-5 and 287-5
Wash: 210-5 and 287-5
Wash: 210-5 and 287-5
Wash: 210-5 and 287-5

3HAC029903-001 Control cable, power and signal 3 m (435-80 or 435-81 or 435-82)
2 IRB 1600/1660ID in standard protection has two versions, A and B. For details about the robot version, see product manual
for the robot.

7 Spare parts
Continued

3HAC038411-001 Control cable, power and signal, (435-80 or 435-81 or 435-82)
stainless contact screws, 3 m
Power cable, IRB 2400
Note
Depending on whether the manipulator is built before or after 2018-05, the

connection interface differs and, the choice of manipulator cable must be made
accordingly. Check the interface and select cable according to the following
tables.
Before May 2018

Wash: 210-5 and 287-5
Wash: 210-5 and 287-5
Wash: 210-5 and 287-5
Wash: 210-5 and 287-5

7 Spare parts
Continued
From May 2018

Foundry: 210-2 and 287-3
Wash: 210-5 and 287-5
Wash: 210-5 and 287-5
Wash: 210-5 and 287-5
Wash: 210-5 and 287-5

Clean room: 210-2 and 287-1
Wash: 210-2 and 287-5
Wash: 210-3 and 287-5
Wash: 210-4 and 287-5
Wash: 210-5 and 287-5
Power cable, IRB 460, 660, 760, 2600, 4600, 6600, 6620, 6640, 6650, 6650S, 6660, 6700, 7600, 8700

3HAC026787-001 Control cable power 7 m (435-6 or 435-18 or 435-24 or
435-36) and 210-2
435-36) and 210-3
435-36) and 210-4

7 Spare parts
Continued

435-36) and 210-5
Note
IRB 8700 requires two power cables.

7 Spare parts
7.3.2 Fan cables
7.3.2 Fan cables
IRB 6600 and IRB 7600

3HAC022723-001 Harness - Axis 1&2 cooling (87-1 or 88-1 or 89-1) and
210-2
210-3
210-4
210-5
3HAC022708-001 Harness - axis 1/2/3 cooling (87-1 or 88-1 or 89-1) and
274-1 or 274-2 or 274-3 or
274-4

7 Spare parts
7.3.3 CP/CS Harness
7.3.3 CP/CS Harness
CP/CS for IRB 2600, 460, 4600, 660, 6600, 6620, 6640, 6700, 760, 7600

3HAC022957-001 Harness CP/CS L=7m 94-1
CP/CS/Profibus for IRB 2600, 460, 4600, 660, 6600, 6620, 6640, 6700, 760, 7600

3HAC022988-001 Harness CP/CS, PROFIB L=7m 92-2
CP/CS DeviceNet for IRB 2600, 460, 4600, 660, 6600, 6620, 6640, 6700, 760, 7600

3HAC022978-001 Harness CP/CS, DeviceNet L=7m 90-2
Ethernet/PROFINET cable for IRB 2600, 460, 4600, 660, 6600, 6620, 6640, 6700, 760, 7600, 8700

3HAC031924-001 Connection of Ethernet, L=7m 859-1
Ethernet/PROFINET cable for IRB 1200


7 Spare parts
7.3.4 Cables customer power/customer signal
IRB 1200

3HAC049089-001 Cable CP/CS 3 m 16-1 and 94-6
IRB 1400

3HAC3346-1 Cable CP/CS 7 m 16-1 and 17-5 and 94-1
IRB 2400
Note
Depending on whether the manipulator is built before or after 2018-05, the

connection interface differs and, the choice of manipulator cable must be made
accordingly. Check the interface and select cable according to the following
tables.
Before May 2018

3HAC3353-1 Cable CP/CS 7 m Standard: 94-1, 16-1 and 287-4
3HAC8183-1 Cable CP/CS 7 m Foundry: 94-1, 16-1 and 287-3
Wash: 94-1, 16-1 and 287-5
Wash: 94-2, 16-1 and 287-5
Wash: 94-3, 16-1 and 287-5
Wash: 94-4, 16-1 and 287-5

7 Spare parts
Continued
From May 2018

Foundry: 94-1, 16-1 and 287-3
Wash: 94-1, 16-1 and 287-5
Foundry: 94-2, 16-1 and 287-3
Wash: 94-2, 16-1 and 287-5
Foundry: 94-3, 16-1 and 287-3
Wash: 94-3, 16-1 and 287-5
Foundry: 94-4, 16-1 and 287-3
Wash: 94-4, 16-1 and 287-5
IRB 4400

Clean: 94-1, 16-1 and 287-1
Clean: 94-2, 16-1 and 287-1
Clean: 94-3, 16-1 and 287-1
Clean: 94-4, 16-1 and 287-1
Wash: 94-1, 16-1 and 287-5
Foundry Prime: 94-1, 16-1 and 287-6
Wash: 94-2, 16-1 and 287-5
Wash: 94-3, 16-1 and 287-5
Wash: 94-4, 16-1 and 287-5
IRB 1600

