ABB IRC5 Product Manual page 47

2.5.1. Connecting the manipulator cables to the IRC5 Panel Mounted Drive Module
Connection table IRB 140
Power cable:
Wire no.
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
Signal cable:
Wire no.
3HAC027707-001 Revision: D
2 Installation and Commissioning, IRC5
Specification
30XAWG16 2XAWG10
BK/WH
BK
BU/BK
BN/WH
BN/RD
BN/GN
BN
GN/RD
GN/WH
BN/BU
BN/BK
BU
BU/GN
BU/RD
BU/WH
BK/RD
BK/GN
BK/BU
OG
GY/BK
GY/BU
OG/WH
OG/BU
OG/BK
OG/RD
GY/GN
OG/GN
GY/WH
GY
GY/RD
GN/YE
GN/YE
Specification
2X6XAWG24
Pair1 WH
Pair1 BU
Connection point
1
XT1:1
XT1:2
XT1:3
XT1:4
XT1:5
XT1:6
XT1:7
XT1:8
XT1:9
XT1:10
XT1:11
XT1:12
XT1:13
XT1:14
XT1:15
XT1:16
XT1:17
XT1:18
XT1:19
XT1:20
XT1:21
XT1:22
XT1:23
XT1:24
XT1:25
XT1:26
A43:XS21
A43:XS21
A43:XS21
A43:XS21
2
Drive Module earth
Drive Module earth
Connection point
3
A42.X4:1
A42.X4:2
Continues on next page
Continued
45