ABB IRB 640 - Page 22

Customer connections on manipulatorInstallation and Commissioning
20 Product Manual IRB 640
To connect to power and signal conductors from the connection unit to the manipulator
base and on the upper arm, the following parts are recommended:
Connector R1.CS, R1.CP. Signals on manipulator base. (Regarding Item No. see
Figure 14). Included in delivery.
Item Name ABB art. no. Type Comments
1 Female insert 40p 3HAB 7284-1 DIN 43 652 Harting
2 Hood 3HAB 7285-1 DIN 43 652 Harting (PG 29)
3 Compression gland 3HAB 7283-1 DS/55 ZU, DN
155D, E155
Novum
(PG 29 AB)
4 Socket 5217 1021-4 DIN 43 652 Harting
5 Socket 5217 1021-5 DIN 43 652 Harting
Connector R3.CS. Signals on the upper arm. (Regarding Item No. see Figure 15)
Item Name ABB art. no. Type Comments
1 Socket con. 23p 3HAA 2613-3 UTO 018 23 SHT Burndy
2 Gasket 2152 0363-5 UTFD 16 B Burndy
3 Socket See Pin and
Socket table
below
4 Pin con. 23p 3HAA 2602-3
5217 649-34
UTG 61823 PN04
UTG 61823 PN
Burndy EMC
Burndy
5 Pin See Pin and
Socket table
below
6 Adaptor 3HAA 2601-3
5217 1038-5
UTG 18 ADT
UTG 18 AD
Burndy EMC
Burndy
7 Cable clamp 5217 649-36 UTG 18 PG Burndy
8 Shrinking hose
Shrinking hose
3HAA 2614-3
5217 1032-5
Bottled shaped
Angled