3HAC8183-1 Cable CP/CS 7 m 94-1, 16-1 and 17-5

7 Spare parts
Continued

IRB 260

IRB 360


7 Spare parts
7.3.5 Other customer cables
7.3.5 Other customer cables
IRB 360

3HAC030198-001 Internal Customer cable 3 m 218-5 and 94-6

7 Spare parts
7.3.6 Additional cables
7.3.6 Additional cables
Drive module cables
Cable Art. no. Option no.

3HAC025600-001 Cable between control module and drive
module: L=1.7 m
3HAC025600-005 Cable between control module and drive 761-1
module: L=4 m
3HAC025600-006 Cable between control module and drive 761-3
module: L=30 m

8 Circuit diagrams
8.1 Circuit diagrams
8 Circuit diagrams
Overview
The circuit diagrams are not included in this manual, but are available for registered
users on myABB Business Portal, www.abb.com/myABB.
See the article numbers in the tables below.
Controllers
Product Article numbers for circuit diagrams

Circuit diagram - IRC5 3HAC024480-011
Circuit diagram - IRC5 Compact 3HAC049406-003
Circuit diagram - IRC5 Panel Mounted Con- 3HAC026871-020
troller
Circuit diagram - Euromap 3HAC024120-004
Circuit diagram - Spot welding cabinet 3HAC057185-001
Robots

Circuit diagram - IRB 120 3HAC031408-003
Circuit diagram - IRB 140 type C 3HAC6816-3
Circuit diagram - IRB 1600/1660 3HAC021351-003
Circuit diagram - IRB 4400/4450S 3HAC9821-1
Circuit diagram - IRB 6620 / IRB 6620LX 3HAC025090-001
Circuit diagram - IRB 6650S 3HAC13347-1
3HAC025744-001

8 Circuit diagrams
Continued

3HAC029940-001
Circuit diagram - IRB 6700 / IRB 6790 3HAC043446-005
3HAC025744-001
Circuit diagram - IRB 910SC 3HAC056159-002

Index
Index emergency stops, 29

enabling device, 30, 118
function test, 148
A EN ISO 13849-1, 18, 20
additional drive module, 114
environmental information, 234
allergenic material, 34
EPS board, 123, 197
aluminum
ESD
disposal, 234
damage elimination, 48
assessment of hazards and risks, 34
sensitive equipment, 48
automatic mode, 33
esd elimination, 43
auto stop
expansion board, replace, 174
function test, 151
external enabling device, 118
auto stop jumper, 84
external operator’s panel, 115
B external safety relay, 94
backup energy bank, repair, 164
batteries
F
fieldbus adapter, replace, 177
disposal, 234
fire extinguishing, 35
bleeder
FlexPendant
PMC large, 219
connecting, 78
PMC small, 215
function tests, 146
brake contactor, 150
fuse, 70
brake resistor bleeder
PMC large, 219 G
PMC small, 215 general stop, 152
brominated flame retardants
disposal, 234 H
hanging
C installed hanging, 34
cabinet depth, 56 hazard levels, 22
cabinet lock, 35 hazardous material, 234
carbon dioxide extinguisher, 35 heat release, 46
category 0 stop, 27 height
category 1 stop, 27 installed at a height, 34
category 3, 18 hold-to-run, 30
CCF, 18 hot surfaces, 38
cleaning of the controller, 143 HRA, 34
cleaning the FlexPendant, 144
climbing on robot, 38 I
Common Cause Failures, 18 I/O units and gateways, repair, 162
connecting a USB memory, 104 Inspection of controller, 142
connection Installation Activities, 44
FlexPendant, 78 Installation of I/O, Gateways and encoder units, 120
contactor interface board, repair, 207 integrator responsibility, 34
controller IP class, 46
symbols, 24 IRC5 controller modules, 44
control power supply, repair, 227 ISO 13849-1, 18
cooling, 46
copper K
disposal, 234 key of the mode switch, 37
D L
DC, 18 labels
Diagnostic Coverage, 18 controller, 24
dimensions, 50 lead
disposal of storage media, 233 disposal, 234
Drive functions, 101 limitation of liability, 17
drive system fan, repair, 211 limit switch, 154
drive system power supply, repair, 230 Lithium
drive unit disposal, 234
PMC large, 191 lock and tag, 35
PMC small, 188
M
E Main Drive Unit
Electronic Position Switches, 123, 197 PMC large, 191
emergency stop, 27, 146 PMC small, 188
definition, 27 manual full speed mode, 32

Index
manual high speed mode, 32 SD-card memory, 185

manual mode, 31 report replacements, 158
manual reduced speed mode, 31 required performance level, PLr, 18
memory, 185 responsibility and validity, 17
memory functions, 103 risk of burns, 38
mode switch, 147 rubber
mode switch key, 37 disposal, 234
motor contactors, 149
MOTORS ON/MOTORS OFF circuit, 85 S
MTTFD, 18–19 safeguarding, 27
MultiMove, 114 safeguard mechanisms
automatic mode, 33
N manual mode, 31
national regulations, 34 SafeMove, 170
network security, 15 safety
emergency stop, 27
O ESD, 48
operating conditions, 45 fire extinguishing, 35
operating mode signals, 22
automatic mode, 33 signals in manual, 22
manual full speed mode, 32 stop functions, 27
manual mode, 31 symbols, 22
manual reduced speed mode, 31 symbols on controller, 24
operator’s panel, 115 safety controller, 123, 197
original spare parts, 17 safety devices, 35
safety module, 170
P safety signals
panel board, repair, 159 in manual, 22
Panel Mounted Controller, 157 safety standards, 238
overview, 41 SD-card memory, replace, 185
PCIexpress boards, replace, 170 signals
pedestal safety, 22
installed on pedestal, 34 size, 50
performance level, PL, 18 standards, 238
personnel ANSI, 238
requirements, 21 CAN, 238
PFHD, 20 EN IEC, 238
PL, performance level, 18 EN ISO, 238
plastic steel
disposal, 234 disposal, 234
PMC large, 157 stop category 0, 27
overview, 41 stop category 1, 27
PMC small, 157 stops
overview, 41 overview, 27
power supply storage conditions, 45
control module, 71 superior stop, 153
PMC large, 67 symbols
PMC small, 65 safety, 22
PPE, 21 system integrator requirements, 34
product standards, 238
protection class, 46 T
protective equipment, 21 temperature, 45
protective stop three-position enabling device, 30
definition, 27 function test, 148
protective wear, 21 tightening torque, 241
troubleshooting
R safety, 39
recovering from emergency stops, 29
reduced speed control U
function test, 155 USB ports, 104
regional regulations, 34 users
replacements, report, 158 requirements, 21
replacing
contactor interface board, 207 V
expansion board, 174 validity and responsibility, 17
fieldbus adapter, 177
PCIexpress boards, 170

Index
W wrist strap, 43
weight, 45

ABB AB
Robotics & Discrete Automation
S-721 68 VÄSTERÅS, Sweden
Telephone +46 (0) 21 344 400
ABB AS
Nordlysvegen 7, N-4340 BRYNE, Norway
Box 265, N-4349 BRYNE, Norway
Telephone: +47 22 87 2000
ABB Engineering (Shanghai) Ltd.

No. 4528 Kangxin Highway
PuDong District
SHANGHAI 201319, China
Telephone: +86 21 6105 6666
ABB Inc.
1250 Brown Road
Auburn Hills, MI 48326
USA
Telephone: +1 248 391 9000
abb.com/robotics
3HAC047137-001, Rev R, en


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© Copyright 2007-2021 ABB. All rights reserved.

© Copyright 2007-2021 ABB. All rights reserved.

2 Installation and commissioning 41

Product manual - IRC5 Panel Mounted Controller 5

2.7.2 Connecting a USB memory ....................................................................... 104

6 Product manual - IRC5 Panel Mounted Controller

6 Reference information 237

7 Spare parts 245

8 Circuit diagrams 265

Product manual - IRC5 Panel Mounted Controller 7

Overview of this manual

Who should read this manual?

Continues on next page

Continues on next page

Continues on next page

12 Product manual - IRC5 Panel Mounted Controller

All documents can be found via myABB Business Portal, www.abb.com/myABB.

Technical reference manuals

Continues on next page

14 Product manual - IRC5 Panel Mounted Controller

Product manual - IRC5 Panel Mounted Controller 15

1.1.1 Limitation of liability

Spare parts and equipment

Product manual - IRC5 Panel Mounted Controller 17

1.1.2 Safety data

About this section

Prevailing directives and standards

Performance level and category

Performance level for ABB IRC5 controller

• Emergency stop on FlexPendant

IRC5 Single and IRC5 Panel Mounted Controller

Safety function Calculated MTTFD DCavg

Continues on next page

IRC5 Single and IRC5 Panel Mounted Controller

Stop circuit Calculated PFHD PL

Conclusion according to EN ISO 13849-1:2015

20 Product manual - IRC5 Panel Mounted Controller

1.1.3 Requirements on personnel

Personal protective equipment

Product manual - IRC5 Panel Mounted Controller 21

1.2 Safety signals and symbols

1.2.1 Safety signals in the manual

Introduction to safety signals

WARNING Signal word used to indicate a potentially hazardous

ELECTRICAL Signal word used to indicate a potentially hazardous

CAUTION Signal word used to indicate a potentially hazardous

ELECTROSTATIC Signal word used to indicate a potentially hazardous

NOTE Signal word used to indicate important facts and

Continues on next page

Symbol Designation Significance

Product manual - IRC5 Panel Mounted Controller 23

1.2.2 Safety symbols on controller labels

Symbols on safety labels

Continues on next page

UL certified (robot with controller)

Rating label (example)

Lifting instruction for the IRC5 controller.

Required installation space.

Continues on next page

Disconnect incoming mains before servicing the controller.

Disconnect incoming mains before servicing the controller